232 accepted papers
Large language model (LLM) agents exhibit strong mathematical problem-solving abilities and can even solve International Mathematical Olympiad (IMO) level problems with the assistance of formal proof systems. However, due to weak heuristics for auxiliary constructions, AI for geometry problem solvin…
On-policy reinforcement learning methods like GRPO suffer from \emph{mode collapse}: they exhibit reduced solution diversity, concentrating probability mass on a single solution once discovered and ceasing exploration of alternative strategies. We show this stems from reverse KL minimization's mode-…
We propose ContextLM, a framework that implicitly learns multi-token prediction by augmenting standard pretraining with an intrinsic next-context prediction objective. ContextLM builds a language model on top of context embeddings that span multiple tokens, enabling better next-token prediction by p…
This paper introduces EPS3D, a new end-to-end feed-forward framework for open-vocabulary 3D panoptic segmentation. Unlike existing methods relying on additional preprocessing, we design an end-to-end architecture, with a distillation-based training strategy on diverse 3D scenes to predict 3D-aware s…
Whole-body manipulation (WBM) for humanoid robots presents a promising approach for executing embracing tasks involving bulky objects, where traditional grasping relying on end-effectors only remains limited in such scenarios due to inherent stability and payload constraints. This paper introduces a…
Graph neural networks (GNNs) can effectively model structural information of graphs, making them widely used in knowledge graph (KG) reasoning. However, existing studies on the expressive power of GNNs mainly focuses on simple single-relation graphs, and there is still insufficient discussion on the
In this paper, we study the worst-case frontier risks of the OpenAI gpt-oss model. We introduce malicious fine-tuning (MFT), where we attempt to elicit maximum capabilities by fine-tuning gpt-oss to be as capable as possible in two domains: biology and cybersecurity. To maximize biological risk (bio…
Multimodal Large Language Models (MLLMs) hold promise for accelerating scientific discovery by interpreting complex experimental procedures. However, their true capabilities are poorly understood, as existing benchmarks neglect the fine-grained and long-horizon nature of authentic laboratory work, e…
While the most fundamental pretraining paradigm typically trains modality-specific models on their respective datasets, the Platonic Representation Hypothesis that representations eventually align across modalities as data and model scale suggests an intriguing possibility: large language models (LL
Monocular 3D shape recovery is fundamental to geometric understanding, yet achieving robust generalization across arbitrary viewpoints and unseen object categories remains a significant challenge. In this paper, we present a generalizable deformation learning framework that reconstructs 3D objects b…
Automatic Speech Recognition (ASR) systems, such as those in intelligent assistants, are vulnerable to adversarial examples (AEs). Benign audio clips like music, when embedded with small perturbations, can trick ASR models into recognizing attacker-specified commands. Prior studies focus on minimizi…
A widely adopted strategy for model enhancement is to use synthetic data generated by a stronger model for supervised fine-tuning (SFT). However, for emerging reasoning models like Qwen3-8B, this approach often fails to improve reasoning capabilities and can even lead to a substantial drop in perfor…
While Large Language Models (LLMs) hold promise for automating science and education, generating interactive scientific demonstrations demands a complex synthesis of deep domain knowledge and precise reactive coding. Current benchmarks fail to capture this synergy, largely bifurcating into static co…
General SVG modeling remains challenging due to fragmented datasets, limited transferability of methods across tasks, and the difficulty of handling structural complexity. In response, we leverage the strong transfer and generalization capabilities of multimodal large language models (MLLMs) to achi…
The scope of neural code intelligence is rapidly expanding beyond text-based source code to encompass the rich visual outputs that programs generate. This visual dimension is critical for advanced applications like flexible content generation and precise, program-driven editing of visualizations. Ho…
Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a critical pathology in current training paradigms where goal-driven data collection creates a dataset bias. In such datasets…
While current Multimodal Large Language Models (MLLMs) have demonstrated proficiency in reasoning tasks such as mathematics and logic, their capacity for long-chain reflective reasoning, a prerequisite for solving complex real-world problems, remains largely underexplored. In this work, we first co…
Recent writing assistants are increasingly shifting from passive, prompt-driven interaction to proactive, suggestion-based completion, which integrates localized continuations into the writing flow and reduces coordination burden. However, existing evaluations simply focus on output quality, failing
In Vision–Language–Action (VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broader multi-modal perturbations that arise in actions, instructions, environments, and observations. Here, we first evaluat…
Avoiding catastrophic forgetting for previous tasks and maintaining model plasticity to support new tasks are two critical objectives of continual learning. However, existing methods usually neglect one of the two aspects and fail to support long task sequences with satisfactory performance, especia
Reasoning before action and imagining potential outcomes (i.e., world models) are essential for embodied agents operating in complex open-world environments. Yet, prior work either incorporates only one of these abilities in an end-to-end agent or integrates multiple specialized models into an agent…
While previous research has documented the sensitivity of Large Language Models (LLMs) to surface-level performance degradation, the underlying impact on internal representations and learning dynamics remains under-explored. In this work, we study this question using a controlled setup with paired r…
Recent breakthroughs in reasoning language models have significantly advanced text-based reasoning. On the other hand, Multi-modal Large Language Models (MLLMs) still lag behind, hindered by their outdated internal LLMs. Upgrading these is often prohibitively expensive, as it requires complete visio…
Recent advancements in large language models (LLMs) have been driven by their emergent reasoning capabilities, particularly through long chain-of-thought (CoT) prompting, which enables thorough exploration and deliberation. Despite these advances, long-CoT LLMs often exhibit suboptimal reasoning beh…
Flow matching and diffusion bridge models have emerged as leading paradigms in generative speech enhancement, modeling stochastic processes between paired noisy and clean speech signals based on principles such as flow matching, score matching, and Schrödinger bridge. In this paper, we present a fra
