Yanfeng Wang

Yangheng Zhao, Jun Wang, Xiaolong Li et al.

3D point cloud semantic segmentation is one of the fundamental tasks for 3D scene understanding and has been widely used in the metaverse applications. Many recent 3D semantic segmentation methods learn a single prototype (classifier weights) for each semantic class, and classify 3D points according to their nearest prototype. However, learning only one prototype for each class limits the model's ability to describe the high variance patterns within a class. Instead of learning a single prototype for each class, in this paper, we propose to use an adaptive number of prototypes to dynamically describe the different point patterns within a semantic class. With the powerful capability of vision transformer, we design a Number-Adaptive Prototype Learning (NAPL) model for point cloud semantic segmentation. To train our NAPL model, we propose a simple yet effective prototype dropout training strategy, which enables our model to adaptively produce prototypes for each class. The experimental results on SemanticKITTI dataset demonstrate that our method achieves 2.3% mIoU improvement over the baseline model based on the point-wise classification paradigm.

Heyang Liu, Ziyang Cheng, Yuhao Wang et al.

The development of multi-modal large language models (LLMs) leads to intelligent approaches capable of speech interactions. As one of the most widely spoken languages globally, Mandarin is supported by most models to enhance their applicability and reach. However, the scarcity of comprehensive speech-to-speech (S2S) benchmarks in Mandarin contexts impedes systematic evaluation for developers and hinders fair model comparison for users. In this work, we propose VocalBench-zh, an ability-level divided evaluation suite adapted to Mandarin context consisting of 10 well-crafted subsets and over 10K high-quality instances, covering 12 user-oriented characters. The evaluation experiment on 14 mainstream models reveals the common challenges for current routes, and highlights the need for new insights into next-generation speech interactive systems. The evaluation codes and datasets will be available at https://github.com/SJTU-OmniAgent/VocalBench-zh.

Pengcheng Qiu, Chaoyi Wu, Shuyu Liu et al.

Recent advancements in reasoning-enhanced large language models (LLMs), such as DeepSeek-R1 and OpenAI-o3, have demonstrated significant progress. However, their application in professional medical contexts remains underexplored, particularly in evaluating the quality of their reasoning processes alongside final outputs. Here, we introduce MedR-Bench, a benchmarking dataset of 1,453 structured patient cases, annotated with reasoning references derived from clinical case reports. Spanning 13 body systems and 10 specialties, it includes both common and rare diseases. To comprehensively evaluate LLM performance, we propose a framework encompassing three critical examination recommendation, diagnostic decision-making, and treatment planning, simulating the entire patient care journey. To assess reasoning quality, we present the Reasoning Evaluator, a novel automated system that objectively scores free-text reasoning responses based on efficiency, actuality, and completeness using dynamic cross-referencing and evidence checks. Using this benchmark, we evaluate five state-of-the-art reasoning LLMs, including DeepSeek-R1, OpenAI-o3-mini, and Gemini-2.0-Flash Thinking, etc. Our results show that current LLMs achieve over 85% accuracy in relatively simple diagnostic tasks when provided with sufficient examination results. However, performance declines in more complex tasks, such as examination recommendation and treatment planning. While reasoning outputs are generally reliable, with factuality scores exceeding 90%, critical reasoning steps are frequently missed. These findings underscore both the progress and limitations of clinical LLMs. Notably, open-source models like DeepSeek-R1 are narrowing the gap with proprietary systems, highlighting their potential to drive accessible and equitable advancements in healthcare.

Yuhao Wang, Heyang Liu, Ziyang Cheng et al.

