相关论文: CALVIN: A Benchmark for Language-Conditioned Polic…

General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured environments. While Vision-Language-Action (VLA) models…

LaViRA: Zero-shot Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires an agent to navigate unseen environments based on natural language instructions without any prior training. Current methods face a critical…

This paper introduces ACTLLM (Action Consistency Tuned Large Language Model), a novel approach for robot manipulation in dynamic environments. Traditional vision-based systems often struggle to learn visual representations that excel in…

The prevalent paradigm in robot learning attempts to generalize across environments, embodiments, and tasks with language prompts at runtime. A fundamental tension limits this approach: language is often too abstract to guide the concrete…

In the Vision-and-Language Navigation (VLN) task an embodied agent navigates a 3D environment, following natural language instructions. A challenge in this task is how to handle 'off the path' scenarios where an agent veers from a reference…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

Humans can perform complex tasks with long-term objectives by planning, reasoning, and forecasting outcomes of actions. For embodied agents to achieve similar capabilities, they must gain knowledge of the environment transferable to novel…

Existing Vision-Language-Action (VLA) models often struggle to generalize to long-horizon tasks due to their heavy reliance on immediate observations. While recent studies incorporate retrieval mechanisms or extend context windows to handle…

With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…

Reinforcement learning has been successful in many tasks ranging from robotic control, games, energy management etc. In complex real world environments with sparse rewards and long task horizons, sample efficiency is still a major…

Deep Learning has revolutionized our ability to solve complex problems such as Vision-and-Language Navigation (VLN). This task requires the agent to navigate to a goal purely based on visual sensory inputs given natural language…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

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…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

The pursuit of robot generalists, agents capable of performing diverse tasks across diverse environments, demands rigorous and scalable evaluation. Yet real-world testing of robot policies remains fundamentally constrained: it is…

The development of sophisticated artificial intelligence (AI) conversational agents based on large language models raises important questions about the relationship between human norms, values, and practices and AI design and performance.…