相关论文: PALMER: Perception-Action Loop with Memory for Lon…

Existing large language model (LLM) based memory systems apply universal, static policies that overlook a fundamental reality: the contexts that are worth storing in memory are different across users. This misalignment wastes limited memory…

Evaluating the surroundings to gain understanding, frame perspectives, and anticipate behavioral reactions is an inherent human trait. However, these continuous encounters are diverse and complex, posing challenges to their study and…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

Large language models (LLMs) have emerged as effective action policies for sequential decision-making (SDM) tasks due to their extensive prior knowledge. However, this broad yet general knowledge is often insufficient for specific…

The history of learning for control has been an exciting back and forth between two broad classes of algorithms: planning and reinforcement learning. Planning algorithms effectively reason over long horizons, but assume access to a local…

Integrated task and motion planning (TAMP) has proven to be a valuable approach to generalizable long-horizon robotic manipulation and navigation problems. However, the typical TAMP problem formulation assumes full observability and…

Deploying Multimodal Large Language Models as the brain of embodied agents remains challenging, particularly under long-horizon observations and limited context budgets. Existing memory assisted methods often rely on textual summaries,…

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…

Large Language Model (LLM) agents have recently shown strong potential in domains such as automated coding, deep research, and graphical user interface manipulation. However, training them to succeed on long-horizon, domain-specialized…

Large language models face challenges in long-context question answering, where key evidence of a query may be dispersed across millions of tokens. Existing works equip large language models with a memory buffer that is dynamically updated…

Although large language models (LLMs) have advanced rapidly, robust automation of complex software workflows remains an open problem. In long-horizon settings, agents frequently suffer from cascading errors and environmental stochasticity;…

We present PRM-RL, a hierarchical method for long-range navigation task completion that combines sampling based path planning with reinforcement learning (RL). The RL agents learn short-range, point-to-point navigation policies that capture…

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but…

The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effective when the environment is completely unknown. However,…

Achieving a proper balance between planning quality, safety and efficiency is a major challenge for autonomous driving. Optimisation-based motion planners are capable of producing safe, smooth and comfortable plans, but often at the cost of…

Multimodal large language models (MLLMs) are increasingly considered as a foundation for embodied agents, yet it remains unclear whether they can reliably reason about the long-term physical consequences of actions from an egocentric…

High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…

Humans can perform complex tasks with long-term objectives by planning, reasoning, and forecasting outcomes of actions. For embodied agents to achieve similar capabilities, they must gain knowledge of the environment transferable to novel…

We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments. To achieve this, we embed procedures mimicking that of traditional Simultaneous Localization and…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…