64 accepted papers
Enhancing brain activation efficiency is crucial in developing brain computer interface (BCI) paradigm for cognitive rehabilitation. However, the existing BCI paradigms mostly achieved limited sensory-activation without sufficient feedback of mind and body, significantly limiting the user engagement…
Efficient brain functional training with rehabilitation robots has been an important and challenging topic in the human-machine interaction (HMI) field. Adjusting the interaction and gaming behaviors between human and machine to effectively activate the brain’s functional behavior is still a substan…
Accurately assessing brain activity to modulate training parameters online is crucial for improving the human-robot cognitive interaction (HRCI) performance in closed-loop brain training. The major challenge for this technique lies in how to accurately model and characterize the intrinsic behavior o…
Crystal property prediction, governed by quantum mechanical principles, is computationally prohibitive to solve exactly for large many-body systems using traditional density functional theory. While machine learning models have emerged as efficient approximations for large-scale applications, their…
In Remote Sensing (RS), Parameter-Efficient Fine-Tuning (PEFT) has emerged as a key approach to activate the generalizable representation ability of foundation models for downstream tasks. However, existing specialized PEFT methods often fail when applied to large-scale Earth observation tasks, as t
Understanding how transcriptomic programs shape tissue morphology remains a central challenge in computational pathology. Gene-to-WSI tile synthesis offers a principled generative framework to translate molecular profiles into histological images. However, most existing methods compress RNA-Seq into
Personalizing large language models (LLMs) is increasingly important as they are progressively integrated into real-world applications to support users’ daily lives. However, existing approaches often fail to distinguish which components of response predictions by model and ground-truth response in…
While recent advances in machine learning have equipped Weather Foundation Models (WFMs) with substantial generalization capabilities across diverse downstream tasks, the escalating computational requirements associated with their expanding scale increasingly hinder practical deployment. Current Par…
Accurate Subseasonal-to-Seasonal (S2S) forecasting is vital for decision-making in agriculture, energy production, and emergency management. However, it remains a challenging and underexplored problem due to the chaotic nature of the weather system. Recent data-driven studies have shown promising re…
Accurate weather forecast reporting enables individuals and communities to better plan daily activities, agricultural operations, and transportation. However, the current reporting process primarily relies on manual analysis of multi-source data, which often leads to information overload and reduced…
Focus of attention is one of the most influential factors facilitating motor training performance. Most of robotic training methods have not well solved the negative effect of divided-attention on motor execution performance, resulting in limited rehabilitation efficiency for motor-cognitive dysfunc
Text-to-image (T2I) generation models have significantly advanced in recent years. However, effective interaction with these models is challenging for average users due to the need for specialized prompt engineering knowledge and the inability to perform multi-turn image generation, hindering a dyna…
In recent years, graph prompting has emerged as a promising research direction, enabling the learning of additional tokens or subgraphs appended to original graphs without requiring retraining of pre-trained graph models across various applications. This novel paradigm, shifting from the traditional…
We address the identification of direct causes in time series with multiple time lags, and propose a constraint-based window causal graph discovery method. A key advantage of our method is that the number of required conditional independence (CI) tests scales quadratically with the number of sub-ser
Brain-computer interface (BCI) is an important technology in developing the closed-loop brain training system for cognitive functional rehabilitation. Most of existing BCI paradigms have not ensured desired immersiveness of mind and body, thereby limiting participants’ engagement in training tasks.
Lower limb exoskeletons (LLEs) play a crucial role in assisting paraplegic patients with walking in outdoor environments characterized by complex terrains, including various stairs, slopes, and uneven grounds. However, most existing control methods for LLEs rely on predefined joint angles, lacking t
Contrastive Language-Image Pre-training (CLIP) has become the standard for cross- modal image-text representation learning. Improving CLIP typically requires additional data and retraining with new loss functions, but these demands raise resource and time costs, limiting practical use. In this work,…
Circuit discovery has recently attracted attention as a potential research direction to explain the non-trivial behaviors of language models. It aims to find the computational subgraphs, also known as circuits, within the model that are responsible for solving specific tasks. However, most existing…
Whole Slide Image (WSI) classification poses unique challenges due to the vast image size and numerous non-informative regions, which introduce noise and cause data imbalance during feature aggregation. To address these issues, we propose MExD, an Expert-Infused Diffusion Model that combines the str…
Personalizing Large Language Models (LLMs) has become a critical step in facilitating their widespread application to enhance individual life experiences. In pursuit of personalization, distilling key preference information from an individual’s historical data as instructional preference context to…
Document Understanding is a foundational AI capability with broad applications, and Document Question Answering (DocQA) is a key evaluation task. Traditional methods convert the document into text for processing by Large Language Models (LLMs), but this process strips away critical multi-modal infor
