相关论文: Retrieval-Augmented Embodied Agents

In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unlike existing learning-based methods that rely on one-step…

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…

The intuitive collaboration of humans and intelligent robots (embodied AI) in the real-world is an essential objective for many desirable applications of robotics. Whilst there is much research regarding explicit communication, we focus on…

Retrieval-Augmented Generation (RAG) enhances Large Language Models (LLMs) by incorporating external, domain-specific data into the generative process. While LLMs are highly capable, they often rely on static, pre-trained datasets, limiting…

Retrieval-augmented generation (RAG) techniques have proven to be effective in integrating up-to-date information, mitigating hallucinations, and enhancing response quality, particularly in specialized domains. While many RAG approaches…

Retrieval-augmented generation (RAG) is widely utilized to incorporate external knowledge into large language models, thereby enhancing factuality and reducing hallucinations in question-answering (QA) tasks. A standard RAG pipeline…

A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…

In the domain of combat simulations in support of wargaming, the development of intelligent agents has predominantly been characterized by rule-based, scripted methodologies with deep reinforcement learning (RL) approaches only recently…

Accomplishing household tasks requires to plan step-by-step actions considering the consequences of previous actions. However, the state-of-the-art embodied agents often make mistakes in navigating the environment and interacting with…

Designing effective embodied multi-agent systems is critical for solving complex real-world tasks across domains. Due to the complexity of multi-agent embodied systems, existing methods fail to automatically generate safe and efficient…

Deep learning has enabled traditional reinforcement learning methods to deal with high-dimensional problems. However, one of the disadvantages of deep reinforcement learning methods is the limited exploration capacity of learning agents. In…

Variational autoencoders are among the most popular methods for distilling low-dimensional structure from high-dimensional data, making them increasingly valuable as tools for data exploration and scientific discovery. However, unlike…

Recent advances in Large Language Models (LLMs) have helped facilitate exciting progress for robotic planning in real, open-world environments. 3D scene graphs (3DSGs) offer a promising environment representation for grounding such…

As AI becomes more prevalent throughout society, effective methods of integrating humans and AI systems that leverage their respective strengths and mitigate risk have become an important priority. In this paper, we introduce the paradigm…

Scalable Embodied AI faces fundamental constraints due to prohibitive costs and safety risks of real-world interaction. While Embodied World Models (EWMs) offer promise through imagined rollouts, existing approaches suffer from geometric…

Robots and animals both experience the world through their bodies and senses. Their embodiment constrains their experiences, ensuring they unfold continuously in space and time. As a result, the experiences of embodied agents are…

The burgeoning fields of robot learning and embodied AI have triggered an increasing demand for large quantities of data. However, collecting sufficient unbiased data from the target domain remains a challenge due to costly data collection…

State abstraction is an effective technique for planning in robotics environments with continuous states and actions, long task horizons, and sparse feedback. In object-oriented environments, predicates are a particularly useful form of…

Large vision-language models have recently demonstrated impressive performance in planning and control tasks, driving interest in their application to real-world robotics. However, deploying these models for reasoning in embodied contexts…

Embodied AI systems, including robots and autonomous vehicles, are increasingly integrated into real-world applications, where they encounter a range of vulnerabilities stemming from both environmental and system-level factors. These…