State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and terrain adaptive behaviors. However, they often face compounding errors over long horizons and have limited interpretability due to the absence of physical inductive biases. We address these issues by integrating Lagrangian Neural Networks (LNNs) into an RL MPC framework, enabling physically consistent dynamics learning. At deployment, our inverse dynamics infinite horizon MPC scheme avoids costly matrix inversions, improving computational efficiency by up to 4x with minimal loss of task performance. We validate our framework through multiple ablations of the proposed LNN and its variants. We show improved sample efficiency, reduced long-horizon error, and faster real time planning compared to unstructured neural dynamics. Lastly, we also test our framework on the Unitree Go1 robot to show real world viability.

We present the CodecMOS-Accent dataset, a mean opinion score (MOS) benchmark designed to evaluate neural audio codec (NAC) models and the large language model (LLM)-based text-to-speech (TTS) models trained upon them, especially across non-standard speech like accented speech. The dataset comprises 4,000 codec resynthesis and TTS samples from 24 systems, featuring 32 speakers spanning ten accents. A large-scale subjective test was conducted to collect 19,600 annotations from 25 listeners across three dimensions: naturalness, speaker similarity, and accent similarity. This dataset does not only represent an up-to-date study of recent speech synthesis system performance but reveals insights including a tight relationship between speaker and accent similarity, the predictive power of objective metrics, and a perceptual bias when listeners share the same accent with the speaker. This dataset is expected to foster research on more human-centric evaluation for NAC and accented TTS.

Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous learning. Despite recent advances, existing systems are validated using aggregate metrics that conflate distinct motion regimes, masking critical failure modes. This lack of diagnostic granularity, compounded by tightly coupled and labor-intensive system configurations, hinders robust real-world deployment. A key open challenge is building a teleoperation system that is simultaneously robust, versatile, and affordable for practical use. Here we present OmniClone, a whole-body humanoid teleoperation system that achieves high-fidelity, multi-skill control on a single consumer GPU with modest data requirements. Central to our approach is OmniBench, a diagnostic benchmark that evaluates policies across stratified motion categories and difficulty levels on unseen motions, exposing the narrow specialization of prior systems. Guided by these diagnostics, we identify an optimized training data recipe and integrate system-level improvements: subject-agnostic retargeting and robust communication, that collectively reduce Mean Per-Joint Position Error (MPJPE) by over 66% while requiring orders-of-magnitude fewer computational resources than comparable methods. Crucially, OmniClone is control-source-agnostic: a single unified policy supports real-time teleoperation, generated motion playback, and Vision-Language-Action (VLA) models, while generalizing across operators of vastly different body proportions. By uniting diagnostic evaluation with practical engineering, OmniClone provides an accessible foundation for scalable humanoid teleoperation and autonomous learning.

While Multimodal Large Language Models (MLLMs) show promising performance in automated electrocardiogram interpretation, it remains unclear whether they genuinely perform actual step-by-step reasoning or just rely on superficial visual cues. To investigate this, we introduce \textbf{ECG-Reasoning-Benchmark}, a novel multi-turn evaluation framework comprising over 6,400 samples to systematically assess step-by-step reasoning across 17 core ECG diagnoses. Our comprehensive evaluation of state-of-the-art models reveals a critical failure in executing multi-step logical deduction. Although models possess the medical knowledge to retrieve clinical criteria for a diagnosis, they exhibit near-zero success rates (6% Completion) in maintaining a complete reasoning chain, primarily failing to ground the corresponding ECG findings to the actual visual evidence in the ECG signal. These results demonstrate that current MLLMs bypass actual visual interpretation, exposing a critical flaw in existing training paradigms and underscoring the necessity for robust, reasoning-centric medical AI. The code and data are available at https://github.com/Jwoo5/ecg-reasoning-benchmark.

