相关论文: GAgent: An Adaptive Rigid-Soft Gripping Agent with…

Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Autonomous agent frameworks still struggle to reconcile long-term experiential learning with real-time, context-sensitive decision-making. In practice, this gap appears as static cognition, rigid workflow dependence, and inefficient context…

Vision-language models (VLMs) have demonstrated remarkable open-vocabulary object recognition capabilities, motivating their adaptation for dense prediction tasks like segmentation. However, directly applying VLMs to such tasks remains…

Autoregressive (AR) vision-language models (VLMs) have long dominated multimodal understanding, reasoning, and graphical user interface (GUI) grounding. Recently, discrete diffusion vision-language models (DVLMs) have shown strong…

LLM-based coding agents are increasingly common but still face challenges in context management, latency, reliability, reproducibility, and scalability. We present Agint, an agentic graph compiler, interpreter, and runtime that…

This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial…

This paper presents a novel approach to multi-robot collision avoidance that integrates global path planning with local navigation strategies, utilizing attentive graph neural networks to manage dynamic interactions among agents. We…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

Lossless compression has made significant advancements in Genomics Data (GD) storage, sharing and management. Current learning-based methods are non-evolvable with problems of low-level compression modeling, limited adaptability, and…

Web-based participatory urban sensing has emerged as a vital approach for modern urban management by leveraging mobile individuals as distributed sensors. However, existing urban sensing systems struggle with limited generalization across…

Prompt engineering has emerged as a powerful technique for guiding large language models (LLMs) toward desired responses, significantly enhancing their performance across diverse tasks. Beyond their role as static predictors, LLMs…

Grasping objects across vastly different sizes and physical states-including both solids and liquids-with a single robotic gripper remains a fundamental challenge in soft robotics. We present the Everything-Grasping (EG) Gripper, a soft…

In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…

Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…

Retrieval-Augmented Generation (RAG) helps LLMs stay accurate, but feeding long documents into a prompt makes the model slow and expensive. This has motivated context compression, ranging from token pruning and summarization to…

3D Visual Grounding (3D-VG) aims to localize objects in 3D scenes via natural language descriptions. While recent advancements leveraging Vision-Language Models (VLMs) have explored zero-shot possibilities, they typically suffer from a…

Multimodal large language models (MLLMs) have shown remarkable potential as human-like autonomous language agents to interact with real-world environments, especially for graphical user interface (GUI) automation. However, those GUI agents…

There is a growing interest in applying large language models (LLMs) in robotic tasks, due to their remarkable reasoning ability and extensive knowledge learned from vast training corpora. Grounding LLMs in the physical world remains an…

Trained with an unprecedented scale of data, large language models (LLMs) like ChatGPT and GPT-4 exhibit the emergence of significant reasoning abilities from model scaling. Such a trend underscored the potential of training LLMs with…