44 accepted papers
Generalizing local navigation policies across diverse robot morphologies is a critical challenge. Progress is often hindered by the need for costly and embodiment-specific data, the tight coupling of planning and control, and the "disastrous averaging" problem where deterministic models fail to capt…
Model-based representations recently stand out as a promising framework that embeds latent dynamics information into the representations for downstream off-policy actor-critic learning. It implicitly combines the advantages of both model-free and model-based approaches while avoiding the training co…
We present MoST (Mixture of Speech and Text), a novel multimodal large language model that seamlessly integrates speech and text processing through our proposed Modality-Aware Mixture of Experts (MAMoE) architecture. While current multimodal models typically process diverse modality representations …
Modeling 3D dynamics is a fundamental problem in multi-body systems across scientific and engineering domains and has important practical implications in trajectory prediction and simulation. While recent GNN-based approaches have achieved strong performance by enforcing geometric symmetries, encodi…
Online change detection (OCD) aims to rapidly identify change points in streaming data and is critical in applications such as power system monitoring, wireless network sensing, and financial anomaly detection. Existing OCD methods typically assume precise system knowledge, which is unrealistic due
Reinforcement learning enhances the reasoning capabilities of large language models but often involves high computational costs due to rollout-intensive optimization. Online prompt selection presents a plausible solution by prioritizing informative prompts to improve training efficiency. However, cu…
Reinforcement Learning with Verifiable Reward (RLVR) effectively solves complex tasks but demands extremely long context lengths during training, leading to substantial computational costs. While multi-stage training can partially mitigate this, starting with overly short contexts often causes irrev…
Reasoning hallucinations in large language models (LLMs) often appear as fluent yet unsupported conclusions that violate either the given context or underlying factual knowledge. Although such failures are widely observed, the mechanisms by which decoder-only Transformers produce them remain poorly …
Despite the empirical success of foundation models, we do not have a systematic characterization of the representations that these models learn. In this paper, we establish the contexture theory. It shows that a large class of representation learning methods can be characterized as learning from th…
Trilevel learning (TLL) with zeroth order constraints is a fundamental problem in machine learning, arising in scenarios where gradient information is inaccessible due to data privacy or model opacity, such as in federated learning, healthcare, and financial systems. These problems are notoriously d…
Recent studies suggest that large language models (LLMs) possess the capability to solve graph reasoning tasks. Notably, even when graph structures are embedded within textual descriptions, LLMs can still effectively answer related questions. This raises a fundamental question: How can a decoder-onl…
This paper initiates the first exploratory study to investigate the robust integrated sensing and communication (ISAC) systems under channel estimation errors from the perspective of GPU-Accelerated bilevel optimization. Within this framework, the upper-level problem is dedicated to simultaneously o…
Despite the remarkable success of transformer-based large language models (LLMs) across various domains, understanding and enhancing their mathematical capabilities remains a significant challenge. In this paper, we conduct a rigorous theoretical analysis of LLMs’ mathematical abilities, with a spec…
Recently, deep Multi-Agent Reinforcement Learning (MARL) has demonstrated its potential to tackle complex cooperative tasks, pushing the boundaries of AI in collaborative environments. However, the efficiency of these systems is often compromised by inadequate sample utilization and a lack of divers…
With the development of AI-Generated Content (AIGC), text-to-audio models are gaining widespread attention. However, it is challenging for these models to generate audio aligned with human preference due to the inherent information density of natural language and limited model understanding ability.…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible omnidirectional mobile robot denoted as CuRobot, featuring a cub
As transformer-based language models are trained on increasingly large datasets and with vast numbers of parameters, finding more efficient alternatives to the standard Transformer has become very valuable. While many efficient Transformers and Transformer alternatives have been proposed, none provi…
Exploration remains a critical issue in deep reinforcement learning for an agent to attain high returns in unknown environments. Although the prevailing exploration Random Network Distillation (RND) algorithm has been demonstrated to be effective in numerous environments, it often needs more discrim…
Accurate IP geolocation is crucial for location-aware applications. While recent advances in router-centric IP graph methods have garnered attention, they face two persistent challenges: (1) the sparsity problem of IP graphs in rural areas and (2) the limited explainability of current IP geolocation…
Accurate IP geolocation is indispensable for location-aware applications. While recent advances based on router-centric IP graphs are considered cutting-edge, one challenge remain: the prevalence of sparse IP graphs (14.24% with fewer than 10 nodes, 9.73% isolated) limits graph learning. To mitigate…
Temporal knowledge graph reasoning is an essential task that holds immense value in diverse real-world applications. Existing studies mainly focus on leveraging structural and sequential dependencies, excelling in tasks like entity and link prediction. However, they confront a notable interpretabili…
Trilevel learning, also called trilevel optimization (TLO), has been recognized as a powerful modelling tool for hierarchical decision process and widely applied in many machine learning applications, such as robust neural architecture search, hyperparameter optimization, and domain adaptation. Tack…
