相关论文: Domain-Conditioned Scene Graphs for State-Grounded…

In this work, we propose a novel approach to densely ground visual entities from a long caption. We leverage a large multimodal model (LMM) to extract semantic nouns, a class-agnostic segmentation model to generate entity-level…

Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…

Recent advances in large language models (LLMs) have enabled the automatic generation of executable code for task planning and control in embodied agents such as robots, demonstrating the potential of LLM-based embodied intelligence.…

In this paper, we address the challenges of managing Standard Operating Procedures (SOPs), which often suffer from inconsistencies in language, format, and execution, leading to operational inefficiencies. Traditional process modeling…

Specifying a complete domain model is time-consuming, which has been a bottleneck of AI planning technique application in many real-world scenarios. Most classical domain-model learning approaches output a domain model in the form of the…

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…

This paper presents a general-purpose formulation of a large class of discrete-time planning problems, with hybrid state and control-spaces, as factored transition systems. Factoring allows state transitions to be described as the…

The recent breakthroughs in the research on Large Language Models (LLMs) have triggered a transformation across several research domains. Notably, the integration of LLMs has greatly enhanced performance in robot Task And Motion Planning…

Recent advances in large vision-language models (VLMs) have shown significant promise for 3D scene understanding. Existing VLM-based approaches typically align 3D scene features with the VLM's embedding space. However, this implicit…

The schema-guided paradigm overcomes scalability issues inherent in building task-oriented dialogue (TOD) agents with static ontologies. Instead of operating on dialogue context alone, agents have access to hierarchical schemas containing…

Large pre-trained vision-language models, such as CLIP, have shown remarkable generalization capabilities across various tasks when appropriate text prompts are provided. However, adapting these models to specific domains, like remote…

Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…

Multimodal large language models (MLLMs), such as GPT-4o, Gemini, LLaVA, and Flamingo, have made significant progress in integrating visual and textual modalities, excelling in tasks like visual question answering (VQA), image captioning,…

Multi-modal large language models have demonstrated impressive performance across various tasks in different modalities. However, existing multi-modal models primarily emphasize capturing global information within each modality while…

The integration of foundation models (FMs) into robotics has enabled robots to understand natural language and reason about the semantics in their environments. However, existing FM-enabled robots primary operate in closed-world settings,…

Spatial understanding is a critical capability for vision foundation models. While recent advances in large vision models or vision-language models (VLMs) have expanded recognition capabilities, most benchmarks emphasize localization…

In robotics, the effective integration of environmental data into actionable knowledge remains a significant challenge due to the variety and incompatibility of data formats commonly used in scene descriptions, such as MJCF, URDF, and SDF.…

Reasoning about complex visual scenes involves perception of entities and their relations. Scene graphs provide a natural representation for reasoning tasks, by assigning labels to both entities (nodes) and relations (edges). Unfortunately,…

Current domain-independent, classical planners require symbolic models of the problem domain and instance as input, resulting in a knowledge acquisition bottleneck. Meanwhile, although deep learning has achieved significant success in many…

Plane Geometry Problem Solving (PGPS) is a multimodal reasoning task that aims to solve a plane geometric problem based on a geometric diagram and problem textual descriptions. Although Large Language Models (LLMs) possess strong reasoning…