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

Discovering effective reward functions remains a fundamental challenge in motor control of high-dimensional musculoskeletal systems. While humans can describe movement goals explicitly such as "walking forward with an upright posture," the…

Despite the ubiquity of large language models (LLMs) in AI research, the question of embodiment in LLMs remains underexplored, distinguishing them from embodied systems in robotics where sensory perception directly informs physical action.…

Embodied agents powered by large language models (LLMs), such as Voyager, promise open-ended competence in worlds such as Minecraft. However, when powered by open-weight LLMs they still falter on elementary tasks after domain-specific…

Trained on internet-scale video data, generative world models are increasingly recognized as powerful world simulators that can generate consistent and plausible dynamics over structure, motion, and physics. This raises a natural question:…

Large language models (LLMs) have achieved impressive pro-gress on several open-world tasks. Recently, using LLMs to build embodied agents has been a hotspot. This paper proposes STEVE, a comprehensive and visionary embodied agent in the…

Vision-language models (VLMs) and generative world models are opening new opportunities for embodied navigation. VLMs are increasingly used as direct planners or trajectory predictors, while world models support look-ahead reasoning by…

Despite significant progress in multimodal language models (LMs), it remains unclear whether visual grounding enhances their understanding of embodied knowledge compared to text-only models. To address this question, we propose a novel…

The advent of immersive Virtual Reality applications has transformed various domains, yet their integration with advanced artificial intelligence technologies like Visual Language Models remains underexplored. This study introduces a…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

As embodied intelligence emerges as a core frontier in artificial intelligence research, simulation platforms must evolve beyond low-level physical interactions to capture complex, human-centered social behaviors. We introduce FreeAskWorld,…

Large Language Models (LLMs) have demonstrated excellent capabilities in composing various modules together to create programs that can perform complex reasoning tasks on images. In this paper, we propose TANGO, an approach that extends the…

We introduce a novel self-improving framework that enhances Embodied Visual Tracking (EVT) with Vision-Language Models (VLMs) to address the limitations of current active visual tracking systems in recovering from tracking failure. Our…

Recently, various studies have leveraged Large Language Models (LLMs) to help decision-making and planning in environments, and try to align the LLMs' knowledge with the world conditions. Nonetheless, the capacity of LLMs to continuously…

This paper investigates the problem of understanding dynamic 3D scenes from egocentric observations, a key challenge in robotics and embodied AI. Unlike prior studies that explored this as long-form video understanding and utilized…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

Visual-language models (VLMs) have recently been introduced in robotic mapping using the latent representations, i.e., embeddings, of the VLMs to represent semantics in the map. They allow moving from a limited set of human-created labels…

While Large Language Models (LLMs) excel at reasoning on text and Vision-Language Models (VLMs) are highly effective for visual perception, applying those models for visual instruction-based planning remains a widely open problem. In this…

Embodied reasoning is inherently viewpoint-dependent: what is visible, occluded, or reachable depends critically on where the agent stands. However, existing spatial memory systems for embodied agents typically store either multi-view…

The remarkable progress of Multimodal Large Language Models (MLLMs) has attracted increasing attention to extend them to physical entities like legged robot. This typically requires MLLMs to not only grasp multimodal understanding…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…