相关论文: FlowPlan: Zero-Shot Task Planning with LLM Flow En…

Diffusion models can learn rich representations during data generation, showing potential for Self-Supervised Learning (SSL), but they face a trade-off between generative quality and discriminative performance. Their iterative sampling also…

Large scale scenes such as multifloor homes can be robustly and efficiently mapped with a 3D graph of landmarks estimated jointly with robot poses in a factor graph, a technique commonly used in commercial robots such as drones and robot…

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Flow matching has emerged as a competitive framework for learning high-quality generative policies in robotics; however, we find that generalisation arises and saturates early along the flow trajectory, in accordance with recent findings in…

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…

Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…

Pretrained language models (PLMs) have demonstrated remarkable performance in various natural language processing tasks: Unidirectional PLMs (e.g., GPT) are well known for their superior text generation capabilities; bidirectional PLMs…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

This paper explores a simple method for improving the zero-shot learning abilities of language models. We show that instruction tuning -- finetuning language models on a collection of tasks described via instructions -- substantially…

Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial structures. Although human-readable…

Recent years have seen increasing employment of decision intelligence in electronic design automation (EDA), which aims to reduce the manual efforts and boost the design closure process in modern toolflows. However, existing approaches…

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

The prediction of learning curves for Natural Language Processing (NLP) models enables informed decision-making to meet specific performance objectives, while reducing computational overhead and lowering the costs associated with dataset…

In the realm of large language models (LLMs), enhancing instruction-following capability often involves curating expansive training data. This is achieved through two primary schemes: i) Scaling-Inputs: Amplifying (input, output) pairs per…

Learning to localize temporal boundaries of procedure steps in instructional videos is challenging due to the limited availability of annotated large-scale training videos. Recent works focus on learning the cross-modal alignment between…

General-purpose robots require decision-making models that generalize across diverse tasks and environments. Recent works build robot foundation models by extending multimodal large language models (MLLMs) with action outputs, creating…