相关论文: The Embodied World Model Based on LLM with Visual …

Embodied multimodal large models (EMLMs) have gained significant attention in recent years due to their potential to bridge the gap between perception, cognition, and action in complex, real-world environments. This comprehensive review…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…

Large Language Models (LLMs), such as ChatGPT, have demonstrated the capability to generate human like, natural responses across a range of tasks, including task oriented dialogue and question answering. However, their application in real…

Multimodal Large Language Models (MLLMs) have demonstrated extraordinary progress in bridging textual and visual inputs. However, MLLMs still face challenges in situated physical and social interactions in sensorally rich, multimodal and…

While large language models (LMs) have shown remarkable capabilities across numerous tasks, they often struggle with simple reasoning and planning in physical environments, such as understanding object permanence or planning household…

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making…

Recent developments in Large Language Models (LLMs) have demonstrated their remarkable capabilities across a range of tasks. Questions, however, persist about the nature of LLMs and their potential to integrate common-sense human knowledge…

Despite advancements in Large Language Models (LLMs) and Large Multimodal Models (LMMs), their integration into language-grounded, human-like embodied agents remains incomplete, hindering complex real-life task performance in physical…

It is a long-lasting goal to design a generalist-embodied agent that can follow diverse instructions in human-like ways. However, existing approaches often fail to steadily follow instructions due to difficulties in understanding abstract…

Vision-Language Models (VLMs) have made significant progress in explicit instruction-based navigation; however, their ability to interpret implicit human needs (e.g., "I am thirsty") in dynamic urban environments remains underexplored. This…

Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance…

As large language models (LLMs) continue to improve in reasoning and decision-making, there is a growing need for realistic and interactive environments where their abilities can be rigorously evaluated. We present VirtualEnv, a…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Unlike traditional vision-only models, vision language models (VLMs) offer an intuitive way to access visual content through language prompting by combining a large language model (LLM) with a vision encoder. However, both the LLM and the…

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but…

Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limited flexibility. To mitigate this, we propose…

Learned world models hold significant potential for robotic manipulation, as they can serve as simulator for real-world interactions. While extensive progress has been made in 2D video-based world models, these approaches often lack…

In recent times, the standard practice for developing MLLMs is to feed features from vision encoder(s) into the LLM and train with natural language supervision. This approach often causes models to lean towards language comprehension and…

Large multimodal models exhibit remarkable intelligence, yet their embodied cognitive abilities during motion in open-ended urban 3D space remain to be explored. We introduce a benchmark to evaluate whether video-large language models…