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

While leveraging abundant human videos and simulated robot data poses a scalable solution to the scarcity of real-world robot data, the generalization capability of existing vision-language-action models (VLAs) remains limited by mismatches…

Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…

Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained significant attention. By unifying vision, language, and…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

An elusive goal in navigation research is to build an intelligent agent that can understand multimodal instructions including natural language and image, and perform useful navigation. To achieve this, we study a widely useful category of…

While Vision-Language-Action (VLA) models generalize well to generic instructions, they struggle with personalized commands such as "bring my cup," where the robot must act on one specific instance among visually similar objects. We study…

We present, to our knowledge, the first sign language-driven Vision-Language-Action (VLA) framework for intuitive and inclusive human-robot interaction. Unlike conventional approaches that rely on gloss annotations as intermediate…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…

Language-instructed active object localization is a critical challenge for robots, requiring efficient exploration of partially observable environments. However, state-of-the-art approaches either struggle to generalize beyond demonstration…

The rise of multi-modal large language models(MLLMs) has spurred their applications in autonomous driving. Recent MLLM-based methods perform action by learning a direct mapping from perception to action, neglecting the dynamics of the world…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation, but their reliance on expert demonstrations limits their ability to learn from failures and perform self-corrections. Reinforcement…

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen…

Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial awareness. To address these challenges, we…

Generalization remains a core challenge in embodied AI, as robots must adapt to diverse environments. While OpenVLA represents the State-of-the-Art (SOTA) in Vision-Language-Action models by leveraging large-scale pre-training, its…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Robotic manipulation in open-world settings requires not only task execution but also the ability to detect and learn from failures. While recent advances in vision-language models (VLMs) and large language models (LLMs) have improved…

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a…

Vision-based 3D occupancy prediction has become a popular research task due to its versatility and affordability. Nowadays, conventional methods usually project the image-based vision features to 3D space and learn the geometric information…

The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…