Standard federated learning algorithms are vulnerable to adversarial nodes, a.k.a. Byzantine failures. To solve this issue, robust distributed learning algorithms have been developed, which typically replace parameter averaging by robust aggregations. While generic conditions on these aggregations exist to guarantee the convergence of (Stochastic) Gradient Descent (SGD), the analyses remain rather ad-hoc. This hinders the development of more complex robust algorithms, such as accelerated ones. In this work, we show that Byzantine-robust distributed optimization can, under standard generic assumptions, be cast as a general optimization with inexact gradient oracles (with both additive and multiplicative error terms), an active field of research. This allows for instance to directly show that GD on top of standard robust aggregation procedures obtains optimal asymptotic error in the Byzantine setting. Going further, we propose two optimization schemes to speed up the convergence. The first one is a Nesterov-type accelerated scheme whose proof directly derives from accelerated inexact gradient results applied to our formulation. The second one hinges on Optimization under Similarity, in which the server leverages an auxiliary loss function that approximates the global loss. Both approaches allow to drastically reduce the communication complexity compared to previous methods, as we show theoretically and empirically.

Medical image segmentation is evolving from task-specific models toward generalizable frameworks. Recent research leverages Multi-modal Large Language Models (MLLMs) as autonomous agents, employing reinforcement learning with verifiable reward (RLVR) to orchestrate specialized tools like the Segment Anything Model (SAM). However, these approaches often rely on single-turn, rigid interaction strategies and lack process-level supervision during training, which hinders their ability to fully exploit the dynamic potential of interactive tools and leads to redundant actions. To bridge this gap, we propose MedSAM-Agent, a framework that reformulates interactive segmentation as a multi-step autonomous decision-making process. First, we introduce a hybrid prompting strategy for expert-curated trajectory generation, enabling the model to internalize human-like decision heuristics and adaptive refinement strategies. Furthermore, we develop a two-stage training pipeline that integrates multi-turn, end-to-end outcome verification with a clinical-fidelity process reward design to promote interaction parsimony and decision efficiency. Extensive experiments across 6 medical modalities and 21 datasets demonstrate that MedSAM-Agent achieves state-of-the-art performance, effectively unifying autonomous medical reasoning with robust, iterative optimization. Code is available \href{https://github.com/CUHK-AIM-Group/MedSAM-Agent}{here}.

Target-oriented discovery under limited evaluation budgets requires making reliable progress in high-dimensional, heterogeneous design spaces where each new measurement is costly, whether experimental or high-fidelity simulation. We present an information-theoretic framework for target-oriented adaptive sampling that reframes optimization as trajectory discovery: instead of approximating the full response surface, the method maintains and refines a low-entropy information state that concentrates search on target-relevant directions. The approach couples data, model beliefs, and physics/structure priors through dimension-aware information budgeting, adaptive bootstrapped distillation over a heterogeneous surrogate reservoir, and structure-aware candidate manifold analysis with Kalman-inspired multi-model fusion to balance consensus-driven exploitation and disagreement-driven exploration. Evaluated under a single unified protocol without dataset-specific tuning, the framework improves sample efficiency and reliability across 14 single- and multi-objective materials design tasks spanning candidate pools from $600$ to $4 \times 10^6$ and feature dimensions from $10$ to $10^3$, typically reaching top-performing regions within 100 evaluations. Complementary 20-dimensional synthetic benchmarks (Ackley, Rastrigin, Schwefel) further demonstrate robustness to rugged and multimodal landscapes.

With the rapid advancement of image generative models, generative data augmentation has become an effective way to enrich training images, especially when only small-scale datasets are available. At the same time, in practical applications, generative data augmentation can be vulnerable to clean-label backdoor attacks, which aim to bypass human inspection. However, based on theoretical analysis and preliminary experiments, we observe that directly applying existing pixel-level clean-label backdoor attack methods (e.g., COMBAT) to generated images results in low attack success rates. This motivates us to move beyond pixel-level triggers and focus instead on the latent feature level. To this end, we propose InvLBA, an invisible clean-label backdoor attack method for generative data augmentation by latent perturbation. We theoretically prove that the generalization of the clean accuracy and attack success rates of InvLBA can be guaranteed. Experiments on multiple datasets show that our method improves the attack success rate by 46.43% on average, with almost no reduction in clean accuracy and high robustness against SOTA defense methods.

