相关论文: UniPlan: Vision-Language Task Planning for Mobile …

Robotic task planning in real-world environments requires reasoning over implicit constraints from language and vision. While LLMs and VLMs offer strong priors, they struggle with long-horizon structure and symbolic grounding. Existing…

Pre-trained large language models (LLMs) show promise for robotic task planning but often struggle to guarantee correctness in long-horizon problems. Task and motion planning (TAMP) addresses this by grounding symbolic plans in low-level…

Automating the generation of Planning Domain Definition Language (PDDL) with Large Language Model (LLM) opens new research topic in AI planning, particularly for complex real-world tasks. This paper introduces Image2PDDL, a novel framework…

Vision-Language-Action (VLA) models have recently emerged in autonomous driving, with the promise of leveraging rich world knowledge to improve the cognitive capabilities of driving systems. However, adapting such models for driving tasks…

World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision-language models (VLMs) for planning, yet existing…

Vision-language models (VLMs) have been applied to robot task planning problems, where the robot receives a task in natural language and generates plans based on visual inputs. While current VLMs have demonstrated strong vision-language…

With the powerful reasoning capabilities of large language models (LLMs) and vision-language models (VLMs), many recent works have explored using them for decision-making. However, most of these approaches rely solely on language-based…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

The domain gap between remote sensing imagery and natural images has recently received widespread attention and Vision-Language Models (VLMs) have demonstrated excellent generalization performance in remote sensing multimodal tasks.…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…

Significant advancements has recently been achieved in the field of multi-modal large language models (MLLMs), demonstrating their remarkable capabilities in understanding and reasoning across diverse tasks. However, these models are often…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

Achieving general-purpose robotic manipulation requires robots to seamlessly bridge high-level semantic intent with low-level physical interaction in unstructured environments. However, existing approaches falter in zero-shot…

Solving long-horizon tasks requires robots to integrate high-level semantic reasoning with low-level physical interaction. While vision-language models (VLMs) and video generation models can decompose tasks and imagine outcomes, they often…

Discovering the symbols and rules that can be used in long-horizon planning from a robot's unsupervised exploration of its environment and continuous sensorimotor experience is a challenging task. The previous studies proposed learning…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequential manipulation for long-horizon and versatile tasks in…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Vision-Language Navigation (VLN) tasks often leverage panoramic RGB and depth inputs to provide rich spatial cues for action planning, but these sensors can be costly or less accessible in real-world deployments. Recent approaches based on…