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

With the rapid development of the new energy vehicle industry, the efficient disassembly and recycling of power batteries have become a critical challenge for the circular economy. In current unstructured disassembly scenarios, the dynamic…

We propose to build omni-modal intelligence, which is capable of understanding any modality and learning universal representations. In specific, we propose a scalable pretraining paradigm, named Multimodal Context (MiCo), which can scale up…

Video world models have attracted significant attention for their ability to produce high-fidelity future visual observations conditioned on past observations and navigation actions. Temporally- and spatially-consistent, long-term world…

Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) can embed rich semantic knowledge for agents in plan…

Human behaviors in the real world naturally encode rich, long-term contextual information that can be leveraged to train embodied agents for perception, understanding, and acting. However, existing capture systems typically rely on costly…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multimodal models fail to provide satisfactory results in describing occluded objects for…

During the process of driving, humans usually rely on multiple senses to gather information and make decisions. Analogously, in order to achieve embodied intelligence in autonomous driving, it is essential to integrate multidimensional…

Robust coordination is critical for effective decision-making in multi-agent systems, especially under partial observability. A central question in Multi-Agent Reinforcement Learning (MARL) is whether to engineer communication protocols or…

When virtual agents interact with humans, gestures are crucial to delivering their intentions with speech. Previous multimodal co-speech gesture generation models required encoded features of all modalities to generate gestures. If some…

Embodied multi-agent systems (EMAS) have attracted growing attention for their potential to address complex, real-world challenges in areas such as logistics and robotics. Recent advances in foundation models pave the way for generative…

A new generation of increasingly autonomous and self-learning embodied systems is about to be developed. When deploying embodied systems into a real-life context we face various engineering challenges, as it is crucial to coordinate the…

Embodied artificial intelligence emphasizes the role of an agent's body in generating human-like behaviors. The recent efforts on EmbodiedAI pay a lot of attention to building up machine learning models to possess perceiving, planning, and…

One of the primary areas of interest in High Performance Computing is the improvement of performance of parallel workloads. Nowadays, compilable source code-based optimization tasks that employ deep learning often exploit LLVM Intermediate…

With the widespread adoption of autonomous vehicles and robotics, amodal completion, which reconstructs the occluded parts of people and objects in an image, has become increasingly crucial. Just as humans infer hidden regions based on…

Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…

Embodied artificial intelligence (Embodied AI) plays a pivotal role in the application of advanced technologies in the intelligent era, where AI systems are integrated with physical bodies that enable them to perceive, reason, and interact…

Multimodal large language models (MLLMs) are increasingly deployed in open-ended, real-world environments where inputs are messy, underspecified, and not always trustworthy. Unlike curated benchmarks, these settings frequently involve…

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their…

Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To address this, common…