相关论文: Learning to Reason and Navigate: Parameter Efficie…
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…
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Exploration-based sequential manipulation Planning framework…
Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…
Inspired by the insights in cognitive science with respect to human memory and reasoning mechanism, a novel evolvable LLM-based (Large Language Model) agent framework is proposed as REMEMBERER. By equipping the LLM with a long-term…
Large language model (LLM)-based agents exhibit strong step-by-step reasoning capabilities over short horizons, yet often fail to sustain coherent behavior over long planning horizons. We argue that this failure reflects a fundamental…
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…
Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…
Automated data preparation is crucial for democratizing machine learning, yet existing reinforcement learning (RL) based approaches suffer from inefficient exploration in the vast space of possible preprocessing pipelines. We present…
Pruning is an effective method to reduce the memory footprint and computational cost associated with large natural language processing models. However, current pruning algorithms either only focus on one pruning category, e.g., structured…
Failure is inevitable for embodied navigation in complex environments. To enhance the resilience, replanning (RP) is a viable option, where the robot is allowed to fail, but is capable of adjusting plan until success. However, existing RP…
Large Reasoning Models (LRMs) have the ability to self-correct even when they make mistakes in their reasoning paths. However, our study reveals that when the reasoning process starts with a short but poor beginning, it becomes difficult…
In addressing the computational and memory demands of fine-tuning Large Language Models(LLMs), we propose LoRA-SP(Streamlined Partial Parameter Adaptation), a novel approach utilizing randomized half-selective parameter freezing within the…
Conventional Task and Motion Planning (TAMP) approaches rely on manually crafted interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing…
The rapid advancement of Large Language Models (LLMs) has marked a significant breakthrough in Artificial Intelligence (AI), ushering in a new era of Human-centered Artificial Intelligence (HAI). HAI aims to better serve human welfare and…
Despite rapid development, large language models (LLMs) still encounter challenges in multi-turn decision-making tasks (i.e., agent tasks) like web shopping and browser navigation, which require making a sequence of intelligent decisions…
Large Language Models (LLMs) have demonstrated significant potential in handling complex reasoning tasks through step-by-step rationale generation. However, recent studies have raised concerns regarding the hallucination and flaws in their…
Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches that combine high-level symbolic plans with low-level motion control. Advances in Large Language Models (LLMs), such…
Spatial reasoning in large language models (LLMs) has gained increasing attention due to applications in navigation and planning. Despite strong general language capabilities, LLMs still struggle with spatial transformations and multi-step…
Navigation guided by natural language instructions presents a challenging reasoning problem for instruction followers. Natural language instructions typically identify only a few high-level decisions and landmarks rather than complete…
Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…