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Reference resolution is an important problem, one that is essential to understand and successfully handle context of different kinds. This context includes both previous turns and context that pertains to non-conversational entities, such…

Large Language Models (LLMs) excel in data synthesis but can be inaccurate in domain-specific tasks, which retrieval-augmented generation (RAG) systems address by leveraging user-provided data. However, RAGs require optimization in both…

Large Language Models (LLMs) have revolutionized natural language processing through their state of art reasoning capabilities. This paper explores the convergence of LLM reasoning techniques and feature generation for machine learning…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's…

Vision-language models (VLMs) are emerging as powerful generalist tools for remote sensing, capable of integrating information across diverse tasks and enabling flexible, instruction-based interactions via a chat interface. In this work, we…

Despite the existing evolution of Multimodal Large Language Models (MLLMs), a non-neglectable limitation remains in their struggle with visual text grounding, especially in text-rich images of documents. Document images, such as scanned…

Robots collaborating with humans must convert natural language goals into actionable, physically grounded decisions. For example, executing a command such as "go two meters to the right of the fridge" requires grounding semantic references,…

Large Language Models (LLMs) have emerged as a promising paradigm for next-generation recommender systems, offering strong semantic understanding and natural-language reasoning abilities. Despite recent progress, current LLM-based…

Large Language Models (LLMs) have shown promise in character imitation, enabling immersive and engaging conversations. However, they often generate content that is irrelevant or inconsistent with a character's background. We attribute these…

Single-vehicle Vision-Language Models (VLMs) are fundamentally constrained by sensor occlusions. While Vehicle-to-Everything (V2X) systems mitigate this, current benchmarks lack the cooperative reasoning required for resolving ambiguities…

Situational awareness applications rely heavily on real-time processing of visual and textual data to provide actionable insights. Vision language models (VLMs) have become essential tools for interpreting complex environments by connecting…

This paper shows that text-only Language Models (LM) can learn to ground spatial relations like "left of" or "below" if they are provided with explicit location information of objects and they are properly trained to leverage those…

Temporal Video Grounding (TVG), the task of locating specific video segments based on language queries, is a core challenge in long-form video understanding. While recent Large Vision-Language Models (LVLMs) have shown early promise in…

Retrieval Augmented Generation (RAG), a paradigm that integrates external contextual information with large language models (LLMs) to enhance factual accuracy and relevance, has emerged as a pivotal area in generative AI. The LLMs used in…

Large Language Models (LLMs), benefiting from the auto-regressive modelling approach performed on massive unannotated texts corpora, demonstrates powerful perceptual and reasoning capabilities. However, as for extending auto-regressive…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

Ensuring robust performance on long-tail examples is an important problem for many real-world applications of machine learning, such as autonomous driving. This work focuses on the problem of identifying rare examples within a corpus of…

Large language models (LLMs) have recently emerged as promising tools for solving challenging robotic tasks, even in the presence of action and observation uncertainties. Recent LLM-based decision-making methods (also referred to as…

Despite the recent advancement in Retrieval-Augmented Generation (RAG) systems, most retrieval methodologies are often developed for factual retrieval, which assumes query and positive documents are semantically similar. In this paper, we…