14 accepted papers
Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, while deep reinforcement learning (DRL)-based approaches provide adaptability but are constrained by limited onboard sensi…
Large Language Models (LLMs) can serve as world models to enhance agent decision-making in digital environments by simulating future states and predicting action outcomes, potentially eliminating costly trial-and-error exploration. However, this capability is fundamentally limited by LLM’s tendency…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or traversing through rough terrains leading to locomotion failures. A
Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and reach the goal quickly and safely. In this paper, we propose a
Diffusion models have demonstrated remarkable success in various domains, including molecular generation. However, conditional molecular generation remains a fundamental challenge due to an intrinsic trade-off between targeting specific chemical properties and generating meaningful samples from the…
Leveraging external knowledge is crucial for achieving high performance in knowledge-intensive tasks, such as question answering. The retrieve-and-read approach is widely adopted for integrating external knowledge into a language model. However, this approach suffers from increased computational cos…
Previous studies have constantly observed that a language model repeats itself, creating repetitions in an output sequence. To cope with the issue, stochastic decoding schemes have been the de facto approaches; the strategies add randomness in inference, hence avoiding the “self-loop”. However, the…
Overconfidence has been shown to impair generalization and calibration of a neural network. Previous studies remedy this issue by adding a regularization term to a loss function, preventing a model from making a peaked distribution. Label smoothing smoothes target labels with a pre-defined prior lab…
Emotional conversation systems generate responses for the input queries considering the speaker’s emotions in a conversation. Existing emotional conversation systems output emotional responses according to either a given emotion or the user’s emotion reflected in the input queries. Following a given…
In knowledge distillation, a student model is trained with supervisions from both knowledge from a teacher and observations drawn from a training data distribution. Knowledge of a teacher is considered a subject that holds inter-class relations which send a meaningful supervision to a student; hence…
Building models of natural language processing (NLP) is challenging in low-resource scenarios where limited data are available. Optimization-based meta-learning algorithms achieve promising results in low-resource scenarios by adapting a well-generalized model initialization to handle new tasks. Non…
Lifelong learning aims to accumulate knowledge and alleviate catastrophic forgetting when learning tasks sequentially. However, existing lifelong language learning methods only focus on the supervised learning setting. Unlabeled data, which can be easily accessed in real-world scenarios, are underex…
Text style transfer aims to alter the style (e.g., sentiment) of a sentence while preserving its content. A common approach is to map a given sentence to content representation that is free of style, and the content representation is fed to a decoder with a target style. Previous methods in filterin…
Personalized conversation models (PCMs) generate responses according to speaker preferences. Existing personalized conversation tasks typically require models to extract speaker preferences from user descriptions or their conversation histories, which are scarce for newcomers and inactive users. In…