Vision-Language Models (VLMs) have enabled computer use agents (CUAs) that operate GUIs autonomously, showing great potential, yet progress is limited by the lack of large-scale, open-source computer use data and foundation models. In this work, we introduce ScaleCUA, a step toward scaling open-sour…
The scientific reasoning ability of large language models (LLMs) has recently attracted significant attention. Time series, as a fundamental modality in scientific data, presents unique challenges that are often overlooked in current multimodal LLMs, which either encode numerical sequences as text o…
Recurrent large language models (Recurrent LLMs) offer linear computational complexity as efficient alternatives to quadratic self-attention-based LLMs (Self-Attention LLMs). However, Recurrent LLMs underperform on long-context tasks due to limited fixed-size memory. Previous research focused on arc…
In recent years, there has been a growing trend in computer vision towards exploiting RAW sensor data, which preserves richer information compared to conventional low-bit RGB images. Early studies mainly focused on enhancing visual quality, while more recent efforts aim to leverage the abundant info
Length generalization, the ability to solve problems of longer sequences than those observed during training, poses a core challenge of Transformer-based large language models (LLMs). Although existing studies have predominantly focused on data-driven approaches for particular arithmetic operations…
Large Reasoning Models (LRMs) have achieved remarkable progress thanks to Reinforcement Learning with Verifiable Rewards (RLVR) on Chain-of-Thoughts (CoTs). However, since long CoTs naturally contain trial and errors and mainstream RLVR approaches choose outcome-correct CoT trajectories for memoriza…
Token filtering has been proposed to enhance the utility of large language models (LLMs) by eliminating inconsequential tokens during training. While using fewer tokens is expected to reduce computational workloads, existing methods have not yet achieved a real-world efficiency boost. This is primar…
Post-training algorithms such as Supervised Fine-Tuning (SFT) and Reinforcement Fine-Tuning (RFT) are widely used to adapt multimodal large language models to downstream tasks. While effective at task adaptation, their impact on prior knowledge remains unclear. In this paper, we introduce jigsaw puz…
Compared to traditional neural networks with a single output channel, a multi-exit network has multiple exits that allow for early outputs from the model's intermediate layers, thus significantly improving computational efficiency while maintaining similar main task accuracy. Existing model stealing…
We propose a multi-agent approach (SeM-Agents) based on large language models for medical consultations. This framework incorporates various doctor roles and auxiliary roles, with agents communicating through natural language. Using a residual structure, the system conducts multi-round medical consu…
The rapid advancement of large language models (LLMs) has shown remarkable progress in complex reasoning tasks. However, a significant disparity exists between benchmark performances and real-world applications. We attribute this gap primarily to current evaluation protocols and metrics, which inade…
Diffusion models can generate realistic and diverse images, potentially facilitating data availability for data-intensive perception tasks. However, leveraging these models to boost performance on downstream tasks with synthetic data poses several challenges, including aligning with real data distri…
Real-time multi-agent motion forecasting is essential for autonomous vehicles to safely navigate on urban roads. Recent advancements in this field exhibit the superior performance of Query-Centric Networks for large-scale data and long-term prediction. However, these methods often suffer from high s
Scaling law builds the relationship between training computation and validation loss, enabling researchers to effectively predict the loss trending of models across different levels of computation. However, a gap still remains between validation loss and the model’s downstream capabilities, making i…
Task-oriented dexterous grasp generation aims to generate stable and functional grasps that enable a robotic hand to effectively interact with objects to accomplish specific tasks. However, generating high-dimensional hand configurations that seamlessly adapt to diverse task requirements and object
Answer verification is crucial not only for evaluating large language models (LLMs) by matching their unstructured outputs against standard answers, but also serves as the reward model to guide LLM optimization. Most evaluation frameworks rely on regularized matching or employ general LLMs for answe
The quality of Supervised Fine-Tuning (SFT) data plays a critical role in enhancing the conversational capabilities of Large Language Models (LLMs). However, the availability of high-quality human-annotated SFT data has become a significant bottleneck for LLMs, necessitating a greater reliance on sy…
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability, while generative approaches improve efficiency and task integra…
Visual Instruction Tuning (VIT) aims to enhance Multimodal Large Language Models (MLLMs), yet its effectiveness is often compromised by corrupted datasets with issues such as hallucinated content, incorrect responses, and poor OCR quality. Previous approaches to address these challenges have focused
Creativity is a fundamental aspect of intelligence, involving the ability to generate novel and appropriate solutions across diverse contexts. While Large Language Models (LLMs) have been extensively evaluated for their creative capabilities, the assessment of Multimodal Large Language Models (MLLMs…
Language model heavily depends on high-quality data for optimal performance. Existing approaches rely on manually designed heuristics, the perplexity of existing models, training classifiers, orcareful prompt engineering, which require significant expert experience and human annotation effort while…
Cryogenic electron tomography (Cryo-ET) is a powerful technique for visualizing subcellular structures in their native states. Nonetheless, its effectiveness is compromised by anisotropic resolution artifacts caused by the missing-wedge effect. To address this, IsoNet, a deep learning-based method,…
Whisper to Normal voice conversion (W2N) holds great promise for assistive communication and healthcare, making it an exciting area of research and development. Recent advancements in W2N are predominantly driven by self-supervised speech representation learning (SSL) techniques. While effective, SS…
The exceptional generative capability of text-to-image models has raised substantial safety concerns regarding the generation of Not-Safe-For-Work (NSFW) content and potential copyright infringement. To address these concerns, previous methods safeguard the models by eliminating inappropriate concep…
Dual-energy CT exploits the different attenuation characteristics of substances under different energy X-rays and collects high- and low-energy data from the same area to differentiate and quantify specific substances, which is now widely used in clinical diagnosis, disease monitoring, and other fie…
