相关论文: Grounding Classical Task Planners via Vision-Langu…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

Recent works have shown great potentials of Large Language Models (LLMs) in robot task and motion planning (TAMP). Current LLM approaches generate text- or code-based reasoning chains with sub-goals and action plans. However, they do not…

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 the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…

Vision-Language Models (VLMs) excel at complex visual tasks such as VQA and chart understanding, yet recent work suggests they struggle with simple perceptual tests. We present an evaluation of vision-language models' capacity for nonlocal…

The rapid advancement of Large Language Models (LLMs) has marked a significant breakthrough in Artificial Intelligence (AI), ushering in a new era of Human-centered Artificial Intelligence (HAI). HAI aims to better serve human welfare and…

Large language models (LLMs) have achieved state-of-the-art results in many natural language processing tasks. They have also demonstrated ability to adapt well to different tasks through zero-shot or few-shot settings. With the capability…

Generative Vision-Language Models (VLMs) perform well on multimodal reasoning, but how visual inputs are transformed to text remains poorly understood. Existing interpretability work on VLMs uses Sparse Autoencoders (SAEs), which decompose…

Robotic planning and execution in open-world environments is a complex problem due to the vast state spaces and high variability of task embodiment. Recent advances in perception algorithms, combined with Large Language Models (LLMs) for…

While vision-language-action (VLA) models for embodied agents integrate perception, reasoning, and control, they remain constrained by two critical weaknesses: first, during grasping tasks, the action tokens generated by the language model…

Vision-Language Models (VLMs) are powerful tools for processing and understanding text and images. We study the processing of visual tokens in the language model component of LLaVA, a prominent VLM. Our approach focuses on analyzing the…

Vision-language models (VLMs) are increasingly proposed as general-purpose tools for scientific data interpretation, yet their reliability on real astronomical observations across diverse modalities remains untested. We present…

Document Visual Question Answering (VQA) models have evolved at an impressive rate over the past few years, coming close to or matching human performance on some benchmarks. We argue that common evaluation metrics used by popular benchmarks…

Visual Question-Answering (VQA) has become key to user experience, particularly after improved generalization capabilities of Vision-Language Models (VLMs). But evaluating VLMs for an application requirement using a standardized framework…

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…

Cognitive planning is the structural decomposition of complex tasks into a sequence of future behaviors. In the computational setting, performing cognitive planning entails grounding plans and concepts in one or more modalities in order to…

The utilisation of foundation models as smartphone assistants, termed app agents, is a critical research challenge. These agents aim to execute human instructions on smartphones by interpreting textual instructions and performing actions…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit…

Currently, inspired by the success of vision-language models (VLMs), an increasing number of researchers are focusing on improving VLMs and have achieved promising results. However, most existing methods concentrate on optimizing the…