相关论文: Lifting Embodied World Models for Planning and Con…

Despite advancements in Large Language Models (LLMs) and Large Multimodal Models (LMMs), their integration into language-grounded, human-like embodied agents remains incomplete, hindering complex real-life task performance in physical…

The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…

In embodied AI, a persistent challenge is enabling agents to robustly adapt to novel domains without requiring extensive data collection or retraining. To address this, we present a world model implanting framework (WorMI) that combines the…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

World models have recently re-emerged as a central paradigm for embodied intelligence, robotics, autonomous driving, and model-based reinforcement learning. However, current world model research is often dominated by three partially…

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their…

Can world knowledge learned by large language models (LLMs) be used to act in interactive environments? In this paper, we investigate the possibility of grounding high-level tasks, expressed in natural language (e.g. "make breakfast"), to a…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

While Large Language Models (LLMs) have demonstrated strong zero-shot reasoning capabilities, their deployment as embodied agents still faces fundamental challenges in long-horizon planning. Unlike open-ended text generation, embodied…

Millimeter-wave or terahertz communications can meet demands of low-altitude economy networks for high-throughput sensing and real-time decision making. However, high-frequency characteristics of wireless channels result in severe…

Human-centred systems require an understanding of human actions in the physical world. Temporally extended sequences of actions are intentional and structured, yet existing methods for recognising what actions are performed often do not…

Efficiently navigating complex environments requires agents to internalize the underlying logic of their world, yet standard world modelling methods often struggle with sample inefficiency, lack of transparency, and poor scalability. We…

Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

Model-based planning in robotic domains is challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ…

An effective approach to solving long-horizon tasks in robotics domains with continuous state and action spaces is bilevel planning, wherein a high-level search over an abstraction of an environment is used to guide low-level…

The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

As AI systems move from generating text to accomplishing goals through sustained interaction, the ability to model environment dynamics becomes a central bottleneck. Agents that manipulate objects, navigate software, coordinate with others,…

Embodied navigation in open, dynamic environments demands accurate foresight of how the world will evolve and how actions will unfold over time. We propose AstraNav-World, an end-to-end world model that jointly reasons about future visual…