40 accepted papers
Vision-Language-Action (VLA) models have demonstrated strong capabilities in robotic manipulation, but their performance degrades significantly in long-horizon tasks due to cumulative error propagation. This limitation largely arises from static feature fusion mechanisms that rely on fixed weights t
To facilitate the large-scale deployment of autonomous driving in real-world scenarios, developing low-cost and high-performance 3D object detection systems has become a critical technical challenge. Although high-beam LiDARs provide denser point cloud data, their prohibitive hardware cost and high
In this study, we focus on enhancing the policy of a musculoskeletal arm to develop grasping abilities for objects of varying weights. The agent is modeled using MyoSuite, a platform with realistic biomechanics where muscles drive skeletal movement. We observed that optimizing only the control polic
Fine-grained text processing is a significant domain in Natural Language Processing (NLP), including tasks such as long-document question answering, aspect-based sentiment analysis, and document summarization. Although Large Language Models (LLMs) perform excellent on many NLP tasks, they often exhi…
Deep neural networks are vulnerable to backdoor attacks, where malicious behaviors are implanted during training. While existing defenses can effectively purify compromised models, they typically require labeled data or specific training procedures, making them difficult to apply beyond supervised l…
The ability of robotic hands to sense their environment and provide feedback is becoming increasingly vital for advanced robotic systems. Real-time tactile interaction is crucial for ensuring safe and effective human-machine collaboration. However, conventional sensors face significant challenges in
Multimodal Machine Translation (MMT) enhances textual translation through auxiliary inputs such as images, which is particularly effective in resolving linguistic ambiguities. However, visual information often introduces redundancy or noise, potentially impairing translation quality. To address this
Multimodal Machine Translation (MMT) leverages additional modalities, such as visual data, to enhance translation accuracy and resolve linguistic ambiguities inherent in text-only approaches. Recent advancements predominantly focus on integrating image information via attention mechanisms or feature
A deformable agent can continuously adjust its morphology during training, allowing it to discover more suitable structures and outperform fixed-morphology counterparts in terrain-specific tasks. This adaptability is achieved through a joint optimization process consisting of two stages: the Skeleto
Large-scale text-to-image diffusion models, (e.g., DALL-E, SDXL) are capable of generating famous persons by simply referring to their names. Is it possible to make such models generate generic identities as simple as the famous ones, e.g., just use a name? In this paper, we explore the existence of…
Multimodal machine translation (MMT) integrates visual information to address ambiguity and contextual limitations in neural machine translation (NMT). Some empirical studies have revealed that many MMT models underutilize visual data during translation. They attempt to enhance cross-modal interacti…
Whole slide images (WSIs) are gigapixel digital scans of traditional pathology slides, offering substantial support for cancer diagnosis. Current multiple instance learning (MIL) methods for WSIs typically extract instance features and aggregate these into a single bag feature for prediction. We obs
Spike camera is a kind of neuromorphic camera that records dynamic scenes by firing a stream of binary spikes with extremely high temporal resolution. It demonstrates great potential for vision tasks in high-speed scenarios. One limitation in its current implementation is the relatively low spatial…
As Industrial 4.0 unfolds and digital twin technology rapidly advances, modeling techniques that can abstract real-world industrial objects into accurate and robust models, referred to modeling for industrial objects (MIO) tasks, have become increasingly crucial. However, existing works still face t
Multimodal machine translation (MMT) aims to enhance translation quality by integrating visual information. However, existing methods often extract visual features using pre-trained models while learning text features from scratch, leading to representation imbalance. These methods are also prone to
As a bio-inspired vision sensor with ultra-high speed spike cameras exhibit great potential in recording dynamic scenes with high-speed motion or drastic light changes. Different from traditional cameras each pixel in spike cameras records the arrival of photons continuously by firing binary spikes…
Whole slide image (WSI) classification is a crucial component in automated pathology analysis. Due to the inherent challenges of high-resolution WSIs and the absence of patch-level labels, most of the proposed methods follow the multiple instance learning (MIL) formulation. While MIL has been equipp…
As a neuromorphic camera with high temporal resolution, spike camera can capture dynamic scenes with high-speed motion. Recently, spike camera with a color filter array (CFA) has been developed for color imaging. There are some methods for spike camera demosaicing to reconstruct color images from Ba…
Parameter-efficient finetuning (PEFT) is a key technique for adapting large language models (LLMs) to downstream tasks. In this paper, we study leveraging knowledge graph embeddings to improve the effectiveness of PEFT. We propose a knowledgeable adaptation method called KnowLA. It inserts an adapta…
Spike camera is a kind of neuromorphic sensor that uses a novel ``integrate-and-fire'' mechanism to generate a continuous spike stream to record the dynamic light intensity at extremely high temporal resolution. However, as a trade-off for high temporal resolution, its spatial resolution is limited,…
