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

Interactive robotic grasping using natural language is one of the most fundamental tasks in human-robot interaction. However, language can be a source of ambiguity, particularly when there are ambiguous visual or linguistic contents. This…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

Visual Language Models have demonstrated remarkable capabilities across tasks, including visual question answering and image captioning. However, most models rely on text-based instructions, limiting their effectiveness in human-machine…

Humans are capable of completing a range of challenging manipulation tasks that require reasoning jointly over modalities such as vision, touch, and sound. Moreover, many such tasks are partially-observed; for example, taking a notebook out…

Exploiting relationships among objects has achieved remarkable progress in interpreting images or videos by natural language. Most existing methods resort to first detecting objects and their relationships, and then generating textual…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…

The ability to learn and refine behavior after deployment has become ever more important for robots as we design them to operate in unstructured environments like households. In this work, we design a new learning system based on large…

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale…

Robotic grasping is one of the most fundamental tasks in robotic manipulation, and grasp detection/generation has long been the subject of extensive research. Recently, language-driven grasp generation has emerged as a promising direction…

Robot planning in partially observable environments, where not all objects are known or visible, is a challenging problem, as it requires reasoning under uncertainty through partially observable Markov decision processes. During the…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Large Language Models (LLMs), through their contextualized representations, have been empirically proven to encapsulate syntactic, semantic, word sense, and common-sense knowledge. However, there has been limited exploration of their…

In biological systems, both skin sensitivity and body flexibility play crucial roles in haptic perception. Fully soft robots often suffer from structural fragility and delayed sensory processing, limiting their practical functionality. The…

Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…

Existing research predominantly focuses on developing powerful language learning models (LLMs) for mathematical reasoning within monolingual languages, with few explorations in preserving efficacy in a multilingual context. To bridge this…

Recognition and reasoning are two pillars of visual understanding. However, these tasks have an imbalance in focus; whereas recent advances in neural networks have shown strong empirical performance in visual recognition, there has been…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

Large language models (LLMs) and multimodal large language models (MLLMs) have significantly advanced artificial intelligence. However, visual reasoning, reasoning involving both visual and textual inputs, remains underexplored. Recent…

When large vision-language models are applied to the field of robotics, they encounter problems that are simple for humans yet error-prone for models. Such issues include confusion between third-person and first-person perspectives and a…