相关论文: VADER: Visual Affordance Detection and Error Recov…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

The scaling of large language models to encode all the world's knowledge in model parameters is unsustainable and has exacerbated resource barriers. Retrieval-Augmented Generation (RAG) presents a potential solution, yet its application to…

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

Robots must adapt to diverse human instructions and operate safely in unstructured, open-world environments. Recent Vision-Language models (VLMs) offer strong priors for grounding language and perception, but remain difficult to steer for…

We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…

Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…

Retrieving specific information from a large corpus of documents is a prevalent industrial use case of modern AI, notably due to the popularity of Retrieval-Augmented Generation (RAG) systems. Although neural document retrieval models have…

Specialized visual tools can augment large language models or vision language models with expert knowledge (e.g., grounding, spatial reasoning, medical knowledge, etc.), but knowing which tools to call (and when to call them) can be…

While showing sophisticated reasoning abilities, large language models (LLMs) still struggle with long-horizon decision-making tasks due to deficient exploration and long-term credit assignment, especially in sparse-reward scenarios.…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

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…

In this work, we focus on unsupervised vision-language-action mapping in the area of robotic manipulation. Recently, multiple approaches employing pre-trained large language and vision models have been proposed for this task. However, they…

Crop monitoring is essential for precision agriculture, but current systems lack high-level reasoning. We introduce a novel, modular framework that uses a Visual Language Model (VLM) to guide robotic task planning, interleaving input…

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…

Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by…

As robots become increasingly capable of manipulation and long-term autonomy, long-horizon task and motion planning problems are becoming increasingly important. A key challenge in such problems is that early actions in the plan may make…

Visual anomaly detection aims to identify anomalous regions in images through unsupervised learning paradigms, with increasing application demand and value in fields such as industrial inspection and medical lesion detection. Despite…

Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…