13 accepted papers
This paper introduces DynaFlow, a novel framework that embeds a differentiable simulator directly into a flow matching model. By generating trajectories in the action space and mapping them to dynamically feasible state trajectories via the simulator, DynaFlow ensures all outputs are physically cons…
Reliable off-road navigation requires accurate estimation of traversable regions and robust perception under diverse terrain and sensing conditions. However, existing datasets lack both scalability and multi-modality, which limits progress in 3D traversability prediction. In this work, we introduce …
Despite recent advances in diffusion models, AI generated images still often contain visual artifacts that compromise realism. Although more thorough pre-training and bigger models might reduce artifacts, there is no assurance that they can be completely eliminated, which makes artifact mitigation a
*Continual learning (CL)* enables deep neural networks to adapt to ever-changing data distributions. In practice, there may be scenarios where annotation is costly, leading to *active continual learning (ACL)*, which performs *active learning (AL)* for the CL scenarios when reducing the labeling cos…
Haptic devices are widely used as control interfaces for robotic teleoperation, offering intuitive rendering of interactions between remote robot and environment. In particular, cutaneous feedback devices provide intrinsic stability and reduced form factor compared to kinesthetic feedback interfaces
We study model-based reinforcement learning with non-linear function approximation where the transition function of the underlying Markov decision process (MDP) is given by a multinomial logit (MNL) model. We develop a provably efficient discounted value iteration-based algorithm that works for both…
Flow and diffusion models have demonstrated strong performance and training stability across various tasks but lack two critical properties of simulation-based methods: freedom of dimensionality and adaptability to different inference trajectories. To address this limitation, we propose the Multidim…
Steel mill is one of the most extreme and hazardous working environments due to molten iron erupted from blast furnace. Current manual labor to remove lump iron near the outlet, which is essential to prevent lump iron from scattering or blocking of molten iron, is performed by equipped human workers…
While significant advancements have been made in music generation and differentiable sound synthesis within machine learning and computer audition, the simulation of instrument vibration guided by physical laws has been underexplored. To address this gap, we introduce a novel model for simulating th…
*Boundaries* are the timestamps at which a class in a time series changes. Recently, representation-based boundary detection has gained popularity, but its emphasis on consecutive distance difference backfires, especially when the changes are gradual. In this paper, we propose a boundary detection m…
In recent years, significant advancements in conversational question and answering (CQA) have been driven by the exponential growth of large language models and the integration of retrieval mechanisms that leverage external knowledge to generate accurate and contextually relevant responses. Conseque…
Musicians and audio engineers sculpt and transform their sounds by connecting multiple processors, forming an audio processing graph. However, most deep-learning methods overlook this real-world practice and assume fixed graph settings. To bridge this gap, we develop a system that reconstructs the e…
Wheeled mobile robots have been receiving continuous attention in various fields because of their stability, efficiency, and simple mechanisms. However, most of them require significantly larger occupied space than humans and have limited maneuverability in the environment for humans, such as crowde