13 accepted papers
Grasp pose detection (GPD) is a fundamental capability for robotic autonomy, but its reliance on large, diverse datasets creates significant data privacy and centralization challenges. Federated Learning (FL) offers a privacy-preserving solution, but its application to GPD is hindered by the substan
Grasp pose detection (GPD) is a fundamental capability for robotic autonomy, but its reliance on large, diverse datasets creates significant data privacy and centralization challenges. Federated Learning (FL) offers a privacy-preserving solution, but its application to GPD is hindered by the substan…
A central principle in self-supervised learning (SSL) is to learn data representations that are invariant to semantic-preserving transformations \eg, image representations should remain unchanged under augmentations like cropping or color jitter. While effective for classification, such invariance c…
Large Language Models (LLMs) have made significant strides in various intelligent tasks but still struggle with complex action reasoning tasks that require systematic search. To address this limitation, we propose a method that bridges the natural language understanding capabilities of LLMs with the…
Knowledge distillation can be a cost-effective technique to distill knowledge in Large Language Models, if the teacher output logits can be pre-computed and cached. However, successfully applying this to pre-training remains largely unexplored. In this work, we prove that naive approaches for sparse…
Whole-slide image (WSI) classification is a challenging task because 1) patches from WSI lack annotation, and 2) WSI possesses unnecessary variability, e.g., stain protocol. Recently, Multiple-Instance Learning (MIL) has made significant progress, allowing for classification based on slide-level, ra…
Neural networks have demonstrated a wide range of successes, but their “black box" nature raises concerns about transparency and reliability. Previous research on ReLU networks has sought to unwrap these networks into linear models based on activation states of all hidden units. In this paper, we in…
While large language models (LLMs), such as GPT-3, appear to be robust and general, their reasoning ability is not at a level to compete with the best models trained for specific natural language reasoning problems. In this study, we observe that a large language model can serve as a highly effectiv…
The more new features that are being added to smartphones, the harder it becomes for users to find them. This is because the feature names are usually short and there are just too many of them for the users to remember the exact words. The users are more comfortable asking contextual queries that d…
Constraint satisfaction problems (CSPs) are about finding values of variables that satisfy the given constraints. We show that Transformer extended with recurrence is a viable approach to learning to solve CSPs in an end-to-end manner, having clear advantages over state-of-the-art methods such as Gr…
Injecting discrete logical constraints into neural network learning is one of the main challenges in neuro-symbolic AI. We find that a straight-through-estimator, a method introduced to train binary neural networks, could effectively be applied to incorporate logical constraints into neural network…
The frame-skipping strategy has been widely employed in deep reinforcement learning (DRL) technology to train an agent. Specifically, this strategy repeats the action determined by the agent for a fixed number of frames. It increases computational efficiency by reducing the number of inferences by m
We present NeurASP, a simple extension of answer set programs by embracing neural networks. By treating the neural network output as the probability distribution over atomic facts in answer set programs, NeurASP provides a simple and effective way to integrate sub-symbolic and symbolic computation.…