arXiv subjects

Ping Luo

Publications and source records attributed to Ping Luo.

At least 163 records · Page 9Linked to original sources

arXiv2025

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins

In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and real-world-aligned evaluation benchmarks severely limits such development. To address this, we introduce RoboTwin, a generative digital twin framework that uses 3D generative foundation models and large language models to produce diverse expert datasets and provide a real-world-aligned evaluation platform for dual-arm robotic tasks. Specifically, RoboTwin creates varied digital twins of objects from single 2D images, generating realistic and interactive scenarios. It also introduces a spatial relation-aware code generation framework that combines object annotations with large language models to break down tasks, determine spatial constraints, and generate precise robotic movement code. Our framework offers a comprehensive benchmark with both simulated and real-world data, enabling standardized evaluation and better alignment between simulated training and real-world performance. We validated our approach using the open-source COBOT Magic Robot platform. Policies pre-trained on RoboTwin-generated data and fine-tuned with limited real-world samples demonstrate significant potential for enhancing dual-arm robotic manipulation systems by improving success rates by over 70% for single-arm tasks and over 40% for dual-arm tasks compared to models trained solely on real-world data.

cs.RO↗

arXiv2025

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)

In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and real-world-aligned evaluation benchmarks severely limits such development. To address this, we introduce RoboTwin, a generative digital twin framework that uses 3D generative foundation models and large language models to produce diverse expert datasets and provide a real-world-aligned evaluation platform for dual-arm robotic tasks. Specifically, RoboTwin creates varied digital twins of objects from single 2D images, generating realistic and interactive scenarios. It also introduces a spatial relation-aware code generation framework that combines object annotations with large language models to break down tasks, determine spatial constraints, and generate precise robotic movement code. Our framework offers a comprehensive benchmark with both simulated and real-world data, enabling standardized evaluation and better alignment between simulated training and real-world performance. We validated our approach using the open-source COBOT Magic Robot platform. Policies pre-trained on RoboTwin-generated data and fine-tuned with limited real-world samples improve the success rate of over 70% for single-arm tasks and over 40% for dual-arm tasks compared to models trained solely on real-world data. This significant improvement demonstrates RoboTwin's potential to enhance the development and evaluation of dual-arm robotic manipulation systems. Project Page: https://robotwin-benchmark.github.io/early-version/.

cs.RO↗

arXiv2025

LanguageMPC: Large Language Models as Decision Makers for Autonomous Driving

Existing learning-based autonomous driving (AD) systems face challenges in comprehending high-level information, generalizing to rare events, and providing interpretability. To address these problems, this work employs Large Language Models (LLMs) as a decision-making component for complex AD scenarios that require human commonsense understanding. We devise cognitive pathways to enable comprehensive reasoning with LLMs, and develop algorithms for translating LLM decisions into actionable driving commands. Through this approach, LLM decisions are seamlessly integrated with low-level controllers by guided parameter matrix adaptation. Extensive experiments demonstrate that our proposed method not only consistently surpasses baseline approaches in single-vehicle tasks, but also helps handle complex driving behaviors even multi-vehicle coordination, thanks to the commonsense reasoning capabilities of LLMs. This paper presents an initial step toward leveraging LLMs as effective decision-makers for intricate AD scenarios in terms of safety, efficiency, generalizability, and interoperability. We aspire for it to serve as inspiration for future research in this field. Project page: https://sites.google.com/view/llm-mpc

cs.RO↗

arXiv2025

MM-Eureka: Exploring the Frontiers of Multimodal Reasoning with Rule-based Reinforcement Learning

DeepSeek R1, and o1 have demonstrated powerful reasoning capabilities in the text domain through stable large-scale reinforcement learning. To enable broader applications, some works have attempted to transfer these capabilities to multimodal reasoning. However, these efforts have been limited by the limited difficulty of selected tasks and relatively small training scales, making it challenging to demonstrate strong multimodal reasoning abilities. To address this gap, we introduce the MMK12 dataset and MM-EUREKA with 7B and 32B parameters. The former is a high-quality multimodal mathematics reasoning dataset featuring diverse knowledge domains with human-verified answers and solution processes. The latter is a multimodal model employing rule-based reinforcement learning on MMK12, utilizing online filtering and two-stage training strategy to enhance training stability. MM-EUREKA demonstrates remarkable performance gains in multimodal mathematical reasoning, outperforming previous powerful models like InternVL2.5-78B or InternVL2.5-38B-MPO. In particular, MM-EUREKA achieves competitive or superior performance compared to both open-source and closed-source models, and trails slightly behind o1 in multidisciplinary reasoning tasks. We open-source our complete pipeline to foster further research in this area. We release all our codes, models, data, etc. at https://github.com/ModalMinds/MM-EUREKA

