84 accepted papers
Achieving spatial intelligence requires moving beyond visual plausibility to build world simulators grounded in physical laws. While coding LLMs have advanced static 3D scene generation, extending this paradigm to 4D dynamics remains a critical frontier. This task presents two fundamental challenges…
Visual concept composition, which aims to integrate different elements from images and videos into a single, coherent visual output, still falls short in accurately extracting complex concepts from visual inputs and flexibly combining concepts from both images and videos. We introduce Bind & Compose
Visual attribute imbalance is a common yet underexplored issue in image classification, significantly impacting model performance and generalization. In this work, we first define the first-level and second-level attributes of images and then introduce a CLIP-based framework to construct a visual at
Deep learning-based image watermarking, while robust against conventional distortions, remains vulnerable to advanced adversarial and regeneration attacks. Conventional countermeasures, which jointly optimize the encoder and decoder via a noise layer, face 2 inevitable challenges:(1) decrease of cle
Agentic reinforcement learning (RL) for web search is prohibitively expensive due to long context lengths and costly environment interactions, and this inefficiency is further exacerbated by GRPO-based optimization, which discards learning signals from entire rollout groups with zero reward variance…
The ability to use tools is fundamental for large language model (LLM) agents. Given a task, existing systems use LLMs to plan and generate tool calls, which are executed by real-world tools to complete the task. However, tool calls are prone to errors because they are derived merely from LLM intrin…
Energy-based predictive world models provide a powerful approach for multi-step visual planning by reasoning over latent energy landscapes rather than generating pixels. However, existing approaches face two major challenges: (i) their latent representations are typically learned in Euclidean space,
Robots operating in everyday environments must understand fine-grained human actions, intentions, and contextual cues from broad views where people occupy only small regions, a capability unmet by current systems. While open-vocabulary action recognition methods remain limited to assigning predefine…
Centralized multimodal learning commonly compresses language, acoustic, and visual signals into a single fused representation for prediction. While effective, this paradigm suffers from two limitations: modality dominance, where optimization gravitates towards the path of least resistance, ignoring …
Content-aware streaming requires dynamic, chunk-level importance weights to optimize subjective quality of experience (QoE). However, direct human annotation is prohibitively expensive while vision-saliency models generalize poorly. We introduce HiVid, the first framework to leverage Large Language…
Recent advances in multimodal large language models (MLLMs) have led to impressive progress across various benchmarks. However, their capability in understanding infrared images remains unexplored. To address this gap, we introduce **IF-Bench**, the first high-quality benchmark designed for evaluati
Operating Unmanned Aerial Vehicles (UAVs) remains challenging for non-experts because single-modality interfaces distort intent: gesture-only systems depend on discrete vocabularies and mode switches that break continuity and raise cognitive load, while gaze-only control offers limited dimensionalit…
We propose M3Bench, a new benchmark for whole-body motion generation in mobile manipulation tasks. Given a 3D scene context, M3Bench requires an embodied agent to reason about its configuration, environmental constraints, and task objectives to generate coordinated whole-body motion trajectories for…
Large Vision-Language Models (LVLMs) have recently advanced robotic manipulation by leveraging vision for scene perception and language for instruction following. However, existing methods rely heavily on costly human-annotated training datasets, which limits their generalization and causes them to
The creation of high-fidelity, physically-based rendering (PBR) materials remains a bottleneck in many graphics pipelines, typically requiring specialized equipment and expert-driven post-processing. To democratize this process, we present MatE, a novel method for generating tileable PBR materials f
Tool learning is increasingly important for large language models (LLMs) to effectively coordinate and utilize a diverse set of tools in order to solve complex real-world tasks. By selecting and integrating appropriate tools, LLMs extend their capabilities beyond pure language understanding to perfo…
Text-to-Motion generation has become a fundamental task in human-machine interaction, enabling the synthesis of realistic human motions from natural language descriptions. Although recent advances in large language models and reinforcement learning have contributed to high-quality motion generation,…
This position paper argues that reinforcement learning (RL) should be used to *adjust* foundation models after pretraining and cold-start supervision, not *abused* as a default recipe for capability creation or early-stage training. We view RL as a high-cost, high-leverage post-training operator tha…
Prompt optimization and fine-tuning are two major approaches to improve the performance of Large Language Models (LLMs). They enhance the capabilities of LLMs from complementary perspectives: the former through explicit natural language, and the latter through implicit parameter updates. However, p…
Active domain adaptation (ADA) aims to select a small set of target samples for annotation and use them for training to maximally boost the adaptation performance. However, most existing ADA methods only rely on the original output of the model, without considering the relationship between the sourc
