Fang Gao

Fang Gao, XueTao Li, Jun Yu et al.

The advent of Chat-GPT has led to a surge of interest in Embodied AI. However, many existing Embodied AI models heavily rely on massive interactions with training environments, which may not be practical in real-world situations. To this end, the Maniskill2 has introduced a full-physics simulation benchmark for manipulating various 3D objects. This benchmark enables agents to be trained using diverse datasets of demonstrations and evaluates their ability to generalize to unseen scenarios in testing environments. In this paper, we propose a novel two-stage fine-tuning strategy that aims to further enhance the generalization capability of our model based on the Maniskill2 benchmark. Through extensive experiments, we demonstrate the effectiveness of our approach by achieving the 1st prize in all three tracks of the ManiSkill2 Challenge. Our findings highlight the potential of our method to improve the generalization abilities of Embodied AI models and pave the way for their ractical applications in real-world scenarios. All codes and models of our solution is available at https://github.com/xtli12/GXU-LIPE.git

Xingxuan Zhang, Gang Ren, Han Yu et al.

We argue that progress toward general intelligence requires complementary foundation models grounded in language, the physical world, and structured data. This report presents LimiX-16M and LimiX-2M, two instantiations of our large structured-data models (LDMs). Both models treat structured data as a joint distribution over variables and missingness, thus capable of addressing a wide range of tabular tasks through query-based conditional prediction via a single model. They are pretrained using masked joint-distribution modeling with an episodic, context-conditional objective, supporting rapid, training-free adaptation at inference. We evaluate LimiX models across 11 large structured-data benchmarks with broad regimes of sample size, feature dimensionality, class number, categorical-to-numerical feature ratio, missingness, and sample-to-feature ratios. LimiX-16M consistently surpasses strong baselines, as shown in Figure 1 and Figure 2. The superiority holds across a wide range of tasks, such as classification, regression, missing value imputation, and data generation, often by substantial margins, while avoiding task-specific architectures or bespoke training per task. Notably, LimiX-2M delivers strong results under tight compute and memory budgets. We also present the first scaling law study for LDMs, revealing how data and model scaling jointly influence downstream performance and offering quantitative guidance for tabular foundation modeling. All LimiX models are publicly accessible under Apache 2.0.

Fang Gao, Jiabao Wang, Jun Yu et al.

Monocular depth estimation (MDE) is a fundamental task in many applications such as scene understanding and reconstruction. However, most of the existing methods rely on accurately labeled datasets. A weakly-supervised framework based on attention nested U-net (ANU) named as ANUW is introduced in this paper for cases with wrong labels. The ANUW is trained end-to-end to convert an input single RGB image into a depth image. It consists of a dense residual network structure, an adaptive weight channel attention (AWCA) module, a patch second non-local (PSNL) module and a soft label generation method. The dense residual network is the main body of the network to encode and decode the input. The AWCA module can adaptively adjust the channel weights to extract important features. The PSNL module implements the spatial attention mechanism through a second-order non-local method. The proposed soft label generation method uses the prior knowledge of the dataset to produce soft labels to replace false ones. The proposed ANUW is trained on a defective monocular depth dataset and the trained model is tested on three public datasets, and the results demonstrate the superiority of ANUW in comparison with the state-of-the-art MDE methods.