相关论文: EgoActor: Grounding Task Planning into Spatial-awa…
Analyzing instructional interactions between an instructor and a learner who are co-present in the same physical space is a critical problem for educational support and skill transfer. Yet such face-to-face instructional scenes have not…
Reasoning is central to purposeful action, yet most robotic foundation models map perception and instructions directly to control, which limits adaptability, generalization, and semantic grounding. We introduce Action Reasoning Models…
Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…
For efficient human-agent interaction, an agent should proactively recognize their target user and prepare for upcoming interactions. We formulate this challenging problem as the novel task of jointly forecasting a person's intent to…
Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions. Successfully navigating these requires both high-level task planning (i.e., decomposing goals into…
As embodied intelligence emerges as a core frontier in artificial intelligence research, simulation platforms must evolve beyond low-level physical interactions to capture complex, human-centered social behaviors. We introduce FreeAskWorld,…
Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM…
Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…
Visual grounding tasks aim to localize image regions based on natural language references. In this work, we explore whether generative VLMs predominantly trained on image-text data could be leveraged to scale up the text annotation of…
Intelligent assistance involves not only understanding but also action. Existing ego-centric video datasets contain rich annotations of the videos, but not of actions that an intelligent assistant could perform in the moment. To address…
Aerospace embodied intelligence aims to empower unmanned aerial vehicles (UAVs) and other aerospace platforms to achieve autonomous perception, cognition, and action, as well as egocentric active interaction with humans and the environment.…
Vision-Language-Action (VLA) models have recently shown strong potential for robot learning by following language instructions. However, in practice, language alone is often insufficient to precisely convey human intent. It is difficult to…
TTM (Talking to Me) task is a pivotal component in understanding human social interactions, aiming to determine who is engaged in conversation with the camera-wearer. Traditional models often face challenges in real-world scenarios due to…
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose this problem into elevation mapping and foothold planning…
Current robots are capable of computing plans to accomplish complex tasks. However, real-world environments are inherently open and dynamic, and unforeseen situations frequently arise during plan execution, such as jamming doors and fallen…
"Looking for things" is a mundane but critical task we repeatedly carry on in our daily life. We introduce a method to develop a human character capable of searching for a randomly located target object in a detailed 3D scene using its…
In this report, we present our solutions to the EgoVis Challenges in CVPR 2024, including five tracks in the Ego4D challenge and three tracks in the EPIC-Kitchens challenge. Building upon the video-language two-tower model and leveraging…
When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions such as picking up an object are treated as atomic…
Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…
Humans can rearrange objects in cluttered environments using egocentric perception, navigating occlusions without global coordinates. Inspired by this capability, we study long-horizon multi-object non-prehensile rearrangement for mobile…