Two by Two: Learning Multi-Task Pairwise Objects Assembly for Generalizable Robot Manipulation

3D assembly tasks, such as furniture assembly and component fitting, play a crucial role in daily life and represent essential capabilities for future home robots. Existing benchmarks and datasets predominantly focus on assembling geometric fragments or factory parts, which fall short in addressing the complexities of everyday object interactions and assemblies. To bridge this gap, we present 2BY2, a large-scale annotated dataset for daily pairwise objects assembly, covering 18 fine-grained tasks that reflect real-life scenarios, such as plugging into sockets, arranging flowers in vases, and inserting bread into toasters. 2BY2 dataset includes 1,034 instances and 517 pairwise objects with pose and symmetry annotations, requiring approaches that align geometric shapes while accounting for functional and spatial relationships between objects. Leveraging the 2BY2 dataset, we propose a two-step SE(3) pose estimation method with equivariant features for assembly constraints. Compared to previous shape assembly methods, our approach achieves state-of-the-art performance across all 18 tasks in the 2BY2 dataset. Additionally, robot experiments further validate the reliability and generalization ability of our method for complex 3D assembly tasks.

MME-CoT: Benchmarking Chain-of-Thought in Large Multimodal Models for Reasoning Quality, Robustness, and Efficiency

Answering questions with Chain-of-Thought (CoT) has significantly enhanced the reasoning capabilities of Large Language Models (LLMs), yet its impact on Large Multimodal Models (LMMs) still lacks a systematic assessment and in-depth investigation. In this paper, we introduce MME-CoT, a specialized benchmark evaluating the CoT reasoning performance of LMMs, spanning six domains: math, science, OCR, logic, space-time, and general scenes. As the first comprehensive study in this area, we propose a thorough evaluation suite incorporating three novel metrics that assess the reasoning quality, robustness, and efficiency at a fine-grained level. Leveraging curated high-quality data and a unique evaluation strategy, we conduct an in-depth analysis of state-of-the-art LMMs, uncovering several key insights: 1) Models with reflection mechanism demonstrate a superior CoT quality, with Kimi k1.5 outperforming GPT-4o and demonstrating the highest quality results; 2) CoT prompting often degrades LMM performance on perception-heavy tasks, suggesting a potentially harmful overthinking behavior; and 3) Although the CoT quality is high, LMMs with reflection exhibit significant inefficiency in both normal response and self-correction phases. We hope MME-CoT serves as a foundation for advancing multimodal reasoning in LMMs. Project Page: https://mmecot.github.io/

ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced contextual reasoning for heavy clutter environment grasping strategies. ThinkGrasp can effectively identify and generate grasp poses for target objects, even when they are heavily obstructed or nearly invisible, by using goal-oriented language to guide the removal of obstructing objects. This approach progressively uncovers the target object and ultimately grasps it with a few steps and a high success rate. In both simulated and real experiments, ThinkGrasp achieved a high success rate and significantly outperformed state-of-the-art methods in heavily cluttered environments or with diverse unseen objects, demonstrating strong generalization capabilities.

MindGPT: Interpreting What You See with Non-invasive Brain Recordings

Decoding of seen visual contents with non-invasive brain recordings has important scientific and practical values. Efforts have been made to recover the seen images from brain signals. However, most existing approaches cannot faithfully reflect the visual contents due to insufficient image quality or semantic mismatches. Compared with reconstructing pixel-level visual images, speaking is a more efficient and effective way to explain visual information. Here we introduce a non-invasive neural decoder, termed as MindGPT, which interprets perceived visual stimuli into natural languages from fMRI signals. Specifically, our model builds upon a visually guided neural encoder with a cross-attention mechanism, which permits us to guide latent neural representations towards a desired language semantic direction in an end-to-end manner by the collaborative use of the large language model GPT. By doing so, we found that the neural representations of the MindGPT are explainable, which can be used to evaluate the contributions of visual properties to language semantics. Our experiments show that the generated word sequences truthfully represented the visual information (with essential details) conveyed in the seen stimuli. The results also suggested that with respect to language decoding tasks, the higher visual cortex (HVC) is more semantically informative than the lower visual cortex (LVC), and using only the HVC can recover most of the semantic information. The code of the MindGPT model will be publicly available at https://github.com/JxuanC/MindGPT.

STGIN: Spatial-Temporal Graph Interaction Network for Large-scale POI Recommendation

In Location-Based Services, Point-Of-Interest(POI) recommendation plays a crucial role in both user experience and business opportunities. Graph neural networks have been proven effective in providing personalized POI recommendation services. However, there are still two critical challenges. First, existing graph models attempt to capture users' diversified interests through a unified graph, which limits their ability to express interests in various spatial-temporal contexts. Second, the efficiency limitations of graph construction and graph sampling in large-scale systems make it difficult to adapt quickly to new real-time interests. To tackle the above challenges, we propose a novel Spatial-Temporal Graph Interaction Network. Specifically, we construct subgraphs of spatial, temporal, spatial-temporal, and global views respectively to precisely characterize the user's interests in various contexts. In addition, we design an industry-friendly framework to track the user's latest interests. Extensive experiments on the real-world dataset show that our method outperforms state-of-the-art models. This work has been successfully deployed in a large e-commerce platform, delivering a 1.1% CTR and 6.3% RPM improvement.

