Publications

GNN-based Decentralized Perception in Multirobot Systems for Predicting Worker Actions
Ali Imran
Giovanni Beltrame
David St-Onge
In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. T… (voir plus)his paper introduces a perception framework that enables mobile robots to understand and share information about human actions in a decentralized way. The framework first allows each robot to build a spatial graph representing its surroundings, which it then shares with other robots. This shared spatial data is combined with temporal information to track human behavior over time. A swarm-inspired decision-making process is used to ensure all robots agree on a unified interpretation of the human's actions. Results show that adding more robots and incorporating longer time sequences improve prediction accuracy. Additionally, the consensus mechanism increases system resilience, making the multi-robot setup more reliable in dynamic industrial settings.
2025-05-31
IEEE Robotics and Automation Letters (publié)
doi.org
arxiv.org
Impact de l'antibiothérapie par Daptomycine dans le traitement des bactériémies à Enterococcus faecium en réanimation : l'étude rétrospective multicentrique ENTERODAPTO.
S. Herbel
Guillaume Dumas
L. Chantelot
J. Massol
Q. Moyon
J. Ricard
E. Azoulay
C. Hauw-Berlemont
E. Maury
T. Urbina
2025-05-31
Médecine et Maladies Infectieuses Formation (publié)
doi.org
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Yewon Lee
Philip Huang
Yizhou Huang
Krishna Murthy
Andrew Zou Li
Fabian Damken
Eric Heiden
Kevin A. Smith
D. Nowrouzezahrai
Fabio Ramos
Florian Shkurti
Carnegie-mellon University
M. I. O. Technology
Technische Universitat Darmstadt
Nvidia
M. University
University of Sydney
Planning for many manipulation tasks, such as using tools or assembling parts, often requires both symbolic and geometric reasoning. Task an… (voir plus)d Motion Planning (TAMP) algorithms typically solve these problems by conducting a tree search over high-level task sequences while checking for kinematic and dynamic feasibility. While performant, most existing algorithms are highly inefficient as their time complexity grows exponentially with the number of possible actions and objects. Additionally, they only find a single solution to problems in which many feasible plans may exist. To address these limitations, we propose a novel algorithm called Stein Task and Motion Planning (STAMP) that leverages parallelization and differentiable simulation to efficiently search for multiple diverse plans. STAMP relaxes discrete-and-continuous TAMP problems into continuous optimization problems that can be solved using variational inference. Our algorithm builds upon Stein Variational Gradient Descent, a gradient-based variational inference algorithm, and parallelized differentiable physics simulators on the GPU to efficiently obtain gradients for inference. Further, we employ imitation learning to introduce action abstractions that reduce the inference problem to lower dimensions. We demonstrate our method on two TAMP problems and empirically show that STAMP is able to: 1) produce multiple diverse plans in parallel; and 2) search for plans more efficiently compared to existing TAMP baselines.
2025-05-31
IEEE Robotics and Automation Letters (publié)
doi.org
openreview.net
Graph Representation Learning for the Prediction of Medication Usage in the UK Biobank Based on Pharmacogenetic Variants
Bill Qi
Yannis Trakadis
2025-05-30
Bioengineering (publié)
doi.org
Continual Learning in Vision-Language Models via Aligned Model Merging
Ghada Sokar
Gintare Karolina Dziugaite
Anurag Arnab
Ahmet Iscen
Pablo Samuel Castro
Cordelia Schmid
Continual learning is conventionally tackled through sequential fine-tuning, a process that, while enabling adaptation, inherently favors pl… (voir plus)asticity over the stability needed to retain prior knowledge. While existing approaches attempt to mitigate catastrophic forgetting, a bias towards recent tasks persists as they build upon this sequential nature. In this work we present a new perspective based on model merging to maintain stability while still retaining plasticity. Rather than just sequentially updating the model weights, we propose merging newly trained task parameters with previously learned ones, promoting a better balance. To maximize the effectiveness of the merging process, we propose a simple mechanism that promotes learning aligned weights with previous ones, thereby avoiding interference when merging. We evaluate this approach on large Vision-Language Models (VLMs), and demonstrate its effectiveness in reducing forgetting, increasing robustness to various task orders and similarities, and improving generalization.
