Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large language models have shown promise in enhancing spatial reasoning and task planning through learned semantic priors, existing implementations remain confined to tabletop scenarios, failing to address the constrained perception and limited actuation ranges characteristic of mobile platforms. Second, current manipulation strategies exhibit insufficient generalization when confronted with the diverse object configurations encountered in open-world environments. Third, while crucial for practical deployment, the dual requirement of maintaining high platform maneuverability alongside precise end-effector control in unstructured settings remains understudied in the literature. In this work, we present ODYSSEY, a unified mobile manipulation framework for agile quadruped robots equipped with manipulators, which seamlessly integrates high-level task planning with low-level whole-body control. To address the challenge of egocentric perception in language-conditioned tasks, we introduce a hierarchical planner powered by a vision-language model, enabling long-horizon instruction decomposition and precise action execution. At the control level, our novel whole-body policy achieves robust coordination of locomotion and manipulation across challenging terrains. We further present the first comprehensive benchmark for long-horizon mobile manipulation, evaluating diverse indoor and outdoor scenarios. Through successful sim-to-real transfer, we demonstrate the system’s generalization and robustness in real-world deployments, underscoring the practicality of legged manipulators in unstructured environments. Our work advances the feasibility of generalized robotic assistants capable of complex, dynamic tasks.

The objective of the short text clustering task is to group semantically similar short texts into one class and segregate semantically different short texts. Despite the commendable performance achieved by existing topic model based short text clustering algorithms and deep clustering models, a fundamental limitation persists. Both of them are based on one view of the text, which inevitably constrains their clustering performance. Specifically, the topic model based short text clustering algorithms represent short texts as bag-of-words, while the deep clustering models represent short texts as document embeddings. To address these issues, we propose a Multi-View Clustering (MVC) model that considers both views of the text. We modeled the bag-of-words view using the Dirichlet Multinomial Mixture (DMM) model and the document embedding view using the Gaussian Mixture Model (GMM). A Bernoulli random variable is used to control these two models, enabling our proposed model to utilize the semantic information of short text embeddings while obtaining the bag-of-words information. Extensive experiments on four datasets demonstrate MVC's effectiveness. The code for MVC is available at https://github.com/jhyin12/MVC.

Textual documents created and distributed on the Internet are ever changing in various forms. Most of existing works are devoted to topic modeling and the evolution of individual topics, while sequential relations of topics in successive documents published by a specific user are ignored. In this paper, in order to characterize and detect personalized and abnormal behaviors of Internet users, we propose Sequential Topic Patterns (STPs) and formulate the problem of mining User-aware Rare Sequential Topic Patterns (URSTPs) in document streams on the Internet. They are rare on the whole but relatively frequent for specific users, so can be applied in many real-life scenarios, such as real-time monitoring on abnormal user behaviors. We present a group of algorithms to solve this innovative mining problem through three phases: preprocessing to extract probabilistic topics and identify sessions for different users, generating all the STP candidates with (expected) support values for each user by pattern-growth, and selecting URSTPs by making user-aware rarity analysis on derived STPs. Experiments on both real (Twitter) and synthetic datasets show that our approach can indeed discover special users and interpretable URSTPs effectively and efficiently, which significantly reflect users' characteristics.

The estimation of the number of clusters (NC) is one of crucial problems in the cluster analysis of gene expression data. Most approaches available give their answers without the intuitive information about separable degrees between clusters. However, this information is useful for understanding cluster structures. To provide this information, we propose system evolution (SE) method to estimate NC based on partitioning around medoids (PAM) clustering algorithm. SE analyzes cluster structures of a dataset from the viewpoint of a pseudothermodynamics system. The system will go to its stable equilibrium state, at which the optimal NC is found, via its partitioning process and merging process. The experimental results on simulated and real gene expression data demonstrate that the SE works well on the data with well-separated clusters and the one with slightly overlapping clusters.