相关论文: KRAST: Knowledge-Augmented Robotic Action Recognit…

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…

Vision-language models (VLMs) have demonstrated remarkable zero-shot performance across various classification tasks. Nonetheless, their reliance on hand-crafted text prompts for each task hinders efficient adaptation to new tasks. While…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in Vision Language Models (VLMs) have demonstrated remarkable performance in vision and language…

Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs can also natively produce robot trajectories. We demonstrate…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

Vision-Language Models (VLMs) offer the ability to generate high-level, interpretable descriptions of complex activities from images and videos, making them valuable for situational awareness (SA) applications. In such settings, the focus…

Vision-language models (VLMs) are capable of recognizing unseen actions. However, existing VLMs lack intrinsic understanding of procedural action concepts. Hence, they overfit to fixed labels and are not invariant to unseen action synonyms.…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Recently, Large Language Models (LLMs) have achieved remarkable success using in-context learning (ICL) in the language domain. However, leveraging the ICL capabilities within LLMs to directly predict robot actions remains largely…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

Recent studies have demonstrated the effectiveness of Large Language Models (LLMs) as reasoning modules that can deconstruct complex tasks into more manageable sub-tasks, particularly when applied to visual reasoning tasks for images. In…

Inspired by the success of vision-language methods (VLMs) in zero-shot classification, recent works attempt to extend this line of work into object detection by leveraging the localization ability of pre-trained VLMs and generating pseudo…

Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…

Robots equipped with reinforcement learning (RL) have the potential to learn a wide range of skills solely from a reward signal. However, obtaining a robust and dense reward signal for general manipulation tasks remains a challenge.…

Large Vision-Language Models (LVLMs) have recently shown great promise in advancing robotics by combining embodied reasoning with robot control. A common approach involves training on embodied reasoning tasks related to robot control using…

We present a knowledge augmentation strategy for assessing the diagnostic groups and gait impairment from monocular gait videos. Based on a large-scale pre-trained Vision Language Model (VLM), our model learns and improves visual, textual,…