103 accepted papers
This paper presents a bilateral shared-control teleoperation system by establishing a human machine environment cooperative control framework to address performance degradation caused by communication delays and cluttered environments. Specifically, we develop a leader-side robot kinematic model wit
Self-improvement training enables the large reasoning models (LRMs) to improve themselves by self-generating reasoning trajectories as training data without external supervision. However, we find that this method often falls short in complex reasoning tasks and even leads to model collapse. Through …
Post-training with explicit reasoning traces is common to improve the reasoning capabilities of Multimodal Large Language Models (MLLMs). However, acquiring high-quality reasoning traces is often costly and time-consuming. Hence, the self-improvement paradigm has emerged, enabling MLLMs to self-gene…
Diffusion models offer powerful generative capabilities for robot trajectory planning, yet their practical deployment on robots is hindered by a critical bottleneck: reliance on imitation learning from expert demonstrations. This paradigm is often impractical for specialized robots where data is sca…
We revisit Proximal Policy Optimization (PPO) from a function-space perspective. Our analysis decouples policy evaluation and improvement in a reproducing kernel Hilbert space (RKHS): (i) A kernelized temporal-difference (TD) critic performs efficient RKHS-gradient updates using only one-step sta…
Accurate, large-scale Martian segmentation datasets are a cornerstone of autonomous scene understanding in support of exploration and navigation in Martian environments. However, high-quality segmentation labeling on planetary images requires annotators to have professional extraterrestrial geologic
Long Chain-of-Thought (CoT) reasoning enhances large reasoning models
We introduce AMIA, a lightweight, inference-only defense for Large Vision–Language Models (LVLMs) that (1) Automatically Masks a small set of text-irrelevant image patches to disrupt adversarial perturbations, and (2) conducts joint Intention Analysis to uncover and mitigate hidden harmful intents b
Multi-agent systems (MAS) based on large language models (LLMs) have demonstrated significant potential in collaborative problem-solving. However, they still face substantial challenges of low communication efficiency and suboptimal task performance, making the careful design of the agents’ communic…
Proper initialization is crucial for any system, particularly in multi-agent systems (MAS), where it plays a pivotal role in determining both the system’s efficiency and effectiveness. However, existing MAS initialization methods do not fully account for the collaborative needs of the generated agen
Detoxifying offensive language while preserving the speaker’s original intent is a challenging yet critical goal for improving the quality of online interactions. Although large language models (LLMs) show promise in rewriting toxic content, they often default to overly polite rewrites, distorting t
Large Language Models (LLMs) achieve remarkable performance through pretraining on extensive data. This enables efficient adaptation to diverse downstream tasks. However, the lack of interpretability in their underlying mechanisms limits the ability to effectively steer LLMs for specific application…
Multimodal large language models (MLLMs) have experienced significant advancements recently, but still struggle to recognize and interpret intricate details in high-resolution (HR) images effectively. While state-of-the-art (SOTA) MLLMs claim to process images at 4K resolution, existing MLLM benchma…
Efficiently managing the KV cache in Large Language Models (LLMs) is a critical challenge for long-context processing tasks such as retrieval-augmented generation (RAG), long text summarization, and multi-document analysis. Extending the context length substantially increases the KV cache size, lead
Knowledge editing allows for efficient adaptation of large language models (LLMs) to new information or corrections without requiring full retraining. However, prior methods typically focus on either single-language editing or basic multilingual editing, failing to achieve true cross-linguistic know…
Large language models (LLMs) excel at a range of tasks through in-context learning (ICL), where only a few task examples guide their predictions. However, prior research highlights that LLMs often overlook input-label mapping information in ICL, relying more on their pre-trained knowledge. To addres…
This paper proposes a method to estimate the wheel slip ratio and side slip angle of wheeled rovers by processing images of wheel trace imprints. The proposed method extracts structural features from trace imprint images, such as the trace unit, trace contour, and angle between the centerline of the
