43 accepted papers
Video generation models offer a promising imagination mechanism for robot manipulation by predicting long-horizon future observations, but effectively exploiting these imagined futures for action execution remains challenging. Existing approaches either condition policies on predicted frames or dire…
Molecular interactions are a common phenomenon in physical chemistry field, which could produce unexpected biochemical properties harmful to humans, such as drug-drug interactions. Machine learning has the potential to deliver rapid and accurate predictions. However, the complexity of molecular stru…
Enabling robots to walk on yielding terrain is vital for applications ranging from disaster response to planetary exploration. While bipedal robots hold immense potential, their locomotion on deformable surfaces remains limited as current simulators fail to capture the spatiotemporal heterogeneity o
Enabling robots to walk on yielding terrain is vital for applications ranging from disaster response to planetary exploration. While bipedal robots hold immense potential, their locomotion on deformable surfaces remains limited as current simulators fail to capture the spatiotemporal heterogeneity o…
Though promising in healthcare consultation applications, large language models (LLMs) face critical limitations in retaining and utilizing long-term memory across multi-turn interactions. In particular, existing memory enhancing paradigms are constrained by limited context windows and embedding-bas
In open-world intelligent systems, processing continuous sensory streams disrupted by heterogeneous degradation sources presents a fundamental challenge: reconciling the inherent tension between observational completeness and reconstruction fidelity. Methods that prioritize completeness by bridging …
In the robotics community, it has been a longstanding challenge for quadrupeds to achieve highly explosive movements similar to their biological counterparts. In this work, we introduce a novel training framework that achieves height-aware and omnidirectional jumping for quadrupedal robots. To facil…
Peptide therapeutics are widely regarded as the “third generation” of drugs, yet progress in peptide Machine Learning (ML) are hindered by the absence of standardized benchmarks. Here we present \textbf{PepBenchmark}, which standardizes datasets, preprocessing, and evaluation protocols for peptide d…
General-purpose robot reward models are typically trained to predict absolute task progress from expert demonstrations, providing only local, frame-level supervision. While effective for expert demonstrations, this paradigm scales poorly to large scale real-world robotics datasets where failed and s…
Despite the impressive progress on understanding and generating images shown by the recent unified architectures, the integration of 3D tasks remains challenging and largely unexplored. In this paper, we introduce UniUGG, the first unified understanding and generation framework for 3D modalities. Ou…
Leveraging diverse robotic data for pretraining remains a critical challenge. Existing methods typically model the dataset’s action distribution using simple observations as inputs. However, these inputs are often incomplete, resulting in a dispersed conditional action distribution—an issue we refer…
By generating new yet effective data, data augmentation has become a promising method to mitigate the data sparsity problem in sequential recommendation. Existing works focus on augmenting the original data but rarely explore the issue of imbalanced relevance and diversity for augmented data, leadin…
Molecular Relational Learning (MRL) aims to understand interactions between molecular pairs, playing a critical role in advancing biochemical research. Recently, Large Language Models (LLMs), with their extensive knowledge bases and advanced reasoning capabilities, have emerged as powerful tools for
Masked Graph Autoencoders (MGAEs) have gained significant attention recently. Their proxy tasks typically involve random corruption of input graphs followed by reconstruction. However, in the molecular domain, two main issues arise: the predetermined mask ratio and reconstruction objectives can lead…
Long-term time series forecasting (LTSF) aims to predict future trends based on historical data. While longer lookback windows theoretically offer more comprehensive insights, Transformer-based models often struggle with them. On one hand, longer windows introduce more noise and redundancy, hinderin…
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
Recent advances in LVLMs have improved vision-language understanding, but they still struggle with spatial perception, limiting their ability to reason about complex 3D scenes. Unlike previous approaches that incorporate 3D representations into models to improve spatial understanding, we aim to unlo…
In the robotics community, it has been a longstanding challenge for quadrupeds to achieve highly explosive movements similar to their biological counterparts. In this work, we introduce a novel training framework that achieves height-aware and omnidirectional jumping for quadrupedal robots. To facil
COLMAP-free 3D Gaussian Splatting (3D-GS) has recently attracted increasing attention due to its remarkable performance in reconstructing high-quality 3D scenes from unposed images or videos. However, it often struggles to handle scenes with complex camera trajectories as featured by drastic rotatio…
We introduce ReWiND, a framework for learning robot manipulation tasks solely from language instructions without per-task demonstrations. Standard reinforcement learning (RL) and imitation learning methods require expert supervision through human-designed reward functions or demonstrations for every…
Anchor-based 3D Gaussian splatting (3D-GS) exploits anchor features in 3D Gaussian prediction, which has achieved impressive 3D rendering quality with reduced Gaussian redundancy. On the other hand, it often encounters the dilemma among anchor features, model size, and rendering quality - large anch…
Leveraging text, images, structure maps, or motion trajectories as conditional guidance, diffusion models have achieved great success in automated and high-quality video generation. However, generating smooth and rational transition videos given the first and last video frames as well as descriptive…
