48 accepted papers
High-precision force control of wearable exoskeletons enables highly transparent force interaction operations, effectively improving the feasibility of teleoperation tasks. We adopted a cable-driven spherical parallel wrist exoskeleton (SPWE) which enables it to reduce the volume and enhance operati
Recent studies have raised significant concerns regarding the reliability of current mathematical benchmarks, highlighting key limitations such as simplistic design and potential data contamination that undermine evaluation accuracy. Consequently, developing a reliable benchmark that effectively eva
Large Language Models (LLMs) pose a significant risk of safety misalignment after finetuning, as models can be compromised by both explicitly and implicitly harmful data. Even some seemingly benign data can inadvertently steer a model towards unsafe behaviors. To address this, we introduce GradShiel…
In collaborative filtering, learning effective embeddings for users and items from interaction data remains a central challenge. While recent efforts leverage large language models (LLMs) to enhance collaborative filtering, two critical limitations persist: (1) Efficiency: LLM-based inference is sig
Retrieval-Augmented Generation (RAG) is widely used to mitigate hallucinations of Large Language Models (LLMs) by leveraging external knowledge. While effective for simple queries, traditional RAG systems struggle with large-scale, unstructured corpora where information is fragmented. Recent advance…
Existing evaluations of multimodal large language models (MLLMs) on spatial intelligence are typically fragmented and limited in scope. In this work, we conduct a holistic assessment of the spatial understanding abilities of modern MLLMs and propose complementary data-driven and agent-based solution
Graph retrieval-augmented generation (GraphRAG) has emerged as a powerful paradigm for enhancing large language models (LLMs) with external knowledge. It leverages graphs to model the hierarchical structure between specific concepts, enabling more coherent and effective knowledge retrieval for accur…
Large language models (LLMs) often suffer from hallucination, generating factually incorrect statements when handling questions beyond their knowledge and perception. Retrieval-augmented generation (RAG) addresses this by retrieving query-relevant contexts from knowledge bases to support LLM reasoni
Graph retrieval-augmented generation (GraphRAG) has effectively enhanced large language models in complex reasoning by organizing fragmented knowledge into explicitly structured graphs. Prior efforts have been made to improve either graph construction or graph retrieval in isolation, yielding subopt…
Knowledge distillation has become a crucial technique for transferring intricate knowledge from a teacher model to a smaller student model. While logit-based knowledge distillation has shown promise, existing methods often overlook the efficient distillation of logits. In this paper, we introduce a…
Natural language has been extensively used for modeling text-attributed graphs with LLMs. Natural language is used to describe the graph for LLMs to understand or serve as component of the graph, e.g., textual attributes for embedding generation. However, natural language is inherently redundant and…
World models achieve remarkable success in predicting future states and planning in complex environments and Large Language Models (LLMs) serve as promising foundation to build general world models. However, their performances are usually constrained by the limited external knowledge to specific env
In this paper, we propose a lightweight and efficient state-space model-based instance segmentation network named MambaInst, which extracts deep semantic features through a LightSSM Block consisting of gating mechanisms and residual connectivity to model long-distance spatial dependencies with linea…
Entity alignment (EA) aims to merge two knowledge graphs (KGs) by identifying equivalent entity pairs. Existing methods can be categorized into symbolic and neural models. Symbolic models, while precise, struggle with substructure heterogeneity and sparsity, whereas neural models, although effective…
Offline-to-online Reinforcement Learning (O2O RL) aims to perform online fine-tuning on an offline pre-trained policy to minimize costly online interactions. Existing work used offline datasets to generate data that conform to the online data distribution for data augmentation. However, generated da…
Although previous graph-based multi-view clustering algorithms have made remarkable progress, most of them still face the following two limitations: 1. Many existing methods rely on k-means for the discretization of spectral embeddings, which cannot directly learn graphs with discrete cluster struct…
Recent advances in structure-based drug design (SBDD) have produced surprising results, with models often generating molecules that achieve better Vina docking scores than actual ligands. However, these results are frequently overly optimistic due to the limitations of docking score accuracy and the…
In this paper, we introduce an image inpainting method based on the State Space Model (SSM), named Restoration Mamba (RestorMamba). This approach incorporates effi-cient long-range dependency modeling within the network, which is particularly suited for the complexities of high-texture and high-reso…
Generating novel enzymes for target molecules in zero-shot scenarios is a fundamental challenge in biomaterial synthesis and chemical production. Without known enzymes for a target molecule, training generative models becomes difficult due to the lack of direct supervision. To address this, we propo…
Recent advancements in large language models (LLMs) have shown promise in bridging the gap between natural language queries and database management systems, enabling users to interact with databases without the background of SQL. However, LLMs often struggle to fully exploit and comprehend the user…
Text-attributed graphs (TAGs) are prevalent in various real-world applications, including academic networks, e-commerce platforms, and social networks. Effective learning on TAGs requires leveraging both textual node features and structural graph information. While language models (LMs) excel at pro…
Modeling text-attributed graphs is a well-known problem due to the difficulty of capturing both the text attribute and the graph structure effectively. Existing models often focus on either the text attribute or the graph structure, potentially neglecting the other aspect. This is primarily because…
Multi-sensor collaborative perception has been a significant trend in self-driving and robot navigation. The precondition for multi-sensor fusion is the accurate calibration between sensors. Traditional LiDAR-Camera calibrations rely on laborious manual operations. Several recent studies have demons
Decision-making problems, categorized as single-agent, e.g., Atari, cooperative multi-agent, e.g., Hanabi, competitive multi-agent, e.g., Hold'em poker, and mixed cooperative and competitive, e.g., football, are ubiquitous in the real world. Although various methods have been proposed to address the…
