SDHN: Skewness-Driven Hypergraph Networks for Enhanced Localized Multi-Robot Coordination

Multi-Agent Reinforcement Learning is widely used for multi-robot coordination, where simple graphs typically model pairwise interactions. However, such representations fail to capture higher-order collaborations, limiting effectiveness in complex tasks. While hypergraph-based approaches enhance cooperation, existing methods often generate arbitrary hypergraph structures and lack adaptability to environmental uncertainties. To address these challenges, we propose the Skewness-Driven Hypergraph Network (SDHN), which employs stochastic Bernoulli hyperedges to explicitly model higher-order multi-robot interactions. By introducing a skewness loss, SDHN promotes an efficient structure with Small-Hyperedge Dominant Hypergraph, allowing robots to prioritize localized synchronization while still adhering to the overall information, similar to human coordination. Extensive experiments on Moving Agents in Formation and Robotic Warehouse tasks validate SDHN's effectiveness, demonstrating superior performance over state-of-the-art baselines.

VC-LLM: Automated Advertisement Video Creation from Raw Footage using Multi-modal LLMs

As short videos have risen in popularity, the role of video content in advertising has become increasingly significant. Typically, advertisers record a large amount of raw footage about the product and then create numerous different short-form advertisement videos based on this raw footage. Creating such videos mainly involves editing raw footage and writing advertisement scripts, which requires a certain level of creative ability. It is usually challenging to create many different video contents for the same product, and manual efficiency is often low. In this paper, we present VC-LLM, a framework powered by Large Language Models for the automatic creation of high-quality short-form advertisement videos. Our approach leverages high-resolution spatial input and low-resolution temporal input to represent video clips more effectively, capturing both fine-grained visual details and broader temporal dynamics. In addition, during training, we incorporate supplementary information generated by rewriting the ground truth text, ensuring that all key output information can be directly traced back to the input, thereby reducing model hallucinations. We also designed a benchmark to evaluate the quality of the created videos. Experiments show that VC-LLM based on GPT-4o can produce videos comparable to those created by humans. Furthermore, we collected numerous high-quality short advertisement videos to create a pre-training dataset and manually cleaned a portion of the data to construct a high-quality fine-tuning dataset. Experiments indicate that, on the benchmark, the VC-LLM based on fine-tuned LLM can produce videos with superior narrative logic compared to those created by the VC-LLM based on GPT-4o.

Adaptive Interactive Navigation of Quadruped Robots using Large Language Models

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within free space, struggling in environments lacking viable paths to the goal, such as disaster zones or cluttered warehouses. To address this gap, we propose an adaptive interactive navigation approach that proactively interacts with environments to create feasible paths to reach originally unavailable goals. Specifically, we present a primitive tree for task planning with large language models (LLMs), facilitating effective reasoning to determine interaction objects and sequences. To ensure robust subtask execution, we adopt reinforcement learning to pre-train a comprehensive skill library containing versatile locomotion and interaction behaviors for motion planning. Furthermore, we introduce an adaptive replanning method featuring two LLM-based modules: an advisor serving as a flexible replanning trigger and an arborist for autonomous plan adjustment. Integrated with the tree structure, the replanning mechanism allows for convenient node addition and pruning, enabling rapid plan modification in unknown environments. Comprehensive simulations and experiments have demonstrated our method's effectiveness and adaptivity in diverse scenarios. The supplementary video is available at page: https://youtu.be/W5ttPnSap2g.

DeepAudio-V1:Towards Multi-Modal Multi-Stage End-to-End Video to Speech and Audio Generation

