相关论文: RobotSmith: Generative Robotic Tool Design for Acq…

Robust grasping in cluttered, unstructured environments remains challenging for mobile legged manipulators due to occlusions that lead to partial observations, unreliable depth estimates, and the need for collision-free, execution-feasible…

Despite rapid progress in autonomous robotics, executing complex or long-horizon tasks remains a fundamental challenge. Most current approaches follow an open-loop paradigm with limited reasoning and no feedback, resulting in poor…

With their prominent scene understanding and reasoning capabilities, pre-trained visual-language models (VLMs) such as GPT-4V have attracted increasing attention in robotic task planning. Compared with traditional task planning strategies,…

Rapid identification of candidate materials with target properties has become a key task in materials science. Machine learning has emerged as an alternative to physics-based simulation, offering a faster and cheaper way to filter materials…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

Despite large-scale pretraining endowing models with language and vision reasoning capabilities, improving their spatial reasoning capability remains challenging due to the lack of data grounded in the 3D world. While it is possible for…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Learning to use feature-rich software is a persistent challenge, but generative AI tools promise to lower this barrier by replacing complex navigation with natural language prompts. We investigated how people approach prompt-based tools for…

Programming social robots is challenging for novice robot programmers due to required expertise in planning, interaction design, and programming. While large language models (LLMs) hold significant promise through code generation from…

Recent 3D-based manipulation methods either directly predict the grasp pose using 3D neural networks, or solve the grasp pose using similar objects retrieved from shape databases. However, the former faces generalizability challenges when…

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few…

Effective tool use is essential for large language models (LLMs) to interact with their environment. However, progress is limited by the lack of efficient reinforcement learning (RL) frameworks specifically designed for tool use, due to…

Using tools by Large Language Models (LLMs) is a promising avenue to extend their reach beyond language or conversational settings. The number of tools can scale to thousands as they enable accessing sensory information, fetching updated…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

3D generative AI enables rapid and accessible creation of 3D models from text or image inputs. However, translating these outputs into physical objects remains a challenge due to the constraints in the physical world. Recent studies have…

Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. While recent vision-language models (VLMs) exhibit preliminary spatial awareness, they largely…

Constructing simulation scenes that are both visually and physically realistic is a problem of practical interest in domains ranging from robotics to computer vision. This problem has become even more relevant as researchers wielding large…

Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…

Stochastic simulation models effectively capture complex system dynamics but are often too slow for real-time decision-making. Traditional metamodeling techniques learn relationships between simulator inputs and a single output summary…