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Achieving agile and generalized legged locomotion across terrains requires tight integration of perception and control, especially under occlusions and sparse footholds. Existing methods have demonstrated agility on parkour courses but…

Robotics · Computer Science 2026-03-25 Chong Zhang , Victor Klemm , Fan Yang , Marco Hutter

In this work, we propose a new loss to improve feature discriminability and classification performance. Motivated by the adaptive cosine/coherence estimator (ACE), our proposed method incorporates angular information that is inherently…

Computer Vision and Pattern Recognition · Computer Science 2022-03-02 Joshua Peeples , Connor McCurley , Sarah Walker , Dylan Stewart , Alina Zare

Speculative decoding (SD) accelerates large language model (LLM) reasoning by using a small draft model to generate candidate tokens, which the target LLM either accepts directly or regenerates upon rejection. However, excessive alignment…

Computation and Language · Computer Science 2026-01-01 Tiancheng Su , Meicong Zhang , Guoxiu He

Large Language Models (LLMs) are known to hallucinate, whereby they generate plausible but inaccurate text. This phenomenon poses significant risks in critical applications, such as medicine or law, necessitating robust hallucination…

Computation and Language · Computer Science 2024-10-23 Benedict Aaron Tjandra , Muhammed Razzak , Jannik Kossen , Kunal Handa , Yarin Gal

Pretraining large language models (LLMs) with next-token prediction has led to remarkable advances, yet the context-dependent nature of token embeddings in such models results in high intra-class variance and inter-class similarity, thus…

Computation and Language · Computer Science 2026-05-12 Yan Sun , Guoxia Wang , Jinle Zeng , JiaBin Yang , Shuai Li , Li Shen , Dacheng Tao , DianHai Yu , Haifeng Wang

Concept recommendation aims to suggest the next concept for learners to study based on their knowledge states and the human knowledge system. While knowledge states can be predicted using knowledge tracing models, previous approaches have…

Information Retrieval · Computer Science 2024-05-22 Qingyao Li , Wei Xia , Kounianhua Du , Qiji Zhang , Weinan Zhang , Ruiming Tang , Yong Yu

Despite their remarkable capabilities, LLMs learn word representations that exhibit the undesirable yet poorly understood feature of anisotropy. In this paper, we argue that the second moment in Adam is a cause of anisotropic embeddings,…

Computation and Language · Computer Science 2025-08-04 Felix Stollenwerk , Tobias Stollenwerk

The quadratic complexity of self-attention constrains Large Language Models (LLMs) in processing long contexts, a capability essential for many advanced applications. Context compression aims to alleviate this computational bottleneck while…

Computation and Language · Computer Science 2025-12-05 Yangning Li , Shaoshen Chen , Yinghui Li , Yankai Chen , Hai-Tao Zheng , Hui Wang , Wenhao Jiang , Philip S. Yu

The performance bottleneck of Automatic Speech Recognition (ASR) in stuttering speech scenarios has limited its applicability in domains such as speech rehabilitation. This paper proposed an LLM-driven ASR-SED multi-task learning framework…

Sound · Computer Science 2025-05-29 Shangkun Huang , Jing Deng , Jintao Kang , Rong Zheng

We investigate the effectiveness of using a large ensemble of advanced neural language models (NLMs) for lattice rescoring on automatic speech recognition (ASR) hypotheses. Previous studies have reported the effectiveness of combining a…

Audio and Speech Processing · Electrical Eng. & Systems 2023-12-21 Atsunori Ogawa , Naohiro Tawara , Marc Delcroix , Shoko Araki

Without positional information, attention-based Transformer neural networks are permutation-invariant. Absolute or relative positional embeddings are the most popular ways to feed Transformer models with positional information. Absolute…

Machine Learning · Computer Science 2021-11-10 Tatiana Likhomanenko , Qiantong Xu , Gabriel Synnaeve , Ronan Collobert , Alex Rogozhnikov

Attributed networks are ubiquitous since a network often comes with auxiliary attribute information e.g. a social network with user profiles. Attributed Network Embedding (ANE) has recently attracted considerable attention, which aims to…

Social and Information Networks · Computer Science 2019-06-07 Chengbin Hou , Shan He , Ke Tang

Recent advancements in large language models have significantly improved their context windows, yet challenges in effective long-term memory management remain. We introduce MemTree, an algorithm that leverages a dynamic, tree-structured…

Computation and Language · Computer Science 2025-03-21 Alireza Rezazadeh , Zichao Li , Wei Wei , Yujia Bao

Reinforcement learning (RL) has substantially improved the ability of large language model (LLM) agents to interact with environments and solve multi-turn tasks. However, effective agentic RL remains challenging: sparse outcome-only rewards…

Entropy-based deep reasoning has emerged as a promising direction for improving the reasoning capabilities of Large Language Models (LLMs), but existing methods often either increase response length indiscriminately or shorten responses at…

Computation and Language · Computer Science 2026-05-20 Shuyu Wei , Jian Sun , Delai Qiu , Yining Wang , Shengping Liu , Jiaen Liang , Ying Fu , Wei Huang , Jitao Sang

Recent advancements of sequential deep learning models such as Transformer and BERT have significantly facilitated the sequential recommendation. However, according to our study, the distribution of item embeddings generated by these models…

Information Retrieval · Computer Science 2021-11-19 Ruihong Qiu , Zi Huang , Hongzhi Yin , Zijian Wang

In Automatic Speech Recognition (ASR) systems, a recurring obstacle is the generation of narrowly focused output distributions. This phenomenon emerges as a side effect of Connectionist Temporal Classification (CTC), a robust sequence…

Audio and Speech Processing · Electrical Eng. & Systems 2024-03-19 SooHwan Eom , Eunseop Yoon , Hee Suk Yoon , Chanwoo Kim , Mark Hasegawa-Johnson , Chang D. Yoo

Unsupervised text style transfer is full of challenges due to the lack of parallel data and difficulties in content preservation. In this paper, we propose a novel neural approach to unsupervised text style transfer, which we refer to as…

Computer Vision and Pattern Recognition · Computer Science 2020-10-05 Yufang Huang , Wentao Zhu , Deyi Xiong , Yiye Zhang , Changjian Hu , Feiyu Xu

Non-parametric episodic memory can be used to quickly latch onto high-rewarded experience in reinforcement learning tasks. In contrast to parametric deep reinforcement learning approaches in which reward signals need to be back-propagated…

Machine Learning · Computer Science 2023-04-25 Zhao Yang , Thomas M. Moerland , Mike Preuss , Aske Plaat

Despite their success, large pretrained vision models remain vulnerable to catastrophic forgetting when adapted to new tasks in class-incremental settings. Parameter-efficient fine-tuning (PEFT) alleviates this by restricting trainable…

Machine Learning · Computer Science 2026-02-17 Yaqian Zhang , Bernhard Pfahringer , Eibe Frank , Albert Bifet