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

In this paper, we propose Knowledge Base augmented Language Model (KBLaM), a new method for augmenting Large Language Models (LLMs) with external knowledge. KBLaM works with a knowledge base (KB) constructed from a corpus of documents,…

In a real-world setting, visual recognition systems can be brought to make predictions for images belonging to previously unknown class labels. In order to make semantically meaningful predictions for such inputs, we propose a two-step…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks, the robot's memory must represent past events at 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 suffer from knowledge staleness and lack of interpretability due to implicit knowledge storage across entangled network parameters, preventing targeted updates and reasoning transparency. We propose ExplicitLM, a novel…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios like autonomous driving, noncontrollable dynamics that are independent or sparsely dependent on action signals often exist,…

To interact effectively with humans in the real world, it is important for agents to understand language that describes the dynamics of the environment--that is, how the environment behaves--rather than just task instructions specifying…

Long-horizon precision manipulation in laboratory automation, such as pipette tip attachment and liquid transfer, requires policies that respect strict procedural logic while operating in continuous, high-dimensional state spaces. However,…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and natural language goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle with the…

Answering open-domain questions requires world knowledge about in-context entities. As pre-trained Language Models (LMs) lack the power to store all required knowledge, external knowledge sources, such as knowledge graphs, are often used to…

In this work, we investigate how implicit neural feed back can accelerate reinforcement learning in complex robotic manipulation settings. While prior electroencephalogram (EEG) guided reinforcement learning studies have primarily focused…

Temporal knowledge graphs (TKGs) model the temporal evolution of events and have recently attracted increasing attention. Since TKGs are intrinsically incomplete, it is necessary to reason out missing elements. Although existing TKG…

Large language models (LLMs) encode knowledge in parametric weights, making it costly to update or extend without retraining. Retrieval-augmented generation (RAG) mitigates this limitation by appending retrieved text to the input, but…

Embodied AI focuses on the study and development of intelligent systems that possess a physical or virtual embodiment (i.e. robots) and are able to dynamically interact with their environment. Memory and control are the two essential parts…

Recent studies introduce conditional memory modules that decouple knowledge storage from neural computation, enabling more direct knowledge access. Compared to MoE, which relies on dynamic computation paths, explicit lookup provides a more…

Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…

Continual learning in computer vision faces the critical challenge of catastrophic forgetting, where models struggle to retain prior knowledge while adapting to new tasks. Although recent studies have attempted to leverage the…