Deep reinforcement learning (DRL) methods have shown significant promise in controlling the movement of quadruped robots. However, for systems like hexapod robots, which feature a higher-dimensional action space, it remains challenging for an agent to devise an effective control strategy directly. C
Answering complex queries over incomplete knowledge graphs (KGs) is a challenging job. Most previous works have focused on learning entity/relation embeddings and simulating first-order logic operators with various neural networks. However, they are bottlenecked by the inability to share world knowl…
Aligning large language models (LLMs) with human values, particularly when facing complex and stealthy jailbreak attacks, presents a formidable challenge. Unfortunately, existing methods often overlook this intrinsic nature of jailbreaks, which limits their effectiveness in such complex scenarios. I…
Supervised fine-tuning (SFT) is a common approach to improve the domain-specific question-answering (QA) performance of large language models (LLMs). However, recent literature reveals that due to the conflicts between LLMs’ internal knowledge and the context knowledge of training data, vanilla SFT…
Large Language Models (LLMs) excel at natural language processing tasks, but their massive size leads to high computational and storage demands. Recent works have sought to reduce their model size through layer-wise structured pruning. However, they tend to ignore retaining the capabilities in the p…
Large Language Models (LLMs) have shown significant potential as judges for Machine Translation (MT) quality assessment, providing both scores and fine-grained feedback. Although approaches such as GEMBA-MQM have shown state-of-the-art performance on reference-free evaluation, the predicted errors d…
High-resolution (HR) image perception remains a key challenge in multimodal large language models (MLLMs). To drive progress beyond the limits of heuristic methods, this paper advances HR perception capabilities of MLLMs by harnessing cutting-edge long-context techniques such as retrieval-augmented…
Large language models (LLMs) encode vast amounts of world knowledge but remain static once trained, making timely integration of emerging facts prohibitively expensive via full retraining. Knowledge-editing techniques have thus emerged to inject or overwrite specific facts into LLMs, yet they either
Agents powered by large language models (LLMs) have demonstrated strong planning and decision-making capabilities in complex embodied environments. However, such agents often suffer from inefficiencies in multi-turn interactions, frequently trapped in repetitive loops or issuing ineffective commands
Knowledge distillation (KD) has shown great promise in transferring knowledge from larger teacher models to smaller student models. However, existing KD strategies for large language models often minimize output distributions between student and teacher models indiscriminately for each token. This o…
Continual learning for large language models (LLMs) demands a precise balance between $\textbf{plasticity}$ - the ability to absorb new tasks - and $\textbf{stability}$ - the preservation of previously learned knowledge. Conventional rehearsal methods, which replay stored examples, are limited by lo…
Jailbreak attacks against large language models (LLMs) aim to induce harmful behaviors in LLMs through carefully crafted adversarial prompts. To mitigate attacks, one way is to perform adversarial training (AT)-based alignment, i.e., training LLMs on some of the most adversarial prompts to help them…
This work identifies the *Energy Loss Phenomenon* in Reinforcement Learning from Human Feedback (RLHF) and its connection to reward hacking. Specifically, energy loss in the final layer of a Large Language Model (LLM) gradually increases during the RL process, with an *excessive* increase in energy…
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous navigation for planetary rovers. Vision-Language Model (VLM) i
Recent advancements in Large Vision-Language Models have showcased remarkable capabilities. However, they often falter when confronted with complex reasoning tasks that humans typically address through visual aids and deliberate, step-by-step thinking. While existing methods have explored text-based…
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real world still suffer from inevitable safety issues, such as joi
Multimodal machine translation (MMT) is a challenging task that seeks to improve translation quality by incorporating visual information. However, recent studies have indicated that the visual information provided by existing MMT datasets is insufficient, causing models to disregard it and overestim…
Watermarking enables people to determine whether the text is generated by a specific model. It injects a unique signature based on the “green-red” list that can be tracked during detection, where the words in green lists are encouraged to be generated. Recent researchers propose to fix the green/red…
