51 accepted papers
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes. Through topological and dimensional synthesis, the mechanism achi…
This work presents a novel design of achieving multiple curvatures in a tendon-driven continuum robot (TDCR) system with only a single set of acturation tendons. The TDCR used in this work is assembled from multiple sub-sections made of low-melting point alloy (LMPA), which each of them has independ…
Large language models have demonstrated excellent performance in many tasks, including Text-to-SQL, due to their powerful in-context learning capabilities. They are becoming the mainstream approach for Text-to-SQL. However, these methods still have a significant gap compared to human performance, es…
Large language models are increasingly deployed in streaming scenarios, rendering conventional post-hoc safeguards ineffective as they fail to interdict unsafe content in real-time. While streaming safeguards based on token-level supervised training could address this, they necessitate expensive ann…
Self-play bootstraps LLM reasoning through an iterative Challenger–Solver loop: the Challenger is trained to generate questions that target the Solver's capabilities, and the Solver is optimized on the generated data to expand its reasoning skills. However, existing frameworks like R-Zero often exhi…
In this paper, we present RhoMorph, a novel deformable planar lattice modular self-reconfigurable robot (MSRR) with a rhombus shaped module. Each module consists of a parallelogram skeleton with a single centrally mounted actuator that enables folding and unfolding along its diagonal. The core desig…
Open-Vocabulary Object Detection (OVOD) shows promise in remote sensing (RS), but due to its unique value, there are challenges such as the predominance of background regions, sparse labels, limited semantic information, and difficulties in semi-supervised training. To tackle these challenges, we pr
While deformable modular self reconfigurable robots offer enhanced reconfiguration flexibility, strict kinematic constraints present complex self reconfiguration planning challenges. This letter presents a novel self-reconfiguration planning algorithm for deformable quadrilateral MSRRs. The method f
Visual generative models have achieved remarkable progress in synthesizing photorealistic images and videos, yet aligning their outputs with human preferences across critical dimensions remains a persistent challenge. Though reinforcement learning from human feedback offers promise for preference al
In order to streamline the fine-tuning of foundation models, Low-Rank Adapters (LoRAs) have been substantially adopted across various fields, including instruction tuning and domain adaptation. The underlying concept of LoRA involves decomposing a full-rank matrix into the product of two lower-rank…
Large language models (LLMs) have achieved remarkable proficiency in understanding and generating human natural languages, mainly owing to the “scaling law” that optimizes relationships among language modeling loss, model parameters, and pre-trained tokens. However, with the exhaustion of high-quali…
Autonomous agents have become increasingly important for interacting with the real world. Android agents, in particular, have been a frequently-mentioned interaction method. However, existing studies for training and evaluating Android agents lack systematic research on both open-source and closed-s…
Complex games have long been an important benchmark for testing the progress of artificial intelligence algorithms. AlphaGo, AlphaZero, and MuZero have defeated top human players in Go and Chess, garnering widespread societal attention towards artificial intelligence. Concurrently, large language mo…
News writing empowered by large language models (LLMs) has emerged as a prevalent trend due to their efficiency and scalability. This paradigm necessitates dynamic information acquisition, knowledge structuring, and precise viewpoint articulation. However, current approaches often rely on superficia
Graph Contrastive Learning (GCL), as a primary paradigm of graph self-supervised learning, spurs a fruitful line of research in tackling the data sparsity issue by maximizing the consistency of user/item embeddings between different augmented views with random perturbations. However, diversity, as a…
Large Language Models (LLMs) have shown impressive capability in language generation and understanding, but their tendency to hallucinate and produce factually incorrect information remains a key limitation. To verify LLM-generated contents and claims from other sources, traditional verification app…
Diffusion models have recently driven significant breakthroughs in generative modeling. While state-of-the-art models produce high-quality samples on average, individual samples can still be low quality. Detecting such samples without human inspection remains a challenging task. To address this, we
