相关论文: Details Make a Difference: Object State-Sensitive …

Vision-language-action (VLA) models hold promise as generalist robotics solutions by translating visual and linguistic inputs into robot actions, yet they lack reliability due to their black-box nature and sensitivity to environmental…

With the emergence of transformer-based architectures and large language models (LLMs), the accuracy of road scene perception has substantially advanced. Nonetheless, current road scene segmentation approaches are predominantly trained on…

Vision-based 3D occupancy prediction has become a popular research task due to its versatility and affordability. Nowadays, conventional methods usually project the image-based vision features to 3D space and learn the geometric information…

Multimodal large language models (MLLMs) have shown strong capabilities but remain limited to fixed modality pairs and require costly fine-tuning with large aligned datasets. Building fully omni-capable models that can integrate text,…

We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces, focusing on manipulation of deformable objects. We propose a Latent Space Roadmap (LSR) for task planning which is a…

Recent vision-language-action (VLA) models build upon vision-language foundations, and have achieved promising results and exhibit the possibility of task generalization in robot manipulation. However, due to the heterogeneity of tactile…

Researchers and practitioners have recently reframed powerful Large Language Models (LLMs) as agents, enabling them to automate complex tasks largely via the use of specialized functions. To facilitate the development of LLM agents, we…

Embodied task planning requires agents to produce executable actions in a close-loop manner within the environment. With progressively improving capabilities of LLMs in task decomposition, planning, and generalization, current embodied task…

Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models face two limitations. They typically act only on the…

Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the…

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end…

Traditionally, offline datasets have been used to evaluate task-oriented dialogue (TOD) models. These datasets lack context awareness, making them suboptimal benchmarks for conversational systems. In contrast, user-agents, which are…

As spacecraft journey further from Earth with more complex missions, systems of greater autonomy and onboard intelligence are called for. Reducing reliance on human-based mission control becomes increasingly critical if we are to increase…

This study explores integrating large language models (LLMs) with situational awareness-based planning (SAP) to enhance the decision-making capabilities of AI agents in dynamic and uncertain environments. We employ a multi-agent reasoning…

A world model is essential for an agent to predict the future and plan in domains such as autonomous driving and robotics. To achieve this, recent advancements have focused on video generation, which has gained significant attention due to…

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge…

With the rapid advancements in Large Language Models (LLMs), an increasing number of studies have leveraged LLMs as the cognitive core of agents to address complex task decision-making challenges. Specially, recent research has demonstrated…

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component…

Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is deciding an appropriate manipulation order for objects to…

Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of…