General-purpose robots need a versatile body and an intelligent mind. Recent advancements in humanoid robots have shown great promise as a hardware platform for building generalist autonomy in the human world. A robot foundation model, trained on massive and diverse data sources, is essential for enabling the robots to reason about novel situations, robustly handle real-world variability, and rapidly learn new tasks. To this end, we introduce GR00T N1, an open foundation model for humanoid robots. GR00T N1 is a Vision-Language-Action (VLA) model with a dual-system architecture. The vision-language module (System 2) interprets the environment through vision and language instructions. The subsequent diffusion transformer module (System 1) generates fluid motor actions in real time. Both modules are tightly coupled and jointly trained end-to-end. We train GR00T N1 with a heterogeneous mixture of real-robot trajectories, human videos, and synthetically generated datasets. We show that our generalist robot model GR00T N1 outperforms the state-of-the-art imitation learning baselines on standard simulation benchmarks across multiple robot embodiments. Furthermore, we deploy our model on the Fourier GR-1 humanoid robot for language-conditioned bimanual manipulation tasks, achieving strong performance with high data efficiency.

--Deep Neural Networks are increasingly leveraging sparsity to reduce the scaling up of model parameter size. However, reducing wall-clock time through sparsity and pruning remains challenging due to irregular memory access patterns, leading to frequent cache misses. In this paper, we present NPU V ector Runahead (NVR), a prefetching mechanism tailored for NPUs to address cache miss problems in sparse DNN workloads. NVR provides a general micro-architectural solution for sparse DNN workloads without requiring compiler or algorithmic support, operating as a decoupled, speculative, lightweight hardware sub-thread alongside the NPU, with minimal hardware overhead (under 5%). NVR achieves an average 90% reduction in cache misses compared to SOT A prefetching in general-purpose processors, delivering 4x average speedup on sparse workloads versus NPUs without prefetching. Moreover, we investigate the advantages of incorporating a small cache (16KB) into the NPU combined with NVR. Our evaluation shows that expanding this modest cache delivers 5x higher performance benefits than increasing the L2 cache size by the same amount. Fortunately, these workloads are typically over-parameterised [3], where up to 90% of parameters in prevalent models can be pruned while maintaining comparable performance [4]. This redundancy presents an opportunity to leverage sparsity to reduce such intensive resource demands. Theoretically, more fine-grained sparsity patterns yield higher acceleration by skipping more zero-valued elements.

We study the stochastic linear bandits with heavy-tailed noise. Two principled strategies for handling heavy-tailed noise, truncation and median-of-means, have been introduced to heavy-tailed bandits. Nonetheless, these methods rely on specific noise assumptions or bandit structures, limiting their applicability to general settings. The recent work [Huang et al.2024] develops a soft truncation method via the adaptive Huber regression to address these limitations. However, their method suffers undesired computational cost: it requires storing all historical data and performing a full pass over these data at each round. In this paper, we propose a \emph{one-pass} algorithm based on the online mirror descent framework. Our method updates using only current data at each round, reducing the per-round computational cost from $\widetilde{\mathcal{O}}(t \log T)$ to $\widetilde{\mathcal{O}}(1)$ with respect to current round $t$ and the time horizon $T$, and achieves a near-optimal and variance-aware regret of order $\widetilde{\mathcal{O}}\big(d T^{\frac{1-\epsilon}{2(1+\epsilon)}} \sqrt{\sum_{t=1}^T \nu_t^2} + d T^{\frac{1-\epsilon}{2(1+\epsilon)}}\big)$ where $d$ is the dimension and $\nu_t^{1+\epsilon}$ is the $(1+\epsilon)$-th central moment of reward at round $t$.