GPT-4o, an omni-modal model that enables vocal conversations with diverse emotions and tones, marks a milestone for omni-modal foundation models. However, empowering Large Language Models to perceive and generate images, texts, and speeches end-to-end with publicly available data remains challenging…
In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and unknown environments with narrow passages. The framework continuously incorporates real-time perceptive information to id
In this paper, we present ***FaceShot***, a novel training-free portrait animation framework designed to bring any character into life from any driven video without fine-tuning or retraining. We achieve this by offering precise and robust reposed landmark sequences from an appearance-guided landmark…
Recent research in federated large language models (LLMs) has primarily focused on enabling clients to fine-tune their locally deployed homogeneous LLMs collaboratively or on transferring knowledge from server-based LLMs to small language models (SLMs) at downstream clients. However, a significant g…
Effcient reconstruction methods, particularly capable of providing detailed information on obstacle distances across diverse environments, are crucial for effective robot motion planning. In this context, neural Signed Distance Fields (SDFs) offer a powerful solution by learning implicit representat
Endoscopic reconstruction plays a crucial role in surgical robotics. The dynamic lighting conditions and integrated camera-light source in endoscopic scenes create a distinct reconstruction challenge: shape ambiguity. To mitigate this, we propose a Gaussian Splatting (GS) based framework for endosco
Scene graph generation is a pivotal task in computer vision, focusing on comprehensive identification of visual relation tuples embedded within images. The advancement of methods involving triplets has sought to enhance task performance by integrating triplets as contextual features for more precise…
With the emergence of Multimodal Large Language Models (MLLMs), hundreds of benchmarks have been developed to ensure the reliability of MLLMs in downstream tasks. However, the evaluation mechanism itself may not be reliable. For developers of MLLMs, questions remain about which benchmark to use and…
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate obstacles during navigation. However, they prove ineffective in n
Despite the promising performance of Large Vision Language Models (LVLMs) in visual understanding, they occasionally generate incorrect outputs. While reward models (RMs) with reinforcement learning or test-time scaling offer the potential for improving generation quality, a critical gap remains: pu…
Among various temporal knowledge graph (TKG) extrapolation methods, rule-based approaches stand out for their explicit rules and transparent reasoning paths. However, the vast search space for rule extraction poses a challenge in identifying high-quality logic rules. To navigate this challenge, we e…
Data quality and diversity are key to the construction of effective instruction-tuning datasets. With the increasing availability of open-source instruction-tuning datasets, it is advantageous to automatically select high-quality and diverse subsets from a vast amount of data. Existing methods typic…
The rapid advancement of diffusion models has greatly improved video synthesis, especially in controllable video generation, which is vital for applications like autonomous driving. Although DiT with 3D VAE has become a standard framework for video generation, it introduces challenges in controllabl…
Large language models (LLMs) exhibit hallucinations (i.e., unfaithful or nonsensical information) when serving as AI assistants in various domains. Since hallucinations always come with truthful content in the LLM responses, previous factuality alignment methods that conduct response-level preferenc…
Large Language Models (LLMs) have shown strong abilities in general language tasks, yet adapting them to specific domains remains a challenge. Current method like Domain Adaptive Pretraining (DAPT) requires costly full-parameter training and suffers from catastrophic forgetting. Meanwhile, Retrieval…
Information seeking and integration is a complex cognitive task that consumes enormous time and effort. Inspired by the remarkable progress of Large Language Models, recent works attempt to solve this task by combining LLMs and search engines. However, these methods still obtain unsatisfying perform…
Large language models (LLMs) have demonstrated exceptional performance in reasoning tasks such as mathematics and coding, matching or surpassing human capabilities. However, these impressive reasoning abilities face significant challenges in specialized domains. Taking Go as an example, although Alp…
As the capabilities of large language models (LLMs) continue to expand, aligning these models with human values remains a significant challenge. Recent studies show that reasoning abilities contribute significantly to model safety, while integrating Mixture-of-Experts (MoE) architectures can further…
Existing text-to-video methods struggle to transfer motion smoothly from a reference object to a target object with significant differences in appearance or structure between them. To address this challenge, we introduce MotionShot, a training-free framework capable of parsing reference-target corre…
Open-world knowledge graph completion (KGC) aims to infer novel facts by enriching existing graphs with external knowledge sources while maintaining semantic consistency under the open-world assumption (OWA). Generation-based KGC methods leverage the inherent strengths of large language models (LLMs
In real-world environments, a well-designed model must be capable of handling dynamically evolving distributions, where both in-distribution (ID) and out-of-distribution (OOD) samples appear unpredictably and individually, making real-time adaptation particularly challenging. While open-set test-tim…
Recent advancements in open-source multi-modal large language models (MLLMs) have primarily focused on enhancing foundational capabilities, leaving a significant gap in human preference alignment. This paper introduces OmniAlign-V, a comprehensive dataset of 200K high-quality training samples featur…
While diffusion models significantly improve the perceptual quality of super-resolved images, they usually require a large number of sampling steps, resulting in high computational costs and long inference times. Recent efforts have explored reasonable acceleration schemes by reducing the number of…
Adversarial examples generated in digital space may fail to work in the physical world because the recapture process will ruin the adversarial property of the examples. Several approaches have been proposed to generate adversarial examples that can survive in the physical world, they however either…
We offer a novel perspective on reward modeling by formulating it as a policy discriminator, which quantifies the difference between two policies to generate a reward signal, guiding the training policy towards a target policy with desired behaviors. Based on this conceptual insight, we propose a sc…
