95 accepted papers
The Digital Roads project at Cambridge University is leveraging digitalisation, automation, and low-carbon materials to build an Automated Maintenance Plant (AMP) for UK road networks, aimed at minimising repair times to reduce congestion, improving safety, and contributing to the UK’s net-zero goal
Effective data selection is essential for pretraining large language models (LLMs), enhancing efficiency and improving generalization to downstream tasks. However, existing approaches often require leveraging external pretrained models, making it difficult to disentangle the effects of data selectio…
Large Language Models (LLMs) should refuse to answer questions beyond their knowledge. This capability, which we term knowledge-aware refusal, is crucial for factual reliability. However, existing metrics fail to faithfully measure this ability. On the one hand, simple refusal-based metrics are bias…
Visual-inertial odometry (VIO) can estimate robot poses at high frequencies but suffers from accumulated drift over time. Incorporating point cloud maps offers a promising solution, yet existing registration methods between vision and point clouds are limited by heterogeneous feature alignment, leav
Federated learning (FL) enables training of a global model while keeping raw data on end-devices. Despite this, FL has shown to leak private user information and thus in practice, it is often coupled with methods such as differential privacy (DP) and secure vector sum to provide formal privacy guara…
Vertical Federated Learning (VFL) enables multiple clients with feature-partitioned data to collaboratively train models while preserving privacy by transmitting embeddings instead of raw data. However, such embeddings can still expose sensitive attributes (e.g., gender or race) unrelated to the tar
Fine-tuning large language models (LLMs) in federated settings enables privacy-preserving adaptation but suffers from cross-client interference due to model aggregation. Existing federated LoRA fine-tuning methods, primarily based on FedAvg, struggle with data heterogeneity, leading to harmful cross
Federated Learning (FL) with Low-Rank Adaptation (LoRA) has become a standard for privacy-preserving LLM fine-tuning. However, existing personalized methods predominantly operated under a restrictive Flat-Model Assumption: they addressed client-side *statistical heterogeneity* but treated the model …
Recently, contrastive learning (CL) plays an important role in exploring complementary information for multi-view clustering (MVC) and has attracted increasing attention. Nevertheless, real-world multi-view data suffer from data incompleteness or noise, resulting in rare-paired samples or mis-paired
Graph-based methods have proven to be effective in capturing relationships among points for 3D point cloud analysis. However, these methods often suffer from suboptimal graph structures, particularly due to sparse connections at boundary points and noisy connections in junction areas. To address the
Existing machine unlearning methods primarily focus on removing data influence after training completes, which is effective for many scenarios, but a complementary capability is needed when removal requests arise during ongoing training. We propose LMCleaner, an efficient and certified \emph{online}…
Multi-view clustering (MVC) has recently garnered increasing attention for its ability to partition unlabeled samples into distinct clusters by leveraging complementary and consistent information from different views. Existing MVC methods primarily combine deep neural networks with contrastive learn
3D hierarchical semantic segmentation (3DHS) is crucial for embodied intelligence that demands the coarse-to-fine grained and multi-hierarchy understanding of 3D scenes. 3DHS tasks can be addressed by multi-label learning, but facing two issues: I) learning multiple labels for each point with a shar…
Simulation-based learning has enabled policies for precise, contact-rich tasks (e.g., robotic assembly) to reach high success rates (~80%) under high levels of observation noise and control error. Although such performance may be sufficient for research applications, it falls short of industry stand…
Confidence calibration has been widely studied to improve the trustworthiness of predictions in vision-language models (VLMs). However, we theoretically reveal that standard confidence calibration inherently _impairs_ the ability to distinguish between correct and incorrect predictions (i.e., Miscla…
Multi-view clustering aims to utilize information from multiple feature representations to uncover underlying data structures. Most existing methods emphasize learning a consensus representation by enforcing consistency across views. However, those structures that cannot be directly incorporated int
Computation overhead has emerged as a critical bottleneck in Federated Learning (FL). Coreset selection tackles this challenge by constructing an informative subset to represent the full dataset. However, existing approaches optimize coreset construction solely at the data level and enforce a unifor…
Large Language Models (LLMs) demonstrate remarkable capabilities but face deployment challenges due to their high computational demands. Traditional pruning methods reduce these costs by permanently removing parameters, which inevitably leads to performance degradation. To mitigate this issue, we pr…
