RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation

Developing robust and general-purpose robotic manipulation policies is a key goal in the field of robotics. To achieve effective generalization, it is essential to construct comprehensive datasets that encompass a large number of demonstration trajectories and diverse tasks. Unlike vision or language data that can be collected from the Internet, robotic datasets require detailed observations and manipulation actions, necessitating significant investment in hardware-software infrastructure and human labor. While existing works have focused on assembling various individual robot datasets, there remains a lack of a unified data collection standard and insufficient diversity in tasks, scenarios, and robot types. In this paper, we introduce RoboMIND (Multi-embodiment Intelligence Normative Data for Robot manipulation), featuring 55k real-world demonstration trajectories across 279 diverse tasks involving 61 different object classes. RoboMIND is collected through human teleoperation and encompasses comprehensive robotic-related information, including multi-view RGB-D images, proprioceptive robot state information, end effector details, and linguistic task descriptions. To ensure dataset consistency and reliability during policy learning, RoboMIND is built on a unified data collection platform and standardized protocol, covering four distinct robotic embodiments. We provide a thorough quantitative and qualitative analysis of RoboMIND across multiple dimensions, offering detailed insights into the diversity of our datasets. In our experiments, we conduct extensive real-world testing with four state-of-the-art imitation learning methods, demonstrating that training with RoboMIND data results in a high manipulation success rate and strong generalization. Our project is at https://x-humanoid-robomind.github.io/.

CoxKAN: Kolmogorov-Arnold Networks for Interpretable, High-Performance Survival Analysis

Survival analysis is a branch of statistics used for modeling the time until a specific event occurs and is widely used in medicine, engineering, finance, and many other fields. When choosing survival models, there is typically a trade-off between performance and interpretability, where the highest performance is achieved by black-box models based on deep learning. This is a major problem in fields such as medicine where practitioners are reluctant to blindly trust black-box models to make important patient decisions. Kolmogorov-Arnold Networks (KANs) were recently proposed as an interpretable and accurate alternative to multi-layer perceptrons (MLPs). We introduce CoxKAN, a Cox proportional hazards Kolmogorov-Arnold Network for interpretable, high-performance survival analysis. We evaluate the proposed CoxKAN on 4 synthetic datasets and 9 real medical datasets. The synthetic experiments demonstrate that CoxKAN accurately recovers interpretable symbolic formulae for the hazard function, and effectively performs automatic feature selection. Evaluation on the 9 real datasets show that CoxKAN consistently outperforms the Cox proportional hazards model and achieves performance that is superior or comparable to that of tuned MLPs. Furthermore, we find that CoxKAN identifies complex interactions between predictor variables that would be extremely difficult to recognise using existing survival methods, and automatically finds symbolic formulae which uncover the precise effect of important biomarkers on patient risk.

RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)

Effective collaboration of dual-arm robots and their tool use capabilities are increasingly important areas in the advancement of robotics. These skills play a significant role in expanding robots' ability to operate in diverse real-world environments. However, progress is impeded by the scarcity of specialized training data. This paper introduces RoboTwin, a novel benchmark dataset combining real-world teleoperated data with synthetic data from digital twins, designed for dual-arm robotic scenarios. Using the COBOT Magic platform, we have collected diverse data on tool usage and human-robot interaction. We present a innovative approach to creating digital twins using AI-generated content, transforming 2D images into detailed 3D models. Furthermore, we utilize large language models to generate expert-level training data and task-specific pose sequences oriented toward functionality. Our key contributions are: 1) the RoboTwin benchmark dataset, 2) an efficient real-to-simulation pipeline, and 3) the use of language models for automatic expert-level data generation. These advancements are designed to address the shortage of robotic training data, potentially accelerating the development of more capable and versatile robotic systems for a wide range of real-world applications. The project page is available at https://robotwin-benchmark.github.io/early-version/

