Daily Papers

Embodied multi-agent systems (EMAS) have attracted growing attention for their potential to address complex, real-world challenges in areas such as logistics and robotics. Recent advances in foundation models pave the way for generative agents capable of richer communication and adaptive problem-solving. This survey provides a systematic examination of how EMAS can benefit from these generative capabilities. We propose a taxonomy that categorizes EMAS by system architectures and embodiment modalities, emphasizing how collaboration spans both physical and virtual contexts. Central building blocks, perception, planning, communication, and feedback, are then analyzed to illustrate how generative techniques bolster system robustness and flexibility. Through concrete examples, we demonstrate the transformative effects of integrating foundation models into embodied, multi-agent frameworks. Finally, we discuss challenges and future directions, underlining the significant promise of EMAS to reshape the landscape of AI-driven collaboration.

As robots are increasingly deployed in diverse application domains, generalizable cross-embodiment mobility policies are increasingly essential. While classical mobility stacks have proven effective on specific robot platforms, they pose significant challenges when scaling to new embodiments. Learning-based methods, such as imitation learning (IL) and reinforcement learning (RL), offer alternative solutions but suffer from covariate shift, sparse sampling in large environments, and embodiment-specific constraints. This paper introduces COMPASS, a novel workflow for developing cross-embodiment mobility policies by integrating IL, residual RL, and policy distillation. We begin with IL on a mobile robot, leveraging easily accessible teacher policies to train a foundational model that combines a world model with a mobility policy. Building on this base, we employ residual RL to fine-tune embodiment-specific policies, exploiting pre-trained representations to improve sampling efficiency in handling various physical constraints and sensor modalities. Finally, policy distillation merges these embodiment-specialist policies into a single robust cross-embodiment policy. We empirically demonstrate that COMPASS scales effectively across diverse robot platforms while maintaining adaptability to various environment configurations, achieving a generalist policy with a success rate approximately 5X higher than the pre-trained IL policy. The resulting framework offers an efficient, scalable solution for cross-embodiment mobility, enabling robots with different designs to navigate safely and efficiently in complex scenarios.

Our experience of the world is multimodal - we see objects, hear sounds, feel texture, smell odors, and taste flavors. Modality refers to the way in which something happens or is experienced and a research problem is characterized as multimodal when it includes multiple such modalities. In order for Artificial Intelligence to make progress in understanding the world around us, it needs to be able to interpret such multimodal signals together. Multimodal machine learning aims to build models that can process and relate information from multiple modalities. It is a vibrant multi-disciplinary field of increasing importance and with extraordinary potential. Instead of focusing on specific multimodal applications, this paper surveys the recent advances in multimodal machine learning itself and presents them in a common taxonomy. We go beyond the typical early and late fusion categorization and identify broader challenges that are faced by multimodal machine learning, namely: representation, translation, alignment, fusion, and co-learning. This new taxonomy will enable researchers to better understand the state of the field and identify directions for future research.

Multi-modal AI systems will likely become a ubiquitous presence in our everyday lives. A promising approach to making these systems more interactive is to embody them as agents within physical and virtual environments. At present, systems leverage existing foundation models as the basic building blocks for the creation of embodied agents. Embedding agents within such environments facilitates the ability of models to process and interpret visual and contextual data, which is critical for the creation of more sophisticated and context-aware AI systems. For example, a system that can perceive user actions, human behavior, environmental objects, audio expressions, and the collective sentiment of a scene can be used to inform and direct agent responses within the given environment. To accelerate research on agent-based multimodal intelligence, we define "Agent AI" as a class of interactive systems that can perceive visual stimuli, language inputs, and other environmentally-grounded data, and can produce meaningful embodied action with infinite agent. In particular, we explore systems that aim to improve agents based on next-embodied action prediction by incorporating external knowledge, multi-sensory inputs, and human feedback. We argue that by developing agentic AI systems in grounded environments, one can also mitigate the hallucinations of large foundation models and their tendency to generate environmentally incorrect outputs. The emerging field of Agent AI subsumes the broader embodied and agentic aspects of multimodal interactions. Beyond agents acting and interacting in the physical world, we envision a future where people can easily create any virtual reality or simulated scene and interact with agents embodied within the virtual environment.

Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding environment (Johansson and Flanagan, 2009; Li et al., 2020; Calandra et al., 2017). However, no existing systems provide rich, multi-modal digital touch-sensing capabilities through a hemispherical compliant embodiment. Here, we describe several conceptual and technological innovations to improve the digitization of touch. These advances are embodied in an artificial finger-shaped sensor with advanced sensing capabilities. Significantly, this fingertip contains high-resolution sensors (~8.3 million taxels) that respond to omnidirectional touch, capture multi-modal signals, and use on-device artificial intelligence to process the data in real time. Evaluations show that the artificial fingertip can resolve spatial features as small as 7 um, sense normal and shear forces with a resolution of 1.01 mN and 1.27 mN, respectively, perceive vibrations up to 10 kHz, sense heat, and even sense odor. Furthermore, it embeds an on-device AI neural network accelerator that acts as a peripheral nervous system on a robot and mimics the reflex arc found in humans. These results demonstrate the possibility of digitizing touch with superhuman performance. The implications are profound, and we anticipate potential applications in robotics (industrial, medical, agricultural, and consumer-level), virtual reality and telepresence, prosthetics, and e-commerce. Toward digitizing touch at scale, we open-source a modular platform to facilitate future research on the nature of touch.

The Codec Avatars Lab at Meta introduces Embody 3D, a multimodal dataset of 500 individual hours of 3D motion data from 439 participants collected in a multi-camera collection stage, amounting to over 54 million frames of tracked 3D motion. The dataset features a wide range of single-person motion data, including prompted motions, hand gestures, and locomotion; as well as multi-person behavioral and conversational data like discussions, conversations in different emotional states, collaborative activities, and co-living scenarios in an apartment-like space. We provide tracked human motion including hand tracking and body shape, text annotations, and a separate audio track for each participant.

Existing video avatar models can produce fluid human animations, yet they struggle to move beyond mere physical likeness to capture a character's authentic essence. Their motions typically synchronize with low-level cues like audio rhythm, lacking a deeper semantic understanding of emotion, intent, or context. To bridge this gap, we propose a framework designed to generate character animations that are not only physically plausible but also semantically coherent and expressive. Our model, OmniHuman-1.5, is built upon two key technical contributions. First, we leverage Multimodal Large Language Models to synthesize a structured textual representation of conditions that provides high-level semantic guidance. This guidance steers our motion generator beyond simplistic rhythmic synchronization, enabling the production of actions that are contextually and emotionally resonant. Second, to ensure the effective fusion of these multimodal inputs and mitigate inter-modality conflicts, we introduce a specialized Multimodal DiT architecture with a novel Pseudo Last Frame design. The synergy of these components allows our model to accurately interpret the joint semantics of audio, images, and text, thereby generating motions that are deeply coherent with the character, scene, and linguistic content. Extensive experiments demonstrate that our model achieves leading performance across a comprehensive set of metrics, including lip-sync accuracy, video quality, motion naturalness and semantic consistency with textual prompts. Furthermore, our approach shows remarkable extensibility to complex scenarios, such as those involving multi-person and non-human subjects. Homepage: https://omnihuman-lab.github.io/v1_5/

The field has made significant progress in synthesizing realistic human motion driven by various modalities. Yet, the need for different methods to animate various body parts according to different control signals limits the scalability of these techniques in practical scenarios. In this paper, we introduce a cohesive and scalable approach that consolidates multimodal (text, music, speech) and multi-part (hand, torso) human motion generation. Our methodology unfolds in several steps: We begin by quantizing the motions of diverse body parts into separate codebooks tailored to their respective domains. Next, we harness the robust capabilities of pre-trained models to transcode multimodal signals into a shared latent space. We then translate these signals into discrete motion tokens by iteratively predicting subsequent tokens to form a complete sequence. Finally, we reconstruct the continuous actual motion from this tokenized sequence. Our method frames the multimodal motion generation challenge as a token prediction task, drawing from specialized codebooks based on the modality of the control signal. This approach is inherently scalable, allowing for the easy integration of new modalities. Extensive experiments demonstrated the effectiveness of our design, emphasizing its potential for broad application.

Recent advances in learning multi-modal representation have witnessed the success in biomedical domains. While established techniques enable handling multi-modal information, the challenges are posed when extended to various clinical modalities and practical modalitymissing setting due to the inherent modality gaps. To tackle these, we propose an innovative Modality-prompted Heterogeneous Graph for Omnimodal Learning (GTP-4o), which embeds the numerous disparate clinical modalities into a unified representation, completes the deficient embedding of missing modality and reformulates the cross-modal learning with a graph-based aggregation. Specially, we establish a heterogeneous graph embedding to explicitly capture the diverse semantic properties on both the modality-specific features (nodes) and the cross-modal relations (edges). Then, we design a modality-prompted completion that enables completing the inadequate graph representation of missing modality through a graph prompting mechanism, which generates hallucination graphic topologies to steer the missing embedding towards the intact representation. Through the completed graph, we meticulously develop a knowledge-guided hierarchical cross-modal aggregation consisting of a global meta-path neighbouring to uncover the potential heterogeneous neighbors along the pathways driven by domain knowledge, and a local multi-relation aggregation module for the comprehensive cross-modal interaction across various heterogeneous relations. We assess the efficacy of our methodology on rigorous benchmarking experiments against prior state-of-the-arts. In a nutshell, GTP-4o presents an initial foray into the intriguing realm of embedding, relating and perceiving the heterogeneous patterns from various clinical modalities holistically via a graph theory. Project page: https://gtp-4-o.github.io/.

The multifaceted nature of human perception and comprehension indicates that, when we think, our body can naturally take any combination of senses, a.k.a., modalities and form a beautiful picture in our brain. For example, when we see a cattery and simultaneously perceive the cat's purring sound, our brain can construct a picture of a cat in the cattery. Intuitively, generative AI models should hold the versatility of humans and be capable of generating images from any combination of modalities efficiently and collaboratively. This paper presents ImgAny, a novel end-to-end multi-modal generative model that can mimic human reasoning and generate high-quality images. Our method serves as the first attempt in its capacity of efficiently and flexibly taking any combination of seven modalities, ranging from language, audio to vision modalities, including image, point cloud, thermal, depth, and event data. Our key idea is inspired by human-level cognitive processes and involves the integration and harmonization of multiple input modalities at both the entity and attribute levels without specific tuning across modalities. Accordingly, our method brings two novel training-free technical branches: 1) Entity Fusion Branch ensures the coherence between inputs and outputs. It extracts entity features from the multi-modal representations powered by our specially constructed entity knowledge graph; 2) Attribute Fusion Branch adeptly preserves and processes the attributes. It efficiently amalgamates distinct attributes from diverse input modalities via our proposed attribute knowledge graph. Lastly, the entity and attribute features are adaptively fused as the conditional inputs to the pre-trained Stable Diffusion model for image generation. Extensive experiments under diverse modality combinations demonstrate its exceptional capability for visual content creation.

This book is the result of a seminar in which we reviewed multimodal approaches and attempted to create a solid overview of the field, starting with the current state-of-the-art approaches in the two subfields of Deep Learning individually. Further, modeling frameworks are discussed where one modality is transformed into the other, as well as models in which one modality is utilized to enhance representation learning for the other. To conclude the second part, architectures with a focus on handling both modalities simultaneously are introduced. Finally, we also cover other modalities as well as general-purpose multi-modal models, which are able to handle different tasks on different modalities within one unified architecture. One interesting application (Generative Art) eventually caps off this booklet.

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by varying illumination and weather conditions. Leveraging complementary modalities can enable learning of semantically richer representations that are resilient to such perturbations. Despite the tremendous progress in recent years, most multimodal convolutional neural network approaches directly concatenate feature maps from individual modality streams rendering the model incapable of focusing only on relevant complementary information for fusion. To address this limitation, we propose a mutimodal semantic segmentation framework that dynamically adapts the fusion of modality-specific features while being sensitive to the object category, spatial location and scene context in a self-supervised manner. Specifically, we propose an architecture consisting of two modality-specific encoder streams that fuse intermediate encoder representations into a single decoder using our proposed self-supervised model adaptation fusion mechanism which optimally combines complementary features. As intermediate representations are not aligned across modalities, we introduce an attention scheme for better correlation. In addition, we propose a computationally efficient unimodal segmentation architecture termed AdapNet++ that incorporates a new encoder with multiscale residual units and an efficient atrous spatial pyramid pooling that has a larger effective receptive field with more than 10x fewer parameters, complemented with a strong decoder with a multi-resolution supervision scheme that recovers high-resolution details. Comprehensive empirical evaluations on several benchmarks demonstrate that both our unimodal and multimodal architectures achieve state-of-the-art performance.

Standard multi-modal models assume the use of the same modalities in training and inference stages. However, in practice, the environment in which multi-modal models operate may not satisfy such assumption. As such, their performances degrade drastically if any modality is missing in the inference stage. We ask: how can we train a model that is robust to missing modalities? This paper seeks a set of good practices for multi-modal action recognition, with a particular interest in circumstances where some modalities are not available at an inference time. First, we study how to effectively regularize the model during training (e.g., data augmentation). Second, we investigate on fusion methods for robustness to missing modalities: we find that transformer-based fusion shows better robustness for missing modality than summation or concatenation. Third, we propose a simple modular network, ActionMAE, which learns missing modality predictive coding by randomly dropping modality features and tries to reconstruct them with the remaining modality features. Coupling these good practices, we build a model that is not only effective in multi-modal action recognition but also robust to modality missing. Our model achieves the state-of-the-arts on multiple benchmarks and maintains competitive performances even in missing modality scenarios. Codes are available at https://github.com/sangminwoo/ActionMAE.

Talking head generation with arbitrary identities and speech audio remains a crucial problem in the realm of the virtual metaverse. Recently, diffusion models have become a popular generative technique in this field with their strong generation capabilities. However, several challenges remain for diffusion-based methods: 1) inefficient inference and visual artifacts caused by the implicit latent space of Variational Auto-Encoders (VAE), which complicates the diffusion process; 2) a lack of authentic facial expressions and head movements due to inadequate multi-modal information fusion. In this paper, MoDA handles these challenges by: 1) defining a joint parameter space that bridges motion generation and neural rendering, and leveraging flow matching to simplify diffusion learning; 2) introducing a multi-modal diffusion architecture to model the interaction among noisy motion, audio, and auxiliary conditions, enhancing overall facial expressiveness. In addition, a coarse-to-fine fusion strategy is employed to progressively integrate different modalities, ensuring effective feature fusion. Experimental results demonstrate that MoDA improves video diversity, realism, and efficiency, making it suitable for real-world applications. Project Page: https://lixinyyang.github.io/MoDA.github.io/

Despite the ubiquity of large language models (LLMs) in AI research, the question of embodiment in LLMs remains underexplored, distinguishing them from embodied systems in robotics where sensory perception directly informs physical action. Our investigation navigates the intriguing terrain of whether LLMs, despite their non-embodied nature, effectively capture implicit human intuitions about fundamental, spatial building blocks of language. We employ insights from spatial cognitive foundations developed through early sensorimotor experiences, guiding our exploration through the reproduction of three psycholinguistic experiments. Surprisingly, correlations between model outputs and human responses emerge, revealing adaptability without a tangible connection to embodied experiences. Notable distinctions include polarized language model responses and reduced correlations in vision language models. This research contributes to a nuanced understanding of the interplay between language, spatial experiences, and the computations made by large language models. More at https://cisnlp.github.io/Spatial_Schemas/

Recent advances in multimodal large language models (MLLMs) have opened new opportunities for embodied intelligence, enabling multimodal understanding, reasoning, and interaction, as well as continuous spatial decision-making. Nevertheless, current MLLM-based embodied systems face two critical limitations. First, Geometric Adaptability Gap: models trained solely on 2D inputs or with hard-coded 3D geometry injection suffer from either insufficient spatial information or restricted 2D generalization, leading to poor adaptability across tasks with diverse spatial demands. Second, Embodiment Constraint Gap: prior work often neglects the physical constraints and capacities of real robots, resulting in task plans that are theoretically valid but practically infeasible.To address these gaps, we introduce OmniEVA -- an embodied versatile planner that enables advanced embodied reasoning and task planning through two pivotal innovations: (1) a Task-Adaptive 3D Grounding mechanism, which introduces a gated router to perform explicit selective regulation of 3D fusion based on contextual requirements, enabling context-aware 3D grounding for diverse embodied tasks. (2) an Embodiment-Aware Reasoning framework that jointly incorporates task goals and embodiment constraints into the reasoning loop, resulting in planning decisions that are both goal-directed and executable. Extensive experimental results demonstrate that OmniEVA not only achieves state-of-the-art general embodied reasoning performance, but also exhibits a strong ability across a wide range of downstream scenarios. Evaluations of a suite of proposed embodied benchmarks, including both primitive and composite tasks, confirm its robust and versatile planning capabilities. Project page: https://omnieva.github.io

The ability to associate touch with other modalities has huge implications for humans and computational systems. However, multimodal learning with touch remains challenging due to the expensive data collection process and non-standardized sensor outputs. We introduce UniTouch, a unified tactile model for vision-based touch sensors connected to multiple modalities, including vision, language, and sound. We achieve this by aligning our UniTouch embeddings to pretrained image embeddings already associated with a variety of other modalities. We further propose learnable sensor-specific tokens, allowing the model to learn from a set of heterogeneous tactile sensors, all at the same time. UniTouch is capable of conducting various touch sensing tasks in the zero-shot setting, from robot grasping prediction to touch image question answering. To the best of our knowledge, UniTouch is the first to demonstrate such capabilities. Project page: https://cfeng16.github.io/UniTouch/

Existing methods for synthesizing 3D human gestures from speech have shown promising results, but they do not explicitly model the impact of emotions on the generated gestures. Instead, these methods directly output animations from speech without control over the expressed emotion. To address this limitation, we present AMUSE, an emotional speech-driven body animation model based on latent diffusion. Our observation is that content (i.e., gestures related to speech rhythm and word utterances), emotion, and personal style are separable. To account for this, AMUSE maps the driving audio to three disentangled latent vectors: one for content, one for emotion, and one for personal style. A latent diffusion model, trained to generate gesture motion sequences, is then conditioned on these latent vectors. Once trained, AMUSE synthesizes 3D human gestures directly from speech with control over the expressed emotions and style by combining the content from the driving speech with the emotion and style of another speech sequence. Randomly sampling the noise of the diffusion model further generates variations of the gesture with the same emotional expressivity. Qualitative, quantitative, and perceptual evaluations demonstrate that AMUSE outputs realistic gesture sequences. Compared to the state of the art, the generated gestures are better synchronized with the speech content and better represent the emotion expressed by the input speech. Our project website is amuse.is.tue.mpg.de.

Embodied multimodal large models (EMLMs) have gained significant attention in recent years due to their potential to bridge the gap between perception, cognition, and action in complex, real-world environments. This comprehensive review explores the development of such models, including Large Language Models (LLMs), Large Vision Models (LVMs), and other models, while also examining other emerging architectures. We discuss the evolution of EMLMs, with a focus on embodied perception, navigation, interaction, and simulation. Furthermore, the review provides a detailed analysis of the datasets used for training and evaluating these models, highlighting the importance of diverse, high-quality data for effective learning. The paper also identifies key challenges faced by EMLMs, including issues of scalability, generalization, and real-time decision-making. Finally, we outline future directions, emphasizing the integration of multimodal sensing, reasoning, and action to advance the development of increasingly autonomous systems. By providing an in-depth analysis of state-of-the-art methods and identifying critical gaps, this paper aims to inspire future advancements in EMLMs and their applications across diverse domains.

Information retrieval is an ever-evolving and crucial research domain. The substantial demand for high-quality human motion data especially in online acquirement has led to a surge in human motion research works. Prior works have mainly concentrated on dual-modality learning, such as text and motion tasks, but three-modality learning has been rarely explored. Intuitively, an extra introduced modality can enrich a model's application scenario, and more importantly, an adequate choice of the extra modality can also act as an intermediary and enhance the alignment between the other two disparate modalities. In this work, we introduce LAVIMO (LAnguage-VIdeo-MOtion alignment), a novel framework for three-modality learning integrating human-centric videos as an additional modality, thereby effectively bridging the gap between text and motion. Moreover, our approach leverages a specially designed attention mechanism to foster enhanced alignment and synergistic effects among text, video, and motion modalities. Empirically, our results on the HumanML3D and KIT-ML datasets show that LAVIMO achieves state-of-the-art performance in various motion-related cross-modal retrieval tasks, including text-to-motion, motion-to-text, video-to-motion and motion-to-video.

Recent methods for embodied instruction following are typically trained end-to-end using imitation learning. This often requires the use of expert trajectories and low-level language instructions. Such approaches assume that neural states will integrate multimodal semantics to perform state tracking, building spatial memory, exploration, and long-term planning. In contrast, we propose a modular method with structured representations that (1) builds a semantic map of the scene and (2) performs exploration with a semantic search policy, to achieve the natural language goal. Our modular method achieves SOTA performance (24.46 %) with a substantial (8.17 % absolute) gap from previous work while using less data by eschewing both expert trajectories and low-level instructions. Leveraging low-level language, however, can further increase our performance (26.49 %). Our findings suggest that an explicit spatial memory and a semantic search policy can provide a stronger and more general representation for state-tracking and guidance, even in the absence of expert trajectories or low-level instructions.

Embodied conversational agents (ECAs) benefit from non-verbal behavior for natural and efficient interaction with users. Gesticulation - hand and arm movements accompanying speech - is an essential part of non-verbal behavior. Gesture generation models have been developed for several decades: starting with rule-based and ending with mainly data-driven methods. To date, recent end-to-end gesture generation methods have not been evaluated in a real-time interaction with users. We present a proof-of-concept framework, which is intended to facilitate evaluation of modern gesture generation models in interaction. We demonstrate an extensible open-source framework that contains three components: 1) a 3D interactive agent; 2) a chatbot backend; 3) a gesticulating system. Each component can be replaced, making the proposed framework applicable for investigating the effect of different gesturing models in real-time interactions with different communication modalities, chatbot backends, or different agent appearances. The code and video are available at the project page https://nagyrajmund.github.io/project/gesturebot.

In this work, we present Digital Life Project, a framework utilizing language as the universal medium to build autonomous 3D characters, who are capable of engaging in social interactions and expressing with articulated body motions, thereby simulating life in a digital environment. Our framework comprises two primary components: 1) SocioMind: a meticulously crafted digital brain that models personalities with systematic few-shot exemplars, incorporates a reflection process based on psychology principles, and emulates autonomy by initiating dialogue topics; 2) MoMat-MoGen: a text-driven motion synthesis paradigm for controlling the character's digital body. It integrates motion matching, a proven industry technique to ensure motion quality, with cutting-edge advancements in motion generation for diversity. Extensive experiments demonstrate that each module achieves state-of-the-art performance in its respective domain. Collectively, they enable virtual characters to initiate and sustain dialogues autonomously, while evolving their socio-psychological states. Concurrently, these characters can perform contextually relevant bodily movements. Additionally, a motion captioning module further allows the virtual character to recognize and appropriately respond to human players' actions. Homepage: https://digital-life-project.com/

Brain MRI scans are often found in four modalities, consisting of T1-weighted with and without contrast enhancement (T1ce and T1w), T2-weighted imaging (T2w), and Flair. Leveraging complementary information from these different modalities enables models to learn richer, more discriminative features for understanding brain anatomy, which could be used in downstream tasks such as anomaly detection. However, in clinical practice, not all MRI modalities are always available due to various reasons. This makes missing modality generation a critical challenge in medical image analysis. In this paper, we propose SLaM-DiMM, a novel missing modality generation framework that harnesses the power of diffusion models to synthesize any of the four target MRI modalities from other available modalities. Our approach not only generates high-fidelity images but also ensures structural coherence across the depth of the volume through a dedicated coherence enhancement mechanism. Qualitative and quantitative evaluations on the BraTS-Lighthouse-2025 Challenge dataset demonstrate the effectiveness of the proposed approach in synthesizing anatomically plausible and structurally consistent results. Code is available at https://github.com/BheeshmSharma/SLaM-DiMM-MICCAI-BraTS-Challenge-2025.

Human communication combines speech with expressive nonverbal cues such as hand gestures that serve manifold communicative functions. Yet, current generative gesture generation approaches are restricted to simple, repetitive beat gestures that accompany the rhythm of speaking but do not contribute to communicating semantic meaning. This paper tackles a core challenge in co-speech gesture synthesis: generating iconic or deictic gestures that are semantically coherent with a verbal utterance. Such gestures cannot be derived from language input alone, which inherently lacks the visual meaning that is often carried autonomously by gestures. We therefore introduce a zero-shot system that generates gestures from a given language input and additionally is informed by imagistic input, without manual annotation or human intervention. Our method integrates an image analysis pipeline that extracts key object properties such as shape, symmetry, and alignment, together with a semantic matching module that links these visual details to spoken text. An inverse kinematics engine then synthesizes iconic and deictic gestures and combines them with co-generated natural beat gestures for coherent multimodal communication. A comprehensive user study demonstrates the effectiveness of our approach. In scenarios where speech alone was ambiguous, gestures generated by our system significantly improved participants' ability to identify object properties, confirming their interpretability and communicative value. While challenges remain in representing complex shapes, our results highlight the importance of context-aware semantic gestures for creating expressive and collaborative virtual agents or avatars, marking a substantial step forward towards efficient and robust, embodied human-agent interaction. More information and example videos are available here: https://review-anon-io.github.io/ImaGGen.github.io/

Understanding people's social interactions in complex real-world scenarios often relies on intricate mental reasoning. To truly understand how and why people interact with one another, we must infer the underlying mental states that give rise to the social interactions, i.e., Theory of Mind reasoning in multi-agent interactions. Additionally, social interactions are often multi-modal -- we can watch people's actions, hear their conversations, and/or read about their past behaviors. For AI systems to successfully and safely interact with people in real-world environments, they also need to understand people's mental states as well as their inferences about each other's mental states based on multi-modal information about their interactions. For this, we introduce MuMA-ToM, a Multi-modal Multi-Agent Theory of Mind benchmark. MuMA-ToM is the first multi-modal Theory of Mind benchmark that evaluates mental reasoning in embodied multi-agent interactions. In MuMA-ToM, we provide video and text descriptions of people's multi-modal behavior in realistic household environments. Based on the context, we then ask questions about people's goals, beliefs, and beliefs about others' goals. We validated MuMA-ToM in a human experiment and provided a human baseline. We also proposed a novel multi-modal, multi-agent ToM model, LIMP (Language model-based Inverse Multi-agent Planning). Our experimental results show that LIMP significantly outperforms state-of-the-art methods, including large multi-modal models (e.g., GPT-4o, Gemini-1.5 Pro) and a recent multi-modal ToM model, BIP-ALM.

We present Composable Diffusion (CoDi), a novel generative model capable of generating any combination of output modalities, such as language, image, video, or audio, from any combination of input modalities. Unlike existing generative AI systems, CoDi can generate multiple modalities in parallel and its input is not limited to a subset of modalities like text or image. Despite the absence of training datasets for many combinations of modalities, we propose to align modalities in both the input and output space. This allows CoDi to freely condition on any input combination and generate any group of modalities, even if they are not present in the training data. CoDi employs a novel composable generation strategy which involves building a shared multimodal space by bridging alignment in the diffusion process, enabling the synchronized generation of intertwined modalities, such as temporally aligned video and audio. Highly customizable and flexible, CoDi achieves strong joint-modality generation quality, and outperforms or is on par with the unimodal state-of-the-art for single-modality synthesis. The project page with demonstrations and code is at https://codi-gen.github.io

Against all attempts that consider virtuality as a substance (a parallel or alternative reality) or as a modality (like potentiality or possibility), we want to defend the pragmatic point of view that it is rather a dynamic cognitive and sensitive interaction with reality. More precisely, we show that the ``virtus'' is an operating capacity that produces simulations of real and fictional contexts to experiment with their effects. Based on Peirce's semiotics, we define virtual reality (VR) and augmented reality (AR) as mixed realities made of ``symbolic assemblies'', that is to say, structures of signs assembled by processes of computation and meaning (semiosis). We show that VR can be defined as a synesthetic experiment that does not reshape reality itself, but rather the senses and understanding we already have about it. In conclusion, we criticize David Chalmer's extended mind theory by distinguishing between knowledge and information, and we try to redefine AR as a hermeneutic device that extends not the mind itself, but the activity of thought by adding symbols to read in the world.

We present a framework for generating full-bodied photorealistic avatars that gesture according to the conversational dynamics of a dyadic interaction. Given speech audio, we output multiple possibilities of gestural motion for an individual, including face, body, and hands. The key behind our method is in combining the benefits of sample diversity from vector quantization with the high-frequency details obtained through diffusion to generate more dynamic, expressive motion. We visualize the generated motion using highly photorealistic avatars that can express crucial nuances in gestures (e.g. sneers and smirks). To facilitate this line of research, we introduce a first-of-its-kind multi-view conversational dataset that allows for photorealistic reconstruction. Experiments show our model generates appropriate and diverse gestures, outperforming both diffusion- and VQ-only methods. Furthermore, our perceptual evaluation highlights the importance of photorealism (vs. meshes) in accurately assessing subtle motion details in conversational gestures. Code and dataset available online.

We propose a novel task for generating 3D dance movements that simultaneously incorporate both text and music modalities. Unlike existing works that generate dance movements using a single modality such as music, our goal is to produce richer dance movements guided by the instructive information provided by the text. However, the lack of paired motion data with both music and text modalities limits the ability to generate dance movements that integrate both. To alleviate this challenge, we propose to utilize a 3D human motion VQ-VAE to project the motions of the two datasets into a latent space consisting of quantized vectors, which effectively mix the motion tokens from the two datasets with different distributions for training. Additionally, we propose a cross-modal transformer to integrate text instructions into motion generation architecture for generating 3D dance movements without degrading the performance of music-conditioned dance generation. To better evaluate the quality of the generated motion, we introduce two novel metrics, namely Motion Prediction Distance (MPD) and Freezing Score, to measure the coherence and freezing percentage of the generated motion. Extensive experiments show that our approach can generate realistic and coherent dance movements conditioned on both text and music while maintaining comparable performance with the two single modalities. Code will be available at: https://garfield-kh.github.io/TM2D/.

