Accurate air quality forecasting is essential for public health and environmental sustainability, but remains challenging due to the complex pollutant dynamics. Existing deep learning methods often model pollutant dynamics as an instantaneous process, overlooking the intrinsic delays in pollutant propagation. Thus, we propose AirDDE, the first neural delay differential equation framework in this task that integrates delay modeling into a continuous-time pollutant evolution under physical guidance. Specifically, two novel components are introduced: (1) a memory-augmented attention module that retrieves globally and locally historical features, which can adaptively capture delay effects modulated by multifactor data; and (2) a physics-guided delay evolving function, grounded in the diffusion-advection equation, that models diffusion, delayed advection, and source/sink terms, which can capture delay-aware pollutant accumulation patterns with physical plausibility. Extensive experiments on three real-world datasets demonstrate that AirDDE achieves the state-of-the-art forecasting performance with an average MAE reduction of 8.79\% over the best baselines. The code is available at https://github.com/w2obin/airdde-aaai.

In this paper, we introduce a novel kinematics-rich vision-language-action (VLA) task, in which language commands densely encode diverse kinematic attributes (such as direction, trajectory, orientation, and relative displacement) from initiation through completion, at key moments, unlike existing action instructions that capture kinematics only coarsely or partially, thereby supporting fine-grained and personalized manipulation. In this setting, where task goals remain invariant while execution trajectories must adapt to instruction-level kinematic specifications. To address this challenge, we propose KineVLA, a vision-language-action framework that explicitly decouples goal-level invariance from kinematics-level variability through a bi-level action representation and bi-level reasoning tokens to serve as explicit, supervised intermediate variables that align language and action. To support this task, we construct the kinematics-aware VLA datasets spanning both simulation and real-world robotic platforms, featuring instruction-level kinematic variations and bi-level annotations. Extensive experiments on LIBERO and a Realman-75 robot demonstrate that KineVLA consistently outperforms strong VLA baselines on kinematics-sensitive benchmarks, achieving more precise, controllable, and generalizable manipulation behaviors.

Neural Operators (NOs) are a powerful deep learning framework designed to learn the solution operator that arise from partial differential equations. This study investigates NOs ability to capture the stiff spatio-temporal dynamics of the FitzHugh-Nagumo model, which describes excitable cells. A key contribution of this work is evaluating the translation invariance using a novel training strategy. NOs are trained using an applied current with varying spatial locations and intensities at a fixed time, and the test set introduces a more challenging out-of-distribution scenario in which the applied current is translated in both time and space. This approach significantly reduces the computational cost of dataset generation. Moreover we benchmark seven NOs architectures: Convolutional Neural Operators (CNOs), Deep Operator Networks (DONs), DONs with CNN encoder (DONs-CNN), Proper Orthogonal Decomposition DONs (POD-DONs), Fourier Neural Operators (FNOs), Tucker Tensorized FNOs (TFNOs), Localized Neural Operators (LocalNOs). We evaluated these models based on training and test accuracy, efficiency, and inference speed. Our results reveal that CNOs performs well on translated test dynamics. However, they require higher training costs, though their performance on the training set is similar to that of the other considered architectures. In contrast, FNOs achieve the lowest training error, but have the highest inference time. Regarding the translated dynamics, FNOs and their variants provide less accurate predictions. Finally, DONs and their variants demonstrate high efficiency in both training and inference, however they do not generalize well to the test set. These findings highlight the current capabilities and limitations of NOs in capturing complex ionic model dynamics and provide a comprehensive benchmark including their application to scenarios involving translated dynamics.

The rapid proliferation of large language models (LLMs) has created an urgent need for robust and generalizable detectors of machine-generated text. Existing benchmarks typically evaluate a single detector on a single dataset under ideal conditions, leaving open questions about cross-domain transfer, cross-LLM generalization, and adversarial robustness. We present a comprehensive benchmark evaluating diverse detection approaches across two corpora: HC3 (23,363 human-ChatGPT pairs) and ELI5 (15,000 human-Mistral-7B pairs). Methods include classical classifiers, fine-tuned transformer encoders (BERT, RoBERTa, ELECTRA, DistilBERT, DeBERTa-v3), a CNN, an XGBoost stylometric model, perplexity-based detectors, and LLM-as-detector prompting. Results show that transformer models achieve near-perfect in-distribution performance but degrade under domain shift. The XGBoost stylometric model matches performance while remaining interpretable. LLM-based detectors underperform and are affected by generator-detector identity bias. Perplexity-based methods exhibit polarity inversion, with modern LLM outputs showing lower perplexity than human text, but remain effective when corrected. No method generalizes robustly across domains and LLM sources.

