Harnessing Discrete Differential Geometry: A Virtual Playground for the Bilayer Soft Robotics

Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers induces complex deformations. Despite progress in theoretical modeling and numerical simulation, accurately capturing their dynamic behavior, especially during environmental interactions, remains challenging. This study presents a novel simulation environment based on the Discrete Elastic Rod (DER) model to address the challenge. By leveraging discrete differential geometry (DDG), the DER approach offers superior convergence compared to conventional methods like Finite Element Method (FEM), particularly in handling contact interactions -- an essential aspect of soft robot dynamics in real-world scenarios. Our simulation framework incorporates key features of bilayer structures, including stretching, bending, twisting, and inter-layer coupling. This enables the exploration of a wide range of dynamic behaviors for bilayer soft robots, such as gripping, crawling, jumping, and swimming. The insights gained from this work provide a robust foundation for the design and control of advanced bilayer soft robotic systems.

UI-TARS: Pioneering Automated GUI Interaction with Native Agents

This paper introduces UI-TARS, a native GUI agent model that solely perceives the screenshots as input and performs human-like interactions (e.g., keyboard and mouse operations). Unlike prevailing agent frameworks that depend on heavily wrapped commercial models (e.g., GPT-4o) with expert-crafted prompts and workflows, UI-TARS is an end-to-end model that outperforms these sophisticated frameworks. Experiments demonstrate its superior performance: UI-TARS achieves SOTA performance in 10+ GUI agent benchmarks evaluating perception, grounding, and GUI task execution. Notably, in the OSWorld benchmark, UI-TARS achieves scores of 24.6 with 50 steps and 22.7 with 15 steps, outperforming Claude (22.0 and 14.9 respectively). In AndroidWorld, UI-TARS achieves 46.6, surpassing GPT-4o (34.5). UI-TARS incorporates several key innovations: (1) Enhanced Perception: leveraging a large-scale dataset of GUI screenshots for context-aware understanding of UI elements and precise captioning; (2) Unified Action Modeling, which standardizes actions into a unified space across platforms and achieves precise grounding and interaction through large-scale action traces; (3) System-2 Reasoning, which incorporates deliberate reasoning into multi-step decision making, involving multiple reasoning patterns such as task decomposition, reflection thinking, milestone recognition, etc. (4) Iterative Training with Reflective Online Traces, which addresses the data bottleneck by automatically collecting, filtering, and reflectively refining new interaction traces on hundreds of virtual machines. Through iterative training and reflection tuning, UI-TARS continuously learns from its mistakes and adapts to unforeseen situations with minimal human intervention. We also analyze the evolution path of GUI agents to guide the further development of this domain.

EmbodiedEval: Evaluate Multimodal LLMs as Embodied Agents

Multimodal Large Language Models (MLLMs) have shown significant advancements, providing a promising future for embodied agents. Existing benchmarks for evaluating MLLMs primarily utilize static images or videos, limiting assessments to non-interactive scenarios. Meanwhile, existing embodied AI benchmarks are task-specific and not diverse enough, which do not adequately evaluate the embodied capabilities of MLLMs. To address this, we propose EmbodiedEval, a comprehensive and interactive evaluation benchmark for MLLMs with embodied tasks. EmbodiedEval features 328 distinct tasks within 125 varied 3D scenes, each of which is rigorously selected and annotated. It covers a broad spectrum of existing embodied AI tasks with significantly enhanced diversity, all within a unified simulation and evaluation framework tailored for MLLMs. The tasks are organized into five categories: navigation, object interaction, social interaction, attribute question answering, and spatial question answering to assess different capabilities of the agents. We evaluated the state-of-the-art MLLMs on EmbodiedEval and found that they have a significant shortfall compared to human level on embodied tasks. Our analysis demonstrates the limitations of existing MLLMs in embodied capabilities, providing insights for their future development. We open-source all evaluation data and simulation framework at https://github.com/thunlp/EmbodiedEval.

