United States

It has been shown recently that physics-based simulation significantly enhances the disassembly capabilities of real-world assemblies with diverse 3D shapes and stringent motion constraints. However, the efficiency suffers when tackling intricate disassembly tasks that require numerous simulations and increased simulation time. In this work, we propose a State-Based Disassembly Planning (SBDP) approach, prioritizing physics-based simulation with translational motion over rotational motion to facilitate autonomy, reducing dependency on human input, while storing intermediate motion states to improve search scalability. We introduce two novel evaluation functions derived from new $\textit{Directional Blocking Graphs}$ (DBGs) enriched with state information to scale up the search.  Our experiments show that SBDP with new evaluation functions and DBGs constraints outperforms the state-of-the-art in disassembly planning in terms of success rate and computational efficiency over benchmark datasets consisting of thousands of physically valid industrial assemblies.

AAAI 2025

State-Based Disassembly Planning

poster

We are pleased to announce the Thirty-Ninth AAAI Conference on Artificial Intelligence (AAAI-25), which will be held in Philadelphia, Pennsylvania at the Pennsylvania Convention Center from February 25 to March 4, 2025.

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

### [Invited Speakers](https://aaai.org/conference/aaai/aaai-25/aaai-25-invited-speakers/)

Register [here](https://aaai.org/conference/aaai/aaai-25/registration/)

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-25 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.



Chart Question Answering (CQA) requires models to perform chart perception and reasoning. Recent studies driven by Large Language Models (LLMs) have dominated CQA. These include employing more cognitively capable LLMs for indirectly reasoning over transformed charts, i.e., tables, and directly perceiving charts utilizing Multimodal Large Language Models (MLLMs) with a wider perceptual range. Yet, they often encounter bottlenecks due to the limitation of the receptive field of LLMs and the fragility of the complex reasoning of MLLMs. To unite the strengths of LLMs and MLLMs to complement each other's limitations, we propose Synergy, a framework that unites the power of both models for CQA. Synergy first unites the chart with a table as the augmented perceptual signal. Next, it unites LLMs and MLLMs, scheduling the former to decompose a question into subquestions and the latter to answer these by perceiving the chart. Lastly, it operates LLMs to summarize the subquestion-answer pairs to refine the final answer. Extensive experimental results on popular CharQA and PlotQA benchmarks reveal that, with the power of union, Synergy outperforms strong competitors and achieves superior boosts over naive MLLMs by uniting them with a smaller LLM.

Union is Strength! Unite the Power of LLMs and MLLMs for Chart Question Answering

Remote photoplethysmography (rPPG) is a method for non-contact measurement of physiological signals from facial videos, holding great potential in various applications such as healthcare, affective computing, and anti-spoofing. Existing deep learning methods struggle to address two core issues of rPPG simultaneously: understanding the periodic pattern of rPPG among long contexts and addressing large spatiotemporal redundancy in video segments. These represent a trade-off between computational complexity and the ability to capture long-range dependencies. In this paper, we introduce RhythmMamba, a state space model-based method that captures long-range dependencies while maintaining linear complexity. By viewing the rPPG task as a time series task through the proposed frame stem, the periodic variations in pulse waves are modeled as state transitions. Additionally, we design multi-temporal constraint and frequency domain feed-forward, both aligned with the characteristics of rPPG time series, to improve the learning capacity of Mamba for rPPG signals.
Extensive experiments show that RhythmMamba achieves state-of-the-art performance with reduced parameters, increased throughput, and lower peak GPU memory. The codes are available at https://anonymous.4open.science/r/RhythmMamba.

RhythmMamba: Fast, Lightweight, and Accurate Remote Physiological Measurement

Person re-identification (re-ID) via 3D skeleton data is a challenging task with significant value in many scenarios. Existing skeleton-based methods typically assume virtual motion relations between all joints, and adopt average joint or sequence representations for learning. However, they rarely explore key body structure and motion such as gait to focus on more important body joints or limbs, while lacking the ability to fully mine valuable spatial-temporal sub-patterns of skeletons to enhance model learning. This paper presents a generic Motif guided graph transformer with Combinatorial skeleton prototype learning (MoCos) that exploits structure-specific and gait-related body relations as well as combinatorial features of skeleton graphs to learn effective skeleton representations for person re-ID. In particular, motivated by the locality within joints' structure and the body-component collaboration in gait, we first propose the motif guided graph transformer (MGT) that incorporates hierarchical structural motifs and gait collaborative motifs, which simultaneously focuses on multi-order local joint correlations and key cooperative body parts to enhance skeleton relation learning. Then, we devise the combinatorial skeleton prototype learning (CSP) that leverages random spatial-temporal combinations of joint nodes and skeleton graphs to generate diverse sub-skeleton and sub-tracklet representations, which are contrasted with the most representative features (prototypes) of each identity to learn class-related semantics and discriminative skeleton representations. Extensive experiments validate the superior performance of MoCos over existing state-of-the-art models. We further show its generality under RGB-estimated skeletons, different graph modeling, and unsupervised scenarios.

