21 accepted papers
Despite recent advances in the reasoning capabilities of Large Language Models (LLMs), improving the reasoning ability of Small Language Models (SLMs, e.g., up to 1.5B parameters) remains challenging. A key obstacle lies in the complexity and variability of natural language: essentially equivalent
Graph Neural Networks (GNNs) have been studied from two primary perspectives: spectral, which employs global graph signal filtering and is theoretically more expressive, and spatial, which builds on local neighborhood aggregation and generalizes well across diverse graph structures. While spectral G
We introduce an interactive LLM-based framework designed to enhance the autonomy and robustness of domestic robots, targeting embodied intelligence. Our approach reduces reliance on large-scale data and incorporates a robot-agnostic pipeline that embodies an LLM. Our framework, <italic xmlns:mml="ht
LLMs demonstrate remarkable utility but remain vulnerable to jailbreak attacks that aim to elicit harmful responses. Existing defenses, including post-training alignment and prompt engineering, rely on training on safety-annotated datasets and safe prompt templates, struggling with adaptability to o…
Knowledge distillation (KD) aims to improve the performance of lightweight student networks under the guidance of pre-trained teachers. However, the large capacity gap between teachers and students limits the distillation gains. Previous methods addressing this problem have two weaknesses. First, mo…
Feedback from peer review is essential to improve the quality of scientific articles. However, at present, many manuscripts do not receive sufficient external feedback for refinement before or during submission. Therefore, a system capable of providing detailed and professional feedback is crucial f…
Current backdoor attack defenders in Natural Language Processing (NLP) typically involve data reduction or model pruning, risking losing crucial information. To address this challenge, we introduce a novel backdoor defender, i.e., BadWindtunnel, in which we build a high-noise simulated training envi…
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured environments and lack a human model to learn from. This work…
As one of the key technologies leading to Artificial General Intelligence (AGI), Large Language Models (LLMs) have achieved remarkable accomplishments. Exploring the capabilities of LLMs is crucial for scientific research, and many studies propose new challenges from various aspects to explore the b…
Using large language models (LLMs) has a potential risk of privacy leakage since the data with sensitive information may be used for fine-tuning the LLMs. Differential privacy (DP) provides theoretical guarantees of privacy protection, but its practical application in LLMs still has the problem of p…
One of the primary challenges in optimizing large language models (LLMs) for long-context inference lies in the high memory consumption of the Key-Value (KV) cache. Existing approaches, such as quantization, have demonstrated promising results in reducing memory usage. However, current quantization…
Object Navigation (ObjectNav) is a fundamental task in embodied artificial intelligence. Although significant progress has been made in semantic map construction and target direction prediction in current research, redundant exploration and exploration failures remain inevitable. A critical but unde…
Enabling object detectors to recognize out-of-distribution (OOD) objects is vital for building reliable systems. A primary obstacle stems from the fact that models frequently do not receive supervisory signals from unfamiliar data, leading to overly confident predictions regarding OOD objects. Despi…
This study investigates the use of adapters in reinforcement learning for robotic skill generalization across multiple robots and tasks. Traditional methods are typically reliant on robot-specific retraining and face challenges such as efficiency and adaptability, particularly when scaling to robots
Tracking and catching moving objects is an important ability for robots in a dynamic world. Whilst some objects have highly predictable state evolution e.g., the ballistic trajectory of a tennis ball, reactive targets alter their behavior in response to motion of the manipulator. Reactive applicatio…
Current state-of-the-art spatial reasoning-enhanced VLMs are trained to excel at spatial visual question answering (VQA). However, we believe that higher-level 3D-aware tasks, such as articulating dynamic scene changes and motion planning, require a fundamental and explicit 3D understanding beyond c…
Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to unseen objects. We conjecture that this is due to the high-dimen…
The introduction of neural radiance fields has greatly improved the effectiveness of view synthesis for monocular videos. However, existing algorithms face difficulties when dealing with uncontrolled or lengthy scenarios, and require extensive training time specific to each new scenario. To tackle t…
A truly generalizable approach to rigid segmentation and motion estimation is fundamental to 3D understanding of articulated objects and moving scenes. In view of the closely intertwined relationship between segmentation and motion estimates, we present an SE(3) equivariant architecture and a traini…
This paper presents a semi-empirical method for simulating contact with elastically deformable objects whose force response is learned using entirely data-driven models. A point-based surface representation and an inhomogeneous, nonlinear force response model are learned from a robotic arm acquiring…
In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup is used for lifting the object from the clutter first and t…