Related papers: RGMP: Recurrent Geometric-prior Multimodal Policy …

We cast motion planning under uncertainty as a stochastic optimal control problem, where the optimal posterior distribution has an explicit form. To approximate this posterior, this work frames an optimization problem in the space of…

Existing end-to-end approaches of robotic manipulation often lack generalization to unseen objects or tasks due to limited data and poor interpretability. While recent Multimodal Large Language Models (MLLMs) demonstrate strong commonsense…

Humanoid robots require diverse motor skills to integrate into complex environments, but bridging the kinematic and dynamic embodiment gap from human data remains a major bottleneck. We demonstrate through Hessian analysis that traditional…

The advent of Unified Multimodal Models (UMMs) signals a paradigm shift in artificial intelligence, moving from passive perception to active, cross-modal generation. Despite their unprecedented ability to synthesize information, a critical…

The language-guided robot grasping task requires a robot agent to integrate multimodal information from both visual and linguistic inputs to predict actions for target-driven grasping. While recent approaches utilizing Multimodal Large…

Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…

Humanoid control is an important research challenge offering avenues for integration into human-centric infrastructures and enabling physics-driven humanoid animations. The daunting challenges in this field stem from the difficulty of…

The performance of Large Language Models (LLMs) is increasingly governed by data efficiency rather than raw scaling volume. However, existing selection methods often decouple global distribution balancing from local instance selection,…

Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulation policies, they lack precise manipulation with high DoF…

Dynamic Movement Primitives (DMPs) provide a flexible framework wherein smooth robotic motions are encoded into modular parameters. However, they face challenges in integrating multimodal inputs commonly used in robotics like vision and…

Real-world robotic manipulation demands visuomotor policies capable of robust spatial scene understanding and strong generalization across diverse camera viewpoints. While recent advances in 3D-aware visual representations have shown…

Multi-output Gaussian process (MGP) models have attracted significant attention for their flexibility and uncertainty-quantification capabilities, and have been widely adopted in multi-source transfer learning scenarios due to their ability…

Humanoid robots that autonomously interact with physical environments over extended horizons represent a central goal of embodied intelligence. Existing approaches rely on reference motions or task-specific rewards, tightly coupling…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Vision language models (VLMs) have experienced rapid advancements through the integration of large language models (LLMs) with image-text pairs, yet they struggle with detailed regional visual understanding due to limited spatial awareness…

Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…

Learning to reason about relations and dynamics over multiple interacting objects is a challenging topic in machine learning. The challenges mainly stem from that the interacting systems are exponentially-compositional, symmetrical, and…

For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…

Generative models have shown promising results in capturing human mobility characteristics and generating synthetic trajectories. However, it remains challenging to ensure that the generated geospatial mobility data is semantically…