Liu Liu

Huimin Yu, Liu Liu, Yu Feng et al.

We develop a hierarchical multi-fidelity (MF) framework for efficient uncertainty quantification of porous-medium equation (PME) tumor growth models with moving free boundaries. The proposed approach combines coarse-grid PME solvers, level-set approximations of the Hele--Shaw limit, and fine-grid asymptotic-preserving PME discretizations, thereby integrating both discretization-based and asymptotic-model-based fidelity reduction. To guide the selection of high-fidelity samples, we introduce a residual-based farthest-point sampling (RFPS) criterion that combines projection residual information with a distance-based separation term in the low-fidelity snapshot space. Based on this criterion, we construct both bi-fidelity and tri-fidelity approximations, together with empirical error indicators for adaptive refinement. Numerical experiments are conducted in both bi-fidelity and tri-fidelity settings under several uncertainty scenarios, showing that the proposed multi-fidelity approximations achieve accurate results with reduced high-fidelity sampling cost in the reported tests.

Zongbo Han, Zhipeng Liang, Fan Yang et al.

Subpopulation shift widely exists in many real-world machine learning applications, referring to the training and test distributions containing the same subpopulation groups but varying in subpopulation frequencies. Importance reweighting is a normal way to handle the subpopulation shift issue by imposing constant or adaptive sampling weights on each sample in the training dataset. However, some recent studies have recognized that most of these approaches fail to improve the performance over empirical risk minimization especially when applied to over-parameterized neural networks. In this work, we propose a simple yet practical framework, called uncertainty-aware mixup (UMIX), to mitigate the overfitting issue in over-parameterized models by reweighting the ''mixed'' samples according to the sample uncertainty. The training-trajectories-based uncertainty estimation is equipped in the proposed UMIX for each sample to flexibly characterize the subpopulation distribution. We also provide insightful theoretical analysis to verify that UMIX achieves better generalization bounds over prior works. Further, we conduct extensive empirical studies across a wide range of tasks to validate the effectiveness of our method both qualitatively and quantitatively. Code is available at https://github.com/TencentAILabHealthcare/UMIX.

Chuang Liu, Yibing Zhan, Baosheng Yu et al.

A pooling operation is essential for effective graph-level representation learning, where the node drop pooling has become one mainstream graph pooling technology. However, current node drop pooling methods usually keep the top-k nodes according to their significance scores, which ignore the graph diversity in terms of the node features and the graph structures, thus resulting in suboptimal graph-level representations. To address the aforementioned issue, we propose a novel plug-and-play score scheme and refer to it as MID, which consists of a \textbf{M}ultidimensional score space with two operations, \textit{i.e.}, fl\textbf{I}pscore and \textbf{D}ropscore. Specifically, the multidimensional score space depicts the significance of nodes through multiple criteria; the flipscore encourages the maintenance of dissimilar node features; and the dropscore forces the model to notice diverse graph structures instead of being stuck in significant local structures. To evaluate the effectiveness of our proposed MID, we perform extensive experiments by applying it to a wide variety of recent node drop pooling methods, including TopKPool, SAGPool, GSAPool, and ASAP. Specifically, the proposed MID can efficiently and consistently achieve about 2.8\% average improvements over the above four methods on seventeen real-world graph classification datasets, including four social datasets (IMDB-BINARY, IMDB-MULTI, REDDIT-BINARY, and COLLAB), and thirteen biochemical datasets (D\&D, PROTEINS, NCI1, MUTAG, PTC-MR, NCI109, ENZYMES, MUTAGENICITY, FRANKENSTEIN, HIV, BBBP, TOXCAST, and TOX21). Code is available at~\url{https://github.com/whuchuang/mid}.

Lixin Yang, Kailin Li, Xinyu Zhan et al.

Learning how humans manipulate objects requires machines to acquire knowledge from two perspectives: one for understanding object affordances and the other for learning human's interactions based on the affordances. Even though these two knowledge bases are crucial, we find that current databases lack a comprehensive awareness of them. In this work, we propose a multi-modal and rich-annotated knowledge repository, OakInk, for visual and cognitive understanding of hand-object interactions. We start to collect 1,800 common household objects and annotate their affordances to construct the first knowledge base: Oak. Given the affordance, we record rich human interactions with 100 selected objects in Oak. Finally, we transfer the interactions on the 100 recorded objects to their virtual counterparts through a novel method: Tink. The recorded and transferred hand-object interactions constitute the second knowledge base: Ink. As a result, OakInk contains 50,000 distinct affordance-aware and intent-oriented hand-object interactions. We benchmark OakInk on pose estimation and grasp generation tasks. Moreover, we propose two practical applications of OakInk: intent-based interaction generation and handover generation. Our datasets and source code are publicly available at https://github.com/lixiny/OakInk.

Li Niu, Wenyan Cong, Liu Liu et al.

As a common image editing operation, image composition (object insertion) aims to combine the foreground from one image and another background image, to produce a composite image. However, there are many issues that could make the composite images unrealistic. These issues can be summarized as the inconsistency between foreground and background, which includes appearance inconsistency (e.g., incompatible illumination), geometry inconsistency (e.g., unreasonable size), and semantic inconsistency (e.g., mismatched semantic context). The image composition task could be decomposed into multiple sub-tasks, in which each sub-task targets one or more issues. Specifically, object placement aims to find reasonable scale, location, and shape for the foreground. Image blending aims to address the unnatural boundary between foreground and background. Image harmonization aims to adjust the illumination statistics of foreground. Shadow (resp., reflection) generation aims to generate plausible shadow (resp., reflection) for the foreground. These sub-tasks can be executed sequentially or in parallel to acquire realistic composite images. To the best of our knowledge, there is no previous survey on image composition. In this paper, we conduct a comprehensive survey over the sub-tasks and combined task of image composition. For each one, we summarize the existing methods, available datasets, and common evaluation metrics. Datasets and codes for image composition are summarized at https://github.com/bcmi/Awesome-Object-Insertion. We have also contributed the first image composition toolbox: libcom https://github.com/bcmi/libcom, which assembles 10+ image-composition-related functions. The ultimate goal of this toolbox is to solve all image composition problems with simple `import libcom'. Based on libcom toolbox, we also develop an online image composition workbench https://libcom.ustcnewly.com.

Liu Liu, Shuaifeng Zhi, Zhenhua Du et al.

