相关论文: EmbodiedRAG: Dynamic 3D Scene Graph Retrieval for …

This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…

3D scene graphs provide a structured representation of object entities and their relationships, enabling high-level interpretation and reasoning for robots while remaining intuitively understandable to humans. Existing approaches for 3D…

Embodied AI is a crucial frontier in robotics, capable of planning and executing action sequences for robots to accomplish long-horizon tasks in physical environments. In this work, we introduce EmbodiedGPT, an end-to-end multi-modal…

Large Language Models (LLMs) have achieved impressive progress in natural language processing, but their limited ability to retain long-term context constrains performance on document-level or multi-turn tasks. Retrieval-Augmented…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Driving scenario data play an increasingly vital role in the development of intelligent vehicles and autonomous driving. Accurate and efficient scenario data search is critical for both online vehicle decision-making and planning, and…

The existing Retrieval-Augmented Generation (RAG) systems face significant challenges in terms of cost and effectiveness. On one hand, they need to encode the lengthy retrieved contexts before responding to the input tasks, which imposes…

Vision-and-Language Navigation (VLN) is an essential skill for embodied agents, allowing them to navigate in 3D environments following natural language instructions. High-performance navigation models require a large amount of training…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…

Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric…

In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in…

Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in…

Large Language Models (LLMs) have shown promise in character imitation, enabling immersive and engaging conversations. However, they often generate content that is irrelevant or inconsistent with a character's background. We attribute these…

Large language models (LLMs) are transforming the way information is retrieved with vast amounts of knowledge being summarized and presented via natural language conversations. Yet, LLMs are prone to highlight the most frequently seen…

In the realm of computer vision and robotics, embodied agents are expected to explore their environment and carry out human instructions. This necessitates the ability to fully understand 3D scenes given their first-person observations and…

Embodied agents tasked with complex scenarios, whether in real or simulated environments, rely heavily on robust planning capabilities. When instructions are formulated in natural language, large language models (LLMs) equipped with…

Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…

Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating zero-shot methods rather than task-specific RL training.…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Large language models (LLMs) often struggle with knowledge-intensive tasks due to hallucinations and outdated parametric knowledge. While Retrieval-Augmented Generation (RAG) addresses this by integrating external corpora, its effectiveness…