This letter proposes a learning-based adaptive propulsion control (APC) method for a quadruped robot integrated with thrusters in amphibious environments, allowing it to move efficiently in water while maintaining its ground locomotion capabilities. We designed the specific reinforcement learning me
The advent of open-source AI communities has produced a cornucopia of powerful text-guided diffusion models that are trained on various datasets. While few explorations have been conducted on ensembling such models to combine their strengths. In this work, we propose a simple yet effective method ca…
End-to-end region-based object detectors like Sparse R-CNN usually have multiple cascade bounding box decoding stages, which refine the current predictions according to their previous results. Model parameters within each stage are independent, evolving a huge cost. In this paper, we find the genera…
Occlusion and motion blur make it challenging to interpolate video frame, since estimating complex motions between two frames is hard and unreliable, especially in highly dynamic scenes. This paper aims to address these issues by exploiting spike stream as auxiliary visual information between frames…
This work proposes a novel unsupervised cross-modality adaptive segmentation method for medical images to tackle the performance degradation caused by the severe domain shift when neural networks are being deployed to unseen modalities. The proposed method is an end-2-end framework, which conducts a…
Transformer-based pre-trained models, such as BERT, have shown extraordinary success in achieving state-of-the-art results in many natural language processing applications. However, deploying these models can be prohibitively costly, as the standard self-attention mechanism of the Transformer suffer…
Dialogue state tracking (DST) aims to predict the current dialogue state given the dialogue history. Existing methods generally exploit the utterances of all dialogue turns to assign value for each slot. This could lead to suboptimal results due to the information introduced from irrelevant utteranc…
Spike camera is an emerging bio-inspired vision sensor with ultra-high temporal resolution. It records scenes by accumulating photons and outputting continuous binary spike streams. Optical flow is a key task for spike cameras and their applications. A previous attempt has been made for spike-based…
Machine reading comprehension (MRC) that requires discrete reasoning involving symbolic operations, e.g., addition, sorting, and counting, is a challenging task. According to this nature, semantic parsing-based methods predict interpretable but complex logical forms. However, logical form generation…
Conventional autoregressive left-to-right (L2R) sequence generation faces two issues during decoding: limited to unidirectional target sequence modeling, and constrained on strong local dependencies.To address the aforementioned problem, we propose P3LM, a probabilistically permuted prophet language…
Temporal knowledge graphs (TKGs) have been widely used in various fields that model the dynamics of facts along the timeline. In the extrapolation setting of TKG reasoning, since facts happening in the future are entirely unknowable, insight into history is the key to predicting future facts. Howeve…
Dysarthria is a manifestation of disruption in the neuromuscular physiology resulting in uneven, slow, slurred, harsh, or quiet speech. Despite the remarkable progress of automatic speech recognition (ASR), it poses great challenges in developing stable ASR for dysarthric individuals due to the high…
Estimating the complete 3D point cloud from an incomplete one lies at the core of many vision and robotics applications. Existing methods typically predict the complete point cloud based on the global shape representation extracted from the incomplete input. Although they could predict the overall s…
Dysarthria is a motor speech disorder caused by damage to the part of the nervous system that controls the physical production of speech. It poses great challenges in building robust dysarthric speech recognition (DSR) due to the high inter- and intra-speaker variability. To this end, we propose a m…
Transformer-based pre-trained models, such as BERT, have achieved remarkable results on machine reading comprehension. However, due to the constraint of encoding length (e.g., 512 WordPiece tokens), a long document is usually split into multiple chunks that are independently read. It results in the…
A novel motion planning method is proposed to generate human-like motion for anthropomorphic robot arms. Its highlight is to consider the robot arm to be human-like not only in its configuration but also in its motion patterns. To achieve this, the intrinsic mechanisms of human arm motion generation…
Keyphrases, that concisely summarize the high-level topics discussed in a document, can be categorized into present keyphrase which explicitly appears in the source text and absent keyphrase which does not match any contiguous subsequence but is highly semantically related to the source. Most existi…
The recently invented retina-inspired spike camera has shown great potential for capturing dynamic scenes. Different from the conventional digital cameras that compact the photoelectric information within the exposure interval into a single snapshot, the spike camera produces a continuous spike stre…
Recently, a novel retina-inspired camera, namely spike camera, has shown great potential for recording high-speed dynamic scenes. Unlike the conventional digital cameras that compact the visual information within the exposure interval into a single snapshot, the spike camera continuously outputs bin…
How autonomous vehicles and human drivers share public transportation systems is an important problem, as fully automatic transportation environments are still a long way off. Understanding human drivers’ behavior can be beneficial for autonomous vehicle decision making and planning, especially when…