相关论文: SARO: Space-Aware Robot System for Terrain Crossin…

Vision-language models (VLMs) have advanced multimodal reasoning but still face challenges in spatial reasoning for 3D scenes and complex object configurations. To address this, we introduce SpatialViLT, an enhanced VLM that integrates…

Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these…

Recent advancements in open-source Visual Language Models (VLMs) such as LLaVA, Qwen-VL, and Llama have catalyzed extensive research on their integration with diverse systems. The internet-scale general knowledge encapsulated within these…

Long-horizon routing tasks of deformable linear objects (DLOs), such as cables and ropes, are common in industrial assembly lines and everyday life. These tasks are particularly challenging because they require robots to manipulate DLO with…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Vision-Language-Action (VLA) models are receiving increasing attention for their ability to enable robots to perform complex tasks by integrating visual context with linguistic commands. However, achieving efficient real-time performance…

Navigating unseen, large-scale environments based on complex and abstract human instructions remains a formidable challenge for autonomous mobile robots. Addressing this requires robots to infer implicit semantics and efficiently explore…

Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effectively grounding this knowledge in robot behaviors remains…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

Vision-centric hierarchical embodied models have demonstrated strong potential. However, existing methods lack spatial awareness capabilities, limiting their effectiveness in bridging visual plans to actionable control in complex…

Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…

Vision-and-Language Navigation (VLN) requires robots to follow natural language instructions and navigate complex environments without prior maps. While recent vision-language large models demonstrate strong reasoning abilities, they often…

Bridging the gap between embodied intelligence and embedded deployment remains a key challenge in intelligent robotic systems, where perception, reasoning, and planning must operate under strict constraints on computation, memory, energy,…

Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…

In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as Generative Pre-trained Transformers (GPTs) and autoregressive…

Autonomous robotic systems require spatio-temporal understanding of dynamic environments to ensure reliable navigation and interaction. While Vision-Language Models (VLMs) provide open-world semantic priors, they lack grounding in 3D…

Current safety alignment techniques for large language models (LLMs) face two key challenges: (1) under-generalization, which leaves models vulnerable to novel jailbreak attacks, and (2) over-alignment, which leads to the excessive refusal…

The important manifestation of robot intelligence is the ability to naturally interact and autonomously make decisions. Traditional approaches to robot control often compartmentalize perception, planning, and decision-making, simplifying…

Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…

3D visual grounding is crucial for robots, requiring integration of natural language and 3D scene understanding. Traditional methods depending on supervised learning with 3D point clouds are limited by scarce datasets. Recently zero-shot…