Hao Huang

Chuyu Zhao, Hao Huang, Jiashuo Guo et al.

Semi-supervised learning has become a compelling approach for 3D tooth segmentation from CBCT scans, where labeled data is minimal. However, existing methods still face two persistent challenges: limited corrective supervision in structurally ambiguous or mislabeled regions during supervised training and performance degradation caused by unreliable pseudo-labels on unlabeled data. To address these problems, we propose Region-Aware Instructive Learning (RAIL), a dual-group dual-student, semi-supervised framework. Each group contains two student models guided by a shared teacher network. By alternating training between the two groups, RAIL promotes intergroup knowledge transfer and collaborative region-aware instruction while reducing overfitting to the characteristics of any single model. Specifically, RAIL introduces two instructive mechanisms. Disagreement-Focused Supervision (DFS) Controller improves supervised learning by instructing predictions only within areas where student outputs diverge from both ground truth and the best student, thereby concentrating supervision on structurally ambiguous or mislabeled areas. In the unsupervised phase, Confidence-Aware Learning (CAL) Modulator reinforces agreement in regions with high model certainty while reducing the effect of low-confidence predictions during training. This helps prevent our model from learning unstable patterns and improves the overall reliability of pseudo-labels. Extensive experiments on four CBCT tooth segmentation datasets show that RAIL surpasses state-of-the-art methods under limited annotation. Our code will be available at https://github.com/Tournesol-Saturday/RAIL.

Congcong Wen, Jiazhao Liang, Shuaihang Yuan et al.

In the field of robotics and automation, navigation systems based on Large Language Models (LLMs) have recently demonstrated impressive performance. However, the security aspects of these systems have received relatively less attention. This paper pioneers the exploration of vulnerabilities in LLM-based navigation models in urban outdoor environments, a critical area given the widespread application of this technology in autonomous driving, logistics, and emergency services. Specifically, we introduce a novel Navigational Prompt Attack that manipulates LLM-based navigation models by perturbing the original navigational prompt, leading to incorrect actions. Based on the method of perturbation, our attacks are divided into two types: Navigational Prompt Insert (NPI) Attack and Navigational Prompt Swap (NPS) Attack. We conducted comprehensive experiments on an LLM-based navigation model that employs various LLMs for reasoning. Our results, derived from the Touchdown and Map2Seq street-view datasets under both few-shot learning and fine-tuning configurations, demonstrate notable performance declines across seven metrics in the face of both white-box and black-box attacks. Moreover, our attacks can be easily extended to other LLM-based navigation models with similarly effective results. These findings highlight the generalizability and transferability of the proposed attack, emphasizing the need for enhanced security in LLM-based navigation systems. As an initial countermeasure, we propose the Navigational Prompt Engineering (NPE) Defense strategy, which concentrates on navigation-relevant keywords to reduce the impact of adversarial attacks. While initial findings indicate that this strategy enhances navigational safety, there remains a critical need for the wider research community to develop stronger defense methods to effectively tackle the real-world challenges faced by these systems.

Congcong Wen, Geeta Chandra Raju Bethala, Yu Hao et al.

Humanoid loco-manipulation, which integrates whole-body locomotion with dexterous manipulation, remains a fundamental challenge in robotics. Beyond whole-body coordination and balance, a central difficulty lies in understanding human instructions and translating them into coherent sequences of embodied actions. Recent advances in foundation models provide transferable multimodal representations and reasoning capabilities, yet existing efforts remain largely restricted to either locomotion or manipulation in isolation, with limited applicability to humanoid settings. In this paper, we propose Humanoid-COA, the first humanoid agent framework that integrates foundation model reasoning with an Embodied Chain-of-Action (CoA) mechanism for zero-shot loco-manipulation. Within the perception--reasoning--action paradigm, our key contribution lies in the reasoning stage, where the proposed CoA mechanism decomposes high-level human instructions into structured sequences of locomotion and manipulation primitives through affordance analysis, spatial inference, and whole-body action reasoning. Extensive experiments on two humanoid robots, Unitree H1-2 and G1, in both an open test area and an apartment environment, demonstrate that our framework substantially outperforms prior baselines across manipulation, locomotion, and loco-manipulation tasks, achieving robust generalization to long-horizon and unstructured scenarios. Project page: https://humanoid-coa.github.io/

Yijie Deng, Shuaihang Yuan, Congcong Wen et al.

