81 accepted papers
To achieve human-like skin tactile perception with super-resolution, the method of introducing a soft layer on sensing array has attracted increasing attention. Due to the limitations of sensing units principle, most existing tactile sensors can only sense normal force. However, multi-dimensional fo…
Unsupervised domain adaptive hashing transfers knowledge from labeled source domains to unlabeled target domains, addressing domain shift challenges in real-world retrieval tasks. Existing methods face two critical limitations: target domain noise severely misleads model training, and indiscriminate…
Unified Foundation Models (UFMs), which support interleaved multimodal generation and understanding, have been proposed as a promising paradigm for reasoning about dynamic world states, yet it remains unclear whether the visual content they generate functions as grounded evidence for subsequent reas…
3D Gaussian splatting (3DGS) has emerged as a promising approach for high-fidelity 3D scene representation. However, relighting and composition of Gaussian splatting remain challenging because path tracing is not directly applicable. Existing relighting methods for Gaussian splatting typically adopt
Trajectory similarity retrieval is an important part of spatiotemporal data mining, however, existing methods have the following limitations: traditional metrics are computationally expensive, while learning-based methods suffer from substantial training costs and potential instability. This paper a
Anomaly detection on data streams presents significant challenges, requiring methods to maintain high detection accuracy among evolving distributions while ensuring real-time efficiency. Here we introduce IDK-S, a novel Incremental Distributional Kernel for Streaming anomaly detection that effective
Large language models (LLMs) utilize key-value (KV) cache to store historical information during sequence processing. The size of KV cache grows linearly as the length of the sequence extends, which seriously affects memory usage and decoding efficiency. Current methods for KV cache eviction typical
Deception is a pervasive feature of human communication and an emerging concern in large language models (LLMs). While recent studies document instances of LLM deception, most evaluations remain confined to single-turn prompts and fail to capture the long-horizon interactions in which deceptive stra…
Federated Learning (FL) faces significant challenges arising from both data and system heterogeneity. While Clustered Federated Learning (CFL) mitigates data heterogeneity by grouping clients with similar data distributions, it remains vulnerable to system heterogeneity, which can slow convergence d
Mean-shift-based approaches have recently emerged as a representative class of methods for robot swarm shape assembly. They rely on image-based target-shape representations to compute local density gradients and perform mean-shift exploration, which constitute their core mechanism. However, such rep
The core problem in multi-view anomaly detection is to represent local neighborhoods of normal instances consistently across all views. Recent approaches consider a representation of local neighborhood in each view independently, and then capture the consistent neighbors across all views via a learn
Deep learning-based gaze estimation methods often exhibit significant performance degradation on unseen target domains. Through systematic frequency-domain analysis, we reveal that face images contain frequency components with distinct contributions: some facilitate cross-domain generalization while
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
Safety evaluation of multimodal foundation models often treats vision and language inputs separately, missing risks from joint interpretation where benign content becomes harmful in combination. Existing approaches also fail to distinguish clearly unsafe content from borderline cases, leading to pro…
In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the performance of single-sensor systems like LiDAR or GPS, compromising t
We address the problem of quantum reinforcement learning (QRL) under model-free settings with quantum oracle access to the Markov Decision Process (MDP). This paper introduces a Quantum Natural Policy Gradient (QNPG) algorithm, which replaces the random sampling used in classical Natural Policy Grad…
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…
Achieving desired formation patterns without collisions is rather challenging for multi-robot systems in unknown obstacle-rich and confined environments, especially in narrow corridor scenes containing large-volume obstacles. To address this, we propose an adaptive formation reconfiguration method t
Multi-robot exploration in unknown environments is a fundamental task for multi-robot systems, which requires the coordination of the robots to avoid collisions and conflicts while performing task allocation. Existing exploration strategies improve the efficiency of multi-robot exploration by modeli
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes an algorithm to achieve formation flights of fixed-wing dro
We propose a novel automatic evaluation metric for open-ended text generation, which is a substantial improvement of the recently developed method, Fourier analysis of cross-entropy (FACE), hence, FACE-2. FACE-2 is a psycholinguistically inspired metric that extracts the dynamic patterns (spectrum)
In this work, we study the federated multi-armed bandit (FMAB) problem, where a set of distributed agents collaboratively aim to minimize cumulative regret while interacting with a shared set of arms. Unlike traditional centralized bandit models, agents in FMAB settings are connected via a communica…