Utilization of inter-base station cooperation for information processing has shown great potential in enhancing the overall quality of communication services (QoS) in wireless communication networks. Nevertheless, such cooperations require the knowledge of channel state information (CSI) at base sta…
High-fidelity garment reconstruction is essential for various applications such as garment design and virtual try-on. While image-based reconstruction methods have made significant progress with deep generative models, generating 3D models from hand-drawn sketches to meet design intentions remains c…
Out-of-Distribution (OOD) generalization in machine learning is a burgeoning area of study. Its primary goal is to enhance the adaptability and resilience of machine learning models when faced with new, unseen, and potentially adversarial data that significantly diverges from their original training…
The primary goal of online change detection (OCD) is to promptly identify changes in the data stream. OCD problem find a wide variety of applications in diverse areas, e.g., security detection in smart grids and intrusion detection in communication networks. Prior research usually assumes precise kn…
In this work, we leverage the intrinsic segmentation of language sequences and design a new positional encoding method called Bilevel Positional Encoding (BiPE). For each position, our BiPE blends an intra-segment encoding and an inter-segment encoding. The intra-segment encoding identifies the loca…
Using reinforcement learning with human feedback (RLHF) has shown significant promise in fine-tuning diffusion models. Previous methods start by training a reward model that aligns with human preferences then leverage RL techniques to fine-tune the underlying models. However crafting an efficient re…
The research fields of parametric face model and 3D face reconstruction have been extensively studied. However, a critical question remains unanswered: how to tailor the face model for specific reconstruction settings. We argue that reconstruction with multi-view uncalibrated images demands a new mo…
Bilevel optimization plays an essential role in many machine learning tasks, ranging from hyperparameter optimization to meta-learning. Existing studies on bilevel optimization, however, focus on either centralized or synchronous distributed setting. The centralized bilevel optimization approaches r…
While recent developments of deep learning models have led to record-breaking achievements in many areas, the lack of sufficient interpretation remains a problem for many specific applications, such as the diagnosis prediction task in healthcare. The previous knowledge graph(KG) enhanced approaches…
Due to the insufficiency of electronic health records (EHR) data utilized in practical diagnosis prediction scenarios, most works are devoted to learning powerful patient representations either from structured EHR data (e.g., temporal medical events, lab test results, etc.) or unstructured data (e.g…
Water striders slide agilely and quickly on the water surface with the spatial elliptical rowing trajectory, it has attracted the research interest of scholars. But the existing bionic robots did not realize the level of it and generally suffer from slow speed and weak load capacity. Inspired by the
Despite the rapid advance of unsupervised anomaly detection, existing methods require to train separate models for different objects. In this work, we present UniAD that accomplishes anomaly detection for multiple classes with a unified framework. Under such a challenging setting, popular reconstruc…
Distributionally Robust Optimization (DRO), which aims to find an optimal decision that minimizes the worst case cost over the ambiguity set of probability distribution, has been applied in diverse applications, e.g., network behavior analysis, risk management, etc. However, existing DRO techniques…
What is a proper representation for objects in manipulation? What would human try to perceive when manipulating a new object in a new environment? In fact, instead of focusing on the texture and illumination, human can infer the "affordance" [36] of the objects from vision. Here "affordance" describ…
Conventional Computed Tomography (CT) systems use a single X-ray source and an arc of detectors mounted on a rotating gantry to acquire a set of projection data. Novel CT systems are now being pioneered in which a complete ring of distributed X-ray sources and detectors are electronically turned on…
The amazing ability of water striders on water surface has attracted many scholars. Especially the flexible driving mechanism enable the driving legs conform to the deformation of the water surface, which effectively improving water striders’ floating ability and stability. However, the current rese…
Stereo matching estimates the disparity between a rectified image pair, which is of great importance to depth sensing, autonomous driving, and other related tasks. Previous works built cost volumes with cross-correlation or concatenation of left and right features across all disparity levels, and th…
Dataset reshuffling across mobile devices allows for speeding up on-device distributed machine learning, which however requires significant communication bandwidth. In this paper, we propose a pliable data shuffling approach to significantly reduce the communication cost for on-device distributed le…
We propose a novel investment decision strategy (IDS) based on deep learning. The performance of many IDSs is affected by stock similarity. Most existing stock similarity measurements have the problems: (a) The linear nature of many measurements cannot capture nonlinear stock dynamics; (b) The estim…
A cognitive robot usually needs to perform multiple tasks in practice and needs to locate the desired area for each task. Since deep learning has achieved substantial progress in image recognition, to solve this area detection problem, it is straightforward to label a functional area (affordance) im…
Wireless distributed computing presents new opportunities to execute intelligent tasks on mobile devices for low-latency applications, by wirelessly aggregating the computation and storage resources among mobile devices. However, for low-latency applications, the key bottleneck lies in the exchange…
Aiming at mimicking the jumping locomotion of water striders, a new continuous jumping robot on water is proposed. Compared with the horizontal rowing motion, the jumping capability of water striders is challengeable to imitate, since the impact force on water is easy to cause the sinking of the rob