Integrated Planning and Control on Manifolds: Factor Graph Representation and Toolkit

Model predictive control (MPC) faces significant limitations when applied to systems evolving on nonlinear manifolds, such as robotic attitude dynamics and constrained motion planning, where traditional Euclidean formulations struggle with singularities, over-parameterization, and poor convergence. To overcome these challenges, this paper introduces FactorMPC, a factor-graph based MPC toolkit that unifies system dynamics, constraints, and objectives into a modular, user-friendly, and efficient optimization structure. Our approach natively supports manifold-valued states with Gaussian uncertainties modeled in tangent spaces. By exploiting the sparsity and probabilistic structure of factor graphs, the toolkit achieves real-time performance even for high-dimensional systems with complex constraints. The velocity-extended on-manifold control barrier function (CBF)-based obstacle avoidance factors are designed for safety-critical applications. By bridging graphical models with safety-critical MPC, our work offers a scalable and geometrically consistent framework for integrated planning and control. The simulations and experimental results on the quadrotor demonstrate superior trajectory tracking and obstacle avoidance performance compared to baseline methods. To foster research reproducibility, we have provided open-source implementation offering plug-and-play factors.

Modality-Guided Dynamic Graph Fusion and Temporal Diffusion for Self-Supervised RGB-T Tracking

To reduce the reliance on large-scale annotations, self-supervised RGB-T tracking approaches have garnered significant attention. However, the omission of the object region by erroneous pseudo-label or the introduction of background noise affects the efficiency of modality fusion, while pseudo-label noise triggered by similar object noise can further affect the tracking performance. In this paper, we propose GDSTrack, a novel approach that introduces dynamic graph fusion and temporal diffusion to address the above challenges in self-supervised RGB-T tracking. GDSTrack dynamically fuses the modalities of neighboring frames, treats them as distractor noise, and leverages the denoising capability of a generative model. Specifically, by constructing an adjacency matrix via an Adjacency Matrix Generator (AMG), the proposed Modality-guided Dynamic Graph Fusion (MDGF) module uses a dynamic adjacency matrix to guide graph attention, focusing on and fusing the object's coherent regions. Temporal Graph-Informed Diffusion (TGID) models MDGF features from neighboring frames as interference, and thus improving robustness against similar-object noise. Extensive experiments conducted on four public RGB-T tracking datasets demonstrate that GDSTrack outperforms the existing state-of-the-art methods. The source code is available at https://github.com/LiShenglana/GDSTrack.

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.

PTQ1.61: Push the Real Limit of Extremely Low-Bit Post-Training Quantization Methods for Large Language Models

Large Language Models (LLMs) suffer severe performance degradation when facing extremely low-bit (sub 2-bit) quantization. Several existing sub 2-bit post-training quantization (PTQ) methods utilize a mix-precision scheme by leveraging an unstructured fine-grained mask to explicitly distinguish salient weights, while which introduces an extra 1-bit or more per weight. To explore the real limit of PTQ, we propose an extremely low-bit PTQ method called PTQ1.61, which enables weight quantization to 1.61-bit for the first time. Specifically, we first introduce a one-dimensional structured mask with negligibly additional 0.0002-bit per weight based on input activations from the perspective of reducing the upper bound of quantization error to allocate corresponding salient weight channels to 4-bit. For non-salient channels binarization, an efficient block-wise scaling factors optimization framework is then presented to take implicit row-wise correlations and angular biases into account. Different from prior works that concentrate on adjusting quantization methodologies, we further propose a novel paradigm called quantization preprocessing, where we argue that transforming the weight distribution of the pretrained model before quantization can alleviate the difficulty in per-channel extremely low-bit PTQ. Extensive experiments indicate our PTQ1.61 achieves state-of-the-art performance in extremely low-bit quantization. Codes are available at https://github.com/zjq0455/PTQ1.61.

Benchmarking Post-Training Quantization in LLMs: Comprehensive Taxonomy, Unified Evaluation, and Comparative Analysis

Post-training Quantization (PTQ) technique has been extensively adopted for large language models (LLMs) compression owing to its efficiency and low resource requirement. However, current research lacks a in-depth analysis of the superior and applicable scenarios of each PTQ strategy. In addition, existing algorithms focus primarily on performance, overlooking the trade-off among model size, performance, and quantization bitwidth. To mitigate these confusions, we provide a novel benchmark for LLMs PTQ in this paper. Firstly, in order to support our benchmark, we propose a comprehensive taxonomy for existing mainstream methods by scrutinizing their computational strategies (e.g., optimization-based, compensation-based, etc.). Then, we conduct extensive experiments with the baseline within each class, covering models with various sizes (7B-70B), bitwidths, training levels (LLaMA1/2/3/3.1), architectures (Mixtral, DeepSeekMoE and Mamba) and modality (LLaVA1.5 and VILA1.5) on a wide range of evaluation metrics.Through comparative analysis on the results, we summarize the superior of each PTQ strategy and modelsize-bitwidth trade-off considering the performance. For example, our benchmark reveals that compensation-based technique demonstrates outstanding cross-architecture robustness and extremely low-bit PTQ for ultra large models should be reexamined. Finally, we further accordingly claim that a practical combination of compensation and other PTQ strategy can achieve SOTA various robustness. We believe that our benchmark will provide valuable recommendations for the deployment of LLMs and future research on PTQ approaches.