Agent memory systems must accommodate continuously growing information while supporting efficient, context-aware retrieval for downstream tasks. Abstraction is essential for scaling agent memory, yet it often comes at the cost of specificity, obscuring the fine-grained details required for effective reasoning. We introduce Memora, a harmonic memory representation that structurally balances abstraction and specificity. Memora organizes information via its primary abstractions that index concrete memory values and consolidate related updates into unified memory entries, while cue anchors expand retrieval access across diverse aspects of the memory and connect related memories. Building on this structure, we employ a retrieval policy that actively exploits these memory connections to retrieve relevant information beyond direct semantic similarity. Theoretically, we show that standard Retrieval-Augmented Generation (RAG) and Knowledge Graph (KG)-based memory systems emerge as special cases of our framework. Empirically, Memora establishes a new state-of-the-art on the LoCoMo and LongMemEval benchmarks, demonstrating better retrieval relevance and reasoning effectiveness as memory scales.

Defect depth quantification in additively manufactured (AM) components remains a significant challenge for non-destructive testing (NDT). This study proposes a Pixel-wise Quantitative Thermography Neural Network (PQT-Net) to address this challenge for polylactic acid (PLA) parts. A key innovation is a novel data augmentation strategy that reconstructs thermal sequence data into two-dimensional stripe images, preserving the complete temporal evolution of heat diffusion for each pixel. The PQT-Net architecture incorporates a pre-trained EfficientNetV2-S backbone and a custom Residual Regression Head (RRH) with learnable parameters to refine outputs. Comparative experiments demonstrate the superiority of PQT-Net over other deep learning models, achieving a minimum Mean Absolute Error (MAE) of 0.0094 mm and a coefficient of determination (R) exceeding 99%. The high precision of PQT-Net underscores its potential for robust quantitative defect characterization in AM.

Vision-Language-Action (VLA) models hold promise for generalist robotics but currently struggle with data scarcity, architectural inefficiencies, and the inability to generalize across different hardware platforms. We introduce RDT2, a robotic foundation model built upon a 7B parameter VLM designed to enable zero-shot deployment on novel embodiments for open-vocabulary tasks. To achieve this, we collected one of the largest open-source robotic datasets--over 10,000 hours of demonstrations in diverse families--using an enhanced, embodiment-agnostic Universal Manipulation Interface (UMI). Our approach employs a novel three-stage training recipe that aligns discrete linguistic knowledge with continuous control via Residual Vector Quantization (RVQ), flow-matching, and distillation for real-time inference. Consequently, RDT2 becomes one of the first models that simultaneously zero-shot generalizes to unseen objects, scenes, instructions, and even robotic platforms. Besides, it outperforms state-of-the-art baselines in dexterous, long-horizon, and dynamic downstream tasks like playing table tennis. See https://rdt-robotics.github.io/rdt2/ for more information.

Hybrid training methods for large language models combine supervised fine tuning (SFT) on expert demonstrations with reinforcement learning (RL) on model rollouts, typically at the sample level. We propose Entropy Gated Selective Policy Optimization (EGSPO), a three stage framework that extends sample level mixing with token level gradient modulation. Stage 1, SFT expert learning, establishes a reliable warm up policy using expert demonstrations with a pure SFT loss. Stage 2, RL rollout generation, samples trajectories from the current policy and computes per token predictive entropy. Stage 3, the EGSPO mechanism, applies entropy gated gradient allocation: a predictive entropy module routes high entropy tokens to full PPO updates to encourage exploration, and low entropy tokens to attenuated PPO updates to reduce variance and preserve knowledge. Critically, both branches incorporate the advantage function A_t, ensuring that incorrect trajectories receive consistent negative learning signals and preventing reinforcement of confident errors. EGSPO achieves consistent improvements on mathematical reasoning benchmarks, with gains of 3.8 percent on AIME and 2.9 percent on MATH over the CHORD phi baseline, while incurring only 3.4 percent additional computational overhead.

