In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances, resulting in frequent manipulation failures. We propose Affordance-Guided Coarse-to-Fine Exploration, a zero-shot framework for base placement that integrates semantic understanding from vision-language models (VLMs) with geometric feasibility through an iterative optimization process. Our method constructs cross-modal representations, namely Affordance RGB and Obstacle Map+, to align semantics with spatial context. This enables reasoning that extends beyond the egocentric limitations of RGB perception. To ensure interaction is guided by task-relevant affordances, we leverage coarse semantic priors from VLMs to guide the search toward task-relevant regions and refine placements with geometric constraints, thereby reducing the risk of convergence to local optima. Evaluated on five diverse open-vocabulary mobile manipulation tasks, our system achieves an 85% success rate, significantly outperforming classical geometric planners and VLM-based methods. This demonstrates the promise of affordance-aware and multimodal reasoning for generalizable, instruction-conditioned planning in OVMM.

Pei-An Chen, Yongching Liang, Jia-Fong Yeh, Hung-Ting Su, Yi-Ting Chen, Min Sun, Winston H. Hsu. Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers). 2026.

Conventional Vision-and-Language Navigation (VLN) benchmarks assume instructions are feasible and the referenced target exists, leaving agents ill-equipped to handle false-premise goals.We introduce VLN-NF, a benchmark with false-premise instructions where the target is absent from the specified room and agents must navigate, gather evidence through in-room exploration, and explicitly output NOT-FOUND.VLN-NF is constructed via a scalable pipeline that rewrites VLN instructions using an LLM and verifies target absence with a VLM, producing plausible yet factually incorrect goals.We further propose REV-SPL to jointly evaluate room reaching, exploration coverage, and decision correctness.To address this challenge, we present ROAM, a two-stage hybrid that combines supervised room-level navigation with LLM/VLM-driven in-room exploration guided by a free-space clearance prior.ROAM achieves the best REV-SPL among compared methods, while baselines often under-explore and terminate prematurely under unreliable instructions.

Gueter Josmy Faure, Min-Hung Chen, Jia-Fong Yeh, Ying Cheng, Hung-Ting Su, Yung-Hao Tang, Shang-Hong Lai, Winston H. Hsu. Proceedings of the 2025 Conference on Empirical Methods in Natural Language Processing. 2025.

Long-form video understanding presents unique challenges that extend beyond traditional short-video analysis approaches, particularly in capturing long-range dependencies, processing redundant information efficiently, and extracting high-level semantic concepts. To address these challenges, we propose a novel approach that more accurately reflects human cognition. This paper introduces HERMES: temporal-coHERent long-forM understanding with Episodes and Semantics, featuring two versatile modules that can enhance existing video-language models or operate as a standalone system. Our Episodic COmpressor (ECO) efficiently aggregates representations from micro to semi-macro levels, reducing computational overhead while preserving temporal dependencies. Our Semantics ReTRiever (SeTR) enriches these representations with semantic information by focusing on broader context, dramatically reducing feature dimensionality while preserving relevant macro-level information. We demonstrate that these modules can be seamlessly integrated into existing SOTA models, consistently improving their performance while reducing inference latency by up to 43% and memory usage by 46%. As a standalone system, HERMES achieves state-of-the-art performance across multiple long-video understanding benchmarks in both zero-shot and fully-supervised settings.

We study reward models for long-horizon manipulation by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Existing VIC methods face challenges in learning rewards for long-horizon tasks due to their lack of sub-stage awareness, difficulty in modeling task complexities, and inadequate object state estimation. To address these challenges, we introduce VICtoR, a novel hierarchical VIC reward model capable of providing effective reward signals for long-horizon manipulation tasks. Trained solely on primitive motion demonstrations, VICtoR effectively provides precise reward signals for long-horizon tasks by assessing task progress at various stages using a novel stage detector and motion progress evaluator. We conducted extensive experiments in both simulated and real-world datasets. The results suggest that VICtoR outperformed the best existing methods, achieving a 43% improvement in success rates for long-horizon tasks. Our project page can be found at https://cmlab-victor.github.io/cmlab-vicotor.github.io/.

