相关论文: Socratic Planner: Self-QA-Based Zero-Shot Planning…

By training to predict the next token in an unlabeled corpus, large language models learn to perform many tasks without any labeled data. However, their next-token-prediction objective arguably limits their performance in scenarios that…

In embodied instruction-following (EIF), the integration of pretrained language models (LMs) as task planners emerges as a significant branch, where tasks are planned at the skill level by prompting LMs with pretrained skills and user…

Intelligent instruction-following robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of…

Large Language Models (LLMs) show promise as planners for embodied AI, but their stochastic nature lacks formal reasoning, preventing strict safety guarantees for physical deployment. Current approaches often rely on unreliable LLMs for…

This study presents an Exploratory Retrieval-Augmented Planning (ExRAP) framework, designed to tackle continual instruction following tasks of embodied agents in dynamic, non-stationary environments. The framework enhances Large Language…

Embodied AI focuses on the study and development of intelligent systems that possess a physical or virtual embodiment (i.e. robots) and are able to dynamically interact with their environment. Memory and control are the two essential parts…

Task planning is an important component of traditional robotics systems enabling robots to compose fine grained skills to perform more complex tasks. Recent work building systems for translating natural language to executable actions for…

Recent advancements in Large Language Models (LLMs) have spurred numerous attempts to apply these technologies to embodied tasks, particularly focusing on high-level task planning and task decomposition. To further explore this area, we…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Traditional AI-planning methods for task planning in robotics require a symbolically encoded domain description. While powerful in well-defined scenarios, as well as human-interpretable, setting this up requires substantial effort.…

Recent advances in large language and vision-language models have enabled zero-shot inference, allowing models to solve new tasks without task-specific training. Various adaptation techniques such as prompt engineering, In-Context Learning…

An embodied task such as embodied question answering (EmbodiedQA), requires an agent to explore the environment and collect clues to answer a given question that related with specific objects in the scene. The solution of such task usually…

Zero-shot stance detection (ZSSD) seeks to determine the stance of text toward previously unseen targets, a task critical for analyzing dynamic and polarized online discourse with limited labeled data. While large language models (LLMs)…

This paper addresses the task of zero-shot image classification. The key contribution of the proposed approach is to control the semantic embedding of images -- one of the main ingredients of zero-shot learning -- by formulating it as a…

Planning remains a core challenge for large language models (LLMs), particularly in domains that require coherent multi-step action sequences grounded in external constraints. We introduce SymPlanner, a novel framework that equips LLMs with…

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…

Recent breakthroughs in large language models (LLMs) on reasoning tasks rely heavily on massive, high-quality datasets-typically human-annotated and thus difficult to scale. While data synthesis or distillation offers a promising…

Goal-conditioned reinforcement learning (RL) can solve tasks in a wide range of domains, including navigation and manipulation, but learning to reach distant goals remains a central challenge to the field. Learning to reach such goals is…

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions to long-horizon action sequences. Despite recent advances in language model agents, they…

Embodied intelligence aims to enable robots to learn, reason, and generalize robustly across complex real-world environments. However, existing approaches often struggle with partial observability, fragmented spatial reasoning, and…