We examine the capability of Multimodal Large Language Models (MLLMs) to tackle diverse domains that extend beyond the traditional language and vision tasks these models are typically trained on. Specifically, our focus lies in areas such as Embodied AI, Games, UI Control, and Planning. To this end, we introduce a process of adapting an MLLM to a Generalist Embodied Agent (GEA). GEA is a single unified model capable of grounding itself across these varied domains through a multi-embodiment action tokenizer. GEA is trained with supervised learning on a large dataset of embodied experiences and with online RL in interactive simulators. We explore the data and algorithmic choices necessary to develop such a model. Our findings reveal the importance of training with cross-domain data and online RL for building generalist agents. The final GEA model achieves strong generalization performance to unseen tasks across diverse benchmarks compared to other generalist models and benchmark-specific approaches.

We present MM1.5, a new family of multimodal large language models (MLLMs) designed to enhance capabilities in text-rich image understanding, visual referring and grounding, and multi-image reasoning. Building upon the MM1 architecture, MM1.5 adopts a data-centric approach to model training, systematically exploring the impact of diverse data mixtures across the entire model training lifecycle. This includes high-quality OCR data and synthetic captions for continual pre-training, as well as an optimized visual instruction-tuning data mixture for supervised fine-tuning. Our models range from 1B to 30B parameters, encompassing both dense and mixture-of-experts (MoE) variants, and demonstrate that careful data curation and training strategies can yield strong performance even at small scales (1B and 3B). Additionally, we introduce two specialized variants: MM1.5-Video, designed for video understanding, and MM1.5-UI, tailored for mobile UI understanding. Through extensive empirical studies and ablations, we provide detailed insights into the training processes and decisions that inform our final designs, offering valuable guidance for future research in MLLM development.

We present MOFI, Manifold OF Images, a new vision foundation model designed to learn image representations from noisy entity annotated images. MOFI differs from previous work in two key aspects: 1. pre-training data, and 2. training recipe. Regarding data, we introduce a new approach to automatically assign entity labels to images from noisy image-text pairs. Our approach involves employing a named entity recognition model to extract entities from the alt-text, and then using a CLIP model to select the correct entities as labels of the paired image. It's a simple, cost-effective method that can scale to handle billions of web-mined image-text pairs. Through this method, we have created Image-to-Entities (I2E), a new dataset with 1 billion images and 2 million distinct entities, covering rich visual concepts in the wild. Building upon the I2E dataset, we study different training recipes like supervised pre-training, contrastive pre-training, and multi-task learning. For constrastive pre-training, we treat entity names as free-form text, and further enrich them with entity descriptions. Experiments show that supervised pre-training with large-scale fine-grained entity labels is highly effective for image retrieval tasks, and multi-task training further improves the performance. The final MOFI model achieves 86.66\% mAP on the challenging GPR1200 dataset, surpassing the previous state-of-the-art performance of 72.19% from OpenAI's CLIP model. Further experiments on zero-shot and linear probe image classification also show that MOFI outperforms a CLIP model trained on the original image-text data, demonstrating the effectiveness of the I2E dataset in learning strong image representations. We release our code and model weights at https://github.com/apple/ml-mofi.

The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the environments they capture, even though generalization within and between operating regions is crucial to the over-all viability of the technology. In an effort to help align the research community’s contributions with real-world self-driving problems, we introduce a new large scale, high quality, diverse dataset. Our new dataset consists of 1150 scenes that each span 20 seconds, consisting of well synchronized and calibrated high quality LiDAR and camera data captured across a range of urban and suburban geographies. It is 15x more diverse than the largest camera+LiDAR dataset available based on our proposed diversity metric. We exhaustively annotated this data with 2D (camera image) and 3D (LiDAR) bounding boxes, with consistent identifiers across frames. Finally, we provide strong baselines for 2D as well as 3D detection and tracking tasks. We further study the effects of dataset size and generalization across geographies on 3D detection methods. Find data, code and more up-to-date information at http://www.waymo.com/open.

"How to learn image embeddings that capture fine-grained semantics based on the instance of an image?" "Is it possible for such embeddings to further understand image semantics closer to humans' perception?" In this paper, we present, Graph-Regularized Image Semantic Embedding (Graph-RISE), a web-scale neural graph learning framework deployed at Google, which allows us to train image embeddings to discriminate an unprecedented O(40M) ultra-fine-grained semantic labels. The proposed Graph-RISE outperforms state-of-the-art image embedding algorithms on several evaluation tasks, including kNN search and triplet ranking: the accuracy is improved by approximately 2X on the ImageNet dataset and by more than 5X on the iNaturalist dataset. Qualitatively, image retrieval from one billion images based on the proposed Graph-RISE effectively captures semantics and, compared to the state-of-the-art, differentiates nuances at levels that are closer to human-perception.

Image classification models take image pixels as input and predict labels in a predefined taxonomy. While contextual information (e.g. text surrounding an image) can provide valuable orthogonal signals to improve classification, the typical setting in literature assumes the unavailability of text and thus focuses on models that rely purely on pixels. In this work, we also focus on the setting where only pixels are available in the input. However, we demonstrate that if we predict textual information from pixels, we can subsequently use the predicted text to train models that improve overall performance. We propose a framework that consists of two main components: (1) a phrase generator that maps image pixels to a contextual phrase, and (2) a multimodal model that uses textual features from the phrase generator and visual features from the image pixels to produce labels in the output taxonomy. The phrase generator is trained using web-based query-image pairs to incorporate contextual information associated with each image and has a large output space. We evaluate our framework on diverse benchmark datasets (specifically, the WebVision dataset for evaluating multi-class classification and OpenImages dataset for evaluating multi-label classification), demonstrating performance improvements over approaches based exclusively on pixels and showcasing benefits in prediction interpretability. We additionally present results to demonstrate that our framework provides improvements in few-shot learning of minimally labeled concepts. We further demonstrate the unique benefits of the multimodal nature of our framework by utilizing intermediate image/text co-embeddings to perform baseline zero-shot learning on the ImageNet dataset.