50 accepted papers
Diffusion policy sampling enables reinforcement learning (RL) to represent multimodal action distributions beyond suboptimal unimodal Gaussian policies. However, existing diffusion-based RL methods primarily focus on offline setting for reward maximization, with limited consideration of safety in on…
Video Temporal Grounding (VTG) aims to localize a temporal segment in a video corresponding to a natural language query. However, existing VTG models assume that a relevant segment always exists, causing them to always predict a target segment even when the query is irrelevant to the video. While re
Accurate modeling of temporal point processes is critical for reliable event forecasting and informed decision-making. While historical event sequences provide a foundation for intensity estimation, existing approaches often neglect external covariates whose lagged effects impact future intensities
Reasoning is essential for purposeful action, yet most robotic foundation models map perception and instructions directly to control, limiting adaptability, generalization, and semantic grounding. We introduce Action Reasoning Models (ARMs), which integrate perception, planning, and control through …
Unmanned aerial vehicle (UAV) autopilot systems typically comprise navigation and flight-control modules, and their effective scheduling is critical to achieving high flight performance. However, most existing UAV platforms adopt a split architecture in which navigation and flight control are deploy…
Rotary Position Embedding (RoPE) is widely adopted in Transformer models, yet its extension to high-dimensional domains lacks a unified theoretical formulation. Most existing approaches either apply rotations independently along each axis or mix frequencies empirically, which limits cross-dimensiona…
The commonsense reasoning capabilities of vision-language models (VLMs), especially in abductive reasoning and defeasible reasoning, remain poorly understood. Most benchmarks focus on typical visual scenarios, making it difficult to discern whether model performance stems from keen perception and re…
Multi-task model merging offers a promising paradigm for integrating multiple expert models into a unified system without additional training. Existing state-of-the-art techniques, such as Task Arithmetic and its variants, merge models by accumulating task vectors—defined as the parameter difference…
This paper introduces CharMoral, a dataset designed to analyze the moral evolution of characters in long-form narratives. CharMoral, built from 1,337 movie synopses, includes annotations for character actions, context, and morality labels. To automatically construct CharMoral, we propose a four-stag…
Unmanned Aerial Vehicles (Uavs) are limited by the onboard energy. Refinement of the navigation strategy directly affects both the flight velocity and the trajectory based on the adjustment of key parameters in the Uavs pipeline, thus reducing energy consumption. However, existing techniques tend to
Paired image-text data with subtle variations in-between (e.g., people holding surfboards vs. people holding shovels) hold the promise of producing Vision-Language Models with proper compositional understanding. Synthesizing such training data from generative models is a highly coveted prize due to…
Fully sparse 3D detectors have recently gained significant attention due to their efficiency in long-range detection. However, sparse 3D detectors extract features only from non-empty voxels, which impairs long-range interactions and causes the center feature missing. The former weakens the feature…
Multi-sensor fusion is crucial for improving the performance and robustness of end-to-end autonomous driving systems. Existing methods predominantly adopt either attention-based flatten fusion or bird’s eye view fusion through geometric transformations. However, these approaches often suffer from li…
Current vision-language models may grasp basic spatial cues and simple directions (e.g. left, right, front, back), but struggle with the multi-dimensional spatial reasoning necessary for human-like understanding and real-world applications. To address this gap, we develop SPHERE (Spatial Perception…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and force-based control methods for surgical robots, preoperative navigat
Multi-task model merging aims to consolidate knowledge from multiple fine-tuned task-specific experts into a unified model while minimizing performance degradation. Existing methods primarily approach this by minimizing differences between task-specific experts and the unified model, either from a p…
Properly evaluating the ability of Video-Language Models (VLMs) to understand long videos remains a challenge. We propose a long-context video understanding benchmark, Causal2Needles, that assesses two crucial abilities insufficiently addressed by existing benchmarks: (1) extracting information from…
