相关论文: Spatial Language Likelihood Grounding Network for …

This paper explores the spatial reasoning capability of large language models (LLMs) over textual input through a suite of five tasks aimed at probing their spatial understanding and computational abilities. The models were tested on both…

This paper demonstrates that progressive localization, the gradual increase of attention locality from early distributed layers to late localized layers, represents the optimal architecture for creating interpretable large language models…

Integrating Pre-trained Language Models (PLMs) with Graph Neural Networks (GNNs) remains a central challenge in text-rich heterophilic graph learning. We propose a novel integration framework that enables effective fusion between powerful…

Multi-modal large language models (MLLMs) have rapidly advanced in visual tasks, yet their spatial understanding remains limited to single images, leaving them ill-suited for physical-world applications that require multi-frame reasoning.…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Vision Language Models (VLMs) have demonstrated remarkable performance in 2D vision and language tasks. However, their ability to reason about spatial arrangements remains limited. In this work, we introduce Spatial Region GPT (SpatialRGPT)…

Large Language Models (LLMs) have emerged as dominant foundational models in modern NLP. However, the understanding of their prediction processes and internal mechanisms, such as feed-forward networks (FFN) and multi-head self-attention…

Recent advances in multimodal large language models (MLLMs) have yielded increasingly powerful models, yet their perceptual capacities remain poorly characterized. In practice, most model families scale language component while reusing…

Mobile ground robots require perceiving and understanding their surrounding support surface to move around autonomously and safely. The support surface is commonly estimated based on exteroceptive depth measurements, e.g., from LiDARs.…

We introduce Graph-Structured Sum-Product Networks (GraphSPNs), a probabilistic approach to structured prediction for problems where dependencies between latent variables are expressed in terms of arbitrary, dynamic graphs. While many…

Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…

In many applications of LLMs, natural language responses often have an underlying structure such as representing discrete labels, numerical values, or graphs. Yet, existing decoding and uncertainty estimation methods operate only in…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Villages areas hold significant importance in the study of human-land relationships. However, with the advancement of urbanization, the gradual disappearance of spatial characteristics and the homogenization of landscapes have emerged as…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…

Simultaneous localization and mapping (SLAM) is a critical technology that enables autonomous robots to be aware of their surrounding environment. With the development of deep learning, SLAM systems can achieve a higher level of perception…

Spatial reasoning, which requires ability to perceive and manipulate spatial relationships in the 3D world, is a fundamental aspect of human intelligence, yet remains a persistent challenge for Multimodal large language models (MLLMs).…

Visual surveillance aims to perform robust foreground object detection regardless of the time and place. Object detection shows good results using only spatial information, but foreground object detection in visual surveillance requires…

Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…