18 accepted papers
A symmetry on rigid motion is one of the salient factors in efficient learning of 3D point cloud problems. Group convolution has been a representative method to extract equivariant features, but its realizations have struggled to retain both rigorous symmetry and scalability simultaneously. We advoc
Once trained, neural networks memorize information in diffusely encoded parameters, making it difficult to forget in support of the right to be forgotten. Unlearning aims to remove the influence of data, with performance measured against a retrained model that excludes the data. However, understandi
The pooling layer plays a vital role in aggregating local descriptors into the metrizable global descriptor in the LiDAR Place Recognition (LPR). In particular, the second-order pooling is capable of capturing higher-order interactions among local descriptors. However, its existing methods in the LP…
Neural networks learn effective feature representations, which can be transferred to new tasks without additional training. While larger datasets are known to improve feature transfer, the theoretical conditions for the success of such transfer remain unclear. This work investigates feature transfer…
Weakly supervised phrase grounding tasks aim to learn alignments between phrases and regions with coarse image-caption match information. One branch of previous methods established pseudo-label relationships between phrases and regions based on the Expectation-Maximization (EM) algorithm combined wi…
Human perception involves decomposing complex multi-object scenes into time-static object appearance (i.e., size, shape, color) and time-varying object motion (i.e., position, velocity, acceleration). For machines to achieve human-like intelligence in real-world interactions, understanding these phy…
"The inherent richness of geometric information in point cloud underscores the necessity of leveraging group equivariance, as preserving the topological structure of the point cloud up to the feature space provides an intuitive inductive bias for solving problems in 3D space. Since manifesting the s…
Language-Conditioned Robotic Grasping (LCRG) aims to develop robots that comprehend and grasp objects based on natural language instructions. While the ability to understand personal objects like my wallet facilitates more natural interaction with human users, current LCRG systems only allow generic…
Interactive Object Grasping (IOG) is the task of identifying and grasping the desired object via human-robot natural language interaction. Current IOG systems assume that a human user initially specifies the target object’s category (e.g., bottle). Inspired by pragmatics, where humans often convey t…
Multi-Modal Entity Alignment aims to discover identical entities across heterogeneous knowledge graphs. While recent studies have delved into fusion paradigms to represent entities holistically, the elimination of features irrelevant to alignment and modal inconsistencies is overlooked, which are ca…
Document-level relation extraction (DocRE) involves identifying relations between entities distributed in multiple sentences within a document. Existing methods focus on building a heterogeneous document graph to model the internal structure of an entity and the external interaction between entities…
Language-Guided Robotic Manipulation (LGRM) is a challenging task as it requires a robot to understand human instructions to manipulate everyday objects. Recent approaches in LGRM rely on pre-trained Visual Grounding (VG) models to detect objects without adapting to manipulation environments. This r…
Prompt-based Learning has shown significant success in few-shot classification. The mainstream approach is to concatenate a template for the input text to transform the classification task into a cloze-type task where label mapping plays an important role in finding the ground-truth labels. While c…
Semi-supervised text classification (SSTC) aims at text classification with few labeled data and massive unlabeled data. Recent works achieve this task by pseudo-labeling methods, with the belief that the unlabeled and labeled data have identical data distribution, and assign the unlabeled data with…
The map fusion for multi-robot simultaneous localization and mapping (SLAM) consistently combines robot maps built independently into the global map. An established approach to map fusion is utilizing rendezvous, which refers to an encounter between multiple agents, to calculate the transformation i…
Prompt-based learning has achieved excellent performance in few-shot learning by mapping the outputs of the pre-trained language model to the labels with the help of a label mapping component. Existing manual label mapping (MLM) methods achieve good results but heavily rely on expensive human knowle…
Text style transfer is an important task in natural language processing with broad applications. Existing models following the masking and filling scheme suffer two challenges: the word masking procedure may mistakenly remove unexpected words and the selected words in the word filling procedure may…
In this paper, we present a new class of Markov decision processes (MDPs), called Tsallis MDPs, with Tsallis entropy maximization, which generalizes existing maximum entropy reinforcement learning (RL). A Tsallis MDP provides a unified framework for the original RL problem and RL with various types…