Related papers: Reasoning Grasping via Multimodal Large Language M…
Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…
Models capable of "thinking with images" by dynamically grounding their reasoning in visual evidence represent a major leap in multimodal AI. However, replicating and advancing this ability is non-trivial, with current methods often trapped…
Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…
Object manipulation for rearrangement into a specific goal state is a significant task for collaborative robots. Accurately determining object placement is a key challenge, as misalignment can increase task complexity and the risk of…
Visual latent reasoning lets a multimodal large language model (MLLM) create intermediate visual evidence as continuous tokens, avoiding external tools or image generators. However, existing methods usually follow an output-as-input latent…
Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
Teaching robots desired skills in real-world environments remains challenging, especially for non-experts. A key bottleneck is that collecting robotic data often requires expertise or specialized hardware, limiting accessibility and…
Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…
Generating natural human grasps necessitates consideration of not just object geometry but also semantic information. Solely depending on object shape for grasp generation confines the applications of prior methods in downstream tasks. This…
Recent advances in Multimodal Large Language Models (MLLMs) have significantly improved 2D visual understanding, prompting interest in their application to complex 3D reasoning tasks. However, it remains unclear whether these models can…
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…
Large language models (LLMs) can handle a wide variety of general tasks with simple prompts, without the need for task-specific training. Multimodal Large Language Models (MLLMs), built upon LLMs, have demonstrated impressive potential in…
Precise robotic grasping of several novel objects is a huge challenge in manufacturing, automation, and logistics. Most of the current methods for model-free grasping are disadvantaged by the sparse data in grasping datasets and by errors…
Predicting human behavior in shared environments is crucial for safe and efficient human-robot interaction. Traditional data-driven methods to that end are pre-trained on domain-specific datasets, activity types, and prediction horizons. In…
A fundamental objective in robot manipulation is to enable models to comprehend visual scenes and execute actions. Although existing Vision-Language-Action (VLA) models for robots can handle a range of basic tasks, they still face…
Grasping assistance is essential for restoring autonomy in individuals with motor impairments, particularly in unstructured environments where object categories and user intentions are diverse and unpredictable. We present OVGrasp, a…
While large language models (LLMs) are still being adopted to new domains and utilized in novel applications, we are experiencing an influx of the new generation of foundation models, namely multi-modal large language models (MLLMs). These…