53 accepted papers
Hydraulic systems have been widely applied in lower-limb prostheses, primarily for their compact actuation and inherent damping capability. However, when applied to powered prosthetic feet, valves and other damping elements cause unavoidable energy dissipation, thereby constraining their power densi
Inspired by the success of large language models (LLMs) in natural language processing, cell language models (CLMs) have emerged as a promising paradigm to learn cell representations from high-dimensional single-cell data—particularly transcriptomic profiles from scRNA-seq. These foundation models h
Infographic charts are a powerful medium for communicating abstract data by combining visual elements (e.g., charts, images) with textual information. However, their visual and structural richness poses challenges for large vision-language models (LVLMs), which are typically trained on plain charts.…
This letter presents a technique that allows unmanned vehicles to escort a human to their destinations. Current human-centered following methods depend solely on human movement, which presents significant limitations. The complexity of human movement during tactical maneuvers can lead to erratic veh…
A widely adopted strategy for model enhancement is to use synthetic data generated by a stronger model for supervised fine-tuning (SFT). However, for emerging reasoning models like Qwen3-8B, this approach often fails to improve reasoning capabilities and can even lead to a substantial drop in perfor…
Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic Embodied Reasoning that targets physical reasoning challenges…
Implicit Neural Representation (INR) has emerged as a powerful paradigm for continuous MRI reconstruction. However, standard unsupervised INR requires time-consuming optimization from scratch for each scan, hindering clinical deployment. This work presents IPOD, a Reference-Free Meta-Learning framew…
The extension of diffusion models to language tasks has shown promising results, but their post-training methods remain largely unexplored. We highlight the importance of aligning a diffusion language model’s preference-inference trajectory with its post-training objective. To this end, we propose T…
Long-horizon decision-making with sparse rewards and continuous states and actions remains a fundamental challenge in AI and robotics. Task and motion planning (TAMP) is a model-based framework that addresses this challenge by planning hierarchically with abstract actions (options). These options ar…
The emergence of large language models (LLMs) has revolutionized AI development, yet their resource demands beyond a single cluster or even datacenter, limiting accessibility to well-resourced organizations. Decentralized training has emerged as a promising paradigm to leverage dispersed resources a
A robot that learns from demonstrations should not just imitate what it sees—it should understand the high-level concepts that are being demonstrated and generalize them to new tasks. Bilevel planning is a hierarchical model-based approach where predicates (relational state abstractions) are leverag…
Large Language Models have advanced automated software development, however, it remains a challenge to correctly infer dependencies, namely, identifying the internal components and external packages required for a repository to successfully run. Existing studies highlight that dependency-related iss…
Physics-informed neural networks (PINNs) have shown significant promise in computational science and engineering, yet they often face optimization challenges and limited accuracy. In this work, we identify directional gradient conflicts during PINN training as a critical bottleneck. We introduce a n…
First-order logic (FOL) reasoning, which involves sequential deduction, is pivotal for intelligent systems and serves as a valuable task for evaluating reasoning capabilities, particularly in chain-of-thought (CoT) contexts. Existing benchmarks often rely on extensive human annotation or handcrafted…
We introduce MMaDA, a novel class of multimodal diffusion foundation models designed to achieve superior performance across diverse domains such as textual reasoning, multimodal understanding, and text-to-image generation. The approach is distinguished by three key innovations: (i) MMaDA adopts a un…
With the advancement of deep learning, object detectors (ODs) with various architectures have achieved significant success in complex scenarios like autonomous driving. Previous adversarial attacks against ODs have been focused on designing customized attacks targeting their specific structures (eg,…
Software is one of the most powerful tools that we humans have at our disposal; it allows a skilled programmer to interact with the world in complex and profound ways. At the same time, thanks to improvements in large language models (LLMs), there has also been a rapid development in AI agents that…
Recent advancements in large language models (LLMs) have significantly enhanced their coding capabilities. However, existing benchmarks predominantly focused on simplified or isolated aspects of coding, such as single-file code generation or repository issue debugging, falling short of measuring the…
