Related papers: LIAM: Multimodal Transformer for Language Instruct…

Deriving multimodal representations of audio and lexical inputs is a central problem in Natural Language Understanding (NLU). In this paper, we present Contrastive Aligned Audio-Language Multirate and Multimodal Representations (CALM), an…

Vision-Language-Action (VLA) models have gained popularity for learning robotic manipulation tasks that follow language instructions. State-of-the-art VLAs, such as OpenVLA and $\pi_{0}$, were trained on large-scale, manually labeled action…

Vision-language models like CLIP have shown impressive capabilities in aligning images and text, but they often struggle with lengthy and detailed text descriptions because of their training focus on short and concise captions. We present…

Modern sensing systems generate large volumes of unlabeled multivariate time-series data. This abundance of unlabeled data makes self-supervised learning (SSL) a natural approach for learning transferable representations. However, most…

Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…

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…

Pre-training decoder-only language models relies on vast amounts of high-quality data, yet the availability of such data is increasingly reaching its limits. While metadata is commonly used to create and curate these datasets, its potential…

Autoregressive language modeling (ALM) have been successfully used in self-supervised pre-training in Natural language processing (NLP). However, this paradigm has not achieved comparable results with other self-supervised approach in…

With the rapid advancement of large language models (LLMs) and robotics, service robots are increasingly becoming an integral part of daily life, offering a wide range of services in complex environments. To deliver these services…

This paper reveals that large language models (LLMs), despite being trained solely on textual data, are surprisingly strong encoders for purely visual tasks in the absence of language. Even more intriguingly, this can be achieved by a…

Large Language Models (LLMs) have gained popularity in task planning for long-horizon manipulation tasks. To enhance the validity of LLM-generated plans, visual demonstrations and online videos have been widely employed to guide the…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

Language-based environment manipulation requires agents to manipulate the environment following natural language instructions, which is challenging due to the huge space of the environments. To address this challenge, various approaches…

Human mobility prediction is essential for applications like urban planning and transportation management, yet it remains challenging due to the complex, often implicit, intentions behind human behavior. Existing models predominantly focus…

Masked image modeling (MIM) as pre-training is shown to be effective for numerous vision downstream tasks, but how and where MIM works remain unclear. In this paper, we compare MIM with the long-dominant supervised pre-trained models from…

Programming robot behavior in a complex world faces challenges on multiple levels, from dextrous low-level skills to high-level planning and reasoning. Recent pre-trained Large Language Models (LLMs) have shown remarkable reasoning ability…

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…

In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…

The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces…

With the development of multimodality and large language models, the deep learning-based technique for medical image captioning holds the potential to offer valuable diagnostic recommendations. However, current generic text and image…