相关论文: IRef-VLA: A Benchmark for Interactive Referential …

Joint representation of geometry, colour and semantics using a 3D neural field enables accurate dense labelling from ultra-sparse interactions as a user reconstructs a scene in real-time using a handheld RGB-D sensor. Our iLabel system…

Text-to-3D generation has advanced rapidly, yet state-of-the-art models, encompassing both optimization-based and feed-forward architectures, still face two fundamental limitations. First, they struggle with coarse semantic alignment, often…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Autonomous driving, particularly navigating complex and unanticipated scenarios, demands sophisticated reasoning and planning capabilities. While Multi-modal Large Language Models (MLLMs) offer a promising avenue for this, their use has…

We present, to our knowledge, the first sign language-driven Vision-Language-Action (VLA) framework for intuitive and inclusive human-robot interaction. Unlike conventional approaches that rely on gloss annotations as intermediate…

Many Vision-Language-Action (VLA) models flatten image patches into a 1D token sequence, weakening the 2D spatial cues needed for precise manipulation. We introduce IVRA, a lightweight, training-free method that improves spatial…

Implicit spatial relations and deep semantic structures encoded in object attributes are crucial for procedural planning in embodied AI systems. However, existing approaches often over rely on the reasoning capabilities of vision language…

Referring object detection and referring image segmentation are important tasks that require joint understanding of visual information and natural language. Yet there has been evidence that current benchmark datasets suffer from bias, and…

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…

Visual navigation policy is widely regarded as a promising direction, as it mimics humans by using egocentric visual observations for navigation. However, optical information of visual observations is difficult to be explicitly modeled like…

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

We introduce iFlyBot-VLA, a large-scale Vision-Language-Action (VLA) model trained under a novel framework. The main contributions are listed as follows: (1) a latent action model thoroughly trained on large-scale human and robotic…

In embodied AI, visual perception should be active rather than passive: the system must decide where to look and at what scale to sense to acquire maximally informative data under pixel and spatial budget constraints. Existing vision models…

Vision language action (VLA) models enable generalist robotic agents but often exhibit language ignorance, relying on visual shortcuts and remaining insensitive to instruction changes. We present Prospective Grounding and Alignment VLA…

Science demonstrations are important for effective STEM education, yet teachers face challenges in conducting them safely and consistently across multiple occasions, where robotics can be helpful. However, current Vision-Language-Action…

Large Language Models (LLMs) show promise as data analysis agents, but existing benchmarks overlook the iterative nature of the field, where experts' decisions evolve with deeper insights of the dataset. To address this, we introduce…

Vision-language-action (VLA) models perform well on training-seen robotic tasks but struggle to generalize to unseen scenes and objects. A key limitation lies in their implicit visual representations, which entangle object appearance,…

As virtual 3D environments become more prevalent, equitable access is essential for blind and low-vision (BLV) users, who face challenges with spatial awareness, navigation, and interaction. Prior work has explored supplementing visual…