# Enhanced Vision-Language Models for Diverse Sensor Understanding: Cost-Efficient Optimization and Benchmarking

arXiv: https://arxiv.org/abs/2412.20750 · HTML: https://mlsanity.com/paper/2412.20750/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in VLM benchmarks and visual reasoning, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 44 of its 76 references that are in the map.
- First posted on arXiv 30 Dec 2024.

## Placed in

- Multimodal LLMs / vision-language models / [VLM benchmarks and visual reasoning](https://mlsanity.com/mllm/vlm-benchmarks-and-visual-reasoning/)

## Builds on (most cited first, 30 of 44)

- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Direct Preference Optimization: Your Language Model is Secretly a Reward Model](https://mlsanity.com/paper/2305.18290/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [QLoRA: Efficient Finetuning of Quantized LLMs](https://mlsanity.com/paper/2305.14314/) (2023)
- [Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context](https://mlsanity.com/paper/2403.05530/) (2024)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [MMBench: Is Your Multi-modal Model an All-around Player?](https://mlsanity.com/paper/2307.06281/) (2023)
- [MMMU: A Massive Multi-discipline Multimodal Understanding and Reasoning Benchmark for Expert AGI](https://mlsanity.com/paper/2311.16502/) (2023)
- [MME: A Comprehensive Evaluation Benchmark for Multimodal Large Language Models](https://mlsanity.com/paper/2306.13394/) (2023)
- [ImageBind: One Embedding Space To Bind Them All](https://mlsanity.com/paper/2305.05665/) (2023)
- [MiniCPM-V: A GPT-4V Level MLLM on Your Phone](https://mlsanity.com/paper/2408.01800/) (2024)
- [SimPO: Simple Preference Optimization with a Reference-Free Reward](https://mlsanity.com/paper/2405.14734/) (2024)
- [SEED-Bench: Benchmarking Multimodal LLMs with Generative Comprehension](https://mlsanity.com/paper/2307.16125/) (2023)
- [A General Theoretical Paradigm to Understand Learning from Human Preferences](https://mlsanity.com/paper/2310.12036/) (2023)
- [VideoLLaMA 2: Advancing Spatial-Temporal Modeling and Audio Understanding in Video-LLMs](https://mlsanity.com/paper/2406.07476/) (2024)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [TimeChat: A Time-sensitive Multimodal Large Language Model for Long Video Understanding](https://mlsanity.com/paper/2312.02051/) (2023)
- [GPT-Driver: Learning to Drive with GPT](https://mlsanity.com/paper/2310.01415/) (2023)
- [PandaGPT: One Model To Instruction-Follow Them All](https://mlsanity.com/paper/2305.16355/) (2023)
- [Target-aware Dual Adversarial Learning and a Multi-scenario Multi-Modality Benchmark to Fuse Infrared and Visible for Object Detection](https://mlsanity.com/paper/2203.16220/) (2022)
- [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://mlsanity.com/paper/2409.01652/) (2024)
- [Q-Bench: A Benchmark for General-Purpose Foundation Models on Low-level Vision](https://mlsanity.com/paper/2309.14181/) (2023)
- [DIODE: A Dense Indoor and Outdoor DEpth Dataset](https://mlsanity.com/paper/1908.00463/) (2019)
- [DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Driving](https://mlsanity.com/paper/2312.09245/) (2023)
- [OneLLM: One Framework to Align All Modalities with Language](https://mlsanity.com/paper/2312.03700/) (2023)
- [mPLUG-DocOwl: Modularized Multimodal Large Language Model for Document Understanding](https://mlsanity.com/paper/2307.02499/) (2023)

## Built on by (most cited first, 3 of 3)

- [ThermEval: A Structured Benchmark for Evaluation of Vision-Language Models on Thermal Imagery](https://mlsanity.com/paper/2602.14989/) (2026)
- [Generalize LMMs to Versatile Visual Modalities via Fabricated Modality Synthesis](https://mlsanity.com/paper/2607.10308/) (2026)
- [Talk2Sensors: 3D Visual Grounding in Autonomous Driving via Sensor-Adaptive Physical Cue Matching](https://mlsanity.com/paper/2608.04568/) (2026)

## Abstract (arXiv)

Large-scale Vision-Language Models (VLMs) have achieved notable progress in aligning visual inputs with text. However, their ability to deeply understand the unique physical properties of non-RGB vision sensor images remains limited. In this paper, we revisit and analyze these limitations and introduce a novel, cost-efficient paradigm that significantly advances sensor image understanding-without requiring extensive training data or any modifications to the existing VLM architectures. Specifically, we propose Sensor-Aware Attributes Fine-Tuning (SAFT) with the Diverse Negative Attributes (DNA) optimization, which leverages minimal sensor-specific data to enable robust learning of non-RGB characteristics and overcome RGB-centric biases inherent in current VLMs. In addition, we present VS-TDX-the first comprehensive, public benchmark designed to rigorously evaluate VLMs' sensor-specific understanding across diverse and realistic scenarios. Through extensive experiments on VLMs and various sensor modalities, we validate that our method consistently delivers superior performance and generalization under resource-constrained and architecture-invariant settings. Our approach provides a practical advance towards scalable deployment of VLMs in increasingly sensor-diverse real-world environments.