相关论文: ScanBot: Towards Intelligent Surface Scanning in E…

Robotic laser profiling is widely used for dimensional verification and surface inspection, yet measurement fidelity is often dominated by sensor configuration rather than robot motion. Industrial profilers expose multiple coupled…

To ensure the efficiency of robot autonomy under diverse real-world conditions, a high-quality heterogeneous dataset is essential to benchmark the operating algorithms' performance and robustness. Current benchmarks predominantly focus on…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

Ultrasound robots are increasingly used in medical diagnostics and early disease screening. However, current ultrasound robots lack the intelligence to understand human intentions and instructions, hindering autonomous ultrasound scanning.…

We introduce iFlyBot-VLM, a general-purpose Vision-Language Model (VLM) used to improve the domain of Embodied Intelligence. The central objective of iFlyBot-VLM is to bridge the cross-modal semantic gap between high-dimensional…

Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…

In the realm of computer vision and robotics, embodied agents are expected to explore their environment and carry out human instructions. This necessitates the ability to fully understand 3D scenes given their first-person observations and…

With the recent rise of Large Language Models (LLMs), Vision-Language Models (VLMs), and other general foundation models, there is growing potential for multimodal, multi-task embodied agents that can operate in diverse environments given…

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…

While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…

Large Language Models (LLMs) have substantially improved the conversational capabilities of social robots. Nevertheless, for an intuitive and fluent human-robot interaction, robots should be able to ground the conversation by relating…

Vision Language Models (VLMs) have achieved impressive performance in 2D image understanding, however they are still struggling with spatial understanding which is the foundation of Embodied AI. In this paper, we propose SpatialBot for…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

We propose a new 3D spatial understanding task of 3D Question Answering (3D-QA). In the 3D-QA task, models receive visual information from the entire 3D scene of the rich RGB-D indoor scan and answer the given textual questions about the 3D…

Vision Language Action (VLA) models represent a transformative shift in robotics, with the aim of unifying visual perception, natural language understanding, and embodied control within a single learning framework. This review presents a…

Interactive 3D simulations have enabled breakthroughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo-realistic 3D object models. To address this…

Are current Vision Language Models (VLMs) ready to comprehend and reason about complex embodied interactions in 3D environments? We introduce Embodied3DBench, a robot-centric benchmark targeting low-level spatial intelligence in embodied 3D…

Ultrasonography has revolutionized non-invasive diagnostic methodologies, significantly enhancing patient outcomes across various medical domains. Despite its advancements, integrating ultrasound technology with robotic systems for…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…