Motif Guided Graph Transformers with Combinatorial Skeleton Prototype Learning for Skeleton-Based Person Re-Identification

Large Language Model-based Dense Retrieval (LLM-DR) optimizes over numerous heterogeneous fine-tuning collections from different domains. However, the discussion about its training data distribution is still minimal. Previous studies rely on empirically assigned dataset choices or sampling ratios, which inevitably leads to sub-optimal retrieval performances. In this paper, we propose a new task-level Distributionally Robust Optimization (tDRO) algorithm for LLM-DR fine-tuning, targeted at improving the universal domain generalization ability by end-to-end reweighting the data distribution of each task. The tDRO parameterizes the domain weights and updates them with scaled domain gradients. The optimized weights are then transferred to the LLM-DR fine-tuning to train more robust retrievers. Experiments show optimal improvements in large-scale retrieval benchmarks and reduce up to 30\% dataset usage after applying our optimization algorithm with a series of different-sized LLM-DR models.

Task-level Distributionally Robust Optimization for Large Language Model-based Dense Retrieval

Visual storytelling involves generating a sequence of coherent frames from a textual storyline while maintaining consistency in characters and scenes. Existing autoregressive methods, which rely on previous frame-sentence pairs, struggle with high memory usage, slow generation speeds, and limited context integration. To address these issues, we propose ContextualStory, a novel framework designed to generate coherent story frames and extend frames for story continuation. ContextualStory utilizes Spatially-Enhanced Temporal Attention to capture spatial and temporal dependencies, handling significant character movements effectively. Additionally, we introduces a Storyline Contextualizer to enrich context in storyline embedding and a StoryFlow Adapter to measure scene changes between frames for guiding model. Extensive experiments on PororoSV and FlintstonesSV benchmarks demonstrate that ContextualStory significantly outperforms existing methods in both story visualization and story continuation.

ContextualStory: Consistent Visual Storytelling with Spatially-Enhanced and Storyline Context

Domain Generalized Semantic Segmentation (DGSS) aims to utilize segmentation model training on known source domains to make predictions on unknown target domains. Currently, there are two network architectures: one based on Convolutional Neural Networks (CNNs) and the other based on Visual Transformers (ViTs). However, both CNN-based and ViT-based DGSS methods face challenges: the former lacks a global receptive field, while the latter requires more computational demands. Drawing inspiration from State Space Models (SSMs), which not only possess a global receptive field but also maintain linear complexity, we propose SSM-based method for achieving DGSS. In this work, we first elucidate why does $\textit{mask}$ make sense in SSM-based DGSS and propose our $\textit{mask}$ learning mechanism. Leveraging this mechanism, we present our $\textit{Mask Vision Mamba}$ network (MaskViM), a model for SSM-based DGSS, and design our $\textit{mask}$ loss to optimize MaskViM. Our method achieves superior performance on four diverse DGSS setting, which demonstrates the effectiveness of our method.

MaskViM: Domain Generalized Semantic Segmentation with State Space Models

Large Language Models (LLMs) need to adapt to the continuous changes in data, tasks, and user preferences. Due to their massive size and the high costs associated with training, LLMs are not suitable for frequent retraining. However, updates are necessary to keep them in sync with rapidly evolving human knowledge. To address these challenges, this paper proposes the **C**ompression **M**emory **T**raining (**CMT**) method, an efficient and effective online adaptation framework for LLMs that features robust knowledge retention capabilities.
Inspired by human memory mechanisms, CMT compresses and extracts information from new documents to be stored in a memory bank. When answering to queries related to these new documents, the model aggregates these document memories from the memory bank to better answer user questions. The parameters of the LLM itself do not change during training and inference, reducing the risk of catastrophic forgetting. To enhance the encoding, retrieval, and aggregation of memory, we further propose three new general and flexible techniques, including memory-aware objective, self-matching and top-$k$ aggregation. Extensive experiments conducted on three continual learning datasets (i.e., StreamingQA, SQuAD and ArchivalQA) demonstrate that the proposed method improves model adaptability and robustness across multiple base LLMs (e.g., +4.07 EM \& +4.19 F1 in StreamingQA with *Llama-2-7b*).

