7 papers
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou +8
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches m…
Beyond APIs: Probing the Limits of MLLMs in Physical Tool Use
Zhixin Ma, Yutong Zhou, Yongqi Li +2
Multimodal Large Language Models (MLLMs) excel at utilizing digital APIs and increasingly serve as the "brain" of embodied AI, instructing robots to interact with the physical worl…
Representation Collapse in Sequential Post-Training of Large Language Models
Yichen Liu, Mingyu Chen, Hao Wang +7
Large language models are now adapted through chains of post-training stages rather than through a single instruction-tuning pass. This paper studies whether such sequential post-t…
Agentic Explainable Artificial Intelligence (Agentic XAI) Approach To Explore Better Explanation: A Case Study in Decision Support for Rice Cultivation in Japan
Tomoaki Yamaguchi, Yutong Zhou, Masahiro Ryo +1
Explainable artificial intelligence (XAI) reveals how explanatory variables relate to a response variable, yet communicating XAI outputs to laypersons remains difficult, limiting t…
From Images to Insights: Explainable Biodiversity Monitoring with Plain Language Habitat Explanations
Yutong Zhou, Masahiro Ryo
Explaining why the species lives at a particular location is important for understanding ecological systems and conserving biodiversity. However, existing ecological workflows are…
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou +5
The generation of optimal trajectories for high-dimensional robotic systems under constraints remains computationally challenging due to the need to simultaneously satisfy dynamic…
AgriBench: A Hierarchical Agriculture Benchmark for Multimodal Large Language Models
Yutong Zhou, Masahiro Ryo
We introduce AgriBench, the first agriculture benchmark designed to evaluate MultiModal Large Language Models (MM-LLMs) for agriculture applications. To further address the agricul…