33 accepted papers
This paper proposes a perceptual no-reference (blind) haptic quality assessment framework for predicting the Quality of Experience (QoE) in teleoperation systems with force feedback. The proposed approach employs a deep neural network that combines semantic and distortion-based channels. The semanti…
Estimating heterogeneous treatment effects is central to data-driven decision-making, yet industrial applications often face a fundamental tension between limited randomized controlled trial (RCT) budgets and abundant but biased observational data collected under historical targeting policies. Altho…
Existing LLM-as-a-Judge systems suffer from three fundamental limitations: \textbf{limited adaptivity} to task and domain-specific evaluation criteria, \textbf{systematic biases} driven by non-semantic cues such as position, length, format, and model provenance, and \textbf{evaluation inconsistency}…
Multi-modal test-time adaptation (TTA) enhances the resilience of benchmark multi-modal models against distribution shifts by leveraging the unlabeled target data during inference. Despite the documented success, the advancement of multi-modal TTA methodologies has been impeded by a persistent limit
Recent visual generative models often struggle with consistency during image editing due to the entangled nature of raster images, where all visual content is fused into a single canvas. In contrast, professional design tools employ layered representations, allowing isolated edits while preserving c
Vision-Language-Action models (VLAs) achieve remarkable performance in sequential decision-making but remain fragile to subtle environmental shifts, such as small changes in object pose. We attribute this brittleness to trajectory overfitting, where VLAs over-attend to the spurious correlation betwe
While code large language models have demonstrated remarkable progress in code generation, the generated code often exhibits poor runtime efficiency, limiting its practical application in performance-sensitive scenarios. To address this limitation, we propose an efficiency-oriented reinforcement lea
We study a multi-factor block model for variable clustering and connect it to regularized subspace clustering through a distributionally robust version of nodewise regression. To solve the latter problem, we derive a convex relaxation, provide a data-driven approach for selecting the size of the rob…
Visual Inertial Odometry (VIO) estimates predicted trajectories through self motion. With the popularization of artificial intelligence, deep learning-based VIO methods have shown better performance than traditional geometry-based VIO methods. However, in deep learning methods, how to better achieve
The Myers-Briggs Type Indicator (MBTI) is one of the most influential personality theories reflecting individual differences in thinking, feeling, and behaving. MBTI personality detection has garnered considerable research interest and has evolved significantly over the years. However, this task ten…
Chart2code has recently received significant attention in the multimodal community due to its potential to reduce the burden of visualization and promote a more detailed understanding of charts. However, existing Chart2code-related training datasets suffer from at least one of the following issues:
Shared autonomy bridges human expertise with machine intelligence, yet existing approaches often overlook the impact of teleoperation delays. To address this gap, we propose a novel shared autonomy approach that enables robots to gradually learn from teleoperated demonstrations while adapting to net
Consistency identification in task-oriented dialog (CI-ToD) typically consists of three sub-tasks: User Query Inconsistency (QI) identification, Dialogue History Inconsistency (HI) identification, and Knowledge Base Inconsistency (KBI) identification, which aim to determine inconsistent relationship
Large Vision-Language Models (LVLMs) have achieved significant success in multimodal tasks, with multimodal chain-of-thought (MCoT) further enhancing performance and interpretability. Recent MCoT methods fall into two categories: (i) Textual-MCoT (T-MCoT), which takes multimodal input and produces t…
Cross-domain text classification is a crucial task as it enables models to adapt to a target domain that lacks labeled data. It leverages or reuses rich labeled data from the different but related source domain(s) and unlabeled data from the target domain. To this end, previous work focuses on eithe…
Multi-modal Chain-of-Thought (MCoT) requires models to leverage knowledge from both textual and visual modalities for step-by-step reasoning, which gains increasing attention. Nevertheless, the current MCoT benchmark still faces some challenges: (1) absence of visual modal reasoning, (2) single-step…
