相关论文: MOKA: Open-World Robotic Manipulation through Mark…

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are…

In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which actions each object affords, and where those affordances can be…

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…

Robot foundation models, particularly Vision-Language-Action (VLA) models, have garnered significant attention for their ability to enhance robot policy learning, greatly improving robot's generalization and robustness. OpenAI's recent…

For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object's affordances, which…

Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While…

With the rapid advancement of large language models (LLMs) and vision-language models (VLMs), significant progress has been made in developing open-vocabulary robotic manipulation systems. However, many existing approaches overlook the…

In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances,…

Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models are often dominated by global object appearance and struggle…

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world…

While the integration of Multi-modal Large Language Models (MLLMs) with robotic systems has significantly improved robots' ability to understand and execute natural language instructions, their performance in manipulation tasks remains…

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial…

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment,…

Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only planners cannot resolve without semantic…

Recent advancements in open-world robot manipulation have been largely driven by vision-language models (VLMs). While these models exhibit strong generalization ability in high-level planning, they struggle to predict low-level robot…

Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains largely unexplored. This work investigates…

Robots equipped with reinforcement learning (RL) have the potential to learn a wide range of skills solely from a reward signal. However, obtaining a robust and dense reward signal for general manipulation tasks remains a challenge.…