Treating human motion and camera trajectory generation separately overlooks a core principle of cinematography: the tight interplay between actor performance and camera work in the screen space. In this paper, we are the first to cast this task as a text-conditioned joint generation, aiming to maintain consistent on-screen framing while producing two heterogeneous, yet intrinsically linked, modalities: human motion and camera trajectories. We propose a simple, model-agnostic framework that enforces multimodal coherence via an auxiliary modality: the on-screen framing induced by projecting human joints onto the camera. This on-screen framing provides a natural and effective bridge between modalities, promoting consistency and leading to more precise joint distribution. We first design a joint autoencoder that learns a shared latent space, together with a lightweight linear transform from the human and camera latents to a framing latent. We then introduce auxiliary sampling, which exploits this linear transform to steer generation toward a coherent framing modality. To support this task, we also introduce the PulpMotion dataset, a human-motion and camera-trajectory dataset with rich captions, and high-quality human motions. Extensive experiments across DiT- and MAR-based architectures show the generality and effectiveness of our method in generating on-frame coherent human-camera motions, while also achieving gains on textual alignment for both modalities. Our qualitative results yield more cinematographically meaningful framings setting the new state of the art for this task. Code, models and data are available in our https://www.lix.polytechnique.fr/vista/projects/2025_pulpmotion_courant/{project page}.

Generative artificial intelligence (AI) systems based on large-scale pretrained foundation models (PFMs) such as vision-language models, large language models (LLMs), diffusion models and vision-language-action (VLA) models have demonstrated the ability to solve complex and truly non-trivial AI problems in a wide variety of domains and contexts. Multimodal large language models (MLLMs), in particular, learn from vast and diverse data sources, allowing rich and nuanced representations of the world and, thereby, providing extensive capabilities, including the ability to reason, engage in meaningful dialog; collaborate with humans and other agents to jointly solve complex problems; and understand social and emotional aspects of humans. Despite this impressive feat, the cognitive abilities of state-of-the-art LLMs trained on large-scale datasets are still superficial and brittle. Consequently, generic LLMs are severely limited in their generalist capabilities. A number of foundational problems -- embodiment, symbol grounding, causality and memory -- are required to be addressed for LLMs to attain human-level general intelligence. These concepts are more aligned with human cognition and provide LLMs with inherent human-like cognitive properties that support the realization of physically-plausible, semantically meaningful, flexible and more generalizable knowledge and intelligence. In this work, we discuss the aforementioned foundational issues and survey state-of-the art approaches for implementing these concepts in LLMs. Specifically, we discuss how the principles of embodiment, symbol grounding, causality and memory can be leveraged toward the attainment of artificial general intelligence (AGI) in an organic manner.

Diffusion-based video generation technology has advanced significantly, catalyzing a proliferation of research in human animation. However, the majority of these studies are confined to same-modality driving settings, with cross-modality human body animation remaining relatively underexplored. In this paper, we introduce, an end-to-end audio-driven human animation framework that ensures hand integrity, identity consistency, and natural motion. The key design of CyberHost is the Region Codebook Attention mechanism, which improves the generation quality of facial and hand animations by integrating fine-grained local features with learned motion pattern priors. Furthermore, we have developed a suite of human-prior-guided training strategies, including body movement map, hand clarity score, pose-aligned reference feature, and local enhancement supervision, to improve synthesis results. To our knowledge, CyberHost is the first end-to-end audio-driven human diffusion model capable of facilitating zero-shot video generation within the scope of human body. Extensive experiments demonstrate that CyberHost surpasses previous works in both quantitative and qualitative aspects.

Multimodal foundation models can process several modalities. However, since the space of possible modalities is large and evolving over time, training a model from scratch to encompass all modalities is unfeasible. Moreover, integrating a modality into a pre-existing foundation model currently requires a significant amount of paired data, which is often not available for low-resource modalities. In this paper, we introduce a method for sample-efficient modality integration (SEMI) into Large Language Models (LLMs). To this end, we devise a hypernetwork that can adapt a shared projector -- placed between modality-specific encoders and an LLM -- to any modality. The hypernetwork, trained on high-resource modalities (i.e., text, speech, audio, video), is conditioned on a few samples from any arbitrary modality at inference time to generate a suitable adapter. To increase the diversity of training modalities, we artificially multiply the number of encoders through isometric transformations. We find that SEMI achieves a significant boost in sample efficiency during few-shot integration of new modalities (i.e., satellite images, astronomical images, inertial measurements, and molecules) with encoders of arbitrary embedding dimensionality. For instance, to reach the same accuracy as 32-shot SEMI, training the projector from scratch needs 64times more data. As a result, SEMI holds promise to extend the modality coverage of foundation models.

Humans use different modalities, such as speech, text, images, videos, etc., to communicate their intent and goals with teammates. For robots to become better assistants, we aim to endow them with the ability to follow instructions and understand tasks specified by their human partners. Most robotic policy learning methods have focused on one single modality of task specification while ignoring the rich cross-modal information. We present MUTEX, a unified approach to policy learning from multimodal task specifications. It trains a transformer-based architecture to facilitate cross-modal reasoning, combining masked modeling and cross-modal matching objectives in a two-stage training procedure. After training, MUTEX can follow a task specification in any of the six learned modalities (video demonstrations, goal images, text goal descriptions, text instructions, speech goal descriptions, and speech instructions) or a combination of them. We systematically evaluate the benefits of MUTEX in a newly designed dataset with 100 tasks in simulation and 50 tasks in the real world, annotated with multiple instances of task specifications in different modalities, and observe improved performance over methods trained specifically for any single modality. More information at https://ut-austin-rpl.github.io/MUTEX/

While language-guided image manipulation has made remarkable progress, the challenge of how to instruct the manipulation process faithfully reflecting human intentions persists. An accurate and comprehensive description of a manipulation task using natural language is laborious and sometimes even impossible, primarily due to the inherent uncertainty and ambiguity present in linguistic expressions. Is it feasible to accomplish image manipulation without resorting to external cross-modal language information? If this possibility exists, the inherent modality gap would be effortlessly eliminated. In this paper, we propose a novel manipulation methodology, dubbed ImageBrush, that learns visual instructions for more accurate image editing. Our key idea is to employ a pair of transformation images as visual instructions, which not only precisely captures human intention but also facilitates accessibility in real-world scenarios. Capturing visual instructions is particularly challenging because it involves extracting the underlying intentions solely from visual demonstrations and then applying this operation to a new image. To address this challenge, we formulate visual instruction learning as a diffusion-based inpainting problem, where the contextual information is fully exploited through an iterative process of generation. A visual prompting encoder is carefully devised to enhance the model's capacity in uncovering human intent behind the visual instructions. Extensive experiments show that our method generates engaging manipulation results conforming to the transformations entailed in demonstrations. Moreover, our model exhibits robust generalization capabilities on various downstream tasks such as pose transfer, image translation and video inpainting.

Multimodal recommendation systems have attracted increasing attention for their improved performance by leveraging items' multimodal information. Prior methods often build modality-specific item-item semantic graphs from raw modality features and use them as supplementary structures alongside the user-item interaction graph to enhance user preference learning. However, these semantic graphs suffer from semantic deficiencies, including (1) insufficient modeling of collaborative signals among items and (2) structural distortions introduced by noise in raw modality features, ultimately compromising performance. To address these issues, we first extract collaborative signals from the interaction graph and infuse them into each modality-specific item semantic graph to enhance semantic modeling. Then, we design a modulus-based personalized embedding perturbation mechanism that injects perturbations with modulus-guided personalized intensity into embeddings to generate contrastive views. This enables the model to learn noise-robust representations through contrastive learning, thereby reducing the effect of structural noise in semantic graphs. Besides, we propose a dual representation alignment mechanism that first aligns multiple semantic representations via a designed Anchor-based InfoNCE loss using behavior representations as anchors, and then aligns behavior representations with the fused semantics by standard InfoNCE, to ensure representation consistency. Extensive experiments on four benchmark datasets validate the effectiveness of our framework.

Human beings possess the capability to multiply a melange of multisensory cues while actively exploring and interacting with the 3D world. Current multi-modal large language models, however, passively absorb sensory data as inputs, lacking the capacity to actively interact with the objects in the 3D environment and dynamically collect their multisensory information. To usher in the study of this area, we propose MultiPLY, a multisensory embodied large language model that could incorporate multisensory interactive data, including visual, audio, tactile, and thermal information into large language models, thereby establishing the correlation among words, actions, and percepts. To this end, we first collect Multisensory Universe, a large-scale multisensory interaction dataset comprising 500k data by deploying an LLM-powered embodied agent to engage with the 3D environment. To perform instruction tuning with pre-trained LLM on such generated data, we first encode the 3D scene as abstracted object-centric representations and then introduce action tokens denoting that the embodied agent takes certain actions within the environment, as well as state tokens that represent the multisensory state observations of the agent at each time step. In the inference time, MultiPLY could generate action tokens, instructing the agent to take the action in the environment and obtain the next multisensory state observation. The observation is then appended back to the LLM via state tokens to generate subsequent text or action tokens. We demonstrate that MultiPLY outperforms baselines by a large margin through a diverse set of embodied tasks involving object retrieval, tool use, multisensory captioning, and task decomposition.

Human communication is inherently multimodal, involving a combination of verbal and non-verbal cues such as speech, facial expressions, and body gestures. Modeling these behaviors is essential for understanding human interaction and for creating virtual characters that can communicate naturally in applications like games, films, and virtual reality. However, existing motion generation models are typically limited to specific input modalities -- either speech, text, or motion data -- and cannot fully leverage the diversity of available data. In this paper, we propose a novel framework that unifies verbal and non-verbal language using multimodal language models for human motion understanding and generation. This model is flexible in taking text, speech, and motion or any combination of them as input. Coupled with our novel pre-training strategy, our model not only achieves state-of-the-art performance on co-speech gesture generation but also requires much less data for training. Our model also unlocks an array of novel tasks such as editable gesture generation and emotion prediction from motion. We believe unifying the verbal and non-verbal language of human motion is essential for real-world applications, and language models offer a powerful approach to achieving this goal. Project page: languageofmotion.github.io.

People employ expressive behaviors to effectively communicate and coordinate their actions with others, such as nodding to acknowledge a person glancing at them or saying "excuse me" to pass people in a busy corridor. We would like robots to also demonstrate expressive behaviors in human-robot interaction. Prior work proposes rule-based methods that struggle to scale to new communication modalities or social situations, while data-driven methods require specialized datasets for each social situation the robot is used in. We propose to leverage the rich social context available from large language models (LLMs) and their ability to generate motion based on instructions or user preferences, to generate expressive robot motion that is adaptable and composable, building upon each other. Our approach utilizes few-shot chain-of-thought prompting to translate human language instructions into parametrized control code using the robot's available and learned skills. Through user studies and simulation experiments, we demonstrate that our approach produces behaviors that users found to be competent and easy to understand. Supplementary material can be found at https://generative-expressive-motion.github.io/.

The intimate entanglement between objects affordances and human poses is of large interest, among others, for behavioural sciences, cognitive psychology, and Computer Vision communities. In recent years, the latter has developed several object-centric approaches: starting from items, learning pipelines synthesizing human poses and dynamics in a realistic way, satisfying both geometrical and functional expectations. However, the inverse perspective is significantly less explored: Can we infer 3D objects and their poses from human interactions alone? Our investigation follows this direction, showing that a generic 3D human point cloud is enough to pop up an unobserved object, even when the user is just imitating a functionality (e.g., looking through a binocular) without involving a tangible counterpart. We validate our method qualitatively and quantitatively, with synthetic data and sequences acquired for the task, showing applicability for XR/VR. The code is available at https://github.com/ptrvilya/object-popup.

Multimodal foundation models that can holistically process text alongside images, video, audio, and other sensory modalities are increasingly used in a variety of real-world applications. However, it is challenging to characterize and study progress in multimodal foundation models, given the range of possible modeling decisions, tasks, and domains. In this paper, we introduce Holistic Evaluation of Multimodal Models (HEMM) to systematically evaluate the capabilities of multimodal foundation models across a set of 3 dimensions: basic skills, information flow, and real-world use cases. Basic multimodal skills are internal abilities required to solve problems, such as learning interactions across modalities, fine-grained alignment, multi-step reasoning, and the ability to handle external knowledge. Information flow studies how multimodal content changes during a task through querying, translation, editing, and fusion. Use cases span domain-specific challenges introduced in real-world multimedia, affective computing, natural sciences, healthcare, and human-computer interaction applications. Through comprehensive experiments across the 30 tasks in HEMM, we (1) identify key dataset dimensions (e.g., basic skills, information flows, and use cases) that pose challenges to today's models, and (2) distill performance trends regarding how different modeling dimensions (e.g., scale, pre-training data, multimodal alignment, pre-training, and instruction tuning objectives) influence performance. Our conclusions regarding challenging multimodal interactions, use cases, and tasks requiring reasoning and external knowledge, the benefits of data and model scale, and the impacts of instruction tuning yield actionable insights for future work in multimodal foundation models.

Recently, the concept of embodied intelligence has been widely accepted and popularized, leading people to naturally consider the potential for commercialization in this field. In this work, we propose a specific commercial scenario simulation, human-centered in-building embodied delivery. Furthermore, for this scenario, we have developed a brand-new virtual environment system from scratch, constructing a multi-level connected building space modeled after a polar research station. This environment also includes autonomous human characters and robots with grasping and mobility capabilities, as well as a large number of interactive items. Based on this environment, we have built a delivery dataset containing 13k language instructions to guide robots in providing services. We simulate human behavior through human characters and sample their various needs in daily life. Finally, we proposed a method centered around a large multimodal model to serve as the baseline system for this dataset. Compared to past embodied data work, our work focuses on a virtual environment centered around human-robot interaction for commercial scenarios. We believe this will bring new perspectives and exploration angles to the embodied community.

