OpenRaiser/Intern-Atlas huggingface dataset:
Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization
Venue: Conference RSS 2025
Year: 2025

In this work, we investigate how spatially grounded auxiliary representations can provide both broad, high-level grounding as well as direct, actionable information to improve policy learning performance and generalization for dexterous tasks. We study these mid-level representations across three critical dimensions: object-centricity, pose-awareness, and depth-awareness. We use these interpretable mid-level representations to train specialist encoders via supervised learning, then feed them as inputs to a diffusion policy to solve dexterous bimanual manipulation tasks in the real world. We propose a novel mixture-of-experts policy architecture that combines multiple specialized expert models, each trained on a distinct mid-level representation, to improve policy generalization. This method achieves an average success rate that is 11% higher than a language-grounded baseline and 24 percent higher than a standard diffusion policy baseline on our evaluation tasks. Furthermore, we find that leveraging mid-level representations as supervision signals for policy actions within a weighted imitation learning algorithm improves the precision with which the policy follows these representations, yielding an additional performance increase of 10%. Our findings highlight the importance of grounding robot policies not only with broad perceptual tasks but also with more granular, actionable representations. For further information and videos, please visit https://mid-level-moe.github.io.
ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
Venue: Conference RSS 2025
Year: 2025

This paper presents ArticuBot, in which a single learned policy enables a robotics system to open diverse categories of unseen articulated objects in the real world. This task has long been challenging for robotics due to the large variations in the geometry, size, and articulation types of such objects. Our system, Articubot, consists of three parts: generating a large number of demonstrations in physics-based simulation, distilling all generated demonstrations into a point cloud-based neural policy via imitation learning, and performing zero-shot sim2real transfer to real robotics systems. Utilizing sampling-based grasping and motion planning, our demonstration generalization pipeline is fast and effective, generating a total of 42.3k demonstrations over 322 training articulated objects. For policy learning, we propose a novel hierarchical policy representation, in which the high-level policy learns the sub-goal for the end-effector, and the low-level policy learns how to move the end-effector conditioned on the predicted goal. We demonstrate that this hierarchical approach achieves much better object-level generalization compared to the non-hierarchical version. We further propose a novel weighted displacement model for the high-level policy that grounds the prediction into the existing 3D structure of the scene, outperforming alternative policy representations. We show that our learned policy can zero-shot transfer to three different real robot settings: a fixed table-top Franka arm across two different labs, and an X-Arm on a mobile base, opening multiple unseen articulated objects across two labs, real lounges, and kitchens. Videos and code can be found on our project website: https://articubot.github.io/.
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
Venue: Conference RSS 2025
Year: 2025

Visuomotor policies have shown great promise in robotic manipulation but often require substantial amounts of human-collected data for effective performance. A key reason underlying the data demands is their limited spatial generalization capability, which necessitates extensive data collection across different object configurations. In this work, we present DemoGen, a low-cost, fully synthetic approach for automatic demonstration generation. Using only one human-collected demonstration per task, DemoGen generates spatially augmented demonstrations by adapting the demonstrated action trajectory to novel object configurations. Visual observations are synthesized by leveraging 3D point clouds as the modality and rearranging the subjects in the scene via 3D editing. Empirically, DemoGen significantly enhances policy performance across a diverse range of real-world manipulation tasks, showing its applicability even in challenging scenarios involving deformable objects, dexterous hand end-effectors, and bimanual platforms. Furthermore, DemoGen can be extended to enable additional out-of-distribution capabilities, including disturbance resistance and obstacle avoidance.
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation
Venue: Conference RSS 2025
Year: 2025

Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions. However, these methods often require large datasets and multiple inference steps for action generation, posing challenges in robotics where the cost for data collection is high and computation resources are limited. To address this, we introduce IMLE Policy, a novel behaviour cloning approach based on Implicit Maximum Likelihood Estimation (IMLE). IMLE Policy excels in low-data regimes, effectively learning from minimal demonstrations and requiring 38\% less data on average to match the performance of baseline methods in learning complex multi-modal behaviours. Its simple generator-based architecture enables single-step action generation, improving inference speed by 97.3\% compared to Diffusion Policy, while outperforming single-step Flow Matching. We validate our approach across diverse manipulation tasks in simulated and real-world environments, showcasing its ability to capture complex behaviours under data constraints. Videos and code are provided on our project page: https://imle-policy.github.io/.
Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training
Venue: Conference RSS 2025
Year: 2025

Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large number of trainable parameters. This model size affords powerful representations but also incurs high computational cost during training. Ideally, it would be beneficial to dynamically adjust the trainable portion as needed, balancing representational power with computational efficiency. For example, while overparameterization enables diffusion policies to capture complex robotic behaviors via offline behavioral cloning, the increased computational demand makes online interactive imitation learning impractical due to longer training time. To address this challenge, we present a framework, called DRIFT, that uses the Singular Value Decomposition to enable dynamic rank adjustment during diffusion policy training. We implement and demonstrate the benefits of this framework in DRIFT-DAgger, an imitation learning algorithm that can seamlessly slide between an offline bootstrapping phase and an online interactive phase. We perform extensive experiments to better understand the proposed framework, and demonstrate that DRIFT-DAgger achieves improved sample efficiency and faster training with minimal impact on model performance. The project website is available at: https://apollo-lab-yale.github.io/25-RSS-DRIFT-website/.
SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation
Venue: Conference RSS 2025
Year: 2025

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots new skills, large amounts of expert demonstration data are still indispensible for these complex tasks, resulting in high sample complexity and costly data collection. To address this, we propose Semantic Keypoint Imitation Learning (SKIL), a framework which automatically obtains semantic keypoints with the help of vision foundation models, and forms the descriptor of semantic keypoints that enables efficient imitation learning of complex robotic tasks with significantly lower sample complexity. In real-world experiments, SKIL doubles the performance of baseline methods in tasks such as picking a cup or mouse, while demonstrating exceptional robustness to variations in objects, environmental changes, and distractors. For long-horizon tasks like hanging a towel on a rack where previous methods fail completely, SKIL achieves a mean success rate of 70\% with as few as 30 demonstrations. Furthermore, SKIL naturally supports cross-embodiment learning due to its semantic keypoints abstraction. Our experiments demonstrate that even human videos bring considerable improvement to the learning performance. All these results demonstrate the great success of SKIL in achieving data-efficient generalizable robotic learning. Visualizations and code are available at: https://skil-robotics.github.io/SKIL-robotics/.
Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations
Venue: Conference RSS 2025
Year: 2025

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is relevant to overcome unseen task situations. This paper addresses the challenge of ensuring both safety and robustness in dynamic robot skills learned from demonstrations. Specifically, we build on neural contractive dynamical systems to provide robust extrapolation of the learned skills, while designing a full-body obstacle avoidance strategy that preserves contraction stability via diffeomorphic transforms. This is particularly crucial in complex environments where implicit scene representations, such as Signed Distance Fields (SDFs), are necessary. To this end, our framework called Signed Distance Field Diffeomorphic Transform, leverages SDFs and flow-based diffeomorphisms to achieve contraction-preserving obstacle avoidance. We thoroughly evaluate our framework on synthetic datasets and several real-world robotic tasks in a kitchen environment. Our results show that our approach locally adapts the learned contractive vector field while staying close to the learned dynamics and without introducing highly-curved motion paths, thus outperforming several state-of-the-art methods.
Self-taught hashing for fast similarity search
Venue: Conference SIGIR 2010
Year: 2010

The ability of fast similarity search at large scale is of great importance to many Information Retrieval (IR) applications. A promising way to accelerate similarity search is semantic hashing which designs compact binary codes for a large number of documents so that semantically similar documents are mapped to similar codes (within a short Hamming distance). Although some recently proposed techniques are able to generate high-quality codes for documents known in advance, obtaining the codes for previously unseen documents remains to be a very challenging problem. In this paper, we emphasise this issue and propose a novel Self-Taught Hashing (STH) approach to semantic hashing: we first find the optimal $l$-bit binary codes for all documents in the given corpus via unsupervised learning, and then train $l$ classifiers via supervised learning to predict the $l$-bit code for any query document unseen before. Our experiments on three real-world text datasets show that the proposed approach using binarised Laplacian Eigenmap (LapEig) and linear Support Vector Machine (SVM) outperforms state-of-the-art techniques significantly.
Non-Compositional Term Dependence for Information Retrieval
Venue: Conference SIGIR 2015
Year: 2015

