相关论文: AHA: A Vision-Language-Model for Detecting and Rea…

Vision-Language-Action (VLA) models have demonstrated strong performance in robotic manipulation, yet their closed-loop deployment is hindered by the high latency and compute cost of repeatedly running large vision-language backbones at…

General-purposed embodied agents are designed to understand the users' natural instructions or intentions and act precisely to complete universal tasks. Recently, methods based on foundation models especially Vision-Language-Action models…

In this work, we highlight vulnerabilities in robotic systems integrating large language models (LLMs) and vision-language models (VLMs) due to input modality sensitivities. While LLM/VLM-controlled robots show impressive performance across…

Vision-Language Models (VLMs) frequently "hallucinate" - generate plausible yet factually incorrect statements - posing a critical barrier to their trustworthy deployment. In this work, we propose a new paradigm for diagnosing…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for general-purpose robotic manipulation, leveraging large-scale pre-training to achieve strong performance. The field has rapidly evolved with additional spatial…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Large Language Models are increasingly used in robotics for task planning, but their reliance on textual inputs limits their adaptability to real-world changes and failures. To address these challenges, we propose LERa - Look, Explain,…

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…

Although Large Audio-Language Models (LALMs) deliver state-of-the-art (SOTA) performance, they frequently suffer from hallucinations, e.g. generating text not grounded in the audio input. We analyze these grounding failures and identify a…

Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and…

Large language models (LLMs) are being rapidly integrated into decision-support tools, automation workflows, and AI-enabled software systems. However, their behavior in production environments remains poorly understood, and their failure…

Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…

Large language models (LLMs) have recently emerged as promising tools for solving challenging robotic tasks, even in the presence of action and observation uncertainties. Recent LLM-based decision-making methods (also referred to as…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…

Multimodal Large Language Models (MLLMs) excel in understanding complex language and visual data, enabling generalist robotic systems to interpret instructions and perform embodied tasks. Nevertheless, their real-world deployment is…