Related papers: VICToRy: Visual Interactive Consistency Management…
Vision-Language Models (VLMs) have emerged as versatile solutions for zero-shot question answering (QA) across various domains. However, enabling VLMs to effectively comprehend structured graphs and perform accurate, efficient QA remains…
Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding error issues but also require human experts to provide…
Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstacle detection and tracking problems. For the detection task,…
Dynamic graph-level embedding aims to capture structural evolution in networks, which is essential for modeling real-world scenarios. However, existing methods face two critical yet under-explored issues: Structural Visit Bias, where random…
Procedural planning aims to predict a sequence of actions that transforms an initial visual state into a desired goal, a fundamental ability for intelligent agents operating in complex environments. Existing approaches typically rely on…
Modeling is a central and demanding activity in software engineering that requires skills such as abstraction, consistency maintenance, and precise communication. These skills are difficult to master and even harder to teach effectively.…
Fine-Tuning Diffusion Models enable a wide range of personalized generation and editing applications on diverse visual modalities. While Low-Rank Adaptation (LoRA) accelerates the fine-tuning process, it still requires multiple reference…
Developing complex software requires that multiple views and versions of the software can be developed in parallel and merged as supported by views and managed by version control systems. In this context, this paper considers monitoring…
One common belief is that with complex models and pre-training on large-scale datasets, transformer-based methods for referring expression comprehension (REC) perform much better than existing graph-based methods. We observe that since most…
Robust adaptive control methods are essential for maintaining quadcopter performance under external disturbances and model uncertainties. However, fragmented evaluations across tasks, simulators, and implementations hinder systematic…
We introduce Nocturne, a new 2D driving simulator for investigating multi-agent coordination under partial observability. The focus of Nocturne is to enable research into inference and theory of mind in real-world multi-agent settings…
Recent advances in Large Language Model (LLM)-based agents have shown remarkable progress in code generation. However, current agent methods mainly rely on text-output-based feedback (e.g. command-line outputs) for multi-round debugging and…
In this paper we propose a novel methodology that allows to design, in a purely data-based fashion and for linear single-input and single-output systems, both robustly stable and performing control systems for tracking piecewise constant…
Consistency models have been proposed for fast generative modeling, achieving results competitive with diffusion and flow models. However, these methods exhibit inherent instability and limited reproducibility when training from scratch,…
As human-robot collaboration advances, natural and flexible communication methods are essential for effective robot control. Traditional methods relying on a single modality or rigid rules struggle with noisy or misaligned data as well as…
Diffusion models (DMs) excel in unconditional generation, as well as on applications such as image editing and restoration. The success of DMs lies in the iterative nature of diffusion: diffusion breaks down the complex process of mapping…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…