4 papers · 1 filter
TALK-Dem: Benchmarking Embodied Task Planning under Dementia-Associated Communication Patterns
Guangxin Zhao, Yiran Hu, Yuan Cao +7
Existing LLM-driven robot task planners rely on a taken-for-granted assumption of an ideal user whose instructions are clear, complete, and task-focused. However, when interacting…
APEX: Adaptive Policy Execution for Precise Manipulation
Mengfei Zhao, Chenxi Jiang, Tuo An +2
Modern imitation learning methods, including visuomotor and Vision-Language-Action (VLA) policies, typically output high-level action references that are executed by low-level cont…
Chameleon: Control-Indexed Prospective Memory for Visuomotor Manipulation
Xinying Guo, Chenxi Jiang, Hyun Bin Kim +4
Robots often observe information that determines a future action long before that action is executed. In a shell game, for example, a robot first sees which cup hides the ball, wat…
REI-Bench: Can Embodied Agents Understand Vague Human Instructions in Task Planning?
Chenxi Jiang, Chuhao Zhou, Jianfei Yang
Robot task planning decomposes human instructions into executable action sequences that enable robots to complete a series of complex tasks. Although recent large language model (L…