2025-05-29
ArXiv (prépublication)
doi.org
arxiv.org
Ctrl-Crash: Controllable Diffusion for Realistic Car Crashes
Anthony Gosselin
Ge Ya Luo
Luis Lara
Florian Golemo
D. Nowrouzezahrai
Liam Paull
Alexia Jolicoeur-Martineau
Christopher Pal
Video diffusion techniques have advanced significantly in recent years; however, they struggle to generate realistic imagery of car crashes … (voir plus)due to the scarcity of accident events in most driving datasets. Improving traffic safety requires realistic and controllable accident simulations. To tackle the problem, we propose Ctrl-Crash, a controllable car crash video generation model that conditions on signals such as bounding boxes, crash types, and an initial image frame. Our approach enables counterfactual scenario generation where minor variations in input can lead to dramatically different crash outcomes. To support fine-grained control at inference time, we leverage classifier-free guidance with independently tunable scales for each conditioning signal. Ctrl-Crash achieves state-of-the-art performance across quantitative video quality metrics (e.g., FVD and JEDi) and qualitative measurements based on a human-evaluation of physical realism and video quality compared to prior diffusion-based methods.
2025-05-29
ArXiv (prépublication)
doi.org
arxiv.org
HELM: Hyperbolic Large Language Models via Mixture-of-Curvature Experts
Neil He
Rishabh Anand
Hiren Madhu
Ali Maatouk
Smita Krishnaswamy
Leandros Tassiulas
Menglin Yang 0001
Rex Ying
2025-05-29
ArXiv (prépublication)
doi.org
arxiv.org
Estimation of Head Motion in Structural MRI and its Impact on Cortical Thickness Measurements in Retrospective Data
C Bricout
S Ebrahimi Kahou
S Bouix
Motion-related artifacts are inevitable in Magnetic Resonance Imaging (MRI) and can bias automated neuroanatomical metrics such as cortical … (voir plus)thickness. These biases can interfere with statistical analysis which is a major concern as motion has been shown to be more prominent in certain populations such as children or individuals with ADHD. Manual review cannot objectively quantify motion in anatomical scans, and existing quantitative automated approaches often require specialized hardware or custom acquisition protocols. Here, we train a 3D convolutional neural network to estimate a summary motion metric in retrospective routine research scans by leveraging a large training dataset of synthetically motion-corrupted volumes. We validate our method with one held-out site from our training cohort and with 14 fully independent datasets, including one with manual ratings, achieving a representative
2025-05-28
ArXiv (prépublication)
doi.org
arxiv.org
Gravitational-Wave Parameter Estimation in non-Gaussian noise using Score-Based Likelihood Characterization
Ronan Legin
Maximiliano Isi
Kaze W. K. Wong
Yashar Hezaveh
Laurence Perreault-Levasseur
Gravitational-wave (GW) parameter estimation typically assumes that instrumental noise is Gaussian and stationary. Obvious departures from t… (voir plus)his idealization are typically handled on a case-by-case basis, e.g., through bespoke procedures to ``clean'' non-Gaussian noise transients (glitches), as was famously the case for the GW170817 neutron-star binary. Although effective, manipulating the data in this way can introduce biases in the inference of key astrophysical properties, like binary precession, and compound in unpredictable ways when combining multiple observations; alternative procedures free of the same biases, like joint inference of noise and signal properties, have so far proved too computationally expensive to execute at scale. Here we take a different approach: rather than explicitly modeling individual non-Gaussianities to then apply the traditional GW likelihood, we seek to learn the true distribution of instrumental noise without presuming Gaussianity and stationarity in the first place. Assuming only noise additivity, we employ score-based diffusion models to learn an empirical noise distribution directly from detector data and then combine it with a deterministic waveform model to provide an unbiased estimate of the likelihood function. We validate the method by performing inference on a subset of GW parameters from 400 mock observations, containing real LIGO noise from either the Livingston or Hanford detectors. We show that the proposed method can recover the true parameters even in the presence of loud glitches, and that the inference is unbiased over a population of signals without applying any cleaning to the data. This work provides a promising avenue for extracting unbiased source properties in future GW observations over the coming decade.
