Kai Gao

Huisheng Mao, Ziqi Yuan, Hua Xu et al.

M-SENA is an open-sourced platform for Multimodal Sentiment Analysis. It aims to facilitate advanced research by providing flexible toolkits, reliable benchmarks, and intuitive demonstrations. The platform features a fully modular video sentiment analysis framework consisting of data management, feature extraction, model training, and result analysis modules. In this paper, we first illustrate the overall architecture of the M-SENA platform and then introduce features of the core modules. Reliable baseline results of different modality features and MSA benchmarks are also reported. Moreover, we use model evaluation and analysis tools provided by M-SENA to present intermediate representation visualization, on-the-fly instance test, and generalization ability test results. The source code of the platform is publicly available at https://github.com/thuiar/M-SENA.

Hanlei Zhang, Hua Xu, Xin Wang et al. · tsinghua

New intent discovery is of great value to natural language processing, allowing for a better understanding of user needs and providing friendly services. However, most existing methods struggle to capture the complicated semantics of discrete text representations when limited or no prior knowledge of labeled data is available. To tackle this problem, we propose a novel clustering framework, USNID, for unsupervised and semi-supervised new intent discovery, which has three key technologies. First, it fully utilizes unsupervised or semi-supervised data to mine shallow semantic similarity relations and provide well-initialized representations for clustering. Second, it designs a centroid-guided clustering mechanism to address the issue of cluster allocation inconsistency and provide high-quality self-supervised targets for representation learning. Third, it captures high-level semantics in unsupervised or semi-supervised data to discover fine-grained intent-wise clusters by optimizing both cluster-level and instance-level objectives. We also propose an effective method for estimating the cluster number in open-world scenarios without knowing the number of new intents beforehand. USNID performs exceptionally well on several benchmark intent datasets, achieving new state-of-the-art results in unsupervised and semi-supervised new intent discovery and demonstrating robust performance with different cluster numbers.

Weiwei Xu, Kai Gao, Hao He et al.

Recent advances in Large Language Models (LLMs) have revolutionized code generation, leading to widespread adoption of AI coding tools by developers. However, LLMs can generate license-protected code without providing the necessary license information, leading to potential intellectual property violations during software production. This paper addresses the critical, yet underexplored, issue of license compliance in LLM-generated code by establishing a benchmark to evaluate the ability of LLMs to provide accurate license information for their generated code. To establish this benchmark, we conduct an empirical study to identify a reasonable standard for "striking similarity" that excludes the possibility of independent creation, indicating a copy relationship between the LLM output and certain open-source code. Based on this standard, we propose LiCoEval, to evaluate the license compliance capabilities of LLMs, i.e., the ability to provide accurate license or copyright information when they generate code with striking similarity to already existing copyrighted code. Using LiCoEval, we evaluate 14 popular LLMs, finding that even top-performing LLMs produce a non-negligible proportion (0.88% to 2.01%) of code strikingly similar to existing open-source implementations. Notably, most LLMs fail to provide accurate license information, particularly for code under copyleft licenses. These findings underscore the urgent need to enhance LLM compliance capabilities in code generation tasks. Our study provides a foundation for future research and development to improve license compliance in AI-assisted software development, contributing to both the protection of open-source software copyrights and the mitigation of legal risks for LLM users.

Jinghua Zhang, Li Liu, Kai Gao et al.

Automatic Pill Recognition (APR) systems are crucial for enhancing hospital efficiency, assisting visually impaired individuals, and preventing cross-infection. However, most existing deep learning-based pill recognition systems can only perform classification on classes with sufficient training data. In practice, the high cost of data annotation and the continuous increase in new pill classes necessitate the development of a few-shot class-incremental pill recognition system. This paper introduces the first few-shot class-incremental pill recognition framework, named Discriminative and Bidirectional Compatible Few-Shot Class-Incremental Learning (DBC-FSCIL). It encompasses forward-compatible and backward-compatible learning components. In forward-compatible learning, we propose an innovative virtual class synthesis strategy and a Center-Triplet (CT) loss to enhance discriminative feature learning. These virtual classes serve as placeholders in the feature space for future class updates, providing diverse semantic knowledge for model training. For backward-compatible learning, we develop a strategy to synthesize reliable pseudo-features of old classes using uncertainty quantification, facilitating Data Replay (DR) and Knowledge Distillation (KD). This approach allows for the flexible synthesis of features and effectively reduces additional storage requirements for samples and models. Additionally, we construct a new pill image dataset for FSCIL and assess various mainstream FSCIL methods, establishing new benchmarks. Our experimental results demonstrate that our framework surpasses existing State-of-the-art (SOTA) methods. The code is available at https://github.com/zhang-jinghua/DBC-FSCIL.

