GrabS: Generative Embodied Agent for 3D Object Segmentation without Scene Supervision

We study the hard problem of 3D object segmentation in complex point clouds without requiring human labels of 3D scenes for supervision. By relying on the similarity of pretrained 2D features or external signals such as motion to group 3D points as objects, existing unsupervised methods are usually limited to identifying simple objects like cars or their segmented objects are often inferior due to the lack of objectness in pretrained features. In this paper, we propose a new two-stage pipeline called GrabS. The core concept of our method is to learn generative and discriminative object-centric priors as a foundation from object datasets in the first stage, and then design an embodied agent to learn to discover multiple objects by querying against the pretrained generative priors in the second stage. We extensively evaluate our method on two real-world datasets and a newly created synthetic dataset, demonstrating remarkable segmentation performance, clearly surpassing all existing unsupervised methods.

A Graph-Enhanced DeepONet Approach for Real-Time Estimating Hydrogen-Enriched Natural Gas Flow under Variable Operations

Blending green hydrogen into natural gas presents a promising approach for renewable energy integration and fuel decarbonization. Accurate estimation of hydrogen fraction in hydrogen-enriched natural gas (HENG) pipeline networks is crucial for operational safety and efficiency, yet it remains challenging due to complex dynamics. While existing data-driven approaches adopt end-to-end architectures for HENG flow state estimation, their limited adaptability to varying operational conditions hinders practical applications. To this end, this study proposes a graph-enhanced DeepONet framework for the real-time estimation of HENG flow, especially hydrogen fractions. First, a dual-network architecture, called branch network and trunk network, is employed to characterize operational conditions and sparse sensor measurements to estimate the HENG state at targeted locations and time points. Second, a graph-enhance branch network is proposed to incorporate pipeline topology, improving the estimation accuracy in large-scale pipeline networks. Experimental results demonstrate that the proposed method achieves superior estimation accuracy for HCNG flow under varying operational conditions compared to conventional approaches.

Hybrid Real- and Complex-valued Neural Network Architecture

We propose a \emph{hybrid} real- and complex-valued \emph{neural network} (HNN) architecture, designed to combine the computational efficiency of real-valued processing with the ability to effectively handle complex-valued data. We illustrate the limitations of using real-valued neural networks (RVNNs) for inherently complex-valued problems by showing how it learnt to perform complex-valued convolution, but with notable inefficiencies stemming from its real-valued constraints. To create the HNN, we propose to use building blocks containing both real- and complex-valued paths, where information between domains is exchanged through domain conversion functions. We also introduce novel complex-valued activation functions, with higher generalisation and parameterisation efficiency. HNN-specific architecture search techniques are described to navigate the larger solution space. Experiments with the AudioMNIST dataset demonstrate that the HNN reduces cross-entropy loss and consumes less parameters compared to an RVNN for all considered cases. Such results highlight the potential for the use of partially complex-valued processing in neural networks and applications for HNNs in many signal processing domains.

Improving Adversarial Transferability on Vision Transformers via Forward Propagation Refinement

Vision Transformers (ViTs) have been widely applied in various computer vision and vision-language tasks. To gain insights into their robustness in practical scenarios, transferable adversarial examples on ViTs have been extensively studied. A typical approach to improving adversarial transferability is by refining the surrogate model. However, existing work on ViTs has restricted their surrogate refinement to backward propagation. In this work, we instead focus on Forward Propagation Refinement (FPR) and specifically refine two key modules of ViTs: attention maps and token embeddings. For attention maps, we propose Attention Map Diversification (AMD), which diversifies certain attention maps and also implicitly imposes beneficial gradient vanishing during backward propagation. For token embeddings, we propose Momentum Token Embedding (MTE), which accumulates historical token embeddings to stabilize the forward updates in both the Attention and MLP blocks. We conduct extensive experiments with adversarial examples transferred from ViTs to various CNNs and ViTs, demonstrating that our FPR outperforms the current best (backward) surrogate refinement by up to 7.0\% on average. We also validate its superiority against popular defenses and its compatibility with other transfer methods. Codes and appendix are available at https://github.com/RYC-98/FPR.

MindEye-OmniAssist: A Gaze-Driven LLM-Enhanced Assistive Robot System for Implicit Intention Recognition and Task Execution

A promising effective human-robot interaction in assistive robotic systems is gaze-based control. However, current gaze-based assistive systems mainly help users with basic grasping actions, offering limited support. Moreover, the restricted intent recognition capability constrains the assistive system's ability to provide diverse assistance functions. In this paper, we propose an open implicit intention recognition framework powered by Large Language Model (LLM) and Vision Foundation Model (VFM), which can process gaze input and recognize user intents that are not confined to predefined or specific scenarios. Furthermore, we implement a gaze-driven LLM-enhanced assistive robot system (MindEye-OmniAssist) that recognizes user's intentions through gaze and assists in completing task. To achieve this, the system utilizes open vocabulary object detector, intention recognition network and LLM to infer their full intentions. By integrating eye movement feedback and LLM, it generates action sequences to assist the user in completing tasks. Real-world experiments have been conducted for assistive tasks, and the system achieved an overall success rate of 41/55 across various undefined tasks. Preliminary results show that the proposed method holds the potential to provide a more user-friendly human-computer interaction interface and significantly enhance the versatility and effectiveness of assistive systems by supporting more complex and diverse task.

