Object affordance reasoning, the ability to infer object functionalities based on physical properties, is fundamental for task-oriented planning and activities in both humans and Artificial Intelligence (AI). This capability, required for planning and executing daily activities in a task-oriented manner, relies on commonsense knowledge of object physics and functionalities, extending beyond simple object recognition. Current computational models for affordance reasoning from perception lack generalizability, limiting their applicability in novel scenarios. Meanwhile, comprehensive Large Language Models (LLMs) with emerging reasoning capabilities are challenging to deploy on local devices for task-oriented manipulations. Here, we introduce LVIS-Aff, a large-scale dataset comprising 1,496 tasks and 119k images, designed to enhance the generalizability of affordance reasoning from perception. Utilizing this dataset, we develop Afford-X, an end-to-end trainable affordance reasoning model that incorporates Verb Attention and Bi-Fusion modules to improve multi-modal understanding. This model achieves up to a 12.1% performance improvement over the best-reported results from non-LLM methods, while also demonstrating a 1.2% enhancement compared to our previous conference paper. Additionally, it maintains a compact 187M parameter size and infers nearly 50 times faster than the GPT-4V API. Our work demonstrates the potential for efficient, generalizable affordance reasoning models that can be deployed on local devices for task-oriented manipulations. We showcase Afford-X's effectiveness in enabling task-oriented manipulations for robots across various tasks and environments, underscoring its efficiency and broad implications for advancing robotics and AI systems in real-world applications.

Traditional equation-driven hydrological models often struggle to accurately predict streamflow in challenging regional Earth systems like the Tibetan Plateau, while hybrid and existing algorithm-driven models face difficulties in interpreting hydrological behaviors. This work introduces HydroTrace, an algorithm-driven, data-agnostic model that substantially outperforms these approaches, achieving a Nash-Sutcliffe Efficiency of 98% and demonstrating strong generalization on unseen data. Moreover, HydroTrace leverages advanced attention mechanisms to capture spatial-temporal variations and feature-specific impacts, enabling the quantification and spatial resolution of streamflow partitioning as well as the interpretation of hydrological behaviors such as glacier-snow-streamflow interactions and monsoon dynamics. Additionally, a large language model (LLM)-based application allows users to easily understand and apply HydroTrace's insights for practical purposes. These advancements position HydroTrace as a transformative tool in hydrological and broader Earth system modeling, offering enhanced prediction accuracy and interpretability.

Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still struggle to match human capabilities in dynamic environments, primarily due to inadequate tactile feedback. To bridge this gap, we present F-TAC Hand, a biomimetic hand featuring high-resolution tactile sensing (0.1mm spatial resolution) across 70% of its surface area. Through optimized hand design, we overcome traditional challenges in integrating high-resolution tactile sensors while preserving the full range of motion. The hand, powered by our generative algorithm that synthesizes human-like hand configurations, demonstrates robust grasping capabilities in dynamic real-world conditions. Extensive evaluation across 600 real-world trials demonstrates that this tactile-embodied system significantly outperforms non-tactile alternatives in complex manipulation tasks (p<0.0001). These results provide empirical evidence for the critical role of rich tactile embodiment in developing advanced robotic intelligence, offering new perspectives on the relationship between physical sensing capabilities and intelligent behavior.

With the rapid advancements in Large Language Models (LLMs), LLM-based agents have introduced convenient and user-friendly methods for leveraging tools across various domains. In the field of astronomical observation, the construction of new telescopes has significantly increased astronomers' workload. Deploying LLM-powered agents can effectively alleviate this burden and reduce the costs associated with training personnel. Within the Nearby Galaxy Supernovae Survey (NGSS) project, which encompasses eight telescopes across three observation sites, aiming to find the transients from the galaxies in 50 mpc, we have developed the \textbf{StarWhisper Telescope System} to manage the entire observation process. This system automates tasks such as generating observation lists, conducting observations, analyzing data, and providing feedback to the observer. Observation lists are customized for different sites and strategies to ensure comprehensive coverage of celestial objects. After manual verification, these lists are uploaded to the telescopes via the agents in the system, which initiates observations upon neutral language. The observed images are analyzed in real-time, and the transients are promptly communicated to the observer. The agent modifies them into a real-time follow-up observation proposal and send to the Xinglong observatory group chat, then add them to the next-day observation lists. Additionally, the integration of AI agents within the system provides online accessibility, saving astronomers' time and encouraging greater participation from amateur astronomers in the NGSS project.

As terrestrial resources become increasingly depleted, the demand for deep-sea resource exploration has intensified. However, the extreme conditions in the deep-sea environment pose significant challenges for underwater operations, necessitating the development of robust detection robots. In this paper, we propose an advanced path planning methodology that integrates an improved A* algorithm with the Dynamic Window Approach (DWA). By optimizing the search direction of the traditional A* algorithm and introducing an enhanced evaluation function, our improved A* algorithm accelerates path searching and reduces computational load. Additionally, the path-smoothing process has been refined to improve continuity and smoothness, minimizing sharp turns. This method also integrates global path planning with local dynamic obstacle avoidance via DWA, improving the real-time response of underwater robots in dynamic environments. Simulation results demonstrate that our proposed method surpasses the traditional A* algorithm in terms of path smoothness, obstacle avoidance, and real-time performance. The robustness of this approach in complex environments with both static and dynamic obstacles highlights its potential in autonomous underwater vehicle (AUV) navigation and obstacle avoidance.