Rui Wang, Kai Gao, Jingjin Yu et al.

Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require many motion planning and collision checking calls, which are computationally expensive. In addition, the arrangement space grows exponentially with the number of objects. To address these issues, this work introduces a lazy evaluation framework with a local monotone solver and a global planner. Monotone instances are those that can be solved by moving each object at most once. A key insight is that reachability constraints at the grasps for objects' starts and goals can quickly reveal dependencies between objects without having to execute expensive motion planning queries. Given that, the local solver builds lazily a search tree that respects these reachability constraints without verifying that the arm paths are collision free. It only collision checks when a promising solution is found. If a monotone solution is not found, the non-monotone planner loads the lazy search tree and explores ways to move objects to intermediate locations from where monotone solutions to the goal can be found. Results show that the proposed framework can solve difficult instances in confined spaces with up to 16 objects, which state-of-the-art methods fail to solve. It also solves problems faster than alternatives, when the alternatives find a solution. It also achieves high-quality solutions, i.e., only 1.8 additional actions on average are needed for non-monotone instances.

Rui Wang, Chongwei Liu, Xudong Mou et al.

The accumulation of time-series data and the absence of labels make time-series Anomaly Detection (AD) a self-supervised deep learning task. Single-normality-assumption-based methods, which reveal only a certain aspect of the whole normality, are incapable of tasks involved with a large number of anomalies. Specifically, Contrastive Learning (CL) methods distance negative pairs, many of which consist of both normal samples, thus reducing the AD performance. Existing multi-normality-assumption-based methods are usually two-staged, firstly pre-training through certain tasks whose target may differ from AD, limiting their performance. To overcome the shortcomings, a deep Contrastive One-Class Anomaly detection method of time series (COCA) is proposed by authors, following the normality assumptions of CL and one-class classification. It treats the original and reconstructed representations as the positive pair of negative-sample-free CL, namely "sequence contrast". Next, invariance terms and variance terms compose a contrastive one-class loss function in which the loss of the assumptions is optimized by invariance terms simultaneously and the "hypersphere collapse" is prevented by variance terms. In addition, extensive experiments on two real-world time-series datasets show the superior performance of the proposed method achieves state-of-the-art.

Kai Gao, Zhaxizhuoma, Yan Ding et al.

Effectively performing object rearrangement is an essential skill for mobile manipulators, e.g., setting up a dinner table or organizing a desk. A key challenge in such problems is deciding an appropriate manipulation order for objects to effectively untangle dependencies between objects while considering the necessary motions for realizing the manipulations (e.g., pick and place). To our knowledge, computing time-optimal multi-object rearrangement solutions for mobile manipulators remains a largely untapped research direction. In this research, we propose ORLA*, which leverages delayed (lazy) evaluation in searching for a high-quality object pick and place sequence that considers both end-effector and mobile robot base travel. ORLA* also supports multi-layered rearrangement tasks considering pile stability using machine learning. Employing an optimal solver for finding temporary locations for displacing objects, ORLA* can achieve global optimality. Through extensive simulation and ablation study, we confirm the effectiveness of ORLA* delivering quality solutions for challenging rearrangement instances. Supplementary materials are available at: https://gaokai15.github.io/ORLA-Star/

Yichen Hao, Weiwei Xu, Kai Gao et al.

Sustaining newcomer participation is critical for the long-term health of open-source communities. Although prior research has explored various task recommendation approaches to help newcomers resolve their first-issue, these methods overlook how characteristics of first-issues may influence newcomers' long-term retention, limiting our understanding of whether initial success leads to sustained participation and hindering effective onboarding design. In this paper, we conduct a large-scale empirical study to examine how first-issue characteristics affect newcomer retention. We combine predictive analysis, interpretability techniques, and causal inference to estimate the causal effects of issue characteristics on retention outcomes. The prediction task supports the interpretation and shows that interaction-related characteristics exhibit stronger associations with retention than intrinsic issue attributes. The causal analysis further reveals that issues reported by moderately experienced contributors, accompanied by moderate discussion intensity and participation from project members, and neutral or slightly negative comment sentiment, have higher retention potential. These findings provide actionable insights for OSS maintainers on designing issue management practices that better support long-term newcomer retention.

Yihe Liu, Ziqi Yuan, Huisheng Mao et al.

