Bin He

Qianfan Zhao, Lu Zhang, Bin He et al.

Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real households, there may exist numerous target classes that the robot needs to deal with, and it is hard for all of these classes to be contained in the training stage. To address this challenge, we study the zero-shot object goal visual navigation task, which aims at guiding robots to find targets belonging to novel classes without any training samples. To this end, we also propose a novel zero-shot object navigation framework called semantic similarity network (SSNet). Our framework use the detection results and the cosine similarity between semantic word embeddings as input. Such type of input data has a weak correlation with classes and thus our framework has the ability to generalize the policy to novel classes. Extensive experiments on the AI2-THOR platform show that our model outperforms the baseline models in the zero-shot object navigation task, which proves the generalization ability of our model. Our code is available at: https://github.com/pioneer-innovation/Zero-Shot-Object-Navigation.

Yifan Zhou, Yan Shing Liang, Yew Kee Wong et al.

The Research & Development (R&D) phase of drug development is a lengthy and costly process. To revolutionize this process, we introduce our new concept QMLS to shorten the whole R&D phase to three to six months and decrease the cost to merely fifty to eighty thousand USD. For Hit Generation, Machine Learning Molecule Generation (MLMG) generates possible hits according to the molecular structure of the target protein while the Quantum Simulation (QS) filters molecules from the primary essay based on the reaction and binding effectiveness with the target protein. Then, For Lead Optimization, the resultant molecules generated and filtered from MLMG and QS are compared, and molecules that appear as a result of both processes will be made into dozens of molecular variations through Machine Learning Molecule Variation (MLMV), while others will only be made into a few variations. Lastly, all optimized molecules would undergo multiple rounds of QS filtering with a high standard for reaction effectiveness and safety, creating a few dozen pre-clinical-trail-ready drugs. This paper is based on our first paper, where we pitched the concept of machine learning combined with quantum simulations. In this paper we will go over the detailed design and framework of QMLS, including MLMG, MLMV, and QS.

Shumaila Javaid, Ruhul Amin Khalil, Nasir Saeed et al.

Integrated satellite, aerial, and terrestrial networks (ISATNs) represent a sophisticated convergence of diverse communication technologies to ensure seamless connectivity across different altitudes and platforms. This paper explores the transformative potential of integrating Large Language Models (LLMs) into ISATNs, leveraging advanced Artificial Intelligence (AI) and Machine Learning (ML) capabilities to enhance these networks. We outline the current architecture of ISATNs and highlight the significant role LLMs can play in optimizing data flow, signal processing, and network management to advance 5G/6G communication technologies through advanced predictive algorithms and real-time decision-making. A comprehensive analysis of ISATN components is conducted, assessing how LLMs can effectively address traditional data transmission and processing bottlenecks. The paper delves into the network management challenges within ISATNs, emphasizing the necessity for sophisticated resource allocation strategies, traffic routing, and security management to ensure seamless connectivity and optimal performance under varying conditions. Furthermore, we examine the technical challenges and limitations associated with integrating LLMs into ISATNs, such as data integration for LLM processing, scalability issues, latency in decision-making processes, and the design of robust, fault-tolerant systems. The study also identifies key future research directions for fully harnessing LLM capabilities in ISATNs, which is crucial for enhancing network reliability, optimizing performance, and achieving a truly interconnected and intelligent global network system.

Tengpeng Li, Hanli Wang, Bin He et al.

As a technically challenging topic, visual storytelling aims at generating an imaginary and coherent story with narrative multi-sentences from a group of relevant images. Existing methods often generate direct and rigid descriptions of apparent image-based contents, because they are not capable of exploring implicit information beyond images. Hence, these schemes could not capture consistent dependencies from holistic representation, impairing the generation of reasonable and fluent story. To address these problems, a novel knowledge-enriched attention network with group-wise semantic model is proposed. Three main novel components are designed and supported by substantial experiments to reveal practical advantages. First, a knowledge-enriched attention network is designed to extract implicit concepts from external knowledge system, and these concepts are followed by a cascade cross-modal attention mechanism to characterize imaginative and concrete representations. Second, a group-wise semantic module with second-order pooling is developed to explore the globally consistent guidance. Third, a unified one-stage story generation model with encoder-decoder structure is proposed to simultaneously train and infer the knowledge-enriched attention network, group-wise semantic module and multi-modal story generation decoder in an end-to-end fashion. Substantial experiments on the popular Visual Storytelling dataset with both objective and subjective evaluation metrics demonstrate the superior performance of the proposed scheme as compared with other state-of-the-art methods.

Mengyuan Liu, Jinfu Liu, Yongkang Jiang et al.

Human action recognition (HAR) in videos has garnered widespread attention due to the rich information in RGB videos. Nevertheless, existing methods for extracting deep features from RGB videos face challenges such as information redundancy, susceptibility to noise and high storage costs. To address these issues and fully harness the useful information in videos, we propose a novel heatmap pooling network (HP-Net) for action recognition from videos, which extracts information-rich, robust and concise pooled features of the human body in videos through a feedback pooling module. The extracted pooled features demonstrate obvious performance advantages over the previously obtained pose data and heatmap features from videos. In addition, we design a spatial-motion co-learning module and a text refinement modulation module to integrate the extracted pooled features with other multimodal data, enabling more robust action recognition. Extensive experiments on several benchmarks namely NTU RGB+D 60, NTU RGB+D 120, Toyota-Smarthome and UAV-Human consistently verify the effectiveness of our HP-Net, which outperforms the existing human action recognition methods. Our code is publicly available at: https://github.com/liujf69/HPNet-Action.

