Related papers: TANGO: Training-free Embodied AI Agents for Open-w…

Large Language Model (LLM) Agents, often trained with Reinforcement Learning (RL), are constrained by a dependency on human-curated data, limiting scalability and tethering AI to human knowledge. Existing self-evolution frameworks offer an…

Language models (LMs) have demonstrated their capability in possessing commonsense knowledge of the physical world, a crucial aspect of performing tasks in everyday life. However, it remains unclear **whether LMs have the capacity to…

We propose a method to fuse frozen text-only large language models (LLMs) with pre-trained image encoder and decoder models, by mapping between their embedding spaces. Our model demonstrates a wide suite of multimodal capabilities: image…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

With the recent development of natural language generation models - termed as large language models (LLMs) - a potential use case has opened up to improve the way that humans interact with robot assistants. These LLMs should be able to…

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but…

Embodied agents often struggle with efficient navigation because they rely primarily on partial egocentric observations, which restrict global foresight and lead to inefficient exploration. In contrast, humans plan using maps: we reason…

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…

Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix…

This paper introduces the concept of Language-Guided World Models (LWMs) -- probabilistic models that can simulate environments by reading texts. Agents equipped with these models provide humans with more extensive and efficient control,…

Large Language Models (LLMs) enhance their problem-solving capability by utilizing external tools. However, in open-world scenarios with massive and evolving tool repositories, existing methods relying on static embedding retrieval or…

Large language models (LLMs) have notably accelerated progress towards artificial general intelligence (AGI), with their impressive zero-shot capacity for user-tailored tasks, endowing them with immense potential across a range of…

Integrating large language models (LLMs) into embodied AI models is becoming increasingly prevalent. However, existing zero-shot LLM-based Vision-and-Language Navigation (VLN) agents either encode images as textual scene descriptions,…

Embodied systems, where generative autonomous agents engage with the physical world through integrated perception, cognition, action, and advanced reasoning powered by large language models (LLMs), hold immense potential for addressing…

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…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

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…

With the power of large language models (LLMs), open-ended embodied agents can flexibly understand human instructions, generate interpretable guidance strategies, and output executable actions. Nowadays, Multi-modal Language Models~(MLMs)…

Embodied navigation agents built upon large reasoning models (LRMs) can handle complex, multimodal environmental input and perform grounded reasoning per step to improve sequential decision-making for long-horizon tasks. However, a critical…