相关论文: FASTNav: Fine-tuned Adaptive Small-language-models…

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths…

Efficient path planning in robotics, particularly within large-scale, complex environments, remains a significant hurdle. While Large Language Models (LLMs) offer strong reasoning capabilities, their high computational cost and limited…

For robots navigating in human-populated environments, safety and social compliance are equally critical, yet prior work has mostly emphasized safety. Socially compliant navigation that accounts for human comfort, social norms, and…

Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer…

The rapid expansion of Large Language Models (LLMs) has posed significant challenges regarding the computational resources required for fine-tuning and deployment. Recent advancements in low-rank adapters have demonstrated their efficacy in…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

This paper investigates how Large Language Models (LLMs) represent non-English tokens -- a question that remains underexplored despite recent progress. We propose a lightweight intervention method using representation steering, where a…

Since the release of GPT2-1.5B in 2019, the large language models (LLMs) have evolved from specialized deep models to versatile foundation models. While demonstrating remarkable zero-shot ability, the LLMs still require fine-tuning on local…

Large Language Models (LLMs), with billions of parameters, present significant challenges for full finetuning due to the high computational demands, memory requirements, and impracticality of many real-world applications. When faced with…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

Federated fine-tuning offers a promising approach for tuning Large Language Models (LLMs) on edge devices while preserving data privacy. However, fine-tuning these models on edge devices remains challenging due to high memory,…

Large language models (LLMs) have recently been adapted to tabular prediction by serializing structured features into natural language, but their performance in low-data regimes remains limited compared to gradient-boosted decision trees…

Robot navigation is a crucial task with applications to social robots in dynamic human environments. While Reinforcement Learning (RL) has shown great promise for this problem, the policy quality is highly sensitive to the specification of…

Building intelligent autonomous systems at any scale is challenging. The sensing and computation constraints of a microrobot platform make the problems harder. We present improvements to learning-based methods for on-board learning of…

Using Large Language Models (LLMs) in real-world applications presents significant challenges, particularly in balancing computational efficiency with model performance. Optimizing acceleration after fine-tuning and during inference is…

Deep learning architectures with powerful reasoning capabilities have driven significant advancements in autonomous driving technology. Large language models (LLMs) applied in this field can describe driving scenes and behaviors with a…

This paper presents a study on strategies to enhance the translation capabilities of large language models (LLMs) in the context of machine translation (MT) tasks. The paper proposes a novel paradigm consisting of three stages: Secondary…

Language models (LMs) are increasingly applied to robotic navigation; however, existing benchmarks primarily emphasize navigation success rates while paying limited attention to social compliance. Moreover, relying on large-scale LMs can…

With the rapid development of natural language processing technology, large-scale language models (LLM) have achieved remarkable results in a variety of tasks. However, how to effectively train these huge models and improve their…

Huge pretrained language models (LMs) have demonstrated surprisingly good zero-shot capabilities on a wide variety of tasks. This gives rise to the appealing vision of a single, versatile model with a wide range of functionalities across…