相关论文: Language-Based Swarm Perception: Decentralized Per…

Large Vision Language Models (LVLMs) such as LLaVA have demonstrated impressive capabilities as general-purpose chatbots that can engage in conversations about a provided input image. However, their responses are influenced by societal…

Large language models (LLMs) are recognized as systems that closely mimic aspects of human intelligence. This capability has attracted attention from the social science community, who see the potential in leveraging LLMs to replace human…

In recent times, the standard practice for developing MLLMs is to feed features from vision encoder(s) into the LLM and train with natural language supervision. This approach often causes models to lean towards language comprehension and…

Large language models (LLMs) exhibit human-like intelligence, enabling them to simulate human behavior and support various applications that require both humanized communication and extensive knowledge reserves. Efforts are made to…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…

The human ability to learn, generalize, and control complex manipulation tasks through multi-modality feedback suggests a unique capability, which we refer to as dexterity intelligence. Understanding and assessing this intelligence is a…

The interpretation of multi-temporal remote sensing imagery is critical for monitoring Earth's dynamic processes-yet previous change detection methods, which produce binary or semantic masks, fall short of providing human-readable insights…

Pretrained language models (PLMs) form the basis of most state-of-the-art NLP technologies. Nevertheless, they are essentially black boxes: Humans do not have a clear understanding of what knowledge is encoded in different parts of the…

Collective perception is a foundational problem in swarm robotics, in which the swarm must reach consensus on a coherent representation of the environment. An important variant of collective perception casts it as a best-of-$n$…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

In many practical natural language applications, user data are highly sensitive, requiring anonymous uploads of text data from mobile devices to the cloud without user identifiers. However, the absence of user identifiers restricts the…

Semantic communication has emerged as a promising paradigm for next-generation wireless systems, improving the communication efficiency by transmitting high-level semantic features. However, reliance on unimodal representations can degrade…

Word representation is a fundamental component in neural language understanding models. Recently, pre-trained language models (PrLMs) offer a new performant method of contextualized word representations by leveraging the sequence-level…

Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…

Socially competent robots should be equipped with the ability to perceive the world that surrounds them and communicate about it in a human-like manner. Representative skills that exhibit such ability include generating image descriptions…

Person re-identification aims to maintain the identity of an individual in diverse locations through different non-overlapping camera views. The problem is fundamentally challenging due to appearance variations resulting from differing…

Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…