Recently, Profile-based Spoken Language Understanding (SLU) has gained increasing attention, which aims to incorporate various types of supplementary profile information (i.e., Knowledge Graph, User Profile, Context Awareness) to eliminate the prevalent ambiguities in user utterances. However, exist…
Decompilation transforms compiled code back into a high-level programming language for analysis when source code is unavailable. Previous work has primarily focused on enhancing decompilation performance by increasing the scale of model parameters or training data for pre-training. Based on the char…
Existing image augmentation methods consist of two categories: perturbation-based methods and generative methods. Perturbation-based methods apply pre-defined perturbations to augment an original image, but only locally vary the image, thus lacking image diversity. In contrast, generative methods br…
Communication stands as a potent mechanism to harmonize the behaviors of multiple agents. However, existing work primarily concentrates on broadcast communication, which not only lacks practicality, but also leads to information redundancy. This surplus, one-fits-all information could adversely impa…
Large vision-language models (LVLMs) suffer from hallucination, resulting in misalignment between the output textual response and the input visual content. Recent research indicates that the over-reliance on the Large Language Model (LLM) backbone, as one cause of the LVLM hallucination, inherently…
Vision-Language (VL) models with the Two-Tower architecture have dominated visual-language representation learning in recent years. Current VL models either use lightweight uni-modal encoders and learn to extract, align and fuse both modalities simultaneously in a deep cross-modal encoder, or feed t…
This paper proposes a novel Generative Adversarial Network (GAN)-based strategy to augment subjective haptic Quality of Experience (QoE) datasets for bilateral teleoperation with haptic feedback without conducting time-consuming subjective experiments. In our previous work, we proposed a multi-asses…
Two-Tower Vision-Language (VL) models have shown promising improvements on various downstream VL tasks. Although the most advanced work improves performance by building bridges between encoders, it suffers from ineffective layer-by-layer utilization of uni-modal representations and cannot flexibly e…
When providing task demonstrations to a remote robot over the network via bilateral teleoperation, communication impairments are unavoidable, hindering the human operator from delivering high-quality demonstrations. Poor-quality demonstrations can negatively impact the robot's ability to learn and g
Image denoising methods based on convolutional neural networks have been popular and achieved relatively excellent performance. However, most of the existing methods cannot fully obtain and use the shallow feature information when removing noise, and cannot better combine information between various…
We propose a novel scene-robot interaction graph (SRI-Graph) that exploits the known position of a mobile manipulator for robust and accurate scene understanding. Compared to the state-of-the-art scene graph approaches, the proposed SRI-Graph captures not only the relationships between the objects,…
This work proposes a novel haptic data reduction scheme for time-delayed teleoperation by coding information as blocks. State-of-the-art (SOTA) haptic data reduction approaches are mainly sampled-based schemes. They encode haptic signals sample by sample in order to minimize the introduced coding de…
Advanced wireless communication networks provide lower latency and a higher transmission rate. Although this is an enabler for many new teleoperation applications, the risk of network instability or packet drop is still unavoidable. Real-time manipulator teleoperation requires data transmission with
Current researches on spoken language understanding (SLU) heavily are limited to a simple setting: the plain text-based SLU that takes the user utterance as input and generates its corresponding semantic frames (e.g., intent and slots). Unfortunately, such a simple setting may fail to work in comple…
Consistency Identification has obtained remarkable success on open-domain dialogue, which can be used for preventing inconsistent response generation. However, in contrast to the rapid development in open-domain dialogue, few efforts have been made to the task-oriented dialogue direction. In this pa…
Multi-intent SLU can handle multiple intents in an utterance, which has attracted increasing attention. However, the state-of-the-art joint models heavily rely on autoregressive approaches, resulting in two issues: slow inference speed and information leakage. In this paper, we explore a non-autoreg…
Teleoperation systems with haptic feedback allow a human user to remotely interact with a dangerous or inac-cessible environment, perform various tasks, and perceive the haptic feedback. To ensure system stability while maintaining the best possible quality of experience (QoE), different teleoperati…