20 accepted papers
New AI accelerators with novel instruction set architectures (ISAs) often require developers to manually craft low-level kernels - a time-consuming, laborious, and error-prone process that cannot scale across diverse hardware targets. This prevents emerging hardware platforms from reaching the marke…
Low-Rank Adaptation (LoRA) enables efficient federated fine-tuning of segmentation foundation models for medical imaging. However, most federated LoRA methods adopt a uniform aggregation rule, which breaks under the encoder–decoder asymmetry in medical segmentation: the encoder is dominated by appea…
Automatic speech recognition (ASR) systems have achieved remarkable performance in common conditions but often struggle to leverage long-context information in contextualized scenarios that require domain-specific knowledge, such as conference presentations. This challenge arises primarily due to co
Prompt compression is increasingly studied for its potential to reduce computational costs and alleviate the burden on language models when processing lengthy prompts. Prior research has assessed token retention and removal by calculating information entropy. However, prompt compression encounters t…
We present an ultra-efficient post-training method for shortcutting large-scale pre-trained flow matching diffusion models into efficient few-step samplers, enabled by novel velocity field self-distillation. While shortcutting in flow matching, originally introduced by shortcut models, offers flexi…
In low-light, unstructured, and confined environments, performing Simultaneous Localization and Mapping (SLAM) with conventional methods presents significant challenges. Soft growing robots, characterized by their compliance and extensibility, interact safely with the environment, making them well-s
The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end paradigms unify multi-tasks into a fully differentiable framew
Generating safety-critical scenarios, which are essential yet difficult to collect at scale, offers an effective method to evaluate the robustness of autonomous vehicles (AVs). Existing methods focus on optimizing adversariality while preserving the naturalness of scenarios, aiming to achieve a bala…
Hybrid image retrieval is a significant task for a wide range of applications. In this scenario, the hybrid query for searching images consists of a reference image and a text modifier. The reference image provides a vital visual context and displays some semantic details, while the text modifier sp…
Although denoising diffusion probabilistic models (DDPMs) have shown remarkable progress in image generation, they typically face two main challenges: the time-expensive sampling process and the semantically meaningless latent space, which are often addressed separately in previous works. In particu…
We study a new problem of semantic complete scene forecasting (SCSF) in this work. Given a 4D dynamic point cloud sequence, our goal is to forecast the complete scene corresponding to the future next frame along with its semantic labels. To tackle this challenging problem, we properly model the syne…
Unsupervised continual learning (UCL) of image representation has garnered attention due to practical need. However, recent UCL methods focus on mitigating the catastrophic forgetting with a replay buffer (i.e., rehearsal-based strategy), which needs much extra storage. To overcome this drawback, we…
Flat objects with negligible thicknesses like books and disks are challenging to be grasped by the robot because of the width limit of the robot's gripper, especially when they are in cluttered environments. Pre-grasp manipulation is conducive to rearranging objects on the table and moving the flat…
We propose to study a new learning task, mobile construction, to enable an agent to build designed structures in 1/2/3D grid worlds while navigating in the same evolving environments. Unlike existing robot learning tasks such as visual navigation and object manipulation, this task is challenging bec…
Medical Slot Filling (MSF) task aims to convert medical queries into structured information, playing an essential role in diagnosis dialogue systems. However, the lack of sufficient term semantics learning makes existing approaches hard to capture semantically identical but colloquial expressions of…
Trajectory prediction plays a vital role in the performance of autonomous driving systems, and prediction accuracy, such as average displacement error (ADE) or final displacement error (FDE), is widely used as a performance metric. However, a significant disparity exists between the accuracy of pred…
Tactical planning is crucial for safe and efficient driving on the highway. However, the problem is complicated by the uncertain intention of surrounding vehicles, as well as observation noise caused by measurement noise and perception errors. Rule-based tactical planning methods are ineffective in…
In this letter, a novel grasp detection neural network Squeeze-and-Excitation ResUNet (SE-ResUNet) is developed, where the residual block with the channel attention is integrated. The proposed framework can not only generate the grasp pose from the RGB-D images, but also predict the quality score of
Providing a reliable explanation for clinical diagnosis based on the Electronic Medical Record (EMR) is fundamental to the application of Artificial Intelligence in the medical field. Current methods mostly treat the EMR as a text sequence and provide explanations based on a precise medical knowledg…
This paper addresses the problem of Unbalanced Optimal Transport (UOT) in which the marginal conditions are relaxed (using weighted penalties in lieu of equality) and no additional regularization is enforced on the OT plan. In this context, we show that the corresponding optimization problem can be…