Large language models (LLMs) have significantly advanced the field of natural language processing, while the expensive memory and computation consumption impede their practical deployment. Quantization emerges as one of the most effective methods for improving the computational efficiency of LLMs. H…
Specialized robots, such as legged robots and unmanned aerial vehicles (UAVs), are commonly regarded as effective platforms for aiding in search and rescue (SAR) missions. However, existing approaches often decouple the tasks between UAVs and legged robots, for instance, using UAVs for mapping and l
Generative large language models (LLMs), e.g., ChatGPT, have demonstrated remarkable proficiency across several NLP tasks, such as machine translation, text summarization. Recent research (Kocmi and Federmann, 2023) has shown that utilizing LLMs for assessing the quality of machine translation (MT)…
Despite the success of reinforcement learning from human feedback (RLHF) in aligning language models with human values, reward hacking, also termed reward overoptimization, remains a critical challenge. This issue primarily arises from reward misgeneralization, where reward models (RMs) compute rew…
Large Language Models (LLMs) have shown promising performance in text-to-SQL, which involves translating natural language questions into SQL queries. However, current text-to-SQL LLMs are computationally expensive and challenging to deploy in real-world applications, highlighting the importance of c…
Large Vision-Language Models (LVLMs) are increasingly adept at generating contextually detailed and coherent responses from visual inputs. However, their application in multimodal decision-making and open-ended generation is hindered by a notable rate of hallucinations, where generated text inaccura…
Denoising Diffusion Probabilistic Models (DDPMs) have achieved significant success in generation tasks. Nevertheless, the exposure bias issue, i.e., the natural discrepancy between the training (the output of each step is calculated individually by a given input) and inference (the output of each st…
Advancing automated programming necessitates robust and comprehensive code generation benchmarks, yet current evaluation frameworks largely neglect object-oriented programming (OOP) in favour of functional programming (FP), e.g., HumanEval and MBPP. To address this, our study introduces a pioneering…
Low-resource languages (LRLs) face challenges in supervised neural machine translation (NMT) due to limited parallel data, prompting research in unsupervised NMT.Unsupervised NMT (UNMT), without requiring ground truth, provides solutions for LRL translations using synthetic pseudo-parallel data and…
With the development of instruction-tuned large language models (LLMs), improving the safety of LLMs has become more critical. However, the current approaches for aligning the LLMs output with expected safety usually require substantial training efforts, e.g., high-quality safety data and expensive…
Catastrophic Forgetting (CF) means models forgetting previously acquired knowledge when learning new data. It compromises the effectiveness of large language models (LLMs) during fine-tuning, yet the underlying causes have not been thoroughly investigated. This paper takes the first step to reveal t…
Large language models (LLMs) have shown an impressive ability to perform a wide range of tasks using in-context learning (ICL), where a few examples are used to describe a task to the model. However, the performance of ICL varies significantly with the choice of demonstrations, and previous research…
Knowledge distillation (KD) is a common approach to compress a teacher model to reduce its inference cost and memory footprint, by training a smaller student model. However, in the context of autoregressive language models (LMs), we empirically find that larger teacher LMs might dramatically result…
Large language models (LLMs) exhibit remarkable performance across diverse tasks, indicating their potential for expansion into large speech-text models (LSMs) by integrating speech capabilities. Although unified speech-text pre-training and multimodal data instruction-tuning offer considerable bene…
Fine-tuning is the process of extending the training of pre-trained models on specific target tasks thereby significantly enhancing their performance across various applications. However fine-tuning often demands large memory consumption posing a challenge for low-memory devices that some previous m…
End-to-end speech translation (ST) presents notable disambiguation challenges as it necessitates simultaneous cross-modal and cross-lingual transformations. While word sense disambiguation is an extensively investigated topic in textual machine translation, the exploration of disambiguation strategi…
Recent research shows that pre-trained language models (PLMs) suffer from “prompt bias” in factual knowledge extraction, i.e., prompts tend to introduce biases toward specific labels. Prompt bias presents a significant challenge in assessing the factual knowledge within PLMs. Therefore, this paper a…
