Navigation is a fundamental task in the research of Embodied AI, and recent advances in machine learning algorithms have garnered growing interest in developing versatile Embodied AI systems. However, current research in this domain reveals opportunities for improvement. First, the direct application of RNNs and Transformers often overlooks the distinct characteristics of navigation tasks compared to traditional sequential data modeling. These methods are inherently designed to capture long-term dependencies, which are relatively weak in navigation scenarios, potentially limiting their performance in such tasks. Second, the reliance on task-specific configurations, such as pre-trained modules and dataset-specific logic, compromises the generalizability of these methods. We address these constraints by initially exploring the unique differences between Navigation tasks and other sequential data tasks through the lens of Causality, presenting a causal framework to elucidate the inadequacies of conventional sequential methods for Navigation. By leveraging this causal perspective, we propose Causality-Aware Transformer (CAT) Networks for Navigation, featuring a Causal Understanding Module to enhance the model’s Environmental Understanding capability. Meanwhile, our method is devoid of task-specific inductive biases and can be trained in an End-to-End manner, which enhances the method’s generalizability across various contexts. Empirical evaluations demonstrate that our methodology consistently surpasses benchmark performances across a spectrum of settings, tasks, and simulation environments, specifically, in Object Navigation within RoboTHOR, Objective Navigation, Point Navigation in Habitat, and R2R Navigation. Extensive ablation studies reveal that the performance gains can be attributed to the Causal Understanding Module, which demonstrates effectiveness and efficiency in both Reinforcement Learning and Supervised Learning settings. Additionally, further analysis highlights the robustness of our method, demonstrating its capacity to consistently perform well across diverse experimental settings and varying conditions. This robustness underscores the adaptability and generalizability of our approach, reinforcing its potential for application across a wide range of tasks.

Offline evaluation of LLMs is crucial in understanding their capacities, though current methods remain underexplored in existing research. In this work, we focus on the offline evaluation of the chain-of-thought capabilities and show how to optimize LLMs based on the proposed evaluation method. To enable offline feedback with rich knowledge and reasoning paths, we use knowledge graphs (KGs) (e.g., Wikidata5M) to provide feedback on the generated chain of thoughts. Due to the heterogeneity between LLM reasoning and KG structures, direct interaction and feedback from knowledge graphs on LLM behavior are challenging, as they require accurate entity linking and grounding of LLM-generated chains of thought in the KG. To address the above challenge, we propose an offline chain-of-thought evaluation framework, OCEAN, which models chain-of-thought reasoning in LLMs as a Markov Decision Process (MDP), and evaluate the policy’s alignment with KG preference modeling. To overcome the reasoning heterogeneity and grounding problems, we leverage on-policy KG exploration and reinforcement learning to model a KG policy that generates token-level likelihood distributions for LLM-generated chain-of-thought reasoning paths, simulating KG reasoning preference. Then we incorporate the knowledge-graph feedback on the validity and alignment of the generated reasoning paths into inverse propensity scores and propose KG-IPS estimator. Theoretically, we prove the unbiasedness of the proposed KG-IPS estimator and provide a lower bound on its variance. With the off-policy evaluated value function, we can directly enable off-policy optimization to further enhance chain-of-thought alignment. Our empirical study shows that OCEAN can be efficiently optimized for generating chain-of-thought reasoning paths with higher estimated values without affecting LLMs’ general abilities in downstream tasks or their internal knowledge.

Visual Language Navigation (VLN) is a fundamental task within the field of Embodied AI, focusing on the ability of agents to navigate complex environments based on natural language instructions. Despite the progress made by existing methods, these methods often present some common challenges. First, they rely on pre-trained backbone models for visual perception, which struggle with the dynamic viewpoints in VLN scenarios. Second, the performance is limited when using pre-trained LLMs or VLMs without fine-tuning, due to the absence of VLN domain knowledge. Third, while fine-tuning LLMs and VLMs can improve results, their computational costs are higher than those without fine-tuning. To address these limitations, we propose Weakly-supervised Partial Contrastive Learning (WPCL), a method that enhances an agent’s ability to identify objects from dynamic viewpoints in VLN scenarios by effectively integrating pre-trained VLM knowledge into the perception process, without requiring VLM fine-tuning. Our method enhances the agent’s ability to interpret and respond to environmental cues while ensuring computational efficiency. Experimental results have shown that our method outperforms the baseline methods on multiple benchmarks, which validates the effectiveness, robustness, and generalizability of our method.

Prompt learning has garnered attention for its efficiency over traditional model training and fine-tuning. However, existing methods, constrained by inadequate theoretical foundations, encounter difficulties in achieving causally invariant prompts, ultimately falling short of capturing robust features that generalize effectively across categories. To address these challenges, we introduce the DiCap model, a theoretically grounded Diffusion-based Counterfactual prompt learning framework, which leverages a diffusion process to iteratively sample gradients from the marginal and conditional distributions of the causal model, guiding the generation of counterfactuals that satisfy the minimal sufficiency criterion. Grounded in rigorous theoretical derivations, this approach guarantees the identifiability of counterfactual outcomes while imposing strict bounds on estimation errors. We further employ a contrastive learning framework that leverages the generated counterfactuals, thereby enabling the refined extraction of prompts that are precisely aligned with the causal features of the data. Extensive experimental results demonstrate that our method performs excellently across tasks such as image classification, image-text retrieval, and visual question answering, with particularly strong advantages in unseen categories.

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding entities, a complexity not as pronounced in lower-speed environments. Prior methods have assessed the spatiotemporal dynamics of agents but often neglected intrinsic intent and uncertainty, thereby limiting their effectiveness. We present the Denoised Endpoint Distribution model for trajectory prediction, which distinctively models agents’ spatio-temporal features alongside their intrinsic intentions and un-certainties. By employing Diffusion and Transformer models to focus on agent endpoints rather than entire trajectories, our approach significantly reduces model complexity and enhances performance through endpoint information. Our experiments on open datasets, coupled with comparison and ablation studies, demonstrate our model’s efficacy and the importance of its components. This approach advances trajectory prediction in high-speed scenarios and lays groundwork for future developments.