2025-05-28
Astrophysical Journal Letters (publié)
doi.org
arxiv.org
Nuclear Patterning of Developing Cells in Murine Ventricular Heart Walls
Tabish A Syed
Sophie Ellwood
Drisya Dileep
S. Subha
Minhajuddin Sirajuddin
Kaleem Siddiqi
2025-05-28
Lecture Notes in Computer Science (publié)
doi.org
Jailbreak Distillation: Renewable Safety Benchmarking
Jingyu Zhang
Ahmed Elgohary
Xiawei Wang
A S M Iftekhar
Ahmed Magooda
Benjamin Van Durme
Daniel Khashabi
Kyle Jackson
JBDistill Benchmark JBDistill Benchmark
Marah Ihab Abdin
Jyoti Aneja
Harkirat Singh Behl
Sébastien Bubeck
Ronen Eldan
S. Gunasekar
Michael Harrison
Russell J. Hewett
Mojan Javaheripi
Piero Kauffmann
James R. Lee … (voir 484 de plus)
Yin Tat Lee
Yuanzhi Li
Weishung Liu
C. C. T. Mendes
Anh Nguyen
Eric Price
Gustavo de Rosa
Olli Saarikivi
Adil Salim
Tim Beyer
Sophie Xhonneux
Simon Geisler
Gauthier Gidel
Leo Schwinn
Stephan Günnemann. 2025
Blake Bullwinkel
Amanda Minnich
Shiven Chawla
Gary Lopez
Martin Pouliot
Whitney Maxwell
Patrick Chao
Edoardo Debenedetti
Alexander Robey
Maksym Andriushchenko
Francesco Croce
Vikash Sehwag
Edgar Dobriban
Nicolas Flammarion
George J. Pappas
Florian Tramèr
Hamed Hassani
Eric Wong
Jailbreakbench
Zora Che
Stephen Casper
Robert Kirk
Anirudh Satheesh
Stewart Slocum
Lev E McKinney
Rohit Gandikota
Aidan Ewart
Domenic Rosati
Zichu Wu
Zikui Cai
Daya Guo
Dejian Yang
Haowei Zhang
Jun-Mei Song
Ruoyu Zhang
Runxin Xu
Qihao Zhu
Shirong Ma
Peiyi Wang
Xiaoling Bi
Xiaokang Zhang
Xingkai Yu
Yu Wu
Z. F. Wu
Zhibin Gou
Zhihong Shao
Zhuoshu Li
Ziyi Gao
A. Liu
Bing Xue
Bingxuan Wang
Bo WU
Bei Feng
Chenggang Lu
Chenggang Zhao
Chengqi Deng
Chenyu Zhang
C. Ruan
Damai Dai
Deli Chen
Dong-Li Ji
Erhang Li
Fangyun Lin
Fucong Dai
Fuli Luo
Guangbo Hao
Guanting Chen
Guowei Li
Han Bao
Hanwei Xu
Haocheng Wang
Honghui Ding
Huajian Xin
Huazuo Gao
Hui Qu
Hui Li
Jianzhong Guo
Jiashi Li
Jiawei Wang
Jingchang Chen
Jingyang Yuan
Junjie Qiu
Junlong Li
Jinbo Cai
Jia Ni
Jian Liang
Jin Chen
Kai Dong
Kai Hu
Kaige Gao
Kang Guan
Kexin Huang
Kuai Yu
Lean Wang
Lecong Zhang
Liang Zhao
Litong Wang
Liyue Zhang
Lei Xu
Leyi Xia
Mingchuan Zhang
Minghua Zhang
Min Tang
Meng Li
Miaojun Wang
Mingming Li
Ning Tian
Panpan Huang
Meng Wang
Qiancheng Wang
Qinyu Chen
Qiushi Du
Ruiqi Ge
Ruisong Zhang
Ruizhe Pan
Runji Wang
R. J. Chen
Rong Jin
Ruyi Chen
Shanghao Lu
Shangyan Zhou
Shanhuang Chen
Shengfeng Ye
Shiyu Wang
Shuiping Yu
Shunfeng Zhou
Shuting Pan
S. S. Li
Shuang Zhou
Shao-Ping Wu
Tao Yun
Tian Pei
Tianyu Sun
T. Wang
Wangding Zeng
Wanjia Zhao
Wen Liu
Wenfeng Liang
Wenjun Gao
Wen-Xuan Yu
Wentao Zhang
Wei Xiao
Wei An
Xiaodong Liu
Xiaohan Wang
Xiaokang Chen
Xiaotao Nie
Xin Cheng
Jian Li
Xinfeng Xie
Xingchao Liu
Xinyu Yang
Xinyuan Li
Xuecheng Su
Xuheng Lin
Xiangyu Jin
Xi-Cheng Shen
Xiaosha Chen
Xiaowen Sun
Xiaoxi-ang Wang
Xinnan Song
Xinyi Zhou
Xianzu Wang
Xinxia Shan
Y. K. Li
Y. Q. Wang
Y. X. Wei
Yang Zhang
Yan-Hong Xu
