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

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…

We present a conceptual framework for training Vision-Language Models (VLMs) to perform Visual Perspective Taking (VPT), a core capability for embodied cognition essential for Human-Robot Interaction (HRI). As a first step toward this goal,…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…

Prompt learning represents a promising method for adapting pre-trained vision-language models (VLMs) to various downstream tasks by learning a set of text embeddings. One challenge inherent to these methods is the poor generalization…

The advent of large language models (LLMs) presents new opportunities for travel demand modeling. However, behavioral misalignment between LLMs and humans presents obstacles for the usage of LLMs, and existing alignment methods are…

The Large Visual-Language Models (LVLMs) have significantly advanced image understanding. Their comprehension and reasoning capabilities enable promising applications in autonomous driving scenarios. However, existing research typically…

Large language models (LLMs) are increasingly being used to generate synthetic datasets for the evaluation and training of downstream models. However, prior work has noted that such generated data lacks diversity. In this paper, we propose…

We show that multi-agent systems guided by vision-language models (VLMs) improve end-to-end autonomous scientific discovery. By treating plots as verifiable checkpoints, a VLM-as-a-judge evaluates figures against dynamically generated…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

This study evaluates the effectiveness of Vision Language Models (VLMs) in representing and utilizing multimodal content for fact-checking. To be more specific, we investigate whether incorporating multimodal content improves performance…

Multimodal large language model (MLLM)-based embodied agents have shown strong potential for solving complex tasks in physical environments. However, personalized assistance requires more than following generic instruction or recognizing…

The integration of visual inputs with large language models (LLMs) has led to remarkable advancements in multi-modal capabilities, giving rise to visual large language models (VLLMs). However, effectively harnessing VLLMs for intricate…

Embodied Vision-Language Models (VLMs) have demonstrated impressive performance and generalization in robotics, particularly within Vision-Language-Action frameworks. However, a significant gap remains between the high-level semantic focus…

As the application of Embodied AI Agents in avatars, wearable devices, and robotic systems continues to deepen, their core research challenges have gradually shifted from physical environment interaction to the accurate understanding of…

Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover the goal, i.e., search efficiently using learned priors.…

We introduce iFlyBot-VLM, a general-purpose Vision-Language Model (VLM) used to improve the domain of Embodied Intelligence. The central objective of iFlyBot-VLM is to bridge the cross-modal semantic gap between high-dimensional…

World models, which are predictive representations of how environments evolve under actions, have become a central component of robot learning. They support policy learning, planning, simulation, evaluation, data generation, and have…

The Dreamer agent provides various benefits of Model-Based Reinforcement Learning (MBRL) such as sample efficiency, reusable knowledge, and safe planning. However, its world model and policy networks inherit the limitations of recurrent…

Collaboration is ubiquitous and essential in day-to-day life -- from exchanging ideas, to delegating tasks, to generating plans together. This work studies how LLMs can adaptively collaborate to perform complex embodied reasoning tasks. To…

Embodied navigation for long-horizon tasks, guided by complex natural language instructions, remains a formidable challenge in artificial intelligence. Existing agents often struggle with robust long-term planning about unseen environments,…