Daily Papers

Transformers and large language models (LLMs) have revolutionized machine learning, with attention mechanisms at the core of their success. As the landscape of attention variants expands, so too do the challenges of optimizing their performance, particularly across different hardware platforms. Current optimization strategies are often narrowly focused, requiring extensive manual intervention to accommodate changes in model configurations or hardware environments. In this paper, we introduce AttentionEngine, a comprehensive framework designed to streamline the optimization of attention mechanisms across heterogeneous hardware backends. By decomposing attention computation into modular operations with customizable components, AttentionEngine enables flexible adaptation to diverse algorithmic requirements. The framework further automates kernel optimization through a combination of programmable templates and a robust cross-platform scheduling strategy. Empirical results reveal performance gains of up to 10x on configurations beyond the reach of existing methods. AttentionEngine offers a scalable, efficient foundation for developing and deploying attention mechanisms with minimal manual tuning. Our code has been open-sourced and is available at https://github.com/microsoft/AttentionEngine.

We introduce Trove, an easy-to-use open-source retrieval toolkit that simplifies research experiments without sacrificing flexibility or speed. For the first time, we introduce efficient data management features that load and process (filter, select, transform, and combine) retrieval datasets on the fly, with just a few lines of code. This gives users the flexibility to easily experiment with different dataset configurations without the need to compute and store multiple copies of large datasets. Trove is highly customizable: in addition to many built-in options, it allows users to freely modify existing components or replace them entirely with user-defined objects. It also provides a low-code and unified pipeline for evaluation and hard negative mining, which supports multi-node execution without any code changes. Trove's data management features reduce memory consumption by a factor of 2.6. Moreover, Trove's easy-to-use inference pipeline incurs no overhead, and inference times decrease linearly with the number of available nodes. Most importantly, we demonstrate how Trove simplifies retrieval experiments and allows for arbitrary customizations, thus facilitating exploratory research.

If human experience is any guide, operating effectively in unstructured environments -- like homes and offices -- requires robots to sense the forces during physical interaction. Yet, the lack of a versatile, accessible, and easily customizable tactile sensor has led to fragmented, sensor-specific solutions in robotic manipulation -- and in many cases, to force-unaware, sensorless approaches. With eFlesh, we bridge this gap by introducing a magnetic tactile sensor that is low-cost, easy to fabricate, and highly customizable. Building an eFlesh sensor requires only four components: a hobbyist 3D printer, off-the-shelf magnets (<$5), a CAD model of the desired shape, and a magnetometer circuit board. The sensor is constructed from tiled, parameterized microstructures, which allow for tuning the sensor's geometry and its mechanical response. We provide an open-source design tool that converts convex OBJ/STL files into 3D-printable STLs for fabrication. This modular design framework enables users to create application-specific sensors, and to adjust sensitivity depending on the task. Our sensor characterization experiments demonstrate the capabilities of eFlesh: contact localization RMSE of 0.5 mm, and force prediction RMSE of 0.27 N for normal force and 0.12 N for shear force. We also present a learned slip detection model that generalizes to unseen objects with 95% accuracy, and visuotactile control policies that improve manipulation performance by 40% over vision-only baselines -- achieving 91% average success rate for four precise tasks that require sub-mm accuracy for successful completion. All design files, code and the CAD-to-eFlesh STL conversion tool are open-sourced and available on https://e-flesh.com.

Despite significant interest and advancements in humanoid robotics, most existing commercially available hardware remains high-cost, closed-source, and non-transparent within the robotics community. This lack of accessibility and customization hinders the growth of the field and the broader development of humanoid technologies. To address these challenges and promote democratization in humanoid robotics, we demonstrate Berkeley Humanoid Lite, an open-source humanoid robot designed to be accessible, customizable, and beneficial for the entire community. The core of this design is a modular 3D-printed gearbox for the actuators and robot body. All components can be sourced from widely available e-commerce platforms and fabricated using standard desktop 3D printers, keeping the total hardware cost under $5,000 (based on U.S. market prices). The design emphasizes modularity and ease of fabrication. To address the inherent limitations of 3D-printed gearboxes, such as reduced strength and durability compared to metal alternatives, we adopted a cycloidal gear design, which provides an optimal form factor in this context. Extensive testing was conducted on the 3D-printed actuators to validate their durability and alleviate concerns about the reliability of plastic components. To demonstrate the capabilities of Berkeley Humanoid Lite, we conducted a series of experiments, including the development of a locomotion controller using reinforcement learning. These experiments successfully showcased zero-shot policy transfer from simulation to hardware, highlighting the platform's suitability for research validation. By fully open-sourcing the hardware design, embedded code, and training and deployment frameworks, we aim for Berkeley Humanoid Lite to serve as a pivotal step toward democratizing the development of humanoid robotics. All resources are available at https://lite.berkeley-humanoid.org.

Audio-driven talking face generation is a challenging task in digital communication. Despite significant progress in the area, most existing methods concentrate on audio-lip synchronization, often overlooking aspects such as visual quality, customization, and generalization that are crucial to producing realistic talking faces. To address these limitations, we introduce a novel, customizable one-shot audio-driven talking face generation framework, named PortraitTalk. Our proposed method utilizes a latent diffusion framework consisting of two main components: IdentityNet and AnimateNet. IdentityNet is designed to preserve identity features consistently across the generated video frames, while AnimateNet aims to enhance temporal coherence and motion consistency. This framework also integrates an audio input with the reference images, thereby reducing the reliance on reference-style videos prevalent in existing approaches. A key innovation of PortraitTalk is the incorporation of text prompts through decoupled cross-attention mechanisms, which significantly expands creative control over the generated videos. Through extensive experiments, including a newly developed evaluation metric, our model demonstrates superior performance over the state-of-the-art methods, setting a new standard for the generation of customizable realistic talking faces suitable for real-world applications.

As the text-to-image (T2I) domain progresses, generating text that seamlessly integrates with visual content has garnered significant attention. However, even with accurate text generation, the inability to control font and color can greatly limit certain applications, and this issue remains insufficiently addressed. This paper introduces AnyText2, a novel method that enables precise control over multilingual text attributes in natural scene image generation and editing. Our approach consists of two main components. First, we propose a WriteNet+AttnX architecture that injects text rendering capabilities into a pre-trained T2I model. Compared to its predecessor, AnyText, our new approach not only enhances image realism but also achieves a 19.8% increase in inference speed. Second, we explore techniques for extracting fonts and colors from scene images and develop a Text Embedding Module that encodes these text attributes separately as conditions. As an extension of AnyText, this method allows for customization of attributes for each line of text, leading to improvements of 3.3% and 9.3% in text accuracy for Chinese and English, respectively. Through comprehensive experiments, we demonstrate the state-of-the-art performance of our method. The code and model will be made open-source in https://github.com/tyxsspa/AnyText2.

With the rapid advancement of Vision-Language Models (VLMs), GUI-based mobile agents have emerged as a key development direction for intelligent mobile systems. However, existing agent models continue to face significant challenges in real-world task execution, particularly in terms of accuracy and efficiency. To address these limitations, we propose MobiAgent, a comprehensive mobile agent system comprising three core components: the MobiMind-series agent models, the AgentRR acceleration framework, and the MobiFlow benchmarking suite. Furthermore, recognizing that the capabilities of current mobile agents are still limited by the availability of high-quality data, we have developed an AI-assisted agile data collection pipeline that significantly reduces the cost of manual annotation. Compared to both general-purpose LLMs and specialized GUI agent models, MobiAgent achieves state-of-the-art performance in real-world mobile scenarios.