Robotic grasping, serving as the cornerstone of robot manipulation, is fundamental for embodied intelligence. Manipulation in challenging scenarios demands grasp detection algorithms with higher efficiency and generalizability. However, for general 6-Dof grasp detection, most data-driven methods directly extract scene-level features to generate grasp prediction, relying on a relatively heavy scene-level feature encoder and a significant amount of data with dense grasp labels for model training. In this letter, we propose a novel data-efficient 6-Dof grasp detection framework in cluttered scenes, named Region-Centric Grasp Detection (RCGD), consisting of an Iterative Search Module (ISM) and a Region Grasp Model (RGM). Concretely, ISM aims to retrieve potential region centers and aggregate multiple regions in a coarse-to-fine way. Then, RGM extracts aligned grasp-related embeddings and predicts grasps within these local regions. Benefiting from the region-centric paradigm and the training-free location strategy, RCGD significantly outperforms previous methods and shows minimal performance loss with even a very small portion of training data or labels. Furthermore, real-world robotic experiments in two distinct settings highlight the effectiveness of our method with a 95% success rate.

Visual object navigation, requiring agents to locate target objects in novel environments through egocentric visual observation, remains a critical challenge in Embodied AI. We propose FEG-VON, a training-free framework that constructs and maintains a Frontier Embedding Graph for efficient Visual Object Navigation. The graph initializes frontier embeddings using Vision Language Models (VLMs), where visual observations are encoded into spatially anchored semantic embeddings through cross-modal alignment with target text descriptors. We then update the graph by aggregating spatio-temporal semantic relations across frontiers, enabling online adaptation to new targets via similarity scoring without remapping. The evaluation results in public benchmarks demonstrate the superior performance of FEG-VON in both single- and multi-object navigation tasks compared with state-of-the-art methods. Crucially, FEG-VON eliminates dependency on task-specific training for exploration and advances the feasibility of zero-shot navigation in open-world environments.

6-DoF grasp detection is important for the advancement of intelligent embodied systems, as it provides feasible robot poses for object grasping. Various methods have been proposed to detect 6-DoF grasps through the extraction of 3D geometric features from RGBD or point cloud data. However, most of these approaches encounter challenges during real robot deployment due to their significant computational demands, which can be particularly problematic for mobile robot platforms, especially those reliant on edge computing devices. This paper presents an Efficient End-to-End Grasp Detection Network (E3GNet) for 6-DoF grasp detection utilizing hierarchical heatmap representations. E3GNet effectively identifies high-quality and diverse grasps in cluttered real-world environments. Benefiting from our end-to-end methodology and efficient network design, our approach surpasses previous methods in model inference efficiency and achieves real-time 6-Dof grasp detection on edge devices. Furthermore, real-world experiments validate the effectiveness of our method, achieving a satisfactory 94% object grasping success rate. More details can be found on our project page.

In real-world multi-agent systems (MASs), observation delays are ubiquitous, preventing agents from making decisions based on the environment's true state. An individual agent's local observation typically comprises multiple components from other agents or dynamic entities within the environment. These discrete observation components with varying delay characteristics pose significant challenges for multi-agent reinforcement learning (MARL). In this paper, we first formulate the decentralized stochastic individual delay partially observable Markov decision process (DSID-POMDP) by extending the standard Dec-POMDP. We then propose the Rainbow Delay Compensation (RDC), a MARL training framework for addressing stochastic individual delays, along with recommended implementations for its constituent modules. We implement the DSID-POMDP's observation generation pattern using standard MARL benchmarks, including MPE and SMAC. Experiments demonstrate that baseline MARL methods suffer severe performance degradation under fixed and unfixed delays. The RDC-enhanced approach mitigates this issue, remarkably achieving ideal delay-free performance in certain delay scenarios while maintaining generalizability. Our work provides a novel perspective on multi-agent delayed observation problems and offers an effective solution framework. The source code is available at https://github.com/linkjoker1006/RDC-pymarl.

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen objects of unseen categories, which is a challenge for pose estimation. To address this issue, this paper proposes a method to introduce geometric features for pose estimation of point clouds without requiring category information. The method is based only on the patch feature of the point cloud, a geometric feature with rotation invariance. After training without category information, our method achieves as good results as other category-based methods. Our method successfully achieved pose annotation of no category information instances on the CAMERA25 dataset and ModelNet40 dataset.

MOTIVATION: There are many clustered transcriptionally active regions in the human genome, in which the transcription complex cannot immediately terminate transcription at the upstream gene termination site, but instead continues to transcribe intergenic regions and downstream genes, resulting in read-through transcripts. Several studies have demonstrated the regulatory roles of read-through transcripts in tumorigenesis and development. However, limited by the read length of next-generation sequencing, discovery of read-through transcripts has been slow. For long but also erroneous third-generation sequencing data, this study developed a novel minimizer sketch algorithm to accurately and quickly identify read-through transcripts. RESULTS: Readon initially splits the reference sequence into distinct active regions. It employs a sliding window approach within each region, calculates minimizers, and constructs the specialized structured arrays for query indexing. Following initial alignment anchor screening of candidate read-through transcripts, further confirmation steps are executed. Comparative assessments against existing software reveal Readon's superior performance on both simulated and validated real data. Additionally, two downstream tools are provided: one for predicting whether a read-through transcript is likely to undergo nonsense-mediated decay or encodes a protein, and another for visualizing splicing patterns. AVAILABILITY AND IMPLEMENTATION: Readon is freely available on GitHub (https://github.com/Bulabula45/Readon).