Currently, high-quality, synchronized audio is synthesized using various multi-modal joint learning frameworks, leveraging video and optional text inputs. In the video-to-audio benchmarks, video-to-audio quality, semantic alignment, and audio-visual synchronization are effectively achieved. However, in real-world scenarios, speech and audio often coexist in videos simultaneously, and the end-to-end generation of synchronous speech and audio given video and text conditions are not well studied. Therefore, we propose an end-to-end multi-modal generation framework that simultaneously produces speech and audio based on video and text conditions. Furthermore, the advantages of video-to-audio (V2A) models for generating speech from videos remain unclear. The proposed framework, DeepAudio, consists of a video-to-audio (V2A) module, a text-to-speech (TTS) module, and a dynamic mixture of modality fusion (MoF) module. In the evaluation, the proposed end-to-end framework achieves state-of-the-art performance on the video-audio benchmark, video-speech benchmark, and text-speech benchmark. In detail, our framework achieves comparable results in the comparison with state-of-the-art models for the video-audio and text-speech benchmarks, and surpassing state-of-the-art models in the video-speech benchmark, with WER 16.57% to 3.15% (+80.99%), SPK-SIM 78.30% to 89.38% (+14.15%), EMO-SIM 66.24% to 75.56% (+14.07%), MCD 8.59 to 7.98 (+7.10%), MCD SL 11.05 to 9.40 (+14.93%) across a variety of dubbing settings.

GCRayDiffusion: Pose-Free Surface Reconstruction via Geometric Consistent Ray Diffusion

Accurate surface reconstruction from unposed images is crucial for efficient 3D object or scene creation. However, it remains challenging, particularly for the joint camera pose estimation. Previous approaches have achieved impressive pose-free surface reconstruction results in dense-view settings, but could easily fail for sparse-view scenarios without sufficient visual overlap. In this paper, we propose a new technique for pose-free surface reconstruction, which follows triplane-based signed distance field (SDF) learning but regularizes the learning by explicit points sampled from ray-based diffusion of camera pose estimation. Our key contribution is a novel Geometric Consistent Ray Diffusion model (GCRayDiffusion), where we represent camera poses as neural bundle rays and regress the distribution of noisy rays via a diffusion model. More importantly, we further condition the denoising process of RGRayDiffusion using the triplane-based SDF of the entire scene, which provides effective 3D consistent regularization to achieve multi-view consistent camera pose estimation. Finally, we incorporate RGRayDiffusion into the triplane-based SDF learning by introducing on-surface geometric regularization from the sampling points of the neural bundle rays, which leads to highly accurate pose-free surface reconstruction results even for sparse-view inputs. Extensive evaluations on public datasets show that our GCRayDiffusion achieves more accurate camera pose estimation than previous approaches, with geometrically more consistent surface reconstruction results, especially given sparse-view inputs.

Linguistics-aware Masked Image Modeling for Self-supervised Scene Text Recognition

Text images are unique in their dual nature, encompassing both visual and linguistic information. The visual component encompasses structural and appearance-based features, while the linguistic dimension incorporates contextual and semantic elements. In scenarios with degraded visual quality, linguistic patterns serve as crucial supplements for comprehension, highlighting the necessity of integrating both aspects for robust scene text recognition (STR). Contemporary STR approaches often use language models or semantic reasoning modules to capture linguistic features, typically requiring large-scale annotated datasets. Self-supervised learning, which lacks annotations, presents challenges in disentangling linguistic features related to the global context. Typically, sequence contrastive learning emphasizes the alignment of local features, while masked image modeling (MIM) tends to exploit local structures to reconstruct visual patterns, resulting in limited linguistic knowledge. In this paper, we propose a Linguistics-aware Masked Image Modeling (LMIM) approach, which channels the linguistic information into the decoding process of MIM through a separate branch. Specifically, we design a linguistics alignment module to extract vision-independent features as linguistic guidance using inputs with different visual appearances. As features extend beyond mere visual structures, LMIM must consider the global context to achieve reconstruction. Extensive experiments on various benchmarks quantitatively demonstrate our state-of-the-art performance, and attention visualizations qualitatively show the simultaneous capture of both visual and linguistic information.

