Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning costs, especially for imitation learning-based approaches, when adapting to new end-effectors. To mitigate this issue, we present a diffusion-based policy with a hybrid learning-optimization framework, enabling zero-shot adaptation to novel grippers without additional data collection for retraining policy. During training, the policy learns manipulation primitives from demonstrations collected using a base gripper. At inference, a diffusion-based optimization strategy dynamically enforces kinematic and safety constraints, ensuring that generated trajectories align with the physical properties of unseen grippers. This is achieved through a constrained denoising procedure that adapts trajectories to gripper-specific parameters (e.g., tool-center-point offsets, jaw widths) while preserving collision avoidance and task feasibility. We validate our method on a Franka Panda robot across six gripper configurations, including 3D-printed fingertips, flexible silicone gripper, and Robotiq 2F-85 gripper. Our approach achieves a 93.3% average task success rate across grippers (vs. 23.3-26.7% for diffusion policy baselines), supporting tool-center-point variations of 16-23.5 cm and jaw widths of 7.5-11.5 cm. The results demonstrate that constrained diffusion enables robust cross-gripper manipulation while maintaining the sample efficiency of imitation learning, eliminating the need for gripper-specific retraining. Video and code are available at https://github.com/yaoxt3/GADP.

As urban logistics demand continues to grow, UAV delivery has become a key solution to improve delivery efficiency, reduce traffic congestion, and lower logistics costs. However, to fully leverage the potential of UAV delivery networks, efficient swarm scheduling and management are crucial. In this paper, we propose a real-time scheduling and management system based on the ``Airport-Unloading Station" model, aiming to bridge the gap between high-level scheduling algorithms and low-level execution systems. This system, acting as middleware, accurately translates the requirements from the scheduling layer into specific execution instructions, ensuring that the scheduling algorithms perform effectively in real-world environments. Additionally, we implement three collaborative scheduling schemes involving autonomous ground vehicles (AGVs), unmanned aerial vehicles (UAVs), and ground staff to further optimize overall delivery efficiency. Through extensive experiments, this study demonstrates the rationality and feasibility of the proposed management system, providing practical solution for the commercial application of UAVs delivery in urban. Code: https://github.com/chengji253/UAVDeliverySystem

AI-based vascular segmentation is becoming increasingly common in enhancing the screening and treatment of ophthalmic diseases. Deep learning structures based on U-Net have achieved relatively good performance in vascular segmentation. However, small blood vessels and capillaries tend to be lost during segmentation when passed through the traditional U-Net downsampling module. To address this gap, this paper proposes a novel Kalman filter based Linear Deformable Diffusion (KLDD) model for retinal vessel segmentation. Our model employs a diffusion process that iteratively refines the segmentation, leveraging the flexible receptive fields of deformable convolutions in feature extraction modules to adapt to the detailed tubular vascular structures. More specifically, we first employ a feature extractor with linear deformable convolution to capture vascular structure information form the input images. To better optimize the coordinate positions of deformable convolution, we employ the Kalman filter to enhance the perception of vascular structures in linear deformable convolution. Subsequently, the features of the vascular structures extracted are utilized as a conditioning element within a diffusion model by the Cross-Attention Aggregation module (CAAM) and the Channel-wise Soft Attention module (CSAM). These aggregations are designed to enhance the diffusion model's capability to generate vascular structures. Experiments are evaluated on retinal fundus image datasets (DRIVE, CHASE_DB1) as well as the 3mm and 6mm of the OCTA-500 dataset, and the results show that the diffusion model proposed in this paper outperforms other methods.

Extending Context Window for High-In this report, we introduce MammothModa, yet another Resolution and Long-Duration Visual Features: The Visual multi-modal large language model (MLLM) designed to Merger Module effectively reduces the token count achieve state-of-the-art performance starting from an elementary for high-resolution images, while frame position IDs manage baseline. We focus on three key design insights: long-duration visual data without resorting to position (i) Integrating Visual Capabilities while Maintaining Complex interpolation. High-Quality Bilingual Datasets: To minimize Language Understanding: In addition to the vision encoder, visual hallucinations and improve model robustness, we incorporated the Visual Attention Experts into we meticulously curated and filtered a high-quality bilingual the LLM to enhance its visual capabilities.

Sparse activation, which selectively activates only an input-dependent set of neurons in inference, is a useful technique to reduce the computing cost of Large Language Models (LLMs) without retraining or adaptation efforts. However, whether it can be applied to the recently emerging Small Language Models (SLMs) remains questionable, because SLMs are generally less over-parameterized than LLMs. In this paper, we aim to achieve sparse activation in SLMs. We first show that the existing sparse activation schemes in LLMs that build on neurons' output magnitudes cannot be applied to SLMs, and activating neurons based on their attribution scores is a better alternative. Further, we demonstrated and quantified the large errors of existing attribution metrics when being used for sparse activation, due to the interdependency among attribution scores of neurons across different layers. Based on these observations, we proposed a new attribution metric that can provably correct such errors and achieve precise sparse activation. Experiments over multiple popular SLMs and datasets show that our approach can achieve 80% sparsification ratio with <5% model accuracy loss, comparable to the sparse activation achieved in LLMs.

