相关论文: Robin3D: Improving 3D Large Language Model via Rob…

In this paper, we propose R$^3$: Learning Reasoning through Reverse Curriculum Reinforcement Learning (RL), a novel method that employs only outcome supervision to achieve the benefits of process supervision for large language models. The…

Existing robot video world models are typically trained with low-level objectives such as reconstruction and perceptual similarity, which are poorly aligned with the capabilities that matter most for robot decision making, including…

Large language models (LLMs) exhibit remarkable capabilities across diverse tasks, yet aligning them efficiently and effectively with human expectations remains a critical challenge. This thesis advances LLM alignment by introducing novel…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

Modern Language Models (LMs) are capable of following long and complex instructions that enable a large and diverse set of user requests. While Information Retrieval (IR) models use these LMs as the backbone of their architectures,…

Recent Multi-Modal Large Language Models (MLLMs) have demonstrated strong capabilities in learning joint representations from text and images. However, their spatial reasoning remains limited. We introduce 3DFroMLLM, a novel framework that…

Multimodal Large Language Models (MLLMs) have recently received substantial interest, which shows their emerging potential as general-purpose models for various vision-language tasks. MLLMs involve significant external knowledge within…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

Large language models (LLMs) have revolutionized various domains but still struggle with non-Latin scripts and low-resource languages. This paper addresses the critical challenge of improving multilingual performance without extensive…

With the growing demands of AI-generated content (AIGC), the need for high-quality, diverse, and scalable data has become increasingly crucial. However, collecting large-scale real-world data remains costly and time-consuming, hindering the…

We need to trust robots that use often opaque AI methods. They need to explain themselves to us, and we need to trust their explanation. In this regard, explainability plays a critical role in trustworthy autonomous decision-making to…

Recent work in incremental learning has introduced diverse approaches to tackle catastrophic forgetting from data augmentation to optimized training regimes. However, most of them focus on very few training steps. We propose a method for…

Existing large language models (LLMs) face challenges of following complex instructions, especially when multiple constraints are present and organized in paralleling, chaining, and branching structures. One intuitive solution, namely…

Deep learning has been widely used in source code classification tasks, such as code classification according to their functionalities, code authorship attribution, and vulnerability detection. Unfortunately, the black-box nature of deep…

Multimodal Large Language Models struggle to maintain reliable performance under extreme real-world visual degradations, which impede their practical robustness. Existing robust MLLMs predominantly rely on implicit training/adaptation that…

Instructional Design (ID) often faces challenges in incorporating research-based knowledge and pedagogical best practices. Although educational researchers and government agencies emphasize grounding ID in evidence, integrating research…

Large Language Models (LLMs) and their multimodal variants (LVLMs) hold immense promise for scientific and engineering applications, particularly in processing visual information like scientific diagrams. However, their practical deployment…

Recent advances in Large Multimodal Models (LMM) have made it possible for various applications in human-machine interactions. However, developing LMMs that can comprehend, reason, and plan in complex and diverse 3D environments remains a…

Instruction following refers to the ability of large language models (LLMs) to generate outputs that satisfy all specified constraints. Existing research has primarily focused on constraint categories, offering limited evaluation dimensions…

Large language models (LLMs) that are tuned with instructions have demonstrated remarkable capabilities in various tasks and languages. However, their ability to generalize to underrepresented languages is limited due to the scarcity of…