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Multimodal position encoding is essential for vision-language models, yet there has been little systematic investigation into multimodal position encoding. We conduct a comprehensive analysis of multimodal Rotary Positional Embedding (RoPE)…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
Currently, industrial sectors are transforming their business processes into e-services and component-based architectures to build flexible, robust, and scalable systems, and reduce integration-related maintenance and development costs.…
PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has been used in many tasks due to its meticulously designed…
The process of engineering and deploying applications in the edge/embedded space is massively complicated by the non-homogeneous nature of the software stack and the complexity of diagnostics & debugging. Often different languages and…
Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to…
Remote Controlled laboratories is a teaching and learning tool that increasingly becomes fundamental in the teaching and learning processes at all the levels. A study of available systems highlights a series of limitations on the used…
This work presents a heterogeneous communication library for clusters of processors and FPGAs. This library, Shoal, supports the Partitioned Global Address Space (PGAS) memory model for applications. PGAS is a shared memory model for…
We introduce ROS-X-Habitat, a software interface that bridges the AI Habitat platform for embodied learning-based agents with other robotics resources via ROS. This interface not only offers standardized communication protocols between…
The integration of large language models (LLMs) with embodied agents has improved high-level reasoning capabilities; however, a critical gap remains between semantic understanding and physical execution. While vision-language-action (VLA)…
With the rapid development of cloud and edge computing, Internet of Things (IoT) applications have been deployed in various aspects of human life. In this paper, we design and implement a holistic LoRa-based IoT system with LoRa…
With the rapid development of embodied intelligence, robotics education faces a dual challenge: high computational barriers and cumbersome environment configuration. Existing centralized cloud simulation solutions incur substantial GPU and…
Understanding linguistics and morphology of resource-scarce code-mixed texts remains a key challenge in text processing. Although word embedding comes in handy to support downstream tasks for low-resource languages, there are plenty of…
Order-preserving encryption (OPE) is a fundamental cryptographic tool for enabling efficient range queries on encrypted data in outsourced databases. Despite its importance, existing OPE schemes face critical limitations that hinder their…
Recent breakthroughs in large Language Models (LLMs) have enabled various generative tasks on a single model. Real-world services (e.g., OpenAI's ChatGPT [27]) powered by an LLM often concurrently support latency-critical requests for…
To enhance system performance of future heterogeneous wireless networks the co-design of PHY, MAC, and higher layer protocols is inevitable. In this work, we present WiSCoP - a novel embedded platform for experimentation, prototyping and…
This paper describes the Inria team's integrated robotics system used in the 1st euROBIN coopetition, during which service robots performed voice-activated household tasks in a kitchen setting. The team developed a modified TIAGo++ platform…
Service robots need to show appropriate social behaviour in order to be deployed in social environments such as healthcare, education, retail, etc. Some of the main capabilities that robots should have are navigation and conversational…
Deploying large language models (LLMs) in real-time systems remains challenging due to their substantial computational demands and privacy concerns. We propose Floe, a hybrid federated learning framework designed for latency-sensitive,…
Progress in several areas of computer science has been enabled by comfortable and efficient means of experimentation, clear interfaces, and interchangable components, for example using OpenCV for computer vision or ROS for robotics. We…