11 accepted papers
Automating bone micro-milling using a robotic system presents challenges due to the uncertainties in both the external and internal features of bone tissue. For example, during mouse cranial window creation, a circular path with a radius of 2 to 4 mm needs to be milled on the mouse skull using a mic
Enabling multi-task adaptation in pre-trained Low-Rank Adaptation (LoRA) models is crucial for enhancing their generalization capabilities. Most existing pre-trained LoRA fusion methods decompose weight matrices, sharing similar parameters, while fusion divergent ones. However, this paradigm inevit
Deep generative models can help with data scarcity and privacy by producing synthetic training data, but they struggle in low-data, imbalanced tabular settings to fully learn the complex data distribution. We argue that striving for the full joint distribution could be overkill; for greater data eff…
Generative Foundation Models (GFMs) have achieved remarkable success in producing high-quality synthetic data for images and text. However, their application to tabular data presents significant challenges due to the heterogeneous nature of table features. Current cross-table learning frameworks str…
In this paper, we study reinforcement learning in Markov Decision Processes with Probabilistic Reward Machines (PRMs), a form of non-Markovian reward commonly found in robotics tasks. We design an algorithm for PRMs that achieves a regret bound of Õ((HOAT)^(1/2) + H²O²A^(3/2) + H(T)^(1/2)), where H…
Estimating the state of biological specimens is challenging due to limited observation through microscopic vision. For instance, during mouse skull drilling under high-magnification microscopic vision, the appearance alters little when thinning bone tissue because of its semi-transparent visual prop
Pre-training is known to generate universal representations for downstream tasks in large-scale deep learning such as large language models. Existing literature, e.g., Kim et al. (2020), empirically observe that the downstream tasks can inherit the adversarial robustness of the pre-trained model. We…
Deep learning models have performed well on many NLP tasks. However, their internal mechanisms are typically difficult for humans to understand. The development of methods to explain models has become a key issue in the reliability of deep learning models in many important applications. Various sali…
"Action quality assessment (AQA) is a challenging vision task that requires discerning and quantifying subtle differences in actions from the same class. While recent research has made strides in creating fine-grained annotations for more precise analysis, existing methods primarily focus on coarse…
We study the problem of multi-agent coordination in unpredictable and partially observable environments, that is, environments whose future evolution is unknown a priori and that can only be partially observed. We are motivated by the future of autonomy that involves multiple robots coordinating act…
"Existing pruning techniques preserve deep neural networks’ overall ability to make correct predictions but could also amplify hidden biases during the compression process. We propose a novel pruning method, Fairness-aware GRAdient Pruning mEthod (FairGRAPE), that minimizes the disproportionate impa…