相关论文: Text2Motion: From Natural Language Instructions to…

Discrete motion tokenization has recently enabled Large Language Models (LLMs) to serve as versatile backbones for motion understanding and motion-language reasoning. However, existing pipelines typically decouple motion quantization from…

Autonomous long-horizon mobile manipulation encompasses a multitude of challenges, including scene dynamics, unexplored areas, and error recovery. Recent works have leveraged foundation models for scene-level robotic reasoning and planning.…

Vision-language models solve geometry problems with rising accuracy, yet their intermediate states remain latent and unverifiable: a relation expressed in textual reasoning or drawing code carries no guarantee that a constraint-satisfying…

Current state-of-the-art paradigms predominantly treat Text-to-Motion (T2M) generation as a direct translation problem, mapping symbolic language directly to continuous poses. While effective for simple actions, this System 1 approach faces…

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…

Though the advancement of pre-trained large language models unfolds, the exploration of building a unified model for language and other multi-modal data, such as motion, remains challenging and untouched so far. Fortunately, human motion…

Complex, long-horizon planning and its combinatorial nature pose steep challenges for learning-based agents. Difficulties in such settings are exacerbated in low data regimes where over-fitting stifles generalization and compounding errors…

Text-driven motion generation offers a powerful and intuitive way to create human movements directly from natural language. By removing the need for predefined motion inputs, it provides a flexible and accessible approach to controlling…

Geometric reasoning inherently requires "thinking with constructions" -- the dynamic manipulation of visual aids to bridge the gap between problem conditions and solutions. However, existing Multimodal Large Language Models (MLLMs) are…

Inspired by the strong ties between vision and language, the two intimate human sensing and communication modalities, our paper aims to explore the generation of 3D human full-body motions from texts, as well as its reciprocal task,…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code generation approach that converts complex high-level…

Language-based environment manipulation requires agents to manipulate the environment following natural language instructions, which is challenging due to the huge space of the environments. To address this challenge, various approaches…

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…

Although existing text-to-motion (T2M) methods can produce realistic human motion from text description, it is still difficult to align the generated motion with the desired postures since using text alone is insufficient for precisely…

Generating high-quality and diverse human images is an important yet challenging task in vision and graphics. However, existing generative models often fall short under the high diversity of clothing shapes and textures. Furthermore, the…

The task of text2motion is to generate human motion sequences from given textual descriptions, where the model explores diverse mappings from natural language instructions to human body movements. While most existing works are confined to…

Textual grounding, i.e., linking words to objects in images, is a challenging but important task for robotics and human-computer interaction. Existing techniques benefit from recent progress in deep learning and generally formulate the task…

Large language models (LLMs) have shown promise as interactive agents that solve tasks through extended sequences of environment interactions. While prior work has primarily focused on system-level optimizations or algorithmic improvements,…

This study explores the capabilities of multimodal large language models (LLMs) in handling challenging multistep tasks that integrate language and vision, focusing on model steerability, composability, and the application of long-term…