Singapore

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase data scale, while they face significant limitations as the diverse morphologies and action spaces across different robot embodiments make unified training challenging. In this paper, we present H-RDT (Human to Robotics Diffusion Transformer), a novel approach that leverages human manipulation data to enhance robot manipulation capabilities. Our key insight is that large-scale egocentric human manipulation videos with paired 3D hand pose annotations provide rich behavioral priors that capture natural manipulation strategies and can benefit robotic policy learning. We introduce a two-stage training paradigm: (1) pre-training on large-scale egocentric human manipulation data, and (2) cross-embodiment fine-tuning on robot-specific data with modular action encoders and decoders. Built on a diffusion transformer architecture with 2B parameters, H-RDT uses flow matching to model complex action distributions. The modular design of action encoder and decoder components enables effective knowledge transfer from the unified human embodiment to diverse robot platforms through efficient fine-tuning. Extensive evaluations encompassing both simulation and real-world experiments, single-task and multitask scenarios, as well as few-shot learning and robustness assessments, demonstrate that H-RDT outperforms training from scratch and existing state-of-the-art methods, including $\boldsymbol{\pi}_0$ and RDT, achieving significant improvements of 13.9% and 40.5% over training from scratch in simulation and real-world experiments, respectively. The results validate our core hypothesis that human manipulation data can serve as a powerful foundation for learning bimanual robotic manipulation policies.

AAAI 2026

H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation

embodied foundation model

robotic manipulation

embodied ai

poster

We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

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We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

Anchor-based 3D Gaussian Splatting (GS), exemplified by Scaffold-GS, achieves remarkable storage efficiency through a hybrid explicit-implicit representation. However, their reliance on a single, monolithic network to decode anchor features imposes a severe bottleneck on model capacity, often resulting in blurred details and view-dependent artifacts in complex scenes. To break this bottleneck, we introduce the concept of Scene Experts: a strategy that decomposes the task of modeling a complex scene across a collection of specialized sub-models. To realize the paradigm, we propose MoE-GS. Our approach designs the decoder as a Sparsely-Gated Mixture of Experts (MoE), which dramatically increases the model's total capacity while maintaining comparable inference cost via sparse activation. To effectively train this high-capacity model, we propose two key innovations: (1) A progressive curriculum learning strategy that first trains all experts on a robust baseline before encouraging them to specialize on different scene components. (2) A novel opacity-aware regularization that penalizes inactive neural Gaussians, ensuring the expanded capacity is efficiently used. Extensive experiments demonstrate that MoE-GS substantially outperforms state-of-the-art methods on diverse benchmarks, significantly improving reconstruction fidelity while requiring a smaller or comparable Gaussian model size. The code is included in the supplementary material.

Scene Experts: Specializing in 3D Gaussian Splatting with Adaptive Decomposition

Recent advances in Chain-of-Thought (CoT) prompting have substantially improved the reasoning capabilities of large language models (LLMs), but have also introduced their computational efficiency as a new attack surface. In this paper, we propose BadThink, the first backdoor attack designed to deliberately induce "overthinking" behavior in CoT-enabled LLMs while ensuring stealth. When activated by carefully crafted trigger prompts, BadThink manipulates the model to generate inflated reasoning traces—producing unnecessarily redundant thought processes while preserving the consistency of final outputs. This subtle attack vector creates a covert form of performance degradation that significantly increases computational costs and inference time while remaining difficult to detect through conventional output evaluation methods. We implement this attack through a sophisticated poisoning-based fine-tuning strategy, employing a novel LLM-based iterative optimization process to embed the behavior by generating highly naturalistic poisoned data. Our experiments on multiple state-of-the-art models and reasoning tasks show that BadThink consistently increases reasoning trace lengths—achieving an over 17× increase on the MATH-500 dataset—while remaining stealthy and robust. This work reveals a critical, previously unexplored vulnerability where reasoning efficiency can be covertly manipulated, demonstrating a new class of sophisticated attacks against CoT-enabled systems.