Generalist multimodal large language models (MLLMs) have achieved impressive performance across a wide range of vision-language tasks. However, their performance on medical tasks, particularly in zero-shot settings where generalization is critical, remains suboptimal. A key research gap is the limited understanding of why medical MLLMs underperform in medical image interpretation. In this work, we present a pioneering systematic investigation into the visual grounding capabilities of state-of-the-art medical MLLMs. To disentangle visual grounding from semantic grounding, we design VGMED, a novel evaluation dataset developed with expert clinical guidance, explicitly assessing the visual grounding capability of medical MLLMs. We introduce new quantitative metrics and conduct detailed qualitative analyses. Our study across eight state-of-the-art (SOTA) medical MLLMs validates that they often fail to ground their predictions in clinically relevant image regions. We note that this finding is specific to medical image analysis; in contrast, prior work has shown that MLLMs are capable of grounding their predictions in the correct image regions when applied to natural scene images. Motivated by these findings, we propose VGRefine, a simple yet effective inference-time method that refines attention distribution to improve visual grounding in medical settings. Our approach achieves SOTA performance across 6 diverse Med-VQA benchmarks (over 110K VQA samples from 8 imaging modalities) without requiring additional training or external expert models. Overall, our work, for the first time, systematically validates inadequate visual grounding as one of the key contributing factors for medical MLLMs' under-performance. Additional experiments are included in the Supp.

Accurate cell segmentation is critical for biological and medical imaging studies. Although recent deep learning models have advanced this task, most methods are limited to generic cell segmentation, lacking the ability to differentiate specific cell types. In this work, we introduce the Personalized Cell Segmentation (PerCS) task, which aims to segment all cells of a specific type given a reference cell. To support this task, we establish a benchmark by reorganizing publicly available datasets, yielding 1,372 images and over 110,000 annotated cells. As a pioneering solution, we propose PerCS-DINO, a framework built on the DINOv2 backbone. By integrating image features and reference embeddings via a cross-attention transformer and contrastive learning, PerCS-DINO effectively segments cells matching the reference. Extensive experiments demonstrate the effectiveness of the proposed PerCS-DINO and highlight the challenges of this new task. We expect PerCS to serve as a useful testbed for advancing research in cell-based applications.

Text-to-video (T2V) diffusion models have rapidly advanced, yet generations still occasionally fail in practice, such as low text-video alignment or low perceptual quality. Since diffusion sampling is non-deterministic, it is difficult to know during inference whether a generation will succeed or fail, incurring high computational cost due to trial-and-error regeneration. To address this, we propose an early failure detection and diagnostic intervention pipeline for latent T2V diffusion models. For detection, we design a Real-time Inspection (RI) module that converts latents into intermediate video previews, enabling the use of established text-video alignment scorers for inspection in the RGB space. The RI module completes the conversion and inspection process in just 39.2ms. This is highly efficient considering that CogVideoX-5B requires 4.3s per denoising step when generating a 480p, 49-frame video on an NVIDIA A100 GPU. Subsequently, we trigger a hierarchical and early-exit intervention pipeline only when failure is predicted. Experiments on CogVideoX-5B and Wan2.1-1.3B demonstrate consistency gains on VBench with up to 2.64 times less time overhead compared to post-hoc regeneration. Our method also generalizes to a higher-capacity setting, remaining effective on Wan2.1-14B with 720p resolution and 81-frame generation. Furthermore, our pipeline is plug-and-play and orthogonal to existing techniques, showing seamless compatibility with prompt refinement and sampling guidance methods. We also provide evidence that failure signals emerge early in the denoising process and are detectable within intermediate video previews using standard vision-language evaluators.

Online convex optimization (OCO) with time-varying constraints is a critical framework for sequential decision-making in dynamic networked systems, where learners must minimize cumulative loss while satisfying regions of feasibility that shift across rounds. Existing theoretical analyses typically treat constraint variation as a monolithic adversarial process, resulting in joint regret and violation bounds that are overly conservative for real-world network dynamics. In this paper, we introduce a structured characterization of constraint variation - smooth drift, periodic cycles, and sparse switching - mapping these classes to common network phenomena such as slow channel fading, diurnal traffic patterns, and discrete maintenance windows. We derive structure-dependent joint bounds that strictly improve upon adversarial rates when the constraint process exhibits regularity. To realize these gains, we propose the Structure-Adaptive Primal-Dual (SA-PD) algorithm, which utilizes observable constraint signals to detect environmental structure online and adapt dual update strategies accordingly. Extensive experiments on synthetic benchmarks and real-world datasets - including online electricity scheduling and transformer load management - demonstrate that SA-PD reduces cumulative constraint violation by up to 53% relative to structure-agnostic baselines while maintaining competitive utility. This work serves as a comprehensive guide for exploiting temporal regularity in constrained online learning for robust network engineering.

