In this study, we establish a unified framework to deal with the high dimensional matrix completion problem under flexible nonignorable missing mechanisms. Although the matrix completion problem has attracted much attention over the years, there are very sparse works that consider the nonignorable missing mechanism. To address this problem, we derive a row- and column-wise matrix U-statistics type loss function, with the nuclear norm for regularization. A singular value proximal gradient algorithm is developed to solve the proposed optimization problem. We prove the non-asymptotic upper bound of the estimation error's Frobenius norm and show the performance of our method through numerical simulations and real data analysis.

Prognostic and Health Management (PHM) are crucial ways to avoid unnecessary maintenance for Cyber-Physical Systems (CPS) and improve system reliability. Predicting the Remaining Useful Life (RUL) is one of the most challenging tasks for PHM. Existing methods require prior knowledge about the system, contrived assumptions, or temporal mining to model the life cycles of machine equipment/devices, resulting in diminished accuracy and limited applicability in real-world scenarios. This paper proposes a Bi-directional Adversarial network with Covariate Encoding for machine Remaining Useful Life (BACE-RUL) prediction, which only adopts sensor measurements from the current life cycle to predict RUL rather than relying on previous consecutive cycle recordings. The current sensor measurements of mechanical devices are encoded to a conditional space to better understand the implicit inner mechanical status. The predictor is trained as a conditional generative network with the encoded sensor measurements as its conditions. Various experiments on several real-world datasets, including the turbofan aircraft engine dataset and the dataset collected from degradation experiments of Li-Ion battery cells, show that the proposed model is a general framework and outperforms state-of-the-art methods.

Moving object segmentation (MOS) on LiDAR point clouds is crucial for autonomous systems like self-driving vehicles. Previous supervised approaches rely heavily on costly manual annotations, while LiDAR sequences naturally capture temporal motion cues that can be leveraged for self-supervised learning. In this paper, we propose \textbf{T}emporal \textbf{O}verlapping \textbf{P}rediction (\textbf{TOP}), a self-supervised pre-training method that alleviate the labeling burden for MOS. \textbf{TOP} explores the temporal overlapping points that commonly observed by current and adjacent scans, and learns spatiotemporal representations by predicting the occupancy states of temporal overlapping points. Moreover, we utilize current occupancy reconstruction as an auxiliary pre-training objective, which enhances the current structural awareness of the model. We conduct extensive experiments and observe that the conventional metric Intersection-over-Union (IoU) shows strong bias to objects with more scanned points, which might neglect small or distant objects. To compensate for this bias, we introduce an additional metric called $\text{mIoU}_{\text{obj}}$ to evaluate object-level performance. Experiments on nuScenes and SemanticKITTI show that \textbf{TOP} outperforms both supervised training-from-scratch baseline and other self-supervised pre-training baselines by up to 28.77\% relative improvement, demonstrating strong transferability across LiDAR setups and generalization to other tasks. Code and pre-trained models will be publicly available upon publication.

This paper aims to address the challenge of hallucinations in Multimodal Large Language Models (MLLMs) particularly for dense image captioning tasks. To tackle the challenge, we identify the current lack of a metric that finely measures the caption quality in concept level. We hereby introduce HalFscore, a novel metric built upon the language graph and is designed to evaluate both the accuracy and completeness of dense captions at a granular level. Additionally, we identify the root cause of hallucination as the model's over-reliance on its language prior. To address this, we propose PerturboLLaVA, which reduces the model's reliance on the language prior by incorporating adversarially perturbed text during training. This method enhances the model's focus on visual inputs, effectively reducing hallucinations and producing accurate, image-grounded descriptions without incurring additional computational overhead. PerturboLLaVA significantly improves the fidelity of generated captions, outperforming existing approaches in handling multimodal hallucinations and achieving improved performance across general multimodal benchmarks.

Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the precision of the uncertainty modeling. Traditional methods of uncertainty modeling typically assume a Gaussian distribution and involve manual heuristic parameter tuning. However, these methods struggle to scale effectively and address long-tail scenarios. To address these challenges, we propose a learning-based method that encodes sensor information using higher-order neural network features, thereby eliminating the need for uncertainty estimation. This method significantly eliminates the need for parameter fine-tuning by developing an end-to-end neural network that is specifically designed for multi-sensor fusion. In our experiments, we demonstrate the effectiveness of our approach in real-world autonomous driving scenarios. Results show that the proposed method outperforms existing multi-sensor fusion methods in terms of both accuracy and robustness. A video of the results can be viewed at https://youtu.be/q4iuobMbjME.

Survey paper plays a crucial role in scientific research, especially given the rapid growth of research publications. Recently, researchers have begun using LLMs to automate survey generation for better efficiency. However, the quality gap between LLM-generated surveys and those written by human remains significant, particularly in terms of outline quality and citation accuracy. To close these gaps, we introduce SurveyForge, which first generates the outline by analyzing the logical structure of human-written outlines and referring to the retrieved domain-related articles. Subsequently, leveraging high-quality papers retrieved from memory by our scholar navigation agent, SurveyForge can automatically generate and refine the content of the generated article. Moreover, to achieve a comprehensive evaluation, we construct SurveyBench, which includes 100 human-written survey papers for win-rate comparison and assesses AI-generated survey papers across three dimensions: reference, outline, and content quality. Experiments demonstrate that SurveyForge can outperform previous works such as AutoSurvey.

