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Canonical Shape Reconstruction with SE(3) Equivariance Learning for Weakly-Supervised Object Pose Estimation

IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Zhou, Jun Chen, Kai Wei, Mingqiang Zhang, Xiao-Ping Dou, Qi Qin, Jing Hong Kong Polytechnic University Center of Smart Health School of Nursing Hong Kong Hong Kong Chinese University of Hong Kong Department of Computer Science and Engineering Hong Kong Hong Kong Nanjing University of Aeronautics and Astronautics School of Computer Science and Technology Nanjing China Tsinghua University Shenzhen Ubiquitous Data Enabling Key Lab Shenzhen International Graduate School Shenzhen China

6D object pose estimation from a single RGB-D image is a fundamental problem in computer vision and robot manipulation. Despite recent advancements, existing methods still suffer several limitations. First of all, the object shape representation extracted from the depth map is often less expressive because the object point cloud parsed from the depth map is highly incomplete due to the object self-occlusion and noisy due to the sensor artifacts. This shape representation issue further intensifies when lacking sufficient labeled data for model training, which unfortunately is another typical problem for object pose estimation considering the heavy annotation cost for real-world pose labeling. In this study, we propose to tackle the above issues in a unified way. First, we enhance the object shape representation from the partial point cloud with a novel canonical shape reconstruction module, in which an implicit canonical frame is established by incorporating the SE(3) equivariance, achieving implicit feature alignment of the partial point cloud inputs, leading to robust shape recovery. Second, based on the enhanced object representation, we further utilize the decanonicalized and pose-dependent completed object shape as the training signal, and develop a novel weakly-supervised learning framework to leverage both labeled synthetic data and unlabeled real data to train the pose estimation model in a label-efficient way. Extensive experiments on three widely used benchmarks demonstrate the effectiveness, and superiority of our framework over state-of-the-art methods. © 1991-2012 IEEE.

关键词： Self-supervised learning

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A Survey of Integrating Generative Artificial Intelligence and 6G Mobile Services: Architectures, Solutions, Technologies and Outlooks

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IEEE Transactions on Cognitive Communications and networking 2025年

作者： Liu, Yi-Jing Du, Hongyang Xu, Xinyi Zhang, Ruichen Feng, Gang Cao, Bin Niyato, Dusit Kim, Dong In Jamalipour, Abbas Letaief, Khaled B. Tafazolli, Rahim University of Electronic Science and Technology of China National Key Lab on Wireless Communications Chengdu China University of Hong Kong Department of Electrical and Electronic Engineering Pok Fu Lam Hong Kong Nanyang Technological University College of Computing and Data Science Singapore Singapore Beijing University of Posts and Telecommunications State Key Laboratory of Networking and Switching Technology Beijing China Sungkyunkwan University Department of Electrical and Computer Engineering Suwon Korea Republic of University of Sydney School of Electrical and Computer Engineering Sydney Australia Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong University of Surrey Institute for Communication Systems School of Computer Science and Electronic Engineering United Kingdom

Generative artificial intelligence (GenAI) is rapidly driving a new phase of artificial intelligence revolution, marked by various applications such as ChatGPT, Sora and DeepSeek. With powerful capabilities in content generation, personalization and user interaction, GenAI can drive significant enhancements in various mobile services to satisfy individual user preferences. Meanwhile, mobile services offer substantial support for accessibility, functionality and intelligence of GenAI applications. However, current research on integrating GenAI and mobile services remains nascent, lacking necessary theoretical and technical support. In this survey, we break down a new vision to guide research on integrating GenAI and mobile services, aiming to improve 6G intelligence levels and enable 6G mobile networks to support the integration of GenAI and mobile services effectively. We begin by examining the necessity of integrating GenAI with 6G mobile services and exploring potential learning architectures of GenAI models within mobile networks. Next, we analyze potential solutions from two perspectives: how 6G mobile networks empower GenAI and how GenAI enables mobile services. We subsequently explore a promising use case, along with essential features and techniques, to facilitate the integration of GenAI and mobile services. Finally, we discuss future research directions, aiming at realizing intelligent 6G networks. © 2015 IEEE.