Multimodal sentiment analysis (MSA), which supposes to improve text-based sentiment analysis with associated acoustic and visual modalities, is an emerging research area due to its potential applications in Human-Computer Interaction (HCI). However, the existing researches observe that the acoustic and visual modalities contribute much less than the textual modality, termed as text-predominant. Under such circumstances, in this work, we emphasize making non-verbal cues matter for the MSA task. Firstly, from the resource perspective, we present the CH-SIMS v2.0 dataset, an extension and enhancement of the CH-SIMS. Compared with the original dataset, the CH-SIMS v2.0 doubles its size with another 2121 refined video segments with both unimodal and multimodal annotations and collects 10161 unlabelled raw video segments with rich acoustic and visual emotion-bearing context to highlight non-verbal cues for sentiment prediction. Secondly, from the model perspective, benefiting from the unimodal annotations and the unsupervised data in the CH-SIMS v2.0, the Acoustic Visual Mixup Consistent (AV-MC) framework is proposed. The designed modality mixup module can be regarded as an augmentation, which mixes the acoustic and visual modalities from different videos. Through drawing unobserved multimodal context along with the text, the model can learn to be aware of different non-verbal contexts for sentiment prediction. Our evaluations demonstrate that both CH-SIMS v2.0 and AV-MC framework enables further research for discovering emotion-bearing acoustic and visual cues and paves the path to interpretable end-to-end HCI applications for real-world scenarios.

Kang Zhao, Hua Xu, Jiangong Yang et al.

Continual relation extraction (CRE) aims to continuously train a model on data with new relations while avoiding forgetting old ones. Some previous work has proved that storing a few typical samples of old relations and replaying them when learning new relations can effectively avoid forgetting. However, these memory-based methods tend to overfit the memory samples and perform poorly on imbalanced datasets. To solve these challenges, a consistent representation learning method is proposed, which maintains the stability of the relation embedding by adopting contrastive learning and knowledge distillation when replaying memory. Specifically, supervised contrastive learning based on a memory bank is first used to train each new task so that the model can effectively learn the relation representation. Then, contrastive replay is conducted of the samples in memory and makes the model retain the knowledge of historical relations through memory knowledge distillation to prevent the catastrophic forgetting of the old task. The proposed method can better learn consistent representations to alleviate forgetting effectively. Extensive experiments on FewRel and TACRED datasets show that our method significantly outperforms state-of-the-art baselines and yield strong robustness on the imbalanced dataset.

Kai Gao, Jingjin Yu

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. In working with two arms in a large workspace, some objects must be handed off between the robots, which further complicates the planning process. For the challenging dual-arm tabletop rearrangement problem, we develop effective task planning algorithms for scheduling the pick-n-place sequence that can be properly distributed between the two arms. We show that, even without using a sophisticated motion planner, our method achieves significant time savings in comparison to greedy approaches and naive parallelization of single-robot plans.

Yifan Wang, Peiwu Wang, Yunxian Chi et al.

Multimodal Intent Recognition (MIR) aims to understand complex user intentions by leveraging text, video, and audio signals. However, existing approaches face two key challenges: (1) overlooking intricate cross-modal interactions for distinguishing consistent and inconsistent cues, and (2) ineffectively modeling multimodal conflicts, leading to semantic cancellation. To address these, we propose a novel Cognitive Dual-Pathway Reasoning (CDPR) framework, which constructs a stable semantic foundation via the intuition pathway and mitigates high-level semantic conflicts through the reasoning pathway, cooperatively establishing deep semantic relations. Specifically, we first employ a representation disentanglement strategy to extract modality-invariant and specific features. Subsequently, the intuition pathway aggregates cross-modal consensus using shared features for solid global representations. The reasoning pathway introduces an inconsistency perception mechanism, combining semantic prototype matching with statistical probability calibration to precisely quantify conflict severity, and dynamically adjusting the weights between both pathways. Furthermore, a multi-view loss function is adopted to alleviate modality laziness and learn structured features at different stages. Extensive experiments on two benchmarks show that CDPR achieves SOTA performance and superior robustness in mitigating multimodal inconsistency. The code is available at https://github.com/Hebust-NLP/CDPR.

Weiwei Xu, Hengzhi Ye, Haoran Ye et al.

Ethical constraints on open-weight AI models are both a reflection of societal concerns and a foundation for AI governance policy. They are expected to propagate to downstream derivatives while implemented as voluntary metadata disclosures that must be restated at each generation of reuse. We audit 2,142,823 model repositories on Hugging Face Hub to test whether this disclosure-based governance infrastructure can sustain traceability across deep model lineages. Restriction evidence decays with a half-life of 1.31 derivation steps ($R^2$=0.98), and beyond seven downstream generations at least 80% of descendant models lack sufficient public evidence for a governance determination, a depth boundary we formalize as the governance horizon. Platform-level interventions to restore missing licence metadata reveal that policy design (not enforcement alone) is the binding factor: inheritance-only designs require near-complete enforcement to move the horizon, whereas a mandatory-declaration design that explicitly resolves orphan lineage components shifts the horizon already at moderate enforcement. The structural bottleneck is lineages with no inheritable upstream intent: such orphan components remain undecidable under any inheritance-only policy regardless of enforcement rate, and unresolved upstream nodes additionally create direct downstream undecidability bottlenecks that inheritance rules alone cannot recover. Comparison with PyPI, where governance signals are carried by explicit machine-readable declarations, corroborates that the collapse is topology-specific to open-weight derivation rather than inherent to open ecosystems. These results establish that disclosure-based governance has a shallow, structurally determined reach in open-weight AI, and that achieving deep supply-chain accountability requires provenance mechanisms propagating governance signals through derivation itself.

