14 accepted papers
Soft robots enable compliant interaction with humans and the environment. However, their widespread deployment is constrained by significant challenges, including limited mobility and the inherent complexity of incorporating power and control systems into their bodies. In this paper, we present a fu
We tackle the task of long-form music generation, particularly the challenging \textbf{lyrics-to-song} problem, by introducing \textbf{YuE (乐)}, a family of open-source music generation foundation models. Specifically, YuE scales to trillions of tokens and generates up to five minutes of music while…
Remarkable progress on large language models (LLMs), particularly in English, has facilitated impressive capabilities in following human instructions. However, there remains a noticeable gap in instruction fine-tuning for Chinese, where the complex linguistic features pose significant challenges. Ex…
As the capabilities of Multimodal Large Language Models (MLLMs) improve, the need for higher-order evaluation of them is increasing. However, there is a lack of work evaluating MLLM for higher-order perception and understanding of Chinese visual content. To address this, we introduce the CII-Bench,…
We present Hierarchical Motion Representation (HiMoR), a novel deformation representation for 3D Gaussian primitives capable of achieving high-quality monocular dynamic 3D reconstruction. The insight behind HiMoR is that motions in everyday scenes can be decomposed into coarser motions that serve as…
In this paper, we explore the application of Large Language Models (LLMs) to the pre-training of music. While the prevalent use of MIDI in music modeling is well-established, our findings suggest that LLMs are inherently more compatible with ABC Notation, which aligns more closely with their design…
Recent advancements in multimodal large language models (MLLMs) have focused on integrating multiple modalities, yet their ability to simultaneously process and reason across different inputs remains underexplored. We introduce OmniBench, a novel benchmark designed to evaluate models’ ability to rec…
While LLM/VLM-powered AI agents have advanced rapidly in math, coding, and computer use, their applications in complex physical and social environments remain challenging. Building agents that can survive and thrive in the real world (e.g., by autonomously earning income) requires massive-scale inte…
Large language models (LLMs) have demonstrated remarkable proficiency in mainstream academic disciplines such as mathematics, physics, and computer science. However, human knowledge encompasses over 200 specialized disciplines, far exceeding the scope of existing benchmarks. The capabilities of LLMs…
The advancement of large language models (LLMs) has enhanced the ability to generalize across a wide range of unseen natural language processing (NLP) tasks through instruction-following.Yet, their effectiveness often diminishes in low-resource languages like Chinese, exacerbated by biased evaluatio…
While LLMs demonstrate impressive capabilities in musical knowledge, we find that music reasoning is still an unsolved task.We introduce ChatMusician, an open-source large language model (LLM) that integrates intrinsic musical abilities. It is based on continual pre-training and finetuning LLaMA2 on…
Multi-modal information retrieval (MMIR) is a rapidly evolving field where significant progress has been made through advanced representation learning and cross-modality alignment research, particularly in image-text pairing.However, current benchmarks for evaluating MMIR performance on image-text p…
In this work, we present a visual-inertial-pressure (VIP) fusion method for underwater robot localization. Specifically, this letter focuses on the tightly-coupled fusion of pressure measurements into a visual inertial odometry (VIO) based on sliding window optimization. Previous works used to assoc
The motion of underwater robot is usually slow, which leads to large scale error easily introduced in the positioning method based on monocular Visual Inertial Odometry (VIO). To solve the above problem, we present a positioning method based on visual-pressure fusion in this letter. Firstly, it is p