相关论文: Keypoint Abstraction using Large Models for Object…

Object detection models typically rely on predefined categories, limiting their ability to identify novel objects in open-world scenarios. To overcome this constraint, we introduce ADAM: Autonomous Discovery and Annotation Model, a…

Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

We unveil that internal representations in large language models (LLMs) serve as reliable proxies of learned knowledge, and propose RECALL, a novel representation-aware model merging framework for continual learning without access to…

To make sense of their surroundings, intelligent systems must transform complex sensory inputs to structured codes that are reduced to task-relevant information such as object category. Biological agents achieve this in a largely autonomous…

We show that off-the-shelf text-based Transformers, with no additional training, can perform few-shot in-context visual imitation learning, mapping visual observations to action sequences that emulate the demonstrator's behaviour. We…

In-context learning (ICL) has proven to be a significant capability with the advancement of Large Language models (LLMs). By instructing LLMs using few-shot demonstrative examples, ICL enables them to perform a wide range of tasks without…

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Task-oriented grasping (TOG) is more challenging than simple object grasping because it requires precise identification of object parts and careful selection of grasping areas to ensure effective and robust manipulation. While recent…

With the rapid advancement of large language models (LLMs) and vision-language models (VLMs), significant progress has been made in developing open-vocabulary robotic manipulation systems. However, many existing approaches overlook the…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Category-level object pose estimation aims to predict the 6D pose and size of previously unseen instances from predefined categories, requiring strong generalization across diverse object instances. Although many previous methods attempt to…

Generating realistic and diverse trajectories is a critical challenge in autonomous driving simulation. While Large Language Models (LLMs) show promise, existing methods often rely on structured data like vectorized maps, which fail to…

Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this…

Large Language Models (LLMs) have demonstrated impressive in-context learning (ICL) capabilities from few-shot demonstration exemplars. While recent learning-based demonstration selection methods have proven beneficial to ICL by choosing…

A long-standing challenge for a robotic manipulation system operating in real-world scenarios is adapting and generalizing its acquired motor skills to unseen environments. We tackle this challenge employing hybrid skill models that…

Learning embeddings that are invariant to the pose of the object is crucial in visual image retrieval and re-identification. The existing approaches for person, vehicle, or animal re-identification tasks suffer from high intra-class…

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…