Speech large language models (LLMs) have emerged as a prominent research focus in speech processing. We introduce VocalNet-1B and VocalNet-8B, a series of high-performance, low-latency speech LLMs enabled by a scalable and model-agnostic training framework designed for real-time voice interaction. Central to our contribution is the first application of multi-token prediction (MTP) to speech LLMs. This approach represents a paradigm shift from standard next-token prediction (NTP), offering simultaneous improvements in generation speed and quality. Informed by analysis of MTP's effect on speech generation and experimental comparisons, we designed a straightforward and highly effective MTP implementation. Experiments demonstrate that VocalNet performs on par with mainstream Omni LLMs even with limited training data, and significantly surpasses existing open-source speech LLMs. To foster reproducibility and community advancement, all model weights, inference code, training data, and framework implementations have been made publicly available at https://github.com/SJTU-OmniAgent/VocalNet

Yuhao Wang, Ziyang Cheng, Heyang Liu et al.

Current end-to-end spoken language models (SLMs) have made notable progress, yet they still encounter considerable response latency. This delay primarily arises from the autoregressive generation of speech tokens and the reliance on complex flow-matching models for speech synthesis. To overcome this, we introduce VocalNet-M2, a novel low-latency SLM that integrates a multi-codebook tokenizer and a multi-token prediction (MTP) strategy. Our model directly generates multi-codebook speech tokens, thus eliminating the need for a latency-inducing flow-matching model. Furthermore, our MTP strategy enhances generation efficiency and improves overall performance. Extensive experiments demonstrate that VocalNet-M2 achieves a substantial reduction in first chunk latency (from approximately 725ms to 350ms) while maintaining competitive performance across mainstream SLMs. This work also provides a comprehensive comparison of single-codebook and multi-codebook strategies, offering valuable insights for developing efficient and high-performance SLMs for real-time interactive applications.

Heyang Liu, Yuhao Wang, Ziyang Cheng et al.

The advancement of multimodal large language models has accelerated the development of speech-to-speech interaction systems. While natural monolingual interaction has been achieved, we find existing models exhibit deficiencies in language alignment. In our proposed Code-Switching Speech-to-Speech Benchmark (CS3-Bench), experiments on 7 mainstream models demonstrate a relative performance drop of up to 66% in knowledge-intensive question answering and varying degrees of misunderstanding in open-ended conversations. Starting from a model with severe performance deterioration, we propose both data constructions and training approaches to improve the language alignment capabilities, specifically employing Chain of Recognition (CoR) to enhance understanding and Keyword Highlighting (KH) to guide generation. Our approach improves the knowledge accuracy from 25.14% to 46.13%, with open-ended understanding rate from 64.5% to 86.5%, and significantly reduces pronunciation errors in the secondary language. CS3-Bench is available at https://huggingface.co/datasets/VocalNet/CS3-Bench.

Yifan Lu, Yue Hu, Yiqi Zhong et al.

Collaborative perception aims to mitigate the limitations of single-agent perception, such as occlusions, by facilitating data exchange among multiple agents. However, most current works consider a homogeneous scenario where all agents use identity sensors and perception models. In reality, heterogeneous agent types may continually emerge and inevitably face a domain gap when collaborating with existing agents. In this paper, we introduce a new open heterogeneous problem: how to accommodate continually emerging new heterogeneous agent types into collaborative perception, while ensuring high perception performance and low integration cost? To address this problem, we propose HEterogeneous ALliance (HEAL), a novel extensible collaborative perception framework. HEAL first establishes a unified feature space with initial agents via a novel multi-scale foreground-aware Pyramid Fusion network. When heterogeneous new agents emerge with previously unseen modalities or models, we align them to the established unified space with an innovative backward alignment. This step only involves individual training on the new agent type, thus presenting extremely low training costs and high extensibility. To enrich agents' data heterogeneity, we bring OPV2V-H, a new large-scale dataset with more diverse sensor types. Extensive experiments on OPV2V-H and DAIR-V2X datasets show that HEAL surpasses SOTA methods in performance while reducing the training parameters by 91.5% when integrating 3 new agent types. We further implement a comprehensive codebase at: https://github.com/yifanlu0227/HEAL

Yuxi Wei, Zi Wang, Yifan Lu et al.

