33 accepted papers
近年来，视觉-语言-行动（VLA）模型通过无缝整合视觉感知、语言理解和动作生成，在端到端的学习框架中彻底革新了机器人作。然而，由于这些模型设计为直接与物理世界和人类交互，其安全性至关重要，即使是小漏洞也可能导致灾难性故障。在本研究中，我们提出了通用对抗对象，这是一种表面纹理优化的球体，当置于机器人视野内时，任务成功率会显著降低。具体来说，我们的方法引入了一个多层次攻击框架，能够共同干扰轨迹规划、任务执行和动作控制。我们在模拟和现实机器人环境中验证了我们的方法。实验结果表明，对抗对象在两种代表性VLA模型（Pi0和RDT&#
The diffusion auction is an emerging auction model which leverages social networks to recruit more buyers, thereby improving auction revenue and allocation efficiency. Previous studies on diffusion auctions have primarily focused on the single-parameter domain, where each buyer's valuation function
Humanoid robots exhibit significant potential in executing diverse human-level skills. However, current research predominantly relies on data-driven approaches that necessitate extensive training datasets to achieve robust multimodal decision-making capabilities and generalizable visuomotor control.
Small object detection (SOD) plays a vital role in applications such as anti-UAV tasks, yet conventional image-based methods struggle in high-speed scenarios due to the limited frame rate. Event cameras offer a promising alternative by capturing spatiotemporal event streams with microsecond-level te
With the rapid advancements in multi-modal large language models (MLLMs), connectors play a pivotal role in bridging diverse modalities and enhancing model performance. However, the design and evolution of connectors have not been comprehensively analyzed, leaving gaps in understanding how these com
Opinion summarization plays a key role in deriving meaningful insights from large-scale online reviews. To make the process more explainable and grounded, we propose a domain-agnostic modular approach guided by review aspects (e.g., cleanliness for hotel reviews) which separates the tasks of aspect…
Causal language models acquire vast amount of knowledge from general text corpus during pretraining, but the efficiency of knowledge learning is known to be unsatisfactory, especially when learning from knowledge-dense and small-sized corpora. The deficiency can come from long-distance dependencies…
Small object detection (SOD) in anti-UAV task is a challenging problem due to the small size of UAVs and complex backgrounds. Traditional frame-based cameras struggle to detect small objects in complex environments due to their low frame rates, limited dynamic range, and data redundancy. Event camer…
Recent work has demonstrated the potential of diffusion models in robot bimanual skill learning. However, existing methods ignore the learning of posture-dependent task features, which are crucial for adapting dual-arm configurations to meet specific force and velocity requirements in dexterous bima
Large Language Models (LLMs) are vulnerable to jailbreak attacks that exploit weaknesses in traditional safety alignment, which often relies on rigid refusal heuristics or representation engineering to block harmful outputs. While they are effective for direct adversarial attacks, they fall short of…
Large Language Models (LLMs) have demonstrated strong reasoning capabilities across various tasks. However, even minor variations in query phrasing, despite preserving the underlying semantic meaning, can significantly affect their performance. To address this, we focus on enhancing LLMs’ awareness…
Modern natural language generation systems with Large Language Models (LLMs) exhibit the capability to generate a plausible summary of multiple documents; however, it is uncertain if they truly possess the capability of information consolidation to generate summaries, especially on documents with op…
Pretrained language models can encode a large amount of knowledge and utilize it for various reasoning tasks, yet they can still struggle to learn novel factual knowledge effectively from finetuning on limited textual demonstrations. In this work, we show that the reason for this deficiency is that…
Language models can learn sophisticated language understanding skills from fitting raw text. They also unselectively learn useless corpus statistics and biases, especially during finetuning on domain-specific corpora. In this paper, we propose a simple modification to causal language modeling called…
Small-scale robots hold significant promise in the field of minimally invasive surgery (MIS). In this paper, we present a miniature magnetic gripper and develop a data-driven kinematic model. The gripper comprises four fingers, wherein each finger has a maximum size not exceeding 3mm, 4mm and 5.5mm…
Mechanism design on social networks has attracted extensive attention recently. The goal is to design mechanisms to incentivize participants to invite more participants via their social networks, and the challenge is that the participants are competitors. Various mechanisms have been proposed for si…
We present NewsBench, a novel evaluation framework to systematically assess the capabilities of Large Language Models (LLMs) for editorial capabilities in Chinese journalism. Our constructed benchmark dataset is focused on four facets of writing proficiency and six facets of safety adherence, and it…
The prominence of embodied Artificial Intelligence (AI), which empowers robots to navigate, perceive, and engage within virtual environments, has attracted significant attention, owing to the remarkable advances in computer vision and large language models. Privacy emerges as a pivotal concern withi…
Multi-modal large language models (MLLMs) have shown impressive capabilities as a general-purpose interface for various visual and linguistic tasks. However, building a unified MLLM for multi-task learning in the medical field remains a thorny challenge. To mitigate the tug-of-war problem of multi-m…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height. Previous studies have used 3D radars for ego-motion estimation.
Multi-document summarization (MDS) aims to generate a summary for a number of related documents. We propose HGSum — an MDS model that extends an encoder-decoder architecture to incorporate a heterogeneous graph to represent different semantic units (e.g., words and sentences) of the documents. This…
Numerous evaluation metrics have been developed for natural language generation tasks, but their effectiveness in evaluating stories is limited as they are not specifically tailored to assess intricate aspects of storytelling, such as fluency and interestingness. In this paper, we introduce DeltaSco…
Learning-based methods for robotic grasping have been shown to yield high performance. However, they rely on expensive-to-acquire and well-labeled datasets. In addition, how to generalize the learned grasping ability across different scenarios is still unsolved. In this paper, we present a novel gra…
Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains fixed in the hand without any relative movements, which is n…
We present PeerSum, a novel dataset for generating meta-reviews of scientific papers. The meta-reviews can be interpreted as abstractive summaries of reviews, multi-turn discussions and the paper abstract. These source documents have a rich inter-document relationship with an explicit hierarchical c…
Tactile sensing plays a vital role for human hand function in terms of object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the fingertips for grasping or the upper-body for human-robot intera
The potential diagnostic applications of magnet-actuated capsules have been greatly increased in recent years. For most of these potential applications, accurate position control of the capsule have been highly demanding. However, the friction between the robot and the environment as well as the dra…
This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone transfer to robots. In this letter, we define a canonical s
Domain adaptation methods face performance degradation in object detection, as the complexity of tasks require more about the transferability of the model. We propose a new perspective on how CNN models gain the transferability, viewing the weights of a model as a series of motion patterns. The dire…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between local and remote workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g., picking objects with different poses on the two
Coordinate calibration accuracy is a prerequisite for the achievement of collaborative motion of dual robots, and visual positioning. In the case of AXB=YCZ, the associated hand-eye (X), robot-robot (Y), and tool-flange (Z) coordinate relationships need to be determined in order to provide accurate
Efficient and accurate planning of fingertip grasps is essential for dexterous in-hand manipulation. In this work, we present a system for fingertip grasp planning that incrementally learns a heuristic for hand reachability and multi-fingered inverse kinematics. The system consists of an online exec