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

Safe reinforcement learning (Safe RL) seeks to maximize rewards while satisfying safety constraints, typically addressed through Lagrangian-based methods. However, existing approaches, including PID and classical Lagrangian methods, suffer…

Graph-based retrieval-augmented generation (RAG) enriches large language models (LLMs) with external knowledge for long-context understanding and multi-hop reasoning, but existing methods face a granularity dilemma: fine-grained…

Retrieval-Augmented Generation (RAG) systems often face limitations in specialized domains such as fintech, where domain-specific ontologies, dense terminology, and acronyms complicate effective retrieval and synthesis. This paper…

With increasing urban traffic complexity, Traffic Signal Control (TSC) is essential for optimizing traffic flow and improving road safety. Large Language Models (LLMs) emerge as promising approaches for TSC. However, they are prone to…

Retrieval-Augmented Generation (RAG) systems are increasingly evolving into agentic architectures where large language models autonomously coordinate multi-step reasoning, dynamic memory management, and iterative retrieval strategies.…

Large Language Models (LLMs) excel at reasoning and generation but are inherently limited by static pretraining data, resulting in factual inaccuracies and weak adaptability to new information. Retrieval-Augmented Generation (RAG) addresses…

Prediction of road users' behaviors in the context of autonomous driving has gained considerable attention by the scientific community in the last years. Most works focus on predicting behaviors based on kinematic information alone, a…

Large Language Models (LLMs) have shown promise as robotic planners but often struggle with long-horizon and complex tasks, especially in specialized environments requiring external knowledge. While hierarchical planning and…

Deep neural networks have demonstrated their capability to learn control policies for a variety of tasks. However, these neural network-based policies have been shown to be susceptible to exploitation by adversarial agents. Therefore, there…

We introduce the Abductive Rule Learner with Context-awareness (ARLC), a model that solves abstract reasoning tasks based on Learn-VRF. ARLC features a novel and more broadly applicable training objective for abductive reasoning, resulting…

Effectively retrieving, reasoning and understanding visually rich information remains a challenge for RAG methods. Traditional text-based methods cannot handle visual-related information. On the other hand, current vision-based RAG…

Retrieval-augmented generation (RAG) has emerged as a paradigm for grounding large language models in external knowledge, yet most existing RAG systems assume centralized knowledge access and ample computation. These assumptions break down…

Large Vision-Language Models (LVLMs) have recently shown great promise in advancing robotics by combining embodied reasoning with robot control. A common approach involves training on embodied reasoning tasks related to robot control using…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

This study aims to optimize the existing retrieval-augmented generation model (RAG) by introducing a graph structure to improve the performance of the model in dealing with complex knowledge reasoning tasks. The traditional RAG model has…

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as…

We present a comprehensive framework for enhancing Retrieval-Augmented Generation (RAG) systems through dynamic retrieval strategies and reinforcement fine-tuning. This approach significantly improves large language models on…

Retrieval Augmented Generation (RAG) is a technique commonly used to equip models with out of distribution knowledge. This process involves collecting, indexing, retrieving, and providing information to an LLM for generating responses.…

Retrieval-Augmented Generation (RAG) improves reliability of large language models by incorporating external knowledge, but the retrieval process can introduce bias that propagates to generated outputs. This issue is particularly…

Retrieval-Augmented Generation (RAG) systems enhance large language models (LLMs) by integrating external knowledge sources, enabling more accurate and contextually relevant responses tailored to user needs. However, existing RAG systems…