Xiang Chen

Xingwu Ji, Peilin Liu, Haochen Niu et al.

Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the spatial layout and semanic consistency of the 3D scene graph. Firstly, we propose an object-level data association approach based on the semantic information from semantic labels, intersection over union (IoU), object color, and object embedding. Subsequently, multi-view bundle adjustment with the associated objects is utilized to jointly optimize the poses of objects and cameras. We represent the refined objects as a 3D spatial graph with semantics and topology. Then, we propose a graph matching approach to select correspondence objects based on the structure layout and semantic property similarity of vertices' neighbors. Finally, we jointly optimize camera trajectories and object poses in an object-level pose graph optimization, which results in a globally consistent map. Experimental results demonstrate that our proposed data association approach can construct more accurate 3D semantic maps, and our loop closure method is more robust than point-based and object-based methods in circumstances with large viewpoint changes.

Ryan Aponte, Ryan A. Rossi, Shunan Guo et al.

Large language models (LLMs) have been applied to a wide range of tasks, including text summarization, web navigation, and chatbots. They have benefitted from supervised fine-tuning (SFT) and reinforcement learning from human feedback (RLHF) following an unsupervised pretraining. These datasets can be difficult to collect, limited in scope, and vary in sample quality. Additionally, datasets can vary extensively in supervision format, from numerical to binary as well as multi-dimensional with many different values. We present a framework for fine-tuning LLMs using heterogeneous feedback, which has two main components. First, we combine the heterogeneous feedback data into a single supervision format, compatible with methods like SFT and RLHF. Next, given this unified feedback dataset, we extract a high-quality and diverse subset to obtain performance increases potentially exceeding the full dataset. We conduct extensive experiments to understand the effectiveness of these techniques for incorporating heterogeneous feedback, and demonstrate improvements from using a high-quality and diverse subset of the data. We find that our framework is able to improve models in multiple areas simultaneously, such as in instruction following and bias reduction.

Leitian Tao, Xiang Chen, Tong Yu et al.

Large Language Models (LLMs) have revolutionized code generation but require significant resources and often over-generalize, limiting their task-specific efficiency. Fine-tuning smaller, open-source LLMs provides a cost-effective alternative. However, standard supervised approaches rely only on correct examples, missing valuable insights from failures. We introduce CodeLutra, a framework that leverages both correct and incorrect code attempts. Instead of using only correct solutions, CodeLutra applies iterative preference-based refinement, comparing successful and failed outputs to better approximate desired results. This approach narrows the performance gap with state-of-the-art larger models without requiring massive datasets or auxiliary models. For instance, on a challenging data science coding task, using only 500 samples improved Llama-3-8B's accuracy from 28.2% to 48.6%, approaching GPT-4's level. By learning from both successes and mistakes, CodeLutra provides a scalable and efficient path to high-quality code generation, making smaller open-source models more competitive with leading closed-source alternatives.

Qiyuan Guan, Xiang Chen, Guiyue Jin et al.

Compared to daytime image deraining, nighttime image deraining poses significant challenges due to inherent complexities of nighttime scenarios and the lack of high-quality datasets that accurately represent the coupling effect between rain and illumination. In this paper, we rethink the task of nighttime image deraining and contribute a new high-quality benchmark, HQ-NightRain, which offers higher harmony and realism compared to existing datasets. In addition, we develop an effective Color Space Transformation Network (CST-Net) for better removing complex rain from nighttime scenes. Specifically, we propose a learnable color space converter (CSC) to better facilitate rain removal in the Y channel, as nighttime rain is more pronounced in the Y channel compared to the RGB color space. To capture illumination information for guiding nighttime deraining, implicit illumination guidance is introduced enabling the learned features to improve the model's robustness in complex scenarios. Extensive experiments show the value of our dataset and the effectiveness of our method. The source code and datasets are available at https://github.com/guanqiyuan/CST-Net.

Supreeth Narasimhaswamy, Uttaran Bhattacharya, Xiang Chen et al.

