Guoliang Zhu

Guoliang Zhu, Wanjun Jia, Caoyang Shao et al.

Global perception is essential for embodied agents in 360° spaces, yet current affordance grounding remains largely object-centric and restricted to perspective views. To bridge this gap, we introduce a novel task: Holistic Affordance Grounding in 360° Indoor Environments. This task faces unique challenges, including severe geometric distortions from Equirectangular Projection (ERP), semantic dispersion, and cross-scale alignment difficulties. We propose PanoAffordanceNet, an end-to-end framework featuring a Distortion-Aware Spectral Modulator (DASM) for latitude-dependent calibration and an Omni-Spherical Densification Head (OSDH) to restore topological continuity from sparse activations. By integrating multi-level constraints comprising pixel-wise, distributional, and region-text contrastive objectives, our framework effectively suppresses semantic drift under low supervision. Furthermore, we construct 360-AGD, the first high-quality panoramic affordance grounding dataset. Extensive experiments demonstrate that PanoAffordanceNet significantly outperforms existing methods, establishing a solid baseline for scene-level perception in embodied intelligence. The source code and benchmark dataset will be made publicly available at https://github.com/GL-ZHU925/PanoAffordanceNet.

Yu Zhang, Dong Guo, Fang Wu et al.

Large Language Models (LLMs) with extended context lengths face significant computational challenges during the pre-filling phase, primarily due to the quadratic complexity of self-attention. Existing methods typically employ dynamic pattern matching and block-sparse low-level implementations. However, their reliance on local information for pattern identification fails to capture global contexts, and the coarse granularity of blocks leads to persistent internal sparsity, resulting in suboptimal accuracy and efficiency. To address these limitations, we propose \textbf{AnchorAttention}, a difference-aware, dynamic sparse attention mechanism that efficiently identifies critical attention regions at a finer stripe granularity while adapting to global contextual information, achieving superior speed and accuracy. AnchorAttention comprises three key components: (1) \textbf{Pattern-based Anchor Computation}, leveraging the commonalities present across all inputs to rapidly compute a set of near-maximum scores as the anchor; (2) \textbf{Difference-aware Stripe Sparsity Identification}, performing difference-aware comparisons with the anchor to quickly obtain discrete coordinates of significant regions in a stripe-like sparsity pattern; (3) \textbf{Fine-grained Sparse Computation}, replacing the traditional contiguous KV block loading approach with simultaneous discrete KV position loading to maximize sparsity rates while preserving full hardware computational potential. With its finer-grained sparsity strategy, \textbf{AnchorAttention} achieves higher sparsity rates at the same recall level, significantly reducing computation time. Compared to previous state-of-the-art methods, at a text length of 128k, it achieves a speedup of 1.44$\times$ while maintaining higher recall rates.