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

Spatial reasoning is a fundamental aspect of human cognition, enabling intuitive understanding and manipulation of objects in three-dimensional space. While foundation models demonstrate remarkable performance on some benchmarks, they still…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

This paper introduces VLN-Pilot, a novel framework in which a large Vision-and-Language Model (VLLM) assumes the role of a human pilot for indoor drone navigation. By leveraging the multimodal reasoning abilities of VLLMs, VLN-Pilot…

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale…

Autonomous driving requires rich contextual comprehension and precise predictive reasoning to navigate dynamic and complex environments safely. Vision-Language Models (VLMs) and Driving World Models (DWMs) have independently emerged as…

Recently model checking representation and search techniques were shown to be efficiently applicable to planning, in particular to non-deterministic planning. Such planning approaches use Ordered Binary Decision Diagrams (OBDDs) to encode a…

While Large Language Models (LLMs) provide semantic flexibility for robotic task planning, their susceptibility to hallucination and logical inconsistency limits their reliability in long-horizon domains. To bridge the gap between…

Panoptic maps enable robots to reason about both geometry and semantics. However, open-vocabulary models repeatedly produce closely related labels that split panoptic entities and degrade volumetric consistency. The proposed UPPM advances…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

We propose Universal Document Processing (UDOP), a foundation Document AI model which unifies text, image, and layout modalities together with varied task formats, including document understanding and generation. UDOP leverages the spatial…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…

Unmanned Aerial Vehicles (UAVs) have emerged as versatile tools across various sectors, driven by their mobility and adaptability. This paper introduces SkyVLN, a novel framework integrating vision-and-language navigation (VLN) with…

Effective planning requires strong world models, but high-level world models that can understand and reason about actions with semantic and temporal abstraction remain largely underdeveloped. We introduce the Vision Language World Model…

Latent action representations learned from unlabeled videos have recently emerged as a promising paradigm for pretraining vision-language-action (VLA) models without explicit robot action supervision. However, latent actions derived solely…

Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments. In…

Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…

Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…

Vision-language models (VLMs) have been widely-applied in ground-based vision-language navigation (VLN). However, the vast complexity of outdoor aerial environments compounds data acquisition challenges and imposes long-horizon trajectory…

Planning is one of the most critical tasks in autonomous systems, where even a small error can lead to major failures or million-dollar losses. Current state-of-the-art neural planning approaches struggle with complex domains, producing…