相关论文: BAP v2: An Enhanced Task Framework for Instruction…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

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…

For effective human-robot interaction, it is important that a robotic assistant can forecast the next action a human will consider in a given task. Unfortunately, real-world tasks are often very long, complex, and repetitive; as a result…

Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…

Although virtual agents are increasingly situated in environments where natural language is the most effective mode of interaction with humans, these exchanges are rarely used as an opportunity for learning. Leveraging language interactions…

Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…

Cooperative mission planning for heterogeneous teams of mobile robots presents a unique set of challenges, particularly when operating under communication constraints and limited computational resources. To address these challenges, we…

Multimodal Continual Instruction Tuning (MCIT) is essential for sequential task adaptation of Multimodal Large Language Models (MLLMs) but is severely restricted by catastrophic forgetting. While existing literature focuses on the reasoning…

Recently, data-driven task-oriented dialogue systems have achieved promising performance in English. However, developing dialogue systems that support low-resource languages remains a long-standing challenge due to the absence of…

Large-batch training has become a cornerstone in accelerating the training of deep neural networks, yet it poses challenges in optimization and generalization. Existing optimizers like AdamW present performance degradation during language…

We aim to develop a goal specification method that is semantically clear, spatially sensitive, domain-agnostic, and intuitive for human users to guide agent interactions in 3D environments. Specifically, we propose a novel cross-view goal…

To complete assignments provided by humans in natural language, robots must interpret commands, generate and answer relevant questions for scene understanding, and manipulate target objects. Real-world deployments often require multiple…

In collaborative tasks, effective communication is crucial for achieving joint goals. One such task is collaborative building where builders must communicate with each other to construct desired structures in a simulated environment such as…

Large Language Models (LLMs) possess extensive foundational knowledge and moderate reasoning abilities, making them suitable for general task planning in open-world scenarios. However, it is challenging to ground a LLM-generated plan to be…

We present a controlled study of multi-hop contextual reasoning in large language models, providing a clean demonstration of the task-method dissociation: rule-based pattern matching achieves 100% success on structured information retrieval…

Large language models (LLMs) such as GPT and Gemini have demonstrated remarkable capabilities in contextual understanding and reasoning. The strong performance of LLMs has sparked growing interest in leveraging them to automate tasks…

This paper introduces Gamified Adversarial Prompting (GAP), a framework that crowd-sources high-quality data for visual instruction tuning of large multimodal models. GAP transforms the data collection process into an engaging game,…

Recent works show that learning contextualized embeddings for words is beneficial for downstream tasks. BERT is one successful example of this approach. It learns embeddings by solving two tasks, which are masked language model (masked LM)…

In the last few years, deep multi-agent reinforcement learning (RL) has become a highly active area of research. A particularly challenging class of problems in this area is partially observable, cooperative, multi-agent learning, in which…

Large Language Models (LLMs) are increasingly being used for interactive decision-making tasks requiring planning and adapting to the environment. Recent works employ LLMs-as-agents in broadly two ways: iteratively determining the next…