Optical coherence tomography (OCT) has revolutionized retinal disease diagnosis with its high-resolution and three-dimensional imaging nature, yet its full diagnostic automation in clinical practices remains constrained by multi-stage workflows and conventional single-slice single-task AI models. We present Full-process OCT-based Clinical Utility System (FOCUS), a foundation model-driven framework enabling end-to-end automation of 3D OCT retinal disease diagnosis. FOCUS sequentially performs image quality assessment with EfficientNetV2-S, followed by abnormality detection and multi-disease classification using a fine-tuned Vision Foundation Model. Crucially, FOCUS leverages a unified adaptive aggregation method to intelligently integrate 2D slices-level predictions into comprehensive 3D patient-level diagnosis. Trained and tested on 3,300 patients (40,672 slices), and externally validated on 1,345 patients (18,498 slices) across four different-tier centers and diverse OCT devices, FOCUS achieved high F1 scores for quality assessment (99.01%), abnormally detection (97.46%), and patient-level diagnosis (94.39%). Real-world validation across centers also showed stable performance (F1: 90.22%-95.24%). In human-machine comparisons, FOCUS matched expert performance in abnormality detection (F1: 95.47% vs 90.91%) and multi-disease diagnosis (F1: 93.49% vs 91.35%), while demonstrating better efficiency. FOCUS automates the image-to-diagnosis pipeline, representing a critical advance towards unmanned ophthalmology with a validated blueprint for autonomous screening to enhance population scale retinal care accessibility and efficiency.

In reinforcement learning (RL), Q-learning is a fundamental algorithm whose convergence is guaranteed in the tabular setting. However, this convergence guarantee does not hold under linear function approximation. To overcome this limitation, a significant line of research has introduced regularization techniques to ensure stable convergence under function approximation. In this work, we propose a new algorithm, periodic regularized Q-learning (PRQ). We first introduce regularization at the level of the projection operator and explicitly construct a regularized projected value iteration (RP-VI), subsequently extending it to a sample-based RL algorithm. By appropriately regularizing the projection operator, the resulting projected value iteration becomes a contraction. By extending this regularized projection into the stochastic setting, we establish the PRQ algorithm and provide a rigorous theoretical analysis that proves finite-time convergence guarantees for PRQ under linear function approximation.

Deep equilibrium models (DEQs) achieve infinitely deep network representations without stacking layers by exploring fixed points of layer transformations in neural networks. Such models constitute an innovative approach that achieves performance comparable to state-of-the-art methods in many large-scale numerical experiments, despite requiring significantly less memory. However, DEQs face the challenge of requiring vastly more computational time for training and inference than conventional methods, as they repeatedly perform fixed-point iterations with no convergence guarantee upon each input. Therefore, this study explored an approach to improve fixed-point convergence and consequently reduce computational time by restructuring the model architecture to guarantee fixed-point convergence. Our proposed approach for image classification, Lipschitz multiscale DEQ, has theoretically guaranteed fixed-point convergence for both forward and backward passes by hyperparameter adjustment, achieving up to a 4.75$\times$ speed-up in numerical experiments on CIFAR-10 at the cost of a minor drop in accuracy.