BSDB-Net: Band-Split Dual-Branch Network with Selective State Spaces Mechanism for Monaural Speech Enhancement

Although the complex spectrum-based speech enhancement(SE) methods have achieved significant performance, coupling amplitude and phase can lead to a compensation effect, where amplitude information is sacrificed to compensate for the phase that is harmful to SE. In addition, to further improve the performance of SE, many modules are stacked onto SE, resulting in increased model complexity that limits the application of SE. To address these problems, we proposed a dual-path network based on compressed frequency using Mamba. First, we extract amplitude and phase information through parallel dual branches. This approach leverages structured complex spectra to implicitly capture phase information and solves the compensation effect by decoupling amplitude and phase, and the network incorporates an interaction module to suppress unnecessary parts and recover missing components from the other branch. Second, to reduce network complexity, the network introduces a band-split strategy to compress the frequency dimension. To further reduce complexity while maintaining good performance, we designed a Mamba-based module that models the time and frequency dimensions under linear complexity. Finally, compared to baselines, our model achieves an average 8.3 times reduction in computational complexity while maintaining superior performance. Furthermore, it achieves a 25 times reduction in complexity compared to transformer-based models.

Align Anything: Training All-Modality Models to Follow Instructions with Language Feedback

Reinforcement learning from human feedback (RLHF) has proven effective in enhancing the instruction-following capabilities of large language models; however, it remains underexplored in the cross-modality domain. As the number of modalities increases, aligning all-modality models with human intentions -- such as instruction following -- becomes a pressing challenge. In this work, we make the first attempt to fine-tune all-modality models (i.e. input and output with any modality, also named any-to-any models) using human preference data across all modalities (including text, image, audio, and video), ensuring its behavior aligns with human intentions. This endeavor presents several challenges. First, there is no large-scale all-modality human preference data in existing open-source resources, as most datasets are limited to specific modalities, predominantly text and image. Secondly, the effectiveness of binary preferences in RLHF for post-training alignment in complex all-modality scenarios remains an unexplored area. Finally, there is a lack of a systematic framework to evaluate the capabilities of all-modality models, particularly regarding modality selection and synergy. To address these challenges, we propose the align-anything framework, which includes meticulously annotated 200k all-modality human preference data. Then, we introduce an alignment method that learns from unified language feedback, effectively capturing complex modality-specific human preferences and enhancing the model's instruction-following capabilities. Furthermore, to assess performance improvements in all-modality models after post-training alignment, we construct a challenging all-modality capability evaluation framework -- eval-anything. All data, models, and code frameworks have been open-sourced for the community. For more details, please refer to https://github.com/PKU-Alignment/align-anything.

SEAGraph: Unveiling the Whole Story of Paper Review Comments

Peer review, as a cornerstone of scientific research, ensures the integrity and quality of scholarly work by providing authors with objective feedback for refinement. However, in the traditional peer review process, authors often receive vague or insufficiently detailed feedback, which provides limited assistance and leads to a more time-consuming review cycle. If authors can identify some specific weaknesses in their paper, they can not only address the reviewer's concerns but also improve their work. This raises the critical question of how to enhance authors' comprehension of review comments. In this paper, we present SEAGraph, a novel framework developed to clarify review comments by uncovering the underlying intentions behind them. We construct two types of graphs for each paper: the semantic mind graph, which captures the author's thought process, and the hierarchical background graph, which delineates the research domains related to the paper. A retrieval method is then designed to extract relevant content from both graphs, facilitating coherent explanations for the review comments. Extensive experiments show that SEAGraph excels in review comment understanding tasks, offering significant benefits to authors.