Object-level 3D reconstruction play important roles across domains such as cultural heritage digitization, industrial manufacturing, and virtual reality. However, existing Gaussian Splatting-based approaches generally rely on full-scene reconstruction, in which substantial redundant background information is introduced, leading to increased computational and storage overhead. To address this limitation, we propose an efficient single-object 3D reconstruction method based on 2D Gaussian Splatting. By directly integrating foreground-background probability cues into Gaussian primitives and dynamically pruning low-probability Gaussians during training, the proposed method fundamentally focuses on an object of interest and improves the memory and computational efficiency. Our pipeline leverages probability masks generated by YOLO and SAM to supervise probabilistic Gaussian attributes, replacing binary masks with continuous probability values to mitigate boundary ambiguity. Additionally, we propose a dual-stage filtering strategy for training's startup to suppress background Gaussians. And, during training, rendered probability masks are conversely employed to refine supervision and enhance boundary consistency across views. Experiments conducted on the MIP-360, T&T, and NVOS datasets demonstrate that our method exhibits strong self-correction capability in the presence of mask errors and achieves reconstruction quality comparable to standard 3DGS approaches, while requiring only approximately 1/10 of their Gaussian amount. These results validate the efficiency and robustness of our method for single-object reconstruction and highlight its potential for applications requiring both high fidelity and computational efficiency.

Federal Open Market Committee (FOMC) statements are a major source of monetary-policy information, and even subtle changes in their wording can move global financial markets. A central task is therefore to measure the hawkish--dovish stance conveyed in these texts. Existing approaches typically treat stance detection as a standard classification problem, labeling each statement in isolation. However, the interpretation of monetary-policy communication is inherently relative: market reactions depend not only on the tone of a statement, but also on how that tone shifts across meetings. We introduce Delta-Consistent Scoring (DCS), an annotation-free framework that maps frozen large language model (LLM) representations to continuous stance scores by jointly modeling absolute stance and relative inter-meeting shifts. Rather than relying on manual hawkish--dovish labels, DCS uses consecutive meetings as a source of self-supervision. It learns an absolute stance score for each statement and a relative shift score between consecutive statements. A delta-consistency objective encourages changes in absolute scores to align with the relative shifts. This allows DCS to recover a temporally coherent stance trajectory without manual labels. Across four LLM backbones, DCS consistently outperforms supervised probes and LLM-as-judge baselines, achieving up to 71.1% accuracy on sentence-level hawkish--dovish classification. The resulting meeting-level scores are also economically meaningful: they correlate strongly with inflation indicators and are significantly associated with Treasury yield movements. Overall, the results suggest that LLM representations encode monetary-policy signals that can be recovered through relative temporal structure.

We present ScienceClaw + Infinite, a framework for autonomous scientific investigation in which independent agents conduct research without central coordination, and any contributor can deploy new agents into a shared ecosystem. The system is built around three components: an extensible registry of over 300 interoperable scientific skills, an artifact layer that preserves full computational lineage as a directed acyclic graph (DAG), and a structured platform for agent-based scientific discourse with provenance-aware governance. Agents select and chain tools based on their scientific profiles, produce immutable artifacts with typed metadata and parent lineage, and broadcast unsatisfied information needs to a shared global index. The ArtifactReactor enables plannerless coordination: peer agents discover and fulfill open needs through pressure-based scoring, while schema-overlap matching triggers multi-parent synthesis across independent analyses. An autonomous mutation layer actively prunes the expanding artifact DAG to resolve conflicting or redundant workflows, while persistent memory allows agents to continuously build upon complex epistemic states across multiple cycles. Infinite converts these outputs into auditable scientific records through structured posts, provenance views, and machine-readable discourse relations, with community feedback steering subsequent investigation cycles. Across four autonomous investigations, peptide design for the somatostatin receptor SSTR2, lightweight impact-resistant ceramic screening, cross-domain resonance bridging biology, materials, and music, and formal analogy construction between urban morphology and grain-boundary evolution, the framework demonstrates heterogeneous tool chaining, emergent convergence among independently operating agents, and traceable reasoning from raw computation to published finding.

