19 accepted papers
Recent studies on end-to-end (E2E) speech generation with large language models (LLMs) have attracted significant community attention, with multiple works extending text-based LLMs to generate discrete speech tokens. Existing E2E approaches primarily fall into two categories: (1) Methods that genera…
As robots integrate into human society, safe robot-environment interaction has emerged as a growing priority. A promising solution is introducing compliance to existing robots, akin to musculoskeletal systems, to absorb impacts. However, mimicking longitudinal compliance in biological joints remains…
In-context learning is fundamental to modern Large Language Models (LLMs); however, prevailing architectures impose a rigid and fixed contextual structure by assigning linear or constant positional indices. Drawing on Cognitive Load Theory (CLT), we argue that this uninformative structure increases …
Diffusion models achieve strong generative performance but remain slow at inference due to the need for repeated full-model denoising passes. We present Token-Adaptive Predictor (TAP), a training-free, probe-driven framework that adaptively selects a predictor for each token at every sampling step.
Prior methods propose to offset the escalating costs of modern foundation models by dropping specific parts of their contexts with hand-designed rules, while attempting to preserve their original performance. We overcome this trade-off with Neural Attention Memory Models (NAMMs), introducing a learn…
LLM-based text-to-speech(TTS) system has becoming the new trend and SOTA due to its high naturalness and zero-shot capability. However, it relies heavily on training data, usually requires at least thousands hours of labeled audio. In this report, we describe how to use pretrained CosyVoice model, t…
Traditional speaker verification system aims at distinguish speaker identity in real world audio, and has achieved satisfying performance in many scenarios. However, it is also very vulnerable, and can be easily attacked by voice anonymization system. In this report, we describe how to fast adapt a…
We propose a new finetuning method to provide pre-trained large language models (LMs) the ability to scale test-time compute through the diffusion framework. By increasing the number of diffusion steps, we show our finetuned models achieve monotonically increasing accuracy, directly translating to i…
Training reasoning language models (LMs) with reinforcement learning (RL) for one-hot correctness inherently relies on the LM being able to explore and solve its task with some chance at initialization. Furthermore, a key use case of reasoning LMs is to act as teachers for distilling new students an…
6-Degree of Freedom (6DoF) motion estimation with a combination of visual and inertial sensors is a growing area with numerous real-world applications. However, precise calibration of the time offset between these two sensor types is a prerequisite for accurate and robust tracking. To address this,
Due to biases inherently present in data for pre-training, current pre-trained Large Language Models (LLMs) also ubiquitously manifest the same phenomena. Since the bias influences the output from the LLMs across various tasks, the widespread deployment of the LLMs is hampered. We propose a simple m…
Advances in machine learning have made it possible to perform various text and speech processing tasks, such as automatic speech recognition (ASR), in an end-to-end (E2E) manner. E2E approaches utilizing pre-trained models are gaining attention for conserving training data and resources. However, mo…
AI democratization aims to create a world in which the average person can utilize AI techniques. To achieve this goal, numerous research institutes have attempted to make their results accessible to the public. In particular, large pre-trained models trained on large-scale data have shown unpreceden…
The expressivity of Graph Neural Networks (GNNs) has been studied broadly in recent years to reveal the design principles for more powerful GNNs. Graph canonization is known as a typical approach to distinguish non-isomorphic graphs, yet rarely adopted when developing expressive GNNs. This paper pro…
Accuracy and computational efficiency are the most important metrics to Visual Inertial Navigation System (VINS). The existing VINS algorithms with either high accuracy or low computational complexity are difficult to provide the high precision localization in resource-constrained devices. To this e…
We propose preventive learning as the first framework to guarantee Deep Neural Network (DNN) solution feasibility for optimization problems with linear constraints without post-processing, upon satisfying a mild condition on constraint calibration. Without loss of generality, we focus on problems wi…
In a controllable text generation dataset, there exist unannotated attributes that could provide irrelevant learning signals to models that use it for training and thus degrade their performance. We propose focused prefix tuning (FPT) to mitigate the problem and to enable the control to focus on the…
This paper considers online object-level mapping using partial point-cloud observations obtained online in an unknown environment. We develop an approach for fully Convolutional Object Retrieval and Symmetry-AIded Registration (CORSAIR). Our model extends the Fully Convolutional Geo-metric Features…
Conventional neural generative models tend to generate safe and generic responses which have little connection with previous utterances semantically and would disengage users in a dialog system. To generate relevant responses, we propose a method that employs two types of constraints - topical const…