cs.CV↗

arXiv2025

PixelFlow: Pixel-Space Generative Models with Flow

We present PixelFlow, a family of image generation models that operate directly in the raw pixel space, in contrast to the predominant latent-space models. This approach simplifies the image generation process by eliminating the need for a pre-trained Variational Autoencoder (VAE) and enabling the whole model end-to-end trainable. Through efficient cascade flow modeling, PixelFlow achieves affordable computation cost in pixel space. It achieves an FID of 1.98 on 256$\times$256 ImageNet class-conditional image generation benchmark. The qualitative text-to-image results demonstrate that PixelFlow excels in image quality, artistry, and semantic control. We hope this new paradigm will inspire and open up new opportunities for next-generation visual generation models. Code and models are available at https://github.com/ShoufaChen/PixelFlow.

cs.CV↗

arXiv2025

Forensics-Bench: A Comprehensive Forgery Detection Benchmark Suite for Large Vision Language Models

Recently, the rapid development of AIGC has significantly boosted the diversities of fake media spread in the Internet, posing unprecedented threats to social security, politics, law, and etc. To detect the ever-increasingly diverse malicious fake media in the new era of AIGC, recent studies have proposed to exploit Large Vision Language Models (LVLMs) to design robust forgery detectors due to their impressive performance on a wide range of multimodal tasks. However, it still lacks a comprehensive benchmark designed to comprehensively assess LVLMs' discerning capabilities on forgery media. To fill this gap, we present Forensics-Bench, a new forgery detection evaluation benchmark suite to assess LVLMs across massive forgery detection tasks, requiring comprehensive recognition, location and reasoning capabilities on diverse forgeries. Forensics-Bench comprises 63,292 meticulously curated multi-choice visual questions, covering 112 unique forgery detection types from 5 perspectives: forgery semantics, forgery modalities, forgery tasks, forgery types and forgery models. We conduct thorough evaluations on 22 open-sourced LVLMs and 3 proprietary models GPT-4o, Gemini 1.5 Pro, and Claude 3.5 Sonnet, highlighting the significant challenges of comprehensive forgery detection posed by Forensics-Bench. We anticipate that Forensics-Bench will motivate the community to advance the frontier of LVLMs, striving for all-around forgery detectors in the era of AIGC. The deliverables will be updated at https://Forensics-Bench.github.io/.

cs.CV↗

arXiv2025

SAMRefiner: Taming Segment Anything Model for Universal Mask Refinement

In this paper, we explore a principal way to enhance the quality of widely pre-existing coarse masks, enabling them to serve as reliable training data for segmentation models to reduce the annotation cost. In contrast to prior refinement techniques that are tailored to specific models or tasks in a close-world manner, we propose SAMRefiner, a universal and efficient approach by adapting SAM to the mask refinement task. The core technique of our model is the noise-tolerant prompting scheme. Specifically, we introduce a multi-prompt excavation strategy to mine diverse input prompts for SAM (i.e., distance-guided points, context-aware elastic bounding boxes, and Gaussian-style masks) from initial coarse masks. These prompts can collaborate with each other to mitigate the effect of defects in coarse masks. In particular, considering the difficulty of SAM to handle the multi-object case in semantic segmentation, we introduce a split-then-merge (STM) pipeline. Additionally, we extend our method to SAMRefiner++ by introducing an additional IoU adaption step to further boost the performance of the generic SAMRefiner on the target dataset. This step is self-boosted and requires no additional annotation. The proposed framework is versatile and can flexibly cooperate with existing segmentation methods. We evaluate our mask framework on a wide range of benchmarks under different settings, demonstrating better accuracy and efficiency. SAMRefiner holds significant potential to expedite the evolution of refinement tools. Our code is available at https://github.com/linyq2117/SAMRefiner.

