相关论文: KALIE: Fine-Tuning Vision-Language Models for Open…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Robotic manipulation has increasingly adopted vision-language-action (VLA) models, which achieve strong performance but typically require task-specific demonstrations and fine-tuning, and often generalize poorly under domain shift. We…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

Large language models (LLMs) are increasingly pivotal in a wide range of natural language processing tasks. Access to pre-trained models, courtesy of the open-source community, has made it possible to adapt these models to specific…

Despite large-scale pretraining endowing models with language and vision reasoning capabilities, improving their spatial reasoning capability remains challenging due to the lack of data grounded in the 3D world. While it is possible for…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…

Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications. Reinforcement Learning (RL), a complementary paradigm,…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-level reasoning about where and what can be offloaded to…

While Large Language Models (LLMs) and Vision-Language Models (VLMs) demonstrate remarkable capabilities in high-level reasoning and semantic understanding, applying them directly to contact-rich manipulation remains a challenge due to…

Reinforcement learning (RL) trains agents to accomplish complex tasks through environmental interaction data, but its capacity is also limited by the scope of the available data. To obtain a knowledgeable agent, a promising approach is to…

Recent advancements in open-world robot manipulation have been largely driven by vision-language models (VLMs). While these models exhibit strong generalization ability in high-level planning, they struggle to predict low-level robot…

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Advances in 3D generative AI have enabled the creation of physical objects from text prompts, but challenges remain in creating objects involving multiple component types. We present a pipeline that integrates 3D generative AI with…

Exploration is essential for general-purpose robotic learning, especially in open-ended environments where dense rewards, explicit goals, or task-specific supervision are scarce. Vision-language models (VLMs), with their semantic reasoning…

Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…