We present the first finite-sample analysis of policy evaluation in robust average-reward Markov Decision Processes (MDPs). Prior work in this setting have established only asymptotic convergence guarantees, leaving open the question of sample complexity. In this work, we address this gap by showing…
This paper investigates infinite-horizon average reward Constrained Markov Decision Processes (CMDPs) under general parametrized policies with smooth and bounded policy gradients. We propose a Primal-Dual Natural Actor-Critic algorithm that adeptly manages constraints while ensuring a high convergen…
Radar SLAM is robust in challenging conditions, such as fog, dust, and smoke, but suffers from the sparsity and noisiness of radar sensing, including speckle noise and multipath effects. This study provides a performance-enhanced radar SLAM system by incorporating point uncertainty. The basic system
Interference, a key concept in causal inference, extends the reward modeling process by accounting for the impact of one unit's actions on the rewards of others. In contextual bandit (CB) settings where multiple units are present in the same round, interference can significantly affect the estimatio…
Large language models (LLMs) rely on key-value cache (KV cache) to accelerate decoding by reducing redundant computations. However, the KV cache memory usage grows substantially with longer text sequences, posing challenges for efficient deployment. Existing KV cache eviction methods prune tokens us
Inertial tracking (IT), independent of the environment and external infrastructure, has long been the ideal solution for providing location services to humans. Despite significant strides in inertial tracking empowered by deep learning, prevailing neural inertial tracking predominantly utilizes conv…
A high-quality traumatic brain injury (TBI) dataset is essential to intelligent assisted diagnosis. In this work, we present a new labeled public TBI dataset containing head CT scans and various examination variables. The dataset was collected from 545 patients with moderate to severe TBI and CT ann…
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous reconstruction through task assignment methods. However, these methods are mainly limited to a single robot, and rapid r
Off-Policy Evaluation (OPE) aims to estimate the value of a target policy using offline data collected from potentially different policies. In real-world applications, however, logged data often suffers from missingness. While OPE has been extensively studied in the literature, a theoretical underst…
Code LLMs have been widely used in various domains, including code generation, logical reasoning, and agent systems. However, open-access code LLMs mostly only release weights, lacking key features such as reproducible data pipelines and transparent training protocols, which are crucial for advancin…
Robotic and autonomous driving platforms necessitate efficient 3D Multi-Object Tracking (MOT) that harmonizes geometric precision, motion robustness, and computational efficiency. Traditional 3D MOT approaches face critical challenges: geometric similarity metrics (e.g., IoU-based) degrade at long r
This paper investigates the potential of quantum acceleration in addressing infinite horizon Markov Decision Processes (MDPs) to enhance average reward outcomes. We introduce an innovative quantum framework for the agent's engagement with an unknown MDP, extending the conventional interaction paradi…
We present RLLTE: a long-term evolution, extremely modular, and open-source framework for reinforcement learning (RL) research and application. Beyond delivering top-notch algorithm implementations, RLLTE also serves as a toolkit for developing algorithms. More specifically, RLLTE decouples the RL a…
Training deep neural networks is resource-intensive, making it crucial to protect their intellectual property from infringement. However, current model ownership resolution (MOR) methods predominantly address general removal attacks that involve weight modifications, with limited research considerin
Large language model (LLM) safety is a critical issue, with numerous studies employing red team testing to enhance model security. Among these, jailbreak methods explore potential vulnerabilities by crafting malicious prompts that induce model outputs contrary to safety alignments. Existing black-bo…
We aim to develop a general multi-agent reinforcement learning (MARL) policy that enables a group of robots to efficiently explore large-scale, unknown environments with random pose initialization. Existing MARL-based multi-robot exploration methods face challenges in reliably mapping observations t
Effective interactions between artificial intelligence (AI) and humans require an equitable and accurate representation of diverse cultures. It is known that current AI, particularly large language models (LLMs), possesses some degrees of cultural knowledge but not without limitations. We present a
The lack of object-level labels presents a significant challenge for 3D object retrieval in the open-set environment. However, part-level shapes of objects often share commonalities across categories but remain underexploited in existing retrieval methods. In this paper, we introduce the Hypergraph-…
With the rise of Large Language Models (LLMs), AI assistants’ ability to utilize tools, especially through API calls, has advanced notably. This progress has necessitated more accurate evaluation methods. Many existing studies adopt static evaluation, where they assess AI assistants’ API call based…
