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

We present LLM Trainer, a fully automated pipeline that leverages the world knowledge of Large Language Models (LLMs) to transform a small number of human demonstrations (as few as one) into a large robot dataset for imitation learning. Our…

Grounding natural language instructions to visual observations is fundamental for embodied agents operating in open-world environments. Recent advances in visual-language mapping have enabled generalizable semantic representations by…

Modeling subrational agents, such as humans or economic households, is inherently challenging due to the difficulty in calibrating reinforcement learning models or collecting data that involves human subjects. Existing work highlights the…

Large language models (LLMs) can perform a wide range of tasks by following natural language instructions, without the necessity of task-specific fine-tuning. Unfortunately, the performance of LLMs is greatly influenced by the quality of…

In this paper, a method for generating a map from path information described using natural language (textual path) is proposed. In recent years, robotics research mainly focus on vision-and-language navigation (VLN), a navigation task based…

The remote embodied referring expression (REVERIE) task requires an agent to navigate through complex indoor environments and localize a remote object specified by high-level instructions, such as "bring me a spoon", without…

Reinforcement Learning (RL) agents often struggle in sparse-reward environments where traditional exploration strategies fail to discover effective action sequences. Large Language Models (LLMs) possess procedural knowledge and reasoning…

The performance of supervised deep learning algorithms depends significantly on the scale, quality and diversity of the data used for their training. Collecting and manually annotating large amount of data can be both time-consuming and…

Delivering intelligent and adaptive navigation assistance in augmented reality (AR) requires more than visual cues, as it demands systems capable of interpreting flexible user intent and reasoning over both spatial and semantic context.…

Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular location, their wayfinding capability in converting this…

While Multimodal Large Language Models have achieved human-like performance on many visual and textual reasoning tasks, their proficiency in fine-grained spatial understanding, such as route tracing on maps remains limited. Unlike humans,…

Despite the advances in text-to-image synthesis, particularly with diffusion models, generating visual instructions that require consistent representation and smooth state transitions of objects across sequential steps remains a formidable…

Code LLMs have shown promising results with converting tasks in natural language to programs that can be executed by service robots. We are interested in finetuning small, specialized LLMs for this purpose, but collecting datasets of…

Human motion synthesis is a fundamental task in computer animation. Despite recent progress in this field utilizing deep learning and motion capture data, existing methods are always limited to specific motion categories, environments, and…

Language-guided navigation is a cornerstone of embodied AI, enabling agents to interpret language instructions and navigate complex environments. However, expert-provided instructions are limited in quantity, while synthesized annotations…

Automatically generating training supervision for embodied tasks is crucial, as manual designing is tedious and not scalable. While prior works use large language models (LLMs) or vision-language models (VLMs) to generate rewards, these…

In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and extract a concrete desired task specification, defined using…

Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…