相关论文: VisionLaw: Inferring Interpretable Intrinsic Dynam…

When interacting in a three dimensional world, humans must estimate 3D structure from visual inputs projected down to two dimensional retinal images. It has been shown that humans use the persistence of object shape over motion-induced…

At an early age, human infants are able to learn and build a model of the world very quickly by constantly observing and interacting with objects around them. One of the most fundamental intuitions human infants acquire is intuitive…

This work introduces a hierarchical strategy for terrain-aware bipedal locomotion that integrates reduced-dimensional perceptual representations to enhance reinforcement learning (RL)-based high-level (HL) policies for real-time gait…

Multimodal Large Language Models (MLLMs) have demonstrated strong performance in visual understanding tasks, yet they often suffer from object hallucinations--generating descriptions of objects that are inconsistent with or entirely absent…

Inferring rigid-body physical states and properties from monocular videos is a fundamental step toward physics-based perception and simulation. Existing approaches assume specific underlying physical systems, object types, and camera poses,…

Learning from visual data opens the potential to accrue a large range of manipulation behaviors by leveraging human demonstrations without specifying each of them mathematically, but rather through natural task specification. In this paper,…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

Vision Language Models (VLMs) encode multimodal inputs over large, complex, and difficult-to-interpret architectures, which limit transparency and trust. We propose a Multimodal Inversion for Model Interpretation and Conceptualization…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

Discovering the underlying dynamics of complex systems from data is an important practical topic. Constrained optimization algorithms are widely utilized and lead to many successes. Yet, such purely data-driven methods may bring about…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

While learning models of intuitive physics is an increasingly active area of research, current approaches still fall short of natural intelligences in one important regard: they require external supervision, such as explicit access to…

In embodied AI, visual perception should be active rather than passive: the system must decide where to look and at what scale to sense to acquire maximally informative data under pixel and spatial budget constraints. Existing vision models…

As Vision-Language Models (VLMs) grow in sophistication, their ability to perform reasoning is coming under increasing supervision. While they excel at many tasks, their grasp of fundamental scientific principles, such as physics, remains…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

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…

VLMs excel at static perception but falter in interactive reasoning in dynamic physical environments, which demands planning and adaptation to dynamic outcomes. Existing physical reasoning methods often depend on abstract symbolic inputs or…

Videos provide a rich source of information, but it is generally hard to extract dynamical parameters of interest. Inferring those parameters from a video stream would be beneficial for physical reasoning. Robots performing tasks in dynamic…

In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…

Vision-Language-Action (VLA) models have recently emerged in autonomous driving, with the promise of leveraging rich world knowledge to improve the cognitive capabilities of driving systems. However, adapting such models for driving tasks…