相关论文: RoboDexVLM: Visual Language Model-Enabled Task Pla…

Functional grasping with dexterous robotic hands is a key capability for enabling tool use and complex manipulation, yet progress has been constrained by two persistent bottlenecks: the scarcity of large-scale datasets and the absence of…

Dexterous grasping is a fundamental yet challenging skill in robotic manipulation, requiring precise interaction between robotic hands and objects. In this paper, we present $\mathcal{D(R,O)}$ Grasp, a novel framework that models the…

Vision-Language-Action (VLA) models have recently become a central direction in embodied AI, but current systems are restricted to either dual-gripper control or single-arm dexterous hand manipulation. While low-dimensional gripper control…

With Transformers achieving outstanding performance on individual remote sensing (RS) tasks, we are now approaching the realization of a unified model that excels across multiple tasks through multi-task learning (MTL). Compared to…

Despite the prevalence of transparent object interactions in human everyday life, transparent robotic manipulation research remains limited to short-horizon tasks and basic grasping capabilities. Although some methods have partially…

Large-scale, diverse robot datasets have emerged as a promising path toward enabling dexterous manipulation policies to generalize to novel environments, but acquiring such datasets presents many challenges. While teleoperation provides…

In this work, we propose a hybrid hierarchical control framework for reactive dexterous grasping that explicitly decouples high-level spatial intent from low-level joint execution. We introduce a multi-agent reinforcement learning…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Optimizing behaviors for dexterous manipulation has been a longstanding challenge in robotics, with a variety of methods from model-based control to model-free reinforcement learning having been previously explored in literature. Perhaps…

Visual-language grounding aims to establish semantic correspondences between natural language and visual entities, enabling models to accurately identify and localize target objects based on textual instructions. Existing VLG approaches…

Integration of VLM reasoning with symbolic planning has proven to be a promising approach to real-world robot task planning. Existing work like UniDomain effectively learns symbolic manipulation domains from real-world demonstrations,…

Vision-language models (VLMs) have achieved remarkable success in scene understanding and perception tasks, enabling robots to plan and execute actions adaptively in dynamic environments. However, most multimodal large language models lack…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

Despite advances in dexterous hand manipulation, robotic hand design is still largely decoupled from task-driven evaluation and control, limiting systematic optimization. Existing robotic hand co-design approaches are often limited in…

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…

Dexterous multi-fingered robotic hands have a formidable action space, yet their morphological similarity to the human hand holds immense potential to accelerate robot learning. We propose DexVIP, an approach to learn dexterous robotic…

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…