Segment Anything Model (SAM) has made great progress in anomaly segmentation tasks due to its impressive generalization ability. However, existing methods that directly apply SAM through prompting often overlook the domain shift issue, where SAM performs well on natural images but struggles in indus…
Recent advancements in large language models (LLMs) have significantly enhanced their coding capabilities. However, existing benchmarks predominantly focused on simplified or isolated aspects of coding, such as single-file code generation or repository issue debugging, falling short of measuring the…
Recent segmentation methods, which adopt large-scale data training and transformer architecture, aim to create one foundation model that can perform multiple tasks. However, most of these methods rely on heavy encoder and decoder frameworks, hindering their performance in real-time scenarios.…
With the rapid iteration of Multi-modality Large Language Models (MLLMs) and the evolving demands of the field, the number of benchmarks produced annually has surged into the hundreds. The rapid growth has inevitably led to significant redundancy among benchmarks. Therefore, it is crucial to take a…
With the development of large language models (LLMs), numerous online applications based on these models have emerged. As system prompts significantly influence the performance of LLMs, many such applications conceal their system prompts and regard them as intellectual property. Consequently, numero…
Large language models (LLMs) have recently achieved notable success in code‑generation benchmarks such as HumanEval and LiveCodeBench. However, a detailed examination reveals that these evaluation suites often comprise only a limited number of homogeneous test cases, resulting in subtle faults going…
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable space. This paper introduces a novel motion planning and cont
Steerability, or the ability of large language models (LLMs) to adapt outputs to align with diverse community-specific norms, perspectives, and communication styles, is critical for real-world applications but remains under-evaluated. We introduce STEER-BENCH, a benchmark for assessing population-sp
Large Language Models (LLMs) have demonstrated remarkable proficiency across a variety of complex tasks. One significant application of LLMs is in tackling software engineering challenges, particularly in resolving real-world tasks on GitHub by fixing code based on the issues reported by the users.…
The Transformer architecture has become the standard LLM architecture due to its powerful self-attention mechanism. However, it suffers from quadratic computational complexity and linear memory complexity. RNN-based LLMs have been proposed as alternatives. Yet, RNN models struggle in long-context sc…
Malignant brain tumors have become an aggressive and dangerous disease that leads to death worldwide. Multi-modal MRI data is crucial for accurate brain tumor segmentation, but missing modalities common in clinical practice can severely degrade the segmentation performance. While incomplete multi-mo…
Enhancing large vision-language models (LVLMs) with visual slow-thinking reasoning is crucial for solving complex multimodal tasks. However, since LVLMs are mainly trained with vision-language alignment, it is difficult to adopt on-policy reinforcement learning (RL) to develop the slow thinking abil…
Traditional recommendation system focus more on the correlations between users and items (user-item relationships), while research on user-user relationships has received significant attention these years, which is also known as social recommendation. Graph-based models have achieved a great success…
The analysis and prediction of agent trajectories are crucial for decision-making processes in intelligent systems, with precise short-term trajectory forecasting being highly significant across a range of applications. Agents and their social interactions have been quantified and modeled by researc…
Generative models have recently gained attention in recommendation systems by directly predicting item identifiers from user interaction sequences. However, existing methods suffer from significant information loss due to the separation of stages such as quantization and sequence modeling, hindering…
The human palm demonstrates spatial reconfigurability during the gripping process and forms a spherical grasping envelope. Based on these observations, this study designs a reconfigurable spherical palm that incorporates a spatial scissor mechanism, which only requires a single actuator to reshape t
Large pre-trained Vision-Language Models (VLMs) such as CLIP have demonstrated excellent zero-shot generalizability across various downstream tasks. However, recent studies have shown that the inference performance of CLIP can be greatly degraded by small adversarial perturbations, especially its vi…
Critique ability, a meta-cognitive capability of humans, presents significant challenges for LLMs to improve. While utilizing human annotation can enhance critique ability effectively, most recent works primarily rely on supervised fine-tuning (SFT) using critiques generated by a single LLM like GPT
Large Language Models (LLMs) have demonstrated remarkable capabilities in various tasks, yet code generation remains a major challenge. Despite the abundant sources of code data, constructing high-quality training datasets at scale poses a significant challenge. Pre-training code data typically suff
Recent advancements in large language models (LLMs) with extended context windows have significantly improved various tasks. To improve long-context capabilities, much work focuses on augmenting LLM’s capabilities with synthetic data. Existing methods often leverage the Self-Instruct framework to ge…
"Multimodal large language models (MLLMs) have shown impressive reasoning abilities. However, they are also more vulnerable to jailbreak attacks than their LLM predecessors. Although still capable of detecting the unsafe responses, we observe that safety mechanisms of the pre-aligned LLMs in MLLMs c…
"In the realm of autonomous driving, accurate 3D perception is the foundation. However, developing such models relies on extensive human annotations – a process that is both costly and labor-intensive. To address this challenge from a data representation learning perspective, we introduce SuperFlow,…
The partitioned block frequency domain Kalman Filter (PBFDKF) has been applied in acoustic feedback cancellation (AFC) due to its fast convergence and low steady-state misalignment. However, in cases where the feedback path experiences abrupt changes, the Kalman filter, once it reaches a steady stat…
Temporal knowledge graph (TKG) reasoning has two settings: interpolation reasoning and extrapolation reasoning. Both of them draw plenty of research interest and have great significance. Methods of the former de-emphasize the temporal correlations among facts sequences, while methods of the latter r…
Large language models (LLMs) exhibit hallucinations in long-form question-answering tasks across various domains and wide applications. Current hallucination detection and mitigation datasets are limited in domain and size, which struggle to scale due to prohibitive labor costs and insufficient reli…
