相关论文: Coarse Semantic Injection for LLM-Conditioned Stru…

Modern LLMs employ safety mechanisms that extend beyond surface-level input filtering to latent semantic representations and generation-time reasoning, enabling them to recover obfuscated malicious intent during inference and refuse…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…

3D dense captioning, as an emerging vision-language task, aims to identify and locate each object from a set of point clouds and generate a distinctive natural language sentence for describing each located object. However, the existing…

Open-world promptable 3D semantic segmentation remains brittle as semantics are inferred in the input sensor coordinates. Yet, humans, in contrast, interpret parts via functional roles in a canonical space -- wings extend laterally, handles…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

The recent prevalence of pretrained language models (PLMs) has dramatically shifted the paradigm of semantic parsing, where the mapping from natural language utterances to structured logical forms is now formulated as a Seq2Seq task.…

Sentence embeddings are central to modern NLP and AI systems, yet little is known about their internal structure. While we can compare these embeddings using measures such as cosine similarity, the contributing features are not…

Visual-spatial understanding, the ability to infer object relationships and layouts from visual input, is fundamental to downstream tasks such as robotic navigation and embodied interaction. However, existing methods face spatial…

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale…

Vision-Language Models (VLMs) leverage aligned visual encoders to transform images into visual tokens, allowing them to be processed similarly to text by the backbone large language model (LLM). This unified input paradigm enables VLMs to…

Large language models (LLMs) exhibit emergent behaviors suggestive of human-like reasoning. While recent work has identified structured conceptual representations within these models, it remains unclear whether they functionally rely on…

Auto-bidding is a crucial task in real-time advertising markets, where policies must optimize long-horizon value under delivery constraints (e.g., budget and CPA). Existing methods for auto-bidding rely on compact numerical state…

Utilizing functional elements in an industrial environment, such as displays and interactive valves, provide effective possibilities for robot training. When preparing simulations for robots or applications that involve high-level scene…

Generating realistic 3D point clouds is a fundamental problem in computer vision with applications in remote sensing, robotics, and digital object modeling. Existing generative approaches primarily capture geometry, and when semantics are…

Large language models deliver strong generative performance but at the cost of massive parameter counts, memory use, and decoding latency. Prior work has shown that pruning and structured sparsity can preserve accuracy under substantial…

Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and…

The visual projector serves as an essential bridge between the visual encoder and the Large Language Model (LLM) in a Multimodal LLM (MLLM). Typically, MLLMs adopt a simple MLP to preserve all visual contexts via one-to-one transformation.…