As instruction-tuned large language models (LLMs) evolve, aligning pretrained foundation models presents increasing challenges. Existing alignment strategies, which typically leverage diverse and high-quality data sources, often overlook the intrinsic uncertainty of tasks, learning all data samples…
Adversarial detection aims to detect adversarial samples that threaten the security of deep neural networks, which is an essential step toward building robust AI systems. Density-based estimation is widely considered as an effective technique by explicitly modeling the distribution of normal data an…
Zero-shot transfer learning for Dialogue State Tracking (DST) helps to handle a variety of task-oriented dialogue domains without the cost of collecting in-domain data. Existing works mainly study common data- or model-level augmentation methods to enhance the generalization but fail to effectively…
In federated learning (FL), a cluster of local clients are chaired under the coordination of the global server and cooperatively train one model with privacy protection. Due to the multiple local updates and the isolated non-iid dataset, clients are prone to overfit into their own optima, which extr…
Federated learning (FL) is an emerging distributed machine learning framework which jointly trains a global model via a large number of local devices with data privacy protections. Its performance suffers from the non-vanishing biases introduced by the local inconsistent optimal and the rugged clien…
Graph Transformers (GTs) have proved their advantage in graph-level tasks. However, existing GTs still perform unsatisfactorily on the node classification task due to 1) the overwhelming unrelated information obtained from a vast number of irrelevant distant nodes and 2) the quadratic complexity reg…
Simultaneous machine translation (SiMT) is usually done via sequence-level knowledge distillation (Seq-KD) from a full-sentence neural machine translation (NMT) model. However, there is still a significant performance gap between NMT and SiMT. In this work, we propose to leverage monolingual data to…
Autonomous navigation plays an increasingly crucial role in rover-based planetary missions. End-to-end navigation approaches developed upon deep reinforcement learning have enabled great adaptability in complex environments. However, most existing works focus on geometric obstacle avoidance thus hav
Planetary rovers with lugged-wheels are the primary equipment for Mars exploration, and as exploration missions become more complex, rovers are expected move into more challenging terrains. When moving over soft sand or slopes, lugged-wheels experience high slip and heavy sinkage, and an explicit si
Scaling the size of language models usually leads to remarkable advancements in NLP tasks. But it often comes with a price of growing computational cost. Although a sparse Mixture of Experts (MoE) can reduce the cost by activating a small subset of parameters (e.g., one expert) for each input, its c…
Dynamic networks, e.g., Dynamic Convolution (DY-Conv) and the Mixture of Experts (MoE), have been extensively explored as they can considerably improve the model’s representation power with acceptable computational cost. The common practice in implementing dynamic networks is to convert the given st…
An end-to-end speech-to-text (S2T) translation model is usually initialized from a pre-trained speech recognition encoder and a pre-trained text-to-text (T2T) translation decoder. Although this straightforward setting has been shown empirically successful, there do not exist clear answers to the res…
Token dropping is a recently-proposed strategy to speed up the pretraining of masked language models, such as BERT, by skipping the computation of a subset of the input tokens at several middle layers. It can effectively reduce the training time without degrading much performance on downstream tasks…
Masked language modeling, widely used in discriminative language model (e.g., BERT) pretraining, commonly adopts a random masking strategy. However, random masking does not consider the importance of the different words in the sentence meaning, where some of them are more worthy to be predicted. The…
Text classification tasks often encounter few-shot scenarios with limited labeled data, and addressing data scarcity is crucial. Data augmentation with mixup merges sample pairs to generate new pseudos, which can relieve the data deficiency issue in text classification. However, the quality of pseud…
Adaptive training approaches, widely used in sequence-to-sequence models, commonly reweigh the losses of different target tokens based on priors, e.g. word frequency. However, most of them do not consider the variation of learning difficulty in different training steps, and overly emphasize the lear…
The pretrained language model (PLM) based metrics have been successfully used in evaluating language generation tasks. Recent studies of the human evaluation community show that considering both major errors (e.g. mistranslated tokens) and minor errors (e.g. imperfections in fluency) can produce hig…