While decentralized training is attractive in multi-agent reinforcement learning (MARL) for its excellent scalability and robustness, its inherent coordination challenges in collaborative tasks result in numerous interactions for agents to learn good policies. To alleviate this problem, action advis…
Through reading the documentation in the context, tool-using language models can dynamically extend their capability using external tools. The cost is that we have to input lengthy documentation every time the model needs to use the tool, occupying the input window as well as slowing down the decodi…
Human and model-generated texts can be distinguished by examining the magnitude of likelihood in language. However, it is becoming increasingly difficult as language model’s capabilities of generating human-like texts keep evolving. This study provides a new perspective by using the relative likelih…
According to the Entropy Rate Constancy (ERC) principle, the information density of a text is approximately constant over its length. Whether this principle also applies to nonverbal communication signals is still under investigation. We perform empirical analyses of video-recorded dialogue data and…
Large-scale high-quality training data is important for improving the performance of models. After trained with data that has rationales (reasoning steps), models gain reasoning capability. However, the dataset with high-quality rationales is relatively scarce due to the high annotation cost. To add…
Large Language Models (LLMs) have shown impressive capabilities but also a concerning tendency to hallucinate. This paper presents RefChecker, a framework that introduces claim-triplets to represent claims in LLM responses, aiming to detect fine-grained hallucinations. In RefChecker, an extractor ge…
This paper aims to explain how a deep neural network (DNN) gradually extracts new knowledge and forgets noisy features through layers in forward propagation. Up to now, although how to define knowledge encoded by the DNN has not reached a consensus so far, previous studies have derived a series of m…
Hyperspectral image super-resolution (HSI-SR) is a technology to improve the spatial resolution of HSI. Existing fusion-based SR methods have shown great performance, but still have some problems as follows: 1) existing methods assume that the auxiliary image providing spatial information is strictl…
The limited availability of supervised labels (positive information) poses a notable challenge for open-world retrieval. However, negative information is more easily obtained but remains underexploited in current methods. In this paper, we introduce the Negative Prompt Driven Complementary Parallel…
Adopting omnidirectional Field of View (FoV) cameras in aerial robots vastly improves perception ability, significantly advancing aerial robotics’s capabilities in inspection, reconstruction, and rescue tasks. However, such sensors also elevate system complexity, e.g., hardware design, and correspon…
The rapid growth of scientific literature imposes significant challenges for researchers endeavoring to stay updated with the latest advancements in their fields and delve into new areas. We introduce OpenResearcher, an innovative platform that leverages Artificial Intelligence (AI) techniques to ac…
Much of the success of modern language models depends on finding a suitable prompt to instruct the model. Until now, it has been largely unknown how variations in the linguistic expression of prompts affect these models. This study systematically and empirically evaluates which linguistic features i…
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 open-set learning methods consider only the single-layer labels of objects and strictly assume no overlap between the training and testing sets, leading to contradictory optimization for superposed categories. In this paper, we introduce a more practical Semi-Open Environment setting for op…
Models are expected to engage in invariance learning, which involves distinguishing the core relations that remain consistent across varying environments to ensure the predictions are safe, robust and fair. While existing works consider specific algorithms to realize invariance learning, we show tha…
Recent advancement in large language models (LLMs) has offered a strong potential for natural language systems to process informal language. A representative form of informal language is slang, used commonly in daily conversations and online social media. To date, slang has not been comprehensively…
This study proves the two-phase dynamics of a deep neural network (DNN) learning interactions. Despite the long disappointing view of the faithfulness of post-hoc explanation of a DNN, a series of theorems have been proven [27] in recent years to show that for a given input sample, a small set of in…
Off-policy evaluation (OPE) aims to estimate the return of a target policy using some pre-collected observational data generated by a potentially different behavior policy. In many cases, there exist unmeasured variables that confound the action-reward or action-next-state relationships, rendering m…
In this letter, we consider improving the efficiency of information-based autonomous robot exploration in unknown and complex environments. We first utilize Gaussian process (GP) regression to learn a surrogate model to infer the confidence-rich mutual information (CRMI) of querying control actions,
Measuring the distance between machine-produced and human language is a critical open problem. Inspired by empirical findings from psycholinguistics on the periodicity of entropy in language, we propose FACE, a set of metrics based on Fourier Analysis of the estimated Cross-Entropy of language, for…
