Whole-body Motion Control of an Omnidirectional Wheel-Legged Mobile Manipulator via Contact-Aware Dynamic Optimization

Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the redundancy in degrees of freedom, complex wheel-ground contact dynamics, and the need for seamless coordination between locomotion and manipulation. In this work, we present the design and whole-body motion control of an omnidirectional wheel-legged quadrupedal robot equipped with a dexterous manipulator. The proposed platform incorporates independently actuated steering modules and hub-driven wheels, enabling agile omnidirectional locomotion with high maneuverability in structured environments. To address the challenges of contact-rich interaction, we develop a contact-aware whole-body dynamic optimization framework that integrates point-contact modeling for manipulation with line-contact modeling for wheel-ground interactions. A warm-start strategy is introduced to accelerate online optimization, ensuring real-time feasibility for high-dimensional control. Furthermore, a unified kinematic model tailored for the robot's 4WIS-4WID actuation scheme eliminates the need for mode switching across different locomotion strategies, improving control consistency and robustness. Simulation and experimental results validate the effectiveness of the proposed framework, demonstrating agile terrain traversal, high-speed omnidirectional mobility, and precise manipulation under diverse scenarios, underscoring the system's potential for factory automation, urban logistics, and service robotics in semi-structured environments.

Improving Densification in 3D Gaussian Splatting for High-Fidelity Rendering

Although 3D Gaussian Splatting (3DGS) has achieved impressive performance in real-time rendering, its densification strategy often results in suboptimal reconstruction quality. In this work, we present a comprehensive improvement to the densification pipeline of 3DGS from three perspectives: when to densify, how to densify, and how to mitigate overfitting. Specifically, we propose an Edge-Aware Score to effectively select candidate Gaussians for splitting. We further introduce a Long-Axis Split strategy that reduces geometric distortions introduced by clone and split operations. To address overfitting, we design a set of techniques, including Recovery-Aware Pruning, Multi-step Update, and Growth Control. Our method enhances rendering fidelity without introducing additional training or inference overhead, achieving state-of-the-art performance with fewer Gaussians.

ActivityDiff: A diffusion model with Positive and Negative Activity Guidance for De Novo Drug Design

Achieving precise control over a molecule's biological activity-encompassing targeted activation/inhibition, cooperative multi-target modulation, and off-target toxicity mitigation-remains a critical challenge in de novo drug design. However, existing generative methods primarily focus on producing molecules with a single desired activity, lacking integrated mechanisms for the simultaneous management of multiple intended and unintended molecular interactions. Here, we propose ActivityDiff, a generative approach based on the classifier-guidance technique of diffusion models. It leverages separately trained drug-target classifiers for both positive and negative guidance, enabling the model to enhance desired activities while minimizing harmful off-target effects. Experimental results show that ActivityDiff effectively handles essential drug design tasks, including single-/dual-target generation, fragment-constrained dual-target design, selective generation to enhance target specificity, and reduction of off-target effects. These results demonstrate the effectiveness of classifier-guided diffusion in balancing efficacy and safety in molecular design. Overall, our work introduces a novel paradigm for achieving integrated control over molecular activity, and provides ActivityDiff as a versatile and extensible framework.

AgREE: Agentic Reasoning for Knowledge Graph Completion on Emerging Entities

Open-domain Knowledge Graph Completion (KGC) faces significant challenges in an ever-changing world, especially when considering the continual emergence of new entities in daily news. Existing approaches for KGC mainly rely on pretrained language models' parametric knowledge, pre-constructed queries, or single-step retrieval, typically requiring substantial supervision and training data. Even so, they often fail to capture comprehensive and up-to-date information about unpopular and/or emerging entities. To this end, we introduce Agentic Reasoning for Emerging Entities (AgREE), a novel agent-based framework that combines iterative retrieval actions and multi-step reasoning to dynamically construct rich knowledge graph triplets. Experiments show that, despite requiring zero training efforts, AgREE significantly outperforms existing methods in constructing knowledge graph triplets, especially for emerging entities that were not seen during language models' training processes, outperforming previous methods by up to 13.7%. Moreover, we propose a new evaluation methodology that addresses a fundamental weakness of existing setups and a new benchmark for KGC on emerging entities. Our work demonstrates the effectiveness of combining agent-based reasoning with strategic information retrieval for maintaining up-to-date knowledge graphs in dynamic information environments.