Scene simulation in autonomous driving has gained significant attention because of its huge potential for generating customized data. However, existing editable scene simulation approaches face limitations in terms of user interaction efficiency, multi-camera photo-realistic rendering and external digital assets integration. To address these challenges, this paper introduces ChatSim, the first system that enables editable photo-realistic 3D driving scene simulations via natural language commands with external digital assets. To enable editing with high command flexibility,~ChatSim leverages a large language model (LLM) agent collaboration framework. To generate photo-realistic outcomes, ChatSim employs a novel multi-camera neural radiance field method. Furthermore, to unleash the potential of extensive high-quality digital assets, ChatSim employs a novel multi-camera lighting estimation method to achieve scene-consistent assets' rendering. Our experiments on Waymo Open Dataset demonstrate that ChatSim can handle complex language commands and generate corresponding photo-realistic scene videos.

Yikun Liu, Pingan Chen, Jiayin Cai et al.

With the rapid advancement of multimodal information retrieval, increasingly complex retrieval tasks have emerged. Existing methods predominately rely on task-specific fine-tuning of vision-language models, often those trained with image-text contrastive learning. In this paper, we explore the possibility of re-purposing generative Large Multimodal Models (LMMs) for retrieval. This approach enables unifying all retrieval tasks under the same formulation and, more importantly, allows for extrapolation towards unseen retrieval tasks without additional training. Our contributions can be summarised in the following aspects: (i) We introduce LamRA, a versatile framework designed to empower LMMs with sophisticated retrieval and reranking capabilities. (ii) For retrieval, we adopt a two-stage training strategy comprising language-only pre-training and multimodal instruction tuning to progressively enhance LMM's retrieval performance. (iii) For reranking, we employ joint training for both pointwise and listwise reranking, offering two distinct ways to further boost the retrieval performance. (iv) Extensive experimental results underscore the efficacy of our method in handling more than ten retrieval tasks, demonstrating robust performance in both supervised and zero-shot settings, including scenarios involving previously unseen retrieval tasks.

Heyang Liu, Yuhao Wang, Ziyang Cheng et al.

The rapid advancement of large language models (LLMs) has accelerated the development of multimodal models capable of speech communications. Unlike text interactions, speech conveys diverse information, including acoustic variations, paralanguage cues, and environmental context. However, existing evaluations of speech interaction models lack instances mimicking real scenarios and predominantly focus on the quality of their textual responses, overlooking critical aspects of vocal performance. To address this gap, we propose VocalBench, a comprehensive benchmark to assess the speech conversational abilities, comprising 9,400 carefully curated instances across four key dimensions: semantic quality, acoustic performance, conversational abilities, and robustness. It covers a broad range of fundamental skills essential for effective vocal interactions. For the evaluation scheme, we propose several objective evaluation indicators and incorporate an additional LLM-as-a-judge approach to score open-ended questions. Experimental results on 15 mainstream systems reveal significant variability, each exhibiting distinct strengths and weaknesses, and provide valuable insights to guide future research in speech interaction systems.

Jiayuan Rao, Zifeng Li, Haoning Wu et al.

Recent advances in soccer understanding have demonstrated rapid progress, yet existing research predominantly focuses on isolated or narrow tasks. To bridge this gap, we propose a comprehensive framework for holistic soccer understanding. Concretely, we make the following contributions in this paper: (i) we construct SoccerWiki, the first large-scale multimodal soccer knowledge base, integrating rich domain knowledge about players, teams, referees, and venues to enable knowledge-driven reasoning; (ii) we present SoccerBench, the largest and most comprehensive soccer-specific benchmark, featuring around 10K multimodal (text, image, video) multi-choice QA pairs across 13 distinct tasks; (iii) we introduce SoccerAgent, a novel multi-agent system that decomposes complex soccer questions via collaborative reasoning, leveraging domain expertise from SoccerWiki and achieving robust performance; (iv) extensive evaluations and comparisons with representative MLLMs on SoccerBench highlight the superiority of our agentic system.