Parallel Continual Learning (PCL) tasks investigate the training methods for continual learning with multi-source input, where data from different tasks are learned as they arrive. PCL offers high training efficiency and is well-suited for complex multi-source data systems, such as autonomous vehicles equipped with multiple sensors. However, at any time, multiple tasks need to be trained simultaneously, leading to severe training instability in PCL. This instability manifests during both forward and backward propagation, where features are entangled and gradients are conflict. This paper introduces Stable Parallel Continual Learning (SPCL), a novel approach that enhances the training stability of PCL for both forward and backward propagation. For the forward propagation, we apply Doubly-block Toeplit (DBT) Matrix based orthogonality constraints to network parameters to ensure stable and consistent propagation. For the backward propagation, we employ orthogonal decomposition for gradient management stabilizes backpropagation and mitigates gradient conflicts across tasks. By optimizing gradients by ensuring orthogonality and minimizing the condition number, SPCL effectively stabilizing the gradient descent in complex optimization tasks. Experimental results demonstrate that SPCL outperforms state-of-the-art methjods and achieve better training stability.

Autonomous robotic systems capable of learning novel manipulation tasks are poised to transform industries from manufacturing to service automation. However, modern methods (e.g., VIP and R3M) still face significant hurdles, notably the domain gap among robotic embodiments and the sparsity of successful task executions within specific action spaces, resulting in misaligned and ambiguous task representations. We introduce Ag2Manip (Agent-Agnostic representations for Manipulation), a framework aimed at surmounting these challenges through two key innovations: a novel agent-agnostic visual representation derived from human manipulation videos, with the specifics of embodiments obscured to enhance generalizability; and an agent-agnostic action representation abstracting a robot's kinematics to a universal agent proxy, emphasizing crucial interactions between end-effector and object. Ag2Manip's empirical validation across simulated benchmarks like FrankaKitchen, ManiSkill, and PartManip shows a 325% increase in performance, achieved without domain-specific demonstrations. Ablation studies underline the essential contributions of the visual and action representations to this success. Extending our evaluations to the real world, Ag2Manip significantly improves imitation learning success rates from 50% to 77.5%, demonstrating its effectiveness and generalizability across both simulated and physical environments.

The partial label challenge in Multi-Label Class-Incremental Learning (MLCIL) arises when only the new classes are labeled during training, while past and future labels remain unavailable. This issue leads to a proliferation of false-positive errors due to erroneously high confidence multi-label predictions, exacerbating catastrophic forgetting within the disjoint label space. In this paper, we aim to refine multi-label confidence calibration in MLCIL and propose a Confidence Self-Calibration (CSC) approach. Firstly, for label relationship calibration, we introduce a class-incremental graph convolutional network that bridges the isolated label spaces by constructing learnable, dynamically extended label relationship graph. Then, for confidence calibration, we present a max-entropy regularization for each multi-label increment, facilitating confidence self-calibration through the penalization of over-confident output distributions. Our approach attains new state-of-the-art results in MLCIL tasks on both MS-COCO and PASCAL VOC datasets, with the calibration of label confidences confirmed through our methodology.

The prior drift is crucial in Continual Test-Time Adaptation (CTTA) methods that only use unlabeled test data, as it can cause significant error propagation. In this paper, we introduce VCoTTA, a variational Bayesian approach to measure uncertainties in CTTA. At the source stage, we transform a pre-trained deterministic model into a Bayesian Neural Network (BNN) via a variational warm-up strategy, injecting uncertainties into the model. During the testing time, we employ a mean-teacher update strategy using variational inference for the student model and exponential moving average for the teacher model. Our novel approach updates the student model by combining priors from both the source and teacher models. The evidence lower bound is formulated as the cross-entropy between the student and teacher models, along with the Kullback-Leibler (KL) divergence of the prior mixture. Experimental results on three datasets demonstrate the method's effectiveness in mitigating prior drift within the CTTA framework.

Automatic Essay Scoring (AES) is a well-established educational pursuit that employs machine learning to evaluate student-authored essays. While much effort has been made in this area, current research primarily focuses on either (i) boosting the predictive accuracy of an AES model for a specific prompt (i.e., developing prompt-specific models), which often heavily relies on the use of the labeled data from the same target prompt; or (ii) assessing the applicability of AES models developed on non-target prompts to the intended target prompt (i.e., developing the AES models in a cross-prompt setting). Given the inherent bias in machine learning and its potential impact on marginalized groups, it is imperative to investigate whether such bias exists in current AES methods and, if identified, how it intervenes with an AES model's accuracy and generalizability. Thus, our study aimed to uncover the intricate relationship between an AES model's accuracy, fairness, and generalizability, contributing practical insights for developing effective AES models in real-world education. To this end, we meticulously selected nine prominent AES methods and evaluated their performance using seven metrics on an open-sourced dataset, which contains over 25,000 essays and various demographic information about students such as gender, English language learner status, and economic status. Through extensive evaluations, we demonstrated that: (1) prompt-specific models tend to outperform their cross-prompt counterparts in terms of predictive accuracy; (2) prompt-specific models frequently exhibit a greater bias towards students of different economic statuses compared to cross-prompt models; (3) in the pursuit of generalizability, traditional machine learning models coupled with carefully engineered features hold greater potential for achieving both high accuracy and fairness than complex neural network models.