32 accepted papers
Large Reasoning Models (LRMs) achieve superior problem-solving through extended chain-of-thought generation, but the resulting key-value (KV) cache grows linearly with sequence length and creates severe memory bottlenecks—often exceeding GPU capacity for long reasoning traces. Existing KV cache comp…
LLM-based agents have seen promising advances, yet they are still limited in “hard-exploration” tasks requiring learning new knowledge through exploration. We present GLoW, a novel approach leveraging dual-scale world models, maintaining a trajectory frontier of high-value discoveries at the global…
Modern large language models (LLMs) extend context lengths to millions of tokens, enabling coherent, personalized responses grounded in long conversational history. However, the Key-Value (KV) cache grows linearly with the extended dialogue history, causing the model’s memory footprint to quickly ex…
Vision-Language-Action (VLA) models provide a versatile foundation for general robotic manipulation, yet they exhibit significant brittleness when confronted with novel task distributions. While In-Context Imitation Learning (ICIL) offers a training-free alternative, existing frameworks suffer from …
Real-time sampling-based planners increasingly use learned sampling distributions for faster planning in autonomous vehicles. These planners employ a neural network to predict the optimal path and bias some samples toward the path. However, inherent prediction inaccuracies of the network often lead …
Large Language Models (LLMs) have demonstrated near-human performance in summarization tasks based on traditional metrics such as ROUGE and BERTScore. However, these metrics do not adequately capture critical aspects of summarization quality, such as factual accuracy, particularly for long narrative
Planning in modern LLM agents relies on the utilization of LLM as an internal world model, acquired during pretraining. However, existing agent designs fail to effectively assimilate new observations into dynamic updates of the world model. This reliance on the LLM’s static internal world model is p
While legged robots have achieved significant advancements in recent years, ensuring the robustness of their controllers on unstructured terrains remains challenging. It requires generating diverse and challenging unstructured terrains to test the robot and discover its vulnerabilities. This topic r
Modern multimodal large language models (MLLMs) can reason over hour-long video, yet their key–value (KV) cache grows linearly with time—quickly exceeding the fixed memory of phones, AR glasses, and edge robots. Prior compression schemes either assume the whole video and user query are available off…
Effective conversational search demands a deep understanding of user intent across multiple dialogue turns. Users frequently use abbreviations and shift topics in the middle of conversations, posing challenges for conventional retrievers. While query rewriting techniques improve clarity, they often
Low-rank adaptation (LoRA) has become the dominant method for parameter-efficient LLM fine-tuning, with LoRA-based quantization error compensation (LQEC) emerging as a powerful tool for recovering accuracy in compressed LLMs. However, LQEC has underperformed in sub-4-bit scenarios, with no prior inv…
Deep learning-based face recognition continues to face challenges due to its reliance on huge datasets obtained from web crawling, which can be costly to gather and raise significant real-world privacy concerns. To address this issue, we propose VIGFace, a novel framework capable of generating synth…
Training agents that are robust to environmental changes remains a significant challenge in deep reinforcement learning (RL). Unsupervised environment design (UED) has recently emerged to address this issue by generating a set of training environments tailored to the agent's capabilities. While prio…
This paper studies the problem of information retrieval, to adapt to unseen tasks. Existing work generates synthetic queries from domain-specific documents to jointly train the retriever. However, the conventional query generator assumes the query as a question, thus failing to accommodate general s…
Resonant electromagnetic navigation systems generate controllable oscillating and rotating magnetic fields using resonant electronic networks. This modality holds great potential to control untethered magnetic robots remotely for medical applications using fast rotating magnetic fields. However, the
The rapid advancement of large language models (LLMs) has facilitated their transformation into conversational chatbots that can grasp contextual nuances and generate pertinent sentences, closely mirroring human values through advanced techniques such as instruction tuning and reinforcement learning…
Handling long input contexts remains a significant challenge for Large Language Models (LLMs), particularly in resource-constrained environments such as mobile devices. Our work aims to address this limitation by introducing InfiniPot, a novel KV cache control framework designed to enable pre-traine…
Recently, pre-trained language models (PLMs) have been increasingly adopted in spoken language understanding (SLU). However, automatic speech recognition (ASR) systems frequently produce inaccurate transcriptions, leading to noisy inputs for SLU models, which can significantly degrade their performa…
Despite advancements in Large Language Models (LLMs), many complex tasks are not easily solved in a single inference step, requiring the use of agentic LLMs in interactive environments. However, agentic LLMs suffer from a phenomenon known as reasoning derailment, due to the indiscriminate incorporat…
Deploying large language models (LLMs) with their extensive parameters and high memory demands challenges computational efficiency, particularly in fine-tuning for specific applications with limited resources. Techniques like Low-Rank Adaptation (LoRA) help by training a smaller, modifiable extensio…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) [1] shows considerable promise in simulated settings, its deployment in real-wor
Agents powered by large language models (LLMs) inherit important limitations, such as the restricted context length, dependency on human-engineered exemplars (e.g., for task decomposition), and insufficient generalization. To address these challenges, we propose RaDA, a novel planning method for Web…
Large Language Models (LLMs) are proficient in natural language processing tasks, but their deployment is often restricted by extensive parameter sizes and computational demands. This paper focuses on post-training quantization (PTQ) in LLMs, specifically 4-bit weight and 8-bit activation (W4A8) qua…
One of the fundamental goals in code search is to retrieve a functionally correct code for a given natural language query. As annotating for correctness requires executing test cases (i.e. obtaining execution feedback), existing code search training datasets approximate text-code co-occurrences as…
The main challenge in vision-and-language navigation (VLN) is how to understand natural-language instructions in an unseen environment. The main limitation of conventional VLN algorithms is that if an action is mistaken, the agent fails to follow the instructions or explores unnecessary regions, lea…
This study proposes a realtime motion planning framework that leverages the prediction of a portion of the optimal trajectory for sampling-based anytime planning algorithms. Existing algorithms predict the entire optimal path and bias random samples toward it for fast path planning. However, these a…
Instructional videos make learning knowledge more efficient, by providing a detailed multimodal context of each procedure in instruction.A unique challenge posed by instructional videos is key-object degeneracy, where any single modality fails to sufficiently capture the key objects referred to in t…
Generative Language Models (GLMs) have shown impressive performance in tasks such as text generation, understanding, and reasoning. However, the large model size poses challenges for practical deployment. To solve this problem, Quantization-Aware Training (QAT) has become increasingly popular. Howev…
Deep learning for Information Retrieval (IR) requires a large amount of high-quality query-document relevance labels, but such labels are inherently sparse. Label smoothing redistributes some observed probability mass over unobserved instances, often uniformly, uninformed of the true distribution. I…
World models have improved the ability of reinforcement learning agents to operate in a sample efficient manner, by being trained to predict plausible changes in the underlying environment. As the core tasks of world models are future prediction and commonsense understanding, our claim is that pre-t…
Embeddings, which compress information in raw text into semantics-preserving low-dimensional vectors, have been widely adopted for their efficacy. However, recent research has shown that embeddings can potentially leak private information about sensitive attributes of the text, and in some cases, ca…
Knowledge distillation (KD) has been a ubiquitous method for model compression to strengthen the capability of a lightweight model with the transferred knowledge from the teacher. In particular, KD has been employed in quantization-aware training (QAT) of Transformer encoders like BERT to improve th…