Break Stylistic Sophon: Are We Really Meant to Confine the Imagination in Style Transfer?

In this pioneering study, we introduce StyleWallfacer, a groundbreaking unified training and inference framework, which not only addresses various issues encountered in the style transfer process of traditional methods but also unifies the framework for different tasks. This framework is designed to revolutionize the field by enabling artist level style transfer and text driven stylization. First, we propose a semantic-based style injection method that uses BLIP to generate text descriptions strictly aligned with the semantics of the style image in CLIP space. By leveraging a large language model to remove style-related descriptions from these descriptions, we create a semantic gap. This gap is then used to fine-tune the model, enabling efficient and drift-free injection of style knowledge. Second, we propose a data augmentation strategy based on human feedback, incorporating high-quality samples generated early in the fine-tuning process into the training set to facilitate progressive learning and significantly reduce its overfitting. Finally, we design a training-free triple diffusion process using the fine-tuned model, which manipulates the features of self-attention layers in a manner similar to the cross-attention mechanism. Specifically, in the generation process, the key and value of the content-related process are replaced with those of the style-related process to inject style while maintaining text control over the model. We also introduce query preservation to mitigate disruptions to the original content. Under such a design, we have achieved high-quality image-driven style transfer and text-driven stylization, delivering artist-level style transfer results while preserving the original image content. Moreover, we achieve image color editing during the style transfer process for the first time.

SUSEP-Net: Simulation-Supervised and Contrastive Learning-based Deep Neural Networks for Susceptibility Source Separation

Quantitative susceptibility mapping (QSM) provides a valuable tool for quantifying susceptibility distributions in human brains; however, two types of opposing susceptibility sources (i.e., paramagnetic and diamagnetic), may coexist in a single voxel, and cancel each other out in net QSM images. Susceptibility source separation techniques enable the extraction of sub-voxel information from QSM maps. This study proposes a novel SUSEP-Net for susceptibility source separation by training a dual-branch U-net with a simulation-supervised training strategy. In addition, a contrastive learning framework is included to explicitly impose similarity-based constraints between the branch-specific guidance features in specially-designed encoders and the latent features in the decoders. Comprehensive experiments were carried out on both simulated and in vivo data, including healthy subjects and patients with pathological conditions, to compare SUSEP-Net with three state-of-the-art susceptibility source separation methods (i.e., APART-QSM, \c{hi}-separation, and \c{hi}-sepnet). SUSEP-Net consistently showed improved results compared with the other three methods, with better numerical metrics, improved high-intensity hemorrhage and calcification lesion contrasts, and reduced artifacts in brains with pathological conditions. In addition, experiments on an agarose gel phantom data were conducted to validate the accuracy and the generalization capability of SUSEP-Net.

Optimizing Recall or Relevance? A Multi-Task Multi-Head Approach for Item-to-Item Retrieval in Recommendation

The task of item-to-item (I2I) retrieval is to identify a set of relevant and highly engaging items based on a given trigger item. It is a crucial component in modern recommendation systems, where users' previously engaged items serve as trigger items to retrieve relevant content for future engagement. However, existing I2I retrieval models in industry are primarily built on co-engagement data and optimized using the recall measure, which overly emphasizes co-engagement patterns while failing to capture semantic relevance. This often leads to overfitting short-term co-engagement trends at the expense of long-term benefits such as discovering novel interests and promoting content diversity. To address this challenge, we propose MTMH, a Multi-Task and Multi-Head I2I retrieval model that achieves both high recall and semantic relevance. Our model consists of two key components: 1) a multi-task learning loss for formally optimizing the trade-off between recall and semantic relevance, and 2) a multi-head I2I retrieval architecture for retrieving both highly co-engaged and semantically relevant items. We evaluate MTMH using proprietary data from a commercial platform serving billions of users and demonstrate that it can improve recall by up to 14.4% and semantic relevance by up to 56.6% compared with prior state-of-the-art models. We also conduct live experiments to verify that MTMH can enhance both short-term consumption metrics and long-term user-experience-related metrics. Our work provides a principled approach for jointly optimizing I2I recall and semantic relevance, which has significant implications for improving the overall performance of recommendation systems.

