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Recent advancements in robot control using large language models (LLMs) have demonstrated significant potential, primarily due to LLMs' capabilities to understand natural language commands and generate executable plans in various languages.…
Recently, Large Language Models (LLMs) have been widely employed in Conversational Recommender Systems (CRSs). Unlike traditional language model approaches that focus on training, all existing LLMs-based approaches are mainly centered…
Vision-and-language navigation (VLN) stands as a key research problem of Embodied AI, aiming at enabling agents to navigate in unseen environments following linguistic instructions. In this field, generalization is a long-standing…
Referential grounding in outdoor driving scenes is challenging due to large scene variability, many visually similar objects, and dynamic elements that complicate resolving natural-language references (e.g., "the black car on the right").…
Robots operating in everyday environments must often decide when and whether to engage with people, yet such decisions often hinge on subtle nonverbal cues that unfold over time and are difficult to model explicitly. Drawing on a five-day…
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.…
Large Multimodal Models (LMMs) have achieved remarkable success in vision-language tasks, yet their vast parameter counts are often underutilized during both training and inference. In this work, we embrace the idea of looping back to move…
Efficient and privacy-preserving multimodal interaction is essential as AR, VR, and modern smartphones with powerful cameras become primary interfaces for human-computer communication. Existing powerful large vision-language models (VLMs)…
Large language models (LLMs) have recently emerged as promising tools for solving challenging robotic tasks, even in the presence of action and observation uncertainties. Recent LLM-based decision-making methods (also referred to as…
Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…
Large language models (LLMs) have recently been applied in software engineering to perform tasks such as translating code between programming languages, generating code from natural language, and autocompleting code as it is being written.…
Multimodal large language models (MLLMs) have revolutionized the landscape of AI, demonstrating impressive capabilities in tackling complex vision and audio-language tasks. However, a critical challenge remains: these models often suffer…
Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…
While language reasoning models excel in many tasks, visual reasoning remains challenging for current large multimodal models (LMMs). As a result, most LMMs default to verbalizing perceptual content into text, a strong limitation for tasks…
In recent years, large language models (LLMs) have rapidly proliferated and have been utilized in various tasks, including research in dialogue systems. We aimed to construct a system that not only leverages the flexible conversational…
Video procedure planning, i.e., planning a sequence of action steps given the video frames of start and goal states, is an essential ability for embodied AI. Recent works utilize Large Language Models (LLMs) to generate enriched action step…
Large language models (LLMs) are increasingly used as reasoning modules in many applications. While they are efficient in certain tasks, LLMs often struggle to produce human-aligned solutions. Human-aligned decision making requires…
Large pretrained models are showing increasingly better performance in reasoning and planning tasks across different modalities, opening the possibility to leverage them for complex sequential decision making problems. In this paper, we…
Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…
While large language models (LMs) have shown remarkable capabilities across numerous tasks, they often struggle with simple reasoning and planning in physical environments, such as understanding object permanence or planning household…