23 accepted papers
Large multimodal 3D vision-language models show strong generalization across diverse 3D tasks, but their performance still degrades under domain shifts. This has motivated recent studies on test-time adaptation (TTA), which enables models to adapt online using test-time data. Among existing TTA meth
Enabling robots to grasp disorganized cloth for efficient storage is valuable in robot-assisted room organization. Diverse deformations of cloth and the stacking of multiple items limit grasping-pose estimation that relies on annotations. This necessitates segmenting each cloth item in an unsupervis
Robotic manipulation of flat objects is challenging due to the ungraspable configurations and strong variations in object geometry and material. Existing methods rely on heuristic pre-manipulation and are often evaluated in closed settings with limited generalization. We propose a unified framework …
Multimodal large language models (MLLMs) have achieved remarkable progress in vision–language reasoning tasks, yet ensuring their safety remains a critical challenge. Recent input-side defenses detect unsafe images with CLIP and prepend safety prefixes to prompts, but they still suffer from inaccura…
Robotic cloth grasping is a key component in many robotic cloth manipulation scenarios, such as automated wardrobe management, clothing laundering, and assisted dressing. Due to the deformability and large surface of cloth, which distinguishes it from conventional rigid targets, most current studies
Image clustering is a classic problem in computer vision, which categorizes images into different groups. Recent studies utilize nouns as external semantic knowledge to improve clustering performance. However, these methods often overlook the inherent ambiguity of nouns, which can distort semantic r
Multimodal large language models (MLLMs) have achieved remarkable progress in vision–language reasoning, yet they remain vulnerable to hallucination, where generated content deviates from the visual evidence. Existing mitigation strategies either demand costly supervision during training or introduc…
As vision-language models (VLMs) are increasingly deployed in open-world scenarios, they can be easily induced by visual jailbreak attacks to generate harmful content, posing serious risks to model safety and trustworthy usage.Recent activation steering methods inject directional vectors into model
Multimodal Large Language Models (MLLMs) increasingly support dynamic image resolutions. However, current evaluation paradigms primarily assess semantic performance, overlooking the critical question of resolution robustness - whether performance remains stable across varying input resolutions. To a
Safety alignment remains brittle under domain shift and noisy preference supervision. Existing robust alignment methods predominantly focus on data uncertainty in alignment data, while being less effective at addressing failures caused by optimization-induced fragility. In this work, we revisit robu…
Pre-trained Vision-Language Models (VLMs) such as CLIP achieve strong zero-shot generalization, but their performance degrades sharply under adversarial perturbations. Existing test-time adaptation methods typically rely on sample-level confidence heuristics, overlooking the intrinsic distributional…
Garment grasping in low-light environments is a critical challenge for domestic intelligent robots, yet existing research has not sufficiently addressed this issue. In low-light conditions, the scarcity of visual features due to insufficient illumination causes different categories of garments to ex
Recent advancements in text-to-3D generation can generate neural radiance fields (NeRFs) with score distillation sampling, enabling 3D asset creation without real-world data capture. With the rapid advancement in NeRF generation quality, protecting the copyright of the generated NeRF has become incr…
With the increasing attention to pre-trained vision-language models (VLMs), e.g., CLIP, substantial efforts have been devoted to many downstream tasks, especially in test-time adaptation (TTA). However, previous works focus on learning prototypes only in the textual modality while overlooking the am…
Vision-language models (VLMs) such as CLIP demonstrate strong generalization in zero-shot classification but remain highly vulnerable to adversarial perturbations. Existing methods primarily focus on adversarial fine-tuning or prompt optimization, they often overlook the gaps in CLIP’s encoded featu…
Recognizing various types of clothing is crucial for robotic clothing manipulation tasks, such as garment organization and robot-assisted dressing. Unlike rigid object recognition, clothing recognition remains a challenging task due to the diverse forms introduced by flexible deformations. However,
Mesh watermark embeds secret messages in 3D meshes and decodes the message from watermarked meshes for ownership verification. Current watermarking methods directly hide secret messages in vertex and face sets of meshes. However, mesh is a discrete representation that uses vertex and face sets to de…
We formalize a new concept for LLMs, **context-enhanced learning**. It involves standard gradient-based learning on text except that the context is enhanced with additional data on which no auto-regressive gradients are computed. This setting is a gradient-based analog of usual in-context learning (…
Few-shot learning (FSL) based on manifold regularization aims to improve the recognition capacity of novel objects with limited training samples by mixing two samples from different categories with a blending factor. However, this mixing operation weakens the feature representation due to the linear…
Vision-language models, such as CLIP, have shown impressive generalization capacities when using appropriate text descriptions. While optimizing prompts on downstream labeled data has proven effective in improving performance, these methods entail labor costs for annotations and are limited by their…
The goal of 3D mesh watermarking is to embed the message in 3D meshes that can withstand various attacks imperceptibly and reconstruct the message accurately from watermarked meshes. The watermarking algorithm is supposed to withstand multiple attacks, and the complexity should not grow significantl…
Clothes grasping and unfolding is a core step in robotic-assisted dressing. Most existing works leverage depth images of clothes to train a deep learning-based model to recognize suitable grasping points. These methods often utilize physics engines to synthesize depth images to reduce the cost of re…
Recently, researchers observed that gradient descent for deep neural networks operates in an ``edge-of-stability'' (EoS) regime: the sharpness (maximum eigenvalue of the Hessian) is often larger than stability threshold $2/\eta$ (where $\eta$ is the step size). Despite this, the loss oscillates and…