28 accepted papers
Visual Dialogue Navigation (VDN) aims to enable agents to reach target locations through dialogue with humans. The integration of VDN into Unmanned Aerial Vehicle (UAV) systems enhances human-machine interaction by enabling intuitive, hands-free operation, thereby unlocking vast applications. Howeve
Recent advances in video diffusion models have significantly improved visual quality, yet ultra-high-resolution (UHR) video generation remains a formidable challenge due to the compounded difficulties of motion modeling, semantic planning, and detail synthesis. To address these limitations, we propo…
Enabling robots to execute novel manipulation tasks zero-shot is a central goal in robotics. Most existing methods assume in-distribution tasks or rely on fine-tuning with embodiment-matched data, limiting transfer across platforms. We present NovaFlow, an autonomous manipulation framework that conv…
Reinforcement learning (RL) has recently achieved remarkable success in eliciting visual reasoning within Multimodal Large Language Models (MLLMs). However, existing approaches typically train separate models for different tasks and treat image and video reasoning as disjoint domains. This results i
In this paper, we tackle the Aerial Vision-and-Dialog Navigation (AVDN) task in the training-free setting for resource-efficient high-altitude UAV navigation.Naively applying MLLMs leads to unreliable navigation due to weak directional grounding and the lack of explicit spatial memory.To address the
The rapid advancement of Large Language Model (LLM)-driven multi-agent systems has significantly streamlined software developing tasks, enabling users with little technical expertise to develop executable applications. While these systems democratize software creation through natural language requir
Recent advances in visual generation have increasingly explored the integration of reasoning capabilities. They incorporate textual reasoning, i.e., think, either before (as pre-planning) or after (as post-refinement) the generation process, yet they lack on-the-fly multimodal interaction during the
Long Chain-of-Thought (CoT) reasoning enhances large reasoning models
Recent advancements in multimodal large language models (MLLMs) have shown promising results, yet existing approaches struggle to effectively handle both temporal and spatial localization simultaneously. This challenge stems from two key issues: first, incorporating spatial-temporal localization int…
The safety mechanisms of large language models (LLMs) exhibit notable fragility, as even fine-tuning on datasets without harmful content may still undermine their safety capabilities. Meanwhile, existing safety alignment methods predominantly rely on the fine-tuning process, which inadvertently lead…
The objective of the collaborative perception task is to enhance the individual agent's perception capability through message communication among neighboring agents. A central challenge lies in optimizing the inherent trade-off between perception ability and communication cost. To tackle this bottle…
Audio-Visual Segmentation (AVS) aims to segment sound-producing objects in video frames based on the associated audio signal. Prevailing AVS methods typically adopt an audio-centric Transformer architecture, where object queries are derived from audio features. However, audio-centric Transformers su…
Continual learning for large language models (LLMs) demands a precise balance between $\textbf{plasticity}$ - the ability to absorb new tasks - and $\textbf{stability}$ - the preservation of previously learned knowledge. Conventional rehearsal methods, which replay stored examples, are limited by lo…
In this paper, we propose an Audio-Language-Referenced SAM 2 (AL-Ref-SAM 2) pipeline to explore the training-free paradigm for audio and language-referenced video object segmentation, namely AVS and RVOS tasks. The intuitive solution leverages GroundingDINO to identify the target object from a singl…
Humans naturally integrate vision and haptics for robust object perception during manipulation; losing either modality significantly degrades performance. Inspired by this multisensory integration, prior pose estimation research has attempted to combine visual and haptic/tactile feedback. While thes…
Object 6D pose estimation is a critical challenge in robotics, particularly for manipulation tasks. While prior research combining visual and tactile (visuotactile) information has shown promise, these approaches often struggle with generalization due to the limited availability of visuotactile data
Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D navigation, which originates from Euclidean transformations between r
To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-standardized representations. In this paper, we propose a novel framework, HyperTaxel, for learning a geometrically-inform…
Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model that addresses both obstacle detection and tracking problems. For the detection task, our approach leverages deformable attention to construct…
Catastrophic Forgetting (CF) means models forgetting previously acquired knowledge when learning new data. It compromises the effectiveness of large language models (LLMs) during fine-tuning, yet the underlying causes have not been thoroughly investigated. This paper takes the first step to reveal t…
Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets and exhibit limited generalizability. In contrast, our appro…
Deep clustering is a fundamental task in machine learning and data mining that aims at learning clustering-oriented feature representations. In previous studies, most of deep clustering methods follow the idea of self-supervised representation learning by maximizing the consistency of all similar in…
Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle detection works only leverage traditional stereo matching techniqu…
In this letter, we introduce ViHOPE, a novel framework for estimating the 6D pose of an in-hand object using visuotactile perception. Our key insight is that the accuracy of the 6D object pose estimate can be improved by explicitly completing the shape of the object. To this end, we introduce a nove
This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occu-pancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of the occupancy data, generated by multi-sensor fusion, into t…
In this paper, we present DuReader-retrieval, a large-scale Chinese dataset for passage retrieval. DuReader-retrieval contains more than 90K queries and over 8M unique passages from a commercial search engine. To alleviate the shortcomings of other datasets and ensure the quality of our benchmark, w…
Open-domain question answering has been used in a wide range of applications, such as web search and enterprise search, which usually takes clean texts extracted from various formats of documents (e.g., web pages, PDFs, or Word documents) as the information source. However, designing different text…
Machine reading comprehension (MRC) is a crucial task in natural language processing and has achieved remarkable advancements. However, most of the neural MRC models are still far from robust and fail to generalize well in real-world applications. In order to comprehensively verify the robustness an…