Related papers: LERa: Replanning with Visual Feedback in Instructi…

Multi-turn intent classification is notably challenging due to the complexity and evolving nature of conversational contexts. This paper introduces LARA, a Linguistic-Adaptive Retrieval-Augmentation framework to enhance accuracy in…

Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain-of-Thought (CoT) reasoning in language models. Yet even…

Low-Rank Adaptation (LoRA) has emerged as one of the most widely used parameter-efficient fine-tuning (PEFT) methods for adapting large language models (LLMs) to downstream tasks. While highly effective in single-task settings, it struggles…

Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for general-purpose robot control through natural language instructions. However, their high inference cost-stemming from large-scale token computation and…

Leveraging diverse robotic data for pretraining remains a critical challenge. Existing methods typically model the dataset's action distribution using simple observations as inputs. However, these inputs are often incomplete, resulting in a…

Visual analytics supports data analysis tasks within complex domain problems. However, due to the richness of data types, visual designs, and interaction designs, users need to recall and process a significant amount of information when…

Vision-Language-Action (VLA) models have achieved remarkable success in robotic manipulation. However, their robustness to linguistic nuances remains a critical, under-explored safety concern, posing a significant safety risk to real-world…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic…

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering…

Vision-Language-Action (VLA) models show strong potential for general-purpose robotic manipulation, yet their closed-loop reliability often degrades under local deployment conditions. Existing evaluations typically treat test episodes as…

Recently, Vision-Language-Action (VLA) models have demonstrated strong performance on a range of robotic tasks. These models rely on multimodal inputs, with language instructions playing a crucial role -- not only in predicting actions, but…

Designing reinforcement learning curricula for agile robots traditionally requires extensive manual tuning of reward functions, environment randomizations, and training configurations. We introduce AURA (Autonomous Upskilling with…

This paper introduces REVA, a human-AI system that expedites instructor review of voluminous AI-generated programming feedback by sequencing submissions to minimize cognitive context shifts and propagating instructor-driven revisions across…

Recent advancements in Large Language Models (LLMs) have significantly improved reasoning capabilities, with in-context learning (ICL) emerging as a key technique for adaptation without retraining. While previous works have focused on…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…