32 accepted papers
Achieving dexterous grasping remains a key challenge in robotics. Recent generative approaches enable diverse grasps through large-scale data-driven training, yet they often neglect geometric priors of objects, which leads to low data efficiency and poor physical plausibility. We propose GeoDexGrasp
The reprojection error in Visual-Inertial Odometry (VIO) suffers from high nonlinearity due to perspective division, which degrades estimator consistency and robustness, particularly under large depth uncertainty. To address this, we propose a novel visual measurement model, the Orthogonal Ray Proje
Recent advances in text-to-speech (TTS) technology have enabled systems to generate speech that is often indistinguishable from human speech, bringing benefits to accessibility, content creation, and human-computer interaction. However, current evaluation practices are increasingly inadequate for ca…
In recent years, Spiking Neural Networks (SNNs) have achieved remarkable progress, with Spiking Transformers emerging as a promising architecture for energy-efficient sequence modeling. However, existing Spiking Transformers still lack a principled mechanism for effective temporal fusion, limiting t…
Adapting pre-trained models has become the dominant approach for anomalous sound detection (ASD), where classifying the attributes of machine working status is commonly chosen as the deputy task for fine-tuning. However, attributes might be intractable to collect for some machines, causing the label…
We present MELLE, a novel continuous-valued token based language modeling approach for text-to-speech synthesis (TTS). MELLE autoregressively generates continuous mel-spectrogram frames directly from text condition, bypassing the need for vector quantization, which is typically designed for audio co…
The goal of the acoustic scene classification (ASC) task is to classify recordings into one of the predefined acoustic scene classes. However, in real-world scenarios, ASC systems often encounter challenges such as recording device mismatch, low-complexity constraints, and the limited availability o…
Speaker diarization is typically considered as a discriminative task, using discriminative approaches to produce fixed diarization results. In this paper, we explore for the first time the use of neural network-based generative methods for speaker diarization. We implement a Flow-Matching (FM) based…
Constructing a unified canonical pose representation for 3D object categories is crucial for pose estimation and robotic scene understanding. Previous unified pose representations often relied on manual alignment, such as in ShapeNet and ModelNet. Recently, self-supervised canonicalization methods h
Industrial recommendation systems (RS) rely on the multi-stage pipeline to balance effectiveness and efficiency when delivering items from a vast corpus to users. Existing RS benchmark datasets primarily focus on the exposure space, where novel RS algorithms are trained and evaluated. However, when…
Simultaneous Speech Translation (SimulST) enables real-time cross-lingual communication by jointly optimizing speech recognition and machine translation under strict latency constraints. Existing systems struggle to balance translation quality, latency, and semantic coherence, particularly in multil…
Concept reasoning is an important capability for models to understand the world. However, the existing datasets, such as concept extraction and concept generation, suffer from modeledge leakage and context leakage. To address these limitations, we construct a dataset of concept reasoning for large l…
Machine anomalous sound detection is a useful technique for various applications, but it often suffers from poor generalization due to the challenges of data collection and complex acoustic environment. To address this issue, we propose a robust machine anomalous sound detection model that leverages…
Large language model-based explainable recommendation (LLM-based ER) systems can provide remarkable human-like explanations and have widely received attention from researchers. However, the original LLM-based ER systems face three low-quality problems in their generated explanations, i.e., lack of p…
Music editing primarily entails the modification of instrument tracks or remixing in the whole, which offers a novel reinterpretation of the original piece through a series of operations. These music processing methods hold immense potential across various applications but demand substantial experti…
Current speaker recognition systems primarily rely on supervised approaches, constrained by the scale of labeled datasets. To boost the system performance, researchers leverage large pretrained models such as WavLM to transfer learned high-level features to the downstream speaker recognition task. H…
Speaker verification encounters significant challenges when confronted with diverse domain data, often resulting in performance degradation due to domain mismatch. To enhance performance in cross-domain scenarios, we introduce the Domain Adapter, an adaptable module designed for specific domains. Th…
Children possess the ability to learn multiple cognitive tasks sequentially, which is a major challenge toward the long-term goal of artificial general intelligence. Existing continual learning frameworks are usually applicable to Deep Neural Networks (DNNs) and lack the exploration on more brain-in…
The mismatch between close-set training and open-set testing usually leads to significant performance degradation for speaker verification task. For existing loss functions, metric learning-based objectives depend strongly on searching effective pairs which might hinder further improvements. And pop…
Positive Unlabeled (PU) learning, which has a wide range of applications, is becoming increasingly prevalent. However, it suffers from problems such as data imbalance, selection bias, and prior agnostic in real scenarios. Existing studies focus on addressing part of these problems, which fail to pro…
Thanks to the recent success of Pre-trained Language Models (PLMs), it has become a promising research direction to develop a universal model (UIE) that can solve all typical information extraction tasks within one generative framework. Nonetheless, in real-world scenarios of UIE applications, new d…
In this paper, we study a new kind of portfolio problem, named trading point aware portfolio optimization (TPPO), which aims to obtain excess intraday profit by deciding the portfolio weights and their trading points simultaneously based on microscopic information. However, a strategy for the TPPO p…
Traditional object detectors employ the dense paradigm of scanning over locations and scales in an image. The recent query-based object detectors break this convention by decoding image features with a set of learnable queries. However, this paradigm still suffers from slow convergence, limited perf…
In this paper, we present a new cross-architecture contrastive learning (CACL) framework for self-supervised video representation learning. CACL consists of a 3D CNN and a video transformer which are used in parallel to generate diverse positive pairs for contrastive learning. This allows the model…
Transformer based on self attention mechanism has demonstrated its state-of-the-art performance in most natural language processing (NLP) tasks, but it’s not very competitive when applied for speaker verification in previous works. Generally, speaker identity is mostly reflected by the relationship…
Convolution and self-attention based neural networks have both obtained excellent performance in automatic speaker verification. However, the convolution model often lacks the ability of long-term dependency modeling due to the limitation of receptive field, while the self-attention model is insuffi…
Tremendous progress has been made in sequential processing with the recent advances in recurrent neural networks. However, recurrent architectures face the challenge of exploding/vanishing gradients during training, and require significant computational resources to execute back-propagation through…
This paper describes the SJTU system for ICASSP Multi-modal Information based Speech Processing Challenge (MISP) 2021. To solve the speech recognition problem in real complex environments where time-synchronized near- and far-field signals are available for training an enhancement frontend. We build…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple layers. Different from previous loosely- and tightly-coupled m…
Text-dependent speaker verification systems trained on large amount of labelled data exhibit remarkable performance. However, collecting the speech from a lot of speakers with target transcript is a lengthy and expensive process. In this work, we propose a synthesis based data augmentation method (S…
Spiking Neural Networks (SNNs) are promising for enabling low-power event-driven data analytics. The best performing SNNs for image recognition tasks are obtained by converting a trained deep learning Analog Neural Network (ANN) composed of Rectified Linear Unit (ReLU) activation to SNN consisting o…
Spiking Neural Networks (SNNs) have recently attracted significant research interest as the third generation of artificial neural networks that can enable low-power event-driven data analytics. The best performing SNNs for image recognition tasks are obtained by converting a trained Analog Neural Ne…