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

Understanding user instructions and object spatial relations in surrounding environments is crucial for intelligent robot systems to assist humans in various tasks. The natural language and spatial reasoning capabilities of Vision-Language…

Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…

Within the multimodal field, large vision-language models (LVLMs) have made significant progress due to their strong perception and reasoning capabilities in the visual and language systems. However, LVLMs are still plagued by the two…

Pre-trained vision-language-action (VLA) models offer a promising foundation for generalist robot policies, but often produce brittle behaviors or unsafe failures when deployed zero-shot in out-of-distribution scenarios. We present…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

In the field of robotics, researchers face a critical challenge in ensuring reliable and efficient task planning. Verifying high-level task plans before execution significantly reduces errors and enhance the overall performance of these…

Vision Language Models (VLMs) excel at visual question answering (VQA) but remain limited to snapshot vision, reasoning from static images. In contrast, embodied agents require ambulatory vision, actively moving to obtain more informative…

Large language models (LLMs) are accelerating the development of language-guided robot planners. Meanwhile, symbolic planners offer the advantage of interpretability. This paper proposes a new task that bridges these two trends, namely,…

Despite the impressive performance of vision-language models (VLMs) on downstream tasks, their ability to understand and reason about causal relationships in visual inputs remains unclear. Robust causal reasoning is fundamental to solving…

While significant research has focused on developing embodied reasoning capabilities using Vision-Language Models (VLMs) or integrating advanced VLMs into Vision-Language-Action (VLA) models for end-to-end robot control, few studies…

Visual grounding refers to the ability of a model to identify a region within some visual input that matches a textual description. Consequently, a model equipped with visual grounding capabilities can target a wide range of applications in…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

Knowledge-Based Visual Question Answering (KB-VQA) methods focus on tasks that demand reasoning with information extending beyond the explicit content depicted in the image. Early methods relied on explicit knowledge bases to provide this…

The remarkable advancements of vision and language foundation models in multimodal understanding, reasoning, and generation has sparked growing efforts to extend such intelligence to the physical world, fueling the flourishing of…

Solving long-horizon tasks requires robots to integrate high-level semantic reasoning with low-level physical interaction. While vision-language models (VLMs) and video generation models can decompose tasks and imagine outcomes, they often…

Deploying humanoid robots in real-world settings is fundamentally challenging, as it demands tight integration of perception, locomotion, and manipulation under partial-information observations and dynamically changing environments. As well…

Vision-language-action (VLA) models are effective robot action executors, but they remain limited on long-horizon tasks due to the dual burden of extended closed-loop planning and diverse physical operations. We therefore propose…

Classical planning formulations like the Planning Domain Definition Language (PDDL) admit action sequences guaranteed to achieve a goal state given an initial state if any are possible. However, reasoning problems defined in PDDL do not…

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system…

Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…