相关论文: Lang2Lift: A Language-Guided Autonomous Forklift S…

Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a…

The automation of material handling in warehouses increasingly relies on robust, low cost perception systems for forklifts and Automated Guided Vehicles (AGVs). This work presents a vision based framework for pallet and pallet hole…

The problem of autonomous transportation in industrial scenarios is receiving a renewed interest due to the way it can revolutionise internal logistics, especially in unstructured environments. This paper presents a novel architecture…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

In this paper, we propose a method for calculating the three-dimensional (3D) position and orientation of a pallet placed on a shelf on the side of a forklift truck using a 360-degree camera. By using a 360-degree camera mounted on the…

This paper investigates the task of the open-ended interactive robotic manipulation on table-top scenarios. While recent Large Language Models (LLMs) enhance robots' comprehension of user instructions, their lack of visual grounding…

The ability for robots to comprehend and execute manipulation tasks based on natural language instructions is a long-term goal in robotics. The dominant approaches for language-guided manipulation use 2D image representations, which face…

Comprehending natural language instructions is a critical skill for robots to cooperate effectively with humans. In this paper, we aim to learn 6D poses for roboticassembly by natural language instructions. For this purpose,…

This paper presents Words2Contact, a language-guided multi-contact placement pipeline leveraging large language models and vision language models. Our method is a key component for language-assisted teleoperation and human-robot…

2D-to-3D human pose lifting is an ill-posed problem due to depth ambiguity and occlusion. Existing methods relying on spatial and temporal consistency alone are insufficient to resolve these problems especially in the presence of…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Humans can ground natural language commands to tasks at both abstract and fine-grained levels of specificity. For instance, a human forklift operator can be instructed to perform a high-level action, like "grab a pallet" or a low-level…

Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…

Automatic furniture layout is long desired for convenient interior design. Leveraging the remarkable visual reasoning capabilities of multimodal large language models (MLLMs), recent methods address layout generation in a static manner,…

We present Lang2Motion, a framework for language-guided point trajectory generation by aligning motion manifolds with joint embedding spaces. Unlike prior work focusing on human motion or video synthesis, we generate explicit trajectories…

In order to insert a fork into a hole of a pallet by a forklift located in front of a pallet, it is necessary to control the height position, reach position, and tilt angle of the fork to match the position and orientation of the hole of…

Developing machine learning interatomic potentials (MLIPs) for complex materials systems remains challenging because it requires expertise in atomistic simulations, machine learning, and workflow design, as well as iterative active learning…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Automatic Sign Language Translation requires the integration of both computer vision and natural language processing to effectively bridge the communication gap between sign and spoken languages. However, the deficiency in large-scale…

Fine-tuning pretrained language models (LMs) without making any architectural changes has become a norm for learning various language downstream tasks. However, for non-language downstream tasks, a common practice is to employ task-specific…