To enhance the generalization ability of graph neural networks (GNNs) in learning and simulation physical dynamics, a series of equivariant GNNs have been developed to incorporate the symmetric inductive bias. However, the existing methods do not take into account the non-stationarity nature of phys…
Motor imagery (MI) classification in rehabilitation brain-computer interfaces (RBCIs) faces significant challenges due to the variability of electroencephalography (EEG) signals across subjects. Existing methods typically require extensive EEG data collection from each new subject, which is time-con
Lower Limb Exoskeletons are potential in the gait training for patients with gait disorders. For patients in the early rehabilitation stages with weak upper limb strength, it is challenge to keep balance by themselves only. A mobile robotic walker is helpful to maintain the walking balance, with the
Node classification is a fundamental task in graph analysis, with broad applications across various fields. Recent breakthroughs in Large Language Models (LLMs) have enabled LLM-based approaches for this task. Although many studies demonstrate the impressive performance of LLM-based methods, the lac…
Graph plays a significant role in representing and analyzing complex relationships in real-world applications such as citation networks, social networks, and biological data. Recently, Large Language Models (LLMs), which have achieved tremendous success in various domains, have also been leveraged i…
This paper is an extended abstract of our original work published in KDD23, where we won the best research paper award. The paper introduces a novel approach to bridging the gap between pre-trained graph models and the diverse tasks they’re applied to, inspired by the success of prompt learning in N…
Task planning in language agents is emerging as an important research topic alongside the development of large language models (LLMs). It aims to break down complex user requests in natural language into solvable sub-tasks, thereby fulfilling the original requests. In this context, the sub-tasks can…
Functional Distributional Semantics (FDS) models the meaning of words by truth-conditional functions. This provides a natural representation for hypernymy but no guarantee that it can be learnt when FDS models are trained on a corpus. In this paper, we probe into FDS models and study the representat…
"Detecting objects seamlessly blended into their surroundings represents a complex task for both human cognitive capabilities and advanced artificial intelligence algorithms. Currently, the majority of methodologies for detecting camouflaged objects mainly focus on utilizing discriminative models wi…
6D object pose estimation plays a crucial role in robot grasping and manipulation. However, the prevalent methods for 6D object pose estimation heavily rely on 6D annotated data to train deep neural networks, which poses challenges due to the difficulty in obtaining sufficient pose annotations. To a…
Text clustering is a fundamental task in natural language processing with numerous applications. However, traditional clustering methods often struggle with domain-specific fine-tuning and the presence of outliers. To address these challenges, we introduce LLMEdgeRefine, an iterative clustering meth…
In an era characterized by the rapid proliferation of information, the pervasive issues of misinformation and disinformation have significantly impacted numerous individuals. Consequently, the evaluation of information’s truthfulness and accuracy has garnered substantial attention among researchers.…
Artificial general intelligence on graphs has shown significant advancements across various applications, yet the traditional `Pre-train \& Fine-tune' paradigm faces inefficiencies and negative transfer issues, particularly in complex and few-shot settings. Graph prompt learning emerges as a promisi…
Understanding the 3D structures of protein multimers is crucial, as they play a vital role in regulating various cellular processes. It has been empirically confirmed that the multimer structure prediction (MSP) can be well handled in a step-wise assembly fashion using provided dimer structures and…
Upper limb rehabilitation robots are mainly used as a physical therapy method to passively or actively train the affected side. However, they are rarely implemented in accordance with the occupational therapy theory, which is dedicated to improving the sensorimotor coordination of hemiplegic patient…
Designing an effective learning method remains a challenge in neural dialogue generation systems as it requires the training objective to well approximate the intrinsic human-preferred dialogue properties. Conventional training approaches such as maximum likelihood estimation focus on modeling gener…
6D object pose estimation is an essential task in vision-based robotic grasping and manipulation. Prior works always train models with a large number of pose annotated images, limiting the efficiency of model transfer between different scenarios. This letter presents an end-to-end model named <itali
Despite the advances in the field of human-robot interface (HRI) based on biological neural signal, the use of the sole electroencephalography (EEG) signal to help robotic exoskeleton predict the limb movement is currently no mature in rehabilitation training, due to its unreliability. Multimodal HR…
Experienced human drivers always make safe driving decisions by selectively observing the front, rear and side- view mirrors. Several end - to-end methods have been pro-posed to learn driving models with multi-view visual infor-mation. However, these benchmark methods lack semantic understanding of…
Lower Limb Exoskeletons (LLE) have received considerable interest in strength augmentation, rehabilitation, and walking assistance scenarios. For strength augmentation, LLE is expected to have the capability of reducing metabolic energy. However, the energy for adjusting Center of Gravity (CoG) is a…
Dialogue agents can leverage external textual knowledge to generate responses of a higher quality. To our best knowledge, most existing works on knowledge grounded dialogue settings assume that the user intention is always answerable. Unfortunately, this is impractical as there is no guarantee that…
Incorporating personas information allows diverse and engaging responses in dialogue response generation. Unfortunately, prior works have primarily focused on self personas and have overlooked the value of partner personas. Moreover, in practical applications, the availability of the gold partner pe…
