28 accepted papers
Evolutionary pressures have pushed humans to become efficient walkers, but inefficient divers. People consume more energy to travel the same distance underwater than on land. In diverse overground locomotion, emerging exoskeletons have reduced the metabolic cost of humans. Can we also improve the en…
The end-to-end autonomous driving paradigm has recently attracted lots of attention due to its scalability. However, existing methods are constrained by the limited scale of real-world data, which hinders a comprehensive exploration of the scaling laws associated with end-to-end autonomous driving. …
Multiple kernel learning~(MKL), which borrows ideas from ensemble learning, aims to achieve improved generalization performance by treating individual kernels as base learners and combining them appropriately. However, existing MKL methods often lack comprehensive consideration of diversity among ba…
Multi-instance partial-label learning (MIPL) is a recently proposed learning paradigm to address tasks that multi-instance bags are associated with a candidate label set comprising one ground-truth label and several false positive labels. Existing MIPL methods rely on simple instance level informati…
The increasing complexity and workload of clinical radiology leads to inevitable oversights and mistakes in their use as diagnostic tools, causing delayed treatments and sometimes life-threatening harm to patients. While large language models (LLMs) have shown remarkable progress in many tasks, thei
Multi-task reinforcement learning (RL) aims to enhance agent performance across multiple tasks by enabling effective knowledge transfer. However, these methods adopt a fully shared policy across all tasks without explicitly distinguishing between related and conflicting ones, making them suffer from
Driven by the growing need for Oriented Object Detection (OOD), learning from point annotations under a weakly-supervised framework has emerged as a promising alternative to costly and laborious manual labeling. In this paper, we discuss two deficiencies in existing point-supervised methods: ineffic…
Tree search-based methods have made significant progress in enhancing the code generation capabilities of large language models. However, due to the difficulty in effectively evaluating intermediate algorithmic steps and the inability to locate and timely correct erroneous steps, these methods often
Real-world datasets often follow a long-tailed distribution, making generalization to tail classes difficult. We revisit this problem through the lens of shortcut learning, where models prefer the easiest predictive cues (e.g., background or textures) over object-centric semantics, especially under …
Multimodal Large Language Models (MLLMs) have demonstrated remarkable proficiency in multimodal tasks.Despite their impressive performance, MLLMs suffer from the modality imbalance issue, where visual information is often underutilized compared to textual representations in deeper layers, leading to
Latent World Models enhance scene representation through temporal self-supervised learning, presenting a perception annotation-free paradigm for end-to-end autonomous driving. However, the reconstruction-oriented representation learning tangles perception with planning tasks, leading to suboptimal o
The performance of multimodal models often deteriorates when modality absence occurs. The absence disrupts the learned inter-modal correlations, resulting in biased multimodal representations. This challenge is especially pronounced when the absence is pervasive, affecting both the training and infe…
Out-of-distribution (OOD) detection is crucial for developing trustworthy and reliable machine learning systems. Recent advances in training with auxiliary OOD data demonstrate efficacy in enhancing detection capabilities. Nonetheless, these methods heavily rely on acquiring a large pool of high-qua…
End-to-end autonomous driving directly generates planning trajectories from raw sensor data, yet it typically relies on costly perception supervision to extract scene information. A critical research challenge arises: constructing an informative driving world model to enable perception annotation-fr…
We present the subspace-constrained Tyler's estimator (STE) designed for recovering a low-dimensional subspace within a dataset that may be highly corrupted with outliers. STE is a fusion of the Tyler's M-estimator (TME) and a variant of the fast median subspace. Our theoretical analysis suggests th…
Incremental and decremental learning (IDL) deals with the tasks where new data arrives sequentially as a stream or old data turns unavailable continually due to the privacy protection. Existing IDL methods mainly focus on support vector machine and its variants with linear-type loss. There are few s…
Optimal margin Distribution Machine (ODM) is a newly proposed statistical learning framework rooting in the novel margin theory, which demonstrates better generalization performance than the traditional large margin based counterparts. Nonetheless, it suffers from the ubiquitous scalability problem…
Margin has played an important role on the design and analysis of learning algorithms during the past years, mostly working with the maximization of the minimum margin. Recent years have witnessed the increasing empirical studies on the optimization of margin distribution according to different stat…
Positive-unlabeled (PU) learning deals with the circumstances where only a portion of positive instances are labeled, while the rest and all negative instances are unlabeled, and due to this confusion, the class prior can not be directly available. Existing PU learning methods usually estimate the c…
Partial multi-label learning deals with the circumstance in which the ground-truth labels are not directly available but hidden in a candidate label set. Due to the presence of other irrelevant labels, vanilla multi-label learning methods are prone to be misled and fail to generalize well on unseen…
Multi-instance learning (MIL) is a celebrated learning framework where each example is represented as a bag of instances. An example is negative if it has no positive instances, and vice versa if at least one positive instance is contained. During the past decades, various MIL algorithms have been p…
In this letter, we present a novel global structure from motion (SfM) pipeline that is particularly effective in dealing with low-parallax scenes and camera motion collinear with the features that represent the environment structure. It is therefore particularly suitable in Urban SLAM, in which freq
Word embedding is a useful approach to capture co-occurrence structures in large text corpora. However, in addition to the text data itself, we often have additional covariates associated with individual corpus documents—e.g. the demographic of the author, time and venue of publication—and we would…
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based VINS is not invariant under the stochastic unobservable transformation, associated with a translation and a rotation abou…
In this letter, we investigate the convergence and consistency properties of an invariant-extended Kalman filter (RI-EKF) based simultaneous localization and mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These proofs do not require the restrictive assumption th
Recent studies disclose that maximizing the minimum margin like support vector machines does not necessarily lead to better generalization performances, and instead, it is crucial to optimize the margin distribution. Although it has been shown that for binary classification, characterizing the margi…
This work exploits modeling spatial correlation in 2.5D data using Gaussian Processes (GPs), and produces constrained sampling realizations on these models to improve certainty in the predictions by means of integrating additional sparse information. Data organized in 2.5D such as elevation and thic…
Recent studies in computer vision have provided new solutions to real-world problems. In this paper, we focus on using computer vision methods to assist in the study of kangaroos in the wild. In order to investigate the feasibility, we built a kangaroo image dataset from collected data from several…