3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization against the splat map, making them sensitive to initialization …
Zero-Shot Object Navigation (ZSON) agents rely on continuously updated internal states to support long-horizon planning and decision-making. However, existing methods heavily depend on the observational outputs of vision-language models (VLMs) during state updates and lack explicit validation of per…
Multi-View Clustering (MVC) is a pivotal multi-view learning paradigm widely adopted across various fields. Despite recent advances, existing methods primarily focus on enhancing the performance of fused multi-view representation, often neglecting the issue of Representation Degradation (RD) arising
Incomplete multi-view clustering (IMVC) has gained increasing attention due to its ability to analyze incomplete multi-view data.Despite deep IMVC methods achieved significant progress, they still face two challenges: (I) The method-specific inseparable designs limit their application. (II) Non-inde…
We present Asymmetric Critic Guided Distillation, ACGD, a framework for learning multi-task dexterous manipulation policies that can manipulate articulated objects using images as input. ACGD is a scalable student-teacher distillation approach that utilizes behavior cloning to distill multiple exper
Large Language Models (LLMs) have demonstrated impressive capabilities across various tasks, but fine-tuning them for domain-specific applications often requires substantial domain-specific data that may be distributed across multiple organizations. Federated Learning (FL) offers a privacy-preservin…
Generative models can enhance discriminative classifiers by constructing complex feature spaces, thereby improving performance on intricate datasets. Conventional methods typically augment datasets with more detailed feature representations or increase dimensionality to make nonlinear data linearly…
Training deep Convolutional Neural Networks (CNNs) presents unique challenges, including the pervasive issue of elimination singularities—consistent deactivation of nodes leading to degenerate manifolds within the loss landscape. These singularities impede efficient learning by disrupting feature pr…
Federated Learning (FL) enables multiple clients to collaboratively train models without sharing raw data, but is vulnerable to Byzantine attacks and data heterogeneity, which can severely degrade performance. Existing Byzantine-robust approaches tackle data heterogeneity, but incur high computation…
Federated learning (FL) enables distributed devices to collaboratively train machine learning (ML) models while maintaining data privacy. However, the heterogeneous hardware capabilities of participating devices often result in significant training delays, as straggler clients with limited resources…
Recently, numerous multi-view clustering (MVC) and multi-view graph clustering (MVGC) methods have been proposed. Despite significant progress, they still face two issues: I) MVC and MVGC are often developed independently for multi-view and multi-graph data. They have redundancy but lack a unified m
Incomplete multi-view clustering (IMVC) has garnered increasing attention in recent years due to the common issue of missing data in multi-view datasets. The primary approach to address this challenge involves recovering the missing views before applying conventional multi-view clustering methods. A…
To address the growing demand for privacy protection in machine learning, we propose an efficient and exact machine unlearning method for Large Models, called LMEraser. LMEraser takes a divide-and-conquer strategy with an adaptive prompt tuning mechanism to isolate data influence effectively. The tr…
Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seaports. The main challenges are calibration and localization under obstructed conditions, which are common in logistics en
Foundation models (FMs) achieve strong performance across diverse tasks with task-specific fine-tuning, yet full parameter fine-tuning is often computationally prohibitive for large models. Parameter-efficient fine-tuning (PEFT) methods like Low-Rank Adaptation (LoRA) reduce this cost by introducing…
Accurate and efficient simulation of modern robots remains challenging due to their high degrees of freedom and intricate mechanisms. Neural simulators have emerged as a promising alternative to traditional analytical simulators, capable of efficiently predicting complex dynamics and adapting to rea…
Particle Image Velocimetry (PIV) aims to infer underlying velocity fields from time-separated particle images, forming a PDE-constrained inverse problem governed by advection dynamics. Traditional cross-correlation methods and deep learning-based feature matching approaches often struggle with ambig…
Accurate LiDAR-Camera (LC) calibration is challenging but crucial for autonomous systems and robotics. In this paper, we propose two single-shot and target-less algorithms to estimate the calibration parameters between LiDAR and camera using line features. The first algorithm constructs line-to-line
Drug-target binding affinity prediction is a fundamental task for drug discovery. It has been extensively explored in literature and promising results are reported. However, in this paper, we demonstrate that the results may be misleading and cannot be well generalized to real practice. The core obs…
