相关论文: NovaPlan: Zero-Shot Long-Horizon Manipulation via …

Video procedure planning, i.e., planning a sequence of action steps given the video frames of start and goal states, is an essential ability for embodied AI. Recent works utilize Large Language Models (LLMs) to generate enriched action step…

Long-horizon robotic manipulation remains challenging for Vision-Language-Action (VLA) models despite recent progress in zero-shot generalization and simulation-to-real-world transfer. Current VLA models suffer from stage hallucination,…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

Long-horizon task planning for heterogeneous multi-robot systems is essential for deploying collaborative teams in real-world environments; yet, it remains challenging due to the large volume of perceptual information, much of which is…

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is the lack of robotic data,…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial…

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…

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…

3D visual grounding is crucial for robots, requiring integration of natural language and 3D scene understanding. Traditional methods depending on supervised learning with 3D point clouds are limited by scarce datasets. Recently zero-shot…

Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on object goal navigation have typically focused on a single…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…

The expansion of instruction-tuning data has enabled foundation language models to exhibit improved instruction adherence and superior performance across diverse downstream tasks. Semantically-rich 3D human motion is being progressively…

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic…

Long-horizon embodied planning underpins embodied AI. To accomplish long-horizon tasks, one of the most feasible ways is to decompose abstract instructions into a sequence of actionable steps. Foundation models still face logical errors and…

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…

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world…

This work addresses the problem of long-horizon task planning with the Large Language Model (LLM) in an open-world household environment. Existing works fail to explicitly track key objects and attributes, leading to erroneous decisions in…

Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligence. However, VLM-based planners treat each step as an isolated observation-to-action mapping, forcing them to reinfer scene geometry…