Related papers: Zero-Shot Robotic Manipulation via 3D Gaussian Spl…

While language Models store a massive amount of world knowledge implicitly in their parameters, even very large models often fail to encode information about rare entities and events, while incurring huge computational costs. Recently,…

The rapid growth of 3D digital content necessitates expandable recognition systems for open-world scenarios. However, existing 3D class-incremental learning methods struggle under extreme data scarcity due to geometric misalignment and…

Domain generalization (DG) is an important problem that learns a model which generalizes to unseen test domains leveraging one or more source domains, under the assumption of shared label spaces. However, most DG methods assume access to…

Large Language Models (LLMs) and Foundation Models (FMs) have recently become prevalent for time series forecasting tasks. While fine-tuning LLMs enables domain adaptation, they often struggle to generalize across diverse and unseen…

Achieving dexterous robotic grasping with multi-fingered hands remains a significant challenge. While existing methods rely on complete 3D scans to predict grasp poses, these approaches face limitations due to the difficulty of acquiring…

There is no limit to how much a robot might explore and learn, but all of that knowledge needs to be searchable and actionable. Within language research, retrieval augmented generation (RAG) has become the workhorse of large-scale…

We need to trust robots that use often opaque AI methods. They need to explain themselves to us, and we need to trust their explanation. In this regard, explainability plays a critical role in trustworthy autonomous decision-making to…

Additive manufacturing enables the fabrication of complex designs while minimizing waste, but faces challenges related to defects and process anomalies. This study presents a novel multimodal Retrieval-Augmented Generation-based framework…

We propose VideoRFSplat, a direct text-to-3D model leveraging a video generation model to generate realistic 3D Gaussian Splatting (3DGS) for unbounded real-world scenes. To generate diverse camera poses and unbounded spatial extent of…

Radiology Report Generation (RRG) through Vision-Language Models (VLMs) promises to reduce documentation burden, improve reporting consistency, and accelerate clinical workflows. However, their clinical adoption remains limited by the lack…

Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two fundamental challenges: "where to manipulate" (contact…

Recently, generalizable human Gaussian splatting from sparse-view inputs has been actively studied for the photorealistic human rendering. Most existing methods rely on explicit geometric constraints or predefined structural representations…

Large language models (LLMs) have been effectively used for many computer vision tasks, including image classification. In this paper, we present a simple yet effective approach for zero-shot image classification using multimodal LLMs.…

We propose SelfSplat, a novel 3D Gaussian Splatting model designed to perform pose-free and 3D prior-free generalizable 3D reconstruction from unposed multi-view images. These settings are inherently ill-posed due to the lack of…

To effectively leverage user-specific data, retrieval augmented generation (RAG) is employed in multimodal large language model (MLLM) applications. However, conventional retrieval approaches often suffer from limited retrieval accuracy.…

Medical retrieval-augmented generation (RAG) systems typically operate on text chunks extracted from biomedical literature, discarding the rich visual content (tables, figures, structured layouts) of original document pages. We propose…

The ability for robots to perform efficient and zero-shot grasping of object parts is crucial for practical applications and is becoming prevalent with recent advances in Vision-Language Models (VLMs). To bridge the 2D-to-3D gap for…

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world…

Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…

Multi-modal Retrieval-Augmented Generation (MMRAG) enables highly credible generation by integrating external multi-modal knowledge, thus demonstrating impressive performance in complex multi-modal scenarios. However, existing MMRAG methods…