86 accepted papers
This paper presents a modular coupled tendon-driven robotic hand that employs a 2 motor 2 degrees-of-freedom (2M2D) coupled tendon driven joint module, in which two motors operate in a coordinated manner to actively drive flexion/extension and abduction/adduction of each finger through four tendons
Scaling test-time compute via long Chain-of-Thought unlocks remarkable gains in reasoning capabilities, yet it faces practical limits due to the linear growth of KV cache and quadratic attention complexity. In this paper, we introduce AccordionThinking, an end-to-end framework where LLMs learn to se…
Cardiac ultrasound diagnosis is critical for cardiovascular disease assessment, but acquiring standard views remains highly operator-dependent. Existing medical segmentation models often yield anatomically inconsistent results in images with poor textural differentiation between distinct feature cla…
Large language models (LLMs) have shown promise as parametric knowledge bases, but often underperform on question answering (QA) tasks due to hallucinations and uncertainty. While prior work attributes these failures to knowledge gaps in the model’s parameters, we uncover a complementary phenomenon:…
Large Audio Language Models (LALMs) excel at perception but struggle with complex reasoning requiring precise acoustic measurements. While external tools can extract fine-grained features like exact tempo or pitch, effective integration remains challenging: naively using all tools causes information…
While Large Vision-Language Models (LVLMs) achieve strong performance in multimodal tasks, hallucinations continue to affect their reliability. Among the three categories of hallucinations, which include object, attribute, and relation, relation hallucinations account for the largest proportion but…
Recent advances demonstrate that multimodal large language models (MLLMs) exhibit strong multimodal in-context learning (ICL) capabilities, enabling them to adapt to novel vision-language tasks from a few contextual examples. However, existing ICL approaches face challenges in reconciling generaliza…
Reinforcement Learning with Verifiable Reward (RLVR) is a powerful method for enhancing the reasoning abilities of Large Language Models, but its full potential is limited by a lack of exploration in two key areas: \textbf{Depth} (the difficulty of problems) and \textbf{Breadth} (the number of train…
Sound effects build an essential layer of multimodal storytelling, shaping the emotional atmosphere and the narrative semantics of videos. Despite recent advancement in video-text-to-audio (VT2A), the current formulation faces three key limitations: (1) an imbalance between visual and textual condit
Auto-regressive (AR) models, initially successful in language generation, have recently shown promise in visual generation tasks due to their superior sampling efficiency. Unlike image generation, video generation requires a substantially larger number of tokens to produce coherent temporal frames,…
Self-supervised Vision Transformers (ViTs) like DINO show an emergent ability to discover objects, typically observed in \texttt [CLS] token attention maps of the final layer. However, these maps often contain spurious activations resulting in poor localization of objects. This is because the \textt
In-context learning (ICL) excels at new tasks from minimal examples, yet we still lack a mechanistic explanation of how few-shot prompts shape a model’s function vector (FV)--a causal activation direction that drives task behavior on the ICL query. Across tasks and models, an $n$-shot FV is well-app…
Harmonious human-robot collaboration requires the robot to behave like a human partner, which raises the critical question of what factors make the robot do so. This paper proposes a series of policies based on empathetic and non-empathetic intent inference, proactive and reactive action planning, a…
Diffusion models generate synthetic images through an iterative refinement process. However, the misalignment between the simulation-free objective and the iterative process often causes accumulated gradient error along the sampling trajectory, which leads to unsatisfactory results and a failure to
In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry, nonlinear biomechanical properties of overlying tissues, and limite…
Link prediction (LP) is a fundamental problem in graph learning and can be broadly categorized into node-based and subgraph-based approaches. While subgraph-based LP methods often achieve superior predictive performance by exploiting localized structural information, they suffer from efficiency bott…
The opioid crisis represents a significant moment in public health that reveals systemic shortcomings across regulatory systems, healthcare practices, corporate governance, and public policy. Analyzing how these interconnected systems simultaneously failed to protect public health requires innovativ
