相关论文: Grounding Classical Task Planners via Vision-Langu…

Recent vision-language-action (VLA) models for multi-task robot manipulation often rely on fixed camera setups and shared visual encoders, which limit their performance under occlusions and during cross-task transfer. To address these…

Vision-Language Models (VLMs) have transformed tasks requiring visual and reasoning abilities, such as image retrieval and Visual Question Answering (VQA). Despite their success, VLMs face significant challenges with tasks involving…

This paper presents a novel framework, called PLANTOR (PLanning with Natural language for Task-Oriented Robots), that integrates Large Language Models (LLMs) with Prolog-based knowledge management and planning for multi-robot tasks. The…

Foundation models (FMs) are increasingly used to bridge language and action in embodied agents, yet the operational characteristics of different FM integration strategies remain under-explored -- particularly for complex instruction…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

Planning is an important capability of artificial agents that perform long-horizon tasks in real-world environments. In this work, we explore the use of pre-trained language models (PLMs) to reason about plan sequences from text…

Visual reasoning is dominated by end-to-end neural networks scaled to billions of model parameters and training examples. However, even the largest models struggle with compositional reasoning, generalization, fine-grained spatial and…

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we…

We are interested in enabling visual planning for complex long-horizon tasks in the space of generated videos and language, leveraging recent advances in large generative models pretrained on Internet-scale data. To this end, we present…

Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information…

Vision-Language Models (VLMs) encode knowledge and reasoning capabilities for robotic manipulation within high-dimensional representation spaces. However, current approaches often project them into compressed intermediate representations,…

Vision-Language-Action (VLA) models mark a transformative advancement in artificial intelligence, aiming to unify perception, natural language understanding, and embodied action within a single computational framework. This foundational…

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…

The emergence of Vision Language Action (VLA) models marks a paradigm shift from traditional policy-based control to generalized robotics, reframing Vision Language Models (VLMs) from passive sequence generators into active agents for…

The evaluation of text-generative vision-language models is a challenging yet crucial endeavor. By addressing the limitations of existing Visual Question Answering (VQA) benchmarks and proposing innovative evaluation methodologies, our…

Task planning for robotic manipulation with large language models (LLMs) is an emerging area. Prior approaches rely on specialized models, fine tuning, or prompt tuning, and often operate in an open loop manner without robust environmental…

This paper focuses on embodied task planning, where an agent acquires visual observations from the environment and executes atomic actions to accomplish a given task. Although recent Vision-Language Models (VLMs) have achieved impressive…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Traditional reinforcement learning-based robotic control methods are often task-specific and fail to generalize across diverse environments or unseen objects and instructions. Visual Language Models (VLMs) demonstrate strong scene…

Language models (LMs) have demonstrated their capability in possessing commonsense knowledge of the physical world, a crucial aspect of performing tasks in everyday life. However, it remains unclear **whether LMs have the capacity to…