Large Language Models (LLMs) have demonstrated remarkable performance through supervised fine-tuning or in-context learning using gold labels. However, this paradigm is limited by the availability of gold labels, while in certain scenarios, LLMs may need to perform tasks that are too complex for hum…
Combining Large Language Models (LLMs) with heuristic search algorithms like A* holds the promise of enhanced LLM reasoning and scalable inference. To accelerate training and reduce computational demands, we investigate the coreset selection problem for the training data of LLM heuristic learning. F…
Instruction tuning, or supervised finetuning on extensive task-specific data, is necessary for Large Vision-Language Models (LVLMs) to generalize well across a broad range of vision-language (VL) tasks. However, training on large VL datasets can become prohibitively expensive. In this work, we intro…
Recently, significant progress has been made in the research of 3D object detection. However, most prior studies have focused on the utilization of center-based or anchor-based label assignment schemes. Alternative label assignment strategies remain unexplored in 3D object detection. We find that th…
Neural construction models have shown promising performance for Vehicle Routing Problems (VRPs) by adopting either the Autoregressive (AR) or Non-Autoregressive (NAR) learning approach. While AR models produce high-quality solutions, they generally have a high inference latency due to their sequenti…
Knowledge-based Visual Qustion-answering (K-VQA) often requires the use of background knowledge beyond the image. However, we discover that a single knowledge generation strategy is often insuffcient for all K-VQA questions. To this end, we propose Diversifcation, Evidence Truncation, and Combinatio…
From image-text pairs large-scale vision-language models (VLMs) learn to implicitly associate image regions with words which prove effective for tasks like visual question answering. However leveraging the learned association for open-vocabulary semantic segmentation remains a challenge. In this pap…
Cognitive science and symbolic AI research suggest that event causality provides vital information for story understanding. However, machine learning systems for story understanding rarely employ event causality, partially due to the lack of methods that reliably identify open-world causal event rel…
LiDAR-based 3D object detection has made impressive progress recently, yet most existing models are black-box, lacking interpretability. Previous explanation approaches primarily focus on analyzing image-based models and are not readily applicable to LiDAR-based 3D detectors. In this paper, we propo…
Story video-text alignment, a core task in computational story understanding, aims to align video clips with corresponding sentences in their descriptions. However, progress on the task has been held back by the scarcity of manually annotated video-text correspondence and the heavy concentration on…
Our goal is to $\textit{efficiently}$ discover a compact set of temporal logic rules to explain irregular events of interest. We introduce a neural-symbolic rule induction framework within the temporal point process model. The negative log-likelihood is the loss that guides the learning, where the e…
Vision-language (VL) models, pretrained on colossal image-text datasets, have attained broad VL competence that is difficult to evaluate. A common belief is that a small number of VL skills underlie the variety of VL tests. In this paper, we perform a large-scale transfer learning experiment aimed a…
Large language models (LLMs) have demonstrated excellent zero-shot generalization to new language tasks. However, effective utilization of LLMs for zero-shot visual question-answering (VQA) remains challenging, primarily due to the modality disconnection and task disconnection between LLM and VQA ta…
Large-scale pre-training and instruction tuning have been successful at creating general-purpose language models with broad competence. However, building general-purpose vision-language models is challenging due to the rich input distributions and task diversity resulting from the additional visual…
Data annotation is the process of labeling data that could be used to train machine learning models. Having high quality annotation is crucial, as it allows the model to learn the relationship between the input data and the desired output. GPT-3, a large-scale language model developed by OpenAI, has…
In video action recognition, shortcut static features can interfere with the learning of motion features, resulting in poor out-of-distribution (OOD) generalization. The video background is clearly a source of static bias, but the video foreground, such as the clothing of the actor, can also provide…
Single-frame infrared small target (SIRST) detection aims at separating small targets from clutter backgrounds on infrared images. Recently, deep learning based methods have achieved promising performance on SIRST detection, but at the cost of a large amount of training data with expensive pixel-lev…