Large language models (LLMs) hold revolutionary potential to digitize and enhance the Health & Public Services (H&PS) industry. Despite their advanced linguistic abilities, concerns about accuracy, stability, and traceability still persist, especially in high-stakes areas such as transportation syst…
The integration of sophisticated Vision-Language Models (VLMs) in vehicular systems is revolutionizing vehicle interaction and safety, performing tasks such as Visual Question Answering (VQA). However, a critical gap persists due to the lack of a comprehensive benchmark for multimodal VQA models in…
Vision foundation models (VFMs) such as DINOv2 and CLIP have achieved impressive results on various downstream tasks, but their limited feature resolution hampers performance in applications requiring pixel-level understanding. Feature upsampling offers a promising direction to address this challeng…
Modular Self-Reconfigurable Robot (MSRR) systems are a class of robots capable of forming higher-level robotic systems by altering the topological relationships between modules, offering enhanced adaptability and robustness in various environments. This paper presents a novel MSRR called MODUR, feat
Instruction-following is a fundamental capability of language models, requiring the model to recognize even the most subtle requirements in the instructions and accurately reflect them in its output. Such an ability is well-suited for and often optimized by preference learning. However, existing met…
The modeling of industrial scenes is essential for simulations in industrial manufacturing. While large language models (LLMs) have shown significant progress in generating general 3D scenes from textual descriptions, generating industrial scenes with LLMs poses a unique challenge due to their deman…
Despite tremendous progress in the field of text-to-video (T2V) synthesis, open-sourced T2V diffusion models struggle to generate longer videos with dynamically varying and evolving content. They tend to synthesize quasi-static videos, ignoring the necessary visual change-over-time implied in the te…
Backpropagation provides a generalized configuration for overcoming catastrophic forgetting. Optimizers such as SGD and Adam are commonly used for weight updates in continual learning and continual pre-training. However, access to gradient information is not always feasible in practice due to black-…
Despite the recent advances in large-scale diffusion models, little progress has been made on the layout-to-image (L2I) synthesis task. Current L2I models either suffer from poor editability via text or weak alignment between the generated image and the input layout. This limits their usability in p…
Large Language Models (LLMs) have demonstrated exceptional abilities in comprehending and generating text, motivating numerous researchers to utilize them for Information Extraction (IE) purposes, including Relation Extraction (RE). Nonetheless, most existing methods are predominantly designed for S…
In this paper, we present Directly Denoising Diffusion Models (DDDMs): a simple and generic approach for generating realistic images with few-step sampling, while multistep sampling is still preserved for better performance. DDDMs require no delicately designed samplers nor distillation on pre-train…
Early-exit neural networks (EENNs) facilitate adaptive inference by producing predictions at multiple stages of the forward pass. In safety-critical applications, these predictions are only meaningful when complemented with reliable uncertainty estimates. Yet, due to their sequential structure, an…
Despite their impressive generative capabilities, LLMs are hindered by fact-conflicting hallucinations in real-world applications. The accurate identification of hallucinations in texts generated by LLMs, especially in complex inferential scenarios, is a relatively unexplored area. To address this g…
Scaling machine learning models significantly improves their performance. However, such gains come at the cost of inference being slow and resource-intensive. Early-exit neural networks (EENNs) offer a promising solution: they accelerate inference by allowing intermediate layers to exit and produc…
High precision grasp pose detection is an essential but challenging task in robotic manipulation. Most of the current methods for grasp detection either highly rely on the geometric information of the objects or generate feasible grasp poses within restricted configurations. In this letter, a grasp
In GPS-denied scenarios, a robust environmental perception and localization system becomes crucial for autonomous driving. In this paper, a LiDAR-based online localization system is developed, incorporating road marking detection and registration on a high-definition (HD) map. Within our system, a r…
Recent methodologies in LLM self-training mostly rely on LLM generating responses and filtering those with correct output answers as training data. This approach often yields a low-quality fine-tuning training set (e.g., incorrect plans or intermediate reasoning). In this paper, we develop a reinfor…