Aircraft manufacturing is the jewel in the crown of industry, among which generating high-fidelity airfoil geometries with controllable and editable representations remains a fundamental challenge. While existing deep-learning-based methods rely on predefined parametric function families, e.g., B\'ezier curves and discrete point-based representations, they suffer from inherent trade-offs between expressiveness and resolution flexibility. To tackle this challenge, we introduce FuncGenFoil, a novel function-space generative model that directly learns functional airfoil geometries. Our method inherits both the advantages of arbitrary resolution sampling and the smoothness of parametric functions, as well as the strong expressiveness of discrete point-based functions. Empirical evaluations on the AFBench dataset demonstrate that FuncGenFoil improves upon state-of-the-art methods in airfoil generation by achieving a relative -74.4 label error reduction and +23.2 diversity increase on the AF-200K dataset. Our results highlight the advantages of function-space modeling for aerodynamic shape optimization, offering a powerful and flexible framework for high-fidelity airfoil design. Our code will be released.

Joint entity-relation extraction is a critical task in transforming unstructured or semi-structured text into triplets, facilitating the construction of large-scale knowledge graphs, and supporting various downstream applications. Despite its importance, research on Chinese text, particularly with complex semantics in specialized domains like medicine, remains limited. To address this gap, we introduce the CH-DDI, a Chinese drug-drug interactions dataset designed to capture the intricacies of medical text. Leveraging the strengths of attention mechanisms in capturing long-range dependencies, we propose the SEA module, which enhances the extraction of complex contextual semantic information, thereby improving entity recognition and relation extraction. Additionally, to address the inefficiencies of existing methods in facilitating information exchange between entity recognition and relation extraction, we present an interactive fusion representation module. This module employs Cross Attention for bidirectional information exchange between the tasks and further refines feature extraction through BiLSTM. Experimental results on both our CH-DDI dataset and public CoNLL04 dataset demonstrate that our model exhibits strong generalization capabilities. On the CH-DDI dataset, our model achieves an F1-score of 96.73% for entity recognition and 78.43% for relation extraction.

We introduce a novel segmentation-aware joint training framework called generative reinforcement network (GRN) that integrates segmentation loss feedback to optimize both image generation and segmentation performance in a single stage. An image enhancement technique called segmentation-guided enhancement (SGE) is also developed, where the generator produces images tailored specifically for the segmentation model. Two variants of GRN were also developed, including GRN for sample-efficient learning (GRN-SEL) and GRN for semi-supervised learning (GRN-SSL). GRN's performance was evaluated using a dataset of 69 fully annotated 3D ultrasound scans from 29 subjects. The annotations included six anatomical structures: dermis, superficial fat, superficial fascial membrane (SFM), deep fat, deep fascial membrane (DFM), and muscle. Our results show that GRN-SEL with SGE reduces labeling efforts by up to 70% while achieving a 1.98% improvement in the Dice Similarity Coefficient (DSC) compared to models trained on fully labeled datasets. GRN-SEL alone reduces labeling efforts by 60%, GRN-SSL with SGE decreases labeling requirements by 70%, and GRN-SSL alone by 60%, all while maintaining performance comparable to fully supervised models. These findings suggest the effectiveness of the GRN framework in optimizing segmentation performance with significantly less labeled data, offering a scalable and efficient solution for ultrasound image analysis and reducing the burdens associated with data annotation.

As data sets grow in size and complexity, it is becoming more difficult to pull useful features from them using hand-crafted feature extractors. For this reason, deep learning (DL) frameworks are now widely popular. The Holy Grail of DL and one of the most mysterious challenges in all of modern ML is to develop a fundamental understanding of DL optimization and generalization. While numerous optimization techniques have been introduced in the literature to navigate the exploration of the highly non-convex DL optimization landscape, many survey papers reviewing them primarily focus on summarizing these methodologies, often overlooking the critical theoretical analyses of these methods. In this paper, we provide an extensive summary of the theoretical foundations of optimization methods in DL, including presenting various methodologies, their convergence analyses, and generalization abilities. This paper not only includes theoretical analysis of popular generic gradient-based first-order and second-order methods, but it also covers the analysis of the optimization techniques adapting to the properties of the DL loss landscape and explicitly encouraging the discovery of well-generalizing optimal points. Additionally, we extend our discussion to distributed optimization methods that facilitate parallel computations, including both centralized and decentralized approaches. We provide both convex and non-convex analysis for the optimization algorithms considered in this survey paper. Finally, this paper aims to serve as a comprehensive theoretical handbook on optimization methods for DL, offering insights and understanding to both novice and seasoned researchers in the field.

