AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.

Automatic Teaching Platform on Vision Language Retrieval Augmented Generation

Automating teaching presents unique challenges, as replicating human interaction and adaptability is complex. Automated systems cannot often provide nuanced, real-time feedback that aligns with students' individual learning paces or comprehension levels, which can hinder effective support for diverse needs. This is especially challenging in fields where abstract concepts require adaptive explanations. In this paper, we propose a vision language retrieval augmented generation (named VL-RAG) system that has the potential to bridge this gap by delivering contextually relevant, visually enriched responses that can enhance comprehension. By leveraging a database of tailored answers and images, the VL-RAG system can dynamically retrieve information aligned with specific questions, creating a more interactive and engaging experience that fosters deeper understanding and active student participation. It allows students to explore concepts visually and verbally, promoting deeper understanding and reducing the need for constant human oversight while maintaining flexibility to expand across different subjects and course material.

RSQ: Learning from Important Tokens Leads to Better Quantized LLMs

Layer-wise quantization is a key technique for efficiently compressing large models without expensive retraining. Previous methods typically quantize the weights of each layer by "uniformly" optimizing the layer reconstruction loss across all output tokens. However, in this paper, we demonstrate that better-quantized models can be obtained by prioritizing learning from important tokens (e.g. which have large attention scores). Building on this finding, we propose RSQ (Rotate, Scale, then Quantize), which (1) applies rotations (orthogonal transformation) to the model to mitigate outliers (those with exceptionally large magnitude), (2) scales the token feature based on its importance, and (3) quantizes the model using the GPTQ framework with the second-order statistics computed by scaled tokens. To compute token importance, we explore both heuristic and dynamic strategies. Based on a thorough analysis of all approaches, we adopt attention concentration, which uses attention scores of each token as its importance, as the best approach. We demonstrate that RSQ consistently outperforms baseline methods across multiple downstream tasks and three model families: LLaMA3, Mistral, and Qwen2.5. Additionally, models quantized with RSQ achieve superior performance on long-context tasks, further highlighting its effectiveness. Lastly, RSQ demonstrates generalizability across various setups, including different model sizes, calibration datasets, bit precisions, and quantization methods.

Optimal Actuator Attacks on Autonomous Vehicles Using Reinforcement Learning

With the increasing prevalence of autonomous vehicles (AVs), their vulnerability to various types of attacks has grown, presenting significant security challenges. In this paper, we propose a reinforcement learning (RL)-based approach for designing optimal stealthy integrity attacks on AV actuators. We also analyze the limitations of state-of-the-art RL-based secure controllers developed to counter such attacks. Through extensive simulation experiments, we demonstrate the effectiveness and efficiency of our proposed method.

SST-EM: Advanced Metrics for Evaluating Semantic, Spatial and Temporal Aspects in Video Editing

Video editing models have advanced significantly, but evaluating their performance remains challenging. Traditional metrics, such as CLIP text and image scores, often fall short: text scores are limited by inadequate training data and hierarchical dependencies, while image scores fail to assess temporal consistency. We present SST-EM (Semantic, Spatial, and Temporal Evaluation Metric), a novel evaluation framework that leverages modern Vision-Language Models (VLMs), Object Detection, and Temporal Consistency checks. SST-EM comprises four components: (1) semantic extraction from frames using a VLM, (2) primary object tracking with Object Detection, (3) focused object refinement via an LLM agent, and (4) temporal consistency assessment using a Vision Transformer (ViT). These components are integrated into a unified metric with weights derived from human evaluations and regression analysis. The name SST-EM reflects its focus on Semantic, Spatial, and Temporal aspects of video evaluation. SST-EM provides a comprehensive evaluation of semantic fidelity and temporal smoothness in video editing. The source code is available in the \textbf{\href{https://github.com/custommetrics-sst/SST_CustomEvaluationMetrics.git}{GitHub Repository}}.

Learning-based Detection of GPS Spoofing Attack for Quadrotors

Safety-critical cyber-physical systems (CPS), such as quadrotor UAVs, are particularly prone to cyber attacks, which can result in significant consequences if not detected promptly and accurately. During outdoor operations, the nonlinear dynamics of UAV systems, combined with non-Gaussian noise, pose challenges to the effectiveness of conventional statistical and machine learning methods. To overcome these limitations, we present QUADFormer, an advanced attack detection framework for quadrotor UAVs leveraging a transformer-based architecture. This framework features a residue generator that produces sequences sensitive to anomalies, which are then analyzed by the transformer to capture statistical patterns for detection and classification. Furthermore, an alert mechanism ensures UAVs can operate safely even when under attack. Extensive simulations and experimental evaluations highlight that QUADFormer outperforms existing state-of-the-art techniques in detection accuracy.

