相关论文: Predictive but Not Plannable: RC-aux for Latent Wo…

A world model is essential for an agent to predict the future and plan in domains such as autonomous driving and robotics. To achieve this, recent advancements have focused on video generation, which has gained significant attention due to…

To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…

Learning world models offers a promising avenue for goal-conditioned reinforcement learning with sparse rewards. By allowing agents to plan actions or exploratory goals without direct interaction with the environment, world models enhance…

Reactive control is often considered insufficient for multi-objective tasks because conflicting objectives give rise to local minima. We argue this limitation is not inherent but arises from static encodings that fail to reflect how…

Goal Recognition is the task of discerning the correct intended goal that an agent aims to achieve, given a set of goal hypotheses, a domain model, and a sequence of observations (i.e., a sample of the plan executed in the environment).…

Achieving reliable multidimensional Vehicle-to-Vehicle (V2V) channel state information (CSI) prediction is both challenging and crucial for optimizing downstream tasks that depend on instantaneous CSI. This work extends traditional…

Language models (LMs) trained on web-scale datasets are largely successful due to their ability to memorize large amounts of training data, even if only present in a few examples. These capabilities are often desirable in evaluation on…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

Vision-language models (VLMs) have demonstrated remarkable capabilities in robotic planning, particularly for long-horizon tasks that require a holistic understanding of the environment for task decomposition. Existing methods typically…

Effective planning requires strong world models, but high-level world models that can understand and reason about actions with semantic and temporal abstraction remain largely underdeveloped. We introduce the Vision Language World Model…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…

This study introduces a novel Remote Sensing (RS) Urban Prediction (UP) task focused on future urban planning, which aims to forecast urban layouts by utilizing information from existing urban layouts and planned change maps. To address the…

Despite significant advances in quality and complexity of the generations in text-to-image models, prompting does not always lead to the desired outputs. Controlling model behaviour by directly steering intermediate model activations has…

In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on a conveyor belt. In this work we are interested in settings…

Lane segment topology reasoning provides comprehensive bird's-eye view (BEV) road scene understanding, which can serve as a key perception module in planning-oriented end-to-end autonomous driving systems. Existing lane topology reasoning…

While deep learning offers tremendous promise for scientific and medical imaging, any failures and hallucinations (predictions that do not coincide with reality) are hard to pinpoint and can have serious downstream consequences. Uncertainty…

Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for building embodied agents that ground perception and language into action. However, most existing approaches rely on direct action prediction, lacking the ability…

Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a goal and avoid obstacles. This paper addresses the near…