相关论文: Egocentric Vision Language Planning

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…

Video-language pre-training (VLP) has become increasingly important due to its ability to generalize to various vision and language tasks. However, existing egocentric VLP frameworks utilize separate video and language encoders and learn…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

Instruction-tuned large language models (LLMs) have demonstrated promising zero-shot generalization capabilities across various downstream tasks. Recent research has introduced multimodal capabilities to LLMs by integrating independently…

Large-scale task planning is a major challenge. Recent work exploits large language models (LLMs) directly as a policy and shows surprisingly interesting results. This paper shows that LLMs provide a commonsense model of the world in…

This research aims to comprehensively explore building a multimodal foundation model for egocentric video understanding. To achieve this goal, we work on three fronts. First, as there is a lack of QA data for egocentric video understanding,…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

The emergence of multimodal large language models (MLLMs) has driven breakthroughs in egocentric vision applications. These applications necessitate persistent, context-aware understanding of objects, as users interact with tools in dynamic…

Artificial intelligence (AI) has gained significant attention in healthcare consultation due to its potential to improve clinical workflow and enhance medical communication. However, owing to the complex nature of medical information, large…

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge…

Large language models (LLMs) and large multimodal models (LMMs) have achieved unprecedented breakthrough, showcasing remarkable capabilities in natural language understanding, generation, and complex reasoning. This transformative potential…

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…

Recent endeavors towards directly using large language models (LLMs) as agent models to execute interactive planning tasks have shown commendable results. Despite their achievements, however, they still struggle with brainless…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

We introduce a new method that extracts knowledge from a large language model (LLM) to produce object-level plans, which describe high-level changes to object state, and uses them to bootstrap task and motion planning (TAMP). Existing work…

Establishing object-level correspondence between egocentric and exocentric views is essential for intelligent assistants to deliver precise and intuitive visual guidance. However, this task faces numerous challenges, including extreme…

Long-horizon embodied planning is challenging because the world does not only change through an agent's actions: exogenous processes (e.g., water heating, dominoes cascading) unfold concurrently with the agent's actions. We propose a…

While Large Language Models (LLMs) have demonstrated strong zero-shot reasoning capabilities, their deployment as embodied agents still faces fundamental challenges in long-horizon planning. Unlike open-ended text generation, embodied…

Autonomous Earth Observation (EO) agents are transitioning from passive perception to complex, multi-step task execution. However, current architectures that integrate planning and execution within a single model often struggle with…

As large language models (LLMs) continue to advance, there is increasing interest in their ability to infer human mental states and demonstrate a human-like Theory of Mind (ToM). Most existing ToM evaluations, however, are centered on…