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More than A Point: Capturing Uncertainty with Adaptive Affordance Heatmaps for Spatial Grounding in Robotic Tasks
Xinyu Shao, Yanzhe Tang, Pengwei Xie +6
Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this chal…
Self-CriTeach: LLM Self-Teaching and Self-Critiquing for Improving Robotic Planning via Automated Domain Generation
Jinbang Huang, Zhiyuan Li, Yuanzhao Hu +4
Large Language Models (LLMs) have recently shown strong promise for robotic task planning, particularly through automatic planning domain generation. However, prior approaches larg…
AutoLayout: Closed-Loop Layout Synthesis via Slow-Fast Collaborative Reasoning
Weixing Chen, Dafeng Chi, Yang Liu +7
The automated generation of layouts is vital for embodied intelligence and autonomous systems, supporting applications from virtual environment construction to home robot deploymen…
Mem2Ego: Empowering Vision-Language Models with Global-to-Ego Memory for Long-Horizon Embodied Navigation
Lingfeng Zhang, Yuecheng Liu, Zhanguang Zhang +16
Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense…
SpatialCoT: Advancing Spatial Reasoning through Coordinate Alignment and Chain-of-Thought for Embodied Task Planning
Yuecheng Liu, Dafeng Chi, Shiguang Wu +13
Spatial reasoning is an essential problem in embodied AI research. Efforts to enhance spatial reasoning abilities through supplementary spatial data and fine-tuning have proven lim…