Related papers: BLaDA: Bridging Language to Functional Dexterous A…

Generating and editing a 3D scene guided by natural language poses a challenge, primarily due to the complexity of specifying the positional relations and volumetric changes within the 3D space. Recent advancements in Large Language Models…

In dynamic environments such as warehouses, hospitals, and homes, robots must seamlessly transition between gross motion and precise manipulations to complete complex tasks. However, current Vision-Language-Action (VLA) frameworks, largely…

With the rapid advancement of large language models (LLMs) and vision-language models (VLMs), significant progress has been made in developing open-vocabulary robotic manipulation systems. However, many existing approaches overlook the…

Combining a vision module inside a closed-loop control system for a \emph{seamless movement} of a robot in a manipulation task is challenging due to the inconsistent update rates between utilized modules. This task is even more difficult in…

Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation learning. However, only few methods incorporate 3D signals…

Unsupervised domain adaptation (UDA) techniques are vital for semantic segmentation in geosciences, effectively utilizing remote sensing imagery across diverse domains. However, most existing UDA methods, which focus on domain alignment at…

Lifting 2D open-vocabulary understanding into 3D Gaussian Splatting (3DGS) scenes is a critical challenge. Mainstream methods, built on an embedding paradigm, suffer from three key flaws: (i) geometry-semantic inconsistency, where points,…

Most existing one-shot skeleton-based action recognition focuses on raw low-level information (e.g., joint location), and may suffer from local information loss and low generalization ability. To alleviate these, we propose to leverage text…

Functional dexterous grasping requires precise hand-object interaction, going beyond simple gripping. Existing affordance-based methods primarily predict coarse interaction regions and cannot directly constrain the grasping posture, leading…

This research introduces the Bi-VLA (Vision-Language-Action) model, a novel system designed for bimanual robotic dexterous manipulation that seamlessly integrates vision for scene understanding, language comprehension for translating human…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation by leveraging large pretrained vision-language backbones. However, most existing VLAs rely primarily on 2D visual representations,…

Dense large language models(LLMs) face critical efficiency bottlenecks as they rigidly activate all parameters regardless of input complexity. While existing sparsity methods(static pruning or dynamic activation) address this partially,…

Recently, several studies have combined Gaussian Splatting to obtain scene representations with language embeddings for open-vocabulary 3D scene understanding. While these methods perform well, they essentially require very dense multi-view…

Robotic manipulation involves kinematic and semantic transitions that are inherently coupled via underlying actions. However, existing approaches plan within either semantic or latent space without explicitly aligning these cross-modal…

Jigsaw puzzle solving remains challenging in computer vision, requiring an understanding of both local fragment details and global spatial relationships. While most traditional approaches only focus on visual cues like edge matching and…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing tactile descriptions remain limited to superficial attributes…

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and…

Dexterous robotic hands are essential for performing complex manipulation tasks, yet remain difficult to train due to the challenges of demonstration collection and high-dimensional control. While reinforcement learning (RL) can alleviate…