相关论文: From Perfect to Noisy World Simulation: Customizab…

Supervised fine-tuning (SFT) plays a crucial role in adapting large language models (LLMs) to specific domains or tasks. However, as demonstrated by empirical experiments, the collected data inevitably contains noise in practical…

LLM-powered tool-calling agents fulfill user requests by interacting with environments, querying data, and invoking tools in a multi-turn process. Yet, most existing benchmarks evaluate these systems under static environment interfaces,…

Labelling of data for supervised learning can be costly and time-consuming and the risk of incorporating label noise in large data sets is imminent. When training a flexible discriminative model using a strictly proper loss, such noise will…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

Assessing data informativity, determining whether the measured data contains sufficient information for a specific control objective, is a fundamental challenge in data-driven control. In noisy scenarios, existing studies deal with system…

Achieving fully autonomous driving systems requires learning rational decisions in a wide span of scenarios, including safety-critical and out-of-distribution ones. However, such cases are underrepresented in real-world corpus collected by…

To ensure the efficiency of robot autonomy under diverse real-world conditions, a high-quality heterogeneous dataset is essential to benchmark the operating algorithms' performance and robustness. Current benchmarks predominantly focus on…

Robustness evaluation for Natural Language to SQL (NL2SQL) systems is essential because real-world database environments are dynamic, noisy, and continuously evolving, whereas conventional benchmark evaluations typically assume static…

In addition to high accuracy, robustness is becoming increasingly important for machine learning models in various applications. Recently, much research has been devoted to improving the model robustness by training with noise…

Despite decades of research and recent progress in adaptive control and reinforcement learning, there remains a fundamental lack of understanding in designing controllers that provide robustness to inherent non-asymptotic uncertainties…

This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks fail to generalize well to unseen environments, the agent…

Stochastic multi-agent systems are a central modeling framework for autonomous controllers, communication protocols, and cyber-physical infrastructures. In many such systems, however, transition probabilities are only estimated from data…

Robust perception in automated driving requires reliable performance under adverse conditions, where sensors may be affected by partial failures or environmental occlusions. Although existing autonomous driving datasets inherently contain…

Real-world data is complex and often consists of objects that can be decomposed into multiple entities (e.g. images into pixels, graphs into interconnected nodes). Randomized smoothing is a powerful framework for making models provably…

Embodied decision-making enables agents to translate high-level goals into executable actions through continuous interactions within the physical world, forming a cornerstone of general-purpose embodied intelligence. Large language models…

Tool learning has generated widespread interest as a vital means of interaction between Large Language Models (LLMs) and the physical world. Current research predominantly emphasizes LLMs' capacity to utilize tools in well-structured…

Large language models (LLMs) often produce inaccurate or misleading content-hallucinations. To address this challenge, we introduce Noise-Augmented Fine-Tuning (NoiseFiT), a novel framework that leverages adaptive noise injection based on…

Embodied agents exhibit immense potential across a multitude of domains, making the assurance of their behavioral safety a fundamental prerequisite for their widespread deployment. However, existing research predominantly concentrates on…

System inference for nonlinear dynamic models, represented by ordinary differential equations (ODEs), remains a significant challenge in many fields, particularly when the data are noisy, sparse, or partially observable. In this paper, we…

In embodied AI, a persistent challenge is enabling agents to robustly adapt to novel domains without requiring extensive data collection or retraining. To address this, we present a world model implanting framework (WorMI) that combines the…