Lei Ding, Bin He, Chenguang Wang et al.

Proactive task-oriented agents must autonomously anticipate user needs, identify actionable opportunities, and trigger software actions at appropriate moments - fundamentally shifting from reactive systems that await explicit instructions. However, existing approaches lack generalizable end-to-end solutions for measuring and optimizing such anticipatory behaviors. This paper introduces ProActor, a unified framework for conversational task scheduling that integrates: (1) a domain-agnostic automated annotation methodology that enables scalable proactiveness reinforcement learning (RL) by generating full opportunity time windows instead of rigid point labels, (2) systematic proactiveness metrics capturing both timing quality and reference action alignment, and (3) RL optimization using GRPO with various reward designs. Our insight is that RULER-based rewards with proactiveness rubrics are crucial for improving timing quality, and that proactiveness optimization enabled by stage-aware composite rewards is key to balancing timing quality and reference action alignment. Timing-aware RL requires extensive exploration, demanding efficient infrastructure. We develop ART-F, an adaptive framework combining request-adaptive inference clusters with DDP-based training on single-node multi-GPU systems, enabling LoRA training of 4-bit Qwen2.5-14B-ProActor-Q4 with 4-8x speedups. Experiments on two newly auto-annotated datasets demonstrate significant improvements in proactive timing while maintaining action consistency comparable to state-of-the-art (SOTA) baselines. Ablations validate the effectiveness of distinct composite reward variations.

Zhifeng Qian, Mingyu You, Hongjun Zhou et al.

Goal-Conditioned Reinforcement Learning (GCRL) can enable agents to spontaneously set diverse goals to learn a set of skills. Despite the excellent works proposed in various fields, reaching distant goals in temporally extended tasks remains a challenge for GCRL. Current works tackled this problem by leveraging planning algorithms to plan intermediate subgoals to augment GCRL. Their methods need two crucial requirements: (i) a state representation space to search valid subgoals, and (ii) a distance function to measure the reachability of subgoals. However, they struggle to scale to high-dimensional state space due to their non-compact representations. Moreover, they cannot collect high-quality training data through standard GC policies, which results in an inaccurate distance function. Both affect the efficiency and performance of planning and policy learning. In the paper, we propose a goal-conditioned RL algorithm combined with Disentanglement-based Reachability Planning (REPlan) to solve temporally extended tasks. In REPlan, a Disentangled Representation Module (DRM) is proposed to learn compact representations which disentangle robot poses and object positions from high-dimensional observations in a self-supervised manner. A simple REachability discrimination Module (REM) is also designed to determine the temporal distance of subgoals. Moreover, REM computes intrinsic bonuses to encourage the collection of novel states for training. We evaluate our REPlan in three vision-based simulation tasks and one real-world task. The experiments demonstrate that our REPlan significantly outperforms the prior state-of-the-art methods in solving temporally extended tasks.

Jiatong Li, Bin He, Fei Mi

Conversations are always related to certain topics. However, it is challenging to fuse dialogue history and topic information from various sources at the same time in current dialogue generation models because of the input length limit of pre-trained language models (PLMs). In order to expand the information that PLMs can utilize, we encode topic and dialogue history information using certain prompts with multiple channels of Fusion-in-Decoder (FiD) and explore the influence of three different channel settings. In this paper, our experiments focus on a specific Chinese dataset named NaturalConv, where the conversation revolves around a piece of recent news. We thoroughly compared different dialogue models and different FiD channel settings. Empirical results show that by combining our proposed whole passage channel with additional history channel, our methods can achieve competitive performance on NaturalConv, making it possible to encode various information from excessively long texts.

Chengjin Wang, Yanmin Zhou, Zheng Yan et al.

In unknown cluttered environments with densely stacked objects, the free-motion space is extremely barren, posing significant challenges to motion planners. Collision-free planning methods often suffer from catastrophic failures due to unexpected collisions and motion obstructions. To address this issue, this paper proposes an interactive motion planning framework (I-MP), based on a perception-motion loop. This framework empowers robots to autonomously model and reason about contact models, which in turn enables safe expansion of the free-motion space. Specifically, the robot utilizes multimodal tactile perception to acquire stimulus-response signal pairs. This enables real-time identification of objects' mechanical properties and the subsequent construction of contact models. These models are integrated as computational constraints into a reactive planner. Based on fixed-point theorems, the planner computes the spatial state toward the target in real time, thus avoiding the computational burden associated with extrapolating on high-dimensional interaction models. Furthermore, high-dimensional interaction features are linearly superposed in Cartesian space in the form of energy, and the controller achieves trajectory tracking by solving the energy gradient from the current state to the planned state. The experimental results showed that at cruising speeds ranging from 0.01 to 0.07 $m/s$, the robot's initial contact force with objects remained stable at 1.0 +- 0.7 N. In the cabinet scenario test where collision-free trajectories were unavailable, I-MP expanded the free motion space by 37.5 % through active interaction, successfully completing the environmental exploration task.

Litian Huang, Xinguo Yu, Feng Xiong et al.

