相关论文: OK-Robot: What Really Matters in Integrating Open-…

In this paper, we propose Lan-grasp, a novel approach towards more appropriate semantic grasping and placing. We leverage foundation models to equip the robot with a semantic understanding of object geometry, enabling it to identify the…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…

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…

This paper presents a robotic assembly framework that combines Vision-Language Models (VLMs) with imitation learning for assembly manipulation tasks. Our system employs a gripper-equipped robot that moves in 3D space to perform assembly…

Recent developments in vision language models (VLM) have shown great potential for diverse applications related to image understanding. In this study, we have explored state-of-the-art VLM models for vision-based transportation engineering…

Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have demonstrated remarkable capabilities to reason with both…

Grasping assistance is essential for restoring autonomy in individuals with motor impairments, particularly in unstructured environments where object categories and user intentions are diverse and unpredictable. We present OVGrasp, a…

Assistive robot manipulators must be able to autonomously pick and place a wide range of novel objects to be truly useful. However, current assistive robots lack this capability. Additionally, assistive systems need to have an interface…

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…

Open-vocabulary 3D object detection (OV-3DDet) aims to localize and recognize both seen and previously unseen object categories within any new 3D scene. While language and vision foundation models have achieved success in handling various…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Autonomous robots operating in open environments need the ability to continuously handle tasks that are not covered by predefined local methods. However, existing approaches often rely on repeated large-language-model (LLM) interaction for…

Vision-language models (VLMs) such as CLIP demonstrate strong performance but struggle when adapted to downstream tasks. Prompt learning has emerged as an efficient and effective strategy to adapt VLMs while preserving their pre-trained…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…