Point cloud compression with a higher compression ratio and tiny loss is essential for efficient data transportation. However, previous methods that depend on 3D convolution or frequent multi-head self-attention operations bring huge computations. To address this problem, we propose an octree-based…
This paper studies the problem of weakly open-vocabulary semantic segmentation (WOVSS), which learns to segment objects of arbitrary classes using mere image-text pairs. Existing works turn to enhance the vanilla vision transformer by introducing explicit grouping recognition, i.e., employing severa…
Point clouds from 3D light detection and ranging (LiDAR) are widely used. Noise caused by falling snow reduces the availability of point clouds. Due to the sparseness of LiDAR point clouds and the fact that the snow point clouds are easily affected by multi factors such as wind or snowfall condition…
With the evolution of pre-trained language models, current open-domain dialogue systems have achieved great progress in conducting one-session conversations. In contrast, Multi-Session Conversation (MSC), which consists of multiple sessions over a long term with the same user, is under-investigated.…
Prompt tuning, or the conditioning of a frozen pretrained language model (PLM) with soft prompts learned from data, has demonstrated impressive performance on a wide range of NLP tasks. However, prompt tuning requires a large training dataset to be effective and is outperformed by finetuning the ent…
Visual question answering (VQA) is a hallmark of vision and language reasoningand a challenging task under the zero-shot setting.We propose Plug-and-Play VQA (PNP-VQA),a modular framework for zero-shot VQA.In contrast to most existing works, which require substantial adaptation of pretrained languag…
The limited availability of annotated data often hinders real-world applications of machine learning. To efficiently learn from small quantities of multimodal data, we leverage the linguistic knowledge from a large pre-trained language model (PLM) and quickly adapt it to new domains of image caption…
Conventional coverage path planning algorithms are mainly based on the zigzag and spiral patterns or their combinations. The traversal order is limited by the linear or inside-outside manner. We propose a new set of coverage patterns induced from geometric folding operations, called the geometric fo…
Several approaches have been proposed in recent literature to alleviate the long-tail problem, mainly in object classification tasks. In this paper, we make the first large-scale study concerning the task of Long-Tail Visual Relationship Recognition (LTVRR). LTVRR aims at improving the learning of s…
The behaviors of deep neural networks (DNNs) are notoriously resistant to human interpretations. In this paper, we propose Hypergradient Data Relevance Analysis, or HyDRA, which interprets the predictions made by DNNs as effects of their training data. Existing approaches generally estimate data con…
This letter for the first time extends the virtual camera image-based visual servoing (IBVS) scheme to enable an underactuated rotorcraft UAV to regulate its translational motion and heading relative to a planar visual target of arbitrary orientation. The conversion from real camera images to virtua
The existence of multiple datasets for sarcasm detection prompts us to apply transfer learning to exploit their commonality. The adversarial neural transfer (ANT) framework utilizes multiple loss terms that encourage the source-domain and the target-domain feature distributions to be similar while o…
The existence of noisy labels in real-world data negatively impacts the performance of deep learning models. Although much research effort has been devoted to improving robustness to noisy labels in classification tasks, the problem of noisy labels in deep metric learning (DML) remains open. In this…
Justifying operational decisions for robots is a challenging task as the operator or the robot itself has to understand the underlying physical interaction between the robot and the environment to predict the potential outcome. It is desirable to understand how the decision influences the operationa…
In recent years, 3D spatial crowdsourcing platforms become popular, in which users and workers travel together to their assigned workplaces for services, such as InterestingSport and Nanguache. A typical problem over 3D spatial crowdsourcing platforms is to match users with suitable workers and work…
The alignment of heterogeneous sequential data (video to text) is an important and challenging problem. Standard techniques for this task, including Dynamic Time Warping (DTW) and Conditional Random Fields (CRFs), suffer from inherent drawbacks. Mainly, the Markov assumption implies that, given the…