ChatGPT shows remarkable capabilities for machine translation (MT). Several prior studies have shown that it achieves comparable results to commercial systems for high-resource languages, but lags behind in complex tasks, e.g, low-resource and distant-language-pairs translation. However, they usuall…
Data augmentation is an effective way to improve model performance of grammatical error correction (GEC). This paper identifies a critical side-effect of GEC data augmentation, which is due to the style discrepancy between the data used in GEC tasks (i.e., texts produced by non-native speakers) and…
Dense retrievers have achieved impressive performance, but their demand for abundant training data limits their application scenarios. Contrastive pre-training, which constructs pseudo-positive examples from unlabeled data, has shown great potential to solve this problem. However, the pseudo-positiv…
The off-road locomotion of wheeled mobile robots (WMRs) over soft terrains can be quite challenging due to the complicated wheel-terrain interaction (WTI). To avoid unforeseen non-geometric hazards such as excessive sinkage or slippage, it is crucial to oversee these terrain-related uncertainties. H
Wheeled mobile robots (WMRs) have been proven to be quite competitive and useful in outdoor missions. However, they may face serious sinkage or slippage on deformable terrains, and even get stuck or damaged, thereby causing mission failure. To mitigate these risks, it is essential to closely monitor
Quantization is a promising approach for reducing memory overhead and accelerating inference, especially in large pre-trained language model (PLM) scenarios. While having no access to original training data due to security and privacy concerns has emerged the demand for zero-shot quantization. Most…
Aspect-based sentiment analysis (ABSA) is a fine-grained sentiment analysis task, which focuses on detecting the sentiment polarity towards the aspect in a sentence. However, it is always sensitive to the multi-aspect challenge, where features of multiple aspects in a sentence will affect each other…
Legged robots can pass through complex field environments by selecting gaits and discrete footholds carefully. Conventional methods plan gaits and footholds separately and treat them as a single-step optimal process. However, such approaches cause poor passability in sparse foothold environments. Th
Federated Learning (FL) is an emerging distributed learning paradigm under privacy constraint. Data heterogeneity is one of the main challenges in FL, which results in slow convergence and degraded performance. Most existing approaches only tackle the heterogeneity challenge by restricting the local…
Endowing robots with human-like abilities to perform motor skills smoothly and naturally is one of the important goals of robotics. Learning from demonstration (LfD) has been successfully applied for learning tasks on robots, for which the human tutor can demonstrate a successful execution. Learning
Fine-tuning large pretrained language models on a limited training corpus usually suffers from poor generalization. Prior works show that the recently-proposed sharpness-aware minimization (SAM) optimization method can improve the model generalization. However, SAM adds a perturbation to each model…
We present IBR, an Iterative Backward Reasoning model to solve the proof generation tasks on rule-based Question Answering (QA), where models are required to reason over a series of textual rules and facts to find out the related proof path and derive the final answer. We handle the limitations of e…
Pre-Training (PT) of text representations has been successfully applied to low-resource Neural Machine Translation (NMT). However, it usually fails to achieve notable gains (some- times, even worse) on resource-rich NMT on par with its Random-Initialization (RI) counterpart. We take the first step t…
Non-geometric hazards like sinkage and slipping, correlated to terrain categories, have an apparent effect on the locomotion of legged robots. Tactile-based terrain classification is a more accurate way to distinguish terrains in different properties than the vision, but selecting representative fea
Knowledge distillation (KD) is the preliminary step for training non-autoregressive translation (NAT) models, which eases the training of NAT models at the cost of losing important information for translating low-frequency words. In this work, we provide an appealing alternative for NAT – monolingua…
Adapter Tuning, which freezes the pretrained language models (PLMs) and only fine-tunes a few extra modules, becomes an appealing efficient alternative to the full model fine-tuning. Although computationally efficient, the recent Adapters often increase parameters (e.g. bottleneck dimension) for mat…
