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.

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.

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

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.

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}.

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.

Probabilistic graphical models that encode an underlying Markov random field are fundamental building blocks of generative modeling to learn latent representations in modern multivariate data sets with complex dependency structures. Among these, the exponential family graphical models are especially popular, given their fairly well-understood statistical properties and computational scalability to high-dimensional data based on pseudo-likelihood methods. These models have been successfully applied in many fields, such as the Ising model in statistical physics and count graphical models in genomics. Another strand of models allows some nodes to be latent, so as to allow the marginal distribution of the observable nodes to depart from exponential family to capture more complex dependence. These approaches form the basis of generative models in artificial intelligence, such as the Boltzmann machines and their restricted versions. A fundamental barrier to likelihood-based (i.e., both maximum likelihood and fully Bayesian) inference in both fully and partially observed cases is the intractability of the likelihood. The usual workaround is via adopting pseudo-likelihood based approaches, following the pioneering work of Besag (1974). The goal of this paper is to demonstrate that full likelihood based analysis of these models is feasible in a computationally efficient manner. The chief innovation lies in using a technique of Geyer (1991) to estimate the intractable normalizing constant, as well as its gradient, for intractable graphical models. Extensive numerical results, supporting theory and comparisons with pseudo-likelihood based approaches demonstrate the applicability of the proposed method.

Open Domain Multi-Hop Question Answering (ODMHQA) plays a crucial role in Natural Language Processing (NLP) by aiming to answer complex questions through multi-step reasoning over retrieved information from external knowledge sources. Recently, Large Language Models (LLMs) have demonstrated remarkable performance in solving ODMHQA owing to their capabilities including planning, reasoning, and utilizing tools. However, LLMs may generate off-topic answers when attempting to solve ODMHQA, namely the generated answers are irrelevant to the original questions. This issue of off-topic answers accounts for approximately one-third of incorrect answers, yet remains underexplored despite its significance. To alleviate this issue, we propose the Discriminate->Re-Compose->Re- Solve->Re-Decompose (Dr3) mechanism. Specifically, the Discriminator leverages the intrinsic capabilities of LLMs to judge whether the generated answers are off-topic. In cases where an off-topic answer is detected, the Corrector performs step-wise revisions along the reversed reasoning chain (Re-Compose->Re-Solve->Re-Decompose) until the final answer becomes on-topic. Experimental results on the HotpotQA and 2WikiMultiHopQA datasets demonstrate that our Dr3 mechanism considerably reduces the occurrence of off-topic answers in ODMHQA by nearly 13%, improving the performance in Exact Match (EM) by nearly 3% compared to the baseline method without the Dr3 mechanism.

In recent years, knowledge graph completion (KGC) models based on pre-trained language model (PLM) have shown promising results. However, the large number of parameters and high computational cost of PLM models pose challenges for their application in downstream tasks. This paper proposes a progressive distillation method based on masked generation features for KGC task, aiming to significantly reduce the complexity of pre-trained models. Specifically, we perform pre-distillation on PLM to obtain high-quality teacher models, and compress the PLM network to obtain multi-grade student models. However, traditional feature distillation suffers from the limitation of having a single representation of information in teacher models. To solve this problem, we propose masked generation of teacher-student features, which contain richer representation information. Furthermore, there is a significant gap in representation ability between teacher and student. Therefore, we design a progressive distillation method to distill student models at each grade level, enabling efficient knowledge transfer from teachers to students. The experimental results demonstrate that the model in the pre-distillation stage surpasses the existing state-of-the-art methods. Furthermore, in the progressive distillation stage, the model significantly reduces the model parameters while maintaining a certain level of performance. Specifically, the model parameters of the lower-grade student model are reduced by 56.7\% compared to the baseline.

Link prediction in biomedical knowledge graphs (KGs) aims at predicting unknown interactions between entities, including drug-target interaction (DTI) and drug-drug interaction (DDI), which is critical for drug discovery and therapeutics. Previous methods prefer to utilize the rich semantic relations and topological structure of the KG to predict missing links, yielding promising outcomes. However, all these works only focus on improving the predictive performance without considering the inevitable noise and unreliable interactions existing in the KGs, which limits the development of KG-based computational methods. To address these limitations, we propose a Denoised Link Prediction framework, called DenoisedLP. DenoisedLP obtains reliable interactions based on the local subgraph by denoising noisy links in a learnable way, providing a universal module for mining underlying task-relevant relations. To collaborate with the smoothed semantic information, DenoisedLP introduces the semantic subgraph by blurring conflict relations around the predicted link. By maximizing the mutual information between the reliable structure and smoothed semantic relations, DenoisedLP emphasizes the informative interactions for predicting relation-specific links. Experimental results on real-world datasets demonstrate that DenoisedLP outperforms state-of-the-art methods on DTI and DDI prediction tasks, and verify the effectiveness and robustness of denoising unreliable interactions on the contaminated KGs.