Low-light video enhancement (LLVE) aims to restore videos degraded by insufficient illumination.While existing methods have demonstrated their effectiveness, they often face challenges with intra-frame noise, overexposure, and inter-frame inconsistency since they fail to exploit the temporal continu…
Recently, multi-view learning (MVL) has garnered significant attention due to its ability to fuse discriminative information from multiple views. However, real-world multi-view datasets are often heterogeneous and imperfect, which usually causes MVL methods designed for specific combinations of view…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating UWB ranging measurements into state estimation. While sever
We introduce SPOT, an object-centric imitation learning framework. The key idea is to capture each task by an object-centric representation, specifically the SE(3) object pose trajectory relative to the target. This approach decouples embodiment actions from sensory inputs, facilitating learning fro
Humans excel at bimanual assembly tasks by adapting to rich tactile feedback—a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality and limited diversity of human demonstrations. In this work, we present VT-Refine, a visuo-tactile policy…
Model-Free Reinforcement Learning (MFRL), leveraging the policy gradient theorem, has demonstrated considerable success in continuous control tasks. However, these approaches are plagued by high gradient variance due to zeroth-order gradient estimation, resulting in suboptimal policies. Conversely,…
Pedestrian trajectory prediction is an important task for many applications such as autonomous driving and surveillance systems. Yet the prediction performance drops dramatically when applying a model trained on the source domain to a new target domain. Therefore, it is of great importance to adapt…
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-to-real have led to tremendous progress. Inspired by such work, we present AutoMate, a learning framework and system that…
Recently, federated multi-view clustering (FedMVC) has emerged to explore cluster structures in multi-view data distributed on multiple clients. Many existing approaches tend to assume that clients are isomorphic and all of them belong to either single-view clients or multi-view clients. While these…
There exists a discrepancy between the token-level objective during training and the overall sequence-level quality that is expected from the model. This discrepancy leads to issues like exposure bias.To align the model with human expectations, sequence-level objectives are often used to fine-tune p…
Continual reinforcement learning, which aims to help robots acquire skills without catastrophic forgetting, obviating the need to re-learn all tasks from scratch. In order to enable lifelong acquisition of skills in robots, replay-based continual reinforcement learning has emerged as a promising res…
Federated learning (FL) with noisy labels poses a significant challenge. Existing methods designed for handling noisy labels in centralized learning tend to lose their effectiveness in the FL setting, mainly due to the small dataset size and the heterogeneity of client data. While some attempts have…
The fusion of complementary multimodal information is crucial in computational pathology for accurate diagnostics. However, existing multimodal learning approaches necessitate access to users’ raw data, posing substantial privacy risks. While Federated Learning (FL) serves as a privacy-preserving al…
Federated learning (FL) is a new distributed machine learning frame-work known for its benefits on data privacy and communication efficiency. Since full client participation in many cases is infeasible due to constrained resources, partial participation FL algorithms have been investigated that proa…
LiDAR odometry is a pivotal technology in the fields of autonomous driving and autonomous mobile robotics. However, most of the current works focus on nonlinear optimization methods, and still existing many challenges in using the traditional Iterative Extended Kalman Filter (IEKF) framework to tack…
Multi-view clustering (MVC) aims at exploring category structures among multi-view data in self-supervised manners. Multiple views provide more information than single views and thus existing MVC methods can achieve satisfactory performance. However their performance might seriously degenerate when…
As solid-state LiDAR technology advances, mobile robotics and autonomous driving increasingly rely on multiple solid-state LiDARs for perception. However, limited or non-overlapping fields of view (FoV) among these sensors pose significant challenges for extrinsic calibration. Moreover, there are no
Robots are often built from standardized assemblies, (e.g. arms, legs, or fingers), but each robot must be trained from scratch to control all the actuators of all the parts together. In this paper we demonstrate a new approach that takes a single robot and its controller as input and produces a set…
This paper surveys and organizes research works of medical dialog systems, which is an important yet challenging task. Although these systems have been surveyed in the medical community from an application perspective, a systematic review from a rigorous technical perspective has to date remained no…
