相关论文: Beyond Short-Horizon: VQ-Memory for Robust Long-Ho…

As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring sequenced interactions with visually…

Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily occluded. Recent vision-language-action (VLA) models have…

Temporal context is essential for robotic manipulation because such tasks are inherently non-Markovian, yet mainstream VLA models typically overlook it and struggle with long-horizon, temporally dependent tasks. Cognitive science suggests…

Recent advances in robotic manipulation have integrated low-level robotic control into Vision-Language Models (VLMs), extending them into Vision-Language-Action (VLA) models. Although state-of-the-art VLAs achieve strong performance in…

Existing Vision-Language-Action (VLA) models often struggle to generalize to long-horizon tasks due to their heavy reliance on immediate observations. While recent studies incorporate retrieval mechanisms or extend context windows to handle…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…

Embodied agents powered by vision-language models (VLMs) are increasingly capable of executing complex real-world tasks, yet they remain vulnerable to hazardous instructions that may trigger unsafe behaviors. Runtime safety guardrails,…

Imitation learning from human demonstrations has achieved significant success in robotic control, yet most visuomotor policies still condition on single-step observations or short-context histories, making them struggle with non-Markovian…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Vision-language-action (VLA) models for closed-loop robot control are typically cast under the Markov assumption, making them prone to errors on tasks requiring historical context. To incorporate memory, existing VLAs either retrieve from a…

Robotic manipulation policies often degrade over extended horizons, yet existing benchmarks provide limited insight into why such failures occur. Most prior benchmarks are either simulation-based or report aggregate success, making it…

Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that require reasoning over historical…

The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform…

Large vision-language models have recently demonstrated impressive performance in planning and control tasks, driving interest in their application to real-world robotics. However, deploying these models for reasoning in embodied contexts…

Real-world robotic tasks often require agents to achieve sequences of goals while respecting time-varying safety constraints. However, standard Reinforcement Learning (RL) paradigms are fundamentally limited in these settings. A natural…

Robust robotic manipulation requires reliable failure detection and recovery. Although recent Vision-Language Models (VLMs) show promise in robot failure detection, their generalization is severely limited by the scarcity and narrow…

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

Vision-Language-Action (VLA) models have shown strong promise for general-purpose robotic manipulation, but their real-world evaluation remains limited by a lack of accessible, reproducible, and consistent benchmarks. Simulation benchmarks…

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…