We propose a novel hybrid calibration-free method FreeCap to accurately capture global multi-person motions in open environments. Our system combines a single LiDAR with expandable moving cameras, allowing for flexible and precise motion estimation in a unified world coordinate. In particular, We introduce a local-to-global pose-aware cross-sensor human-matching module that predicts the alignment among each sensor, even in the absence of calibration. Additionally, our coarse-to-fine sensor-expandable pose optimizer further optimizes the 3D human key points and the alignments, it is also capable of incorporating additional cameras to enhance accuracy. Extensive experiments on Human-M3 and FreeMotion datasets demonstrate that our method significantly outperforms state-of-the-art single-modal methods, offering an expandable and efficient solution for multi-person motion capture across various applications.
相關內容
Promptable segmentation foundation models have emerged as a transformative approach to addressing the diverse needs in medical images, but most existing models require expensive computing, posing a big barrier to their adoption in clinical practice. In this work, we organized the first international competition dedicated to promptable medical image segmentation, featuring a large-scale dataset spanning nine common imaging modalities from over 20 different institutions. The top teams developed lightweight segmentation foundation models and implemented an efficient inference pipeline that substantially reduced computational requirements while maintaining state-of-the-art segmentation accuracy. Moreover, the post-challenge phase advanced the algorithms through the design of performance booster and reproducibility tasks, resulting in improved algorithms and validated reproducibility of the winning solution. Furthermore, the best-performing algorithms have been incorporated into the open-source software with a user-friendly interface to facilitate clinical adoption. The data and code are publicly available to foster the further development of medical image segmentation foundation models and pave the way for impactful real-world applications.
High-quality benchmarks are the foundation for embodied AI research, enabling significant advancements in long-horizon navigation, manipulation and rearrangement tasks. However, as frontier tasks in robotics get more advanced, they require faster simulation speed, more intricate test environments, and larger demonstration datasets. To this end, we present MS-HAB, a holistic benchmark for low-level manipulation and in-home object rearrangement. First, we provide a GPU-accelerated implementation of the Home Assistant Benchmark (HAB). We support realistic low-level control and achieve over 3x the speed of previous magical grasp implementations at similar GPU memory usage. Second, we train extensive reinforcement learning (RL) and imitation learning (IL) baselines for future work to compare against. Finally, we develop a rule-based trajectory filtering system to sample specific demonstrations from our RL policies which match predefined criteria for robot behavior and safety. Combining demonstration filtering with our fast environments enables efficient, controlled data generation at scale.
Specializing large language models (LLMs) for local deployment in domain-specific use cases is necessary for strong performance while meeting latency and privacy constraints. However, conventional task-specific adaptation approaches do not show simultaneous memory saving and inference speedup at deployment time. Practical compression techniques like quantization and pruning require dedicated hardware or kernel support to achieve measured inference speedup. We develop TrimLLM based on the layer-wise specialization phenomenon we empirically observed and verified on contemporary LLMs. TrimLLM reduces the depth of LLMs via progressive layer dropping. We show it retains LLMs' capacity in specific domains and achieves inference speedup irrespective of hardware and deep learning frameworks. We evaluated TrimLLM on LLMs of various sizes for inference; models adapted on medical, legal, and financial datasets all demonstrate $2.1-5.7\times$ inference speedup on consumer GPUs and up to $3.1\times$ speedup on A100 when compared to state-of-the-art model compression algorithms, with no loss in accuracy at 50$\sim$60\% model compression ratio.
With the adoption of retrieval-augmented generation (RAG), large language models (LLMs) are expected to ground their generation to the retrieved contexts. Yet, this is hindered by position bias of LLMs, failing to evenly attend to all contexts. Previous work has addressed this by synthesizing contexts with perturbed positions of gold segment, creating a position-diversified train set. We extend this intuition to propose consistency regularization with augmentation and distillation. First, we augment each training instance with its position perturbation to encourage consistent predictions, regardless of ordering. We also distill behaviors of this pair, although it can be counterproductive in certain RAG scenarios where the given order from the retriever is crucial for generation quality. We thus propose CORD, balancing COnsistency and Rank Distillation. CORD adaptively samples noise-controlled perturbations from an interpolation space, ensuring both consistency and respect for the rank prior. Empirical results show this balance enables CORD to outperform consistently in diverse RAG benchmarks.
Recent advancements in large language models (LLMs) have significantly enhanced their ability to understand both natural language and code, driving their use in tasks like natural language-to-code (NL2Code) and code summarization. However, LLMs are prone to hallucination-outputs that stray from intended meanings. Detecting hallucinations in code summarization is especially difficult due to the complex interplay between programming and natural languages. We introduce a first-of-its-kind dataset with $\sim$10K samples, curated specifically for hallucination detection in code summarization. We further propose a novel Entity Tracing Framework (ETF) that a) utilizes static program analysis to identify code entities from the program and b) uses LLMs to map and verify these entities and their intents within generated code summaries. Our experimental analysis demonstrates the effectiveness of the framework, leading to a 0.73 F1 score. This approach provides an interpretable method for detecting hallucinations by grounding entities, allowing us to evaluate summary accuracy.
