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

Vision-Language Models (VLMs) have demonstrated great potential in interpreting remote sensing (RS) images through language-guided semantic. However, the effectiveness of these VLMs critically depends on high-quality image-text training…

This paper introduces VLAP, a novel approach that bridges pretrained vision models and large language models (LLMs) to make frozen LLMs understand the visual world. VLAP transforms the embedding space of pretrained vision models into the…

Large Vision-Language Models (LVLMs) incur high computational costs due to significant redundancy in their visual tokens. To effectively reduce this cost, researchers have proposed various visual token pruning methods. However, existing…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

Personalized driving refers to an autonomous vehicle's ability to adapt its driving behavior or control strategies to match individual users' preferences and driving styles while maintaining safety and comfort standards. However, existing…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Current large vision-language models (LVLMs) typically employ a connector module to link visual features with text embeddings of large language models (LLMs) and use end-to-end training to achieve multi-modal understanding in a unified…

Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…

Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising…

Large language models (LLMs) exhibit a variety of promising capabilities in robotics, including long-horizon planning and commonsense reasoning. However, their performance in place recognition is still underexplored. In this work, we…

Foundation models (FMs) are increasingly used to bridge language and action in embodied agents, yet the operational characteristics of different FM integration strategies remain under-explored -- particularly for complex instruction…

This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…

Vision-language models (VLMs) have demonstrated strong cross-modal capabilities, yet most work remains limited to 2D data and assumes binary supervision (i.e., positive vs. negative pairs), overlooking the continuous and structured…

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional…

Pre-trained vision-language models (VLMs) have shown remarkable generalization capabilities via prompting, which leverages VLMs as knowledge bases to extract information beneficial for downstream tasks. However, existing methods primarily…

In recent years, Large Language Models (LLMs) have demonstrated high reasoning capabilities, drawing attention for their applications as agents in various decision-making processes. One notably promising application of LLM agents is robotic…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

The increasing availability of multimodal data across text, tables, and images presents new challenges for developing models capable of complex cross-modal reasoning. Existing methods for Multimodal Multi-hop Question Answering (MMQA) often…