39 accepted papers
Teleoperation presents a promising paradigm for remote control and robot proprioceptive data collection. Despite recent progress, current teleoperation systems still suffer from limitations in efficiency and ergonomics, particularly in challenging scenarios. In this paper, we propose CaFe-TeleVision…
Teleoperation presents a promising paradigm for remote control and robot proprioceptive data collection. Despite recent progress, current teleoperation systems still suffer from limitations in efficiency and ergonomics, particularly in challenging scenarios. In this paper, we propose CaFe-TeleVision
In this paper, we claim that 3D visual grounding is the cornerstone of spatial reasoning and introduce the $\textit{Grounded-Spatial Reasoner (GS-Reasoner)}$ to explore the effective spatial representations that bridge the gap between them. Existing 3D LLMs suffer from the absence of a unified 3D re…
Accurate segmentation of ultra-high-resolution (UHR) images, which often exceed tens of millions of pixels, is critically important in domains such as remote sensing and biomedical imaging. However, acquiring pixel-level annotations for such high-resolution images is prohibitively expensive and labo
Federated Learning (FL) enables collaborative model training while preserving data privacy, but its practical deployment is hampered by system and statistical heterogeneity. While federated network pruning offers a path to mitigate these issues, existing methods face a critical dilemma: server-side
The memory challenges associated with training Large Language Models (LLMs) have become a critical concern, particularly when using the Adam optimizer. To address this issue, numerous memory-efficient techniques have been proposed, with GaLore standing out as a notable example designed to reduce the…
In the era of evaluating large language models (LLMs), data contamination has become an increasingly prominent concern. To address this risk, LLM benchmarking has evolved from a *static* to a *dynamic* paradigm. In this work, we conduct an in-depth analysis of existing *static* and *dynamic* benchma
Can a model distinguish between the sound of a spoon hitting a hardwood floor versus a carpeted one? Everyday object interactions produce sounds unique to the objects involved. We introduce the sounding object detection task to evaluate a model's ability to link these sounds to the objects directly…
Current emotional text-to-speech (TTS) models pre-dominantly conduct supervised training to learn the conversion from text and desired emotion to its emotional speech, focusing on a single emotion per text-speech pair. These models only learn the correct emotional outputs without fully comprehending…
Parameter-efficient fine-tuning (PEFT) significantly reduces memory costs when adapting large language models (LLMs) for downstream applications. However, traditional first-order (FO) fine-tuning algorithms incur substantial memory overhead due to the need to store activation values for back-propaga…
General-purpose Vision-Language Models (VLMs) have driven major advancements in multimodal AI. Fine-tuning these models with task-specific data enhances adaptability to various downstream tasks but suffers from privacy risks. While potential solutions like federated learning can address user data pr…
Federated Domain Generalization is aimed at learning a global model that generalizes well to new clients with domain shift in a privacy-preserving manner. Inspired by the powerful generation capability of Large language models (LLMs), we propose a novel method for this problem, named Text-guided Fed…
Large language models (LLMs) have shown remarkable progress in mathematical problem-solving, but evaluation has largely focused on problems that have exact analytical solutions or involve formal proofs, often overlooking approximation-based problems ubiquitous in applied science and engineering. To…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative efficiency, whereas our proposed method uniquely integrates b
Virtual Try-ON (VTON) is a practical and widely-applied task, for which most of existing works focus on clothes. This paper presents OmniTry, a unified framework that extends VTON beyond garment to encompass any wearable objects, e.g., jewelries and accessories, with mask-free setting for more pract…
Automatic evaluation is an integral aspect of dialogue system research. The traditional reference-based NLG metrics are generally found to be unsuitable for dialogue assessment. Consequently, recent studies have suggested various unique, reference-free neural metrics that better align with human eva…
Various audio-LLMs (ALLMs) have been explored recently for tackling different audio tasks simultaneously using a single, unified model. While existing evaluations of ALLMs primarily focus on single-audio tasks, real-world applications often involve processing multiple audio streams simultaneously. T…
Recent advancements in 2D/3D generative techniques have facilitated the generation of dynamic 3D objects from monocular videos. Previous methods mainly rely on the implicit neural radiance fields (NeRF) or explicit Gaussian Splatting as the underlying representation, and struggle to achieve satisfac…
This paper reports the design, simulation, and experiment of a robotic leg prototype named Cury, which has the potential to achieve minimal clearance and excellent backdrivability. Inspired by human walking data, the actuator design incorporates four-bar linkages and ball screws and is further optim…