Yao Zhao
Yaofeng Sun
Yaohui Wang
Yi Yu
Yichao Zhang
Yifan Shi
Yi Xiong
Ying He
Yishi Piao
Yisong Wang
Yi Chern Tan
Yiyang Ma
Yiyuan Liu
Yongqiang Guo
Yuan Ou
Yuduan Wang
Yue Gong
Yuheng Zou
Yuzi He
Yunfan Xiong
Yuxiang Luo
Yuxiang You
Yu-mei You
Yuxuan Liu
Yuyang Zhou
Y. X. Zhu
Yanping Huang
Yaohui Li
Yang Li
Yi Zheng
Yunxiang Ma
Ying Tang
Yukun Zha
Yuting Yan
Z. Z. Ren
Zehui Ren
Zhangli Sha
Zhe Fu
Zhean Xu
Zhenda Xie
Zhengyan Zhang
Zhewen Hao
Zhicheng Ma
Zhigang Yan
Zhiyu Wu
Zihui Gu
Zijia Zhu
Zijun Liu
Zi-An Li
Ziwei Xie
Ziyang Song
Deep Ganguli
Liane Lovitt
Jackson Kernion
Amanda Askell
Yuntao Bai
Saurav Kadavath
Benjamin Mann
Ethan Perez
Nicholas Schiefer
Kamal Ndousse
Andy Jones
Sam Bowman
Anna Chen
Tom Con-erly
Nova Dassarma
Dawn Drain
Nelson Elhage Sheer
Stanislav Fort
Zac Hatfield-Dodds
T. Henighan
Danny Hernandez
Tristan Hume
Josh Jacobson
Scott Johnston
Shauna Kravec
Catherine Olsson
Sam Ringer
Eli Tran-Johnson
Dario Amodei
Tom Brown
Nicholas Joseph
Sam McCandlish
Chris Olah
Jared Kaplan
Jack Clark. 2022. Red
Aaron Grattafiori
Abhimanyu Dubey
Abhinav Jauhri
Abhinav Pandey
Abhishek Kadian
Ahmad Al-Dahle
Aiesha Letman
Akhil Mathur
Alan Schel-ten
Alex Vaughan
Amy Yang
Angela Fan
Anirudh Goyal
A. Hartshorn
Aobo Yang
Archi Mitra
Archie Sravankumar
Artem Korenev
Arthur Hinsvark
Arun Rao
Aston Zhang
Aurelien Ro-driguez
Austen Gregerson
Ava Spataru
Baptiste Rozière
Bethany Biron
Binh Tang
Bobbie Chern
Charlotte Caucheteux
Chaya Nayak
Chloe Bi
Chris Marra
Chris McConnell
Christian Keller
Christophe Touret
Chunyang Wu
Corinne Wong
Cris-tian Cantón Ferrer
Cyrus Nikolaidis
Damien Al-lonsius
Daniel Song
Danielle Pintz
Danny Livshits
Danny Wyatt
David Esiobu
Dhruv Choudhary
Dhruv Mahajan 0001
Diego Garcia-Olano
Diego Perino
Dieuwke Hupkes
Egor Lakomkin
Ehab A. AlBadawy
Elina Lobanova
Emily Dinan
Eric Michael Smith
Filip Radenovic
Francisco Guzmán
Frank Zhang
Gabriele Synnaeve
Gabrielle Lee
Georgia Lewis
G. Thattai
Graeme Nail
Gregoire Mi-alon
Guan Pang
Guillem Cucurell
Hailey Nguyen
Han-nah Korevaar
Hu Xu
Hugo Touvron
Imanol Iliyan Zarov
Arrieta Ibarra
Is-abel Kloumann
Ishan Misra
Ivan Evtimov
Jack Zhang
Jade Copet
Jaewon Lee
Jan Geffert
Jana Vranes
Jason Park
Jay Mahadeokar
Jeet Shah
Jelmer van der Linde
Jennifer Billock
Jenny Hong
Jenya Lee
Jeremy Fu
J. Fu
Jianfeng Chi
Jianyu Huang
Jiawen Liu
Jie Wang
Jiecao Yu
Joanna Bitton
Joe Spisak
Jongsoo Park
Joseph Rocca
J. Johnstun
Joshua Saxe
Junteng Jia
Kalyan Vasuden Alwala
Karthik Prasad
Kartikeya Upasani
Kate Plawiak
Keqian Li
Kenneth Heafield
Kevin R. Stone
Khalid El-Arini
Krithika Iyer
Kshitiz Malik
Kuen-ley Chiu
Kunal Bhalla
Kushal Lakhotia
Lauren Rantala-Yeary
Laurens van der Maaten
Lawrence Chen
Liang Tan
Liz Jenkins
Louis Martin
Lovish Madaan
Lubo Malo
Lukas Blecher
Lukas Landzaat
Luke de Oliveira
Madeline Muzzi
Mahesh Pasupuleti
Mannat Singh
Manohar Paluri
Marcin Kardas
Maria Tsimpoukelli