Text-to-image diffusion models can be fine-tuned in custom domains to adapt to specific user preferences, but such unconstrained adaptability has also been utilized for illegal purposes, such as forging public figures' portraits and duplicating copyrighted artworks. Most existing work focuses on detecting the illegally generated contents, but cannot prevent or mitigate illegal adaptations of diffusion models. Other schemes of model unlearning and reinitialization, similarly, cannot prevent users from relearning the knowledge of illegal model adaptation with custom data. In this paper, we present FreezeAsGuard, a new technique that addresses these limitations and enables irreversible mitigation of illegal adaptations of diffusion models. The basic approach is that the model publisher selectively freezes tensors in pre-trained diffusion models that are critical to illegal model adaptations, to mitigate the fine-tuned model's representation power in illegal domains but minimize the impact on legal model adaptations in other domains. Such tensor freezing can be enforced via APIs provided by the model publisher for fine-tuning, can motivate users' adoption due to its computational savings. Experiment results with datasets in multiple domains show that FreezeAsGuard provides stronger power in mitigating illegal model adaptations of generating fake public figures' portraits, while having the minimum impact on model adaptation in other legal domains. The source code is available at: https://github.com/pittisl/FreezeAsGuard/

Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function. While recent LIO systems address uncertainty related to range sensing, the impact of incident angle on uncertainty is often overlooked by the community. Moreover, the existing uncertainty propagation methods suffer from computational inefficiency. This paper proposes a comprehensive point uncertainty model that accounts for both the uncertainties from LiDAR measurements and surface characteristics, along with an efficient local uncertainty analytical method for LiDAR-based state estimation problem. We employ a projection operator that separates the uncertainty into the ray direction and its orthogonal plane. Then, we derive incremental Jacobian matrices of eigenvalues and eigenvectors w.r.t. points, which enables a fast approximation of uncertainty propagation. This approach eliminates the requirement for redundant traversal of points, significantly reducing the time complexity of uncertainty propagation from $\mathcal{O} (n)$ to $\mathcal{O} (1)$ when a new point is added. Simulations and experiments on public datasets are conducted to validate the accuracy and efficiency of our formulations. The proposed methods have been integrated into a LIO system, which is available at https://github.com/tiev-tongji/LOG-LIO2.

This research focuses on developing reinforcement learning approaches for the locomotion generation of small-size quadruped robots. The rat robot NeRmo is employed as the experimental platform. Due to the constrained volume, small-size quadruped robots typically possess fewer and weaker sensors, resulting in difficulty in accurately perceiving and responding to environmental changes. In this context, insufficient and imprecise feedback data from sensors makes it difficult to generate adaptive locomotion based on reinforcement learning. To overcome these challenges, this paper proposes a novel reinforcement learning approach that focuses on extracting effective perceptual information to enhance the environmental adaptability of small-size quadruped robots. According to the frequency of a robot's gait stride, key information of sensor data is analyzed utilizing sinusoidal functions derived from Fourier transform results. Additionally, a multifunctional reward mechanism is proposed to generate adaptive locomotion in different tasks. Extensive simulations are conducted to assess the effectiveness of the proposed reinforcement learning approach in generating rat robot locomotion in various environments. The experiment results illustrate the capability of the proposed approach to maintain stable locomotion of a rat robot across different terrains, including ramps, stairs, and spiral stairs.

Accurate segmentation of lesion regions is crucial for clinical diagnosis and treatment across various diseases. While deep convolutional networks have achieved satisfactory results in medical image segmentation, they face challenges such as loss of lesion shape information due to continuous convolution and downsampling, as well as the high cost of manually labeling lesions with varying shapes and sizes. To address these issues, we propose a novel medical visual prompting (MVP) framework that leverages pre-training and prompting concepts from natural language processing (NLP). The framework utilizes three key components: Super-Pixel Guided Prompting (SPGP) for superpixelating the input image, Image Embedding Guided Prompting (IEGP) for freezing patch embedding and merging with superpixels to provide visual prompts, and Adaptive Attention Mechanism Guided Prompting (AAGP) for pinpointing prompt content and efficiently adapting all layers. By integrating SPGP, IEGP, and AAGP, the MVP enables the segmentation network to better learn shape prompting information and facilitates mutual learning across different tasks. Extensive experiments conducted on five datasets demonstrate superior performance of this method in various challenging medical image tasks, while simplifying single-task medical segmentation models. This novel framework offers improved performance with fewer parameters and holds significant potential for accurate segmentation of lesion regions in various medical tasks, making it clinically valuable.

User financial default prediction plays a critical role in credit risk forecasting and management. It aims at predicting the probability that the user will fail to make the repayments in the future. Previous methods mainly extract a set of user individual features regarding his own profiles and behaviors and build a binary-classification model to make default predictions. However, these methods cannot get satisfied results, especially for users with limited information. Although recent efforts suggest that default prediction can be improved by social relations, they fail to capture the higher-order topology structure at the level of small subgraph patterns. In this paper, we fill in this gap by proposing a motif-preserving Graph Neural Network with curriculum learning (MotifGNN) to jointly learn the lower-order structures from the original graph and higherorder structures from multi-view motif-based graphs for financial default prediction. Specifically, to solve the problem of weak connectivity in motif-based graphs, we design the motif-based gating mechanism. It utilizes the information learned from the original graph with good connectivity to strengthen the learning of the higher-order structure. And considering that the motif patterns of different samples are highly unbalanced, we propose a curriculum learning mechanism on the whole learning process to more focus on the samples with uncommon motif distributions. Extensive experiments on one public dataset and two industrial datasets all demonstrate the effectiveness of our proposed method.