Related papers: PASG: A Closed-Loop Framework for Automated Geomet…
The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…
This paper presents a robotic assembly framework that combines Vision-Language Models (VLMs) with imitation learning for assembly manipulation tasks. Our system employs a gripper-equipped robot that moves in 3D space to perform assembly…
Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic…
Bimanual mobile manipulation requires a seamless integration between high-level semantic reasoning and safe, compliant physical interaction - a challenge that end-to-end models approach opaquely and classical controllers lack the context to…
Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…
Ensuring accessible pedestrian navigation requires reasoning about both semantic and spatial aspects of complex urban scenes, a challenge that existing Large Vision-Language Models (LVLMs) struggle to meet. Although these models can…
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, and failures such as empty grasps, slips, stalls, timeouts, or…
Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…
The application of vision-language models (VLMs) has achieved impressive success in various robotics tasks. However, there are few explorations for these foundation models used in quadruped robot navigation through terrains in 3D…
Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…
The application of Vision-Language Models (VLMs) in remote sensing (RS) image understanding has achieved notable progress, demonstrating the basic ability to recognize and describe geographical entities. However, existing RS-VLMs are mostly…
From early Movement Primitive (MP) techniques to modern Vision-Language Models (VLMs), autonomous manipulation has remained a pivotal topic in robotics. As two extremes, VLM-based methods emphasize zero-shot and adaptive manipulation but…
Open-vocabulary segmentation models such as SAM3 perform well across broad categories via text prompting, yet degrade when target classes are visually underrepresented in pretraining or depart from canonical depictions-limitations text…
Robotic manipulation in unstructured environments requires systems that can generalize across diverse tasks while maintaining robust and reliable performance. We introduce {GVF-TAPE}, a closed-loop framework that combines generative visual…
Continual learning of pretrained vision-language models (VLMs) is prone to catastrophic forgetting, yet current approaches adapt to new tasks without explicitly preserving the cross-modal semantic geometry inherited from pretraining and…
Human-like generalization in open-world remains a fundamental challenge for robotic manipulation. Existing learning-based methods, including reinforcement learning, imitation learning, and vision-language-action-models (VLAs), often…
It is widely agreed that open-vocabulary-based approaches outperform classical closed-set training solutions for recognizing unseen objects in images for semantic segmentation. Existing open-vocabulary approaches leverage vision-language…
In this study, we address the problem of open-vocabulary mobile manipulation, where a robot is required to carry a wide range of objects to receptacles based on free-form natural language instructions. This task is challenging, as it…
Embodied agents operating in open environments must translate high-level instructions into grounded, executable behaviors, often requiring coordinated use of both hands. While recent foundation models offer strong semantic reasoning,…
The heterogeneity between high-level vision-language understanding and low-level action control remains a fundamental challenge in robotic manipulation. Although recent methods have advanced task-specific action alignment, they often…