The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specific interaction situation or implement hard switches between controllers for different situations, which compromises both safety and efficiency. In this paper, we propose a unified interaction control framework for ultrasound scanning robots capable of handling all common interactions, distinguishing both human-intended and unintended types, and adapting with appropriate compliance. Specifically, the robot suspends or modulates its ongoing main task if the interaction is intended, e.g., when the doctor grasps the robot to lead the end effector actively. Furthermore, it can identify unintended interactions and avoid potential collision in the null space beforehand. Even if that collision has happened, it can become compliant with the collision in the null space and try to reduce its impact on the main task (where the scan is ongoing) kinematically and dynamically. The multiple situations are integrated into a unified controller with a smooth transition to deal with the interactions by exhibiting human-intention-aware compliance. Experimental results validate the framework's ability to cope with all common interactions including intended intervention and unintended collision in a collaborative carotid artery ultrasound scanning task.

Federated Learning (FL) emerged as a paradigm for conducting machine learning across broad and decentralized datasets, promising enhanced privacy by obviating the need for direct data sharing. However, recent studies show that attackers can steal private data through model manipulation or gradient analysis. Existing attacks are constrained by low theft quantity or low-resolution data, and they are often detected through anomaly monitoring in gradients or weights. In this paper, we propose a novel data-reconstruction attack leveraging malicious code injection, supported by two key techniques, i.e., distinctive and sparse encoding design and block partitioning. Unlike conventional methods that require detectable changes to the model, our method stealthily embeds a hidden model using parameter sharing to systematically extract sensitive data. The Fibonacci-based index design ensures efficient, structured retrieval of memorized data, while the block partitioning method enhances our method's capability to handle high-resolution images by dividing them into smaller, manageable units. Extensive experiments on 4 datasets confirmed that our method is superior to the five state-of-the-art data-reconstruction attacks under the five respective detection methods. Our method can handle large-scale and high-resolution data without being detected or mitigated by state-of-the-art data reconstruction defense methods. In contrast to baselines, our method can be directly applied to both FedAVG and FedSGD scenarios, underscoring the need for developers to devise new defenses against such vulnerabilities. We will open-source our code upon acceptance.

Large language models (LLMs) have seen significant advancements, achieving superior performance in various Natural Language Processing (NLP) tasks, from understanding to reasoning. However, they remain vulnerable to backdoor attacks, where models behave normally for standard queries but generate harmful responses or unintended output when specific triggers are activated. Existing backdoor defenses often suffer from drawbacks that they either focus on detection without removal, rely on rigid assumptions about trigger properties, or prove to be ineffective against advanced attacks like multi-trigger backdoors. In this paper, we present a novel method to eliminate backdoor behaviors from LLMs through the construction of information conflicts using both internal and external mechanisms. Internally, we leverage a lightweight dataset to train a conflict model, which is then merged with the backdoored model to neutralize malicious behaviors by embedding contradictory information within the model's parametric memory. Externally, we incorporate convincing contradictory evidence into the prompt to challenge the model's internal backdoor knowledge. Experimental results on classification and conversational tasks across 4 widely used LLMs demonstrate that our method outperforms 8 state-of-the-art backdoor defense baselines. We can reduce the attack success rate of advanced backdoor attacks by up to 98% while maintaining over 90% clean data accuracy. Furthermore, our method has proven to be robust against adaptive backdoor attacks. The code will be open-sourced upon publication.

Transcatheter tricuspid valve replacement (TTVR) is the latest treatment for tricuspid regurgitation and is in the early stages of clinical adoption. Intelligent robotic approaches are expected to overcome the challenges of surgical manipulation and widespread dissemination, but systems and protocols with high clinical utility have not yet been reported. In this study, we propose a complete solution that includes a passive stabilizer, robotic drive, detachable delivery catheter and valve manipulation mechanism. Working towards autonomy, a hybrid augmented intelligence approach based on reinforcement learning, Monte Carlo probabilistic maps and human-robot co-piloted control was introduced. Systematic tests in phantom and first-in-vivo animal experiments were performed to verify that the system design met the clinical requirement. Furthermore, the experimental results confirmed the advantages of co-piloted control over conventional master-slave control in terms of time efficiency, control efficiency, autonomy and stability of operation. In conclusion, this study provides a comprehensive pathway for robotic TTVR and, to our knowledge, completes the first animal study that not only successfully demonstrates the application of hybrid enhanced intelligence in interventional robotics, but also provides a solution with high application value for a cutting-edge procedure.

In this paper, we introduce Motion-Grounded Video Reasoning, a new motion understanding task that requires generating visual answers (video segmentation masks) according to the input question, and hence needs implicit spatiotemporal reasoning and grounding. This task extends existing spatiotemporal grounding work focusing on explicit action/motion grounding, to a more general format by enabling implicit reasoning via questions. To facilitate the development of the new task, we collect a large-scale dataset called GROUNDMORE, which comprises 1,715 video clips, 249K object masks that are deliberately designed with 4 question types (Causal, Sequential, Counterfactual, and Descriptive) for benchmarking deep and comprehensive motion reasoning abilities. GROUNDMORE uniquely requires models to generate visual answers, providing a more concrete and visually interpretable response than plain texts. It evaluates models on both spatiotemporal grounding and reasoning, fostering to address complex challenges in motion-related video reasoning, temporal perception, and pixel-level understanding. Furthermore, we introduce a novel baseline model named Motion-Grounded Video Reasoning Assistant (MORA). MORA incorporates the multimodal reasoning ability from the Multimodal LLM, the pixel-level perception capability from the grounding model (SAM), and the temporal perception ability from a lightweight localization head. MORA achieves respectable performance on GROUNDMORE outperforming the best existing visual grounding baseline model by an average of 21.5% relatively. We hope this novel and challenging task will pave the way for future advancements in robust and general motion understanding via video reasoning segmentation

