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

When video reasoning requires external knowledge, many systems with large multimodal models (LMMs) adopt retrieval augmentation to supply the missing context. Appending textual or multi-clip evidence, however, forces heterogeneous signals…

The remarkable progress of Multimodal Large Language Models (MLLMs) has attracted increasing attention to extend them to physical entities like legged robot. This typically requires MLLMs to not only grasp multimodal understanding…

Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully. Despite the success of large language models and vision language models based…

Machine unlearning in Vision-Language Models (VLMs) is typically performed at the image or instance level, making it difficult to precisely remove target knowledge without affecting unrelated semantics. This issue is especially pronounced…

Large language models (LLMs) have emerged as effective action policies for sequential decision-making (SDM) tasks due to their extensive prior knowledge. However, this broad yet general knowledge is often insufficient for specific…

Dealing with previously unseen slots is a challenging problem in a real-world multi-domain dialogue state tracking task. Other approaches rely on predefined mappings to generate candidate slot keys, as well as their associated values. This,…

With the rapid development of the new energy vehicle industry, the efficient disassembly and recycling of power batteries have become a critical challenge for the circular economy. In current unstructured disassembly scenarios, the dynamic…

Generating realistic and diverse trajectories is a critical challenge in autonomous driving simulation. While Large Language Models (LLMs) show promise, existing methods often rely on structured data like vectorized maps, which fail to…

As the use of interactive machines grow, the task of Emotion Recognition in Conversation (ERC) became more important. If the machine-generated sentences reflect emotion, more human-like sympathetic conversations are possible. Since emotion…

Vision-language-action (VLA) models are emerging as embodied foundation models for robotic manipulation, but their deployment introduces a new unlearning challenge: removing unsafe, spurious, or privacy-sensitive behaviors without degrading…

Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…

Training recurrent neural networks to model long term dependencies is difficult. Hence, we propose to use external linguistic knowledge as an explicit signal to inform the model which memories it should utilize. Specifically, external…

Current Large Language Models (LLMs) exhibit a critical modal disconnect: they possess vast semantic knowledge but lack the procedural grounding to respect the immutable laws of the physical world. Consequently, while these agents…

Word embedding is designed to represent the semantic meaning of a word with low dimensional vectors. The state-of-the-art methods of learning word embeddings (word2vec and GloVe) only use the word co-occurrence information. The learned…

Standard Chain-of-Thought (CoT) prompting empowers Large Language Models (LLMs) with reasoning capabilities, yet its reliance on linear natural language is inherently insufficient for effective world modeling in embodied tasks. While text…

The Multi-modal Large Language Models (MLLMs) with extensive world knowledge have revitalized autonomous driving, particularly in reasoning tasks within perceivable regions. However, when faced with perception-limited areas (dynamic or…

Knowledge-enhanced text generation aims to enhance the quality of generated text by utilizing internal or external knowledge sources. While language models have demonstrated impressive capabilities in generating coherent and fluent text,…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

Effective memory management is essential for large language model agents to navigate long-horizon tasks. Recent research has explored using Reinforcement Learning to develop specialized memory manager agents. However, existing approaches…

The ability to navigate and interact with complex environments is central to real-world embodied agents, yet navigation in unseen environments remains challenging due to "experiential amnesia," where existing trajectory-driven or reactive…