相关论文: RoboGolf: Mastering Real-World Minigolf with a Ref…

Robot co-design, jointly optimizing morphology and control policy, remains a longstanding challenge in the robotics community, where many promising robots have been developed. However, a key limitation lies in its tendency to converge to…

While Large language models (LLMs) have the capability to iteratively reflect on their own outputs, recent studies have observed their struggles with knowledge-rich problems without access to external resources. In addition to the…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…

Reinforcement learning (RL) provides a principled framework for improving Vision-Language Models (VLMs) on complex reasoning tasks. However, existing RL approaches often rely on human-annotated labels or task-specific heuristics to define…

Reward specification is a notoriously difficult problem in reinforcement learning, requiring extensive expert supervision to design robust reward functions. Imitation learning (IL) methods attempt to circumvent these problems by utilizing…

Chain-of-thought (CoT) has proven to improve the reasoning capability of large language models (LLMs). However, due to the complexity of multimodal scenarios and the difficulty in collecting high-quality CoT data, CoT reasoning in…

Recent advancements in Large Language Models (LLMs) have demonstrated substantial capabilities in enhancing communication and coordination in multi-robot systems. However, existing methods often struggle to achieve efficient collaboration…

Many Reinforcement Learning (RL) approaches use joint control signals (positions, velocities, torques) as action space for continuous control tasks. We propose to lift the action space to a higher level in the form of subgoals for a motion…

The scalability of robotic manipulation is fundamentally bottlenecked by the scarcity of task-aligned physical interaction data. While vision-language models (VLMs) and video generation models (VGMs) hold promise for autonomous data…

Vision-language models (VLMs) have exhibited impressive capabilities across diverse image understanding tasks, but still struggle in settings that require reasoning over extended sequences of camera frames from a video. This limits their…

Vision-Language Models (VLMs) encode knowledge and reasoning capabilities for robotic manipulation within high-dimensional representation spaces. However, current approaches often project them into compressed intermediate representations,…

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…

Reinforcement learning (RL) has become a standard paradigm for refining large language models (LLMs) beyond pre-training and instruction tuning. A prominent line of work is RL with verifiable rewards (RLVR), which leverages automatically…

We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping using quadrupeds is a challenging problem, that combines highly dynamic locomotion…

Vision-language models (VLMs) are powerful but remain opaque black boxes. We introduce the first framework for transparent circuit tracing in VLMs to systematically analyze multimodal reasoning. By utilizing transcoders, attribution graphs,…

Vision-language models (VLMs) have demonstrated remarkable capabilities in robotic planning, particularly for long-horizon tasks that require a holistic understanding of the environment for task decomposition. Existing methods typically…

The growing popularity of social deduction games has created an increasing need for intelligent frameworks where humans can collaborate with AI agents, particularly in post-pandemic contexts with heightened psychological and social…

Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to operate within a tightly coupled perception-action loop. However, existing systems typically rely on decoupled modules, resulting in delayed…

In the field of multimodal chain-of-thought (CoT) reasoning, existing approaches predominantly rely on reasoning on pure language space, which inherently suffers from language bias and is largely confined to math or science domains. This…

Advanced large language models (LLMs) frequently reflect in reasoning chain-of-thoughts (CoTs), where they self-verify the correctness of current solutions and explore alternatives. However, given recent findings that LLMs detect limited…