Related papers: Plan, Eliminate, and Track -- Language Models are …

We propose an agent architecture that automates parts of the common reinforcement learning experiment workflow, to enable automated mastery of control domains for embodied agents. To do so, it leverages a VLM to perform some of the…

Large language models (LLMs) have been widely used in various applications but are known to suffer from issues related to untruthfulness and toxicity. While parameter-efficient modules (PEMs) have demonstrated their effectiveness in…

Recent SOTA approaches for embodied learning via interaction directly employ large language models (LLMs) as agents to determine the next steps in an environment. Due to their world knowledge and reasoning capabilities, LLM agents achieve…

Large Language Models (LLMs) have demonstrated excellent performance in general language understanding, generation and other tasks. However, when fine-tuning for specific domain tasks, the general knowledge accumulated in the pre-training…

In recent years, Large Language Models (LLMs) have made significant strides towards Artificial General Intelligence. However, training these models from scratch requires substantial computational resources and vast amounts of text data. In…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

Large Language Models (LLMs) deployed in agentic environments must exercise multiple capabilities across different task instances, where a capability is performing one or more actions in a trajectory that are necessary for successfully…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

When automating plan generation for a real-world sequential decision problem, the goal is often not to replace the human planner, but to facilitate an iterative reasoning and elicitation process, where the human's role is to guide the AI…

As the model size of pre-trained language models (PLMs) grows rapidly, full fine-tuning becomes prohibitively expensive for model training and storage. In vision-and-language (VL), parameter-efficient tuning (PET) techniques are proposed to…

Pretrained language models (PLMs) trained on large-scale unlabeled corpus are typically fine-tuned on task-specific downstream datasets, which have produced state-of-the-art results on various NLP tasks. However, the data discrepancy issue…

LVLMs have been shown to perform excellently in image-level tasks such as VQA and caption. However, in many instance-level tasks, such as visual grounding and object detection, LVLMs still show performance gaps compared to previous expert…

Pre-trained language models (PTLMs) acquire domain-independent linguistic knowledge through pre-training with massive textual resources. Additional pre-training is effective in adapting PTLMs to domains that are not well covered by the…

Pre-trained language models (PLMs) cannot well recall rich factual knowledge of entities exhibited in large-scale corpora, especially those rare entities. In this paper, we propose to build a simple but effective Pluggable Entity Lookup…

The continual learning (CL) ability is vital for deploying large language models (LLMs) in the dynamic world. Existing methods devise the learning module to acquire task-specific knowledge with parameter-efficient tuning (PET) block and the…

Recent advancements in Vision-Language-Action (VLA) models have leveraged pre-trained Vision-Language Models (VLMs) to improve the generalization capabilities. VLMs, typically pre-trained on vision-language understanding tasks, provide rich…

Since the advent of GPT, large language models (LLMs) have brought about revolutionary advancements in all walks of life. As a superior natural language processing (NLP) technology, LLMs have consistently achieved state-of-the-art…

Improving the effectiveness and efficiency of large language models (LLMs) simultaneously is a critical yet challenging research goal. In this paper, we find that low-rank pre-training, normally considered as efficient methods that will…

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their…

Grounding the common-sense reasoning of Large Language Models (LLMs) in physical domains remains a pivotal yet unsolved problem for embodied AI. Whereas prior works have focused on leveraging LLMs directly for planning in symbolic spaces,…