3D instance segmentation for laser scanning (LiDAR) point clouds remains a challenge in many remote sensing-related domains. Successful solutions typically rely on supervised deep learning and manual annotations, and consequently focus on objects that can be well delineated through visual inspection and manual labeling of point clouds. However, for tasks with more complex and cluttered scenes, such as in-field plant phenotyping in agriculture, such approaches are often infeasible. In this study, we tackle the task of in-field wheat head instance segmentation directly from terrestrial laser scanning (TLS) point clouds. To address the problem and circumvent the need for manual annotations, we propose a novel two-stage pipeline. To obtain the initial 3D instance proposals, the first stage uses 3D-to-2D multi-view projections, the Grounded SAM pipeline for zero-shot 2D object-centric segmentation, and multi-view label fusion. The second stage uses these initial proposals as noisy pseudo-labels to train a supervised 3D panoptic-style segmentation neural network. Our results demonstrate the feasibility of the proposed approach and show performance improvementsrelative to Wheat3DGS, a recent alternative solution for in-field wheat head instance segmentation without manual 3D annotations based on multi-view RGB images and 3D Gaussian Splatting, showcasing TLS as a competitive sensing alternative. Moreover, the results show that both stages of the proposed pipeline can deliver usable 3D instance segmentation without manual annotations, indicating promising, low-effort transferability to other comparable TLS-based point cloud segmentation tasks.

Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and upper-body motions is challenging due to dynamic coupling and partial observability. This paper presents a load-aware locomotion framework for industrial humanoids based on a decoupled yet coordinated loco-manipulation architecture. Lower-body locomotion is controlled via a reinforcement learning policy producing residual joint actions on kinematically derived nominal configurations. A kinematics-based locomotion reference with a height-conditioned joint-space offset guides learning, while a history-based state estimator infers base linear velocity and height and encodes residual load- and manipulation-induced disturbances in a compact latent representation. The framework is trained entirely in simulation and deployed on a full-size humanoid robot without fine-tuning. Simulation and real-world experiments demonstrate faster training, accurate height tracking, and stable loco-manipulation. Project page: https://lequn-f.github.io/LALO/

Limited illumination often causes severe physical noise and detail degradation in images. Existing Low-Light Image Enhancement (LLIE) methods frequently treat the enhancement process as a blind black-box mapping, overlooking the physical noise transformation during imaging, leading to suboptimal performance. To address this, we propose a novel LLIE approach, conceptually formulated as a physics-based attack and display-adaptive defense paradigm. Specifically, on the attack side, we establish a physics-based Degradation Synthesis (PDS) pipeline. Unlike standard data augmentation, PDS explicitly models Image Signal Processor (ISP) inversion to the RAW domain, injects physically plausible photon and read noise, and re-projects the data to the sRGB domain. This generates high-fidelity training pairs with explicitly parameterized degradation vectors, effectively simulating realistic attacks on clean signals. On the defense side, we construct a dual-layer fortified system. A noise predictor estimates degradation parameters from the input sRGB image. These estimates guide a degradation-aware Mixture of Experts (DA-MoE), which dynamically routes features to experts specialized in handling specific noise intensities. Furthermore, we introduce an Adaptive Metric Defense (AMD) mechanism, dynamically calibrating the feature embedding space based on noise severity, ensuring robust representation learning under severe degradation. Extensive experiments demonstrate that our approach offers significant plug-and-play performance enhancement for existing benchmark LLIE methods, effectively suppressing real-world noise while preserving structural fidelity. The sourced code is available at https://github.com/bywlzts/Attack-defense-llie.

Existing KV cache compression methods generally operate on discrete tokens or non-semantic chunks. However, such approaches often lead to semantic fragmentation, where linguistically coherent units are disrupted, causing irreversible information loss and degradation in model performance. To address this, we introduce SemantiCache, a novel compression framework that preserves semantic integrity by aligning the compression process with the semantic hierarchical nature of language. Specifically, we first partition the cache into semantically coherent chunks by delimiters, which are natural semantic boundaries. Within each chunk, we introduce a computationally efficient Greedy Seed-Based Clustering (GSC) algorithm to group tokens into semantic clusters. These clusters are further merged into semantic cores, enhanced by a Proportional Attention mechanism that rebalances the reduced attention contributions of the merged tokens. Extensive experiments across diverse benchmarks and models demonstrate that SemantiCache accelerates the decoding stage of inference by up to 2.61 times and substantially reduces memory footprint, while maintaining performance comparable to the original model.