Reducing the ‘hallucination' problem of Large Language Models (LLMs) is crucial for their wide applications. A comprehensive and fine-grained measurement of the hallucination is the first key step for the governance of this issue but is under-explored in the community.Thus, we present ANAH, a biling…
Recently, the large language model (LLM) community has shown increasing interest in enhancing LLMs’ capability to handle extremely long documents. As various long-text techniques and model architectures emerge, the precise and detailed evaluation of models’ long-text capabilities has become increasi…
Open-sourced Large Language Models (LLMs) have achieved great success in various NLP tasks, however, they are still far inferior to API-based models when acting as agents. How to integrate agent ability into general LLMs becomes a crucial and urgent problem.This paper first delivers three key observ…
Open-source Large Language Models (LLMs) and their specialized variants, particularly Code LLMs, have recently delivered impressive performance. However, previous Code LLMs are typically fine-tuned on single-source data with limited quality and diversity, which may insufficiently elicit the potentia…
Learning from demonstration is a powerful method for teaching robots new skills, and having more demonstration data often improves policy learning. However, the high cost of collecting demonstration data is a significant bottleneck. Videos, as a rich data source, contain knowledge of behaviors, phys…
"The field of text-to-image (T2I) generation has made significant progress in recent years, largely driven by advancements in diffusion models. Linguistic control enables effective content creation, but struggles with fine-grained control over image generation. This challenge has been explored, to a…
In the realm of modern Large Language Models (LLMs), facilitating high-quality, multi-turn dialogues with humans represents a cornerstone feature. However, human-based evaluation of such a capability involves substantial manual effort. This study offers a formative assessment of current LLMs’ profic…
AI assistants powered by Large Language Models (LLMs) have demonstrated impressive performance in various tasks. However, LLMs still make factual errors in knowledge-intensive tasks such as open-domain question answering. These untruthful responses from AI assistants can pose significant risks in pr…
In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by polynomial inequalities such that robots with general shapes can be suitably characterized. We exploit the collision-free
Critique ability, i.e., the capability of Large Language Models (LLMs) to identify and rectify flaws in responses, is crucial for their applications in self-improvement and scalable oversight. While numerous studies have been proposed to evaluate critique ability of LLMs, their comprehensiveness and…
Dataset sanitization is a widely adopted proactive defense against poisoning-based backdoor attacks, aimed at filtering out and removing poisoned samples from training datasets. However, existing methods have shown limited efficacy in countering the ever-evolving trigger functions, and often leading…
Current perceptive models heavily depend on resource-intensive datasets prompting the need for innovative solutions. Leveraging recent advances in diffusion models synthetic data by constructing image inputs from various annotations proves beneficial for downstream tasks. While prior methods have se…
Over the past few years, as large language models have ushered in an era of intelligence emergence, there has been an intensified focus on scaling networks. Although Neural Architecture Search (NAS) methods have been proposed to automate this process, they suffer from low search efficiency. This stu…
Recent research indicates that large language models (LLMs) are susceptible to jailbreaking attacks that can generate harmful content. This paper introduces a novel token-level attack method, Adaptive Dense-to-Sparse Constrained Optimization (ADC), which has been shown to successfully jailbreak mult…
In the realm of computer vision and robotics embodied agents are expected to explore their environment and carry out human instructions. This necessitates the ability to fully understand 3D scenes given their first-person observations and contextualize them into language for interaction. However tra…
In recent years, Large Language Models (LLMs) have demonstrated exceptional performance in code-generation tasks. However, under enterprise scenarios where private APIs are pre-built, general LLMs often fail to meet expectations. Existing approaches are confronted with drawbacks of high resource con…
In the dynamic field of film and game development, the emergence of human motion synthesis methods has revolutionized avatar animation. Traditional methodologies, typically reliant on single modality inputs like text or audio, employ modality-specific model frameworks, posing challenges for unified…
Scene graph generation (SGG) aims to parse a visual scene into an intermediate graph representation for downstream reasoning tasks. Despite recent advancements existing methods struggle to generate scene graphs with novel visual relation concepts. To address this challenge we introduce a new open-vo…
In developing general-purpose agents, significant focus has been placed on integrating large language models (LLMs) with various tools. This poses a challenge to the tool-use capabilities of LLMs. However, there are evident gaps between existing tool evaluations and real-world scenarios. Current eva…
The rapid development of large language models (LLMs) has not only provided numerous opportunities but also presented significant challenges. This becomes particularly evident when LLMs inadvertently generate harmful or toxic content, either unintentionally or because of intentional inducement. Exis…
Diffusion models have attracted significant attention due to the remarkable ability to create content and generate data for tasks like image classification. However, the usage of diffusion models to generate the high-quality object detection data remains an underexplored area, where not only image-l…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization problem. Then, safety constraints are imposed on the control var
Large Language Models (LLMs) possess the potential to exert substantial influence on public perceptions and interactions with information. This raises concerns about the societal impact that could arise if the ideologies within these models can be easily manipulated. In this work, we investigate how…
Human image animation involves generating videos from a character photo, allowing user control and unlocking the potential for video and movie production. While recent approaches yield impressive results using high-quality training data, the inaccessibility of these datasets hampers fair and transpa…
"Text-to-image (T2I) diffusion models often inadvertently generate unwanted concepts such as watermarks and unsafe images. These concepts, termed “implicit concepts”, can be unintentionally learned during training and then be generated uncontrollably during inference. Existing removal methods still…
The Large Vision-Language Model (LVLM) field has seen significant advancements, yet its progression has been hindered by challenges in comprehending fine-grained visual content due to limited resolution. Recent efforts have aimed to enhance the high-resolution understanding capabilities of LVLMs, ye…