In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few demonstrations and solving them precisely. Prior works, lik…
Radar systems typically employ well-designed deterministic signals for target sensing. In contrast to that, integrated sensing and communications (ISAC) systems have to use random signals to convey useful information, potentially causing sensing performance degradation. In this paper, we define a ne…
Previous deep multi-view clustering methods usually design un-shared encoders to explore the cluster information among multi-view data, but they are difficult to customize the encoders for individual views and easily increase information loss. To address these issues, we propose a simple yet effecti…
Federated learning (FL) allows collaborative machine learning training without sharing private data. While most FL methods assume identical data domains across clients, real-world scenarios often involve heterogeneous data domains. Federated Prototype Learning (FedPL) addresses this issue, using mea…
Interactive visual grounding in Human-Robot Interaction (HRI) is challenging yet practical due to the inevitable ambiguity in natural languages. It requires robots to disambiguate the user’s input by active information gathering. Previous approaches often rely on predefined templates to ask disambig…
Recent progress in vision language foundation models has shown their ability to understand multimodal data and resolve complicated vision language tasks, including robotics manipulation. We seek a straightforward way of making use of existing vision-language models (VLMs) with simple fine-tuning on…
We present CO-Net, a cohesive framework that optimizes multiple point cloud tasks collectively across heterogeneous dataset domains. CO-Net maintains the characteristics of high storage efficiency since models with the preponderance of shared parameters can be assembled into a single model. Specific…
With the increase of multi-view graph data, multi-view graph clustering (MVGC) that can discover the hidden clusters without label supervision has attracted growing attention from researchers. Existing MVGC methods are often sensitive to the given graphs, especially influenced by the low quality gra…
Federated learning (FL) is a privacy-enhanced distributed machine learning framework, in which multiple clients collaboratively train a global model by exchanging their model updates without sharing local private data. However, the adversary can use gradient inversion attacks to reveal the clients'…
State-of-the-art multi-agent collision avoidance algorithms face limitations when applied to cluttered public environments, where obstacles may have a variety of shapes and structures. The issue arises because most of these algorithms are agent-level methods. They concentrate solely on preventing co…
In this paper, we tackle the control and trajectory planning problems for the cooperative transportation system of cable-suspended payload with multi Unmanned Aerial Vehicles (UAVs). Firstly, a payload controller is presented considering the dynamic coupling between the UAV and the payload to accomp…
In this work, we seek to predict camera poses across scenes with a multi-task learning manner, where we view the localization of each scene as a new task. We propose OFVL-MS, a unified framework that dispenses with the traditional practice of training a model for each individual scene and relieves…
For 3D object manipulation, methods that build an explicit 3D representation perform better than those relying only on camera images. But using explicit 3D representations like voxels comes at large computing cost, adversely affecting scalability. In this work, we propose RVT, a multi-view transform…
Recently, numerous studies have demonstrated the effectiveness of contrastive learning (CL), which learns feature representations by pulling in positive samples while pushing away negative samples. Many successes of CL lie in that there exists semantic consistency between data augmentations of the s…
Human Motion Prediction (HMP) plays a crucial role in safe Human-Robot-Interaction (HRI). Currently, the majority of HMP algorithms are trained by massive pre-collected data. As the training data only contains a few pre-defined motion patterns, these methods cannot handle the unfamiliar motion patte…
Deep reinforcement learning can generate complex control policies, but requires large amounts of training data to work effectively. Recent work has attempted to address this issue by leveraging differentiable simulators. However, inherent problems such as local minima and exploding/vanishing numeric…
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they discover better topologies for the robotic manipula-tor. Tactile…
Unmanned aerial vehicles (UAVs) have broad applications including disaster response, transportation, photography, and mapping. A significant bottleneck in the development of UAVs is the limited availability of automatic tools for task-specific co-design of a UAV's shape and controller. The developme…
Multiple cameras have emerged as a promising technology for robots and vehicles due to their broad fields of view (FoV) and high resolution. However, there are often limited or no overlapping FoVs among cameras, bringing challenges to estimating extrinsic camera parameters. To overcome this problem,