Current 4D representations decouple geometry, motion, and semantics: reconstruction methods discard interpretable motion structure; language-grounded methods attach semantics after motion is learned, blind to how objects move; and motion-aware methods encode dynamics as opaque per-point residuals without object-level organization. We propose 4D Synchronized Fields, a 4D Gaussian representation that learns object-factored motion in-loop during reconstruction and synchronizes language to the resulting kinematics through a per-object conditioned field. Each Gaussian trajectory is decomposed into shared object motion plus an implicit residual, and a kinematic-conditioned ridge map predicts temporal semantic variation, yielding a single representation in which reconstruction, motion, and semantics are structurally coupled and enabling open-vocabulary temporal queries that retrieve both objects and moments. On HyperNeRF, 4D Synchronized Fields achieves 28.52 dB mean PSNR, the highest among all language-grounded and motion-aware baselines, within 1.5 dB of reconstruction-only methods. On targeted temporal-state retrieval, the kinematic-conditioned field attains 0.884 mean accuracy, 0.815 mean vIoU, and 0.733 mean tIoU, surpassing 4D LangSplat (0.620, 0.433, and 0.439 respectively) and LangSplat (0.415, 0.304, and 0.262). Ablation confirms that kinematic conditioning is the primary driver, accounting for +0.45 tIoU over a static-embedding-only baseline. 4D Synchronized Fields is the only method that jointly exposes interpretable motion primitives and temporally grounded language fields from a single trained representation. Code will be released.

Referring video object segmentation (RVOS) has recently generated great popularity in computer vision due to its widespread applications. Existing RVOS setting contains elaborately trimmed videos, with text-referred objects always appearing in all frames, which however fail to fully reflect the realistic challenges of this task. This simplified setting requires RVOS methods to only predict where objects, with no need to show when the objects appear. In this work, we introduce a new setting towards in-the-wild RVOS. To this end, we collect a new benchmark dataset using Youtube Untrimmed videos for RVOS - YoURVOS, which contains 1,120 in-the-wild videos with 7 times more duration and scenes than existing datasets. Our new benchmark challenges RVOS methods to show not only where but also when objects appear in videos. To set a baseline, we propose Object-level Multimodal TransFormers (OMFormer) to tackle the challenges, which are characterized by encoding object-level multimodal interactions for efficient and global spatial-temporal localisation. We demonstrate that previous VOS methods struggle on our YoURVOS benchmark, especially with the increase of target-absent frames, while our OMFormer consistently performs well. Our YoURVOS dataset offers an imperative benchmark, which will push forward the advancement of RVOS methods for practical applications.

Blind 360°image quality assessment (IQA) aims to predict perceptual quality for panoramic images without a pristine reference. Unlike conventional planar images, 360°content in immersive environments restricts viewers to a limited viewport at any moment, making viewing behaviors critical to quality perception. Although existing scanpath-based approaches have attempted to model viewing behaviors by approximating the human view-then-rate paradigm, they treat scanpath generation and quality assessment as separate steps, preventing end-to-end optimization and task-aligned exploration. To address this limitation, we propose RL-ScanIQA, a reinforcement-learned framework for blind 360°IQA. RL-ScanIQA optimize a PPO-trained scanpath policy and a quality assessor, where the policy receives quality-driven feedback to learn task-relevant viewing strategies. To improve training stability and prevent mode collapse, we design multi-level rewards, including scanpath diversity and equator-biased priors. We further boost cross-dataset robustness using distortion-space augmentation together with rank-consistent losses that preserve intra-image and inter-image quality orderings. Extensive experiments on three benchmarks show that RL-ScanIQA achieves superior in-dataset performance and cross-dataset generalization. Codes are available at https://github.com/wangyuji1/RLScanIQA.git.

