AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiency

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each robotic hand, our method achieves high performance with human-level learning efficiency: only hundreds of grasp attempts on 40 training objects. The approach separates the grasping process into two stages: first, a universal model maps scene geometry to intermediate contact-centric grasp representations, independent of specific robotic hands. Next, a unique grasp decision model is trained for each robotic hand through real-world trial and error, translating these representations into final grasp poses. Our results show a grasp success rate of 75-95\% across three different robotic hands in real-world cluttered environments with over 150 novel objects, improving to 80-98\% with increased training objects. This adaptable method demonstrates promising applications for humanoid robots, prosthetics, and other domains requiring robust, versatile robotic manipulation.

Latent Swap Joint Diffusion for Long-Form Audio Generation

Previous work on long-form audio generation using global-view diffusion or iterative generation demands significant training or inference costs. While recent advancements in multi-view joint diffusion for panoramic generation provide an efficient option, they struggle with spectrum generation with severe overlap distortions and high cross-view consistency costs. We initially explore this phenomenon through the connectivity inheritance of latent maps and uncover that averaging operations excessively smooth the high-frequency components of the latent map. To address these issues, we propose Swap Forward (SaFa), a frame-level latent swap framework that synchronizes multiple diffusions to produce a globally coherent long audio with more spectrum details in a forward-only manner. At its core, the bidirectional Self-Loop Latent Swap is applied between adjacent views, leveraging stepwise diffusion trajectory to adaptively enhance high-frequency components without disrupting low-frequency components. Furthermore, to ensure cross-view consistency, the unidirectional Reference-Guided Latent Swap is applied between the reference and the non-overlap regions of each subview during the early stages, providing centralized trajectory guidance. Quantitative and qualitative experiments demonstrate that SaFa significantly outperforms existing joint diffusion methods and even training-based long audio generation models. Moreover, we find that it also adapts well to panoramic generation, achieving comparable state-of-the-art performance with greater efficiency and model generalizability. Project page is available at https://swapforward.github.io/.

Wearable intelligent throat enables natural speech in stroke patients with dysarthria

Wearable silent speech systems hold significant potential for restoring communication in patients with speech impairments. However, seamless, coherent speech remains elusive, and clinical efficacy is still unproven. Here, we present an AI-driven intelligent throat (IT) system that integrates throat muscle vibrations and carotid pulse signal sensors with large language model (LLM) processing to enable fluent, emotionally expressive communication. The system utilizes ultrasensitive textile strain sensors to capture high-quality signals from the neck area and supports token-level processing for real-time, continuous speech decoding, enabling seamless, delay-free communication. In tests with five stroke patients with dysarthria, IT's LLM agents intelligently corrected token errors and enriched sentence-level emotional and logical coherence, achieving low error rates (4.2% word error rate, 2.9% sentence error rate) and a 55% increase in user satisfaction. This work establishes a portable, intuitive communication platform for patients with dysarthria with the potential to be applied broadly across different neurological conditions and in multi-language support systems.

MLLM can see? Dynamic Correction Decoding for Hallucination Mitigation

Multimodal Large Language Models (MLLMs) frequently exhibit hallucination phenomena, but the underlying reasons remain poorly understood. In this paper, we present an empirical analysis and find that, although MLLMs incorrectly generate the objects in the final output, they are actually able to recognize visual objects in the preceding layers. We speculate that this may be due to the strong knowledge priors of the language model suppressing the visual information, leading to hallucinations. Motivated by this, we propose a novel dynamic correction decoding method for MLLMs (DeCo), which adaptively selects the appropriate preceding layers and proportionally integrates knowledge into the final layer to adjust the output logits. Note that DeCo is model agnostic and can be seamlessly incorporated with various classic decoding strategies and applied to different MLLMs. We evaluate DeCo on widely-used benchmarks, demonstrating that it can reduce hallucination rates by a large margin compared to baselines, highlighting its potential to mitigate hallucinations. Code is available at https://github.com/zjunlp/DeCo.

Decoding Echo Chambers: LLM-Powered Simulations Revealing Polarization in Social Networks

The impact of social media on critical issues such as echo chambers needs to be addressed, as these phenomena can have disruptive consequences for our society. Traditional research often oversimplifies emotional tendencies and opinion evolution into numbers and formulas, neglecting that news and communication are conveyed through text, which limits these approaches. Hence, in this work, we propose an LLM-based simulation for the social opinion network to evaluate and counter polarization phenomena. We first construct three typical network structures to simulate different characteristics of social interactions. Then, agents interact based on recommendation algorithms and update their strategies through reasoning and analysis. By comparing these interactions with the classic Bounded Confidence Model (BCM), the Friedkin Johnsen (FJ) model, and using echo chamber-related indices, we demonstrate the effectiveness of our framework in simulating opinion dynamics and reproducing phenomena such as opinion polarization and echo chambers. We propose two mitigation methods, active and passive nudges, that can help reduce echo chambers, specifically within language-based simulations. We hope our work will offer valuable insights and guidance for social polarization mitigation.

