相关论文: RoboMemArena: A Comprehensive and Challenging Robo…

Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily occluded. Recent vision-language-action (VLA) models have…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Multimodal large language models are increasingly deployed as long-horizon agents, where memory must do more than recall: it must track an evolving world, revise what has gone stale, and surface the right evidence at decision time. Existing…

Robots have the potential to improve health monitoring outcomes for the elderly by providing doctors, and caregivers with information about the person's behavior, health activities and their surrounding environment. Over the years, less…

As Large Language Models (LLMs) evolve from static dialogue interfaces to autonomous general agents, effective memory is paramount to ensuring long-term consistency. However, existing benchmarks primarily focus on casual conversation or…

The pursuit of robot generalists, agents capable of performing diverse tasks across diverse environments, demands rigorous and scalable evaluation. Yet real-world testing of robot policies remains fundamentally constrained: it is…

Navigating and understanding complex environments over extended periods of time is a significant challenge for robots. People interacting with the robot may want to ask questions like where something happened, when it occurred, or how long…

Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that require reasoning over historical…

Temporal context is essential for robotic manipulation because such tasks are inherently non-Markovian, yet mainstream VLA models typically overlook it and struggle with long-horizon, temporally dependent tasks. Cognitive science suggests…

Vision-language-action (VLA) models for closed-loop robot control are typically cast under the Markov assumption, making them prone to errors on tasks requiring historical context. To incorporate memory, existing VLAs either retrieve from a…

Vision-Language-Action (VLA) models and world models have recently emerged as promising paradigms for general-purpose robotic intelligence, yet their progress is hindered by the lack of reliable evaluation protocols that reflect real-world…

Building robots that can perceive, reason, and act in dynamic, unstructured environments remains a core challenge. Recent embodied systems often adopt a dual-system paradigm, where System 2 handles high-level reasoning while System 1…

Spatial tracing, as a fundamental embodied interaction ability for robots, is inherently challenging as it requires multi-step metric-grounded reasoning compounded with complex spatial referring and real-world metric measurement. However,…

Existing evaluations of agents with memory typically assess memorization and action in isolation. One class of benchmarks evaluates memorization by testing recall of past conversations or text but fails to capture how memory is used to…

Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligence. However, VLM-based planners treat each step as an isolated observation-to-action mapping, forcing them to reinfer scene geometry…

We present BulletArm, a novel benchmark and learning-environment for robotic manipulation. BulletArm is designed around two key principles: reproducibility and extensibility. We aim to encourage more direct comparisons between robotic…

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…

Embodied intelligence aims to enable robots to learn, reason, and generalize robustly across complex real-world environments. However, existing approaches often struggle with partial observability, fragmented spatial reasoning, and…

Reinforcement learning has achieved remarkable success in robot learning. However, under challenging exploration and contact-rich dynamics, early-stage training is frequently dominated by premature terminations such as collisions and falls.…

Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…