Related papers: Language Models Meet World Models: Embodied Experi…

Large Language Models (LLMs) exhibit emerging in-context learning abilities through prompt engineering. The recent progress in large-scale generative models has further expanded their use in real-world language applications. However, the…

The fusion of Large Language Models (LLMs) and robotic systems has led to a transformative paradigm in the robotic field, offering unparalleled capabilities not only in the communication domain but also in skills like multimodal input…

Embodied decision-making enables agents to translate high-level goals into executable actions through continuous interactions within the physical world, forming a cornerstone of general-purpose embodied intelligence. Large language models…

Large language models (LLMs) are increasingly being adopted as the cognitive core of embodied agents. However, inherited hallucinations, which stem from failures to ground user instructions in the observed physical environment, can lead to…

Large Language Models (LLMs) serve not only as chatbots but as key components in agent systems, where their common-sense knowledge significantly impacts performance as language-based planners for situated or embodied action. We assess LLMs'…

Large Language Models (LLMs) possess general world knowledge but often struggle to generate precise predictions in structured, domain-specific contexts such as simulations. These limitations arise from their inability to ground their broad,…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

Embodied Artificial Intelligence (AI) is an intelligent system paradigm for achieving Artificial General Intelligence (AGI), serving as the cornerstone for various applications and driving the evolution from cyberspace to physical systems.…

Reasoning in a complex and ambiguous environment is a key goal for Reinforcement Learning (RL) agents. While some sophisticated RL agents can successfully solve difficult tasks, they require a large amount of training data and often…

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…

Language models (LMs) are sentence-completion engines trained on massive corpora. LMs have emerged as a significant breakthrough in natural-language processing, providing capabilities that go far beyond sentence completion including…

Widely used language models (LMs) are typically built by scaling up a two-stage training pipeline: a pre-training stage that uses a very large, diverse dataset of text and a fine-tuning (sometimes, 'alignment') stage that uses targeted…

Despite the ubiquity of large language models (LLMs) in AI research, the question of embodiment in LLMs remains underexplored, distinguishing them from embodied systems in robotics where sensory perception directly informs physical action.…

Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and natural language goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle with the…

Embodied AI aims to develop intelligent systems with physical forms capable of perceiving, decision-making, acting, and learning in real-world environments, providing a promising way to Artificial General Intelligence (AGI). Despite decades…

Embedding models are crucial for various natural language processing tasks but can be limited by factors such as limited vocabulary, lack of context, and grammatical errors. This paper proposes a novel approach to improve embedding…

While large language models (LLMs) excel in a simulated world of texts, they struggle to interact with the more realistic world without perceptions of other modalities such as visual or audio signals. Although vision-language models (VLMs)…

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…

Leveraging Multi-modal Large Language Models (MLLMs) to create embodied agents offers a promising avenue for tackling real-world tasks. While language-centric embodied agents have garnered substantial attention, MLLM-based embodied agents…

The realization of Artificial General Intelligence (AGI) necessitates Embodied AI agents capable of robust spatial perception, effective task planning, and adaptive execution in physical environments. However, current large language models…