Large Language Models (LLMs) have demonstrated remarkable proficiency across a variety of complex tasks. One significant application of LLMs is in tackling software engineering challenges, particularly in resolving real-world tasks on GitHub by fixing code based on the issues reported by the users.…
The issue-resolving task, where a model generates patches to fix real-world bugs, has emerged as a key benchmark for evaluating the capabilities of large language models (LLMs). While SWE-bench has become the dominant benchmark in this domain, it suffers from several limitations: it has not been upd…
Few-shot object detection has drawn increasing attention in the field of robotic exploration, where robots are required to find unseen objects with a few online provided examples. Despite recent efforts have been made to yield online processing capabilities, slow inference speeds of low-powered robo…
Large Language Models (LLMs) driven by In-Context Learning (ICL) have significantly improved the performance of text-to-SQL. Previous methods generally employ a two-stage reasoning framework, namely 1) schema linking and 2) logical synthesis, making the framework not only effective but also interpre…
Despite the advancements in in-context learning (ICL) for large language models (LLMs), current research centers on specific prompt engineering, such as demonstration selection, with the expectation that a single iteration of demonstrations processing can generalize effectively to a given test sampl…
Recent years have witnessed the rapid development of Neuro-Symbolic (NeSy) AI systems, which integrate symbolic reasoning into deep neural networks. However, most of the existing benchmarks for NeSy AI fail to provide long-horizon reasoning tasks with complex multi-agent interactions. Furthermore, t…
Motion prediction is critical for autonomous off-road driving, however, it presents significantly more challenges than on-road driving because of the complex interaction between the vehicle and the terrain. Traditional physics-based approaches encounter difficulties in accurately modeling dynamic sy…
Large Language Models (LLMs) have achieved remarkable success in many formal language oriented tasks, such as structural data-to-text and semantic parsing. However current benchmarks mostly follow the data distribution of the pre-training data of LLMs. Therefore, a natural question rises that do LLM…
Text-to-SQL parsing, which aims at converting natural language instructions into executable SQLs, has gained increasing attention in recent years. In particular, GPT-4 and Claude-2 have shown impressive results in this task. However, most of the prevalent benchmarks, i.e., Spider, and WikiSQL, focu…
The goal of document-grounded dialogue (DocGD) is to generate a response by anchoring the evidence in a supporting document in accordance with the dialogue context. This entails four causally interconnected variables. While task-specific pre-training has significantly enhanced performances on numero…
Context information modeling is an important task in conversational KBQA. However, existing methods usually assume the independence of utterances and model them in isolation. In this paper, we propose a History Semantic Graph Enhanced KBQA model (HSGE) that is able to effectively model long-range se…
Visual object tracking is essential to intelligent robots. Most existing approaches have ignored the online latency that can cause severe performance degradation during real-world processing. Especially for unmanned aerial vehicles (UAVs), where robust tracking is more challenging and onboard comput…
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-le…
Detecting unseen instances based on multi-view templates is a challenging problem due to its open-world nature. Traditional methodologies, which primarily rely on $2 \mathrm{D}$ representations and matching techniques, are often inadequate in handling pose variations and occlusions. To solve this, w…
Recently, learned image compression methods have shown their outstanding rate-distortion performance when compared to traditional frameworks. Although numerous progress has been made in learned image compression, the computation cost is still at a high level. To address this problem, we propose Adde…
"Few-shot object detection has attracted increasing attention and rapidly progressed in recent years. However, the requirement of an exhaustive offline fine-tuning stage in existing methods is time-consuming and significantly hinders their usage in online applications such as autonomous exploration…
Practical dialog systems need to deal with various knowledge sources, noisy user expressions, and the shortage of annotated data. To better solve the above problems, we propose CGoDial, a new challenging and comprehensive Chinese benchmark for multi-domain Goal-oriented Dialog evaluation. It contain…
Most graph-to-text works are built on the encoder-decoder framework with cross-attention mechanism. Recent studies have shown that explicitly modeling the input graph structure can significantly improve the performance. However, the vanilla structural encoder cannot capture all specialized informati…
