相关论文: PSALM-V: Automating Symbolic Planning in Interacti…

Vision Language Models (VLMs) show strong potential for visual planning but struggle with precise spatial and long-horizon reasoning, while Planning Domain Definition Language (PDDL) planners excel at formal long-horizon planning but cannot…

Embodied task planning demands vision-language models to generate action sequences that are both visually grounded and causally coherent over time. However, existing training paradigms face a critical trade-off: joint end-to-end training…

Recent work on Neural-Symbolic systems that learn the discrete planning model from images has opened a promising direction for expanding the scope of Automated Planning and Scheduling to the raw, noisy data. However, previous work only…

Modern signal processing (SP) pipelines, whether model-based or data-driven, often constrained by complex and fragmented workflow, rely heavily on expert knowledge and manual engineering, and struggle with adaptability and generalization…

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic…

Prompting techniques have significantly enhanced the capabilities of Large Language Models (LLMs) across various complex tasks, including reasoning, planning, and solving math word problems. However, most research has predominantly focused…

Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both…

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs…

Simultaneous localization and mapping (SLAM) is a critical technology that enables autonomous robots to be aware of their surrounding environment. With the development of deep learning, SLAM systems can achieve a higher level of perception…

Large Language Models (LLMs) have shown remarkable performance in various natural language tasks, but they often struggle with planning problems that require structured reasoning. To address this limitation, the conversion of planning…

Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

Navigating unseen, large-scale environments based on complex and abstract human instructions remains a formidable challenge for autonomous mobile robots. Addressing this requires robots to infer implicit semantics and efficiently explore…

We propose a hybrid architecture that integrates decision tree-based symbolic reasoning with the generative capabilities of large language models (LLMs) within a coordinated multi-agent framework. Unlike prior approaches that loosely couple…

Scaling LLM-based embodied agents from text-only environments to complex multimodal settings remains a major challenge. Recent work identifies a perception-reasoning-decision gap in standalone Vision-Language Models (VLMs), which often…

We introduce Wonderful Team, a multi-agent Vision Large Language Model (VLLM) framework for executing high-level robotic planning in a zero-shot regime. In our context, zero-shot high-level planning means that for a novel environment, we…

Pre-trained large language models (LMs) struggle to perform logical reasoning reliably despite advances in scale and compositionality. In this work, we tackle this challenge through the lens of symbolic programming. We propose DSR-LM, a…

This paper investigates robot manipulation based on human instruction with ambiguous requests. The intent is to compensate for imperfect natural language via visual observations. Early symbolic methods, based on manually defined symbols,…

In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…

In robot-assisted minimally invasive surgery, we introduce the Surgical Action Planning (SAP) task, which generates future action plans from visual inputs to address the absence of intraoperative predictive planning in current intelligent…