18 accepted papers
Multimodal large language models (MLLMs) often miss small details and spatial relations in cluttered scenes, leading to errors in fine-grained perceptual grounding. We introduce AttWarp, a lightweight method that allocates more resolution to query-relevant content while compressing less informative…
This work demonstrates a front-flip on bicycle robots via reinforcement learning, particularly by imitating reference motions that are infeasible and imperfect. To address this, we propose Iterative Motion Imitation (IMI), a method that iteratively imitates trajectories generated by prior policy rol…
As large language models (LLMs) demonstrate increasingly advanced capabilities, aligning their behaviors with human values and preferences becomes crucial for their wide adoption. While previous research focuses on general alignment to principles such as helpfulness, harmlessness, and honesty, the n…
Despite seemingly performant web agents on the task-completion benchmarks, most existing methods evaluate the agents based on a presupposition: the web navigation task consists of a linear sequence of actions with an end state that marks task completion. In contrast, our work focuses on web navigati…
Real-world objects are composed of distinctive, object-specific parts. Identifying these parts is key to performing fine-grained, compositional reasoning—yet, large multimodal models (LMMs) struggle to perform this seemingly straightforward task. In this work, we introduce PARTONOMY, an LMM benchmar…
To enable machines to understand the way humans interact with the physical world in daily life, 3D interaction signals should be captured in natural settings, allowing people to engage with multiple objects in a range of sequential and casual manipulations. To achieve this goal, we introduce our Par…
Text-to-image (T2I) models enable rapid concept design, making them widely used in AI-driven design. While recent studies focus on generating semantic and stylistic variations of given design concepts, –the integration of multiple affordances into a single coherent concept–remains largely overlooked…
In this paper, we introduce SearchDet, a training-free long-tail object detection framework that significantly enhances open-vocabulary object detection performance. SearchDet retrieves a set of positive and negative images of an object to ground, embeds these images, and computes an input image--we…
Recent advances in instruction-tuned Large Vision-Language Models (LVLMs) have imbued the models with the ability to generate high-level, image-grounded explanations with ease. While such capability is largely attributed to the rich world knowledge contained within the Large Language Models (LLMs),…
Most existing retrieval-augmented language models (LMs) assume a naive dichotomy within a retrieved document set: query-relevance and irrelevance. Our work investigates a more challenging scenario in which even the “relevant” documents may contain misleading or incorrect information, causing conflic…
Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for quadruped locomotion and navigation. Our method can generate motion…
Compositional reasoning across texts has been a long-standing challenge in natural language processing. With large language models like GPT-4 taking over the field, prompting techniques such as chain-of-thought (CoT) were proposed to unlock compositional, multi-step reasoning capabilities of LLMs. D…
This paper presents a simple yet powerful method for 3D human mesh reconstruction from a single RGB image. Most recently, the non-local interactions of the whole mesh vertices have been effectively estimated in the transformer while the relationship between body parts also has begun to be handled vi…
Numerical reasoning over text is a challenging subtask in question answering (QA) that requires both the understanding of texts and numbers. However, existing language models in these numerical reasoning QA models tend to overly rely on the pre-existing parametric knowledge at inference time, which…
A graph is a suitable data structure to represent the structural information of text. Recently, multi-hop question answering (MHQA) tasks, which require inter-paragraph/sentence linkages, have come to exploit such properties of a graph. Previous approaches to MHQA relied on leveraging the graph info…
Numerical reasoning in machine reading comprehension (MRC) has shown drastic improvements over the past few years. While the previous models for numerical MRC are able to interpolate the learned numerical reasoning capabilities, it is not clear whether they can perform just as well on numbers unseen…
In this work, we present a probabilistic 3D generative model, named Generative Cellular Automata, which is able to produce diverse and high quality shapes. We formulate the shape generation process as sampling from the transition kernel of a Markov chain, where the sampling chain eventually evolves…
Tag recommendation relies on either a ranking function for top-k tags or an autoregressive generation method. However, the previous methods neglect one of two seemingly conflicting yet desirable characteristics of a tag set: orderlessness and inter-dependency. While the ranking approach fails to add…