相关论文: Robo-Instruct: Simulator-Augmented Instruction Ali…

Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…

Practical guidance on training Large Language Models (LLMs) to leverage Code Interpreter across diverse tasks remains lacking. We present R1-Code-Interpreter, an extension of a text-only LLM trained via multi-turn supervised fine-tuning…

In recent years, instruction tuning has gained increasing attention and emerged as a crucial technique to enhance the capabilities of Large Language Models (LLMs). To construct high-quality instruction datasets, many instruction processing…

Large Language Models (LLMs) are unable to reliably reason about specific physical systems. Attempts to imbue LLMs with knowledge of the necessary physics concepts have shown great promise, but explainability and validation remain open…

Fine-tuning large language models (LLMs) on multi-task instruction-following data has been proven to be a powerful learning paradigm for improving their zero-shot capabilities on new tasks. Recent works about high-quality…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Proprietary Large Language Models (LLMs), such as ChatGPT, have garnered significant attention due to their exceptional capabilities in handling a diverse range of tasks. Recent studies demonstrate that open-sourced smaller foundational…

When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…

Novice programmers benefit from timely, personalized support that addresses individual learning gaps, yet the availability of instructors and teaching assistants is inherently limited. Large language models (LLMs) present opportunities to…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…

Code refactoring is a fundamental software engineering practice aimed at improving code quality and maintainability. Despite its importance, developers often neglect refactoring due to the significant time, effort, and resources it…

Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…

Traditional code instruction data synthesis methods suffer from limited diversity and poor logic. We introduce Infinite-Instruct, an automated framework for synthesizing high-quality question-answer pairs, designed to enhance the code…

For effective human-robot interaction, robots need to understand, plan, and execute complex, long-horizon tasks described by natural language. Recent advances in large language models (LLMs) have shown promise for translating natural…

Supervised Fine-Tuning (SFT) is essential for training large language models (LLMs), significantly enhancing critical capabilities such as instruction following and in-context learning. Nevertheless, creating suitable training datasets…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

Online question-and-answer (Q\&A) systems based on the Large Language Model (LLM) have progressively diverged from recreational to professional use. This paper proposed a Multi-Agent framework with environmentally reinforcement learning…

Traditional robot simulators focus on physical process modeling and realistic rendering, often suffering from high computational costs, inefficiencies, and limited adaptability. To handle this issue, we concentrate on behavior simulation in…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit…