Correct use of electrical appliances has significantly improved human life quality. Unlike simple tools that can be manipulated with common sense, different parts of electrical appliances have specific functions defined by manufacturers. If we want the robot to heat bread by microwave, we should enable them to review the microwave’s manual first. From the manual, it can learn about component functions, interaction methods, and representative task steps about appliances. However, previous manual-related works remain limited to question-answering tasks while existing manipulation researchers ignore the manual’s important role and fail to comprehend multi-page manuals. In this paper, we propose the first manual-based appliance manipulation benchmark CheckManual. Specifically, we design a large model-assisted human-revised data generation pipeline to create manuals based on CAD appliance models. With these manuals, we establish novel manual-based manipulation challenges, metrics, and simulator environments for model performance evaluation. Furthermore, we propose the first manual-based manipulation planning model ManualPlan to set up a group of baselines for the CheckManual benchmark. Our project page is available at https://sites.google.com/view/checkmanual.

The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge. While Vision-Language Models(VLM) excel in high-level commonsense reasoning, they lack the fine-grained 3D spatial understanding required for precise manipulation tasks. Fine-tuning VLM on robotic datasets to create Vision-Language-Action Models(VLA) is a potential solution, but it is hindered by high data collection costs and generalization issues. To address these challenges, we propose a novel object-centric representation that bridges the gap between VLM’s high-level reasoning and the low-level precision required for manipulation. Our key insight is that an object’s canonical space, defined by its functional affordances, provides a structured and semantically meaningful way to describe interaction primitives, such as points and directions. These primitives act as a bridge, translating VLM’s commonsense reasoning into actionable 3D spatial constraints. In this context, we introduce a dual closed-loop, open-vocabulary robotic manipulation system: one loop for high-level planning through primitive resampling, interaction rendering and VLM checking, and another for low-level execution via 6D pose tracking. This design ensures robust, real-time control without requiring VLM fine-tuning. Extensive experiments demonstrate strong zero-shot generalization across diverse robotic manipulation tasks, highlighting the potential of this approach for automating large-scale data generation.

Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online self-calibration. Recent learning-based robot pose estimation methods, while advancing online calibration, struggle with cross-robot generalization and require the robot to be fully visible. This work proposes a Foundation feature-driven online End-Effector Pose Estimation (FEEPE) algorithm, characterized by its training-free and cross end-effector generalization capabilities. Inspired by the zero-shot generalization capabilities of foundation models, FEEPE leverages pre-trained visual features to estimate 2D-3D correspondences derived from the CAD model and target image, enabling 6D pose estimation via the PnP algorithm. To resolve ambiguities from partial observations and symmetry, a multi-historical key frame enhanced pose optimization algorithm is introduced, utilizing temporal information for improved accuracy. Compared to traditional hand-eye calibration, FEEPE enables marker-free online calibration. Unlike robot pose estimation, it generalizes across robots and end-effectors in a training-free manner. Extensive experiments demonstrate its superior flexibility, generalization, and performance. Additional demon-strations are available at https://feepose.github.io/

Although multi-task learning (MTL) has been a preferred approach and successfully applied in many real-world scenarios, MTL models are not guaranteed to outperform single-task models on all tasks mainly due to the negative effects of conflicting gradients among the tasks. In this paper, we fully examine the influence of conflicting gradients and further emphasize the importance and advantages of achieving non-conflicting gradients which allows simple but effective trade-off strategies among the tasks with stable performance. Based on our findings, we propose the Gradient Deconfliction via Orthogonal Projections onto Subspaces (GradOPS) spanned by other task-specific gradients. Our method not only solves all conflicts among the tasks, but can also effectively search for diverse solutions towards different trade-off preferences among the tasks. Theoretical analysis on convergence is provided, and performance of our algorithm is fully testified on multiple benchmarks in various domains. Results demonstrate that our method can effectively find multiple state-of-the-art solutions with different trade-off strategies among the tasks on multiple datasets.

We study the search traffic forecasting problem for guaranteed search advertising (GSA) application in e-commerce platforms. The consumers express their purchase intents by posing queries to the e-commerce search engine. GSA is a type of guaranteed delivery (GD) advertising strategy, which forecasts the traffic of search queries, and charges the advertisers according to the predicted volumes of search queries the advertisers willing to buy. We employ the time series forecasting method to make the search traffic prediction. Different from existing time series prediction methods, search queries are semantically meaningful, with semantically similar queries possessing similar time series. And they can be grouped according to the brands or categories they belong to, exhibiting hierarchical structures. To fully take advantage of these characteristics, we design a SemanTic AwaRe Deep hierarchical fOrecasting Model (STARDOM for short) which explores the queries' semantic information and the hierarchical structures formed by the queries. Specifically, to exploit hierarchical structure, we propose a reconciliation learning module. It leverages deep learning model to learn the reconciliation relation between the hierarchical series in the latent space automatically, and forces the coherence constraints through a distill reconciliation loss. To exploit semantic information, we propose a semantic representation module and generate semantic aware series embeddings for queries. Extensive experiments are conducted to confirm the effectiveness of the proposed method.