Highly Undersampled MRI Reconstruction via a Single Posterior Sampling of Diffusion Models

Incoherent k-space under-sampling and deep learning-based reconstruction methods have shown great success in accelerating MRI. However, the performance of most previous methods will degrade dramatically under high acceleration factors, e.g., 8$\times$ or higher. Recently, denoising diffusion models (DM) have demonstrated promising results in solving this issue; however, one major drawback of the DM methods is the long inference time due to a dramatic number of iterative reverse posterior sampling steps. In this work, a Single Step Diffusion Model-based reconstruction framework, namely SSDM-MRI, is proposed for restoring MRI images from highly undersampled k-space. The proposed method achieves one-step reconstruction by first training a conditional DM and then iteratively distilling this model. Comprehensive experiments were conducted on both publicly available fastMRI images and an in-house multi-echo GRE (QSM) subject. Overall, the results showed that SSDM-MRI outperformed other methods in terms of numerical metrics (PSNR and SSIM), qualitative error maps, image fine details, and latent susceptibility information hidden in MRI phase images. In addition, the reconstruction time for a 320*320 brain slice of SSDM-MRI is only 0.45 second, which is only comparable to that of a simple U-net, making it a highly effective solution for MRI reconstruction tasks.

Using External knowledge to Enhanced PLM for Semantic Matching

Modeling semantic relevance has always been a challenging and critical task in natural language processing. In recent years, with the emergence of massive amounts of annotated data, it has become feasible to train complex models, such as neural network-based reasoning models. These models have shown excellent performance in practical applications and have achieved the current state-ofthe-art performance. However, even with such large-scale annotated data, we still need to think: Can machines learn all the knowledge necessary to perform semantic relevance detection tasks based on this data alone? If not, how can neural network-based models incorporate external knowledge into themselves, and how can relevance detection models be constructed to make full use of external knowledge? In this paper, we use external knowledge to enhance the pre-trained semantic relevance discrimination model. Experimental results on 10 public datasets show that our method achieves consistent improvements in performance compared to the baseline model.

Boosting Neural Language Inference via Cascaded Interactive Reasoning

Natural Language Inference (NLI) focuses on ascertaining the logical relationship (entailment, contradiction, or neutral) between a given premise and hypothesis. This task presents significant challenges due to inherent linguistic features such as diverse phrasing, semantic complexity, and contextual nuances. While Pre-trained Language Models (PLMs) built upon the Transformer architecture have yielded substantial advancements in NLI, prevailing methods predominantly utilize representations from the terminal layer. This reliance on final-layer outputs may overlook valuable information encoded in intermediate layers, potentially limiting the capacity to model intricate semantic interactions effectively. Addressing this gap, we introduce the Cascaded Interactive Reasoning Network (CIRN), a novel architecture designed for deeper semantic comprehension in NLI. CIRN implements a hierarchical feature extraction strategy across multiple network depths, operating within an interactive space where cross-sentence information is continuously integrated. This mechanism aims to mimic a process of progressive reasoning, transitioning from surface-level feature matching to uncovering more profound logical and semantic connections between the premise and hypothesis. By systematically mining latent semantic relationships at various representational levels, CIRN facilitates a more thorough understanding of the input pair. Comprehensive evaluations conducted on several standard NLI benchmark datasets reveal consistent performance gains achieved by CIRN over competitive baseline approaches, demonstrating the efficacy of leveraging multi-level interactive features for complex relational reasoning.