7 papers
MC-PDD: Masked Corpus-Level Pretraining Data Detection for Black-Box Large Language Models
Kaixin Lan, Mu You, Tao Fang +3
Pretraining is fundamental to the development of Large Language Models (LLMs), yet the opacity of pretraining data complicates model analysis and raises ethical, legal, and fairnes…
TCM-DiffRAG: Personalized Syndrome Differentiation Reasoning Method for Traditional Chinese Medicine based on Knowledge Graph and Chain of Thought
Jianmin Li, Ying Chang, Su-Kit Tang +4
Background: Retrieval augmented generation (RAG) technology can empower large language models (LLMs) to generate more accurate, professional, and timely responses without fine tuni…
Spiking Neural-Invariant Kalman Fusion for Accurate Localization Using Low-Cost IMUs
Yaohua Liu, Qiao Xu, Binkai Ou
Low-cost inertial measurement units (IMUs) are widely utilized in mobile robot localization due to their affordability and ease of integration. However, their complex, nonlinear, a…
A brain-inspired information fusion method for enhancing robot GPS outages navigation
Yaohua Liu, Hengjun Zhang, Binkai Ou
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system…
CoFreeVLA: Short-Horizon Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation
Yaohua Liu, Binkai Ou, Hengjun Zhang
Vision Language Action (VLA) models enable instruction-following manipulation, yet their deployment on coordinated dual-arm platforms remains severely constrained by under-modeled…
Fine-Grained Instruction-Guided Graph Reasoning for Vision-and-Language Navigation
Yaohua Liu, Binkai Ou, Rong Fu +2
Vision and Language Navigation (VLN) requires an embodied agent to traverse complex environments by following natural language instructions, demanding accurate alignment between vi…
A Prompt-driven Task Planning Method for Multi-drones based on Large Language Model
Yaohua Liu
With the rapid development of drone technology, the application of multi-drones is becoming increasingly widespread in various fields. However, the task planning technology for mul…