55 accepted papers
TD($\lambda$) in value-based MARL algorithms or the Temporal Difference critic learning in Actor-Critic-based (AC-based) algorithms synergistically integrate elements from Monte-Carlo simulation and Q function bootstrapping via dynamic programming, which effectively addresses the inherent bias-varia
Missing critical modalities in medical imaging poses significant challenges for AI-driven diagnostic systems, particularly in scenarios where limited modalities must suffice for downstream tasks. Existing approaches often fail to fully leverage privileged features available only at training or addre
Unlike standard camera that relies on exposure to obtain output frame by frame, event camera only output an event when the change of brightness intensity in a pixel exceed a threshold, and the outputs of different pixels are independent to each other. Benefited from its bio-inspired design, event ca…
We introduce FrontierCS, a benchmark of 240 open-ended problems across diverse areas of computer science, designed and reviewed by experts, including CS PhDs and top-tier competitive programming participants and problem setters. Unlike existing benchmarks that focus on tasks with known optimal solut…
Large language models excel with reinforcement learning (RL), but fully unlocking this potential requires a mid-training stage. Intuitively, an effective mid-training stage should both learn a strong policy prior and enable fast learning through online interactions. We formalize this intuition by pr…
Unified multimodal Large Language Models (LLMs) that can both understand and generate visual content hold immense potential. However, existing open-source models often suffer from a performance trade-off between these capabilities. We present Manzano, a simple and scalable unified framework that sub…
The MCP standardizes how LLMs interact with external systems, forming the foundation for general agents. However, existing MCP benchmarks remain narrow in scope: they focus on read-heavy tasks or tasks with limited interaction depth, and fail to capture the complexity and realism of real-world workf…
Test-Time Adaptation (TTA) aims to adapt pretrained models to unseen test data, which is crucial for resource-constrained edge devices that must handle distribution shifts on the fly without human supervision. However, conventional TTA methods often fail in realistic scenarios characterized by conti
This paper provides a simplification on OpenVision's architecture and loss design for enhancing its training efficiency. Following the prior vision-language pretraining works CapPa and AIMv2, as well as modern multimodal designs like LLaVA, our changes are straightforward: we remove the text encoder
Large Vision-Language Models (LVLMs) are foundational to modern multimodal applications, yet their susceptibility to adversarial attacks remains a critical concern. Prior white-box attacks rarely generalize across tasks, and black-box methods depend on expensive transfer, which limits efficiency. Th
This paper introduces **Story-Iter**, a new training-free iterative paradigm to enhance long-story generation. Unlike existing methods that rely on fixed reference images to construct a complete story, our approach features a novel external **iterative paradigm**, extending beyond the internal itera…
We present **THEMIS**, a novel multi-task benchmark designed to comprehensively evaluate Multimodal Large Language Models (MLLMs) on visual fraud reasoning within real-world academic scenarios. Compared to existing benchmarks, THEMIS introduces three major advancements. (1) **Real-world Scenarios &…
Achieving generalizable whole-body motion control is essential for deploying humanoid robots in real-world environments. However, existing MLP-based policies trained under partial observations often suffer from limited expressiveness and struggle to maintain global consistency. These shortcomings ma
Large Vision-Language Models (LVLMs) have demonstrated capabilities in multimodal understanding, yet their vulnerability to adversarial attacks raises significant concerns. To achieve practical attacking, this paper aims at efficient and transferable untargeted attacks under limited perturbation siz…
Traversing risky terrains with sparse footholds poses a significant challenge for humanoid robots, requiring precise foot placements and stable locomotion. Existing approaches designed for quadrupedal robots often fail to generalize to humanoid robots due to differences in foot geometry and unstable…
Humans and traditional computer vision methods rely on a diverse set of monocular cues to infer 3D structure from a single image, such as shading, texture, silhouette, etc. While recent deep generative models have dramatically advanced single-image 3D generation, it remains unclear which image cues…
Synthetic data has recently proven effective in enhancing the accuracy of Text-to-SQL parsers. However, existing methods generate SQL queries first by randomly sampling tables and columns based on probability and then synthesize natural language questions (NLQs). This approach often produces a large…
Infrared imaging is essential for autonomous driving and robotic operations as a supportive modality due to its reliable performance in challenging environments. Despite its popularity, the limitations of infrared cameras, such as low spatial resolution and complex degradations, consistently challen…
