相关论文: RHYTHM: Reasoning with Hierarchical Temporal Token…

To break the context limits of large language models (LLMs) that bottleneck reasoning accuracy and efficiency, we propose the Thread Inference Model (TIM), a family of LLMs trained for recursive and decompositional problem solving, and…

Sequence learning, prediction and replay have been proposed to constitute the universal computations performed by the neocortex. The Hierarchical Temporal Memory (HTM) algorithm realizes these forms of computation. It learns sequences in an…

Long-range tasks demand reasoning over long inputs. However, existing solutions are limited, e.g., long-context models require large compute budgets, parameter-efficient fine-tuning (PEFT) needs training data, and retrieval-augmented…

Recent works in Task and Motion Planning (TAMP) show that training control policies on language-supervised robot trajectories with quality labeled data markedly improves agent task success rates. However, the scarcity of such data presents…

Reasoning is critical for large language models (LLMs) to excel in a wide range of tasks. While methods like Chain-of-Thought (CoT) reasoning and enhance LLM performance by decomposing problems into intermediate steps, they also incur…

Deep State Space Models (SSMs) reignite physics-grounded compute paradigms, as RNNs could natively be embodied into dynamical systems. This calls for dedicated learning algorithms obeying to core physical principles, with efficient…

Predicting group behavior, how individuals coordinate, communicate, and interact during collaborative tasks, is essential for designing systems that can support team performance through real-time prediction and realistic simulation of…

Large reasoning models (LRMs) excel on complex problems but face a critical barrier to efficiency: reinforcement learning (RL) training requires long rollouts for outcome-based rewards, where autoregressive decoding dominates time and…

Recent advances in large language models (LLMs) have shown potential in clinical text summarization, but their ability to handle long patient trajectories with multi-modal data spread across time remains underexplored. This study…

In this paper, we address the unexplored question of temporal sentence localization in human motions (TSLM), aiming to locate a target moment from a 3D human motion that semantically corresponds to a text query. Considering that 3D human…

As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…

Large language models (LLMs) have recently attracted considerable interest for their ability to perform complex reasoning tasks, such as chain-of-thought (CoT) reasoning. However, most of the existing approaches to enhance this ability rely…

Navigating human-populated environments without causing discomfort is a critical capability for socially-aware agents. While rule-based approaches offer interpretability through predefined psychological principles, they often lack…

Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…

We present a novel framework for training large language models with continuously adjustable internal representations that span the full spectrum from localist (interpretable, rule-based) to distributed (generalizable, efficient) encodings.…

Large language models (LLMs) have recently demonstrated strong reasoning capabilities and attracted increasing research attention in the field of autonomous driving (AD). However, safe application of LLMs on AD perception and prediction…

Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…

Trajectory forecasting plays a pivotal role in the field of intelligent vehicles or social robots. Recent works focus on modeling spatial social impacts or temporal motion attentions, but neglect inherent properties of motions, i.e. moving…

Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong high-level reasoning capabilities, the lack of safety…

Recent advances in video-based multimodal large language models (Video-LLMs) have significantly improved video understanding by processing videos as sequences of image frames. However, many existing methods treat frames independently in the…