ViC: Virtual Compiler Is All You Need For Assembly Code Search

Assembly code search is vital for reducing the burden on reverse engineers, allowing them to quickly identify specific functions using natural language within vast binary programs. Despite its significance, this critical task is impeded by the complexities involved in building high-quality datasets. This paper explores training a Large Language Model (LLM) to emulate a general compiler. By leveraging Ubuntu packages to compile a dataset of 20 billion tokens, we further continue pre-train CodeLlama as a Virtual Compiler (ViC), capable of compiling any source code of any language to assembly code. This approach allows for virtual compilation across a wide range of programming languages without the need for a real compiler, preserving semantic equivalency and expanding the possibilities for assembly code dataset construction. Furthermore, we use ViC to construct a sufficiently large dataset for assembly code search. Employing this extensive dataset, we achieve a substantial improvement in assembly code search performance, with our model surpassing the leading baseline by 26%.

A Self-Supervised Image Registration Approach for Measuring Local Response Patterns in Metastatic Ovarian Cancer

High-grade serous ovarian carcinoma (HGSOC) is characterised by significant spatial and temporal heterogeneity, typically manifesting at an advanced metastatic stage. A major challenge in treating advanced HGSOC is effectively monitoring localised change in tumour burden across multiple sites during neoadjuvant chemotherapy (NACT) and predicting long-term pathological response and overall patient survival. In this work, we propose a self-supervised deformable image registration algorithm that utilises a general-purpose image encoder for image feature extraction to co-register contrast-enhanced computerised tomography scan images acquired before and after neoadjuvant chemotherapy. This approach addresses challenges posed by highly complex tumour deformations and longitudinal lesion matching during treatment. Localised tumour changes are calculated using the Jacobian determinant maps of the registration deformation at multiple disease sites and their macroscopic areas, including hypo-dense (i.e., cystic/necrotic), hyper-dense (i.e., calcified), and intermediate density (i.e., soft tissue) portions. A series of experiments is conducted to understand the role of a general-purpose image encoder and its application in quantifying change in tumour burden during neoadjuvant chemotherapy in HGSOC. This work is the first to demonstrate the feasibility of a self-supervised image registration approach in quantifying NACT-induced localised tumour changes across the whole disease burden of patients with complex multi-site HGSOC, which could be used as a potential marker for ovarian cancer patient's long-term pathological response and survival.

DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planning

Dual-arm robots offer enhanced versatility and efficiency over single-arm counterparts by enabling concurrent manipulation of multiple objects or cooperative execution of tasks using both arms. However, effectively coordinating the two arms for complex long-horizon tasks remains a significant challenge. Existing task planning methods predominantly focus on single-arm robots or rely on predefined bimanual operations, failing to fully leverage the capabilities of dual-arm systems. To address this limitation, we introduce DAG-Plan, a structured task planning framework tailored for dual-arm robots. DAG-Plan harnesses large language models (LLMs) to decompose intricate tasks into actionable sub-tasks represented as nodes within a directed acyclic graph (DAG). Critically, DAG-Plan dynamically assigns these sub-tasks to the appropriate arm based on real-time environmental observations, enabling parallel and adaptive execution. We evaluate DAG-Plan on the novel Dual-Arm Kitchen Benchmark, comprising 9 sequential tasks with 78 sub-tasks and 26 objects. Extensive experiments demonstrate the superiority of DAG-Plan over directly using LLM to generate plans, achieving nearly 50% higher efficiency compared to the single-arm task planning baseline and nearly double the success rate of the dual-arm task planning baseline.

