25 accepted papers
We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches learn end-to-end policies with features from vision foundation models, requiring large datasets. Others combine foundation…
Vision-language-action policies learn manipulation skills across tasks, environments and embodiments through large-scale pre-training. However, their ability to generalize to novel robot configurations remains limited. Most approaches emphasize model size, dataset scale and diversity while paying le…
Recovering 3D geometry and textures of individual objects is crucial for many robotics applications, such as manipulation, pose estimation, and autonomous driving. However, decomposing a target object from a complex background is challenging. Most existing approaches rely on costly manual labels to
Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the challenge of high real-world data costs, while simulation data
Time series modeling presents unique challenges due to autocorrelation in both historical data and future sequences. While current research predominantly addresses autocorrelation within historical data, the correlations among future labels are often overlooked. Specifically, modern forecasting mode…
Training Large Language Models (LLMs) from scratch requires immense computational resources, making it prohibitively expensive. Model scaling-up offers a promising solution by leveraging the parameters of smaller models to create larger ones. However, existing depth scaling-up methods rely on empiri…
Large Language Model (LLM) agents have demonstrated impressive capabilities in handling complex interactive problems. Existing LLM agents mainly generate natural language plans to guide reasoning, which is verbose and inefficient. NL plans are also tailored to specific tasks and restrict agents’ abi…
Safety alignment is indispensable for Large language models (LLMs) to defend threats from malicious instructions. However, recent researches reveal safety-aligned LLMs tend to reject benign queries due to the exaggerated safety issue, limiting their helpfulness. In this paper, we propose a Safety-Co…
Named Entity Recognition (NER) is a cornerstone natural language processing task while its robustness has been given little attention. This paper rethinks the principles of the conventional text attack, as they can easily violate the label consistency between the original and adversarial NER samples…
As the capabilities of large language models (LLMs) continue to advance, evaluating their performance is becoming more important and more challenging. This paper aims to address this issue for Mandarin Chinese in the form of CMMLU, a comprehensive Chinese benchmark that covers various subjects, incl…
This letter addresses the challenge of open-set instance segmentation (OSIS) which segments both known objects and unknown objects not seen in training, and thus is essential for enabling robots to safely work in the real world. Existing solutions adopt class-agnostic segmentation where all classes
Point-based interactive editing serves as an essential tool to complement the controllability of existing generative models. A concurrent work DragDiffusion updates the diffusion latent map in response to user inputs causing global latent map alterations. This results in imprecise preservation of th…
"Hyperbolic representations have shown remarkable efficacy in modeling inherent hierarchies and complexities within data structures. Hyperbolic neural networks have been commonly applied for learning such representations from data, but they often fall short in preserving the geometric structures of…
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents ν-DBA, a novel framework implementing geometric dense bundle adjustment (DBA) using 3D neural implicit surfaces for map parametrizat…
The task of key-points detection and description is to estimate the stable location and discriminative representation of local features, which is essential for image matching. However, either the rough hard positive or negative labels generated from one-to-one correspondences among images bring indi…
Detecting both known and unknown objects is a fundamental skill for robot manipulation in unstructured environments. Open-set object detection (OSOD) is a promising direction to handle the problem consisting of two subtasks: objects and background separation, and open-set object classification. In t
Large Language Models (LLMs) have attained the impressive capability to resolve a wide range of NLP tasks by fine-tuning high-quality instruction data. However, collecting human-written data of high quality, especially multi-turn dialogues, is expensive and unattainable for most people. Though previ…
Generating photorealistic images with controllable camera pose and scene contents is essential for many applications including AR/VR and simulation. Despite the fact that rapid progress has been made in 3D-aware generative models, most existing methods focus on object-centric images and are not appl…
Existing studies typically handle aspect-based sentiment analysis by stacking multiple neural modules, which inevitably result in severe error propagation. Instead, we propose a novel end-to-end framework, MRCOOL: MRC-PrOmpt mOdeL framework, where numerous sentiment aspects are elicited by a machine…
As a fundamental natural language processing task and one of core knowledge extraction techniques, named entity recognition (NER) is widely used to extract information from texts for downstream tasks. Nested NER is a branch of NER in which the named entities (NEs) are nested with each other. However…
The Controllable Variational Autoencoder (ControlVAE) combines automatic control theory with the basic VAE model to manipulate the KL-divergence for overcoming posterior collapse and learning disentangled representations. It has shown success in a variety of applications, such as image generation, d…
In this work, we propose a novel classification algorithm that used to classify vessel data points into different trajectories. The algorithm is a truncated version of Viterbi Algorithm. A physical model utilizing the observation information completely is used to simulate the movement of vessels dur…
In this work, we construct a large-scale dataset for vehicle re-identification (ReID), which contains 137k images of 13k vehicle instances captured by UAV-mounted cameras. To our knowledge, it is the largest UAV-based vehicle ReID dataset. To increase intra-class variation, each vehicle is captured…
Orthogonal frequency division multiplexing (OFDM) and single-carrier frequency domain equalization (SC-FDE) are two commonly adopted modulation schemes for frequency-selective channels. Compared to SC-FDE, OFDM generally achieves higher data rate, but at the cost of higher transmit signal peak-to-av…
This paper presents a low complexity implementation of carrier phase and symbol timing synchronization on an OMAP-LI37 DSP-ARM dual core processor for a M -ary phase-shift-keying (M -PSK) based fully digital downhole telemetry system. The synchronization uses a data-aided algorithm (DA) that exploit…