Despite the recent success of Graph Neural Networks (GNNs), their learning pipeline is guided only by the input graph and the desired output of certain tasks, failing to capture useful patterns when not enough data are presented. Existing attempts incorporate auxiliary knowledge to mitigate this issue, most of which are not in a unified structure or hard to obtain. Noticing that nodes in graphs usually form implicit hierarchical structures, we proposed to integrate category taxonomies into the learning process of GNNs. A category taxonomy is a form of domain knowledge with a hierarchical tree structure, which is widely adopted in real-world scenarios. In this paper, we introduce Taxonomy-Enhanced Graph Neural Networks (Taxo-GNN). Specifically, we jointly optimize the taxonomy representation and node representation tasks, where categories in taxonomy are mapped to Gaussian distributions and nodes are embedded with the GNN framework. To characterize the bidirectional interaction between the taxonomy and the graph, the model is comprised of two modules, namely information distillation for taxonomy and knowledge fusion to graph. Information is first distilled from the graph and aligned with the hierarchical structure of the taxonomy in a bottom-to-top mechanism.After that, knowledge brought by the taxonomy is in turn fused to the graph convolution process, in the form of taxonomy-aware aggregation weights and taxonomy-augmented contexts. Extensive experiments on real-world datasets in multiple downstream tasks verify the effectiveness of our model.

Product searching is fundamental in online e-commerce systems, it needs to quickly and accurately find the products that users required. Relevance is essential for e-commerce search, which role is avoiding displaying products that do not match search intent and optimizing user experience. Measuring semantic relevance is necessary because distributional biases between search queries and product titles may lead to large lexical differences between relevant textual expressions. Several problems limit the performance of semantic relevance learning, including extremely long-tail product distribution and low-quality labeled data. Recent works attempt to conduct relevance learning through user behaviors. However, noisy user behavior can easily cause inadequately semantic modeling. Therefore, it is valuable but challenging to utilize user behavior in relevance learning. In this paper, we first propose a weakly supervised contrastive learning framework that focuses on how to provide effective semantic supervision and generate reasonable representation. We utilize topology structure information contained in a user behavior heterogeneous graph to design a semantically aware data construction strategy. Besides, we propose a contrastive learning framework suitable for e-commerce scenarios with targeted improvements in data augmentation and training objectives. For relevance calculation, we propose a novel hybrid method that combines fine-tuning and transfer learning. It eliminates the negative impacts caused by distributional bias and guarantees semantic matching capabilities. Extensive experiments and analyses show the promising performance of proposed methods in relevance learning.

Database analytic query workloads are heavy consumers of data-center cycles, and there is constant demand to improve their performance. Associative processors (AP) have re-emerged as an attractive architecture that offers very large data-level parallelism that can be used to implement a wide range of general-purpose operations. Associative processing is based primarily on efficient search and bulk update operations. Analytic query workloads benefit from data parallel execution and often feature both search and bulk update operations. In this paper, we investigate how amenable APs are to improving the performance of analytic query workloads. For this study, we use the recently proposed Content-Addressable Processing Engine (CAPE) framework. CAPE is an AP core that is highly programmable via the RISC-V ISA with standard vector extensions. By mapping key database operators to CAPE and introducing AP-aware changes to the query optimizer, we show that CAPE is a good match for database analytic workloads. We also propose a set of database-aware microarchitectural changes to CAPE to further improve performance. Overall, CAPE achieves a 10.8× speedup on average (up to 61.1×) on the SSB benchmark (a suite of 13 queries) compared to an iso-area aggressive out-of-order processor with AVX-512 SIMD support.

Processing-in-memory (PIM) architectures attempt to overcome the von Neumann bottleneck by combining computation and storage logic into a single component. The content-addressable parallel processing paradigm (CAPP) from the seventies is an in-situ PIM architecture that leverages content-addressable memories to realize bit-serial arithmetic and logic operations, via sequences of search and update operations over multiple memory rows in parallel. In this paper, we set out to investigate whether the concepts behind classic CAPP can be used successfully to build an entirely CMOS-based, general-purpose microarchitecture that can deliver manyfold speedups while remaining highly programmable. We conduct a full-stack design of a Content-Addressable Processing Engine (CAPE), built out of dense push-rule 6T SRAM arrays. CAPE is programmable using the RISC-V ISA with standard vector extensions. Our experiments show that CAPE achieves an average speedup of 14 (up to 254) over an area-equivalent (slightly under 9 mm2at 7 nm) out-of-order processor core with three levels of caches.

In most sponsored search platforms, advertisers bid on some keywords for their advertisements (ads). Given a search request, ad retrieval module rewrites the query into bidding keywords, and uses these keywords as keys to select Top N ads through inverted indexes. In this way, an ad will not be retrieved even if queries are related when the advertiser does not bid on corresponding keywords. Moreover, most ad retrieval approaches regard rewriting and ad-selecting as two separated tasks, and focus on boosting relevance between search queries and ads. Recently, in e-commerce sponsored search more and more personalized information has been introduced, such as user profiles, long-time and real-time clicks. Personalized information makes ad retrieval able to employ more elements (e.g. real-time clicks) as search signals and retrieval keys, however it makes ad retrieval more difficult to measure ads retrieved through different signals.