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Automated content-aware layout generation -- the task of arranging visual elements such as text, logos, and underlays on a background canvas -- remains a fundamental yet under-explored problem in intelligent design systems. While recent…

Multimodal Large Language Models (MLLMs) are widely regarded as crucial in the exploration of Artificial General Intelligence (AGI). The core of MLLMs lies in their capability to achieve cross-modal alignment. To attain this goal, current…

Reinforcement learning (RL) in long horizon and sparse reward tasks is notoriously difficult and requires a lot of training steps. A standard solution to speed up the process is to leverage additional reward signals, shaping it to better…

The target task of this study is grounded language understanding for domestic service robots (DSRs). In particular, we focus on instruction understanding for short sentences where verbs are missing. This task is of critical importance to…

Recent advancements in reasoning abilities of Large Language Models (LLM) has promoted their usage in problems that require high-level planning for robots and artificial agents. However, current techniques that utilize LLMs for such…

Unsupervised pre-training has recently become the bedrock for computer vision and natural language processing. In reinforcement learning (RL), goal-conditioned RL can potentially provide an analogous self-supervised approach for making use…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

Unsupervised goal-conditioned reinforcement learning (GCRL) is a promising paradigm for developing diverse robotic skills without external supervision. However, existing unsupervised GCRL methods often struggle to cover a wide range of…

Large language models (LLMs) excel in tasks like question answering and dialogue, but complex tasks requiring interaction, such as negotiation and persuasion, require additional long-horizon reasoning and planning. Reinforcement learning…

Embodied AI Agents are quickly becoming important and common tools in society. These embodied agents should be able to learn about and accomplish a wide range of user goals and preferences efficiently and robustly. Large Language Models…

Consider a prosthetic arm, learning to adapt to its user's control signals. We propose Interaction-Grounded Learning for this novel setting, in which a learner's goal is to interact with the environment with no grounding or explicit reward…

Controlling the output of Large Language Models (LLMs) through context-sensitive constraints has emerged as a promising approach to overcome the limitations of Context-Free Grammars (CFGs) in guaranteeing generation validity. However, such…

Pre-trained models have achieved remarkable success in natural language processing (NLP). However, existing pre-training methods underutilize the benefits of language understanding for generation. Inspired by the idea of Generative…

Solving goal-conditioned tasks with sparse rewards using self-supervised learning is promising because of its simplicity and stability over current reinforcement learning (RL) algorithms. A recent work, called Goal-Conditioned Supervised…

Combining Large Language Models (LLMs) with Reinforcement Learning (RL) enables agents to interpret language instructions more effectively for task execution. However, LLMs typically lack direct perception of the physical environment, which…

3D visual grounding is a challenging task that often requires direct and dense supervision, notably the semantic label for each object in the scene. In this paper, we instead study the naturally supervised setting that learns from only 3D…

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to…

Multilingual retrieval-augmented generation (MRAG) requires models to effectively acquire and integrate beneficial external knowledge from multilingual collections. However, most existing studies employ a unitive process where queries of…

Retrieval-Augmented Generation (RAG) enhances language models by retrieving and incorporating relevant external knowledge. However, traditional retrieve-and-generate processes may not be optimized for real-world scenarios, where queries…

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand.…