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing data, which lack of semantic and structural information of scenes. To tackle this problem, camera and Radar sensor fusion has been investigated as a trending strategy with low cost, high reliability and strong maintenance. While most recent works explore how to explore Radar point clouds and images, rich contextual information within Radar observation are discarded. In this paper, we propose a hybrid point-wise Radar-Optical fusion approach for object detection in autonomous driving scenarios. The framework benefits from dense contextual information from both the range-doppler spectrum and images which are integrated to learn a multi-modal feature representation. Furthermore, we propose a novel local coordinate formulation, tackling the object detection task in an object-centric coordinate. Extensive results show that with the information gained from optical images, we could achieve leading performance in object detection (97.69\% recall) compared to recent state-of-the-art methods FFT-RadNet (82.86\% recall). Ablation studies verify the key design choices and practicability of our approach given machine generated imperfect detections. The code will be available at https://github.com/LiuLiu-55/ROFusion.

Kaining Zhang, Liu Liu, Min-Hsiu Hsieh et al.

Variational quantum circuits have been widely employed in quantum simulation and quantum machine learning in recent years. However, quantum circuits with random structures have poor trainability due to the exponentially vanishing gradient with respect to the circuit depth and the qubit number. This result leads to a general standpoint that deep quantum circuits would not be feasible for practical tasks. In this work, we propose an initialization strategy with theoretical guarantees for the vanishing gradient problem in general deep quantum circuits. Specifically, we prove that under proper Gaussian initialized parameters, the norm of the gradient decays at most polynomially when the qubit number and the circuit depth increase. Our theoretical results hold for both the local and the global observable cases, where the latter was believed to have vanishing gradients even for very shallow circuits. Experimental results verify our theoretical findings in the quantum simulation and quantum chemistry.

Liu Liu, Shi Jin

In this paper, we provide a general framework to study general class of linear and nonlinear kinetic equations with random uncertainties from the initial data or collision kernels, and their stochastic Galerkin approximations, in both incompressible Navier-Stokes and Euler (acoustic) regimes. First, we show that the general framework put forth in [C. Mouhot and L. Neumann, Nonlinearity, 19, 969-998, 2006, M. Briant, J. Diff. Eqn., 259, 6072-6141, 2005] based on hypocoercivity for the deterministic kinetic equations can be easily adopted for sensitivity analysis for random kinetic equations, which gives rise to an exponential convergence of the random solution toward the (deterministic) global equilibrium, under suitable conditions on the collision kernel. Then we use such theory to study the stochastic Galerkin (SG) methods for the equations, establish hypocoercivity of the SG system and regularity of its solution, and spectral accuracy and exponential decay of the numerical error of the method in a weighted Sobolev norm.

Irene M. Gamba, Shi Jin, Liu Liu

In this paper, we first extend the micro-macro decomposition method for multiscale kinetic equations from the BGK model to general collisional kinetic equations, including the Boltzmann and the Fokker-Planck Landau equations. The main idea is to use a relation between the (numerically stiff) linearized collision operator with the nonlinear quadratic ones, the later's stiffness can be overcome using the BGK penalization method of Filbet and Jin for the Boltzmann, or the linear Fokker-Planck penalization method of Jin and Yan for the Fokker-Planck Landau equations. Such a scheme allows the computation of multiscale collisional kinetic equations efficiently in all regimes, including the fluid regime in which the fluid dynamic behavior can be correctly computed even without resolving the small Knudsen number. A distinguished feature of these schemes is that although they contain implicit terms, they can be implemented explicitly. These schemes preserve the moments (mass, momentum and energy) exactly thanks to the use of the macroscopic system which is naturally in a conservative form. We further utilize this conservation property for more general kinetic systems, using the Vlasov-Ampére and Vlasov-Ampére-Boltzmann systems as examples. The main idea is to evolve both the kinetic equation for the probability density distribution and the moment system, the later naturally induces a scheme that conserves exactly the moments numerically if they are physically conserved.

Yujiao Shi, Xin Yu, Liu Liu et al.

We address the problem of ground-to-satellite image geo-localization, that is, estimating the camera latitude, longitude and orientation (azimuth angle) by matching a query image captured at the ground level against a large-scale database with geotagged satellite images. Our prior arts treat the above task as pure image retrieval by selecting the most similar satellite reference image matching the ground-level query image. However, such an approach often produces coarse location estimates because the geotag of the retrieved satellite image only corresponds to the image center while the ground camera can be located at any point within the image. To further consolidate our prior research findings, we present a novel geometry-aware geo-localization method. Our new method is able to achieve the fine-grained location of a query image, up to pixel size precision of the satellite image, once its coarse location and orientation have been determined. Moreover, we propose a new geometry-aware image retrieval pipeline to improve the coarse localization accuracy. Apart from a polar transform in our conference work, this new pipeline also maps satellite image pixels to the ground-level plane in the ground-view via a geometry-constrained projective transform to emphasize informative regions, such as road structures, for cross-view geo-localization. Extensive quantitative and qualitative experiments demonstrate the effectiveness of our newly proposed framework. We also significantly improve the performance of coarse localization results compared to the state-of-the-art in terms of location recalls.

Li Gao, Fuzhi Yang, Jianhui Chen et al.

Despite significant advances in quadrupedal robotics, a critical gap persists in foundational motion resources that holistically integrate diverse locomotion, emotionally expressive behaviors, and rich language semantics-essential for agile, intuitive human-robot interaction. Current quadruped motion datasets are limited to a few mocap primitives (e.g., walk, trot, sit) and lack diverse behaviors with rich language grounding. To bridge this gap, we introduce Quadruped Foundational Motion (QuadFM) , the first large-scale, ultra-high-fidelity dataset designed for text-to-motion generation and general motion control. QuadFM contains 11,784 curated motion clips spanning locomotion, interactive, and emotion-expressive behaviors (e.g., dancing, stretching, peeing), each with three-layer annotation-fine-grained action labels, interaction scenarios, and natural language commands-totaling 35,352 descriptions to support language-conditioned understanding and command execution. We further propose Gen2Control RL, a unified framework that jointly trains a general motion controller and a text-to-motion generator, enabling efficient end-to-end inference on edge hardware. On a real quadruped robot with an NVIDIA Orin, our system achieves real-time motion synthesis (<500 ms latency). Simulation and real-world results show realistic, diverse motions while maintaining robust physical interaction. The dataset will be released at https://github.com/GaoLii/QuadFM.

Dongbo Wang, Chang Liu, Zhixiao Zhao et al.

In the context of the rapid development of large language models, we have meticulously trained and introduced the GujiBERT and GujiGPT language models, which are foundational models specifically designed for intelligent information processing of ancient texts. These models have been trained on an extensive dataset that encompasses both simplified and traditional Chinese characters, allowing them to effectively handle various natural language processing tasks related to ancient books, including but not limited to automatic sentence segmentation, punctuation, word segmentation, part-of-speech tagging, entity recognition, and automatic translation. Notably, these models have exhibited exceptional performance across a range of validation tasks using publicly available datasets. Our research findings highlight the efficacy of employing self-supervised methods to further train the models using classical text corpora, thus enhancing their capability to tackle downstream tasks. Moreover, it is worth emphasizing that the choice of font, the scale of the corpus, and the initial model selection all exert significant influence over the ultimate experimental outcomes. To cater to the diverse text processing preferences of researchers in digital humanities and linguistics, we have developed three distinct categories comprising a total of nine model variations. We believe that by sharing these foundational language models specialized in the domain of ancient texts, we can facilitate the intelligent processing and scholarly exploration of ancient literary works and, consequently, contribute to the global dissemination of China's rich and esteemed traditional culture in this new era.

