21 accepted papers
Denoising diffusion models have achieved state-of-the-art performance in image restoration by modeling the process as sequential denoising steps. However, most approaches assume independent and identically distributed (i.i.d.) Gaussian noise, while real-world sensors often exhibit spatially correlat
Cooperative perception enables autonomous agents to share encoded representations over wireless communication to enhance each other’s live situational awareness. However, the tension between the limited communication bandwidth and the rich sensor information hinders its practical deployment. Recent…
Preference-based reinforcement learning (RL) offers a promising approach for aligning policies with human intent but is often constrained by the high cost of human feedback. In this work, we introduce ROVED, a framework that integrates Vision-Language Models (VLMs) with selective human feedback to s…
With the growing adoption of data privacy regulations, the ability to erase private or copyrighted information from trained models has become a crucial requirement. Traditional unlearning methods often assume access to the complete training dataset, which is unrealistic in scenarios where the source…
Incorporating transformer models into edge devices poses a significant challenge due to the computational demands of adapting these large models across diverse applications. Parameter-efficient tuning (PET) methods (e.g. LoRA, Adapter, Visual Prompt Tuning, etc.) allow for targeted adaptation by mod…
Large language models (LLMs) are increasingly being adopted as the cognitive core of embodied agents. However, inherited hallucinations, which stem from failures to ground user instructions in the observed physical environment, can lead to navigation errors, such as searching for a refrigerator that
Vision-language models (VLMs) have improved significantly in their capabilities, but their complex architecture makes their safety alignment challenging. In this paper, we reveal an uneven distribution of harmful information across the intermediate layers of the image encoder and show that skipping…
The in-context learning capabilities of modern language models have motivated a deeper mathematical understanding of sequence models. A line of recent work has shown that linear attention models can emulate projected gradient descent iterations to implicitly learn the task vector from the data provi…
Recent research shows that in-context learning (ICL) can be effective even when demonstrations have missing or incorrect labels. To shed light on this capability, we examine a canonical setting where the demonstrations are drawn according to a binary Gaussian mixture model (GMM) and a certain fracti…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians, a robot can learn safe navigation policies that are robust t…
Human pose and shape (HPS) estimation methods have been extensively studied, with many demonstrating high zero-shot performance on in-the-wild images and videos. However, these methods often struggle in challenging scenarios involving complex human poses or significant occlusions. Although some stud…
Grounding large language models (LLMs) in domain-specific tasks like post-hoc dash-cam driving video analysis is challenging due to their general-purpose training and lack of structured inductive biases. As vision is often the sole modality available for such analysis (i.e., no LiDAR, GPS, etc.), ex…
Adapting to dynamic data distributions is a practical yet challenging task. One effective strategy is to use a model ensemble, which leverages the diverse expertise of different models to transfer knowledge to evolving data distributions. However, this approach faces difficulties when the dynamic te…
Recent studies reveal that integrating new modalities into large language models (LLMs), such as vision-language models (VLMs), creates a new attack surface that bypasses existing safety training techniques like supervised fine-tuning (SFT) and reinforcement learning with human feedback (RLHF). Whil…
The attention mechanism within the transformer architecture enables the model to weigh and combine tokens based on their relevance to the query. While self-attention has enjoyed major success, it notably treats all queries $q$ in the same way by applying the mapping $V^\top\text{softmax}(Kq)$, where…
Recent years have seen embodied visual navigation advance in two distinct directions: (i) in equipping the AI agent to follow natural language instructions, and (ii) in making the navigable world multimodal, e.g., audio-visual navigation. However, the real world is not only multimodal, but also ofte…
Blackbox adversarial attacks can be categorized into transfer- and query-based attacks. Transfer methods do not require any feedback from the victim model, but provide lower success rates compared to query-based methods. Query attacks often require a large number of queries for success. To achieve…
The majority of methods for crafting adversarial attacks have focused on scenes with a single dominant object (e.g., images from ImageNet). On the other hand, natural scenes include multiple dominant objects that are semantically related. Thus, it is crucial to explore designing attack strategies th…
When compared to the image classification models, black-box adversarial attacks against video classification models have been largely understudied. This could be possible because, with video, the temporal dimension poses significant additional challenges in gradient estimation. Query-efficient black…
There has been a recent surge in research on adversarial perturbations that defeat Deep Neural Networks (DNNs); most of these attacks target object classifiers. Inspired by the observation that humans are able to recognize objects that appear out of place in a scene or along with other unlikely obje…
Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via supervised pre-training with these trajectories may not per…