相关论文: Multimodal Grounding for Embodied AI via Augmented…

In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and…

Embodied agents tasked with complex scenarios, whether in real or simulated environments, rely heavily on robust planning capabilities. When instructions are formulated in natural language, large language models (LLMs) equipped with…

In this paper, we propose AUKAI, an Adaptive Unified Knowledge-Action Intelligence for embodied cognition that seamlessly integrates perception, memory, and decision-making via multi-scale error feedback. Interpreting AUKAI as an embedded…

Leveraging massive knowledge from large language models (LLMs), recent machine learning models show notable successes in general-purpose task solving in diverse domains such as computer vision and robotics. However, several significant…

Embodied agents are expected to assist humans by actively exploring unknown environments and reasoning about spatial contexts. When deployed in real life, agents often face sequential tasks where each new task follows the completion of the…

Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…

Word embeddings such as ELMo have recently been shown to model word semantics with greater efficacy through contextualized learning on large-scale language corpora, resulting in significant improvement in state of the art across many…

Embodied intelligence has witnessed remarkable progress in recent years, driven by advances in computer vision, natural language processing, and the rise of large-scale multimodal models. Among its core challenges, robot manipulation stands…

In this work, we focus on unsupervised vision-language-action mapping in the area of robotic manipulation. Recently, multiple approaches employing pre-trained large language and vision models have been proposed for this task. However, they…

While generative artificial intelligence (Gen AI) increasingly transforms academic environments, a critical gap exists in understanding and mitigating human biases in AI interactions, such as anchoring and confirmation bias. This position…

Task planning for robots in real-life settings presents significant challenges. These challenges stem from three primary issues: the difficulty in identifying grounded sequences of steps to achieve a goal; the lack of a standardized mapping…

Embodied agents operating in the physical world must make decisions that are not only effective but also safe, spatially coherent, and grounded in context. While recent advances in large multimodal models (LMMs) have shown promising…

The idea of augmented or hybrid intelligence offers a compelling vision for combining human and AI capabilities, especially in tasks where human wisdom, expertise, or common sense are essential. Unfortunately, human reasoning can be flawed…

Artificial Intelligence (AI) has demonstrated unprecedented performance across various domains, and its application to communication systems is an active area of research. While current methods focus on task-specific solutions, the broader…

Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…

Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity. To address this, we pioneer "pointing" as a unified, embodiment-agnostic intermediate representation,…

With recent advancements in AI and computational tools, intelligent paradigms have emerged to enhance fields like shared autonomy and human-machine teaming in healthcare. Advanced AI algorithms (e.g., reinforcement learning) can…

3D simulated environments play a critical role in Embodied AI, but their creation requires expertise and extensive manual effort, restricting their diversity and scope. To mitigate this limitation, we present Holodeck, a system that…

General embeddings like word2vec, GloVe and ELMo have shown a lot of success in natural language tasks. The embeddings are typically extracted from models that are built on general tasks such as skip-gram models and natural language…

Embodied Question Answering (EQA) connects perception, reasoning, and interaction within embodied environments. However, existing datasets and benchmarks remain fragmented, each focusing on a limited subset of reasoning skills such as…