Solving Algebra Problems with Geometry Diagrams (APGDs) is still a challenging problem because diagram processing is not studied as intensively as language processing. To work against this challenge, this paper proposes a hologram reasoning scheme and develops a high-performance method for solving APGDs by using this scheme. To reach this goal, it first defines a hologram, being a kind of graph, and proposes a hologram generator to convert a given APGD into a hologram, which represents the entire information of APGD and the relations for solving the problem can be acquired from it by a uniform way. Then HGR, a hologram reasoning method employs a pool of prepared graph models to derive algebraic equations, which is consistent with the geometric theorems. This method is able to be updated by adding new graph models into the pool. Lastly, it employs deep reinforcement learning to enhance the efficiency of model selection from the pool. The entire HGR not only ensures high solution accuracy with fewer reasoning steps but also significantly enhances the interpretability of the solution process by providing descriptions of all reasoning steps. Experimental results demonstrate the effectiveness of HGR in improving both accuracy and interpretability in solving APGDs.

Chenjin Wang, Zheng Yan, Yanmin Zhou et al.

Whole-body control (WBC) has demonstrated significant advantages in complex interactive movements of high-dimensional robotic systems. However, when a robot is required to handle dynamic multi-contact combinations along a single kinematic chain-such as pushing open a door with its elbow while grasping an object-it faces major obstacles in terms of complex contact representation and joint configuration coupling. To address this, we propose a new control approach that explicitly manages arbitrary contact combinations, aiming to endow robots with whole-body interactive capabilities. We develop a morphology-constrained WBC network (MorphoGuard)-which is trained on a self-constructed dual-arm physical and simulation platform. A series of model recommendation experiments are designed to systematically investigate the impact of backbone architecture, fusion strategy, and model scale on network performance. To evaluate the control performance, we adopt a multi-object interaction task as the benchmark, requiring the model to simultaneously manipulate multiple target objects to specified positions. Experimental results show that the proposed method achieves a contact point management error of approximately 1 cm, demonstrating its effectiveness in whole-body interactive control.

Zehao Ni, Yonghao He, Lingfeng Qian et al.

In the context of imitation learning, visuomotor-based diffusion policy learning is one of the main directions in robotic manipulation. Most of these approaches rely on point clouds as observation inputs and construct scene representations through point clouds feature learning, which enables them to achieve remarkable accuracy. However, the existing literature lacks an in-depth exploration of vision-only solutions that have significant potential. In this paper, we propose a Vision-Only and single-view Diffusion Policy learning method (VO-DP) that leverages pretrained visual foundation models to achieve effective fusion of semantic and geometric features. We utilize intermediate features from VGGT incorporating semantic features from DINOv2 and geometric features from Alternating Attention blocks. Features are fused via cross-attention and spatially compressed with a CNN to form the input to the policy head. Extensive experiments demonstrate that VO-DP not only outperforms the vision-only baseline DP significantly but also exhibits distinct performance trends against the point cloud-based method DP3: in simulation tasks, VO-DP achieves an average success rate of 64.6% on par with DP3 64.0% and far higher than DP 34.8%, while in real-world tasks, it reaches 87.9%, outperforming both DP3 67.5% and DP 11.2% by a notable margin. Further robustness evaluations confirm that VO-DP remains highly stable under varying conditions including color, size, background, and lighting. Lastly, we open-source a training library for robotic manipulation. Built on Accelerate, this library supports multi-machine and multi-GPU parallel training, as well as mixed precision training. It is compatible with visuomotor policies such as DP, DP3 and VO-DP, and also supports the RoboTwin simulator.

Tianqing Fang, Weiqi Wang, Sehyun Choi et al.

Reasoning over commonsense knowledge bases (CSKB) whose elements are in the form of free-text is an important yet hard task in NLP. While CSKB completion only fills the missing links within the domain of the CSKB, CSKB population is alternatively proposed with the goal of reasoning unseen assertions from external resources. In this task, CSKBs are grounded to a large-scale eventuality (activity, state, and event) graph to discriminate whether novel triples from the eventuality graph are plausible or not. However, existing evaluations on the population task are either not accurate (automatic evaluation with randomly sampled negative examples) or of small scale (human annotation). In this paper, we benchmark the CSKB population task with a new large-scale dataset by first aligning four popular CSKBs, and then presenting a high-quality human-annotated evaluation set to probe neural models' commonsense reasoning ability. We also propose a novel inductive commonsense reasoning model that reasons over graphs. Experimental results show that generalizing commonsense reasoning on unseen assertions is inherently a hard task. Models achieving high accuracy during training perform poorly on the evaluation set, with a large gap between human performance. We will make the data publicly available for future contributions. Codes and data are available at https://github.com/HKUST-KnowComp/CSKB-Population.

Wenkai Yang, Lei Li, Zhiyuan Zhang et al.

Recent studies have revealed a security threat to natural language processing (NLP) models, called the Backdoor Attack. Victim models can maintain competitive performance on clean samples while behaving abnormally on samples with a specific trigger word inserted. Previous backdoor attacking methods usually assume that attackers have a certain degree of data knowledge, either the dataset which users would use or proxy datasets for a similar task, for implementing the data poisoning procedure. However, in this paper, we find that it is possible to hack the model in a data-free way by modifying one single word embedding vector, with almost no accuracy sacrificed on clean samples. Experimental results on sentiment analysis and sentence-pair classification tasks show that our method is more efficient and stealthier. We hope this work can raise the awareness of such a critical security risk hidden in the embedding layers of NLP models. Our code is available at https://github.com/lancopku/Embedding-Poisoning.

Tianqing Fang, Hongming Zhang, Weiqi Wang et al.