We introduce a new task called Adaptable Error Detection (AED), which aims to identify behavior errors in few-shot imitation (FSI) policies based on visual observations in novel environments. The potential to cause serious damage to surrounding areas limits the application of FSI policies in real-world scenarios. Thus, a robust system is necessary to notify operators when FSI policies are inconsistent with the intent of demonstrations. This task introduces three challenges: (1) detecting behavior errors in novel environments, (2) identifying behavior errors that occur without revealing notable changes, and (3) lacking complete temporal information of the rollout due to the necessity of online detection. However, the existing benchmarks cannot support the development of AED because their tasks do not present all these challenges. To this end, we develop a cross-domain AED benchmark, consisting of 322 base and 153 novel environments. Additionally, we propose Pattern Observer (PrObe) to address these challenges. PrObe is equipped with a powerful pattern extractor and guided by novel learning objectives to parse discernible patterns in the policy feature representations of normal or error states. Through our comprehensive evaluation, PrObe demonstrates superior capability to detect errors arising from a wide range of FSI policies, consistently surpassing strong baselines. Moreover, we conduct detailed ablations and a pilot study on error correction to validate the effectiveness of the proposed architecture design and the practicality of the AED task, respectively. The AED project page can be found at https://aed-neurips.github.io/.

The large amount of data collected by LiDAR sensors brings the issue of LiDAR point cloud compression (PCC). Previous works on LiDAR PCC have used range image representations and followed the predictive coding paradigm to create a basic prototype of a coding framework. However, their prediction methods give an inaccurate result due to the negligence of invalid pixels in range images and the omission of future frames in the time step. Moreover, their handcrafted design of residual coding methods could not fully exploit spatial redundancy. To remedy this, we propose a coding framework BIRD-PCC. Our prediction module is aware of the coordinates of invalid pixels in range images and takes a bidirectional scheme. Also, we introduce a deep-learned residual coding module that can further exploit spatial redundancy within a residual frame. Experiments conducted on SemanticKITTI and KITTI-360 datasets show that BIRD-PCC outperforms other methods in most bitrate conditions and generalizes well to unseen environments.

A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for downstream tasks in real-time. None of the previous learning-based and non-learning-based visual SLAMs satisfy all needs due to the intrinsic limitations of their components. In this work, we develop a visual SLAM named Orbeez-SLAM, which successfully collaborates with implicit neural representation and visual odometry to achieve our goals. Moreover, Orbeez-SLAM can work with the monocular camera since it only needs RGB inputs, making it widely applicable to the real world. Results show that our SLAM is up to 800x faster than the strong baseline with superior rendering outcomes. Code link: https://github.com/MarvinChung/Orbeez-SLAM.

While recent progress has significantly boosted few-shot classification (FSC) performance, few-shot object detection (FSOD) remains challenging for modern learning systems. Existing FSOD systems follow FSC approaches, ignoring critical issues such as spatial variability and uncertain representations, and consequently result in low performance. Observing this, we propose a novelDual-Awareness Attention (DAnA)mechanism that enables networks to adaptively interpret the given support images. DAnA transforms support images intoquery-position-aware(QPA) features, guiding detection networks precisely by assigning customized support information to each local region of the query. In addition, the proposed DAnA component is flexible and adaptable to multiple existing object detection frameworks. By adopting DAnA, conventional object detection networks, Faster R-CNN and RetinaNet, which are not designed explicitly for few-shot learning, reach state-of-the-art performance in FSOD tasks. In comparison with previous methods, our model significantly increases the performance by 47% (+6.9 AP), showing remarkable ability under various evaluation settings.

