Shuaike Zhang

Shuaike Zhang, Shaokun Wang, Haoyu Tang et al.

Embodied Continual Learning (ECL) aims to enable robots to continually acquire new manipulation tasks while retaining previously learned behaviors under closed-loop control. Compared with conventional continual learning, ECL suffers from more severe catastrophic forgetting. Feature drift accumulated under closed-loop control progressively propagates through sequential decision-making, leading to degradation of previously learned behaviors. A key challenge in ECL lies in structured skill reuse across continually evolving tasks, since existing methods primarily focus on skill learning without explicitly organizing them for coherent task execution. To address this issue, we propose SCE, a Skill-Compositional Experts framework for ECL. SCE builds a skill base via Compositional Skill Grounding (CSG), which decomposes task demonstrations into reusable skills. Based on this, Dual Execution-and-Transition Experts (DETE) enable new task learning through skill composition, where one branch ensures skill execution and the other supports transitions between skills for coherent behavior. Experiments on LIBERO benchmarks and real-world manipulation tasks demonstrate that SCE consistently improves retention and overall task performance. Further feature drift analyses and ablation studies verify the effectiveness of our method. Project website: https://eqcy.github.io/sce/.

Haoyu Tang, Yunxiao Wang, Jihua Zhu et al.

With the development of internet of things technologies, tremendous sensor audio data has been produced, which poses great challenges to audio-based event detection in smart cities. In this paper, we target a challenging audio-based event detection task, namely, text-to-audio grounding. In addition to precisely localizing all of the desired on- and off-sets in the untrimmed audio, this challenging new task requires extensive acoustic and linguistic comprehension as well as the reasoning for the crossmodal matching relations between the audio and query. The current approaches often treat the query as an entire one through a global query representation in order to address those issues. We contend that this strategy has several drawbacks. Firstly, the interactions between the query and the audio are not fully utilized. Secondly, it has not distinguished the importance of different keywords in a query. In addition, since the audio clips are of arbitrary lengths, there exist many segments which are irrelevant to the query but have not been filtered out in the approach. This further hinders the effective grounding of desired segments. Motivated by the above concerns, a novel Cross-modal Graph Interaction (CGI) model is proposed to comprehensively model the relations between the words in a query through a novel language graph. To capture the fine-grained relevances between the audio and query, a cross-modal attention module is introduced to generate snippet-specific query representations and automatically assign higher weights to keywords with more important semantics. Furthermore, we develop a cross-gating module for the audio and query to weaken irrelevant parts and emphasize the important ones.