关键词： Generative adversarial networks

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SupportPlay: A Multi-Agent Role-Playing System for Personalized and Sustained Multimodal Emotional Support Conversation 25

SupportPlay: A Multi-Agent Role-Playing System for Personali...

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Companion Proceedings of the ACM on Web Conference 2025

作者： Geng Tu Bingbing Wang Erik Cambria Wenjie Li Ruifeng Xu Harbin Institute of Technology Shenzhen China College of Computing & Data Science NTU Singapore Singapore Singapore The Hong Kong Polytechnic University Hong Kong China Harbin Institute of Technology Shenzhen China Peng Cheng Laboratory Shenzhen China and GD Prov. Key Lab. of Novel Security Intelligence Technologies Shenzhen China

ISBN: (纸本)9798400713316

In this demo, we present SupportPlay, a multi-agent role-playing system for emotional support conversation (ESC) that addresses the limitations of existing methods in providing personalized, sustained, and multimodal support. SupportPlay generates potential seeker profiles from existing ESC datasets and employs GPT-powered agents to play various seeker roles, enabling the supporter to learn personalized memories for each seeker. Subsequently, the supporter can induce general memory from these memories for real user interactions while learning the user's personalized memory in a similar manner. Through continuous memory management-including retrieval, storage, reflection, and forgetting-SupportPlay delivers tailored emotional support across interactions. By integrating text, speech, and video, SupportPlay creates immersive emotional support experiences.

关键词： emotional support conversation

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A rejection sampling algorithm for off-centered discrete Gaussian distributions over the integers

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science China(Information sciences) 2019年第3期62卷 196-198页

作者： Yusong DU Baodian WEI Huang ZHANG School of Data and Computer Science Sun Yat-sen University Guangdong Key Laboratory of Information Security Technology Chongqing Key Lab of Computer Network and Communication Technology

Dear editor,Discrete Gaussian sampling, that is, sampling from a discrete Gaussian distribution DΛ,σ,cwith parameter σ> 0 and center c∈R~n over an ndimensional lattice Λ, has been considered by the cryptography research community as one of the fundamental building blocks of lattice-based cryptography [1, 2]. The simplest lattice is the one-

关键词： A rejection sampling algorithm for off-centered discrete Gaussian distributions over the integers

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Focus on Local: Finding Reliable Discriminative Regions for Visual Place Recognition

arXiv

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arXiv 2025年

作者： Wang, Changwei Chen, Shunpeng Song, Yukun Xu, Rongtao Zhang, Zherui Zhang, Jiguang Yang, Haoran Zhang, Yu Fu, Kexue Du, Shide Xu, Zhiwei Gao, Longxiang Guo, Li Xu, Shibiao Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Qilu University of Technology Shandong Academy of Sciences China School of Artificial Intelligence Beijing University of Posts and Telecommunications China Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Fundamental Research Center for Computer Science China MAIS Institute of Automation Chinese Academy of Sciences China Tongji University China College of Computer and Data Science Fuzhou University China Shandong University China

Visual Place Recognition (VPR) is aimed at predicting the location of a query image by referencing a database of geotagged images. For VPR task, often fewer discriminative local regions in an image produce important effects while mundane background regions do not contribute or even cause perceptual aliasing because of easy overlap. However, existing methods lack precisely modeling and full exploitation of these discriminative regions. In this paper, we propose the Focus on Local (FoL) approach to stimulate the performance of image retrieval and re-ranking in VPR simultaneously by mining and exploiting reliable discriminative local regions in images and introducing pseudo-correlation supervision. First, we design two losses, Extraction-Aggregation Spatial Alignment Loss (SAL) and Foreground-Background Contrast Enhancement Loss (CEL), to explicitly model reliable discriminative local regions and use them to guide the generation of global representations and efficient re-ranking. Second, we introduce a weakly-supervised local feature training strategy based on pseudo-correspondences obtained from aggregating global features to alleviate the lack of local correspondences ground truth for the VPR task. Third, we suggest an efficient re-ranking pipeline that is efficiently and precisely based on discriminative region guidance. Finally, experimental results show that our FoL achieves the state-of-the-art on multiple VPR benchmarks in both image retrieval and re-ranking stages and also significantly outperforms existing two-stage VPR methods in terms of computational efficiency. Copyright © 2025, The Authors. All rights reserved.

关键词： Photointerpretation

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Cross-Domain Animal Pose Estimation with Skeleton Anomaly-Aware Learning

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IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Han, Le Chen, Kaixuan Zhao, Lei Jiang, Yangbo Wang, Pengfei Zheng, Nenggan Zhejiang Hangzhou310007 China Zhejiang University College of Computer Science and Technology Zhejiang Hangzhou310007 China Zhejiang University State Key Laboratory of Blockchain and Data Security Zhejiang Hangzhou310007 China Institute of Blockchain and Data Security. China Zhejiang University School of Software Technology Ningbo China Zhejiang University State Key Lab of Brain-Machine Intelligence Hangzhou310007 China Zhejiang Provincial Government ZJU Collaborative Innovation Center for Artificial Intelligence by MOE Hangzhou310007 China Bengbu University School of Computer and Information Engineering Bengbu233030 China

Animal pose estimation is often constrained by the scarcity of annotations and the diversity of scenarios and species. The pseudo-label generation based unsupervised domain adaptation paradigm, which discriminates the predicted keypoints of unlabeled data based on the skeleton position consistency, has demonstrated effectiveness for such problems. However, existing methods generate pseudo-labels with massive false positives, because they cannot effectively distinguish sample pairs with the same errors. In this study, we propose a cross-domain animal pose estimation model from a novel perspective of skeleton anomaly learning. We construct a graph contrastive learning mechanism to acquire the skeleton anomaly-aware knowledge, which enables the generation of accurate pseudo-labels for target domain and imposes graph constraint on unlabeled data. And a skeleton anomaly-feedback based domain adaptation framework is designed to facilitate implicit alignment of object-specific features and joint training of cross-domain. Besides, we propose a novel rat pose dataset named UDARP-9.4K to address the gap of small-sized animal pose datasets encompassing diverse experimental scenarios. The related datasets are reviewed and evaluated in detail. Extensive experiments are conducted on UDARP-9.4K and two public datasets to demonstrate the superiority of the proposed model in cross-scenarios and cross-species animal pose estimation tasks. Further analysis reveals the effectiveness of the proposed model for skeleton structure feature learning. The UDARP-9.4K dataset is available here. © 1991-2012 IEEE.

关键词： Invertebrates

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Adaptive Backdoor Attacks with Reasonable Constraints on Graph Neural networks

arXiv

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arXiv 2025年

作者： Dong, Xuewen Li, Jiachen Li, Shujun You, Zhichao Qu, Qiang Kholodov, Yaroslav Shen, Yulong School of Computer Science and Technology Xidian University The Engineering Research Center of Blockchain Technology Application and Evaluation Ministry of Education China The Shaanxi Key Laboratory of Blockchain and Secure Computing Xi’an710071 China University of Kent CanterburyCT2 7NP United Kingdom Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Intelligent Transportation Systems Lab Innopolis University Innopolis Russia School of Computer Science and Technology Xidian University China The Shaanxi Key Laboratory of Network and System Security Xi’an710071 China

