53 accepted papers
With the rapid advancement of high-fidelity video generation models, robust AI-generated video (AIGV) detection has become increasingly needed. While most AIGV detection methods operate in the decoded pixel domain, we observe that detection in the pixel domain inevitably entangles task-irrelevant se…
Scene-aware motion synthesis has been widely researched recently due to its numerous applications. Prevailing methods rely heavily on paired motion-scene data, while it is difficult to generalize to diverse scenes when trained only on a few specific ones. Thus, we propose a unified framework, termed
Recent studies on end-to-end (E2E) speech generation with large language models (LLMs) have attracted significant community attention, with multiple works extending text-based LLMs to generate discrete speech tokens. Existing E2E approaches primarily fall into two categories: (1) Methods that genera…
Mobile motion sensors such as accelerometers and gyroscopes are now ubiquitously accessible by third-party apps via standard APIs. While enabling rich functionalities like activity recognition and step counting, this openness has also enabled unregulated inference of sensitive user traits, such as g
Robot scooping is a challenging and important task in robotic tool manipulation research due to the complex relationship between the robot, the tool, and target objects/environment. Taking into account different tools, different target objects and varying environments, the required scooping manipula
Complete coverage of multiple robots for a large map is an important collaborative planning task, which is widely used in disaster search and rescue, forest fire prevention, resource exploration, and other fields. It generally focuses on coverage completion with less robot (mostly drone) occupation
Recently, the application of diffusion probabilistic models has advanced speech enhancement through generative approaches. However, existing diffusion-based methods have focused on the generation process in high-dimensional waveform or spectral domains, leading to increased generation complexity and…
Document parsing involves layout element detection and recognition, essential for extracting information. However, existing methods often employ multiple models for these tasks, leading to increased system complexity and maintenance overhead. While some models attempt to unify detection and recognit…
Scattering characteristics of synthetic aperture radar (SAR) targets are typically related to observed azimuth and depression angles. However, in practice, it is difficult to obtain adequate training samples at all observation angles, which probably leads to poor robustness of deep networks. In thi…
The application of generative adversarial networks (GANs) has recently advanced speech super-resolution (SR) based on intermediate representations like mel-spectrograms. However, existing SR methods that typically rely on independently trained and concatenated networks may lead to inconsistent repre…
Large Language Models (LLMs) are increasingly equipped with capabilities of real-time web search and integrated with protocols like the Model Context Protocol (MCP). This extension could introduce new security vulnerabilities. We present a systematic investigation of LLM vulnerabilities to hidden ad
Recent multimodal large language models (MLLMs) have demonstrated significant potential in open-ended conversation, generating more accurate and personalized responses. However, their abilities to memorize, recall, and reason in sustained interactions within real-world scenarios remain underexplored…
End-to-end (E2E) autonomous driving methods still struggle to make correct decisions in interactive closed-loop evaluation due to limited causal reasoning capability. Current methods attempt to leverage the powerful understanding and reasoning abilities of Vision-Language Models (VLMs) to resolve th…
Developing reliable defenses against patch attacks on object detectors has attracted increasing interest. However, we identify that existing defense evaluations lack a unified and comprehensive framework, resulting in inconsistent and incomplete assessments of current methods. To address this issue,…
The emergence of audio language models is empowered by neural audio codecs, which establish critical mappings between continuous waveforms and discrete tokens compatible with language model paradigms. The evolutionary trends from multi-layer residual vector quantizer to single-layer quantizer are be…
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety, or focus on agility without considering potentially fatal c…
Large self-supervised pre-trained speech models require computationally expensive fine-tuning for downstream tasks. Soft prompt tuning offers a simple parameter-efficient alternative by utilizing minimal soft prompt guidance, enhancing portability while also maintaining competitive performance. Howe…
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement to avoid falls, model-based approaches are often used. In th…
Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead to compromises in performance. Data-driven approaches have be…
We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB camera. To create a large-scale retargeted motion dataset of human movements for humanoid robots, we propose a scalable "s…
Recently, unified speech-text models, such as SpeechGPT, VioLA, and AudioPaLM, have achieved remarkable performance on various speech tasks. These models discretize speech signals into tokens (speech discretization) and use a shared vocabulary for both text and speech tokens. Then they train a singl…
Modeling and leveraging layout reading order in visually-rich documents (VrDs) is critical in document intelligence as it captures the rich structure semantics within documents.Previous works typically formulated layout reading order as a permutation of layout elements, i.e. a sequence containing al…
Our previously proposed MossFormer has achieved promising performance in monaural speech separation. However, it predominantly adopts a self-attention-based MossFormer module, which tends to emphasize longer-range, coarser-scale dependencies, with a deficiency in effectively modelling finer-scale re…
This paper studies the design of wireless federated learning (FL) for simultaneously training multiple machine learning models. We consider round robin device-model assignment and downlink beamforming for concurrent multiple model updates. After formulating the joint downlink-uplink transmission pro…
We present OmniH2O (Omni Human-to-Humanoid), a learning-based system for whole-body humanoid teleoperation and autonomy. Using kinematic pose as a universal control interface, OmniH2O enables various ways for a human to control a full-sized humanoid with dexterous hands, including using real-time te…
In many PDF documents, the reading order of text blocks is missing, which can hinder machine understanding of the document’s content.Existing works try to extract one universal reading order for a PDF file.However, applications, like Retrieval Augmented Generation (RAG), require breaking long articl…
Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception algorithm misinterprets the scene due to limited generalization…
