Online, real-time, and fine-grained 3D segmentation constitutes a fundamental capability for embodied intelligent agents to perceive and comprehend their operational environments. Recent advancements employ predefined object queries to aggregate semantic information from Vision Foundation Models (VFMs) outputs that are lifted into 3D point clouds, facilitating spatial information propagation through inter-query interactions. Nevertheless, perception, whether human or robotic, is an inherently dynamic process, rendering temporal understanding a critical yet overlooked dimension within these prevailing query-based pipelines. This deficiency in temporal reasoning can exacerbate issues such as the over-segmentation commonly produced by VFMs, necessitating more handcrafted post-processing. Therefore, to further unlock the temporal environmental perception capabilities of embodied agents, our work reconceptualizes online 3D segmentation as an instance tracking problem (AutoSeg3D). Our core strategy involves utilizing object queries for temporal information propagation, where long-term instance association promotes the coherence of features and object identities, while short-term instance update enriches instant observations. Given that viewpoint variations in embodied robotics often lead to partial object visibility across frames, this mechanism aids the model in developing a holistic object understanding beyond incomplete instantaneous views. Furthermore, we introduce spatial consistency learning to mitigate the fragmentation problem inherent in VFMs, yielding more comprehensive instance information for enhancing the efficacy of both long-term and short-term temporal learning. The temporal information exchange and consistency learning facilitated by these sparse object queries not only enhance spatial comprehension but also circumvent the computational burden associated with dense temporal point cloud interactions. Our method establishes a new state-of-the-art, surpassing ESAM by 2.8 AP on ScanNet200 and delivering consistent gains on ScanNet, SceneNN, and 3RScan datasets, corroborating that identity-aware temporal reasoning is a crucial, previously underemphasized component for robust 3D segmentation in real-time embodied intelligence. Code is at https://github.com/AutoLab-SAI-SJTU/AutoSeg3D.

As malicious actors employ increasingly advanced and widespread bots to disseminate misinformation and manipulate public opinion, the detection of Twitter bots has become a crucial task. Though graph-based Twitter bot detection methods achieve state-of-the-art performance, we find that their inference depends on the neighbor users multi-hop away from the targets, and fetching neighbors is time-consuming and may introduce sampling bias. At the same time, our experiments reveal that after finetuning on Twitter bot detection task, pretrained language models achieve competitive performance while do not require a graph structure during deployment. Inspired by this finding, we propose a novel bot detection framework LMBot that distills the graph knowledge into language models (LMs) for graph-less deployment in Twitter bot detection to combat data dependency challenge. Moreover, LMBot is compatible with graph-based and graph-less datasets. Specifically, we first represent each user as a textual sequence and feed them into the LM for domain adaptation. For graph-based datasets, the output of LM serves as input features for the GNN, enabling LMBot to optimize for bot detection and distill knowledge back to the LM in an iterative, mutually enhancing process. Armed with the LM, we can perform graph-less inference with graph knowledge, which resolves the graph data dependency and sampling bias issues. For datasets without graph structure, we simply replace the GNN with an MLP, which also shows strong performance. Our experiments demonstrate that LMBot achieves state-of-the-art performance on four Twitter bot detection benchmarks. Extensive studies also show that LMBot is more robust, versatile, and efficient compared to existing graph-based Twitter bot detection methods.

Twitter bot detection has become an increasingly important task to combat misinformation, facilitate social media moderation, and preserve the integrity of the online discourse. State-of-the-art bot detection methods generally leverage the graph structure of the Twitter network, and they exhibit promising performance when confronting novel Twitter bots that traditional methods fail to detect. However, very few of the existing Twitter bot detection datasets are graph-based, and even these few graph-based datasets suffer from limited dataset scale, incomplete graph structure, as well as low annotation quality. In fact, the lack of a large-scale graph-based Twitter bot detection benchmark that addresses these issues has seriously hindered the development and evaluation of novel graph-based bot detection approaches. In this paper, we propose TwiBot-22, a comprehensive graph-based Twitter bot detection benchmark that presents the largest dataset to date, provides diversified entities and relations on the Twitter network, and has considerably better annotation quality than existing datasets. In addition, we re-implement 35 representative Twitter bot detection baselines and evaluate them on 9 datasets, including TwiBot-22, to promote a fair comparison of model performance and a holistic understanding of research progress. To facilitate further research, we consolidate all implemented codes and datasets into the TwiBot-22 evaluation framework, where researchers could consistently evaluate new models and datasets. The TwiBot-22 Twitter bot detection benchmark and evaluation framework are publicly available at \url{https://twibot22.github.io/}.