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

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,…

In this work, we address the challenge of affordance detection in 3D point clouds, a task that requires effectively capturing fine-grained alignments between point clouds and text. Existing methods often struggle to model such alignments,…

Recent progress in large language models (LLMs) has demonstrated the ability to learn and leverage Internet-scale knowledge through pre-training with autoregressive models. Unfortunately, applying such models to settings with embodied…

Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…

Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be…

Embodied navigation requires agents to integrate perception, reasoning, and action for robust interaction in complex 3D environments. Existing approaches often suffer from incoherent and unstable reasoning traces that hinder generalization…

Recent research has explored using Large Language Models for recommendation tasks by transforming user interaction histories and item metadata into text prompts, then having the LLM produce rankings or recommendations. A promising approach…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully. Despite the success of large language models and vision language models based…

In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and…

We investigate the knowledge of object affordances in pre-trained language models (LMs) and pre-trained Vision-Language models (VLMs). A growing body of literature shows that PTLMs fail inconsistently and non-intuitively, demonstrating a…

3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…

While Multimodal Large Language Models (MLLMs) have achieved remarkable success in 2D visual understanding, their ability to reason about 3D space remains limited. To address this gap, we introduce geometrically referenced 3D scene…

In this study, we address the problem of open-vocabulary mobile manipulation, where a robot is required to carry a wide range of objects to receptacles based on free-form natural language instructions. This task is challenging, as it…

When told to "cut the cake," a robot must choose the knife over nearby scissors, despite both objects affording the same cutting function. In real-world scenes, multiple objects may share identical affordances, yet only one is appropriate…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

General robotic grasping systems require accurate object affordance perception in diverse open-world scenarios following human instructions. However, current studies suffer from the problem of lacking reasoning-based large-scale affordance…

Although LLMs demonstrate proficiency in several text-based reasoning and planning tasks, their implementation in robotics control is constrained by significant deficiencies: (1) LLM agents are designed to work mainly with textual inputs…

Visual affordance learning is crucial for robots to understand and interact effectively with the physical world. Recent advances in this field attempt to leverage pre-trained knowledge of vision-language foundation models to learn…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…