gWaveNet: Classification of Gravity Waves from Noisy Satellite Data using Custom Kernel Integrated Deep Learning Method

Atmospheric gravity waves occur in the Earths atmosphere caused by an interplay between gravity and buoyancy forces. These waves have profound impacts on various aspects of the atmosphere, including the patterns of precipitation, cloud formation, ozone distribution, aerosols, and pollutant dispersion. Therefore, understanding gravity waves is essential to comprehend and monitor changes in a wide range of atmospheric behaviors. Limited studies have been conducted to identify gravity waves from satellite data using machine learning techniques. Particularly, without applying noise removal techniques, it remains an underexplored area of research. This study presents a novel kernel design aimed at identifying gravity waves within satellite images. The proposed kernel is seamlessly integrated into a deep convolutional neural network, denoted as gWaveNet. Our proposed model exhibits impressive proficiency in detecting images containing gravity waves from noisy satellite data without any feature engineering. The empirical results show our model outperforms related approaches by achieving over 98% training accuracy and over 94% test accuracy which is known to be the best result for gravity waves detection up to the time of this work. We open sourced our code at https://rb.gy/qn68ku.

Autonomous Agents for Collaborative Task under Information Asymmetry

Large Language Model Multi-Agent Systems (LLM-MAS) have achieved great progress in solving complex tasks. It performs communication among agents within the system to collaboratively solve tasks, under the premise of shared information. However, when agents' communication is leveraged to enhance human cooperation, a new challenge arises due to information asymmetry, since each agent can only access the information of its human user. Previous MAS struggle to complete tasks under this condition. To address this, we propose a new MAS paradigm termed iAgents, which denotes Informative Multi-Agent Systems. In iAgents, the human social network is mirrored in the agent network, where agents proactively exchange human information necessary for task resolution, thereby overcoming information asymmetry. iAgents employs a novel agent reasoning mechanism, InfoNav, to navigate agents' communication towards effective information exchange. Together with InfoNav, iAgents organizes human information in a mixed memory to provide agents with accurate and comprehensive information for exchange. Additionally, we introduce InformativeBench, the first benchmark tailored for evaluating LLM agents' task-solving ability under information asymmetry. Experimental results show that iAgents can collaborate within a social network of 140 individuals and 588 relationships, autonomously communicate over 30 turns, and retrieve information from nearly 70,000 messages to complete tasks within 3 minutes.

Graspness Discovery in Clutters for Fast and Accurate Grasp Detection

Efficient and robust grasp pose detection is vital for robotic manipulation. For general 6 DoF grasping, conventional methods treat all points in a scene equally and usually adopt uniform sampling to select grasp candidates. However, we discover that ignoring where to grasp greatly harms the speed and accuracy of current grasp pose detection methods. In this paper, we propose "graspness", a quality based on geometry cues that distinguishes graspable areas in cluttered scenes. A look-ahead searching method is proposed for measuring the graspness and statistical results justify the rationality of our method. To quickly detect graspness in practice, we develop a neural network named cascaded graspness model to approximate the searching process. Extensive experiments verify the stability, generality and effectiveness of our graspness model, allowing it to be used as a plug-and-play module for different methods. A large improvement in accuracy is witnessed for various previous methods after equipping our graspness model. Moreover, we develop GSNet, an end-to-end network that incorporates our graspness model for early filtering of low-quality predictions. Experiments on a large-scale benchmark, GraspNet-1Billion, show that our method outperforms previous arts by a large margin (30+ AP) and achieves a high inference speed. The library of GSNet has been integrated into AnyGrasp, which is at https://github.com/graspnet/anygrasp_sdk.

NTIRE 2024 Challenge on Low Light Image Enhancement: Methods and Results

This paper reviews the NTIRE 2024 low light image enhancement challenge, highlighting the proposed solutions and results. The aim of this challenge is to discover an effective network design or solution capable of generating brighter, clearer, and visually appealing results when dealing with a variety of conditions, including ultra-high resolution (4K and beyond), non-uniform illumination, backlighting, extreme darkness, and night scenes. A notable total of 428 participants registered for the challenge, with 22 teams ultimately making valid submissions. This paper meticulously evaluates the state-of-the-art advancements in enhancing low-light images, reflecting the significant progress and creativity in this field.

RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective

Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually predict keyframes rather than continuous actions, posing difficulty in dynamic and contact-rich scenarios. To utilize 3D perception efficiently, we present RISE, an end-to-end baseline for real-world imitation learning, which predicts continuous actions directly from single-view point clouds. It compresses the point cloud to tokens with a sparse 3D encoder. After adding sparse positional encoding, the tokens are featurized using a transformer. Finally, the features are decoded into robot actions by a diffusion head. Trained with 50 demonstrations for each real-world task, RISE surpasses currently representative 2D and 3D policies by a large margin, showcasing significant advantages in both accuracy and efficiency. Experiments also demonstrate that RISE is more general and robust to environmental change compared with previous baselines. Project website: rise-policy.github.io.