Siyuan Zhou, Liu Liu, Li Niu et al.

Object placement aims to place a foreground object over a background image with a suitable location and size. In this work, we treat object placement as a graph completion problem and propose a novel graph completion module (GCM). The background scene is represented by a graph with multiple nodes at different spatial locations with various receptive fields. The foreground object is encoded as a special node that should be inserted at a reasonable place in this graph. We also design a dual-path framework upon the structure of GCM to fully exploit annotated composite images. With extensive experiments on OPA dataset, our method proves to significantly outperform existing methods in generating plausible object placement without loss of diversity.

Zhen Wang, Liu Liu, Yajing Kong et al.

Online continual learning (online CL) studies the problem of learning sequential tasks from an online data stream without task boundaries, aiming to adapt to new data while alleviating catastrophic forgetting on the past tasks. This paper proposes a framework Contrastive Vision Transformer (CVT), which designs a focal contrastive learning strategy based on a transformer architecture, to achieve a better stability-plasticity trade-off for online CL. Specifically, we design a new external attention mechanism for online CL that implicitly captures previous tasks' information. Besides, CVT contains learnable focuses for each class, which could accumulate the knowledge of previous classes to alleviate forgetting. Based on the learnable focuses, we design a focal contrastive loss to rebalance contrastive learning between new and past classes and consolidate previously learned representations. Moreover, CVT contains a dual-classifier structure for decoupling learning current classes and balancing all observed classes. The extensive experimental results show that our approach achieves state-of-the-art performance with even fewer parameters on online CL benchmarks and effectively alleviates the catastrophic forgetting.

Xianhui Meng, Yukang Huo, Li Zhang et al.

Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored problem due to their inherent kinematic constraints. To address these challenges, this work proposes a novel point-pair-based pose tracking framework, termed \textbf{PPF-Tracker}. The proposed framework first performs quasi-canonicalization of point clouds in the SE(3) Lie group space, and then models articulated objects using Point Pair Features (PPF) to predict pose voting parameters by leveraging the invariance properties of SE(3). Finally, semantic information of joint axes is incorporated to impose unified kinematic constraints across all parts of the articulated object. PPF-Tracker is systematically evaluated on both synthetic datasets and real-world scenarios, demonstrating strong generalization across diverse and challenging environments. Experimental results highlight the effectiveness and robustness of PPF-Tracker in multi-frame pose tracking of articulated objects. We believe this work can foster advances in robotics, embodied intelligence, and augmented reality. Codes are available at https://github.com/mengxh20/PPFTracker.

Yajing Kong, Liu Liu, Zhen Wang et al.

Continual learning is a learning paradigm that learns tasks sequentially with resources constraints, in which the key challenge is stability-plasticity dilemma, i.e., it is uneasy to simultaneously have the stability to prevent catastrophic forgetting of old tasks and the plasticity to learn new tasks well. In this paper, we propose a new continual learning approach, Advanced Null Space (AdNS), to balance the stability and plasticity without storing any old data of previous tasks. Specifically, to obtain better stability, AdNS makes use of low-rank approximation to obtain a novel null space and projects the gradient onto the null space to prevent the interference on the past tasks. To control the generation of the null space, we introduce a non-uniform constraint strength to further reduce forgetting. Furthermore, we present a simple but effective method, intra-task distillation, to improve the performance of the current task. Finally, we theoretically find that null space plays a key role in plasticity and stability, respectively. Experimental results show that the proposed method can achieve better performance compared to state-of-the-art continual learning approaches.

Zongbo Han, Zhipeng Liang, Fan Yang et al.

Subpopulation shift exists widely in many real-world applications, which refers to the training and test distributions that contain the same subpopulation groups but with different subpopulation proportions. Ignoring subpopulation shifts may lead to significant performance degradation and fairness concerns. Importance reweighting is a classical and effective way to handle the subpopulation shift. However, recent studies have recognized that most of these approaches fail to improve the performance especially when applied to over-parameterized neural networks which are capable of fitting any training samples. In this work, we propose a simple yet practical framework, called reweighted mixup (RMIX), to mitigate the overfitting issue in over-parameterized models by conducting importance weighting on the ''mixed'' samples. Benefiting from leveraging reweighting in mixup, RMIX allows the model to explore the vicinal space of minority samples more, thereby obtaining more robust model against subpopulation shift. When the subpopulation memberships are unknown, the training-trajectories-based uncertainty estimation is equipped in the proposed RMIX to flexibly characterize the subpopulation distribution. We also provide insightful theoretical analysis to verify that RMIX achieves better generalization bounds over prior works. Further, we conduct extensive empirical studies across a wide range of tasks to validate the effectiveness of the proposed method.

Nicolas Crouseilles, Shi Jin, Mohammed Lemou et al.

We develop generalized polynomial chaos (gPC) based stochastic Galerkin (SG) methods for a class of highly oscillatory transport equations that arise in semiclassical modeling of non-adiabatic quantum dynamics. These models contain uncertainties, particularly in coefficients that correspond to the potentials of the molecular system. We first focus on a highly oscillatory scalar model with random uncertainty. Our method is built upon the nonlinear geometrical optics (NGO) based method, developed in \cite{NGO} for numerical approximations of deterministic equations, which can obtain accurate pointwise solution even without numerically resolving spatially and temporally the oscillations. With the random uncertainty, we show that such a method has oscillatory higher order derivatives in the random space, thus requires a frequency dependent discretization in the random space. We modify this method by introducing a new "time" variable based on the phase, which is shown to be non-oscillatory in the random space, based on which we develop a gPC-SG method that can capture oscillations with the frequency-independent time step, mesh size as well as the degree of polynomial chaos. A similar approach is then extended to a semiclassical surface hopping model system with a similar numerical conclusion. Various numerical examples attest that these methods indeed capture accurately the solution statistics {\em pointwisely} even though none of the numerical parameters resolve the high frequencies of the solution.