Spatial awareness is a critical capability for embodied agents, as it enables them to anticipate and reason about unobserved regions. The primary challenge arises from learning the distribution of indoor semantics, complicated by sparse, imbalanced object categories and diverse spatial scales. Existing methods struggle to robustly generate unobserved areas in real time and do not generalize well to new environments. To this end, we propose \textbf{MapBERT}, a novel framework designed to effectively model the distribution of unseen spaces. Motivated by the observation that the one-hot encoding of semantic maps aligns naturally with the binary structure of bit encoding, we, for the first time, leverage a lookup-free BitVAE to encode semantic maps into compact bitwise tokens. Building on this, a masked transformer is employed to infer missing regions and generate complete semantic maps from limited observations. To enhance object-centric reasoning, we propose an object-aware masking strategy that masks entire object categories concurrently and pairs them with learnable embeddings, capturing implicit relationships between object embeddings and spatial tokens. By learning these relationships, the model more effectively captures indoor semantic distributions crucial for practical robotic tasks. Experiments on Gibson benchmarks show that MapBERT achieves state-of-the-art semantic map generation, balancing computational efficiency with accurate reconstruction of unobserved regions.

Zhibin Qiu, Mengfan Fu, Fuchun Sun et al.

We propose SE-Bridge, a novel method for speech enhancement (SE). After recently applying the diffusion models to speech enhancement, we can achieve speech enhancement by solving a stochastic differential equation (SDE). Each SDE corresponds to a probabilistic flow ordinary differential equation (PF-ODE), and the trajectory of the PF-ODE solution consists of the speech states at different moments. Our approach is based on consistency model that ensure any speech states on the same PF-ODE trajectory, correspond to the same initial state. By integrating the Brownian Bridge process, the model is able to generate high-intelligibility speech samples without adversarial training. This is the first attempt that applies the consistency models to SE task, achieving state-of-the-art results in several metrics while saving 15 x the time required for sampling compared to the diffusion-based baseline. Our experiments on multiple datasets demonstrate the effectiveness of SE-Bridge in SE. Furthermore, we show through extensive experiments on downstream tasks, including Automatic Speech Recognition (ASR) and Speaker Verification (SV), that SE-Bridge can effectively support multiple downstream tasks.

Tingzhi Mao, Yerbolat Khassanov, Van Tung Pham et al.

Automatic speech recognition (ASR) for under-represented named-entity (UR-NE) is challenging due to such named-entities (NE) have insufficient instances and poor contextual coverage in the training data to learn reliable estimates and representations. In this paper, we propose approaches to enriching UR-NEs to improve speech recognition performance. Specifically, our first priority is to ensure those UR-NEs to appear in the word lattice if there is any. To this end, we make exemplar utterances for those UR-NEs according to their categories (e.g. location, person, organization, etc.), ending up with an improved language model (LM) that boosts the UR-NE occurrence in the word lattice. With more UR-NEs appearing in the lattice, we then boost the recognition performance through lattice rescoring methods. We first enrich the representations of UR-NEs in a pre-trained recurrent neural network LM (RNNLM) by borrowing the embedding representations of the rich-represented NEs (RR-NEs), yielding the lattices that statistically favor the UR-NEs. Finally, we directly boost the likelihood scores of the utterances containing UR-NEs and gain further performance improvement.

Haobo Zhang, Tingzhi Mao, Haihua Xu et al.

We report our NTU-AISG Text-to-speech (TTS) entry systems for the Blizzard Challenge 2020 in this paper. There are two TTS tasks in this year's challenge, one is a Mandarin TTS task, the other is a Shanghai dialect TTS task. We have participated both. One of the main challenges is to build TTS systems with low-resource constraints, particularly for the case of Shanghai dialect, of which about three hours data are available to participants. To overcome the constraint, we adopt an average-speaker modeling method. That is, we first employ external Mandarin data to train both End-to-end acoustic model and WaveNet vocoder, then we use Shanghai dialect to tune the acoustic model and WaveNet vocoder respectively. Apart from this, we have no Shanghai dialect lexicon despite syllable transcripts are provided for the training data. Since we are not sure if similar syllable transcripts are provided for the evaluation data during the training stage, we use Mandarin lexicon for Shanghai dialect instead. With the letter, as decomposed from the corresponding Mandarin syllable, as input, though the naturalness and original speaker similarity of the synthesized speech are good, subjective evaluation results indicate the intelligibility of the synthesized speech is deeply undermined for the Shanghai dialect TTS system.

Yizhou Peng, Jicheng Zhang, Haobo Zhang et al.

Human can recognize speech, as well as the peculiar accent of the speech simultaneously. However, present state-of-the-art ASR system can rarely do that. In this paper, we propose a multilingual approach to recognizing English speech, and related accent that speaker conveys using DNN-HMM framework. Specifically, we assume different accents of English as different languages. We then merge them together and train a multilingual ASR system. During decoding, we conduct two experiments. One is a monolingual ASR-based decoding, with the accent information embedded at phone level, realizing word-based accent recognition (AR), and the other is a multilingual ASR-based decoding, realizing an approximated utterance-based AR. Experimental results on an 8-accent English speech recognition show both methods can yield WERs close to the conventional ASR systems that completely ignore the accent, as well as desired AR accuracy. Besides, we conduct extensive analysis for the proposed method, such as transfer learning without-domain data exploitation, cross-accent recognition confusion, as well as characteristics of accented-word.