cs.CV↗

arXiv2025

Centaur: Robust End-to-End Autonomous Driving with Test-Time Training

How can we rely on an end-to-end autonomous vehicle's complex decision-making system during deployment? One common solution is to have a ``fallback layer'' that checks the planned trajectory for rule violations and replaces it with a pre-defined safe action if necessary. Another approach involves adjusting the planner's decisions to minimize a pre-defined ``cost function'' using additional system predictions such as road layouts and detected obstacles. However, these pre-programmed rules or cost functions cannot learn and improve with new training data, often resulting in overly conservative behaviors. In this work, we propose Centaur (Cluster Entropy for Test-time trAining using Uncertainty) which updates a planner's behavior via test-time training, without relying on hand-engineered rules or cost functions. Instead, we measure and minimize the uncertainty in the planner's decisions. For this, we develop a novel uncertainty measure, called Cluster Entropy, which is simple, interpretable, and compatible with state-of-the-art planning algorithms. Using data collected at prior test-time time-steps, we perform an update to the model's parameters using a gradient that minimizes the Cluster Entropy. With only this sole gradient update prior to inference, Centaur exhibits significant improvements, ranking first on the navtest leaderboard with notable gains in safety-critical metrics such as time to collision. To provide detailed insights on a per-scenario basis, we also introduce navsafe, a challenging new benchmark, which highlights previously undiscovered failure modes of driving models.

cs.RO↗

arXiv2025

Articulated Object Manipulation using Online Axis Estimation with SAM2-Based Tracking

Articulated object manipulation requires precise object interaction, where the object's axis must be carefully considered. Previous research employed interactive perception for manipulating articulated objects, but typically, open-loop approaches often suffer from overlooking the interaction dynamics. To address this limitation, we present a closed-loop pipeline integrating interactive perception with online axis estimation from segmented 3D point clouds. Our method leverages any interactive perception technique as a foundation for interactive perception, inducing slight object movement to generate point cloud frames of the evolving dynamic scene. These point clouds are then segmented using Segment Anything Model 2 (SAM2), after which the moving part of the object is masked for accurate motion online axis estimation, guiding subsequent robotic actions. Our approach significantly enhances the precision and efficiency of manipulation tasks involving articulated objects. Experiments in simulated environments demonstrate that our method outperforms baseline approaches, especially in tasks that demand precise axis-based control. Project Page: https://hytidel.github.io/video-tracking-for-axis-estimation/.

cs.RO↗

arXiv2025

Text2World: Benchmarking Large Language Models for Symbolic World Model Generation

Recently, there has been growing interest in leveraging large language models (LLMs) to generate symbolic world models from textual descriptions. Although LLMs have been extensively explored in the context of world modeling, prior studies encountered several challenges, including evaluation randomness, dependence on indirect metrics, and a limited domain scope. To address these limitations, we introduce a novel benchmark, Text2World, based on planning domain definition language (PDDL), featuring hundreds of diverse domains and employing multi-criteria, execution-based metrics for a more robust evaluation. We benchmark current LLMs using Text2World and find that reasoning models trained with large-scale reinforcement learning outperform others. However, even the best-performing model still demonstrates limited capabilities in world modeling. Building on these insights, we examine several promising strategies to enhance the world modeling capabilities of LLMs, including test-time scaling, agent training, and more. We hope that Text2World can serve as a crucial resource, laying the groundwork for future research in leveraging LLMs as world models. The project page is available at https://text-to-world.github.io/.

cs.CL↗

arXiv2025

Goku: Flow Based Video Generative Foundation Models

This paper introduces Goku, a state-of-the-art family of joint image-and-video generation models leveraging rectified flow Transformers to achieve industry-leading performance. We detail the foundational elements enabling high-quality visual generation, including the data curation pipeline, model architecture design, flow formulation, and advanced infrastructure for efficient and robust large-scale training. The Goku models demonstrate superior performance in both qualitative and quantitative evaluations, setting new benchmarks across major tasks. Specifically, Goku achieves 0.76 on GenEval and 83.65 on DPG-Bench for text-to-image generation, and 84.85 on VBench for text-to-video tasks. We believe that this work provides valuable insights and practical advancements for the research community in developing joint image-and-video generation models.

