相关论文: OVITA: Open-Vocabulary Interpretable Trajectory Ad…

This paper presents a framework that can interpret humans' navigation commands containing temporal elements and directly translate their natural language instructions into robot motion planning. Central to our framework is utilizing Large…

Service robots in human-centered environments such as hospitals, office buildings, and long-term care homes need to navigate while adhering to social norms to ensure the safety and comfortability of the people they are sharing the space…

Recent advances in large Language Models (LLMs) have revolutionized mobile robots, including unmanned aerial vehicles (UAVs), enabling their intelligent operation within Internet of Things (IoT) ecosystems. However, LLMs still face…

Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…

With the rapid advancement of large language models (LLMs) and vision-language models (VLMs), significant progress has been made in developing open-vocabulary robotic manipulation systems. However, many existing approaches overlook the…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity…

Large Language Models (LLMs) pre-trained on internet-scale datasets have shown impressive capabilities in code understanding, synthesis, and general purpose question-and-answering. Key to their performance is the substantial prior knowledge…

Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translating passenger open-ended instructions into control signals,…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

With the rapid development of IT operations, it has become increasingly crucial to efficiently manage and analyze large volumes of data for practical applications. The techniques of Natural Language Processing (NLP) have shown remarkable…

Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Real-world path planning tasks typically involve multiple constraints beyond simple route optimization, such as the number of routes, maximum route length, depot locations, and task-specific requirements. Traditional approaches rely on…

In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…

Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…

Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…

We have a vision of a day when autonomous robots can collaborate with humans as assistants in performing complex tasks in the physical world. This vision includes that the robots will have the ability to communicate with their human…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

In autonomous exploration tasks, robots are required to explore and map unknown environments while efficiently planning in dynamic and uncertain conditions. Given the significant variability of environments, human operators often have…