8 papers
Generative Evolutionary Design of Voxel-Based Soft Robots with Provable Optimality
Junru Song, Huan Xiao, Yang Yang +8
Voxel-based soft robots (VSRs) present a promising avenue for developing artificial organisms with lifelike intelligence. However, the vast design spaces and expensive evaluations…
RoboLDA: A Probabilistic Generative Model for Uncovering Embodied Hierarchical Structures in Voxel-based Soft Robots
Junru Song, Yang Yang, Jingdan Shi +6
Recent advances in robotics highlight hierarchical configurations of robot morphology, where multiple levels of functional substructures synergize to facilitate intelligent behavio…
Shaping the Evolutionary Dynamics of Robot Morphology via Adaptive Control Learning
Junru Song, Yang Yang, Yaqing Xu +5
Robot co-design via bi-level optimization couples within-lifetime controller learning for fitness evaluation with cross-generational morphological evolution. Prior work has establi…
CoNav-UAV: Cooperative Dual-Altitude Aerial Navigation via Stackelberg Learning
Junru Song, Wenhao Zhang, Yang Yang +7
Target-oriented vision-and-language navigation (VLN) on aerial platforms is attracting growing attention for missions such as disaster rescue, infrastructure inspection, and securi…
Delineating Knowledge Boundaries for Honest Large Vision-Language Models
Junru Song, Yimeng Hu, Yijing Chen +4
Large Vision-Language Models (VLMs) have achieved remarkable multimodal performance yet remain prone to factual hallucinations, particularly in long-tail or specialized domains. Mo…
-Reader: Dual Evolving Graphs for Multimodal Document QA
Yaxin Du, Junru Song, Yifan Zhou +8
Retrieval-augmented generation is a practical paradigm for question answering over long documents, but it remains brittle for multimodal reading where text, tables, and figures are…
Leveraging Dual Process Theory in Language Agent Framework for Real-time Simultaneous Human-AI Collaboration
Shao Zhang, Xihuai Wang, Wenhao Zhang +10
Agents built on large language models (LLMs) have excelled in turn-by-turn human-AI collaboration but struggle with simultaneous tasks requiring real-time interaction. Latency issu…
HeteroMorpheus: Universal Control Based on Morphological Heterogeneity Modeling
YiFan Hao, Yang Yang, Junru Song +4
In the field of robotic control, designing individual controllers for each robot leads to high computational costs. Universal control policies, applicable across diverse robot morp…