54 accepted papers
Recent advances in Vision-Language-Action (VLA) models have significantly improved robotic perception and manipulation capabilities, but still struggling to adapt in dynamic, open-ended real-world environments due to a lack of reliable task progress feedback and improvement mechanisms. To address th…
Recent progress in Reinforcement Learning (RL) provides a principled approach to optimizing Vision-Language-Action (VLA) models, facilitating a shift from trajectory imitation to active learning in the task environment. Despite improvements in control precision, most RL optimizers remain task-specif…
The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However, developing such controllers remains a significant challenge because existing solutions are tailored to specific robot …
Large Language Models (LLMs)-based text retrieval retrieves documents relevant to search queries based on vector similarities. Documents are pre-encoded offline, while queries arrive in real-time, necessitating an efficient online query encoder. Although LLMs significantly enhance retrieval capabili…
Learning-based whole-body controllers have become a key driver for humanoid robots, yet most existing approaches require robot-specific training. In this paper, we study the problem of cross-embodiment humanoid control and show that a single policy can robustly generalize across a wide range of huma…
Low earth orbit (LEO) satellite communication system is vital due to its global coverage and low latency. To meet higher data rates, orthogonal frequency division multiplexing (OFDM) technology is recommended for adoption. In this paper, we analyze the nonlinear behavior of high-power amplifier (HPA…
Unsupervised skill discovery aims to learn diverse and distinguishable behaviors in open-ended reinforcement learning. For the existing methods, they focus on improving the diversity via pure exploration, mutual information optimization and learning temporal representation. Despite they perform wel…
Large Language Model-based Dense Retrieval (LLM-DR) optimizes over numerous heterogeneous fine-tuning collections from different domains. However, the discussion about its training data distribution is still minimal. Previous studies rely on empirically assigned dataset choices or sampling ratios, w…
Due to the lack of parallel data, the mainstream fine-tuning-based domain adaptation methods have the overfitting problem in the translation of low-resource domains, and it is difficult for the model to learn the in-domain generalization knowledge. To address the above issue, in this work, we propos…
In recent years, Large Language Models (LLMs) have made significant strides towards Artificial General Intelligence. However, training these models from scratch requires substantial computational resources and vast amounts of text data. In this paper, we explores an alternative approach to construct…
Panorama synthesis endeavors to craft captivating 360-degree visual landscapes, immersing users in the heart of virtual worlds. Nevertheless, contemporary panoramic synthesis techniques grapple with the challenge of semantically guiding the content generation process. Although recent breakthroughs i…
Recently, path inference-based knowledge graph reasoning (KGR) methods have attracted great attention due to their good performance and interpretability. However, as the number of hops increases, the search space grows exponentially, making the reward sparse and the process of reasoning difficult. T…
Prevalent supervised learning methods in natural language processing (NLP) are notoriously data-hungry, which demand large amounts of high-quality annotated data. In practice, acquiring such data is a costly endeavor. Recently, the superior few-shot performance of large language models (LLMs) has pr…
Sentence-level translation, document-level translation, translation memory, and terminology constrained translation play an important role in machine translation. Most of the previous work uses separate models or methods to solve these tasks, which is not conducive to knowledge transfer of different…
Analytical reasoning is an essential and challenging task that requires a system to analyze a scenario involving a set of particular circumstances and perform reasoning over it to make conclusions. However, current neural models with implicit reasoning ability struggle to solve this task. In this pa…
Standard automatic metrics, e.g. BLEU, are not reliable for document-level MT evaluation. They can neither distinguish document-level improvements in translation quality from sentence-level ones, nor identify the discourse phenomena that cause context-agnostic translations. This paper introduces a n…
Discriminative pre-trained language models (PrLMs) can be generalized as denoising auto-encoders that work with two procedures, ennoising and denoising. First, an ennoising process corrupts texts with arbitrary noising functions to construct training instances. Then, a denoising language model is tr…
Leveraging line features to improve the accuracy of the SLAM system has been studied in many works. However, making full use of the characteristics of different line features (parallel, non-parallel) to improve the SLAM system is rarely mentioned. In this paper, we designed a VIO system based on poi
