19 accepted papers
We contend that embodied learning is fundamentally a lifecycle problem rather than a single-stage optimization. Systems that optimize only one link (data collection, simulation, learning, or deployment) rarely sustain improvement or generalize beyond narrow settings. We introduce Arcadia, a closed-l
In cooperative Multi-Agent Reinforcement Learning (MARL), the subgroup-wise learning is employed to assign sub-tasks to agents towards the enhancement of team collaboration. However, the present work is dependent on manually defined allocation criteria, which hinders its capacity to adapt to environ
Value decomposition is a central approach in multi-agent reinforcement learning (MARL), enabling centralized training with decentralized execution by factorizing the global value function into local values. To ensure individual-global-max (IGM) consistency, existing methods either enforce monotonici
Recent progress in time-series forecasting has led to rapidly increasing architectural complexity, yet many reported State-of-the-Art gains are statistically fragile or misattributed. We argue that progress requires a shift from model selection to modular attribution, identifying which components tr…
Generalist Virtual Agents (GVAs) powered by Multimodal Large Language Models (MLLMs) exhibit impressive capabilities. However, their long-term learning is hampered by a core limitation: a failure to evolve beyond existing trajectories. This stems from memory systems that treat experiences as isolate
Fine-tuning, a foundational method for adapting large language models, has long been considered ineffective for model editing. Here, we challenge this belief, arguing that the reported failure arises not from the inherent limitation of fine-tuning itself, but from adapting it to the sequential natur…
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing methods often rely on multi-stage pipelines that separate obje…
Conventional direction-of-arrival (DoA) estimation methods rely on multi-antenna arrays, which are costly to implement on size-constrained Bluetooth Low Energy (BLE) devices. Virtual antenna array (VAA) techniques enable DoA estimation with a single antenna, making angle estimation feasible on such…
Vision-Language Models (VLMs) have been increasingly applied in real-world scenarios due to their outstanding understanding and reasoning capabilities. Although VLMs have already demonstrated impressive capabilities in common visual question answering and logical reasoning, they still lack the abili
3D Gaussian Splatting (3DGS), a 3D representation method with photorealistic real-time rendering capabilities, is regarded as an effective tool for narrowing the sim-to-real gap. However, it lacks fine-grained semantics and physical executability for Visual-Language Navigation (VLN). To address this…
Deep Neuro-Fuzzy Inference Systems (DNFIS) seamlessly fuse neural networks with the fuzzy inference system enabling intricate decision-making and knowledge representation, while upholding a commendable degree of adaptability and interpretability. However, the challenge of privacy-preserving inferenc…
SpatialLM is a large language model designed to process 3D point cloud data and generate structured 3D scene understanding outputs. These outputs include architectural elements like walls, doors, windows, and oriented object boxes with their semantic categories. Unlike previous methods which exploit…
Deep learning-based methods have achieved remarkable success in low-light image enhancement (LLIE). But most existing works are based on sRGB data and do not focus on the light effects in bright regions when enhancing low-light regions. This inevitably leads to excessive enhancement and saturation o…
Monocular depth estimation is challenging due to its inherent ambiguity and ill-posed nature, yet it is quite important to many applications. While recent works achieve limited accuracy by designing increasingly complicated networks to extract features with limited spatial geometric cues from a sing…
In this work, we present I^2-SDF, a new method for intrinsic indoor scene reconstruction and editing using differentiable Monte Carlo raytracing on neural signed distance fields (SDFs). Our holistic neural SDF-based framework jointly recovers the underlying shapes, incident radiance and materials fr…
Existing view synthesis methods mainly focus on the perspective images and have shown promising results. However, due to the limited field-of-view of the pinhole camera, the performance quickly degrades when large camera movements are adopted. In this paper, we make the first attempt to generate nov…
Motivated by the correlation between the depth and the geometric structure of a 360 indoor image, we propose a novel learning-based depth estimation framework that leverages the geometric structure of a scene to conduct depth estimation. Specifically, we represent the geometric structure of an indoo…
Home design is a complex task that normally requires architects to finish with their professional skills and tools. It will be fascinating that if one can produce a house plan intuitively without knowing much knowledge about home design and experience of using complex designing tools, for example, v…
Recently, there has been growing interest in developing learning-based methods to detect and utilize salient semi-global or global structures, such as junctions, lines, planes, cuboids, smooth surfaces, and all types of symmetries, for 3D scene modeling and understanding. However, the ground truth a…