Intelligence is a crucial trait for species to find solutions within a limited number of trial-and-error attempts. Building on this idea, we introduce Survival Game as a framework to evaluate intelligence based on the number of failed attempts in a trial-and-error process. Fewer failures indicate higher intelligence. When the expectation and variance of failure counts are both finite, it signals the ability to consistently find solutions to new challenges, which we define as the Autonomous Level of intelligence. Using Survival Game, we comprehensively evaluate existing AI systems. Our results show that while AI systems achieve the Autonomous Level in simple tasks, they are still far from it in more complex tasks, such as vision, search, recommendation, and language. While scaling current AI technologies might help, this would come at an astronomical cost. Projections suggest that achieving the Autonomous Level for general tasks would require $10^{26}$ parameters. To put this into perspective, loading such a massive model requires so many H100 GPUs that their total value is $10^{7}$ times that of Apple Inc.'s market value. Even with Moore's Law, supporting such a parameter scale would take $70$ years. This staggering cost highlights the complexity of human tasks and the inadequacies of current AI technologies. To further investigate this phenomenon, we conduct a theoretical analysis of Survival Game and its experimental results. Our findings suggest that human tasks possess a criticality property. As a result, Autonomous Level requires a deep understanding of the task's underlying mechanisms. Current AI systems, however, do not fully grasp these mechanisms and instead rely on superficial mimicry, making it difficult for them to reach an autonomous level. We believe Survival Game can not only guide the future development of AI but also offer profound insights into human intelligence.

IEEE ROBOTICS AND AUTOMA TION LETTERS 1 Dynamically Local-Enhancement Planner for Large-Scale Autonomous Driving Nanshan Deng, Weitao Zhou, Bo Zhang, Junze Wen, Kun Jiang, Zhong Cao, Diange Y ang Abstract --Current autonomous vehicles operate primarily within limited regions, but there is increasing demand for broader applications. However, as models scale, their limited capacity becomes a significant challenge for adapting to novel scenarios. It is increasingly difficult to improve models for new situations using a single monolithic model. T o address this issue, we introduce the concept of dynamically enhancing a basic driving planner with local driving data, without permanently modifying the planner itself. This approach, termed the Dynamically Local-Enhancement (DLE) Planner, aims to improve the scalability of autonomous driving systems without significantly expanding the planner's size. Our approach introduces a position-varying Markov Decision Process formulation coupled with a graph neural network that extracts region-specific driving features from local observation data. The learned features describe the local behavior of the surrounding objects, which is then leveraged to enhance a basic reinforcement learning-based policy. We evaluated our approach in multiple scenarios and compared it with a one-for-all driving model. The results show that our method outperforms the baseline policy in both safety (collision rate) and average reward, while maintaining a lighter scale.

End - to - end autonomous driving with its holistic optimization capabilities, has gained increasing tr action in academia and industry . Vectorized representations, which preserve instance - level topological information while reducing computational overhead, have emerged as a promising paradigm. While existing vectorized query - based frameworks often overlook the inherent spatial correlatio ns among intra - instance points, resulting in geometrically inconsistent outputs (e.g., fragmented HD map elements or oscillatory trajectories). To address these limitations, we propose InVDriver, a novel vectorized query - based system that systematically mo dels intra - instance spatial dependencies through masked self - attention layers, thereby enhancing planning acc uracy and trajectory smoothness . Across all core modules -- perception, prediction, and planning -- InVDriver incorporates masked self - attention mechanis ms that restrict attention to intra - instance point interactions, enabling coordinated refinement of structural elements while suppressing irrelevant inter - instance noise. Experimental results on the nuScenes benchmark demonstrate t hat InVDriver achieves sta te - of - the - art performance, surpassing prior methods in both accuracy and safety, while maintainin g high computational efficiency . Our work validates that explicit modeling of intra - instance geometric coherence is critical for advancing vectorized autonomou s driving systems, bridging the gap between theoretical advantages of end - to - end frameworks and practical deployment requirements.

Chinese spelling correction (CSC) is a crucial task that aims to correct character errors in Chinese text. While conventional CSC focuses on character substitution errors caused by mistyping, two other common types of character errors, missing and redundant characters, have received less attention. These errors are often excluded from CSC datasets during the annotation process or ignored during evaluation, even when they have been annotated. This issue limits the practicality of the CSC task. To address this issue, we introduce the task of General Chinese Character Error Correction (C2EC), which focuses on all three types of character errors. We construct a high-quality C2EC benchmark by combining and manually verifying data from CCTC and Lemon datasets. We extend the training-free prompt-free CSC method to C2EC by using Levenshtein distance for handling length changes and leveraging an additional prompt-based large language model (LLM) to improve performance. Experiments show that our method enables a 14B-parameter LLM to be on par with models nearly 50 times larger on both conventional CSC and C2EC tasks, without any fine-tuning.