Yaxin Du, Rui Ye, Fengting Yuchi et al.

Federated Learning (FL) enables privacy-preserving collaborative instruction tuning of large language models (LLMs) by leveraging massively distributed data. However, the decentralized nature of FL exacerbates data quality challenges, as local clients lack global visibility to filter noisy or low-quality samples before training. To resolve this issue, we propose FedDQC, a novel federated instruction tuning framework with dynamic data quality control. Our approach introduces two key innovations. First, we propose instruction-response alignment (IRA), an efficient client-side metric for quality evaluation requiring only low-cost inference. We validate that higher-IRA data corresponds to more relevant and easier-to-learn question-answer pairs. Second, mirroring the human easy-to-hard knowledge acquisition process, we design a quality-aware hierarchical FL training framework, where the LLM is progressively fine-tuned from high- to low-IRA data in a collaborative manner. The framework also supports adaptive data quality assessment at each hierarchy, enabling dynamic adjustments throughout the training process. Extensive experiments on synthetic and real-world datasets show that our method significantly improves LLM performance on mixed-quality data in FL.

Weike Zhao, Chaoyi Wu, Yanjie Fan et al. · harvard

Rare diseases collectively affect over 300 million individuals worldwide, yet timely and accurate diagnosis remains a pervasive challenge. This is largely due to their clinical heterogeneity, low individual prevalence, and the limited familiarity most clinicians have with rare conditions. Here, we introduce DeepRare, the first rare disease diagnosis agentic system powered by a large language model (LLM), capable of processing heterogeneous clinical inputs. The system generates ranked diagnostic hypotheses for rare diseases, each accompanied by a transparent chain of reasoning that links intermediate analytic steps to verifiable medical evidence. DeepRare comprises three key components: a central host with a long-term memory module; specialized agent servers responsible for domain-specific analytical tasks integrating over 40 specialized tools and web-scale, up-to-date medical knowledge sources, ensuring access to the most current clinical information. This modular and scalable design enables complex diagnostic reasoning while maintaining traceability and adaptability. We evaluate DeepRare on eight datasets. The system demonstrates exceptional diagnostic performance among 2,919 diseases, achieving 100% accuracy for 1013 diseases. In HPO-based evaluations, DeepRare significantly outperforms other 15 methods, like traditional bioinformatics diagnostic tools, LLMs, and other agentic systems, achieving an average Recall@1 score of 57.18% and surpassing the second-best method (Reasoning LLM) by a substantial margin of 23.79 percentage points. For multi-modal input scenarios, DeepRare achieves 70.60% at Recall@1 compared to Exomiser's 53.20% in 109 cases. Manual verification of reasoning chains by clinical experts achieves 95.40% agreements. Furthermore, the DeepRare system has been implemented as a user-friendly web application http://raredx.cn/doctor.

Hongcheng Liu, Pingjie Wang, Yuhao Wang et al.

Multimodal large language models (MLLMs) have shown strong capabilities across a broad range of benchmarks. However, most existing evaluations focus on passive inference, where models perform step-by-step reasoning under complete information. This setup is misaligned with real-world use, where seeing is not enough. This raises a fundamental question: Can MLLMs actively acquire missing evidence under incomplete information? To bridge this gap, we require the MLLMs to actively acquire missing evidence and iteratively refine decisions under incomplete information, by selecting a target image from a candidate pool without task-specific priors. To support systematic study, we propose GuessBench, a benchmark with both perception-oriented and knowledge-oriented images for evaluating active reasoning in MLLMs. We evaluate 20 superior MLLMs and find that performance on active reasoning lags far behind it on passive settings, indicating substantial room for improvement. Further analysis identifies fine-grained perception and timely decision-making as key challenges. Ablation studies show that perceptual enhancements benefit smaller models, whereas thinking-oriented methods provide consistent gains across model sizes. These results suggest promising directions for future research on multimodal active reasoning.

