SpatialLM: Training Large Language Models for Structured Indoor Modeling

SpatialLM is a large language model designed to process 3D point cloud data and generate structured 3D scene understanding outputs. These outputs include architectural elements like walls, doors, windows, and oriented object boxes with their semantic categories. Unlike previous methods which exploit task-specific network designs, our model adheres to the standard multimodal LLM architecture and is fine-tuned directly from open-source LLMs. To train SpatialLM, we collect a large-scale, high-quality synthetic dataset consisting of the point clouds of 12,328 indoor scenes (54,778 rooms) with ground-truth 3D annotations, and conduct a careful study on various modeling and training decisions. On public benchmarks, our model gives state-of-the-art performance in layout estimation and competitive results in 3D object detection. With that, we show a feasible path for enhancing the spatial understanding capabilities of modern LLMs for applications in augmented reality, embodied robotics, and more.

EndoARSS: Adapting Spatially-Aware Foundation Model for Efficient Activity Recognition and Semantic Segmentation in Endoscopic Surgery

Endoscopic surgery is the gold standard for robotic-assisted minimally invasive surgery, offering significant advantages in early disease detection and precise interventions. However, the complexity of surgical scenes, characterized by high variability in different surgical activity scenarios and confused image features between targets and the background, presents challenges for surgical environment understanding. Traditional deep learning models often struggle with cross-activity interference, leading to suboptimal performance in each downstream task. To address this limitation, we explore multi-task learning, which utilizes the interrelated features between tasks to enhance overall task performance. In this paper, we propose EndoARSS, a novel multi-task learning framework specifically designed for endoscopy surgery activity recognition and semantic segmentation. Built upon the DINOv2 foundation model, our approach integrates Low-Rank Adaptation to facilitate efficient fine-tuning while incorporating Task Efficient Shared Low-Rank Adapters to mitigate gradient conflicts across diverse tasks. Additionally, we introduce the Spatially-Aware Multi-Scale Attention that enhances feature representation discrimination by enabling cross-spatial learning of global information. In order to evaluate the effectiveness of our framework, we present three novel datasets, MTLESD, MTLEndovis and MTLEndovis-Gen, tailored for endoscopic surgery scenarios with detailed annotations for both activity recognition and semantic segmentation tasks. Extensive experiments demonstrate that EndoARSS achieves remarkable performance across multiple benchmarks, significantly improving both accuracy and robustness in comparison to existing models. These results underscore the potential of EndoARSS to advance AI-driven endoscopic surgical systems, offering valuable insights for enhancing surgical safety and efficiency.

Network Alignment

Complex networks are frequently employed to model physical or virtual complex systems. When certain entities exist across multiple systems simultaneously, unveiling their corresponding relationships across the networks becomes crucial. This problem, known as network alignment, holds significant importance. It enhances our understanding of complex system structures and behaviours, facilitates the validation and extension of theoretical physics research about studying complex systems, and fosters diverse practical applications across various fields. However, due to variations in the structure, characteristics, and properties of complex networks across different fields, the study of network alignment is often isolated within each domain, with even the terminologies and concepts lacking uniformity. This review comprehensively summarizes the latest advancements in network alignment research, focusing on analyzing network alignment characteristics and progress in various domains such as social network analysis, bioinformatics, computational linguistics and privacy protection. It provides a detailed analysis of various methods' implementation principles, processes, and performance differences, including structure consistency-based methods, network embedding-based methods, and graph neural network-based (GNN-based) methods. Additionally, the methods for network alignment under different conditions, such as in attributed networks, heterogeneous networks, directed networks, and dynamic networks, are presented. Furthermore, the challenges and the open issues for future studies are also discussed.

