Related papers: PaLM-E: An Embodied Multimodal Language Model

Multi-modal large language models (MLLMs) have shown incredible capabilities in a variety of 2D vision and language tasks. We extend MLLMs' perceptual capabilities to ground and reason about images in 3-dimensional space. To that end, we…

Standard Chain-of-Thought (CoT) prompting empowers Large Language Models (LLMs) with reasoning capabilities, yet its reliance on linear natural language is inherently insufficient for effective world modeling in embodied tasks. While text…

Vision-Language-Action (VLA) models have recently become highly prominent in the field of robotics. Leveraging vision-language foundation models trained on large-scale internet data, the VLA model can generate robotic actions directly from…

Multimodal Large Language Models (MLLMs) rely on strong linguistic reasoning inherited from their base language models. However, multimodal instruction fine-tuning paradoxically degrades this text's reasoning capability, undermining…

Large language models (LLMs) and vision-language models (VLMs) have demonstrated remarkable performance across a wide range of tasks and domains. Despite this promise, spatial understanding and reasoning -- a fundamental component of human…

Effective collaboration between embodied agents requires more than acting in a shared environment; it demands communication grounded in each agent's evolving understanding of the world. When agents can only partially observe their…

Recently, Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) have shown promise in instruction following and 2D image understanding. While these models are powerful, they have not yet been developed to comprehend the…

We introduce HY-Embodied-0.5, a family of foundation models specifically designed for real-world embodied agents. To bridge the gap between general Vision-Language Models (VLMs) and the demands of embodied agents, our models are developed…

The increasing complexity of large-scale language models has amplified concerns regarding their interpretability and reusability. While traditional embedding models like Word2Vec and GloVe offer scalability, they lack transparency and often…

Language model (LM) pre-training is useful in many language processing tasks. But can pre-trained LMs be further leveraged for more general machine learning problems? We propose an approach for using LMs to scaffold learning and…

Large language models (LLMs) have demonstrated immense capabilities in understanding textual data and are increasingly being adopted to help researchers accelerate scientific discovery through knowledge extraction (information retrieval),…

Recent advancements in dialogue systems have highlighted the significance of integrating multimodal responses, which enable conveying ideas through diverse modalities rather than solely relying on text-based interactions. This enrichment…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

Pre-trained and frozen large language models (LLMs) can effectively map simple scene rearrangement instructions to programs over a robot's visuomotor functions through appropriate few-shot example prompting. To parse open-domain natural…

The increasing demand for intelligent systems capable of interpreting and reasoning about visual content requires the development of large Vision-and-Language Models (VLMs) that are not only accurate but also have explicit reasoning…

Existing vision-language methods typically support two languages at a time at most. In this paper, we present a modular approach which can easily be incorporated into existing vision-language methods in order to support many languages. We…

Vision-language navigation requires agents to reason and act under constraints of embodiment. While vision-language models (VLMs) demonstrate strong generalization, current benchmarks provide limited understanding of how embodiment -- i.e.,…

Large multimodal models (LMMs) combine unimodal encoders and large language models (LLMs) to perform multimodal tasks. Despite recent advancements towards the interpretability of these models, understanding internal representations of LMMs…

The rapid advancement of Large Language Models (LLMs) has marked a significant breakthrough in Artificial Intelligence (AI), ushering in a new era of Human-centered Artificial Intelligence (HAI). HAI aims to better serve human welfare and…

Training large language representation models has become a standard in the natural language processing community. This allows for fine tuning on any number of specific tasks, however, these large high capacity models can continue to train…