相关论文: PRISM: Performer RS-IMLE for Single-pass Multisens…

Large Language Models (LLMs) are converging towards a singular Artificial Hivemind, where shared Nature (pre-training priors) result in a profound collapse of distributional diversity, limiting the distinct perspectives necessary for…

Deep learning has shown strong potential in modeling complex spatiotemporal dynamics. However, most existing methods depend on densely and uniformly sampled data, which is often unavailable in practice due to sensor and cost limitations. In…

In this work, we present a novel, machine-learning approach for constructing Multiclass Interpretable Scoring Systems (MISS) - a fully data-driven methodology for generating single, sparse, and user-friendly scoring systems for multiclass…

Training multimodal process reward models (PRMs) is hard due to (i) distribution shift between training set and test set and (ii) quality imbalance across training data samples. While domain-level reweighting (e.g., DreamPRM) aligns…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

Inference-time alignment methods have gained significant attention for their efficiency and effectiveness in aligning large language models (LLMs) with human preferences. However, existing dominant approaches using reward-guided search…

Generative robot policies such as Flow Matching offer flexible, multi-modal policy learning but are sample-inefficient. Although object-centric policies improve sample efficiency, it does not resolve this limitation. In this work, we…

While model-based verifiers are essential for scaling Reinforcement Learning with Verifiable Rewards (RLVR), current outcome-centric verification paradigms primarily focus on the consistency between the final result and the ground truth,…

When an LLM-based embodied agent fails at a household task, the culprit could be misidentified objects, forgotten sub-goals, or poor action sequencing -- yet existing benchmarks report only a single success rate, making it impossible to…

Due to the increasing demand of capacity in wireless cellular networks, the small cells such as pico and femto cells are becoming more popular to enjoy a spatial reuse gain, and thus cells with different sizes are expected to coexist in a…

Motion mimicking is a foundational task in physics-based character animation. However, most existing motion mimicking methods are built upon reinforcement learning (RL) and suffer from heavy reward engineering, high variance, and slow…

Diffusion and flow matching have emerged as expressive policy classes in reinforcement learning, but their reliance on multi-step denoising imposes substantial computational overhead at inference time, which is particularly problematic in…

Recent advances in generative models have yielded impressive progress on motion in-betweening, allowing for more complex, varied, and realistic motion transitions. However, recent methods still exhibit noticeable limitations in preserving…

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,…

The rapid scaling of large language models~(LLMs) has made inference efficiency a primary bottleneck in the practical deployment. To address this, semi-structured sparsity offers a promising solution by strategically retaining $N$ elements…

Reconfigurable intelligent surfaces (RISs) represent a radical new technology that can shape the radio wave propagation in wireless communication systems and offers a great variety of possible performance and implementation gains. Motivated…

Generative models such as diffusion and flow matching have become dominant paradigms for visuomotor policy learning, yet their reliance on iterative denoising incurs high inference latency incompatible with real-time robotic control. We…

Interactive imitation learning is an efficient, model-free method through which a robot can learn a task by repetitively iterating an execution of a learning policy and a data collection by querying human demonstrations. However, deploying…

Deep learning models, particularly Transformers, are often criticized as "black boxes" and lack interpretability. We propose Prism, a white-box attention-based architecture derived from the principles of Maximizing Coding Rate Reduction…

This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion Primitives (PRIMP)", learns the probability distribution of…