Existing Incremental Learning (IL) methods are primarily evaluated under either a single-domain class-incremental setting, or a multi-domain task-incremental setting with known task identifiers. However, these assumptions often fail to hold in real-world applications. To bridge this gap, we introduc
Underwater stereo depth estimation provides accurate 3D geometry for robotics tasks such as navigation, inspection, and mapping, offering metric depth from low-cost passive cameras while avoiding the scale ambiguity of monocular methods. However, existing approaches face two critical challenges: (i)…
Large Language Models (LLMs) demonstrate remarkable capabilities but face deployment challenges due to their high computational demands. Traditional pruning methods reduce these costs by permanently removing parameters, which inevitably leads to performance degradation. To mitigate this issue, we pr…
Vision Transformer (ViT) has become one of the cornerstones of the computer vision field, demonstrating exceptional performance. However, its inherent high computational complexity and inference latency still pose significant obstacles for deployment in resource-constrained environments. Token pruni
Vision-Language Models (VLMs) have achieved significant progress in multimodal understanding tasks, demonstrating strong capabilities particularly in general tasks such as image captioning and visual reasoning. However, when dealing with specialized cultural heritage domains like 3D vase artifacts,…
Recent video foundation models demonstrate impressive visual synthesis but frequently suffer from geometric inconsistencies. While existing methods attempt to inject 3D priors via architectural modifications, they often incur high computational costs and limit scalability. We propose World-R1, a fra…
Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. However, the spatial and temporal misalignment between foot-end motion derived from forward kinematics and foot IMU measureme
The Transformer model has been increasingly applied across various domains, driven by the self-attention mechanism, which offers robust data processing capabilities and has substantially contributed to the advancement of the model. In the self-attention mechanism, three core matrices from the same d
Current Large Language Models (LLMs) are confronted with overwhelming information volume when comprehending long-form documents. This challenge raises the imperative of a cohesive memory module, which can elevate vanilla LLMs into autonomous reading agents. Despite the emergence of some heuristic ap…
Autonomous robot navigation and manipulation in open environments require reasoning and replanning with closed-loop feedback. In this work, we present COME-robot, the first closed-loop robotic system utilizing the GPT-4V vision-language foundation model for open-ended reasoning and adaptive planning
LLMs have emerged as powerful evaluators in the LLM-as-a-Judge paradigm, offering significant efficiency and flexibility compared to human judgments. However, previous methods primarily rely on single-point evaluations, overlooking the inherent diversity and uncertainty in human evaluations. This ap…
Being able to effectively read scientific plots, or chart understanding, is a central part toward building effective agents for science. However, existing multimodal large language models (MLLMs), especially open-source ones, are still falling behind with a typical success rate of 30%-50% on challen…
Low-rank decomposition has emerged as a vital tool for enhancing parameter efficiency in neural network architectures, gaining traction across diverse applications in machine learning. These techniques significantly lower the number of parameters, striking a balance between compactness and performan…
Diffusion generative models have become the standard for producing high-quality, coherent video content, yet their slow inference speeds and high computational demands hinder practical deployment. Although both quantization and sparsity can independently accelerate inference while maintaining genera…
Diffusion models have recently advanced 3D human motion generation by producing smoother and more realistic sequences from natural language. However, existing approaches face two major challenges: high computational cost during training and inference, and limited scalability due to reliance on U-Net…
Existing household robots have made significant progress in performing routine tasks, such as cleaning floors or delivering objects. However, a key limitation of these robots is their inability to recognize potential problems or dangers in home environments. For example, a child may pick up and inge…
Flapping-wing robots exhibit numerous advantages in flight performance, which mimic the natural flight of birds or insects. However, autonomous takeoff remains a significant challenge for large-sized bird-like flapping-wing robots. To address this challenge, we design a jumping mechanism based on a
With the rapid expansion of content on social media platforms, analyzing and comprehending online discourse has become increasingly complex. This paper introduces LLMTaxo, a novel framework leveraging large language models for the automated construction of taxonomies of factual claims from social me…
Although Large Language Models (LLMs) excel in reasoning and generation for language tasks, they are not specifically designed for multimodal challenges. Training Multimodal Large Language Models (MLLMs), however, is resource-intensive and constrained by various training limitations. In this paper,…
We propose M <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">${}^{3}$</tex-math></inline-formula> Bench, a new benchmark for whole-body motion generation in mobile manipulation tasks. Given a 3D scene context, M <in
Recent works have highlighted the significance of memory mechanisms in LLM-based agents, which enable them to store observed information and adapt to dynamic environments. However, evaluating their memory capabilities still remains challenges. Previous evaluations are commonly limited by the diversi…
