34 accepted papers
Diffusion Policy has demonstrated strong visuomotor modeling capabilities, but its high computational cost renders it impractical for real-time robotic control. Despite huge redundancy across repetitive denoising steps, existing diffusion acceleration techniques fail to generalize to Diffusion Polic…
Higher-order Graph Neural Networks (HOGNNs) based on the 2-FWL test achieve superior expressivity by modeling 2-node and 3-node interactions, but incur cubic computational cost. Existing efficiency methods typically reduce this burden at the expense of expressivity. We propose Co-Sparsify, a connect
Lung cancer continues to be the leading cause of cancer-related deaths globally. Early detection and diagnosis of pulmonary nodules are essential for improving patient survival rates. Although previous research has integrated multimodal and multi-temporal information, outperforming single modality a
Recent advances in multimodal language models (MLLMs) have made thinking with images a dominant paradigm for multimodal reasoning. However, existing methods still fail to ensure evidence–answer consistency, where correct answers must be supported by correct visual evidence. To address this issue, we…
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily suspending flight. This paper presents a new perching drone that util…
In the context of over-parameterization, there is a line of work demonstrating that randomly initialized (stochastic) gradient descent (GD) converges to a globally optimal solution at a linear convergence rate for the quadratic loss function. However, the convergence rate of GD for training two-laye…
Global path planning provides high-level guidance for autonomous navigation, supplying reference paths for downstream navigation and control modules. Deep Reinforcement Learning (DRL) has shown strong potential in this domain, but existing methods struggle with multi-scale map inputs. This limitatio…
The success of diffusion models has raised concerns about the generation of unsafe or harmful content, prompting concept erasure approaches that fine-tune modules to suppress specific concepts while preserving general generative capabilities. However, as the number of erased concepts grows, these me
Vision-Language-Action (VLA) models have attracted increasing attention for their strong control capabilities. However, their high computational cost and low execution frequency hinder their suitability for real-time tasks such as robotic manipulation and autonomous navigation. Existing VLA accelera…
Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it impractical for real-time visuomotor control. Existing caching-based acceleration methods typically rely on $\textit{static}$ …
Action diffusion excels at high-fidelity action generation but incurs heavy computational costs owing to its iterative denoising nature. Despite current technologies showing promise in accelerating diffusion transformers by reusing the cached features, they struggle to adapt to policy dynamics arisi
Falling is an inherent risk of humanoid mobility. Maintaining stability is therefore a primary safety focus in robot control and learning, yet no existing approach fully averts loss of balance. When instability does occur, prior work addresses only isolated aspects of falling: avoiding falls, choreo…
Visual autoregressive (AR) generation models have demonstrated strong potential for image generation, yet their next-token-prediction paradigm introduces considerable inference latency. Although speculative decoding (SD) has been proven effective for accelerating visual AR models, its "draft one ste
Continuous blood pressure (BP) monitoring is essential for timely diagnosis and intervention in critical care settings. However, BP varies significantly across individuals, this inter-patient variability motivates the development of personalized models tailored to each patient’s physiology. In this…
In recent years, neural networks have achieved remarkable progress in various fields and have also drawn much attention in applying them on scientific problems. A line of methods involving neural networks for solving partial differential equations (PDEs), such as Physics-Informed Neural Networks (PI
This paper presents a deformable spherical robot with a six-strut topological structure capable of achieving multimodal locomotion in complex amphibious environments. The robot realizes isotropic rolling and asymmetric jumping through its innovative geometric-based configuration while integrating an
Recent studies showed that the generalization of neural networks is correlated with the sharpness of the loss landscape and flat minima suggests a better generalization ability than sharp minima. In this paper, we propose a novel method called optimum shifting, which changes the parameters of a neur…
