相关论文: Spatial Language Likelihood Grounding Network for …

Deep learning-based models, such as convolutional neural networks, have advanced various segments of computer vision. However, this technology is rarely applied to seismic shot gather noise localization problem. This letter presents an…

We address the problem of phrase grounding by lear ing a multi-level common semantic space shared by the textual and visual modalities. We exploit multiple levels of feature maps of a Deep Convolutional Neural Network, as well as…

Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…

Convolutional neural networks (CNNs) based approaches for semantic alignment and object landmark detection have improved their performance significantly. Current efforts for the two tasks focus on addressing the lack of massive training…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

Despite the ubiquity of large language models (LLMs) in AI research, the question of embodiment in LLMs remains underexplored, distinguishing them from embodied systems in robotics where sensory perception directly informs physical action.…

As instruction-tuned large language models (LLMs) evolve, aligning pretrained foundation models presents increasing challenges. Existing alignment strategies, which typically leverage diverse and high-quality data sources, often overlook…

Allowing humans to communicate through natural language with robots requires connections between words and percepts. The process of creating these connections is called symbol grounding and has been studied for nearly three decades.…

In recent years, studies have been actively conducted on combining large language models (LLM) and robotics; however, most have not considered end-to-end feedback in the robot-motion generation phase. The prediction of deep neural networks…

Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…

Multi-robot systems such as swarms of aerial robots are naturally suited to offer additional flexibility, resilience, and robustness in several tasks compared to a single robot by enabling cooperation among the agents. To enhance the…

Modern neural language models (LMs) are powerful tools for modeling human sentence production and comprehension, and their internal representations are remarkably well-aligned with representations of language in the human brain. But to…

Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook the misalignment between human and robot perceptions, which…

With LLMs shifting their role from statistical modeling of language to serving as general-purpose AI agents, how should LLM evaluations change? Arguably, a key ability of an AI agent is to flexibly combine, as needed, the basic skills it…

Discovering materials with desirable properties in an efficient way remains a significant problem in materials science. Many studies have tackled this problem by using different sets of information available about the materials. Among them,…

Large Language Models (LLMs) are powerful linguistic engines but remain susceptible to hallucinations: plausible-sounding outputs that are factually incorrect or unsupported. In this work, we present a mathematically grounded framework to…

Many machine learning applications require the ability to learn from and reason about noisy multi-relational data. To address this, several effective representations have been developed that provide both a language for expressing the…

In near-field extremely large-scale multiple-input multiple-output (XL-MIMO) systems, spherical wavefront propagation expands the traditional beam codebook into the joint angular-distance domain, rendering conventional beam training…

Although multimodal large language models (MLLMs) have achieved impressive performance, the multimodal instruction tuning stage often causes catastrophic forgetting of the base LLM's language ability, even in strong models like Llama3. To…

Spatial understanding is a critical capability for vision foundation models. While recent advances in large vision models or vision-language models (VLMs) have expanded recognition capabilities, most benchmarks emphasize localization…