相关论文: Affordance-R1: Reinforcement Learning for Generali…

Open-Vocabulary 3D object affordance grounding aims to anticipate ``action possibilities'' regions on 3D objects with arbitrary instructions, which is crucial for robots to generically perceive real scenarios and respond to operational…

Leveraging multimodal large models for image segmentation has become a prominent research direction. However, existing approaches typically rely heavily on manually annotated datasets that include explicit reasoning processes, which are…

Affordance grounding requires identifying where and how an agent should interact in open-world scenes, where actionable regions are often small, occluded, reflective, and visually ambiguous. Recent systems therefore combine multiple skills…

Global perception is essential for embodied agents in 360{\deg} spaces, yet current affordance grounding remains largely object-centric and restricted to perspective views. To bridge this gap, we introduce a novel task: Holistic Affordance…

Recent advances in vision-language models (VLMs) have demonstrated strong generalization in natural image tasks. However, their performance often degrades on unmanned aerial vehicle (UAV)-based aerial imagery, which features high…

Interactive reinforcement learning (IRL) extends traditional reinforcement learning (RL) by allowing an agent to interact with parent-like trainers during a task. In this paper, we present an IRL approach using dynamic audio-visual input in…

The rapid development of large language model (LLM) alignment algorithms has resulted in a complex and fragmented landscape, with limited clarity on the effectiveness of different methods and their inter-connections. This paper introduces…

In the quest to enable robots to coexist with humans, understanding dynamic situations and selecting appropriate actions based on common sense and affordances are essential. Conventional AI systems face challenges in applying affordance, as…

Multimodal reasoning models (MRMs) trained with reinforcement learning with verifiable rewards (RLVR) show improved accuracy on visual reasoning benchmarks. However, we observe that accuracy gains often come at the cost of reasoning…

Multimodal large language models via reinforcement learning (RL) have demonstrated remarkable capabilities in complex visual reasoning tasks, yet they remain limited in long-horizon multimodal scenarios, often suffering from visual…

Reinforcement Fine-Tuning (RFT) in Large Reasoning Models like OpenAI o1 learns from feedback on its answers, which is especially useful in applications when fine-tuning data is scarce. Recent open-source work like DeepSeek-R1 demonstrates…

Existing table understanding methods face challenges due to complex table structures and intricate logical reasoning. While supervised finetuning (SFT) dominates existing research, reinforcement learning (RL), such as Group Relative Policy…

Grounding natural language questions to functionally relevant regions in 3D objects -- termed language-driven 3D affordance grounding -- is essential for embodied intelligence and human-AI interaction. Existing methods, while progressing…

Referring expression understanding in remote sensing poses unique challenges, as it requires reasoning over complex object-context relationships. While supervised fine-tuning (SFT) on multimodal large language models achieves strong…

Affordance prediction, which identifies interaction regions on objects based on language instructions, is critical for embodied AI. Prevailing end-to-end models couple high-level reasoning and low-level grounding into a single monolithic…

Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among objects,…

Vision-Language-Action (VLA) models aim to unify perception, language understanding, and action generation, offering strong cross-task and cross-scene generalization with broad impact on embodied AI. However, current VLA models often lack…

We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an object detection branch to localize and classify the object, and…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

3D Affordance detection is a challenging problem with broad applications on various robotic tasks. Existing methods typically formulate the detection paradigm as a label-based semantic segmentation task. This paradigm relies on predefined…