Commonsense knowledge is crucial for artificial intelligence systems to understand natural language. Previous commonsense knowledge acquisition approaches typically rely on human annotations (for example, ATOMIC) or text generation models (for example, COMET.) Human annotation could provide high-quality commonsense knowledge, yet its high cost often results in relatively small scale and low coverage. On the other hand, generation models have the potential to automatically generate more knowledge. Nonetheless, machine learning models often fit the training data well and thus struggle to generate high-quality novel knowledge. To address the limitations of previous approaches, in this paper, we propose an alternative commonsense knowledge acquisition framework DISCOS (from DIScourse to COmmonSense), which automatically populates expensive complex commonsense knowledge to more affordable linguistic knowledge resources. Experiments demonstrate that we can successfully convert discourse knowledge about eventualities from ASER, a large-scale discourse knowledge graph, into if-then commonsense knowledge defined in ATOMIC without any additional annotation effort. Further study suggests that DISCOS significantly outperforms previous supervised approaches in terms of novelty and diversity with comparable quality. In total, we can acquire 3.4M ATOMIC-like inferential commonsense knowledge by populating ATOMIC on the core part of ASER. Codes and data are available at https://github.com/HKUST-KnowComp/DISCOS-commonsense.

Shulin Cao, Jiaxin Shi, Liangming Pan et al.

Complex question answering over knowledge base (Complex KBQA) is challenging because it requires various compositional reasoning capabilities, such as multi-hop inference, attribute comparison, set operation. Existing benchmarks have some shortcomings that limit the development of Complex KBQA: 1) they only provide QA pairs without explicit reasoning processes; 2) questions are poor in diversity or scale. To this end, we introduce KQA Pro, a dataset for Complex KBQA including ~120K diverse natural language questions. We introduce a compositional and interpretable programming language KoPL to represent the reasoning process of complex questions. For each question, we provide the corresponding KoPL program and SPARQL query, so that KQA Pro serves for both KBQA and semantic parsing tasks. Experimental results show that SOTA KBQA methods cannot achieve promising results on KQA Pro as on current datasets, which suggests that KQA Pro is challenging and Complex KBQA requires further research efforts. We also treat KQA Pro as a diagnostic dataset for testing multiple reasoning skills, conduct a thorough evaluation of existing models and discuss further directions for Complex KBQA. Our codes and datasets can be obtained from https://github.com/shijx12/KQAPro_Baselines.

Kuofei Fang, Xinyi Che, Haomin Ouyang et al.

Embodied AI is a prominent research topic in both academia and industry. Current research centers on completing tasks based on explicit user instructions. However, for robots to integrate into human society, they must understand which actions are permissible and which are prohibited, even without explicit commands. We refer to the user-guided AI as passive intelligence and the unguided AI as active intelligence. This paper introduces RobotEQ, the first benchmark for active intelligence, aiming to assess whether existing models can comprehend and adhere to social norms in embodied scenarios. First, we construct RobotEQ-Data, a dataset consisting of 1,900 egocentric images, spanning 10 representative embodied categories and 56 subcategories. Through extensive manual annotation, we provide 5,353 action judgment questions and 1,286 spatial grounding questions, specifying appropriate robot actions across diverse scenarios. Furthermore, we establish RobotEQ-Bench to evaluate the performance of state-of-the-art models on this task. Experimental results show that current models still fall short in achieving reliable active intelligence, particularly in spatial grounding. Meanwhile, we observe that leveraging RAG techniques to incorporate external social norm knowledge bases can generally enhance performance. This work can facilitate the transition of robotics from user-guided passive manipulation to active social compliance.

Zheng Lian, Fan Zhang, Lan Chen et al.

Open-Vocabulary Multimodal Emotion Recognition (OV-MER) aims to predict emotions without being constrained by predefined label spaces, thereby enabling fine-grained emotion understanding. Unlike traditional discriminative methods, OV-MER leverages generative models to capture the full spectrum of emotions and employs emotion wheels (EWs) for metric calculation. Previous approaches primarily rely on token-level loss during training. However, this objective is misaligned with the metrics used in OV-MER, and these metrics cannot be directly optimized via gradient backpropagation. To address this limitation, we turn our attention to reinforcement learning, as this strategy can optimize non-differentiable objectives. We term this framework AffectGPT-RL. Furthermore, we conduct extensive experiments to elucidate the role of reinforcement learning in this task, revealing the necessity of the reasoning process, the impact of different rewards, and the generalizability to other emotion tasks such as sentiment analysis and basic emotion recognition. Experimental results demonstrate that AffectGPT-RL yields significant performance improvements on OV-MER. Beyond this task, we also achieve remarkable performance gains on basic emotion recognition, attaining state-of-the-art results on MER-UniBench. To the best of our knowledge, this is the pioneering work exploring the role of reinforcement learning in OV-MER, providing valuable guidance for subsequent researchers. Our code is provided in the supplementary material and will be released to facilitate future research.

Shumaila Javaid, Nasir Saeed, Bin He

Unmanned Aerial Vehicles (UAVs) have emerged as a transformative technology across diverse sectors, offering adaptable solutions to complex challenges in both military and civilian domains. Their expanding capabilities present a platform for further advancement by integrating cutting-edge computational tools like Artificial Intelligence (AI) and Machine Learning (ML) algorithms. These advancements have significantly impacted various facets of human life, fostering an era of unparalleled efficiency and convenience. Large Language Models (LLMs), a key component of AI, exhibit remarkable learning and adaptation capabilities within deployed environments, demonstrating an evolving form of intelligence with the potential to approach human-level proficiency. This work explores the significant potential of integrating UAVs and LLMs to propel the development of autonomous systems. We comprehensively review LLM architectures, evaluating their suitability for UAV integration. Additionally, we summarize the state-of-the-art LLM-based UAV architectures and identify novel opportunities for LLM embedding within UAV frameworks. Notably, we focus on leveraging LLMs to refine data analysis and decision-making processes, specifically for enhanced spectral sensing and sharing in UAV applications. Furthermore, we investigate how LLM integration expands the scope of existing UAV applications, enabling autonomous data processing, improved decision-making, and faster response times in emergency scenarios like disaster response and network restoration. Finally, we highlight crucial areas for future research that are critical for facilitating the effective integration of LLMs and UAVs.

