相关论文: PhysiAgent: An Embodied Agent Framework in Physica…

Story visualization is the transformation of narrative elements into image sequences. While existing research has primarily focused on visual contextual coherence, the deeper narrative essence of stories often remains overlooked. This…

Current Vision-Language-Action (VLA) models are often constrained by a rigid, static interaction paradigm, which lacks the ability to see, hear, speak, and act concurrently as well as handle real-time user interruptions dynamically. This…

This paper investigates the problem of understanding dynamic 3D scenes from egocentric observations, a key challenge in robotics and embodied AI. Unlike prior studies that explored this as long-form video understanding and utilized…

Embodied artificial intelligence (Embodied AI) plays a pivotal role in the application of advanced technologies in the intelligent era, where AI systems are integrated with physical bodies that enable them to perceive, reason, and interact…

Vision-Language-Action (VLA) models convert high-level language instructions into concrete, executable actions, a task that is especially challenging in open-world environments. We present Visual Foresight Planning (ForeAct), a general and…

In recent human-robot collaboration environments, there is a growing focus on integrating diverse sensor data beyond visual information to enable safer and more intelligent task execution. Although thermal data can be crucial for enhancing…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for embodied intelligence, enabling robots to perform tasks based on natural language instructions and current visual input. However, existing VLA models struggle with…

Recent advances in vision-language-action (VLA) models have motivated the extension of their capabilities to embodied settings, where reinforcement learning (RL) offers a principled way to optimize task success through interaction. However,…

Multi-modal AI systems will likely become a ubiquitous presence in our everyday lives. A promising approach to making these systems more interactive is to embody them as agents within physical and virtual environments. At present, systems…

Generative video models, a leading approach to world modeling, face fundamental limitations. They often violate physical and logical rules, lack interactivity, and operate as opaque black boxes ill-suited for building structured, queryable…

Foundation models (FMs) are increasingly used to bridge language and action in embodied agents, yet the operational characteristics of different FM integration strategies remain under-explored -- particularly for complex instruction…

In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

While vision-language models (VLMs) have demonstrated promising capabilities in reasoning and planning for embodied agents, their ability to comprehend physical phenomena, particularly within structured 3D environments, remains severely…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robot manipulation by unifying perception and action. However, existing VLA systems primarily rely on textual instructions and struggle to resolve spatial…

Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To…

Leveraging massive knowledge from large language models (LLMs), recent machine learning models show notable successes in general-purpose task solving in diverse domains such as computer vision and robotics. However, several significant…

Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Leveraging Multi-modal Large Language Models (MLLMs) to create embodied agents offers a promising avenue for tackling real-world tasks. While language-centric embodied agents have garnered substantial attention, MLLM-based embodied agents…