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Large language models (LLMs) demonstrate emergent in-context learning capabilities, where they adapt to new tasks based on example demonstrations. However, in-context learning has seen limited effectiveness in many settings, is difficult to…

Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardware-heavy, and disruptive to workflows. Recently, passive…

Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can pre-compute a…

Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…

The paradigm of programmable diagram generation is evolving rapidly, playing a crucial role in structured visualization. However, most existing studies are confined to a narrow range of task formulations and language support, constraining…

Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to…

Language Models (LLMs) have emerged as powerful reasoning engines for embodied control. In particular, In-Context Learning (ICL) enables off-the-shelf, text-only LLMs to predict robot actions without any task-specific training while…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

This paper presents an approach to ensure conditions on Variable Impedance Controllers through the off-line tuning of the parameters involved in its description. In particular, we prove its application to term modulations defined by a…

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…

Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…

This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomous Driving (AD). LVLMs excel at high-level task planning…

In large language models (LLM), in-context learning (ICL) refers to performing new tasks by conditioning on small demonstrations provided in the input context. Recent advances in visual in-context learning (VICL) demonstrate promising…

We present, to our knowledge, the first sign language-driven Vision-Language-Action (VLA) framework for intuitive and inclusive human-robot interaction. Unlike conventional approaches that rely on gloss annotations as intermediate…

Recent advances in Multimodal Large Language Models (MLLMs) have driven rapid progress in Vision-Language-Action (VLA) models for robotic manipulation. Although effective in many scenarios, current approaches largely rely on explicit…

Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic scenarios requiring rapid perception, temporal anticipation,…

In the absence of external rewards, agents can still learn useful behaviors by identifying and mastering a set of diverse skills within their environment. Existing skill learning methods use mutual information objectives to incentivize each…

Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…

Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as \enquote{pick and place}, understanding both what the objects are and where they are located is…

While the integration of Multi-modal Large Language Models (MLLMs) with robotic systems has significantly improved robots' ability to understand and execute natural language instructions, their performance in manipulation tasks remains…