Bootstrapping Language-Guided Navigation Learning with Self-Refining Data Flywheel

Creating high-quality data for training robust language-instructed agents is a long-lasting challenge in embodied AI. In this paper, we introduce a Self-Refining Data Flywheel (SRDF) that generates high-quality and large-scale navigational instruction-trajectory pairs by iteratively refining the data pool through the collaboration between two models, the instruction generator and the navigator, without any human-in-the-loop annotation. Specifically, SRDF starts with using a base generator to create an initial data pool for training a base navigator, followed by applying the trained navigator to filter the data pool. This leads to higher-fidelity data to train a better generator, which can, in turn, produce higher-quality data for training the next-round navigator. Such a flywheel establishes a data self-refining process, yielding a continuously improved and highly effective dataset for large-scale language-guided navigation learning. Our experiments demonstrate that after several flywheel rounds, the navigator elevates the performance boundary from 70% to 78% SPL on the classic R2R test set, surpassing human performance (76%) for the first time. Meanwhile, this process results in a superior generator, evidenced by a SPICE increase from 23.5 to 26.2, better than all previous VLN instruction generation methods. Finally, we demonstrate the scalability of our method through increasing environment and instruction diversity, and the generalization ability of our pre-trained navigator across various downstream navigation tasks, surpassing state-of-the-art methods by a large margin in all cases.

DreamRunner: Fine-Grained Storytelling Video Generation with Retrieval-Augmented Motion Adaptation

Storytelling video generation (SVG) has recently emerged as a task to create long, multi-motion, multi-scene videos that consistently represent the story described in the input text script. SVG holds great potential for diverse content creation in media and entertainment; however, it also presents significant challenges: (1) objects must exhibit a range of fine-grained, complex motions, (2) multiple objects need to appear consistently across scenes, and (3) subjects may require multiple motions with seamless transitions within a single scene. To address these challenges, we propose DreamRunner, a novel story-to-video generation method: First, we structure the input script using a large language model (LLM) to facilitate both coarse-grained scene planning as well as fine-grained object-level layout and motion planning. Next, DreamRunner presents retrieval-augmented test-time adaptation to capture target motion priors for objects in each scene, supporting diverse motion customization based on retrieved videos, thus facilitating the generation of new videos with complex, scripted motions. Lastly, we propose a novel spatial-temporal region-based 3D attention and prior injection module SR3AI for fine-grained object-motion binding and frame-by-frame semantic control. We compare DreamRunner with various SVG baselines, demonstrating state-of-the-art performance in character consistency, text alignment, and smooth transitions. Additionally, DreamRunner exhibits strong fine-grained condition-following ability in compositional text-to-video generation, significantly outperforming baselines on T2V-ComBench. Finally, we validate DreamRunner's robust ability to generate multi-object interactions with qualitative examples.

Leapfrog Latent Consistency Model (LLCM) for Medical Images Generation

The scarcity of accessible medical image data poses a significant obstacle in effectively training deep learning models for medical diagnosis, as hospitals refrain from sharing their data due to privacy concerns. In response, we gathered a diverse dataset named MedImgs, which comprises over 250,127 images spanning 61 disease types and 159 classes of both humans and animals from open-source repositories. We propose a Leapfrog Latent Consistency Model (LLCM) that is distilled from a retrained diffusion model based on the collected MedImgs dataset, which enables our model to generate real-time high-resolution images. We formulate the reverse diffusion process as a probability flow ordinary differential equation (PF-ODE) and solve it in latent space using the Leapfrog algorithm. This formulation enables rapid sampling without necessitating additional iterations. Our model demonstrates state-of-the-art performance in generating medical images. Furthermore, our model can be fine-tuned with any custom medical image datasets, facilitating the generation of a vast array of images. Our experimental results outperform those of existing models on unseen dog cardiac X-ray images. Source code is available at https://github.com/lskdsjy/LeapfrogLCM.

SparrowVQE: Visual Question Explanation for Course Content Understanding

Visual Question Answering (VQA) research seeks to create AI systems to answer natural language questions in images, yet VQA methods often yield overly simplistic and short answers. This paper aims to advance the field by introducing Visual Question Explanation (VQE), which enhances the ability of VQA to provide detailed explanations rather than brief responses and address the need for more complex interaction with visual content. We first created an MLVQE dataset from a 14-week streamed video machine learning course, including 885 slide images, 110,407 words of transcripts, and 9,416 designed question-answer (QA) pairs. Next, we proposed a novel SparrowVQE, a small 3 billion parameters multimodal model. We trained our model with a three-stage training mechanism consisting of multimodal pre-training (slide images and transcripts feature alignment), instruction tuning (tuning the pre-trained model with transcripts and QA pairs), and domain fine-tuning (fine-tuning slide image and QA pairs). Eventually, our SparrowVQE can understand and connect visual information using the SigLIP model with transcripts using the Phi-2 language model with an MLP adapter. Experimental results demonstrate that our SparrowVQE achieves better performance in our developed MLVQE dataset and outperforms state-of-the-art methods in the other five benchmark VQA datasets. The source code is available at \url{https://github.com/YoushanZhang/SparrowVQE}.