Recent advances in vision-language models (VLMs) have garnered substantial attention in open-vocabulary semantic and part segmentation (OSPS). However, existing methods extract image-text alignment cues from cost volumes through a serial structure of spatial and class aggregations, leading to knowledge interference between class-level semantics and spatial context. Therefore, this paper proposes a simple yet effective parallel cost aggregation (PCA-Seg) paradigm to alleviate the above challenge, enabling the model to capture richer vision-language alignment information from cost volumes. Specifically, we design an expert-driven perceptual learning (EPL) module that efficiently integrates semantic and contextual streams. It incorporates a multi-expert parser to extract complementary features from multiple perspectives. In addition, a coefficient mapper is designed to adaptively learn pixel-specific weights for each feature, enabling the integration of complementary knowledge into a unified and robust feature embedding. Furthermore, we propose a feature orthogonalization decoupling (FOD) strategy to mitigate redundancy between the semantic and contextual streams, which allows the EPL module to learn diverse knowledge from orthogonalized features. Extensive experiments on eight benchmarks show that each parallel block in PCA-Seg adds merely 0.35M parameters while achieving state-of-the-art OSPS performance.

Semantic-aware 3D reconstruction from sparse, unposed images remains challenging for feed-forward 3D Gaussian Splatting (3DGS). Existing methods often predict an over-complete set of Gaussian primitives under sparse-view supervision, leading to unstable geometry and inferior depth quality. Meanwhile, they rely solely on 2D segmenter features for semantic lifting, which provides weak 3D-level and limited generalizable supervision, resulting in incomplete 3D semantics in novel scenes. To address these issues, we propose UniSem, a unified framework that jointly improves depth accuracy and semantic generalization via two key components. First, Error-aware Gaussian Dropout (EGD) performs error-guided capacity control by suppressing redundancy-prone Gaussians using rendering error cues, producing meaningful, geometrically stable Gaussian representations for improved depth estimation. Second, we introduce a Mix-training Curriculum (MTC) that progressively blends 2D segmenter-lifted semantics with the model's own emergent 3D semantic priors, implemented with object-level prototype alignment to enhance semantic coherence and completeness. Extensive experiments on ScanNet and Replica show that UniSem achieves superior performance in depth prediction and open-vocabulary 3D segmentation across varying numbers of input views. Notably, with 16-view inputs, UniSem reduces depth Rel by 15.2% and improves open-vocabulary segmentation mAcc by 3.7% over strong baselines.

Federated Learning (FL) enables privacy-preserving intelligence on Internet of Things (IoT) devices but incurs a significant carbon footprint due to the high energy cost of frequent uplink transmission. While pre-trained models are increasingly available on edge devices, their potential to reduce the energy overhead of fine-tuning remains underexplored. In this work, we propose QuantFL, a sustainable FL framework that leverages pre-trained initialisation to enable aggressive, computationally lightweight quantisation. We demonstrate that pre-training naturally concentrates update statistics, allowing us to use memory-efficient bucket quantisation without the energy-intensive overhead of complex error-feedback mechanisms. On MNIST and CIFAR-100, QuantFL reduces total communication by 40\% ($\simeq40\%$ total-bit reduction with full-precision downlink; $\geq80\%$ on uplink or when downlink is quantised) while matching or exceeding uncompressed baselines under strict bandwidth budgets; BU attains 89.00\% (MNIST) and 66.89\% (CIFAR-100) test accuracy with orders of magnitude fewer bits. We also account for uplink and downlink costs and provide ablations on quantisation levels and initialisation. QuantFL delivers a practical, "green" recipe for scalable training on battery-constrained IoT networks.

Large language models (LLMs) often hallucinate, producing fluent but false information, partly because supervised fine-tuning (SFT) implicitly rewards always responding. We introduce $\textit{HypoTermInstruct}$, an SFT dataset (31,487 responses for 11,151 questions) designed to teach models epistemological humility-the ability to recognize the limits of their own knowledge and admit uncertainty. This is achieved through questions about non-existent "hypothetical" terms. We also release $\textit{HypoTermQA-Enhanced}$, a benchmark for hallucination tendency strengthened through multiple validations. We conducted 800 controlled LoRA SFT runs across $\textit{Llama3.1-8B}$ and $\textit{Gemma3-4B}$ (base and instruct), testing 100 fine-tuning configurations with paired controls. Our results demonstrate that replacing generic instruction data with $\textit{HypoTermInstruct}$ significantly improves the HypoTerm Score (median increases of 0.19% to 25.91%) and FactScore (+0.39% to +0.86%), while maintaining stable performance on MMLU (minimal decreases of 0.26% to 0.35%). Our work demonstrates that targeted, high-quality SFT data teaching meta-cognitive skills can effectively reduce hallucination without preference/RL pipelines, providing mechanistic insights and a practical path toward more reliable AI systems.

