相关论文: Phoenix: A Motion-based Self-Reflection Framework …

Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…

Robotic manipulation in real-world settings remains challenging, especially regarding robust generalization. Existing simulation platforms lack sufficient support for exploring how policies adapt to varied instructions and scenarios. Thus,…

Recent motion-aware large language models have demonstrated promising potential in unifying motion comprehension and generation. However, existing approaches primarily focus on coarse-grained motion-text modeling, where text describes the…

Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and…

Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive…

Rapid advancements in artificial intelligence (AI) have enabled robots to performcomplex tasks autonomously with increasing precision. However, multi-robot systems (MRSs) face challenges in generalization, heterogeneity, and safety,…

Fine-tuning Large Language Models (LLMs) on specific datasets is a common practice to improve performance on target tasks. However, this performance gain often leads to overfitting, where the model becomes too specialized in either the task…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in foundation models, particularly Vision Language Models (VLMs), have demonstrated remarkable…

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and…

While large-scale video diffusion models have demonstrated impressive capabilities in generating high-resolution and semantically rich content, a significant gap remains between their pretraining performance and real-world deployment…

The current safeguard mechanisms for large language models (LLMs) are indeed susceptible to jailbreak attacks, making them inherently fragile. Even the process of fine-tuning on apparently benign data for downstream tasks can jeopardize…

In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…

Foundation models have demonstrated a great ability to achieve general human-level intelligence far beyond traditional approaches. As the technique keeps attracting attention from the AI community, an increasing number of foundation models…

Masked diffusion models have emerged as a powerful framework for text and multimodal generation. However, their sampling procedure updates multiple tokens simultaneously and treats generated tokens as immutable, which may lead to error…

Robotic manipulation in open-world settings requires not only task execution but also the ability to detect and learn from failures. While recent advances in vision-language models (VLMs) and large language models (LLMs) have improved…

Self-reflection mechanisms that rely on purely text-based rethinking processes perform well in most multimodal tasks. However, when directly applied to long-form video understanding scenarios, they exhibit clear limitations. The fundamental…

Large Language Models (LLMs) agents are increasingly pivotal for addressing complex tasks in interactive environments. Existing work mainly focuses on enhancing performance through behavior cloning from stronger experts, yet such approaches…

Recent advances in large language models (LLMs) have enabled breakthroughs in many multimodal generation tasks, but a significant performance gap still exists in text-to-motion generation, where LLM-based methods lag far behind non-LLM…

Deep learning-based fault diagnosis (FD) approaches require a large amount of training data, which are difficult to obtain since they are located across different entities. Federated learning (FL) enables multiple clients to collaboratively…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…