Modelling term dependence in IR aims to identify co-occurring terms that are too heavily dependent on each other to be treated as a bag of words, and to adapt the indexing and ranking accordingly. Dependent terms are predominantly identified using lexical frequency statistics, assuming that (a) if terms co-occur often enough in some corpus, they are semantically dependent; (b) the more often they co-occur, the more semantically dependent they are. This assumption is not always correct: the frequency of co-occurring terms can be separate from the strength of their semantic dependence. E.g. "red tape" might be overall less frequent than "tape measure" in some corpus, but this does not mean that "red"+"tape" are less dependent than "tape"+"measure". This is especially the case for non-compositional phrases, i.e. phrases whose meaning cannot be composed from the individual meanings of their terms (such as the phrase "red tape" meaning bureaucracy). Motivated by this lack of distinction between the frequency and strength of term dependence in IR, we present a principled approach for handling term dependence in queries, using both lexical frequency and semantic evidence. We focus on non-compositional phrases, extending a recent unsupervised model for their detection [21] to IR. Our approach, integrated into ranking using Markov Random Fields [31], yields effectiveness gains over competitive TREC baselines, showing that there is still room for improvement in the very well-studied area of term dependence in IR.
Mining Measured Information from Text
Venue: Conference SIGIR 2015
Year: 2015

We present an approach to extract measured information from text (e.g., a 1370 degrees C melting point, a BMI greater than 29.9 kg/m^2 ). Such extractions are critically important across a wide range of domains - especially those involving search and exploration of scientific and technical documents. We first propose a rule-based entity extractor to mine measured quantities (i.e., a numeric value paired with a measurement unit), which supports a vast and comprehensive set of both common and obscure measurement units. Our method is highly robust and can correctly recover valid measured quantities even when significant errors are introduced through the process of converting document formats like PDF to plain text. Next, we describe an approach to extracting the properties being measured (e.g., the property "pixel pitch" in the phrase "a pixel pitch as high as 352 μm"). Finally, we present MQSearch: the realization of a search engine with full support for measured information.
Image-Based Recommendations on Styles and Substitutes
Venue: Conference SIGIR 2015
Year: 2015

Humans inevitably develop a sense of the relationships between objects, some of which are based on their appearance. Some pairs of objects might be seen as being alternatives to each other (such as two pairs of jeans), while others may be seen as being complementary (such as a pair of jeans and a matching shirt). This information guides many of the choices that people make, from buying clothes to their interactions with each other. We seek here to model this human sense of the relationships between objects based on their appearance. Our approach is not based on fine-grained modeling of user annotations but rather on capturing the largest dataset possible and developing a scalable method for uncovering human notions of the visual relationships within. We cast this as a network inference problem defined on graphs of related images, and provide a large-scale dataset for the training and evaluation of the same. The system we develop is capable of recommending which clothes and accessories will go well together (and which will not), amongst a host of other applications.
Local Ranking Problem on the BrowseGraph
Venue: Conference SIGIR 2015
Year: 2015

The "Local Ranking Problem" (LRP) is related to the computation of a centrality-like rank on a local graph, where the scores of the nodes could significantly differ from the ones computed on the global graph. Previous work has studied LRP on the hyperlink graph but never on the BrowseGraph, namely a graph where nodes are webpages and edges are browsing transitions. Recently, this graph has received more and more attention in many different tasks such as ranking, prediction and recommendation. However, a web-server has only the browsing traffic performed on its pages (local BrowseGraph) and, as a consequence, the local computation can lead to estimation errors, which hinders the increasing number of applications in the state of the art. Also, although the divergence between the local and global ranks has been measured, the possibility of estimating such divergence using only local knowledge has been mainly overlooked. These aspects are of great interest for online service providers who want to: (i) gauge their ability to correctly assess the importance of their resources only based on their local knowledge, and (ii) take into account real user browsing fluxes that better capture the actual user interest than the static hyperlink network. We study the LRP problem on a BrowseGraph from a large news provider, considering as subgraphs the aggregations of browsing traces of users coming from different domains. We show that the distance between rankings can be accurately predicted based only on structural information of the local graph, being able to achieve an average rank correlation as high as 0.8.
An Improved Multileaving Algorithm for Online Ranker Evaluation
Venue: Conference SIGIR 2016
Year: 2016

Online ranker evaluation is a key challenge in information retrieval. An important task in the online evaluation of rankers is using implicit user feedback for inferring preferences between rankers. Interleaving methods have been found to be efficient and sensitive, i.e. they can quickly detect even small differences in quality. It has recently been shown that multileaving methods exhibit similar sensitivity but can be more efficient than interleaving methods. This paper presents empirical results demonstrating that existing multileaving methods either do not scale well with the number of rankers, or, more problematically, can produce results which substantially differ from evaluation measures like NDCG. The latter problem is caused by the fact that they do not correctly account for the similarities that can occur between rankers being multileaved. We propose a new multileaving method for handling this problem and demonstrate that it substantially outperforms existing methods, in some cases reducing errors by as much as 50%.
Polarized User and Topic Tracking in Twitter
Venue: Conference SIGIR 2016
Year: 2016

