相关论文: RoboCodeX: Multimodal Code Generation for Robotic …

Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…

Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

Enabling machines to respond appropriately to natural language commands could greatly expand the number of people to whom they could be of service. Recently, advances in neural network-trained word embeddings have empowered non-embodied…

In this paper, we propose \textbf{UniCode}, a novel approach within the domain of multimodal large language models (MLLMs) that learns a unified codebook to efficiently tokenize visual, text, and potentially other types of signals. This…

We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick". Although human motion datasets exist, this task remains particularly challenging since generative models…

While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…

Text-to-video models have demonstrated substantial potential in robotic decision-making, enabling the imagination of realistic plans of future actions as well as accurate environment simulation. However, one major issue in such models is…

Existing methods for code generation use code snippets as seed data, restricting the complexity and diversity of the synthesized data. In this paper, we introduce a novel feature tree-based synthesis framework, which revolves around…

Humanoid control systems have made significant progress in recent years, yet modeling fluent interaction-rich behavior between a robot, its surrounding environment, and task-relevant objects remains a fundamental challenge. This difficulty…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

Program synthesis aims to automatically generate an executable program that conforms to the given specification. Recent advancements have demonstrated that deep neural methodologies and large-scale pretrained language models are highly…

3D Human motion generation is pivotal across film, animation, gaming, and embodied intelligence. Traditional 3D motion synthesis relies on costly motion capture, while recent work shows that 2D videos provide rich, temporally coherent…

Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

We present EmbodiedMAE, a unified 3D multi-modal representation for robot manipulation. Current approaches suffer from significant domain gaps between training datasets and robot manipulation tasks, while also lacking model architectures…

We present Perceive-Represent-Generate (PRG), a novel three-stage framework that maps perceptual information of different modalities (e.g., visual or sound), corresponding to a sequence of instructions, to an adequate sequence of movements…

The ability to generate sentiment-controlled feedback in response to multimodal inputs comprising text and images addresses a critical gap in human-computer interaction. This capability allows systems to provide empathetic, accurate, and…