相关论文: AffordBot: 3D Fine-grained Embodied Reasoning via …

While diffusion models excel at generating high-quality images, they often struggle with accurate counting, attributes, and spatial relationships in complex multi-object scenes. One potential solution involves employing Multimodal Large…

Large Reasoning Models (LRMs) like o3 and DeepSeek-R1 have achieved remarkable progress in reasoning tasks with long cot. However, they remain computationally inefficient and struggle with accuracy when solving problems requiring complex…

Unlocking spatial reasoning in Multimodal Large Language Models (MLLMs) is crucial for enabling intelligent interaction with 3D environments. While prior efforts often rely on explicit 3D inputs or specialized model architectures, we ask:…

Embodied instruction following (EIF) requires agents to understand and execute complex natural language commands within interactive 3D environments. Despite recent advances, existing methods often fail in long-horizon planning and handling…

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability…

Chain-of-Thought (CoT) reasoning has proven effective in natural language tasks but remains underexplored in multimodal alignment. This study investigates its integration into 3D vision-language learning by embedding structured reasoning…

Although numerous strategies have recently been proposed to enhance the autonomous interaction capabilities of multimodal agents in graphical user interface (GUI), their reliability remains limited when faced with complex or out-of-domain…

Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only planners cannot resolve without semantic…

This work enhances the ability of large language models (LLMs) to perform complex reasoning in 3D scenes. Recent work has addressed the 3D situated reasoning task by invoking tool usage through large language models. Large language models…

Visual Language Models (VLMs) have increasingly become the main paradigm for understanding indoor scenes, but they still struggle with metric and spatial reasoning. Current approaches rely on end-to-end video understanding or large-scale…

Although Multimodal Large Language Models have achieved remarkable progress, they still struggle with complex 3D spatial reasoning due to the reliance on 2D visual priors. Existing approaches typically mitigate this limitation either…

Grounding natural language questions to functionally relevant regions in 3D objects -- termed language-driven 3D affordance grounding -- is essential for embodied intelligence and human-AI interaction. Existing methods, while progressing…

Recent advanced vision-language models(VLMs) have demonstrated strong performance on passive, offline image and video understanding tasks. However, their effectiveness in embodied settings, which require online interaction and active scene…

Multimodal Large Language Models (MLLMs) exhibit impressive capabilities across a variety of tasks, especially when equipped with carefully designed visual prompts. However, existing studies primarily focus on logical reasoning and visual…

Embodied agents operating in open environments must translate high-level instructions into grounded, executable behaviors, often requiring coordinated use of both hands. While recent foundation models offer strong semantic reasoning,…

Affordance, defined as the potential actions that an object offers, is crucial for embodied AI agents. For example, such knowledge directs an agent to grasp a knife by the handle for cutting or by the blade for safe handover. While existing…

Embodied decision-making enables agents to translate high-level goals into executable actions through continuous interactions within the physical world, forming a cornerstone of general-purpose embodied intelligence. Large language models…

We study the task of language instruction-guided robotic manipulation, in which an embodied robot is supposed to manipulate the target objects based on the language instructions. In previous studies, the predicted manipulation regions of…

Despite advances in embodied AI, agent reasoning systems still struggle to capture the fundamental conceptual structures that humans naturally use to understand and interact with their environment. To address this, we propose a novel…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…