相关论文: Vision-Language Model Predictive Control for Manip…

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…

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…

Model Predictive Control (MPC) method is a class of advanced control techniques most widely applied in industry. The major advantages of the MPC are its straightforward procedure which can be applied for both linear and nonlinear system.…

Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…

Model Predictive Control (MPC) is an enabling technology in applications requiring controlling physical processes in an optimized way under constraints on inputs and outputs. However, in MPC closed-loop performance is pushed to the limits…

Large foundation models enable powerful reasoning for autonomous systems, but mapping semantic intent to reliable real-time control remains challenging. Existing approaches either (i) let Large Language Models (LLMs) generate trajectories…

We present a simplified, task-agnostic multi-modal pre-training approach that can accept either video or text input, or both for a variety of end tasks. Existing pre-training are task-specific by adopting either a single cross-modal encoder…

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…

Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…

Dynamic Movement Primitives (DMPs) provide a flexible framework wherein smooth robotic motions are encoded into modular parameters. However, they face challenges in integrating multimodal inputs commonly used in robotics like vision and…

Vision-and-Language Pre-training (VLP) improves model performance for downstream tasks that require image and text inputs. Current VLP approaches differ on (i) model architecture (especially image embedders), (ii) loss functions, and (iii)…

Video diffusion models (VDMs) have advanced significantly in recent years, enabling the generation of highly realistic videos and drawing the attention of the community in their potential as world simulators. However, despite their…

Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…

Class-incremental learning requires a learning system to continually learn knowledge of new classes and meanwhile try to preserve previously learned knowledge of old classes. As current state-of-the-art methods based on Vision-Language…

Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…

Pre-trained Vision-Language Models (VLMs) are becoming increasingly popular across various visual tasks, and several open-sourced VLM variants have been released. However, selecting the best-performing pre-trained VLM for a specific…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

A common problem when using model predictive control (MPC) in practice is the satisfaction of safety specifications beyond the prediction horizon. While theoretical works have shown that safety can be guaranteed by enforcing a suitable…

We present a viewpoint-based non-linear Model Predictive Control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human targets in emergency…

We present a Reinforcement Learning-based Robust Nonlinear Model Predictive Control (RL-RNMPC) framework for controlling nonlinear systems in the presence of disturbances and uncertainties. An approximate Robust Nonlinear Model Predictive…