36 accepted papers
High-resolution human video matting aims to predict accurate alpha mattes for semi-transparent regions while ensuring temporal consistency across frames. Despite notable progress, current methods still fail to achieve a satisfactory trade-off between quality and efficiency, with limitations in subje
World Generation Models are emerging as a cornerstone of next-generation multimodal intelligence systems. Unlike traditional 2D visual generation, World Models aim to construct realistic, dynamic, and physically consistent 3D/4D worlds from images, videos, or text. These models not only need to prod
As sounds carry rich information, environmental sound classification (ESC) is crucial for numerous applications such as rare wild animals detection. However, our world constantly changes, asking ESC models to adapt to new sounds periodically. The major challenge here is catastrophic forgetting, wher…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and passive contact-resilient aerial vehicle designs to detect glass…
We address the challenge of efficient auto-regressive generation in sequence prediction models by introducing FutureFill—a general-purpose fast generation method for any sequence prediction algorithm based on convolutional operators. FutureFill reduces generation time from quadratic to quasilinear i…
The rapid growth of scientific publications has made it increasingly difficult to keep literature reviews comprehensive and up-to-date. Though prior work has focused on automating retrieval and screening, the writing phase of systematic reviews remains largely under-explored, especially with regard
A generalist robotic policy needs both semantic understanding for task planning and the ability to interact with the environment through predictive capabilities. To tackle this, we present MM-ACT, a unified Vision-Language-Action (VLA) model that integrates text, image, and action in shared token sp
Recent advancements in 4D generation have demonstrated its remarkable capability in synthesizing photorealistic renderings of dynamic 3D scenes. However, despite achieving impressive visual performance, almost all existing methods overlook the generation of spatial audio aligned with the correspondi
Recent vision-language-action (VLA) models built on pretrained vision-language models (VLMs) have demonstrated strong performance in robotic manipulation. However, these models remain constrained by the single-frame image paradigm and fail to fully leverage the temporal information offered by multi-
A key challenge in decentralized optimization is determining the optimal convergence rate and designing algorithms to achieve it. While this problem has been extensively addressed for doubly-stochastic and column-stochastic mixing matrices, the row-stochastic scenario remains unexplored. This paper…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and passive contact-resilient aerial vehicle designs to detect glass
Multi-objective learning under user-specified preference is common in real-world problems such as multi-lingual speech recognition under fairness. In this work, we frame such a problem as a semivectorial bilevel optimization problem, whose goal is to optimize a pre-defined preference function, subje…
Robotic manipulation in real-world settings remains challenging, especially regarding robust generalization. Existing simulation platforms lack sufficient support for exploring how policies adapt to varied instructions and scenarios. Thus, they lag behind the growing interest in instruction-followin…
We propose a training-free framework that enables large language models (LLMs) to effectively process long texts, using a divide-and-conquer strategy for comprehensive document understanding.The proposed LLM×MapReduce framework splits the entire document into several chunks for LLMs to read and then…
Temporal processing is vital for extracting meaningful information from time-varying signals. Recent advancements in Spiking Neural Networks (SNNs) have shown immense promise in efficiently processing these signals. However, progress in this field has been impeded by the lack of effective and standa
We consider the problem of length generalization in sequence prediction. We define a new metric of performance in this setting – the Asymmetric-Regret– which measures regret against a benchmark predictor with longer context length than available to the learner. We continue by studying this concept t…
Recent advancements in robotic manipulation have highlighted the potential of intermediate representations for improving policy generalization. In this work, we explore grounding masks as an effective intermediate representation, balancing two key advantages: (1) effective spatial guidance that spec…
It has recently been demonstrated empirically that in-context learning emerges in transformers when certain distributional properties are present in the training data, but this ability can also diminish upon further training. We provide a new theoretical understanding of these phenomena by identifyi…
Language models are often said to face a symbol grounding problem. While some have argued the problem can be solved without resort to other modalities, many have speculated that grounded learning is more efficient. We explore this question in Othello, a simplified, rule-based world that offers a con
Various perception-aware planning approaches have attempted to enhance the state estimation accuracy during maneuvers, while the feature matchability among frames, a crucial factor influencing estimation accuracy, has often been overlooked. In this paper, we present APACE, an Agile and Perception-Aw…
Fast changing states or volatile environments pose a significant challenge to online optimization, which needs to perform rapid adaptation under limited observation. In this paper, we give query and regret optimal bandit algorithms under the strict notion of strongly adaptive regret, which measures…
3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To address these challenges, we propose FC-Planner, a skeleton-guide…
Preference learning algorithms (e.g., RLHF and DPO) are frequently used to steer LLMs to produce generations that are more preferred by humans, but our understanding of their inner workings is still limited. In this work, we study the conventional wisdom that preference learning trains models to ass…
Following multiple instructions is a crucial ability for large language models (LLMs). Evaluating this ability comes with significant challenges: (i) limited coherence between multiple instructions, (ii) positional bias where the order of instructions affects model performance, and (iii) a lack of o…
Choosing the optimal hyperparameters, including learning rate and momentum, for specific optimization instances is a significant yet non-convex challenge. This makes conventional iterative techniques such as hypergradient descent \cite{baydin2017online} insufficient in obtaining global optimality gu…
Adaptive regularization methods that exploit more than the diagonal entries exhibit state of the art performance for many tasks, but can be prohibitive in terms of memory and running time. We find the spectra of the Kronecker-factored gradient covariance matrix in deep learning (DL) training tasks a…
Despite the impressive performance achieved by pre-trained language-and-vision models in downstream tasks, it remains an open question whether this reflects a proper understanding of image-text interaction. In this work, we explore to what extent they handle basic linguistic constructions---active-p…
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently, existing solutions for skeleton graph generation suffer from severa…
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles(UAVs). Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative motion plans and low decision frequencies. In this let
Most 3D shape completion approaches rely heavily on partial-complete shape pairs and learn in a fully supervised manner. Despite their impressive performances on in-domain data, when generalizing to partial shapes in other forms or real-world partial scans, they often obtain unsatisfactory results d…
Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine local details. Furthermore, they mostly learn a deterministic partial-to-complete mapping, but overlook structura…
Building accurate language models that capture meaningful long-term dependencies is a core challenge in natural language processing. Towards this end, we present a calibration-based approach to measure long-term discrepancies between a generative sequence model and the true distribution, and use the…
State-of-the-art models are now trained with billions of parameters, reaching hardware limits in terms of memory consumption. This has created a recent demand for memory-efficient optimizers. To this end, we investigate the limits and performance tradeoffs of memory-efficient adaptively precondition…
Boosting is a widely used machine learning approach based on the idea of aggregating weak learning rules. While in statistical learning numerous boosting methods exist both in the realizable and agnostic settings, in online learning they exist only in the realizable case. In this work we provide the…
Adaptive regularization methods pre-multiply a descent direction by a preconditioning matrix. Due to the large number of parameters of machine learning problems, full-matrix preconditioning methods are prohibitively expensive. We show how to modify full-matrix adaptive regularization in order to mak…
Suppose we have many copies of an unknown n-qubit state $\rho$. We measure some copies of $\rho$ using a known two-outcome measurement E_1, then other copies using a measurement E_2, and so on. At each stage t, we generate a current hypothesis $\omega_t$ about the state $\rho$, using the outcomes of…