Recent advancements in code large language models (LLMs) have demonstrated remarkable capabilities in code generation and understanding. It is still challenging to build a code LLM with comprehensive performance yet ultimate efficiency. Many attempts have been released in the open source community to break the trade-off between performance and efficiency, such as the Qwen Coder series and the DeepSeek Coder series. This paper introduces yet another attempt in this area, namely Ling-Coder-Lite. We leverage the efficient Mixture-of-Experts (MoE) architecture along with a set of high-quality data curation methods (especially those based on program analytics) to build an efficient yet powerful code LLM. Ling-Coder-Lite exhibits on-par performance on 12 representative coding benchmarks compared to state-of-the-art models of similar size, such as Qwen2.5-Coder-7B and DeepSeek-Coder-V2-Lite, while offering competitive latency and throughput. In practice, we achieve a 50\% reduction in deployment resources compared to the similar-sized dense model without performance loss. To facilitate further research and development in this area, we open-source our models as well as a substantial portion of high-quality data for the annealing and post-training stages. The models and data can be accessed at~\url{https://huggingface.co/inclusionAI/Ling-Coder-lite}.

We introduce UniGraspTransformer, a universal Transformer-based network for dexterous robotic grasping that simplifies training while enhancing scalability and performance. Unlike prior methods such as UniDexGrasp++, which require complex, multi-step training pipelines, UniGraspTransformer follows a streamlined process: first, dedicated policy networks are trained for individual objects using reinforcement learning to generate successful grasp trajectories; then, these trajectories are distilled into a single, universal network. Our approach enables UniGraspTransformer to scale effectively, incorporating up to 12 self-attention blocks for handling thousands of objects with diverse poses. Additionally, it generalizes well to both idealized and real-world inputs, evaluated in state-based and vision-based settings. Notably, UniGraspTransformer generates a broader range of grasping poses for objects in various shapes and orientations, resulting in more diverse grasp strategies. Experimental results demonstrate significant improvements over state-of-the-art, UniDexGrasp++, across various object categories, achieving success rate gains of 3.5%, 7.7%, and 10.1% on seen objects, unseen objects within seen categories, and completely unseen objects, respectively, in the vision-based setting. Project page: https://dexhand.github.io/UniGraspTransformer.

The advancement of large Vision-Language-Action (VLA) models has significantly improved robotic manipulation in terms of language-guided task execution and generalization to unseen scenarios. While existing VLAs adapted from pretrained large Vision-Language-Models (VLM) have demonstrated promising generalizability, their task performance is still unsatisfactory as indicated by the low tasks success rates in different environments. In this paper, we present a new advanced VLA architecture derived from VLM. Unlike previous works that directly repurpose VLM for action prediction by simple action quantization, we propose a omponentized VLA architecture that has a specialized action module conditioned on VLM output. We systematically study the design of the action module and demonstrates the strong performance enhancement with diffusion action transformers for action sequence modeling, as well as their favorable scaling behaviors. We also conduct comprehensive experiments and ablation studies to evaluate the efficacy of our models with varied designs. The evaluation on 5 robot embodiments in simulation and real work shows that our model not only significantly surpasses existing VLAs in task performance and but also exhibits remarkable adaptation to new robots and generalization to unseen objects and backgrounds. It exceeds the average success rates of OpenVLA which has similar model size (7B) with ours by over 35% in simulated evaluation and 55% in real robot experiments. It also outperforms the large RT-2-X model (55B) by 18% absolute success rates in simulation. Code and models can be found on our project page (https://cogact.github.io/).

Previous animatable 3D-aware GANs for human generation have primarily focused on either the human head or full body. However, head-only videos are relatively uncommon in real life, and full body generation typically does not deal with facial expression control and still has challenges in generating high-quality results. Towards applicable video avatars, we present an animatable 3D-aware GAN that generates portrait images with controllable facial expression, head pose, and shoulder movements. It is a generative model trained on unstructured 2D image collections without using 3D or video data. For the new task, we base our method on the generative radiance manifold representation and equip it with learnable facial and head-shoulder deformations. A dual-camera rendering and adversarial learning scheme is proposed to improve the quality of the generated faces, which is critical for portrait images. A pose deformation processing network is developed to generate plausible deformations for challenging regions such as long hair. Experiments show that our method, trained on unstructured 2D images, can generate diverse and high-quality 3D portraits with desired control over different properties.

Although weight and activation quantization is an effective approach for Deep Neural Network (DNN) compression and has a lot of potentials to increase inference speed leveraging bit-operations, there is still a noticeable gap in terms of prediction accuracy between the quantized model and the full-precision model. To address this gap, we propose to jointly train a quantized, bit-operation-compatible DNN and its associated quantizers, as opposed to using fixed, handcrafted quantization schemes such as uniform or logarithmic quantization. Our method for learning the quantizers applies to both network weights and activations with arbitrary-bit precision, and our quantizers are easy to train. The comprehensive experiments on CIFAR-10 and ImageNet datasets show that our method works consistently well for various network structures such as AlexNet, VGG-Net, GoogLeNet, ResNet, and DenseNet, surpassing previous quantization methods in terms of accuracy by an appreciable margin. Code available at https://github.com/Microsoft/LQ-Nets

This paper presents a Neural Aggregation Network (NAN) for video face recognition. The network takes a face video or face image set of a person with a variable number of face images as its input, and produces a compact, fixed-dimension feature representation for recognition. The whole network is composed of two modules. The feature embedding module is a deep Convolutional Neural Network (CNN) which maps each face image to a feature vector. The aggregation module consists of two attention blocks which adaptively aggregate the feature vectors to form a single feature inside the convex hull spanned by them. Due to the attention mechanism, the aggregation is invariant to the image order. Our NAN is trained with a standard classification or verification loss without any extra supervision signal, and we found that it automatically learns to advocate high-quality face images while repelling low-quality ones such as blurred, occluded and improperly exposed faces. The experiments on IJB-A, YouTube Face, Celebrity-1000 video face recognition benchmarks show that it consistently outperforms naive aggregation methods and achieves the state-of-the-art accuracy.