Video LLMs suffer from temporal inconsistency: small shifts in frame timing can flip attention and suppress relevant frames. We trace this instability to the common extension of Rotary Position Embeddings to video through multimodal RoPE. The induced inverse Fourier time kernel exhibits frame-scale
Retrieval-Augmented Generation (RAG) mitigates hallucinations in Large Language Models (LLMs) by integrating external knowledge. However, conflicts between parametric knowledge and retrieved context pose challenges, particularly when retrieved information is unreliable or the model's internal knowle…
Recent advances in reinforcement learning (RL) have significantly improved the complex reasoning capabilities of large language models (LLMs). Despite these successes, existing methods mainly focus on single-domain RL (e.g., mathematics) with verifiable rewards (RLVR), and their reliance on purely o…
Controllable generation is a fundamental task in NLP with many applications, providing a basis for function calling to agentic communication. However, even state-of-the-art autoregressive Large Language Models (LLMs) today exhibit unreliability when required to generate structured output. Inspired b…
Multimodal large language models (MLLMs) have demonstrated remarkable potential in bridging visual and textual reasoning, yet their reliance on text-centric priors often limits their ability to disentangle semantically similar actions in open-vocabulary scenarios. To address this, we propose Video-S…
Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product by experts for fixed settings, which are inherently inflexible to product changes and lack the robustness to handle vari…
Diffusion Language Models (DLMs) have shown strong potential for text generation and are becoming a competitive alternative to autoregressive models. The denoising strategy plays an important role in determining the quality of their outputs. Mainstream denoising strategies include Standard Diffusio…
Deformable object manipulation (DOM) which is a common subtask in various surgical procedures represents an inevitable challenge in robot-assisted surgery (RAS) due to complex nonlinear deformation. This paper proposes a deep reinforcement learning guided adaptive control (RLAC) modelfree framework,
Large language models (LLMs) have achieved significant success in reasoning tasks, including mathematical reasoning and logical deduction. Among these reasoning tasks, graph problems stand out due to their complexity and unique structural characteristics, attracting considerable attention from resea…
The training data in large language models is key to their success, but it also presents privacy and security risks, as it may contain sensitive information. Detecting pre-training data is crucial for mitigating these concerns. Existing methods typically analyze target text in isolation or solely wi…
Reliable responses from large language models (LLMs) require adherence to user instructions and retrieved information. While alignment techniques help LLMs align with human intentions and values, improving context-faithfulness through alignment remains underexplored. To address this, we propose Cont…
Question answering represents a core capability of large language models (LLMs). However, when individuals encounter unfamiliar knowledge in texts, they often formulate questions that the text itself cannot answer due to insufficient understanding of the underlying information. Recent studies reveal…
In recent years, gesture recognition based on data gloves has attracted increasing attention as a human-computer interaction (HCI) method that is natural, convenient, stable, robust, easy to recognize, and applicable to various usage environments. This research first proposes an advanced smart data…
The knowledge within large language models (LLMs) may become outdated quickly. While in-context editing (ICE) is currently the most effective method for knowledge editing (KE), it is constrained by the black-box modeling of LLMs and thus lacks interpretability. Our work aims to elucidate the superio…
Grounding natural language queries in graphical user interfaces (GUIs) poses unique challenges due to the diversity of visual elements, spatial clutter, and the ambiguity of language. In this paper, we introduce DiMo-GUI, a training-free framework for GUI grounding that leverages two core strategies
Molecule generation is key to drug discovery and materials science, enabling the design of novel compounds with specific properties. Large language models (LLMs) can learn to perform a wide range of tasks from just a few examples. However, generating valid molecules using representations like SMILES
As the modern tools of choice for text understanding and generation, large language models (LLMs) are expected to accurately output answers by leveraging the input context. This requires LLMs to possess both context-faithfulness and factual accuracy. While extensive efforts aim to reduce hallucinati…
Surgical procedures are inherently complex and dynamic, with intricate dependencies and various execution paths. Accurate identification of the intentions behind critical actions, referred to as Primary Intentions (PIs), is crucial to understanding and planning the procedure. This paper presents a n
