4 papers
Path-level Hindsight Instructions for Semantic Exploration in Vision-Language Navigation
Sung June Kim, Sangpil Kim, Honglak Lee
On-policy exploration is a crucial component for training robust Vision-Language Navigation agents, as it exposes the policy to a broader state distribution. However, such explorat…
SECOND-Grasp: Semantic Contact-guided Dexterous Grasping
Han Yi Shin, Heeju Ko, Jaewon Mun +6
Achieving reliable robotic manipulation, such as dexterous grasping, requires a synergy between physically stable interactions and semantic task guidance, yet these objectives are…
Full System Architecture Modeling for Wearable Egocentric Contextual AI
Vincent T. Lee, Tanfer Alan, Sung Kim +6
The next generation of human-oriented computing will require always-on, spatially-aware wearable devices to capture egocentric vision and functional primitives (e.g., Where am I? W…
MKG-RAG: Multi-hop Multimodal Knowledge Graph-enhanced Retrieval-Augmented Generation
Hyeongcheol Park, Jiyoung Seo, Jaewon Mun +6
Retrieval-Augmented Generation (RAG) has recently been extended to multimodal settings, connecting multimodal large language models (MLLMs) with vast corpora of external knowledge…