Digital traces of conversations in micro-blogging platforms and OSNs provide information about user opinion with a high degree of resolution. These information sources can be exploited to under- stand and monitor collective behaviors. In this work, we focus on polarization classes, i.e., those topics that require the user to side exclusively with one position. The proposed method provides an iterative classification of users and keywords: first, polarized users are identified, then polarized keywords are discovered by monitoring the activities of previously classified users. This method thus allows tracking users and topics over time. We report several experiments conducted on two Twitter datasets during political election time-frames. We measure the user classification accuracy on a golden set of users, and analyze the relevance of the extracted keywords for the ongoing political discussion.
Learning to Rank Personalized Search Results in Professional Networks
Venue: Conference SIGIR 2016
Year: 2016

LinkedIn search is deeply personalized - for the same queries, different searchers expect completely different results. This paper presents our approach to achieving this by mining various data sources available in LinkedIn to infer searchers' intents (such as hiring, job seeking, etc.), as well as extending the concept of homophily to capture the searcher-result similarities on many aspects. Then, learning-to-rank (LTR) is applied to combine these signals with standard search features.
Subspace Clustering Based Tag Sharing for Inductive Tag Matrix Refinement with Complex Errors
Venue: Conference SIGIR 2016
Year: 2016

Annotating images with tags is useful for indexing and retrieving images. However, many available annotation data include missing or inaccurate annotations. In this paper, we propose an image annotation framework which sequentially performs tag completion and refinement. We utilize the subspace property of data via sparse subspace clustering for tag completion. Then we propose a novel matrix completion model for tag refinement, integrating visual correlation, semantic correlation and the novelly studied property of complex errors. The proposed method outperforms the state-of-the-art approaches on multiple benchmark datasets even when they contain certain levels of annotation noise.
Sedano: A News Stream Processor for Business
Venue: Conference SIGIR 2016
Year: 2016

We present Sedano, a system for processing and indexing a continuous stream of business-related news. Sedano defines pipelines whose stages analyze and enrich news items (e.g., newspaper articles and press releases). News data coming from several content sources are stored, processed and then indexed in order to be consumed by Atoka, our business intelligence product. Atoka users can retrieve news about specific companies, filtering according to various facets. Sedano features both an entity-linking phase, which finds mentions of companies in news, and a classification phase, which classifies news according to a set of business events. Its flexible architecture allows Sedano to be deployed on commodity machines while being scalable and fault-tolerant.
A Cross-Platform Collection of Social Network Profiles
Venue: Conference SIGIR 2016
Year: 2016

The proliferation of Internet-enabled devices and services has led to a shifting balance between digital and analogue aspects of our everyday lives. In the face of this development there is a growing demand for the study of privacy hazards, the potential for unique user de-anonymization and information leakage between the various social media profiles many of us maintain. To enable the structured study of such adversarial effects, this paper presents a dedicated dataset of cross-platform social network personas (i.e., the same person has accounts on multiple platforms). The corpus comprises 850 users who generate predominantly English content. Each user object contains the online footprint of the same person in three distinct social networks: Twitter, Instagram and Foursquare. In total, it encompasses over 2.5M tweets, 340k check-ins and 42k Instagram posts. We describe the collection methodology, characteristics of the dataset, and how to obtain it. Finally, we discuss a common use case, cross-platform user identification.
Tweet2Vec: Learning Tweet Embeddings Using Character-level CNN-LSTM Encoder-Decoder
Venue: Conference SIGIR 2016
Year: 2016

We present Tweet2Vec, a novel method for generating general-purpose vector representation of tweets. The model learns tweet embeddings using character-level CNN-LSTM encoder-decoder. We trained our model on 3 million, randomly selected English-language tweets. The model was evaluated using two methods: tweet semantic similarity and tweet sentiment categorization, outperforming the previous state-of-the-art in both tasks. The evaluations demonstrate the power of the tweet embeddings generated by our model for various tweet categorization tasks. The vector representations generated by our model are generic, and hence can be applied to a variety of tasks. Though the model presented in this paper is trained on English-language tweets, the method presented can be used to learn tweet embeddings for different languages.