相关论文: Can LLMs Generate Human-Like Wayfinding Instructio…

Training models on synthetic data has emerged as an increasingly important strategy for improving the performance of generative AI. This approach is particularly helpful for large multimodal models (LMMs) due to the relative scarcity of…

Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…

Recent AI-assistant agents, such as ChatGPT, predominantly rely on supervised fine-tuning (SFT) with human annotations and reinforcement learning from human feedback (RLHF) to align the output of large language models (LLMs) with human…

Recent research on Vision-and-Language Navigation (VLN) indicates that agents suffer from poor generalization in unseen environments due to the lack of realistic training environments and high-quality path-instruction pairs. Most existing…

We consider the problem of synthetically generating data that can closely resemble human decisions made in the context of an interactive human-AI system like a computer game. We propose a novel algorithm that can generate synthetic,…

Autonomous agents powered by large language models (LLMs) have the potential to enhance human capabilities, assisting with digital tasks from sending emails to performing data analysis. The abilities of existing LLMs at such tasks are often…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

We present a synthetic data approach for instruction-tuning large language models (LLMs) for low-resource languages in a data-efficient manner, specifically focusing on Thai. We identify three key properties that contribute to the…

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an…

We investigate the problem of generating instructions to guide humans to navigate in simulated residential environments. A major issue with current models is hallucination: they generate references to actions or objects that are…

Although most current large multimodal models (LMMs) can already understand photos of natural scenes and portraits, their understanding of abstract images, e.g., charts, maps, or layouts, and visual reasoning capabilities remains quite…

Large language models (LLMs) have shown significant potential in guiding embodied agents to execute language instructions across a range of tasks, including robotic manipulation and navigation. However, existing methods are primarily…

Recently, visual-language navigation (VLN) -- entailing robot agents to follow navigation instructions -- has shown great advance. However, existing literature put most emphasis on interpreting instructions into actions, only delivering…

We propose CoT-Self-Instruct, a synthetic data generation method that instructs LLMs to first reason and plan via Chain-of-Thought (CoT) based on given seed tasks, and then generate a new synthetic example of similar quality and complexity.…

The dominant paradigm for training Large Vision-Language Models (LVLMs) in navigation relies on imitating expert trajectories. This approach reduces the complex navigation task to a sequence-to-sequence replication of a single correct path,…

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…

Vision-and-Language Navigation in Continuous Environments (VLN-CE) is one of the most intuitive yet challenging embodied AI tasks. Agents are tasked to navigate towards a target goal by executing a set of low-level actions, following a…

Synthesizing interactive 3D scenes from text is essential for gaming, virtual reality, and embodied AI. However, existing methods face several challenges. Learning-based approaches depend on small-scale indoor datasets, limiting the scene…

Replicating human-level intelligence in the execution of embodied tasks remains challenging due to the unconstrained nature of real-world environments. Novel use of large language models (LLMs) for task planning seeks to address the…

Developing effective instruction-following policies in reinforcement learning remains challenging due to the reliance on extensive human-labeled instruction datasets and the difficulty of learning from sparse rewards. In this paper, we…