相关论文: GenerativeMPC: VLM-RAG-guided Whole-Body MPC with …

Model Predictive Control (MPC) is a widely adopted control paradigm that leverages predictive models to estimate future system states and optimize control inputs accordingly. However, while MPC excels in planning and control, it lacks the…

Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability of environmental perception, leading to the failure in some…

Motivated by the emergent reasoning capabilities of Vision Language Models (VLMs) and their potential to improve the comprehensibility of autonomous driving systems, this paper introduces a closed-loop autonomous driving controller called…

We present OmniVIC, a universal variable impedance controller (VIC) enhanced by a vision language model (VLM), which improves safety and adaptation in any contact-rich robotic manipulation task to enhance safe physical interaction.…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion is not solely dependent on consistent motion generation but…

Large Vision-Language Models (LVLMs) have made remarkable strides in multimodal tasks such as visual question answering, visual grounding, and complex reasoning. However, they remain limited by static training data, susceptibility to…

Humanoid robots must adapt their contact behavior to diverse objects and tasks, yet most controllers rely on fixed, hand-tuned impedance gains and gripper settings. This paper introduces HumanoidVLM, a vision-language driven retrieval…

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…

Effectively retrieving, reasoning, and understanding multimodal information remains a critical challenge for agentic systems. Traditional Retrieval-augmented Generation (RAG) methods rely on linear interaction histories, which struggle to…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model…

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…

With the rapid development of embodied artificial intelligence, significant progress has been made in vision-language-action (VLA) models for general robot decision-making. However, the majority of existing VLAs fail to account for the…

Although LLMs demonstrate proficiency in several text-based reasoning and planning tasks, their implementation in robotics control is constrained by significant deficiencies: (1) LLM agents are designed to work mainly with textual inputs…

Recent advances in Vision-Language Models (VLMs) have enabled mobile agents to perceive and interact with real-world mobile environments based on human instructions. However, the current fully autonomous paradigm poses potential safety…

Although Vision Language Models (VLMs) have shown strong generalization in medical imaging, pathology presents unique challenges due to ultra-high resolution, complex tissue structures, and nuanced clinical semantics. These factors make…