A Novel ViDAR Device With Visual Inertial Encoder Odometry and Reinforcement Learning-Based Active SLAM Method

In the field of multi-sensor fusion for simultaneous localization and mapping (SLAM), monocular cameras and IMUs are widely used to build simple and effective visual-inertial systems. However, limited research has explored the integration of motor-encoder devices to enhance SLAM performance. By incorporating such devices, it is possible to significantly improve active capability and field of view (FOV) with minimal additional cost and structural complexity. This paper proposes a novel visual-inertial-encoder tightly coupled odometry (VIEO) based on a ViDAR (Video Detection and Ranging) device. A ViDAR calibration method is introduced to ensure accurate initialization for VIEO. In addition, a platform motion decoupled active SLAM method based on deep reinforcement learning (DRL) is proposed. Experimental data demonstrate that the proposed ViDAR and the VIEO algorithm significantly increase cross-frame co-visibility relationships compared to its corresponding visual-inertial odometry (VIO) algorithm, improving state estimation accuracy. Additionally, the DRL-based active SLAM algorithm, with the ability to decouple from platform motion, can increase the diversity weight of the feature points and further enhance the VIEO algorithm's performance. The proposed methodology sheds fresh insights into both the updated platform design and decoupled approach of active SLAM systems in complex environments.

SPPSFormer: High-quality Superpoint-based Transformer for Roof Plane Instance Segmentation from Point Clouds

Transformers have been seldom employed in point cloud roof plane instance segmentation, which is the focus of this study, and existing superpoint Transformers suffer from limited performance due to the use of low-quality superpoints. To address this challenge, we establish two criteria that high-quality superpoints for Transformers should satisfy and introduce a corresponding two-stage superpoint generation process. The superpoints generated by our method not only have accurate boundaries, but also exhibit consistent geometric sizes and shapes, both of which greatly benefit the feature learning of superpoint Transformers. To compensate for the limitations of deep learning features when the training set size is limited, we incorporate multidimensional handcrafted features into the model. Additionally, we design a decoder that combines a Kolmogorov-Arnold Network with a Transformer module to improve instance prediction and mask extraction. Finally, our network's predictions are refined using traditional algorithm-based postprocessing. For evaluation, we annotated a real-world dataset and corrected annotation errors in the existing RoofN3D dataset. Experimental results show that our method achieves state-of-the-art performance on our dataset, as well as both the original and reannotated RoofN3D datasets. Moreover, our model is not sensitive to plane boundary annotations during training, significantly reducing the annotation burden. Through comprehensive experiments, we also identified key factors influencing roof plane segmentation performance: in addition to roof types, variations in point cloud density, density uniformity, and 3D point precision have a considerable impact. These findings underscore the importance of incorporating data augmentation strategies that account for point cloud quality to enhance model robustness under diverse and challenging conditions.

Step-wise Adaptive Integration of Supervised Fine-tuning and Reinforcement Learning for Task-Specific LLMs

Large language models (LLMs) excel at mathematical reasoning and logical problem-solving. The current popular training paradigms primarily use supervised fine-tuning (SFT) and reinforcement learning (RL) to enhance the models' reasoning abilities. However, when using SFT or RL alone, there are respective challenges: SFT may suffer from overfitting, while RL is prone to mode collapse. The state-of-the-art methods have proposed hybrid training schemes. However, static switching faces challenges such as poor generalization across different tasks and high dependence on data quality. In response to these challenges, inspired by the curriculum learning-quiz mechanism in human reasoning cultivation, We propose SASR, a step-wise adaptive hybrid training framework that theoretically unifies SFT and RL and dynamically balances the two throughout optimization. SASR uses SFT for initial warm-up to establish basic reasoning skills, and then uses an adaptive dynamic adjustment algorithm based on gradient norm and divergence relative to the original distribution to seamlessly integrate SFT with the online RL method GRPO. By monitoring the training status of LLMs and adjusting the training process in sequence, SASR ensures a smooth transition between training schemes, maintaining core reasoning abilities while exploring different paths. Experimental results demonstrate that SASR outperforms SFT, RL, and static hybrid training methods.

BioChemInsight: An Open-Source Toolkit for Automated Identification and Recognition of Optical Chemical Structures and Activity Data in Scientific Publications

Automated extraction of chemical structures and their bioactivity data is crucial for accelerating drug discovery and enabling data-driven pharmaceutical research. Existing optical chemical structure recognition (OCSR) tools fail to autonomously associate molecular structures with their bioactivity profiles, creating a critical bottleneck in structure-activity relationship (SAR) analysis. Here, we present BioChemInsight, an open-source pipeline that integrates: (1) DECIMER Segmentation and MolVec for chemical structure recognition, (2) Qwen2.5-VL-32B for compound identifier association, and (3) PaddleOCR with Gemini-2.0-flash for bioactivity extraction and unit normalization. We evaluated the performance of BioChemInsight on 25 patents and 17 articles. BioChemInsight achieved 95% accuracy for tabular patent data (structure/identifier recognition), with lower accuracy in non-tabular patents (~80% structures, ~75% identifiers), plus 92.2 % bioactivity extraction accuracy. For articles, it attained >99% identifiers and 78-80% structure accuracy in non-tabular formats, plus 97.4% bioactivity extraction accuracy. The system generates ready-to-use SAR datasets, reducing data preprocessing time from weeks to hours while enabling applications in high-throughput screening and ML-driven drug design (https://github.com/dahuilangda/BioChemInsight).

Model Inversion in Split Learning for Personalized LLMs: New Insights from Information Bottleneck Theory

Personalized Large Language Models (LLMs) have become increasingly prevalent, showcasing the impressive capabilities of models like GPT-4. This trend has also catalyzed extensive research on deploying LLMs on mobile devices. Feasible approaches for such edge-cloud deployment include using split learning. However, previous research has largely overlooked the privacy leakage associated with intermediate representations transmitted from devices to servers. This work is the first to identify model inversion attacks in the split learning framework for LLMs, emphasizing the necessity of secure defense. For the first time, we introduce mutual information entropy to understand the information propagation of Transformer-based LLMs and assess privacy attack performance for LLM blocks. To address the issue of representations being sparser and containing less information than embeddings, we propose a two-stage attack system in which the first part projects representations into the embedding space, and the second part uses a generative model to recover text from these embeddings. This design breaks down the complexity and achieves attack scores of 38%-75% in various scenarios, with an over 60% improvement over the SOTA. This work comprehensively highlights the potential privacy risks during the deployment of personalized LLMs on the edge side.

PlaneSAM: Multimodal Plane Instance Segmentation Using the Segment Anything Model

Plane instance segmentation from RGB-D data is a crucial research topic for many downstream tasks. However, most existing deep-learning-based methods utilize only information within the RGB bands, neglecting the important role of the depth band in plane instance segmentation. Based on EfficientSAM, a fast version of SAM, we propose a plane instance segmentation network called PlaneSAM, which can fully integrate the information of the RGB bands (spectral bands) and the D band (geometric band), thereby improving the effectiveness of plane instance segmentation in a multimodal manner. Specifically, we use a dual-complexity backbone, with primarily the simpler branch learning D-band features and primarily the more complex branch learning RGB-band features. Consequently, the backbone can effectively learn D-band feature representations even when D-band training data is limited in scale, retain the powerful RGB-band feature representations of EfficientSAM, and allow the original backbone branch to be fine-tuned for the current task. To enhance the adaptability of our PlaneSAM to the RGB-D domain, we pretrain our dual-complexity backbone using the segment anything task on large-scale RGB-D data through a self-supervised pretraining strategy based on imperfect pseudo-labels. To support the segmentation of large planes, we optimize the loss function combination ratio of EfficientSAM. In addition, Faster R-CNN is used as a plane detector, and its predicted bounding boxes are fed into our dual-complexity network as prompts, thereby enabling fully automatic plane instance segmentation. Experimental results show that the proposed PlaneSAM sets a new SOTA performance on the ScanNet dataset, and outperforms previous SOTA approaches in zero-shot transfer on the 2D-3D-S, Matterport3D, and ICL-NUIM RGB-D datasets, while only incurring a 10% increase in computational overhead compared to EfficientSAM.