Liu Liu

In this paper, we study the bipolar Boltzmann-Poisson model, both for the deterministic system and the system with uncertainties, with asymptotic behavior leading to the drift diffusion-Poisson system as the Knudsen number goes to zero. The random inputs can arise from collision kernels, doping profile and initial data. We adopt a generalized polynomial chaos approach based stochastic Galerkin (gPC-SG) method. Sensitivity analysis is conducted using hypocoercivity theory for both the analytical solution and the gPC solution for a simpler model that ignores the electric field, and it gives their convergence toward the global Maxwellian exponentially in time. A formal proof of the stochastic asymptotic-preserving (s-AP) property and a uniform spectral convergence with error exponentially decaying in time in the random space of the scheme is given. Numerical experiments are conducted to validate the accuracy, efficiency and asymptotic properties of the proposed method.

Haoyi Jiang, Liu Liu, Xinjie Wang et al.

While Vision-Language Models (VLMs) exhibit exceptional 2D visual understanding, their ability to comprehend and reason about 3D space--a cornerstone of spatial intelligence--remains superficial. Current methodologies attempt to bridge this domain gap either by relying on explicit 3D modalities or by augmenting VLMs with partial, view-conditioned geometric priors. However, such approaches hinder scalability and ultimately burden the language model with the ill-posed task of implicitly reconstructing holistic 3D geometry from sparse cues. In this paper, we argue that spatial intelligence can emerge inherently from 2D vision alone, rather than being imposed via explicit spatial instruction tuning. To this end, we introduce Spa3R, a self-supervised framework that learns a unified, view-invariant spatial representation directly from unposed multi-view images. Spa3R is built upon the proposed Predictive Spatial Field Modeling (PSFM) paradigm, where Spa3R learns to synthesize feature fields for arbitrary unseen views conditioned on a compact latent representation, thereby internalizing a holistic and coherent understanding of the underlying 3D scene. We further integrate the pre-trained Spa3R Encoder into existing VLMs via a lightweight adapter to form Spa3-VLM, effectively grounding language reasoning in a global spatial context. Experiments on the challenging VSI-Bench demonstrate that Spa3-VLM achieves state-of-the-art accuracy of 58.6% on 3D VQA, significantly outperforming prior methods. These results highlight PSFM as a scalable path toward advancing spatial intelligence. Code is available at https://github.com/hustvl/Spa3R.

Ziniu Li, Ke Xu, Liu Liu et al.

Reinforcement learning (RL) has shown promise for decision-making tasks in real-world applications. One practical framework involves training parameterized policy models from an offline dataset and subsequently deploying them in an online environment. However, this approach can be risky since the offline training may not be perfect, leading to poor performance of the RL models that may take dangerous actions. To address this issue, we propose an alternative framework that involves a human supervising the RL models and providing additional feedback in the online deployment phase. We formalize this online deployment problem and develop two approaches. The first approach uses model selection and the upper confidence bound algorithm to adaptively select a model to deploy from a candidate set of trained offline RL models. The second approach involves fine-tuning the model in the online deployment phase when a supervision signal arrives. We demonstrate the effectiveness of these approaches for robot locomotion control and traffic light control tasks through empirical validation.

Chengqian Gao, Ke Xu, Liu Liu et al.

A promising paradigm for offline reinforcement learning (RL) is to constrain the learned policy to stay close to the dataset behaviors, known as policy constraint offline RL. However, existing works heavily rely on the purity of the data, exhibiting performance degradation or even catastrophic failure when learning from contaminated datasets containing impure trajectories of diverse levels. e.g., expert level, medium level, etc., while offline contaminated data logs exist commonly in the real world. To mitigate this, we first introduce gradient penalty over the learned value function to tackle the exploding Q-functions. We then relax the closeness constraints towards non-optimal actions with critic weighted constraint relaxation. Experimental results show that the proposed techniques effectively tame the non-optimal trajectories for policy constraint offline RL methods, evaluated on a set of contaminated D4RL Mujoco and Adroit datasets.

Qiaojun Yu, Junbo Wang, Wenhai Liu et al.

Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior works mostly focused on recognizing and manipulating articulated objects with specific joint types. They can either estimate the joint parameters or distinguish suitable grasp poses to facilitate trajectory planning. Although these approaches have succeeded in certain types of articulated objects, they lack generalizability to unseen objects, which significantly impedes their application in broader scenarios. In this paper, we propose a novel framework of Generalizable Articulation Modeling and Manipulating for Articulated Objects (GAMMA), which learns both articulation modeling and grasp pose affordance from diverse articulated objects with different categories. In addition, GAMMA adopts adaptive manipulation to iteratively reduce the modeling errors and enhance manipulation performance. We train GAMMA with the PartNet-Mobility dataset and evaluate with comprehensive experiments in SAPIEN simulation and real-world Franka robot. Results show that GAMMA significantly outperforms SOTA articulation modeling and manipulation algorithms in unseen and cross-category articulated objects. We will open-source all codes and datasets in both simulation and real robots for reproduction in the final version. Images and videos are published on the project website at: http://sites.google.com/view/gamma-articulation

Zixuan Liu, Liu Liu, Xueqian Wang et al.

Differentiable optimization has received a significant amount of attention due to its foundational role in the domain of machine learning based on neural networks. This paper proposes a differentiable layer, named Differentiable Frank-Wolfe Layer (DFWLayer), by rolling out the Frank-Wolfe method, a well-known optimization algorithm which can solve constrained optimization problems without projections and Hessian matrix computations, thus leading to an efficient way of dealing with large-scale convex optimization problems with norm constraints. Experimental results demonstrate that the DFWLayer not only attains competitive accuracy in solutions and gradients but also consistently adheres to constraints.

Yan Yang, Liyuan Pan, Liu Liu

This paper proposes a pre-trained neural network for handling event camera data. Our model is a self-supervised learning framework, and uses paired event camera data and natural RGB images for training. Our method contains three modules connected in a sequence: i) a family of event data augmentations, generating meaningful event images for self-supervised training; ii) a conditional masking strategy to sample informative event patches from event images, encouraging our model to capture the spatial layout of a scene and accelerating training; iii) a contrastive learning approach, enforcing the similarity of embeddings between matching event images, and between paired event and RGB images. An embedding projection loss is proposed to avoid the model collapse when enforcing the event image embedding similarities. A probability distribution alignment loss is proposed to encourage the event image to be consistent with its paired RGB image in the feature space. Transfer learning performance on downstream tasks shows the superiority of our method over state-of-the-art methods. For example, we achieve top-1 accuracy at 64.83% on the N-ImageNet dataset.

Rui Xie, Asad Ul Haq, Linsen Ma et al.

Recent studies have revealed that, during the inference on generative AI models such as transformer, the importance of different weights exhibits substantial context-dependent variations. This naturally manifests a promising potential of adaptively configuring weight quantization to improve the generative AI inference efficiency. Although configurable weight quantization can readily leverage the hardware support of variable-precision arithmetics in modern GPU and AI accelerators, little prior research has studied how one could exploit variable weight quantization to proportionally improve the AI model memory access speed and energy efficiency. Motivated by the rapidly maturing CXL ecosystem, this work develops a CXL-based design solution to fill this gap. The key is to allow CXL memory controllers play an active role in supporting and exploiting runtime configurable weight quantization. Using transformer as a representative generative AI model, we carried out experiments that well demonstrate the effectiveness of the proposed design solution.

