73 accepted papers
Video reasoning grounds intelligence in spatiotemporally consistent visual environments that go beyond what text can naturally capture, enabling intuitive reasoning over motion, interaction, and causality. Rapid progress in video models has focused primarily on visual quality. Systematically studyin…
We present AutoFocus-IL, a simple yet effective method to improve data efficiency and generalization in visual imitation learning by guiding policies to attend to task-relevant features rather than distractors and spurious correlations. Saliency regularization has emerged as a promising way to achie…
To complete assignments provided by humans in natural language, robots must interpret commands, generate and answer relevant questions for scene understanding, and manipulate target objects. Real-world deployments often require multiple heterogeneous robots with different manipulation capabilities t…
Human driving behavior is inherently personal, which is shaped by long-term habits and influenced by short-term intentions. Individuals differ in how they accelerate, brake, merge, yield, and overtake across diverse situations. However, existing end-to-end autonomous driving systems either optimize
Pre-trained robot policies serve as the foundation of many validated robotic systems, which encapsulate extensive embodied knowledge. However, they often lack the semantic awareness characteristic of foundation models, and replacing them entirely is impractical in many situations due to high costs a…
Unsupervised visible-infrared person re-identification (USVI-ReID) aims to match individuals across visible and infrared cameras without relying on any annotation. Given the significant gap across visible and infrared modality, estimating reliable cross-modality association becomes a major challenge
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating non-overlapping paths for full-area coverage. However, most existing m
Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating non-overlapping paths for full-area coverage. However, most existing m…
Preference-based reinforcement learning (RL) offers a promising approach for aligning policies with human intent but is often constrained by the high cost of human feedback. In this work, we introduce ROVED, a framework that integrates Vision-Language Models (VLMs) with selective human feedback to s…
Trajectory prediction is a crucial task in modeling human behavior, especially in safety-critical fields such as social robotics and autonomous vehicle navigation. Traditional heuristics based on handcrafted rules often lack accuracy, while recently proposed deep learning approaches suffer from comp
The rapid advancement of Large Multimodal Models (LMMs) for 2D images and videos has sparked interest in extending these models to 3D scenes, with the goal of human-like visual-spatial intelligence. However, achieving deep spatial understanding comparable to human capabilities remains challenging fo
The 3D perception of satellites, including both their shape and pose, is a key foundation for robotic on-orbit servicing. However, the demanding space environment-such as intense and dim illumination-presents significant challenges. Previous non-cooperative methods focus on specific geometric featur
Deep learning-based trajectory prediction models for autonomous driving often struggle with generalization to out-of-distribution (OOD) scenarios, sometimes performing worse than simple rule-based models. To address this limitation, we propose a novel framework, Adaptive Prediction Ensemble (APE), w
The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative perception, this letter explores the feasibility and effectiv
Cooperative perception systems play a vital role in enhancing the safety and efficiency of vehicular autonomy. Although recent studies have highlighted the efficacy of vehicle-to-everything (V2X) communication techniques in autonomous driving, a significant challenge persists: how to efficiently int
Scene Graph Generation (SGG) aims to represent visual scenes by identifying objects and their pairwise relationships, providing a structured understanding of image content. However, inherent challenges like long-tailed class distributions and prediction variability necessitate uncertainty quantifica…
Large language models (LLMs) are increasingly being adopted as the cognitive core of embodied agents. However, inherited hallucinations, which stem from failures to ground user instructions in the observed physical environment, can lead to navigation errors, such as searching for a refrigerator that
Bird’s-Eye View (BEV) perception has gained significant attention in autonomous driving and robotics due to its advantages in simplifying modality alignment and feature fusion. Addressing the challenge of jointly optimizing performance and efficiency in 2D-3D view transformation, we identify that, c
Multi-Agent Reinforcement Learning (MARL) has shown promise in solving complex problems involving cooperation and competition among agents, such as an Unmanned Surface Vehicle (USV) swarm used in search and rescue, surveillance, and vessel protection. However, aligning system behavior with user pref
Training intelligent agents to navigate highly interactive environments presents significant challenges. While guided meta reinforcement learning (RL) approach that first trains a guiding policy to train the ego agent has proven effective in improving generalizability across scenarios with various l
Language models (LMs) possess a strong capability to comprehend natural language, making them effective in translating human instructions into detailed plans for simple robot tasks. Nevertheless, it remains a significant challenge to handle long-horizon tasks, especially in subtask identification an
Multimodal Language Language Models (MLLMs) demonstrate the emerging abilities of "world models"---interpreting and reasoning about complex real-world dynamics. To assess these abilities, we posit videos are the ideal medium, as they encapsulate rich representations of real-world dynamics and causal…
In this work, we propose Visual-Predictive Instruction Tuning (VPiT) - a simple and effective extension to visual instruction tuning that enables a pretrained LLM to quickly morph into an unified autoregressive model capable of generating both text and visual tokens. VPiT teaches an LLM to predict d…
Retrieval-augmented generation (RAG) expands the capabilities of large language models (LLMs) in various applications by integrating relevant information retrieved from external data sources. However, the RAG systems are exposed to substantial privacy risks during the information retrieval process,…
