Related papers: CoRAL: Contact-Rich Adaptive LLM-based Control for…

Large language models (LLMs) exhibit remarkable capabilities in natural language processing but face catastrophic forgetting when learning new tasks, where adaptation to a new domain leads to a substantial decline in performance on previous…

This work develops a zero-shot mechanism, Comp-LTL, for an agent to satisfy a Linear Temporal Logic (LTL) specification given existing task primitives trained via reinforcement learning (RL). Autonomous robots often need to satisfy spatial…

Despite recent advancements in Multi-modal Large Language Models (MLLMs) on diverse understanding tasks, these models struggle to solve problems which require extensive multi-step reasoning. This is primarily due to the progressive dilution…

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

The recent advancements in Vision Language Models (VLMs) have demonstrated progress toward true intelligence requiring robust reasoning capabilities. Beyond pattern recognition, linguistic reasoning must integrate with visual comprehension,…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…

In robot manipulation, Reinforcement Learning (RL) often suffers from low sample efficiency and uncertain convergence, especially in large observation and action spaces. Foundation Models (FMs) offer an alternative, demonstrating promise in…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Current large vision-language models (LVLMs) typically employ a connector module to link visual features with text embeddings of large language models (LLMs) and use end-to-end training to achieve multi-modal understanding in a unified…

Large visual language models (VLMs) have shown strong multi-modal medical reasoning ability, but most operate as end-to-end black boxes, diverging from clinicians' evidence-based, staged workflows and hindering clinical accountability.…

Low-Rank Adaptation (LoRA) is a crucial method for efficiently fine-tuning large language models (LLMs), with its effectiveness influenced by two key factors: rank selection and weight initialization. While numerous LoRA variants have been…

Low-rank adaptation (LoRA) is a predominant parameter-efficient finetuning method for adapting large language models (LLMs) to downstream tasks. Meanwhile, Compute-in-Memory (CIM) architectures demonstrate superior energy efficiency due to…

The growing integration of vision-language models (VLMs) in medical applications offers promising support for diagnostic reasoning. However, current medical VLMs often face limitations in generalization, transparency, and computational…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…

Lifelong learning is critical for embodied agents in open-world environments, where reinforcement learning fine-tuning has emerged as an important paradigm to enable Vision-Language-Action (VLA) models to master dexterous manipulation…

Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effectively grounding this knowledge in robot behaviors remains…

Large language models (LLMs) as autonomous agents offer a novel avenue for tackling real-world challenges through a knowledge-driven manner. These LLM-enhanced methodologies excel in generalization and interpretability. However, the…

Guardrails have emerged as an alternative to safety alignment for content moderation of large language models (LLMs). Existing model-based guardrails have not been designed for resource-constrained computational portable devices, such as…

Reinforcement learning (RL) is a promising approach for robotic manipulation, but it can suffer from low sample efficiency and requires extensive exploration of large state-action spaces. Recent methods leverage the commonsense knowledge…