Text-to-image generative models can generate high-quality humans, but realism is lost when generating hands. Common artifacts include irregular hand poses, shapes, incorrect numbers of fingers, and physically implausible finger orientations. To generate images with realistic hands, we propose a novel diffusion-based architecture called HanDiffuser that achieves realism by injecting hand embeddings in the generative process. HanDiffuser consists of two components: a Text-to-Hand-Params diffusion model to generate SMPL-Body and MANO-Hand parameters from input text prompts, and a Text-Guided Hand-Params-to-Image diffusion model to synthesize images by conditioning on the prompts and hand parameters generated by the previous component. We incorporate multiple aspects of hand representation, including 3D shapes and joint-level finger positions, orientations and articulations, for robust learning and reliable performance during inference. We conduct extensive quantitative and qualitative experiments and perform user studies to demonstrate the efficacy of our method in generating images with high-quality hands.

Yiqi Huang, Travis Davies, Jiahuan Yan et al.

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on robot arm state data and RGB images, leading to overfitting to specific object shapes or positions. To address these limitations, we propose RoboGrasp, a universal grasping policy framework that integrates pretrained grasp detection models with robotic learning. By leveraging robust visual guidance from object detection and segmentation tasks, RoboGrasp significantly enhances grasp precision, stability, and generalizability, achieving up to 34% higher success rates in few-shot learning and grasping box prompt tasks. Built on diffusion-based methods, RoboGrasp is adaptable to various robotic learning paradigms, enabling precise and reliable manipulation across diverse and complex scenarios. This framework represents a scalable and versatile solution for tackling real-world challenges in robotic grasping.

Yiqi Huang, Travis Davies, Jiahuan Yan et al.

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their reliance on raw RGB inputs and handcrafted features often leads to overfitting and poor 3D reasoning under varied lighting, occlusion, and object conditions. In this paper, we propose a unified framework that couples robust multimodal perception with reliable grasp prediction. Our architecture fuses domain-randomized augmentation, monocular depth estimation, and a depth-aware 6-DoF Grasp Prompt into a single spatial representation for downstream action planning. Conditioned on this encoding and a high-level task prompt, our diffusion-based policy yields precise action sequences, achieving up to 40% improvement in grasp success and 45% higher task success rates under environmental variation. These results demonstrate that spatially grounded perception, paired with diffusion-based imitation learning, offers a scalable and robust solution for general-purpose robotic grasping.

Xiang Chen, Faqiang Wang, Jun Liu et al.

The Unbalanced Optimal Transport (UOT) problem plays increasingly important roles in computational biology, computational imaging and deep learning. Scaling algorithm is widely used to solve UOT due to its convenience and good convergence properties. However, this algorithm has lower accuracy for large regularization parameters, and due to stability issues, small regularization parameters can easily lead to numerical overflow. We address this challenge by developing an inexact Bregman proximal point method for solving UOT. This algorithm approximates the proximal operator using the Scaling algorithm at each iteration. The algorithm (1) converges to the true solution of UOT, (2) has theoretical guarantees and robust regularization parameter selection, (3) mitigates numerical stability issues, and (4) can achieve comparable computational complexity to the Scaling algorithm in specific practice. Building upon this, we develop an accelerated version of inexact Bregman proximal point method for solving UOT by using acceleration techniques of Bregman proximal point method and provide theoretical guarantees and experimental validation of convergence and acceleration.

Mehrnoosh Mirtaheri, Ryan A. Rossi, Sungchul Kim et al.

Temporal Knowledge Graph (TKG) completion models traditionally assume access to the entire graph during training. This overlooks challenges stemming from the evolving nature of TKGs, such as: (i) the model's requirement to generalize and assimilate new knowledge, and (ii) the task of managing new or unseen entities that often have sparse connections. In this paper, we present an incremental training framework specifically designed for TKGs, aiming to address entities that are either not observed during training or have sparse connections. Our approach combines a model-agnostic enhancement layer with a weighted sampling strategy, that can be augmented to and improve any existing TKG completion method. The enhancement layer leverages a broader, global definition of entity similarity, which moves beyond mere local neighborhood proximity of GNN-based methods. The weighted sampling strategy employed in training accentuates edges linked to infrequently occurring entities. We evaluate our method on two benchmark datasets, and demonstrate that our framework outperforms existing methods in total link prediction, inductive link prediction, and in addressing long-tail entities. Notably, our method achieves a 10\% improvement and a 15\% boost in MRR for these datasets. The results underscore the potential of our approach in mitigating catastrophic forgetting and enhancing the robustness of TKG completion methods, especially in an incremental training context