相关论文: Structured Task Solving via Modular Embodied Intel…

The remarkable progress of Multimodal Large Language Models (MLLMs) has attracted increasing attention to extend them to physical entities like legged robot. This typically requires MLLMs to not only grasp multimodal understanding…

Despite significant progress in natural language understanding, Large Language Models (LLMs) remain error-prone when performing logical reasoning, often lacking the robust mental representations that enable human-like comprehension. We…

Performing complex tasks in open environments remains challenging for robots, even when using large language models (LLMs) as the core planner. Many LLM-based planners are inefficient due to their large number of parameters and prone to…

Building robots that can perceive, reason, and act in dynamic, unstructured environments remains a core challenge. Recent embodied systems often adopt a dual-system paradigm, where System 2 handles high-level reasoning while System 1…

Ultrasonography has revolutionized non-invasive diagnostic methodologies, significantly enhancing patient outcomes across various medical domains. Despite its advancements, integrating ultrasound technology with robotic systems for…

Learning to solve a Rubik's Cube requires the learners to repeatedly practice a skill component, e.g., identifying a misplaced square and putting it back. However, for 3D physical tasks such as this, generating sufficient repeated practice…

While recent advances in vision-language models have accelerated the development of language-guided robot planners, their black-box nature often lacks safety guarantees and interpretability crucial for real-world deployment. Conversely,…

Visually impaired users face significant challenges in daily information access and real-time environmental perception, and there is an urgent need for intelligent assistive systems with accurate recognition capabilities. Although…

We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it…

While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex long-horizon tasks. To address this gap, we propose…

We present an embodied robotic system with an LLM-driven agent-orchestration architecture for autonomous household object management. The system integrates memory-augmented task planning, enabling robots to execute high-level user commands…

Modern business environments demand continuous reconfiguration of cross-functional processes, yet most enterprise systems remain organized around siloed departments, rigid workflows, and hard-coded automation. Meanwhile, large language…

To meet the growing demand for smarter, faster, and more efficient embodied AI solutions, we introduce a novel Mixture-of-Expert (MoE) method that significantly boosts reasoning and learning efficiency for embodied autonomous systems.…

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…

Large Language models (LLMs) have shown remarkable success in assisting robot learning tasks, i.e., complex household planning. However, the performance of pretrained LLMs heavily relies on domain-specific templated text data, which may be…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Enabling robots to execute long-horizon manipulation tasks from free-form language instructions remains a fundamental challenge in embodied AI. While vision-language models (VLMs) have shown promise as high-level planners, their deployment…

Long-horizon embodied planning underpins embodied AI. To accomplish long-horizon tasks, one of the most feasible ways is to decompose abstract instructions into a sequence of actionable steps. Foundation models still face logical errors and…