20 accepted papers
In multi-hop reasoning, multi-round retrieval-augmented generation (RAG) methods typically rely on LLM-generated content as the retrieval query. However, these approaches are inherently vulnerable to knowledge overshadowing—a phenomenon where critical information is overshadowed during generation.
Acquiring physically plausible motor skills across diverse and unconventional embodiments, including humanoids and quadrupeds, is essential for advancing character simulation and robotics. Traditional methods, such as reinforcement learning (RL), require extensive reward function engineering. Imitat
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled perturbations to the aerial robotics, which negatively affects the clo…
Knowledge Base Question Answering (KBQA) aims to extract accurate answers from the Knowledge Base (KB). Traditional Semantic Parsing (SP)-based methods are widely used but struggle with complex queries. Recently, large language models (LLMs) have shown promise in improving KBQA performance. However,
Learning from demonstration has proven effective in robotics for acquiring natural behaviors, such as stylistic motions and lifelike agility, particularly when explicitly defining style-oriented reward functions is challenging. Synthesizing stylistic motions for real-world tasks usually requires bal…
As entertainment robots gain popularity, the demand for natural and expressive motion, particularly in dancing, continues to rise. Traditionally, dancing motions have been manually designed by artists, a process that is both labor-intensive and restricted to simple motion playback, lacking the flexi
Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way remains a significant challenge. In this work, we introduce a system that integrates data collection and imitation learn…
Reinforcement learning (RL)-based legged locomotion controllers often require meticulous reward tuning to track velocities or goal positions while preserving smooth motion on various terrains. Motion imitation methods via RL using demonstration data reduce reward engineering but fail to generalize…
Recent inverse rendering methods have improved shape, material, and illumination reconstruction using polarization cues. However, they only support dielectrics, ignoring conductors, which are common in everyday life. Since conductors and dielectrics have different reflection properties, using previo…
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled perturbations to the aerial robotics, which negatively affects the clo
Large language model systems face significant security risks from maliciously crafted messages that aim to overwrite the system's original instructions or leak private data. To study this problem, we organized a capture-the-flag competition at IEEE SaTML 2024, where the flag is a secret string in th…
Motion trajectories offer reliable references for physics-based motion learning but suffer from sparsity, particularly in regions that lack sufficient data coverage. To address this challenge, we introduce a self-supervised, structured representation and generation method that extracts spatial-tempo…
Despite many successful applications of data-driven control in robotics, extracting meaningful diverse behaviors remains a challenge. Typically, task performance needs to be compromised in order to achieve diversity. In many scenarios, task requirements are specified as a multitude of reward terms,…
Multi-view inverse rendering is the problem of estimating the scene parameters such as shapes materials or illuminations from a sequence of images captured under different viewpoints. Many approaches however assume single light bounce and thus fail to recover challenging scenarios like inter-reflect…
In this work, we propose an inverse rendering model that estimates 3D shape, spatially-varying reflectance, homogeneous subsurface scattering parameters, and an environment illumination jointly from only a pair of captured images of a translucent object. In order to solve the ambiguity problem of in…
Although increasing model size can enhance the adversarial robustness of deep neural networks, in resource-constrained environments, there exist critical sparsity constraints. While the recent robust pruning technologies show promising direction to obtain adversarially robust sparse networks, they p…
Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable learning and active control of individual behaviors, which…
Learning agile skills is one of the main challenges in robotics. To this end, reinforcement learning approaches have achieved impressive results. These methods require explicit task information in terms of a reward function or an expert that can be queried in simulation to provide a target control o…
Parameter learning of the state-space model (SSM) plays a significant role in the modelling of time-series data and dynamical systems. However, the closed-form inference of the parameter posterior is often limited by sequential construction and non-linearity of the SSMs, which has led to the develop…
The Non-homogeneous Poisson process is a point process with time-varying intensity across its domain, the use of which arises in numerous areas in signal processing and machine learning. However, applications are largely limited by the intractable likelihood function and the high computational cost…