In few-shot imitation learning (FSIL), using behavioral cloning (BC) to solve unseen tasks with few expert demonstrations becomes a popular research direction. The following capabilities are essential in robotics applications: (1) Behaving in compound tasks that contain multiple stages. (2) Retrieving knowledge from few length-variant and misalignment demonstrations. (3) Learning from an expert different from the agent. No previous work can achieve these abilities at the same time. In this work, we conduct FSIL problem under the union of above settings and introduce a novel stage conscious attention network (SCAN) to retrieve knowledge from few demonstrations simultaneously. SCAN uses an attention module to identify each stage in length-variant demonstrations. Moreover, it is designed under demonstration-conditioned policy that learns the relationship between experts and agents. Experiment results show that SCAN can perform in complicated compound tasks without fine-tuning and provide the explainable visualization. Project page is at https://sites.google.com/view/scan-aaai2022.

Depth estimation is essential for many applications, such as 3D reconstruction and object recognition. In practice, the captured depth images naturally suffer from the noise and invalid depth value, i.e, depth noise and depth hole. Despite making a process on filling a small number (less than 10%) of depth holes, the performance of the prior depth reconstruction systems drops significantly when coping with the larger hole region (up to 25%). To tackle this, we propose a novel Sequential Depth Networks (SeqDNet). Instead of filling holes in coarse scale, our model tends to leverage the information in the spatial structures constructed from depth images. There are two novel components in the proposed SeqDNet: (1) We slice the depth map from near to far, generating the spatial structure, named sequential depth. It provides residual depth information, which was neglected in previous works. (2) The edge awareness loss (EA Loss) matches the gradient of the depth map by controlling the weight with the normal map so as to provide additional instruction (whether the position is the edge or not) when filling depth holes. Experimental results show a significant performance gain on filling images with 25% depth holes using SeqDNet. Moreover, a comprehensive analysis is given to pave a path for future researches addressing the large hole size on the depth maps.

Multi-party dialogue question answering (MPDQA) is an emerging topic in speech and language processing where the goal is to answer the questions according to the multiparty conversations. Different from conventional QA, which assumes a single speaker (writer) and general listeners (readers), MPDQA involves multiple speakers and specific listeners. Prior works simply treat the dialogues as plain passages, which neglect the importance of role awareness, such as speakers’ perspectives and co-references. In a novel aspect, this paper proposes the Role Aware Multi-Party Network (RAMPNet), a model utilizing the information of speaker and role to present "who is speaking" and "who is mentioned", making role awareness an available message for our model. Experiments show that our RAMPNet outperforms the BERT baseline model on a large-scale MPDQA dataset, FriendsQA, especially in the "Who" and "How" questions, which strongly need the ability of conversation relations understanding to answer these questions. In addition, our further analysis demonstrates RAMPNet’s effectiveness in those questions contain verbs such as "reply" or "talk", related to interactions between speakers and roles. All of the results show the capability and utility of RAMPNet.

In this paper, we extend a previous algorithm mL-SHADE by running the evolutionary process through multiple populations and adding dynamic control of mutation intensity and hyper-parameters. The whole population is partitioned into subpopulations by a random clustering method. Mutation intensity and hyper-parameters are adjusted based on the consumption of fitness function evaluations. Performance of the proposed algorithm is verified by ten benchmark functions in the CEC2020 Competition on Single Objective Bound Constrained optimization. The results show the competitiveness of the proposed algorithm.

In this paper we address single objective real parameter optimization by using differential evolution (DE). L-SHADE is a well-known DE with success history-based adaptation and linear population size reduction. We propose a modified L-SHADE (mL-SHADE), in which three modifications are made: (1) removal of the terminal value, (2) addition of polynomial mutation, and (3) proposal of a memory perturbation mechanism. Performance of the proposed mL-SHADE is verified by using ten benchmark functions in the CEC2019 100-Digit Challenge. The results show that mL-SHADE achieves a higher score than seven state-of-the-art adaptive evolutionary algorithms.