CDI3D: Cross-guided Dense-view Interpolation for 3D Reconstruction

3D object reconstruction from single-view image is a fundamental task in computer vision with wide-ranging applications. Recent advancements in Large Reconstruction Models (LRMs) have shown great promise in leveraging multi-view images generated by 2D diffusion models to extract 3D content. However, challenges remain as 2D diffusion models often struggle to produce dense images with strong multi-view consistency, and LRMs tend to amplify these inconsistencies during the 3D reconstruction process. Addressing these issues is critical for achieving high-quality and efficient 3D reconstruction. In this paper, we present CDI3D, a feed-forward framework designed for efficient, high-quality image-to-3D generation with view interpolation. To tackle the aforementioned challenges, we propose to integrate 2D diffusion-based view interpolation into the LRM pipeline to enhance the quality and consistency of the generated mesh. Specifically, our approach introduces a Dense View Interpolation (DVI) module, which synthesizes interpolated images between main views generated by the 2D diffusion model, effectively densifying the input views with better multi-view consistency. We also design a tilt camera pose trajectory to capture views with different elevations and perspectives. Subsequently, we employ a tri-plane-based mesh reconstruction strategy to extract robust tokens from these interpolated and original views, enabling the generation of high-quality 3D meshes with superior texture and geometry. Extensive experiments demonstrate that our method significantly outperforms previous state-of-the-art approaches across various benchmarks, producing 3D content with enhanced texture fidelity and geometric accuracy.

General Force Sensation for Tactile Robot

Robotic tactile sensors, including vision-based and taxel-based sensors, enable agile manipulation and safe human-robot interaction through force sensation. However, variations in structural configurations, measured signals, and material properties create domain gaps that limit the transferability of learned force sensation across different tactile sensors. Here, we introduce GenForce, a general framework for achieving transferable force sensation across both homogeneous and heterogeneous tactile sensors in robotic systems. By unifying tactile signals into marker-based binary tactile images, GenForce enables the transfer of existing force labels to arbitrary target sensors using a marker-to-marker translation technique with a few paired data. This process equips uncalibrated tactile sensors with force prediction capabilities through spatiotemporal force prediction models trained on the transferred data. Extensive experimental results validate GenForce's generalizability, accuracy, and robustness across sensors with diverse marker patterns, structural designs, material properties, and sensing principles. The framework significantly reduces the need for costly and labor-intensive labeled data collection, enabling the rapid deployment of multiple tactile sensors on robotic hands requiring force sensing capabilities.

Addressing Label Shift in Distributed Learning via Entropy Regularization

We address the challenge of minimizing true risk in multi-node distributed learning. These systems are frequently exposed to both inter-node and intra-node label shifts, which present a critical obstacle to effectively optimizing model performance while ensuring that data remains confined to each node. To tackle this, we propose the Versatile Robust Label Shift (VRLS) method, which enhances the maximum likelihood estimation of the test-to-train label density ratio. VRLS incorporates Shannon entropy-based regularization and adjusts the density ratio during training to better handle label shifts at the test time. In multi-node learning environments, VRLS further extends its capabilities by learning and adapting density ratios across nodes, effectively mitigating label shifts and improving overall model performance. Experiments conducted on MNIST, Fashion MNIST, and CIFAR-10 demonstrate the effectiveness of VRLS, outperforming baselines by up to 20% in imbalanced settings. These results highlight the significant improvements VRLS offers in addressing label shifts. Our theoretical analysis further supports this by establishing high-probability bounds on estimation errors.

Beyond Model Scale Limits: End-Edge-Cloud Federated Learning with Self-Rectified Knowledge Agglomeration

The rise of End-Edge-Cloud Collaboration (EECC) offers a promising paradigm for Artificial Intelligence (AI) model training across end devices, edge servers, and cloud data centers, providing enhanced reliability and reduced latency. Hierarchical Federated Learning (HFL) can benefit from this paradigm by enabling multi-tier model aggregation across distributed computing nodes. However, the potential of HFL is significantly constrained by the inherent heterogeneity and dynamic characteristics of EECC environments. Specifically, the uniform model structure bounded by the least powerful end device across all computing nodes imposes a performance bottleneck. Meanwhile, coupled heterogeneity in data distributions and resource capabilities across tiers disrupts hierarchical knowledge transfer, leading to biased updates and degraded performance. Furthermore, the mobility and fluctuating connectivity of computing nodes in EECC environments introduce complexities in dynamic node migration, further compromising the robustness of the training process. To address multiple challenges within a unified framework, we propose End-Edge-Cloud Federated Learning with Self-Rectified Knowledge Agglomeration (FedEEC), which is a novel EECC-empowered FL framework that allows the trained models from end, edge, to cloud to grow larger in size and stronger in generalization ability. FedEEC introduces two key innovations: (1) Bridge Sample Based Online Distillation Protocol (BSBODP), which enables knowledge transfer between neighboring nodes through generated bridge samples, and (2) Self-Knowledge Rectification (SKR), which refines the transferred knowledge to prevent suboptimal cloud model optimization. The proposed framework effectively handles both cross-tier resource heterogeneity and effective knowledge transfer between neighboring nodes, while satisfying the migration-resilient requirements of EECC.

ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing

This article introduces the ManiSkill-ViTac Challenge 2025, which focuses on learning contact-rich manipulation skills using both tactile and visual sensing. Expanding upon the 2024 challenge, ManiSkill-ViTac 2025 includes 3 independent tracks: tactile manipulation, tactile-vision fusion manipulation, and tactile sensor structure design. The challenge aims to push the boundaries of robotic manipulation skills, emphasizing the integration of tactile and visual data to enhance performance in complex, real-world tasks. Participants will be evaluated using standardized metrics across both simulated and real-world environments, spurring innovations in sensor design and significantly advancing the field of vision-tactile fusion in robotics.

