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

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

The fragmentation between high-level task semantics and low-level geometric features remains a persistent challenge in robotic manipulation. While vision-language models (VLMs) have shown promise in generating affordance-aware visual…

Robots operating in the real world require both rich manipulation skills as well as the ability to semantically reason about when to apply those skills. Towards this goal, recent works have integrated semantic representations from…

An open problem in industrial automation is to reliably perform tasks requiring in-contact movements with complex workpieces, as current solutions lack the ability to seamlessly adapt to the workpiece geometry. In this paper, we propose a…

Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains largely unexplored. This work investigates…

Dynamic movement primitives are widely used for learning skills which can be demonstrated to a robot by a skilled human or controller. While their generalization capabilities and simple formulation make them very appealing to use, they…

Vision language models (VLMs) demonstrate strong capabilities in jointly processing visual and textual data. However, they often incur substantial computational overhead due to redundant visual information, particularly in long-form video…

As a user-friendly and straightforward solution for robot trajectory generation, imitation learning has been viewed as a vital direction in the context of robot skill learning. In contrast to unconstrained imitation learning which ignores…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Dynamic Movement Primitives (DMP) have found remarkable applicability and success in various robotic tasks, which can be mainly attributed to their generalization, modulation and robustness properties. Nevertheless, the spatial…

Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…

Recent progress in vision language foundation models has shown their ability to understand multimodal data and resolve complicated vision language tasks, including robotics manipulation. We seek a straightforward way of making use of…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Deep Metric Learning (DML) has long attracted the attention of the machine learning community as a key objective. Existing solutions concentrate on fine-tuning the pre-trained models on conventional image datasets. As a result of the…

Large pre-trained vision-language models (VLMs) offer a promising approach to leveraging human language for enhancing downstream tasks. However, VLMs such as CLIP face significant limitation: its performance is highly sensitive to prompt…

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effectively grounding this knowledge in robot behaviors remains…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Multimodal LLMs (MLLMs) have reached remarkable levels of proficiency in understanding multimodal inputs. However, understanding and interpreting the behavior of such complex models is a challenging task, not to mention the dynamic shifts…

This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep movement primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper…