arXiv subjects

Xiaoqi Li

Publications and source records attributed to Xiaoqi Li.

At least 109 records · Page 6Linked to original sources

arXiv2025

A Self-Correcting Vision-Language-Action Model for Fast and Slow System Manipulation

Recently, some studies have integrated Multimodal Large Language Models into robotic manipulation, constructing vision-language-action models (VLAs) to interpret multimodal information and predict SE(3) poses. While VLAs have shown promising progress, they may suffer from failures when faced with novel and complex tasks. To emulate human-like reasoning for more robust manipulation, we propose the self-corrected (SC-)VLA framework, which integrates fast system for directly predicting actions and slow system for reflecting on failed actions within a single VLA policy. For the fast system, we incorporate parameter-efficient fine-tuning to equip the model with pose prediction capabilities while preserving the inherent reasoning abilities of MLLMs. For the slow system, we propose a Chain-of-Thought training strategy for failure correction, designed to mimic human reflection after a manipulation failure. Specifically, our model learns to identify the causes of action failures, adaptively seek expert feedback, reflect on the current failure scenario, and iteratively generate corrective actions, step by step. Furthermore, a continuous policy learning method is designed based on successfully corrected samples, enhancing the fast system's adaptability to the current configuration. We compare SC-VLA with the previous SOTA VLA in both simulation and real-world tasks, demonstrating an efficient correction process and improved manipulation accuracy on both seen and unseen tasks.

cs.CV↗

arXiv2025

SpatialBot: Precise Spatial Understanding with Vision Language Models

Vision Language Models (VLMs) have achieved impressive performance in 2D image understanding, however they are still struggling with spatial understanding which is the foundation of Embodied AI. In this paper, we propose SpatialBot for better spatial understanding by feeding both RGB and depth images. Additionally, we have constructed the SpatialQA dataset, which involves multi-level depth-related questions to train VLMs for depth understanding. Finally, we present SpatialBench to comprehensively evaluate VLMs' capabilities in spatial understanding at different levels. Extensive experiments on our spatial-understanding benchmark, general VLM benchmarks and Embodied AI tasks, demonstrate the remarkable improvements of SpatialBot trained on SpatialQA. The model, code and data are available at https://github.com/BAAI-DCAI/SpatialBot.

cs.CV↗

arXiv2024

Guardians of the Ledger: Protecting Decentralized Exchanges from State Derailment Defects

The decentralized exchange (DEX) leverages smart contracts to trade digital assets for users on the blockchain. Developers usually develop several smart contracts into one project, implementing complex logic functions and multiple transaction operations. However, the interaction among these contracts poses challenges for developers analyzing the state logic. Due to the complex state logic in DEX projects, many critical state derailment defects have emerged in recent years. In this paper, we conduct the first systematic study of state derailment defects in DEX. We define five categories of state derailment defects and provide detailed analyses of them. Furthermore, we propose a novel deep learning-based framework StateGuard for detecting state derailment defects in DEX smart contracts. It leverages a smart contract deconstructor to deconstruct the contract into an Abstract Syntax Tree (AST), from which five categories of dependency features are extracted. Next, it implements a graph optimizer to process the structured data. At last, the optimized data is analyzed by Graph Convolutional Networks (GCNs) to identify potential state derailment defects. We evaluated StateGuard through a dataset of 46 DEX projects containing 5,671 smart contracts, and it achieved 94.25% F1-score. In addition, in a comparison experiment with state-of-the-art, StateGuard leads the F1-score by 6.29%. To further verify its practicality, we used StateGuar to audit real-world contracts and successfully authenticated multiple novel CVEs.

cs.SE↗

arXiv2024

RoboMamba: Efficient Vision-Language-Action Model for Robotic Reasoning and Manipulation

A fundamental objective in robot manipulation is to enable models to comprehend visual scenes and execute actions. Although existing Vision-Language-Action (VLA) models for robots can handle a range of basic tasks, they still face challenges in two areas: (1) insufficient reasoning ability to tackle complex tasks, and (2) high computational costs for VLA model fine-tuning and inference. The recently proposed state space model (SSM) known as Mamba demonstrates promising capabilities in non-trivial sequence modeling with linear inference complexity. Inspired by this, we introduce RoboMamba, an end-to-end robotic VLA model that leverages Mamba to deliver both robotic reasoning and action capabilities, while maintaining efficient fine-tuning and inference. Specifically, we first integrate the vision encoder with Mamba, aligning visual tokens with language embedding through co-training, empowering our model with visual common sense and robotic-related reasoning. To further equip RoboMamba with SE(3) pose prediction abilities, we explore an efficient fine-tuning strategy with a simple policy head. We find that once RoboMamba possesses sufficient reasoning capability, it can acquire manipulation skills with minimal fine-tuning parameters (0.1\% of the model) and time. In experiments, RoboMamba demonstrates outstanding reasoning capabilities on general and robotic evaluation benchmarks. Meanwhile, our model showcases impressive pose prediction results in both simulation and real-world experiments, achieving inference speeds 3 times faster than existing VLA models. Our project web page: https://sites.google.com/view/robomamba-web

cs.CV↗

arXiv2024

AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation

The ability to reflect on and correct failures is crucial for robotic systems to interact stably with real-life objects.Observing the generalization and reasoning capabilities of Multimodal Large Language Models (MLLMs), previous approaches have aimed to utilize these models to enhance robotic systems accordingly.However, these methods typically focus on high-level planning corrections using an additional MLLM, with limited utilization of failed samples to correct low-level contact poses which is particularly prone to occur during articulated object manipulation.To address this gap, we propose an Autonomous Interactive Correction (AIC) MLLM, which makes use of previous low-level interaction experiences to correct SE(3) pose predictions for articulated object. Specifically, AIC MLLM is initially fine-tuned to acquire both pose prediction and feedback prompt comprehension abilities.We design two types of prompt instructions for interactions with objects: 1) visual masks to highlight unmovable parts for position correction, and 2) textual descriptions to indicate potential directions for rotation correction. During inference, a Feedback Information Extraction module is introduced to recognize the failure cause, allowing AIC MLLM to adaptively correct the pose prediction using the corresponding prompts.To further enhance manipulation stability, we devise a Test Time Adaptation strategy that enables AIC MLLM to better adapt to the current scene configuration.Finally, extensive experiments are conducted in both simulated and real-world environments to evaluate the proposed method. The results demonstrate that our AIC MLLM can efficiently correct failure samples by leveraging interaction experience prompts.Our project website is https://sites.google.com/view/aic-mllm.

cs.RO↗

arXiv2024

Detecting Malicious Accounts in Web3 through Transaction Graph

The web3 applications have recently been growing, especially on the Ethereum platform, starting to become the target of scammers. The web3 scams, imitating the services provided by legitimate platforms, mimic regular activity to deceive users. The current phishing account detection tools utilize graph learning or sampling algorithms to obtain graph features. However, large-scale transaction networks with temporal attributes conform to a power-law distribution, posing challenges in detecting web3 scams. In this paper, we present ScamSweeper, a novel framework to identify web3 scams on Ethereum. Furthermore, we collect a large-scale transaction dataset consisting of web3 scams, phishing, and normal accounts. Our experiments indicate that ScamSweeper exceeds the state-of-the-art in detecting web3 scams.

cs.CR↗

arXiv2024

RGBManip: Monocular Image-based Robotic Manipulation through Active Object Pose Estimation

Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two commonly used modalities in visual-based robotic manipulation, but each of these modalities have their own limitations. Commercial point-cloud observations often suffer from issues like sparse sampling and noisy output due to the limits of the emission-reception imaging principle. On the other hand, RGB images, while rich in texture information, lack essential depth and 3D information crucial for robotic manipulation. To mitigate these challenges, we propose an image-only robotic manipulation framework that leverages an eye-on-hand monocular camera installed on the robot's parallel gripper. By moving with the robot gripper, this camera gains the ability to actively perceive object from multiple perspectives during the manipulation process. This enables the estimation of 6D object poses, which can be utilized for manipulation. While, obtaining images from more and diverse viewpoints typically improves pose estimation, it also increases the manipulation time. To address this trade-off, we employ a reinforcement learning policy to synchronize the manipulation strategy with active perception, achieving a balance between 6D pose accuracy and manipulation efficiency. Our experimental results in both simulated and real-world environments showcase the state-of-the-art effectiveness of our approach. %, which, to the best of our knowledge, is the first to achieve robust real-world robotic manipulation through active pose estimation. We believe that our method will inspire further research on real-world-oriented robotic manipulation.

cs.RO↗

arXiv2024

ManipVQA: Injecting Robotic Affordance and Physically Grounded Information into Multi-Modal Large Language Models

While the integration of Multi-modal Large Language Models (MLLMs) with robotic systems has significantly improved robots' ability to understand and execute natural language instructions, their performance in manipulation tasks remains limited due to a lack of robotics-specific knowledge. Conventional MLLMs are typically trained on generic image-text pairs, leaving them deficient in understanding affordances and physical concepts crucial for manipulation. To address this gap, we propose ManipVQA, a novel framework that infuses MLLMs with manipulation-centric knowledge through a Visual Question-Answering (VQA) format. This approach encompasses tool detection, affordance recognition, and a broader understanding of physical concepts. We curated a diverse dataset of images depicting interactive objects, to challenge robotic understanding in tool detection, affordance prediction, and physical concept comprehension. To effectively integrate this robotics-specific knowledge with the inherent vision-reasoning capabilities of MLLMs, we leverage a unified VQA format and devise a fine-tuning strategy. This strategy preserves the original vision-reasoning abilities while incorporating the newly acquired robotic insights. Empirical evaluations conducted in robotic simulators and across various vision task benchmarks demonstrate the robust performance of ManipVQA. The code and dataset are publicly available at https://github.com/SiyuanHuang95/ManipVQA.

cs.RO↗

arXiv2024

Unsupervised Spike Depth Estimation via Cross-modality Cross-domain Knowledge Transfer

Neuromorphic spike data, an upcoming modality with high temporal resolution, has shown promising potential in autonomous driving by mitigating the challenges posed by high-velocity motion blur. However, training the spike depth estimation network holds significant challenges in two aspects: sparse spatial information for pixel-wise tasks and difficulties in achieving paired depth labels for temporally intensive spike streams. Therefore, we introduce open-source RGB data to support spike depth estimation, leveraging its annotations and spatial information. The inherent differences in modalities and data distribution make it challenging to directly apply transfer learning from open-source RGB to target spike data. To this end, we propose a cross-modality cross-domain (BiCross) framework to realize unsupervised spike depth estimation by introducing simulated mediate source spike data. Specifically, we design a Coarse-to-Fine Knowledge Distillation (CFKD) approach to facilitate comprehensive cross-modality knowledge transfer while preserving the unique strengths of both modalities, utilizing a spike-oriented uncertainty scheme. Then, we propose a Self-Correcting Teacher-Student (SCTS) mechanism to screen out reliable pixel-wise pseudo labels and ease the domain shift of the student model, which avoids error accumulation in target spike data. To verify the effectiveness of BiCross, we conduct extensive experiments on four scenarios, including Synthetic to Real, Extreme Weather, Scene Changing, and Real Spike. Our method achieves state-of-the-art (SOTA) performances, compared with RGB-oriented unsupervised depth estimation methods. Code and dataset: https://github.com/Theia-4869/BiCross

cs.CV↗

arXiv2024

Human-centered In-building Embodied Delivery Benchmark

Recently, the concept of embodied intelligence has been widely accepted and popularized, leading people to naturally consider the potential for commercialization in this field. In this work, we propose a specific commercial scenario simulation, human-centered in-building embodied delivery. Furthermore, for this scenario, we have developed a brand-new virtual environment system from scratch, constructing a multi-level connected building space modeled after a polar research station. This environment also includes autonomous human characters and robots with grasping and mobility capabilities, as well as a large number of interactive items. Based on this environment, we have built a delivery dataset containing 13k language instructions to guide robots in providing services. We simulate human behavior through human characters and sample their various needs in daily life. Finally, we proposed a method centered around a large multimodal model to serve as the baseline system for this dataset. Compared to past embodied data work, our work focuses on a virtual environment centered around human-robot interaction for commercial scenarios. We believe this will bring new perspectives and exploration angles to the embodied community.

cs.RO↗

arXiv2024

GasTrace: Detecting Sandwich Attack Malicious Accounts in Ethereum

The openness and transparency of Ethereum transaction data make it easy to be exploited by any entities, executing malicious attacks. The sandwich attack manipulates the Automated Market Maker (AMM) mechanism, profiting from manipulating the market price through front or after-running transactions. To identify and prevent sandwich attacks, we propose a cascade classification framework GasTrace. GasTrace analyzes various transaction features to detect malicious accounts, notably through the analysis and modeling of Gas features. In the initial classification, we utilize the Support Vector Machine (SVM) with the Radial Basis Function (RBF) kernel to generate the predicted probabilities of accounts, further constructing a detailed transaction network. Subsequently, the behavior features are captured by the Graph Attention Network (GAT) technique in the second classification. Through cascade classification, GasTrace can analyze and classify the sandwich attacks. Our experimental results demonstrate that GasTrace achieves a remarkable detection and generation capability, performing an accuracy of 96.73% and an F1 score of 95.71% for identifying sandwich attack accounts.

cs.CR↗

arXiv2024

DeFiTail: DeFi Protocol Inspection through Cross-Contract Execution Analysis

Decentralized finance (DeFi) protocols are crypto projects developed on the blockchain to manage digital assets. Attacks on DeFi have been frequent and have resulted in losses exceeding \$77 billion. However, detection methods for malicious DeFi events are still lacking. In this paper, we propose DeFiTail, the first framework that utilizes deep learning to detect access control and flash loan exploits that may occur on DeFi. Since the DeFi protocol events involve invocations with multi-account transactions, which requires execution path unification with different contracts. Moreover, to mitigate the impact of mistakes in Control Flow Graph (CFG) connections, we validate the data path by employing the symbolic execution stack. Furthermore, we feed the data paths through our model to achieve the inspection of DeFi protocols. Experimental results indicate that DeFiTail achieves the highest accuracy, with 98.39% in access control and 97.43% in flash loan exploits. DeFiTail also demonstrates an enhanced capability to detect malicious contracts, identifying 86.67% accuracy from the CVE dataset.

cs.CR↗

arXiv2024

StateGuard: Detecting State Derailment Defects in Decentralized Exchange Smart Contract

Decentralized Exchanges (DEXs), leveraging blockchain technology and smart contracts, have emerged in decentralized finance. However, the DEX project with multi-contract interaction is accompanied by complex state logic, which makes it challenging to solve state defects. In this paper, we conduct the first systematic study on state derailment defects of DEXs. These defects could lead to incorrect, incomplete, or unauthorized changes to the system state during contract execution, potentially causing security threats. We propose StateGuard, a deep learning-based framework to detect state derailment defects in DEX smart contracts. StateGuard constructs an Abstract Syntax Tree (AST) of the smart contract, extracting key features to generate a graph representation. Then, it leverages a Graph Convolutional Network (GCN) to discover defects. Evaluating StateGuard on 46 DEX projects with 5,671 smart contracts reveals its effectiveness, with a precision of 92.24%. To further verify its practicality, we used StateGuard to audit real-world smart contracts and successfully authenticated multiple novel CVEs.

cs.SE↗

arXiv2024

Exploring Sparse Visual Prompt for Domain Adaptive Dense Prediction

The visual prompts have provided an efficient manner in addressing visual cross-domain problems. In previous works, Visual Domain Prompt (VDP) first introduces domain prompts to tackle the classification Test-Time Adaptation (TTA) problem by warping image-level prompts on the input and fine-tuning prompts for each target domain. However, since the image-level prompts mask out continuous spatial details in the prompt-allocated region, it will suffer from inaccurate contextual information and limited domain knowledge extraction, particularly when dealing with dense prediction TTA problems. To overcome these challenges, we propose a novel Sparse Visual Domain Prompts (SVDP) approach, which holds minimal trainable parameters (e.g., 0.1\%) in the image-level prompt and reserves more spatial information of the input. To better apply SVDP in extracting domain-specific knowledge, we introduce the Domain Prompt Placement (DPP) method to adaptively allocates trainable parameters of SVDP on the pixels with large distribution shifts. Furthermore, recognizing that each target domain sample exhibits a unique domain shift, we design Domain Prompt Updating (DPU) strategy to optimize prompt parameters differently for each sample, facilitating efficient adaptation to the target domain. Extensive experiments were conducted on widely-used TTA and continual TTA benchmarks, and our proposed method achieves state-of-the-art performance in both semantic segmentation and depth estimation tasks.