Qianrui Zhou, Hua Xu, Hao Li et al. · tsinghua

Multimodal intent recognition aims to leverage diverse modalities such as expressions, body movements and tone of speech to comprehend user's intent, constituting a critical task for understanding human language and behavior in real-world multimodal scenarios. Nevertheless, the majority of existing methods ignore potential correlations among different modalities and own limitations in effectively learning semantic features from nonverbal modalities. In this paper, we introduce a token-level contrastive learning method with modality-aware prompting (TCL-MAP) to address the above challenges. To establish an optimal multimodal semantic environment for text modality, we develop a modality-aware prompting module (MAP), which effectively aligns and fuses features from text, video and audio modalities with similarity-based modality alignment and cross-modality attention mechanism. Based on the modality-aware prompt and ground truth labels, the proposed token-level contrastive learning framework (TCL) constructs augmented samples and employs NT-Xent loss on the label token. Specifically, TCL capitalizes on the optimal textual semantic insights derived from intent labels to guide the learning processes of other modalities in return. Extensive experiments show that our method achieves remarkable improvements compared to state-of-the-art methods. Additionally, ablation analyses demonstrate the superiority of the modality-aware prompt over the handcrafted prompt, which holds substantial significance for multimodal prompt learning. The codes are released at https://github.com/thuiar/TCL-MAP.

Kaicheng Yang, Ruxuan Zhang, Hua Xu et al.

Inter-modal interaction plays an indispensable role in multimodal sentiment analysis. Due to different modalities sequences are usually non-alignment, how to integrate relevant information of each modality to learn fusion representations has been one of the central challenges in multimodal learning. In this paper, a Self-Adjusting Fusion Representation Learning Model (SA-FRLM) is proposed to learn robust crossmodal fusion representations directly from the unaligned text and audio sequences. Different from previous works, our model not only makes full use of the interaction between different modalities but also maximizes the protection of the unimodal characteristics. Specifically, we first employ a crossmodal alignment module to project different modalities features to the same dimension. The crossmodal collaboration attention is then adopted to model the inter-modal interaction between text and audio sequences and initialize the fusion representations. After that, as the core unit of the SA-FRLM, the crossmodal adjustment transformer is proposed to protect original unimodal characteristics. It can dynamically adapt the fusion representations by using single modal streams. We evaluate our approach on the public multimodal sentiment analysis datasets CMU-MOSI and CMU-MOSEI. The experiment results show that our model has significantly improved the performance of all the metrics on the unaligned text-audio sequences.

Hanlei Zhang, Xin Wang, Hua Xu et al. · tsinghua

Multimodal intent recognition poses significant challenges, requiring the incorporation of non-verbal modalities from real-world contexts to enhance the comprehension of human intentions. Existing benchmark datasets are limited in scale and suffer from difficulties in handling out-of-scope samples that arise in multi-turn conversational interactions. We introduce MIntRec2.0, a large-scale benchmark dataset for multimodal intent recognition in multi-party conversations. It contains 1,245 dialogues with 15,040 samples, each annotated within a new intent taxonomy of 30 fine-grained classes. Besides 9,304 in-scope samples, it also includes 5,736 out-of-scope samples appearing in multi-turn contexts, which naturally occur in real-world scenarios. Furthermore, we provide comprehensive information on the speakers in each utterance, enriching its utility for multi-party conversational research. We establish a general framework supporting the organization of single-turn and multi-turn dialogue data, modality feature extraction, multimodal fusion, as well as in-scope classification and out-of-scope detection. Evaluation benchmarks are built using classic multimodal fusion methods, ChatGPT, and human evaluators. While existing methods incorporating nonverbal information yield improvements, effectively leveraging context information and detecting out-of-scope samples remains a substantial challenge. Notably, large language models exhibit a significant performance gap compared to humans, highlighting the limitations of machine learning methods in the cognitive intent understanding task. We believe that MIntRec2.0 will serve as a valuable resource, providing a pioneering foundation for research in human-machine conversational interactions, and significantly facilitating related applications. The full dataset and codes are available at https://github.com/thuiar/MIntRec2.0.

Zhenchen Zhu, Ge Hu, Weixiong Tan et al.