Mengjie Zhou, Liu Liu, Yiran Zhong et al.

We study the image-based geolocalization problem, aiming to localize ground-view query images on cartographic maps. Current methods often utilize cross-view localization techniques to match ground-view query images with 2D maps. However, the performance of these methods is unsatisfactory due to significant cross-view appearance differences. In this paper, we lift cross-view matching to a 2.5D space, where heights of structures (e.g., trees and buildings) provide geometric information to guide the cross-view matching. We propose a new approach to learning representative embeddings from multi-modal data. Specifically, we establish a projection relationship between 2.5D space and 2D aerial-view space. The projection is further used to combine multi-modal features from the 2.5D and 2D maps using an effective pixel-to-point fusion method. By encoding crucial geometric cues, our method learns discriminative location embeddings for matching panoramic images and maps. Additionally, we construct the first large-scale ground-to-2.5D map geolocalization dataset to validate our method and facilitate future research. Both single-image based and route based localization experiments are conducted to test our method. Extensive experiments demonstrate that the proposed method achieves significantly higher localization accuracy and faster convergence than previous 2D map-based approaches.

Yan Yang, Liyuan Pan, Liu Liu

This paper introduces a self-supervised learning framework designed for pre-training neural networks tailored to dense prediction tasks using event camera data. Our approach utilizes solely event data for training. Transferring achievements from dense RGB pre-training directly to event camera data yields subpar performance. This is attributed to the spatial sparsity inherent in an event image (converted from event data), where many pixels do not contain information. To mitigate this sparsity issue, we encode an event image into event patch features, automatically mine contextual similarity relationships among patches, group the patch features into distinctive contexts, and enforce context-to-context similarities to learn discriminative event features. For training our framework, we curate a synthetic event camera dataset featuring diverse scene and motion patterns. Transfer learning performance on downstream dense prediction tasks illustrates the superiority of our method over state-of-the-art approaches.

Ran Zhang, Xuanhua He, Liu Liu

Image fusion seeks to integrate complementary information from multiple sources into a single, superior image. While traditional methods are fast, they lack adaptability and performance. Conversely, deep learning approaches achieve state-of-the-art (SOTA) results but suffer from critical inefficiencies: their reliance on slow, resource-intensive, patch-based training introduces a significant gap with full-resolution inference. We propose a novel hybrid framework that resolves this trade-off. Our method utilizes a learnable U-Net to generate a dynamic guidance map that directs a classic, fixed Laplacian pyramid fusion kernel. This decoupling of policy learning from pixel synthesis enables remarkably efficient full-resolution training, eliminating the train-inference gap. Consequently, our model achieves SOTA-comparable performance in about one minute on a RTX 4090 or two minutes on a consumer laptop GPU from scratch without any external model and demonstrates powerful zero-shot generalization across diverse tasks, from infrared-visible to medical imaging. By design, the fused output is linearly constructed solely from source information, ensuring high faithfulness for critical applications. The codes are available at https://github.com/Zirconium233/HybridFusion

Mohammed Nowaz Rabbani Chowdhury, Kaoutar El Maghraoui, Hsinyu Tsai et al.

Sparse Mixture-of-Experts (MoE) allows scaling of language and vision models efficiently by activating only a small subset of experts per input. While this reduces computation, the large number of parameters still incurs substantial memory overhead during inference. Post-training quantization has been explored to address this issue. Because uniform quantization suffers from significant accuracy loss at low bit-widths, mixed-precision methods have been recently explored; however, they often require substantial computation for bit-width allocation and overlook the varying sensitivity of model performance to the quantization of different experts. We propose a theoretically grounded expert-wise mixed precision strategy that assigns bit-width to each expert primarily based on their change in routers l2 norm during training. Experts with smaller changes are shown to capture less frequent but critical features, and model performance is more sensitive to the quantization of these experts, thus requiring higher precision. Furthermore, to avoid allocating experts to lower precision that inject high quantization noise, experts with large maximum intra-neuron variance are also allocated higher precision. Experiments on large-scale MoE models, including Switch Transformer and Mixtral, show that our method achieves higher accuracy than existing approaches, while also reducing inference cost and incurring only negligible overhead for bit-width assignment.

Liu Liu, Yukai Lin, Xiao Liang et al.

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence. First, a mapping module is applied to build accurate 3D maps of the scene, one map for each reference sequence if there exist multiple reference sequences under different conditions. Second, a single-image-based localization pipeline (retrieval--matching--PnP) is performed to estimate 6-DoF camera poses for each query image, one for each 3D map. Third, a consensus set maximization module is proposed to filter out outlier 6-DoF camera poses, and outputs one 6-DoF camera pose for a query. Finally, a robust pose refinement module is proposed to optimize 6-DoF query poses, taking candidate global 6-DoF camera poses and their corresponding global 2D-3D matches, sparse 2D-2D feature matches between consecutive query images and SLAM poses of the query sequence as input. Experiments on the 4seasons dataset show that our method achieves high accuracy and robustness. In particular, our approach wins the localization challenge of ECCV 2022 workshop on Map-based Localization for Autonomous Driving (MLAD-ECCV2022).

Youzhi Liu, Li Gao, Liu Liu et al.

Embodied Visual Tracking (EVT), a core dynamic task in embodied intelligence, requires an agent to precisely follow a language-specified target. Yet most existing methods rely on single-agent imitation learning, suffering from costly expert data and limited generalization due to static training environments. Inspired by competition-driven capability evolution, we propose CoMaTrack, a competitive game-theoretic multi-agent reinforcement learning framework that trains agents in a dynamic adversarial setting with competitive subtasks, yielding stronger adaptive planning and interference-resilient strategies. We further introduce CoMaTrack-Bench, the first benchmark for competitive EVT, featuring game scenarios between a tracker and adaptive opponents across diverse environments and instructions, enabling standardized robustness evaluation under active adversarial interactions. Experiments show that CoMaTrack achieves state-of-the-art results on both standard benchmarks and CoMaTrack-Bench. Notably, a 3B VLM trained with our framework surpasses previous single-agent imitation learning methods based on 7B models on the challenging EVT-Bench, achieving 92.1% in STT, 74.2% in DT, and 57.5% in AT. The benchmark code will be available at https://github.com/wlqcode/CoMaTrack-Bench

Liu Liu, Xuanqing Liu, Cho-Jui Hsieh et al.