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale LiDAR registration methods has been rarely explored before. Challenges mainly arise from the huge point scale, complex point distribution, and numerous outliers within outdoor LiDAR scans. In addition, most existing registration works generally adopt a two-stage paradigm: They first find correspondences by extracting discriminative local descriptors and then leverage robust estimators (e.g. RANSAC) to filter outliers, which are highly dependent on well-designed descriptors and post-processing choices. To address these problems, we propose a novel end-to-end differential transformer network, termed RegFormer++, for large-scale point cloud alignment without requiring any further post-processing. Specifically, a hierarchical projection-aware 2D transformer with linear complexity is proposed to project raw LiDAR points onto a cylindrical surface and extract global point features, which can improve resilience to outliers due to long-range dependencies. Because we fill original 3D coordinates into 2D projected positions, our designed transformer can benefit from both high efficiency in 2D processing and accuracy from 3D geometric information. Furthermore, to effectively reduce wrong point matching, a Bijective Association Transformer (BAT) is designed, combining both cross attention and all-to-all point gathering. To improve training stability and robustness, a feature-transformed optimal transport module is also designed for regressing the final pose transformation. Extensive experiments on KITTI, NuScenes, and Argoverse datasets demonstrate that our model achieves state-of-the-art performance in terms of both accuracy and efficiency.

Wave equations are fundamental to describing a vast array of physical phenomena, yet their simulation in inhomogeneous media poses a computational challenge due to the highly oscillatory nature of the solutions. To overcome the high costs of traditional solvers, we propose the Windowed Fourier Propagator (WFP), a novel neural operator that efficiently learns the solution operator. The WFP's design is rooted in the physical principle of frequency locality, where wave energy scatters primarily to adjacent frequencies. By learning a set of compact, localized propagators, each mapping an input frequency to a small window of outputs, our method avoids the complexity of dense interaction models and achieves computational efficiency. Another key feature is the explicit preservation of superposition, which enables remarkable generalization from simple training data (e.g., plane waves) to arbitrary, complex wave states. We demonstrate that the WFP provides an explainable, efficient and accurate framework for data-driven wave modeling in complex media.

Wafer defect segmentation is pivotal for semiconductor yield optimization yet remains challenged by the intrinsic conflict between microscale anomalies and highly periodic, overwhelming background textures. Existing deep learning paradigms often falter due to feature dilution during downsampling and the lack of explicit mechanisms to disentangle low-contrast defects from process-induced noise. To transcend these limitations, we propose TexWDS, a texture-aware framework that harmonizes multi-scale feature retention with frequency-domain perturbation modeling. Our methodology incorporates three strategic innovations: (1) A Multi-scale Receptive Field Reweighting strategy is introduced to mitigate aliasing effects and preserve high-frequency details of micro-defects often lost in standard pyramidal architectures. (2) The Multi-scale Unified Semantic Enhancer (MUSE) integrates local appearance with global context encoding, effectively enhancing feature discriminability in low-visibility regions. (3) Crucially, we design a plug-and-play Multi-Periodic Texture Contrast Enhancement (MPTCE) module. By modeling texture disruptions in the frequency domain, MPTCE explicitly decouples non-periodic anomalies from structured backgrounds, boosting contrast for camouflaged defects. Extensive experiments on real-world industrial datasets demonstrate that TexWDS achieves a new state-of-the-art, surpassing the baseline by 8.3% in mAP50-95 and 7.7% in recall, while reducing the false positive rate by approximately 8.6%. These results underscore the framework's robustness in handling complex periodic patterns and its suitability for high-precision manufacturing inspection.

Training and evaluation in multi-channel imaging (MCI) remains challenging due to heterogeneous channel configurations arising from varying staining protocols, sensor types, and acquisition settings. This heterogeneity limits the applicability of fixed-channel encoders commonly used in general computer vision. Recent Multi-Channel Vision Transformers (MC-ViTs) address this by enabling flexible channel inputs, typically by jointly encoding patch tokens from all channels within a unified attention space. However, unrestricted token interactions across channels can lead to feature dilution, reducing the ability to preserve channel-specific semantics that are critical in MCI data. To address this, we propose Decoupled Vision Transformer (DC-ViT), which explicitly regulates information sharing using Decoupled Self-Attention (DSA), which decomposes token updates into two complementary pathways: spatial updates that model intra-channel structure, and channel-wise updates that adaptively integrate cross-channel information. This decoupling mitigates informational collapse while allowing selective inter-channel interaction. To further exploit these enhanced channel-specific representations, we introduce Decoupled Aggregation (DAG), which allows the model to learn task-specific channel importances. Extensive experiments across three MCI benchmarks demonstrate consistent improvements over existing MC-ViT approaches.