Large Language Models (LLMs) have revolutionized various domains with extensive knowledge and creative capabilities. However, a critical issue with LLMs is their tendency to produce outputs that diverge from factual reality. This phenomenon is particularly concerning in sensitive applications such a…
The large-scale conversational recommendation dataset is pivotal for the development of conversational recommender systems (CRS). Most existing CRS datasets suffers from the problems of data inextensibility and semantic inconsistency. To tackle these limitations and establish a benchmark in the conv…
We introduces ***LLaST***, a framework for building high-performance Large Language model based Speech-to-text Translation systems. We address the limitations of end-to-end speech translation (E2E ST) models by exploring model architecture design and optimization techniques tailored for LLMs. Our ap…
We present LawBench, the first evaluation benchmark composed of 20 tasks aimed to assess the ability of Large Language Models (LLMs) to perform Chinese legal-related tasks. LawBench is meticulously crafted to enable precise assessment of LLMs’ legal capabilities from three cognitive levels that corr…
Large language models have demonstrated impressive capabilities across various natural language processing tasks, especially in solving mathematical problems. However, large language models are not good at math theorem proving using formal languages like Lean. A significant challenge in this area is…
Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods designed for natural scenes typically yield low accuracy or map-building failures due to insufficient robust feature extr…
"Large vision-language models (VLMs) have recently achieved remarkable progress, exhibiting impressive multimodal perception and reasoning abilities. However, effectively evaluating these large VLMs remains a major challenge, hindering future development in this domain. Traditional benchmarks like V…
The advent of large vision-language models (LVLMs) has spurred research into their applications in multi-modal contexts, particularly in video understanding. Traditional VideoQA benchmarks, despite providing quantitative metrics, often fail to encompass the full spectrum of video content and inadequ…
Recent advancements in diffusion models have significantly enhanced the data synthesis with 2D control. Yet, precise 3D control in street view generation, crucial for 3D perception tasks, remains elusive. Specifically, utilizing Bird's-Eye View (BEV) as the primary condition often leads to challenge…
Creating and animating 3D biped cartoon characters is crucial and valuable in various applications. Compared with geometry the diverse texture design plays an important role in making 3D biped cartoon characters vivid and charming. Therefore we focus on automatic texture design for cartoon character…
Recent advancements in large language models (LLMs) have showcased significant improvements in mathematics. However, traditional math benchmarks like GSM8k offer a unidimensional perspective, which fall short in providing a holistic assessment of the LLMs’ math capabilities. To address this gap, we…
In this work, we present MotionBooth, an innovative framework designed for animating customized subjects with precise control over both object and camera movements. By leveraging a few images of a specific object, we efficiently fine-tune a text-to-video model to capture the object's shape and attri…
Surgical robot task automation has been a promising research topic for improving surgical efficiency and quality. Learning-based methods have been recognized as an interesting paradigm and been increasingly investigated. However, existing approaches encounter difficulties in long-horizon goal-condit…
In this work we address various segmentation tasks each traditionally tackled by distinct or partially unified models. We propose OMG-Seg One Model that is Good enough to efficiently and effectively handle all the segmentation tasks including image semantic instance and panoptic segmentation as well…
"The CLIP and Segment Anything Model (SAM) are remarkable vision foundation models (VFMs). SAM excels in segmentation tasks across diverse domains, whereas CLIP is renowned for its zero-shot recognition capabilities. This paper presents an in-depth exploration of integrating these two models into a…
Recent advancements in personalized text-to-image (T2I) models have revolutionized content creation empowering non-experts to generate stunning images with unique styles. While promising animating these personalized images with realistic motions poses significant challenges in preserving distinct st…
Vision Language Models (VLMs) demonstrate remarkable proficiency in addressing a wide array of visual questions, which requires strong perception and reasoning faculties. Assessing these two competencies independently is crucial for model refinement, despite the inherent difficulty due to the intert…
Large language models (LLMs) have demonstrated impressive capabilities across various tasks, but their performance is highly sensitive to the prompts utilized. This variability poses challenges for accurate assessment and user satisfaction. Current research frequently overlooks instance-level prompt…
Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two commonly used modalities in visual-based robotic manipulation, but…
Real-time multi-person pose estimation presents significant challenges in balancing speed and precision. While two-stage top-down methods slow down as the number of people in the image increases existing one-stage methods often fail to simultaneously deliver high accuracy and real-time performance.…
"Text-to-image models encounter safety issues, including concerns related to copyright and Not-Safe-For-Work (NSFW) content. Despite several methods have been proposed for erasing inappropriate concepts from diffusion models, they often exhibit incomplete erasure, consume a lot of computing resource…
Recently we have witnessed the rapid development of video question answering models. However, most models can only handle simple videos in terms of temporal reasoning, and their performance tends to drop when answering temporal-reasoning questions on long and informative videos. To tackle this prob…
Reinforcement learning from human feedback (RLHF) is a vital strategy for enhancing model capability in language models. However, annotating preference data for RLHF is a resource-intensive and creativity-demanding process, while existing automatic generation methods face limitations in data diversi…
"Although great progress has been made in 3D visual grounding, current models still rely on explicit textual descriptions for grounding and lack the ability to reason human intentions from implicit instructions. We propose a new task called and introduce a new benchmark ScanReason which provides ove…
Online shopping is a complex multi-task, few-shot learning problem with a wide and evolving range of entities, relations, and tasks. However, existing models and benchmarks are commonly tailored to specific tasks, falling short of capturing the full complexity of online shopping. Large Language Mode…
