相关论文: LeVERB: Humanoid Whole-Body Control with Latent Vi…

LaViRA: Zero-shot Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires an agent to navigate unseen environments based on natural language instructions without any prior training. Current methods face a critical…

General-purpose humanoid robots are expected to interact intuitively with humans, enabling seamless integration into daily life. Natural language provides the most accessible medium for this purpose. However, translating language into…

Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to…

Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To…

Embodied navigation requires an agent to map language and visual observations to a stream of spatial actions that drive a real robot through environments it has never seen. The dominant approach has been to scale vision-language-action…

In this paper, we introduce a novel kinematics-rich vision-language-action (VLA) task, in which language commands densely encode diverse kinematic attributes (such as direction, trajectory, orientation, and relative displacement) from…

Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low…

Achieving versatile and naturalistic whole-body control for humanoid robot scene-interaction remains a significant challenge. While some recent works have demonstrated autonomous humanoid interactive control, they are constrained to rigid…

Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions. Successfully navigating these requires both high-level task planning (i.e., decomposing goals into…

This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to data scarcity. We propose Humanoid-VLA, a novel framework…

Visual-Language-Action models (VLAs) have advanced generalist robot control by mapping multimodal observations and language instructions directly to actions, but sparse action supervision often encourages shortcut mappings rather than…

Building on the advancements of Large Language Models (LLMs) and Vision Language Models (VLMs), recent research has introduced Vision-Language-Action (VLA) models as an integrated solution for robotic manipulation tasks. These models take…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

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…