Papers by Marius Memmel
Making VLMs More Robot-Friendly: Self-Critical Distillation of Low-Level Procedural Reasoning (2025.emnlp-main)
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Chan Young Park, Jillian Fisher, Marius Memmel, Dipika Khullar, Seoho Yun, Abhishek Gupta, Yejin Choi
| Challenge: | Large language models (LLMs) are human-centric, but omit low-level, spatially grounded details needed for robotic execution. |
| Approach: | They propose a lightweight framework for vision-language procedural planning that enables iteratively critique, revise and verify their own plans without external supervision or teacher models. |
| Outcome: | a new framework outperforms weaker models 100X the size in vision-language procedural planning . the framework generates higher-quality, execution-ready plans that can be used at inference and fine-tuning . |