相关论文: LAVA: Long-horizon Visual Action based Food Acquis…

Accurate dietary assessment is critical for precision nutrition, yet most image-based methods rely on a single pre-consumption image and provide only coarse, meal-level estimates. These approaches cannot determine what was actually consumed…

In response to the increasing demand for efficient and non-invasive methods to estimate food weight, this paper presents a vision-based approach utilizing 2D images. The study employs a dataset of 2380 images comprising fourteen different…

The important manifestation of robot intelligence is the ability to naturally interact and autonomously make decisions. Traditional approaches to robot control often compartmentalize perception, planning, and decision-making, simplifying…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…

This paper proposes VLA-AN, an efficient and onboard Vision-Language-Action (VLA) framework dedicated to autonomous drone navigation in complex environments. VLA-AN addresses four major limitations of existing large aerial navigation…

Unsupervised black-box models are drivers of scientific discovery, yet are difficult to interpret, as their output is often a multidimensional embedding rather than a well-defined target. While explainability for supervised learning…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Vision-Language-Action (VLA) models have recently demonstrated strong performance across embodied tasks. Modern VLAs commonly employ diffusion action experts to efficiently generate high-precision continuous action chunks, while…

Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a critical pathology in current training paradigms where…

This letter introduces ERRA, an embodied learning architecture that enables robots to jointly obtain three fundamental capabilities (reasoning, planning, and interaction) for solving long-horizon language-conditioned manipulation tasks.…

While deep reinforcement learning methods have shown impressive results in robot learning, their sample inefficiency makes the learning of complex, long-horizon behaviors with real robot systems infeasible. To mitigate this issue,…

Malnutrition is a major public health concern in low-and-middle-income countries (LMICs). Understanding food and nutrient intake across communities, households and individuals is critical to the development of health policies and…

We introduce Language-Informed Latent Actions (LILA), a framework for learning natural language interfaces in the context of human-robot collaboration. LILA falls under the shared autonomy paradigm: in addition to providing discrete…

Low-Rank Adaptation (LoRA) has emerged as one of the most effective, computationally tractable fine-tuning approaches for training Vision-Language Models (VLMs) and Large Language Models (LLMs). LoRA accomplishes this by freezing the…

Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges…

Unmanned Aerial Vehicle (UAV) visual geo-localization aims to match images of the same geographic target captured from different views, i.e., the UAV view and the satellite view. It is very challenging due to the large appearance…

Modern deep learning techniques have enabled advances in image-based dietary assessment such as food recognition and food portion size estimation. Valuable information on the types of foods and the amount consumed are crucial for prevention…

Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…

Vision-and-Language Navigation (VLN) tasks agents with locating specific objects in unseen environments using natural language instructions and visual cues. Many existing VLN approaches typically follow an 'observe-and-reason' schema, that…