相关论文: Hierarchical Instruction-aware Embodied Visual Tra…

Humans, even at a very early age, can learn visual concepts and understand geometry and layout through active interaction with the environment, and generalize their compositions to complete tasks described by natural languages in novel…

We introduce HY-Embodied-0.5, a family of foundation models specifically designed for real-world embodied agents. To bridge the gap between general Vision-Language Models (VLMs) and the demands of embodied agents, our models are developed…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making…

This paper introduces EmbodiedAgent, a hierarchical framework for heterogeneous multi-robot control. EmbodiedAgent addresses critical limitations of hallucination in impractical tasks. Our approach integrates a next-action prediction…

Instruction following is crucial in contemporary LLM. However, when extended to multimodal setting, it often suffers from misalignment between specific textual instruction and targeted local region of an image. To achieve more accurate and…

Visual Language Tracking (VLT) enhances tracking by mitigating the limitations of relying solely on the visual modality, utilizing high-level semantic information through language. This integration of the language enables more advanced…

Visual loco-manipulation of arbitrary objects in the wild with humanoid robots requires accurate end-effector (EE) control and a generalizable understanding of the scene via visual inputs (e.g., RGB-D images). Existing approaches are based…

Vision Language Action (VLA) models have recently shown great potential in bridging multimodal perception with robotic control. However, existing methods often rely on direct fine-tuning of pre-trained Vision-Language Models (VLMs), feeding…

Embodied intelligence systems, which enhance agent capabilities through continuous environment interactions, have garnered significant attention from both academia and industry. Vision-Language-Action models, inspired by advancements in…

Interactive and embodied tasks pose at least two fundamental challenges to existing Vision & Language (VL) models, including 1) grounding language in trajectories of actions and observations, and 2) referential disambiguation. To tackle…

Embodied AI is an inevitable trend that emphasizes the interaction between intelligent entities and the real world, with broad applications in Robotics, especially target-driven navigation. This task requires the robot to find an object of…

In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imagination to ensure efficient and accurate operation. Current…

Evaluating the instruction-following (IF) capabilities of Multimodal Large Language Models (MLLMs) is essential for rigorously assessing how faithfully model outputs adhere to user-specified intentions. Nevertheless, existing benchmarks for…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…

Action recognition and localization in complex, untrimmed videos remain a formidable challenge in computer vision, largely due to the limitations of existing methods in capturing fine-grained actions, long-term temporal dependencies, and…

Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

Vision-language models (VLMs) have excelled in multimodal tasks, but adapting them to embodied decision-making in open-world environments presents challenges. One critical issue is bridging the gap between discrete entities in low-level…