Trust-region (TR) and adaptive regularization using cubics (ARC) have proven to have some very appealing theoretical properties for non-convex optimization by concurrently computing function value, gradient, and Hessian matrix to obtain the next search direction and the adjusted parameters. Although stochastic approximations help largely reduce the computational cost, it is challenging to theoretically guarantee the convergence rate. In this paper, we explore a family of stochastic TR and ARC methods that can simultaneously provide inexact computations of the Hessian matrix, gradient, and function values. Our algorithms require much fewer propagations overhead per iteration than TR and ARC. We prove that the iteration complexity to achieve $ε$-approximate second-order optimality is of the same order as the exact computations demonstrated in previous studies. Additionally, the mild conditions on inexactness can be met by leveraging a random sampling technology in the finite-sum minimization problem. Numerical experiments with a non-convex problem support these findings and demonstrate that, with the same or a similar number of iterations, our algorithms require less computational overhead per iteration than current second-order methods.

Guangqian Yang, Yibing Zhan, Jinlong Li et al.

Recent studies show that Graph Neural Networks (GNNs) are vulnerable to adversarial attack, i.e., an imperceptible structure perturbation can fool GNNs to make wrong predictions. Some researches explore specific properties of clean graphs such as the feature smoothness to defense the attack, but the analysis of it has not been well-studied. In this paper, we analyze the adversarial attack on graphs from the perspective of feature smoothness which further contributes to an efficient new adversarial defensive algorithm for GNNs. We discover that the effect of the high-order graph structure is a smoother filter for processing graph structures. Intuitively, the high-order graph structure denotes the path number between nodes, where larger number indicates closer connection, so it naturally contributes to defense the adversarial perturbation. Further, we propose a novel algorithm that incorporates the high-order structural information into the graph structure learning. We perform experiments on three popular benchmark datasets, Cora, Citeseer and Polblogs. Extensive experiments demonstrate the effectiveness of our method for defending against graph adversarial attacks.

Xuchen Li, Ruitao Wu, Xuanbo Liu et al.

Recent advances in large language models have enabled AI systems to achieve expert-level performance on domain-specific scientific tasks, yet these systems remain narrow and handcrafted. We introduce SciAgent, a unified multi-agent system designed for generalistic scientific reasoning-the ability to adapt reasoning strategies across disciplines and difficulty levels. SciAgent organizes problem solving as a hierarchical process: a Coordinator Agent interprets each problem's domain and complexity, dynamically orchestrating specialized Worker Systems, each composed of interacting reasoning Sub-agents for symbolic deduction, conceptual modeling, numerical computation, and verification. These agents collaboratively assemble and refine reasoning pipelines tailored to each task. Across mathematics and physics Olympiads (IMO, IMC, IPhO, CPhO), SciAgent consistently attains or surpasses human gold-medalist performance, demonstrating both domain generality and reasoning adaptability. Additionally, SciAgent has been tested on the International Chemistry Olympiad (IChO) and selected problems from the Humanity's Last Exam (HLE) benchmark, further confirming the system's ability to generalize across diverse scientific domains. This work establishes SciAgent as a concrete step toward generalistic scientific intelligence-AI systems capable of coherent, cross-disciplinary reasoning at expert levels.

Liu Liu, Guang Li, Dingfan Deng et al.

In this letter, we aim to investigate whether laboratory rats' pain can be automatically assessed through their facial expressions. To this end, we began by presenting a publicly available dataset called RatsPain, consisting of 1,138 facial images captured from six rats that underwent an orthodontic treatment operation. Each rat' facial images in RatsPain were carefully selected from videos recorded either before or after the operation and well labeled by eight annotators according to the Rat Grimace Scale (RGS). We then proposed a novel deep learning method called PainSeeker for automatically assessing pain in rats via facial expressions. PainSeeker aims to seek pain-related facial local regions that facilitate learning both pain discriminative and head pose robust features from facial expression images. To evaluate the PainSeeker, we conducted extensive experiments on the RatsPain dataset. The results demonstrate the feasibility of assessing rats' pain from their facial expressions and also verify the effectiveness of the proposed PainSeeker in addressing this emerging but intriguing problem. The RasPain dataset can be freely obtained from https://github.com/xhzongyuan/RatsPain.

Kaining Zhang, Junyu Liu, Liu Liu et al.

Quantum machine learning, which involves running machine learning algorithms on quantum devices, may be one of the most significant flagship applications for these devices. Unlike its classical counterparts, the role of data in quantum machine learning has not been fully understood. In this work, we quantify the performances of quantum machine learning in the landscape of quantum data. Provided that the encoding of quantum data is sufficiently random, the performance, we find that the training efficiency and generalization capabilities in quantum machine learning will be exponentially suppressed with the increase in the number of qubits, which we call "the curse of random quantum data". Our findings apply to both the quantum kernel method and the large-width limit of quantum neural networks. Conversely, we highlight that through meticulous design of quantum datasets, it is possible to avoid these curses, thereby achieving efficient convergence and robust generalization. Our conclusions are corroborated by extensive numerical simulations.

Yan Yang, LiYuan Pan, Liu Liu et al.

This paper aims to predict gene expression from a histology slide image precisely. Such a slide image has a large resolution and sparsely distributed textures. These obstruct extracting and interpreting discriminative features from the slide image for diverse gene types prediction. Existing gene expression methods mainly use general components to filter textureless regions, extract features, and aggregate features uniformly across regions. However, they ignore gaps and interactions between different image regions and are therefore inferior in the gene expression task. Instead, we present ISG framework that harnesses interactions among discriminative features from texture-abundant regions by three new modules: 1) a Shannon Selection module, based on the Shannon information content and Solomonoff's theory, to filter out textureless image regions; 2) a Feature Extraction network to extract expressive low-dimensional feature representations for efficient region interactions among a high-resolution image; 3) a Dual Attention network attends to regions with desired gene expression features and aggregates them for the prediction task. Extensive experiments on standard benchmark datasets show that the proposed ISG framework outperforms state-of-the-art methods significantly.

Haoyi Jiang, Liu Liu, Tianheng Cheng et al.

3D Semantic Occupancy Prediction is fundamental for spatial understanding, yet existing approaches face challenges in scalability and generalization due to their reliance on extensive labeled data and computationally intensive voxel-wise representations. In this paper, we introduce GaussTR, a novel Gaussian-based Transformer framework that unifies sparse 3D modeling with foundation model alignment through Gaussian representations to advance 3D spatial understanding. GaussTR predicts sparse sets of Gaussians in a feed-forward manner to represent 3D scenes. By splatting the Gaussians into 2D views and aligning the rendered features with foundation models, GaussTR facilitates self-supervised 3D representation learning and enables open-vocabulary semantic occupancy prediction without requiring explicit annotations. Empirical experiments on the Occ3D-nuScenes dataset demonstrate GaussTR's state-of-the-art zero-shot performance of 12.27 mIoU, along with a 40% reduction in training time. These results highlight the efficacy of GaussTR for scalable and holistic 3D spatial understanding, with promising implications in autonomous driving and embodied agents. The code is available at https://github.com/hustvl/GaussTR.

