Related papers: EgoActor: Grounding Task Planning into Spatial-awa…
The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…
Classical planning systems have shown great advances in utilizing rule-based human knowledge to compute accurate plans for service robots, but they face challenges due to the strong assumptions of perfect perception and action executions.…
Visual-Language-Action models (VLAs) have advanced generalist robot control by mapping multimodal observations and language instructions directly to actions, but sparse action supervision often encourages shortcut mappings rather than…
Building autonomous robotic agents capable of achieving human-level performance in real-world embodied tasks is an ultimate goal in humanoid robot research. Recent advances have made significant progress in high-level cognition with…
Purpose: Echocardiographic interpretation requires video-level reasoning and guideline-based measurement analysis, which current deep learning models for cardiac ultrasound do not support. We present EchoAgent, a framework that enables…
Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…
Robots collaborating with humans must convert natural language goals into actionable, physically grounded decisions. For example, executing a command such as "go two meters to the right of the fridge" requires grounding semantic references,…
Spatiotemporal video grounding aims to localize target entities in videos based on textual queries. While existing research has made significant progress in exocentric videos, the egocentric setting remains relatively underexplored, despite…
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial…
Building embodied agents capable of accomplishing arbitrary tasks is a core objective towards achieving embodied artificial general intelligence (E-AGI). While recent work has advanced such general robot policies, their training and…
Visual grounding, the task of linking textual queries to specific regions within images, plays a pivotal role in vision-language integration. Existing methods typically rely on extensive task-specific annotations and fine-tuning, limiting…
Embodied agents for creative tasks like photography must bridge the semantic gap between high-level language commands and geometric control. We introduce PhotoAgent, an agent that achieves this by integrating Large Multimodal Models (LMMs)…
We introduce EgoSim, a closed-loop egocentric world simulator that generates spatially consistent interaction videos and persistently updates the underlying 3D scene state for continuous simulation. Existing egocentric simulators either…
Collecting large-scale egocentric video datasets with dense spatial and temporal annotations is costly, slow, and often constrained by environmental biases, privacy constraints, and limited coverage of interaction patterns. While synthetic…
Understanding multimodal signals in egocentric vision, such as RGB video, depth, camera poses, and gaze, is essential for applications in augmented reality, robotics, and human-computer interaction, enabling systems to better interpret the…
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,…
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…
Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…
We propose AToM-Bot, a novel task generation and execution framework for proactive robot-human interaction, which leverages the human mental and physical state inference capabilities of the Vision Language Model (VLM) prompted by the…
Human and environment sensing are two important topics in Computer Vision and Graphics. Human motion is often captured by inertial sensors, while the environment is mostly reconstructed using cameras. We integrate the two techniques…