相关论文: RoboOmni: Proactive Robot Manipulation in Omni-mod…

Models like GPT-4o enable real-time interaction with large language models (LLMs) through speech, significantly enhancing user experience compared to traditional text-based interaction. However, there is still a lack of exploration on how…

Large Language Models (LLM) and Vision Language Models (VLM) enable robots to ground natural language prompts into control actions to achieve tasks in an open world. However, when applied to a long-horizon collaborative task, this…

Omni-modal large language models (OLMs) redefine human-machine interaction by natively integrating audio, vision, and text. However, existing OLM benchmarks remain anchored to static, accuracy-centric tasks, leaving a critical gap in…

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…

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…

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical…

It is crucial that robots' performance can be improved after deployment, as they are inherently likely to encounter novel scenarios never seen before. This paper presents an innovative solution: an interactive learning-based robot system…

The capability of performing long-horizon, language-guided robotic manipulation tasks critically relies on leveraging historical information and generating coherent action sequences. However, such capabilities are often overlooked by…

The evolution of Omni-Modal Large Language Models~(Omni-LLMs) has revolutionized human--computer interaction, enabling unified audio-visual perception and speech response. However, existing Omni-LLMs struggle with complex real-world…

In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…

A fundamental objective in robot manipulation is to enable models to comprehend visual scenes and execute actions. Although existing Vision-Language-Action (VLA) models for robots can handle a range of basic tasks, they still face…

Recent Multimodal Large Language Models (MLLMs) achieve promising performance on visual and audio benchmarks independently. However, the ability of these models to process cross-modal information synchronously remains largely unexplored. We…

Vision-Language-Action (VLA) models have recently become highly prominent in the field of robotics. Leveraging vision-language foundation models trained on large-scale internet data, the VLA model can generate robotic actions directly from…

In recent years, research in the area of human-robot interaction has focused on developing robots capable of understanding complex human instructions and performing tasks in dynamic and diverse environments. These systems have a wide range…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…

Multimodal large language models (MLLMs) have shown strong capabilities but remain limited to fixed modality pairs and require costly fine-tuning with large aligned datasets. Building fully omni-capable models that can integrate text,…

Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches…

Real-time, intelligent, and natural speech interaction is an essential part of the next-generation human-computer interaction. Recent advancements have showcased the potential of building intelligent spoken chatbots based on large language…

Recent Omni-multimodal Large Language Models show promise in unified audio, vision, and text modeling. However, streaming audio-video understanding remains challenging, as existing approaches suffer from disjointed capabilities: they…