18 accepted papers
Imitation learning (IL) offers a promising pathway for enabling surgical robots to perform autonomous wound repair. However, existing methods often neglect spatial semantics and wound-shape information, leading to poor generalization and low success rates. This paper presents the <bold>S</bold>patia
Simultaneous speech translation (SimulST) systems must balance translation quality with response time, making latency measurement crucial for evaluating their real-world performance. However, there has been a longstanding belief that current metrics yield unrealistically high latency measurements in…
Recent advances in knowledge distillation (KD) have enabled smaller student models to approach the performance of larger teacher models. However, popular methods such as supervised KD and on-policy KD, are adversely impacted by the knowledge gaps between teacher-student in practical scenarios. Super…
Large language models (LLMs) often exhibit tendencies that diverge from human preferences, such as favoring certain writing styles or producing overly verbose outputs. While crucial for improvement, identifying the factors driving these misalignments remains challenging due to existing evaluation me
Direct alignment from preferences (DAP) has emerged as a promising paradigm for aligning large language models (LLMs) to human desiderata from pre-collected, offline preference datasets. While recent studies indicate that existing offline DAP methods can directly benefit from online training samples…
Recent large language models (LLM) areleveraging human feedback to improve theirgeneration quality. However, human feedbackis costly to obtain, especially during inference.In this work, we propose LLMRefine, aninference time optimization method to refineLLM’s output. The core idea is to usea learned…
Recent studies show that large language models (LLMs) improve their performance through self-feedback on certain tasks while degrade on others. We discovered that such a contrary is due to LLM’s bias in evaluating their own output. In this paper, we formally define LLM’s self-bias – the tendency to…
With the rapid advancement of machine translation research, evaluation toolkits have become essential for benchmarking system progress. Tools like COMET and SacreBLEU offer single quality score assessments that are effective for pairwise system comparisons. However, these tools provide limited insig…
Despite their widespread adoption, neural conversation models have yet to exhibit natural chat capabilities with humans. In this research, we examine user utterances as causes and generated responses as effects, recognizing that changes in a cause should produce a different effect. To further explor…
Automatically evaluating the quality of language generation is critical. Although recent learned metrics show high correlation with human judgement, these metrics do not provide explicit explanation of their verdict, nor associate the scores with defects in the generated text. To address this limita…
Procedural planning aims to implement complex high-level goals by decomposition into simpler low-level steps. Although procedural planning is a basic skill set for humans in daily life, it remains a challenge for large language models (LLMs) that lack a deep understanding of the cause-effect relatio…
Is it possible to train a general metric for evaluating text generation quality without human-annotated ratings? Existing learned metrics either perform unsatisfactory across text generation tasks or require human ratings for training on specific tasks. In this paper, we propose SEScore2, a self-sup…
This paper presents the development and experimental evaluation of a portable haptic exoskeleton glove system designed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The proposed glove system involves force perception, linkage-driven finger mechanis…
This paper presents the design and development of a novel, low-profile, exoskeleton robotic glove aimed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The key idea of this new glove lies in its new finger mechanism that takes advantage of the rigid…
Is it possible to build a general and automatic natural language generation (NLG) evaluation metric? Existing learned metrics either perform unsatisfactorily or are restricted to tasks where large human rating data is already available. We introduce SESCORE, a model-based metric that is highly corre…
Expert-layman text style transfer technologies have the potential to improve communication between members of scientific communities and the general public. High-quality information produced by experts is often filled with difficult jargon laypeople struggle to understand. This is a particularly not…
In this paper, we present a novel convex optimization approach to address the minimum-time speed planning problem over a fixed path with dynamic obstacle constraints and point-wise speed and acceleration constraints. The contributions of this paper are three-fold. First, we formulate the speed plann…
Trajectory planning in dynamic environments can be decomposed into two sub-problems: 1) planning a path to avoid static obstacles, 2) then planning a speed profile to avoid dynamic obstacles. This is also called path-speed decomposition. In this work, we present a novel approach to solve the first s…