LLM-based agents have been widely applied as personal assistants, capable of memorizing information from user messages and responding to personal queries. However, there still lacks an objective and automatic evaluation on their memory capability, largely due to the challenges in constructing reliab…
Although foundation models (FMs) claim to be powerful, their generalization ability significantly decreases when faced with distribution shifts, weak supervision, or malicious attacks in the open world. On the other hand, most domain generalization or adversarial fine-tuning methods are task-related…
Large Language Model (LLM)-based multi-agent systems show promise for automating real-world tasks but struggle to transfer across domains due to their domain-specific nature. Current approaches face two critical shortcomings: they require complete architectural redesign and full retraining of all co…
With the rapid advancement of object-based video inpainting and splicing tampering techniques, the dissemination of malicious videos on the internet poses significant risks. Existing localization methods, however, exhibit limitations such as restriction to specific datasets, limited performance in d…
Social media provides a valuable lens for assessing public perceptions and opinions. This paper focuses on the concept of truthfulness stance, which evaluates whether a textual utterance affirms, disputes, or remains neutral or indifferent toward a factual claim. Our systematic analysis fills a gap…
We introduce a novel Question Answering (QA) architecture that enhances answer selection by retrieving targeted supporting evidence. Unlike traditional methods, which retrieve documents or passages relevant only to a query q , our approach retrieves content relevant to the combined pair (q, a) , exp
Signed Graph Neural Networks (SGNNs) have been shown to be effective in analyzing complex patterns in real-world situations where positive and negative links coexist. However, SGNN models suffer from poor explainability, which limit their adoptions in critical scenarios that require understanding th…
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arrays. This paper proposes SuperMag, a tactile shape reconstruction method that addresses this limitation by leveraging hi
We introduce TRiCo, a novel triadic game-theoretic co-training framework that rethinks the structure of semi-supervised learning by incorporating a teacher, two students, and an adversarial generator into a unified training paradigm. Unlike existing co-training or teacher-student approaches, TRiCo f…
Trending topics have become a significant part of modern social media, attracting users to participate in discussions of breaking events. However, they also bring in a new channel for poisoning attacks, resulting in negative impacts on society. Therefore, it is urgent to study this critical problem…
Large-scale pre-training technology has achieved remarkable performance in diversified object re-identification (Re-ID) downstream tasks. Nevertheless, to our best knowledge, the pre-training model specifically for vehicle Re-ID, which focuses on tackling the challenge of multi-view variations, has…
Feed-forward 3D Gaussian Splatting (3DGS) models have recently emerged as a promising solution for novel view synthesis, enabling one-pass inference without the need for per-scene 3DGS optimization. However, their scalability is fundamentally constrained by the limited capacity of their encoders, le…
Current techniques for deep neural network (DNN) pruning often involve intricate multi-step processes that require domain-specific expertise making their widespread adoption challenging. To address the limitation the Only-Train-Once (OTO) and OTOv2 are proposed to eliminate the need for additional f…
Neural network pruning particularly channel pruning is a widely used technique for compressing deep learning models to enable their deployment on edge devices with limited resources. Typically redundant weights or structures are removed to achieve the target resource budget. Although data-driven pru…
Signed graphs can model friendly or antagonistic relations where edges are annotated with a positive or negative sign. The main downstream task in signed graph analysis is $\textit{link sign prediction}$. Signed Graph Neural Networks (SGNNs) have been widely used for signed graph representation lear…
Learnersourcing offers great potential for scalable education through student content creation. However, predicting student performance on learnersourced questions, which is essential for personalizing the learning experience, is challenging due to the inherent noise in student-generated data. Moreo…
Many methods of Directed Graph Neural Networks (DGNNs) are designed to equally treat nodes in the same neighbor set (i.e., out-neighbor set and in-neighbor set) for every node, without considering the node diversity in directed graphs, so they are often unavailable to adaptively acquire suitable inf…
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, into an over-actuated flight structure with improved dynamic properties. Previous research efforts either utilized expert…
Recent advances in knowledge graph embedding (KGE) rely on Euclidean/hyperbolic orthogonal relation transformations to model intrinsic logical patterns and topological structures. However, existing approaches are confined to rigid relational orthogonalization with restricted dimension and homogeneou…
Geocoding is the task of converting location mentions in text into structured geospatial data.We propose a new prompt-based paradigm for geocoding, where the machine learning algorithm encodes only the location mention and its context.We design a transformer network for predicting the country, state…
Conventional Task and Motion Planning (TAMP) approaches rely on manually designed interfaces connecting symbolic task planning with continuous motion generation. These domain-specific and labor-intensive modules are limited in addressing emerging tasks in real-world settings. Here, we present LLM3,…
