15 accepted papers
Recent unified models have demonstrated that the reasoning capacity of Multimodal Large Language Models (MLLMs) can be leveraged to facilitate diffusion-based image generation with impressive flexibility and performance. However, approaches that rely heavily on MLLMs for high-level semantic encoding
Aligning Large Language Models (LLMs) with human preferences is crucial for safe and effective AI interactions. While popular methods like Direct Preference Optimization (DPO) have simplified alignment, they remain sensitive to data noise and overlook the differential importance of individual tokens…
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…
Visual storytelling, a complex task in natural language generation, aims to create coherent and engaging narratives from a sequence of images, requiring more intricate and lengthy descriptions than typical image captioning. Current methods generally employ sophisticated modal interaction modules and…
Large language models (LLMs) have demonstrated remarkable performance in multimodal tasks even with frozen LLM Block and only a few trainable parameters. However, the underlying mechanisms of how LLMs enhance multimodal performance remains unclear. In this work, we focus on the phenomenon that ``Mer…
An efficient and precise diagnosis of retinal diseases is a fundamental goal for auxiliary diagnostic systems in ophthalmology. Inspired by the importance of scattered subtle lesions in manual retinal disease diagnosis, recent research has achieved state-of-the-art performance by mining information…
Recently, Transformers have been introduced into the field of acoustics recognition. They are pre-trained on large-scale datasets using methods such as supervised learning and semi-supervised learning, demonstrating robust generality——It fine-tunes easily to down-stream tasks and shows more robust p…
Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained on limited household datasets with close-set objects. However…
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite degrees of freedom (DoF), and their mechanical properties can ch…
Contact-implicit trajectory optimization offers an appealing method of automatically generating complex and contact-rich behaviors for robot manipulation and locomotion. The scalability of such techniques has been limited, however, by the challenge of ensuring both numerical reliability and physical…
Seemingly in defiance of basic physics, cats consistently land on their feet after falling. In this paper, we design a controller that lands the Mini Cheetah quadruped robot on its feet as well. Specifically, we explore how trajectory optimization and machine learning can work together to enable hig…
Automatic and accurate retinal disease diagnosis is critical to guide proper therapy and prevent potential vision loss. Previous works simply exploit the most discriminative features while ignoring the pathological visual clues of scattered subtle lesions. Therefore, without a comprehensive understa…
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we propose a template-based whole-body control method grounded
This paper introduces a new gait switching approach for underactuated biped walkers. The switching condition relies on a reduced region of attraction - that of the unactuated dynamics - which is shown to be sufficient to predict falls. A gait transition is accordingly stable (as in “the robot does n…