相关论文: GELATO: Multi-Instruction Trajectory Reshaping via…

Language-guided segmentation transcends the scope limitations of traditional semantic segmentation, enabling models to segment arbitrary target regions based on natural language instructions. Existing approaches typically adopt a two-stage…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…

This paper proposes a novel deep learning framework for multi-modal motion prediction. The framework consists of three parts: recurrent neural networks to process the target agent's motion process, convolutional neural networks to process…

A navigable agent needs to understand both high-level semantic instructions and precise spatial perceptions. Building navigation agents centered on Multimodal Large Language Models (MLLMs) demonstrates a promising solution due to their…

Developing agents that can follow multimodal instructions remains a fundamental challenge in robotics and AI. Although large-scale pre-training on unlabeled datasets (no language instruction) has enabled agents to learn diverse behaviors,…

Since the advent of Large Language Models (LLMs), various research based on such models have maintained significant academic attention and impact, especially in AI and robotics. In this paper, we propose a multi-agent framework with LLMs to…

Recent years have seen a growing interest in Scene Graph Generation (SGG), a comprehensive visual scene understanding task that aims to predict entity relationships using a relation encoder-decoder pipeline stacked on top of an object…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological maps enable long-horizon navigation without dense geometric…

Generative engines (GEs) are reshaping information access by replacing ranked links with citation-grounded answers, yet current Generative Engine Optimization (GEO) methods optimize each instance in isolation, unable to accumulate or…

Vision-Language-Action (VLA) models are emerging as highly effective planning models for end-to-end autonomous driving systems. However, current works mostly rely on imitation learning from sparse trajectory annotations and under-utilize…

Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-horizon tasks that require defined goal states, such as LEGO…

We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…

Large Language Models (LLMs) have revolutionized the simulation of agent societies, enabling autonomous planning, memory formation, and social interactions. However, existing frameworks often overlook systematic evaluations for event…

Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environments. Heuristic approaches with naive metrics fail in…

Planning methods with high adaptability to dynamic environments are crucial for the development of autonomous and versatile robots. We propose a method for leveraging a large language model (GPT-4o) to automatically generate networks…

3D layout tasks have traditionally concentrated on geometric constraints, but many practical applications demand richer contextual understanding that spans social interactions, cultural traditions, and usage conventions. Existing methods…

Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…