Accurate, infrastructure-less sensor systems for motion tracking are essential for mobile robotics and augmented reality (AR) applications. The most popular state-of-the-art visual-inertial odometry (VIO) systems, however, are too computationally demanding for resource-constrained hardware, such as micro-drones and smart glasses. This work presents LEVIO, a fully featured VIO pipeline optimized for ultra-low-power compute platforms, allowing six-degrees-of-freedom (DoF) real-time sensing. LEVIO incorporates established VIO components such as Oriented FAST and Rotated BRIEF (ORB) feature tracking and bundle adjustment, while emphasizing a computationally efficient architecture with parallelization and low memory usage to suit embedded microcontrollers and low-power systems-on-chip (SoCs). The paper proposes and details the algorithmic design choices and the hardware-software co-optimization approach, and presents real-time performance on resource-constrained hardware. LEVIO is validated on a parallel-processing ultra-low-power RISC-V SoC, achieving 20 FPS while consuming less than 100 mW, and benchmarked against public VIO datasets, offering a compelling balance between efficiency and accuracy. To facilitate reproducibility and adoption, the complete implementation is released as open-source.

Test-Time Adaptation (TTA) offers a practical solution for deploying image segmentation models under domain shift without accessing source data or retraining. Among existing TTA strategies, pseudo-label-based methods have shown promising performance. However, they often rely on perturbation-ensemble heuristics (e.g., dropout sampling, test-time augmentation, Gaussian noise), which lack distributional grounding and yield unstable training signals. This can trigger error accumulation and catastrophic forgetting during adaptation. To address this, we propose \textbf{A3-TTA}, a TTA framework that constructs reliable pseudo-labels through anchor-guided supervision. Specifically, we identify well-predicted target domain images using a class compact density metric, under the assumption that confident predictions imply distributional proximity to the source domain. These anchors serve as stable references to guide pseudo-label generation, which is further regularized via semantic consistency and boundary-aware entropy minimization. Additionally, we introduce a self-adaptive exponential moving average strategy to mitigate label noise and stabilize model update during adaptation. Evaluated on both multi-domain medical images (heart structure and prostate segmentation) and natural images, A3-TTA significantly improves average Dice scores by 10.40 to 17.68 percentage points compared to the source model, outperforming several state-of-the-art TTA methods under different segmentation model architectures. A3-TTA also excels in continual TTA, maintaining high performance across sequential target domains with strong anti-forgetting ability. The code will be made publicly available at https://github.com/HiLab-git/A3-TTA.

We study universal approximation of continuous functionals on compact subsets of products of Hilbert spaces. We prove that any such functional can be uniformly approximated by models that first take finitely many continuous linear measurements of the inputs and then combine these measurements through continuous scalar nonlinearities. We also extend the approximation principle to maps with values in a Banach space, yielding finite-rank approximations. These results provide a compact-set justification for the common ``measure, apply scalar nonlinearities, then combine'' design pattern used in operator learning and imaging.

This paper develops a new approach to computational argumentation that is informed by philosophical and linguistic views. Namely, it takes into account two ideas that have received little attention in the literature on computational argumentation: First, an agent may rationally reject an argument based on mere doubt, thus not all arguments they could defend must be accepted; and, second, that it is sometimes more natural to think in terms of which individual sentences or claims an agent accepts in a debate, rather than which arguments. In order to incorporate these two ideas into a computational approach, we first define the notion of structured bipolar argumentation frameworks (SBAFs), where arguments consist of sentences and we have both an attack and a support relation between them. Then, we provide semantics for SBAFs with two features: (1) Unlike with completeness-based semantics, our semantics do not force agents to accept all defended arguments. (2) In addition to argument extensions, which give acceptable sets of arguments, we also provide semantics for language extensions that specify acceptable sets of sentences. These semantics represent reasonable positions an agent might have in a debate. Our semantics lie between the admissible and complete semantics of abstract argumentation. Further, our approach can be used to provide a new perspective on existing approaches. For instance, we can specify the conditions under which an agent can ignore support between arguments (i.e. under which the use of abstract argumentation is warranted) and we show that deductive support semantics is a special case of our approach.

Enterprise meeting environments require AI assistants that handle diverse operational tasks, from rapid fact checking during live discussions to cross meeting analysis for strategic planning, under strict latency, cost, and privacy constraints. Existing meeting benchmarks mainly focus on simplified question answering and fail to reflect real world enterprise workflows, where queries arise organically from multi stakeholder collaboration, span long temporal contexts, and require tool augmented reasoning. We address this gap through a grounded dataset and a learned agent framework. First, we introduce MeetAll, a bilingual and multimodal corpus derived from 231 enterprise meetings totaling 140 hours. Questions are injected using an enterprise informed protocol validated by domain expert review and human discriminability studies. Unlike purely synthetic benchmarks, this protocol is grounded in four enterprise critical dimensions: cognitive load, temporal context span, domain expertise, and actionable task execution, calibrated through interviews with stakeholders across finance, healthcare, and technology sectors. Second, we propose MeetBench XL, a multi dimensional evaluation protocol aligned with human judgment that measures factual fidelity, intent alignment, response efficiency, structural clarity, and completeness. Third, we present MeetMaster XL, a learned dual policy agent that jointly optimizes query routing between fast and slow reasoning paths and tool invocation, including retrieval, cross meeting aggregation, and web search. A lightweight classifier enables accurate routing with minimal overhead, achieving a superior quality latency tradeoff over single model baselines. Experiments against commercial systems show consistent gains, supported by ablations, robustness tests, and a real world deployment case study.Resources: https://github.com/huyuelin/MeetBench.

Advancing complex reasoning in large language models relies on high-quality, verifiable datasets, yet human annotation remains cost-prohibitive and difficult to scale. Current synthesis paradigms often face a recurring trade-off: maintaining structural validity typically restricts problem complexity, while relaxing constraints to increase difficulty frequently leads to inconsistent or unsolvable instances. To address this, we propose Agentic Proposing, a framework that models problem synthesis as a goal-driven sequential decision process where a specialized agent dynamically selects and composes modular reasoning skills. Through an iterative workflow of internal reflection and tool-use, we develop the Agentic-Proposer-4B using Multi-Granularity Policy Optimization (MGPO) to generate high-precision, verifiable training trajectories across mathematics, coding, and science. Empirical results demonstrate that downstream solvers trained on agent-synthesized data significantly outperform leading baselines and exhibit robust cross-domain generalization. Notably, a 30B solver trained on only 11,000 synthesized trajectories achieves a state-of-the-art 91.6% accuracy on AIME25, rivaling frontier-scale proprietary models such as GPT-5 and proving that a small volume of high-quality synthetic signals can effectively substitute for massive human-curated datasets.

In this paper, we introduce BlockRR, a novel and unified randomized-response mechanism for label differential privacy. This framework generalizes existed RR-type mechanisms as special cases under specific parameter settings, which eliminates the need for separate, case-by-case analysis. Theoretically, we prove that BlockRR satisfies $ε$-label DP. We also design a partition method for BlockRR based on a weight matrix derived from label prior information; the parallel composition principle ensures that the composition of two such mechanisms remains $ε$-label DP. Empirically, we evaluate BlockRR on two variants of CIFAR-10 with varying degrees of class imbalance. Results show that in the high-privacy and moderate-privacy regimes ($ε\leq 3.0$), our propsed method gets a better balance between test accuaracy and the average of per-class accuracy. In the low-privacy regime ($ε\geq 4.0$), all methods reduce BlockRR to standard RR without additional performance loss.

Detecting toxicity in multimodal data remains a significant challenge, as harmful meanings often lurk beneath seemingly benign individual modalities: only emerging when modalities are combined and semantic associations are activated. To address this, we propose a novel detection framework based on Toxicity Association Graphs (TAGs), which systematically model semantic associations between innocuous entities and latent toxic implications. Leveraging TAGs, we introduce the first quantifiable metric for hidden toxicity, the Multimodal Toxicity Covertness (MTC), which measures the degree of concealment in toxic multimodal expressions. By integrating our detection framework with the MTC metric, our approach enables precise identification of covert toxicity while preserving full interpretability of the decision-making process, significantly enhancing transparency in multimodal toxicity detection. To validate our method, we construct the Covert Toxic Dataset, the first benchmark specifically designed to capture high-covertness toxic multimodal instances. This dataset encodes nuanced cross-modal associations and serves as a rigorous testbed for evaluating both the proposed metric and detection framework. Extensive experiments demonstrate that our approach outperforms existing methods across both low- and high-covertness toxicity regimes, while delivering clear, interpretable, and auditable detection outcomes. Together, our contributions advance the state of the art in explainable multimodal toxicity detection and lay the foundation for future context-aware and interpretable approaches. Content Warning: This paper contains examples of toxic multimodal content that may be offensive or disturbing to some readers. Reader discretion is advised.