cs.CV↗

arXiv2025

AgentGen: Enhancing Planning Abilities for Large Language Model based Agent via Environment and Task Generation

Large Language Model-based agents have garnered significant attention and are becoming increasingly popular. Furthermore, planning ability is a crucial component of an LLM-based agent, which generally entails achieving a desired goal from an initial state. This paper investigates enhancing the planning abilities of LLMs through instruction tuning, referred to as agent training. Recent studies have demonstrated that utilizing expert-level trajectory for instruction-tuning LLMs effectively enhances their planning capabilities. However, existing work primarily focuses on synthesizing trajectories from manually designed planning tasks and environments. The labor-intensive nature of creating these environments and tasks impedes the generation of sufficiently varied and extensive trajectories. To address this limitation, this paper explores the automated synthesis of diverse environments and a gradual range of planning tasks, from easy to difficult. We introduce a framework, AgentGen, that leverages LLMs first to generate environments and subsequently generate planning tasks conditioned on these environments. Specifically, to improve environmental diversity, we propose using an inspiration corpus composed of various domain-specific text segments as the context for synthesizing environments. Moreover, to increase the difficulty diversity of generated planning tasks, we propose a bidirectional evolution method, Bi-Evol, that evolves planning tasks from easier and harder directions to synthesize a task set with a smoother difficulty curve. The evaluation results derived from AgentBoard show that AgentGen greatly improves LLMs' planning ability, e.g., the AgentGen instruction-tuned Llama-3.1-8B surpasses GPT-3.5 in overall performance. Moreover, the AgentGen-tuned Llama-3.1-70B model achieves state-of-the-art results in planning tasks. Project page: https://agent-gen.github.io/.

cs.CL↗

arXiv2025

Lost in Overlap: Exploring Logit-based Watermark Collision in LLMs

The proliferation of large language models (LLMs) in generating content raises concerns about text copyright. Watermarking methods, particularly logit-based approaches, embed imperceptible identifiers into text to address these challenges. However, the widespread usage of watermarking across diverse LLMs has led to an inevitable issue known as watermark collision during common tasks, such as paraphrasing or translation. In this paper, we introduce watermark collision as a novel and general philosophy for watermark attacks, aimed at enhancing attack performance on top of any other attacking methods. We also provide a comprehensive demonstration that watermark collision poses a threat to all logit-based watermark algorithms, impacting not only specific attack scenarios but also downstream applications.

cs.CL↗

arXiv2025

PrefixQuant: Eliminating Outliers by Prefixed Tokens for Large Language Models Quantization

Existing weight-activation quantization methods for Large Language Models (LLMs) primarily address channel-wise outliers but often neglect token-wise outliers, which limits the accuracy of quantized models. In this work, we propose PrefixQuant, a novel quantization method that achieves state-of-the-art performance across various precision levels (W4A4KV4 and W4A8KV4) and granularities (dynamic and static quantization) by effectively isolating token-wise outliers. First, PrefixQuant eliminates token-wise outliers by prefixing outlier tokens in the KV cache, a process that is training-free and highly efficient (e.g., 1 minutes for Llama-3-70B). Second, PrefixQuant introduces new trainable parameters for block-wise training to compensate for quantization error. Our experiments show that PrefixQuant significantly outperforms existing dynamic quantization methods, even under coarser static quantization settings. For instance, PrefixQuant achieves an average accuracy improvement of +3.08 and +2.85 points over SpinQuant (dynamic quantization) on five zero-shot reasoning tasks under dynamic and static quantization settings, respectively, on W4A4KV4 Llama-3-8B. Additionally, we demonstrate up to 2.74x prefilling speedup and 2.16x decoding speedup for LLMs using W4A4 PrefixQuant. Our code is available at https://github.com/ChenMnZ/PrefixQuant.

