Scientific discovery is poised for rapid advancement through advanced robotics and artificial intelligence. Current scientific practices face substantial limitations as manual experimentation remains time-consuming and resource-intensive, while multidisciplinary research demands knowledge integration beyond individual researchers' expertise boundaries. Here, we envision an autonomous generalist scientist (AGS) concept combines agentic AI and embodied robotics to automate the entire research lifecycle. This system could dynamically interact with both physical and virtual environments while facilitating the integration of knowledge across diverse scientific disciplines. By deploying these technologies throughout every research stage -- spanning literature review, hypothesis generation, experimentation, and manuscript writing -- and incorporating internal reflection alongside external feedback, this system aims to significantly reduce the time and resources needed for scientific discovery. Building on the evolution from virtual AI scientists to versatile generalist AI-based robot scientists, AGS promises groundbreaking potential. As these autonomous systems become increasingly integrated into the research process, we hypothesize that scientific discovery might adhere to new scaling laws, potentially shaped by the number and capabilities of these autonomous systems, offering novel perspectives on how knowledge is generated and evolves. The adaptability of embodied robots to extreme environments, paired with the flywheel effect of accumulating scientific knowledge, holds the promise of continually pushing beyond both physical and intellectual frontiers.

We implement a specialized version of our SpeckleNN model for real-time speckle pattern classification in X-ray Single-Particle Imaging (SPI) using the SLAC Neural Network Library (SNL) on an FPGA. This hardware is optimized for inference near detectors in high-throughput X-ray free-electron laser (XFEL) facilities like the Linac Coherent Light Source (LCLS). To fit FPGA constraints, we optimized SpeckleNN, reducing parameters from 5.6M to 64.6K (98.8% reduction) with 90% accuracy. We also compressed the latent space from 128 to 50 dimensions. Deployed on a KCU1500 FPGA, the model used 71% of DSPs, 75% of LUTs, and 48% of FFs, with an average power consumption of 9.4W. The FPGA achieved 45.015us inference latency at 200 MHz. On an NVIDIA A100 GPU, the same inference consumed ~73W and had a 400us latency. Our FPGA version achieved an 8.9x speedup and 7.8x power reduction over the GPU. Key advancements include model specialization and dynamic weight loading through SNL, eliminating time-consuming FPGA re-synthesis for fast, continuous deployment of (re)trained models. These innovations enable real-time adaptive classification and efficient speckle pattern vetoing, making SpeckleNN ideal for XFEL facilities. This implementation accelerates SPI experiments and enhances adaptability to evolving conditions.

Large language models (LLMs) have wide applications in the field of natural language processing(NLP), such as GPT-4 and Llama. However, with the exponential growth of model parameter sizes, LLMs bring significant resource overheads. Low-bit quantization, as a key technique, reduces memory usage and computational demands by decreasing the bit-width of model parameters, activations, and gradients. Previous quantization methods for LLMs have largely employed Post-Training Quantization (PTQ) and Quantization-Aware Training (QAT). PTQ does not require any retraining of the original model, while QAT involves optimizing precision during training to achieve the best quantization parameters. The BitNet team proposed a radically different approach, where quantization is performed from the start of model training, utilizing low-precision binary weights during the training process. This approach has led to the emergence of many binary quantization techniques for large language models. This paper provides a comprehensive review of these binary quantization techniques. Specifically, we will introduce binary quantization techniques in deep neural networks and further explore their application to LLMs, reviewing their various contributions, implementations, and applications.

The Web of Things (WoT) enhances interoperability across web-based and ubiquitous computing platforms while complementing existing IoT standards. The multimodal Federated Learning (FL) paradigm has been introduced to enhance WoT by enabling the fusion of multi-source mobile sensing data while preserving privacy. However, a key challenge in mobile sensing systems using multimodal FL is modality incompleteness, where some modalities may be unavailable or only partially captured, potentially degrading the system's performance and reliability. Current multimodal FL frameworks typically train multiple unimodal FL subsystems or apply interpolation techniques on the node side to approximate missing modalities. However, these approaches overlook the shared latent feature space among incomplete modalities across different nodes and fail to discriminate against low-quality nodes. To address this gap, we present FedMobile, a new knowledge contribution-aware multimodal FL framework designed for robust learning despite missing modalities. FedMobile prioritizes local-to-global knowledge transfer, leveraging cross-node multimodal feature information to reconstruct missing features. It also enhances system performance and resilience to modality heterogeneity through rigorous node contribution assessments and knowledge contribution-aware aggregation rules. Empirical evaluations on five widely recognized multimodal benchmark datasets demonstrate that FedMobile maintains robust learning even when up to 90% of modality information is missing or when data from two modalities are randomly missing, outperforming state-of-the-art baselines.

Time-aware data valuation enhances training efficiency and model robustness, as early detection of harmful samples could prevent months of wasted computation. However, existing methods rely on model retraining or convergence assumptions or fail to capture long-term training dynamics. We propose LiveVal, an efficient time-aware data valuation method with three key designs: 1) seamless integration with SGD training for efficient data contribution monitoring; 2) reference-based valuation with normalization for reliable benchmark establishment; and 3) adaptive reference point selection for real-time updating with optimized memory usage. We establish theoretical guarantees for LiveVal's stability and prove that its valuations are bounded and directionally aligned with optimization progress. Extensive experiments demonstrate that LiveVal provides efficient data valuation across different modalities and model scales, achieving 180 speedup over traditional methods while maintaining robust detection performance.

