相关论文: VAMOS: A Hierarchical Vision-Language-Action Model…

We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…

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-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

An elusive goal in navigation research is to build an intelligent agent that can understand multimodal instructions including natural language and image, and perform useful navigation. To achieve this, we study a widely useful category of…

Visual Navigation Models (VNMs) promise generalizable, robot navigation by learning from large-scale visual demonstrations. Despite growing real-world deployment, existing evaluations rely almost exclusively on success rate, whether the…

Visual navigation policy is widely regarded as a promising direction, as it mimics humans by using egocentric visual observations for navigation. However, optical information of visual observations is difficult to be explicitly modeled like…

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…

Vision-Language-Action (VLA) models excel in static manipulation but struggle in dynamic environments with moving targets. This performance gap primarily stems from a scarcity of dynamic manipulation datasets and the reliance of mainstream…

Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments. In…

Vision-language models demonstrate unprecedented performance and generalization across a wide range of tasks and scenarios. Integrating these foundation models into robotic navigation systems opens pathways toward building general-purpose…

This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects and classifies objects to distinguish two types of obstacles…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to industrial automation. However, traditional scene representations…

This paper presents UnderwaterVLA, a novel framework for autonomous underwater navigation that integrates multimodal foundation models with embodied intelligence systems. Underwater operations remain difficult due to hydrodynamic…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…

Achieving robot transparency is a critical step toward effective human-robot collaboration. To be transparent, a robot's natural language communication must be consistent with its actions and explicitly grounded in the task and environment.…

Conventional approaches to vision-and-language navigation (VLN) are trained end-to-end but struggle to perform well in freely traversable environments. Inspired by the robotics community, we propose a modular approach to VLN using…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions. Successfully navigating these requires both high-level task planning (i.e., decomposing goals into…