相关论文: TORA: Topological Representation Alignment for 3D …

Assembling furniture amounts to solving the discrete-continuous optimization task of selecting the furniture parts to assemble and estimating their connecting poses in a physically realistic manner. The problem is hampered by its…

3D shape creation and modeling remains a challenging task especially for novice users. Many methods in the field of computer graphics have been proposed to automate the often repetitive and precise operations needed during the modeling of…

Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…

Graph embeddings play a critical role in graph representation learning, allowing machine learning models to explore and interpret graph-structured data. However, existing methods often rely on opaque, high-dimensional embeddings, limiting…

Graph contrastive learning has gained significant progress recently. However, existing works have rarely explored non-aligned node-node contrasting. In this paper, we propose a novel graph contrastive learning method named RoSA that focuses…

Parameter efficient fine tuning methods like LoRA have enabled task specific adaptation of large language models, but efficiently composing multiple specialized adapters for unseen tasks remains challenging. We present a novel framework for…

Low-Rank Adaptation (LoRA) is a parameter-efficient technique for rapidly fine-tuning foundation models. In standard LoRA training dynamics, models tend to quickly converge to a local optimum near the initialization. However, this local…

Structural topology optimization (TO) is central to engineering design but remains computationally intensive due to complex physics and hard constraints. Existing deep-learning methods are limited to fixed square grids, a few hand-coded…

We introduce a novel framework for learning vector representations of tree-structured geometric data focusing on 3D vascular networks. Our approach employs two sequentially trained Transformer-based autoencoders. In the first stage, the…

Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…

Reasoning segmentation seeks pixel-accurate masks for targets referenced by complex, often implicit instructions, requiring context-dependent reasoning over the scene. Recent multimodal language models have advanced instruction following…

Advanced imitation learning with structures like the transformer is increasingly demonstrating its advantages in robotics. However, deploying these large-scale models on embedded platforms remains a major challenge. In this paper, we…

Backward compatible representation learning enables updated models to integrate seamlessly with existing ones, avoiding to reprocess stored data. Despite recent advances, existing compatibility approaches in Euclidean space neglect the…

Topological data analysis (TDA) is an area of data science that focuses on using invariants from algebraic topology to provide multiscale shape descriptors for geometric data sets such as point clouds. One of the most important such…

We systematically investigate the parameter-efficient fine-tuning design space under practical data and compute constraints, and propose D2-LoRA. D2-LoRA achieves 76.4 percent average accuracy across eight question answering and reading…

In traditional topology optimization, the computing time required to iteratively update the material distribution within a design domain strongly depends on the complexity or size of the problem, limiting its application in real engineering…

Federated edge learning (FEEL) is envisioned as a promising paradigm to achieve privacy-preserving distributed learning. However, it consumes excessive learning time due to the existence of straggler devices. In this paper, a novel…

Point cloud video understanding is critical for robotics as it accurately encodes motion and scene interaction. We recognize that 4D datasets are far scarcer than 3D ones, which hampers the scalability of self-supervised 4D models. A…

Recent advances in multimodal learning have largely relied on pairwise contrastive objectives to align different modalities, such as text, video, and audio, in a shared embedding space. While effective in bi-modal setups, these approaches…

We outline a holographic framework that attempts to unify Landau and beyond-Landau paradigms of quantum phases and phase transitions. Leveraging a modern understanding of symmetries as topological defects/operators, the framework uses a…