Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic, real-world environments. One key challenge in this context is object generalization, where a robot trained to perform a task with one object, such as "hand over the apple," struggles to transfer its skills to a semantically similar but visually different object, such as "hand over the peach." This gap in generalization to new objects beyond those in the same category has yet to be adequately addressed in previous work on end-to-end visuomotor policy learning. In this paper, we present a simple yet effective approach for achieving object generalization through Vision-Language-Action (VLA) models, referred to as \textbf{ObjectVLA}. Our model enables robots to generalize learned skills to novel objects without requiring explicit human demonstrations for each new target object. By leveraging vision-language pair data, our method provides a lightweight and scalable way to inject knowledge about the target object, establishing an implicit link between the object and the desired action. We evaluate ObjectVLA on a real robotic platform, demonstrating its ability to generalize across 100 novel objects with a 64\% success rate in selecting objects not seen during training. Furthermore, we propose a more accessible method for enhancing object generalization in VLA models, using a smartphone to capture a few images and fine-tune the pre-trained model. These results highlight the effectiveness of our approach in enabling object-level generalization and reducing the need for extensive human demonstrations, paving the way for more flexible and scalable robotic learning systems.

The previous advancements in pathology image understanding primarily involved developing models tailored to specific tasks. Recent studies has demonstrated that the large vision-language model can enhance the performance of various downstream tasks in medical image understanding. In this study, we developed a domain-specific large language-vision assistant (PA-LLaVA) for pathology image understanding. Specifically, (1) we first construct a human pathology image-text dataset by cleaning the public medical image-text data for domain-specific alignment; (2) Using the proposed image-text data, we first train a pathology language-image pretraining (PLIP) model as the specialized visual encoder for pathology image, and then we developed scale-invariant connector to avoid the information loss caused by image scaling; (3) We adopt two-stage learning to train PA-LLaVA, first stage for domain alignment, and second stage for end to end visual question \& answering (VQA) task. In experiments, we evaluate our PA-LLaVA on both supervised and zero-shot VQA datasets, our model achieved the best overall performance among multimodal models of similar scale. The ablation experiments also confirmed the effectiveness of our design. We posit that our PA-LLaVA model and the datasets presented in this work can promote research in field of computational pathology. All codes are available at: https://github.com/ddw2AIGROUP2CQUPT/PA-LLaVA}{https://github.com/ddw2AIGROUP2CQUPT/PA-LLaVA

Multi-modal retrieval becomes increasingly popular in practice. However, the existing retrievers are mostly text-oriented, which lack the capability to process visual information. Despite the presence of vision-language models like CLIP, the current methods are severely limited in representing the text-only and image-only data. In this work, we present a new embedding model VISTA for universal multi-modal retrieval. Our work brings forth threefold technical contributions. Firstly, we introduce a flexible architecture which extends a powerful text encoder with the image understanding capability by introducing visual token embeddings. Secondly, we develop two data generation strategies, which bring high-quality composed image-text to facilitate the training of the embedding model. Thirdly, we introduce a multi-stage training algorithm, which first aligns the visual token embedding with the text encoder using massive weakly labeled data, and then develops multi-modal representation capability using the generated composed image-text data. In our experiments, VISTA achieves superior performances across a variety of multi-modal retrieval tasks in both zero-shot and supervised settings. Our model, data, and source code are available at https://github.com/FlagOpen/FlagEmbedding.

The rapid development of Multimodal Large Language Models (MLLMs) like GPT-4V has marked a significant step towards artificial general intelligence. Existing methods mainly focus on aligning vision encoders with LLMs through supervised fine-tuning (SFT) to endow LLMs with multimodal abilities, making MLLMs' inherent ability to react to multiple languages progressively deteriorate as the training process evolves. We empirically find that the imbalanced SFT datasets, primarily composed of English-centric image-text pairs, lead to significantly reduced performance in non-English languages. This is due to the failure of aligning the vision encoder and LLM with multilingual tokens during the SFT process. In this paper, we introduce Parrot, a novel method that utilizes textual guidance to drive visual token alignment at the language level. Parrot makes the visual tokens condition on diverse language inputs and uses Mixture-of-Experts (MoE) to promote the alignment of multilingual tokens. Specifically, to enhance non-English visual tokens alignment, we compute the cross-attention using the initial visual features and textual embeddings, the result of which is then fed into the MoE router to select the most relevant experts. The selected experts subsequently convert the initial visual tokens into language-specific visual tokens. Moreover, considering the current lack of benchmarks for evaluating multilingual capabilities within the field, we collect and make available a Massive Multilingual Multimodal Benchmark which includes 6 languages, 15 categories, and 12,000 questions, named as MMMB. Our method not only demonstrates state-of-the-art performance on multilingual MMBench and MMMB, but also excels across a broad range of multimodal tasks. Both the source code and the training dataset of Parrot will be made publicly available.

The rise in popularity of ChatGPT and GPT-4 has significantly accelerated the development of large models, leading to the creation of numerous impressive large language models(LLMs) and multimodal large language models (MLLMs). These cutting-edge models owe their remarkable performance to high-quality data. However, the details of the training data used in leading paradigms are often kept confidential. This lack of transparency, coupled with the scarcity of open-source data, impedes further developments within the community. As a response, this paper presents "Wan Juan", a large-scale multimodal dataset composed of both Chinese and English data, collected from a wide range of web sources. The dataset incorporates text, image-text, and video modalities, with a total volume exceeding 2TB. It was utilized in the training of InternLM, a model that demonstrated significant advantages in multi-dimensional evaluations when compared to models of a similar scale.

There has been significant interest recently in learning multilingual word embeddings -- in which semantically similar words across languages have similar embeddings. State-of-the-art approaches have relied on expensive labeled data, which is unavailable for low-resource languages, or have involved post-hoc unification of monolingual embeddings. In the present paper, we investigate the efficacy of multilingual embeddings learned from weakly-supervised image-text data. In particular, we propose methods for learning multilingual embeddings using image-text data, by enforcing similarity between the representations of the image and that of the text. Our experiments reveal that even without using any expensive labeled data, a bag-of-words-based embedding model trained on image-text data achieves performance comparable to the state-of-the-art on crosslingual semantic similarity tasks.