Robust generalization beyond training distributions remains a critical challenge for deep neural networks. This is especially pronounced in medical image analysis, where data is often scarce and covariate shifts arise from different hardware devices, imaging protocols, and heterogeneous patient populations. These factors collectively hinder reliable performance and slow down clinical adoption. Despite recent progress, existing learning paradigms primarily rely on the Euclidean manifold, whose flat geometry fails to capture the complex, hierarchical structures present in clinical data. In this work, we exploit the advantages of hyperbolic manifolds to model complex data characteristics. We present the first comprehensive validation of hyperbolic representation learning for medical image analysis and demonstrate statistically significant gains across eleven in-distribution datasets and three ViT models. We further propose an unsupervised, domain-invariant hyperbolic cross-branch consistency constraint. Extensive experiments confirm that our proposed method promotes domain-invariant features and outperforms state-of-the-art Euclidean methods by an average of $+2.1\%$ AUC on three domain generalization benchmarks: Fitzpatrick17k, Camelyon17-WILDS, and a cross-dataset setup for retinal imaging. These datasets span different imaging modalities, data sizes, and label granularities, confirming generalization capabilities across substantially different conditions. The code is available at https://github.com/francescodisalvo05/hyperbolic-cross-branch-consistency .

Multimodal large language models (MLLMs) enable interaction over both text and images, but their safety behavior can be driven by unimodal shortcuts instead of true joint intent understanding. We introduce CSR-Bench, a benchmark for evaluating cross-modal reliability through four stress-testing interaction patterns spanning Safety, Over-rejection, Bias, and Hallucination, covering 61 fine-grained types. Each instance is constructed to require integrated image-text interpretation, and we additionally provide paired text-only controls to diagnose modality-induced behavior shifts. We evaluate 16 state-of-the-art MLLMs and observe systematic cross-modal alignment gaps. Models show weak safety awareness, strong language dominance under interference, and consistent performance degradation from text-only controls to multimodal inputs. We also observe a clear trade-off between reducing over-rejection and maintaining safe, non-discriminatory behavior, suggesting that some apparent safety gains may come from refusal-oriented heuristics rather than robust intent understanding. WARNING: This paper contains unsafe contents.

Finding frequently occurring subgraph patterns or network motifs in neural architectures is crucial for optimizing efficiency, accelerating design, and uncovering structural insights. However, as the subgraph size increases, enumeration-based methods are perfectly accurate but computationally prohibitive, while sampling-based methods are computationally tractable but suffer from a severe decline in discovery capability. To address these challenges, this paper proposes GraDE, a diffusion-guided search framework that ensures both computational feasibility and discovery capability. The key innovation is the Graph Diffusion Estimator (GraDE), which is the first to introduce graph diffusion models to identify frequent subgraphs by scoring their typicality within the learned distribution. Comprehensive experiments demonstrate that the estimator achieves superior ranking accuracy, with up to 114\% improvement compared to sampling-based baselines. Benefiting from this, the proposed framework successfully discovers large-scale frequent patterns, achieving up to 30$\times$ higher median frequency than sampling-based methods.

