Yuhui Hu

Liwen Zhang, Dong Zhou, Guanghui Sun et al.

Intra-vehicular robots in spacecraft help reduce astronaut workload and improve mission efficiency. Recent research focuses on using deep learning methods to achieve the acute control required for operations in these complex environments. However, objects exhibit unpredictable, unconstrained drift without gravitational damping. These factors demand robustness against complex multimodal action distributions. Diffusion policies (DP) can model these complex actions, but their iterative sampling process consumes too much energy for the limited power budgets of spacecraft. We therefore propose a low-energy intra-vehicular robotic manipulation framework, L-SDPPO, in which the Spiking Diffusion Policy (SDP) is optimized with a reinforcement learning (RL) algorithm. Furthermore, to address the insufficient perception of dynamic spatiotemporal features in microgravity, we propose the statedependent latency injection (SDLI) mechanism, which mimics biological neural delays to dynamically regulate the timing of input information. Evaluation on five representative intra-vehicular daily tasks (e.g., hatch opening and precision container capping) shows that our method consistently achieves higher success rates and lower energy consumption, compared to the state-of-the-art robotic manipulation methods. These results demonstrate our method is a viable intra-vehicular robotic manipulation method.

Yuhui Hu, Dong Zhou, Kaihong Ouyang et al.

The strong dynamic coupling between the manipulator and the base poses a significant challenge to maintaining spacecraft attitude stability, potentially compromising mission safety. In this paper, we propose a Dual-Agent Coordinated Manipulation Planning (DACMP) framework that simultaneously achieves high-precision end-effector pose reaching for a 6-DoF space manipulator and attitude stabilization of the base spacecraft. To enhance learning efficiency, we present a prior policy-guided Deep Reinforcement Learning algorithm incorporating the Timestep-level Expert Switching Guidance (TESG) mechanism, thereby promoting global convergence and improving task success rates. Extensive experiments demonstrate that DACMP significantly outperforms baseline DRL algorithms in terms of task success rate and control precision. Furthermore, the robustness of DACMP is validated under various challenging scenarios, including system constraints, environmental disturbances, and perception uncertainties. The code and simulation configurations are available on GitHub: https://github.com/HIT-YuhuiHu/DACMP.

Tencent Hunyuan Team, Ao Liu, Botong Zhou et al. · tencent-ai

As Large Language Models (LLMs) rapidly advance, we introduce Hunyuan-TurboS, a novel large hybrid Transformer-Mamba Mixture of Experts (MoE) model. It synergistically combines Mamba's long-sequence processing efficiency with Transformer's superior contextual understanding. Hunyuan-TurboS features an adaptive long-short chain-of-thought (CoT) mechanism, dynamically switching between rapid responses for simple queries and deep "thinking" modes for complex problems, optimizing computational resources. Architecturally, this 56B activated (560B total) parameter model employs 128 layers (Mamba2, Attention, FFN) with an innovative AMF/MF block pattern. Faster Mamba2 ensures linear complexity, Grouped-Query Attention minimizes KV cache, and FFNs use an MoE structure. Pre-trained on 16T high-quality tokens, it supports a 256K context length and is the first industry-deployed large-scale Mamba model. Our comprehensive post-training strategy enhances capabilities via Supervised Fine-Tuning (3M instructions), a novel Adaptive Long-short CoT Fusion method, Multi-round Deliberation Learning for iterative improvement, and a two-stage Large-scale Reinforcement Learning process targeting STEM and general instruction-following. Evaluations show strong performance: overall top 7 rank on LMSYS Chatbot Arena with a score of 1356, outperforming leading models like Gemini-2.0-Flash-001 (1352) and o4-mini-2025-04-16 (1345). TurboS also achieves an average of 77.9% across 23 automated benchmarks. Hunyuan-TurboS balances high performance and efficiency, offering substantial capabilities at lower inference costs than many reasoning models, establishing a new paradigm for efficient large-scale pre-trained models.

Weizhao Ma, Dong Zhou, Yuhui Hu et al.

Monocular pose estimation of non-cooperative spacecraft is significant for on-orbit service (OOS) tasks, such as satellite maintenance, space debris removal, and station assembly. Considering the high demands on pose estimation accuracy, mainstream monocular pose estimation methods typically consist of keypoint detectors and PnP solver. However, current keypoint detectors remain vulnerable to structural symmetry and partial occlusion of non-cooperative spacecraft. To this end, we propose a graph-based keypoints network for the monocular pose estimation of non-cooperative spacecraft, GKNet, which leverages the geometric constraint of keypoints graph. In order to better validate keypoint detectors, we present a moderate-scale dataset for the spacecraft keypoint detection, named SKD, which consists of 3 spacecraft targets, 90,000 simulated images, and corresponding high-precise keypoint annotations. Extensive experiments and an ablation study have demonstrated the high accuracy and effectiveness of our GKNet, compared to the state-of-the-art spacecraft keypoint detectors. The code for GKNet and the SKD dataset is available at https://github.com/Dongzhou-1996/GKNet.

Yu Li, Zhongxiao Li, Lizhong Ding et al.

A plain well-trained deep learning model often does not have the ability to learn new knowledge without forgetting the previously learned knowledge, which is known as catastrophic forgetting. Here we propose a novel method, SupportNet, to efficiently and effectively solve the catastrophic forgetting problem in the class incremental learning scenario. SupportNet combines the strength of deep learning and support vector machine (SVM), where SVM is used to identify the support data from the old data, which are fed to the deep learning model together with the new data for further training so that the model can review the essential information of the old data when learning the new information. Two powerful consolidation regularizers are applied to stabilize the learned representation and ensure the robustness of the learned model. We validate our method with comprehensive experiments on various tasks, which show that SupportNet drastically outperforms the state-of-the-art incremental learning methods and even reaches similar performance as the deep learning model trained from scratch on both old and new data. Our program is accessible at: https://github.com/lykaust15/SupportNet