The widespread adoption of CT has notably increased the number of detected lung nodules. However, current deep learning methods for classifying benign and malignant nodules often fail to comprehensively integrate global and local features, and most of them have not been validated through clinical trials. To address this, we developed DeepFAN, a transformer-based model trained on over 10K pathology-confirmed nodules and further conducted a multi-reader, multi-case clinical trial to evaluate its efficacy in assisting junior radiologists. DeepFAN achieved diagnostic area under the curve (AUC) of 0.939 (95% CI 0.930-0.948) on an internal test set and 0.954 (95% CI 0.934-0.973) on the clinical trial dataset involving 400 cases across three independent medical institutions. Explainability analysis indicated higher contributions from global than local features. Twelve readers' average performance significantly improved by 10.9% (95% CI 8.3%-13.5%) in AUC, 10.0% (95% CI 8.9%-11.1%) in accuracy, 7.6% (95% CI 6.1%-9.2%) in sensitivity, and 12.6% (95% CI 10.9%-14.3%) in specificity (P<0.001 for all). Nodule-level inter-reader diagnostic consistency improved from fair to moderate (overall k: 0.313 vs. 0.421; P=0.019). In conclusion, DeepFAN effectively assisted junior radiologists and may help homogenize diagnostic quality and reduce unnecessary follow-up of indeterminate pulmonary nodules. Chinese Clinical Trial Registry: ChiCTR2400084624.

Zhijing Wu, Hua Xu, Jingliang Fang et al.

Continual Machine Reading Comprehension aims to incrementally learn from a continuous data stream across time without access the previous seen data, which is crucial for the development of real-world MRC systems. However, it is a great challenge to learn a new domain incrementally without catastrophically forgetting previous knowledge. In this paper, MA-MRC, a continual MRC model with uncertainty-aware fixed Memory and Adversarial domain adaptation, is proposed. In MA-MRC, a fixed size memory stores a small number of samples in previous domain data along with an uncertainty-aware updating strategy when new domain data arrives. For incremental learning, MA-MRC not only keeps a stable understanding by learning both memory and new domain data, but also makes full use of the domain adaptation relationship between them by adversarial learning strategy. The experimental results show that MA-MRC is superior to strong baselines and has a substantial incremental learning ability without catastrophically forgetting under two different continual MRC settings.

Hanlei Zhang, Hua Xu, Fei Long et al. · tsinghua

Discovering the semantics of multimodal utterances is essential for understanding human language and enhancing human-machine interactions. Existing methods manifest limitations in leveraging nonverbal information for discerning complex semantics in unsupervised scenarios. This paper introduces a novel unsupervised multimodal clustering method (UMC), making a pioneering contribution to this field. UMC introduces a unique approach to constructing augmentation views for multimodal data, which are then used to perform pre-training to establish well-initialized representations for subsequent clustering. An innovative strategy is proposed to dynamically select high-quality samples as guidance for representation learning, gauged by the density of each sample's nearest neighbors. Besides, it is equipped to automatically determine the optimal value for the top-$K$ parameter in each cluster to refine sample selection. Finally, both high- and low-quality samples are used to learn representations conducive to effective clustering. We build baselines on benchmark multimodal intent and dialogue act datasets. UMC shows remarkable improvements of 2-6\% scores in clustering metrics over state-of-the-art methods, marking the first successful endeavor in this domain. The complete code and data are available at https://github.com/thuiar/UMC.

Ching-Chun Chang, Kai Gao, Shuying Xu et al.

Neural backdoors represent insidious cybersecurity loopholes that render learning machinery vulnerable to unauthorised manipulations, potentially enabling the weaponisation of artificial intelligence with catastrophic consequences. A backdoor attack involves the clandestine infiltration of a trigger during the learning process, metaphorically analogous to hypnopaedia, where ideas are implanted into a subject's subconscious mind under the state of hypnosis or unconsciousness. When activated by a sensory stimulus, the trigger evokes conditioned reflex that directs a machine to mount a predetermined response. In this study, we propose a cybernetic framework for constant surveillance of backdoors threats, driven by the dynamic nature of untrustworthy data sources. We develop a self-aware unlearning mechanism to autonomously detach a machine's behaviour from the backdoor trigger. Through reverse engineering and statistical inference, we detect deceptive patterns and estimate the likelihood of backdoor infection. We employ model inversion to elicit artificial mental imagery, using stochastic processes to disrupt optimisation pathways and avoid convergent but potentially flawed patterns. This is followed by hypothesis analysis, which estimates the likelihood of each potentially malicious pattern being the true trigger and infers the probability of infection. The primary objective of this study is to maintain a stable state of equilibrium between knowledge fidelity and backdoor vulnerability.

Wenjing Xing, Wenke Lu, Yeheng Duan et al.