The rapid advancement of large models, driven by their exceptional abilities in learning and generalization through large-scale pre-training, has reshaped the landscape of Artificial Intelligence (AI). These models are now foundational to a wide range of applications, including conversational AI, recommendation systems, autonomous driving, content generation, medical diagnostics, and scientific discovery. However, their widespread deployment also exposes them to significant safety risks, raising concerns about robustness, reliability, and ethical implications. This survey provides a systematic review of current safety research on large models, covering Vision Foundation Models (VFMs), Large Language Models (LLMs), Vision-Language Pre-training (VLP) models, Vision-Language Models (VLMs), Diffusion Models (DMs), and large-model-based Agents. Our contributions are summarized as follows: (1) We present a comprehensive taxonomy of safety threats to these models, including adversarial attacks, data poisoning, backdoor attacks, jailbreak and prompt injection attacks, energy-latency attacks, data and model extraction attacks, and emerging agent-specific threats. (2) We review defense strategies proposed for each type of attacks if available and summarize the commonly used datasets and benchmarks for safety research. (3) Building on this, we identify and discuss the open challenges in large model safety, emphasizing the need for comprehensive safety evaluations, scalable and effective defense mechanisms, and sustainable data practices. More importantly, we highlight the necessity of collective efforts from the research community and international collaboration. Our work can serve as a useful reference for researchers and practitioners, fostering the ongoing development of comprehensive defense systems and platforms to safeguard AI models.

This paper introduces an integrated Bayesian model that combines line integral measurements and point values using Gaussian Process (GP). The proposed method leverages Gaussian Process Regression (GPR) to incorporate point values into 2D profiles and employs coordinate mapping to integrate magnetic flux information for 2D inversion. The average relative error of the reconstructed profile, using the integrated Bayesian tomography model with normalized magnetic flux, is as low as 3.60*10^(-4). Additionally, sensitivity tests were conducted on the number of grids, the standard deviation of synthetic diagnostic data, and noise levels, laying a solid foundation for the application of the model to experimental data. This work not only achieves accurate 2D inversion using the integrated Bayesian model but also provides a robust framework for decoupling pressure information from equilibrium reconstruction, thus making it possible to optimize equilibrium reconstruction using inversion results.

Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural mechanism. To achieve this goal, we introduce the Double Threshold Spiking neuron model with adjustable thresholds to generate varied output patterns. This neuron model can excite the natural dynamics of soft robotic snakes, and it enables distinct movements, such as turning or moving forward, by simply altering the neural thresholds. Finally, we demonstrate that our approach, termed SpikingSoft, naturally pairs and integrates with reinforcement learning. The high-level agent only needs to adjust the two thresholds to generate complex movement patterns, thus strongly simplifying the learning of reactive locomotion. Simulation results demonstrate that the proposed architecture significantly enhances the performance of the soft snake robot, enabling it to achieve target objectives with a 21.6% increase in success rate, a 29% reduction in time to reach the target, and smoother movements compared to the vanilla reinforcement learning controllers or Central Pattern Generator controller acting in torque space.

Auditing Large Language Models (LLMs) is a crucial and challenging task. In this study, we focus on auditing black-box LLMs without access to their parameters, only to the provided service. We treat this type of auditing as a black-box optimization problem where the goal is to automatically uncover input-output pairs of the target LLMs that exhibit illegal, immoral, or unsafe behaviors. For instance, we may seek a non-toxic input that the target LLM responds to with a toxic output or an input that induces the hallucinative response from the target LLM containing politically sensitive individuals. This black-box optimization is challenging due to the scarcity of feasible points, the discrete nature of the prompt space, and the large search space. To address these challenges, we propose Curiosity-Driven Auditing for Large Language Models (CALM), which uses intrinsically motivated reinforcement learning to finetune an LLM as the auditor agent to uncover potential harmful and biased input-output pairs of the target LLM. CALM successfully identifies derogatory completions involving celebrities and uncovers inputs that elicit specific names under the black-box setting. This work offers a promising direction for auditing black-box LLMs. Our code is available at https://github.com/x-zheng16/CALM.git.

Open-set object detection (OSOD) is highly desirable for robotic manipulation in unstructured environments. However, existing OSOD methods often fail to meet the requirements of robotic applications due to their high computational burden and complex deployment. To address this issue, this paper proposes a light-weight framework called Decoupled OSOD (DOSOD), which is a practical and highly efficient solution to support real-time OSOD tasks in robotic systems. Specifically, DOSOD builds upon the YOLO-World pipeline by integrating a vision-language model (VLM) with a detector. A Multilayer Perceptron (MLP) adaptor is developed to transform text embeddings extracted by the VLM into a joint space, within which the detector learns the region representations of class-agnostic proposals. Cross-modality features are directly aligned in the joint space, avoiding the complex feature interactions and thereby improving computational efficiency. DOSOD operates like a traditional closed-set detector during the testing phase, effectively bridging the gap between closed-set and open-set detection. Compared to the baseline YOLO-World, the proposed DOSOD significantly enhances real-time performance while maintaining comparable accuracy. The slight DOSOD-S model achieves a Fixed AP of $26.7\%$, compared to $26.2\%$ for YOLO-World-v1-S and $22.7\%$ for YOLO-World-v2-S, using similar backbones on the LVIS minival dataset. Meanwhile, the FPS of DOSOD-S is $57.1\%$ higher than YOLO-World-v1-S and $29.6\%$ higher than YOLO-World-v2-S. Meanwhile, we demonstrate that the DOSOD model facilitates the deployment of edge devices. The codes and models are publicly available at https://github.com/D-Robotics-AI-Lab/DOSOD.