Story visualization aims to generate a sequence of images to narrate each sentence in a multi-sentence story, where the images should be realistic and keep global consistency across dynamic scenes and characters. Current works face the problem of semantic misalignment because of their fixed architec…
Interestingness recognition is crucial for decision making in autonomous exploration for mobile robots. Previous methods proposed an unsupervised online learning approach that can adapt to environments and detect interesting scenes quickly, but lack the ability to adapt to human-informed interesting…
The task of converting a natural language question into an executable SQL query, known as text-to-SQL, is an important branch of semantic parsing. The state-of-the-art graph-based encoder has been successfully used in this task but does not model the question syntax well. In this paper, we propose S…
In this paper, we propose a novel SQL guided pre-training framework STAR for context-dependent text-to-SQL parsing, which leverages contextual information to enrich natural language (NL) utterance and table schema representations for text-to-SQL conversations. Concretely, we propose two novel pre-tr…
This paper aims to improve the performance of text-to-SQL parsing by exploring the intrinsic uncertainties in the neural network based approaches (called SUN). From the data uncertainty perspective, it is indisputable that a single SQL can be learned from multiple semantically-equivalent questions.…
Although the manipulating of the unmanned aerial manipulator (UAM) has been widely studied, vision-based UAM approaching, which is crucial to the subsequent manipulating, generally lacks effective design. The key to the visual UAM approaching lies in object tracking, while current UAM tracking typic…
Text-to-SQL parsing tackles the problem of mapping natural language questions to executable SQL queries. In practice, text-to-SQL parsers often encounter various challenging scenarios, requiring them to be generalizable and robust. While most existing work addresses a particular generalization or ro…
Most previous progress in object tracking is realized in daytime scenes with favorable illumination. State-of-the-arts can hardly carry on their superiority at night so far, thereby considerably blocking the broadening of visual tracking-related unmanned aerial vehicle (UAV) applications. To realize
"Story visualization aims to generate a sequence of images to narrate each sentence in a multi-sentence story with a global consistency across dynamic scenes and characters. Current works still struggle with output images’ quality and consistency, and rely on additional semantic information or auxil…
Prior correlation filter (CF)-based tracking methods for unmanned aerial vehicles (UAVs) have virtually focused on tracking in the daytime. However, when the night falls, the trackers will encounter more harsh scenes, which can easily lead to tracking failure. In this regard, this work proposes a no…
Recent years have witnessed the fast evolution and promising performance of the convolutional neural network (CNN)-based trackers, which aim at imitating biological visual systems. However, current CNN-based trackers can hardly generalize well to low-light scenes that are commonly lacked in the exis…
Most existing Siamese-based tracking methods execute the classification and regression of the target object based on the similarity maps. However, they either employ a single map from the last convolutional layer which degrades the localization accuracy in complex scenarios or separately use multipl…
As it has been unveiled that pre-trained language models (PLMs) are to some extent capable of recognizing syntactic concepts in natural language, much effort has been made to develop a method for extracting complete (binary) parses from PLMs without training separate parsers. We improve upon this pa…
Recently, the Siamese-based method has stood out from multitudinous tracking methods owing to its state-of-the-art (SOTA) performance. Nevertheless, due to various special challenges in UAV tracking, e.g., severe occlusion and fast motion, most existing Siamese-based trackers hardly combine superior…
We propose a novel lightweight generative adversarial network for efficient image manipulation using natural language descriptions. To achieve this, a new word-level discriminator is proposed, which provides the generator with fine-grained training feedback at word-level, to facilitate training a li…
The goal of our paper is to semantically edit parts of an image matching a given text that describes desired attributes (e.g., texture, colour, and background), while preserving other contents that are irrelevant to the text. To achieve this, we propose a novel generative adversarial network (ManiGA…
In this paper, we propose a novel controllable text-to-image generative adversarial network (ControlGAN), which can effectively synthesise high-quality images and also control parts of the image generation according to natural language descriptions. To achieve this, we introduce a word-level spatial…