A Human-Machine Joint Learning Framework to Boost Endogenous BCI Training

Brain-computer interfaces (BCIs) provide a direct pathway from the brain to external devices and have demonstrated great potential for assistive and rehabilitation technologies. Endogenous BCIs based on electroencephalogram (EEG) signals, such as motor imagery (MI) BCIs, can provide some level of control. However, mastering spontaneous BCI control requires the users to generate discriminative and stable brain signal patterns by imagery, which is challenging and is usually achieved over a very long training time (weeks/months). Here, we propose a human-machine joint learning framework to boost the learning process in endogenous BCIs, by guiding the user to generate brain signals towards an optimal distribution estimated by the decoder, given the historical brain signals of the user. To this end, we firstly model the human-machine joint learning process in a uniform formulation. Then a human-machine joint learning framework is proposed: 1) for the human side, we model the learning process in a sequential trial-and-error scenario and propose a novel ``copy/new'' feedback paradigm to help shape the signal generation of the subject toward the optimal distribution; 2) for the machine side, we propose a novel adaptive learning algorithm to learn an optimal signal distribution along with the subject's learning process. Specifically, the decoder reweighs the brain signals generated by the subject to focus more on ``good'' samples to cope with the learning process of the subject. Online and psuedo-online BCI experiments with 18 healthy subjects demonstrated the advantages of the proposed joint learning process over co-adaptive approaches in both learning efficiency and effectiveness.

NeuSort: An Automatic Adaptive Spike Sorting Approach with Neuromorphic Models

Spike sorting, which classifies spiking events of different neurons from single electrode recordings, is an essential and widely used step in neural data processing and analysis. The recent development of brain-machine interfaces enables online control of external devices and closed-loop neuroprosthetics using single-unit activity, making online spike sorting desired. Most existing spike sorters work in an offline manner, i.e., sorting after data collection. However, offline spike sorters usually suffer from performance degradation in online tasks due to the instability of neural signals. In an online process, neuronal properties can change over time (such as waveform deformations), and new neurons can appear. Therefore, a static spike sorter requires periodic recalibration to maintain its performance. This study proposes a novel online spike sorter based on neuromorphic models (NeuSort), which can adaptively adjust itself to cope with changes in neural signals. NeuSort can robustly track individual neurons' activities against waveform deformations and automatically recognize new coming neurons in real-time. The adaptation ability of NeuSort is achieved by online parameter updates of the neuromorphic model, according to the plasticity learning rule inspired by biological neural systems. Experimental results on both synthetic and neural signal datasets demonstrate that NeuSort can classify spiking events automatically and cope with non-stationary situations in neural signals. NeuSort also provides ultra-low energy cost computation with neuromorphic chips.

LaSNN: Layer-wise ANN-to-SNN Distillation for Effective and Efficient Training in Deep Spiking Neural Networks

Spiking Neural Networks (SNNs) are biologically realistic and practically promising in low-power computation because of their event-driven mechanism. Usually, the training of SNNs suffers accuracy loss on various tasks, yielding an inferior performance compared with ANNs. A conversion scheme is proposed to obtain competitive accuracy by mapping trained ANNs' parameters to SNNs with the same structures. However, an enormous number of time steps are required for these converted SNNs, thus losing the energy-efficient benefit. Utilizing both the accuracy advantages of ANNs and the computing efficiency of SNNs, a novel SNN training framework is proposed, namely layer-wise ANN-to-SNN knowledge distillation (LaSNN). In order to achieve competitive accuracy and reduced inference latency, LaSNN transfers the learning from a well-trained ANN to a small SNN by distilling the knowledge other than converting the parameters of ANN. The information gap between heterogeneous ANN and SNN is bridged by introducing the attention scheme, the knowledge in an ANN is effectively compressed and then efficiently transferred by utilizing our layer-wise distillation paradigm. We conduct detailed experiments to demonstrate the effectiveness, efficacy, and scalability of LaSNN on three benchmark data sets (CIFAR-10, CIFAR-100, and Tiny ImageNet). We achieve competitive top-1 accuracy compared to ANNs and 20x faster inference than converted SNNs with similar performance. More importantly, LaSNN is dexterous and extensible that can be effortlessly developed for SNNs with different architectures/depths and input encoding methods, contributing to their potential development.

Exploring Stochastic Autoregressive Image Modeling for Visual Representation

Autoregressive language modeling (ALM) have been successfully used in self-supervised pre-training in Natural language processing (NLP). However, this paradigm has not achieved comparable results with other self-supervised approach in computer vision (e.g., contrastive learning, mask image modeling). In this paper, we try to find the reason why autoregressive modeling does not work well on vision tasks. To tackle this problem, we fully analyze the limitation of visual autoregressive methods and proposed a novel stochastic autoregressive image modeling (named SAIM) by the two simple designs. First, we employ stochastic permutation strategy to generate effective and robust image context which is critical for vision tasks. Second, we create a parallel encoder-decoder training process in which the encoder serves a similar role to the standard vision transformer focus on learning the whole contextual information, and meanwhile the decoder predicts the content of the current position, so that the encoder and decoder can reinforce each other. By introducing stochastic prediction and the parallel encoder-decoder, SAIM significantly improve the performance of autoregressive image modeling. Our method achieves the best accuracy (83.9%) on the vanilla ViT-Base model among methods using only ImageNet-1K data. Transfer performance in downstream tasks also show that our model achieves competitive performance.

Benchmarking Unsupervised Anomaly Detection and Localization

Unsupervised anomaly detection and localization, as of one the most practical and challenging problems in computer vision, has received great attention in recent years. From the time the MVTec AD dataset was proposed to the present, new research methods that are constantly being proposed push its precision to saturation. It is the time to conduct a comprehensive comparison of existing methods to inspire further research. This paper extensively compares 13 papers in terms of the performance in unsupervised anomaly detection and localization tasks, and adds a comparison of inference efficiency previously ignored by the community. Meanwhile, analysis of the MVTec AD dataset are also given, especially the label ambiguity that affects the model fails to achieve full marks. Moreover, considering the proposal of the new MVTec 3D-AD dataset, this paper also conducts experiments using the existing state-of-the-art 2D methods on this new dataset, and reports the corresponding results with analysis.