5 papers
LSTMem: Hierarchical Long Short-Term Online Memory for Large Language Models
Xianglong Shi, Ruijie Yang, Sirui Zhao +4
Large language models increasingly serve as long-horizon assistants and agents, where they must both accumulate information across interactions and make the relevant parts availabl…
Factor-Aware Mixture-of-Experts with Pretrained Encoder for Combinatorial Generalization
Feihong Zhang, Guojian Zhan, Zeyu He +8
The integration of pretrained encoders with diffusion policies has become a dominant paradigm for visual robotic manipulation. However, it still struggles to generalize across comp…
Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics
James Yen, Zhibai Huang, Zhixiang Wei +5
Consumer robotics demands consolidation of safety-critical control, perception pipelines, and user applications on shared multicore platforms. While static partitioning hypervisors…
ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation
Qiuyi Gu, Yuze Sheng, Jincheng Yu +7
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection,…
MR-COGraphs: Communication-efficient Multi-Robot Open-vocabulary Mapping System via 3D Scene Graphs
Qiuyi Gu, Zhaocheng Ye, Jincheng Yu +7
Collaborative perception in unknown environments is crucial for multi-robot systems. With the emergence of foundation models, robots can now not only perceive geometric information…