相关论文: Ablation Study of Multimodal Perception, Language …

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

Active vision, also known as active perception, refers to the process of actively selecting where and how to look in order to gather task-relevant information. It is a critical component of efficient perception and decision-making in humans…

Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…

As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…

Embodied intelligence systems, which enhance agent capabilities through continuous environment interactions, have garnered significant attention from both academia and industry. Vision-Language-Action models, inspired by advancements in…

With advances in data-driven machine learning research, a wide variety of prediction models have been proposed to capture spatio-temporal features for the analysis of video streams. Recognising actions and detecting action transitions…

The ability to reason about and predict the outcome of contacts is paramount to the successful execution of many robot tasks. Analytical rigid-body contact models are used extensively in planning and control due to their computational…

There is a growing need for social robots and intelligent agents that can effectively interact with and support users. For the interactions to be seamless, the agents need to analyse social scenes and behavioural cues from their (robot's)…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

This paper focuses on robotic reinforcement learning with sparse rewards for natural language goal representations. An open problem is the sample-inefficiency that stems from the compositionality of natural language, and from the grounding…

In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…

How does language model pretraining help transfer learning? We consider a simple ablation technique for determining the impact of each pretrained layer on transfer task performance. This method, partial reinitialization, involves replacing…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…

Imitation learning with visual observations is notoriously inefficient when addressed with end-to-end behavioural cloning methods. In this paper, we explore an alternative paradigm which decomposes reasoning into three phases. First, a…

Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…

How human-like do conversational robots need to look to enable long-term human-robot conversation? One essential aspect of long-term interaction is a human's ability to adapt to the varying degrees of a conversational partner's engagement…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…