32 accepted papers
Mixture-of-Experts (MoE) models scale compute efficiently, yet they remain expensive to deploy due to substantial memory footprint and inference overhead. Prior methods mainly operate at the expert level, either removing whole experts or ranking experts by importance. However, such expert-wise decis…
Despite progress of Multimodal Large Language Models (MLLMs) in biomedical visual question answering (VQA), existing benchmarks provide limited assessment of their scientific reasoning capabilities. Most datasets adopt single-image question construction and outcome-oriented evaluation, where correct…
This paper tackles the challenge of enabling real-world humanoid robots to perform expressive and dynamic whole-body motions while maintaining stability. We propose ExBody2, a whole-body tracking framework trained in simulation with Reinforcement Learning and then transferred to the real world. The …
Breast cancer remains a leading cause of death among women, with early detection significantly improving prognosis. Non-contrast computed tomography (NCCT) scans of the chest, routinely acquired for thoracic assessments, often capture the breast region incidentally, presenting an underexplored oppor…
Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive tele-operated data collection,n which is difficult to scale. This p…
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires capturing intricate geometry while understanding fine-grained semantics, whereas the former involves capturing the comple
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking data to train real-world robot systems. At the core of Lucid-XR is vuer, a web-based physics simulation environment that runs directly on the XR headset, enabling internet-scale access to immersive, latency-fr…
In applications of diffusion models, controllable generation is of practical significance, but is also challenging. Current methods for controllable generation primarily focus on modifying the score function of diffusion models, while Mean Reverting (MR) Diffusion directly modifies the structure of…
Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulation policies, they lack precise manipulation with high DoF arms. In this paper, we propose decoupling upper-body control
‘In-the-wild’ mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations; (2) be capable of long-horizon task execution in diverse environments; and (3) perform complex manipulation beyond pic
In this paper, we introduce a novel model compression technique named Joint Sparsification and Quantization (JSQ), explicitly tailored for large language models (LLMs). Traditional methods employ either sparsification or quantization individually to compress LLMs, leading to performance degradation…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data fro…
Although large language models (LLMs) have demonstrated their strong intelligence ability, the high demand for computation and storage hinders their practical application. To this end, many model compression techniques are proposed to increase the efficiency of LLMs. However, current researches only…
"Scene representations using 3D Gaussian primitives have produced excellent results in modeling the appearance of static and dynamic 3D scenes. Many graphics applications, however, demand the ability to manipulate both the appearance and the physical properties of objects. We introduce Feature Splat…
Fast and accurate physics simulation is an essential component of robot learning, where robots can explore failure scenarios that are difficult to produce in the real world and learn from unlimited on-policy data. Yet, it remains challenging to incorporate RGB-color perception into the sim-to-real p…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and scalable data. To achieve this, we propose an immersive teleopera…
Unsupervised visual anomaly detection uses only anomaly-free images to detect anomalous patterns, whose recent methods mainly focus on the anomaly classification sub-task but neglect to localize anomalies accurately. Existing reconstruction-based and representation-based methods yield anomaly score
High training costs of generative models and the need to fine-tune them for specific tasks have created a strong interest in model reuse and composition. A key challenge in composing iterative generative processes, such as GFlowNets and diffusion models, is that to realize the desired target distrib…
Self-supervised and language-supervised image models contain rich knowledge of the world that is important for generalization. Many robotic tasks, however, require a detailed understanding of 3D geometry, which is often lacking in 2D image features. This work bridges this 2D-to-3D gap for robotic ma…
Deep neural networks are susceptible to adversarial examples, posing a significant security risk in critical applications. Adversarial Training (AT) is a well-established technique to enhance adversarial robustness, but it often comes at the cost of decreased generalization ability. This paper propo…
Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial observability of the problem, the robot has to rely on past observ…
Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings. Traditional approaches to shared autonomy rely on knowledge of th…
Fully- and semi-supervised semantic segmentation of biomedical images have been advanced with the development of deep neural networks (DNNs). So far, however, DNN models are usually designed to support one of these two learning schemes, unified models that support both fully- and semi-supervised seg…
Universal value functions are a core component of off-policy multi-goal reinforcement learning. The de-facto paradigm is to approximate Q(s, a, g) using monolithic neural networks which lack inductive biases to produce complex interactions between the state s and the goal g. In this work, we propos…
How deep neural networks (DNNs) learn from noisy labels has been studied extensively in image classification but much less in image segmentation. So far, our understanding of the learning behavior of DNNs trained by noisy segmentation labels remains limited. In this study, we address this deficiency…
Value approximation using deep neural networks is at the heart of off-policy deep reinforcement learning, and is often the primary module that provides learning signals to the rest of the algorithm. While multi-layer perceptron networks are universal function approximators, recent works in neural k…
Current model-based reinforcement learning methods struggle when operating from complex visual scenes due to their inability to prioritize task-relevant features. To mitigate this problem, we propose learning Task Informed Abstractions (TIA) that explicitly separates reward-correlated visual feature…
Planning, the ability to analyze the structure of a problem in the large and decompose it into interrelated subproblems, is a hallmark of human intelligence. While deep reinforcement learning (RL) has shown great promise for solving relatively straightforward control tasks, it remains an open proble…
In recent years, deep generative models have been shown to 'imagine' convincing high-dimensional observations such as images, audio, and even video, learning directly from raw data. In this work, we ask how to imagine goal-directed visual plans -- a plausible sequence of observations that transition…
We consider the problem of exploration in meta reinforcement learning. Two new meta reinforcement learning algorithms are suggested: E-MAML and ERL2. Results are presented on a novel environment we call 'Krazy World' and a set of maze environments. We show E-MAML and ERL2 deliver better performance…
We interpret meta-reinforcement learning as the problem of learning how to quickly find a good sampling distribution in a new environment. This interpretation leads to the development of two new meta-reinforcement learning algorithms: E-MAML and E-$\text{RL}^2$. Results are presented on a new enviro…
We study randomly initialized residual networks using mean field theory and the theory of difference equations. Classical feedforward neural networks, such as those with tanh activations, exhibit exponential behavior on the average when propagating inputs forward or gradients backward. The exponenti…