Traditional code instruction data synthesis methods suffer from limited diversity and poor logic. We introduce Infinite-Instruct, an automated framework for synthesizing high-quality question-answer pairs, designed to enhance the code generation capabilities of large language models (LLMs). The framework focuses on improving the internal logic of synthesized problems and the quality of synthesized code. First, "Reverse Construction" transforms code snippets into diverse programming problems. Then, through "Backfeeding Construction," keywords in programming problems are structured into a knowledge graph to reconstruct them into programming problems with stronger internal logic. Finally, a cross-lingual static code analysis pipeline filters invalid samples to ensure data quality. Experiments show that on mainstream code generation benchmarks, our fine-tuned models achieve an average performance improvement of 21.70% on 7B-parameter models and 36.95% on 32B-parameter models. Using less than one-tenth of the instruction fine-tuning data, we achieved performance comparable to the Qwen-2.5-Coder-Instruct. Infinite-Instruct provides a scalable solution for LLM training in programming. We open-source the datasets used in the experiments, including both unfiltered versions and filtered versions via static analysis. The data are available at https://github.com/xingwenjing417/Infinite-Instruct-dataset

Kai Gao, Darren Lau, Baichuan Huang et al.

In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in enabling truly intelligent robotic manipulation. In a given instance, objects may need to be placed at temporary positions ("buffers") to complete the rearrangement, but allocating these buffer locations can be highly challenging in a cluttered environment. To tackle the challenge, a two-step baseline planner is first developed, which generates a primitive plan based on inherent combinatorial constraints induced by start and goal poses of the objects and then selects buffer locations assisted by the primitive plan. We then employ the "lazy" planner in a tree search framework which is further sped up by adapting a novel preprocessing routine. Simulation experiments show our methods can quickly generate high-quality solutions and are more robust in solving large-scale instances than existing state-of-the-art approaches. source:github.com/arc-l/TRLB

Hanlei Zhang, Xiaoteng Li, Hua Xu et al.

TEXTOIR is the first integrated and visualized platform for text open intent recognition. It is composed of two main modules: open intent detection and open intent discovery. Each module integrates most of the state-of-the-art algorithms and benchmark intent datasets. It also contains an overall framework connecting the two modules in a pipeline scheme. In addition, this platform has visualized tools for data and model management, training, evaluation and analysis of the performance from different aspects. TEXTOIR provides useful toolkits and convenient visualized interfaces for each sub-module (Toolkit code: https://github.com/thuiar/TEXTOIR), and designs a framework to implement a complete process to both identify known intents and discover open intents (Demo code: https://github.com/thuiar/TEXTOIR-DEMO).

Jie Lian, Jingyu Liu, Shu Zhang et al.

Instance level detection and segmentation of thoracic diseases or abnormalities are crucial for automatic diagnosis in chest X-ray images. Leveraging on constant structure and disease relations extracted from domain knowledge, we propose a structure-aware relation network (SAR-Net) extending Mask R-CNN. The SAR-Net consists of three relation modules: 1. the anatomical structure relation module encoding spatial relations between diseases and anatomical parts. 2. the contextual relation module aggregating clues based on query-key pair of disease RoI and lung fields. 3. the disease relation module propagating co-occurrence and causal relations into disease proposals. Towards making a practical system, we also provide ChestX-Det, a chest X-Ray dataset with instance-level annotations (boxes and masks). ChestX-Det is a subset of the public dataset NIH ChestX-ray14. It contains ~3500 images of 13 common disease categories labeled by three board-certified radiologists. We evaluate our SAR-Net on it and another dataset DR-Private. Experimental results show that it can enhance the strong baseline of Mask R-CNN with significant improvements. The ChestX-Det is released at https://github.com/Deepwise-AILab/ChestX-Det-Dataset.

Kai Gao, Yu Sun, Chang-ai Sun

Template engines are indispensable components in modern software ecosystems, enabling the generation of structured documents and scripts across domains such as web development, Infrastructure as Code, and data engineering. However, the unique architectural characteristics of template engine-based applications (i.e., TE applications), including multi-language composition, opaque data flow, deferred validation, and complex integration, pose significant challenges for diagnosing and resolving bugs in TE applications. While prior research has primarily focused on template engine security, bugs in TE applications remain under-investigated. To bridge this gap, we present the first comprehensive study of TE application bugs. By analyzing 1,004 application bugs across 15 template engines in five programming languages, we identify the symptoms and root causes of TE application bugs and common patterns to fix them. Our findings reveal that Abnormal Rendering Result (e.g., unexpected or blank output) is the most prevalent symptom (48.61%), often manifesting as silent failures that are difficult to diagnose. We identify 17 root causes, with Syntax Misuse, Mismatched Data Context, and Incompatible Integration as the dominant categories. Furthermore, we find that while 67.92% of the bugs are fixed within the template, over 20% require modifications in the host-side logic to resolve data context issues. Based on these findings, we derive actionable implications for tool designers, practitioners, and researchers. To demonstrate the practical utility of our findings, we further develop two prototype tools for the Jinja engine to facilitate the development and debugging of TE applications.

