26 accepted papers
Large Vision-Language Models have demonstrated exceptional performance in multimodal reasoning and complex scene understanding. However, these models still face significant hallucination issues, where outputs contradict visual facts. Recent research on hallucination mitigation has focused on retrain…
Legged robots hold great promise for agile and flexible mobility across diverse and unstructured terrains, inspired by the remarkable adaptability of bipeds and quadrupeds in nature. However, achieving robust autonomous locomotion in cluttered and complex environments remains a significant challenge…
Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills such as climbing, running, and jumping. However, existing blind locomotion controllers often struggle to ensure safety …
Multimodal Chain-of-Thought (MCoT) models have demonstrated impressive capability in complex visual reasoning tasks. Unfortunately, recent studies reveal that they suffer from severe hallucination problems due to diminished visual attention during the generation process.However, visual attention dec
Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present FR-Net, a learning-based framework that enables quadrupedal robots to recover from arbitrary fall poses
Legged robots hold great promise for agile and flexible mobility across diverse and unstructured terrains, inspired by the remarkable adaptability of bipeds and quadrupeds in nature. However, achieving robust autonomous locomotion in cluttered and complex environments remains a significant challenge
Implicit degradation estimation-based blind super-resolution (IDE-BSR) hinges on extracting the implicit degradation representation (IDR) of the LR image and adapting it to LR image features to guide HR detail restoration. Although IDE-BSR has shown potential in dealing with noise interference and c…
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control methods or reinforcement learning (RL) approaches, exhibit
Audio is a critical component of multimodal perception, and any truly intelligent system must demonstrate a wide range of auditory capabilities. These capabilities include transcription, classification, retrieval, reasoning, segmentation, clustering, reranking, and reconstruction. Fundamentally, eac…
The optimization-based meta-learning approach is gaining increased traction because of its unique ability to quickly adapt to a new task using only small amounts of data. However, existing optimization-based meta-learning approaches, such as MAML, ANIL and their variants, generally employ backpropag…
Although Large Vision-Language Models (LVLMs) have achieved impressive results, their high computational costs pose a significant barrier to wide application. To enhance inference efficiency, most existing approaches can be categorized as parameter-dependent or token-dependent strategies to reduce c…
This paper proposes an informative trajectory planning approach, namely, adaptive particle filter tree with sigma point-based mutual information reward approximation (ASPIRe), for mobile target search and tracking (SAT) in cluttered environments with limited sensing field of view. We develop a novel…
Vision-Language Instruction Tuning (VLIT) is a critical training phase for Large Vision-Language Models (LVLMs). With the improving capabilities of open-source LVLMs, researchers have increasingly turned to generate VLIT data by using open-source LVLMs and achieved significant progress. However, suc…
Zero-Shot Object Navigation (ZSON) requires agents to autonomously locate and approach unseen objects in unfamiliar environments and has emerged as a particularly challenging task within the domain of Embodied AI. Existing datasets for developing ZSON algorithms lack consideration of dynamic obstacl
Existing passage retrieval systems typically adopt a two-stage retrieve-then-rerank pipeline. To obtain an effective reranking model, many prior works have focused on improving the model architectures, such as leveraging powerful pretrained large language models (LLM) and designing better objective…
We develop and evaluate multilingual scientific documents similarity measurement models in this work. Such models can be used to find related papers in different languages, which can help multilingual researchers find and explore papers more efficiently. We propose the first multilingual scientific…
In the realm of household robotics, the Zero-Shot Object Navigation (ZSON) task empowers agents to adeptly traverse unfamiliar environments and locate objects from novel categories without prior explicit training. This paper introduces VoroNav, a novel semantic exploration framework that proposes th…
Domain adaptation aims to transfer the knowledge learned on (data-rich) source domains to (low-resource) target domains, and a popular method is invariant representation learning, which matches and aligns the data distributions on the feature space. Although this method is studied extensively and ap…
Much recent research on information retrieval has focused on how to transfer from one task (typically with abundant supervised data) to various other retrieval tasks where supervision is limited, with the implicit assumption that it is possible to generalize from one task to all the rest. However, t…
State-of-the-art neural models typically encode document-query pairs using cross-attention for re-ranking. To this end, models generally utilize an encoder-only (like BERT) paradigm or an encoder-decoder (like T5) approach. These paradigms, however, are not without flaws, i.e., running the model on…
It has been shown that dual encoders trained on one domain often fail to generalize to other domains for retrieval tasks. One widespread belief is that the bottleneck layer of a dual encoder, where the final score is simply a dot-product between a query vector and a passage vector, is too limited co…
We provide the first exploration of sentence embeddings from text-to-text transformers (T5) including the effects of scaling up sentence encoders to 11B parameters. Sentence embeddings are broadly useful for language processing tasks. While T5 achieves impressive performance on language tasks, it is…
In the context of neural passage retrieval, we study three promising techniques: synthetic data generation, negative sampling, and fusion. We systematically investigate how these techniques contribute to the performance of the retrieval system and how they complement each other. We propose a multi-s…
Tissue manipulation is a frequently used fundamental subtask of any surgical procedures, and in some cases it may require the involvement of a surgeon's assistant. The complex dynamics of soft tissue as an unstructured environment is one of the main challenges in any attempt to automate the manipula…
In autonomous suturing with a surgical robot, needle shape, diameter, and path are critical parameters that directly affect suture depth and tissue trauma. This paper presents an optimization-based approach to specify these parameters. Given clinical suturing guidelines, a kinematic model of needle-…