相关论文: FlowAct: A Proactive Multimodal Human-robot Intera…

Learning an agent model that behaves like humans-capable of jointly perceiving the environment, predicting the future, and taking actions from a first-person perspective-is a fundamental challenge in computer vision. Existing methods…

Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter…

We address the problem of accurate capture and expressive modelling of interactive behaviors happening between two persons in daily scenarios. Different from previous works which either only consider one person or focus on conversational…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Conversational machine comprehension requires deep understanding of the dialogue flow, and the prior work proposed FlowQA to implicitly model the context representations in reasoning for better understanding. This paper proposes to…

This paper focuses on embodied task planning, where an agent acquires visual observations from the environment and executes atomic actions to accomplish a given task. Although recent Vision-Language Models (VLMs) have achieved impressive…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object interaction (HOI) structure is not explicitly represented. An…

Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a systemic challenge remains unresolved, as inherent latency…

Recent advancements have enabled Large Language Models (LLMs) to function as agents that can perform actions using external tools. This requires registering, i.e., integrating tool information into the LLM context prior to taking actions.…

Deep research is an inherently challenging task that demands both breadth and depth of thinking. It involves navigating diverse knowledge spaces and reasoning over complex, multi-step dependencies, which presents substantial challenges for…

Forecasting the future states of surrounding traffic participants is a crucial capability for autonomous vehicles. The recently proposed occupancy flow field prediction introduces a scalable and effective representation to jointly predict…

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability…

This paper presents a novel robot-environment interaction in navigation tasks such that robots have neither a representation of their working space nor planning function, instead, an active environment takes charge of these aspects. This is…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

Recent advances in Large Language Models (LLMs) and multimodal foundation models have significantly broadened their application in robotics and collaborative systems. However, effective multi-agent interaction necessitates robust…

In modern sequential decision-making systems, the construction of an optimal candidate action space is critical to efficient inference. However, existing approaches either rely on manually defined action spaces that lack scalability or…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…

In this paper, we introduce a novel conceptual model for a robot's behavioral adaptation in its long-term interaction with humans, integrating dynamic robot role adaptation with principles of flow experience from psychology. This…