相关论文: Planning with Reasoning using Vision Language Worl…

Large language models (LLMs) have shown remarkable reasoning capabilities, especially when prompted to generate intermediate reasoning steps (e.g., Chain-of-Thought, CoT). However, LLMs can still struggle with problems that are easy for…

Vision-Language Models (VLMs) have recently gained attention due to their competitive performance on multiple downstream tasks, achieved by following user-input instructions. However, VLMs still exhibit several limitations in visual…

Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward…

Large language models (LLMs) and vision-language models (VLMs) have demonstrated remarkable performance across a wide range of tasks and domains. Despite this promise, spatial understanding and reasoning -- a fundamental component of human…

Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-language-action (VLA), which repurpose…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

Despite remarkable progress in driving world models, their potential for autonomous systems remains largely untapped: the world models are mostly learned for world simulation and decoupled from trajectory planning. While recent efforts aim…

Understanding user instructions and object spatial relations in surrounding environments is crucial for intelligent robot systems to assist humans in various tasks. The natural language and spatial reasoning capabilities of Vision-Language…

Understanding and reasoning about spatial relationships is a fundamental capability for Visual Question Answering (VQA) and robotics. While Vision Language Models (VLM) have demonstrated remarkable performance in certain VQA benchmarks,…

Vision-language models (VLMs) have excelled in multimodal tasks, but adapting them to embodied decision-making in open-world environments presents challenges. One critical issue is bridging the gap between discrete entities in low-level…

Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain-of-Thought (CoT) reasoning in language models. Yet even…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…

Vision-language models (VLMs) have shown impressive zero- and few-shot performance on real-world visual question answering (VQA) benchmarks, alluding to their capabilities as visual reasoning engines. However, the benchmarks being used…

Modern Vision-Language Models (VLMs) achieve strong semantic recognition, yet remain brittle on elementary spatial relations such as left of, on, behind, and between. One cause of this failure arises before language reasoning begins: the…

Vision-and-Language Navigation (VLN) requires agents to follow language instructions while acting in continuous real-world spaces. Prior image imagination based VLN work shows benefits for discrete panoramas but lacks online,…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Large Language Models (LLMs) and Large Multi-modality Models (LMMs) have demonstrated remarkable decision masking capabilities on a variety of tasks. However, they inherently operate planning within the language space, lacking the vision…

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…

Our aim is to learn to solve long-horizon decision-making problems in complex robotics domains given low-level skills and a handful of short-horizon demonstrations containing sequences of images. To this end, we focus on learning abstract…

Trained on internet-scale video data, generative world models are increasingly recognized as powerful world simulators that can generate consistent and plausible dynamics over structure, motion, and physics. This raises a natural question:…