相关论文: AssemMate: Graph-Based LLM for Robotic Assembly As…

Document level Machine Translation (DocMT) approaches often struggle with effectively capturing discourse level phenomena. Existing approaches rely on heuristic rules to segment documents into discourse units, which rarely align with the…

Large Language Models (LLMs) have demonstrated great potential in robotic applications by providing essential general knowledge. Mobile robots rely on map comprehension for tasks like localization and navigation. In this paper, we explore…

Large language models (LLMs) like ChatGPT, exhibit powerful zero-shot and instruction-following capabilities, have catalyzed a revolutionary transformation across diverse fields, especially for open-ended tasks. While the idea is less…

Large language models (LLMs) show promising performance on small-scale graph reasoning tasks but fail when handling real-world graphs with complex queries. This phenomenon arises from LLMs' working memory constraints, which result in their…

Large Language Models (LLMs) have achieved impressive results in processing text data, which has sparked interest in applying these models beyond textual data, such as graphs. In the field of graph learning, there is a growing interest in…

Flexible instruction-guided 6-DoF grasping is a significant yet challenging task for real-world robotic systems. Existing methods utilize the contextual understanding capabilities of the large language models (LLMs) to establish mappings…

Handling graph data is one of the most difficult tasks. Traditional techniques, such as those based on geometry and matrix factorization, rely on assumptions about the data relations that become inadequate when handling large and complex…

Pretrained Language Models (PLMs) benefit from external knowledge stored in graph structures for various downstream tasks. However, bridging the modality gap between graph structures and text remains a significant challenge. Traditional…

Traditional methods of linking large language models (LLMs) to knowledge bases via the semantic similarity search often fall short of capturing complex relational dynamics. To address these limitations, we introduce AutoKG, a lightweight…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…

Graph Neural Networks (GNNs) have evolved to understand graph structures through recursive exchanges and aggregations among nodes. To enhance robustness, self-supervised learning (SSL) has become a vital tool for data augmentation.…

We present a mixed-methods study to explore how large language models (LLMs) can assist users in the visual exploration and analysis of knowledge graphs (KGs). We surveyed and interviewed 20 professionals from industry, government…

For centuries, researchers have sought out ways to connect disparate areas of knowledge. While early scholars (Galileo, da Vinci, etc.) were experts across fields, specialization has taken hold later. With the advent of Artificial…

Large language models (LLMs) have demonstrated their strong capabilities in various domains, and have been recently integrated for graph analysis as graph language models (GLMs). With LLMs as the predictor, some GLMs can interpret unseen…

Large Language Models (LLMs) have demonstrated promising reasoning capabilities in robotics; however, their application in multi-robot systems remains limited, particularly in handling task dependencies. This paper introduces DART-LLM, a…

As the field of Large Language Models (LLMs) evolves at an accelerated pace, the critical need to assess and monitor their performance emerges. We introduce a benchmarking framework focused on knowledge graph engineering (KGE) accompanied…

The growing trend of Large Language Models (LLM) development has attracted significant attention, with models for various applications emerging consistently. However, the combined application of Large Language Models with semantic…

The task of multi-hop link prediction within knowledge graphs (KGs) stands as a challenge in the field of knowledge graph analysis, as it requires the model to reason through and understand all intermediate connections before making a…

Despite significant technological advancements, the process of programming robots for adaptive assembly remains labor-intensive, demanding expertise in multiple domains and often resulting in task-specific, inflexible code. This work…

Autoregressive large language models (LLMs) pre-trained by next token prediction are inherently proficient in generative tasks. However, their performance on knowledge-driven tasks such as factual knowledge querying remains unsatisfactory.…