相关论文: Gemini Robotics: Bringing AI into the Physical Wor…

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…

We examine the capability of Multimodal Large Language Models (MLLMs) to tackle diverse domains that extend beyond the traditional language and vision tasks these models are typically trained on. Specifically, our focus lies in areas such…

Large multimodal models (LMMs) extend large language models (LLMs) with multi-sensory skills, such as visual understanding, to achieve stronger generic intelligence. In this paper, we analyze the latest model, GPT-4V(ision), to deepen the…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

Vision-language-action (VLA) models have shown great potential in building generalist robots, but still face a dilemma-misalignment of 2D image forecasting and 3D action prediction. Besides, such a vision-action entangled training manner…

Vision language models (VLMs) have recently emerged and gained the spotlight for their ability to comprehend the dual modality of image and textual data. VLMs such as LLaVA, ChatGPT-4, and Gemini have recently shown impressive performance…

Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…

Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…

The integration of large language models (LLMs) into robotic systems has accelerated progress in embodied artificial intelligence, yet current approaches remain constrained by existing robotic architectures, particularly serial mechanisms.…

Robots are the future of every technology where every advanced technology eventually will be used to make robots which are more efficient. The major challenge today is to train the robots exactly and empathetically using knowledge…

In the approximately century-long journey of robotics, humanoid robots made their debut around six decades ago. While current humanoids bear human-like appearances, none have embodied true humaneness, remaining distant from achieving…

This paper presents an in-depth survey on the use of multimodal Generative Artificial Intelligence (GenAI) and autoregressive Large Language Models (LLMs) for human motion understanding and generation, offering insights into emerging…

We study how vision-language models trained on Internet-scale data can be incorporated directly into end-to-end robotic control to boost generalization and enable emergent semantic reasoning. Our goal is to enable a single end-to-end…

At its core, robotic manipulation is a problem of vision-to-geometry mapping ($f(v) \rightarrow G$). Physical actions are fundamentally defined by geometric properties like 3D positions and spatial relationships. Consequently, we argue that…

This document serves as a position paper that outlines the authors' vision for a potential pathway towards generalist robots. The purpose of this document is to share the excitement of the authors with the community and highlight a…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

This paper explores role engineering as an effective paradigm for customizing Large Language Models (LLMs) into specialized AI tutors for physics education. We demonstrate this methodology by designing a Socratic physics problem-solving…

Robot capabilities are maturing across domains, from self-driving cars, to bipeds and drones. As a result, robots will soon no longer be confined to safety-controlled industrial settings; instead, they will directly interact with the…

We introduce GE-Sim 2.0 (Genie Envisioner World Simulator 2.0), a closed-loop video world simulator for robotic manipulation. Building on the action-conditioned video generation framework of Genie Envisioner, GE-Sim 2.0 is re-trained on…