Names are essential to both human cognition and vision-language models. Open-vocabulary models utilize class names as text prompts to generalize to categories unseen during training. However, the precision of these names is often overlooked in existing datasets. In this paper, we address this undere…
Large Language Models (LLMs) have shown promise in assisting scientific discovery. However, such applications are currently limited by LLMs' deficiencies in understanding intricate scientific concepts, deriving symbolic equations, and solving advanced numerical calculations. To bridge these gaps, we…
Large text-to-image diffusion models have impressive capabilities in generating photorealistic images from text prompts. How to effectively guide or control these powerful models to perform different downstream tasks becomes an important open problem. To tackle this challenge, we introduce a princip…
We address the task of open-world class-agnostic object detection, i.e., detecting every object in an image by learning from a limited number of base object classes. State-of-the-art RGB-based models suffer from overfitting the training classes and often fail at detecting novel-looking objects. This…
Despite excellent average-case performance of many image classifiers, their performance can substantially deteriorate on semantically coherent subgroups of the data that were under-represented in the training data. These systematic errors can impact both fairness for demographic minority groups as w…
In this paper, we propose a novel self-distillation method for fake speech detection (FSD), which can significantly improve the performance of FSD without increasing the model complexity. For FSD, some fine-grained information is very important, such as spectrogram defects, mute segments, and so on,…
Large-scale pre-trained models have achieved remarkable success in many applications, but how to leverage them to improve the prediction reliability of downstream models is undesirably under-explored. Moreover, modern neural networks have been found to be poorly calibrated and make overconfident pre…
Modern predictive models are often deployed to environments in which computational budgets are dynamic. Anytime algorithms are well-suited to such environments as, at any point during computation, they can output a prediction whose quality is a function of computation time. Early-exit neural networ…
The data fusion of camera, IMU, and wheel encoder measurements has proved its effectiveness in localizing ground robots, and obtaining accurate sensor extrinsic parameters is its premise. We propose an extrinsic parameter calibration algorithm and a multi-sensor-based pose estimation algorithm for t…
Panoptic segmentation is a challenging scene understanding task that unifies semantic segmentation and instance segmentation. Namely, each pixel of an image is assigned a semantic label and an instance id. Existing works have elaborated end-to-end panoptic segmentation networks and made great progre…
Recently, active learning (AL) methods have been used to effectively fine-tune pre-trained language models for various NLP tasks such as sentiment analysis and document classification. However, given the task of fine-tuning language models, understanding the impact of different aspects on AL methods…
Pre-trained multilingual language models play an important role in cross-lingual natural language understanding tasks. However, existing methods did not focus on learning the semantic structure of representation, and thus could not optimize their performance. In this paper, we propose Multi-level Mu…
As a rising task, panoptic segmentation is faced with challenges in both semantic segmentation and instance segmentation. However, in terms of speed and accuracy, existing LiDAR methods in the field are still limited. In this paper, we propose a fast and high-performance LiDAR-based framework, refer…
Post-hoc multi-class calibration is a common approach for providing high-quality confidence estimates of deep neural network predictions. Recent work has shown that widely used scaling methods underestimate their calibration error, while alternative Histogram Binning (HB) methods often fail to prese…
Despite their recent successes, GAN models for semantic image synthesis still suffer from poor image quality when trained with only adversarial supervision. Historically, additionally employing the VGG-based perceptual loss has helped to overcome this issue, significantly improving the synthesis qua…
Deep generative networks trained via maximum likelihood on a natural image dataset like CIFAR10 often assign high likelihoods to images from datasets with different objects (e.g., SVHN). We refine previous investigations of this failure at anomaly detection for invertible generative networks and pr…
Training of Generative Adversarial Networks (GANs) is notoriously fragile, requiring to maintain a careful balance between the generator and the discriminator in order to perform well. To mitigate this issue we introduce a new regularization technique - progressive augmentation of GANs (PA-GAN). The…