The development of EEG decoding algorithms confronts challenges such as data sparsity, subject variability, and the need for precise annotations, all of which are vital for advancing brain-computer interfaces and enhancing the diagnosis of diseases. To address these issues, we propose a novel two-st…
Image fusion is a fundamental and important task in computer vision, aiming to combine complementary information from different modalities to fuse images. In recent years, diffusion models have made significant developments in the field of image fusion. However, diffusion models often require comple…
Unlike a standard camera that relies on exposure to obtain output frame by frame, an event camera only outputs an event when the change of brightness intensity in a pixel exceeds a threshold, and the outputs of different pixels are independent to each other. Benefited from its bio-inspired design, e
We leverage 3D Gaussian Splatting (3DGS) as a scene representation and propose a novel test-time camera pose refinement (CPR) framework, GS-CPR. This framework enhances the localization accuracy of state-of-the-art absolute pose regression and scene coordinate regression methods. The 3DGS model rend…
Piano-playing tasks, which effectively demonstrate bimanual coordination capabilities in humanoid robots, are increasingly becoming a research focus. However, prior research has predominantly focused on Cartesian space trajectory planning without adequately addressing real-world obstacle avoidance c
In contrast to quadruped robots that can navigate diverse terrains using a “blind” policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However, incorporating perceptual signals often introduces additional
Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems. Existing approaches are either limited to simulations that neglect hardware constraints or rely on predefined ground-specific motion trajectories, failing to…
We present MM1.5, a new family of multimodal large language models (MLLMs) designed to enhance capabilities in text-rich image understanding, visual referring and grounding, and multi-image reasoning. Building upon the MM1 architecture, MM1.5 adopts a data-centric approach to model training, systema…
Recent advances in large language models (LLMs) have increased the demand for comprehensive benchmarks to evaluate their capabilities as human-like agents. Existing benchmarks, while useful, often focus on specific application scenarios, emphasizing task completion but failing to dissect the underly…
Brain-computer interface (BCI) based on steady- state visual evoked potentials (SSVEP) is a popular paradigm for its simplicity and high information transfer rate (ITR). Accurate and fast SSVEP decoding is crucial for reliable BCI performance. However, conventional decoding methods demand longer tim…
We introduce Oxford Day-and-Night, a large-scale, egocentric dataset for novel view synthesis (NVS) and visual relocalisation under challenging lighting conditions. Existing datasets often lack crucial combinations of features such as ground-truth 3D geometry, wide-ranging lighting variation, and fu…
Physical environments and circumstances are fundamentally dynamic, yet current 3D datasets and evaluation benchmarks tend to concentrate on either dynamic scenarios or dynamic situations in isolation, resulting in incomplete comprehension. To overcome these constraints, we introduce Situat3DChange,…
Recent large language models (LLMs) advancements sparked a growing research interest in tool assisted LLMs solving real-world challenges, which calls for comprehensive evaluation of tool-use capabilities. While previous works focused on either evaluating over stateless web services (RESTful API), ba…
We propose YOLO-Count, a differentiable open-vocabulary object counting model that tackles both general counting challenges and enables precise quantity control for text-to-image (T2I) generation. A core contribution is the 'cardinality' map, a novel regression target that accounts for variations in…
"In this work, we discuss building performant Multimodal Large Language Models (MLLMs). In particular, we study the importance of various architecture components and data choices. Through careful and comprehensive ablations of the image encoder, the vision language connector, and various pre-trainin…
Chart understanding plays a pivotal role when applying Multimodal Large Language Models (MLLMs) to real-world tasks such as analyzing scientific papers or financial reports. However, existing datasets often focus on oversimplified and homogeneous charts with template-based questions, leading to an o…
We introduce Ferret, a new Multimodal Large Language Model (MLLM) capable of understanding spatial referring of any shape or granularity within an image and accurately grounding open-vocabulary descriptions. To unify referring and grounding in the LLM paradigm, Ferret employs a novel and powerful hy…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like terrain frictions and elevation maps. Inspired by the class…
In multi-agent reinforcement learning (MARL), the epsilon-greedy method plays an important role in balancing exploration and exploitation during the decision-making process in value-based algorithms. However, the epsilon-greedy exploration process will introduce conservativeness when calculating the…