Chart generation aims to generate code to produce charts satisfying the desired visual properties, e.g., texts, layout, color, and type. It has great potential to empower the automatic professional report generation in financial analysis, research presentation, education, and healthcare. In this wor…
Large language models (LLMs) can give out erroneous answers to factually rooted questions either as a result of undesired training outcomes or simply because the world has moved on after a certain knowledge cutoff date. Under such scenarios, *knowledge editing* often comes to the rescue by deliverin…
Large Vision-Language Models (LVLMs) have shown strong performance across multimodal tasks. However, they often produce hallucinations—text that is inconsistent with visual input, due to the limited ability to verify information in different regions of the image. To address this, we propose **Multi-
In the realm of large vision-language models (LVLMs), adversarial jailbreak attacks serve as a red-teaming approach to identify safety vulnerabilities of these models and their associated defense mechanisms. However, we identify a critical limitation: not every adversarial optimization step leads to
Recent advances in test-time scaling have enabled Large Language Models (LLMs) to display sophisticated reasoning abilities via extended Chain-of-Thought (CoT) generation. Despite their impressive reasoning abilities, Large Reasoning Models (LRMs) frequently display unstable behaviors, e.g., halluci
In this paper, we identify a critical problem, “lost-in-retrieval”, in retrieval-augmented multi-hop question answering (QA): the key entities are missed in LLMs’ sub-question decomposition. “Lost-in-retrieval” significantly degrades the retrieval performance, which disrupts the reasoning chain and…
Large language models (LLMs) have exhibited their problem-solving abilities in mathematical reasoning. Solving realistic optimization (OPT) problems in application scenarios requires advanced and applied mathematics ability. However, current OPT benchmarks that merely solve linear programming are fa…
Large Language Models (LLMs) have revolutionized various natural language processing tasks with their remarkable capabilities. However, challenges persist in effectively integrating new knowledge into LLMs without compromising their performance, particularly in the Large Language Models (LLMs) have…
The inherent flexibility and real-time deformation of breast tissue pose significant challenges for achieving full coverage and accurate lesion localization in autonomous breast ultrasound scanning. This paper introduces a robust finite state machine-based framework that mimics the decision-making p
Vision-language models (VLMs) excel in semantic tasks but falter at a core human capability: detecting hidden content in optical illusions or AI-generated images through perceptual adjustments like zooming. We introduce HC-Bench, a benchmark of 112 images with hidden texts, objects, and illusions, r
Accurate assessment of guidewire shape and contact forces is critical for autonomous robotic endovascular procedures. However, existing sensor-based approaches often require modifications to standard guidewires or the use of custom-made alternatives, which can hinder integration into conventional su
Retrieval-augmented generation (RAG) systems enhance large language models by incorporating external knowledge, addressing issues like outdated internal knowledge and hallucination. However, their reliance on external knowledge bases makes them vulnerable to corpus poisoning attacks, where adversari…
Multimodal large language models (MLLMs) have enabled GUI agents to interact with operating systems by grounding language into spatial actions. Despite their promising performance, these models frequently exhibit hallucinations—systematic localization errors that compromise reliability. We propose a
Vertical text input is commonly encountered in various real-world applications, such as mathematical computations and word-based Sudoku puzzles. While current large language models (LLMs) have excelled in natural language tasks, they remain vulnerable to variations in text formatting.Recent research…
Previous research on jailbreak attacks has mainly focused on optimizing the adversarial snippet content injected into input prompts to expose LLM security vulnerabilities. A significant portion of this research focuses on developing more complex, less readable adversarial snippets that can achieve h…
Prompt trading has emerged as a significant intellectual property concern in recent years, where vendors entice users by showcasing sample images before selling prompt templates that can generate similar images. This work investigates a critical security vulnerability: attackers can steal prompt tem…
Multimodal Retrieval-Augmented Generation (RAG) systems have become essential in knowledge-intensive and open-domain tasks. As retrieval complexity increases, ensuring the robustness of these systems is critical. However, current RAG models are highly sensitive to the order in which evidence is pres
