相关论文: Phoenix: A Motion-based Self-Reflection Framework …

Motion understanding is fundamental to physical reasoning, enabling models to infer dynamics and predict future states. However, state-of-the-art models still struggle on recent motion benchmarks, primarily due to the scarcity of…

Despite the rapid advancements in LLM agents, they still face the challenge of generating meaningful reflections due to inadequate error analysis and a reliance on rare successful trajectories, especially in complex tasks. In this work, we…

In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors by composing individual manipulation skills in functionally…

This work presents REFLEX: Robotic Explanations to FaiLures and Human EXpressions, a comprehensive multimodal dataset capturing human reactions to robot failures and subsequent explanations in collaborative settings. It aims to facilitate…

Pre-trained Vision-Language-Action (VLA) models represent a major leap towards general-purpose robots, yet efficiently adapting them to novel, specific tasks in-situ remains a significant hurdle. While reinforcement learning (RL) is a…

Deep learning models for visual recognition often exhibit systematic errors due to underrepresented semantic subpopulations. Although existing debugging frameworks can pinpoint these failures by identifying key failure attributes, repairing…

Generating with citations is crucial for trustworthy Large Language Models (LLMs), yet even advanced LLMs often produce mismatched or irrelevant citations. Existing methods over-optimize citation fidelity while overlooking relevance to the…

The ability to learn and refine behavior after deployment has become ever more important for robots as we design them to operate in unstructured environments like households. In this work, we design a new learning system based on large…

Vision-language models (VLMs) have demonstrated remarkable capabilities in robotic planning, particularly for long-horizon tasks that require a holistic understanding of the environment for task decomposition. Existing methods typically…

Multimodal large language models (MLLMs) have shown promising capabilities in reasoning tasks, yet still struggle with complex problems requiring explicit self-reflection and self-correction, especially compared to their unimodal text-based…

Complex tasks involving tool integration pose significant challenges for Large Language Models (LLMs), leading to the emergence of multi-agent workflows as a promising solution. Reflection has emerged as an effective strategy for correcting…

Defining reward functions for skill learning has been a long-standing challenge in robotics. Recently, vision-language models (VLMs) have shown promise in defining reward signals for teaching robots manipulation skills. However, existing…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Large Language Models (LLMs) have demonstrated remarkable versatility across various domains. To further advance LLMs, we propose 'SELF' (Self-Evolution with Language Feedback), a novel approach that enables LLMs to self-improve through…

This paper focuses on a critical challenge in robotics: translating text-driven human motions into executable actions for humanoid robots, enabling efficient and cost-effective learning of new behaviors. While existing text-to-motion…

Vision-Language Models (VLMs) demonstrate remarkable potential in robotic manipulation, yet challenges persist in executing complex fine manipulation tasks with high speed and precision. While excelling at high-level planning, existing VLM…

Large language models (LLMs) have achieved strong performance on complex reasoning tasks using techniques such as chain-of-thought and self-consistency. However, ensemble-based approaches, especially self-consistency which relies on…

Multimodal Large Language Models (MLLMs) have demonstrated exceptional capabilities in various perception and reasoning tasks. Despite this success, ensuring their reliability in practical deployment necessitates robust confidence…

Advanced large language model agents typically adopt self-reflection for improving performance, where agents iteratively analyze past actions to correct errors. However, existing reflective approaches are inherently retrospective: agents…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…