38 accepted papers
In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances, resulting in frequent manipulation failures. We propose Afforda
Large Language Models (LLMs) have revolutionized various domains but remain vulnerable to prompt injection attacks, where malicious inputs manipulate the model into ignoring original instructions and executing designated action. In this paper, we investigate the underlying mechanisms of these attack…
Long-form video understanding presents unique challenges that extend beyond traditional short-video analysis approaches, particularly in capturing long-range dependencies, processing redundant information efficiently, and extracting high-level semantic concepts. To address these challenges, we propo…
In autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them—they experience substantial performance degradation when detecting obj
This paper introduces MovieCORE, a novel video question answering (VQA) dataset designed to probe deeper cognitive understanding of movie content. Unlike existing datasets that focus on surface-level comprehension, MovieCORE emphasizes questions that engage System-2 thinking while remaining specific
We study reward models for long-horizon manipulation by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Existing VIC methods face challenges in learning rewards for long-horizon tasks due to their lack of sub-stage awareness…
We introduce a new task called Adaptable Error Detection (AED), which aims to identify behavior errors in few-shot imitation (FSI) policies based on visual observations in novel environments. The potential to cause serious damage to surrounding areas limits the application of FSI policies in real-wo…
Pre-explored Semantic Map, constructed through prior exploration using visual language models (VLMs), has proven effective as a foundational element for training-free robotic applications. However, existing approaches assume the map's accuracy and do not provide effective mechanisms for revising dec…
LiDAR-based 3D object detection is a critical technology for the development of autonomous driving and robotics. However, the high cost of data annotation limits its advancement. We propose a novel and effective active learning (AL) method called Distribution Discrepancy and Feature Heterogeneity (D…
Traditional traffic prediction, limited by the scope of sensor data, falls short in comprehensive traffic management. Mobile networks offer a promising alternative using network activity counts, but these lack crucial directionality. Thus, we present the TeltoMob dataset, featuring undirected teleco…
To address the limitations of traffic prediction from location-bound detectors, we present Geographical Cellular Traffic (GCT) flow, a novel data source that leverages the extensive coverage of cellular traffic to capture mobility patterns. Our extensive analysis validates its potential for transpor…
Large language models (LLMs) equipped with chain-of-thoughts (CoT) prompting have shown significant multi-step reasoning capabilities in factual content like mathematics, commonsense, and logic. However, their performance in narrative reasoning, which demands greater abstraction capabilities, remain…
In the field of domain adaptation (DA) on 3D object detection, most of the work is dedicated to unsupervised domain adaptation (UDA). Yet, without any target annotations, the performance gap between the UDA approaches and the fully-supervised approach is still noticeable, which is impractical for re…
The large amount of data collected by LiDAR sensors brings the issue of LiDAR point cloud compression (PCC). Previous works on LiDAR PCC have used range image representations and followed the predictive coding paradigm to create a basic prototype of a coding framework. However, their prediction meth…
Robotic peg-in-hole assembly remains a challenging task due to its high accuracy demand. Previous work tends to simplify the problem by restricting the degree of freedom of the end-effector, or limiting the distance between the target and the initial pose position, which prevents them from being dep…
Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to inconsistency when facing distribution variances such as partial ov…
To achieve accurate 3D object detection at a low cost for autonomous driving, many multi-camera methods have been proposed and solved the occlusion problem of monocular approaches. However, due to the lack of accurate estimated depth, existing multi-camera methods often generate multiple bounding bo…
A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for downstream tasks in real-time. None of the previous learning-b…
Monocular 3D object detection has seen significant advancements with the incorporation of depth information. However, there remains a considerable performance gap compared to LiDAR-based methods, largely due to inaccurate depth estimation. We argue that this issue stems from the commonly used pixel-…
"In the field of domain adaptation, a trade-off exists between the model performance and the number of target domain annotations. Active learning, maximizing model performance with few informative labeled data, comes in handy for such a scenario. In this work, we present D2ADA, a general active doma…
