相关论文: ClevrSkills: Compositional Language and Visual Rea…

Visual reasoning is dominated by end-to-end neural networks scaled to billions of model parameters and training examples. However, even the largest models struggle with compositional reasoning, generalization, fine-grained spatial and…

Vision-Language Models (VLMs) have revolutionized artificial intelligence and robotics due to their commonsense reasoning capabilities. In robotic manipulation, VLMs are used primarily as high-level planners, but recent work has also…

Large language models (LLMs) have emerged as powerful tools for many AI problems and exhibit remarkable in-context learning (ICL) capabilities. Compositional ability, solving unseen complex tasks that combine two or more simple tasks, is an…

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…

Curriculum learning is a training mechanism in reinforcement learning (RL) that facilitates the achievement of complex policies by progressively increasing the task difficulty during training. However, designing effective curricula for a…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward…

Large language models (LLMs) have shown remarkable ability in various language tasks, especially with their emergent in-context learning capability. Extending LLMs to incorporate visual inputs, large vision-language models (LVLMs) have…

Consider a robot tasked with tidying a desk with a meticulously constructed Lego sports car. A human may recognize that it is not appropriate to disassemble the sports car and put it away as part of the "tidying." How can a robot reach that…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

Visual reasoning (VR), which is crucial in many fields for enabling human-like visual understanding, remains highly challenging. Recently, compositional visual reasoning approaches, which leverage the reasoning abilities of large language…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Large language models (LLMs) are deployed on increasingly complex tasks that require multi-step decision-making. Understanding their algorithmic reasoning abilities is therefore crucial. However, we lack a diagnostic benchmark for…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…

A fundamental component of human vision is our ability to parse complex visual scenes and judge the relations between their constituent objects. AI benchmarks for visual reasoning have driven rapid progress in recent years with…

Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to…

Despite the impressive performance of vision-language models (VLMs) on downstream tasks, their ability to understand and reason about causal relationships in visual inputs remains unclear. Robust causal reasoning is fundamental to solving…

Recent advancements in Large Language Models (LLMs) have led to the development of Video Large Multi-modal Models (Video-LMMs) that can handle a wide range of video understanding tasks. These models have the potential to be deployed in…

When building artificial intelligence systems that can reason and answer questions about visual data, we need diagnostic tests to analyze our progress and discover shortcomings. Existing benchmarks for visual question answering can help,…