相关论文: Text2Touch: Tactile In-Hand Manipulation with LLM-…

Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing tactile descriptions remain limited to superficial attributes…

We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactile sensor. Here, we present a novel model of a tactile skin…

Recently, there has been growing interest in leveraging large language models (LLMs) to generate symbolic world models from textual descriptions. Although LLMs have been extensively explored in the context of world modeling, prior studies…

Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping…

Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through reinforcement learning (RL). The difficulty lies in the high…

Decoding and expressing brain activity in a comprehensible form is a challenging frontier in AI. This paper presents Thought2Text, which uses instruction-tuned Large Language Models (LLMs) fine-tuned with EEG data to achieve this goal. The…

Operational skill learning, inherently physical and reliant on hands-on practice and kinesthetic feedback, has yet to be effectively replicated in large language model (LLM)-supported training. Current LLM training assistants primarily…

We introduce LLaVA-Reward, an efficient reward model designed to automatically evaluate text-to-image (T2I) generations across multiple perspectives, leveraging pretrained multimodal large language models (MLLMs). Existing MLLM-based…

Large Language Models are typically trained with next-turn rewards, limiting their ability to optimize for long-term interaction. As a result, they often respond passively to ambiguous or open-ended user requests, failing to help users…

Simulation is essential for developing robotic manipulation systems, particularly for task and motion planning (TAMP), where symbolic reasoning interfaces with geometric, kinematic, and physics-based execution. Recent advances in Large…

Reward design plays a pivotal role in the training of game AIs, requiring substantial domain-specific knowledge and human effort. In recent years, several studies have explored reward generation for training game agents and controlling…

Text-to-motion generation, which synthesizes 3D human motions from text inputs, holds immense potential for applications in gaming, film, and robotics. Recently, diffusion-based methods have been shown to generate more diversity and…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Soft robotic hands promise to provide compliant and safe interaction with objects and environments. However, designing soft hands to be both compliant and functional across diverse use cases remains challenging. Although co-design of…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

The emergent large language/multimodal models facilitate the evolution of mobile agents, especially in mobile UI task automation. However, existing evaluation approaches, which rely on human validation or established datasets to compare…

One of the major impediments to the development of new task-oriented dialogue (TOD) systems is the need for human evaluation at multiple stages and iterations of the development process. In an effort to move toward automated evaluation of…

We propose a large language model based reward decomposition framework for aligning dialogue agents using only a single session-level feedback signal. We leverage the reasoning capabilities of a frozen, pretrained large language model (LLM)…

Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…

Translating human intent into robot commands is crucial for the future of service robots in an aging society. Existing Human-Robot Interaction (HRI) systems relying on gestures or verbal commands are impractical for the elderly due to…