“Jailbreak” is a major safety concern of Large Language Models (LLMs), which occurs when malicious prompts lead LLMs to produce harmful outputs, raising issues about the reliability and safety of LLMs. Therefore, an effective evaluation of jailbreaks is very crucial to develop its mitigation strateg…
Service robots need robot hands that are versatile to grasp various objects while being lightweight to ensure robot mobility, minimize power consumption, and prioritize safety. In this paper, we propose a robot hand capable of adjusting the length of its fingers using a tendon-driven telescopic mech
The parametric knowledge memorized by large language models (LLMs) becomes outdated quickly. In-context editing (ICE) is currently the most effective method for updating the knowledge of LLMs. Recent advancements involve enhancing ICE by modifying the decoding strategy, obviating the need for alteri…
Large Language Models prompting, such as using in-context demonstrations, is a mainstream technique for invoking LLMs to perform high-performance and solid complex reasoning (e.g., mathematical reasoning, commonsense reasoning), and has the potential for further human-machine collaborative scientifi…
This paper investigates the capability of LLMs on controllable generation with prompt-based controlling, focusing on Lexically Constrained Generation (LCG). We systematically evaluate the performance of LLMs on satisfying lexical constraints with prompt-based controlling, as well as their efficacy i…
Graph Neural Networks (GNNs) have shown superior performance in node classification. However, GNNs perform poorly in the Few-Shot Node Classification (FSNC) task that requires robust generalization to make accurate predictions for unseen classes with limited labels. To tackle the challenge, we propo…
Accurate anatomical landmark tracking is crucial yet challenging in laparoscopic surgery due to the changing appearance of landmarks during dynamic tool-anatomy interactions and visual domain shifts between cases. Unlike appearance-based detection methods, this work proposes a novel graph-based appr
Path planning is a fundamental scientific problem in robotics and autonomous navigation, requiring the derivation of efficient routes from starting to destination points while avoiding obstacles. Traditional algorithms like A* and its variants are capable of ensuring path validity but suffer from si…
Exploring the application of large language models (LLMs) to graph learning is an emerging endeavor. However, the vast amount of information inherent in large graphs poses significant challenges to graph learning with LLMs. This work focuses on the link prediction task and introduces **LPNL** (Link…
The dynamic nature of language, particularly evident in the realm of slang and memes on the Internet, poses serious challenges to the adaptability of Large Language Models (LLMs). Traditionally anchored to static datasets, these models often struggle to keep up with the rapid linguistic evolution ch…
Graph Neural Networks (GNNs) have become the de facto standard for modeling graph-structured data in various applications. Among them, implicit GNNs have shown a superior ability to effectively capture long-range dependencies in underlying graphs. However, implicit GNNs tend to be computationally ex…
In minimally invasive endovascular interventional surgery, guidewire navigation is an indispensable process. However, even experienced physicians often encounter difficulties in manually manipulating the guidewire for branch selection, while also facing the risk of radiation exposure. In this study,…
Entity bias widely affects pretrained (large) language models, causing them to rely on (biased) parametric knowledge to make unfaithful predictions. Although causality-inspired methods have shown great potential to mitigate entity bias, it is hard to precisely estimate the parameters of underlying c…
Air pollution is a crucial issue affecting human health and livelihoods, as well as one of the barriers to economic growth. Forecasting air quality has become an increasingly important endeavor with significant social impacts, especially in emerging countries. In this paper, we present a novel Trans…
Road traffic forecasting plays a critical role in smart city initiatives and has experienced significant advancements thanks to the power of deep learning in capturing non-linear patterns of traffic data. However, the promising results achieved on current public datasets may not be applicable to pra…
Cropland segmentation of satellite images is an essential basis for crop area and yield estimation tasks in the remote sensing and computer vision interdisciplinary community. Instead of common pixel-level segmentation results with salt-and-pepper effects, a parcel-level output conforming to human r…
Instruction-tuned large language models (LLMs), such as ChatGPT, have led to promising zero-shot performance in discriminative natural language understanding (NLU) tasks. This involves querying the LLM using a prompt containing the question, and the candidate labels to choose from. The question-answ…