The discovery of new materials is very important to the field of materials science. When researchers explore new materials, they often have expected performance requirements for their crystal structure. In recent years, data-driven methods have made great progress in the direction plane of crystal structure generation, but there is still a lack of methods that can effectively map material properties to crystal structure. In this paper, we propose a Crystal DiT model to generate the crystal structure from the expected material properties by embedding the material properties and combining the symmetry information predicted by the large language model. Experimental verification shows that our proposed method has good performance.

As the application of large language models in various fields continues to expand, materials science also ushers in opportunities for AI-driven innovation. The traditional way of relying on manual search for materials science-related information is now using artificial intelligence technology as an auxiliary tool to improve the efficiency of materials science research. To accelerate researchers' knowledge acquisition and intelligent decision-making support in materials science research, this paper proposes a large language model Polymetis model for a variety of materials fields, aiming to provide highly professional knowledge answers in the field of materials, covering energy materials, functional materials, alloy materials, physical chemistry, biology, and other material directions. The model uses a dataset of about 2 million material knowledge instructions, and in the process of building the dataset, we developed the Intelligent Extraction Large Model (IELM), which is specially used to extract and form structured knowledge from scientific texts, avoiding a large number of costs that need to be manually annotated, and improving efficiency. We inject this data into the GLM4-9B model for learning to enhance its inference capabilities in a variety of material domains. In addition, we have introduced enhanced prompt strategies to ensure that the answers to the model are more organized and comprehensive, providing efficient and comprehensive intelligent support for the diverse needs of materials science exploration, and promoting the development of material science.

Federated Graph Learning (FGL) is tasked with training machine learning models, such as Graph Neural Networks (GNNs), for multiple clients, each with its own graph data. Existing methods usually assume that each client has both node features and graph structure of its graph data. In real-world scenarios, however, there exist federated systems where only a part of the clients have such data while other clients (i.e. graphless clients) may only have node features. This naturally leads to a novel problem in FGL: how to jointly train a model over distributed graph data with graphless clients? In this paper, we propose a novel framework FedGLS to tackle the problem in FGL with graphless clients. In FedGLS, we devise a local graph learner on each graphless client which learns the local graph structure with the structure knowledge transferred from other clients. To enable structure knowledge transfer, we design a GNN model and a feature encoder on each client. During local training, the feature encoder retains the local graph structure knowledge together with the GNN model via knowledge distillation, and the structure knowledge is transferred among clients in global update. Our extensive experiments demonstrate the superiority of the proposed FedGLS over five baselines.

Machine learning has become a crucial tool for predicting the properties of crystalline materials. However, existing methods primarily represent material information by constructing multi-edge graphs of crystal structures, often overlooking the chemical and physical properties of elements (such as atomic radius, electronegativity, melting point, and ionization energy), which have a significant impact on material performance. To address this limitation, we first constructed an element property knowledge graph and utilized an embedding model to encode the element attributes within the knowledge graph. Furthermore, we propose a multimodal fusion framework, ESNet, which integrates element property features with crystal structure features to generate joint multimodal representations. This provides a more comprehensive perspective for predicting the performance of crystalline materials, enabling the model to consider both microstructural composition and chemical characteristics of the materials. We conducted experiments on the Materials Project benchmark dataset, which showed leading performance in the bandgap prediction task and achieved results on a par with existing benchmarks in the formation energy prediction task.

Federated Learning has emerged as a promising paradigm for collaborative machine learning, while preserving user data privacy. Despite its potential, standard FL lacks support for diverse heterogeneous device prototypes, which vary significantly in model and dataset sizes -- from small IoT devices to large workstations. This limitation is only partially addressed by existing knowledge distillation techniques, which often fail to transfer knowledge effectively across a broad spectrum of device prototypes with varied capabilities. This failure primarily stems from two issues: the dilution of informative logits from more capable devices by those from less capable ones, and the use of a single integrated logits as the distillation target across all devices, which neglects their individual learning capacities and and the unique contributions of each. To address these challenges, we introduce TAKFL, a novel KD-based framework that treats the knowledge transfer from each device prototype's ensemble as a separate task, independently distilling each to preserve its unique contributions and avoid dilution. TAKFL also incorporates a KD-based self-regularization technique to mitigate the issues related to the noisy and unsupervised ensemble distillation process. To integrate the separately distilled knowledge, we introduce an adaptive task arithmetic knowledge integration process, allowing each student model to customize the knowledge integration for optimal performance. Additionally, we present theoretical results demonstrating the effectiveness of task arithmetic in transferring knowledge across heterogeneous devices with varying capacities. Comprehensive evaluations of our method across both CV and NLP tasks demonstrate that TAKFL achieves SOTA results in a variety of datasets and settings, significantly outperforming existing KD-based methods Code is released at https://github.com/MMorafah/TAKFL