Large language models (LLMs) have achieved remarkable performance on various NLP tasks and are augmented by tools for broader applications. Yet, how to evaluate and analyze the tool utilization capability of LLMs is still under-explored. In contrast to previous works that evaluate models holisticall…
Temporal knowledge graph extrapolation has become a prominent area of study interest in recent years. Numerous methods for extrapolation have been put forth, mining query-relevant information from history to generate forecasts. However, existing approaches normally do not discriminate between causal…
Extrapolation reasoning on Temporal Knowledge Graphs (TKGs) aims to predict future events from a set of historical Knowledge Graphs (KGs) in a chronological order. The temporally adjacent facts in TKGs naturally form event sequences, implying informative temporal event dependencies. Recently, many e…
We introduce a new task -- language-driven video inpainting which uses natural language instructions to guide the inpainting process. This approach overcomes the limitations of traditional video inpainting methods that depend on manually labeled binary masks a process often tedious and labor-intensi…
Recent advances in backdoor attacks, like leveraging complex triggers or stealthy implanting techniques, have introduced new challenges in backdoor scanning, limiting the usability of Deep Neural Networks (DNNs) in various scenarios. In this paper, we propose Unlearning-based Model Ablation (UMA),…
Learning-based underwater image enhancement (UIE) methods have made great progress. However the lack of large-scale and high-quality paired training samples has become the main bottleneck hindering the development of UIE. The inter-frame information in underwater videos can accelerate or optimize th…
Object pose estimation plays a crucial role in robotic manipulation, however, its practical applicability still suffers from limited generalizability. This paper addresses the challenge of generalizable object pose estimation, particularly focusing on category-level object pose estimation for unseen…
Over the past years, YOLOs have emerged as the predominant paradigm in the field of real-time object detection owing to their effective balance between computational cost and detection performance. Researchers have explored the architectural designs, optimization objectives, data augmentation strate…
This paper summarizes a hybrid multi-channel speech enhancement system for the ICASSP Signal Processing Grand Challenge: Clarity Challenge (Speech Enhancement for Hearing Aids) 2023. The system consists of a rule-based dereverberation module, a multi-channel enhancement module, and a post-processing…
Recent years we have witnessed rapid development in NeRF-based image rendering due to its high quality. However, point clouds rendering is somehow less explored. Compared to NeRF-based rendering which suffers from dense spatial sampling, point clouds rendering is naturally less computation intensive…
In this study, we dive deep into the inconsistency of pseudo targets in semi-supervised object detection (SSOD). Our core observation is that the oscillating pseudo-targets undermine the training of an accurate detector. It injects noise into the student's training, leading to severe overfitting pro…
MetricGAN and its variations have been proven to be an effective wide-band speech enhancement model. In this paper, we expand it to full-band enhancement by combining our recently proposed learnable spectral dimension compression mapping strategy. The encoder-decoder structure with a time-frequency…
One critical challenge in 6D object pose estimation from a single RGBD image is efficient integration of two different modalities, i.e., color and depth. In this work, we tackle this problem by a novel Deep Fusion Transformer (DFTr) block that can aggregate cross-modality features for improving pose…
Task automation of surgical robot has the potentials to improve surgical efficiency. Recent reinforcement learning (RL) based approaches provide scalable solutions to surgical automation, but typically require extensive data collection to solve a task if no prior knowledge is given. This issue is kn…
One-to-one label assignment in object detection has successfully obviated the need of non-maximum suppression (NMS) as a postprocessing and makes the pipeline end-to-end. However, it triggers a new dilemma as the widely used sparse queries cannot guarantee a high recall, while dense queries inevitab…
Graph neural networks (GNNs) have been applied successfully in many machine learning tasks due to their advantages in utilizing neighboring information. Recently, with the global enactment of privacy protection regulations, federated GNNs have gained increasing attention in academia and industry. Ho…
Recently, there has been an increasing interest in developing diffusion-based text-to-image generative models capable of generating coherent and well-formed visual text. In this paper, we propose a novel and efficient approach called GlyphControl to address this task. Unlike existing methods that re…
There has been significant progress in Masked Image Modeling (MIM). Existing MIM methods can be broadly categorized into two groups based on the reconstruction target: pixel-based and tokenizer-based approaches. The former offers a simpler pipeline and lower computational cost, but it is known to be…
Shape primitives decomposition has been an important and long-standing task in 3D shape analysis. Prior arts heavily rely on 3D point clouds or voxel data for shape primitives extraction, which are less practical in real-world scenarios. This paper proposes to learn shape primitives from multi-view…
Masked Autoencoder (MAE) has demonstrated superior performance on various vision tasks via randomly masking image patches and reconstruction. However, effective data augmentation strategies for MAE still remain open questions, different from those in contrastive learning that serve as the most impor…
This paper studies how to keep a vision backbone effective while removing token mixers in its basic building blocks. Token mixers, as self-attention for vision transformers (ViTs), are intended to perform information communication between different spatial tokens but suffer from considerable computa…
Unsupervised sentence representation learning is one of the fundamental problems in natural language processing with various downstream applications. Recently, contrastive learning has been widely adopted which derives high-quality sentence representations by pulling similar semantics closer and pus…
The robustness of 3D perception systems under natural corruptions from environments and sensors is pivotal for safety-critical applications. Existing large-scale 3D perception datasets often contain data that are meticulously cleaned. Such configurations, however, cannot reflect the reliability of p…
Recent advancements in vision foundation models (VFMs) have opened up new possibilities for versatile and efficient visual perception. In this work, we introduce Seal, a novel framework that harnesses VFMs for segmenting diverse automotive point cloud sequences. Seal exhibits three appealing propert…
