相关论文: Can Pretrained Vision-Language Embeddings Alone Gu…

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…

Despite significant progress in multimodal language models (LMs), it remains unclear whether visual grounding enhances their understanding of embodied knowledge compared to text-only models. To address this question, we propose a novel…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

Recent progress in large language models (LLMs) has demonstrated the ability to learn and leverage Internet-scale knowledge through pre-training with autoregressive models. Unfortunately, applying such models to settings with embodied…

In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…

Vision language models (VLMs) have achieved remarkable success in broad visual understanding, yet they remain challenged by object-centric reasoning on rare objects due to the scarcity of such instances in pretraining data. While prior…

Vision-Language-Action (VLA) models drive next-generation autonomous systems, but training them requires scalable, high-quality annotations from complex environments. Current cloud pipelines rely on generic vision-language models (VLMs)…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

Vision-Language Models (VLMs) have rapidly advanced by leveraging powerful pre-trained Large Language Models (LLMs) as core reasoning backbones. As new and more capable LLMs emerge with improved reasoning, instruction-following, and…

Commanding a robot to navigate with natural language instructions is a long-term goal for grounded language understanding and robotics. But the dominant language is English, according to previous studies on vision-language navigation (VLN).…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Vision-and-Language Navigation (VLN) requires grounding instructions, such as "turn right and stop at the door", to routes in a visual environment. The actual grounding can connect language to the environment through multiple modalities,…

While recent large vision-language models (VLMs) have improved generalization in vision-language navigation (VLN), existing methods typically rely on end-to-end pipelines that map vision-language inputs directly to short-horizon discrete…

While significant research has focused on developing embodied reasoning capabilities using Vision-Language Models (VLMs) or integrating advanced VLMs into Vision-Language-Action (VLA) models for end-to-end robot control, few studies…

Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a principled way to learn from their own mistakes. We ask whether natural language can serve as feedback, an error-reasoning signal that…

Vision-Language-Action (VLA) models are a promising path to realizing generalist embodied agents that can quickly adapt to new tasks, modalities, and environments. However, methods for interpreting and steering VLAs fall far short of…

Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…

Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse environments while enhancing zero-shot performance in unseen…