Li Zhang, Mingyu Mei, Ailing Wang et al.

Articulated object pose estimation is a core task in embodied AI. Existing methods typically regress poses in a continuous space, but often struggle with 1) navigating a large, complex search space and 2) failing to incorporate intrinsic kinematic constraints. In this work, we introduce DICArt (DIsCrete Diffusion for Articulation Pose Estimation), a novel framework that formulates pose estimation as a conditional discrete diffusion process. Instead of operating in a continuous domain, DICArt progressively denoises a noisy pose representation through a learned reverse diffusion procedure to recover the GT pose. To improve modeling fidelity, we propose a flexible flow decider that dynamically determines whether each token should be denoised or reset, effectively balancing the real and noise distributions during diffusion. Additionally, we incorporate a hierarchical kinematic coupling strategy, estimating the pose of each rigid part hierarchically to respect the object's kinematic structure. We validate DICArt on both synthetic and real-world datasets. Experimental results demonstrate its superior performance and robustness. By integrating discrete generative modeling with structural priors, DICArt offers a new paradigm for reliable category-level 6D pose estimation in complex environments.

Mohammed Nowaz Rabbani Chowdhury, Hsinyu Tsai, Geoffrey W. Burr et al.

Sparse Mixture-of-Experts (MoE) models enable efficient scalability by activating only a small sub-set of experts per input, yet their massive parameter counts lead to substantial memory and energy inefficiency during inference. Analog in-memory computing (AIMC) offers a promising solution by eliminating frequent data movement between memory and compute units. However, mitigating hardware nonidealities of AIMC typically requires noise-aware retraining, which is infeasible for large MoE models. In this paper, we propose a retraining-free heterogeneous computation framework in which noise-sensitive experts, which are provably identifiable by their maximum neuron norm, are computed digitally while the majority of the experts are executed on AIMC hardware. We further assign densely activated modules, such as attention layers, to digital computation due to their high noise sensitivity despite comprising a small fraction of parameters. Extensive experiments on large MoE language models, including DeepSeekMoE and OLMoE, across multiple benchmark tasks validate the robustness of our approach in maintaining accuracy under analog nonidealities.

Chengqian Gao, Haonan Li, Liu Liu et al.

The alignment of large language models (LLMs) often assumes that using more clean data yields better outcomes, overlooking the match between model capacity and example difficulty. Challenging this, we propose a new principle: Preference data vary in difficulty, and overly difficult examples hinder alignment, by exceeding the model's capacity. Through systematic experimentation, we validate this principle with three key findings: (1) preference examples vary in difficulty, as evidenced by consistent learning orders across alignment runs; (2) overly difficult examples significantly degrade performance across four LLMs and two datasets; and (3) the capacity of a model dictates its threshold for handling difficult examples, underscoring a critical relationship between data selection and model capacity. Building on this principle, we introduce Selective DPO, which filters out overly difficult examples. This simple adjustment improves alignment performance by 9-16% in win rates on the AlpacaEval 2 benchmark compared to the DPO baseline, suppressing a series of DPO variants with different algorithmic adjustments. Together, these results illuminate the importance of aligning data difficulty with model capacity, offering a transformative perspective for improving alignment strategies in LLMs. Code is available at https://github.com/glorgao/SelectiveDPO.

Zehao Fan, Zhenyu Liu, Yunzhen Liu et al.

Mixture-of-Experts (MoE) models scale large language models through conditional computation, but inference becomes memory-bound once expert weights exceed the capacity of GPU memory. In this case, weights must be offloaded to external memory, and fetching them incurs costly and repeated transfers. We address this by adopting CXL-attached near-data processing (CXL-NDP) as the offloading tier to execute cold experts in place, converting expensive parameter movement into cheaper activation movement. Unlike prior GPU-NDP systems that are largely context-agnostic and reactive, we develop a context-aware MoE system that uses prefill-stage activation statistics to guide decoding-stage expert placement, dynamically pins hot experts in GPU-side HBM, and maps the remainder to CXL-NDP. To meet NDP's limited compute throughput, we introduce context-aware mixed-precision quantization that allocates per-expert bitwidths (1-4 bit) based on prefill stage. The resulting MoE inference system overlaps GPU and NDP execution while minimizing cross-device movement. The evaluation on the GPU-NDP system shows that our approach achieves up to an 8.7-fold decoding throughput improvement over the state-of-the-art method, while incurring only a 0.13% average accuracy drop.

Yu He, Boheng Li, Liu Liu et al.

Membership Inference Attacks (MIAs) aim to predict whether a data sample belongs to the model's training set or not. Although prior research has extensively explored MIAs in Large Language Models (LLMs), they typically require accessing to complete output logits (\ie, \textit{logits-based attacks}), which are usually not available in practice. In this paper, we study the vulnerability of pre-trained LLMs to MIAs in the \textit{label-only setting}, where the adversary can only access generated tokens (text). We first reveal that existing label-only MIAs have minor effects in attacking pre-trained LLMs, although they are highly effective in inferring fine-tuning datasets used for personalized LLMs. We find that their failure stems from two main reasons, including better generalization and overly coarse perturbation. Specifically, due to the extensive pre-training corpora and exposing each sample only a few times, LLMs exhibit minimal robustness differences between members and non-members. This makes token-level perturbations too coarse to capture such differences. To alleviate these problems, we propose \textbf{PETAL}: a label-only membership inference attack based on \textbf{PE}r-\textbf{T}oken sem\textbf{A}ntic simi\textbf{L}arity. Specifically, PETAL leverages token-level semantic similarity to approximate output probabilities and subsequently calculate the perplexity. It finally exposes membership based on the common assumption that members are `better' memorized and have smaller perplexity. We conduct extensive experiments on the WikiMIA benchmark and the more challenging MIMIR benchmark. Empirically, our PETAL performs better than the extensions of existing label-only attacks against personalized LLMs and even on par with other advanced logit-based attacks across all metrics on five prevalent open-source LLMs.

Xikai Zhang, Yongzhi Li, Likang Xiao et al.