CRCL: Causal Representation Consistency Learning for Anomaly Detection in Surveillance Videos

Video Anomaly Detection (VAD) remains a fundamental yet formidable task in the video understanding community, with promising applications in areas such as information forensics and public safety protection. Due to the rarity and diversity of anomalies, existing methods only use easily collected regular events to model the inherent normality of normal spatial-temporal patterns in an unsupervised manner. Previous studies have shown that existing unsupervised VAD models are incapable of label-independent data offsets (e.g., scene changes) in real-world scenarios and may fail to respond to light anomalies due to the overgeneralization of deep neural networks. Inspired by causality learning, we argue that there exist causal factors that can adequately generalize the prototypical patterns of regular events and present significant deviations when anomalous instances occur. In this regard, we propose Causal Representation Consistency Learning (CRCL) to implicitly mine potential scene-robust causal variable in unsupervised video normality learning. Specifically, building on the structural causal models, we propose scene-debiasing learning and causality-inspired normality learning to strip away entangled scene bias in deep representations and learn causal video normality, respectively. Extensive experiments on benchmarks validate the superiority of our method over conventional deep representation learning. Moreover, ablation studies and extension validation show that the CRCL can cope with label-independent biases in multi-scene settings and maintain stable performance with only limited training data available.

Optimizing Drug Delivery in Smart Pharmacies: A Novel Framework of Multi-Stage Grasping Network Combined with Adaptive Robotics Mechanism

Robots-based smart pharmacies are essential for modern healthcare systems, enabling efficient drug delivery. However, a critical challenge exists in the robotic handling of drugs with varying shapes and overlapping positions, which previous studies have not adequately addressed. To enhance the robotic arm's ability to grasp chaotic, overlapping, and variously shaped drugs, this paper proposed a novel framework combining a multi-stage grasping network with an adaptive robotics mechanism. The framework first preprocessed images using an improved Super-Resolution Convolutional Neural Network (SRCNN) algorithm, and then employed the proposed YOLOv5+E-A-SPPFCSPC+BIFPNC (YOLO-EASB) instance segmentation algorithm for precise drug segmentation. The most suitable drugs for grasping can be determined by assessing the completeness of the segmentation masks. Then, these segmented drugs were processed by our improved Adaptive Feature Fusion and Grasp-Aware Network (IAFFGA-Net) with the optimized loss function, which ensures accurate picking actions even in complex environments. To control the robot grasping, a time-optimal robotic arm trajectory planning algorithm that combines an improved ant colony algorithm with 3-5-3 interpolation was developed, further improving efficiency while ensuring smooth trajectories. Finally, this system was implemented and validated within an adaptive collaborative robot setup, which dynamically adjusts to different production environments and task requirements. Experimental results demonstrate the superiority of our multi-stage grasping network in optimizing smart pharmacy operations, while also showcasing its remarkable adaptability and effectiveness in practical applications.

Prompt Packer: Deceiving LLMs through Compositional Instruction with Hidden Attacks

Recently, Large language models (LLMs) with powerful general capabilities have been increasingly integrated into various Web applications, while undergoing alignment training to ensure that the generated content aligns with user intent and ethics. Unfortunately, they remain the risk of generating harmful content like hate speech and criminal activities in practical applications. Current approaches primarily rely on detecting, collecting, and training against harmful prompts to prevent such risks. However, they typically focused on the "superficial" harmful prompts with a solitary intent, ignoring composite attack instructions with multiple intentions that can easily elicit harmful content in real-world scenarios. In this paper, we introduce an innovative technique for obfuscating harmful instructions: Compositional Instruction Attacks (CIA), which refers to attacking by combination and encapsulation of multiple instructions. CIA hides harmful prompts within instructions of harmless intentions, making it impossible for the model to identify underlying malicious intentions. Furthermore, we implement two transformation methods, known as T-CIA and W-CIA, to automatically disguise harmful instructions as talking or writing tasks, making them appear harmless to LLMs. We evaluated CIA on GPT-4, ChatGPT, and ChatGLM2 with two safety assessment datasets and two harmful prompt datasets. It achieves an attack success rate of 95%+ on safety assessment datasets, and 83%+ for GPT-4, 91%+ for ChatGPT (gpt-3.5-turbo backed) and ChatGLM2-6B on harmful prompt datasets. Our approach reveals the vulnerability of LLMs to such compositional instruction attacks that harbor underlying harmful intentions, contributing significantly to LLM security development. Warning: this paper may contain offensive or upsetting content!

