相关论文: Talk Through It: End User Directed Manipulation Le…

Robots operating in complex and uncertain environments face considerable challenges. Advanced robotic systems often rely on extensive datasets to learn manipulation tasks. In contrast, when humans are faced with unfamiliar tasks, such as…

Integrating robotics into everyday scenarios like tutoring or physical training requires robots capable of adaptive, socially engaging, and goal-oriented interactions. While Large Language Models show promise in human-like communication,…

Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…

Despite large-scale pretraining endowing models with language and vision reasoning capabilities, improving their spatial reasoning capability remains challenging due to the lack of data grounded in the 3D world. While it is possible for…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To…

Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

As the first robotic platforms slowly approach our everyday life, we can imagine a near future where service robots will be easily accessible by non-expert users through vocal interfaces. The capability of managing natural language would…

Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…

The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…

General-purposed embodied agents are designed to understand the users' natural instructions or intentions and act precisely to complete universal tasks. Recently, methods based on foundation models especially Vision-Language-Action models…

We have a vision of a day when autonomous robots can collaborate with humans as assistants in performing complex tasks in the physical world. This vision includes that the robots will have the ability to communicate with their human…

We propose a novel approach for decision making problems leveraging the generalization capabilities of large language models (LLMs). Traditional methods such as expert systems, planning algorithms, and reinforcement learning often exhibit…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

We propose a method that enables large language models (LLMs) to control embodied agents through the generation of control policies that directly map continuous observation vectors to continuous action vectors. At the outset, the LLMs…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous…