23 accepted papers
Recent years have witnessed the rapid development of acceleration techniques for diffusion models, especially caching-based acceleration methods. These studies seek to answer two fundamental questions: _"When to cache"_ and _"How to use cache"_, typically relying on predefined empirical laws or data…
In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of each decoded design (phenotype). This provides a scalable alte…
The incorporation of online reinforcement learning (RL) into diffusion and flow-based generative models has recently gained attention as a powerful paradigm for aligning model behavior with human preferences. By leveraging stochastic sampling via Stochastic Differential Equations (SDEs) during the d
Achieving safe and robust interaction in articulated-soft humanoid robots (ASRs) remains a major challenge due to their compliant joints, high degree of freedom, and highly nonlinear coupled dynamics, which makes them especially sensitive to external disturbances. This paper presents a novel contact…
While Large Language Models (LLMs) have demonstrated impressive capabilities, their output quality remains inconsistent across various application scenarios, making it difficult to identify trustworthy responses, especially in complex tasks requiring multi-step reasoning. In this paper, we propose a…
Scene text synthesis involves rendering specified texts onto arbitrary images. Current methods typically formulate this task in an end-to-end manner but lack effective character-level guidance during training.Besides, their text encoders, pre-trained on a single font type, struggle to adapt to the d…
Low-Rank Adaptation (LoRA) has become increasingly popular for efficiently fine-tuning large language models (LLMs) with minimal resources. However, traditional methods that serve multiple LoRA models independently result in redundant computation and low GPU utilization. This paper addresses these i…
Reinforcement learning (RL) has become an effective approach for fine-tuning large language models (LLMs), particularly to enhance their reasoning capabilities. However, RL fine-tuning remains highly resource-intensive, and existing work has largely overlooked the problem of data efficiency. In this…
LLMs have shown strong performance on human-centric reasoning tasks. While previous evaluations have explored whether LLMs can infer intentions or detect deception, they often overlook the individualized reasoning styles that influence how people interpret and act in social contexts. Social deductio
Deep unfolding network (DUN) based pansharpening has shed new light on high-resolution/spectrum image acquisition, serving as a computational alternative to physical devices. While with both merits of deep feature learning and acceptable interpretability enjoyed, current pansharpening necessitates s…
The rise of large language models (LLMs) has significantly advanced various natural language processing (NLP) tasks. However, the resource demands of these models pose substantial challenges. Structured pruning is an effective approach to reducing model size, but it often results in significant accu…
The efficient compression of large language models (LLMs) has become increasingly popular. However, recovering the performance of compressed LLMs remains a major challenge. The current practice in LLM compression entails the implementation of structural pruning, complemented by a recovery phase that…
This paper aims at unifying simplified models of balancing – based on linear, centre-of-mass (CoM) expressions – and articulated-soft floating-base (ASFB) robot dynamics models, for control design. Two distinct controller variations are introduced: the first operates by mapping gross applied force r
Estimating the uncertainty of responses from Large Language Models (LLMs) remains a critical challenge. While recent Bayesian methods have demonstrated effectiveness in quantifying uncertainty through low-rank weight updates, they typically require complex fine-tuning or post-training procedures. In…
Recent advances in multimodal Reward Models (RMs) have shown significant promise in delivering reward signals to align vision models with human preferences. However, current RMs are generally restricted to providing direct responses or engaging in shallow reasoning processes with limited depth, ofte…
Large Language Models (LLMs) often suffer from overconfidence during inference, particularly when adapted to downstream domain-specific tasks with limited data. Previous work addresses this issue by employing approximate Bayesian estimation after the LLMs are trained, enabling them to quantify uncer…
Generative modeling of complex behaviors from labeled datasets has been a longstanding problem in decision-making. Unlike language or image generation, decision-making requires modeling actions – continuous-valued vectors that are multimodal in their distribution, potentially drawn from uncurated so…
Current subject-driven image generation methods encounter significant challenges in person-centric image generation. The reason is that they learn the semantic scene and person generation by fine-tuning a common pre-trained diffusion which involves an irreconcilable training imbalance. Precisely to…
Miniature robots capable of untethered operation hold great promise for performing diagnostic and therapeutic procedures in hard-to-reach regions within the human body. Nonetheless, navigating these complex and diverse physiological environments remains a significant challenge. To effectively naviga…
Obtaining three-dimensional information, especially the z-axis depth information, is crucial for robotic micromanipulation. Due to the unavailability of depth sensors such as lidars in micromanipulation setups, traditional depth acquisition methods such as depth from focus or depth from defocus dire…
While large-scale sequence modelling from offline data has led to impressive performance gains in natural language generation and image generation, directly translating such ideas to robotics has been challenging. One critical reason for this is that uncurated robot demonstration data, i.e. play dat…
In this paper, we study the problem of MOOC quality evaluation that is essential for improving the course materials, promoting students' learning efficiency, and benefiting user services. While achieving promising performances, current works still suffer from the complicated interactions and relati…
Natural Language Processing (NLP) models have gained great success on clean texts, but they are known to be vulnerable to adversarial examples typically crafted by synonym substitutions. In this paper, we target to solve this problem and find that word embedding is important to the certified robustn…