Logical reasoning of text requires identifying critical logical structures in the text and performing inference over them. Existing methods for logical reasoning mainly focus on contextual semantics of text while struggling to explicitly model the logical inference process. In this paper, we not onl…
Question Answering (QA) is a longstanding challenge in natural language processing. Existing QA works mostly focus on specific question types, knowledge domains, or reasoning skills. The specialty in QA research hinders systems from modeling commonalities between tasks and generalization for wider a…
Quality Diversity (QD) algorithms in population-based reinforcement learning aim to optimize agents' returns and diversity among the population simultaneously. It is conducive to solving exploration problems in reinforcement learning and potentially getting multiple good and diverse strategies. Howe…
Tabular and textual question answering requires systems to perform reasoning over heterogeneous information, considering table structure, and the connections among table and text. In this paper, we propose a ChAin-centric Reasoning and Pre-training framework (CARP). CARP utilizes hybrid chain to mod…
Negative samples have not been efficiently explored in multilingual dense passage retrieval. In this paper, we propose a novel multilingual dense passage retrieval framework, mHFN, to recover and utilize hard and false negative samples. mHFN consists of three key components: 1) a multilingual hard n…
"Text to Image generation is a fundamental and inevitable challenging task for visual linguistic modeling. The recent surge in this area such as DALL·E has shown breathtaking technical breakthroughs, however, it still lacks a precise control of the spatial relation corresponding to semantic text. To…
Pre-trained models for programming languages have recently demonstrated great success on code intelligence. To support both code-related understanding and generation tasks, recent works attempt to pre-train unified encoder-decoder models. However, such encoder-decoder framework is sub-optimal for au…
In this paper, we propose BANG, a new pretraining model to Bridge the gap between Autoregressive (AR) and Non-autoregressive (NAR) Generation. AR and NAR generation can be uniformly regarded as to what extent previous tokens can be attended, and BANG bridges AR and NAR generation through designing a…
Finding codes given natural language query is beneficial to the productivity of software developers. Future progress towards better semantic matching between query and code requires richer supervised training resources. To remedy this, we introduce CoSQA dataset. It includes 20,604 labels for pairs…
Benchmark datasets have a significant impact on accelerating research in programming language tasks. In this paper, we introduce CodeXGLUE, a benchmark dataset to foster machine learning research for program understanding and generation. CodeXGLUE includes a collection of 10 tasks across 14 datasets…
Nowadays, fake news detection, which aims to verify whether a news document is trusted or fake, has become urgent and important. Most existing methods rely heavily on linguistic and semantic features from the news content, and fail to effectively exploit external knowledge which could help determine…
Continuous speech separation was recently proposed to deal with the overlapped speech in natural conversations. While it was shown to significantly improve the speech recognition performance for multichannel conversation transcription, its effectiveness has yet to be proven for a single-channel reco…
Generating image captions with user intention is an emerging need. The recently published Localized Narratives dataset takes mouse traces as another input to the image captioning task, which is an intuitive and efficient way for a user to control what to describe in the image. However, how to effect…
Multilingual pre-trained models have demonstrated their effectiveness in many multilingual NLP tasks and enabled zero-shot or few-shot transfer from high-resource languages to low-resource ones. However, due to significant typological differences and contradictions between some languages, such model…
Pre-trained models for programming language have achieved dramatic empirical improvements on a variety of code-related tasks such as code search, code completion, code summarization, etc. However, existing pre-trained models regard a code snippet as a sequence of tokens, while ignoring the inherent…
In this work, we present an information-theoretic framework that formulates cross-lingual language model pre-training as maximizing mutual information between multilingual-multi-granularity texts. The unified view helps us to better understand the existing methods for learning cross-lingual represen…
We propose a novel task of jointly repairing program codes and generating commit messages. Code repair and commit message generation are two essential and related tasks for software development. However, existing work usually performs the two tasks independently. We construct a multilingual triple d…
Conversational Question Simplification (CQS) aims to simplify self-contained questions into conversational ones by incorporating some conversational characteristics, e.g., anaphora and ellipsis. Existing maximum likelihood estimation based methods often get trapped in easily learned tokens as all to…