Multimodal Large Language Models (MLLMs) have shown significant progress in offline video understanding. However, applying these models to real-world scenarios, such as autonomous driving and human-computer interaction, presents unique challenges due to the need for real-time processing of continuous online video streams. To this end, this paper presents systematic efforts from three perspectives: evaluation benchmark, model architecture, and training strategy. First, we introduce OVBench, a comprehensive question-answering benchmark specifically designed to evaluate models' ability to perceive, memorize, and reason within online video contexts. It features six core task types across three temporal contexts-past, present, and future-forming 16 subtasks from diverse datasets. Second, we propose a new Pyramid Memory Bank (PMB) that effectively retains key spatiotemporal information in video streams. Third, we proposed an offline-to-online learning paradigm, designing an interleaved dialogue format for online video data and constructing an instruction-tuning dataset tailored for online video training. This framework led to the development of VideoChat-Online, a robust and efficient model for online video understanding. Despite the lower computational cost and higher efficiency, VideoChat-Online outperforms existing state-of-the-art offline and online models across popular offline video benchmarks and OVBench, demonstrating the effectiveness of our model architecture and training strategy.

Source-free domain adaptation (SFDA) involves adapting a model originally trained using a labeled dataset ({\em source domain}) to perform effectively on an unlabeled dataset ({\em target domain}) without relying on any source data during adaptation. This adaptation is especially crucial when significant disparities in data distributions exist between the two domains and when there are privacy concerns regarding the source model's training data. The absence of access to source data during adaptation makes it challenging to analytically estimate the domain gap. To tackle this issue, various techniques have been proposed, such as unsupervised clustering, contrastive learning, and continual learning. In this paper, we first conduct an extensive theoretical analysis of SFDA based on contrastive learning, primarily because it has demonstrated superior performance compared to other techniques. Motivated by the obtained insights, we then introduce a straightforward yet highly effective latent augmentation method tailored for contrastive SFDA. This augmentation method leverages the dispersion of latent features within the neighborhood of the query sample, guided by the source pre-trained model, to enhance the informativeness of positive keys. Our approach, based on a single InfoNCE-based contrastive loss, outperforms state-of-the-art SFDA methods on widely recognized benchmark datasets.

Large Language Models for Code (LLMs4Code) have been found to exhibit outstanding performance in the software engineering domain, especially the remarkable performance in coding tasks. However, even the most advanced LLMs4Code can inevitably contain incorrect or outdated code knowledge. Due to the high cost of training LLMs4Code, it is impractical to re-train the models for fixing these problematic code knowledge. Model editing is a new technical field for effectively and efficiently correcting erroneous knowledge in LLMs, where various model editing techniques and benchmarks have been proposed recently. Despite that, a comprehensive study that thoroughly compares and analyzes the performance of the state-of-the-art model editing techniques for adapting the knowledge within LLMs4Code across various code-related tasks is notably absent. To bridge this gap, we perform the first systematic study on applying state-of-the-art model editing approaches to repair the inaccuracy of LLMs4Code. To that end, we introduce a benchmark named CLMEEval, which consists of two datasets, i.e., CoNaLa-Edit (CNLE) with 21K+ code generation samples and CodeSearchNet-Edit (CSNE) with 16K+ code summarization samples. With the help of CLMEEval, we evaluate six advanced model editing techniques on three LLMs4Code: CodeLlama (7B), CodeQwen1.5 (7B), and Stable-Code (3B). Our findings include that the external memorization-based GRACE approach achieves the best knowledge editing effectiveness and specificity (the editing does not influence untargeted knowledge), while generalization (whether the editing can generalize to other semantically-identical inputs) is a universal challenge for existing techniques. Furthermore, building on in-depth case analysis, we introduce an enhanced version of GRACE called A-GRACE, which incorporates contrastive learning to better capture the semantics of the inputs.