Robot-Assisted Minimally Invasive Surgery (RAMIS), which introduced robot-actuated invasive tools to increase the dexterity and efficiency of traditional MIS, has become popular. Investigations on how to achieve autonomy in RAMIS have drawn vast intention recently, which urges further insights into…
The automated laparoscope control can ensure the stability of the laparoscopic image and enhance the performance of surgeons during surgical operations. The letter presented a method that autonomously adjusted the laparoscope pose to obtain the optimal field of view (FOV). An optimization problem wa
As humans and robots start to collaborate in close proximity, robots are tasked to perceive, comprehend, and anticipate human partners' actions, which demands a predictive model to describe how humans collaborate with each other in joint actions. Previous studies either simplify the collaborative ta…
We study dangling-aware entity alignment in knowledge graphs (KGs), which is an underexplored but important problem. As different KGs are naturally constructed by different sets of entities, a KG commonly contains some dangling entities that cannot find counterparts in other KGs. Therefore, dangling…
Entity types and textual context are essential properties for sentence-level relation extraction (RE). Existing work only encodes these properties within individual instances, which limits the performance of RE given the insufficient features in a single sentence. In contrast, we model these propert…
Recent literature focuses on utilizing the entity information in the sentence-level relation extraction (RE), but this risks leaking superficial and spurious clues of relations. As a result, RE still suffers from unintended entity bias, i.e., the spurious correlation between entity mentions (names)…
We present a unified and flexible framework to address the generalized problem of 3D motion synthesis that covers the tasks of motion prediction, completion, interpolation, and spatial-temporal recovery. Since these tasks have different input constraints and various fidelity and diversity requiremen…
Temporal Graph Networks (TGNs) are powerful on modeling temporal graph data based on their increased complexity. Higher complexity carries with it a higher risk of overfitting, which makes TGNs capture random noise instead of essential semantic information. To address this issue, our idea is to tran…
This paper proposes a coupled tendon-driven waist joint for humanoid robots. The waist joint was designed as a 3 degrees of freedom (DOF) structure to simulate the motion of a human waist. The power transmission was designed by adopting a 3-motor 3-DOF (3M3D) coupled tendon-driven mechanism, so that…
In this study, a new humanoid shoulder is developed using a coupled tendon-driven mechanism that consists of three motors to drive three degrees of freedom (DoFs). In the coupled tendon-driven mechanism, multiple motors simultaneously drive multiple joints with each joint driven by at least two moto
Graph neural networks (GNNs) are widely used for modelling graph-structured data in numerous applications. However, with their inherently finite aggregation layers, existing GNN models may not be able to effectively capture long-range dependencies in the underlying graphs. Motivated by this limitati…
Mammographic mass detection is an integral part of a computer-aided diagnosis system. Annotating a large number of mammograms at pixel-level in order to train a mass detection model in a fully supervised fashion is costly and time-consuming. This paper presents a novel self-training framework for se…
Recent advances in location-acquisition techniques have generated massive spatial trajectory data. Recurrent Neural Networks (RNNs) are modern tools for modeling such trajectory data. After revisiting RNN-based methods for trajectory modeling, we expose two common critical drawbacks in the existing…
Despite the great progress in human motion prediction, it remains a challenging task due to the complicated structural dynamics of human behaviors. In this paper, we address this problem in three aspects. First, to capture the long-range spatial correlations and temporal dependencies, we apply a tra…
While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a two-player game, we propose model predictive control based o…
In this paper, we propose super-pixel based finger earth mover's distance (SPFEMD) for hand gesture recognition. For finger representation, we design SPFEMD for similarity measurement between fingers and hand gestures, and use it as the distance metric for hand gesture recognition. First, we extract…
In this letter, we propose that the joint motion of a human worker doing repetitive work could be predicted using a time series model. With a motion capture system, the elbow joint rotation data are collected and used to fit an autoregressive model. An online parameter adaptation algorithm is employ