In this paper, we introduce a novel, truly prior-free 3D object tracking method that operates without given any model or training priors. Unlike existing methods that typically require pre-defined 3D models or specific training datasets as priors, which limit their applicability, our method is free…
To tackle long-horizon tasks, recent hierarchical vision-language-action (VLAs) frameworks employ vision-language model (VLM)-based planners to decompose complex manipulation tasks into simpler sub-tasks that low-level visuomotor policies can easily handle. Typically, the VLM planner is finetuned to…
Accurately identifying real anomalies and pseudo-anomalies in complex multi-dimensional time series data has been a difficult problem in time series anomaly detection. To solve this problem, this paper proposes a new framework, STAD, that joint temporal and spatial dimensions. This framework guides…
Perception is a crucial component of autonomous driving systems. However, single-agent setups often face limitations due to sensor constraints, especially under challenging conditions like severe occlusion, adverse weather, and long-range object detection. Multi-agent collaborative perception (CP) o…
Environment prediction frameworks are critical for the safe navigation of autonomous vehicles (AVs) in dynamic settings. LiDAR-generated occupancy grid maps (L-OGMs) offer a robust bird’s-eye view scene representation, enabling self-supervised joint scene predictions while exhibiting resilience to p…
In this paper, we focus on enhancing a diffusion-based text-to-video (T2V) model during the post-training phase by distilling a highly capable consistency model from a pretrained T2V model. Our proposed method, T2V-Turbo-v2, introduces a significant advancement by integrating various supervision sig…
Video generation has many unique challenges beyond those of image generation. The temporal dimension introduces extensive possible variations across frames, over which consistency and continuity may be violated. In this work, we evaluate the emergence of new concepts and relation transitions as time…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians, a robot can learn safe navigation policies that are robust t…
Reconstructing 3D scenes from a single image is a fundamentally ill-posed task due to the severely under-constrained nature of the problem. Consequently, when the scene is rendered from novel camera views, particularly in unseen regions far away from the input camera, existing single image to 3D rec…
We introduce UniOcc, a comprehensive, unified benchmark and toolkit for occupancy forecasting (i.e., predicting future occupancies based on historical information) and occupancy prediction (i.e., predicting current-frame occupancy from camera images. UniOcc unifies the data from multiple real-world…
Vision-Language Models have made significant progress on many perception-focused tasks. However, their progress on reasoning-focused tasks remains limited due to the lack of high-quality and diverse training data. In this work, we aim to address the scarcity of reasoning-focused multimodal datasets.
Recent studies show that text-to-image (T2I) models are vulnerable to adversarial attacks, especially with noun perturbations in text prompts. In this study, we investigate the impact of adversarial attacks on different POS tags within text prompts on the images generated by T2I models. We create a…
Direct alignment from preferences (DAP) has emerged as a promising paradigm for aligning large language models (LLMs) to human desiderata from pre-collected, offline preference datasets. While recent studies indicate that existing offline DAP methods can directly benefit from online training samples…
Recent advancements in Multimodal Large Language Models (LLMs) have focused primarily on scaling by increasing text-image pair data and enhancing LLMs to improve performance on multimodal tasks. However, these scaling approaches are computationally expensive and overlook the significance of efficien…
Effective interaction modeling and behavior prediction of dynamic agents play a significant role in interactive motion planning for autonomous robots. Although existing methods have improved prediction accuracy, few research efforts have been devoted to enhancing prediction model interpretability an
Reinforcement learning with natural language action space often suffers from the curse of dimensionality due to the combinatorial nature of the natural language. Previous research leverages pretrained language models to capture action semantics and reduce the size of the action space. However, since…
Data-driven methods have great advantages in modeling complicated human behavioral dynamics and dealing with many human-robot interaction applications. However, collecting massive and annotated real-world human datasets has been a laborious task, especially for highly interactive scenarios. On the o…
Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction following and task planning. In this work, we tackle the pr…
While most existing works on LLM prompting techniques focus only on how to select a better set of data samples inside one single prompt input (In-Context Learning or ICL), why can not we design and leverage multiple prompts together to further improve the LLM’s performance? In this work, we propose…
Navigating complex and dynamic environments requires autonomous vehicles (AVs) to reason about both visible and occluded regions. This involves predicting the future motion of observed agents, inferring occluded ones, and modeling their interactions based on vectorized scene representations of the p…
Diffusion-based text-to-video (T2V) models have achieved significant success but continue to be hampered by the slow sampling speed of their iterative sampling processes. To address the challenge, consistency models have been proposed to facilitate fast inference, albeit at the cost of sample qualit…
While machine learning models rapidly advance the state-of-the-art on various real-world tasks, out-of-domain (OOD) generalization remains a challenging problem given the vulnerability of these models to spurious correlations. We propose a balanced mini-batch sampling strategy to transform a biased…
We present Neighborhood Attention (NA), the first efficient and scalable sliding window attention mechanism for vision. NA is a pixel-wise operation, localizing self attention (SA) to the nearest neighboring pixels, and therefore enjoys a linear time and space complexity compared to the quadratic co…
Behavior constrained policy optimization has been demonstrated to be a successful paradigm for tackling Offline Reinforcement Learning. By exploiting historical transitions, a policy is trained to maximize a learned value function while constrained by the behavior policy to avoid a significant distr…