Deep Neural Networks (DNN) are susceptible to backdoor attacks where malicious attackers manipulate the model's predictions via data poisoning. It is hence imperative to develop a strategy for training a clean model using a potentially poisoned dataset. Previous training-time defense mechanisms typi…
Recurrently refining the optical flow based on a single high-resolution feature demonstrates high performance. We exploit the strength of this strategy to build a novel architecture for the joint learning of optical flow and depth. Our pro-posed architecture is improved to work in the case of traini…
The automatic evaluation of natural language generation (NLG) systems presents a long-lasting challenge. Recent studies have highlighted various neural metrics that align well with human evaluations. Yet, the robustness of these evaluators against adversarial perturbations remains largely under-expl…
Despite much success in natural language processing (NLP), pre-trained language models typically lead to a high computational cost during inference. Multi-exit is a mainstream approach to address this issue by making a trade-off between efficiency and accuracy, where the saving of computation comes…
Since training a deep neural network (DNN) is costly, the well-trained deep models can be regarded as valuable intellectual property (IP) assets. The IP protection associated with deep models has been receiving increasing attentions in recent years. Passport-based method, which replaces normalizatio…
Dialogue summarization is abstractive in nature, making it suffer from factual errors. The factual correctness of summaries has the highest priority before practical applications. Many efforts have been made to improve faithfulness in text summarization. However, there is a lack of systematic study…
Most sentence embedding techniques heavily rely on expensive human-annotated sentence pairs as the supervised signals. Despite the use of large-scale unlabeled data, the performance of unsupervised methods typically lags far behind that of the supervised counterparts in most downstream tasks. In thi…
Recent advances in distributed optimization and learning have shown that communication compression is one of the most effective means of reducing communication. While there have been many results for convergence rates with compressed communication, a lower bound is still missing. Analyses of algori…
While numerous effective decentralized algorithms have been proposed with theoretical guarantees and empirical successes, the performance limits in decentralized optimization, especially the influence of network topology and its associated weight matrix on the optimal convergence rate, have not been…
Communication overhead hinders the scalability of large-scale distributed training. Gossip SGD, where each node averages only with its neighbors, is more communication-efficient than the prevalent parallel SGD. However, its convergence rate is reversely proportional to quantity $1-\beta$ which measu…
Compact convolutional neural networks (CNNs) have witnessed exceptional improvements in performance in recent years. However, they still fail to provide the same predictive power as CNNs with a large number of parameters. The diverse and even abundant features captured by the layers is an important…
The scale of deep learning nowadays calls for efficient distributed training algorithms. Decentralized momentum SGD (DmSGD), in which each node averages only with its neighbors, is more communication efficient than vanilla Parallel momentum SGD that incurs global average across all computing nodes.…
A dialogue is essentially a multi-turn interaction among interlocutors. Effective evaluation metrics should reflect the dynamics of such interaction. Existing automatic metrics are focused very much on the turn-level quality, while ignoring such dynamics. To this end, we propose DynaEval, a unified…
Decentralized SGD is an emerging training method for deep learning known for its much less (thus faster) communication per iteration, which relaxes the averaging step in parallel SGD to inexact averaging. The less exact the averaging is, however, the more the total iterations the training needs to t…
In this work, we propose a novel method for performing inertial aided navigation, by using deep neural net-works (DNNs). To date, most DNN inertial navigation methods focus on the task of inertial odometry, by taking gyroscope and accelerometer readings as input and regressing for integrated IMU pos…
As unlabeled data carry rich task-relevant information, they are proven useful for few-shot learning of language model. The question is how to effectively make use of such data. In this work, we revisit the self-training technique for language model fine-tuning and present a state-of-the-art prompt-…
We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road elements instead of traditional point features, to seek for impr
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular velocity and gravity compensated linear acceleration of a moving pl
For commercially successful ground robots, high degree of autonomy, low manufacturing and maintenance cost, as well as minimized deployment limitations in different environments are essential attributes. To deliver an `anywhere deployable' product, it is impractical to rely on one single sensor or o…
In this paper, we focus on the problem of vision-based localization for ground robotic applications. In recent years, camera only or camera-IMU (inertial measurement unit) based localization methods are widely studied, in terms of theoretical properties, algorithm design, and real-world applications…