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We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructed from the robot morphology, in which nodes and edges are…

机器人学 · 计算机科学 2025-04-04 Daniel Butterfield , Sandilya Sai Garimella , Nai-Jen Cheng , Lu Gan

Efficiently training LLMs with long sequences is important yet challenged by the massive computation and memory requirements. Sequence parallelism has been proposed to tackle these problems, but existing methods suffer from scalability or…

分布式、并行与集群计算 · 计算机科学 2024-06-27 Diandian Gu , Peng Sun , Qinghao Hu , Ting Huang , Xun Chen , Yingtong Xiong , Guoteng Wang , Qiaoling Chen , Shangchun Zhao , Jiarui Fang , Yonggang Wen , Tianwei Zhang , Xin Jin , Xuanzhe Liu

Robotic manipulation tasks, such as object rearrangement, play a crucial role in enabling robots to interact with complex and arbitrary environments. Existing work focuses primarily on single-level rearrangement planning and, even if…

机器人学 · 计算机科学 2023-09-07 Manav Kulshrestha , Ahmed H. Qureshi

We propose Sparse Sinkhorn Attention, a new efficient and sparse method for learning to attend. Our method is based on differentiable sorting of internal representations. Concretely, we introduce a meta sorting network that learns to…

机器学习 · 计算机科学 2020-02-27 Yi Tay , Dara Bahri , Liu Yang , Donald Metzler , Da-Cheng Juan

The SIGMORPHON 2022 shared task on morpheme segmentation challenged systems to decompose a word into a sequence of morphemes and covered most types of morphology: compounds, derivations, and inflections. Subtask 1, word-level morpheme…

In this paper we present a new approach for efficient regression based object tracking which we refer to as Deep- LK. Our approach is closely related to the Generic Object Tracking Using Regression Networks (GOTURN) framework of Held et al.…

计算机视觉与模式识别 · 计算机科学 2017-05-31 Chaoyang Wang , Hamed Kiani Galoogahi , Chen-Hsuan Lin , Simon Lucey

Large language models have become increasingly difficult to train because of the growing computation time and cost. In this work, we present SRU++, a highly-efficient architecture that combines fast recurrence and attention for sequence…

计算与语言 · 计算机科学 2021-09-16 Tao Lei

Transformers have shown dominant performance across a range of domains including language and vision. However, their computational cost grows quadratically with the sequence length, making their usage prohibitive for resource-constrained…

计算与语言 · 计算机科学 2023-10-24 Yinghan Long , Sayeed Shafayet Chowdhury , Kaushik Roy

We focus on morphological inflection in out-of-vocabulary (OOV) conditions, an under-researched subtask in which state-of-the-art systems usually are less effective. We developed three systems: a retrograde model and two…

计算与语言 · 计算机科学 2024-05-29 Tomáš Sourada , Jana Straková , Rudolf Rosa

Seismic data interpolation is a critical pre-processing step for improving seismic imaging quality and remains a focus of academic innovation. To address the computational inefficiencies caused by extensive iterative resampling in current…

地球物理 · 物理学 2025-06-10 Xiaoli Wei , Chunxia Zhang , Baisong Jiang , Anxiang Di , Deng Xiong , Jiangshe Zhang , Mingming Gong

Representing urban regions accurately and comprehensively is essential for various urban planning and analysis tasks. Recently, with the expansion of the city, modeling long-range spatial dependencies with multiple data sources plays an…

计算机视觉与模式识别 · 计算机科学 2024-06-04 Weiliang Chen , Qianqian Ren , Jinbao Li

Continual self-supervised learning (CSSL) in medical imaging trains a foundation model sequentially, alleviating the need for collecting multi-modal images for joint training and offering promising improvements in downstream performance…

计算机视觉与模式识别 · 计算机科学 2025-12-23 Zihao Luo , Shaohao Rui , Zhenyu Tang , Guotai Wang , Xiaosong Wang

Complex spatial connectivity patterns, such as interictal suppression and ictal propagation, complicate accurate drug-resistant epilepsy (DRE) seizure detection using stereotactic electroencephalography (SEEG) and traditional machine…

信号处理 · 电气工程与系统科学 2025-12-03 Yiping Wang , Peiren Wang , Zhenye Li , Fang Liu , Jinguo Huang

Deep reinforcement learning (DRL) methods have demonstrated potential for autonomous navigation and obstacle avoidance of unmanned ground vehicles (UGVs) in crowded environments. Most existing approaches rely on single-frame observation and…

机器人学 · 计算机科学 2026-01-01 Ruitong Li , Lin Zhang , Yuenan Zhao , Chengxin Liu , Ran Song , Wei Zhang

Registration plays an important role in medical image analysis. Deep learning-based methods have been studied for medical image registration, which leverage convolutional neural networks (CNNs) for efficiently regressing a dense deformation…

计算机视觉与模式识别 · 计算机科学 2022-08-16 Xiaoru Gao , GuoYan Zheng

In this paper, we present an attention mechanism scheme to improve person re-identification task. Inspired by biology, we propose Self Attention Grid (SAG) to discover the most informative parts from a high-resolution image using its…

计算机视觉与模式识别 · 计算机科学 2018-09-25 Jean-Paul Ainam , Ke Qin , Guisong Liu

Semi-supervised medical image segmentation has attracted much attention in recent years because of the high cost of medical image annotations. In this paper, we propose a novel Inherent Consistent Learning (ICL) method, aims to learn robust…

计算机视觉与模式识别 · 计算机科学 2023-04-19 Ye Zhu , Jie Yang , Si-Qi Liu , Ruimao Zhang

Linearization of attention using various kernel approximation and kernel learning techniques has shown promise. Past methods used a subset of combinations of component functions and weight matrices within the random feature paradigm. We…

机器学习 · 计算机科学 2025-09-24 Duke Nguyen , Du Yin , Aditya Joshi , Flora Salim

Large language models (LLMs) demonstrate an impressive ability to utilise information within the context of their input sequences to appropriately respond to data unseen by the LLM during its training procedure. This ability is known as…

神经与进化计算 · 计算机科学 2025-08-05 Thomas F Burns , Tomoki Fukai , Christopher J Earls

This paper explores Machine Unlearning (MU), an emerging field that is gaining increased attention due to concerns about neural models unintentionally remembering personal or sensitive information. We present SeUL, a novel method that…

计算与语言 · 计算机科学 2024-12-17 Lingzhi Wang , Xingshan Zeng , Jinsong Guo , Kam-Fai Wong , Georg Gottlob