Referring image segmentation segments an image from a language expression. With the aim of producing high-quality masks, existing methods often adopt iterative learning approaches that rely on RNNs or stacked attention layers to refine vision-language features. Despite their complexity, RNN-based me…
Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture high-quality data, resulting in point clouds with severe artifacts. Without a complete point cloud, existing methods are…
Video question answering aims at answering a question about the video content by reasoning the alignment semantics within them. However, since relying heavily on human instructions, i.e., annotations or priors, current contrastive learning-based VideoQA methods remains challenging to perform fine-gr…
Masked Autoencoder (MAE) is a prevailing self-supervised learning method that achieves promising results in model pre-training. However, when the various downstream tasks have data distributions different from the pre-training data, the semantically irrelevant pre-training information might result i…
Multi-agent collaborative perception (MCP) has recently attracted much attention. It includes three key processes: communication for sharing, collaboration for integration, and reconstruction for different downstream tasks. Existing methods pursue designing the collaboration process alone, ignoring…
Reinforcement learning is still struggling with solving long-horizon surgical robot tasks which involve multiple steps over an extended duration of time due to the policy exploration challenge. Recent methods try to tackle this problem by skill chaining, in which the long-horizon task is decomposed…
Accurate segmentation of surgical instrument tip is an important task for enabling downstream applications in robotic surgery, such as surgical skill assessment, tool-tissue interaction and deformation modeling, as well as surgical autonomy. However, this task is very challenging due to the small si…
Perceptual evaluation of speech quality (PESQ) is widely accepted as an effective objective metric closely related to the speech quality sensed by human listening perception. Due to its evaluation complexity and non-differentiability, PESQ is difficult to include in the cost function for deep learni…
We present a generic and robust sim-to-real deep-learning-based framework, namely S2R-Pick, for fast and accurate object recognition and localization in industrial robotic bin picking. Unlike existing works designed for general everyday environments, objects for industrial bin picking are often text
Recent research has demonstrated that Deep Neural Networks (DNNs) are vulnerable to adversarial patches which introduce perceptible but localized changes to the input. Nevertheless, existing approaches have focused on generating adversarial patches on images, their counterparts in videos have been l…
"Contemporary deep-learning object detection methods for autonomous driving usually assume prefixed categories of common traffic participants, such as pedestrians and cars. Most existing detectors are unable to detect uncommon objects and corner cases (e.g., a dog crossing a street), which may lead…
In unsupervised domain adaptation (UDA), directly adapting from the source to the target domain usually suffers significant discrepancies and leads to insufficient alignment. Thus, many UDA works attempt to vanish the domain gap gradually and softly via various intermediate spaces, dubbed domain bri…
"This paper presents Dense Siamese Network (DenseSiam), a simple unsupervised learning framework for dense prediction tasks. It learns visual representations by maximizing the similarity between two views of one image with two types of consistency, i.e., pixel consistency and region consistency. Con…
This paper presents an approach to Alzheimer’s disease (AD) diagnosis from spontaneous speech using an end-to-end ASR-enhanced neural network. Under the condition that only audio data are provided and accurate transcripts are unavailable, this paper proposes a system that can analyze utterances to d…
Face image super resolution (face hallucination) usually relies on facial priors to restore realistic details and preserve identity information. Recent advances can achieve impressive results with the help of GAN prior. They either design complicated modules to modify the fixed GAN prior or adopt co…
We study the problem of weakly semi-supervised object detection with points (WSSOD-P), where the training data is combined by a small set of fully annotated images with bounding boxes and a large set of weakly-labeled images with only a single point annotated for each instance. The core of this task…
Referring image segmentation is a fundamental vision-language task that aims to segment out an object referred to by a natural language expression from an image. One of the key challenges behind this task is leveraging the referring expression for highlighting relevant positions in the image. A para…
Multitask Gaussian process (MTGP) is powerful for joint learning of multiple tasks with complicated correlation patterns. However, due to the assembling of additive independent latent functions (LFs), all current MTGPs including the salient linear model of coregionalization (LMC) and convolution fra…
Videos incorporate rich semantics as well as redundant information. Seeking a compact yet effective video representation, e.g., sample informative frames from the entire video, is critical to efficient video recognition. There have been works that formulate frame sampling as a sequential decision ta…
Human skeleton, as a compact representation of human action, has received increasing attention in recent years. Many skeleton-based action recognition methods adopt GCNs to extract features on top of human skeletons. Despite the positive results shown in these attempts, GCN-based methods are subject…
Temporal factors are tied to the growth of facts in realistic applications, such as the progress of diseases and the development of political situation, therefore, research on Temporal Knowledge Graph (TKG) attracks much attention. In TKG, relation patterns inherent with temporality are required to…
Instance segmentation is an important task for supporting robotic grasping in auto-store scenarios. Accurate segmentation usually relies on the quantity and quality of available annotated training data. However, it requires tremendous cost to obtain these labels. In this work, without requiring any…
Large-scale language models coupled with prompts have shown remarkable performance on few-shot learning. However, through systematic experiments, we find that the few-shot performance of small language models is poor, and using prompts on them brings fewer improvements than on larger ones. In this p…
"6D object pose estimation is important for robotic bin-picking, and serves as a prerequisite for many downstream industrial applications. However, it is burdensome to annotate a customized dataset associated with each specific bin-picking scenario for training pose estimation models. In this paper,…
Self-supervised learning (SSL), especially contrastive methods, has raised attraction recently as it learns effective transferable representations without semantic annotations. A common practice for self-supervised pre-training is to use as much data as possible. For a specific downstream task, howe…