相关论文: Key-Gram: Extensible World Knowledge for Embodied …

Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often…

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…

Discovering effective reward functions remains a fundamental challenge in motor control of high-dimensional musculoskeletal systems. While humans can describe movement goals explicitly such as "walking forward with an upright posture," the…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Despite rapid progress, embodied agents still struggle with long-horizon manipulation that requires maintaining spatial consistency, causal dependencies, and goal constraints. A key limitation of existing approaches is that task reasoning…

As retrieval-augmented generation prevails in large language models, embedding models are becoming increasingly crucial. Despite the growing number of general embedding models, prior work often overlooks the critical role of training data…

Relational knowledge bases (KBs) are commonly used to represent world knowledge in machines. However, while advantageous for their high degree of precision and interpretability, KBs are usually organized according to manually-defined…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios such as autonomous driving, there commonly exists noncontrollable dynamics independent of the action signals, making it…

Transformative innovations in model architectures have introduced hierarchical embedding augmentation as a means to redefine the representation of tokens through multi-level semantic structures, offering enhanced adaptability to complex…

Memory-augmented large language models extend reasoning beyond a fixed context window by maintaining long-term memory across interactions. However, existing memory systems often collapse stable user facts, episodic events, and behavioral…

State-of-the-art medical multi-modal LLMs (med-MLLMs), such as LLaVA-Med and BioMedGPT, primarily depend on scaling model size and data volume, with training driven largely by autoregressive objectives. However, we reveal that this approach…

Large Language Model (LLM)-based agents are increasingly applied to tasks requiring structured reasoning, tool use, and environmental adaptation, such as data manipulation, multistep planning, and computer-use automation. However, despite…

Recent breakthroughs in generative modeling have demonstrated remarkable capabilities in molecular generation, yet the integration of comprehensive biomedical knowledge into these models has remained an untapped frontier. In this study, we…

The realization of Artificial General Intelligence (AGI) necessitates Embodied AI agents capable of robust spatial perception, effective task planning, and adaptive execution in physical environments. However, current large language models…

Embodied Vision-Language Models (VLMs) have demonstrated impressive performance and generalization in robotics, particularly within Vision-Language-Action frameworks. However, a significant gap remains between the high-level semantic focus…

Skill libraries enable large language model agents to reuse experience from past interactions, but most existing libraries store skills as isolated entries and retrieve them only by semantic similarity. This leads to two key challenges for…

Deep pretrained language models have achieved great success in the way of pretraining first and then fine-tuning. But such a sequential transfer learning paradigm often confronts the catastrophic forgetting problem and leads to sub-optimal…

Text-based role-playing models can imitate character styles, yet they often fail to reflect a scene's atmosphere and evolving tension, both essential for immersive applications such as Virtual Reality (VR) games and interactive narratives.…

While Large Language Models (LLMs) demonstrate exceptional performance in a multitude of Natural Language Processing (NLP) tasks, they encounter challenges in practical applications, including issues with hallucinations, inadequate…

Making sense of incomplete and conflicting narrative knowledge in the presence of abnormalities, unobservable processes, and other real world considerations is a challenge and crucial requirement for cognitive robotics systems. An added…