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Model-free Deep Reinforcement Learning (DRL) controllers have demonstrated promising results on various challenging non-linear control tasks. While a model-free DRL algorithm can solve unknown dynamics and high-dimensional problems, it…

While Large Vision-Language Models (LVLMs) have significantly advanced GUI agents' capabilities in parsing textual instructions, interpreting screen content, and executing tasks, a critical challenge persists: the irreversibility of agent…

Vision-and-Language Navigation (VLN) is unique in that it requires turning relatively general natural-language instructions into robot agent actions, on the basis of the visible environment. This requires to extract value from two very…

During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…

End-to-End (E2E) solutions have emerged as a mainstream approach for autonomous driving systems, with Vision-Language-Action (VLA) models representing a new paradigm that leverages pre-trained multimodal knowledge from Vision-Language…

Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…

Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift. Reinforcement learning (RL) can mitigate these issues…

Vision-Language-Action (VLA) models are often brittle in fine-grained manipulation, where minor action errors during the critical phases can rapidly escalate into irrecoverable failures. Since existing VLA models rely predominantly on…

Modern robotics applications that involve human-robot interaction require robots to be able to communicate with humans seamlessly and effectively. Natural language provides a flexible and efficient medium through which robots can exchange…

Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose…

Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…

Safe navigation for mobile robots demands policies that remain reliable under the high-consequence perception uncertainty of cluttered environments. Yet most existing safe reinforcement learning (RL) methods assess safety through average…

Vision-and-Language Navigation (VLN) is a challenging task in the field of artificial intelligence. Although massive progress has been made in this task over the past few years attributed to breakthroughs in deep vision and language models,…

Since the rise of vision-language navigation (VLN), great progress has been made in instruction following -- building a follower to navigate environments under the guidance of instructions. However, far less attention has been paid to the…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

Vision-Language-Action (VLA) models improve action generation by conditioning policies on rich vision-language information. However, current auto-regressive policies are constrained by three bottlenecks: (1) architectural bias drives models…

Existing UAV vision-and-language navigation (VLN) benchmarks rarely provide realistic aerial scenes, natural process-level instructions, and sufficient scale simultaneously, making it difficult to systematically train and evaluate UAV VLN…

Robotics Reinforcement Learning (RL) often relies on carefully engineered auxiliary rewards to supplement sparse primary learning objectives to compensate for the lack of large-scale, real-world, trial-and-error data. While these auxiliary…

Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based…

Vision-Language-Action (VLA) models aim to unify perception, language understanding, and action generation, offering strong cross-task and cross-scene generalization with broad impact on embodied AI. However, current VLA models often lack…