DCA: Dividing and Conquering Amnesia in Incremental Object Detection

Incremental object detection (IOD) aims to cultivate an object detector that can continuously localize and recognize novel classes while preserving its performance on previous classes. Existing methods achieve certain success by improving knowledge distillation and exemplar replay for transformer-based detection frameworks, but the intrinsic forgetting mechanisms remain underexplored. In this paper, we dive into the cause of forgetting and discover forgetting imbalance between localization and recognition in transformer-based IOD, which means that localization is less-forgetting and can generalize to future classes, whereas catastrophic forgetting occurs primarily on recognition. Based on these insights, we propose a Divide-and-Conquer Amnesia (DCA) strategy, which redesigns the transformer-based IOD into a localization-then-recognition process. DCA can well maintain and transfer the localization ability, leaving decoupled fragile recognition to be specially conquered. To reduce feature drift in recognition, we leverage semantic knowledge encoded in pre-trained language models to anchor class representations within a unified feature space across incremental tasks. This involves designing a duplex classifier fusion and embedding class semantic features into the recognition decoding process in the form of queries. Extensive experiments validate that our approach achieves state-of-the-art performance, especially for long-term incremental scenarios. For example, under the four-step setting on MS-COCO, our DCA strategy significantly improves the final AP by 6.9%.

MagicComp: Training-free Dual-Phase Refinement for Compositional Video Generation

Text-to-video (T2V) generation has made significant strides with diffusion models. However, existing methods still struggle with accurately binding attributes, determining spatial relationships, and capturing complex action interactions between multiple subjects. To address these limitations, we propose MagicComp, a training-free method that enhances compositional T2V generation through dual-phase refinement. Specifically, (1) During the Conditioning Stage: We introduce the Semantic Anchor Disambiguation to reinforces subject-specific semantics and resolve inter-subject ambiguity by progressively injecting the directional vectors of semantic anchors into original text embedding; (2) During the Denoising Stage: We propose Dynamic Layout Fusion Attention, which integrates grounding priors and model-adaptive spatial perception to flexibly bind subjects to their spatiotemporal regions through masked attention modulation. Furthermore, MagicComp is a model-agnostic and versatile approach, which can be seamlessly integrated into existing T2V architectures. Extensive experiments on T2V-CompBench and VBench demonstrate that MagicComp outperforms state-of-the-art methods, highlighting its potential for applications such as complex prompt-based and trajectory-controllable video generation. Project page: https://hong-yu-zhang.github.io/MagicComp-Page/.

Potential Score Matching: Debiasing Molecular Structure Sampling with Potential Energy Guidance

The ensemble average of physical properties of molecules is closely related to the distribution of molecular conformations, and sampling such distributions is a fundamental challenge in physics and chemistry. Traditional methods like molecular dynamics (MD) simulations and Markov chain Monte Carlo (MCMC) sampling are commonly used but can be time-consuming and costly. Recently, diffusion models have emerged as efficient alternatives by learning the distribution of training data. Obtaining an unbiased target distribution is still an expensive task, primarily because it requires satisfying ergodicity. To tackle these challenges, we propose Potential Score Matching (PSM), an approach that utilizes the potential energy gradient to guide generative models. PSM does not require exact energy functions and can debias sample distributions even when trained on limited and biased data. Our method outperforms existing state-of-the-art (SOTA) models on the Lennard-Jones (LJ) potential, a commonly used toy model. Furthermore, we extend the evaluation of PSM to high-dimensional problems using the MD17 and MD22 datasets. The results demonstrate that molecular distributions generated by PSM more closely approximate the Boltzmann distribution compared to traditional diffusion models.

LangDA: Building Context-Awareness via Language for Domain Adaptive Semantic Segmentation

Unsupervised domain adaptation for semantic segmentation (DASS) aims to transfer knowledge from a label-rich source domain to a target domain with no labels. Two key approaches in DASS are (1) vision-only approaches using masking or multi-resolution crops, and (2) language-based approaches that use generic class-wise prompts informed by target domain (e.g. "a {snowy} photo of a {class}"). However, the former is susceptible to noisy pseudo-labels that are biased to the source domain. The latter does not fully capture the intricate spatial relationships of objects -- key for dense prediction tasks. To this end, we propose LangDA. LangDA addresses these challenges by, first, learning contextual relationships between objects via VLM-generated scene descriptions (e.g. "a pedestrian is on the sidewalk, and the street is lined with buildings."). Second, LangDA aligns the entire image features with text representation of this context-aware scene caption and learns generalized representations via text. With this, LangDA sets the new state-of-the-art across three DASS benchmarks, outperforming existing methods by 2.6%, 1.4% and 3.9%.