HeightFormer: Learning Height Prediction in Voxel Features for Roadside Vision Centric 3D Object Detection via Transformer

Roadside vision centric 3D object detection has received increasing attention in recent years. It expands the perception range of autonomous vehicles, enhances the road safety. Previous methods focused on predicting per-pixel height rather than depth, making significant gains in roadside visual perception. While it is limited by the perspective property of near-large and far-small on image features, making it difficult for network to understand real dimension of objects in the 3D world. BEV features and voxel features present the real distribution of objects in 3D world compared to the image features. However, BEV features tend to lose details due to the lack of explicit height information, and voxel features are computationally expensive. Inspired by this insight, an efficient framework learning height prediction in voxel features via transformer is proposed, dubbed HeightFormer. It groups the voxel features into local height sequences, and utilize attention mechanism to obtain height distribution prediction. Subsequently, the local height sequences are reassembled to generate accurate 3D features. The proposed method is applied to two large-scale roadside benchmarks, DAIR-V2X-I and Rope3D. Extensive experiments are performed and the HeightFormer outperforms the state-of-the-art methods in roadside vision centric 3D object detection task.

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots

The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception framework that synergistically integrates panoramic vision and LiDAR sensing to overcome these limitations. Unlike conventional robot perception systems that rely on monocular cameras or standard multi-sensor configurations, our method establishes geometrically-aware modality alignment through a spherical vision transformer, enabling seamless fusion of 360 visual context with LiDAR's precise depth measurements. First, Spherical Geometry-aware Constraints (SGC) leverage panoramic camera ray properties to guide distortion-regularized sampling offsets for geometric alignment. Second, Spatial Deformable Attention (SDA) aggregates hierarchical 3D features via spherical offsets, enabling efficient 360{\deg}-to-BEV fusion with geometrically complete object representations. Third, Panoramic Augmentation (AUG) combines cross-view transformations and semantic alignment to enhance BEV-panoramic feature consistency during data augmentation. Extensive evaluations demonstrate state-of-the-art performance on the 360BEV-Matterport benchmark. Real-world deployment on humanoid platforms validates the system's capability to generate accurate BEV segmentation maps through panoramic-LiDAR co-perception, directly enabling downstream navigation tasks in complex environments. Our work establishes a new paradigm for embodied perception in humanoid robotics.

S$^2$DN: Learning to Denoise Unconvincing Knowledge for Inductive Knowledge Graph Completion

Inductive Knowledge Graph Completion (KGC) aims to infer missing facts between newly emerged entities within knowledge graphs (KGs), posing a significant challenge. While recent studies have shown promising results in inferring such entities through knowledge subgraph reasoning, they suffer from (i) the semantic inconsistencies of similar relations, and (ii) noisy interactions inherent in KGs due to the presence of unconvincing knowledge for emerging entities. To address these challenges, we propose a Semantic Structure-aware Denoising Network (S$^2$DN) for inductive KGC. Our goal is to learn adaptable general semantics and reliable structures to distill consistent semantic knowledge while preserving reliable interactions within KGs. Specifically, we introduce a semantic smoothing module over the enclosing subgraphs to retain the universal semantic knowledge of relations. We incorporate a structure refining module to filter out unreliable interactions and offer additional knowledge, retaining robust structure surrounding target links. Extensive experiments conducted on three benchmark KGs demonstrate that S$^2$DN surpasses the performance of state-of-the-art models. These results demonstrate the effectiveness of S$^2$DN in preserving semantic consistency and enhancing the robustness of filtering out unreliable interactions in contaminated KGs.

Region-Based Optimization in Continual Learning for Audio Deepfake Detection

Rapid advancements in speech synthesis and voice conversion bring convenience but also new security risks, creating an urgent need for effective audio deepfake detection. Although current models perform well, their effectiveness diminishes when confronted with the diverse and evolving nature of real-world deepfakes. To address this issue, we propose a continual learning method named Region-Based Optimization (RegO) for audio deepfake detection. Specifically, we use the Fisher information matrix to measure important neuron regions for real and fake audio detection, dividing them into four regions. First, we directly fine-tune the less important regions to quickly adapt to new tasks. Next, we apply gradient optimization in parallel for regions important only to real audio detection, and in orthogonal directions for regions important only to fake audio detection. For regions that are important to both, we use sample proportion-based adaptive gradient optimization. This region-adaptive optimization ensures an appropriate trade-off between memory stability and learning plasticity. Additionally, to address the increase of redundant neurons from old tasks, we further introduce the Ebbinghaus forgetting mechanism to release them, thereby promoting the capability of the model to learn more generalized discriminative features. Experimental results show our method achieves a 21.3% improvement in EER over the state-of-the-art continual learning approach RWM for audio deepfake detection. Moreover, the effectiveness of RegO extends beyond the audio deepfake detection domain, showing potential significance in other tasks, such as image recognition. The code is available at https://github.com/cyjie429/RegO

Reject Threshold Adaptation for Open-Set Model Attribution of Deepfake Audio

Open environment oriented open set model attribution of deepfake audio is an emerging research topic, aiming to identify the generation models of deepfake audio. Most previous work requires manually setting a rejection threshold for unknown classes to compare with predicted probabilities. However, models often overfit training instances and generate overly confident predictions. Moreover, thresholds that effectively distinguish unknown categories in the current dataset may not be suitable for identifying known and unknown categories in another data distribution. To address the issues, we propose a novel framework for open set model attribution of deepfake audio with rejection threshold adaptation (ReTA). Specifically, the reconstruction error learning module trains by combining the representation of system fingerprints with labels corresponding to either the target class or a randomly chosen other class label. This process generates matching and non-matching reconstructed samples, establishing the reconstruction error distributions for each class and laying the foundation for the reject threshold calculation module. The reject threshold calculation module utilizes gaussian probability estimation to fit the distributions of matching and non-matching reconstruction errors. It then computes adaptive reject thresholds for all classes through probability minimization criteria. The experimental results demonstrate the effectiveness of ReTA in improving the open set model attributes of deepfake audio.

A Time Series is Worth Five Experts: Heterogeneous Mixture of Experts for Traffic Flow Prediction

Accurate traffic prediction faces significant challenges, necessitating a deep understanding of both temporal and spatial cues and their complex interactions across multiple variables. Recent advancements in traffic prediction systems are primarily due to the development of complex sequence-centric models. However, existing approaches often embed multiple variables and spatial relationships at each time step, which may hinder effective variable-centric learning, ultimately leading to performance degradation in traditional traffic prediction tasks. To overcome these limitations, we introduce variable-centric and prior knowledge-centric modeling techniques. Specifically, we propose a Heterogeneous Mixture of Experts (TITAN) model for traffic flow prediction. TITAN initially consists of three experts focused on sequence-centric modeling. Then, designed a low-rank adaptive method, TITAN simultaneously enables variable-centric modeling. Furthermore, we supervise the gating process using a prior knowledge-centric modeling strategy to ensure accurate routing. Experiments on two public traffic network datasets, METR-LA and PEMS-BAY, demonstrate that TITAN effectively captures variable-centric dependencies while ensuring accurate routing. Consequently, it achieves improvements in all evaluation metrics, ranging from approximately 4.37\% to 11.53\%, compared to previous state-of-the-art (SOTA) models. The code is open at \href{https://github.com/sqlcow/TITAN}{https://github.com/sqlcow/TITAN}.

Utilizing Speaker Profiles for Impersonation Audio Detection

Fake audio detection is an emerging active topic. A growing number of literatures have aimed to detect fake utterance, which are mostly generated by Text-to-speech (TTS) or voice conversion (VC). However, countermeasures against impersonation remain an underexplored area. Impersonation is a fake type that involves an imitator replicating specific traits and speech style of a target speaker. Unlike TTS and VC, which often leave digital traces or signal artifacts, impersonation involves live human beings producing entirely natural speech, rendering the detection of impersonation audio a challenging task. Thus, we propose a novel method that integrates speaker profiles into the process of impersonation audio detection. Speaker profiles are inherent characteristics that are challenging for impersonators to mimic accurately, such as speaker's age, job. We aim to leverage these features to extract discriminative information for detecting impersonation audio. Moreover, there is no large impersonated speech corpora available for quantitative study of impersonation impacts. To address this gap, we further design the first large-scale, diverse-speaker Chinese impersonation dataset, named ImPersonation Audio Detection (IPAD), to advance the community's research on impersonation audio detection. We evaluate several existing fake audio detection methods on our proposed dataset IPAD, demonstrating its necessity and the challenges. Additionally, our findings reveal that incorporating speaker profiles can significantly enhance the model's performance in detecting impersonation audio.

An Unsupervised Domain Adaptation Method for Locating Manipulated Region in partially fake Audio

When the task of locating manipulation regions in partially-fake audio (PFA) involves cross-domain datasets, the performance of deep learning models drops significantly due to the shift between the source and target domains. To address this issue, existing approaches often employ data augmentation before training. However, they overlook the characteristics in target domain that are absent in source domain. Inspired by the mixture-of-experts model, we propose an unsupervised method named Samples mining with Diversity and Entropy (SDE). Our method first learns from a collection of diverse experts that achieve great performance from different perspectives in the source domain, but with ambiguity on target samples. We leverage these diverse experts to select the most informative samples by calculating their entropy. Furthermore, we introduced a label generation method tailored for these selected samples that are incorporated in the training process in source domain integrating the target domain information. We applied our method to a cross-domain partially fake audio detection dataset, ADD2023Track2. By introducing 10% of unknown samples from the target domain, we achieved an F1 score of 43.84%, which represents a relative increase of 77.2% compared to the second-best method.

Frequency-mix Knowledge Distillation for Fake Speech Detection

In the telephony scenarios, the fake speech detection (FSD) task to combat speech spoofing attacks is challenging. Data augmentation (DA) methods are considered effective means to address the FSD task in telephony scenarios, typically divided into time domain and frequency domain stages. While each has its advantages, both can result in information loss. To tackle this issue, we propose a novel DA method, Frequency-mix (Freqmix), and introduce the Freqmix knowledge distillation (FKD) to enhance model information extraction and generalization abilities. Specifically, we use Freqmix-enhanced data as input for the teacher model, while the student model's input undergoes time-domain DA method. We use a multi-level feature distillation approach to restore information and improve the model's generalization capabilities. Our approach achieves state-of-the-art results on ASVspoof 2021 LA dataset, showing a 31\% improvement over baseline and performs competitively on ASVspoof 2021 DF dataset.

RawBMamba: End-to-End Bidirectional State Space Model for Audio Deepfake Detection

Fake artefacts for discriminating between bonafide and fake audio can exist in both short- and long-range segments. Therefore, combining local and global feature information can effectively discriminate between bonafide and fake audio. This paper proposes an end-to-end bidirectional state space model, named RawBMamba, to capture both short- and long-range discriminative information for audio deepfake detection. Specifically, we use sinc Layer and multiple convolutional layers to capture short-range features, and then design a bidirectional Mamba to address Mamba's unidirectional modelling problem and further capture long-range feature information. Moreover, we develop a bidirectional fusion module to integrate embeddings, enhancing audio context representation and combining short- and long-range information. The results show that our proposed RawBMamba achieves a 34.1\% improvement over Rawformer on ASVspoof2021 LA dataset, and demonstrates competitive performance on other datasets.