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

Vision Large Language Models (VLMs) combine visual understanding with natural language processing, enabling tasks like image captioning, visual question answering, and video analysis. While VLMs show impressive capabilities across domains…

The rapid advancement of large language models (LLMs) has significantly advanced the capabilities of artificial intelligence across various domains. However, their massive scale and high computational costs render them unsuitable for direct…

When existing retrieval-augmented generation (RAG) solutions are intended to be used for new knowledge domains, it is necessary to update their encoders, which are taken to be pretrained large language models (LLMs). However, fully…

Fine-tuning large language models (LLMs) with limited data poses a practical challenge in low-resource languages, specialized domains, and constrained deployment settings. While pre-trained LLMs provide strong foundations, effective…

Finite state machines (FSMs) are widely used to manage robot behavior logic, particularly in real-world applications that require a high degree of reliability and structure. However, traditional manual FSM design and modification processes…

In recent years, Large Language Models (LLMs) through Transformer structures have dominated many machine learning tasks, especially text processing. However, these models require massive amounts of data for training and induce high resource…

The integration of large language models (LLMs) with vision-language (VL) tasks has been a transformative development in the realm of artificial intelligence, highlighting the potential of LLMs as a versatile general-purpose chatbot.…

Large language models (LLMs) are a promising avenue for machine translation (MT). However, current LLM-based MT systems are brittle: their effectiveness highly depends on the choice of few-shot examples and they often require extra…

Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets covering all edge-cases, making knowledge-driven approaches,…

Adaptive collaboration is critical to a team of autonomous robots to perform complicated navigation tasks in large-scale unknown environments. An effective collaboration strategy should be determined and adapted according to each robot's…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

Existing multimodal UAV object detection methods often overlook the impact of semantic gaps between modalities, which makes it difficult to achieve accurate semantic and spatial alignments, limiting detection performance. To address this…

Leader-follower interaction is an important paradigm in human-robot interaction (HRI). Yet, assigning roles in real time remains challenging for resource-constrained mobile and assistive robots. While large language models (LLMs) have shown…

Large language models (LLMs), or foundation models (FMs), are pretrained transformers that coherently complete sentences auto-regressively. In this paper, we show that LLMs can control simplified space systems after some additional…

Autonomous tuning of particle accelerators is an active and challenging field of research with the goal of enabling novel accelerator technologies cutting-edge high-impact applications, such as physics discovery, cancer research and…

Large language models (LLMs) are revolutionizing various domains with their remarkable natural language processing (NLP) abilities. However, deploying LLMs in resource-constrained edge computing and embedded systems presents significant…

Large language models (LLMs) have shown great potential in domain-specific machine translation (MT). However, one major issue is that LLMs pre-trained on general domain corpus might not generalize well to specific domains due to the lack of…

This paper introduces an efficient strategy to transform Large Language Models (LLMs) into Multi-Modal Large Language Models (MLLMs). By conceptualizing this transformation as a domain adaptation process, i.e., transitioning from text…