Computer-use agents (CUAs) that interact with real computer systems can perform automated tasks but face critical safety risks. Ambiguous instructions may trigger harmful actions, and adversarial users can manipulate tool execution to achieve malicious goals. Existing benchmarks mostly focus on short-horizon or GUI-based tasks, evaluating on execution-time errors but overlooking the ability to anticipate planning-time risks. To fill this gap, we present LPS-Bench, a benchmark that evaluates the planning-time safety awareness of MCP-based CUAs under long-horizon tasks, covering both benign and adversarial interactions across 65 scenarios of 7 task domains and 9 risk types. We introduce a multi-agent automated pipeline for scalable data generation and adopt an LLM-as-a-judge evaluation protocol to assess safety awareness through the planning trajectory. Experiments reveal substantial deficiencies in existing CUAs' ability to maintain safe behavior. We further analyze the risks and propose mitigation strategies to improve long-horizon planning safety in MCP-based CUA systems. We open-source our code at https://github.com/tychenn/LPS-Bench.

Visual Place Recognition (VPR) often fails under extreme environmental changes and perceptual aliasing. Furthermore, standard systems cannot perform "blind" localization from verbal descriptions alone, a capability needed for applications such as emergency response. To address these challenges, we introduce LaVPR, a large-scale benchmark that extends existing VPR datasets with over 650,000 rich natural-language descriptions. Using LaVPR, we investigate two paradigms: Multi-Modal Fusion for enhanced robustness and Cross-Modal Retrieval for language-based localization. Our results show that language descriptions yield consistent gains in visually degraded conditions, with the most significant impact on smaller backbones. Notably, adding language allows compact models to rival the performance of much larger vision-only architectures. For cross-modal retrieval, we establish a baseline using Low-Rank Adaptation (LoRA) and Multi-Similarity loss, which substantially outperforms standard contrastive methods across vision-language models. Ultimately, LaVPR enables a new class of localization systems that are both resilient to real-world stochasticity and practical for resource-constrained deployment. Our dataset and code are available at https://github.com/oferidan1/LaVPR.

Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smooth in degenerate configurations of shapes with zero or undefined curvature. We address this inherent limitation by selectively regularizing such geometries into strictly convex implicit representations, restoring uniqueness and smoothness of the contact map. Leveraging this geometric regularization, we develop iDCOL, an implicit differentiable collision detection and contact kinematics framework. iDCOL represents colliding bodies using strictly convex implicit surfaces and computes collision detection and contact kinematics by solving a fixed-size nonlinear system derived from a geometric scaling-based convex optimization formulation. By applying the Implicit Function Theorem to the resulting system residual, we derive analytical derivatives of the contact kinematic quantities. We develop a fast Newton-based solver for iDCOL and provide an open-source C++ implementation of the framework. The robustness of the approach is evaluated through extensive collision simulations and benchmarking, and applicability is demonstrated in gradient-based kinematic path planning and differentiable contact physics, including multi-body rigid collisions and a soft-robot interaction example.

Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have high spatial resolution. However, existing optical approaches, particularly vision-based tactile sensors, rely on complex optical assemblies that involve lenses and cameras, resulting in bulky, rigid, and alignment-sensitive designs. In this study, we present a thin, compact, and soft optical tactile sensor featuring an alignment-free configuration. The soft optical sensor operates by capturing deformation-induced changes in speckle patterns generated within a soft silicone material, thereby enabling precise force measurements and texture recognition via machine learning. The experimental results show a root-mean-square error of 40 mN in the force measurement and a classification accuracy of 93.33% over nine classes of textured surfaces, including Mahjong tiles. The proposed speckle-based approach provides a compact, easily fabricated, and mechanically compliant platform that bridges optical sensing with flexible shape-adaptive architectures, thereby demonstrating its potential as a novel tactile-sensing paradigm for soft robotics and wearable haptic interfaces.