Few-shot 3D point cloud segmentation segments novel categories in point cloud scenes with only limited annotations. However, most current methods do not consider query content when exploring support prototypes, and thus suffer from intra-class variations between objects and incomplete representation of category information from annotated support samples. In this paper, we propose a novel Query-Guided support Prototype exploration Network (QGPNet) to tackle this challenge. Firstly, we present a point feature alignment module, which leverages geometry relationship between prototypes and query points, to tackle data misalignment caused by intra-class variations, and thus prevents incorrect label propagation from prototypes to query points. Secondly, we design a prototype feature mining strategy, which progressively harvests diverse support prototypes in the interaction with query features, to fully utilize the category information provided by annotated samples. Additionally, we introduce a semantic-aware data augmentation strategy for query samples in the training process, potentially improving the generalization ability of support prototypes on query samples. Extensive experiments on two indoor 3D datasets S3DIS and ScanNet demonstrate that QGPNet outperforms previous state-of-the-art methods by a large margin.

The state-of-the-art convolutional neural network accelerators are showing a growing interest in exploiting the bit-level sparsity and eliminating the ineffectual computations of zero bits. However, the excessive redundancy and the irregular distribution of nonzero bits limit the real speedup in the accelerators. To address this, we propose an algorithm-architecture codesign, named structured term pruning (STP), to boost the computation efficiency of neural networks inference. Specifically, we enhance the bit sparsity by guiding the weights toward the value with fewer power-of-two terms. Then, we structure the terms with layer-wise group budgets. Retraining is adopted to recover the accuracy drop. We also design the hardware of the group processing element and the fast signed-digital encoder for efficient implementation of STP networks. The system design of STP is realized with some easy alterations on an input stationary systolic array design. Extensive evaluation results demonstrate that STP can reduce significant inference computation costs, and achieve$2.35\times $computational energy saving for the ResNet18 network on the ImageNet dataset.

Various low-bit quantized methods have been widely exploited and shown decent performance on 2D vision tasks in recent years. Complemented with 2D images, 3D point clouds provide an opportunity to understand the surrounding environ-ment better. However, low-bit quantization methods designed for 2D vision tasks are not readily transferable to 3D point clouds due to the higher dimension of 3D data and the increased proportion of activations. In this work, we propose a novel quantization framework, DASCQ, for 3D point cloud processing. First, a new distribution-aware strategy (DA) is presented to decrease the deviation caused by extremely low-bit quantization through activation and weight distribution analysis. Second, a soft constraint manner (SC) is designed to smooth the training of quantized networks which suffer from backward propagation errors. We evaluate our approach on two 3D point cloud datasets, ModelNet40 and S3DIS. Results indicate that the performance of the proposed approach is superior to other state-of-the-art quantization methods on both shape classification and scene semantic segmentation tasks.

Deep neural networks have achieved remarkable advancement in various intelligence tasks. However, the massive computation and storage consumption limit applications on resource-constrained devices. While channel pruning has been widely applied to compress models, it is challenging to reach very deep compressions for such a coarse-grained pruning structure without significant performance degradation. In this article, we propose an acceleration-aware fine-grained channel pruning (AFCP) framework for accelerating neural networks, which optimizes trainable gate parameters by estimating residual errors between pruned and original channels with hardware characteristics. Our fine-grained concept consists of both algorithm and structure levels. Different from existing methods that leverage a predefined pruning criterion, AFCP explicitly considers both zero-out and similar criteria for each channel, and adaptively selects the suitable one via residual gate parameters. For structure level, AFCP adopts a fine-grained channel pruning strategy for residual neural networks and a decomposition-based structure, which further extends the pruning optimization space. Moreover, instead of using theoretical computation costs, such as floating-point operations, we propose the hardware predictor that bridges the gap between realistic acceleration and pruning procedure to guide the learning of pruning, which improves the efficiency of model pruning when deployed on accelerators. Extensive evaluation results demonstrate that AFCP outperforms state-of-the-art methods, and achieves a favorable balance between model performance and computation cost.

With the development of deployment platforms and application scenarios for deep neural networks, traditional fixed network architectures cannot meet the requirements. Meanwhile the dynamic network inference becomes a new research trend. Many slimmable and scalable networks have been proposed to satisfy different resource constraints (e.g., storage, latency and energy). And a single network may support versatile architectural configurations including: depth, width, kernel size, and resolution. In this paper, we propose a novel network architecture reuse strategy enabling dynamic precision in parameters. Since our low-precision networks are wrapped in the high-precision networks like an onion, we name it dynamic precision onion quantization (DPOQ). We train the network by using the joint loss with scaled gradients. To further improve the performance and make different precision network compatible with each other, we propose the precision shift batch normalization (PSBN). And we also propose a scalable input-specific inference mechanism based on this architecture and make the network more adaptable. Experiments on the CIFAR and ImageNet dataset have shown that our DPOQ achieves not only better flexibility but also higher accuracy than the individual quantization.

Data free deep neural network quantization is a practical challenge, since the original training data is often unavailable due to some privacy, proprietary or transmission issues. The existing methods implicitly equate data-free with training-free and quantize model manually through analyzing the weights’ distribution. It leads to a significant accuracy drop in lower than 6-bit quantization. In this work, we propose the data free quantization-aware fine-tuning (DFQF), wherein no real training data is required, and the quantized network is fine-tuned with generated images. Specifically, we start with training a generator from the pre-trained full-precision network with inception score loss, batch-normalization statistics loss and adversarial loss to synthesize a fake image set. Then we fine-tune the quantized student network with the full-precision teacher network and the generated images by utilizing knowledge distillation (KD). The proposed DFQF outperforms state-of-the-art post-train quantization methods, and achieve W4A4 quantization of ResNet20 on the CIFAR10 dataset within 1% accuracy drop.