相关论文: Advancing Behavior Generation in Mobile Robotics t…

This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware…

This paper investigates the task of the open-ended interactive robotic manipulation on table-top scenarios. While recent Large Language Models (LLMs) enhance robots' comprehension of user instructions, their lack of visual grounding…

Building autonomous robotic agents capable of achieving human-level performance in real-world embodied tasks is an ultimate goal in humanoid robot research. Recent advances have made significant progress in high-level cognition with…

Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…

User simulation is important for developing and evaluating human-centered AI, yet current student simulation in educational applications has significant limitations. Existing approaches focus on single learning experiences and do not…

This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…

LLM/VLM-based digital agents have advanced rapidly thanks to scalable sandboxes for coding, web navigation, and computer use, which provide rich interactive training grounds. In contrast, embodied agents still lack abundant, diverse, and…

Large language models (LLMs) have recently demonstrated remarkable capabilities across domains, tasks, and languages (e.g., ChatGPT and GPT-4), reviving the research of general autonomous agents with human-like cognitive abilities. Such…

Leveraging human motion data to impart robots with versatile manipulation skills has emerged as a promising paradigm in robotic manipulation. Nevertheless, translating multi-source human hand motions into feasible robot behaviors remains…

Multimodal large language models (MLLMs) have shown remarkable capabilities in cross-modal understanding and reasoning, offering new opportunities for intelligent assistive systems, yet existing systems still struggle with risk-aware…

Large Language Models (LLMs) have emerged as foundational infrastructure in the pursuit of Artificial General Intelligence (AGI). Despite their remarkable capabilities in language perception and generation, current LLMs fundamentally lack a…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

We address the problem of ego-vehicle navigation in dense simulated traffic environments populated by road agents with varying driver behaviors. Navigation in such environments is challenging due to unpredictability in agents' actions…

Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture…

Multi-agent reinforcement learning (MARL) has achieved remarkable success in various challenging problems. Meanwhile, more and more benchmarks have emerged and provided some standards to evaluate the algorithms in different fields. On the…

Yume aims to use images, text, or videos to create an interactive, realistic, and dynamic world, which allows exploration and control using peripheral devices or neural signals. In this report, we present a preview version of \method, which…

The role of simulation in autonomous driving is becoming increasingly important due to the need for rapid prototyping and extensive testing. The use of physics-based simulation involves multiple benefits and advantages at a reasonable cost…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…

Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking.However, commonly used simulators have high hardware requirements and are therefore…

This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The…