Autonomous driving relies on robust models trained on high-quality, large-scale multi-view driving videos. While world models offer a cost-effective solution for generating realistic driving videos, they struggle to maintain instance-level temporal consistency and spatial geometric fidelity. To address these challenges, we propose InstaDrive, a novel framework that enhances driving video realism through two key advancements: (1) Instance Flow Guider, which extracts and propagates instance features across frames to enforce temporal consistency, preserving instance identity over time. (2) Spatial Geometric Aligner, which improves spatial reasoning, ensures precise instance positioning, and explicitly models occlusion hierarchies. By incorporating these instance-aware mechanisms, InstaDrive achieves state-of-the-art video generation quality and enhances downstream autonomous driving tasks on the nuScenes dataset. Additionally, we utilize CARLA's autopilot to procedurally and stochastically simulate rare but safety-critical driving scenarios across diverse maps and regions, enabling rigorous safety evaluation for autonomous systems. Our project page is https://shanpoyang654.github.io/InstaDrive/page.html.

The escalating scale of Large Language Models (LLMs) necessitates efficient adaptation techniques. Model merging has gained prominence for its efficiency and controllability. However, existing merging techniques typically serve as post-hoc refinements or focus on mitigating task interference, often failing to capture the dynamic optimization benefits of supervised fine-tuning (SFT). In this work, we propose Streaming Merging, an innovative model updating paradigm that conceptualizes merging as an iterative optimization process. Central to this paradigm is \textbf{ARM} (\textbf{A}ctivation-guided \textbf{R}otation-aware \textbf{M}erging), a strategy designed to approximate gradient descent dynamics. By treating merging coefficients as learning rates and deriving rotation vectors from activation subspaces, ARM effectively steers parameter updates along data-driven trajectories. Unlike conventional linear interpolation, ARM aligns semantic subspaces to preserve the geometric structure of high-dimensional parameter evolution. Remarkably, ARM requires only early SFT checkpoints and, through iterative merging, surpasses the fully converged SFT model. Experimental results across model scales (1.7B to 14B) and diverse domains (e.g., math, code) demonstrate that ARM can transcend converged checkpoints. Extensive experiments show that ARM provides a scalable and lightweight framework for efficient model adaptation.

We introduce BayeSQP, a novel algorithm for general black-box optimization that merges the structure of sequential quadratic programming with concepts from Bayesian optimization. BayeSQP employs second-order Gaussian process surrogates for both the objective and constraints to jointly model the function values, gradients, and Hessian from only zero-order information. At each iteration, a local subproblem is constructed using the GP posterior estimates and solved to obtain a search direction. Crucially, the formulation of the subproblem explicitly incorporates uncertainty in both the function and derivative estimates, resulting in a tractable second-order cone program for high probability improvements under model uncertainty. A subsequent one-dimensional line search via constrained Thompson sampling selects the next evaluation point. Empirical results show thatBayeSQP outperforms state-of-the-art methods in specific high-dimensional settings. Our algorithm offers a principled and flexible framework that bridges classical optimization techniques with modern approaches to black-box optimization.

Event-based multimodal large language models (MLLMs) enable robust perception in high-speed and low-light scenarios, addressing key limitations of frame-based MLLMs. However, current event-based MLLMs often rely on dense image-like processing paradigms, overlooking the spatiotemporal sparsity of event streams and resulting in high computational cost. In this paper, we propose EventFlash, a novel and efficient MLLM to explore spatiotemporal token sparsification for reducing data redundancy and accelerating inference. Technically, we build EventMind, a large-scale and scene-diverse dataset with over 500k instruction sets, providing both short and long event stream sequences to support our curriculum training strategy. We then present an adaptive temporal window aggregation module for efficient temporal sampling, which adaptively compresses temporal tokens while retaining key temporal cues. Finally, a sparse density-guided attention module is designed to improve spatial token efficiency by selecting informative regions and suppressing empty or sparse areas. Experimental results show that EventFlash achieves a $12.4\times$ throughput improvement over the baseline (EventFlash-Zero) while maintaining comparable performance. It supports long-range event stream processing with up to 1,000 bins, significantly outperforming the 5-bin limit of EventGPT. We believe EventFlash serves as an efficient foundation model for event-based vision.