This letter presents a 5.2g ultra-lightweight air-ground vehicle capable of passive stable flying and terrestrial cruising. Such a design proposes a passive stability layout, including a single-axis rotor, film dampers, and a stabilizer bar. The advantageous synergy between the rotor and the passive
3D Gaussian splatting has achieved very impressive performance in real-time novel view synthesis. However it often suffers from over-reconstruction during Gaussian densification where high-variance image regions are covered by a few large Gaussians only leading to blur and artifacts in the rendered…
Pre-training robots with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human annotation of hundreds of thousands of instructions. Thus, we propose SPRINT…
We propose BOSS, an approach that automatically learns to solve new long-horizon, complex, and meaningful tasks by growing a learned skill library with minimal supervision. Prior work in reinforcement learning require expert supervision, in the form of demonstrations or rich reward functions, to lea…
Pose-free neural radiance fields (NeRF) aim to train NeRF with unposed multi-view images and it has achieved very impressive success in recent years. Most existing works share the pipeline of training a coarse pose estimator with rendered images at first, followed by a joint optimization of estimate…
Quantizing images into discrete representations has been a fundamental problem in unified generative modeling. Predominant approaches learn the discrete representation either in a deterministic manner by selecting the best-matching token or in a stochastic manner by sampling from a predicted distrib…
3D style transfer aims to render stylized novel views of a 3D scene with multi-view consistency. However, most existing work suffers from a three-way dilemma over accurate geometry reconstruction, high-quality stylization, and being generalizable to arbitrary new styles. We propose StyleRF (Style Ra…
Neural Radiance Field (NeRF) has shown impressive performance in novel view synthesis via implicit scene representation. However, it usually suffers from poor scalability as requiring densely sampled images for each new scene. Several studies have attempted to mitigate this problem by integrating Mu…
Open-vocabulary segmentation of 3D scenes is a fundamental function of human perception and thus a crucial objective in computer vision research. However, this task is heavily impeded by the lack of large-scale and diverse 3D open-vocabulary segmentation datasets for training robust and generalizabl…
"Deep generative models have achieved conspicuous progress in realistic image synthesis with multifarious conditional inputs, while generating diverse yet high-fidelity images remains a grand challenge in conditional image generation. This paper presents a versatile framework for conditional image g…
"Generative adversarial networks (GANs) have achieved great success in image translation and manipulation. However, high-fidelity image generation with faithful style control remains a grand challenge in computer vision. This paper presents a versatile image translation and manipulation framework th…
Exemplar-based image translation establishes dense correspondences between a conditional input and an exemplar (from two different domains) for leveraging detailed exemplar styles to achieve realistic image translation. Existing work builds the cross-domain correspondences implicitly by minimizing f…
Perceiving the similarity between images has been a long-standing and fundamental problem underlying various visual generation tasks. Predominant approaches measure the inter-image distance by computing pointwise absolute deviations, which tends to estimate the median of instance distributions and l…
Collision risk and smoothness are the most important factors in global path planning. Currently, planning methods that reduce global path collision risk and improve its smoothness through numerical optimization have achieved good results. However, these methods cannot always optimize the path. The r…
Transformers have been successful in many vision tasks, thanks to their capability of capturing long-range dependency. However, their quadratic computational complexity poses a major obstacle for applying them to vision tasks requiring dense predictions, such as object detection, feature matching, s…
Matching local features across images is a fundamental problem in computer vision. Targeting towards high accuracy and efficiency, we propose Seeded Graph Matching Network, a graph neural network with sparse structure to reduce redundant connectivity and learn compact representation. The network con…
This work focuses on mitigating two limitations in the joint learning of local feature detectors and descriptors. First, the ability to estimate the local shape (scale, orientation, etc.) of feature points is often neglected during dense feature extraction, while the shape-awareness is crucial to ac…
Temporal camera relocalization estimates the pose with respect to each video frame in sequence, as opposed to one-shot relocalization which focuses on a still image. Even though the time dependency has been taken into account, current temporal relocalization methods still generally underperform the…
Most existing studies on learning local features focus on the patch-based descriptions of individual keypoints, whereas neglecting the spatial relations established from their keypoint locations. In this paper, we go beyond the local detail representation by introducing context awareness to augment…
Establishing correspondences between two images requires both local and global spatial context. Given putative correspondences of feature points in two views, in this paper, we propose Order-Aware Network, which infers the probabilities of correspondences being inliers and regresses the relative pos…
We introduce Spatial Group Convolution (SGC) for accelerating the computation of 3D dense prediction tasks. SGC is orthogonal to group convolution, which works on spatial dimensions rather than feature channel dimension. It divides input voxels into different groups, then conducts 3D sparse convolut…