Federated Learning (FL), a privacy-preserving decentralized machine learning framework, has been shown to be vulnerable to backdoor attacks. Current research primarily focuses on the Single-Label Backdoor Attack (SBA), wherein adversaries share a consistent target. However, a critical fact is overlo…
Multimodal large models have made significant progress, yet fine-grained understanding of complex scenes remains a challenge. High-quality, large-scale vision-language datasets are essential for addressing this issue. However, existing methods often rely on labor-intensive manual annotations or clos…
In this paper, we derive refined generalization bounds for the Deep Ritz Method (DRM) and Physics-Informed Neural Networks (PINNs). For the DRM, we focus on two prototype elliptic partial differential equations (PDEs): Poisson equation and static Schrödinger equation on the $d$-dimensional unit hyp…
We aim to redefine robust ego-motion estimation and photorealistic 3D reconstruction by addressing a critical limitation: the reliance on noise-free data in existing models. While such sanitized conditions simplify evaluation, they fail to capture the unpredictable, noisy complexities of real-world…
Vision-centric autonomous driving has demonstrated excellent performance with economical sensors. As the fundamental step, 3D perception aims to infer 3D information from 2D images based on 3D-2D projection. This makes driving perception models susceptible to sensor configuration (e.g., camera intri…
Exoskeleton technology holds significant promise within the human-centric paradigm of Industry 5.0 for mitigating work-related musculoskeletal disorders (WMSDs). However, existing systems often struggle with mismatched assistive torque and inefficient human-machine collaboration under dynamic loadin
Accurate localization in challenging garage environments—marked by poor lighting, sparse textures, repetitive structures, dynamic scenes, and the absence of GPS—is crucial for automated valet parking (AVP) tasks. Addressing these challenges, our research introduces AVM-SLAM, a cutting-edge semantic…
Physics-informed neural networks (PINNs) have shown promising potential for solving partial differential equations (PDEs) using deep learning. However, PINNs face training difficulties for evolutionary PDEs, particularly for dynamical systems whose solutions exhibit multi-scale or turbulent behavi…
Solving Singularly Perturbed Differential Equations (SPDEs) poses computational challenges arising from the rapid transitions in their solutions within thin regions. The effectiveness of deep learning in addressing differential equations motivates us to employ these methods for solving SPDEs. In thi…
Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast majority of existing arts that focus on how to improve the perfor…
The reliability of driving perception systems under unprecedented conditions is crucial for practical usage. Latest advancements have prompted increasing interest in multi-LiDAR perception. However, prevailing driving datasets predominantly utilize single-LiDAR systems and collect data devoid of adv…
Naked eye recognition of age is usually based on comparison with the age of others. However, this idea is ignored by computer tasks because it is difficult to obtain representative contrast images of each age. Inspired by the transfer learning, we designed the Delta Age AdaIN (DAA) operation to obta…
Physics-informed neural networks (PINNs) have effectively been demonstrated in solving forward and inverse differential equation problems, but they are still trapped in training failures when the target functions to be approximated exhibit high-frequency or multi-scale features. In this paper, we pr…
Graph Neural Networks (GNNs) resemble the Weisfeiler-Lehman (1-WL) test, which iteratively update the representation of each node by aggregating information from WL-tree. However, despite the computational superiority of the iterative aggregation scheme, it introduces redundant message flows to enco…
Conducting text retrieval in a learned dense representation space has many intriguing advantages. Yet dense retrieval (DR) often underperforms word-based sparse retrieval. In this paper, we first theoretically show the bottleneck of dense retrieval is the domination of uninformative negatives sample…
This paper developed a 4-degree-of-freedom cable-driven upper limb rehabilitation robot and proposed a control algorithm of the passive training for this robot. Comparing with the conventional cable-driven rehabilitation robot, the workspace of this robot is increased by optimizing the distribution…
Iron and steel scrap could substitute ironstone as the raw material for steelmaking and continuous casting (CC) production, and effectively reduce emissions of waste gas, water, and residue. The iron and steel scrap steelmaking and continuous casting (ISSSC) process is a compact production process i