Detecting Unmanned Aerial Vehicles (UAVs) in low-altitude environments is essential for perception and defense systems but remains highly challenging due to complex backgrounds, camouflage, and multimodal interference. In real-world scenarios, UAVs are frequently visually blended with surrounding structures such as buildings, vegetation, and power lines, resulting in low contrast, weak boundaries, and strong confusion with cluttered background textures. Existing UAV detection datasets, though diverse, are not specifically designed to capture these camouflage and complex-background challenges, which limits progress toward robust real-world perception. To fill this gap, we construct UAV-CB, a new RGB-T UAV detection dataset deliberately curated to emphasize complex low-altitude backgrounds and camouflage characteristics. Furthermore, we propose the Local Frequency Bridge Network (LFBNet), which models features in localized frequency space to bridge both the frequency-spatial fusion gap and the cross-modality discrepancy gap in RGB-T fusion. Extensive experiments on UAV-CB and public benchmarks demonstrate that LFBNet achieves state-of-the-art detection performance and strong robustness under camouflaged and cluttered conditions, offering a frequency-aware perspective on multimodal UAV perception in real-world applications.

Language models struggle to generalize beyond pretraining context lengths, limiting long-horizon reasoning and retrieval. Continued pretraining on long-context data can help but is expensive due to the quadratic scaling of Attention. We observe that most tokens do not require (Global) Attention over the entire sequence and can rely on local context. Based on this, we propose L2A (Learning To Attend), a layer that enables conditional (token-wise) long-range memory access by deciding when to invoke global attention. We evaluate L2A on Qwen 2.5 and Qwen 3 models, extending their effective context length from 32K to 128K tokens. L2A matches the performance of standard long-context training to within 3% while skipping Global Attention for $\sim$80% of tokens, outperforming prior baselines. We also design custom Triton kernels to efficiently implement this token-wise conditional Attention on GPUs, achieving up to $\sim$2x improvements in training throughput and time-to-first-token over FlashAttention. Moreover, L2A enables post-training pruning of highly sparse Global Attention layers, reducing KV cache memory by up to 50% with negligible performance loss.

Unified Multimodal Models (UMMs) offer powerful cross-modality capabilities but introduce new safety risks not observed in single-task models. Despite their emergence, existing safety benchmarks remain fragmented across tasks and modalities, limiting the comprehensive evaluation of complex system-level vulnerabilities. To address this gap, we introduce UniSAFE, the first comprehensive benchmark for system-level safety evaluation of UMMs across 7 I/O modality combinations, spanning conventional tasks and novel multimodal-context image generation settings. UniSAFE is built with a shared-target design that projects common risk scenarios across task-specific I/O configurations, enabling controlled cross-task comparisons of safety failures. Comprising 6,802 curated instances, we use UniSAFE to evaluate 15 state-of-the-art UMMs, both proprietary and open-source. Our results reveal critical vulnerabilities across current UMMs, including elevated safety violations in multi-image composition and multi-turn settings, with image-output tasks consistently more vulnerable than text-output tasks. These findings highlight the need for stronger system-level safety alignment for UMMs. Our code and data are publicly available at https://github.com/segyulee/UniSAFE

Categorization is a core component of human linguistic competence. We investigate how a transformer-based language model (LM) learns linguistic categories by comparing its behaviour over the course of training to behaviours which characterize abstract feature-based and concrete exemplar-based accounts of human language acquisition. We investigate how lexical semantic and syntactic categories emerge using novel divergence-based metrics that track learning trajectories using next-token distributions. In experiments with GPT-2 small, we find that (i) when a construction is learned, abstract class-level behaviour is evident at earlier steps than lexical item-specific behaviour, and (ii) that different linguistic behaviours emerge abruptly in sequence at different points in training, revealing that abstraction plays a key role in how LMs learn. This result informs the models of human language acquisition that LMs may serve as an existence proof for.

