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

Generalizable robotic mobile manipulation in open-world environments poses significant challenges due to long horizons, complex goals, and partial observability. A promising approach to address these challenges involves planning with a…

Despite achieving remarkable success in complex tasks, Deep Reinforcement Learning (DRL) is still suffering from critical issues in practical applications, such as low data efficiency, lack of interpretability, and limited cross-environment…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

Human reasoning relies on constructing and manipulating mental models -- simplified internal representations of situations used to understand and solve problems. Conceptual diagrams (e.g., a sketch drawn to aid reasoning) externalize these…

Visual reasoning in multimodal large language models (MLLMs) has primarily been studied in static, fully observable settings, limiting their effectiveness in real-world environments where information is often incomplete due to occlusion or…

Foundation models like Vision-Language Models (VLMs) excel at common sense vision and language tasks such as visual question answering. However, they cannot yet directly solve complex, long-horizon robot manipulation problems requiring…

Multimodal large language models (MLLMs) have advanced vision-language reasoning and are increasingly deployed in embodied agents. However, significant limitations remain: MLLMs generalize poorly across digital-physical spaces and…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches…

Symbolic planning can provide an intuitive interface for non-expert users to operate autonomous robots by abstracting away much of the low-level programming. However, symbolic planners assume that the initially provided abstract domain and…

Although reinforcement learning (RL) has emerged as a promising approach for improving vision-language models (VLMs) and multimodal large language models (MLLMs), current methods rely heavily on manually curated datasets and costly human…

This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomous Driving (AD). LVLMs excel at high-level task planning…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

A key objective in the field of artificial intelligence is to develop cognitive models that can exhibit human-like intellectual capabilities. One promising approach to achieving this is through neural-symbolic systems, which combine the…

Neuro-symbolic NLP methods aim to leverage the complementary strengths of large language models and formal logical solvers. However, current approaches are mostly static in nature, i.e., the integration of a target solver is predetermined…

PDDL-based symbolic task planning remains pivotal for robot autonomy yet struggles with dynamic human-robot collaboration due to scalability, re-planning demands, and delayed plan availability. Although a few neurosymbolic frameworks have…

Symbolic reasoning systems have been used in cognitive architectures to provide inference and planning capabilities. However, defining domains and problems has proven difficult and prone to errors. Moreover, Large Language Models (LLMs)…

Large language models (LLMs) have recently demonstrated an impressive ability to perform arithmetic and symbolic reasoning tasks, when provided with a few examples at test time ("few-shot prompting"). Much of this success can be attributed…

Recent large language models (LLMs) are promising for making decisions in grounded environments. However, LLMs frequently fail in complex decision-making tasks due to the misalignment between the pre-trained knowledge in LLMs and the actual…

Despite impressive high-level video comprehension, multimodal language models struggle with spatial reasoning across time and space. While current spatial training approaches rely on real-world video data, obtaining diverse footage with…