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

Vision-Language Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent goal 6D pose of a target object in a 3D scene. However, we…

This paper proposes EvoAgent - an evolvable large language model (LLM) agent framework that integrates structured skill learning with a hierarchical sub-agent delegation mechanism. EvoAgent models skills as multi-file structured capability…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

We present a vision and language model named MultiModal-GPT to conduct multi-round dialogue with humans. MultiModal-GPT can follow various instructions from humans, such as generating a detailed caption, counting the number of interested…

Most existing Vision-Language-Action (VLA) models rely primarily on RGB information, while ignoring geometric cues crucial for spatial reasoning and manipulation. In this work, we introduce GLaD, a geometry-aware VLA framework that…

Machine unlearning has become a crucial role in enabling generative models trained on large datasets to remove sensitive, private, or copyright-protected data. However, existing machine unlearning methods face three challenges in learning…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Vision-and-Language Scene navigation is a fundamental capability for embodied human-AI collaboration, requiring agents to follow natural language instructions to execute coherent action sequences in complex environments. Existing approaches…

Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent. It is difficult to…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

This paper tackles spatial perception and manipulation challenges in Vision-Language-Action (VLA) models. To address depth ambiguity from monocular input, we leverage a pre-trained multi-view diffusion model to synthesize latent novel views…

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…

Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…

Multi-agent systems perform well on general reasoning tasks. However, the lack of training in specialized areas hinders their accuracy. Current training methods train a unified large language model (LLM) for all agents in the system. This…

We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…

Recent studies in Vision-and-Language Navigation (VLN) train RL agents to execute natural-language navigation instructions in photorealistic environments, as a step towards robots that can follow human instructions. However, given the…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

This paper advances motion agents empowered by large language models (LLMs) toward autonomous navigation in dynamic and cluttered environments, significantly surpassing first and recent seminal but limited studies on LLM's spatial…

We address the task of generating temporally consistent and physically plausible images of actions and object state transformations. Given an input image and a text prompt describing the targeted transformation, our generated images…