相关论文: Select2Plan: Training-Free ICL-Based Planning thro…

Fine-tuning vision-language models (VLMs) with abundant unlabeled data recently has attracted increasing attention. Existing methods that resort to the pseudolabeling strategy would suffer from heavily incorrect hard pseudolabels when VLMs…

Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Current state-of-the-art spatial reasoning-enhanced VLMs are trained to excel at spatial visual question answering (VQA). However, we believe that higher-level 3D-aware tasks, such as articulating dynamic scene changes and motion planning,…

Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…

Vision-Language Navigation (VLN) enables robots to follow natural-language instructions in visually grounded environments, serving as a key capability for embodied robotic systems. Recent Vision-Language-Action (VLA) models have…

Aerial Vision-and-Language Navigation (VLN) is a novel task enabling Unmanned Aerial Vehicles (UAVs) to navigate in outdoor environments through natural language instructions and visual cues. However, it remains challenging due to the…

Current Visual-Language Navigation (VLN) methodologies face a trade-off between semantic understanding and control precision. While Multimodal Large Language Models (MLLMs) offer superior reasoning, deploying them as low-level controllers…

Single-vehicle Vision-Language Models (VLMs) are fundamentally constrained by sensor occlusions. While Vehicle-to-Everything (V2X) systems mitigate this, current benchmarks lack the cooperative reasoning required for resolving ambiguities…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Path planning is a fundamental capability for autonomous navigation of robotic wheelchairs. With the impressive development of deep-learning technologies, imitation learning-based path planning approaches have achieved effective results in…

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

We introduce a novel sequential modeling approach which enables learning a Large Vision Model (LVM) without making use of any linguistic data. To do this, we define a common format, "visual sentences", in which we can represent raw images…

VLA models have shown promising potential in embodied navigation by unifying perception and planning while inheriting the strong generalization abilities of large VLMs. However, most existing VLA models rely on reactive mappings directly…

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

Real-world path planning tasks typically involve multiple constraints beyond simple route optimization, such as the number of routes, maximum route length, depot locations, and task-specific requirements. Traditional approaches rely on…

Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM…

Humans and animals learn throughout their lives from limited amounts of sensed data, both with and without supervision. Autonomous, intelligent robots of the future are often expected to do the same. The existing continual learning (CL)…