Xinzhou Wang, Yikai Wang, Junliang Ye et al.

Advances in 3D generation have facilitated sequential 3D model generation (a.k.a 4D generation), yet its application for animatable objects with large motion remains scarce. Our work proposes AnimatableDreamer, a text-to-4D generation framework capable of generating diverse categories of non-rigid objects on skeletons extracted from a monocular video. At its core, AnimatableDreamer is equipped with our novel optimization design dubbed Canonical Score Distillation (CSD), which lifts 2D diffusion for temporal consistent 4D generation. CSD, designed from a score gradient perspective, generates a canonical model with warp-robustness across different articulations. Notably, it also enhances the authenticity of bones and skinning by integrating inductive priors from a diffusion model. Furthermore, with multi-view distillation, CSD infers invisible regions, thereby improving the fidelity of monocular non-rigid reconstruction. Extensive experiments demonstrate the capability of our method in generating high-flexibility text-guided 3D models from the monocular video, while also showing improved reconstruction performance over existing non-rigid reconstruction methods.

Zhuohui Zhang, Bin Cheng, Bin He

Building scalable and reusable multi-agent decision policies from offline datasets remains a challenge in offline multi-agent reinforcement learning (MARL), as existing methods often rely on fixed observation formats and action spaces that limit generalization. In contrast, large language models (LLMs) offer a flexible modeling interface that can naturally accommodate heterogeneous observations and actions. Motivated by this, we propose the Decision Language Model (DLM), which formulates multi-agent decision making as a dialogue-style sequence prediction problem under the centralized training with decentralized execution paradigm. DLM is trained in two stages: a supervised fine-tuning phase, which leverages dialogue-style datasets for centralized training with inter-agent context and generates executable actions from offline trajectories, followed by a group relative policy optimization phase to enhance robustness to out-of-distribution actions through lightweight reward functions. Experiments on multiple benchmarks show that a unified DLM outperforms strong offline MARL baselines and LLM-based conversational decision-making methods, while demonstrating strong zero-shot generalization to unseen scenarios across tasks.

Shuo Jiang, Haonan Li, Ruochen Ren et al.

Cutting-edge robot learning techniques including foundation models and imitation learning from humans all pose huge demands on large-scale and high-quality datasets which constitute one of the bottleneck in the general intelligent robot fields. This paper presents the Kaiwu multimodal dataset to address the missing real-world synchronized multimodal data problems in the sophisticated assembling scenario,especially with dynamics information and its fine-grained labelling. The dataset first provides an integration of human,environment and robot data collection framework with 20 subjects and 30 interaction objects resulting in totally 11,664 instances of integrated actions. For each of the demonstration,hand motions,operation pressures,sounds of the assembling process,multi-view videos, high-precision motion capture information,eye gaze with first-person videos,electromyography signals are all recorded. Fine-grained multi-level annotation based on absolute timestamp,and semantic segmentation labelling are performed. Kaiwu dataset aims to facilitate robot learning,dexterous manipulation,human intention investigation and human-robot collaboration research.

Rongfeng Zhao, Xuanhao Zhang, Zhaochen Guo et al.

The integration of large language models (LLMs) with embodied agents has improved high-level reasoning capabilities; however, a critical gap remains between semantic understanding and physical execution. While vision-language-action (VLA) and vision-language-navigation (VLN) systems enable robots to perform manipulation and navigation tasks from natural language instructions, they still struggle with long-horizon sequential and temporally structured tasks. Existing frameworks typically adopt modular pipelines for data collection, skill training, and policy deployment, resulting in high costs in experimental validation and policy optimization. To address these limitations, we propose ROSClaw, an agent framework for heterogeneous robots that integrates policy learning and task execution within a unified vision-language model (VLM) controller. The framework leverages e-URDF representations of heterogeneous robots as physical constraints to construct a sim-to-real topological mapping, enabling real-time access to the physical states of both simulated and real-world agents. We further incorporate a data collection and state accumulation mechanism that stores robot states, multimodal observations, and execution trajectories during real-world execution, enabling subsequent iterative policy optimization. During deployment, a unified agent maintains semantic continuity between reasoning and execution, and dynamically assigns task-specific control to different agents, thereby improving robustness in multi-policy execution. By establishing an autonomous closed-loop framework, ROSClaw minimizes the reliance on robot-specific development workflows. The framework supports hardware-level validation, automated generation of SDK-level control programs, and tool-based execution, enabling rapid cross-platform transfer and continual improvement of robotic skills. Ours project page: https://www.rosclaw.io/.

Xiaozhe Li, Kai WU, Siyi Yang et al.