The ability to provide fine-grained control for generating and editing visual imagery has profound implications for computer vision and its applications. Previous works have explored extending controllability in two directions: instruction tuning with text-based prompts and multi-modal conditioning. However, these works make one or more unnatural assumptions on the number and/or type of modality inputs used to express controllability. We propose InstructAny2Pix, a flexible multi-modal instruction-following system that enables users to edit an input image using instructions involving audio, images, and text. InstructAny2Pix consists of three building blocks that facilitate this capability: a multi-modal encoder that encodes different modalities such as images and audio into a unified latent space, a diffusion model that learns to decode representations in this latent space into images, and a multi-modal LLM that can understand instructions involving multiple images and audio pieces and generate a conditional embedding of the desired output, which can be used by the diffusion decoder. Additionally, to facilitate training efficiency and improve generation quality, we include an additional refinement prior module that enhances the visual quality of LLM outputs. These designs are critical to the performance of our system. We demonstrate that our system can perform a series of novel instruction-guided editing tasks. The code is available at https://github.com/jacklishufan/InstructAny2Pix.git

The focal point of egocentric video understanding is modelling hand-object interactions. Standard models, e.g. CNNs or Vision Transformers, which receive RGB frames as input perform well. However, their performance improves further by employing additional input modalities that provide complementary cues, such as object detections, optical flow, audio, etc. The added complexity of the modality-specific modules, on the other hand, makes these models impractical for deployment. The goal of this work is to retain the performance of such a multimodal approach, while using only the RGB frames as input at inference time. We demonstrate that for egocentric action recognition on the Epic-Kitchens and the Something-Something datasets, students which are taught by multimodal teachers tend to be more accurate and better calibrated than architecturally equivalent models trained on ground truth labels in a unimodal or multimodal fashion. We further adopt a principled multimodal knowledge distillation framework, allowing us to deal with issues which occur when applying multimodal knowledge distillation in a naive manner. Lastly, we demonstrate the achieved reduction in computational complexity, and show that our approach maintains higher performance with the reduction of the number of input views. We release our code at https://github.com/gorjanradevski/multimodal-distillation.

Systems for multimodal emotion recognition (ER) are commonly trained to extract features from different modalities (e.g., visual, audio, and textual) that are combined to predict individual basic emotions. However, compound emotions often occur in real-world scenarios, and the uncertainty of recognizing such complex emotions over diverse modalities is challenging for feature-based models As an alternative, emerging multimodal large language models (LLMs) like BERT and LLaMA rely on explicit non-verbal cues that may be translated from different non-textual modalities (e.g., audio and visual) into text. Textualization of modalities augments data with emotional cues to help the LLM encode the interconnections between all modalities in a shared text space. In such text-based models, prior knowledge of ER tasks is leveraged to textualize relevant nonverbal cues such as audio tone from vocal expressions, and action unit intensity from facial expressions. Since the pre-trained weights are publicly available for many LLMs, training on large-scale datasets is unnecessary, allowing fine-tuning for downstream tasks such as compound ER (CER). This paper compares the potential of text- and feature-based approaches for compound multimodal ER in videos. Experiments were conducted on the challenging C-EXPR-DB dataset in the wild for CER, and contrasted with results on the MELD dataset for basic ER. Our results indicate that multimodal textualization provides lower accuracy than feature-based models on C-EXPR-DB, where text transcripts are captured in the wild. However, higher accuracy can be achieved when the video data has rich transcripts. Our code is available.

There is increasing interest in the use of multimodal data in various web applications, such as digital advertising and e-commerce. Typical methods for extracting important information from multimodal data rely on a mid-fusion architecture that combines the feature representations from multiple encoders. However, as the number of modalities increases, several potential problems with the mid-fusion model structure arise, such as an increase in the dimensionality of the concatenated multimodal features and missing modalities. To address these problems, we propose a new concept that considers multimodal inputs as a set of sequences, namely, deep multimodal sequence sets (DM^2S^2). Our set-aware concept consists of three components that capture the relationships among multiple modalities: (a) a BERT-based encoder to handle the inter- and intra-order of elements in the sequences, (b) intra-modality residual attention (IntraMRA) to capture the importance of the elements in a modality, and (c) inter-modality residual attention (InterMRA) to enhance the importance of elements with modality-level granularity further. Our concept exhibits performance that is comparable to or better than the previous set-aware models. Furthermore, we demonstrate that the visualization of the learned InterMRA and IntraMRA weights can provide an interpretation of the prediction results.

Embodied agents have achieved prominent performance in following human instructions to complete tasks. However, the potential of providing instructions informed by texts and images to assist humans in completing tasks remains underexplored. To uncover this capability, we present the multimodal procedural planning (MPP) task, in which models are given a high-level goal and generate plans of paired text-image steps, providing more complementary and informative guidance than unimodal plans. The key challenges of MPP are to ensure the informativeness, temporal coherence,and accuracy of plans across modalities. To tackle this, we propose Text-Image Prompting (TIP), a dual-modality prompting method that jointly leverages zero-shot reasoning ability in large language models (LLMs) and compelling text-to-image generation ability from diffusion-based models. TIP improves the interaction in the dual modalities using Text-to-Image Bridge and Image-to-Text Bridge, allowing LLMs to guide the textual-grounded image plan generation and leveraging the descriptions of image plans to ground the textual plan reversely. To address the lack of relevant datasets, we collect WIKIPLAN and RECIPEPLAN as a testbed for MPP. Our results show compelling human preferences and automatic scores against unimodal and multimodal baselines on WIKIPLAN and RECIPEPLAN in terms of informativeness, temporal coherence, and plan accuracy. Our code and data: https://github.com/YujieLu10/MPP.

Diffusion Policy (DP) has attracted significant attention as an effective method for policy representation due to its capacity to model multi-distribution dynamics. However, current DPs are often based on a single visual modality (e.g., RGB or point cloud), limiting their accuracy and generalization potential. Although training a generalized DP capable of handling heterogeneous multimodal data would enhance performance, it entails substantial computational and data-related costs. To address these challenges, we propose a novel policy composition method: by leveraging multiple pre-trained DPs based on individual visual modalities, we can combine their distributional scores to form a more expressive Modality-Composable Diffusion Policy (MCDP), without the need for additional training. Through extensive empirical experiments on the RoboTwin dataset, we demonstrate the potential of MCDP to improve both adaptability and performance. This exploration aims to provide valuable insights into the flexible composition of existing DPs, facilitating the development of generalizable cross-modality, cross-domain, and even cross-embodiment policies. Our code is open-sourced at https://github.com/AndyCao1125/MCDP.

Recent advances in Large Language Models (LLMs) have shown inspiring achievements in constructing autonomous agents that rely on language descriptions as inputs. However, it remains unclear how well LLMs can function as few-shot or zero-shot embodied agents in dynamic interactive environments. To address this gap, we introduce LangSuitE, a versatile and simulation-free testbed featuring 6 representative embodied tasks in textual embodied worlds. Compared with previous LLM-based testbeds, LangSuitE (i) offers adaptability to diverse environments without multiple simulation engines, (ii) evaluates agents' capacity to develop ``internalized world knowledge'' with embodied observations, and (iii) allows easy customization of communication and action strategies. To address the embodiment challenge, we devise a novel chain-of-thought (CoT) schema, EmMem, which summarizes embodied states w.r.t. history information. Comprehensive benchmark results illustrate challenges and insights of embodied planning. LangSuitE represents a significant step toward building embodied generalists in the context of language models.

Multimodal large language models (MLLMs) recently showed strong capacity in integrating data among multiple modalities, empowered by a generalizable attention architecture. Advanced methods predominantly focus on language-centric tuning while less exploring multimodal tokens mixed through attention, posing challenges in high-level tasks that require fine-grained cognition and emotion understanding. In this work, we identify the attention deficit disorder problem in multimodal learning, caused by inconsistent cross-modal attention and layer-by-layer decayed attention activation. To address this, we propose a novel attention mechanism, termed MOdular Duplex Attention (MODA), simultaneously conducting the inner-modal refinement and inter-modal interaction. MODA employs a correct-after-align strategy to effectively decouple modality alignment from cross-layer token mixing. In the alignment phase, tokens are mapped to duplex modality spaces based on the basis vectors, enabling the interaction between visual and language modality. Further, the correctness of attention scores is ensured through adaptive masked attention, which enhances the model's flexibility by allowing customizable masking patterns for different modalities. Extensive experiments on 21 benchmark datasets verify the effectiveness of MODA in perception, cognition, and emotion tasks. Source code and demo are available in https://zzcheng.top/MODA.

Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch, and audio -- to fill in gaps from partial observation. For example, when vision is occluded reaching into a bag, a robot should rely on its senses of touch and sound. However, state-of-the-art generalist robot policies are typically trained on large datasets to predict robot actions solely from visual and proprioceptive observations. In this work, we propose FuSe, a novel approach that enables finetuning visuomotor generalist policies on heterogeneous sensor modalities for which large datasets are not readily available by leveraging natural language as a common cross-modal grounding. We combine a multimodal contrastive loss with a sensory-grounded language generation loss to encode high-level semantics. In the context of robot manipulation, we show that FuSe enables performing challenging tasks that require reasoning jointly over modalities such as vision, touch, and sound in a zero-shot setting, such as multimodal prompting, compositional cross-modal prompting, and descriptions of objects it interacts with. We show that the same recipe is applicable to widely different generalist policies, including both diffusion-based generalist policies and large vision-language-action (VLA) models. Extensive experiments in the real world show that FuSeis able to increase success rates by over 20% compared to all considered baselines.

Multimodal fusion integrates the complementary information present in multiple modalities and has gained much attention recently. Most existing fusion approaches either learn a fixed fusion strategy during training and inference, or are only capable of fusing the information to a certain extent. Such solutions may fail to fully capture the dynamics of interactions across modalities especially when there are complex intra- and inter-modality correlations to be considered for informative multimodal fusion. In this paper, we propose a novel deep equilibrium (DEQ) method towards multimodal fusion via seeking a fixed point of the dynamic multimodal fusion process and modeling the feature correlations in an adaptive and recursive manner. This new way encodes the rich information within and across modalities thoroughly from low level to high level for efficacious downstream multimodal learning and is readily pluggable to various multimodal frameworks. Extensive experiments on BRCA, MM-IMDB, CMU-MOSI, SUN RGB-D, and VQA-v2 demonstrate the superiority of our DEQ fusion. More remarkably, DEQ fusion consistently achieves state-of-the-art performance on multiple multimodal benchmarks. The code will be released.

Multimodal models have gained significant success in recent years. Standard multimodal approaches often assume unchanged modalities from training stage to inference stage. In practice, however, many scenarios fail to satisfy such assumptions with missing modalities during inference, leading to limitations on where multimodal models can be applied. While existing methods mitigate the problem through reconstructing the missing modalities, it increases unnecessary computational cost, which could be just as critical, especially for large, deployed systems. To solve the problem from both sides, we propose a novel guidance network that promotes knowledge sharing during training, taking advantage of the multimodal representations to train better single-modality models for inference. Real-life experiment in violence detection shows that our proposed framework trains single-modality models that significantly outperform its traditionally trained counterparts while maintaining the same inference cost.

In this work, we tackle the challenge of enhancing the realism and expressiveness in talking head video generation by focusing on the dynamic and nuanced relationship between audio cues and facial movements. We identify the limitations of traditional techniques that often fail to capture the full spectrum of human expressions and the uniqueness of individual facial styles. To address these issues, we propose EMO, a novel framework that utilizes a direct audio-to-video synthesis approach, bypassing the need for intermediate 3D models or facial landmarks. Our method ensures seamless frame transitions and consistent identity preservation throughout the video, resulting in highly expressive and lifelike animations. Experimental results demonsrate that EMO is able to produce not only convincing speaking videos but also singing videos in various styles, significantly outperforming existing state-of-the-art methodologies in terms of expressiveness and realism.

We address the problem of generating diverse 3D human motions from textual descriptions. This challenging task requires joint modeling of both modalities: understanding and extracting useful human-centric information from the text, and then generating plausible and realistic sequences of human poses. In contrast to most previous work which focuses on generating a single, deterministic, motion from a textual description, we design a variational approach that can produce multiple diverse human motions. We propose TEMOS, a text-conditioned generative model leveraging variational autoencoder (VAE) training with human motion data, in combination with a text encoder that produces distribution parameters compatible with the VAE latent space. We show the TEMOS framework can produce both skeleton-based animations as in prior work, as well more expressive SMPL body motions. We evaluate our approach on the KIT Motion-Language benchmark and, despite being relatively straightforward, demonstrate significant improvements over the state of the art. Code and models are available on our webpage.

Weakly-supervised methods for video anomaly detection (VAD) are conventionally based merely on RGB spatio-temporal features, which continues to limit their reliability in real-world scenarios. This is due to the fact that RGB-features are not sufficiently distinctive in setting apart categories such as shoplifting from visually similar events. Therefore, towards robust complex real-world VAD, it is essential to augment RGB spatio-temporal features by additional modalities. Motivated by this, we introduce the Poly-modal Induced framework for VAD: "PI-VAD", a novel approach that augments RGB representations by five additional modalities. Specifically, the modalities include sensitivity to fine-grained motion (Pose), three dimensional scene and entity representation (Depth), surrounding objects (Panoptic masks), global motion (optical flow), as well as language cues (VLM). Each modality represents an axis of a polygon, streamlined to add salient cues to RGB. PI-VAD includes two plug-in modules, namely Pseudo-modality Generation module and Cross Modal Induction module, which generate modality-specific prototypical representation and, thereby, induce multi-modal information into RGB cues. These modules operate by performing anomaly-aware auxiliary tasks and necessitate five modality backbones -- only during training. Notably, PI-VAD achieves state-of-the-art accuracy on three prominent VAD datasets encompassing real-world scenarios, without requiring the computational overhead of five modality backbones at inference.

Multimodal sentiment analysis (MSA) and emotion recognition in conversation (ERC) are key research topics for computers to understand human behaviors. From a psychological perspective, emotions are the expression of affect or feelings during a short period, while sentiments are formed and held for a longer period. However, most existing works study sentiment and emotion separately and do not fully exploit the complementary knowledge behind the two. In this paper, we propose a multimodal sentiment knowledge-sharing framework (UniMSE) that unifies MSA and ERC tasks from features, labels, and models. We perform modality fusion at the syntactic and semantic levels and introduce contrastive learning between modalities and samples to better capture the difference and consistency between sentiments and emotions. Experiments on four public benchmark datasets, MOSI, MOSEI, MELD, and IEMOCAP, demonstrate the effectiveness of the proposed method and achieve consistent improvements compared with state-of-the-art methods.

Multimodal large language models (MLLMs) have achieved remarkable performance on complex tasks with multimodal context. However, it is still understudied whether they exhibit modality preference when processing multimodal contexts. To study this question, we first build a MC\textsuperscript{2} benchmark under controlled evidence conflict scenarios to systematically evaluate modality preference, which is the tendency to favor one modality over another when making decisions based on multimodal conflicting evidence. Our extensive evaluation reveals that all 18 tested MLLMs generally demonstrate clear modality bias, and modality preference can be influenced by external interventions. An in-depth analysis reveals that the preference direction can be captured within the latent representations of MLLMs. Built on this, we propose a probing and steering method based on representation engineering to explicitly control modality preference without additional fine-tuning or carefully crafted prompts. Our method effectively amplifies modality preference toward a desired direction and applies to downstream tasks such as hallucination mitigation and multimodal machine translation, yielding promising improvements.

