相关论文: From Goal-Conditioned to Language-Conditioned Agen…

In-context learning (ICL) enables Large Language Models (LLMs) to learn tasks from demonstration examples without parameter updates. Although it has been extensively studied in LLMs, its effectiveness in Vision-Language Models (VLMs)…

While vision-language-action (VLA) models for embodied agents integrate perception, reasoning, and control, they remain constrained by two critical weaknesses: first, during grasping tasks, the action tokens generated by the language model…

While reinforcement learning (RL) has achieved notable success in various domains, training effective policies for complex tasks remains challenging. Agents often converge to local optima and fail to maximize long-term rewards. Existing…

Reinforcement Learning (RL) is a promising approach for solving various control, optimization, and sequential decision making tasks. However, designing reward functions for complex tasks (e.g., with multiple objectives and safety…

The advancement of vision language models (VLMs) has empowered embodied agents to accomplish simple multimodal planning tasks, but not long-horizon ones requiring long sequences of actions. In text-only simulations, long-horizon planning…

Vision-language models (VLMs) have demonstrated impressive performance by effectively integrating visual and textual information to solve complex tasks. However, it is not clear how these models reason over the visual and textual data…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

English-based Vision-Language Pre-training (VLP) has achieved great success in various downstream tasks. Some efforts have been taken to generalize this success to non-English languages through Multilingual Vision-Language Pre-training…

Language models (LMs) are trained on collections of documents, written by individual human agents to achieve specific goals in an outside world. During training, LMs have access only to text of these documents, with no direct evidence of…

Large-scale language models have shown the ability to adapt to a new task via conditioning on a few demonstrations (i.e., in-context learning). However, in the vision-language domain, most large-scale pre-trained vision-language (VL) models…

In this study, we address the issue of enabling an artificial intelligence agent to execute complex language instructions within virtual environments. In our framework, we assume that these instructions involve intricate linguistic…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Vision-language-action (VLA) models are effective robot action executors, but they remain limited on long-horizon tasks due to the dual burden of extended closed-loop planning and diverse physical operations. We therefore propose…

Recently, action-based decision-making in open-world environments has gained significant attention. Visual Language Action (VLA) models, pretrained on large-scale web datasets, have shown promise in decision-making tasks. However, previous…

Vision-Language Models (VLMs) often yield inconsistent descriptions of the same object across viewpoints, hindering the ability of embodied agents to construct consistent semantic representations over time. Previous methods resolved…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…

Language model (LM) agents have gained significant attention for their ability to autonomously complete tasks through interactions with environments, tools, and APIs. LM agents are primarily built with prompt engineering or supervised…

Current vision-language-action (VLA) models, pre-trained on large-scale robotic data, exhibit strong multi-task capabilities and generalize well to variations in visual and language instructions for manipulation. However, their success rate…

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural…