SphereFusion: Efficient Panorama Depth Estimation via Gated Fusion

Due to the rapid development of panorama cameras, the task of estimating panorama depth has attracted significant attention from the computer vision community, especially in applications such as robot sensing and autonomous driving. However, existing methods relying on different projection formats often encounter challenges, either struggling with distortion and discontinuity in the case of equirectangular, cubemap, and tangent projections, or experiencing a loss of texture details with the spherical projection. To tackle these concerns, we present SphereFusion, an end-to-end framework that combines the strengths of various projection methods. Specifically, SphereFusion initially employs 2D image convolution and mesh operations to extract two distinct types of features from the panorama image in both equirectangular and spherical projection domains. These features are then projected onto the spherical domain, where a gate fusion module selects the most reliable features for fusion. Finally, SphereFusion estimates panorama depth within the spherical domain. Meanwhile, SphereFusion employs a cache strategy to improve the efficiency of mesh operation. Extensive experiments on three public panorama datasets demonstrate that SphereFusion achieves competitive results with other state-of-the-art methods, while presenting the fastest inference speed at only 17 ms on a 512$\times$1024 panorama image.

Every Angle Is Worth A Second Glance: Mining Kinematic Skeletal Structures from Multi-view Joint Cloud

Multi-person motion capture over sparse angular observations is a challenging problem under interference from both self- and mutual-occlusions. Existing works produce accurate 2D joint detection, however, when these are triangulated and lifted into 3D, available solutions all struggle in selecting the most accurate candidates and associating them to the correct joint type and target identity. As such, in order to fully utilize all accurate 2D joint location information, we propose to independently triangulate between all same-typed 2D joints from all camera views regardless of their target ID, forming the Joint Cloud. Joint Cloud consist of both valid joints lifted from the same joint type and target ID, as well as falsely constructed ones that are from different 2D sources. These redundant and inaccurate candidates are processed over the proposed Joint Cloud Selection and Aggregation Transformer (JCSAT) involving three cascaded encoders which deeply explore the trajectile, skeletal structural, and view-dependent correlations among all 3D point candidates in the cross-embedding space. An Optimal Token Attention Path (OTAP) module is proposed which subsequently selects and aggregates informative features from these redundant observations for the final prediction of human motion. To demonstrate the effectiveness of JCSAT, we build and publish a new multi-person motion capture dataset BUMocap-X with complex interactions and severe occlusions. Comprehensive experiments over the newly presented as well as benchmark datasets validate the effectiveness of the proposed framework, which outperforms all existing state-of-the-art methods, especially under challenging occlusion scenarios.

Hierarchical Banzhaf Interaction for General Video-Language Representation Learning

Multimodal representation learning, with contrastive learning, plays an important role in the artificial intelligence domain. As an important subfield, video-language representation learning focuses on learning representations using global semantic interactions between pre-defined video-text pairs. However, to enhance and refine such coarse-grained global interactions, more detailed interactions are necessary for fine-grained multimodal learning. In this study, we introduce a new approach that models video-text as game players using multivariate cooperative game theory to handle uncertainty during fine-grained semantic interactions with diverse granularity, flexible combination, and vague intensity. Specifically, we design the Hierarchical Banzhaf Interaction to simulate the fine-grained correspondence between video clips and textual words from hierarchical perspectives. Furthermore, to mitigate the bias in calculations within Banzhaf Interaction, we propose reconstructing the representation through a fusion of single-modal and cross-modal components. This reconstructed representation ensures fine granularity comparable to that of the single-modal representation, while also preserving the adaptive encoding characteristics of cross-modal representation. Additionally, we extend our original structure into a flexible encoder-decoder framework, enabling the model to adapt to various downstream tasks. Extensive experiments on commonly used text-video retrieval, video-question answering, and video captioning benchmarks, with superior performance, validate the effectiveness and generalization of our method.

Scalable Hierarchical Reinforcement Learning for Hyper Scale Multi-Robot Task Planning

To improve the efficiency of warehousing system and meet huge customer orders, we aim to solve the challenges of dimension disaster and dynamic properties in hyper scale multi-robot task planning (MRTP) for robotic mobile fulfillment system (RMFS). Existing research indicates that hierarchical reinforcement learning (HRL) is an effective method to reduce these challenges. Based on that, we construct an efficient multi-stage HRL-based multi-robot task planner for hyper scale MRTP in RMFS, and the planning process is represented with a special temporal graph topology. To ensure optimality, the planner is designed with a centralized architecture, but it also brings the challenges of scaling up and generalization that require policies to maintain performance for various unlearned scales and maps. To tackle these difficulties, we first construct a hierarchical temporal attention network (HTAN) to ensure basic ability of handling inputs with unfixed lengths, and then design multi-stage curricula for hierarchical policy learning to further improve the scaling up and generalization ability while avoiding catastrophic forgetting. Additionally, we notice that policies with hierarchical structure suffer from unfair credit assignment that is similar to that in multi-agent reinforcement learning, inspired of which, we propose a hierarchical reinforcement learning algorithm with counterfactual rollout baseline to improve learning performance. Experimental results demonstrate that our planner outperform other state-of-the-art methods on various MRTP instances in both simulated and real-world RMFS. Also, our planner can successfully scale up to hyper scale MRTP instances in RMFS with up to 200 robots and 1000 retrieval racks on unlearned maps while keeping superior performance over other methods.

YuLan-Mini: An Open Data-efficient Language Model

Effective pre-training of large language models (LLMs) has been challenging due to the immense resource demands and the complexity of the technical processes involved. This paper presents a detailed technical report on YuLan-Mini, a highly capable base model with 2.42B parameters that achieves top-tier performance among models of similar parameter scale. Our pre-training approach focuses on enhancing training efficacy through three key technical contributions: an elaborate data pipeline combines data cleaning with data schedule strategies, a robust optimization method to mitigate training instability, and an effective annealing approach that incorporates targeted data selection and long context training. Remarkably, YuLan-Mini, trained on 1.08T tokens, achieves performance comparable to industry-leading models that require significantly more data. To facilitate reproduction, we release the full details of the data composition for each training phase. Project details can be accessed at the following link: https://github.com/RUC-GSAI/YuLan-Mini.

Knowing Where to Focus: Attention-Guided Alignment for Text-based Person Search

In the realm of Text-Based Person Search (TBPS), mainstream methods aim to explore more efficient interaction frameworks between text descriptions and visual data. However, recent approaches encounter two principal challenges. Firstly, the widely used random-based Masked Language Modeling (MLM) considers all the words in the text equally during training. However, massive semantically vacuous words ('with', 'the', etc.) be masked fail to contribute efficient interaction in the cross-modal MLM and hampers the representation alignment. Secondly, manual descriptions in TBPS datasets are tedious and inevitably contain several inaccuracies. To address these issues, we introduce an Attention-Guided Alignment (AGA) framework featuring two innovative components: Attention-Guided Mask (AGM) Modeling and Text Enrichment Module (TEM). AGM dynamically masks semantically meaningful words by aggregating the attention weight derived from the text encoding process, thereby cross-modal MLM can capture information related to the masked word from text context and images and align their representations. Meanwhile, TEM alleviates low-quality representations caused by repetitive and erroneous text descriptions by replacing those semantically meaningful words with MLM's prediction. It not only enriches text descriptions but also prevents overfitting. Extensive experiments across three challenging benchmarks demonstrate the effectiveness of our AGA, achieving new state-of-the-art results with Rank-1 accuracy reaching 78.36%, 67.31%, and 67.4% on CUHK-PEDES, ICFG-PEDES, and RSTPReid, respectively.

Seed-CTS: Unleashing the Power of Tree Search for Superior Performance in Competitive Coding Tasks

Competition-level code generation tasks pose significant challenges for current state-of-the-art large language models (LLMs). For example, on the LiveCodeBench-Hard dataset, models such as O1-Mini and O1-Preview achieve pass@1 rates of only 0.366 and 0.143, respectively. While tree search techniques have proven effective in domains like mathematics and general coding, their potential in competition-level code generation remains under-explored. In this work, we propose a novel token-level tree search method specifically designed for code generation. Leveraging Qwen2.5-Coder-32B-Instruct, our approach achieves a pass rate of 0.305 on LiveCodeBench-Hard, surpassing the pass@100 performance of GPT4o-0513 (0.245). Furthermore, by integrating Chain-of-Thought (CoT) prompting, we improve our method's performance to 0.351, approaching O1-Mini's pass@1 rate. To ensure reproducibility, we report the average number of generations required per problem by our tree search method on the test set. Our findings underscore the potential of tree search to significantly enhance performance on competition-level code generation tasks. This opens up new possibilities for large-scale synthesis of challenging code problems supervised fine-tuning (SFT) data, advancing competition-level code generation tasks.