Reinforcement learning has become a cornerstone for aligning and unlocking the reasoning capabilities of large-scale models. At its core, the training loop of GRPO and its variants alternates between rollout sampling and policy update. Unlike supervised learning, where each gradient step is anchored to an explicit ground-truth target, the optimal gradient direction for updating model parameters in this setting is not known a priori; the high-quality rollouts drawn during the sampling stage therefore act as the implicit "teacher" that guides every parameter update. However, GRPO adopt a simple sampling scheme that conditions all rollouts on the same original prompt. When a task lies beyond the policy model's current capability, this sampling scheme rarely yields a high-quality rollout, leaving the policy model without a meaningful gradient direction when updating its parameters, which causes training to stall. To address this issue, we propose FBOS-RL, a Feedback-Driven Bi-Objective Synergistic reinforcement learning framework. Specifically, we let the model perform Feedback-Guided Exploration Enhancement based on the feedback provided by the environment, and on top of this we design two mutually reinforcing training objectives: Exploitation-oriented Policy Alignment(EPA) and Exploration-oriented Capability Cultivation(ECC). Extensive experiments demonstrate that EPA and ECC can mutually reinforce each other, forming a positive flywheel effect that significantly improves both the training efficiency and the final performance ceiling of reinforcement learning. Specifically, under an identical number of rollouts, FBOS-RL learns substantially faster than GRPO and feedback-based baselines and ultimately attains a higher performance ceiling, while exhibiting higher policy entropy and lower gradient norms throughout training.

Chenghao Li, Fusheng Hao, Xikai Zhang et al.

Multimodal large language models via reinforcement learning (RL) have demonstrated remarkable capabilities in complex visual reasoning tasks, yet they remain limited in long-horizon multimodal scenarios, often suffering from visual hallucination and logical error. Current methods typically pre-encode high-dimensional visual scenes into discrete textual proxies to facilitate downstream reasoning. As the reasoning chain unfolds, however, the inherent information asymmetry between text and visual scenes tends to erode visual grounding, resulting in misguided reasoning and erroneous outputs. To address this issue, we introduce IVR-R1 (Iterative Visual-grounded Reasoning), a novel RL training framework that facilitates dynamic visual re-alignment that actively rectifies reasoning trajectories to guide policy optimization. Specifically, by leveraging a reward-driven screening mechanism to identify flawed rollouts, IVR-R1 executes a fine-grained, step-level error attribution within the multimodal context. By iteratively cross-referencing intermediate reasoning states against pristine visual priors, a Re-Reasoning Loop enables automated trajectory rectification, effectively synthesizing expert-level demonstrations that serve as high-fidelity reasoning templates for the policy model. Our experiments across diverse multimodal benchmarks demonstrate that IVR-R1 consistently outperforms existing reinforcement learning methods, establishing a superior paradigm for maintaining logical and visual consistency in complex multimodal reasoning.

Qiaojun Yu, Ce Hao, Junbo Wang et al.

Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an object's position and orientation is crucial for effective manipulation. For example, if a mug is lying on its side, it's more effective to grasp it by the rim rather than the handle. Despite its importance, research in POM skills remains limited, because learning manipulation skills requires pose-varying simulation environments and datasets. This paper introduces ManiPose, a pioneering benchmark designed to advance the study of pose-varying manipulation tasks. ManiPose encompasses: 1) Simulation environments for POM feature tasks ranging from 6D pose-specific pick-and-place of single objects to cluttered scenes, further including interactions with articulated objects. 2) A comprehensive dataset featuring geometrically consistent and manipulation-oriented 6D pose labels for 2936 real-world scanned rigid objects and 100 articulated objects across 59 categories. 3) A baseline for POM, leveraging the inferencing abilities of LLM (e.g., ChatGPT) to analyze the relationship between 6D pose and task-specific requirements, offers enhanced pose-aware grasp prediction and motion planning capabilities. Our benchmark demonstrates notable advancements in pose estimation, pose-aware manipulation, and real-robot skill transfer, setting new standards for POM research. We will open-source the ManiPose benchmark with the final version paper, inviting the community to engage with our resources, available at our website:https://sites.google.com/view/manipose.

Wenxiao Chen, Xueyu Yuan, Liu Liu et al.

Urgently needed generalizable robot object interaction and manipulation requires high-quality Cross-Category object perception. As a pioneer of this area, Generalizable and Actionable Parts (GAParts) understanding has attracted increasing attention from relevant researchers. However, most recent works either have insufficient design regarding the symmetry issue or require rich symmetry annotation, which severely impedes precise GAPart pose estimation in data-lacking scenarios. In this paper, we propose SAFAG, a novel Symmetry Annotation-Free framework for Generalizable and Actionable Parts Pose Estimation. Specifically, we suggest a stepwise refinement two-stage framework for candidate-to-final quaternion regression, and tackle the symmetry prediction as a probability distribution problem with self-supervised learning strategy. The experimental results demonstrate the superior performance and robustness of our SAFAG. We believe that our work has the enormous potential to be applied in many areas of embodied AI system.

Xiangyu Sun, Haoyi Jiang, Liu Liu et al.

Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic understanding from reconstruction or necessitate costly per-scene optimization, thereby restricting their scalability and generalizability. In this paper, we introduce Uni3R, a novel feed-forward framework that jointly reconstructs a unified 3D scene representation enriched with open-vocabulary semantics, directly from unposed multi-view images. Our approach leverages a Cross-View Transformer to robustly integrate information across arbitrary multi-view inputs, which then regresses a set of 3D Gaussian primitives endowed with semantic feature fields. This unified representation facilitates high-fidelity novel view synthesis, open-vocabulary 3D semantic segmentation, and depth prediction, all within a single, feed-forward pass. Extensive experiments demonstrate that Uni3R establishes a new state-of-the-art across multiple benchmarks, including 25.07 PSNR on RE10K and 55.84 mIoU on ScanNet. Our work signifies a novel paradigm towards generalizable, unified 3D scene reconstruction and understanding. The code is available at https://github.com/HorizonRobotics/Uni3R.

Xinjie Wang, Liu Liu, Yu Cao et al.

Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low cost accessibility and affordability of 3D data assets are critical for achieving generalization and scalability in embodied AI. However, most current embodied intelligence tasks still rely heavily on traditional 3D computer graphics assets manually created and annotated, which suffer from high production costs and limited realism. These limitations significantly hinder the scalability of data driven approaches. We present EmbodiedGen, a foundational platform for interactive 3D world generation. It enables the scalable generation of high-quality, controllable and photorealistic 3D assets with accurate physical properties and real-world scale in the Unified Robotics Description Format (URDF) at low cost. These assets can be directly imported into various physics simulation engines for fine-grained physical control, supporting downstream tasks in training and evaluation. EmbodiedGen is an easy-to-use, full-featured toolkit composed of six key modules: Image-to-3D, Text-to-3D, Texture Generation, Articulated Object Generation, Scene Generation and Layout Generation. EmbodiedGen generates diverse and interactive 3D worlds composed of generative 3D assets, leveraging generative AI to address the challenges of generalization and evaluation to the needs of embodied intelligence related research. Code is available at https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html.