相关论文: Using Vision-Language Models as Proxies for Social…

In this paper we present a neurosymbolic architecture for coupling language-guided visual reasoning with robot manipulation. A non-expert human user can prompt the robot using unconstrained natural language, providing a referring expression…

Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…

Vision Language Models excel in handling a wide range of complex tasks, including Optical Character Recognition (OCR), Visual Question Answering (VQA), and advanced geometric reasoning. However, these models fail to perform well on…

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…

This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…

Vision-language models (VLMs) show promise as tools for inferring affect from visual stimuli at scale; it is not yet clear how closely their outputs align with human affective ratings. We benchmarked nine VLMs, ranging from state-of-the-art…

Spatial reasoning in vision language models (VLMs) remains fragile when semantics hinge on subtle temporal or geometric cues. We introduce a synthetic benchmark that probes two complementary skills: situational awareness (recognizing…

Our overall program objective is to provide more natural ways for soldiers to interact and communicate with robots, much like how soldiers communicate with other soldiers today. We describe how the Wizard-of-Oz (WOz) method can be applied…

Vision Language Models (VLMs) have received significant attention in recent years in the robotics community. VLMs are shown to be able to perform complex visual reasoning and scene understanding tasks, which makes them regarded as a…

Large language models have increasingly been proposed as a powerful replacement for classical agent-based models (ABMs) to simulate social dynamics. By using LLMs as a proxy for human behavior, the hope of this new approach is to be able to…

Robot navigation in dynamic, human-centered environments requires socially-compliant decisions grounded in robust scene understanding. Recent Vision-Language Models (VLMs) exhibit promising capabilities such as object recognition,…

Visual perspective-taking (VPT), the ability to understand the viewpoint of another person, enables individuals to anticipate the actions of other people. For instance, a driver can avoid accidents by assessing what pedestrians see. Humans…

Spatial intelligence requires visual representations that capture both semantic objects and geometric structure in the physical world. To support this, two major pre-training schemes are now widely used as foundation backbones:…

Video Understanding, Scene Interpretation and Commonsense Reasoning are highly challenging tasks enabling the interpretation of visual information, allowing agents to perceive, interact with and make rational decisions in its environment.…

This study investigates whether vision-language models (VLMs) can perform pragmatic inference, focusing on ignorance implicatures, utterances that imply the speaker's lack of precise knowledge. To test this, we systematically manipulated…

Existing pipelines for vision-language models (VLMs) in robotic manipulation prioritize broad semantic generalization from images and language, but typically omit execution-critical parameters required for contact-rich actions in…

Recent large language models (LLMs) are capable of planning robot actions. In this paper, we explore how LLMs can be used for planning actions with tasks involving situational human-robot interaction (HRI). A key problem of applying LLMs in…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…