Related papers: Grounding Multimodal Large Language Models in Acti…

Multi-modal Large Language Model (MLLM) refers to a model expanded from a Large Language Model (LLM) that possesses the capability to handle and infer multi-modal data. Current MLLMs typically begin by using LLMs to decompose tasks into…

Large Language Models (LLMs) have demonstrated potential in Vision-and-Language Navigation (VLN) tasks, yet current applications face challenges. While LLMs excel in general conversation scenarios, they struggle with specialized navigation…

Multimodal Large Language Models (MLLMs) inherit the superior text understanding capabilities of LLMs and extend these capabilities to multimodal scenarios. These models achieve excellent results in the general domain of multimodal tasks.…

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…

Multimodal Large Language Model (MLLM) relies on the powerful LLM to perform multimodal tasks, showing amazing emergent abilities in recent studies, such as writing poems based on an image. However, it is difficult for these case studies to…

Large language models (LLMs) have proven their remarkable versatility in handling a comprehensive range of language-centric applications. To expand LLMs' capabilities to a broader spectrum of modal inputs, multimodal large language models…

The rapid progress of Multimodal Large Language Models(MLLMs) has transformed the AI landscape. These models combine pre-trained LLMs with various modality encoders. This integration requires a systematic understanding of how different…

In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and…

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,…

Most multimodal large language models (MLLMs) learn language-to-object grounding through causal language modeling where grounded objects are captured by bounding boxes as sequences of location tokens. This paradigm lacks pixel-level…

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…

We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…

Interactive and embodied tasks pose at least two fundamental challenges to existing Vision & Language (VL) models, including 1) grounding language in trajectories of actions and observations, and 2) referential disambiguation. To tackle…

Large language models excel at a wide range of complex tasks. However, enabling general inference in the real world, e.g., for robotics problems, raises the challenge of grounding. We propose embodied language models to directly incorporate…

This survey and application guide to multimodal large language models(MLLMs) explores the rapidly developing field of MLLMs, examining their architectures, applications, and impact on AI and Generative Models. Starting with foundational…

Recent works have shown how the reasoning capabilities of Large Language Models (LLMs) can be applied to domains beyond natural language processing, such as planning and interaction for robots. These embodied problems require an agent to…

We introduce Kosmos-2, a Multimodal Large Language Model (MLLM), enabling new capabilities of perceiving object descriptions (e.g., bounding boxes) and grounding text to the visual world. Specifically, we represent refer expressions as…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…

Recent efforts on training visual navigation agents conditioned on language using deep reinforcement learning have been successful in learning policies for different multimodal tasks, such as semantic goal navigation and embodied question…

Recent works successfully leveraged Large Language Models' (LLM) abilities to capture abstract knowledge about world's physics to solve decision-making problems. Yet, the alignment between LLMs' knowledge and the environment can be wrong…