相关论文: MP5: A Multi-modal Open-ended Embodied System in M…

Multimodal Large Language Models (MLLMs) have demonstrated extraordinary progress in bridging textual and visual inputs. However, MLLMs still face challenges in situated physical and social interactions in sensorally rich, multimodal and…

Real-time multimodal inference on resource-constrained edge devices is essential for applications such as autonomous driving, human-computer interaction, and mobile health. However, prior work often overlooks the tight coupling between…

This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…

Enhancing AI systems with efficient communication skills for effective human assistance necessitates proactive initiatives from the system side to discern specific circumstances and interact aptly. This research focuses on a collective…

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…

This paper introduces and overviews a multidisciplinary project aimed at developing responsible and adaptive multi-human multi-robot (MHMR) systems for complex, dynamic settings. The project integrates co-design, ethical frameworks, and…

Autonomous agents have made great strides in specialist domains like Atari games and Go. However, they typically learn tabula rasa in isolated environments with limited and manually conceived objectives, thus failing to generalize across a…

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…

Building generalist embodied agents requires a unified system that can interpret multimodal goals, model environment dynamics, and execute reliable actions across diverse real-world tasks. Multimodal large language models (MLLMs) offer…

Embodied multimodal large models (EMLMs) have gained significant attention in recent years due to their potential to bridge the gap between perception, cognition, and action in complex, real-world environments. This comprehensive review…

Multimodal large language models (MLLMs) have shown promising advancements in general visual and language understanding. However, the representation of multimodal information using MLLMs remains largely unexplored. In this work, we…

The present methodology is aimed at cross-modal machine learning and uses multidisciplinary tools and methods drawn from a broad range of areas and disciplines, including music, systematic musicology, dance, motion capture, human-computer…

This study focuses on Embodied Complex-Question Answering task, which means the embodied robot need to understand human questions with intricate structures and abstract semantics. The core of this task lies in making appropriate plans based…

Open-endedness is an active field of research in the pursuit of capable Artificial General Intelligence (AGI), allowing models to pursue tasks of their own choosing. Simultaneously, recent advancements in Large Language Models (LLMs) such…

Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We present a simple, minimal system recipe that…

Multimodal Large Language Models (MLLMs) have demonstrated a wide range of capabilities across many domains, including Embodied AI. In this work, we study how to best ground a MLLM into different embodiments and their associated action…

Embodied systems, where generative autonomous agents engage with the physical world through integrated perception, cognition, action, and advanced reasoning powered by large language models (LLMs), hold immense potential for addressing…

Recent studies have presented compelling evidence that large language models (LLMs) can equip embodied agents with the self-driven capability to interact with the world, which marks an initial step toward versatile robotics. However, these…

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…

Multimodal planning capabilities refer to the ability to predict, reason, and design steps for task execution with multimodal context, which is essential for complex reasoning and decision-making across multiple steps. However, current…