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Unseen Object Instance Segmentation (UOIS) is crucial for autonomous robots operating in unstructured environments. Previous approaches require full supervision on large-scale tabletop datasets for effective pretraining. In this paper, we propose UOIS-SAM, a data-efficient solution for the UOIS task that leverages SAM's high accuracy and strong generalization capabilities. UOIS-SAM integrates two key components: (i) a Heatmap-based Prompt Generator (HPG) to generate class-agnostic point prompts with precise foreground prediction, and (ii) a Hierarchical Discrimination Network (HDNet) that adapts SAM's mask decoder, mitigating issues introduced by the SAM baseline, such as background confusion and over-segmentation, especially in scenarios involving occlusion and texture-rich objects. Extensive experimental results on OCID, OSD, and additional photometrically challenging datasets including PhoCAL and HouseCat6D, demonstrate that, even using only 10% of the training samples compared to previous methods, UOIS-SAM achieves state-of-the-art performance in unseen object segmentation, highlighting its effectiveness and robustness in various tabletop scenes., Comment: Submitted to ICRA 2025

Autism Spectrum Disorder (ASD) is a neurodevelopmental disorder characterized by complex physiological processes. Previous research has predominantly focused on static cerebral interactions, often neglecting the brain's dynamic nature and the challenges posed by network noise. To address these gaps, we introduce the Masked Connection-based Dynamic Graph Learning Network (MCDGLN). Our approach first segments BOLD signals using sliding temporal windows to capture dynamic brain characteristics. We then employ a specialized weighted edge aggregation (WEA) module, which uses the cross convolution with channel-wise element-wise convolutional kernel, to integrate dynamic functional connectivity and to isolating task-relevant connections. This is followed by topological feature extraction via a hierarchical graph convolutional network (HGCN), with key attributes highlighted by a self-attention module. Crucially, we refine static functional connections using a customized task-specific mask, reducing noise and pruning irrelevant links. The attention-based connection encoder (ACE) then enhances critical connections and compresses static features. The combined features are subsequently used for classification. Applied to the Autism Brain Imaging Data Exchange I (ABIDE I) dataset, our framework achieves a 73.3\% classification accuracy between ASD and Typical Control (TC) groups among 1,035 subjects. The pivotal roles of WEA and ACE in refining connectivity and enhancing classification accuracy underscore their importance in capturing ASD-specific features, offering new insights into the disorder., Comment: 8 pages, 7 figures

Self-supervised learning (SSL) has garnered significant attention in speech processing, excelling in linguistic tasks such as speech recognition. However, jointly improving the performance of pre-trained models on various downstream tasks, each requiring different speech information, poses significant challenges. To this purpose, we propose a progressive residual extraction based self-supervised learning method, named ProgRE. Specifically, we introduce two lightweight and specialized task modules into an encoder-style SSL backbone to enhance its ability to extract pitch variation and speaker information from speech. Furthermore, to prevent the interference of reinforced pitch variation and speaker information with irrelevant content information learning, we residually remove the information extracted by these two modules from the main branch. The main branch is then trained using HuBERT's speech masking prediction to ensure the performance of the Transformer's deep-layer features on content tasks. In this way, we can progressively extract pitch variation, speaker, and content representations from the input speech. Finally, we can combine multiple representations with diverse speech information using different layer weights to obtain task-specific representations for various downstream tasks. Experimental results indicate that our proposed method achieves joint performance improvements on various tasks, such as speaker identification, speech recognition, emotion recognition, speech enhancement, and voice conversion, compared to excellent SSL methods such as wav2vec2.0, HuBERT, and WavLM.

This research examines the use of Large Language Models (LLMs) in predicting time series, with a specific focus on the LLMTIME model. Despite the established effectiveness of LLMs in tasks such as text generation, language translation, and sentiment analysis, this study highlights the key challenges that large language models encounter in the context of time series prediction. We assess the performance of LLMTIME across multiple datasets and introduce classical almost periodic functions as time series to gauge its effectiveness. The empirical results indicate that while large language models can perform well in zero-shot forecasting for certain datasets, their predictive accuracy diminishes notably when confronted with diverse time series data and traditional signals. The primary finding of this study is that the predictive capacity of LLMTIME, similar to other LLMs, significantly deteriorates when dealing with time series data that contain both periodic and trend components, as well as when the signal comprises complex frequency components.