This paper investigates the model-based methods in multi-agent reinforcement learning (MARL). We specify the dynamics sample complexity and the opponent sample complexity in MARL, and conduct a theoretic analysis of return discrepancy upper bound. To reduce the upper bound with the intention of low…
While pre-training techniques are working very well in natural language processing, how to pre-train a decoder and effectively use it for neural machine translation (NMT) still remains a tricky issue. The main reason is that the cross-attention module between the encoder and decoder cannot be pre-tr…
Most current neural machine translation models adopt a monotonic decoding order of either left-to-right or right-to-left. In this work, we propose a novel method that breaks up the limitation of these decoding orders, called Smart-Start decoding. More specifically, our method first predicts a median…
In this paper, we propose a vanishing point aided LiDAR-Visual-Inertial estimator to achieve real-time, low-drift and robust pose estimation. The proposed method is mainly composed of 3 sequential modules, namely IMU-aided vanishing point (VP) detection module, voxel-map based feature depth associat…
Extractive methods have been proven effective in automatic document summarization. Previous works perform this task by identifying informative contents at sentence level. However, it is unclear whether performing extraction at sentence level is the best solution. In this work, we show that unnecessi…
Document layout analysis usually relies on computer vision models to understand documents while ignoring textual information that is vital to capture. Meanwhile, high quality labeled datasets with both visual and textual information are still insufficient. In this paper, we present DocBank, a benchm…
Pre-trained language models (e.g., BERT (Devlin et al., 2018) and its variants) have achieved remarkable success in varieties of NLP tasks. However, these models usually consist of hundreds of millions of parameters which brings challenges for fine-tuning and online serving in real-life applications…
In multi-agent systems, complex interacting behaviors arise due to the high correlations among agents. However, previous work on modeling multi-agent interactions from demonstrations is primarily constrained by assuming the independence among policies and their reward structures. In this paper, we…
Interaction is fundamental in autonomous driving (AD). Despite more than a decade of intensive R&D in AD, how to dynamically interact with diverse road users in various contexts still remains unsolved. Multi-agent learning has recently seen big breakthroughs and has much to offer towards solving rea
Conventional Generative Adversarial Networks (GANs) for text generation tend to have issues of reward sparsity and mode collapse that affect the quality and diversity of generated samples. To address the issues, we propose a novel self-adversarial learning (SAL) paradigm for improving GANs' performa…
We propose to pre-train a unified language model for both autoencoding and partially autoregressive language modeling tasks using a novel training procedure, referred to as a pseudo-masked language model (PMLM). Given an input text with masked tokens, we rely on conventional masks to learn inter-rel…
Fine-tuning with pre-trained language models (e.g. BERT) has achieved great success in many language understanding tasks in supervised settings (e.g. text classification). However, relatively little work has been focused on applying pre-trained models in unsupervised settings, such as text clusterin…
Latest development of neural models has connected the encoder and decoder through a self-attention mechanism. In particular, Transformer, which is solely based on self-attention, has led to breakthroughs in Natural Language Processing (NLP) tasks. However, the multi-head attention mechanism, as a ke…
Normalization techniques such as Batch Normalization have been applied very successfully for training deep neural networks. Yet, despite its apparent empirical benefits, the reasons behind the success of Batch Normalization are mostly hypothetical. We here aim to provide a more thorough theoretical…
This paper presents a new Unified pre-trained Language Model (UniLM) that can be fine-tuned for both natural language understanding and generation tasks. The model is pre-trained using three types of language modeling tasks: unidirectional, bidirectional, and sequence-to-sequence prediction. The uni…
We present an approach to map utterances in conversation to logical forms, which will be executed on a large-scale knowledge base. To handle enormous ellipsis phenomena in conversation, we introduce dialog memory management to manipulate historical entities, predicates, and logical forms when inferr…
Existing multi-agent reinforcement learning methods are limited typically to a small number of agents. When the agent number increases largely, the learning becomes intractable due to the curse of the dimensionality and the exponential growth of agent interactions. In this paper, we present Mean Fie…
Visual question answering (VQA) and visual question generation (VQG) are two trending topics in the computer vision, but they are usually explored separately despite their intrinsic complementary relationship. In this paper, we propose an end-to-end unified model, the Invertible Question Answering N…