Recent advancements in text-to-video (T2V) generation have leveraged diffusion models to enhance visual coherence in videos synthesized from textual descriptions. However, existing research primarily focuses on object motion, often overlooking cinematic language, which is crucial for conveying emotion and narrative pacing in cinematography. To address this, we propose a threefold approach to improve cinematic control in T2V models. First, we introduce a meticulously annotated cinematic language dataset with twenty subcategories, covering shot framing, shot angles, and camera movements, enabling models to learn diverse cinematic styles. Second, we present CameraDiff, which employs LoRA for precise and stable cinematic control, ensuring flexible shot generation. Third, we propose CameraCLIP, designed to evaluate cinematic alignment and guide multi-shot composition. Building on CameraCLIP, we introduce CLIPLoRA, a CLIP-guided dynamic LoRA composition method that adaptively fuses multiple pre-trained cinematic LoRAs, enabling smooth transitions and seamless style blending. Experimental results demonstrate that CameraDiff ensures stable and precise cinematic control, CameraCLIP achieves an R@1 score of 0.83, and CLIPLoRA significantly enhances multi-shot composition within a single video, bridging the gap between automated video generation and professional cinematography.\textsuperscript{1}

Peini Guo, Mengyuan Liu, Hong Liu et al.

Cloth-Changing Person Re-Identification (CC-ReID) aims to accurately identify the target person in more realistic surveillance scenarios, where pedestrians usually change their clothing. Despite great progress, limited cloth-changing training samples in existing CC-ReID datasets still prevent the model from adequately learning cloth-irrelevant features. In addition, due to the absence of explicit supervision to keep the model constantly focused on cloth-irrelevant areas, existing methods are still hampered by the disruption of clothing variations. To solve the above issues, we propose an Identity-aware Dual-constraint Network (IDNet) for the CC-ReID task. Specifically, to help the model extract cloth-irrelevant clues, we propose a Clothes Diversity Augmentation (CDA), which generates more realistic cloth-changing samples by enriching the clothing color while preserving the texture. In addition, a Multi-scale Constraint Block (MCB) is designed, which extracts fine-grained identity-related features and effectively transfers cloth-irrelevant knowledge. Moreover, a Counterfactual-guided Attention Module (CAM) is presented, which learns cloth-irrelevant features from channel and space dimensions and utilizes the counterfactual intervention for supervising the attention map to highlight identity-related regions. Finally, a Semantic Alignment Constraint (SAC) is designed to facilitate high-level semantic feature interaction. Comprehensive experiments on four CC-ReID datasets indicate that our method outperforms prior state-of-the-art approaches.

Haozhe Xu, Yifei Zhao, Wenhao Feng et al.

Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extended aerial duration increases landing impact sensitivity and makes stable attitude regulation over rough planetary terrain difficult. Existing approaches primarily address single jumps on flat surfaces and lack both continuous-terrain solutions and realistic hardware validation. This work presents a Dual-Horizon Hybrid Internal Model for continuous quadrupedal jumping under lunar gravity using proprioceptive sensing only. Two temporal encoders capture complementary time scales: a short-horizon branch models rapid vertical dynamics with explicit vertical velocity estimation, while a long-horizon branch models horizontal motion trends and center-of-mass height evolution across the jump cycle. The fused representation enables stable and continuous jumping under extended aerial phases characteristic of lunar gravity. To provide hardware-in-the-loop validation, we develop the MATRIX (Mixed-reality Adaptive Testbed for Robotic Integrated eXploration) platform, a digital-twin-driven system that offloads gravity through a pulley-counterweight mechanism and maps Unreal Engine lunar terrain to a motion platform and treadmill in real time. Using MATRIX, we demonstrate continuous jumping of a quadruped robot under lunar-gravity emulation across cratered lunar-like terrain.

Zhixiang Dai, Minghao Yin, Xuanhong Chen et al.

Solar energy adoption is critical to achieving net-zero emissions. However, it remains difficult for many industrial and commercial actors to decide on whether they should adopt distributed solar-battery systems, which is largely due to the unavailability of fast, low-cost, and high-resolution irradiance forecasts. Here, we present SunCastNet, a lightweight data-driven forecasting system that provides 0.05$^\circ$, 10-minute resolution predictions of surface solar radiation downwards (SSRD) up to 7 days ahead. SunCastNet, coupled with reinforcement learning (RL) for battery scheduling, reduces operational regret by 76--93\% compared to robust decision making (RDM). In 25-year investment backtests, it enables up to five of ten high-emitting industrial sectors per region to cross the commercial viability threshold of 12\% Internal Rate of Return (IRR). These results show that high-resolution, long-horizon solar forecasts can directly translate into measurable economic gains, supporting near-optimal energy operations and accelerating renewable deployment.

Zhongchao Zhou, Yuxi Lu, Yaonan Zhu et al.

With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have explored the use of LLMs in feedback controller design; however, these efforts are restricted to overly simplified systems, fixed-structure gain tuning, and lack real-world validation. To further investigate LLMs in automatic control, this work targets a key subfield: adaptive control. Inspired by the framework of model reference adaptive control (MRAC), we propose an LLM-guided adaptive compensator framework that avoids designing controllers from scratch. Instead, the LLMs are prompted using the discrepancies between an unknown system and a reference system to design a compensator that aligns the response of the unknown system with that of the reference, thereby achieving adaptivity. Experiments evaluate five methods: LLM-guided adaptive compensator, LLM-guided adaptive controller, indirect adaptive control, learning-based adaptive control, and MRAC, on soft and humanoid robots in both simulated and real-world environments. Results show that the LLM-guided adaptive compensator outperforms traditional adaptive controllers and significantly reduces reasoning complexity compared to the LLM-guided adaptive controller. The Lyapunov-based analysis and reasoning-path inspection demonstrate that the LLM-guided adaptive compensator enables a more structured design process by transforming mathematical derivation into a reasoning task, while exhibiting strong generalizability, adaptability, and robustness. This study opens a new direction for applying LLMs in the field of automatic control, offering greater deployability and practicality compared to vision-language models.