The coordination of multiple driving wheels is an important issue in wheeled mobile robot design, for both maximizing tractive capability and optimizing energy consumption. This study converts a driving wheel into a pseudo-driven wheel (PDW), which is controlled to follow the motion of the robot bod
Human-robot collaboration (HRC) significantly extends robotic systems’ applications when working in spaces like houses, hospitals, or laboratories. However, new challenges appear during a close collaboration between humans and robots and imitating the movement of humans by robots. Learning from demo…
We present a simple and effective pretraining strategy – bidirectional training (BiT) for neural machine translation. Specifically, we bidirectionally update the model parameters at the early stage and then tune the model normally. To achieve bidirectional updating, we simply reconstruct the trainin…
Drawbar pull and driving torque are usually applied to characterize the mobility and energy consumption, respectively, of wheeled planetary rovers (WPRs) traversing sandy terrain. Owing to the complexity of the grouser-terrain interaction, neither can be modeled as a closed-form analytical expressio
Pre-training (PT) and back-translation (BT) are two simple and powerful methods to utilize monolingual data for improving the model performance of neural machine translation (NMT). This paper takes the first step to investigate the complementarity between PT and BT. We introduce two probing tasks fo…
Knowledge distillation (KD) is commonly used to construct synthetic data for training non-autoregressive translation (NAT) models. However, there exists a discrepancy on low-frequency words between the distilled and the original data, leading to more errors on predicting low-frequency words. To alle…
The slippage appears on soft terrains for wheeled mobile robots (WMR), and generates a motion deviation at the contact area, which can induce poor command-tracking performance (meaning difference between WMR's actual motion and operator's command) and instability for its teleoperation. Our previous
Dialogue generation models face the challenge of producing generic and repetitive responses. Unlike previous augmentation methods that mostly focus on token manipulation and ignore the essential variety within a single sample using hard labels, we propose to promote the generation diversity of the n…
Encoder layer fusion (EncoderFusion) is a technique to fuse all the encoder layers (instead of the uppermost layer) for sequence-to-sequence (Seq2Seq) models, which has proven effective on various NLP tasks. However, it is still not entirely clear why and when EncoderFusion should work. In this pape…
Knowledge distillation (KD) is essential for training non-autoregressive translation (NAT) models by reducing the complexity of the raw data with an autoregressive teacher model. In this study, we empirically show that as a side effect of this training, the lexical choice errors on low-frequency wor…
Non-autoregressive translation (NAT) significantly accelerates the inference process by predicting the entire target sequence. However, due to the lack of target dependency modelling in the decoder, the conditional generation process heavily depends on the cross-attention. In this paper, we reveal a…
With the increasing applications of wheeled mobile manipulators (WMMs), new challenges have arisen in terms of executing high-force tasks while maintaining precise trajectory tracking. A WMM, which consists of a manipulator mounted on a mobile base, is often a kinematically redundant robot. The exis
Despite their success, kernel methods suffer from a massive computational cost in practice. In this paper, in lieu of commonly used kernel expansion with respect to $N$ inputs, we develop a novel optimal design maximizing the entropy among kernel features. This procedure results in a kernel expansio…
Compared with conventional robots, soft structures such as living octopus arms and various soft-robot arms have more degrees of freedom (DOFs) and greater flexibility. Soft robot arms have a considerable range of applications. However, it is arduous to establish a mechanical model for them, because…
In an autonomous scientific exploration system, the terrain map generated from mapping process integrates sensing information from multiple aspects and lays the base for decision making processes. With the increasing challenges in planetary exploration, equipping planetary rovers with the principles…
Simulation of planetary rovers moving on complex terrains is critical for Mars exploration. Equivalent stiffness is proposed and used to characterize the pressure-sinkage property of terrain, while friction angle to characterize the shearing property. Terramechanics model for calculating forces betw…
With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have emerged in terms of designing its teleoperation system. One of such challenges is caused by wheel slippage and another is due to the strict need for ensuring WMR safety. This letter proposes a new tri