相关论文: Are Transformers Truly Foundational for Robotics?

In this paper, we study trade-offs between efficiency, cost and accuracy when pre-training Transformer encoders with different pre-training objectives. For this purpose, we analyze features of common objectives and combine them to create…

Self-adaptive parameters are increasingly used in the field of Evolutionary Robotics, as they allow key evolutionary rates to vary autonomously in a context-sensitive manner throughout the optimisation process. A significant limitation to…

Large-scale transformer models have shown remarkable performance in language modelling tasks. However, such models feature billions of parameters, leading to difficulties in their deployment and prohibitive training costs from scratch. To…

In a rapidly evolving digital landscape autonomous tools and robots are becoming commonplace. Recognizing the significance of this development, this paper explores the integration of Large Language Models (LLMs) like Generative pre-trained…

The main goal of this project is to create a new software artefact: a custom Generative Pre-trained Transformer (GPT) for developers to discuss and solve ethical issues through AI engineering. This conversational agent will provide…

Evolutionary robotics has aimed to optimize robot control and morphology to produce better and more robust robots. Most previous research only addresses optimization of control, and does this only in simulation. We have developed a…

This paper presents an empirical evaluation of the performance of the Generative Pre-trained Transformer (GPT) model in Harvard's CS171 data visualization course. While previous studies have focused on GPT's ability to generate code for…

As transformer-based language models are trained on increasingly large datasets and with vast numbers of parameters, finding more efficient alternatives to the standard Transformer has become very valuable. While many efficient Transformers…

Generative Pre-trained Transformer 4 (GPT-4) is the fourth-generation language model in the GPT series, developed by OpenAI, which promises significant advancements in the field of natural language processing (NLP). In this research…

We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…

Generative LLMs, such as GPT, have the potential to revolutionize Requirements Engineering (RE) by automating tasks in new ways. This column explores the novelties and introduces the importance of precise prompts for effective interactions.…

Transformers have been designed for channel acquisition tasks such as channel prediction and other tasks such as precoding, while graph neural networks (GNNs) have been demonstrated to be efficient for learning a multitude of communication…

Transformers are the current state-of-the-art of natural language processing in many domains and are using traction within software engineering research as well. Such models are pre-trained on large amounts of data, usually from the general…

Training state-of-the-art neural networks requires a high cost in terms of compute and time. Model scale is recognized to be a critical factor to achieve and improve the state-of-the-art. Increasing the scale of a neural network normally…

Large language models exhibit sophisticated capabilities, yet understanding how they work internally remains a central challenge. A fundamental obstacle is that training selects for behavior, not circuitry, so many weight configurations can…

Graph Transformers (GTs) have demonstrated a strong capability in modeling graph structures by addressing the intrinsic limitations of graph neural networks (GNNs), such as over-smoothing and over-squashing. Recent studies have proposed…

There is incremental growth in adopting self-reconfigurable robots in automating manufacturing conventional product lines. Using this class of robots adapting themselves with ever-changing environmental conditions has been acclaimed as a…

Transformers have become one of the most important architectural innovations in deep learning and have enabled many breakthroughs over the past few years. Here we propose a simple network architecture, gMLP, based on MLPs with gating, and…

Transformers have revolutionized machine learning, yet their inner workings remain opaque to many. We present Transformer Explainer, an interactive visualization tool designed for non-experts to learn about Transformers through the GPT-2…

The use of deep learning for database optimization has gained significant traction, offering improvements in indexing, cardinality estimation, and query optimization. However, acquiring high-quality training data remains a significant…