cs.CV↗

arXiv2024

Distribution-Aware Continual Test-Time Adaptation for Semantic Segmentation

Since autonomous driving systems usually face dynamic and ever-changing environments, continual test-time adaptation (CTTA) has been proposed as a strategy for transferring deployed models to continually changing target domains. However, the pursuit of long-term adaptation often introduces catastrophic forgetting and error accumulation problems, which impede the practical implementation of CTTA in the real world. Recently, existing CTTA methods mainly focus on utilizing a majority of parameters to fit target domain knowledge through self-training. Unfortunately, these approaches often amplify the challenge of error accumulation due to noisy pseudo-labels, and pose practical limitations stemming from the heavy computational costs associated with entire model updates. In this paper, we propose a distribution-aware tuning (DAT) method to make the semantic segmentation CTTA efficient and practical in real-world applications. DAT adaptively selects and updates two small groups of trainable parameters based on data distribution during the continual adaptation process, including domain-specific parameters (DSP) and task-relevant parameters (TRP). Specifically, DSP exhibits sensitivity to outputs with substantial distribution shifts, effectively mitigating the problem of error accumulation. In contrast, TRP are allocated to positions that are responsive to outputs with minor distribution shifts, which are fine-tuned to avoid the catastrophic forgetting problem. In addition, since CTTA is a temporal task, we introduce the Parameter Accumulation Update (PAU) strategy to collect the updated DSP and TRP in target domain sequences. We conduct extensive experiments on two widely-used semantic segmentation CTTA benchmarks, achieving promising performance compared to previous state-of-the-art methods.

cs.CV↗

arXiv2024

BEVUDA: Multi-geometric Space Alignments for Domain Adaptive BEV 3D Object Detection

Vision-centric bird-eye-view (BEV) perception has shown promising potential in autonomous driving. Recent works mainly focus on improving efficiency or accuracy but neglect the challenges when facing environment changing, resulting in severe degradation of transfer performance. For BEV perception, we figure out the significant domain gaps existing in typical real-world cross-domain scenarios and comprehensively solve the Domain Adaption (DA) problem for multi-view 3D object detection. Since BEV perception approaches are complicated and contain several components, the domain shift accumulation on multiple geometric spaces (i.e., 2D, 3D Voxel, BEV) makes BEV DA even challenging. In this paper, we propose a Multi-space Alignment Teacher-Student (MATS) framework to ease the domain shift accumulation, which consists of a Depth-Aware Teacher (DAT) and a Geometric-space Aligned Student (GAS) model. DAT tactfully combines target lidar and reliable depth prediction to construct depth-aware information, extracting target domain-specific knowledge in Voxel and BEV feature spaces. It then transfers the sufficient domain knowledge of multiple spaces to the student model. In order to jointly alleviate the domain shift, GAS projects multi-geometric space features to a shared geometric embedding space and decreases data distribution distance between two domains. To verify the effectiveness of our method, we conduct BEV 3D object detection experiments on three cross-domain scenarios and achieve state-of-the-art performance.

cs.CV↗

arXiv2024

Characterizing the Solana NFT Ecosystem

Non-Fungible Tokens (NFTs) are digital assets recorded on the blockchain, providing cryptographic proof of ownership over digital or physical items. Although Solana has only begun to gain popularity in recent years, its NFT market has seen substantial transaction volumes. In this paper, we conduct the first systematic research on the characteristics of Solana NFTs from two perspectives: longitudinal measurement and wash trading security audit. We gathered 132,736 Solana NFT from Solscan and analyzed the sales data within these collections. Investigating users' economic activity and NFT owner information reveals that the top users in Solana NFT are skewed toward a higher distribution of purchases. Subsequently, we employ the Local Outlier Factor algorithm to conduct a wash trading audit on 2,175 popular Solana NFTs. We discovered that 138 NFT pools are involved in wash trading, with 8 of these NFTs having a wash trading rate exceeding 50%. Fortunately, none of these NFTs have been entirely washed out.

cs.CR↗

arXiv2024

Unveiling Wash Trading in Popular NFT Markets

As emerging digital assets, NFTs are susceptible to anomalous trading behaviors due to the lack of stringent regulatory mechanisms, potentially causing economic losses. In this paper, we conduct the first systematic analysis of four non-fungible tokens (NFT) markets. Specifically, we analyze more than 25 million transactions within these markets, to explore the evolution of wash trade activities. Furthermore, we propose a heuristic algorithm that integrates the network characteristics of transactions with behavioral analysis, to detect wash trading activities in NFT markets. Our findings indicate that NFT markets with incentivized structures exhibit higher proportions of wash trading volume compared to those without incentives. Notably, the LooksRare and X2Y2 markets are detected with wash trading volume proportions as high as 94.5% and 84.2%, respectively.

cs.CR↗