相关论文: VLMPC: Vision-Language Model Predictive Control fo…

In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method that enhances the computational efficiency of MPC…

We present a framework for perspective-aware reasoning in vision-language models (VLMs) through mental imagery simulation. Perspective-taking, the ability to perceive an environment or situation from an alternative viewpoint, is a key…

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…

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…

Vision-language models (VLMs) have achieved remarkable advancements, capitalizing on the impressive capabilities of large language models (LLMs) across diverse tasks. Despite this, a critical challenge known as hallucination occurs when…

We address the problem of coordinating a team of robots to cover an unknown environment while ensuring safe operation and avoiding collisions with non-cooperative agents. Traditional coverage strategies often rely on simplified assumptions,…

Vision-language models (VLMs) have excelled in multimodal tasks, but adapting them to embodied decision-making in open-world environments presents challenges. One critical issue is bridging the gap between discrete entities in low-level…

Multimodal Vision Language Models (VLMs) have emerged as a transformative topic at the intersection of computer vision and natural language processing, enabling machines to perceive and reason about the world through both visual and textual…

We present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller builds on earlier work on LMPC for deterministic systems.…

We present a viewpoint-based non-linear Model Predictive Control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human targets in emergency…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…

Vision-language models (VLMs), such as CLIP, have shown strong generalization under zero-shot settings, yet adapting them to downstream tasks with limited supervision remains a significant challenge. Existing multi-modal prompt learning…

Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…

Confidence estimation for Vision-Language-Action (VLA) models is essential for robots to perform manipulation tasks in the open world, providing crucial signals for risk-sensitive decision-making and failure anticipation. Existing…

The objective of this paper is to present a novel intelligent train control system for virtual coupling in railroads based on a Learning Model Predictive Control (LMPC). Virtual coupling is an emerging railroad technology that reduces the…

We design an model predictive control (MPC) approach for planning and control of non-holonomic mobile robots. Linearizing the system dynamics around the pre-computed reference trajectory gives a time-varying LQ MPC problem. We analytically…

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…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation, but their reliance on expert demonstrations limits their ability to learn from failures and perform self-corrections. Reinforcement…

Pre-trained vision-language models (VLMs) have shown remarkable generalization capabilities via prompting, which leverages VLMs as knowledge bases to extract information beneficial for downstream tasks. However, existing methods primarily…