Agnese Marcato, Aleksandra Pachalieva, Ryley G. Hill et al.

Accurately predicting when and how materials fail is critical to designing safe, reliable structures, mechanical systems, and engineered components that operate under stress. Yet, fracture behavior remains difficult to model across the diversity of materials, geometries, and loading conditions in real-world applications. While machine learning (ML) methods show promise, most models are trained on narrow datasets, lack robustness, and struggle to generalize. Meanwhile, physics-based simulators offer high-fidelity predictions but are fragmented across specialized methods and require substantial high-performance computing resources to explore the input space. To address these limitations, we present a data-driven foundation model for fracture prediction, a transformer-based architecture that operates across simulators, a wide range of materials (including plastic-bonded explosives, steel, aluminum, shale, and tungsten), and diverse loading conditions. The model supports both structured and unstructured meshes, combining them with large language model embeddings of textual input decks specifying material properties, boundary conditions, and solver settings. This multimodal input design enables flexible adaptation across simulation scenarios without changes to the model architecture. The trained model can be fine-tuned with minimal data on diverse downstream tasks, including time-to-failure estimation, modeling fracture evolution, and adapting to combined finite-discrete element method simulations. It also generalizes to unseen materials such as titanium and concrete, requiring as few as a single sample, dramatically reducing data needs compared to standard ML. Our results show that fracture prediction can be unified under a single model architecture, offering a scalable, extensible alternative to simulator-specific workflows.

Ching-Chun Chang, Fan-Yun Chen, Shih-Hong Gu et al.

As the cornerstone of artificial intelligence, machine perception confronts a fundamental threat posed by adversarial illusions. These adversarial attacks manifest in two primary forms: deductive illusion, where specific stimuli are crafted based on the victim model's general decision logic, and inductive illusion, where the victim model's general decision logic is shaped by specific stimuli. The former exploits the model's decision boundaries to create a stimulus that, when applied, interferes with its decision-making process. The latter reinforces a conditioned reflex in the model, embedding a backdoor during its learning phase that, when triggered by a stimulus, causes aberrant behaviours. The multifaceted nature of adversarial illusions calls for a unified defence framework, addressing vulnerabilities across various forms of attack. In this study, we propose a disillusion paradigm based on the concept of an imitation game. At the heart of the imitation game lies a multimodal generative agent, steered by chain-of-thought reasoning, which observes, internalises and reconstructs the semantic essence of a sample, liberated from the classic pursuit of reversing the sample to its original state. As a proof of concept, we conduct experimental simulations using a multimodal generative dialogue agent and evaluates the methodology under a variety of attack scenarios.

Ewerton R. Vieira, Daniel Nakhimovich, Kai Gao et al.

This work explores the use of topological tools for achieving effective non-prehensile manipulation in cluttered, constrained workspaces. In particular, it proposes the use of persistent homology as a guiding principle in identifying the appropriate non-prehensile actions, such as pushing, to clean a cluttered space with a robotic arm so as to allow the retrieval of a target object. Persistent homology enables the automatic identification of connected components of blocking objects in the space without the need for manual input or tuning of parameters. The proposed algorithm uses this information to push groups of cylindrical objects together and aims to minimize the number of pushing actions needed to reach to the target. Simulated experiments in a physics engine using a model of the Baxter robot show that the proposed topology-driven solution is achieving significantly higher success rate in solving such constrained problems relatively to state-of-the-art alternatives from the literature. It manages to keep the number of pushing actions low, is computationally efficient and the resulting decisions and motion appear natural for effectively solving such tasks.

Kai Gao, Jingjin Yu

We investigate the capacitated vehicle routing problem (CVRP) under a robotics context, where a vehicle with limited payload must complete delivery (or pickup) tasks to serve a set of geographically distributed customers with varying demands. In classical CVRP, a customer location is modeled as a point. In many robotics applications, however, it is more appropriate to model such "customer locations" as 2D regions. For example, in aerial delivery, a drone may drop a package anywhere in a customer's lot. This yields the problem of CVRG (Capacitated Vehicle Routing with Target Geometric Constraints). Computationally, CVRP is already strongly NP-hard; CVRG is therefore more challenging. Nevertheless, we develop fast algorithms for CVRG, capable of computing high quality solutions for hundreds of regions. Our algorithmic solution is guaranteed to be optimal when customer regions are convex. Numerical evaluations show that our proposed methods significantly outperform greedy best-first approaches. Comprehensive simulation studies confirm the effectiveness of our methods.