Tackling Noisy Clients in Federated Learning with End-to-end Label Correction

Recently, federated learning (FL) has achieved wide successes for diverse privacy-sensitive applications without sacrificing the sensitive private information of clients. However, the data quality of client datasets can not be guaranteed since corresponding annotations of different clients often contain complex label noise of varying degrees, which inevitably causes the performance degradation. Intuitively, the performance degradation is dominated by clients with higher noise rates since their trained models contain more misinformation from data, thus it is necessary to devise an effective optimization scheme to mitigate the negative impacts of these noisy clients. In this work, we propose a two-stage framework FedELC to tackle this complicated label noise issue. The first stage aims to guide the detection of noisy clients with higher label noise, while the second stage aims to correct the labels of noisy clients' data via an end-to-end label correction framework which is achieved by learning possible ground-truth labels of noisy clients' datasets via back propagation. We implement sixteen related methods and evaluate five datasets with three types of complicated label noise scenarios for a comprehensive comparison. Extensive experimental results demonstrate our proposed framework achieves superior performance than its counterparts for different scenarios. Additionally, we effectively improve the data quality of detected noisy clients' local datasets with our label correction framework. The code is available at https://github.com/Sprinter1999/FedELC.

Peak-Controlled Logits Poisoning Attack in Federated Distillation

Federated Distillation (FD) offers an innovative approach to distributed machine learning, leveraging knowledge distillation for efficient and flexible cross-device knowledge transfer without necessitating the upload of extensive model parameters to a central server. While FD has gained popularity, its vulnerability to poisoning attacks remains underexplored. To address this gap, we previously introduced FDLA (Federated Distillation Logits Attack), a method that manipulates logits communication to mislead and degrade the performance of client models. However, the impact of FDLA on participants with different identities and the effects of malicious modifications at various stages of knowledge transfer remain unexplored. To this end, we present PCFDLA (Peak-Controlled Federated Distillation Logits Attack), an advanced and more stealthy logits poisoning attack method for FD. PCFDLA enhances the effectiveness of FDLA by carefully controlling the peak values of logits to create highly misleading yet inconspicuous modifications. Furthermore, we introduce a novel metric for better evaluating attack efficacy, demonstrating that PCFDLA maintains stealth while being significantly more disruptive to victim models compared to its predecessors. Experimental results across various datasets confirm the superior impact of PCFDLA on model accuracy, solidifying its potential threat in federated distillation systems.

TiCoSS: Tightening the Coupling between Semantic Segmentation and Stereo Matching within A Joint Learning Framework

Semantic segmentation and stereo matching, respectively analogous to the ventral and dorsal streams in our human brain, are two key components of autonomous driving perception systems. Addressing these two tasks with separate networks is no longer the mainstream direction in developing computer vision algorithms, particularly with the recent advances in large vision models and embodied artificial intelligence. The trend is shifting towards combining them within a joint learning framework, especially emphasizing feature sharing between the two tasks. The major contributions of this study lie in comprehensively tightening the coupling between semantic segmentation and stereo matching. Specifically, this study introduces three novelties: (1) a tightly coupled, gated feature fusion strategy, (2) a hierarchical deep supervision strategy, and (3) a coupling tightening loss function. The combined use of these technical contributions results in TiCoSS, a state-of-the-art joint learning framework that simultaneously tackles semantic segmentation and stereo matching. Through extensive experiments on the KITTI and vKITTI2 datasets, along with qualitative and quantitative analyses, we validate the effectiveness of our developed strategies and loss function, and demonstrate its superior performance compared to prior arts, with a notable increase in mIoU by over 9%. Our source code will be publicly available at mias.group/TiCoSS upon publication.

FedCache 2.0: Exploiting the Potential of Distilled Data in Knowledge Cache-driven Federated Learning

Federated Edge Learning (FEL) has emerged as a promising approach for enabling edge devices to collaboratively train machine learning models while preserving data privacy. Despite its advantages, practical FEL deployment faces significant challenges related to device constraints and device-server interactions, necessitating heterogeneous, user-adaptive model training with limited and uncertain communication. In this paper, we introduce FedCache 2.0, a novel personalized FEL architecture that simultaneously addresses these challenges. FedCache 2.0 incorporates the benefits of both dataset distillation and knowledge cache-driven federated learning by storing and organizing distilled data as knowledge in the server-side knowledge cache. Moreover, a device-centric cache sampling strategy is introduced to tailor transferred knowledge for individual devices within controlled communication bandwidth. Extensive experiments on five datasets covering image recognition, audio understanding, and mobile sensor data mining tasks demonstrate that (1) FedCache 2.0 significantly outperforms state-of-the-art methods regardless of model structures, data distributions, and modalities. (2) FedCache 2.0 can train splendid personalized on-device models with at least $\times$28.6 improvement in communication efficiency.

Modeling and simulation of a mechanism for suppressing the flipping problem of a jumping robot

In order to solve the problem of stable jumping of micro robot, we design a special mechanism: elastic passive joint (EPJ). EPJ can assist in achieving smooth jumping through the opening-closing process when the robot jumps. First, we introduce the composition and operation principle of EPJ, and perform a dynamic modeling of the robot's jumping process. Then, in order to verify the effectiveness of EPJ in controlling the robot's smooth jump, we design a simulation experiment based on MATLAB. Through comparative experiments, it was proved that EPJ can greatly adjust the angular velocity of the robot and increase the jump distance of the robot. Finally, we analyze each parameter in EPJ and performs parameter optimization. After optimization, EPJ achieves a completely flip-free jump of the robot, laying an important foundation for improving the mobility of micro-robot.