We introduce a data-driven approach to generating derivation trees from meaning representation graphs with probabilistic synchronous hyperedge replacement grammar (PSHRG). SHRG has been used to produce meaning representation graphs from texts and syntax trees, but little is known about its viability…
In this paper, we consider an inverse problem in graph learning domain -- "given the graph representations smoothed by Graph Convolutional Network (GCN), how can we reconstruct the input graph signal?" We propose Graph Deconvolutional Network (GDN) and motivate the design of GDN via a combination of…
Estimating the center of mass (CoM) is essential for both gait planning and controlling of lower limb exoskeletons. Different from CoM estimation in human and humanoid robots, a critical issue in human-exoskeleton systems pis how to describe the effect of physical human-exoskeleton interactions in e…
Lower-limb exoskeletons can reduce the therapist's burden and quantify repetitive gait training for patients with gait impairments. For patient's gait training, different walking speeds are required at different rehabilitation stages. However, due to the uniqueness of gait patterns, it is challengin
Automatically detecting/segmenting object(s) that blend in with their surroundings is difficult for current models. A major challenge is that the intrinsic similarities between such foreground objects and background surroundings make the features extracted by deep model indistinguishable. To overcom…
Semantic correspondence is a fundamental problem in computer vision, which aims at establishing dense correspondences across images depicting different instances under the same category. This task is challenging due to large intra-class variations and a severe lack of ground truth. A popular solutio…
Lower Limb Exoskeletons (LLEs) are promising in gait rehabilitation for stroke survivors. In gait training of post-stroke patients with LLEs, one of the main challenges is how to generate appropriate gait patterns from the sound leg to the paretic leg for different patients with varying walking spee…
6D object pose estimation is an essential task in vision-based robotic grasping and manipulation. Prior works extract spatial features by fusing the RGB image and depth without considering the temporal motion information, limiting their performance in heavy occlusion robotic grasping scenarios. In t…
Spotting objects that are visually adapted to their surroundings is challenging for both humans and AI. Conventional generic / salient object detection techniques are suboptimal for this task because they tend to only discover easy and clear objects, while overlooking the difficult-to-detect ones wi…
In this paper, we study the problem of salient object detection for RGB-D images by using both color and depth information. A major technical challenge for detecting salient objects in RGB-D images is to fully leverage the two complementary data sources. The existing works either simply distill prio…
Lower limb exoskeleton (LLE) has received considerable interests in strength augmentation, rehabilitation and walking assistance scenarios. For walking assistance, the LLE is expected to have the capability of controlling the affected leg to track the unaffected leg’s motion naturally. An important…
Graph Neural Networks (GNN) and Variational Autoencoders (VAEs) have been widely used in modeling and generating graphs with latent factors. However there is no clear explanation of what these latent factors are and why they perform well. In this work, we present Dirichlet Graph Variational Autoenco…
Lower-limb exoskeleton has gained considerable interests in walking assistance applications for paraplegic patients. In walking assistance of paraplegic patients, the exoskeleton should have the ability to help patients to walk over different terrains in the daily life, such as slope terrains. One c…
End-to-end deep learning has gained considerable interests in autonomous driving vehicles in both academic and industrial fields, especially in decision making process. One critical issue in decision making process of autonomous driving vehicles is steering control. Researchers has already trained d…
In recent years, deep Convolutional Neural Networks (CNNs) have broken all records in salient object detection. However, training such a deep model requires a large amount of manual annotations. Our goal is to overcome this limitation by automatically converting an existing deep contour detection mo…
Lower exoskeleton has gained considerable interests in walking assistance applications for both paraplegia and hemiplegia patients. In walking assistance of hemiplegia patients, the exoskeleton should have the ability to control the affected leg to follow the unaffected leg's motion naturally. One c…
In this paper, we propose an accelerated first-order method for geodesically convex optimization, which is the generalization of the standard Nesterov's accelerated method from Euclidean space to nonlinear Riemannian space. We first derive two equations and obtain two nonlinear operators for geodesi…
This work aims to build pixel-to-pixel correspondences between images from the same visual class but with different geometries and visual similarities. This task is particularly challenging because (i) their visual content is similar only on the high-level structure, and (ii) background clutters kee…
Learning by demonstration methods have gained considerable interest in human-coupled robot control. It aims at modeling the goal motion trajectories through human demonstration. However, in lower exoskeleton control, the physical human-robot interaction is changing from pilot to pilot or even for on…
Human-powered lower exoskeletons have gained considerable interests from both academia and industry over the past few decades, and thus have seen increasing applications in areas of human locomotion assistance and strength augmentation. One of the most important aspects in those applications is to a…
Sensitivity Amplification Control (SAC) algorithm was first proposed in the augmentation applications of Berkeley Lower Extremity Exoskeleton (BLEEX). The SAC algorithm is widely used in human augmentation applications since it just need the information from the exoskeleton robot, so that the comple…