相关论文: UniTeam: Open Vocabulary Mobile Manipulation Chall…

With the raid evolution of large language models and multimodal models, the mobile-agent landscape has proliferated without converging on the fundamental challenges. This paper identifies four core problems that should be solved for mobile…

Human intelligence's adaptability is remarkable, allowing us to adjust to new tasks and multi-modal environments swiftly. This skill is evident from a young age as we acquire new abilities and solve problems by imitating others or following…

This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…

Human intelligence naturally intertwines omni-modal perception -- spanning vision, audio, and language -- with complex reasoning and tool usage to interact with the world. However, current multi-modal LLMs are primarily confined to bi-modal…

Smartphones have become indispensable in modern life, yet navigating complex tasks on mobile devices often remains frustrating. Recent advancements in large multimodal model (LMM)-based mobile agents have demonstrated the ability to…

Large Language Models (LLMs)-based agents have made impressive progress in reasoning and tool use, enabling them to solve complex tasks. However, their ability to proactively collaborate with users, especially when goals are vague,…

In recent years, there have been significant advances in building end-to-end Machine Learning (ML) systems that learn at scale. But most of these systems are: (a) isolated (perception, speech, or language only); (b) trained on static…

The ability for AI agents to "think with images" requires a sophisticated blend of reasoning and perception. However, current open multimodal agents still largely fall short on the reasoning aspect crucial for real-world tasks like…

Robots should exist anywhere humans do: indoors, outdoors, and even unmapped environments. In contrast, the focus of recent advancements in Object Goal Navigation(OGN) has targeted navigating in indoor environments by leveraging spatial and…

Multi-agent distributed collaborative mapping provides comprehensive and efficient representations for robots. However, existing approaches lack instance-level awareness and semantic understanding of environments, limiting their…

When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…

We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…

What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…

We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…

We propose GAM-Agent, a game-theoretic multi-agent framework for enhancing vision-language reasoning. Unlike prior single-agent or monolithic models, GAM-Agent formulates the reasoning process as a non-zero-sum game between base…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform tasks efficiently, they must build and maintain a semantic…

Large Language Model (LLM) agents represent a promising shift in human-AI interaction, moving beyond passive prompt-response systems to autonomous agents capable of reasoning, planning, and goal-directed action. While LLM agents are…

The robot exploration task has been widely studied with applications spanning from novel environment mapping to item delivery. For some time-critical tasks, such as rescue catastrophes, the agent is required to explore as efficiently as…

Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…