相关论文: World-aware Planning Narratives Enhance Large Visi…

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…

Large Vision-Language Models (LVLMs) have demonstrated impressive capabilities in multimodal understanding, yet their reasoning abilities remain underexplored. Existing benchmarks tend to focus on perception or text-based comprehension,…

We present a framework for perspective-aware reasoning in vision-language models (VLMs) through mental imagery simulation. Perspective-taking, the ability to perceive an environment or situation from an alternative viewpoint, is a key…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…

Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this…

Despite the remarkable success of the LLaVA architecture for vision-language tasks, its design inherently struggles to effectively integrate visual features due to the inherent mismatch between text and vision modalities. We tackle this…

Large vision-language models (LVLMs) are typically trained using autoregressive language modeling objectives, which align visual representations with linguistic space. While effective for multimodal reasoning, this alignment can weaken…

Multimodal large language models (MLLMs) often miss small details and spatial relations in cluttered scenes, leading to errors in fine-grained perceptual grounding. We introduce AttWarp, a lightweight method that allocates more resolution…

While Large Multimodal Models (LMMs) have made significant progress, they remain largely text-centric, relying on language as their core reasoning modality. As a result, they are limited in their ability to handle reasoning tasks that are…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

The emergence of large language models (LLMs) opens new frontiers for unmanned aerial vehicle (UAVs), yet existing systems remain confined to predefined tasks due to hardware-software co-design challenges. This paper presents the first…

Large language-vision models (LVLMs) such as CLIP, Flamingo, and BLIP have revolutionized AI by enabling understanding across textual and visual modalities. These models excel at tasks like image captioning, visual question answering, and…

Embodied navigation for long-horizon tasks, guided by complex natural language instructions, remains a formidable challenge in artificial intelligence. Existing agents often struggle with robust long-term planning about unseen environments,…

The Large Vision-Language Model (LVLM) has enhanced the performance of various downstream tasks in visual-language understanding. Most existing approaches encode images and videos into separate feature spaces, which are then fed as inputs…

Reinforcement learning (RL) has shown impressive results in sequential decision-making tasks. Meanwhile, Large Language Models (LLMs) and Vision-Language Models (VLMs) have emerged, exhibiting impressive capabilities in multimodal…

Large Language Models (LLMs) have so far impressed the world, with unprecedented capabilities that emerge in models at large scales. On the vision side, transformer models (i.e., ViT) are following the same trend, achieving the best…

Recent advances in visual-language machine learning models have demonstrated exceptional ability to use natural language and understand visual scenes by training on large, unstructured datasets. However, this training paradigm cannot…

As textual reasoning with large language models (LLMs) has advanced significantly, there has been growing interest in enhancing the multimodal reasoning capabilities of large vision-language models (LVLMs). However, existing methods…

Planning is an important capability of artificial agents that perform long-horizon tasks in real-world environments. In this work, we explore the use of pre-trained language models (PLMs) to reason about plan sequences from text…