Deploying vision-and-language navigation (VLN) agents requires adaptation across diverse scenes and environments, but fine-tuning on a specific scenario often causes catastrophic forgetting in others, which severely limits flexible long-term deployment. We formalize this challenge as the all-day multi-scenes lifelong VLN (AML-VLN) problem. Existing parameter-efficient adapters (e.g., LoRA and its variants) are limited by their two-dimensional matrix form, which fails to capture the multi-hierarchical navigation knowledge spanning multiple scenes and environments. To address this, we propose Tucker Adaptation (TuKA), which represents the multi-hierarchical navigation knowledge as a high-order tensor and leverages Tucker decomposition to decouple the knowledge into shared subspaces and scenario-specific experts. We further introduce a decoupled knowledge incremental learning strategy to consolidate shared subspaces while constraining specific experts for decoupled lifelong learning. Building on TuKA, we also develop a VLN agent named AlldayWalker, which continually learns across multiple navigation scenarios, achieving all-day multi-scenes navigation. Extensive experiments show that AlldayWalker consistently outperforms state-of-the-art baselines.

Many machine learning algorithms can be interpreted as procedures for estimating functions defined on the data distribution. In this paper we present a conceptual framework that formulates a wide range of learning problems as variational optimization over function spaces induced by the data distribution. Within this framework the data distribution defines operators that capture structural properties of the data, such as similarity relations or statistical dependencies. Learning algorithms can then be viewed as estimating functions expressed in bases determined by these operators. This perspective provides a unified way to interpret several learning paradigms. In supervised learning the objective functional is defined using labeled data and typically corresponds to minimizing prediction risk, whereas unsupervised learning relies on structural properties of the input distribution and leads to objectives based on similarity or smoothness constraints. From this viewpoint, the distinction between learning paradigms arises primarily from the choice of the functional being optimized rather than from the underlying function space. We illustrate this framework by discussing connections with kernel methods, spectral clustering, and manifold learning, highlighting how operators induced by data distributions naturally define function representations used by learning algorithms. The goal of this work is not to introduce a new algorithm but to provide a conceptual framework that clarifies the role of function spaces and operators in modern machine learning.

Foundation models (FMs) have demonstrated strong transferability across medical imaging tasks, yet their clinical utility depends critically on how pretrained representations are adapted to domain-specific data, supervision regimes, and deployment constraints. Prior surveys primarily emphasize architectural advances and application coverage, while the mechanisms of adaptation and their implications for robustness, calibration, and regulatory feasibility remain insufficiently structured. This review introduces a strategy-centric framework for FM adaptation in medical image analysis (MIA). We conceptualize adaptation as a post-pretraining intervention and organize existing approaches into five mechanisms: parameter-, representation-, objective-, data-centric, and architectural/sequence-level adaptation. For each mechanism, we analyze trade-offs in adaptation depth, label efficiency, domain robustness, computational cost, auditability, and regulatory burden. We synthesize evidence across classification, segmentation, and detection tasks, highlighting how adaptation strategies influence clinically relevant failure modes rather than only aggregate benchmark performance. Finally, we examine how adaptation choices interact with validation protocols, calibration stability, multi-institutional deployment, and regulatory oversight. By reframing adaptation as a process of controlled representational change under clinical constraints, this review provides practical guidance for designing FM-based systems that are robust, auditable, and compatible with clinical deployment.

Recent advances in Retrieval-Augmented Generation (RAG) have enabled large language models (LLMs) to ground outputs in clinical evidence. However, connecting LLMs with external databases introduces the risk of contextual leakage: a subtle privacy threat where unique combinations of medical details enable patient re-identification even without explicit identifiers. Current benchmarks in healthcare heavily focus on accuracy, ignoring such privacy issues, despite strict regulations like Health Insurance Portability and Accountability Act (HIPAA) and General Data Protection Regulation (GDPR). To fill this gap, we present MedPriv-Bench, the first benchmark specifically designed to jointly evaluate privacy preservation and clinical utility in medical open-ended question answering. Our framework utilizes a multi-agent, human-in-the-loop pipeline to synthesize sensitive medical contexts and clinically relevant queries that create realistic privacy pressure. We establish a standardized evaluation protocol leveraging a pre-trained RoBERTa-Natural Language Inference (NLI) model as an automated judge to quantify data leakage, achieving an average of 85.9% alignment with human experts. Through an extensive evaluation of 9 representative LLMs, we demonstrate a pervasive privacy-utility trade-off. Our findings underscore the necessity of domain-specific benchmarks to validate the safety and efficacy of medical AI systems in privacy-sensitive environments.

