Related papers: Embodied-RAG: General Non-parametric Embodied Memo…
In this study, we address the problem of open-vocabulary mobile manipulation, where a robot is required to carry a wide range of objects to receptacles based on free-form natural language instructions. This task is challenging, as it…
Large Language Models (LLMs) are smart but forgetful. Recent studies, (e.g., (Bubeck et al., 2023)) on modern LLMs have shown that they are capable of performing amazing tasks typically necessitating human-level intelligence. However,…
Embodied intelligence aims to enable robots to learn, reason, and generalize robustly across complex real-world environments. However, existing approaches often struggle with partial observability, fragmented spatial reasoning, and…
Multimodal Retrieval-Augmented Generation (MRAG) enhances large language models (LLMs) by integrating multimodal data (text, images, videos) into retrieval and generation processes, overcoming the limitations of text-only…
While language Models store a massive amount of world knowledge implicitly in their parameters, even very large models often fail to encode information about rare entities and events, while incurring huge computational costs. Recently,…
Large pre-trained language models have been shown to store factual knowledge in their parameters, and achieve state-of-the-art results when fine-tuned on downstream NLP tasks. However, their ability to access and precisely manipulate…
Robotic platforms have become essential for marine operations by providing regular and continuous access to offshore assets, such as underwater infrastructure inspection, environmental monitoring, and resource exploration. However, the…
Large Language Models (LLMs) have achieved impressive progress in natural language processing, but their limited ability to retain long-term context constrains performance on document-level or multi-turn tasks. Retrieval-Augmented…
We present an embodied robotic system with an LLM-driven agent-orchestration architecture for autonomous household object management. The system integrates memory-augmented task planning, enabling robots to execute high-level user commands…
Large Language Models (LLMs) have advanced artificial intelligence by enabling human-like text generation and natural language understanding. However, their reliance on static training data limits their ability to respond to dynamic,…
Generative language models often struggle with specialized or less-discussed knowledge. A potential solution is found in Retrieval-Augmented Generation (RAG) models which act like retrieving information before generating responses. In this…
The ability to navigate and interact with complex environments is central to real-world embodied agents, yet navigation in unseen environments remains challenging due to "experiential amnesia," where existing trajectory-driven or reactive…
Embodied AI focuses on the study and development of intelligent systems that possess a physical or virtual embodiment (i.e. robots) and are able to dynamically interact with their environment. Memory and control are the two essential parts…
Retrieval-Augmented Generation (RAG) enhances language models by retrieving and incorporating relevant external knowledge. However, traditional retrieve-and-generate processes may not be optimized for real-world scenarios, where queries…
Traditional Retrieval-Augmented Generation (RAG) methods are limited by their reliance on a fixed number of retrieved documents, often resulting in incomplete or noisy information that undermines task performance. Although recent adaptive…
Effectively retrieving, reasoning, and understanding multimodal information remains a critical challenge for agentic systems. Traditional Retrieval-augmented Generation (RAG) methods rely on linear interaction histories, which struggle to…
Answering real-world geospatial questions--such as finding restaurants along a travel route or amenities near a landmark--requires reasoning over both geographic relationships and semantic user intent. However, existing large language…
Iterative retrieval refers to the process in which the model continuously queries the retriever during generation to enhance the relevance of the retrieved knowledge, thereby improving the performance of Retrieval-Augmented Generation…
Retrieval-augmented generation (RAG) has emerged as a paradigm for grounding large language models in external knowledge, yet most existing RAG systems assume centralized knowledge access and ample computation. These assumptions break down…
Large Language Models (LLMs) suffer from hallucinations and outdated knowledge due to their reliance on static training data. Retrieval-Augmented Generation (RAG) mitigates these issues by integrating external dynamic information for…