Integrating and processing information from various sources or modalities are critical for obtaining a comprehensive and accurate perception of the real world in autonomous systems and cyber-physical systems. Drawing inspiration from neuroscience, we develop the Information-Theoretic Hierarchical Perception (ITHP) model, which utilizes the concept of information bottleneck. Different from most traditional fusion models that incorporate all modalities identically in neural networks, our model designates a prime modality and regards the remaining modalities as detectors in the information pathway, serving to distill the flow of information. Our proposed perception model focuses on constructing an effective and compact information flow by achieving a balance between the minimization of mutual information between the latent state and the input modal state, and the maximization of mutual information between the latent states and the remaining modal states. This approach leads to compact latent state representations that retain relevant information while minimizing redundancy, thereby substantially enhancing the performance of multimodal representation learning. Experimental evaluations on the MUStARD, CMU-MOSI, and CMU-MOSEI datasets demonstrate that our model consistently distills crucial information in multimodal learning scenarios, outperforming state-of-the-art benchmarks. Remarkably, on the CMU-MOSI dataset, ITHP surpasses human-level performance in the multimodal sentiment binary classification task across all evaluation metrics (i.e., Binary Accuracy, F1 Score, Mean Absolute Error, and Pearson Correlation).

Recent work on human animation usually incorporates large-scale video models, thereby achieving more vivid performance. However, the practical use of such methods is hindered by the slow inference speed and high computational demands. Moreover, traditional work typically employs separate models for each animation task, increasing costs in multi-task scenarios and worsening the dilemma. To address these limitations, we introduce EchoMimicV3, an efficient framework that unifies multi-task and multi-modal human animation. At the core of EchoMimicV3 lies a threefold design: a Soup-of-Tasks paradigm, a Soup-of-Modals paradigm, and a novel training and inference strategy. The Soup-of-Tasks leverages multi-task mask inputs and a counter-intuitive task allocation strategy to achieve multi-task gains without multi-model pains. Meanwhile, the Soup-of-Modals introduces a Coupled-Decoupled Multi-Modal Cross Attention module to inject multi-modal conditions, complemented by a Multi-Modal Timestep Phase-aware Dynamical Allocation mechanism to modulate multi-modal mixtures. Besides, we propose Negative Direct Preference Optimization, Phase-aware Negative Classifier-Free Guidance (CFG), and Long Video CFG, which ensure stable training and inference. Extensive experiments and analyses demonstrate that EchoMimicV3, with a minimal model size of 1.3 billion parameters, achieves competitive performance in both quantitative and qualitative evaluations. We are committed to open-sourcing our code for community use.

As chatbots continue to evolve toward human-like, real-world, interactions, multimodality remains an active area of research and exploration. So far, efforts to integrate multimodality into chatbots have primarily focused on image-centric tasks, such as visual dialogue and image-based instructions, placing emphasis on the "eyes" of human perception while neglecting the "ears", namely auditory aspects. Moreover, these studies often center around static interactions that focus on discussing the modality rather than naturally incorporating it into the conversation, which limits the richness of simultaneous, dynamic engagement. Furthermore, while multimodality has been explored in multi-party and multi-session conversations, task-specific constraints have hindered its seamless integration into dynamic, natural conversations. To address these challenges, this study aims to equip chatbots with "eyes and ears" capable of more immersive interactions with humans. As part of this effort, we introduce a new multimodal conversation dataset, Multimodal Multi-Session Multi-Party Conversation (M^3C), and propose a novel multimodal conversation model featuring multimodal memory retrieval. Our model, trained on the M^3C, demonstrates the ability to seamlessly engage in long-term conversations with multiple speakers in complex, real-world-like settings, effectively processing visual and auditory inputs to understand and respond appropriately. Human evaluations highlight the model's strong performance in maintaining coherent and dynamic interactions, demonstrating its potential for advanced multimodal conversational agents.

Quantification of real-time informal feedback delivered by an experienced surgeon to a trainee during surgery is important for skill improvements in surgical training. Such feedback in the live operating room is inherently multimodal, consisting of verbal conversations (e.g., questions and answers) as well as non-verbal elements (e.g., through visual cues like pointing to anatomic elements). In this work, we leverage a clinically-validated five-category classification of surgical feedback: "Anatomic", "Technical", "Procedural", "Praise" and "Visual Aid". We then develop a multi-label machine learning model to classify these five categories of surgical feedback from inputs of text, audio, and video modalities. The ultimate goal of our work is to help automate the annotation of real-time contextual surgical feedback at scale. Our automated classification of surgical feedback achieves AUCs ranging from 71.5 to 77.6 with the fusion improving performance by 3.1%. We also show that high-quality manual transcriptions of feedback audio from experts improve AUCs to between 76.5 and 96.2, which demonstrates a clear path toward future improvements. Empirically, we find that the Staged training strategy, with first pre-training each modality separately and then training them jointly, is more effective than training different modalities altogether. We also present intuitive findings on the importance of modalities for different feedback categories. This work offers an important first look at the feasibility of automated classification of real-world live surgical feedback based on text, audio, and video modalities.

Large language models excel at a wide range of complex tasks. However, enabling general inference in the real world, e.g., for robotics problems, raises the challenge of grounding. We propose embodied language models to directly incorporate real-world continuous sensor modalities into language models and thereby establish the link between words and percepts. Input to our embodied language model are multi-modal sentences that interleave visual, continuous state estimation, and textual input encodings. We train these encodings end-to-end, in conjunction with a pre-trained large language model, for multiple embodied tasks including sequential robotic manipulation planning, visual question answering, and captioning. Our evaluations show that PaLM-E, a single large embodied multimodal model, can address a variety of embodied reasoning tasks, from a variety of observation modalities, on multiple embodiments, and further, exhibits positive transfer: the model benefits from diverse joint training across internet-scale language, vision, and visual-language domains. Our largest model, PaLM-E-562B with 562B parameters, in addition to being trained on robotics tasks, is a visual-language generalist with state-of-the-art performance on OK-VQA, and retains generalist language capabilities with increasing scale.

We propose Embodied AI as the next fundamental step in the pursuit of Artificial General Intelligence, juxtaposing it against current AI advancements, particularly Large Language Models. We traverse the evolution of the embodiment concept across diverse fields - philosophy, psychology, neuroscience, and robotics - to highlight how EAI distinguishes itself from the classical paradigm of static learning. By broadening the scope of Embodied AI, we introduce a theoretical framework based on cognitive architectures, emphasizing perception, action, memory, and learning as essential components of an embodied agent. This framework is aligned with Friston's active inference principle, offering a comprehensive approach to EAI development. Despite the progress made in the field of AI, substantial challenges, such as the formulation of a novel AI learning theory and the innovation of advanced hardware, persist. Our discussion lays down a foundational guideline for future Embodied AI research. Highlighting the importance of creating Embodied AI agents capable of seamless communication, collaboration, and coexistence with humans and other intelligent entities within real-world environments, we aim to steer the AI community towards addressing the multifaceted challenges and seizing the opportunities that lie ahead in the quest for AGI.

Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in optimization efficiency due to the (i) combinatorial nature of morphological search spaces and (ii) intricate dependencies between morphology and control. We prove that the ineffective morphology representation and unbalanced reward signals between the design and control stages are key obstacles to efficiency. To advance towards efficient embodiment co-design, we propose BodyGen, which utilizes (1) topology-aware self-attention for both design and control, enabling efficient morphology representation with lightweight model sizes; (2) a temporal credit assignment mechanism that ensures balanced reward signals for optimization. With our findings, Body achieves an average 60.03% performance improvement against state-of-the-art baselines. We provide codes and more results on the website: https://genesisorigin.github.io.

Audio-driven portrait animation aims to synthesize portrait videos that are conditioned by given audio. Animating high-fidelity and multimodal video portraits has a variety of applications. Previous methods have attempted to capture different motion modes and generate high-fidelity portrait videos by training different models or sampling signals from given videos. However, lacking correlation learning between lip-sync and other movements (e.g., head pose/eye blinking) usually leads to unnatural results. In this paper, we propose a unified system for multi-person, diverse, and high-fidelity talking portrait generation. Our method contains three stages, i.e., 1) Mapping-Once network with Dual Attentions (MODA) generates talking representation from given audio. In MODA, we design a dual-attention module to encode accurate mouth movements and diverse modalities. 2) Facial composer network generates dense and detailed face landmarks, and 3) temporal-guided renderer syntheses stable videos. Extensive evaluations demonstrate that the proposed system produces more natural and realistic video portraits compared to previous methods.

Contrastive learning methods, such as CLIP, leverage naturally paired data-for example, images and their corresponding text captions-to learn general representations that transfer efficiently to downstream tasks. While such approaches are generally applied to two modalities, domains such as robotics, healthcare, and video need to support many types of data at once. We show that the pairwise application of CLIP fails to capture joint information between modalities, thereby limiting the quality of the learned representations. To address this issue, we present Symile, a simple contrastive learning approach that captures higher-order information between any number of modalities. Symile provides a flexible, architecture-agnostic objective for learning modality-specific representations. To develop Symile's objective, we derive a lower bound on total correlation, and show that Symile representations for any set of modalities form a sufficient statistic for predicting the remaining modalities. Symile outperforms pairwise CLIP, even with modalities missing in the data, on cross-modal classification and retrieval across several experiments including on an original multilingual dataset of 33M image, text and audio samples and a clinical dataset of chest X-rays, electrocardiograms, and laboratory measurements. All datasets and code used in this work are publicly available at https://github.com/rajesh-lab/symile.

Modality is the linguistic ability to describe events with added information such as how desirable, plausible, or feasible they are. Modality is important for many NLP downstream tasks such as the detection of hedging, uncertainty, speculation, and more. Previous studies that address modality detection in NLP often restrict modal expressions to a closed syntactic class, and the modal sense labels are vastly different across different studies, lacking an accepted standard. Furthermore, these senses are often analyzed independently of the events that they modify. This work builds on the theoretical foundations of the Georgetown Gradable Modal Expressions (GME) work by Rubinstein et al. (2013) to propose an event-based modality detection task where modal expressions can be words of any syntactic class and sense labels are drawn from a comprehensive taxonomy which harmonizes the modal concepts contributed by the different studies. We present experiments on the GME corpus aiming to detect and classify fine-grained modal concepts and associate them with their modified events. We show that detecting and classifying modal expressions is not only feasible, but also improves the detection of modal events in their own right.

Embodied intelligence integrates multiple modalities, enabling agents to understand images, language, and actions simultaneously. However, existing models always depend on additional datasets or extensive pre-training to maximize performance improvements, consuming abundant training time and expensive hardware cost. To tackle this issue, we present RoboBERT, a novel end-to-end robotic manipulation model integrated with a unique training strategy. This model utilizes a CNN-based diffusion policy, enhancing and stabilizing the effectiveness of this model by separating training processes for different modalities. It also underscores the importance of data augmentation, verifying various techniques to significantly boost performance. Unlike models that depend on extra data or large foundation models, RoboBERT achieves a highly competitive success rate while using only language-labeled expert demonstrations and maintaining a relatively smaller model size. Specifically, RoboBERT achieves an average length of 4.52 on the CALVIN benchmark for \(ABCD \rightarrow D\) task, setting a new state-of-the-art (SOTA) record. Furthermore, when tested on a real robot, the model demonstrates superior performance, achieving a higher success rate than other methods trained with the same data. We propose that these concepts and methodologies of RoboBERT demonstrate extensive versatility and compatibility, contributing significantly to the development of lightweight multimodal robotic models. The code can be accessed on https://github.com/PeterWangsicheng/RoboBERT

Understanding human behavior traits is central to applications in human-computer interaction, computational social science, and personalized AI systems. Such understanding often requires integrating multiple modalities to capture nuanced patterns and relationships. However, existing resources rarely provide datasets that combine behavioral descriptors with complementary modalities such as facial attributes and biographical information. To address this gap, we present PersonaX, a curated collection of multimodal datasets designed to enable comprehensive analysis of public traits across modalities. PersonaX consists of (1) CelebPersona, featuring 9444 public figures from diverse occupations, and (2) AthlePersona, covering 4181 professional athletes across 7 major sports leagues. Each dataset includes behavioral trait assessments inferred by three high-performing large language models, alongside facial imagery and structured biographical features. We analyze PersonaX at two complementary levels. First, we abstract high-level trait scores from text descriptions and apply five statistical independence tests to examine their relationships with other modalities. Second, we introduce a novel causal representation learning (CRL) framework tailored to multimodal and multi-measurement data, providing theoretical identifiability guarantees. Experiments on both synthetic and real-world data demonstrate the effectiveness of our approach. By unifying structured and unstructured analysis, PersonaX establishes a foundation for studying LLM-inferred behavioral traits in conjunction with visual and biographical attributes, advancing multimodal trait analysis and causal reasoning.

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and finally hampering the model performance. To address this limitation, in this work, we introduce a novel modality interaction strategy that allows individual per-modality representations to be learned and maintained throughout, enabling their unique characteristics to be exploited during the whole perception pipeline. To demonstrate the effectiveness of the proposed strategy, we design DeepInteraction++, a multi-modal interaction framework characterized by a multi-modal representational interaction encoder and a multi-modal predictive interaction decoder. Specifically, the encoder is implemented as a dual-stream Transformer with specialized attention operation for information exchange and integration between separate modality-specific representations. Our multi-modal representational learning incorporates both object-centric, precise sampling-based feature alignment and global dense information spreading, essential for the more challenging planning task. The decoder is designed to iteratively refine the predictions by alternately aggregating information from separate representations in a unified modality-agnostic manner, realizing multi-modal predictive interaction. Extensive experiments demonstrate the superior performance of the proposed framework on both 3D object detection and end-to-end autonomous driving tasks. Our code is available at https://github.com/fudan-zvg/DeepInteraction.

Emotion recognition is involved in several real-world applications. With an increase in available modalities, automatic understanding of emotions is being performed more accurately. The success in Multimodal Emotion Recognition (MER), primarily relies on the supervised learning paradigm. However, data annotation is expensive, time-consuming, and as emotion expression and perception depends on several factors (e.g., age, gender, culture) obtaining labels with a high reliability is hard. Motivated by these, we focus on unsupervised feature learning for MER. We consider discrete emotions, and as modalities text, audio and vision are used. Our method, as being based on contrastive loss between pairwise modalities, is the first attempt in MER literature. Our end-to-end feature learning approach has several differences (and advantages) compared to existing MER methods: i) it is unsupervised, so the learning is lack of data labelling cost; ii) it does not require data spatial augmentation, modality alignment, large number of batch size or epochs; iii) it applies data fusion only at inference; and iv) it does not require backbones pre-trained on emotion recognition task. The experiments on benchmark datasets show that our method outperforms several baseline approaches and unsupervised learning methods applied in MER. Particularly, it even surpasses a few supervised MER state-of-the-art.

Understanding how the brain represents visual information is a fundamental challenge in neuroscience and artificial intelligence. While AI-driven decoding of neural data has provided insights into the human visual system, integrating multimodal neuroimaging signals, such as EEG, MEG, and fMRI, remains a critical hurdle due to their inherent spatiotemporal misalignment. Current approaches often analyze these modalities in isolation, limiting a holistic view of neural representation. In this study, we introduce BrainFLORA, a unified framework for integrating cross-modal neuroimaging data to construct a shared neural representation. Our approach leverages multimodal large language models (MLLMs) augmented with modality-specific adapters and task decoders, achieving state-of-the-art performance in joint-subject visual retrieval task and has the potential to extend multitasking. Combining neuroimaging analysis methods, we further reveal how visual concept representations align across neural modalities and with real world object perception. We demonstrate that the brain's structured visual concept representations exhibit an implicit mapping to physical-world stimuli, bridging neuroscience and machine learning from different modalities of neural imaging. Beyond methodological advancements, BrainFLORA offers novel implications for cognitive neuroscience and brain-computer interfaces (BCIs). Our code is available at https://github.com/ncclab-sustech/BrainFLORA.

