RoboLLM: Robotic Vision Tasks Grounded on Multimodal Large Language Models

摘要

Robotic vision applications often necessitate a wide range of visual perception tasks, such as object detection, segmentation, and identification. While there have been substantial advances in these individual tasks, integrating specialized models into a unified vision pipeline presents significant engineering challenges and costs. Recently, Multimodal Large Language Models (MLLMs) have emerged as novel backbones for various downstream tasks. We argue that leveraging the pre-training capabilities of MLLMs enables the creation of a simplified framework, thus mitigating the need for task-specific encoders. Specifically, the large-scale pretrained knowledge in MLLMs allows for easier fine-tuning to downstream robotic vision tasks and yields superior performance. We introduce the RoboLLM framework, equipped with a BEiT-3 backbone, to address all visual perception tasks in the ARMBench challenge—a large-scale robotic manipulation dataset about real-world warehouse scenarios. RoboLLM not only outperforms existing baselines but also substantially reduces the engineering burden associated with model selection and tuning. All the code used in this paper can be found in https://github.com/longkukuhi/RoboLLM.