Yingqian Xu, Xiaohan Li, Caihua Wan et al.

Bayesian networks play an increasingly important role in data mining, inference, and reasoning with the rapid development of artificial intelligence. In this paper, we present proof-of-concept experiments demonstrating the use of spin-orbit torque magnetic tunnel junctions (SOT-MTJs) in Bayesian network reasoning. Not only can the target probability distribution function (PDF) of a Bayesian network be precisely formulated by a conditional probability table as usual but also quantitatively parameterized by a probabilistic forward propagating neuron network. Moreover, the parameters of the network can also approach the optimum through a simple point-by point training algorithm, by leveraging which we do not need to memorize all historical data nor statistically summarize conditional probabilities behind them, significantly improving storage efficiency and economizing data pretreatment. Furthermore, we developed a simple medical diagnostic system using the SOT-MTJ as a random number generator and sampler, showcasing the application of SOT-MTJ-based Bayesian reasoning. This SOT-MTJ-based Bayesian reasoning shows great promise in the field of artificial probabilistic neural network, broadening the scope of spintronic device applications and providing an efficient and low-storage solution for complex reasoning tasks.

Zhifeng Qian, Mingyu You, Hongjun Zhou et al.

Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of the environmental interactions explored by agents, which is sample-inefficient. In the paper, we propose a skill learning framework DR-GRL that aims to improve the sample efficiency and policy generalization by combining the Disentangled Representation learning and Goal-conditioned visual Reinforcement Learning. In a weakly supervised manner, we propose a Spatial Transform AutoEncoder (STAE) to learn an interpretable and controllable representation in which different parts correspond to different object attributes (shape, color, position). Due to the high controllability of the representations, STAE can simply recombine and recode the representations to generate unseen goals for agents to practice themselves. The manifold structure of the learned representation maintains consistency with the physical position, which is beneficial for reward calculation. We empirically demonstrate that DR-GRL significantly outperforms the previous methods in sample efficiency and policy generalization. In addition, DR-GRL is also easy to expand to the real robot.

Zeyu Wan, Yu Zhang, Bin He et al.

Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good point set to enhance accuracy. Accordingly, the sensitivity and uncertainty of LiDAR point residuals were formulated as a fundamental basis for derivation and analysis. High-sensitivity and low -uncertainty point residual terms are preferred to achieve higher pose estimation accuracy. The proposed selection method has been theoretically proven to be capable of achieving a global statistical optimum. It was tested on artificial data and compared with the KITTI benchmark. It was also implemented in LiDAR odometry (LO) and LiDAR inertial odometry (LIO), both indoors and outdoors. The experiments revealed that utilizing selected LiDAR point residuals simultaneously enhances optimization accuracy, decreases residual terms, and guarantees real-time performance.

Xinyan Zhao, Bin He, Yasheng Wang et al.

With the advances in deep learning, tremendous progress has been made with chit-chat dialogue systems and task-oriented dialogue systems. However, these two systems are often tackled separately in current methods. To achieve more natural interaction with humans, a dialogue agent needs to be capable of both chatting and accomplishing tasks. To this end, we propose a unified dialogue system (UniDS) with the two aforementioned skills. In particular, we design a unified dialogue data schema, compatible for both chit-chat and task-oriented dialogues, and we train UniDS with mixed dialogue data from a pretrained chit-chat dialogue model. Without adding extra parameters to SOTA baselines, UniDS can alternatively handle chit-chat and task-oriented dialogues in a unified framework. Experimental results demonstrate that the proposed UniDS works comparably well as the pure chit-chat system, and it outperforms state-of-the-art task-oriented dialogue systems. More importantly, UniDS achieves better robustness as it is able to smoothly switch between two types of dialogues. These results demonstrate the feasibility and potential of building an one-for-all dialogue system.

Bin He, Di Zhou, Jing Xie et al.

Entities may have complex interactions in a knowledge graph (KG), such as multi-step relationships, which can be viewed as graph contextual information of the entities. Traditional knowledge representation learning (KRL) methods usually treat a single triple as a training unit, and neglect most of the graph contextual information exists in the topological structure of KGs. In this study, we propose a Path-based Pre-training model to learn Knowledge Embeddings, called PPKE, which aims to integrate more graph contextual information between entities into the KRL model. Experiments demonstrate that our model achieves state-of-the-art results on several benchmark datasets for link prediction and relation prediction tasks, indicating that our model provides a feasible way to take advantage of graph contextual information in KGs.

Bin He, Xin Jiang, Jinghui Xiao et al.

Recent studies on pre-trained language models have demonstrated their ability to capture factual knowledge and applications in knowledge-aware downstream tasks. In this work, we present a language model pre-training framework guided by factual knowledge completion and verification, and use the generative and discriminative approaches cooperatively to learn the model. Particularly, we investigate two learning schemes, named two-tower scheme and pipeline scheme, in training the generator and discriminator with shared parameter. Experimental results on LAMA, a set of zero-shot cloze-style question answering tasks, show that our model contains richer factual knowledge than the conventional pre-trained language models. Furthermore, when fine-tuned and evaluated on the MRQA shared tasks which consists of several machine reading comprehension datasets, our model achieves the state-of-the-art performance, and gains large improvements on NewsQA (+1.26 F1) and TriviaQA (+1.56 F1) over RoBERTa.