Surgical phase recognition is crucial for enhancing the efficiency and safety of computer-assisted interventions. One of the fundamental challenges involves modeling the long-distance temporal relationships present in surgical videos. Inspired by the recent success of Mamba, a state space model with linear scalability in sequence length, this paper presents SR-Mamba, a novel attention-free model specifically tailored to meet the challenges of surgical phase recognition. In SR-Mamba, we leverage a bidirectional Mamba decoder to effectively model the temporal context in overlong sequences. Moreover, the efficient optimization of the proposed Mamba decoder facilitates single-step neural network training, eliminating the need for separate training steps as in previous works. This single-step training approach not only simplifies the training process but also ensures higher accuracy, even with a lighter spatial feature extractor. Our SR-Mamba establishes a new benchmark in surgical video analysis by demonstrating state-of-the-art performance on the Cholec80 and CATARACTS Challenge datasets. The code is accessible at https://github.com/rcao-hk/SR-Mamba., Comment: Technical Report

Orbital degrees of freedom play an important role for understanding the emergence of unconventional quantum phases. Ultracold atomic gases in optical lattices provide a wonderful platform to simulate orbital physics. In this work, we consider spinless fermionic atoms loaded into $p$-orbital bands of a two-dimensional frustrated triangular lattice. The system can be described by an extended Fermi-Hubbard model, which is numerically solved by using the orbital version of real-space dynamical mean-field theory. Low-temperature phase diagrams are obtained, which contain stripe-, ferro- and para-orbital ordered quantum phases, due to the interplay of anisotropic hoppings and geometrical frustration. In order to understand the underlying mechanics of competing orbital orders, we derive an effective orbital-exchange model, which yields consistent explanation with our main numerical results., Comment: 9 pages, 7 figures

Unsupervised graph-level anomaly detection (UGAD) has attracted increasing interest due to its widespread application. In recent studies, knowledge distillation-based methods have been widely used in unsupervised anomaly detection to improve model efficiency and generalization. However, the inherent symmetry between the source (teacher) and target (student) networks typically results in consistent outputs across both architectures, making it difficult to distinguish abnormal graphs from normal graphs. Also, existing methods mainly rely on graph features to distinguish anomalies, which may be unstable with complex and diverse data and fail to capture the essence that differentiates normal graphs from abnormal ones. In this work, we propose a Graph Normalizing Flows-driven Asymmetric Network For Unsupervised Graph-Level Anomaly Detection (FANFOLD in short). We introduce normalizing flows to unsupervised graph-level anomaly detection due to their successful application and superior quality in learning the underlying distribution of samples. Specifically, we adopt the knowledge distillation technique and apply normalizing flows on the source network, achieving the asymmetric network. In the training stage, FANFOLD transforms the original distribution of normal graphs to a standard normal distribution. During inference, FANFOLD computes the anomaly score using the source-target loss to discriminate between normal and anomalous graphs. We conduct extensive experiments on 15 datasets of different fields with 9 baseline methods to validate the superiority of FANFOLD.

Topological concepts have been employed to understand the ground states of many strongly correlated systems, but it is still quite unclear if and how topology manifests itself in the relaxation dynamics. Here we uncover emergent topological phenomena in the time evolution of far-from-equilibrium one-dimensional interacting bosons. Beginning with simple product states, the system evolves into long-time stationary states with high energy that are nonthermal for a wide range of parameters, and they exhibit nonlocal string correlation that is characteristic of the symmetry-protected topological ground state of the Hamiltonian. In contrast, no topological feature is found in the stationary state as long as the system thermalizes. This difference is further corroborated by the distinct behaviour of quantum entanglement and edge states of the system. Our theoretical prediction can be examined by current experimental techniques and paves the way for a more comprehensive understanding of topological phases in nonequilibrium settings., Comment: 7 pages, 4 figures, with supplymentary information

Noninvasive transcranial photoacoustic computed tomography (PACT) of the human brain, despite its clinical potential, remains impeded by the acoustic distortion induced by the human skull. The distortion, which is attributed to the markedly different material properties of the skull relative to soft tissue, results in heavily aberrated PACT images -- a problem that has remained unsolved in the past two decades. Herein, we report the first successful experimental demonstration of the de-aberration of PACT images through an ex-vivo adult human skull using a homogeneous elastic model for the skull. Using only the geometry, position, and orientation of the skull, we accurately de-aberrate the PACT images of light-absorbing phantoms acquired through an ex-vivo human skull, in terms of the recovered phantom features, for different levels of phantom complexity and positions. Our work addresses the longstanding challenge of skull-induced aberrations in transcranial PACT and advances the field towards unlocking the full potential of transcranial human brain PACT., Comment: 11 pages, 3 figures

Efficiency and reliability are critical in robotic bin-picking as they directly impact the productivity of automated industrial processes. However, traditional approaches, demanding static objects and fixed collisions, lead to deployment limitations, operational inefficiencies, and process unreliability. This paper introduces a Dynamic Bin-Picking Framework (DBPF) that challenges traditional static assumptions. The DBPF endows the robot with the reactivity to pick multiple moving arbitrary objects while avoiding dynamic obstacles, such as the moving bin. Combined with scene-level pose generation, the proposed pose selection metric leverages the Tendency-Aware Manipulability Network optimizing suction pose determination. Heuristic task-specific designs like velocity-matching, dynamic obstacle avoidance, and the resight policy, enhance the picking success rate and reliability. Empirical experiments demonstrate the importance of these components. Our method achieves an average 84% success rate, surpassing the 60% of the most comparable baseline, crucially, with zero collisions. Further evaluations under diverse dynamic scenarios showcase DBPF's robust performance in dynamic bin-picking. Results suggest that our framework offers a promising solution for efficient and reliable robotic bin-picking under dynamics., Comment: 8 pages, 5 figures. This paper has been accepted by IEEE RA-L on 2024-03-24. See the supplementary video at youtube: https://youtu.be/n5af2VsKhkg