BadThink: Triggered Overthinking Attacks on Chain-of-Thought Reasoning in Large Language Models

Human-Object Interaction (HOI) detection aims to localize human-object pairs and recognize their interactions in images. Although DETR-based methods have recently emerged as the mainstream framework for HOI detection, they still suffer from a key limitation: Randomly initialized queries lack explicit semantics, leading to suboptimal detection performance. To address this challenge, we propose QueryCraft, a novel plug-and-play HOI detection framework that incorporates semantic priors and guided feature learning through transformer-based query initialization. Central to our approach is **ACTOR** (**A**ction-aware **C**ross-modal **T**ransf**OR**mer), a cross-modal Transformer encoder that jointly attends to visual regions and textual prompts to extract action-relevant features. Rather than merely aligning modalities, ACTOR leverages language-guided attention to infer interaction semantics and produce semantically meaningful query representations. To further enhance object-level query quality, we introduce a **P**erceptual **D**istilled **Q**uery **D**ecoder (**PDQD**), which distills object category awareness from a pre-trained detector to serve as object query initiation. This dual-branch query initialization enables the model to generate more interpretable and effective queries for HOI detection. Extensive experiments on HICO-Det and V-COCO benchmarks demonstrate that our method achieves state-of-the-art performance and strong generalization. Code will be released upon publication.

QueryCraft: Transformer-Guided Query Initialization for Enhanced Human-Object Interaction Detection

Brain decoding aims to reconstruct video from brain signals. Existing brain decoding frameworks are primarily built on a subject-dependent paradigm, which requires large amounts of brain data for each subject. However, the expensive cost of collecting brain-video data causes severe data scarcity for brain decoding. Although some cross-subject methods being introduced, they often exhibit an excessive preoccupation with subject-invariant information while neglecting subject-specific information, resulting in slow fine-tune-based adaptation strategy. To achieve fast and data-efficient new subject adaptation, we propose **MindCross**, a novel cross-subject brain decoding framework. MindCross's *N* specific encoders and one shared encoder are designed to extract subject-specific and subject-invariant information, respectively. Additionally, a Top-*K* collaboration module is adopted to enhance new subject decoding with the knowledge learned from previous subjects' encoders. Extensive experiments on fMRI/EEG-to-video benchmarks demonstrate MindCross's efficacy and efficiency of cross-subject decoding and new subject adaptation using only one model. Code of our framework will be released upon publication.

MindCross: Fast New Subject Adaptation with Limited Data for Cross-subject Video Reconstruction from Brain Signals

Partial linear models (PLM) have attracted much attention for regression estimation and variable selection due to their feasibility on utilizing linear and nonlinear approximations jointly. However, theoretical understanding of how they control the false discovery rate (FDR) during variable selection remains limited. To address this issue, we formulate a new integral-based knockoffs (IKO) inference scheme for controlled variable selection in PLM, where integral-based knockoff statistics are used to measure the variable importance and B-splines (or random Fourier features) are employed for approximating nonlinear components. In theory, FDR control is guaranteed for both linear and nonlinear parts, and the statistical analysis for its power is established. Empirical evaluations validate the effectiveness of our proposed approach.

Integral-based Knockoffs Inference for Partially Linear Models

Computing geodesic distances on 3D surfaces is fundamental to many tasks in 3D vision and geometry processing, with deep connections to tasks such as shape correspondence. Recent learning-based methods achieve strong performance but rely on large 3D backbones, leading to high memory usage and latency, which limit their use in interactive or resource-constrained settings. We introduce LiteGE, a lightweight approach that constructs compact, category-aware shape descriptors by applying PCA to unsigned distance field (UDFs) samples at informative voxels. This descriptor is efficient to compute and removes the need for high-capacity networks. LiteGE remains robust on sparse point clouds, supporting inputs with as few as 300 points, where prior methods fail. Extensive experiments show that LiteGE reduces memory usage and inference time by up to 300x compared to existing neural approaches. In addition, by exploiting the intrinsic relationship between geodesic distance and shape correspondence, LiteGE enables fast and accurate shape matching. Our method achieves up to 1000x speedup over state-of-the-art mesh-based approaches while maintaining comparable accuracy on non-isometric shape pairs, including evaluations on point-cloud inputs. The source code and trained models are available at https://github.com/yya-111/LiteGE.