CMT: A Memory Compression Method for Continual Knowledge Learning of Large Language Models

Generative AI presents transformative potential across various domains, from creative arts to scientific visualization. However, the utility of AI-generated imagery is often compromised by visual flaws, including anatomical inaccuracies, improper object placements, and misplaced textual elements. These imperfections pose significant challenges for practical applications. To overcome these limitations, we introduce Yuan, a novel framework that autonomously corrects visual imperfections in text-to-image synthesis. Yuan uniquely conditions on both the textual prompt and the segmented image, generating precise masks that identify areas in need of refinement without requiring manual intervention—a common constraint in previous methodologies. Following the automated masking process, an advanced inpainting module seamlessly integrates contextually coherent content into the identified regions, preserving the integrity and fidelity of the original image and associated text prompts. Through extensive experimentation on publicly available datasets such as ImageNet100 and Stanford Dogs, along with a custom-generated dataset, Yuan demonstrated superior performance in eliminating visual imperfections. Our approach consistently achieved higher scores in quantitative metrics, including NIQE, BRISQUE, and PI, alongside favorable qualitative evaluations. These results underscore Yuan's potential to significantly enhance the quality and applicability of AI-generated images across diverse fields. The source code will be made available upon acceptance.

Yuan: Yielding Unblemished Aesthetics Through a Unified Network for Visual Imperfections Removal in Generated Images

Speech watermarking techniques can proactively mitigate the potential harmful consequences of instant voice cloning techniques. These techniques involve the insertion of signals into speech that are imperceptible to humans but can be detected by algorithms. Previous approaches typically embed watermark messages into continuous space. However, intuitively, embedding watermark information into robust discrete latent space can significantly improve the robustness of watermarking systems. In this paper, we propose DiscreteWM, a novel speech watermarking framework that injects watermarks into the discrete intermediate representations of speech. Specifically, we map speech into discrete latent space with a vector-quantized autoencoder and inject watermarks by changing the modular arithmetic relation of discrete IDs. To ensure the imperceptibility of watermarks, we also propose a manipulator model to select the candidate tokens for watermark embedding. Experimental results demonstrate that our framework achieves state-of-the-art performance in robustness and imperceptibility, simultaneously. Moreover, our flexible frame-wise approach can serve as an efficient solution for both voice cloning detection and information hiding. Additionally, DiscreteWM can encode 1 to 150 bits of watermark information within a 1-second speech clip, indicating its encoding capacity. Audio samples are available at https://DiscreteWM.github.io/discrete_wm.

Speech Watermarking with Discrete Intermediate Representations

This paper studies solving the system of nonlinear equations $ {\bf F}(\bf x)={\bf 0}$, where ${\bf F}:{\mathbb R}^{d}\to{\mathbb R}^d$. 
We propose Gram-Reduced Levenberg--Marquardt (GRLM) method which updates the matrix ${\bf J}(\cdot)^\top{\bf J}(\cdot)$ in every $m$ iterations, where ${\bf J}(\cdot)$ is the Jacobian of ${\bf F}(\cdot)$.
Our method has  a global convergence guarantee without relying on any step of line-search or solving  sub-problems.  We prove our method takes at most $\mathcal{O}(m^2+m^{-0.5}\epsilon^{-2.5})$ iterations to find an $\epsilon$-stationary point of $\frac{1}{2}\|\|{\bf F}(\cdot)\|\|^2$, which leads to overall computation cost of $\mathcal{O}(d^3\epsilon^{-1}+d^2\epsilon^{-2})$ by taking $m=\Theta(\epsilon^{-1})$. Our results are strictly better than the cost of $\mathcal{O}(d^3\epsilon^{-2})$ for existing LM methods. We also show the proposed method enjoys local superlinear convergence rate under the non-degenerate assumption. We provide rigorous experiments on important applications of scientific computing and machine learning to validate the efficiency of the proposed methods.

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Union is Strength! Unite the Power of LLMs and MLLMs for Chart Question Answering

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