相关论文: VENTURA: Adapting Image Diffusion Models for Unifi…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation. Recently, masked diffusion models, a paradigm distinct from autoregressive…

Path planning is a fundamental capability of autonomous Unmanned Aerial Vehicles (UAVs), enabling them to efficiently navigate toward a target region or explore complex environments while avoiding obstacles. Traditional pathplanning…

Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existing approaches face two challenges: limited language…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Humans can flexibly interpret and compose different goal specifications, such as language instructions, spatial coordinates, or visual references, when navigating to a destination. In contrast, most existing robotic navigation policies are…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is the lack of robotic data,…

This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics. We introduce dVLA, a diffusion-based VLA that leverages a multimodal chain-of-thought to unify visual perception, language reasoning, and robotic…

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural…

Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics,…