24 accepted papers
Long-horizon robotic manipulation is increasingly important for real-world deployment, requiring spatial disambiguation in complex layouts and temporal resilience under dynamic interaction. However, existing end-to-end and hierarchical Vision-Language-Action (VLA) policies often rely on text-only cu
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties and force dynamics. Although optical tactile sensors are uniquely capable of providing such rich information, existing tactile datasets a…
Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion from audio and then retargeting it to robots relies on explicit motion reconstruction, leading to cascaded errors, high lat
Natural language offers a natural interface for humanoid robots, but existing text-to-motion pipelines remain cumbersome and unreliable. They typically decode human motion, retarget it to robot morphology, and then track it with a physics-based controller. However, this multi-stage process is prone…
The primary obstacle for applying reinforcement learning (RL) to real-world robotics is the design of effective reward functions. While recently learning-based Process Reward Models (PRMs) are a promising direction, they are often hindered by two fundamental limitations: their reward models lack ste
We formulate the learning of generalist Vision-Language-Action (VLA) models as a Gromov-Wasserstein alignment problem, aiming to map semantically similar VL embeddings to physically similar motion primitives. However, solving this is challenging due to the mathematical heterogeneity between the doma…
Vision-Language-Action (VLA) models benefit from Chain-of-Thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We propose Latent Reasoning VLA (LaRA-VLA), a unified VLA framework…
World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity RGB video prediction, but this can result in overfitting to irrelevant factors, such as dynamic bac…
Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven perception actively with robust, viewpoint-invariant execution accordingly. To this end, we propose SaPaVe, an end-to-end framework that jointly learns these
Transfer across diverse task compositions and unseen behaviors remains a significant challenge for vision-language action (VLA) models. Skills are repeatable and atomic components for various tasks, and similarities shared with different skills provide evidence for transferability across behaviors. …
Vision-Language Models (VLMs) have shown remarkable capabilities in spatial reasoning, yet they remain fundamentally limited to qualitative assessments and lack the computational precision required for real-world robotics. Current approaches fail to leverage metric information from depth sensors and…
Ensemble Temporal Prediction Model-as-a-Service (ETP-MaaS) has become crucial in fields like financial modeling and cloud monitoring. Existing solutions fail to co-optimally address a two-fold challenge of dynamic collaboration and heterogeneity, treating models as independent entities and employing
Recently, mobile manipulation has attracted increasing attention for enabling language-conditioned robotic control in household tasks. However, existing methods still face challenges in coordinating mobile base and manipulator, primarily due to two limitations. On the one hand, they fail to explicit…
Inferring the affordance of an object and grasping it in a task-oriented manner is crucial for robots to successfully complete manipulation tasks. Affordance indicates where and how to grasp an object by taking its functionality into account, serving as the foundation for effective task-oriented gra
Knee angle estimation plays a crucial role in the development of lower limb assistive devices, particularly prostheses. Current research in this area primarily focuses on stable gait movements, which limits applicability to real-world scenarios where human motion is far more complex. In this paper,
3D geometric information is essential for manipulation tasks, as robots need to perceive the 3D environment, reason about spatial relationships, and interact with intricate spatial configurations. Recent research has increasingly focused on the explicit extraction of 3D features, while still facing…
Vision-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as spatio-temporal contexts for decision making, leading to signif…
Visual reasoning abilities play a crucial role in understanding complex multimodal data, advancing both domain-specific applications and artificial general intelligence (AGI). Existing methods enhance Vision-Language Models (VLMs) through Chain-of-Thought (CoT) supervised fine-tuning using meticulou…
Recent advancements in Multimodal Large Language Models (MLLMs) have shown remarkable capabilities across various multimodal contexts. However, their application in robotic scenarios, particularly for long-horizon manipulation tasks, reveals significant limitations. These limitations arise from the…
Spatial referring is a fundamental capability of embodied robots to interact with the 3D physical world. However, even with the powerful pretrained VLMs, recent approaches are still not qualified to accurately understand the complex 3D scenes and dynamically reason about the instruction-indicated lo…
Robust high-definition (HD) map construction is vital for autonomous driving, yet existing methods often struggle with incomplete multi-view camera data. This paper presents SafeMap, a novel framework specifically designed to ensure accuracy even when certain camera views are missing. SafeMap integr…
With the evolution of pre-trained language models, current open-domain dialogue systems have achieved great progress in conducting one-session conversations. In contrast, Multi-Session Conversation (MSC), which consists of multiple sessions over a long term with the same user, is under-investigated.…
End-to-end Spoken Language Understanding (SLU) is proposed to infer the semantic meaning directly from audio features without intermediate text representation. In this paper, we explore unsupervised pre-training for End-to-end SLU models by learning representations from large-scale raw audios. The p…