12 accepted papers
Diffusion models deliver state-of-the-art image quality but are expensive to deploy. Post-training quantization (PTQ) can shrink models and speed up inference, yet residual quantization errors distort the diffusion distribution (the timestep-wise marginal over $\vx_t$), degrading sample quality. We …
We introduce Genie Envisioner (GE), a unified world foundation platform for robotic manipulation that jointly learns visual representations and action policies within a single video-generative framework. At its core, GE-Base is a large-scale instruction-conditioned video diffusion model that capture…
While flow matching is elegant, its reliance on single-sample conditional velocities leads to high-variance training targets that destabilize optimization and slow convergence. By explicitly characterizing this variance, we identify 1) a *high-variance regime* near the prior, where optimization is c…
We explore Generalizable Tumor Segmentation, aiming to train a single model for zero-shot tumor segmentation across diverse anatomical regions. Existing methods face limitations related to segmentation quality, scalability, and the range of applicable imaging modalities. In this paper, we uncover th…
The group of permutations $S_n$, also known as the finite symmetric groups, are essential in fields such as combinatorics, physics, and chemistry. However, learning a probability distribution over $S_n$ poses significant challenges due to its intractable size and discrete nature. In this paper, we i…
Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based agents, while UAV-based VLN remains relatively underexplored. Re…
Unmanned Aerial Vehicles (UAVs) are evolving into language-interactive platforms, enabling more intuitive forms of human-drone interaction. While prior works have primarily focused on high-level planning and long-horizon navigation, we shift attention to language-guided fine-grained trajectory contr…
Domain shifts such as sensor type changes and geographical situation variations are prevalent in Autonomous Driving (AD), which poses a challenge since AD model relying on the previous domain knowledge can be hardly directly deployed to a new domain without additional costs. In this paper, we provid…
Data augmentation methods to enhance perception performance in adverse weather have recently attracted considerable attention. Most of the LiDAR data augmentation methods post-process the existing dataset by physics-based models or machine-learning methods. However, due to the limited environmental…
We introduce the sparse modern Hopfield model as a sparse extension of the modern Hopfield model. Like its dense counterpart, the sparse modern Hopfield model equips a memory-retrieval dynamics whose one-step approximation corresponds to the sparse attention mechanism. Theoretically, our key contri…
In a Markov decision process (MDP), an agent interacts with the environment via perceptions and actions. During this process, the agent aims to maximize its own gain. Hence, appropriate regulations are often required, if we hope to take the external costs/benefits of its actions into consideration.…
"Imitation learning is a widely used policy learning method that enables intelligent agents to acquire complex skills from expert demonstrations. The input to the imitation learning algorithm is usually composed of both the current observation and historical observations since the most recent observ…