相关论文: Collision- and Reachability-Aware Multi-Robot Cont…

Vision-language models (VLMs) have achieved impressive results on single-view vision tasks, but lack the multi-view spatial reasoning capabilities essential for embodied AI systems to understand 3D environments and manipulate objects across…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

Reinforcement Learning with Verifiable Rewards (RLVR) has recently demonstrated notable success in enhancing the reasoning performance of large language models (LLMs), particularly on mathematics and programming tasks. Similar to how…

Reinforcement Learning with Verifiable Rewards (RLVR) has recently emerged as a powerful paradigm for post-training large language models (LLMs), achieving state-of-the-art performance on tasks with structured, verifiable answers. Applying…

Reward engineering, the manual specification of reward functions to induce desired agent behavior, remains a fundamental challenge in multi-agent reinforcement learning. This difficulty is amplified by credit assignment ambiguity,…

Multimodal LLMs often produce fluent yet unreliable reasoning, exhibiting weak step-to-step coherence and insufficient visual grounding, largely because existing alignment approaches supervise only the final answer while ignoring the…

Reinforcement learning has recently improved the reasoning ability of Large Language Models and Multimodal LLMs, yet prevailing reward designs emphasise final-answer correctness and consequently tolerate process hallucinations--cases where…

Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

Recent advancements in Multimodal Large Language Models (MLLMs), particularly through Reinforcement Learning with Verifiable Rewards (RLVR), have significantly enhanced their reasoning abilities. However, a critical gap persists: these…

Large Language Models (LLMs) demonstrate strong reasoning performance, yet their ability to reliably monitor, diagnose, and correct their own errors remains limited. We introduce a psychologically grounded metacognitive framework that…

The integration of large language models (LLMs) into medical practice offers transformative potential, yet their real-world clinical applicability remains constrained by critical alignment issues: (1) a misalignment between static…

Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

The fusion of Large Language Models (LLMs) and robotic systems has led to a transformative paradigm in the robotic field, offering unparalleled capabilities not only in the communication domain but also in skills like multimodal input…

Reinforcement Learning (RL) has shown promise in improving the reasoning abilities of Large Language Models (LLMs). However, the specific challenges of adapting RL to multimodal data and formats remain relatively unexplored. In this work,…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Multimodal Large Language Models (MLLMs) have achieved notable gains in various tasks by incorporating Chain-of-Thought (CoT) reasoning in language spaces. Recent work extends this direction by leveraging external tools for visual editing,…