Moral norms vary across cultures. A recent line of work suggests that English large language models contain human-like moral biases, but these studies typically do not examine moral variation in a diverse cultural setting. We investigate the extent to which monolingual English language models contai…
Multilingual pre-trained language models can learn task-specific abilities or memorize facts across multiple languages but inevitably make undesired predictions with specific inputs. Under similar observation, model editing aims to post-hoc calibrate a model targeted to specific inputs with keeping…
The multi-modality nature of human communication has been utilized to enhance the performance of language modeling-related tasks. Driven by the development of large-scale end-to-end learning techniques and the availability of multi-modal data, it becomes possible to represent non-verbal communicatio…
Humans often make creative use of words to expressnovel senses. A long-standing effort in natural language processing hasbeen focusing on word sense disambiguation (WSD), but little has been explored about how the sense inventory of a word may be extended toward novel meanings. We present a paradigm…
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active simultaneous localization and mapping and exploration always as…
Most of the traditional information-based unknown maze traversal techniques are based on trial and error, which are time-consuming and may trap the robot in infinite loops or dead ends. To address the above issues, this letter proposes a gap based approach for imperfect-unknown mazes traversal named
Verbal communication is companied by rich non-verbal signals. The usage of gestures, poses, and facial expressions facilitates the information transmission in verbal channel. However, few computational studies have explored the non-verbal channels with finer theoretical lens. We extract gesture repr…
In lexicalist linguistic theories, argument structure is assumed to be predictable from the meaning of verbs. As a result, the verb is the primary determinant of the meaning of a clause. In contrast, construction grammarians propose that argument structure is encoded in constructions (or form-meanin…
Slang is a predominant form of informal language making flexible and extended use of words that is notoriously hard for natural language processing systems to interpret. Existing approaches to slang interpretation tend to rely on context but ignore semantic extensions common in slang word usage. We…
The meaning of a slang term can vary in different communities. However, slang semantic variation is not well understood and under-explored in the natural language processing of slang. One existing view argues that slang semantic variation is driven by culture-dependent communicative needs. An altern…
Morality plays an important role in social well-being, but people’s moral perception is not stable and changes over time. Recent advances in natural language processing have shown that text is an effective medium for informing moral change, but no attempt has been made to quantify the origins of the…
This letter focuses on information-theoretic active mapping and exploration with beam-based range sensing robots. Traditional works based on hand-engineered inverse sensor model (ISM) mapping or kernel inference methods lead to imbalanced accuracy and efficiency. This motivates us to propose a new a
Human activity recognition is an essential part of human-computer interaction systems. Environment-robust Wi-Fi-based systems for this task is still a challenging problem, due to the fact that most existing systems may drop in performance when the environment is changed. To address this issue, we in…
Transformer language models have shown remarkable ability in detecting when a word is anomalous in context, but likelihood scores offer no information about the cause of the anomaly. In this work, we use Gaussian models for density estimation at intermediate layers of three language models (BERT, Ro…
Pre-training of text and layout has proved effective in a variety of visually-rich document understanding tasks due to its effective model architecture and the advantage of large-scale unlabeled scanned/digital-born documents. We propose LayoutLMv2 architecture with new pre-training tasks to model t…
Natural language relies on a finite lexicon to express an unbounded set of emerging ideas. One result of this tension is the formation of new compositions, such that existing linguistic units can be combined with emerging items into novel expressions. We develop a framework that exploits the cogniti…
Machine Learning (ML)-based routing optimization has been proposed to optimize the performance of flow routing for future networks, such as Software-Defined Networks (SDNs). However, existing studies are either hard to converge for large networks or vulnerable to topology changes. In this paper, we…
We tackle implicit discourse relation recognition. Both self-attention and interactive-attention mechanisms have been applied for attention-aware representation learning, which improves the current discourse analysis models. To take advantages of the two attention mechanisms simultaneously, we devel…
We consider the problem of anomaly detection in an audiovisual analysis system designed to interpret sequences of actions from visual and audio cues. The scene activity recognition is based on a generative framework, with a high-level inference model for contextual recognition of sequences of action…