相关论文: Embodied Multi-Agent Coordination by Aligning Worl…

Robust coordination is critical for effective decision-making in multi-agent systems, especially under partial observability. A central question in Multi-Agent Reinforcement Learning (MARL) is whether to engineer communication protocols or…

With the recent development of natural language generation models - termed as large language models (LLMs) - a potential use case has opened up to improve the way that humans interact with robot assistants. These LLMs should be able to…

Embodied agents designed to assist users with tasks must engage in natural language interactions, interpret instructions, execute actions, and communicate effectively to resolve issues. However, collecting large-scale, diverse datasets of…

We study a symmetric collaborative dialogue setting in which two agents, each with private knowledge, must strategically communicate to achieve a common goal. The open-ended dialogue state in this setting poses new challenges for existing…

In this work, we address challenging multi-agent cooperation problems with decentralized control, raw sensory observations, costly communication, and multi-objective tasks instantiated in various embodied environments. While previous…

Large Language Models are increasingly proposed as cognitive components for robotic systems, yet their opaque decision processes make it difficult to explain success or failure in closed-loop embodied tasks. Following an empirical AI…

A few decades of work in the AI field have focused efforts on developing a new generation of systems which can acquire knowledge via interaction with the world. Yet, until very recently, most such attempts were underpinned by research which…

To complete assignments provided by humans in natural language, robots must interpret commands, generate and answer relevant questions for scene understanding, and manipulate target objects. Real-world deployments often require multiple…

While large language models (LMs) have shown remarkable capabilities across numerous tasks, they often struggle with simple reasoning and planning in physical environments, such as understanding object permanence or planning household…

Large Language Models (LLMs) have emerged as integral tools for reasoning, planning, and decision-making, drawing upon their extensive world knowledge and proficiency in language-related tasks. LLMs thus hold tremendous potential for…

This paper describes our research on AI agents embodied in visual, virtual or physical forms, enabling them to interact with both users and their environments. These agents, which include virtual avatars, wearable devices, and robots, are…

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their…

Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We present a simple, minimal system recipe that…

Human-AI collaboration requires AI agents to understand human behavior for effective coordination. While advances in foundation models show promising capabilities in understanding and showing human-like behavior, their application in…

The fusion of Large Language Models (LLMs) and robotic systems has led to a transformative paradigm in the robotic field, offering unparalleled capabilities not only in the communication domain but also in skills like multimodal input…

While Large Language Model (LLM) agents are often approached from the angle of action planning/generation to accomplish a goal (e.g., given by language descriptions), their abilities to collaborate with each other to achieve a joint goal…

Embodied AI Agents are quickly becoming important and common tools in society. These embodied agents should be able to learn about and accomplish a wide range of user goals and preferences efficiently and robustly. Large Language Models…

Recent works have shown how the reasoning capabilities of Large Language Models (LLMs) can be applied to domains beyond natural language processing, such as planning and interaction for robots. These embodied problems require an agent to…

Embodied Artificial Intelligence (Embodied AI) is crucial for achieving Artificial General Intelligence (AGI) and serves as a foundation for various applications (e.g., intelligent mechatronics systems, smart manufacturing) that bridge…

In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language models (LLMs) have been shown to demonstrate…