相关论文: Egocentric Vision Language Planning

Large Language Models (LLMs) are transforming artificial intelligence, enabling autonomous agents to perform diverse tasks across various domains. These agents, proficient in human-like text comprehension and generation, have the potential…

Multimodal large language models (MLLMs) act as essential interfaces, connecting humans with AI technologies in multimodal applications. However, current MLLMs face challenges in accurately interpreting object orientation in images due to…

Embodied task planning requires agents to execute long-horizon, goal-directed actions in complex 3D environments, where success depends on both immediate perception and accumulated experience across tasks. However, most existing LLM-based…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Multimodal Large Language Models (MLLMs) have shown impressive reasoning abilities and general intelligence in various domains. It inspires researchers to train end-to-end MLLMs or utilize large models to generate policies with…

Large language models (LLMs) demonstrate impressive performance on a wide variety of tasks, but they often struggle with tasks that require multi-step reasoning or goal-directed planning. Both cognitive neuroscience and reinforcement…

Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) can embed rich semantic knowledge for agents in plan…

In the realm of data-driven AI technology, the application of open-source large language models (LLMs) in robotic task planning represents a significant milestone. Recent robotic task planning methods based on open-source LLMs typically…

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…

Leveraging massive knowledge from large language models (LLMs), recent machine learning models show notable successes in general-purpose task solving in diverse domains such as computer vision and robotics. However, several significant…

Language model (LM) pre-training is useful in many language processing tasks. But can pre-trained LMs be further leveraged for more general machine learning problems? We propose an approach for using LMs to scaffold learning and…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

Large Language Models (LLMs) can serve as world models to enhance agent decision-making in digital environments by simulating future states and predicting action outcomes, potentially eliminating costly trial-and-error exploration. However,…

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…

Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…

In this work, from a theoretical lens, we aim to understand why large language model (LLM) empowered agents are able to solve decision-making problems in the physical world. To this end, consider a hierarchical reinforcement learning (RL)…

Effective planning requires strong world models, but high-level world models that can understand and reason about actions with semantic and temporal abstraction remain largely underdeveloped. We introduce the Vision Language World Model…

The emergence of large language models (LLMs) opens new frontiers for unmanned aerial vehicle (UAVs), yet existing systems remain confined to predefined tasks due to hardware-software co-design challenges. This paper presents the first…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

Large language models (LLMs) are increasingly being adopted as the cognitive core of embodied agents. However, inherited hallucinations, which stem from failures to ground user instructions in the observed physical environment, can lead to…