Recent studies show that graph neural networks (GNNs) are vulnerable to backdoor attacks. Existing backdoor attacks against GNNs use fixed-pattern triggers and lack reasonable trigger constraints, overlooking individual graph characteristics and rendering insufficient evasiveness. To tackle the above issues, we propose ABARC, the first Adaptive Backdoor Attack with Reasonable Constraints, applying to both graph-level and node-level tasks in GNNs. For graph-level tasks, we propose a subgraph backdoor attack independent of the graph’s topology. It dynamically selects trigger nodes for each target graph and modifies node features with constraints based on graph similarity, feature range, and feature type. For node-level tasks, our attack begins with an analysis of node features, followed by selecting and modifying trigger features, which are then constrained by node similarity, feature range, and feature type. Furthermore, an adaptive edge-pruning mechanism is designed to reduce the impact of neighbors on target nodes, ensuring a high attack success rate (ASR). Experimental results show that even with reasonable constraints for attack evasiveness, our attack achieves a high ASR while incurring a marginal clean accuracy drop (CAD). When combined with the state-of-the-art defense randomized smoothing (RS) method, our attack maintains an ASR over 94%, surpassing existing attacks by more than 7%. Copyright © 2025, The Authors. All rights reserved.

关键词： Graph neural networks

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Biomedical data and AI

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science China Life sciences 2025年第5期68卷 1536-1540页

作者： Hao Xu Shibo Zhou Zefeng Zhu Vincenzo Vitelli Liangyi Chen Ziwei Dai Ning Yang Luhua Lai Shengyong Yang Sergey Ovchinnikov Zhuoran Qiao Sirui Liu Chen Song Jianfeng Pei Han Wen Jianfeng Feng Yaoyao Zhang Zhengwei Xie Yang-Yu Liu Zhiyuan Li Fulai Jin Hao Li Mohammad Lotfollahi Xuegong Zhang Ge Yang Shihua Zhang Ge Gao Pulin Li Qi Liu Jing-Dong Jackie Han Peking-Tsinghua Center for Life Sciences (CLS) Academy for Advanced Interdisciplinary StudiesPeking University Center for Quantitative Biology (CQB) Academy for Advanced Interdisciplinary StudiesPeking University Peking University-Tsinghua University-National Institute of Biological Sciences Joint Graduate Program Academy for Advanced Interdisciplinary StudiesPeking University Department of Physics University of Chicago School of Life Sciences Southern University of Science and Technology Peking University Chengdu Academy for Advanced Interdisciplinary Biotechnologies College of Chemistry and Molecular Engineering Peking University Department of Biotherapy Cancer Center and State Key Laboratory of BiotherapyWest China HospitalSichuan University Department of Biology Massachusetts Institute of Technology Lambic Therapeutics Inc. Changping Laboratory Al for Science Institute Key Laboratory of Computational Neuroscience and Brain-Inspired Intelligence Fudan University Department of Obstetrics and Gynecology West China Second University HospitalSichuan University Peking University International Cancer Institute and Peking University-Yunnan Baiyao International Medical Institute and State Key Laboratory of Natural and Biomimetic Drugs Department of Molecular and Cellular PharmacologySchool of Pharmaceutical SciencesPeking University Health Science CenterPeking University Channing Division of Network Medicine Department of MedicineBrigham and Women's Hospital and Harvard Medical School Center for Artificial Intelligence and Modeling the Carl R.Woese Institute for Genomic BiologyUniversity of Illinois Urbana-Champaign Department of Genetics and Genome Sciences School of Medicine and Department of Computer and Data Sciences and Department of Population and Quantitative Health SciencesCase Western Reserve University Department of Biochemistry and Biophysics University of California Sanger Institute Department of Automation Tsinghua University State Key Laboratory of Multimodal Artificial Intelligence Systems I

The development of artificial intelligence(AI) and the mining of biomedical data complement each other. From the direct use of computer vision results to analyze medical images for disease screening, to now integrating biological knowledge into models and even accelerating the development of new AI based on biological discoveries, the boundaries of both are constantly expanding, and their connections are becoming closer.

