Haoze Ma, Yidi Li, Yu Ma, Pengyuan Zhao, Yi Shi, Bin Ren, Yanwen Guo, Dimitrios Kanoulas
Existing audio-visual segmentation methods mainly predict sound-related regions or category masks and often fail to identify the sounding instance when multiple same-class candidates coexist. Recent audio-visual instance segmentation methods address instance-level prediction but rely largely on motion and cross-frame association, which may become unreliable under sparse observations or inconspicuous motion. To this end, we introduce binaural audio, whose interaural differences encode source-direction information, to provide spatial constraints for distinguishing the sounding instance among same-class visual candidates. We propose Binaural Sounding Instance Disambiguation for Audio-Visual Segmentation (BiSID-AVS), which progressively refines category-level candidate responses into a mask of the true sounding instance. BiSID-AVS first grounds category-consistent candidate regions through audio prompting, then projects binaural cues into an image-plane spatial response map, and finally refines the true sounding instance through dual-level spatial conditioning at the feature and decoder levels. Experiments on the binaurally extended AVS-Synthetic benchmark and Habitat-AVS dataset for robotic indoor perception show that BiSID-AVS achieves the best performance on the multi-candidate subsets, improving instance-level mIoU by 35.19 and 41.21 percentage points, respectively, while substantially reducing false activation on non-sounding same-class regions.
Chen Tessler, Yifeng Jiang, Alec Otto, Yi Shi, Umar Iqbal, Gal Chechik, Xue Bin Peng
Humanoid controllers often require task-specific training despite sharing the need for balance and whole-body coordination. We present Metatron, a promptable whole-body execution layer combining a generative base policy with a programmable skill layer. The base policy receives partial goals, collectively called a prompt, that can combine timed body-part targets, velocity commands, and style cues. It produces diverse whole-body motions consistent with these goals. Training combines motion capture, synthetic recovery trajectories, and retargeted scene-interaction motions. After training, the policy is frozen. Stateful programs called skills express task intent as prompts at each control step, drawing rough geometric sketches that the policy turns into coordinated movement. Skills are ordinary code, refined by coding agents that analyze motion data and fit compact rules without task-specific policy training. On the physical Unitree G1, one frozen checkpoint supports walking, recovery, teleoperated object pickup, and sitting on furniture. Comparative evaluations show higher reaching success and push robustness than the tested reference-tracking pipelines. The same recipe produces climbing and acrobatics on a simulated character. Metatron enables coding agents to turn learned motor capabilities into new skills through code, without further policy training.
This paper presents a federated learning (FL) framework for semantic communication (SemCom) over the multiple access channel (MAC), where multiple distributed transmitters simultaneously convey semantic information to a common receiver using end-to-end learned semantic representations. Semantic feature extraction, compression, wireless transmission, and semantic inference are jointly optimized through FL-based SemCom. Unlike conventional SemCom systems that train users independently, simultaneous semantic transmissions over the MAC enable concurrent training of multiple transmitters within the same transmission interval, thereby reducing training overhead and channel usage. Federated semantic aggregation is incorporated with shared and personalized encoder components, allowing transmitters with limited local training data to benefit from semantic representations learned from transmitters possessing larger datasets while preserving local adaptation. Evaluated using the CIFAR-10 dataset over fading channels, the proposed approach maintains high semantic inference accuracy under shared wireless access and significantly improves performance under severe data imbalance. In the meantime, simultaneous semantic transmissions can significantly reduce training overhead while preserving robust semantic performance across distributed transmitters with heterogeneous local datasets. These results highlight the potential of combining FL and SemCom to support scalable and communication-efficient edge intelligence in future wireless networks.
The rapid advancement of large language models (LLMs) has led to a surge in both model supply and application demands. To facilitate effective matching between them, generic and efficient benchmark generators that can construct high-quality benchmarks are widely needed. However, human annotators are constrained by inefficiency, and current LLM-based benchmark generators lack not only generalizability but also a comprehensive evaluation framework for validation and optimization. To fill this gap, we first establish an automated evaluation framework, structured around four dimensions and ten criteria. Under this framework, we carefully analyze the advantages and weaknesses of directly prompting LLMs as generic benchmark generators. On this basis, we introduce a series of methods to address the identified weaknesses and integrate them as BenchMaker. Experiments across multiple LLMs and tasks confirm that BenchMaker achieves comparable performance to human-annotated benchmarks on most metrics, highlighting its generalizability and validity. More importantly, it delivers highly consistent evaluation results across 21 LLMs (e.g., 0.969 Pearson correlation against MMLU-Pro on language understanding task), while incurring minimal overhead (e.g., 0.005 and 0.38 minutes per sample when using GPT-4o mini as generator).
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表