ADU-Depth: Attention-based Distillation with Uncertainty Modeling for Depth Estimation

Monocular depth estimation is challenging due to its inherent ambiguity and ill-posed nature, yet it is quite important to many applications. While recent works achieve limited accuracy by designing increasingly complicated networks to extract features with limited spatial geometric cues from a single RGB image, we intend to introduce spatial cues by training a teacher network that leverages left-right image pairs as inputs and transferring the learned 3D geometry-aware knowledge to the monocular student network. Specifically, we present a novel knowledge distillation framework, named ADU-Depth, with the goal of leveraging the well-trained teacher network to guide the learning of the student network, thus boosting the precise depth estimation with the help of extra spatial scene information. To enable domain adaptation and ensure effective and smooth knowledge transfer from teacher to student, we apply both attention-adapted feature distillation and focal-depth-adapted response distillation in the training stage. In addition, we explicitly model the uncertainty of depth estimation to guide distillation in both feature space and result space to better produce 3D-aware knowledge from monocular observations and thus enhance the learning for hard-to-predict image regions. Our extensive experiments on the real depth estimation datasets KITTI and DrivingStereo demonstrate the effectiveness of the proposed method, which ranked 1st on the challenging KITTI online benchmark.

PPD: A New Valet Parking Pedestrian Fisheye Dataset for Autonomous Driving

Pedestrian detection under valet parking scenarios is fundamental for autonomous driving. However, the presence of pedestrians can be manifested in a variety of ways and postures under imperfect ambient conditions, which can adversely affect detection performance. Furthermore, models trained on publicdatasets that include pedestrians generally provide suboptimal outcomes for these valet parking scenarios. In this paper, wepresent the Parking Pedestrian Dataset (PPD), a large-scale fisheye dataset to support research dealing with real-world pedestrians, especially with occlusions and diverse postures. PPD consists of several distinctive types of pedestrians captured with fisheye cameras. Additionally, we present a pedestrian detection baseline on PPD dataset, and introduce two data augmentation techniques to improve the baseline by enhancing the diversity ofthe original dataset. Extensive experiments validate the effectiveness of our novel data augmentation approaches over baselinesand the dataset's exceptional generalizability.

LineMarkNet: Line Landmark Detection for Valet Parking

We aim for accurate and efficient line landmark detection for valet parking, which is a long-standing yet unsolved problem in autonomous driving. To this end, we present a deep line landmark detection system where we carefully design the modules to be lightweight. Specifically, we first empirically design four general line landmarks including three physical lines and one novel mental line. The four line landmarks are effective for valet parking. We then develop a deep network (LineMarkNet) to detect line landmarks from surround-view cameras where we, via the pre-calibrated homography, fuse context from four separate cameras into the unified bird-eye-view (BEV) space, specifically we fuse the surroundview features and BEV features, then employ the multi-task decoder to detect multiple line landmarks where we apply the center-based strategy for object detection task, and design our graph transformer to enhance the vision transformer with hierarchical level graph reasoning for semantic segmentation task. At last, we further parameterize the detected line landmarks (e.g., intercept-slope form) whereby a novel filtering backend incorporates temporal and multi-view consistency to achieve smooth and stable detection. Moreover, we annotate a large-scale dataset to validate our method. Experimental results show that our framework achieves the enhanced performance compared with several line detection methods and validate the multi-task network's efficiency about the real-time line landmark detection on the Qualcomm 820A platform while meantime keeps superior accuracy, with our deep line landmark detection system.

I$^2$-SDF: Intrinsic Indoor Scene Reconstruction and Editing via Raytracing in Neural SDFs

In this work, we present I$^2$-SDF, a new method for intrinsic indoor scene reconstruction and editing using differentiable Monte Carlo raytracing on neural signed distance fields (SDFs). Our holistic neural SDF-based framework jointly recovers the underlying shapes, incident radiance and materials from multi-view images. We introduce a novel bubble loss for fine-grained small objects and error-guided adaptive sampling scheme to largely improve the reconstruction quality on large-scale indoor scenes. Further, we propose to decompose the neural radiance field into spatially-varying material of the scene as a neural field through surface-based, differentiable Monte Carlo raytracing and emitter semantic segmentations, which enables physically based and photorealistic scene relighting and editing applications. Through a number of qualitative and quantitative experiments, we demonstrate the superior quality of our method on indoor scene reconstruction, novel view synthesis, and scene editing compared to state-of-the-art baselines.