Tengfei Zhang, Ziheng Zhao, Chaoyi Wu et al.

Developing advanced medical imaging retrieval systems is challenging due to the varying definitions of `similar images' across different medical contexts. This challenge is compounded by the lack of large-scale, high-quality medical imaging retrieval datasets and benchmarks. In this paper, we propose a novel methodology that leverages dense radiology reports to define image-wise similarity ordering at multiple granularities in a scalable and fully automatic manner. Using this approach, we construct two comprehensive medical imaging retrieval datasets: MIMIC-IR for Chest X-rays and CTRATE-IR for CT scans, providing detailed image-image ranking annotations conditioned on diverse anatomical structures. Furthermore, we develop two retrieval systems, RadIR-CXR and model-ChestCT, which demonstrate superior performance in traditional image-image and image-report retrieval tasks. These systems also enable flexible, effective image retrieval conditioned on specific anatomical structures described in text, achieving state-of-the-art results on 77 out of 78 metrics.

Benyuan Liu, Xu Chen, Yanfeng Wang et al.

Node attribute, a type of crucial information for graph analysis, may be partially or completely missing for certain nodes in real world applications. Restoring the missing attributes is expected to benefit downstream graph learning. Few attempts have been made on node attribute completion, but a novel framework called Structure-attribute Transformer (SAT) was recently proposed by using a decoupled scheme to leverage structures and attributes. SAT ignores the differences in contributing to the learning schedule and finding a practical way to model the different importance of nodes with observed attributes is challenging. This paper proposes a novel AcTive Sampling algorithm (ATS) to restore missing node attributes. The representativeness and uncertainty of each node's information are first measured based on graph structure, representation similarity and learning bias. To select nodes as train samples in the next optimization step, a weighting scheme controlled by Beta distribution is then introduced to linearly combine the two properties. Extensive experiments on four public benchmark datasets and two downstream tasks have shown the superiority of ATS in node attribute completion.

Feng Hong, Yueming Lyu, Jiangchao Yao et al.

The remarkable success of modern machine learning models on large datasets often demands extensive training time and resource consumption. To save cost, a prevalent research line, known as online batch selection, explores selecting informative subsets during the training process. Although recent efforts achieve advancements by measuring the impact of each sample on generalization, their reliance on additional reference models inherently limits their practical applications, when there are no such ideal models available. On the other hand, the vanilla reference-model-free methods involve independently scoring and selecting data in a sample-wise manner, which sacrifices the diversity and induces the redundancy. To tackle this dilemma, we propose Diversified Batch Selection (DivBS), which is reference-model-free and can efficiently select diverse and representative samples. Specifically, we define a novel selection objective that measures the group-wise orthogonalized representativeness to combat the redundancy issue of previous sample-wise criteria, and provide a principled selection-efficient realization. Extensive experiments across various tasks demonstrate the significant superiority of DivBS in the performance-speedup trade-off. The code is publicly available.

Ruolin Ye, Wenqiang Xu, Zhendong Xue et al.

Object handover is a common human collaboration behavior that attracts attention from researchers in Robotics and Cognitive Science. Though visual perception plays an important role in the object handover task, the whole handover process has been specifically explored. In this work, we propose a novel rich-annotated dataset, H2O, for visual analysis of human-human object handovers. The H2O, which contains 18K video clips involving 15 people who hand over 30 objects to each other, is a multi-purpose benchmark. It can support several vision-based tasks, from which, we specifically provide a baseline method, RGPNet, for a less-explored task named Receiver Grasp Prediction. Extensive experiments show that the RGPNet can produce plausible grasps based on the giver's hand-object states in the pre-handover phase. Besides, we also report the hand and object pose errors with existing baselines and show that the dataset can serve as the video demonstrations for robot imitation learning on the handover task. Dataset, model and code will be made public.