Knowledge-based question answering (KBQA) is widely used in many scenarios that necessitate domain knowledge. Large language models (LLMs) bring opportunities to KBQA, while their costs are significantly higher and absence of domain-specific knowledge during pre-training. We are motivated to combine…
Time series self-supervised learning (SSL) aims to exploit unlabeled data for pre-training to mitigate the reliance on labels. Despite the great success in recent years, there is limited discussion on the potential noise in the time series, which can severely impair the performance of existing SSL m…
Generating recommendation reasons for recommendation results is a long-standing problem because it is challenging to explain the underlying reasons for recommending an item based on user and item IDs. Existing models usually learn semantic embeddings for each user and item, and generate the reasons…
Entity alignment (EA) aims to merge two knowledge graphs (KGs) by identifying equivalent entity pairs. While existing methods heavily rely on human-generated labels, it is prohibitively expensive to incorporate cross-domain experts for annotation in real-world scenarios. The advent of Large Language…
Large Language Models (LLMs) have demonstrated remarkable capabilities in many real-world applications. Nonetheless, LLMs are often criticized for their tendency to produce hallucinations, wherein the models fabricate incorrect statements on tasks beyond their knowledge and perception. To alleviate…
Generating accurate SQL queries for user questions (text-to-SQL) has been a long-standing challenge since it requires a deep understanding of both the user’s question and the corresponding database schema in order to retrieve the desired content accurately. Existing methods rely on the comprehensive…
In autonomous driving, the LiDAR-Camera system plays a crucial role in a vehicle’s perception of 3D environments. To effectively fuse information from both camera and LiDAR, extrinsic calibration is indispensable. Recently, some researchers have proposed deep learning-based methods that utilize conv…
Knowledge-based visual question answering (KVQA) has been extensively studied to answer visual questions with external knowledge, e.g., knowledge graphs (KGs). While several attempts have been proposed to leverage large language models (LLMs) as an implicit knowledge source, it remains challenging s…
Extreme multi-label text classification (EMTC) involves predicting multiple labels from a vast pool of candidates based on a user’s textual query. While traditional BERT-based methods have shown limited success, large language models (LLMs) have brought new possibilities. It is promising to leverage…
Nash Equilibrium (NE) is the canonical solution concept of game theory, which provides an elegant tool to understand the rationalities. Though mixed strategy NE exists in any game with finite players and actions, computing NE in two- or multi-player general-sum games is PPAD-Complete. Various altern…
Policy-Space Response Oracles (PSRO) as a general algorithmic framework has achieved state-of-the-art performance in learning equilibrium policies of two-player zero-sum games. However, the hand-crafted hyperparameter value selection in most of the existing works requires extensive domain knowledge,…
Point clouds play a crucial role in robots and intelligent vehicles. Noise caused by fog droplets seriously degrades the quality of point clouds. Previous researches have shown that the extent of degradation is correlated with visibility. The fog attenuation coefficient is associated with visibility…
Lane detection presents a formidable challenge in the realm of autonomous driving, given the real-time processing demands, diverse acquisition conditions, and the unique elongated and angular characteristics of lane lines. While a multitude of network design strategies have been proposed to tackle t…
This letter presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic targetless co-calibration method is proposed to simultaneou
Neural language models have achieved superior performance. However, these models also suffer from the pathology of overconfidence in the out-of-distribution examples, potentially making the model difficult to interpret and making the interpretation methods fail to provide faithful attributions. In t…
Knowledge graph (KG) reasoning utilizes two primary techniques, i.e., rule-based and KG-embedding based. The former provides precise inferences, but inferring via concrete rules is not scalable. The latter enables efficient reasoning at the cost of ambiguous inference accuracy. Neuro-symbolic reason…
Training graph neural networks (GNNs) is extremely time consuming because sparse graph-based operations are hard to be accelerated by community hardware. Prior art successfully reduces the computation cost of dense matrix based operations (e.g., convolution and linear) via sampling-based approximati…
Neural language models are vulnerable to word-level adversarial text attacks, which generate adversarial examples by directly substituting discrete input words. Previous search methods for word-level attacks assume that the information in the important words is more influential on prediction than un…
Few-shot graph classification aims at predicting classes for graphs, given limited labeled graphs for each class. To tackle the bottleneck of label scarcity, recent works propose to incorporate few-shot learning frameworks for fast adaptations to graph classes with limited labeled graphs. Specifical…
Graph neural networks (GNNs) integrate deep architectures and topological structure modeling in an effective way. However, the performance of existing GNNs would decrease significantly when they stack many layers, because of the over-smoothing issue. Node embeddings tend to converge to similar vecto…
Sequential recommendation has become increasingly essential in various online services. It aims to model the dynamic preferences of users from their historical interactions and predict their next items. The accumulated user behavior records on real systems could be very long. This rich data brings o…
The classification of graph-structured data has be-come increasingly crucial in many disciplines. It has been observed that the implicit or explicit hierarchical community structures preserved in real-world graphs could be useful for downstream classification applications. A straightforward w…
Very Fast Decision Tree (VFDT) is one of the most widely used online decision tree induction algorithms, and it provides high classification accuracy with theoretical guarantees. In VFDT, the split-attempt operation is essential for leaf-split. It is computation-intensive since it computes the heuri…
Graph neural networks (GNNs), which learn the representation of a node by aggregating its neighbors, have become an effective computational tool in downstream applications. Over-smoothing is one of the key issues which limit the performance of GNNs as the number of layers increases. It is because th…