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RobustPFL: Robust Personalized Federated Learning

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IEEE Transactions on Dependable and Secure Computing 2025年

作者： Chen, Guorong Wang, Wei Wu, Yufang Li, Chao Xu, Guangquan Ji, Shouling Li, Tao Shen, Meng Han, Yufei Xi'an Jiaotong University Ministry of Education Key Lab for Intelligent Networks and Network Security Xi'an China Beijing Jiaotong University 3 Shangyuancun Beijing Key Laboratory of Security and Privacy in Intelligent Transportation Beijing100044 China Tianjin University Tianjin Key Laboratory of Advanced Networking College of Intelligence and Computing Tianjin300350 China Zhejiang University College of Computer Science and Technology Hangzhou310027 China ITAI Haihe Lab Tianjin China Nankai University College of Computer Science Tianjin300350 China Beijing Institute of Technology School of Cyberspace Security Beijing100081 China Peng Cheng Laboratory Cyberspace Security Research Center Shenzhen518066 China INRIA Bretagne Rennes35042 France

Conventional federated learning (FL) coordinated by a central server focuses on training a global model and protecting the privacy of clients' training data by storing it locally. However, the statistical heterogeneity hinders the global model from adapting to the non-IID distributions among clients. Moreover, untrusted and unreliable central servers and malicious clients may compromise model integrity and availability, thus degrading the robustness of FL. To address these challenges, we present RobustPFL, a decentralized personalized federated learning (PFL) approach that combines α-based Layer-position Normalized Similarity (α-LNS) and local collaborative training to improve personalized performance while utilizing a blockchain-based committee mechanism to coordinate the aggregation process, thereby achieving high personalized accuracy and robustness. Extensive experiments show that our RobustPFL approach outperforms multiple algorithms, including Local training, FedAvg, FedReptile, Per-FedAvg, FedBN, and SPFL, on MNIST, CIFAR10, EMNIST, and N-BaIoT datasets in four non-IID settings. We also evaluate RobustPFL's effectiveness against attacks - poisoning attacks and free-riding attacks. Particularly, for three prevalent poisoning attacks (backdoor, label flipping, and model poisoning attacks), we compare non-defensive (FedAvg) and defensive (Krum, trimmed mean, Bulyan, FedBN, FLAME, and FangTrmean) methods with our proposed RobustPFL. The results show that our approach achieves significant defensive effects. © 2004-2012 IEEE.

关键词： Federated learning

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Lightweight Task-Oriented Semantic Communication Empowered by Large-Scale AI Models

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IEEE Transactions on Vehicular technology 2025年

作者： Liu, Chuanhong Guo, Caili Yang, Yang Chen, Mingzhe Quek, Tony Q. S. Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence School of Information and Communication Engineering Beijing100876 China Beijing University of Posts and Telecommunications Beijing Laboratory of Advanced Information Networks School of Information and Communication Engineering Beijing100876 China University of Miami Department of Electrical and Computer Engineering Institute for Data Science and Computing Coral GablesFL United States Singapore University of Technology and Design Dept. of Information Systems Technology and Design 487372 Singapore

Recent studies have focused on leveraging large-scale artificial intelligence (LAI) models to improve semantic representation and compression capabilities. However, the substantial computational demands of LAI models pose significant challenges for real-time communication scenarios. To address this, this paper proposes utilizing knowledge distillation (KD) techniques to extract and condense knowledge from LAI models, effectively reducing model complexity and computation latency. Nevertheless, the inherent complexity of LAI models leads to prolonged inference times during distillation, while their lack of channel awareness compromises the distillation performance. These limitations make standard KD methods unsuitable for task-oriented semantic communication scenarios. To address these issues, we propose a fast distillation method featuring a pre-stored compression mechanism that eliminates the need for repetitive inference, significantly improving efficiency. Furthermore, a channel adaptive module is incorporated to dynamically adjust the transmitted semantic information based on varying channel conditions, enhancing communication reliability and adaptability. In addition, an information bottleneck-based loss function is derived to guide the fast distillation process. Simulation results verify that the proposed scheme outperform baselines in term of task accuracy, model size, computation latency, and training data requirements. © 1967-2012 IEEE.

关键词： NP-hard

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