We introduce EXIT, an extractive context compression framework that enhances both the effectiveness and efficiency of retrieval-augmented generation (RAG) in question answering (QA). Current RAG systems often struggle when retrieval models fail to rank the most relevant documents, leading to the inclusion of more context at the expense of latency and accuracy. While abstractive compression methods can drastically reduce token counts, their token-by-token generation process significantly increases end-to-end latency. Conversely, existing extractive methods reduce latency but rely on independent, non-adaptive sentence selection, failing to fully utilize contextual information. EXIT addresses these limitations by classifying sentences from retrieved documents - while preserving their contextual dependencies - enabling parallelizable, context-aware extraction that adapts to query complexity and retrieval quality. Our evaluations on both single-hop and multi-hop QA tasks show that EXIT consistently surpasses existing compression methods and even uncompressed baselines in QA accuracy, while also delivering substantial reductions in inference time and token count. By improving both effectiveness and efficiency, EXIT provides a promising direction for developing scalable, high-quality QA solutions in RAG pipelines. Our code is available at //github.com/ThisIsHwang/EXIT
Despite the significant progress made by existing retrieval augmented language models (RALMs) in providing trustworthy responses and grounding in reliable sources, they often overlook effective alignment with human preferences. In the alignment process, reward models (RMs) act as a crucial proxy for human values to guide optimization. However, it remains unclear how to evaluate and select a reliable RM for preference alignment in RALMs. To this end, we propose RAG-RewardBench, the first benchmark for evaluating RMs in RAG settings. First, we design four crucial and challenging RAG-specific scenarios to assess RMs, including multi-hop reasoning, fine-grained citation, appropriate abstain, and conflict robustness. Then, we incorporate 18 RAG subsets, six retrievers, and 24 RALMs to increase the diversity of data sources. Finally, we adopt an LLM-as-a-judge approach to improve preference annotation efficiency and effectiveness, exhibiting a strong correlation with human annotations. Based on the RAG-RewardBench, we conduct a comprehensive evaluation of 45 RMs and uncover their limitations in RAG scenarios. Additionally, we also reveal that existing trained RALMs show almost no improvement in preference alignment, highlighting the need for a shift towards preference-aligned training.We release our benchmark and code publicly at //huggingface.co/datasets/jinzhuoran/RAG-RewardBench/ for future work.
Recent advancements in text-to-3D generation can generate neural radiance fields (NeRFs) with score distillation sampling, enabling 3D asset creation without real-world data capture. With the rapid advancement in NeRF generation quality, protecting the copyright of the generated NeRF has become increasingly important. While prior works can watermark NeRFs in a post-generation way, they suffer from two vulnerabilities. First, a delay lies between NeRF generation and watermarking because the secret message is embedded into the NeRF model post-generation through fine-tuning. Second, generating a non-watermarked NeRF as an intermediate creates a potential vulnerability for theft. To address both issues, we propose Dreamark to embed a secret message by backdooring the NeRF during NeRF generation. In detail, we first pre-train a watermark decoder. Then, the Dreamark generates backdoored NeRFs in a way that the target secret message can be verified by the pre-trained watermark decoder on an arbitrary trigger viewport. We evaluate the generation quality and watermark robustness against image- and model-level attacks. Extensive experiments show that the watermarking process will not degrade the generation quality, and the watermark achieves 90+% accuracy among both image-level attacks (e.g., Gaussian noise) and model-level attacks (e.g., pruning attack).
The rapid evolution of Internet of Things (IoT) environments has created an urgent need for secure and trustworthy distributed computing systems, particularly when dealing with heterogeneous devices and applications where centralized trust cannot be assumed. This paper proposes TrustMesh, a novel blockchain-enabled framework that addresses these challenges through a unique three-layer architecture combining permissioned blockchain technology with a novel multi-phase Practical Byzantine Fault Tolerance (PBFT) consensus protocol. The key innovation lies in TrustMesh's ability to support non-deterministic scheduling algorithms while maintaining Byzantine fault tolerance - features traditionally considered mutually exclusive in blockchain systems. The framework supports a sophisticated resource management approach that enables flexible scheduling decisions while preserving the security guarantees of blockchain-based verification. Our experimental evaluation using a real-world cold chain monitoring scenario demonstrates that TrustMesh successfully maintains Byzantine fault tolerance with fault detection latencies under 150 milliseconds, while maintaining consistent framework overhead across varying computational workloads even with network scaling. These results establish TrustMesh's effectiveness in balancing security, performance, and flexibility requirements in trustless IoT environments, advancing the state-of-the-art in secure distributed computing frameworks.
Robotic collectives for military and disaster response applications require coalition formation algorithms to partition robots into appropriate task teams. Collectives' missions will often incorporate tasks that require multiple high-level robot behaviors or services, which coalition formation must accommodate. The highly dynamic and unstructured application domains also necessitate that coalition formation algorithms produce near optimal solutions (i.e., >95% utility) in near real-time (i.e., <5 minutes) with very large collectives (i.e., hundreds of robots). No previous coalition formation algorithm satisfies these requirements. An initial evaluation found that traditional auction-based algorithms' runtimes are too long, even though the centralized simulator incorporated ideal conditions unlikely to occur in real-world deployments (i.e., synchronization across robots and perfect, instantaneous communication). The hedonic game-based GRAPE algorithm can produce solutions in near real-time, but cannot be applied to multiple service collectives. This manuscript integrates GRAPE and a services model, producing GRAPE-S and Pair-GRAPE-S. These algorithms and two auction baselines were evaluated using a centralized simulator with up to 1000 robots, and via the largest distributed coalition formation simulated evaluation to date, with up to 500 robots. The evaluations demonstrate that auctions transfer poorly to distributed collectives, resulting in excessive runtimes and low utility solutions. GRAPE-S satisfies the target domains' coalition formation requirements, producing near optimal solutions in near real-time, and Pair-GRAPE-S more than satisfies the domain requirements, producing optimal solutions in near real-time. GRAPE-S and Pair-GRAPE-S are the first algorithms demonstrated to support near real-time coalition formation for very large, distributed collectives with multiple services.
小貼士
登錄享
相關主題
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191