This paper pays attention to Weakly Supervised Affordance Grounding (WSAG) task that aims to train model to identify affordance regions using human-object interaction images and egocentric images without the need for costly pixel-level annotations. Most existing methods usually consider the affordance regions to be isolated and directly employ class activation maps to conduct localization, ignoring the relationships with other object components and weakening the performance. For example, a cup’s handle is combined with its body to achieve the pouring ability. Obviously, capturing the region relationships is beneficial for improving the localization accuracy of affordance regions. To this end, we first explore exploiting hypergraph to discover these relations and propose a Reasoning Mamba (R-Mamba) framework. We first extract feature embeddings from exocentric and egocentric images to construct the hypergraphs consisting of multiple vertices and hyperedges, which capture the in-context local region relationships between different visual components. Subsequently, we design a Hypergraph-Guided State Space (HSS) block to reorganize these local relationships from the global perspective. By this mechanism, the model could leverage the captured relationships to improve the localization accuracy of affordance regions. Extensive experiments and visualization analyses demonstrate the superiority of our method.

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for diffusion policy. However, their generalization is typically limited to the same category with similar appearances. Our key insight is that leveraging affordances—manipulation priors that define "where" and "how" an agent interacts with an object—can substantially enhance generalization to entirely unseen object instances and categories. We introduce the Diffusion Policy with transferable Affordance (AffordDP), designed for generalizable manipulation across novel categories. AffordDP models affordances through 3D contact points and post-contact trajectories, capturing the essential static and dynamic information for complex tasks. The transferable affordance from in-domain data to unseen objects is achieved by estimating a 6D transformation matrix using foundational vision models and point cloud registration techniques. More importantly, we incorporate affordance guidance during diffusion sampling that can refine action sequence generation. This guidance directs the generated action to gradually move towards the desired manipulation for unseen objects while keeping the generated action within the manifold of action space. Experimental results from both simulated and real-world environments demonstrate that AffordDP consistently outperforms previous diffusion-based methods, successfully generalizing to unseen instances and categories where others fail.

3D Visual Grounding (3DVG) aims to localize objects in 3D scenes using natural language descriptions. Although supervised methods achieve higher accuracy in constrained settings, zero-shot 3DVG holds greater promise for real-world applications since eliminating scene-specific training requirements. However, existing zero-shot methods face challenges of spatial-limited reasoning due to reliance on single-view localization, and contextual omissions or detail degradation. To address these issues, we propose SeqVLM, a novel zero-shot 3DVG framework that leverages multi-view real-world scene images with spatial information for target object reasoning. Specifically, SeqVLM first generates 3D instance proposals via a 3D semantic segmentation network and refines them through semantic filtering, retaining only semantic-relevant candidates. A proposal-guided multi-view projection strategy then projects these candidate proposals onto real scene image sequences, preserving spatial relationships and contextual details in the conversion process of 3D point cloud to images. Furthermore, to mitigate VLM computational overload, we implement a dynamic scheduling mechanism that iteratively processes sequances-query prompts, leveraging VLM's cross-modal reasoning capabilities to identify textually specified objects. Experiments on the ScanRefer and Nr3D benchmarks demonstrate state-of-the-art performance, achieving [email protected] scores of 55.6% and 53.2%, surpassing previous zero-shot methods by 4.0% and 5.2%, respectively, which advance 3DVG toward greater generalization and real-world applicability.

The exponential growth of data exerts great pressure on hardware design for database systems. Memory-centric computing (MCC) architecture, which enable compute capabilities near or inside memory storage, demonstrate great potential in enhancing the efficiency of database operations with higher compute parallelism and reduced data movements. However, existing MCC architecture mainly focus on artificial intelligence (AI) computations and those designed for database applications can only run a limited number of standalone queries such as SORT or JOIN, lacking efficient support for increasingly diverse and complex database workloads. For example, realizing a commercial recommendation engine on database requires supporting workloads including but not limited to vector aggregation, convolution or$N$-hop neighborhoods computing, etc. In this work, we develop a memristor-enabled memory-centric instruction-set architecture (MeMCISA) aiming to efficiently accelerate versatile workloads in modern database systems. MeMCISA features scalable multi-bank memristor-based storage organization with near-memory circuitries and caches in banks. An out-of-order (O0O) scheduling scheme is designed for MeMCISA based on a vector instruction set with four types of instructions (bit-level, element-level, vector-level, and control-level), combining memristor-enabled in-memory computing and near-memory computing to efficiently run workloads with varying computational kernels and data sizes. MeMCISA can support parallel instruction executions across different memristor banks as well as different hardware modules within a memristor bank. Furthermore, we develop data dependency handling mechanisms to support vector dependency scenarios in MeMCISA that do not exist in conventional scalar-based instruction sets. A prototype MeMCISA is implemented based on a 40nm CMOS technology with necessary peripheral hardware including instruction buffer and instruction scheduler. To accurately study MeMCISA performance in real-world database systems, a software-hardware co-designed framework integrating reconfigurable MeMCISA prototype is created that can support end-to-end simulations for database workloads starting from raw software codes. Based on this framework, we evaluate MeMCISA performance with standalone database queries as well as complex database workloads from representative benchmarks including UniBench, neural collaborative filtering (NCF), and ResNet-18. Simulation results demonstrate that MeMCISA achieves up to 41.84 × ~ 1767.70 × in speed compared to general-purpose processors (CPUs/GPUs).

Ship detection from remote sensing images plays an important role in military and civilian fields. However, since the small size of ship targets and the interference of cloud cover, this task still suffers from great missed detection and false-alarm. To tackle these problems, a Saliency Adjusted YOLO (SA-YOLO) for optical satellite image ship detection is developed. First, due to the fact that the ship in low resolution imagery can be regarded as a salient object, we designed a saliency guided dense sampling layer (SDSL) to improve the spatial sampling of small ship targets. Secondly, the saliency region-aware convolution (SAConv) strategy is designed to improve the representation capability of salient regions and increase the attention of network to these regions. We validated the proposed method using more than 2000 remote sensing images from GF-1 satellite. The experimental results demonstrated that the proposed method obtained a better detection performance than the state-of-the-art methods.