相关论文: Grounded Vision-Language Interpreter for Integrate…

Visually-conditioned language models (VLMs) have seen growing adoption in applications such as visual dialogue, scene understanding, and robotic task planning; adoption that has fueled a wealth of new models such as LLaVa, InstructBLIP, and…

This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes,…

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…

In task and motion planning, high-level task planning is done over an abstraction of the world to enable efficient search in long-horizon robotics problems. However, the feasibility of these task-level plans relies on the downward…

Integration of VLM reasoning with symbolic planning has proven to be a promising approach to real-world robot task planning. Existing work like UniDomain effectively learns symbolic manipulation domains from real-world demonstrations,…

Large language model (LLM) agents are increasingly deployed to tackle complex tasks, often necessitating collaboration among multiple specialized agents. However, multi-agent collaboration introduces new challenges in planning,…

In the past few years, the emergence of pre-training models has brought uni-modal fields such as computer vision (CV) and natural language processing (NLP) to a new era. Substantial works have shown they are beneficial for downstream…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…

To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this…

Medical vision-and-language pre-training (Med-VLP) has received considerable attention owing to its applicability to extracting generic vision-and-language representations from medical images and texts. Most existing methods mainly contain…

Vision-Language Models (VLMs) leverage aligned visual encoders to transform images into visual tokens, allowing them to be processed similarly to text by the backbone large language model (LLM). This unified input paradigm enables VLMs to…

Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…

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…

Recent advances in visual-language machine learning models have demonstrated exceptional ability to use natural language and understand visual scenes by training on large, unstructured datasets. However, this training paradigm cannot…

Enabling robot teams to execute natural language commands requires translating high-level instructions into feasible, efficient multi-robot plans. While Large Language Models (LLMs) combined with Planning Domain Description Language (PDDL)…

Logistics operators, from battlefield coordinators re-routing airlifts ahead of a storm to warehouse managers juggling late trucks, need to make mission-critical decisions. Prevailing methods for logistics planning such as integer…

Machine Interpreting systems are currently implemented as unimodal, real-time speech-to-speech architectures, processing translation exclusively on the basis of the linguistic signal. Such reliance on a single modality, however, constrains…

In the field of robotics, researchers face a critical challenge in ensuring reliable and efficient task planning. Verifying high-level task plans before execution significantly reduces errors and enhance the overall performance of these…

Large Language Models (LLMs) have shown promise in solving natural language-described planning tasks, but their direct use often leads to inconsistent reasoning and hallucination. While hybrid LLM-symbolic planning pipelines have emerged as…

Large language models are built on top of a transformer-based architecture to process textual inputs. For example, the LLaMA stands out among many open-source implementations. Can the same transformer be used to process 2D images? In this…