相关论文: Bridging VLM and KMP: Enabling Fine-grained roboti…

The emergence of Multimodal Large Language Models (MLLMs) has revolutionized image understanding by bridging textual and visual modalities. However, these models often struggle with capturing fine-grained semantic information, such as the…

Vision-language pre-training (VLP) on large-scale image-text pairs has recently witnessed rapid progress for learning cross-modal representations. Existing pre-training methods either directly concatenate image representation and text…

Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy…

Recent advancements in open-world robot manipulation have been largely driven by vision-language models (VLMs). While these models exhibit strong generalization ability in high-level planning, they struggle to predict low-level robot…

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…

Dynamic movement primitives (DMPs) are a flexible trajectory learning scheme widely used in motion generation of robotic systems. However, existing DMP-based methods mainly focus on simple go-to-goal tasks. Motivated to handle tasks beyond…

This paper presents a novel deep learning framework for robotic arm manipulation that integrates multimodal inputs using a late-fusion strategy. Unlike traditional end-to-end or reinforcement learning approaches, our method processes image…

Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulation policies, they lack precise manipulation with high DoF…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…

Understanding user instructions and object spatial relations in surrounding environments is crucial for intelligent robot systems to assist humans in various tasks. The natural language and spatial reasoning capabilities of Vision-Language…

Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different interaction modalities. We present an…

Foundation models like Vision-Language Models (VLMs) excel at common sense vision and language tasks such as visual question answering. However, they cannot yet directly solve complex, long-horizon robot manipulation problems requiring…

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…

Recent advancements in Multimodal Large Language Models (MLLMs) have greatly improved their abilities in image understanding. However, these models often struggle with grasping pixel-level semantic details, e.g., the keypoints of an object.…

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…

Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit…

The integration of visual inputs with large language models (LLMs) has led to remarkable advancements in multi-modal capabilities, giving rise to visual large language models (VLLMs). However, effectively harnessing VLLMs for intricate…

Developing a general robot manipulation system capable of performing a wide range of tasks in complex, dynamic, and unstructured real-world environments has long been a challenging task. It is widely recognized that achieving human-like…

Vision-Language Models (VLMs) encode knowledge and reasoning capabilities for robotic manipulation within high-dimensional representation spaces. However, current approaches often project them into compressed intermediate representations,…