Universal Image Segmentation is not a new concept.Past attempts to unify image segmentation include scene parsing, panoptic segmentation, and, more recently, new panoptic architectures. However, such panoptic architectures do not truly unify image segmentation because they need to be trained individ…
Hand-eye calibration estimates the pose of a camera relative to a robot, which is a fundamental problem for visually guided robots, especially for dynamic object grasping. Most methods use 2D fiducial markers with distinctive visual features and require pre-calibration for accurate calibration, whic…
Accurate understanding and prediction of human behaviors are critical prerequisites for autonomous vehicles, especially in highly dynamic and interactive scenarios such as intersections in dense urban areas. In this work, we aim at identifying crossing pedestrians and predicting their future traject…
Unsupervised image-to-image (I2I) translation aims to learn a domain mapping function that can preserve the semantics of the input images without paired data. However, because the underlying semantics distributions in the source and target domains are often mismatched, current distribution matching-…
Template-based 3D object tracking still lacks a high-precision benchmark of real scenes due to the difficulty of annotating the accurate 3D poses of real moving video objects without using markers. In this paper, we present a multi-view approach to estimate the accurate 3D poses of real moving objec…
Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose a framework that integrates the two capabilities together us…
Accurate, long-term forecasting of pedestrian trajectories in highly dynamic and interactive scenes is a longstanding challenge. Recent advances in using data-driven approaches have achieved significant improvements in terms of prediction accuracy. However, the lack of group-aware analysis has limit…
Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments. Most existing approaches attempt to employ attention mechanis…
Modeling multi-agent systems requires understanding how agents interact. Such systems are often difficult to model because they can involve a variety of types of interactions that layer together to drive rich social behavioral dynamics. Here we introduce a method for accurately modeling multi-agent…
Graph Neural Networks (GNNs) have become a prevailing tool for learning physical dynamics. However, they still encounter several challenges: 1) Physical laws abide by symmetry, which is a vital inductive bias accounting for model generalization and should be incorporated into the model design. Exis…
Obtaining accurate and diverse human motion prediction is essential to many industrial applications, especially robotics and autonomous driving. Recent research has explored several techniques to enhance diversity and maintain the accuracy of human motion prediction at the same time. However, most o…
"Object detection using single point supervision has received increasing attention over the years. However, the performance gap between point supervised object detection (PSOD) and bounding box supervised detection remains large. In this paper, we attribute such a large performance gap to the failur…
Multi-agent trajectory prediction plays a crucial role in robotics and autonomous driving. The current mainstream research focuses on how to achieve accurate prediction on one large dataset. However, whether the multi-agent trajectory prediction model can be trained with a sequence of datasets, i.e.
Recent advances in trajectory prediction have shown that explicit reasoning about agents' intent is important to accurately forecast their motion. However, the current research activities are not directly applicable to intelligent and safety critical systems. This is mainly because very few public d…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can potentially enable the robot to carry out extra tasks. For inst…
Motion forecasting plays a significant role in various domains (e.g., autonomous driving, human-robot interaction), which aims to predict future motion sequences given a set of historical observations. However, the observed elements may be of different levels of importance. Some information may be i…
Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with designing autonomous systems that operate in human environmen…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are equipped with various types of sensors (e.g., LiDAR scanner, RGB c…
An effective understanding of the contextual environment and accurate motion forecasting of surrounding agents is crucial for the development of autonomous vehicles and social mobile robots. This task is challenging since the behavior of an autonomous agent is not only affected by its own intention,…
This paper presents a HAO-Graph system that generates and visualizes knowledge graphs from a speech in real-time. When a user speaks to the system, HAO-Graph transforms the voice into knowledge graphs with key phrases from the original speech as nodes and edges. Different from language-to-language s…
Multi-agent interacting systems are prevalent in the world, from purely physical systems to complicated social dynamic systems. In many applications, effective understanding of the situation and accurate trajectory prediction of interactive agents play a significant role in downstream tasks, such as…
We tackle the Multi-task Batch Reinforcement Learning problem. Given multiple datasets collected from different tasks, we train a multi-task policy to perform well in unseen tasks sampled from the same distribution. The task identities of the unseen tasks are not provided. To perform well, the polic…
Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are critical for intelligent systems such as autonomous vehicles and wheeled mobile robotics navigating in complex scenarios to achieve safe and high-quality decision making, motion plannin…
In order to enable high-quality decision making and motion planning of intelligent systems such as robotics and autonomous vehicles, accurate probabilistic predictions for surrounding interactive objects is a crucial prerequisite. Although many research studies have been devoted to making prediction…
This paper presents a novel method to manipulate the visual appearance (pose and attribute) of a person image according to natural language descriptions. Our method can be boiled down to two stages: 1) text guided pose generation and 2) visual appearance transferred image synthesis. In the first sta…