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

Vision-centric hierarchical embodied models have demonstrated strong potential. However, existing methods lack spatial awareness capabilities, limiting their effectiveness in bridging visual plans to actionable control in complex…

Recent advancements in 3D reconstruction and neural rendering have enhanced the creation of high-quality digital assets, yet existing methods struggle to generalize across varying object shapes, textures, and occlusions. While Next Best…

This paper introduces and overviews a multidisciplinary project aimed at developing responsible and adaptive multi-human multi-robot (MHMR) systems for complex, dynamic settings. The project integrates co-design, ethical frameworks, and…

The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…

In modern industry, dynamic environments and the complexity of modular and reconfigurable resources require automated planning of process sequences. Capability-based planning approaches address this by automatically generating plans from…

Under pure textual modality, Large Language Models (LLMs) have demonstrated remarkable success in complex reasoning tasks by decomposing them into simpler sub-problems. However, Multimodal Large Language Models (MLLMs) still struggle with…

Recent advances in multimodal large language models (MLLMs) have enabled richer perceptual grounding for code policy generation in embodied agents. However, most existing systems lack effective mechanisms to adaptively monitor policy…

As embodied intelligence emerges as a core frontier in artificial intelligence research, simulation platforms must evolve beyond low-level physical interactions to capture complex, human-centered social behaviors. We introduce FreeAskWorld,…

Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…

We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…

Modern autonomous drone missions increasingly require software frameworks capable of seamlessly integrating structured symbolic planning with adaptive reinforcement learning (RL). Although traditional rule-based architectures offer robust…

In procedural skill learning, instructional explanations must convey not just steps, but the causal, goal-directed, and compositional logic behind them. Large language models (LLMs) often produce fluent yet shallow responses that miss this…

While visual question-answering (VQA) benchmarks have catalyzed the development of reasoning techniques, they have focused on vertical thinking. Effective problem-solving also necessitates lateral thinking, which remains understudied in AI…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Multimodal large language models (MLLMs) have advanced vision-language reasoning and are increasingly deployed in embodied agents. However, significant limitations remain: MLLMs generalize poorly across digital-physical spaces and…

Embodied navigation requires agents to integrate perception, reasoning, and action for robust interaction in complex 3D environments. Existing approaches often suffer from incoherent and unstable reasoning traces that hinder generalization…

Are current Vision Language Models (VLMs) ready to comprehend and reason about complex embodied interactions in 3D environments? We introduce Embodied3DBench, a robot-centric benchmark targeting low-level spatial intelligence in embodied 3D…

Multi-modal large language models (MLLMs) have shown incredible capabilities in a variety of 2D vision and language tasks. We extend MLLMs' perceptual capabilities to ground and reason about images in 3-dimensional space. To that end, we…

This paper proposes SR-KI, a novel approach for integrating real-time and large-scale structured knowledge bases (KBs) into large language models (LLMs). SR-KI begins by encoding KBs into key-value pairs using a pretrained encoder, and…

Recent advances in multimodal large language models (MLLMs) have opened new opportunities for embodied intelligence, enabling multimodal understanding, reasoning, and interaction, as well as continuous spatial decision-making. Nevertheless,…