How to Learn in a Noisy World? Self-Correcting the Real-World Data Noise on Machine Translation

The massive amounts of web-mined parallel data contain large amounts of noise. Semantic misalignment, as the primary source of the noise, poses a challenge for training machine translation systems. In this paper, we first study the impact of real-world hard-to-detect misalignment noise by proposing a process to simulate the realistic misalignment controlled by semantic similarity. After quantitatively analyzing the impact of simulated misalignment on machine translation, we show the limited effectiveness of widely used pre-filters to improve the translation performance, underscoring the necessity of more fine-grained ways to handle data noise. By observing the increasing reliability of the model's self-knowledge for distinguishing misaligned and clean data at the token-level, we propose a self-correction approach which leverages the model's prediction distribution to revise the training supervision from the ground-truth data over training time. Through comprehensive experiments, we show that our self-correction method not only improves translation performance in the presence of simulated misalignment noise but also proves effective for real-world noisy web-mined datasets across eight translation tasks.

Disentangling the Roles of Target-Side Transfer and Regularization in Multilingual Machine Translation

Multilingual Machine Translation (MMT) benefits from knowledge transfer across different language pairs. However, improvements in one-to-many translation compared to many-to-one translation are only marginal and sometimes even negligible. This performance discrepancy raises the question of to what extent positive transfer plays a role on the target-side for one-to-many MT. In this paper, we conduct a large-scale study that varies the auxiliary target side languages along two dimensions, i.e., linguistic similarity and corpus size, to show the dynamic impact of knowledge transfer on the main language pairs. We show that linguistically similar auxiliary target languages exhibit strong ability to transfer positive knowledge. With an increasing size of similar target languages, the positive transfer is further enhanced to benefit the main language pairs. Meanwhile, we find distant auxiliary target languages can also unexpectedly benefit main language pairs, even with minimal positive transfer ability. Apart from transfer, we show distant auxiliary target languages can act as a regularizer to benefit translation performance by enhancing the generalization and model inference calibration.

How Far Can 100 Samples Go? Unlocking Overall Zero-Shot Multilingual Translation via Tiny Multi-Parallel Data

Zero-shot translation is an open problem, aiming to translate between language pairs unseen during training in Multilingual Machine Translation (MMT). A common, albeit resource-consuming, solution is to mine as many translation directions as possible to add to the parallel corpus. In this paper, we show that the zero-shot capability of an English-centric model can be easily enhanced by fine-tuning with a very small amount of multi-parallel data. For example, on the EC30 dataset, we show that up to +21.7 ChrF non-English overall improvements (870 directions) can be achieved by using only 100 multi-parallel samples, meanwhile preserving capability in English-centric directions. We further study the size effect of fine-tuning data and its transfer capabilities. Surprisingly, our empirical analysis shows that comparable overall improvements can be achieved even through fine-tuning in a small, randomly sampled direction set (10\%). Also, the resulting non-English performance is quite close to the upper bound (complete translation). Due to its high efficiency and practicality, we encourage the community 1) to consider the use of the fine-tuning method as a strong baseline for zero-shot translation and 2) to construct more comprehensive and high-quality multi-parallel data to cover real-world demand.

FOLLOWUPQG: Towards Information-Seeking Follow-up Question Generation

Humans ask follow-up questions driven by curiosity, which reflects a creative human cognitive process. We introduce the task of real-world information-seeking follow-up question generation (FQG), which aims to generate follow-up questions seeking a more in-depth understanding of an initial question and answer. We construct FOLLOWUPQG, a dataset of over 3K real-world (initial question, answer, follow-up question) tuples collected from a Reddit forum providing layman-friendly explanations for open-ended questions. In contrast to existing datasets, questions in FOLLOWUPQG use more diverse pragmatic strategies to seek information, and they also show higher-order cognitive skills (such as applying and relating). We evaluate current question generation models on their efficacy for generating follow-up questions, exploring how to generate specific types of follow-up questions based on step-by-step demonstrations. Our results validate FOLLOWUPQG as a challenging benchmark, as model-generated questions are adequate but far from human-raised questions in terms of informativeness and complexity.