相关论文: Embodied BERT: A Transformer Model for Embodied, L…

Recently, the bidirectional encoder representations from transformers (BERT) model has attracted much attention in the field of natural language processing, owing to its high performance in language understanding-related tasks. The BERT…

Embodied intelligence seamlessly integrates vision, language, and action.~However, most multimodal robotic models rely on massive fine-tuning, incurring high time and hardware costs.~To address this, we introduce RoboBERT, an end-to-end…

Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and…

Natural language guided embodied task completion is a challenging problem since it requires understanding natural language instructions, aligning them with egocentric visual observations, and choosing appropriate actions to execute in the…

Large language models can produce powerful contextual representations that lead to improvements across many NLP tasks. Since these models are typically guided by a sequence of learned self attention mechanisms and may comprise undesired…

Language-conditioned robot models have the potential to enable robots to perform a wide range of tasks based on natural language instructions. However, assessing their safety and effectiveness remains challenging because it is difficult to…

We present ViLBERT (short for Vision-and-Language BERT), a model for learning task-agnostic joint representations of image content and natural language. We extend the popular BERT architecture to a multi-modal two-stream model, pro-cessing…

We introduce a new language representation model called BERT, which stands for Bidirectional Encoder Representations from Transformers. Unlike recent language representation models, BERT is designed to pre-train deep bidirectional…

Simulated virtual environments have been widely used to learn robotic agents that perform daily household tasks. These environments encourage research progress by far, but often provide limited object interactability, visual appearance…

The Arabic language is a morphologically rich language with relatively few resources and a less explored syntax compared to English. Given these limitations, Arabic Natural Language Processing (NLP) tasks like Sentiment Analysis (SA), Named…

Language models have been supervised with both language-only objective and visual grounding in existing studies of visual-grounded language learning. However, due to differences in the distribution and scale of visual-grounded datasets and…

The realization of Artificial General Intelligence (AGI) necessitates Embodied AI agents capable of robust spatial perception, effective task planning, and adaptive execution in physical environments. However, current large language models…

Human infants learn language while interacting with their environment in which their caregivers may describe the objects and actions they perform. Similar to human infants, artificial agents can learn language while interacting with their…

Despite advancements in Large Language Models (LLMs) and Large Multimodal Models (LMMs), their integration into language-grounded, human-like embodied agents remains incomplete, hindering complex real-life task performance in physical…

Developing autonomous home robots controlled by natural language has long been a pursuit of humanity. While advancements in large language models (LLMs) and embodied intelligence make this goal closer, several challenges persist: the lack…

Language-guided Embodied AI benchmarks requiring an agent to navigate an environment and manipulate objects typically allow one-way communication: the human user gives a natural language command to the agent, and the agent can only follow…

Recent advances, such as GPT and BERT, have shown success in incorporating a pre-trained transformer language model and fine-tuning operation to improve downstream NLP systems. However, this framework still has some fundamental problems in…

Interactive and embodied tasks pose at least two fundamental challenges to existing Vision & Language (VL) models, including 1) grounding language in trajectories of actions and observations, and 2) referential disambiguation. To tackle…

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…