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

Generalization to novel object configurations and instances across diverse tasks and environments is a critical challenge in robotics. Keypoint-based representations have been proven effective as a succinct representation for capturing…

Real-time motion generation -- which is essential for achieving reactive and adaptive behavior -- under kinodynamic constraints for high-dimensional systems is a crucial yet challenging problem. We address this with a two-step approach:…

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…

Although Multimodal Large Language Models (MLLMs) excel at various image-related tasks, they encounter challenges in precisely aligning coordinates with spatial information within images, particularly in position-aware tasks such as visual…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Despite significant advancements, large multimodal models (LMMs) still struggle to bridge the gap between low-level visual perception -- focusing on shapes, sizes, and layouts -- and high-level language reasoning, such as semantics and…

Vision-language models (VLMs) have made substantial progress across a wide range of visual question answering benchmarks, spanning visual reasoning, document understanding, and multimodal dialogue. These improvements are evident in a wide…

Placing robots outside controlled conditions requires versatile movement representations that allow robots to learn new tasks and adapt them to environmental changes. The introduction of obstacles or the placement of additional robots in…

The growing exploration of Large Language Models (LLM) and Vision-Language Models (VLM) has opened avenues for enhancing the effectiveness of reinforcement learning (RL). However, existing LLM-based RL methods often focus on the guidance of…

Video generative models (VGMs) pretrained on large-scale internet data can produce temporally coherent rollout videos that capture rich object dynamics, offering a compelling foundation for zero-shot robotic manipulation. However, VGMs…

In medical tasks such as human motion analysis, computer-aided auxiliary systems have become preferred choice for human experts for its high efficiency. However, conventional approaches are typically based on user-defined features such as…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…

Finding an efficient way to adapt robot trajectory is a priority to improve overall performance of robots. One approach for trajectory planning is through transferring human-like skills to robots by Learning from Demonstrations (LfD). The…

Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant…

Learning motion priors for physics-based humanoid control is an active research topic. Existing approaches mainly include variational autoencoders (VAE) and adversarial motion priors (AMP). VAE introduces information loss, and random latent…

Building a general robotic manipulation system capable of performing a wide variety of tasks in real-world settings is a challenging task. Vision-Language Models (VLMs) have demonstrated remarkable potential in robotic manipulation tasks,…

Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea,…

Dynamic Movement Primitives (DMPs) is a framework for learning a point-to-point trajectory from a demonstration. Despite being widely used, DMPs still present some shortcomings that may limit their usage in real robotic applications.…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…