相关论文: Octopi: Object Property Reasoning with Large Tacti…

Touch is recognized as a vital sense for humans and an equally important modality for robots, especially for dexterous manipulation, material identification, and scenarios involving visual occlusion. Building upon very recent work in touch…

Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

Understanding and reasoning about dynamics governed by physical laws through visual observation, akin to human capabilities in the real world, poses significant challenges. Currently, object-centric dynamic simulation methods, which emulate…

Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

Existing multimodal reasoning models and frameworks suffer from fundamental architectural limitations: most lack the human-like ability to autonomously explore diverse reasoning pathways-whether in direct inference, tool-driven visual…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

In recent years, the field of computer vision has seen significant advancements thanks to the development of large language models (LLMs). These models have enabled more effective and sophisticated interactions between humans and machines,…

There is a growing interest in applying large language models (LLMs) in robotic tasks, due to their remarkable reasoning ability and extensive knowledge learned from vast training corpora. Grounding LLMs in the physical world remains an…

We introduce the Continuum Physical Dataset (ContPhy), a novel benchmark for assessing machine physical commonsense. ContPhy complements existing physical reasoning benchmarks by encompassing the inference of diverse physical properties,…

Physical AI systems need to perceive, understand, and perform complex actions in the physical world. In this paper, we present the Cosmos-Reason1 models that can understand the physical world and generate appropriate embodied decisions…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

We present OPAL (Operant Physical Agent with Language), a novel vision-language-action architecture that introduces topological constraints to flow matching for robotic control. To do so, we further introduce topological attention. Our…

Visual perception and language understanding are - fundamental components of human intelligence, enabling them to understand and reason about objects and their interactions. It is crucial for machines to have this capacity to reason using…

Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

Objects' motions in nature are governed by complex interactions and their properties. While some properties, such as shape and material, can be identified via the object's visual appearances, others like mass and electric charge are not…

This paper explores the challenges of integrating tactile sensing into intelligent systems for multimodal reasoning, particularly in enabling commonsense reasoning about the open-ended physical world. We identify two key challenges:…