Few-shot text classification has recently been promoted by the meta-learning paradigm which aims to identify target classes with knowledge transferred from source classes with sets of small tasks named episodes. Despite their success, existing works building their meta-learner based on Prototypical…
Incomplete multi-view clustering (IMVC) is an important unsupervised approach to group the multi-view data containing missing data in some views. Previous IMVC methods suffer from the following issues: (1) the inaccurate imputation or padding for missing data negatively affects the clustering perfor…
Efficient simulation of tactile sensors can unlock new opportunities for learning tactile-based manipulation policies in simulation and then transferring the learned policy to real systems, but fast and reliable simulators for dense tactile normal and shear force fields are still under-explored. We…
Autonomous underwater vehicles (AUVs) are spe-cialized robots that are commonly used for seafloor surveying and ocean water sampling. Computational design approaches have emerged to reduce the effort required to design both individual AUVs as well as fleets. As the number and scale of underwater mis…
Multi-view clustering can explore common semantics from multiple views and has attracted increasing attention. However, existing works punish multiple objectives in the same feature space, where they ignore the conflict between learning consistent common semantics and reconstructing inconsistent vie…
Catering to the proliferation of Internet of Things devices and distributed machine learning at the edge, we propose an energy harvesting federated learning (EHFL) framework in this paper. The introduction of EH implies that a client’s availability to participate in any FL round cannot be guaranteed…
"For retinal image matching (RIM), we propose SuperRetina, the first end-to-end method with jointly trainable keypoint detector and descriptor. SuperRetina is trained in a novel semi-supervised manner. A small set of (nearly 100) images are incompletely labeled and used to supervise the network to d…
In this paper, we propose a simple unsupervised graph representation learning method to conduct effective and efficient contrastive learning. Specifically, the proposed multiplet loss explores the complementary information between the structural information and neighbor information to enlarge the in…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can learn to reorient objects with both the hand facing upwards…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked; joint optimization of design and control can significantly improve performance. Existing methods for…
Both the design and control of a robot play equally important roles in its task performance. However, while optimal control is well studied in the machine learning and robotics community, less attention is placed on finding the optimal robot design. This is mainly because co-optimizing design and co…
We present methods for co-designing rigid robots over control and morphology (including discrete topology) over multiple objectives. Previous work has addressed problems in single-objective robot co-design or multi-objective control. However, the joint multi-objective co-design problem is extremely…
Multi-view clustering, a long-standing and important research problem, focuses on mining complementary information from diverse views. However, existing works often fuse multiple views' representations or handle clustering in a common feature space, which may result in their entanglement especially…
Human motion prediction is an important and challenging topic that has promising prospects in efficient and safe human-robot-interaction systems. Currently, the majority of the human motion prediction algorithms are based on deterministic models, which may lead to risky decisions for robots. To solv…
Many real-world control problems involve conflicting objectives where we desire a dense and high-quality set of control policies that are optimal for different objective preferences (called Pareto-optimal). While extensive research in multi-objective reinforcement learning (MORL) has been conducted…
Metric learning, aiming to learn a discriminative Mahalanobis distance matrix M that can effectively reflect the similarity between data samples, has been widely studied in various image recognition problems. Most of the existing metric learning methods input the features extracted directly from the…
In this paper, we study the stochastic contextual combinatorial multi-armed bandit (CC-MAB) framework that is tailored for volatile arms and submodular reward functions. CC-MAB inherits properties from both contextual bandit and combinatorial bandit: it aims to select a set of arms in each round bas…
This paper proposes a psychologically inspired convolutional neural network (PI-CNN) to achieve automatic facial beauty prediction. Different from the previous methods, the PI-CNN is a hierarchical model that facilitates both the facial beauty representation learning and predictor training. Inspired…
Image Super-resolution (SR) reconstruction techniques based on sparse representation have attracted ever-increasing attentions in recent years, where the choice of over-complete dictionary is of prime important for reconstruction quality. However, most of the image SR methods based on sparse represe…