Unsupervised Domain Adaptation (UDA) seeks to transfer knowledge from a labeled source domain to an unlabeled target domain but often suffers from severe domain and scale gaps that degrade performance. Existing cross-attention-based transformers can align features across domains, yet they struggle to preserve content semantics under large appearance and scale variations. To explicitly address these challenges, we introduce the concept of beneficial noise, which regularizes cross-attention by injecting controlled perturbations, encouraging the model to ignore style distractions and focus on content. We propose the Domain-Adaptive Cross-Scale Matching (DACSM) framework, which consists of a Domain-Adaptive Transformer (DAT) for disentangling domain-shared content from domain-specific style, and a Cross-Scale Matching (CSM) module that adaptively aligns features across multiple resolutions. DAT incorporates beneficial noise into cross-attention, enabling progressive domain translation with enhanced robustness, yielding content-consistent and style-invariant representations. Meanwhile, CSM ensures semantic consistency under scale changes. Extensive experiments on VisDA-2017, Office-Home, and DomainNet demonstrate that DACSM achieves state-of-the-art performance, with up to +2.3% improvement over CDTrans on VisDA-2017. Notably, DACSM achieves a +5.9% gain on the challenging "truck" class of VisDA, evidencing the strength of beneficial noise in handling scale discrepancies. These results highlight the effectiveness of combining domain translation, beneficial-noise-enhanced attention, and scale-aware alignment for robust cross-domain representation learning.

Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable and timely message delivery, realistic wireless channels introduce delay, erasures, and ordering stalls that can degrade performance and compromise safety-critical decisions of the robot task. In this paper, we investigate how transport-layer reliability mechanisms that mitigate communication losses and delays shape the autonomy-communication loop. We show that conventional non-coded retransmission-based protocols introduce long delays that are misaligned with the timeliness requirements of MRS applications, and may render the received data irrelevant. As an alternative, we advocate for adaptive and causal network coding, which proactively injects coded redundancy to achieve the desired delay and throughput that enable relevant data delivery to the robotic task. Specifically, this method adapts to channel conditions between robots and causally tunes the communication rates via efficient algorithms. We present two case studies: cooperative localization under delayed and lossy inter-robot communication, and a safety-critical overtaking maneuver where timely vehicle-to-vehicle message availability determines whether an ego vehicle can abort to avoid a crash. Our results demonstrate that coding-based communication significantly reduces in-order delivery stalls, preserves estimation consistency under delay, and improves deadline reliability relative to retransmission-based transport. Overall, the study highlights the need to jointly design autonomy algorithms and communication mechanisms, and positions network coding as a principled tool for dependable multi-robot operation over wireless networks.

We present GuidedSAC, a novel reinforcement learning (RL) algorithm that facilitates efficient exploration in vast state-action spaces. GuidedSAC leverages large language models (LLMs) as intelligent supervisors that provide action-level guidance for the Soft Actor-Critic (SAC) algorithm. The LLM-based supervisor analyzes the most recent trajectory using state information and visual replays, offering action-level interventions that enable targeted exploration. Furthermore, we provide a theoretical analysis of GuidedSAC, proving that it preserves the convergence guarantees of SAC while improving convergence speed. Through experiments in both discrete and continuous control environments, including toy text tasks and complex MuJoCo benchmarks, we demonstrate that GuidedSAC consistently outperforms standard SAC and state-of-the-art exploration-enhanced variants (e.g., RND, ICM, and E3B) in terms of sample efficiency and final performance.

Streaming autoregressive (AR) video generators combined with few-step distillation achieve low-latency, high-quality synthesis, yet remain difficult to align via reinforcement learning from human feedback (RLHF). Existing SDE-based GRPO methods face challenges in this setting: few-step ODEs and consistency model samplers deviate from standard flow-matching ODEs, and their short, low-stochasticity trajectories are highly sensitive to initialization noise, rendering intermediate SDE exploration ineffective. We propose AR-CoPO (AutoRegressive Contrastive Policy Optimization), a framework that adapts the Neighbor GRPO contrastive perspective to streaming AR generation. AR-CoPO introduces chunk-level alignment via a forking mechanism that constructs neighborhood candidates at a randomly selected chunk, assigns sequence-level rewards, and performs localized GRPO updates. We further propose a semi-on-policy training strategy that complements on-policy exploration with exploitation over a replay buffer of reference rollouts, improving generation quality across domains. Experiments on Self-Forcing demonstrate that AR-CoPO improves both out-of-domain generalization and in-domain human preference alignment over the baseline, providing evidence of genuine alignment rather than reward hacking.