In this paper, we address the challenge of detecting hateful memes in the low-resource setting where only a few labeled examples are available. Our approach leverages the compositionality of Low-rank adaptation (LoRA), a widely used parameter-efficient tuning technique. We commence by fine-tuning large language models (LLMs) with LoRA on selected tasks pertinent to hateful meme detection, thereby generating a suite of LoRA modules. These modules are capable of essential reasoning skills for hateful meme detection. We then use the few available annotated samples to train a module composer, which assigns weights to the LoRA modules based on their relevance. The model's learnable parameters are directly proportional to the number of LoRA modules. This modularized network, underpinned by LLMs and augmented with LoRA modules, exhibits enhanced generalization in the context of hateful meme detection. Our evaluation spans three datasets designed for hateful meme detection in a few-shot learning context. The proposed method demonstrates superior performance to traditional in-context learning, which is also more computationally intensive during inference.We then use the few available annotated samples to train a module composer, which assigns weights to the LoRA modules based on their relevance. The model's learnable parameters are directly proportional to the number of LoRA modules. This modularized network, underpinned by LLMs and augmented with LoRA modules, exhibits enhanced generalization in the context of hateful meme detection. Our evaluation spans three datasets designed for hateful meme detection in a few-shot learning context. The proposed method demonstrates superior performance to traditional in-context learning, which is also more computationally intensive during inference., Comment: camera-ready for WWW, 2024, Web4Good

Previous solutions to knowledge-based visual question answering~(K-VQA) retrieve knowledge from external knowledge bases and use supervised learning to train the K-VQA model. Recently pre-trained LLMs have been used as both a knowledge source and a zero-shot QA model for K-VQA and demonstrated promising results. However, these recent methods do not explicitly show the knowledge needed to answer the questions and thus lack interpretability. Inspired by recent work on knowledge generation from LLMs for text-based QA, in this work we propose and test a similar knowledge-generation-based K-VQA method, which first generates knowledge from an LLM and then incorporates the generated knowledge for K-VQA in a zero-shot manner. We evaluate our method on two K-VQA benchmarks and found that our method performs better than previous zero-shot K-VQA methods and our generated knowledge is generally relevant and helpful., Comment: accepted as Findings in EACL 2023

In the evolving landscape of online communication, moderating hate speech (HS) presents an intricate challenge, compounded by the multimodal nature of digital content. This comprehensive survey delves into the recent strides in HS moderation, spotlighting the burgeoning role of large language models (LLMs) and large multimodal models (LMMs). Our exploration begins with a thorough analysis of current literature, revealing the nuanced interplay between textual, visual, and auditory elements in propagating HS. We uncover a notable trend towards integrating these modalities, primarily due to the complexity and subtlety with which HS is disseminated. A significant emphasis is placed on the advances facilitated by LLMs and LMMs, which have begun to redefine the boundaries of detection and moderation capabilities. We identify existing gaps in research, particularly in the context of underrepresented languages and cultures, and the need for solutions to handle low-resource settings. The survey concludes with a forward-looking perspective, outlining potential avenues for future research, including the exploration of novel AI methodologies, the ethical governance of AI in moderation, and the development of more nuanced, context-aware systems. This comprehensive overview aims to catalyze further research and foster a collaborative effort towards more sophisticated, responsible, and human-centric approaches to HS moderation in the digital era. WARNING: This paper contains offensive examples., Comment: Accepted at EMNLP'24 (Findings)

In practice, both passenger and cargo flights are vulnerable to unexpected factors, such as adverse weather, airport flow control, crew absence, unexpected aircraft maintenance, and pandemic, which can cause disruptions in flight schedules. Thus, managers need to reallocate relevant resources to ensure that the airport can return to normal operations on the basis of minimum cost, which is the airline recovery problem. Airline recovery is an active research area, with a lot of publications in recent years. To better summarize the progress of airline recovery, first of all, keywords are chosen to search the relevant studies, then software is used to analyze the existing studies in terms of the number of papers, keywords, and sources. Secondly, the airline recovery problem is divided into two categories, namely Passenger-Oriented Airline Recovery Problem (POARP) and Cargo-Oriented Airline Recovery Problem (COARP). In POARP, the existing studies are classified according to recovery strategies, including common recovery strategies, cruise speed control strategy, flexible aircraft maintenance strategy, multi-modal transportation strategy, passenger-centric recovery strategy, and clubbing of flights strategy. Moreover, the POARP is discussed from the perspectives of disruption types, recovery strategies, problem types, objective functions, and solution methods. Thirdly, POARP and COARP are compared from the perspectives of timeliness, subjectivity, flexibility, transferability, and combinability. Finally, the conclusions are drawn and future study directions are provided. For future studies, it is recommended to conduct more in-depth research on dynamic and real-time recovery, incorporating human factors into the modeling, multi-modal transportation coupling, optimization of other airport processes, combination of robust scheduling and airline recovery, and optimization algorithm improvement.