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We consider the problem of human-machine collaborative problem solving as a planning task coupled with natural language communication. Our framework consists of three components -- a natural language engine that parses the language…

Humans are able to identify a referred visual object in a complex scene via a few rounds of natural language communications. Success communication requires both parties to engage and learn to adapt for each other. In this paper, we…

We propose a novel approach for training large language models (LLMs) to adhere to objectives defined within a latent embedding space. Our method leverages reinforcement learning (RL), treating a pre-trained LLM as an environment. Our…

Integrating visual and linguistic information into a single multimodal representation is an unsolved problem with wide-reaching applications to both natural language processing and computer vision. In this paper, we present a simple method…

High-level human instructions often correspond to behaviors with multiple implicit steps. In order for robots to be useful in the real world, they must be able to to reason over both motions and intermediate goals implied by human…

Embodied navigation requires robots to understand and interact with the environment based on given tasks. Vision-Language Navigation (VLN) is an embodied navigation task, where a robot navigates within a previously seen and unseen…

Robot assembly discovery is a challenging problem that lives at the intersection of resource allocation and motion planning. The goal is to combine a predefined set of objects to form something new while considering task execution with the…

From the perspective of future developments in robotics, it is crucial to verify whether foundation models trained exclusively on offline data, such as images and language, can understand the robot motion. In particular, since Vision…

Designing appropriate reward functions for Reinforcement Learning (RL) approaches has been a significant problem, especially for complex environments such as Atari games. Utilizing natural language instructions to provide intermediate…

Our aim is to learn to solve long-horizon decision-making problems in complex robotics domains given low-level skills and a handful of short-horizon demonstrations containing sequences of images. To this end, we focus on learning abstract…

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…

Although there have been approaches that are capable of learning action models from plan traces, there is no work on learning action models from textual observations, which is pervasive and much easier to collect from real-world…

Human beings, even small children, quickly become adept at figuring out how to use applications on their mobile devices. Learning to use a new app is often achieved via trial-and-error, accelerated by transfer of knowledge from past…

Cross-lingual in-context learning (XICL) has emerged as a transformative paradigm for leveraging large language models (LLMs) to tackle multilingual tasks, especially for low-resource languages. However, existing approaches often rely on…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and…

Image scoring is a crucial task in numerous real-world applications. To trust a model's judgment, understanding its rationale is essential. This paper proposes a novel training method for Vision Language Models (VLMs) to generate not only…

This work presents an exploration and imitation-learning-based agent capable of state-of-the-art performance in playing text-based computer games. Text-based computer games describe their world to the player through natural language and…

Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER, our framework for inferring navigation and manipulation…

Embodied exploration is a target-driven process that requires embodied agents to possess fine-grained perception and knowledge-enhanced decision making. While recent attempts leverage MLLMs for exploration due to their strong perceptual and…