相关论文: BLaDA: Bridging Language to Functional Dexterous A…

Zero-shot action recognition, which addresses the issue of scalability and generalization in action recognition and allows the models to adapt to new and unseen actions dynamically, is an important research topic in computer vision…

Bridging natural language and 3D geometry is a crucial step toward flexible, language-driven scene understanding. While recent advances in 3D Gaussian Splatting (3DGS) have enabled fast and high-quality scene reconstruction, research has…

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially…

The existing language-driven grasping methods struggle to fully handle ambiguous instructions containing implicit intents. To tackle this challenge, we propose LangGrasp, a novel language-interactive robotic grasping framework. The…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

Embedding a language field in a 3D representation enables richer semantic understanding of spatial environments by linking geometry with descriptive meaning. This allows for a more intuitive human-computer interaction, enabling querying or…

Humans naturally interact with their 3D surroundings using language, and modeling 3D language fields for scene understanding and interaction has gained growing interest. This paper introduces ChatSplat, a system that constructs a 3D…

Vision-Language-Action (VLA) models typically bridge the gap between perceptual and action spaces by pre-training a large-scale Vision-Language Model (VLM) on robotic data. While this approach greatly enhances performance, it also incurs…

In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low…

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…

Despite the impressive performance achieved by pre-trained language-and-vision models in downstream tasks, it remains an open question whether this reflects a proper understanding of image-text interaction. In this work, we explore to what…

Dexterous robotic manipulation requires more than geometrically valid grasps: it demands physically grounded contact strategies that account for the spatially non-uniform mechanical properties of the object. However, existing grasp planners…

While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond visually dominant pick-and-place…

Vision-Language-Action (VLA) models are formulated to ground instructions in visual context and generate action sequences for robotic manipulation. Despite recent progress, VLA models still face challenges in learning related and reusable…

Achieving unified 3D perception and reasoning across tasks such as segmentation, retrieval, and relation understanding remains challenging, as existing methods are either object-centric or rely on costly training for inter-object reasoning.…

Vision-Language-Action (VLA) models typically map visual observations and linguistic instructions directly to control signals. This "black-box" mapping forces a single forward pass to simultaneously handle instruction interpretation,…

Emerging 3D scene representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have demonstrated their effectiveness in Simultaneous Localization and Mapping (SLAM) for photo-realistic rendering, particularly…

Vision-language tracking has gained increasing attention in many scenarios. This task simultaneously deals with visual and linguistic information to localize objects in videos. Despite its growing utility, the development of vision-language…

Multilayer perceptrons (MLPs) are an integral part of large language models, yet their dense representations render them difficult to understand, edit, and steer. Recent methods learn interpretable approximations via neuron-level sparsity,…

Recent advancements in integrating tactile sensing into vision-language-action (VLA) models have demonstrated transformative potential for robotic perception. However, existing tactile representations predominantly rely on qualitative…