相关论文: AERMANI-VLM: Structured Prompting and Reasoning fo…

Although large language models (LLMs) have recently become effective tools for language-conditioned control in embodied systems, instability, slow convergence, and hallucinated actions continue to limit their direct application to…

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…

Hallucination poses a challenge to the deployment of large vision-language models (LVLMs) in applications. Unlike in large language models (LLMs), hallucination in LVLMs often arises from misalignments between visual inputs and textual…

Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…

Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward…

This paper presents an improved system based on our prior work, designed to create explanations for autonomous robot actions during Human-Robot Interaction (HRI). Previously, we developed a system that used Large Language Models (LLMs) to…

Reasoning is a critical frontier for advancing medical image analysis, where transparency and trustworthiness play a central role in both clinician trust and regulatory approval. Although Medical Visual Language Models (VLMs) show promise…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

The increasing demand for intelligent systems capable of interpreting and reasoning about visual content requires the development of large Vision-and-Language Models (VLMs) that are not only accurate but also have explicit reasoning…

Vision-Language Models (VLMs) are becoming the cornerstone of high-level reasoning for robotic automation, enabling robots to parse natural language commands and perceive their environments. However, their susceptibility to hallucinations…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

Autonomous aerial monitoring is an important task aimed at gathering information from areas that may not be easily accessible by humans. At the same time, this task often requires recognizing anomalies from a significant distance or not…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…

As autonomous robotic systems become increasingly mature, users will want to specify missions at the level of intent rather than in low-level detail. Language is an expressive and intuitive medium for such mission specification. However,…

Generalizable robotic mobile manipulation in open-world environments poses significant challenges due to long horizons, complex goals, and partial observability. A promising approach to address these challenges involves planning with a…

Aligning Vision-Language Models (VLMs) with safety standards is essential to mitigate risks arising from their multimodal complexity, where integrating vision and language unveils subtle threats beyond the reach of conventional safeguards.…

Effective planning requires strong world models, but high-level world models that can understand and reason about actions with semantic and temporal abstraction remain largely underdeveloped. We introduce the Vision Language World Model…

Recent advances in visual-language machine learning models have demonstrated exceptional ability to use natural language and understand visual scenes by training on large, unstructured datasets. However, this training paradigm cannot…