Imitate, Explore, and Self-Improve: A Reproduction Report on Slow-thinking Reasoning Systems

Recently, slow-thinking reasoning systems, such as o1, have demonstrated remarkable capabilities in solving complex reasoning tasks. These systems typically engage in an extended thinking process before responding to a query, allowing them to generate more thorough, accurate, and well-reasoned solutions. These systems are primarily developed and maintained by industry, with their core techniques not publicly disclosed. In response, an increasing number of studies from the research community aim to explore the technical foundations underlying these powerful reasoning systems. Building on these prior efforts, this paper presents a reproduction report on implementing o1-like reasoning systems. We introduce an "imitate, explore, and self-improve" framework as our primary technical approach to train the reasoning model. In the initial phase, we use distilled long-form thought data to fine-tune the reasoning model, enabling it to invoke a slow-thinking mode. The model is then encouraged to explore challenging problems by generating multiple rollouts, which can result in increasingly more high-quality trajectories that lead to correct answers. Furthermore, the model undergoes self-improvement by iteratively refining its training dataset. To verify the effectiveness of this approach, we conduct extensive experiments on three challenging benchmarks. The experimental results demonstrate that our approach achieves competitive performance compared to industry-level reasoning systems on these benchmarks.

Adversarial Purification by Consistency-aware Latent Space Optimization on Data Manifolds

Deep neural networks (DNNs) are vulnerable to adversarial samples crafted by adding imperceptible perturbations to clean data, potentially leading to incorrect and dangerous predictions. Adversarial purification has been an effective means to improve DNNs robustness by removing these perturbations before feeding the data into the model. However, it faces significant challenges in preserving key structural and semantic information of data, as the imperceptible nature of adversarial perturbations makes it hard to avoid over-correcting, which can destroy important information and degrade model performance. In this paper, we break away from traditional adversarial purification methods by focusing on the clean data manifold. To this end, we reveal that samples generated by a well-trained generative model are close to clean ones but far from adversarial ones. Leveraging this insight, we propose Consistency Model-based Adversarial Purification (CMAP), which optimizes vectors within the latent space of a pre-trained consistency model to generate samples for restoring clean data. Specifically, 1) we propose a \textit{Perceptual consistency restoration} mechanism by minimizing the discrepancy between generated samples and input samples in both pixel and perceptual spaces. 2) To maintain the optimized latent vectors within the valid data manifold, we introduce a \textit{Latent distribution consistency constraint} strategy to align generated samples with the clean data distribution. 3) We also apply a \textit{Latent vector consistency prediction} scheme via an ensemble approach to enhance prediction reliability. CMAP fundamentally addresses adversarial perturbations at their source, providing a robust purification. Extensive experiments on CIFAR-10 and ImageNet-100 show that our CMAP significantly enhances robustness against strong adversarial attacks while preserving high natural accuracy.

Towards Generalizable Autonomous Penetration Testing via Domain Randomization and Meta-Reinforcement Learning

With increasing numbers of vulnerabilities exposed on the internet, autonomous penetration testing (pentesting) has emerged as an emerging research area, while reinforcement learning (RL) is a natural fit for studying autonomous pentesting. Previous research in RL-based autonomous pentesting mainly focused on enhancing agents' learning efficacy within abstract simulated training environments. They overlooked the applicability and generalization requirements of deploying agents' policies in real-world environments that differ substantially from their training settings. In contrast, for the first time, we shift focus to the pentesting agents' ability to generalize across unseen real environments. For this purpose, we propose a Generalizable Autonomous Pentesting framework (namely GAP) for training agents capable of drawing inferences from one to another -- a key requirement for the broad application of autonomous pentesting and a hallmark of human intelligence. GAP introduces a Real-to-Sim-to-Real pipeline with two key methods: domain randomization and meta-RL learning. Specifically, we are among the first to apply domain randomization in autonomous pentesting and propose a large language model-powered domain randomization method for synthetic environment generation. We further apply meta-RL to improve the agents' generalization ability in unseen environments by leveraging the synthetic environments. The combination of these two methods can effectively bridge the generalization gap and improve policy adaptation performance. Experiments are conducted on various vulnerable virtual machines, with results showing that GAP can (a) enable policy learning in unknown real environments, (b) achieve zero-shot policy transfer in similar environments, and (c) realize rapid policy adaptation in dissimilar environments.