cs.LG↗

arXiv2025

DriveLM: Driving with Graph Visual Question Answering

We study how vision-language models (VLMs) trained on web-scale data can be integrated into end-to-end driving systems to boost generalization and enable interactivity with human users. While recent approaches adapt VLMs to driving via single-round visual question answering (VQA), human drivers reason about decisions in multiple steps. Starting from the localization of key objects, humans estimate object interactions before taking actions. The key insight is that with our proposed task, Graph VQA, where we model graph-structured reasoning through perception, prediction and planning question-answer pairs, we obtain a suitable proxy task to mimic the human reasoning process. We instantiate datasets (DriveLM-Data) built upon nuScenes and CARLA, and propose a VLM-based baseline approach (DriveLM-Agent) for jointly performing Graph VQA and end-to-end driving. The experiments demonstrate that Graph VQA provides a simple, principled framework for reasoning about a driving scene, and DriveLM-Data provides a challenging benchmark for this task. Our DriveLM-Agent baseline performs end-to-end autonomous driving competitively in comparison to state-of-the-art driving-specific architectures. Notably, its benefits are pronounced when it is evaluated zero-shot on unseen objects or sensor configurations. We hope this work can be the starting point to shed new light on how to apply VLMs for autonomous driving. To facilitate future research, all code, data, and models are available to the public.

cs.CV↗

arXiv2025

MangaNinja: Line Art Colorization with Precise Reference Following

Derived from diffusion models, MangaNinjia specializes in the task of reference-guided line art colorization. We incorporate two thoughtful designs to ensure precise character detail transcription, including a patch shuffling module to facilitate correspondence learning between the reference color image and the target line art, and a point-driven control scheme to enable fine-grained color matching. Experiments on a self-collected benchmark demonstrate the superiority of our model over current solutions in terms of precise colorization. We further showcase the potential of the proposed interactive point control in handling challenging cases, cross-character colorization, multi-reference harmonization, beyond the reach of existing algorithms.

cs.CV↗

arXiv2024

VisionLLM v2: An End-to-End Generalist Multimodal Large Language Model for Hundreds of Vision-Language Tasks

We present VisionLLM v2, an end-to-end generalist multimodal large model (MLLM) that unifies visual perception, understanding, and generation within a single framework. Unlike traditional MLLMs limited to text output, VisionLLM v2 significantly broadens its application scope. It excels not only in conventional visual question answering (VQA) but also in open-ended, cross-domain vision tasks such as object localization, pose estimation, and image generation and editing. To this end, we propose a new information transmission mechanism termed "super link", as a medium to connect MLLM with task-specific decoders. It not only allows flexible transmission of task information and gradient feedback between the MLLM and multiple downstream decoders but also effectively resolves training conflicts in multi-tasking scenarios. In addition, to support the diverse range of tasks, we carefully collected and combed training data from hundreds of public vision and vision-language tasks. In this way, our model can be joint-trained end-to-end on hundreds of vision language tasks and generalize to these tasks using a set of shared parameters through different user prompts, achieving performance comparable to task-specific models. We believe VisionLLM v2 will offer a new perspective on the generalization of MLLMs.

cs.CV↗

arXiv2024

B-AVIBench: Towards Evaluating the Robustness of Large Vision-Language Model on Black-box Adversarial Visual-Instructions

Large Vision-Language Models (LVLMs) have shown significant progress in responding well to visual-instructions from users. However, these instructions, encompassing images and text, are susceptible to both intentional and inadvertent attacks. Despite the critical importance of LVLMs' robustness against such threats, current research in this area remains limited. To bridge this gap, we introduce B-AVIBench, a framework designed to analyze the robustness of LVLMs when facing various Black-box Adversarial Visual-Instructions (B-AVIs), including four types of image-based B-AVIs, ten types of text-based B-AVIs, and nine types of content bias B-AVIs (such as gender, violence, cultural, and racial biases, among others). We generate 316K B-AVIs encompassing five categories of multimodal capabilities (ten tasks) and content bias. We then conduct a comprehensive evaluation involving 14 open-source LVLMs to assess their performance. B-AVIBench also serves as a convenient tool for practitioners to evaluate the robustness of LVLMs against B-AVIs. Our findings and extensive experimental results shed light on the vulnerabilities of LVLMs, and highlight that inherent biases exist even in advanced closed-source LVLMs like GeminiProVision and GPT-4V. This underscores the importance of enhancing the robustness, security, and fairness of LVLMs. The source code and benchmark are available at https://github.com/zhanghao5201/B-AVIBench.

cs.CV↗