Kai Gao, Si Wei Feng, Jingjin Yu

For tabletop rearrangement problems with overhand grasps, storage space outside the tabletop workspace, or buffers, can temporarily hold objects which greatly facilitates the resolution of a given rearrangement task. This brings forth the natural question of how many running buffers are required so that certain classes of tabletop rearrangement problems are feasible. In this work, we examine the problem for both the labeled (where each object has a specific goal pose) and the unlabeled (where goal poses of objects are interchangeable) settings. On the structural side, we observe that finding the minimum number of running buffers (MRB) can be carried out on a dependency graph abstracted from a problem instance, and show that computing MRB on dependency graphs is NP-hard. We then prove that under both labeled and unlabeled settings, even for uniform cylindrical objects, the number of required running buffers may grow unbounded as the number of objects to be rearranged increases; we further show that the bound for the unlabeled case is tight. On the algorithmic side, we develop highly effective algorithms for finding MRB for both labeled and unlabeled tabletop rearrangement problems, scalable to over a hundred objects under very high object density. Employing these algorithms, empirical evaluations show that random labeled and unlabeled instances, which more closely mimics real-world setups, have much smaller MRBs.

Si Wei Feng, Kai Gao, Jie Gong et al.

We carry out a structural and algorithmic study of a mobile sensor coverage optimization problem targeting 2D surfaces embedded in a 3D workspace. The investigated settings model multiple important applications including camera network deployment for surveillance, geological monitoring/survey of 3D terrains, and UVC-based surface disinfection for the prevention of the spread of disease agents (e.g., SARS-CoV-2). Under a unified general "sensor coverage" problem, three concrete formulations are examined, focusing on optimizing visibility, single-best coverage quality, and cumulative quality, respectively. After demonstrating the computational intractability of all these formulations, we describe approximation schemes and mathematical programming models for near-optimally solving them. The effectiveness of our methods is thoroughly evaluated under realistic and practical scenarios.

Rui Wang, Kai Gao, Daniel Nakhimovich et al.

Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the algorithmic structure of rearranging uniform objects, where robot-object collisions do not occur but object-object collisions have to be avoided. The objective is minimizing the number of object transfers under the assumption that the robot can manipulate one object at a time. An efficiently computable decomposition of the configuration space is used to create a "region graph", which classifies all continuous paths of equivalent collision possibilities. Based on this compact but rich representation, a complete dynamic programming primitive DFSDP performs a recursive depth first search to solve monotone problems quickly, i.e., those instances that do not require objects to be moved first to an intermediate buffer. DFSDP is extended to solve single-buffer, non-monotone instances, given a choice of an object and a buffer. This work utilizes these primitives as local planners in an informed search framework for more general, non-monotone instances. The search utilizes partial solutions from the primitives to identify the most promising choice of objects and buffers. Experiments demonstrate that the proposed solution returns near-optimal paths with higher success rate, even for challenging non-monotone instances, than other leading alternatives.

Si Wei Feng, Shuai D. Han, Kai Gao et al.

We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint polygonal chains. Each robot is responsible for guarding a subset of a perimeter and any point on a perimeter must be guarded by some robot. In allocating the robots, the main objective is to minimize the maximum 1D distance to be covered by any robot along the boundary of the regions. For this optimization problem which we call optimal perimeter guarding (OPG), thorough structural analysis is performed, which is then exploited to develop fast exact algorithms that run in guaranteed low polynomial time. In addition to formal analysis and proofs, experimental evaluations and simulations are performed that further validate the correctness and effectiveness of our algorithmic results.

Kai Gao, Shubin Fu, Richard L. Gibson et al.

It is important to develop fast yet accurate numerical methods for seismic wave propagation to characterize complex geological structures and oil and gas reservoirs. However, the computational cost of conventional numerical modeling methods, such as finite-difference method and finite-element method, becomes prohibitively expensive when applied to very large models. We propose a Generalized Multiscale Finite-Element Method (GMsFEM) for elastic wave propagation in heterogeneous, anisotropic media, where we construct basis functions from multiple local problems for both the boundaries and interior of a coarse node support or coarse element. The application of multiscale basis functions can capture the fine scale medium property variations, and allows us to greatly reduce the degrees of freedom that are required to implement the modeling compared with conventional finite-element method for wave equation, while restricting the error to low values. We formulate the continuous Galerkin and discontinuous Galerkin formulation of the multiscale method, both of which have pros and cons. Applications of the multiscale method to three heterogeneous models show that our multiscale method can effectively model the elastic wave propagation in anisotropic media with a significant reduction in the degrees of freedom in the modeling system.