Related papers: ARRC: Advanced Reasoning Robot Control - Knowledge…

Retrieval-Augmented Generation (RAG) has significantly enhanced LLMs by incorporating external information. However, prevailing agentic RAG approaches are constrained by a critical limitation: they treat the retrieval process as a black-box…

Agentic Retrieval-Augmented Generation (Agentic RAG) has become a widely adopted paradigm for multi-hop question answering and complex knowledge reasoning, where retrieval and reasoning are interleaved at inference time. As reasoning…

Reinforcement learning (RL) has driven breakthroughs in AI, from game-play to scientific discovery and AI alignment. However, its broader applicability remains limited by challenges such as low data efficiency and poor generalizability.…

Retrieval-Augmented Generation (RAG) has emerged as a powerful framework to overcome the knowledge limitations of Large Language Models (LLMs) by integrating external retrieval with language generation. While early RAG systems based on…

We revisit retrieval-augmented generation (RAG) by embedding retrieval control directly into generation. Instead of treating retrieval as an external intervention, we express retrieval decisions within token-level decoding, enabling…

Large language models equipped with retrieval-augmented generation (RAG) represent a burgeoning field aimed at enhancing answering capabilities by leveraging external knowledge bases. Although the application of RAG with language-only…

In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…

Retrieval-Augmented Generation (RAG) offers an effective solution to the issues faced by Large Language Models (LLMs) in hallucination generation and knowledge obsolescence by incorporating externally retrieved knowledge. However, existing…

Embodied robotic AI systems designed to manage complex daily tasks rely on a task planner to understand and decompose high-level tasks. While most research focuses on enhancing the task-understanding abilities of LLMs/VLMs through…

Combination of machine learning (for generating machine intelligence), computer vision (for better environment perception), and robotic systems (for controlled environment interaction) motivates this work toward proposing a vision-based…

Recent advancements in integrating speech information into large language models (LLMs) have significantly improved automatic speech recognition (ASR) accuracy. However, existing methods often constrained by the capabilities of the speech…

Retrieval-augmented generation (RAG) is a powerful technique that enhances downstream task execution by retrieving additional information, such as knowledge, skills, and tools from external sources. Graph, by its intrinsic "nodes connected…

Graph Retrieval-Augmented Generation (GraphRAG) has emerged as a promising paradigm that organizes external knowledge into structured graphs of entities and relations, enabling large language models (LLMs) to perform complex reasoning…

Retrieval-Augmented Generation (RAG) has emerged as a reliable external knowledge augmentation technique to mitigate hallucination issues and parameterized knowledge limitations in Large Language Models (LLMs). Existing adaptive RAG (ARAG)…

Large language models (LLMs) often suffer from hallucination, generating factually incorrect statements when handling questions beyond their knowledge and perception. Retrieval-augmented generation (RAG) addresses this by retrieving…

This paper introduces a prototype for a new approach to assistive robotics, integrating edge computing with Natural Language Processing (NLP) and computer vision to enhance the interaction between humans and robotic systems. Our proof of…

Retrieval-Augmented Generation (RAG) has greatly improved large language models (LLMs) by enabling them to generate accurate, contextually grounded responses through the integration of external information. However, conventional RAG…

Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…

Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…

Retrieval-Augmented Generation (RAG) has gained significant attention in recent years for its potential to enhance natural language understanding and generation by combining large-scale retrieval systems with generative models. RAG…