33 accepted papers
Multi-domain machine translation (MDMT) aims to build a unified model capable of translating content across diverse domains. Despite the impressive machine translation capabilities demonstrated by large language models (LLMs), domain adaptation still remains a challenge for LLMs. Existing MDMT metho
To facilitate robot manipulation tasks, we propose ShapeAfford that reconstructs 3D object models with per-point affordance annotations from multi-view images and textual instructions. By integrating geometric modeling with affordance reasoning into an end-to-end framework, ShapeAfford leverages the
Autonomous navigation of unmanned ground vehicles (UGVs) in dynamic scenes is a challenging task that requires them to avoid obstacles and move toward the goal simultaneously. This paper proposes ALVO, an adaptive learning policy that leverages velocity obstacles for UGV navigation. ALVO employs an
Recent advances in 3D Gaussian Splatting have demonstrated impressive performance in novel view synthesis, particularly with dense image sets. However, its performance degrades significantly in sparse-view scenarios, primarily due to the challenge of obtaining accurate camera poses. Also, achieving
Learning open-vocabulary physical skills for simulated agents presents a significant challenge in artificial intelligence. Current reinforcement learning approaches face critical limitations: manually designed rewards lack scalability across diverse tasks, while demonstration-based methods struggle…
Multimodal emotion recognition in conversation (MERC) aims to identify speakers’ emotional states by utilizing text, audio, and visual modalities. Although recent large language model (LLM)-based methods have demonstrated strong performance, they typically adopt static fusion strategies that integra
Generative Information Retrieval is an emerging retrieval paradigm that exhibits remarkable performance in monolingual scenarios. However, applying these methods to multilingual retrieval still encounters two primary challenges, cross-lingual identifier misalignment and identifier inflation. To addr
Large language models (LLMs) based Multilingual Knowledge Graph Completion (MKGC) aim to predict missing facts by leveraging LLMs’ multilingual understanding capabilities, improving the completeness of multilingual knowledge graphs (KGs).However, existing MKGC research underutilizes the multilingual
Large Language Models (LLMs) excel in tasks such as retrieval and question answering but require updates to incorporate new knowledge and reduce inaccuracies and hallucinations. Traditional updating methods, like fine-tuning and incremental learning, face challenges such as overfitting and high comp
Circular accessible depth (CAD) provides a lightweight and robust traversability representation for autonomous navigation of unmanned ground vehicles (UGV). Aiming at the limitations of existing LiDAR-based methods in detecting low-thickness targets and executing semantic reasoning, we propose VCADN
Finding interpretable factors for stock returns is the most vital issue in the empirical asset pricing domain. As data-driven methods, existing factor mining models can be categorized into symbol-based and neural-based models. Symbol-based models are interpretable but inefficient, while neural-based…
Efficiently detecting target weld seams while ensuring sub-millimeter accuracy has always been an important challenge in autonomous welding, which has significant application in industrial practice. Previous works mostly focused on recognizing and localizing welding seams one by one, leading to infe…
Large language models (LLMs) have demonstrated remarkable capabilities in comprehensively handling various types of natural language processing (NLP) tasks. However, there are significant differences in the knowledge and abilities required for different tasks. Therefore, it is important to understan…
With innovation in fields such as autonomous driving and augmented reality, point cloud-based place recognition has gained significant attention. Many methods try to address this problem by extracting and matching global descriptors in a database, but they often must balance the extraction of compre…
Quadruped robots are able to traverse most terrains on the earth using a wide variety of gaits, providing solutions for robots to operate in specialized environments. Although existing methods have achieved excellent performance in gait generation, they suffer from catastrophic forgetting and inabil
This paper focuses on target-oriented grasping in occluded scenes, where the target object is specified by a binary mask and the goal is to grasp the target object with as few robotic manipulations as possible. Most existing methods rely on a push-grasping synergy to complete this task. To deliver a…
Autonomous navigation of unmanned ground vehicles (UGVs) in structured road and indoor environments has made significant progress in recent years. However, navigation in outdoor semi-structured environments remains a challenge. This paper presents the multiscale path planning (MPP) method for UGV na…
Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability of environmental perception, leading to the failure in some complex scenarios. To address this issue, we introduce Visi…
Multilingual Knowledge Graph Completion (mKGC) aim at solving queries in different languages by reasoning a tail entity thus improving multilingual knowledge graphs. Previous studies leverage multilingual pretrained language models (PLMs) and the generative paradigm to achieve mKGC. Although multili…
The mechanisms of locomotion in mammals have been extensively studied and inspire the related researches on designing the control architectures for the legged robots. Reinforcement learning (RL) is a promising approach allowing robots to automatically learn locomotion policies. However, careful rewa
Knowledge Graph Embedding (KGE) has been proposed and successfully utilized to knowledge Graph Completion (KGC). But classic KGE paradigm often fail in unseen relation representations. Previous studies mainly utilize the textual descriptions of relations and its neighbor relations to represent unsee…
There is an emerging research interest in addressing the online 3D bin packing problem (3D-BPP), which has a wide range of applications in logistics industry. However, neither heuristic methods nor those based on deep reinforcement learning (DRL) outperform human packers in real logistics scenarios.…
Quadruped locomotion is a challenging task for learning-based algorithms. It requires tedious manual tuning and is difficult to deploy in reality due to the reality gap. In this paper, we propose a quadruped robot learning system for agile locomotion which does not require any pre-training and works…
In this paper, we propose a novel deep reinforcement learning (DRL) system for the autonomous navigation of mobile robots that consists of three modules: map navigation, multi-view perception and multi-branch control. Our DRL system takes as the input a routed map provided by a global planner and th…
In a goal-conditioned grasping task, a robot is asked to grasp the objects designated by a user. Existing methods for goal-conditioned grasping either can only handle relatively simple scenes or require extra user annotations. This letter proposes an autonomous method to enable the grasping of targe
While mesh saliency aims to predict regional importance of 3D surfaces in agreement with human visual perception and is well researched in computer vision and graphics, latest work with eye-tracking experiments shows that state-of-the-art mesh saliency methods remain poor at predicting human fixatio…
Product packing is a typical application in ware-house automation that aims to pick objects from unstructured piles and place them into bins with optimized placing policy. However, it still remains a significant challenge to finish the product packing tasks in general logistics scenarios where the o…
In this letter, we present a novel navigation system of unmanned ground vehicle (UGV) for local path planning based on deep reinforcement learning. The navigation system decouples perception from control and takes advantage of multi-modal perception for a reliable online interaction with the surroun
In this paper, we propose an autonomous method for robot navigation based on a multi-camera setup that takes advantage of a wide field of view. A new multi-task network is designed for handling the visual information supplied by the left, central and right cameras to find the passable area, detect t…
Integrated robotic arm system should contain both grasp and place actions. However, most grasping methods focus more on how to grasp objects, while ignoring the placement of the grasped objects, which limits their applications in various industrial environments. In this research, we propose a model-…
We present an imitation learning method for autonomous drone patrolling based only on raw videos. Different from previous methods, we propose to let the drone learn patrolling in the air by observing and imitating how a human navigator does it on the ground. The observation process enables the autom…
A deep visual tracker is typically based on either object detection or template matching while each of them is only suitable for a particular group of scenes. It is straightforward to consider fusing them together to pursue more reliable tracking. However, this is not wise as they follow different t…
We present an unsupervised 3D deep learning framework based on a ubiquitously true proposition named by us view-object consistency as it states that a 3D object and its projected 2D views always belong to the same object class. To validate its effectiveness, we design a multi-view CNN instantiating…