Related papers: MotionGlot: A Multi-Embodied Motion Generation Mod…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

We aim to control a robot to physically behave in the real world following any high-level language command like "cartwheel" or "kick". Although human motion datasets exist, this task remains particularly challenging since generative models…

Significant advancements has recently been achieved in the field of multi-modal large language models (MLLMs), demonstrating their remarkable capabilities in understanding and reasoning across diverse tasks. However, these models are often…

Multimodal Large Language Models (MLLMs) have demonstrated a wide range of capabilities across many domains, including Embodied AI. In this work, we study how to best ground a MLLM into different embodiments and their associated action…

Large language models (LLMs) can be used as accessible and intelligent chatbots by constructing natural language queries and directly inputting the prompt into the large language model. However, different prompt' constructions often lead to…

Multimodal Large Language Models (MLLMs) are widely regarded as crucial in the exploration of Artificial General Intelligence (AGI). The core of MLLMs lies in their capability to achieve cross-modal alignment. To attain this goal, current…

We introduce MotionRL, the first approach to utilize Multi-Reward Reinforcement Learning (RL) for optimizing text-to-motion generation tasks and aligning them with human preferences. Previous works focused on improving numerical performance…

In this paper, we tackle the problem of how to build and benchmark a large motion model (LMM). The ultimate goal of LMM is to serve as a foundation model for versatile motion-related tasks, e.g., human motion generation, with…

Many Reinforcement Learning (RL) approaches use joint control signals (positions, velocities, torques) as action space for continuous control tasks. We propose to lift the action space to a higher level in the form of subgoals for a motion…

This paper proposes MotionVerse, a unified framework that harnesses the capabilities of Large Language Models (LLMs) to comprehend, generate, and edit human motion in both single-person and multi-person scenarios. To efficiently represent…

Large Language Models (LLMs) have demonstrated remarkable capabilities in various domains, including data augmentation and synthetic data generation. This work explores the use of LLMs to generate rich textual descriptions for motion…

Large and small language models have been widely used for robotic task planning. At the same time, vision-language models (VLMs) have successfully tackled problems such as image captioning, scene understanding, and visual question…

Large language models (LLMs) pre-trained on vast internet-scale data have showcased remarkable capabilities across diverse domains. Recently, there has been escalating interest in deploying LLMs for robotics, aiming to harness the power of…

In this paper, we introduce DirectorLLM, a novel video generation model that employs a large language model (LLM) to orchestrate human poses within videos. As foundational text-to-video models rapidly evolve, the demand for high-quality…

Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…

This study delves into the realm of multi-modality (i.e., video and motion modalities) human behavior understanding by leveraging the powerful capabilities of Large Language Models (LLMs). Diverging from recent LLMs designed for video-only…

Robots operating in human environments need various skills, like slow and fast walking, turning, side-stepping, and many more. However, building robot controllers that can exhibit such a large range of behaviors is a challenging problem…

This paper presents an in-depth survey on the use of multimodal Generative Artificial Intelligence (GenAI) and autoregressive Large Language Models (LLMs) for human motion understanding and generation, offering insights into emerging…

Large Language Models (LLMs), primarily trained on text-based datasets, exhibit exceptional proficiencies in understanding and executing complex linguistic instructions via text outputs. However, they falter when requests to generate…

We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of…