相关论文: PSALM-V: Automating Symbolic Planning in Interacti…

Vision-Language-Action models (VLAs) are emerging as powerful tools for learning generalizable visuomotor control policies. However, current VLAs are mostly trained on large-scale image-text-action data and remain limited in two key ways:…

We present, to our knowledge, the first sign language-driven Vision-Language-Action (VLA) framework for intuitive and inclusive human-robot interaction. Unlike conventional approaches that rely on gloss annotations as intermediate…

Vision language models (VLMs) are an exciting emerging class of language models (LMs) that have merged classic LM capabilities with those of image processing systems. However, the ways that these capabilities combine are not always…

Can we build accurate world models out of large language models (LLMs)? How can world models benefit LLM agents? The gap between the prior knowledge of LLMs and the specified environment's dynamics usually bottlenecks LLMs' performance as…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Despite the significant improvements achieved by large language models (LLMs) in English reasoning tasks, these models continue to struggle with multilingual reasoning. Recent studies leverage a full-parameter and two-stage training…

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

Multimodal large language models (MLLMs) have advanced static visual--spatial reasoning, yet they often fail to preserve long-horizon spatial coherence in embodied settings where beliefs must be continuously revised from egocentric…

Large Language Models (LLMs) have recently empowered agentic frameworks to exhibit advanced reasoning and planning capabilities. However, their integration in robotic control pipelines remains limited in two aspects: (1) prior…

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…

Large language models (LLMs) have demonstrated high performance on tasks expressed in natural language, particularly in zero- or few-shot settings. These are typically framed as supervised (e.g., classification) or unsupervised (e.g.,…

This paper investigates how hallucination rates in Large Language Models (LLMs) may be controlled via a symbolic data generation framework, exploring a fundamental relationship between the rate of certain mathematical errors and types of…

We present a novel method, AutoSpatial, an efficient approach with structured spatial grounding to enhance VLMs' spatial reasoning. By combining minimal manual supervision with large-scale Visual Question-Answering (VQA) pairs…

Large language models (LLMs) have demonstrated significant reasoning capabilities in scientific discovery but struggle to bridge the gap to physical execution in wet-labs. In these irreversible environments, probabilistic hallucinations are…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for building embodied agents that ground perception and language into action. However, most existing approaches rely on direct action prediction, lacking the ability…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…

In high-stakes domains, small task-specific vision models are crucial due to their low computational requirements and the availability of numerous methods to explain their results. However, these explanations often reveal that the models do…

The increasing demand for intelligent systems capable of interpreting and reasoning about visual content requires the development of large Vision-and-Language Models (VLMs) that are not only accurate but also have explicit reasoning…

Traditional AI-planning methods for task planning in robotics require a symbolically encoded domain description. While powerful in well-defined scenarios, as well as human-interpretable, setting this up requires substantial effort.…

The recent surge in open-source Multimodal Large Language Models (MLLM) frameworks, such as LLaVA, provides a convenient kickoff for artificial intelligence developers and researchers. However, most of the MLLM frameworks take vision as the…