CE-U: Cross Entropy Unlearning

Large language models (LLMs) inadvertently memorize sensitive data from their massive pretraining corpora \cite{jang2022knowledge}. In this work, we propose CE-U (Cross Entropy Unlearning), a novel loss function designed specifically for unlearning tasks. CE-U addresses fundamental limitations of gradient ascent approaches which suffer from instability due to vanishing gradients when model confidence is high and gradient exploding when confidence is low. We also unify standard cross entropy supervision and cross entropy unlearning into a single framework. Notably, on the TOFU benchmark for unlearning \cite{maini2024tofu}, CE-U achieves state-of-the-art results on LLaMA2-7B with 1\% and 5\% forgetting, even without the use of any extra reference model or additional positive samples. Our theoretical analysis further reveals that the gradient instability issues also exist in popular reinforcement learning algorithms like DPO \cite{rafailov2023direct} and GRPO\cite{Shao2024DeepSeekMath}, as they include a gradient ascent component. This suggests that applying CE-U principles to reinforcement learning could be a promising direction for improving stability and convergence.

Large-Scale AI in Telecom: Charting the Roadmap for Innovation, Scalability, and Enhanced Digital Experiences

This white paper discusses the role of large-scale AI in the telecommunications industry, with a specific focus on the potential of generative AI to revolutionize network functions and user experiences, especially in the context of 6G systems. It highlights the development and deployment of Large Telecom Models (LTMs), which are tailored AI models designed to address the complex challenges faced by modern telecom networks. The paper covers a wide range of topics, from the architecture and deployment strategies of LTMs to their applications in network management, resource allocation, and optimization. It also explores the regulatory, ethical, and standardization considerations for LTMs, offering insights into their future integration into telecom infrastructure. The goal is to provide a comprehensive roadmap for the adoption of LTMs to enhance scalability, performance, and user-centric innovation in telecom networks.

Generative Artificial Intelligence in Robotic Manipulation: A Survey

This survey provides a comprehensive review on recent advancements of generative learning models in robotic manipulation, addressing key challenges in the field. Robotic manipulation faces critical bottlenecks, including significant challenges in insufficient data and inefficient data acquisition, long-horizon and complex task planning, and the multi-modality reasoning ability for robust policy learning performance across diverse environments. To tackle these challenges, this survey introduces several generative model paradigms, including Generative Adversarial Networks (GANs), Variational Autoencoders (VAEs), diffusion models, probabilistic flow models, and autoregressive models, highlighting their strengths and limitations. The applications of these models are categorized into three hierarchical layers: the Foundation Layer, focusing on data generation and reward generation; the Intermediate Layer, covering language, code, visual, and state generation; and the Policy Layer, emphasizing grasp generation and trajectory generation. Each layer is explored in detail, along with notable works that have advanced the state of the art. Finally, the survey outlines future research directions and challenges, emphasizing the need for improved efficiency in data utilization, better handling of long-horizon tasks, and enhanced generalization across diverse robotic scenarios. All the related resources, including research papers, open-source data, and projects, are collected for the community in https://github.com/GAI4Manipulation/AwesomeGAIManipulation

Fundus2Globe: Generative AI-Driven 3D Digital Twins for Personalized Myopia Management

Myopia, projected to affect 50% population globally by 2050, is a leading cause of vision loss. Eyes with pathological myopia exhibit distinctive shape distributions, which are closely linked to the progression of vision-threatening complications. Recent understanding of eye-shape-based biomarkers requires magnetic resonance imaging (MRI), however, it is costly and unrealistic in routine ophthalmology clinics. We present Fundus2Globe, the first AI framework that synthesizes patient-specific 3D eye globes from ubiquitous 2D color fundus photographs (CFPs) and routine metadata (axial length, spherical equivalent), bypassing MRI dependency. By integrating a 3D morphable eye model (encoding biomechanical shape priors) with a latent diffusion model, our approach achieves submillimeter accuracy in reconstructing posterior ocular anatomy efficiently. Fundus2Globe uniquely quantifies how vision-threatening lesions (e.g., staphylomas) in CFPs correlate with MRI-validated 3D shape abnormalities, enabling clinicians to simulate posterior segment changes in response to refractive shifts. External validation demonstrates its robust generation performance, ensuring fairness across underrepresented groups. By transforming 2D fundus imaging into 3D digital replicas of ocular structures, Fundus2Globe is a gateway for precision ophthalmology, laying the foundation for AI-driven, personalized myopia management.

Incomplete Graph Learning: A Comprehensive Survey

Graph learning is a prevalent field that operates on ubiquitous graph data. Effective graph learning methods can extract valuable information from graphs. However, these methods are non-robust and affected by missing attributes in graphs, resulting in sub-optimal outcomes. This has led to the emergence of incomplete graph learning, which aims to process and learn from incomplete graphs to achieve more accurate and representative results. In this paper, we conducted a comprehensive review of the literature on incomplete graph learning. Initially, we categorize incomplete graphs and provide precise definitions of relevant concepts, terminologies, and techniques, thereby establishing a solid understanding for readers. Subsequently, we classify incomplete graph learning methods according to the types of incompleteness: (1) attribute-incomplete graph learning methods, (2) attribute-missing graph learning methods, and (3) hybrid-absent graph learning methods. By systematically classifying and summarizing incomplete graph learning methods, we highlight the commonalities and differences among existing approaches, aiding readers in selecting methods and laying the groundwork for further advancements. In addition, we summarize the datasets, incomplete processing modes, evaluation metrics, and application domains used by the current methods. Lastly, we discuss the current challenges and propose future directions for incomplete graph learning, with the aim of stimulating further innovations in this crucial field. To our knowledge, this is the first review dedicated to incomplete graph learning, aiming to offer valuable insights for researchers in related fields.We developed an online resource to follow relevant research based on this review, available at https://github.com/cherry-a11y/Incomplete-graph-learning.git