Bin He, Di Zhou, Jinghui Xiao et al.

Complex node interactions are common in knowledge graphs, and these interactions also contain rich knowledge information. However, traditional methods usually treat a triple as a training unit during the knowledge representation learning (KRL) procedure, neglecting contextualized information of the nodes in knowledge graphs (KGs). We generalize the modeling object to a very general form, which theoretically supports any subgraph extracted from the knowledge graph, and these subgraphs are fed into a novel transformer-based model to learn the knowledge embeddings. To broaden usage scenarios of knowledge, pre-trained language models are utilized to build a model that incorporates the learned knowledge representations. Experimental results demonstrate that our model achieves the state-of-the-art performance on several medical NLP tasks, and improvement above TransE indicates that our KRL method captures the graph contextualized information effectively.

Bin He, Yi Guan, Rui Dai

Convolutional neural network (CNN) and recurrent neural network (RNN) models have become the mainstream methods for relation classification. We propose a unified architecture, which exploits the advantages of CNN and RNN simultaneously, to identify medical relations in clinical records, with only word embedding features. Our model learns phrase-level features through a CNN layer, and these feature representations are directly fed into a bidirectional gated recurrent unit (GRU) layer to capture long-term feature dependencies. We evaluate our model on two clinical datasets, and experiments demonstrate that our model performs significantly better than previous single-model methods on both datasets.

Bin He, Yi Guan, Rui Dai

Deep learning research on relation classification has achieved solid performance in the general domain. This study proposes a convolutional neural network (CNN) architecture with a multi-pooling operation for medical relation classification on clinical records and explores a loss function with a category-level constraint matrix. Experiments using the 2010 i2b2/VA relation corpus demonstrate these models, which do not depend on any external features, outperform previous single-model methods and our best model is competitive with the existing ensemble-based method.

Zhipeng Jiang, Chao Zhao, Bin He et al.

The CEGS N-GRID 2016 Shared Task 1 in Clinical Natural Language Processing focuses on the de-identification of psychiatric evaluation records. This paper describes two participating systems of our team, based on conditional random fields (CRFs) and long short-term memory networks (LSTMs). A pre-processing module was introduced for sentence detection and tokenization before de-identification. For CRFs, manually extracted rich features were utilized to train the model. For LSTMs, a character-level bi-directional LSTM network was applied to represent tokens and classify tags for each token, following which a decoding layer was stacked to decode the most probable protected health information (PHI) terms. The LSTM-based system attained an i2b2 strict micro-F_1 measure of 89.86%, which was higher than that of the CRF-based system.

Jia Su, Bin He, Yi Guan et al.

Cardiovascular disease (CVD) has become the leading cause of death in China, and most of the cases can be prevented by controlling risk factors. The goal of this study was to build a corpus of CVD risk factor annotations based on Chinese electronic medical records (CEMRs). This corpus is intended to be used to develop a risk factor information extraction system that, in turn, can be applied as a foundation for the further study of the progress of risk factors and CVD. We designed a light annotation task to capture CVD risk factors with indicators, temporal attributes and assertions that were explicitly or implicitly displayed in the records. The task included: 1) preparing data; 2) creating guidelines for capturing annotations (these were created with the help of clinicians); 3) proposing an annotation method including building the guidelines draft, training the annotators and updating the guidelines, and corpus construction. Then, a risk factor annotated corpus based on de-identified discharge summaries and progress notes from 600 patients was developed. Built with the help of clinicians, this corpus has an inter-annotator agreement (IAA) F1-measure of 0.968, indicating a high reliability. To the best of our knowledge, this is the first annotated corpus concerning CVD risk factors in CEMRs and the guidelines for capturing CVD risk factor annotations from CEMRs were proposed. The obtained document-level annotations can be applied in future studies to monitor risk factors and CVD over the long term.

Bin He, Bin Dong, Yi Guan et al.

Objective: To build a comprehensive corpus covering syntactic and semantic annotations of Chinese clinical texts with corresponding annotation guidelines and methods as well as to develop tools trained on the annotated corpus, which supplies baselines for research on Chinese texts in the clinical domain. Materials and methods: An iterative annotation method was proposed to train annotators and to develop annotation guidelines. Then, by using annotation quality assurance measures, a comprehensive corpus was built, containing annotations of part-of-speech (POS) tags, syntactic tags, entities, assertions, and relations. Inter-annotator agreement (IAA) was calculated to evaluate the annotation quality and a Chinese clinical text processing and information extraction system (CCTPIES) was developed based on our annotated corpus. Results: The syntactic corpus consists of 138 Chinese clinical documents with 47,424 tokens and 2553 full parsing trees, while the semantic corpus includes 992 documents that annotated 39,511 entities with their assertions and 7695 relations. IAA evaluation shows that this comprehensive corpus is of good quality, and the system modules are effective. Discussion: The annotated corpus makes a considerable contribution to natural language processing (NLP) research into Chinese texts in the clinical domain. However, this corpus has a number of limitations. Some additional types of clinical text should be introduced to improve corpus coverage and active learning methods should be utilized to promote annotation efficiency. Conclusions: In this study, several annotation guidelines and an annotation method for Chinese clinical texts were proposed, and a comprehensive corpus with its NLP modules were constructed, providing a foundation for further study of applying NLP techniques to Chinese texts in the clinical domain.