Monocular 3D object detection is an important yet challenging task in autonomous driving. Some existing methods leverage depth information from an off-the-shelf depth estimator to assist 3D detection, but suffer from the additional computational burden and achieve limited performance caused by inacc…
In few-shot imitation learning (FSIL), using behavioral cloning (BC) to solve unseen tasks with few expert demonstrations becomes a popular research direction. The following capabilities are essential in robotics applications: (1) Behaving in compound tasks that contain multiple stages. (2) Retrievi…
Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation processes to re-train models. Existing solutions such as se…
Despite the success of deep learning on supervised point cloud semantic segmentation, obtaining large-scale point-by-point manual annotations is still a significant challenge. To reduce the huge annotation burden, we propose a Region-based and Diversity-aware Active Learning (ReDAL), a general frame…
Multi-party dialogue question answering (MPDQA) is an emerging topic in speech and language processing where the goal is to answer the questions according to the multiparty conversations. Different from conventional QA, which assumes a single speaker (writer) and general listeners (readers), MPDQA i…
Dense depth estimation plays a key role in multiple applications such as robotics, 3D reconstruction, and augmented reality. While sparse signal, e.g., LiDAR and Radar, has been leveraged as guidance for enhancing dense depth estimation, the improvement is limited due to its low density and imbalanc…
We introduce a novel task, Video Question Generation (Video QG). A Video QG model automatically generates questions given a video clip and its corresponding dialogues. Video QG requires a range of skills - sentence comprehension, temporal relation, the interplay between vision and language, and the…
Despite the recent success of multi-modal action recognition in videos, in reality, we usually confront the situation that some data are not available beforehand, especially for multi-modal data. For example, while vision and audio data are required to address the multi-modal action recognition, aud…
Object localization aims at localizing the object in a given image. Due to the recent success of convolutional neural networks (CNNs), existing methods have shown promising results in weakly-supervised learning fashion. By training a classifier, these methods learn to localize the objects by visuali…
Face hallucination is a generative task to super-resolve the facial image with low resolution while human perception of face heavily relies on identity information. However, previous face hallucination approaches largely ignore facial identity recovery. This paper proposes Super-Identity Convolution…
Existing counting methods often adopt regression-based approaches and cannot precisely localize the target objects, which hinders the further analysis (e.g., high-level understanding and fine-grained classification). In addition, most of prior work mainly focus on counting objects in static environm…
Convolution neural network (CNN) has been shown as one of state-of-the-art approaches for learning face representations. However, previous works only utilized identity information instead of leveraging human attributes (e.g., gender and age) which contain high-level semantic meaning. In this work, w…
Nowadays, with the success and fast growth of social media communities and mobile devices, people are encouraged to share their multimedia data online. Analyzing and summarizing data into useful information thus becomes increasingly important. For online photo sharing services like Flickr, when user…
We present a new supervised architecture termed Mediated Mixture-of-Experts (MMoE) that allows us to improve classification accuracy of Deep Convolutional Networks (DCN). Our architecture achieves this with the help of expert networks: A network is trained on a disjoint subset of a given dataset and…
Action recognition via WiFi has caught intense attention recently because of its ubiquity, low cost, and privacy-preserving. Observing Channel State Information (CSI, a fine-grained information computed from the received WiFi signal) resemblance to texture, we transform the received CSI into images,…
It is very attractive for the user to retrieve photos from a huge collection using high-level personal queries (e.q. uncle Bill's house), but technically very challenging. The previous work proposed a set of approaches to achieve the goal assuming only 30% of the photos are annotated by sparse spoke…
With the increasing popularity of wearable devices, information becomes much easily available. However, personal information sharing still poses great challenges because of privacy issues. We propose an idea of Visual Human Signature (VHS) which can represent each person uniquely even captured in di…
For practical applications, an object detection system requires huge number of classes to meet real world needs. Many successful object detection systems use part-based model which trains several filters (classifiers) for each class to perform multiclass object detection. However, these methods have…