相关论文: Towards Proprioception-Aware Embodied Planning for…

This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…

Humans constantly reason about 3D proximity, the relations between their body and surrounding objects, to guide perception and action in daily life. Whether multimodal large language models (MLLMs) can perform such embodied 3D reasoning…

Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…

Multimodal large language models (MLLMs) have heterogeneous strengths across OCR, chart understanding, spatial reasoning, visual question answering, cost, and latency. Effective MLLM routing therefore requires more than estimating query…

Multimodal large language model (MLLM)-based embodied agents have shown strong potential for solving complex tasks in physical environments. However, personalized assistance requires more than following generic instruction or recognizing…

World models have emerged as a pivotal component in robot manipulation planning, enabling agents to predict future environmental states and reason about the consequences of actions before execution. While video-generation models are…

In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imagination to ensure efficient and accurate operation. Current…

Deploying humanoid robots in real-world settings is fundamentally challenging, as it demands tight integration of perception, locomotion, and manipulation under partial-information observations and dynamically changing environments. As well…

Embodied multimodal large models (EMLMs) have gained significant attention in recent years due to their potential to bridge the gap between perception, cognition, and action in complex, real-world environments. This comprehensive review…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

Embodied agents operating in the physical world must make decisions that are not only effective but also safe, spatially coherent, and grounded in context. While recent advances in large multimodal models (LMMs) have shown promising…

Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…

Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…

Multimodal Large Language Models (MLLMs) have endowed LLMs with the ability to perceive and understand multi-modal signals. However, most of the existing MLLMs mainly adopt vision encoders pretrained on coarsely aligned image-text pairs,…

Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…

In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…

Large Language Models (LLMs) and Vision Language Models (VLMs) have become popular tools for embodied high-level planning. However, their deployment in black-box settings often leads to unpredictable or costly errors. To harness their…

Achieving general-purpose robotics requires empowering robots to adapt and evolve based on their environment and feedback. Traditional methods face limitations such as extensive training requirements, difficulties in cross-task…

In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language models (LLMs) have been shown to demonstrate…

A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…