Legged locomotion has recently achieved remarkable success with the progress of machine learning techniques, especially deep reinforcement learning (RL). Controllers employing neural networks have demonstrated empirical and qualitative robustness against real-world uncertainties, including sensor no…
Dual-path is a popular architecture for speech separation models (e.g. Sepformer) which splits long sequences into overlapping chunks for its intra- and inter-blocks that separately model intra-chunk local features and inter-chunk global relationships. However, it has been found that inter-blocks, w…
Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on simplified dynamics models. Although model-free reinforcement lear…
We present a holistic approach to building a robust and useful natural language classification system for real-world content moderation. The success of such a system relies on a chain of carefully designed and executed steps, including the design of content taxonomies and labeling instructions, data…
Learning on a massive amount of speech corpus leads to the recent success of many self-supervised speech models. With knowledge distillation, these models may also benefit from the knowledge encoded by language models that are pre-trained on rich sources of texts. The distillation process, however,…
End-to-end spoken language understanding requires speech data annotated with semantic information and may suffer from the shortage of annotated data. Recent progresses leverage unlabelled speech data to pre-train a speech encoder. However, it remains a challenge for the pre-trained speech encoder to…
Most of the existing neural-based models for keyword spotting (KWS) in smart devices require thousands of training samples to learn a decent audio representation. However, with the rising demand for smart devices to become more person-alized, KWS models need to adapt quickly to smaller user samples.…
Existing self-supervised pre-trained speech models have offered an effective way to leverage massive unannotated corpora to build good automatic speech recognition (ASR). However, many current models are trained on a clean corpus from a single source, which tends to do poorly when noise is present d…
Prior studies diagnose the anisotropy problem in sentence representations from pre-trained language models, e.g., BERT, without fine-tuning. Our analysis reveals that the sentence embeddings from BERT suffer from a bias towards uninformative words, limiting the performance in semantic textual simila…
Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which limits the way researchers evaluate their locomotion policies. In this paper, we prototype the generation of a terr…
Hierarchical text classification (HTC) is a challenging subtask of multi-label classification as the labels form a complex hierarchical structure. Existing dual-encoder methods in HTC achieve weak performance gains with huge memory overheads and their structure encoders heavily rely on domain knowle…
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn from motions of real animals, and a terrain adaptation step to…
Recent advances in multimodal pre-trained models have significantly improved information extraction from visually-rich documents (VrDs), in which named entity recognition (NER) is treated as a sequence-labeling task of predicting the BIO entity tags for tokens, following the typical setting of NLP.…
For model-free deep reinforcement learning of quadruped locomotion, the initialization of robot configurations is crucial for data efficiency and robustness. This work focuses on algorithmic improvements of data efficiency and robustness simultaneously through automatic discovery of initial states,…
Document-level relation extraction aims to extract relations between entities in a document. In contrast to sentence-level relation extraction, it deals with longer texts and more complex entity interactions, which requires reasoning over multiple sentences with rich reasoning skills. Most current r…
Text classification is a primary task in natural language processing (NLP). Recently, graph neural networks (GNNs) have developed rapidly and been applied to text classification tasks. As a special kind of graph data, the tree has a simpler data structure and can provide rich hierarchical informatio…
Making language models bigger does not inherently make them better at following a user's intent. For example, large language models can generate outputs that are untruthful, toxic, or simply not helpful to the user. In other words, these models are not aligned with their users. In this paper, we sho…
In joint entity and relation extraction, existing work either sequentially encode task-specific features, leading to an imbalance in inter-task feature interaction where features extracted later have no direct contact with those that come first. Or they encode entity features and relation features i…
Reinforcement learning (RL) has demonstrated great success in the past several years. However, most of the scenarios focus on simulated environments. One of the main challenges of transferring the policy learned in a simulated environment to real world, is the discrepancy between the dynamics of the
Robustness and counterfactual bias are usually evaluated on a test dataset. However, are these evaluations robust? If the test dataset is perturbed slightly, will the evaluation results keep the same? In this paper, we propose a “double perturbation” framework to uncover model weaknesses beyond the…
We consider multi-group multicast beamforming in large-scale systems to minimize the transmit power subject to the signal-to-interference-plus-noise ratio (SINR) requirements. Based on the optimal multicast beamforming structure, we propose a fast first-order algorithm to obtain the beamforming solu…
Aspect-based sentiment analysis aims to identify the sentiment polarity of a specific aspect in product reviews. We notice that about 30% of reviews do not contain obvious opinion words, but still convey clear human-aware sentiment orientation, which is known as implicit sentiment. However, recent n…
Large workspace localization of magnetic robots is important for medical applications. This paper presents a novel localization strategy to achieve simultaneous localization and actuation of magnetic robots using hall-effect sensors. We integrate 25 sensors into a sensing probe and mount it on to th…
We study the problem of efficient adversarial attacks on tree based ensembles such as gradient boosting decision trees (GBDTs) and random forests (RFs). Since these models are non-continuous step functions and gradient does not exist, most existing efficient adversarial attacks are not applicable. A…
Efficient exploration is a major challenge in Reinforcement Learning (RL) and has been studied extensively. However, for a new task existing methods explore either by taking actions that maximize task agnostic objectives (such as information gain) or applying a simple dithering strategy (such as noi…
Developmental robotics seeks to build robots that learn to interact with the environment largely autonomously. These robots can calibrate their sensorimotor competencies on their own, much like developing children. In this paper, we build a developmental model of image stabilization based on the act…