相关论文: A Prompt-driven Task Planning Method for Multi-dro…

Autoregressive Large Language Models have transformed the landscape of Natural Language Processing. Pre-train and prompt paradigm has replaced the conventional approach of pre-training and fine-tuning for many downstream NLP tasks. This…

The emergence of large language models (LLMs) opens new frontiers for unmanned aerial vehicle (UAVs), yet existing systems remain confined to predefined tasks due to hardware-software co-design challenges. This paper presents the first…

Recent innovations in autonomous drones have facilitated time-optimal flight in single-drone configurations, and enhanced maneuverability in multi-drone systems by applying optimal control and learning-based methods. However, few studies…

The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…

Large Language models (LLMs) have emerged as powerful tools for addressing challenges across diverse domains. Notably, recent studies have demonstrated that large language models significantly enhance the efficiency of biomolecular analysis…

This paper presents a system for the execution of autonomous cinematography missions with a team of drones. The system allows media directors to design missions involving different types of shots with one or multiple cameras, running…

Flight trajectory prediction is a critical time series task in aviation. While deep learning methods have shown significant promise, the application of large language models (LLMs) to this domain remains underexplored. This study pioneers…

Prompting has become a practical method for utilizing pre-trained language models (LMs). This approach offers several advantages. It allows an LM to adapt to new tasks with minimal training and parameter updates, thus achieving efficiency…

Recent research has made impressive progress in large-scale multimodal pre-training. In the context of the rapid growth of model size, it is necessary to seek efficient and flexible methods other than finetuning. In this paper, we propose…

Prompt-Tuning is a new paradigm for finetuning pre-trained language models in a parameter-efficient way. Here, we explore the use of HyperNetworks to generate hyper-prompts: we propose HyperPrompt, a novel architecture for prompt-based…

Drones are currently seen as a viable way for improving the distribution of parcels in urban and rural environments, while working in coordination with traditional vehicles like trucks. In this paper we consider the parallel drone…

Prompt Tuning, conditioning on task-specific learned prompt vectors, has emerged as a data-efficient and parameter-efficient method for adapting large pretrained vision-language models to multiple downstream tasks. However, existing…

We propose a novel approach to enhancing the performance and efficiency of large language models (LLMs) by combining domain prompt routing with domain-specialized models. We introduce a system that utilizes a BERT-based router to direct…

Prompt tuning has emerged as a key technique for adapting large pre-trained Decision Transformers (DTs) in offline Reinforcement Learning (RL), particularly in multi-task and few-shot settings. The Prompting Decision Transformer (PDT)…

The application of the Large Language Model (LLM) to robot action planning has been actively studied. The instructions given to the LLM by natural language may include ambiguity and lack of information depending on the task context. It is…

Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack the guarantee on correctness and…

Advancements in large language models (LLMs) have led to a surge of prompt engineering (PE) techniques that can enhance various requirements engineering (RE) tasks. However, current LLMs are often characterized by significant uncertainty…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

Multimodal large language models (MLLMs) equip pre-trained large-language models (LLMs) with visual capabilities. While textual prompting in LLMs has been widely studied, visual prompting has emerged for more fine-grained and free-form…

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…