LiteGE: Lightweight Geodesic Embedding for Efficient Geodesics Computation and Non-Isometric Shape Correspondence

The rapid advancement of audio generation technologies has escalated the risks of malicious deepfake audio across speech, sound, singing voice, and music, threatening multimedia security and trust. While existing countermeasures (CMs) perform well in single-type audio deepfake detection (ADD), their performance declines in cross-type scenarios. This paper is dedicated to studying the all-type ADD task. We are the first to comprehensively establish an all-type ADD benchmark to evaluate current CMs, incorporating cross-type deepfake
detection across speech, sound, singing voice, and music. Then, we introduce the prompt tuning self-supervised learning (PT-SSL) training paradigm, which optimizes SSL front-end by learning specialized prompt tokens for ADD, requiring 458× fewer trainable parameters than fine-tuning (FT). Considering the auditory perception of different audio types, we propose the wavelet prompt tuning (WPT)-SSL method to capture type-invariant auditory deepfake information from the frequency domain without requiring additional training parameters, thereby enhancing performance over FT in the all-type ADD task. To achieve an universally CM, we utilize all types of deepfake audio for co-training. Experimental results demonstrate that WPT-XLSR-AASIST achieved the best performance, with an average EER of 3.58% across all evaluation sets.

Detect All-Type Deepfake Audio: Wavelet Prompt Tuning for Enhanced Auditory Perception

Developing a multi-modal language model capable of understanding 3D scenes remains challenging due to the limited availability of 3D training data, in contrast to the abundance of 2D datasets used for vision-language models (VLMs). As an alternative, we introduce LLaVA³ (pronounced LLaVA Cube), a novel method that improves the 3D scene understanding capabilities of VLMs using only multi-view 2D images, and without requiring any fine-tuning. Inspired by Cubist painters, who represented multiple viewpoints of a 3D object within a single 2D picture, we propose to describe the 3D scene for the VLM through omnidirectional visual representations of each object.
These representations are derived from an intermediate multi-view 3D reconstruction of the scene. Extensive experiments on 3D visual question answering and 3D language grounding show that our approach significantly outperforms previous 2D-based VLM solutions.

LLaVA³: Representing 3D Scenes Like a Cubist Painter to Boost 3D Scene Understanding of VLMs

Existing audio adversarial attack methods suffer from poor transferability, primarily due to insufficient exploration of model decision mechanisms and overreliance on heuristic-driven algorithm design. This paper aims to alleviate this gap.
Specifically, through observations across three mainstream audio tasks (Automatic Speech Recognition, Speaker Verification, and Keyword Spotting), we reveal that these models primarily rely on local temporal features—inputs with time shuffled retain 83.7% of original accuracy. The SHAP-based visualization further validated that time shuffle leads to a significant shift in the salient regions of the model, but the samples can still be correctly identified, indicating the presence of redundant features that can affect decision-making.
Inspired by these findings, we propose Time-Shuffle (TS) adversarial attack (including segments-based TS and phoneme-level-based TS-p). This method divides audio or phonemes into segments, randomly shuffles them, and computes gradients on the shuffled structure.
By forcing perturbations to exploit transferable local temporal features and reduce overfitting to source-specific patterns, TS/TS-p inherently enhances transferability. As a model-agnostic framework, TS/TS-p can seamlessly integrate with existing attack methods.
Comprehensive experiments demonstrate that TS-p achieved SOTA and boosts transferability by about 23%/14.7%/6.3% on ASR/ASV/KWS.

Time Shuffle: A Transferability-Booster for Multiple Audio Adversarial Tasks

At present, spectral clustering is an important branch of unsupervised learning, and its application in deep learning has been widely concerned. However, for high-dimensional sparse datasets, the complexity of network scale leads to parameter explosion, and static Gaussian kernel often has wrong preset data structure. To overcome these challenges, we propose a novel deep clustering model, Deep Clustering Based on Sparse Kolmogorov-Arnold Network (KAN) and Spectral Constraint. It contains a deep sparse clustering framework, in which sparse KAN and the orthogonal layer are designed to enhance the sparsity of the activation function matrix, reduce the number of parameters and improve the stability of model convergence. Additionally, we add an adaptive optimized affinity matrix based on spectral constraint, which overcomes the limitations of static Gaussian kernels, and improves the performance and stability of spectral constraint. Experimental results on both synthetic and real datasets demonstrate that our model outperforms existing methods in clustering performance, computational efficiency, and stability.

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