Domain Adaptive Diabetic Retinopathy Grading with Model Absence and Flowing Data

Domain shift (the difference between source and target domains) poses a significant challenge in clinical applications, e.g., Diabetic Retinopathy (DR) grading. Despite considering certain clinical requirements, like source data privacy, conventional transfer methods are predominantly model-centered and often struggle to prevent model-targeted attacks. In this paper, we address a challenging Online Model-aGnostic Domain Adaptation (OMG-DA) setting, driven by the demands of clinical environments. This setting is characterized by the absence of the model and the flow of target data. To tackle the new challenge, we propose a novel approach, Generative Unadversarial ExampleS (GUES), which enables adaptation from a data-centric perspective. Specifically, we first theoretically reformulate conventional perturbation optimization in a generative way--learning a perturbation generation function with a latent input variable. During model instantiation, we leverage a Variational AutoEncoder to express this function. The encoder with the reparameterization trick predicts the latent input, whilst the decoder is responsible for the generation. Furthermore, the saliency map is selected as pseudo-perturbation labels. Because it not only captures potential lesions but also theoretically provides an upper bound on the function input, enabling the identification of the latent variable. Extensive comparative experiments on DR benchmarks with both frozen pre-trained models and trainable models demonstrate the superiority of GUES, showing robustness even with small batch size.

Implicit neural representation for free-breathing MR fingerprinting (INR-MRF): co-registered 3D whole-liver water T1, water T2, proton density fat fraction, and R2* mapping

Purpose: To develop an MRI technique for free-breathing 3D whole-liver quantification of water T1, water T2, proton density fat fraction (PDFF), R2*. Methods: An Eight-echo spoiled gradient echo pulse sequence with spiral readout was developed by interleaving inversion recovery and T2 magnetization preparation. We propose a neural network based on a 4D and a 3D implicit neural representation (INR) which simultaneously learns the motion deformation fields and the static reference frame MRI subspace images respectively. Water and fat singular images were separated during network training, with no need of performing retrospective water-fat separation. T1, T2, R2* and proton density fat fraction (PDFF) produced by the proposed method were validated in vivo on 10 healthy subjects, using quantitative maps generated from conventional scans as reference. Results: Our results showed minimal bias and narrow 95% limits of agreement on T1, T2, R2* and PDFF values in the liver compared to conventional breath-holding scans. Conclusions: INR-MRF enabled co-registered 3D whole liver T1, T2, R2* and PDFF mapping in a single free-breathing scan.

MRI quantification of liver fibrosis using diamagnetic susceptibility: An ex-vivo feasibility study

In chronic liver disease, liver fibrosis develops as excessive deposition of extracellular matrix macromolecules, predominantly collagens, progressively form fibrous scars that disrupt the hepatic architecture, and fibrosis, iron, and fat are interrelated. Fibrosis is the best predictor of morbidity and mortality in chronic liver disease but liver biopsy, the reference method for diagnosis and staging, is invasive and limited by sampling and interobserver variability and risks of complications. The overall objective of this study was to develop a new non-invasive method to quantify fibrosis using diamagnetic susceptibility sources with histology validation in ex vivo liver explants.

Self-Supervised Contrastive Graph Clustering Network via Structural Information Fusion

Graph clustering, a classical task in graph learning, involves partitioning the nodes of a graph into distinct clusters. This task has applications in various real-world scenarios, such as anomaly detection, social network analysis, and community discovery. Current graph clustering methods commonly rely on module pre-training to obtain a reliable prior distribution for the model, which is then used as the optimization objective. However, these methods often overlook deeper supervised signals, leading to sub-optimal reliability of the prior distribution. To address this issue, we propose a novel deep graph clustering method called CGCN. Our approach introduces contrastive signals and deep structural information into the pre-training process. Specifically, CGCN utilizes a contrastive learning mechanism to foster information interoperability among multiple modules and allows the model to adaptively adjust the degree of information aggregation for different order structures. Our CGCN method has been experimentally validated on multiple real-world graph datasets, showcasing its ability to boost the dependability of prior clustering distributions acquired through pre-training. As a result, we observed notable enhancements in the performance of the model.