相关论文: LangGrasp: Leveraging Fine-Tuned LLMs for Language…

Heterogeneous multirobot systems show great potential in complex tasks requiring coordinated hybrid cooperation. However, existing methods that rely on static or task-specific models often lack generalizability across diverse tasks and…

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…

Scene graph generation (SGG) is a sophisticated task that suffers from both complex visual features and dataset long-tail problem. Recently, various unbiased strategies have been proposed by designing novel loss functions and data balancing…

We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisition with minimum human effort. Unlike prior approaches that…

Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in…

Reducing hallucination of Large Language Models (LLMs) is imperative for use in the sciences, where reliability and reproducibility are crucial. However, LLMs inherently lack long-term memory, making it a nontrivial, ad hoc, and inevitably…

Evaluation of Large Language Models (LLMs) is challenging because instruction-following necessitates alignment with human values and the required set of skills varies depending on the instruction. However, previous studies have mainly…

Foundation models have made significant strides in various applications, including text-to-image generation, panoptic segmentation, and natural language processing. This paper presents Instruct2Act, a framework that utilizes Large Language…

Robotics and artificial intelligence hold significant potential for advancing precision agriculture. While robotic systems have been successfully deployed for various tasks, adapting them to perform diverse missions remains challenging,…

This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…

Many modern robotic systems operate autonomously, however they often lack the ability to accurately analyze the environment and adapt to changing external conditions, while teleoperation systems often require special operator skills. In the…

Achieving robust safety alignment in large language models (LLMs) while preserving their utility remains a fundamental challenge. Existing approaches often struggle to balance comprehensive safety with fine-grained controllability at the…

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…

Effective communication is vital in healthcare, especially across language barriers, where non-verbal cues and gestures are critical. This paper presents a privacy-preserving vision-language framework for medical interpreter robots that…

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…

Gestures serve as a fundamental and significant mode of non-verbal communication among humans. Deictic gestures (such as pointing towards an object), in particular, offer valuable means of efficiently expressing intent in situations where…

Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…

We introduce AmbigNLG, a novel task designed to tackle the challenge of task ambiguity in instructions for Natural Language Generation (NLG). Ambiguous instructions often impede the performance of Large Language Models (LLMs), especially in…

Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM…

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an…