In a celebrated paper \cite{noe2019boltzmann}, Noé, Olsson, Köhler and Wu introduced an efficient method for sampling high-dimensional Boltzmann distributions arising in molecular dynamics via normalizing flow approximation of transport maps. Here, we place this approach on a firm mathematical foundation. We prove the existence of a normalizing flow between the reference measure and the true Boltzmann distribution up to an arbitrarily small error in the Wasserstein distance. This result covers general Boltzmann distributions from molecular dynamics, which have low regularity due to the presence of interatomic Coulomb and Lennard-Jones interactions. The proof is based on a rigorous construction of the Moser transport map for low-regularity endpoint densities and approximation theorems for neural networks in Sobolev spaces. Numerical simulations for a simple model system and for the alanine dipeptide molecule confirm that the true and generated distributions are close in the Wasserstein distance. Moreover we observe that the RealNVP architecture does not just successfully capture the equilibrium Boltzmann distribution but also the metastable dynamics.

Existing automatic scientific question generation studies mainly focus on single-document factoid QA, overlooking the inter-document reasoning crucial for scientific understanding. We present AIM-SciQA, an automated framework for generating multi-document, multi-hop scientific QA datasets. AIM-SciQA extracts single-hop QAs using large language models (LLMs) with machine reading comprehension and constructs cross-document relations based on embedding-based semantic alignment while selectively leveraging citation information. Applied to 8,211 PubMed Central papers, it produced 411,409 single-hop and 13,672 multi-hop QAs, forming the IM-SciQA dataset. Human and automatic validation confirmed high factual consistency, and experimental results demonstrate that IM-SciQA effectively differentiates reasoning capabilities across retrieval and QA stages, providing a realistic and interpretable benchmark for retrieval-augmented scientific reasoning. We further extend this framework to construct CIM-SciQA, a citation-guided variant achieving comparable performance to the Oracle setting, reinforcing the dataset's validity and generality.

Test-time adaptation (TTA) aims to improve model robustness under distribution shifts by adapting to unlabeled test data, but most existing methods rely on backpropagation (BP), which is computationally costly and incompatible with non-differentiable models such as quantized models, limiting practical deployment on numerous edge devices. Recent BP-free approaches alleviate overhead but remain either architecture-specific or limited in optimization capacity to handle high-dimensional models. We propose ZOTTA, a fully BP-free TTA framework that performs efficient adaptation using only forward passes via Zeroth-Order Optimization (ZOO). While ZOO is theoretically appealing, naive application leads to slow convergence under high-dimensional parameter spaces and unstable optimization due to the lack of labels. ZOTTA overcomes these challenges through 1) Distribution-Robust Layer Selection, which automatically identifies and freezes layers that already extract distribution-invariant features, updating only domain-sensitive layers to reduce the optimization dimensionality and accelerate convergence; 2) Spatial Feature Aggregation Alignment, which stabilizes ZOO by aligning globally aggregated spatial features between source and target to reduce gradient variance. Together, these components enable architecture-agnostic and stable BP-free adaptation. Extensive experiments on ImageNet-C/R/Sketch/A show that ZOTTA outperforms or matches BP-based methods, e.g., it reduces memory usage by 84% and improves accuracy by 3.9% over SAR on ImageNet-C.

We introduce the task of early mistake detection in video, where the goal is to determine whether a keystep in a procedural activity is performed correctly while observing as little of the streaming video as possible. To tackle this problem, we propose a method comprising a mistake detector and a reinforcement learning policy. At each timestep, the detector processes recently observed frames to estimate the keystep's correctness while anticipating future visual features, enabling reliable early mistake estimates. Meanwhile, the policy aggregates the detector outputs and visual observations over time and adaptively decides when to exit (i.e., stop processing incoming frames) while producing the final prediction. Using diverse real-world procedural video datasets, we demonstrate that our MistExit model achieves superior mistake detection accuracy while reducing the fraction of video observed compared to state-of-the-art models. Project: https://vision.cs.utexas.edu/projects/mist_exit.