NLP has recently made exciting progress toward training language models (LMs) with strong scientific problem-solving skills. However, model development has not focused on real-life use-cases of LMs for science, including applications in education that require processing long scientific documents. To…
Stable locomotion in precipitous environments is an essential task for quadruped robots, requiring the ability to resist various external disturbances. Recent neural policies enhance robustness against disturbances by learning to resist external forces sampled from a fixed distribution in the simula…
The construction of large-scale space facilities requires the use of on-orbit construction technology. However, several of its key components, such as standard interface design, compliant control methods, and path planning for multi-branch robots, still need improvement before practical application.…
Absolute Pose Regression (APR) methods use deep neural networks to directly regress camera poses from RGB images. However the predominant APR architectures only rely on 2D operations during inference resulting in limited accuracy of pose estimation due to the lack of 3D geometry constraints or prior…
Recently, Model-based Reinforcement Learning (MBRL) methods have demonstrated stunning sample efficiency in various RL domains. However, achieving this extraordinary sample efficiency comes with additional training costs in terms of computations, memory, and training time. To address these challenge…
Terrain-aware perception holds the potential to improve the robustness and accuracy of autonomous robot navigation in the wilds, thereby facilitating effective off-road traversals. However, the lack of multi-modal perception across various motion patterns hinders the solutions of Simultaneous Locali
We present TokenCompose a Latent Diffusion Model for text-to-image generation that achieves enhanced consistency between user-specified text prompts and model-generated images. Despite its tremendous success the standard denoising process in the Latent Diffusion Model takes text prompts as condition…
Image captioning is conventionally formulated as the task of generating captions that match the conditional distribution of reference image-caption pairs. However, reference captions in standard captioning datasets are short and may not uniquely identify the images they describe. These problems are…
While large language models (LMs) have shown remarkable capabilities across numerous tasks, they often struggle with simple reasoning and planning in physical environments, such as understanding object permanence or planning household activities. The limitation arises from the fact that LMs are trai…
Training a Neural Radiance Field (NeRF) without pre-computed camera poses is challenging. Recent advances in this direction demonstrate the possibility of jointly optimising a NeRF and camera poses in forward-facing scenes. However, these methods still face difficulties during dramatic camera moveme…
Reinforcement Learning (RL) algorithms can solve challenging control problems directly from image observations, but they often require millions of environment interactions to do so. Recently, model-based RL algorithms have greatly improved sample-efficiency by concurrently learning an internal model…
In this paper, we propose an end-to-end Retrieval-Augmented Visual Language Model (REVEAL) that learns to encode world knowledge into a large-scale memory, and to retrieve from it to answer knowledge-intensive queries. REVEAL consists of four key components: the memory, the encoder, the retriever an…
"We introduce a camera relocalization pipeline that combines absolute pose regression (APR) and direct feature matching. By incorporating exposure-adaptive novel view synthesis, our method successfully addresses photometric distortions in outdoor environments that existing photometric-based methods…
Multiple medical institutions collaboratively training a model using federated learning (FL) has become a promising solution for maximizing the potential of data-driven models, yet the non-independent and identically distributed (non-iid) data in medical images is still an outstanding challenge in r…
With recent progress in joint modeling of visual and textual representations, Vision-Language Pretraining (VLP) has achieved impressive performance on many multimodal downstream tasks. However, the requirement for expensive annotations including clean image captions and regional labels limits the sc…
Massively multilingual models subsuming tens or even hundreds of languages pose great challenges to multi-task optimization. While it is a common practice to apply a language-agnostic procedure optimizing a joint multilingual task objective, how to properly characterize and take advantage of its und…
Video highlight detection plays an increasingly important role in social media content filtering, however, it remains highly challenging to develop automated video highlight detection methods because of the lack of temporal annotations (i.e., where the highlight moments are in long videos) for super…
When labeled data is scarce for a specific target task, transfer learning often offers an effective solution by utilizing data from a related source task. However, when transferring knowledge from a less related source, it may inversely hurt the target performance, a phenomenon known as negative tra…