CLAP: Learning Transferable Binary Code Representations with Natural Language Supervision

Binary code representation learning has shown significant performance in binary analysis tasks. But existing solutions often have poor transferability, particularly in few-shot and zero-shot scenarios where few or no training samples are available for the tasks. To address this problem, we present CLAP (Contrastive Language-Assembly Pre-training), which employs natural language supervision to learn better representations of binary code (i.e., assembly code) and get better transferability. At the core, our approach boosts superior transfer learning capabilities by effectively aligning binary code with their semantics explanations (in natural language), resulting a model able to generate better embeddings for binary code. To enable this alignment training, we then propose an efficient dataset engine that could automatically generate a large and diverse dataset comprising of binary code and corresponding natural language explanations. We have generated 195 million pairs of binary code and explanations and trained a prototype of CLAP. The evaluations of CLAP across various downstream tasks in binary analysis all demonstrate exceptional performance. Notably, without any task-specific training, CLAP is often competitive with a fully supervised baseline, showing excellent transferability. We release our pre-trained model and code at https://github.com/Hustcw/CLAP.

How Far Have We Gone in Vulnerability Detection Using Large Language Models

As software becomes increasingly complex and prone to vulnerabilities, automated vulnerability detection is critically important, yet challenging. Given the significant successes of Large Language Models (LLMs) in various tasks, there is growing anticipation of their efficacy in vulnerability detection. However, a quantitative understanding of their potential in vulnerability detection is still missing. To bridge this gap, we introduce a comprehensive vulnerability benchmark VulBench. This benchmark aggregates high-quality data from a wide range of CTF (Capture-the-Flag) challenges and real-world applications, with annotations for each vulnerable function detailing the vulnerability type and its root cause. Through our experiments encompassing 16 LLMs and 6 state-of-the-art (SOTA) deep learning-based models and static analyzers, we find that several LLMs outperform traditional deep learning approaches in vulnerability detection, revealing an untapped potential in LLMs. This work contributes to the understanding and utilization of LLMs for enhanced software security.

kTrans: Knowledge-Aware Transformer for Binary Code Embedding

Binary Code Embedding (BCE) has important applications in various reverse engineering tasks such as binary code similarity detection, type recovery, control-flow recovery and data-flow analysis. Recent studies have shown that the Transformer model can comprehend the semantics of binary code to support downstream tasks. However, existing models overlooked the prior knowledge of assembly language. In this paper, we propose a novel Transformer-based approach, namely kTrans, to generate knowledge-aware binary code embedding. By feeding explicit knowledge as additional inputs to the Transformer, and fusing implicit knowledge with a novel pre-training task, kTrans provides a new perspective to incorporating domain knowledge into a Transformer framework. We inspect the generated embeddings with outlier detection and visualization, and also apply kTrans to 3 downstream tasks: Binary Code Similarity Detection (BCSD), Function Type Recovery (FTR) and Indirect Call Recognition (ICR). Evaluation results show that kTrans can generate high-quality binary code embeddings, and outperforms state-of-the-art (SOTA) approaches on downstream tasks by 5.2%, 6.8%, and 12.6% respectively. kTrans is publicly available at: https://github.com/Learner0x5a/kTrans-release

Spiking Neural Network for Ultra-low-latency and High-accurate Object Detection

Spiking Neural Networks (SNNs) have garnered widespread interest for their energy efficiency and brain-inspired event-driven properties. While recent methods like Spiking-YOLO have expanded the SNNs to more challenging object detection tasks, they often suffer from high latency and low detection accuracy, making them difficult to deploy on latency sensitive mobile platforms. Furthermore, the conversion method from Artificial Neural Networks (ANNs) to SNNs is hard to maintain the complete structure of the ANNs, resulting in poor feature representation and high conversion errors. To address these challenges, we propose two methods: timesteps compression and spike-time-dependent integrated (STDI) coding. The former reduces the timesteps required in ANN-SNN conversion by compressing information, while the latter sets a time-varying threshold to expand the information holding capacity. We also present a SNN-based ultra-low latency and high accurate object detection model (SUHD) that achieves state-of-the-art performance on nontrivial datasets like PASCAL VOC and MS COCO, with about remarkable 750x fewer timesteps and 30% mean average precision (mAP) improvement, compared to the Spiking-YOLO on MS COCO datasets. To the best of our knowledge, SUHD is the deepest spike-based object detection model to date that achieves ultra low timesteps to complete the lossless conversion.