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

Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…

Human-robot collaboration (HRC) in structured assembly requires reliable state estimation and adaptive task planning under noisy perception and human interventions. To address these challenges, we introduce a design-grounded human-aware…

Open-vocabulary object detection (OVOD) aims to detect the objects beyond the set of classes observed during training. This work introduces a straightforward and efficient strategy that utilizes pre-trained vision-language models (VLM),…

Natural language processing (NLP) has seen remarkable advancements with the development of large language models (LLMs). Despite these advancements, LLMs often produce socially biased outputs. Recent studies have mainly addressed this…

Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…

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…

Recent years have witnessed great progress in deep neural networks for real-time applications. However, most existing works do not explicitly consider the general case where the device's state and the available resources fluctuate over…

Training large language models (LLMs) is constrained by memory requirements, with activations accounting for a substantial fraction of the total footprint. Existing approaches reduce memory using low-rank weight parameterizations or…

In recent human-robot collaboration environments, there is a growing focus on integrating diverse sensor data beyond visual information to enable safer and more intelligent task execution. Although thermal data can be crucial for enhancing…

Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents exhibit zero-shot reasoning, they often rely on a "reactive"…

The advancement of large language models (LLMs) prompts the development of multi-modal agents, which are used as a controller to call external tools, providing a feasible way to solve practical tasks. In this paper, we propose a multi-modal…

Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…

There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multi-modal models fail to provide satisfactory results in describing occluded objects through…

With the rapid advancement of artificial intelligence, there is an increasing demand for intelligent robots capable of assisting humans in daily tasks and performing complex operations. Such robots not only require task planning…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Effective planning is essential for the success of any task, from organizing a vacation to routing autonomous vehicles and developing corporate strategies. It involves setting goals, formulating plans, and allocating resources to achieve…

Large Language Models (LLMs) have shown remarkable capabilities in natural language tasks requiring complex reasoning, yet their application in agentic, multi-step reasoning within interactive environments remains a difficult challenge.…

While multi-agent systems (MAS) have demonstrated superior performance over single-agent approaches in complex reasoning tasks, they often suffer from significant computational inefficiencies. Existing frameworks typically deploy large…

Building an agent that can mimic human behavior patterns to accomplish various open-world tasks is a long-term goal. To enable agents to effectively learn behavioral patterns across diverse tasks, a key challenge lies in modeling the…

For a vision-language model (VLM) to understand the physical world, such as cause and effect, a first step is to capture the temporal dynamics of the visual world, for example how the physical states of objects evolve over time (e.g. a…