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Multimodal large language models (MLLMs) have heterogeneous strengths across OCR, chart understanding, spatial reasoning, visual question answering, cost, and latency. Effective MLLM routing therefore requires more than estimating query…

Large language models (LLMs) have proven their remarkable versatility in handling a comprehensive range of language-centric applications. To expand LLMs' capabilities to a broader spectrum of modal inputs, multimodal large language models…

In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…

Fine-tuning of Large Language Models (LLMs) for downstream tasks, performed on domain-specific data has shown significant promise. However, commercial use of such LLMs is limited by the high computational cost required for their deployment…

Large Language Models (LLMs), such as ChatGPT, have demonstrated the capability to generate human like, natural responses across a range of tasks, including task oriented dialogue and question answering. However, their application in real…

As retrieval-augmented generation prevails in large language models, embedding models are becoming increasingly crucial. Despite the growing number of general embedding models, prior work often overlooks the critical role of training data…

Large language models (LLMs) have been widely adopted due to their remarkable performance across various applications, driving the accelerated development of a large number of diverse models. However, these individual LLMs show limitations…

Large language models (LLMs) deliver impressive results but face challenges from increasing model sizes and computational costs. Structured pruning reduces model size and speeds up inference but often causes uneven degradation across…

With the rapid advancement of multimodal information retrieval, increasingly complex retrieval tasks have emerged. Existing methods predominately rely on task-specific fine-tuning of vision-language models, often those trained with…

Large language models (LLMs) have recently achieved significant success across various application domains, garnering substantial attention from different communities. Unfortunately, even for the best LLM, many \textit{faults} still exist…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Foundation models rely on in-context learning for personalized decision making. The limited size of this context window necessitates memory compression and retrieval systems like RAG. These systems however often treat memory as large…

Multimodal Large Language Models (MLLMs) have demonstrated significant success in visual understanding tasks. However, challenges persist in adapting these models for video comprehension due to the large volume of data and temporal…

We present a novel non attention based architecture for large language models (LLMs) that efficiently handles very long context windows, on the order of hundreds of thousands to potentially millions of tokens. Unlike traditional Transformer…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Large multimodal language models (MLLMs) such as GPT-4V and GPT-4o have achieved remarkable advancements in understanding and generating multimodal content, showcasing superior quality and capabilities across diverse tasks. However, their…

Simultaneous machine translation (SimulMT) presents a challenging trade-off between translation quality and latency. Recent studies have shown that LLMs can achieve good performance in SimulMT tasks. However, this often comes at the expense…

This paper focuses on extending the success of large language models (LLMs) to sequential decision making. Existing efforts either (i) re-train or finetune LLMs for decision making, or (ii) design prompts for pretrained LLMs. The former…

Large Language Models (LLMs) have a natural role in answering complex queries about data streams, but the high computational cost of LLM inference makes them infeasible in many such tasks. We propose online cascade learning, the first…

Multimodal language analysis is a rapidly evolving field that leverages multiple modalities to enhance the understanding of high-level semantics underlying human conversational utterances. Despite its significance, little research has…