相关论文: SAM2Act: Integrating Visual Foundation Model with …

LLM agents achieve 85-96% success on tasks where instructions fully specify the action, but drop to 29-53% when action feasibility depends on environmental state that the instruction does not mention. We argue that this gap reflects a…

Spatial understanding is a critical aspect of most robotic tasks, particularly when generalization is important. Despite the impressive results of deep generative models in complex manipulation tasks, the absence of a representation that…

Given the high cost of collecting robotic data in the real world, sample efficiency is a consistently compelling pursuit in robotics. In this paper, we introduce SGRv2, an imitation learning framework that enhances sample efficiency through…

Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a…

The pursuit of general-purpose robotics has yielded impressive foundation models, yet simulation-based benchmarking remains a bottleneck due to rapid performance saturation and a lack of true generalization testing. Existing benchmarks…

Visual Language Models (VLMs) have emerged as pivotal tools for robotic systems, enabling cross-task generalization, dynamic environmental interaction, and long-horizon planning through multimodal perception and semantic reasoning. However,…

We tackle the problem of learning robotic sensorimotor control policies that can generalize to visually diverse and unseen environments. Achieving broad generalization typically requires large datasets, which are difficult to obtain for…

Medical image segmentation is fundamental to clinical workflows, yet models trained on a single dataset often fail to generalize across institutions, scanners, or patient populations. While vision foundation models have shown great promise…

Many robotic applications require the agent to perform long-horizon tasks in partially observable environments. In such applications, decision making at any step can depend on observations received far in the past. Hence, being able to…

Quantization is pivotal for mitigating the significant memory and computational overhead of Large Language Models (LLMs). While emerging transformation-based methods have successfully enhanced quantization by projecting feature spaces onto…

Training generalist agents capable of solving diverse tasks is challenging, often requiring large datasets of expert demonstrations. This is particularly problematic in robotics, where each data point requires physical execution of actions…

Dexterous manipulation enables robots to purposefully alter the physical world, transforming them from passive observers into active agents in unstructured environments. This capability is the cornerstone of physical artificial…

Vision-language-action (VLA) reasoning tasks require agents to interpret multimodal instructions, perform long-horizon planning, and act adaptively in dynamic environments. Existing approaches typically train VLA models in an end-to-end…

Existing robotic foundation models, while powerful, are predicated on an implicit assumption of temporal homogeneity: treating all actions as equally informative during optimization. This "flat" training paradigm, inherited from language…

A generalist robotic policy needs both semantic understanding for task planning and the ability to interact with the environment through predictive capabilities. To tackle this, we present MM-ACT, a unified Vision-Language-Action (VLA)…

World models allow agents to simulate the consequences of actions in imagined environments for planning, control, and long-horizon decision-making. However, existing autoregressive world models struggle with visually coherent predictions…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

Robots excel in performing repetitive and precision-sensitive tasks in controlled environments such as warehouses and factories, but have not been yet extended to embodied AI agents providing assistance in household tasks. Inspired by the…

Task failures in prior fine-grained robotic manipulation methods often stem from suboptimal initial grasping, which is critical for subsequent manipulation and reducing the requirement for complex pose adjustments. To address this, we…

Current vision-based robotics simulation benchmarks have significantly advanced robotic manipulation research. However, robotics is fundamentally a real-world problem, and evaluation for real-world applications has lagged behind in…