Temporal-Frequency State Space Duality: An Efficient Paradigm for Speech Emotion Recognition

Speech Emotion Recognition (SER) plays a critical role in enhancing user experience within human-computer interaction. However, existing methods are overwhelmed by temporal domain analysis, overlooking the valuable envelope structures of the frequency domain that are equally important for robust emotion recognition. To overcome this limitation, we propose TF-Mamba, a novel multi-domain framework that captures emotional expressions in both temporal and frequency dimensions.Concretely, we propose a temporal-frequency mamba block to extract temporal- and frequency-aware emotional features, achieving an optimal balance between computational efficiency and model expressiveness. Besides, we design a Complex Metric-Distance Triplet (CMDT) loss to enable the model to capture representative emotional clues for SER. Extensive experiments on the IEMOCAP and MELD datasets show that TF-Mamba surpasses existing methods in terms of model size and latency, providing a more practical solution for future SER applications.

OrientedFormer: An End-to-End Transformer-Based Oriented Object Detector in Remote Sensing Images

Oriented object detection in remote sensing images is a challenging task due to objects being distributed in multi-orientation. Recently, end-to-end transformer-based methods have achieved success by eliminating the need for post-processing operators compared to traditional CNN-based methods. However, directly extending transformers to oriented object detection presents three main issues: 1) objects rotate arbitrarily, necessitating the encoding of angles along with position and size; 2) the geometric relations of oriented objects are lacking in self-attention, due to the absence of interaction between content and positional queries; and 3) oriented objects cause misalignment, mainly between values and positional queries in cross-attention, making accurate classification and localization difficult. In this paper, we propose an end-to-end transformer-based oriented object detector, consisting of three dedicated modules to address these issues. First, Gaussian positional encoding is proposed to encode the angle, position, and size of oriented boxes using Gaussian distributions. Second, Wasserstein self-attention is proposed to introduce geometric relations and facilitate interaction between content and positional queries by utilizing Gaussian Wasserstein distance scores. Third, oriented cross-attention is proposed to align values and positional queries by rotating sampling points around the positional query according to their angles. Experiments on six datasets DIOR-R, a series of DOTA, HRSC2016 and ICDAR2015 show the effectiveness of our approach. Compared with previous end-to-end detectors, the OrientedFormer gains 1.16 and 1.21 AP$_{50}$ on DIOR-R and DOTA-v1.0 respectively, while reducing training epochs from 3$\times$ to 1$\times$. The codes are available at https://github.com/wokaikaixinxin/OrientedFormer.

Efficient Decoder for End-to-End Oriented Object Detection in Remote Sensing Images

Object instances in remote sensing images often distribute with multi-orientations, varying scales, and dense distribution. These issues bring challenges to end-to-end oriented object detectors including multi-scale features alignment and a large number of queries. To address these limitations, we propose an end-to-end oriented detector equipped with an efficient decoder, which incorporates two technologies, Rotated RoI attention (RRoI attention) and Selective Distinct Queries (SDQ). Specifically, RRoI attention effectively focuses on oriented regions of interest through a cross-attention mechanism and aligns multi-scale features. SDQ collects queries from intermediate decoder layers and then filters similar queries to obtain distinct queries. The proposed SDQ can facilitate the optimization of one-to-one label assignment, without introducing redundant initial queries or extra auxiliary branches. Extensive experiments on five datasets demonstrate the effectiveness of our method. Notably, our method achieves state-of-the-art performance on DIOR-R (67.31% mAP), DOTA-v1.5 (67.43% mAP), and DOTA-v2.0 (53.28% mAP) with the ResNet50 backbone.

Vehicle Re-Identification Based on Complementary Features

In this work, we present our solution to the vehicle re-identification (vehicle Re-ID) track in AI City Challenge 2020 (AIC2020). The purpose of vehicle Re-ID is to retrieve the same vehicle appeared across multiple cameras, and it could make a great contribution to the Intelligent Traffic System(ITS) and smart city. Due to the vehicle's orientation, lighting and inter-class similarity, it is difficult to achieve robust and discriminative representation feature. For the vehicle Re-ID track in AIC2020, our method is to fuse features extracted from different networks in order to take advantages of these networks and achieve complementary features. For each single model, several methods such as multi-loss, filter grafting, semi-supervised are used to increase the representation ability as better as possible. Top performance in City-Scale Multi-Camera Vehicle Re-Identification demonstrated the advantage of our methods, and we got 5-th place in the vehicle Re-ID track of AIC2020. The codes are available at https://github.com/gggcy/AIC2020_ReID.

Video Object Segmentation and Tracking: A Survey

Object segmentation and object tracking are fundamental research area in the computer vision community. These two topics are diffcult to handle some common challenges, such as occlusion, deformation, motion blur, and scale variation. The former contains heterogeneous object, interacting object, edge ambiguity, and shape complexity. And the latter suffers from difficulties in handling fast motion, out-of-view, and real-time processing. Combining the two problems of video object segmentation and tracking (VOST) can overcome their respective difficulties and improve their performance. VOST can be widely applied to many practical applications such as video summarization, high definition video compression, human computer interaction, and autonomous vehicles. This article aims to provide a comprehensive review of the state-of-the-art tracking methods, and classify these methods into different categories, and identify new trends. First, we provide a hierarchical categorization existing approaches, including unsupervised VOS, semi-supervised VOS, interactive VOS, weakly supervised VOS, and segmentation-based tracking methods. Second, we provide a detailed discussion and overview of the technical characteristics of the different methods. Third, we summarize the characteristics of the related video dataset, and provide a variety of evaluation metrics. Finally, we point out a set of interesting future works and draw our own conclusions.