Mathew Oldham
Mathieu Rita
Maya Pavlova
Melanie Kam-badur
Mike Lewis
Mitesh Min Si
Kumar Singh
Mona Hassan
Naman Goyal
Narjes Torabi
Niko-lay Bashlykov
Nikolay Bogoychev
Niladri S. Chatterji
Ning Zhang
Olivier Duchenne
Onur Çelebi
Patrick Alrassy
Petar Pengwei Li
Peter Weng
Prajjwal Bhargava
Pratik Dubal
Punit Praveen Krishnan
Singh Koura
Puxin Xu
Qing He
Qingxiao Dong
Ragavan Srinivasan
Raj Ganapathy
Ramon Calderer
Ricardo Silveira Cabral
Robert Stojnic
Roberta Raileanu
Rohan Maheswari
Rohit Girdhar
Rohit Patel
Ro-main Sauvestre
Ron-nie Polidoro
Roshan Sumbaly
Ross Taylor
Ruan Silva
Rui Hou
Rui Wang
S. Hosseini
Sa-hana Chennabasappa
Sanjay Singh
Sean Bell
Seo-hyun Sonia Kim
Sergey Edunov
Shaoliang Nie
Sharan Narang
Sharath Chandra Raparthy
Sheng Shen
Shengye Wan
Shruti Bhosale
Shun Zhang
Simon Van-denhende
Soumya Batra
Spencer Whitman
Sten Sootla
Stephane Collot
Suchin Gururangan
S. Borodinsky
Tamar Herman
Tara Fowler
Tarek Sheasha
Thomas Georgiou
Thomas Scialom
Tobias Speckbacher
Todor Mihaylov
Tong Xiao
Ujjwal Karn
Vedanuj Goswami
Vibhor Gupta
Vignesh Ramanathan
Viktor Kerkez
Vincent Gonguet
Vir-ginie Do
Vish Vogeti
Vitor Albiero
Vladan Petro-vic
Weiwei Chu
Wenhan Xiong
Wenyin Fu
2025-05-27
ArXiv (prépublication)
doi.org
arxiv.org
One Demo Is All It Takes: Planning Domain Derivation with LLMs from A Single Demonstration
Jinbang Huang
Yixin Xiao
Zhanguang Zhang
Mark J. Coates
Jianye HAO
Yingxue Zhang
Pre-trained Large Language Models (LLMs) have shown promise in solving planning problems but often struggle to ensure plan correctness, espe… (voir plus)cially for long-horizon tasks. Meanwhile, traditional robotic task and motion planning (TAMP) frameworks address these challenges more reliably by combining high-level symbolic search with low-level motion planning. However, TAMP relies on the availability of planning domains that typically involve substantial manual effort and domain expertise, limiting its generalizability. We introduce Planning Domain Derivation with LLMs (PDDLLM), a novel approach that combines simulated physical interaction with LLM reasoning to improve planning performance. The method reduces reliance on humans by inferring planning domains from a single annotated task-execution demonstration. Unlike prior domain-inference methods that rely on partially predefined or language descriptions of planning domains, PDDLLM constructs domains entirely from scratch and automatically integrates them with low-level motion planning skills, enabling fully automated long-horizon planning. PDDLLM is evaluated on over 1,200 diverse tasks spanning nine environments and benchmarked against six LLM-based planning baselines, demonstrating superior planning performance, lower token costs, and successful deployment on multiple robot platforms.
2025-05-27
thecvf.com/CVPR/2025/Workshop/FMEA (présentation orale)
openreview.net
openreview.net