Daily Papers

This research introduces the Bi-VLA (Vision-Language-Action) model, a novel system designed for bimanual robotic dexterous manipulations that seamlessly integrate vision, language understanding, and physical action. The system's functionality was evaluated through a set of household tasks, including the preparation of a desired salad upon human request. Bi-VLA demonstrates the ability to interpret complex human instructions, perceive and understand the visual context of ingredients, and execute precise bimanual actions to assemble the requested salad. Through a series of experiments, we evaluate the system's performance in terms of accuracy, efficiency, and adaptability to various salad recipes and human preferences. Our results indicate a high success rate of 100% in generating the correct executable code by the Language module from the user-requested tasks. The Vision Module achieved a success rate of 96.06% in detecting specific ingredients and an 83.4% success rate in detecting a list of multiple ingredients.

Tactile feedback is generally recognized to be crucial for effective interaction with the physical world. However, state-of-the-art Vision-Language-Action (VLA) models lack the ability to interpret and use tactile signals, limiting their effectiveness in contact-rich tasks. Incorporating tactile feedback into these systems is challenging due to the absence of large multi-modal datasets. We present VLA-Touch, an approach that enhances generalist robot policies with tactile sensing without fine-tuning the base VLA. Our method introduces two key innovations: (1) a pipeline that leverages a pretrained tactile-language model that provides semantic tactile feedback for high-level task planning, and (2) a diffusion-based controller that refines VLA-generated actions with tactile signals for contact-rich manipulation. Through real-world experiments, we demonstrate that our dual-level integration of tactile feedback improves task planning efficiency while enhancing execution precision. Code is open-sourced at https://github.com/jxbi1010/VLA-Touch{this URL}.

While autoregressive Large Vision-Language Models (VLMs) have achieved remarkable success, their sequential generation often limits their efficacy in complex visual planning and dynamic robotic control. In this work, we investigate the potential of constructing Vision-Language Models upon diffusion-based large language models (dLLMs) to overcome these limitations. We introduce Dream-VL, an open diffusion-based VLM (dVLM) that achieves state-of-the-art performance among previous dVLMs. Dream-VL is comparable to top-tier AR-based VLMs trained on open data on various benchmarks but exhibits superior potential when applied to visual planning tasks. Building upon Dream-VL, we introduce Dream-VLA, a dLLM-based Vision-Language-Action model (dVLA) developed through continuous pre-training on open robotic datasets. We demonstrate that the natively bidirectional nature of this diffusion backbone serves as a superior foundation for VLA tasks, inherently suited for action chunking and parallel generation, leading to significantly faster convergence in downstream fine-tuning. Dream-VLA achieves top-tier performance of 97.2% average success rate on LIBERO, 71.4% overall average on SimplerEnv-Bridge, and 60.5% overall average on SimplerEnv-Fractal, surpassing leading models such as π_0 and GR00T-N1. We also validate that dVLMs surpass AR baselines on downstream tasks across different training objectives. We release both Dream-VL and Dream-VLA to facilitate further research in the community.

We present an ongoing initiative to provide open, very large, high-quality, and richly annotated textual datasets for almost 200 languages. At 30 trillion tokens, this is likely the largest generally available multilingual collection of LLM pre-training data. These datasets are derived from web crawls from different sources and accompanied with a complete, open-source pipeline for document selection from web archives, text extraction from HTML, language identification for noisy texts, exact and near-deduplication, annotation with, among others, register labels, text quality estimates, and personally identifiable information; and final selection and filtering. We report on data quality probes through contrastive and analytical statistics, through manual inspection of samples for 24 languages, and through end-to-end evaluation of various language model architectures trained on this data. For multilingual LLM evaluation, we provide a comprehensive collection of benchmarks for nine European languages, with special emphasis on natively created tasks, mechanisms to mitigate prompt sensitivity, and refined normalization and aggregation of scores. Additionally, we train and evaluate a family of 57 monolingual encoder-decoder models, as well as a handful of monolingual GPT-like reference models. Besides the monolingual data and models, we also present a very large collection of parallel texts automatically mined from this data, together with a novel parallel corpus synthesized via machine translation.

Modern artificial intelligence (AI) systems are powered by foundation models. This paper presents a new set of foundation models, called Llama 3. It is a herd of language models that natively support multilinguality, coding, reasoning, and tool usage. Our largest model is a dense Transformer with 405B parameters and a context window of up to 128K tokens. This paper presents an extensive empirical evaluation of Llama 3. We find that Llama 3 delivers comparable quality to leading language models such as GPT-4 on a plethora of tasks. We publicly release Llama 3, including pre-trained and post-trained versions of the 405B parameter language model and our Llama Guard 3 model for input and output safety. The paper also presents the results of experiments in which we integrate image, video, and speech capabilities into Llama 3 via a compositional approach. We observe this approach performs competitively with the state-of-the-art on image, video, and speech recognition tasks. The resulting models are not yet being broadly released as they are still under development.

In this report, we introduce the Gemini 2.X model family: Gemini 2.5 Pro and Gemini 2.5 Flash, as well as our earlier Gemini 2.0 Flash and Flash-Lite models. Gemini 2.5 Pro is our most capable model yet, achieving SoTA performance on frontier coding and reasoning benchmarks. In addition to its incredible coding and reasoning skills, Gemini 2.5 Pro is a thinking model that excels at multimodal understanding and it is now able to process up to 3 hours of video content. Its unique combination of long context, multimodal and reasoning capabilities can be combined to unlock new agentic workflows. Gemini 2.5 Flash provides excellent reasoning abilities at a fraction of the compute and latency requirements and Gemini 2.0 Flash and Flash-Lite provide high performance at low latency and cost. Taken together, the Gemini 2.X model generation spans the full Pareto frontier of model capability vs cost, allowing users to explore the boundaries of what is possible with complex agentic problem solving.

We present a new data set for speech emotion recognition (SER) tasks called Dusha. The corpus contains approximately 350 hours of data, more than 300 000 audio recordings with Russian speech and their transcripts. Therefore it is the biggest open bi-modal data collection for SER task nowadays. It is annotated using a crowd-sourcing platform and includes two subsets: acted and real-life. Acted subset has a more balanced class distribution than the unbalanced real-life part consisting of audio podcasts. So the first one is suitable for model pre-training, and the second is elaborated for fine-tuning purposes, model approbation, and validation. This paper describes pre-processing routine, annotation, and experiment with a baseline model to demonstrate some actual metrics which could be obtained with the Dusha data set.

While a general embodied agent must function as a unified system, current methods are built on isolated models for understanding, world modeling, and control. This fragmentation prevents unifying multimodal generative capabilities and hinders learning from large-scale, heterogeneous data. In this paper, we propose Motus, a unified latent action world model that leverages existing general pretrained models and rich, sharable motion information. Motus introduces a Mixture-of-Transformer (MoT) architecture to integrate three experts (i.e., understanding, video generation, and action) and adopts a UniDiffuser-style scheduler to enable flexible switching between different modeling modes (i.e., world models, vision-language-action models, inverse dynamics models, video generation models, and video-action joint prediction models). Motus further leverages the optical flow to learn latent actions and adopts a recipe with three-phase training pipeline and six-layer data pyramid, thereby extracting pixel-level "delta action" and enabling large-scale action pretraining. Experiments show that Motus achieves superior performance against state-of-the-art methods in both simulation (a +15% improvement over X-VLA and a +45% improvement over Pi0.5) and real-world scenarios(improved by +11~48%), demonstrating unified modeling of all functionalities and priors significantly benefits downstream robotic tasks.