Henrique Schechter Vera, Sahil Dua, Jovan Andonov, Sara Smoot, Sebastian Russo, Ivan Llanos, Max Matveev, Jae Hyeon Yoo 等 73 位作者
We present EmbeddingGemma 2, an open multimodal embedding model which natively represents text, images, audio, video, and combinations thereof in a unified space. Our approach introduces improvements such as simplified per-layer embeddings and a multi-stage curriculum with modality and objective progression which ensure strong quality across unimodal, cross-modal, and mixed-modal evaluations. Notably, in comprehensive embedding benchmarks across all modalities, EmbeddingGemma 2 establishes a new Pareto frontier, outperforming both specialist models and models two to twelve times larger. Furthermore, our design offers flexibility for resource-constrained environments, supporting selective modality encoder loading, adjustable vision token budgets, truncatable embedding dimensions, and quantized weights. We present ablations analyzing key decisions and release EmbeddingGemma 2 to promote further research.
Yang Liu, Jiacheng Liu, Hengtao Li, Yuheng Huang, Zijian Yang, Ji Dai, Maoxin Wang, Yi Gao 等 17 位作者
Extending Vision-Language-Action models (VLAs) to humanoid robots requires coordinated whole-body control and diverse demonstrations that are costly to collect in real-world scenarios. Although egocentric human demonstrations provide a complementary source of task experience, differences in visual embodiment and missing robot proprioception complicate transfer to humanoid policies. To address these challenges, we introduce HuGe, a family of Humanoid Generalist VLAs pre-trained on over 2,000 hours of egocentric human and robot data. Specifically, HuGe employs three existing representative VLA architectures to predict latent motion tokens for a pretrained whole-body controller, together with hand-control signals. Based on this, we introduce a three-stage training pipeline that combines egocentric pre-training, humanoid adaptation, and downstream fine-tuning. To facilitate transfer across embodiments, we construct pseudo-proprioceptive states through simulation playback during pre-training and modify arm appearance in egocentric observations through re-rendering during downstream fine-tuning. With this pipeline, HuGe achieves the state-of-the-art on simulation benchmark HumanoidArena. Furthermore, real-world experiments on the Unitree G1 indicate that augmenting robot demonstrations with visually adapted egocentric demonstrations significantly increases success on a pick-and-drop task.
Chi-Min Chan, Yujin Zhou The Hong Kong University of Science and Technology, Pengcheng Wen, Boqin Yin, Jiaming Ji, Juntao Dai, Wei Xue Hong Kong University of Science and Technology, Sirui Han The Hong Kong University of Science and Technology 等 9 位作者
The rise of Omni-modality Large Language Models (OLLMs) capable of jointly processing text, audio, and visual inputs marks a major step toward general intelligence. Ensuring their alignment with human preferences requires effective Omni-modality Reward Models (ORMs), which serve as surrogates for human judgment to guide OLLMs behavior. However, ORMs evaluation remains underdeveloped in the previous literature. Existing benchmarks are largely text-centric or limited to bimodal tasks, restricting comprehensive assessment for ORMs. To bridge this gap, we introduce Omni-RewardBench, the first benchmark for comprehensive evaluation of ORMs across modalities. In short, our contributions are threefold: (1) a hybrid automatic-annotation and human-verification pipeline to construct high-quality evaluation data; (2) extensive experiments on 20+ models, including inherently omni-modal and modality-bridged systems. Our experimental results demonstrate that current OLLMs fall short as reward models, revealing several common failure modes such as perception failure, modality dominance failure, and cross-modal fusion failure; and (3) strong correlations between Omni-RewardBench scores and downstream performance (IID r = 0.94, OOD r = 0.72), validating its reliability as a predictor of real-world capability and alignment quality.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表