4 papers
OmniEVA: Embodied Versatile Planner via Task-Adaptive 3D-Grounded and Embodiment-aware Reasoning
Yuecheng Liu, Dafeng Chi, Shiguang Wu +10
Recent advances in multimodal large language models (MLLMs) have opened new opportunities for embodied intelligence, enabling multimodal understanding, reasoning, and interaction,…
Astra: Efficient Transformer Architecture and Contrastive Dynamics Learning for Embodied Instruction Following
Yueen Ma, Dafeng Chi, Shiguang Wu +3
Vision-language-action models have gained significant attention for their ability to model multimodal sequences in embodied instruction following tasks. However, most existing mode…
EVLP:Learning Unified Embodied Vision-Language Planner with Reinforced Supervised Fine-Tuning
Xinyan Cai, Shiguang Wu, Dafeng Chi +4
In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imag…
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…