"Human motion generation stands as a significant pursuit in generative computer vision, while achieving long-sequence and efficient motion generation remains challenging. Recent advancements in state space models (SSMs), notably Mamba, have showcased considerable promise in long sequence modeling wi…
Active domain adaptation (ADA) aims to label a small portion of target samples to drastically improve the adaptation performance. The existing ADA methods mostly rely on the output of domain discriminator or the original prediction probability to design sample selection strategies and do not fully e…
Benefiting from the powerful language expression and planning capabilities of Large Language Models (LLMs), LLM-based autonomous agents have achieved promising performance in various downstream tasks. Recently, based on the development of single-agent systems, researchers propose to construct LLM-ba…
For addressing the data privacy and portability issues of domain adaptation, Domain Adaptation of Black-box Predictors (DABP) aims to adapt a black-box source model to an unlabeled target domain without accessing both the source-domain data and details of the source model. Although existing DABP app…
This paper studies the problem of active causal discovery when the experiments can be done based on multi-fidelity oracles, where higher fidelity experiments are more precise and expensive, while the lower ones are cheaper but less accurate. In this paper, we formally define the task of multi-fideli…
In generating natural language descriptions for knowledge graph triples, prior works used either small-scale, human-annotated datasets or datasets with limited variety of graph shapes, e.g., those having mostly star graphs. Graph-to-text models trained and evaluated on such datasets are largely not…
Cutting objects into desired fragments is challenging for robots due to the spatially unstructured nature of fragments and the complex one-to-many object fragmentation caused by actions. We present a novel approach to model object fragmentation using an attributed stochastic grammar. This grammar ab…
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved from a limited database, resulting in significant discrepancies between the reconstructed and observed scenes. To address this issue, our work introduces a part-level r…
Large scale field-phenotyping approaches have the potential to solve important questions about the relationship of plant genotype to plant phenotype. Computational approaches to measuring the phenotype (the observable plant features) are required to address the problem at a large scale, but machine…
In this paper, we propose a novel channel pruning method to reduce the computational and storage costs of Convolutional Neural Networks (CNNs). Many existing one-shot pruning methods directly remove redundant structures, which brings a huge gap between the model before and after network pruning. Thi…
Unsupervised/self-supervised graph neural networks (GNN) are susceptible to the inherent randomness in the input graph data, which adversely affects the model's performance in downstream tasks. In this paper, we propose USER, an unsupervised and robust version of GNN based on structural entropy, to…
Off-policy Learning to Rank (LTR) aims to optimize a ranker from data collected by a deployed logging policy. However, existing off-policy learning to rank methods often make strong assumptions about how users generate the click data, i.e., the click model, and hence need to tailor their methods spe…
Intuitive physics is pivotal for human understanding of the physical world, enabling prediction and interpretation of events even in infancy. Nonetheless, replicating this level of intuitive physics in artificial intelligence (AI) remains a formidable challenge. This study introduces X-VoE, a compre…
We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric information and valid robot-scene interactions. Goal conf…
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. Leveraging a Finite Element Method (FEM)-based simulator that reproduces fine-grained, continuous visual and physical eff
We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be manipulated in mobile manipulations. Accordingly, a mobile manipulation task is represented by altering the state of the constructed VKC, which can be converted to…
We present a Virtual Kinematic Chain (VKC) perspective, a simple yet effective method, to improve task planning efficacy for mobile manipulation. By consolidating the kinematics of the mobile base, the arm, and the object being manipulated collectively as a whole, this novel VKC perspective naturall…
This paper studies joint models for selecting correct answer sentences among the top k provided by answer sentence selection (AS2) modules, which are core components of retrieval-based Question Answering (QA) systems. Our work shows that a critical step to effectively exploiting an answer set regard…
In this paper, we rethink the problem of scene reconstruction from an embodied agent’s perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such that the reconstructed scenes provide actionable information…
We present a congestion-aware routing solution for indoor evacuation, which produces real-time individual-customized evacuation routes among multiple destinations while keeping tracks of all evacuees’ locations. A population density map, obtained on-the-fly by aggregating locations of evacuees from…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables a shared perception, so that a physical robot not only perce…
This paper presents an incremental learning framework for mobile robots localizing the human sound source using a microphone array in a complex indoor environment consisting of multiple rooms. In contrast to conventional approaches that leverage direction-of-arrival (DOA) estimation, the framework a…