With the surge in the development of large language models, embodied intelligence has attracted increasing attention. Nevertheless, prior works on embodied intelligence typically encode scene or historical memory in an unimodal manner, either visual or linguistic, which complicates the alignment of the model's action planning with embodied control. To overcome this limitation, we introduce the Multimodal Embodied Interactive Agent (MEIA), capable of translating high-level tasks expressed in natural language into a sequence of executable actions. Specifically, we propose a novel Multimodal Environment Memory (MEM) module, facilitating the integration of embodied control with large models through the visual-language memory of scenes. This capability enables MEIA to generate executable action plans based on diverse requirements and the robot's capabilities. We conduct experiments in a dynamic virtual cafe environment, utilizing multiple large models through zero-shot learning, and carefully design scenarios for various situations. The experimental results showcase the promising performance of our MEIA in various embodied interactive tasks.

Traditional multimodal learners find unified representations for tasks like visual question answering, but rely heavily on paired datasets. However, an overlooked yet potentially powerful question is: can one leverage auxiliary unpaired multimodal data to directly enhance representation learning in a target modality? We introduce UML: Unpaired Multimodal Learner, a modality-agnostic training paradigm in which a single model alternately processes inputs from different modalities while sharing parameters across them. This design exploits the assumption that different modalities are projections of a shared underlying reality, allowing the model to benefit from cross-modal structure without requiring explicit pairs. Theoretically, under linear data-generating assumptions, we show that unpaired auxiliary data can yield representations strictly more informative about the data-generating process than unimodal training. Empirically, we show that using unpaired data from auxiliary modalities -- such as text, audio, or images -- consistently improves downstream performance across diverse unimodal targets such as image and audio. Our project page: https://unpaired-multimodal.github.io/

Full-blown AI-generated video generation continues its journey through the uncanny valley to produce content that is perceptually indistinguishable from reality. Intermixed with many exciting and creative applications are malicious applications that harm individuals, organizations, and democracies. We describe an effective and robust technique for distinguishing real from AI-generated human motion. This technique leverages a multi-modal semantic embedding, making it robust to the types of laundering that typically confound more low- to mid-level approaches. This method is evaluated against a custom-built dataset of video clips with human actions generated by seven text-to-video AI models and matching real footage.

Controlling human motion based on text presents an important challenge in computer vision. Traditional approaches often rely on holistic action descriptions for motion synthesis, which struggle to capture subtle movements of local body parts. This limitation restricts the ability to isolate and manipulate specific movements. To address this, we propose a novel motion representation that decomposes motion into distinct body joint group movements and interactions from a kinematic perspective. We design an automatic dataset collection pipeline that enhances the existing text-motion benchmark by incorporating fine-grained local joint-group motion and interaction descriptions. To bridge the gap between text and motion domains, we introduce a hierarchical motion semantics approach that progressively fuses joint-level interaction information into the global action-level semantics for modality alignment. With this hierarchy, we introduce a coarse-to-fine motion synthesis procedure for various generation and editing downstream applications. Our quantitative and qualitative experiments demonstrate that the proposed formulation enhances text-motion retrieval by improving joint-spatial understanding, and enables more precise joint-motion generation and control. Project Page: {\smallhttps://andypinxinliu.github.io/KinMo/}

Recently, the newly emerged multimodal models, which leverage both visual and linguistic modalities to train powerful encoders, have gained increasing attention. However, learning from a large-scale unlabeled dataset also exposes the model to the risk of potential poisoning attacks, whereby the adversary aims to perturb the model's training data to trigger malicious behaviors in it. In contrast to previous work, only poisoning visual modality, in this work, we take the first step to studying poisoning attacks against multimodal models in both visual and linguistic modalities. Specially, we focus on answering two questions: (1) Is the linguistic modality also vulnerable to poisoning attacks? and (2) Which modality is most vulnerable? To answer the two questions, we propose three types of poisoning attacks against multimodal models. Extensive evaluations on different datasets and model architectures show that all three attacks can achieve significant attack performance while maintaining model utility in both visual and linguistic modalities. Furthermore, we observe that the poisoning effect differs between different modalities. To mitigate the attacks, we propose both pre-training and post-training defenses. We empirically show that both defenses can significantly reduce the attack performance while preserving the model's utility.

Image Schemas are repetitive cognitive patterns that influence the way we conceptualize and reason about various concepts present in speech. These patterns are deeply embedded within our cognitive processes and are reflected in our bodily expressions including gestures. Particularly, metaphoric gestures possess essential characteristics and semantic meanings that align with Image Schemas, to visually represent abstract concepts. The shape and form of gestures can convey abstract concepts, such as extending the forearm and hand or tracing a line with hand movements to visually represent the image schema of PATH. Previous behavior generation models have primarily focused on utilizing speech (acoustic features and text) to drive the generation model of virtual agents. They have not considered key semantic information as those carried by Image Schemas to effectively generate metaphoric gestures. To address this limitation, we introduce META4, a deep learning approach that generates metaphoric gestures from both speech and Image Schemas. Our approach has two primary goals: computing Image Schemas from input text to capture the underlying semantic and metaphorical meaning, and generating metaphoric gestures driven by speech and the computed image schemas. Our approach is the first method for generating speech driven metaphoric gestures while leveraging the potential of Image Schemas. We demonstrate the effectiveness of our approach and highlight the importance of both speech and image schemas in modeling metaphoric gestures.

Recent progress in 3D object generation has been fueled by the strong priors offered by diffusion models. However, existing models are tailored to specific tasks, accommodating only one modality at a time and necessitating retraining to change modalities. Given an image-to-3D model and a text prompt, a naive approach is to convert text prompts to images and then use the image-to-3D model for generation. This approach is both time-consuming and labor-intensive, resulting in unavoidable information loss during modality conversion. To address this, we introduce XBind, a unified framework for any-to-3D generation using cross-modal pre-alignment techniques. XBind integrates an multimodal-aligned encoder with pre-trained diffusion models to generate 3D objects from any modalities, including text, images, and audio. We subsequently present a novel loss function, termed Modality Similarity (MS) Loss, which aligns the embeddings of the modality prompts and the rendered images, facilitating improved alignment of the 3D objects with multiple modalities. Additionally, Hybrid Diffusion Supervision combined with a Three-Phase Optimization process improves the quality of the generated 3D objects. Extensive experiments showcase XBind's broad generation capabilities in any-to-3D scenarios. To our knowledge, this is the first method to generate 3D objects from any modality prompts. Project page: https://zeroooooooow1440.github.io/.

The Alexa Prize program has empowered numerous university students to explore, experiment, and showcase their talents in building conversational agents through challenges like the SocialBot Grand Challenge and the TaskBot Challenge. As conversational agents increasingly appear in multimodal and embodied contexts, it is important to explore the affordances of conversational interaction augmented with computer vision and physical embodiment. This paper describes the SimBot Challenge, a new challenge in which university teams compete to build robot assistants that complete tasks in a simulated physical environment. This paper provides an overview of the SimBot Challenge, which included both online and offline challenge phases. We describe the infrastructure and support provided to the teams including Alexa Arena, the simulated environment, and the ML toolkit provided to teams to accelerate their building of vision and language models. We summarize the approaches the participating teams took to overcome research challenges and extract key lessons learned. Finally, we provide analysis of the performance of the competing SimBots during the competition.

Co-speech gestures play a vital role in non-verbal communication. In this paper, we introduce a new framework for co-speech gesture understanding in the wild. Specifically, we propose three new tasks and benchmarks to evaluate a model's capability to comprehend gesture-text-speech associations: (i) gesture-based retrieval, (ii) gestured word spotting, and (iii) active speaker detection using gestures. We present a new approach that learns a tri-modal speech-text-video-gesture representation to solve these tasks. By leveraging a combination of global phrase contrastive loss and local gesture-word coupling loss, we demonstrate that a strong gesture representation can be learned in a weakly supervised manner from videos in the wild. Our learned representations outperform previous methods, including large vision-language models (VLMs), across all three tasks. Further analysis reveals that speech and text modalities capture distinct gesture-related signals, underscoring the advantages of learning a shared tri-modal embedding space. The dataset, model, and code are available at: https://www.robots.ox.ac.uk/~vgg/research/jegal

Manipulating objects to achieve desired goal states is a basic but important skill for dexterous manipulation. Human hand motions demonstrate proficient manipulation capability, providing valuable data for training robots with multi-finger hands. Despite this potential, substantial challenges arise due to the embodiment gap between human and robot hands. In this work, we introduce a hierarchical policy learning framework that uses human hand motion data for training object-centric dexterous robot manipulation. At the core of our method is a high-level trajectory generative model, learned with a large-scale human hand motion capture dataset, to synthesize human-like wrist motions conditioned on the desired object goal states. Guided by the generated wrist motions, deep reinforcement learning is further used to train a low-level finger controller that is grounded in the robot's embodiment to physically interact with the object to achieve the goal. Through extensive evaluation across 10 household objects, our approach not only demonstrates superior performance but also showcases generalization capability to novel object geometries and goal states. Furthermore, we transfer the learned policies from simulation to a real-world bimanual dexterous robot system, further demonstrating its applicability in real-world scenarios. Project website: https://cypypccpy.github.io/obj-dex.github.io/.

This work addresses the problem of generating 3D holistic body motions from human speech. Given a speech recording, we synthesize sequences of 3D body poses, hand gestures, and facial expressions that are realistic and diverse. To achieve this, we first build a high-quality dataset of 3D holistic body meshes with synchronous speech. We then define a novel speech-to-motion generation framework in which the face, body, and hands are modeled separately. The separated modeling stems from the fact that face articulation strongly correlates with human speech, while body poses and hand gestures are less correlated. Specifically, we employ an autoencoder for face motions, and a compositional vector-quantized variational autoencoder (VQ-VAE) for the body and hand motions. The compositional VQ-VAE is key to generating diverse results. Additionally, we propose a cross-conditional autoregressive model that generates body poses and hand gestures, leading to coherent and realistic motions. Extensive experiments and user studies demonstrate that our proposed approach achieves state-of-the-art performance both qualitatively and quantitatively. Our novel dataset and code will be released for research purposes at https://talkshow.is.tue.mpg.de.

We introduce Kosmos-2, a Multimodal Large Language Model (MLLM), enabling new capabilities of perceiving object descriptions (e.g., bounding boxes) and grounding text to the visual world. Specifically, we represent refer expressions as links in Markdown, i.e., ``[text span](bounding boxes)'', where object descriptions are sequences of location tokens. Together with multimodal corpora, we construct large-scale data of grounded image-text pairs (called GrIT) to train the model. In addition to the existing capabilities of MLLMs (e.g., perceiving general modalities, following instructions, and performing in-context learning), Kosmos-2 integrates the grounding capability into downstream applications. We evaluate Kosmos-2 on a wide range of tasks, including (i) multimodal grounding, such as referring expression comprehension, and phrase grounding, (ii) multimodal referring, such as referring expression generation, (iii) perception-language tasks, and (iv) language understanding and generation. This work lays out the foundation for the development of Embodiment AI and sheds light on the big convergence of language, multimodal perception, action, and world modeling, which is a key step toward artificial general intelligence. Data, demo, and pretrained models are available at https://aka.ms/kosmos-2.

The human ability to seamlessly perform multimodal reasoning and physical interaction in the open world is a core goal for general-purpose embodied intelligent systems. Recent vision-language-action (VLA) models, which are co-trained on large-scale robot and visual-text data, have demonstrated notable progress in general robot control. However, they still fail to achieve human-level flexibility in interleaved reasoning and interaction. In this work, introduce EO-Robotics, consists of EO-1 model and EO-Data1.5M dataset. EO-1 is a unified embodied foundation model that achieves superior performance in multimodal embodied reasoning and robot control through interleaved vision-text-action pre-training. The development of EO-1 is based on two key pillars: (i) a unified architecture that processes multimodal inputs indiscriminately (image, text, video, and action), and (ii) a massive, high-quality multimodal embodied reasoning dataset, EO-Data1.5M, which contains over 1.5 million samples with emphasis on interleaved vision-text-action comprehension. EO-1 is trained through synergies between auto-regressive decoding and flow matching denoising on EO-Data1.5M, enabling seamless robot action generation and multimodal embodied reasoning. Extensive experiments demonstrate the effectiveness of interleaved vision-text-action learning for open-world understanding and generalization, validated through a variety of long-horizon, dexterous manipulation tasks across multiple embodiments. This paper details the architecture of EO-1, the data construction strategy of EO-Data1.5M, and the training methodology, offering valuable insights for developing advanced embodied foundation models.

Understanding multimodal perception for embodied AI is an open question because such inputs may contain highly complementary as well as redundant information for the task. A relevant direction for multimodal policies is understanding the global trends of each modality at the fusion layer. To this end, we disentangle the attributions for visual, language, and previous action inputs across different policies trained on the ALFRED dataset. Attribution analysis can be utilized to rank and group the failure scenarios, investigate modeling and dataset biases, and critically analyze multimodal EAI policies for robustness and user trust before deployment. We present MAEA, a framework to compute global attributions per modality of any differentiable policy. In addition, we show how attributions enable lower-level behavior analysis in EAI policies for language and visual attributions.

Large multimodal models have demonstrated impressive problem-solving abilities in vision and language tasks, and have the potential to encode extensive world knowledge. However, it remains an open challenge for these models to perceive, reason, plan, and act in realistic environments. In this work, we introduce Can-Do, a benchmark dataset designed to evaluate embodied planning abilities through more diverse and complex scenarios than previous datasets. Our dataset includes 400 multimodal samples, each consisting of natural language user instructions, visual images depicting the environment, state changes, and corresponding action plans. The data encompasses diverse aspects of commonsense knowledge, physical understanding, and safety awareness. Our fine-grained analysis reveals that state-of-the-art models, including GPT-4V, face bottlenecks in visual perception, comprehension, and reasoning abilities. To address these challenges, we propose NeuroGround, a neurosymbolic framework that first grounds the plan generation in the perceived environment states and then leverages symbolic planning engines to augment the model-generated plans. Experimental results demonstrate the effectiveness of our framework compared to strong baselines. Our code and dataset are available at https://embodied-planning.github.io.

Machine learning systems are often deployed in domains that entail data from multiple modalities, for example, phenotypic and genotypic characteristics describe patients in healthcare. Previous works have developed multimodal variational autoencoders (VAEs) that generate several modalities. We consider subjective data, where single datapoints from one modality (such as class labels) describe multiple datapoints from another modality (such as images). We theoretically and empirically demonstrate that multimodal VAEs with a mixture of experts posterior can struggle to capture variability in such surjective data.

