25 accepted papers
Human-humanoid collaboration shows significant promise for applications in healthcare, domestic assistance, and manufacturing. While compliant robot-human collaboration has been extensively developed for robotic arms, enabling compliant human-humanoid collaboration remains largely unexplored due to …
Language-conditioned manipulation policies typically process instructions and observations through shared network parameters. This task-state entanglement provides a pathway for observation leakage – networks learn scene-to-action shortcuts that bypass language grounding entirely. DISC eliminates th…
Spatial transcriptomics provides both spatial coordinates and gene expression profiles, enabling the study of tissue organization and cellular heterogeneity. Despite recent progress, current spatial clustering methods still face two major limitations. First, representations learned from spatial and
Multi-relational graph clustering aims to uncover complex node interactions by leveraging multiple relational views, yet existing methods often suffer from two key limitations: they assume equal importance across views and decouple representation learning from clustering, both of which hinder overal
In recent years, contrastive multi-view clustering has achieved remarkable performance improvements. However, existing methods still face two key challenges: (1) reliance on a predefined number of clusters k, which is often unknown in real-world scenarios; and (2) contrastive learning might cause re
Unsupervised multimodal semantic discovery aims to learn discriminative representations from multimodal data. However, existing methods suffer from two key limitations. First, they only align instances across modalities without modeling semantic-level consistency, which fails to mitigate semantic bi
Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised framework for learning hierarchical manipulation concepts that encode these invariant patterns through cross-modal sens…
Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce *Hyper-GoalNet*, a framework that generates task-specific policy network parameters from goal specifications using hypernetwor…
Training embodied agents to perform complex robotic tasks presents significant challenges due to the entangled factors of task compositionality, environmental diversity, and dynamic changes. In this work, we introduce a novel imitation learning framework to train closed-loop concept-guided policies…
Large Language Models (LLMs) can enhance their capabilities as AI assistants by integrating external tools, allowing them to access a wider range of information. While recent LLMs are typically fine-tuned with tool usage examples during supervised fine-tuning (SFT), questions remain about their abil…
Policy learning through behavior cloning poses significant challenges, particularly when demonstration data is limited. In this work, we present HyPoGen, a novel optimization-biased hypernetwork for policy generation. The proposed hypernetwork learns to synthesize optimal policy parameters solely fr…
Multi-label text classification (MLTC) is a challenging task where each document can be associated with multiple interdependent labels. This task is complicated by two key issues: the intricate correlations among labels and the partial overlap between labels and text relevance. Existing methods ofte
Differentially private (DP) synthetic data generation is a promising technique for utilizing private datasets that otherwise cannot be exposed for model training or other analytics. While much research literature has focused on generating private unstructured text and image data, in enterprise setti…
Large language models (LLMs) are increasingly expected to function as collaborative partners, engaging in back-and-forth dialogue to solve complex, ambiguous problems. However, current LLMs often falter in real-world settings, defaulting to passive responses or narrow clarifications when faced with
Large language models (LLMs) are now available from cloud API providers in various sizes and configurations. While this diversity offers a broad spectrum of choices, effectively leveraging the options to optimize computational cost and performance remains challenging. In this work, we present AutoMi…
Large language models (LLMs) have demonstrated the potential to mimic human social intelligence. However, most studies focus on simplistic and static self-report or performance-based tests, which limits the depth and validity of the analysis. In this paper, we developed a novel framework, InterInten…
"We aim to discover manipulation concepts embedded in the unannotated demonstrations, which are recognized as key physical states. The discovered concepts can facilitate training manipulation policies and promote generalization. Current methods relying on multimodal foundation models for deriving ke…
We introduce SELF-DISCOVER, a general framework for LLMs to self-discover the task-intrinsic reasoning structures to tackle complex reasoning problems that are challenging for typical prompting methods. Core to the framework is a self-discovery process where LLMs select multiple atomic reasoning mod…
We propose a novel task, G4C, to study teacher-student natural language interactions in a goal-driven and grounded environment. Dungeons and Dragons (D&D), a role-playing game, provides an ideal setting to investigate such interactions. Here, the Dungeon Master (DM), i.e., the teacher, guides the ac…
Data scarcity has been a long standing issue in the field of open-domain social dialogue. To quench this thirst, we present SODA: the first publicly available, million-scale high-quality social dialogue dataset. By contextualizing social commonsense knowledge from a knowledge graph, we are able to d…
Human communication relies on common ground (CG), the mutual knowledge and beliefs shared by participants, to produce coherent and interesting conversations. In this paper, we demonstrate that current response generation (RG) models produce generic and dull responses in dialogues because they act re…
Implicit knowledge, such as common sense, is key to fluid human conversations. Current neural response generation (RG) models are trained to generate responses directly, omitting unstated implicit knowledge. In this paper, we present Think-Before-Speaking (TBS), a generative approach to first extern…
Warning: this paper contains content that may be offensive or upsetting. Commonsense knowledge bases (CSKB) are increasingly used for various natural language processing tasks. Since CSKBs are mostly human-generated and may reflect societal biases, it is important to ensure that such biases are not…
Humans use commonsense reasoning (CSR) implicitly to produce natural and coherent responses in conversations. Aiming to close the gap between current response generation (RG) models and human communication abilities, we want to understand why RG models respond as they do by probing RG model’s unders…
Pre-trained language models (PTLMs) have achieved impressive performance on commonsense inference benchmarks, but their ability to employ commonsense to make robust inferences, which is crucial for effective communications with humans, is debated. In the pursuit of advancing fluid human-AI communica…