The rapid progress of Multimodal Large Language Models(MLLMs) has transformed the AI landscape. These models combine pre-trained LLMs with various modality encoders. This integration requires a systematic understanding of how different modalities connect to the language backbone. Our survey presents an LLM-centric analysis of current approaches. We examine methods for transforming and aligning diverse modal inputs into the language embedding space. This addresses a significant gap in existing literature. We propose a classification framework for MLLMs based on three key dimensions. First, we examine architectural strategies for modality integration. This includes both the specific integration mechanisms and the fusion level. Second, we categorize representation learning techniques as either joint or coordinate representations. Third, we analyze training paradigms, including training strategies and objective functions. By examining 125 MLLMs developed between 2021 and 2025, we identify emerging patterns in the field. Our taxonomy provides researchers with a structured overview of current integration techniques. These insights aim to guide the development of more robust multimodal integration strategies for future models built on pre-trained foundations.

As emotions play a central role in human communication, automatic emotion recognition has attracted increasing attention in the last two decades. While multimodal systems enjoy high performances on lab-controlled data, they are still far from providing ecological validity on non-lab-controlled, namely 'in-the-wild' data. This work investigates audiovisual deep learning approaches for emotion recognition in-the-wild problem. We particularly explore the effectiveness of architectures based on fine-tuned Convolutional Neural Networks (CNN) and Public Dimensional Emotion Model (PDEM), for video and audio modality, respectively. We compare alternative temporal modeling and fusion strategies using the embeddings from these multi-stage trained modality-specific Deep Neural Networks (DNN). We report results on the AffWild2 dataset under Affective Behavior Analysis in-the-Wild 2024 (ABAW'24) challenge protocol.

Due to their significance in human communication, the automatic generation of co-speech gestures in artificial embodied agents has received a lot of attention. Although modern deep learning approaches can generate realistic-looking conversational gestures from spoken language, they often lack the ability to convey meaningful information and generate contextually appropriate gestures. This paper presents an augmented approach to the generation of co-speech gestures that additionally takes into account given form and meaning features for the gestures. Our framework effectively acquires this information from a small corpus with rich semantic annotations and a larger corpus without such information. We provide an analysis of the effects of distinctive feature targets and we report on a human rater evaluation study demonstrating that our framework achieves semantic coherence and person perception on the same level as human ground truth behavior. We make our data pipeline and the generation framework publicly available.

Actions are about how we interact with the environment, including other people, objects, and ourselves. In this paper, we propose a novel multi-modal Holistic Interaction Transformer Network (HIT) that leverages the largely ignored, but critical hand and pose information essential to most human actions. The proposed "HIT" network is a comprehensive bi-modal framework that comprises an RGB stream and a pose stream. Each of them separately models person, object, and hand interactions. Within each sub-network, an Intra-Modality Aggregation module (IMA) is introduced that selectively merges individual interaction units. The resulting features from each modality are then glued using an Attentive Fusion Mechanism (AFM). Finally, we extract cues from the temporal context to better classify the occurring actions using cached memory. Our method significantly outperforms previous approaches on the J-HMDB, UCF101-24, and MultiSports datasets. We also achieve competitive results on AVA. The code will be available at https://github.com/joslefaure/HIT.

The explainability of a robot's actions is crucial to its acceptance in social spaces. Explaining why a robot fails to complete a given task is particularly important for non-expert users to be aware of the robot's capabilities and limitations. So far, research on explaining robot failures has only considered generating textual explanations, even though several studies have shown the benefits of multimodal ones. However, a simple combination of multiple modalities may lead to semantic incoherence between the information across different modalities - a problem that is not well-studied. An incoherent multimodal explanation can be difficult to understand, and it may even become inconsistent with what the robot and the human observe and how they perform reasoning with the observations. Such inconsistencies may lead to wrong conclusions about the robot's capabilities. In this paper, we introduce an approach to generate coherent multimodal explanations by checking the logical coherence of explanations from different modalities, followed by refinements as required. We propose a classification approach for coherence assessment, where we evaluate if an explanation logically follows another. Our experiments suggest that fine-tuning a neural network that was pre-trained to recognize textual entailment, performs well for coherence assessment of multimodal explanations. Code & data: https://pradippramanick.github.io/coherent-explain/.

Social interactions form the foundation of human societies. Artificial intelligence has made significant progress in certain areas, but enabling machines to seamlessly understand social interactions remains an open challenge. It is important to address this gap by endowing machines with social capabilities. We identify three key capabilities needed for effective social understanding: 1) understanding multimodal social cues, 2) understanding multi-party dynamics, and 3) understanding beliefs. Building upon these foundations, we classify and review existing machine learning works on social understanding from the perspectives of verbal, non-verbal, and multimodal social cues. The verbal branch focuses on understanding linguistic signals such as speaker intent, dialogue sentiment, and commonsense reasoning. The non-verbal branch addresses techniques for perceiving social meaning from visual behaviors such as body gestures, gaze patterns, and facial expressions. The multimodal branch covers approaches that integrate verbal and non-verbal multimodal cues to holistically interpret social interactions such as recognizing emotions, conversational dynamics, and social situations. By reviewing the scope and limitations of current approaches and benchmarks, we aim to clarify the development trajectory and illuminate the path towards more comprehensive intelligence for social understanding. We hope this survey will spur further research interest and insights into this area.

This paper presents a novel generative framework for learning shared latent representations across multimodal data. Many advanced multimodal methods focus on capturing all combinations of modality-specific details across inputs, which can inadvertently obscure the high-level semantic concepts that are shared across modalities. Notably, Multimodal VAEs with low-dimensional latent variables are designed to capture shared representations, enabling various tasks such as joint multimodal synthesis and cross-modal inference. However, multimodal VAEs often struggle to design expressive joint variational posteriors and suffer from low-quality synthesis. In this work, ShaLa addresses these challenges by integrating a novel architectural inference model and a second-stage expressive diffusion prior, which not only facilitates effective inference of shared latent representation but also significantly improves the quality of downstream multimodal synthesis. We validate ShaLa extensively across multiple benchmarks, demonstrating superior coherence and synthesis quality compared to state-of-the-art multimodal VAEs. Furthermore, ShaLa scales to many more modalities while prior multimodal VAEs have fallen short in capturing the increasing complexity of the shared latent space.

Understanding the workflow of surgical procedures in complex operating rooms requires a deep understanding of the interactions between clinicians and their environment. Surgical activity recognition (SAR) is a key computer vision task that detects activities or phases from multi-view camera recordings. Existing SAR models often fail to account for fine-grained clinician movements and multi-view knowledge, or they require calibrated multi-view camera setups and advanced point-cloud processing to obtain better results. In this work, we propose a novel calibration-free multi-view multi-modal pretraining framework called Multiview Pretraining for Video-Pose Surgical Activity Recognition PreViPS, which aligns 2D pose and vision embeddings across camera views. Our model follows CLIP-style dual-encoder architecture: one encoder processes visual features, while the other encodes human pose embeddings. To handle the continuous 2D human pose coordinates, we introduce a tokenized discrete representation to convert the continuous 2D pose coordinates into discrete pose embeddings, thereby enabling efficient integration within the dual-encoder framework. To bridge the gap between these two modalities, we propose several pretraining objectives using cross- and in-modality geometric constraints within the embedding space and incorporating masked pose token prediction strategy to enhance representation learning. Extensive experiments and ablation studies demonstrate improvements over the strong baselines, while data-efficiency experiments on two distinct operating room datasets further highlight the effectiveness of our approach. We highlight the benefits of our approach for surgical activity recognition in both multi-view and single-view settings, showcasing its practical applicability in complex surgical environments. Code will be made available at: https://github.com/CAMMA-public/PreViPS.

Omni-modal language models (OLMs) aim to integrate and reason over diverse input modalities--such as text, images, video, and audio--while maintaining strong language capabilities. Despite recent advancements, existing models, especially open-source ones, remain far from true omni-modality, struggling to generalize beyond the specific modality pairs they are trained on or to achieve strong performance when processing multi-modal inputs. We study the effect of extending modality, the dominant technique for training multimodal models, where an off-the-shelf language model is fine-tuned on target-domain and language data. Specifically, we investigate three key questions: (1) Does modality extension compromise core language abilities? (2) Can model merging effectively integrate independently fine-tuned modality-specific models to achieve omni-modality? (3) Does omni-modality extension lead to better knowledge sharing and generalization compared to sequential extension? Through extensive experiments, we analyze these trade-offs and provide insights into the feasibility of achieving true omni-modality using current approaches.

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a joystick) to complex, high-dimensional robot actions for assistive teleoperation; however, a central problem is that there are many more high-dimensional actions than available low-dimensional inputs. To extract the correct action and maximally assist their human controller, robots must reason over their context: for example, pressing a joystick down when interacting with a coffee cup indicates a different action than when interacting with knife. In this work, we develop assistive robots that condition their latent embeddings on visual inputs. We explore a spectrum of visual encoders and show that incorporating object detectors pretrained on small amounts of cheap, easy-to-collect structured data enables i) accurately and robustly recognizing the current context and ii) generalizing control embeddings to new objects and tasks. In user studies with a high-dimensional physical robot arm, participants leverage this approach to perform new tasks with unseen objects. Our results indicate that structured visual representations improve few-shot performance and are subjectively preferred by users.

Conditional motion generation has been extensively studied in computer vision, yet two critical challenges remain. First, while masked autoregressive methods have recently outperformed diffusion-based approaches, existing masking models lack a mechanism to prioritize dynamic frames and body parts based on given conditions. Second, existing methods for different conditioning modalities often fail to integrate multiple modalities effectively, limiting control and coherence in generated motion. To address these challenges, we propose Motion Anything, a multimodal motion generation framework that introduces an Attention-based Mask Modeling approach, enabling fine-grained spatial and temporal control over key frames and actions. Our model adaptively encodes multimodal conditions, including text and music, improving controllability. Additionally, we introduce Text-Music-Dance (TMD), a new motion dataset consisting of 2,153 pairs of text, music, and dance, making it twice the size of AIST++, thereby filling a critical gap in the community. Extensive experiments demonstrate that Motion Anything surpasses state-of-the-art methods across multiple benchmarks, achieving a 15% improvement in FID on HumanML3D and showing consistent performance gains on AIST++ and TMD. See our project website https://steve-zeyu-zhang.github.io/MotionAnything

Audio-driven talking face generation has received growing interest, particularly for applications requiring expressive and natural human-avatar interaction. However, most existing emotion-aware methods rely on a single modality (either audio or image) for emotion embedding, limiting their ability to capture nuanced affective cues. Additionally, most methods condition on a single reference image, restricting the model's ability to represent dynamic changes in actions or attributes across time. To address these issues, we introduce SynchroRaMa, a novel framework that integrates a multi-modal emotion embedding by combining emotional signals from text (via sentiment analysis) and audio (via speech-based emotion recognition and audio-derived valence-arousal features), enabling the generation of talking face videos with richer and more authentic emotional expressiveness and fidelity. To ensure natural head motion and accurate lip synchronization, SynchroRaMa includes an audio-to-motion (A2M) module that generates motion frames aligned with the input audio. Finally, SynchroRaMa incorporates scene descriptions generated by Large Language Model (LLM) as additional textual input, enabling it to capture dynamic actions and high-level semantic attributes. Conditioning the model on both visual and textual cues enhances temporal consistency and visual realism. Quantitative and qualitative experiments on benchmark datasets demonstrate that SynchroRaMa outperforms the state-of-the-art, achieving improvements in image quality, expression preservation, and motion realism. A user study further confirms that SynchroRaMa achieves higher subjective ratings than competing methods in overall naturalness, motion diversity, and video smoothness. Our project page is available at <https://novicemm.github.io/synchrorama>.

Empathy is fundamental to human interactions, yet it remains unclear whether embodied agents can provide human-like empathetic support. Existing works have studied agents' tasks solving and social interactions abilities, but whether agents can understand empathetic needs and conduct empathetic behaviors remains overlooked. To address this, we introduce EmpathyAgent, the first benchmark to evaluate and enhance agents' empathetic actions across diverse scenarios. EmpathyAgent contains 10,000 multimodal samples with corresponding empathetic task plans and three different challenges. To systematically evaluate the agents' empathetic actions, we propose an empathy-specific evaluation suite that evaluates the agents' empathy process. We benchmark current models and found that exhibiting empathetic actions remains a significant challenge. Meanwhile, we train Llama3-8B using EmpathyAgent and find it can potentially enhance empathetic behavior. By establishing a standard benchmark for evaluating empathetic actions, we hope to advance research in empathetic embodied agents. Our code and data are publicly available at https://github.com/xinyan-cxy/EmpathyAgent.

Advancing machine intelligence requires developing the ability to perceive across multiple modalities, much as humans sense the world. We introduce OmniVinci, an initiative to build a strong, open-source, omni-modal LLM. We carefully study the design choices across model architecture and data curation. For model architecture, we present three key innovations: (i) OmniAlignNet for strengthening alignment between vision and audio embeddings in a shared omni-modal latent space; (ii) Temporal Embedding Grouping for capturing relative temporal alignment between vision and audio signals; and (iii) Constrained Rotary Time Embedding for encoding absolute temporal information in omni-modal embeddings. We introduce a curation and synthesis pipeline that generates 24M single-modal and omni-modal conversations. We find that modalities reinforce one another in both perception and reasoning. Our model, OmniVinci, outperforms Qwen2.5-Omni with +19.05 on DailyOmni (cross-modal understanding), +1.7 on MMAR (audio), and +3.9 on Video-MME (vision), while using just 0.2T training tokens - a 6 times reduction compared to Qwen2.5-Omni's 1.2T. We finally demonstrate omni-modal advantages in downstream applications spanning robotics, medical AI, and smart factory.

In an effort to create a more efficient AI system, we introduce a new multi-modality learning framework that leverages a modality-agnostic concept space possessing abstract knowledge and a set of modality-specific projection models tailored to process distinct modality inputs and map them onto the concept space. Decoupled from specific modalities and their associated projection models, the concept space focuses on learning abstract knowledge that is universally applicable across modalities. Subsequently, the knowledge embedded into the concept space streamlines the learning processes of modality-specific projection models. We evaluate our framework on two popular tasks: Image-Text Matching and Visual Question Answering. Our framework achieves performance on par with benchmark models while demonstrating more efficient learning curves.

Large Language Model (LLM)-enhanced agents become increasingly prevalent in Human-AI communication, offering vast potential from entertainment to professional domains. However, current multi-modal dialogue systems overlook the acoustic information present in speech, which is crucial for understanding human communication nuances. This oversight can lead to misinterpretations of speakers' intentions, resulting in inconsistent or even contradictory responses within dialogues. To bridge this gap, in this paper, we propose PerceptiveAgent, an empathetic multi-modal dialogue system designed to discern deeper or more subtle meanings beyond the literal interpretations of words through the integration of speech modality perception. Employing LLMs as a cognitive core, PerceptiveAgent perceives acoustic information from input speech and generates empathetic responses based on speaking styles described in natural language. Experimental results indicate that PerceptiveAgent excels in contextual understanding by accurately discerning the speakers' true intentions in scenarios where the linguistic meaning is either contrary to or inconsistent with the speaker's true feelings, producing more nuanced and expressive spoken dialogues. Code is publicly available at: https://github.com/Haoqiu-Yan/PerceptiveAgent.

Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, environments, and observational modalities remain elusive. In this work, we investigate how knowledge from large-scale visual data of the world may be used to address one axis of variation for generalizable manipulation: observational viewpoint. Specifically, we study single-image novel view synthesis models, which learn 3D-aware scene-level priors by rendering images of the same scene from alternate camera viewpoints given a single input image. For practical application to diverse robotic data, these models must operate zero-shot, performing view synthesis on unseen tasks and environments. We empirically analyze view synthesis models within a simple data-augmentation scheme that we call View Synthesis Augmentation (VISTA) to understand their capabilities for learning viewpoint-invariant policies from single-viewpoint demonstration data. Upon evaluating the robustness of policies trained with our method to out-of-distribution camera viewpoints, we find that they outperform baselines in both simulated and real-world manipulation tasks. Videos and additional visualizations are available at https://s-tian.github.io/projects/vista.

Human motion is created by, and constrained by, our muscles. We take a first step at building computer vision methods that represent the internal muscle activity that causes motion. We present a new dataset, Muscles in Action (MIA), to learn to incorporate muscle activity into human motion representations. The dataset consists of 12.5 hours of synchronized video and surface electromyography (sEMG) data of 10 subjects performing various exercises. Using this dataset, we learn a bidirectional representation that predicts muscle activation from video, and conversely, reconstructs motion from muscle activation. We evaluate our model on in-distribution subjects and exercises, as well as on out-of-distribution subjects and exercises. We demonstrate how advances in modeling both modalities jointly can serve as conditioning for muscularly consistent motion generation. Putting muscles into computer vision systems will enable richer models of virtual humans, with applications in sports, fitness, and AR/VR.

Due to the distinctive characteristics of sensors, each modality exhibits unique physical properties. For this reason, in the context of multi-modal action recognition, it is important to consider not only the overall action content but also the complementary nature of different modalities. In this paper, we propose a novel network, named Modality Mixer (M-Mixer) network, which effectively leverages and incorporates the complementary information across modalities with the temporal context of actions for action recognition. A key component of our proposed M-Mixer is the Multi-modal Contextualization Unit (MCU), a simple yet effective recurrent unit. Our MCU is responsible for temporally encoding a sequence of one modality (e.g., RGB) with action content features of other modalities (e.g., depth and infrared modalities). This process encourages M-Mixer network to exploit global action content and also to supplement complementary information of other modalities. Furthermore, to extract appropriate complementary information regarding to the given modality settings, we introduce a new module, named Complementary Feature Extraction Module (CFEM). CFEM incorporates sepearte learnable query embeddings for each modality, which guide CFEM to extract complementary information and global action content from the other modalities. As a result, our proposed method outperforms state-of-the-art methods on NTU RGB+D 60, NTU RGB+D 120, and NW-UCLA datasets. Moreover, through comprehensive ablation studies, we further validate the effectiveness of our proposed method.

Emotional talking-head generation has emerged as a pivotal research area at the intersection of computer vision and multimodal artificial intelligence, with its core value lying in enhancing human-computer interaction through immersive and empathetic engagement.With the advancement of multimodal large language models, the driving signals for emotional talking-head generation has shifted from audio and video to more flexible text. However, current text-driven methods rely on predefined discrete emotion label texts, oversimplifying the dynamic complexity of real facial muscle movements and thus failing to achieve natural emotional expressiveness.This study proposes the Think-Before-Draw framework to address two key challenges: (1) In-depth semantic parsing of emotions--by innovatively introducing Chain-of-Thought (CoT), abstract emotion labels are transformed into physiologically grounded facial muscle movement descriptions, enabling the mapping from high-level semantics to actionable motion features; and (2) Fine-grained expressiveness optimization--inspired by artists' portrait painting process, a progressive guidance denoising strategy is proposed, employing a "global emotion localization--local muscle control" mechanism to refine micro-expression dynamics in generated videos.Our experiments demonstrate that our approach achieves state-of-the-art performance on widely-used benchmarks, including MEAD and HDTF. Additionally, we collected a set of portrait images to evaluate our model's zero-shot generation capability.

End-to-end human animation with rich multi-modal conditions, e.g., text, image and audio has achieved remarkable advancements in recent years. However, most existing methods could only animate a single subject and inject conditions in a global manner, ignoring scenarios that multiple concepts could appears in the same video with rich human-human interactions and human-object interactions. Such global assumption prevents precise and per-identity control of multiple concepts including humans and objects, therefore hinders applications. In this work, we discard the single-entity assumption and introduce a novel framework that enforces strong, region-specific binding of conditions from modalities to each identity's spatiotemporal footprint. Given reference images of multiple concepts, our method could automatically infer layout information by leveraging a mask predictor to match appearance cues between the denoised video and each reference appearance. Furthermore, we inject local audio condition into its corresponding region to ensure layout-aligned modality matching in a iterative manner. This design enables the high-quality generation of controllable multi-concept human-centric videos. Empirical results and ablation studies validate the effectiveness of our explicit layout control for multi-modal conditions compared to implicit counterparts and other existing methods.

Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact state. With the availability of open-source tactile sensors such as DIGIT, research on visual-tactile learning is becoming more accessible and reproducible. Leveraging this tactile sensor, we propose a novel visual-tactile in-hand object reconstruction framework VTacO, and extend it to VTacOH for hand-object reconstruction. Since our method can support both rigid and deformable object reconstruction, no existing benchmarks are proper for the goal. We propose a simulation environment, VT-Sim, which supports generating hand-object interaction for both rigid and deformable objects. With VT-Sim, we generate a large-scale training dataset and evaluate our method on it. Extensive experiments demonstrate that our proposed method can outperform the previous baseline methods qualitatively and quantitatively. Finally, we directly apply our model trained in simulation to various real-world test cases, which display qualitative results. Codes, models, simulation environment, and datasets are available at https://sites.google.com/view/vtaco/.

Achieving disentangled control over multiple facial motions and accommodating diverse input modalities greatly enhances the application and entertainment of the talking head generation. This necessitates a deep exploration of the decoupling space for facial features, ensuring that they a) operate independently without mutual interference and b) can be preserved to share with different modal input, both aspects often neglected in existing methods. To address this gap, this paper proposes a novel Efficient Disentanglement framework for Talking head generation (EDTalk). Our framework enables individual manipulation of mouth shape, head pose, and emotional expression, conditioned on video or audio inputs. Specifically, we employ three lightweight modules to decompose the facial dynamics into three distinct latent spaces representing mouth, pose, and expression, respectively. Each space is characterized by a set of learnable bases whose linear combinations define specific motions. To ensure independence and accelerate training, we enforce orthogonality among bases and devise an efficient training strategy to allocate motion responsibilities to each space without relying on external knowledge. The learned bases are then stored in corresponding banks, enabling shared visual priors with audio input. Furthermore, considering the properties of each space, we propose an Audio-to-Motion module for audio-driven talking head synthesis. Experiments are conducted to demonstrate the effectiveness of EDTalk. We recommend watching the project website: https://tanshuai0219.github.io/EDTalk/

Multimodal entity linking (MEL) aims to link ambiguous mentions within multimodal contexts to corresponding entities in a multimodal knowledge base. Most existing approaches to MEL are based on representation learning or vision-and-language pre-training mechanisms for exploring the complementary effect among multiple modalities. However, these methods suffer from two limitations. On the one hand, they overlook the possibility of considering negative samples from the same modality. On the other hand, they lack mechanisms to capture bidirectional cross-modal interaction. To address these issues, we propose a Multi-level Matching network for Multimodal Entity Linking (M3EL). Specifically, M3EL is composed of three different modules: (i) a Multimodal Feature Extraction module, which extracts modality-specific representations with a multimodal encoder and introduces an intra-modal contrastive learning sub-module to obtain better discriminative embeddings based on uni-modal differences; (ii) an Intra-modal Matching Network module, which contains two levels of matching granularity: Coarse-grained Global-to-Global and Fine-grained Global-to-Local, to achieve local and global level intra-modal interaction; (iii) a Cross-modal Matching Network module, which applies bidirectional strategies, Textual-to-Visual and Visual-to-Textual matching, to implement bidirectional cross-modal interaction. Extensive experiments conducted on WikiMEL, RichpediaMEL, and WikiDiverse datasets demonstrate the outstanding performance of M3EL when compared to the state-of-the-art baselines.

The emergence of GPT-4o-like large multimodal models (LMMs) has raised the exploration of integrating text, vision, and speech modalities to support more flexible multimodal interaction. Existing LMMs typically concatenate representation of modalities along the sequence dimension and feed them into a large language model (LLM) backbone. While sequence-dimension concatenation is straightforward for modality integration, it often relies heavily on large-scale data to learn modality alignments. In this paper, we aim to model the relationships between modalities more purposefully, thereby achieving more efficient and flexible modality alignments. To this end, we propose Stream-Omni, a large language-vision-speech model with efficient modality alignments, which can simultaneously support interactions under various modality combinations. Stream-Omni employs LLM as the backbone and aligns the vision and speech to the text based on their relationships. For vision that is semantically complementary to text, Stream-Omni uses sequence-dimension concatenation to achieve vision-text alignment. For speech that is semantically consistent with text, Stream-Omni introduces a CTC-based layer-dimension mapping to achieve speech-text alignment. In this way, Stream-Omni can achieve modality alignments with less data (especially speech), enabling the transfer of text capabilities to other modalities. Experiments on various benchmarks demonstrate that Stream-Omni achieves strong performance on visual understanding, speech interaction, and vision-grounded speech interaction tasks. Owing to the layer-dimensional mapping, Stream-Omni can simultaneously provide intermediate text outputs (such as ASR transcriptions and model responses) during speech interaction, offering users a comprehensive multimodal experience.

Embodied agents operating in the physical world must make decisions that are not only effective but also safe, spatially coherent, and grounded in context. While recent advances in large multimodal models (LMMs) have shown promising capabilities in visual understanding and language generation, their ability to perform structured reasoning for real-world embodied tasks remains underexplored. In this work, we aim to understand how well foundation models can perform step-by-step reasoning in embodied environments. To this end, we propose the Foundation Model Embodied Reasoning (FoMER) benchmark, designed to evaluate the reasoning capabilities of LMMs in complex embodied decision-making scenarios. Our benchmark spans a diverse set of tasks that require agents to interpret multimodal observations, reason about physical constraints and safety, and generate valid next actions in natural language. We present (i) a large-scale, curated suite of embodied reasoning tasks, (ii) a novel evaluation framework that disentangles perceptual grounding from action reasoning, and (iii) empirical analysis of several leading LMMs under this setting. Our benchmark includes over 1.1k samples with detailed step-by-step reasoning across 10 tasks and 8 embodiments, covering three different robot types. Our results highlight both the potential and current limitations of LMMs in embodied reasoning, pointing towards key challenges and opportunities for future research in robot intelligence. Our data and code will be made publicly available.

Conventional multimodal recommender systems predominantly leverage Bayesian Personalized Ranking (BPR) optimization to learn item representations by amalgamating item identity (ID) embeddings with multimodal features. Nevertheless, our empirical and theoretical findings unequivocally demonstrate a pronounced optimization gradient bias in favor of acquiring representations from multimodal features over item ID embeddings. As a consequence, item ID embeddings frequently exhibit suboptimal characteristics despite the convergence of multimodal feature parameters. Given the rich informational content inherent in multimodal features, in this paper, we propose a novel model (i.e., LIRDRec) that learns item representations directly from these features to augment recommendation performance. Recognizing that features derived from each modality may capture disparate yet correlated aspects of items, we propose a multimodal transformation mechanism, integrated with modality-specific encoders, to effectively fuse features from all modalities. Moreover, to differentiate the influence of diverse modality types, we devise a progressive weight copying fusion module within LIRDRec. This module incrementally learns the weight assigned to each modality in synthesizing the final user or item representations. Finally, we utilize the powerful visual understanding of Multimodal Large Language Models (MLLMs) to convert the item images into texts and extract semantics embeddings upon the texts via LLMs. Empirical evaluations conducted on five real-world datasets validate the superiority of our approach relative to competing baselines. It is worth noting the proposed model, equipped with embeddings extracted from MLLMs and LLMs, can further improve the recommendation accuracy of NDCG@20 by an average of 4.21% compared to the original embeddings.

This research paper addresses the challenge of modality mismatch in multimodal learning, where the modalities available during inference differ from those available at training. We propose the Text-centric Alignment for Multi-Modality Learning (TAMML) approach, an innovative method that utilizes Large Language Models (LLMs) with in-context learning and foundation models to enhance the generalizability of multimodal systems under these conditions. By leveraging the unique properties of text as a unified semantic space, TAMML demonstrates significant improvements in handling unseen, diverse, and unpredictable modality combinations. TAMML not only adapts to varying modalities but also maintains robust performance, showcasing the potential of foundation models in overcoming the limitations of traditional fixed-modality frameworks in embedding representations. This study contributes to the field by offering a flexible, effective solution for real-world applications where modality availability is dynamic and uncertain.

Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method for performing a task -- natural human behavior has a great deal of heterogeneity, with several optimal ways to demonstrate a task. This multimodality is inconsequential to human users, with task variations manifesting as subconscious choices; for example, reaching down, then across to grasp an object, versus reaching across, then down. Yet, this mismatch presents a problem for interactive imitation learning, where sequences of users improve on a policy by iteratively collecting new, possibly conflicting demonstrations. To combat this problem of demonstrator incompatibility, this work designs an approach for 1) measuring the compatibility of a new demonstration given a base policy, and 2) actively eliciting more compatible demonstrations from new users. Across two simulation tasks requiring long-horizon, dexterous manipulation and a real-world "food plating" task with a Franka Emika Panda arm, we show that we can both identify incompatible demonstrations via post-hoc filtering, and apply our compatibility measure to actively elicit compatible demonstrations from new users, leading to improved task success rates across simulated and real environments.

To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose and shape. The status quo for in-hand perception primarily employs vision, and restricts to tracking a priori known objects. Moreover, visual occlusion of objects in-hand is imminent during manipulation, preventing current systems to push beyond tasks without occlusion. We combine vision and touch sensing on a multi-fingered hand to estimate an object's pose and shape during in-hand manipulation. Our method, NeuralFeels, encodes object geometry by learning a neural field online and jointly tracks it by optimizing a pose graph problem. We study multimodal in-hand perception in simulation and the real-world, interacting with different objects via a proprioception-driven policy. Our experiments show final reconstruction F-scores of 81% and average pose drifts of 4.7,mm, further reduced to 2.3,mm with known CAD models. Additionally, we observe that under heavy visual occlusion we can achieve up to 94% improvements in tracking compared to vision-only methods. Our results demonstrate that touch, at the very least, refines and, at the very best, disambiguates visual estimates during in-hand manipulation. We release our evaluation dataset of 70 experiments, FeelSight, as a step towards benchmarking in this domain. Our neural representation driven by multimodal sensing can serve as a perception backbone towards advancing robot dexterity. Videos can be found on our project website https://suddhu.github.io/neural-feels/