In Vision-and-Language Navigation (VLN), an agent is required to plan a path to the target specified by the language instruction, using its visual observations. Consequently, prevailing VLN methods primarily focus on building powerful planners through visual-textual alignment. However, these approaches often bypass the imperative of comprehensive scene understanding prior to planning, leaving the agent with insufficient perception or prediction capabilities. Thus, we propose P$^{3}$Nav, a novel end-to-end framework integrating perception, prediction, and planning in a unified pipeline to strengthen the VLN agent's scene understanding and boost navigation success. Specifically, P$^{3}$Nav augments perception by extracting complementary cues from object-level and map-level perspectives. Subsequently, our P$^{3}$Nav predicts waypoints to model the agent's potential future states, endowing the agent with intrinsic awareness of candidate positions during navigation. Conditioned on these future waypoints, P$^{3}$Nav further forecasts semantic map cues, enabling proactive planning and reducing the strict reliance on purely historical context. Integrating these perceptual and predictive cues, a holistic planning module finally carries out the VLN tasks. Extensive experiments demonstrate that our P$^{3}$Nav achieves new state-of-the-art performance on the REVERIE, R2R-CE, and RxR-CE benchmarks.

Emotional Video Captioning (EVC) is an emerging task, which aims to describe factual content with the intrinsic emotions expressed in videos. Existing works perceive global emotional cues and then combine with video content to generate descriptions. However, insufficient factual and emotional cues mining and coordination during generation make their methods difficult to deal with the factual-emotional bias, which refers to the factual and emotional requirements being different in different samples on generation. To this end, we propose a retrieval-enhanced framework with FActual Calibration and Emotion augmentation (FACE-net), which through a unified architecture collaboratively mines factual-emotional semantics and provides adaptive and accurate guidance for generation, breaking through the compromising tendency of factual-emotional descriptions in all sample learning. Technically, we firstly introduces an external repository and retrieves the most relevant sentences with the video content to augment the semantic information. Subsequently, our factual calibration via uncertainty estimation module splits the retrieved information into subject-predicate-object triplets, and self-refines and cross-refines different components through video content to effectively mine the factual semantics; while our progressive visual emotion augmentation module leverages the calibrated factual semantics as experts, interacts with the video content and emotion dictionary to generate visual queries and candidate emotions, and then aggregates them to adaptively augment emotions to each factual semantics. Moreover, to alleviate the factual-emotional bias, we design a dynamic bias adjustment routing module to predict and adjust the degree of bias of a sample.

Large language models achieve breakthroughs in complex reasoning via long chain-of-thought sequences. However, this often leads to severe reasoning inflation, causing substantial computational redundancy. To maximize Intelligence per Token, we introduce a theoretical metric, MSL-Minimal Sufficient Length. MSL rigorously characterizes the shortest reasoning length that preserves answer correctness. We provide a recursive definition based on independently sampled sequences and prove the existence of its limit, establishing the first measurable lower bound for reasoning-chain compression. Building on an analysis of mainstream CoT compression strategies, we identify key structural factors enabling a model to approach MSL. Based on these insights, we propose TRiMS which employs the GRPO algorithm in conjunction with MSL-based estimation during training, while mitigating instabilities during the training process through dynamic batch aggregation and advantage computation using batch-level standard deviation. TRiMS achieves over 80% CoT token reduction with a minor accuracy boost across all benchmarks.

GUI grounding is a critical capability for vision-language models (VLMs) that enables automated interaction with graphical user interfaces by locating target elements from natural language instructions. However, grounding on GUI screenshots remains challenging due to high-resolution images, small UI elements, and ambiguous user instructions. In this work, we propose AdaZoom-GUI, an adaptive zoom-based GUI grounding framework that improves both localization accuracy and instruction understanding. Our approach introduces an instruction refinement module that rewrites natural language commands into explicit and detailed descriptions, allowing the grounding model to focus on precise element localization. In addition, we design a conditional zoom-in strategy that selectively performs a second-stage inference on predicted small elements, improving localization accuracy while avoiding unnecessary computation and context loss on simpler cases. To support this framework, we construct a high-quality GUI grounding dataset and train the grounding model using Group Relative Policy Optimization (GRPO), enabling the model to predict both click coordinates and element bounding boxes. Experiments on public benchmarks demonstrate that our method achieves state-of-the-art performance among models with comparable or even larger parameter sizes, highlighting its effectiveness for high-resolution GUI understanding and practical GUI agent deployment.

Transformers enable in-context learning (ICL) for rapid, gradient-free adaptation in time series forecasting, yet most ICL-style approaches rely on tabularized, hand-crafted features, while end-to-end sequence models lack inference-time adaptation. We bridge this gap with a unified framework, Baguan-TS, which integrates the raw-sequence representation learning with ICL, instantiated by a 3D Transformer that attends jointly over temporal, variable, and context axes. To make this high-capacity model practical, we tackle two key hurdles: (i) calibration and training stability, improved with a feature-agnostic, target-space retrieval-based local calibration; and (ii) output oversmoothing, mitigated via context-overfitting strategy. On public benchmark with covariates, Baguan-TS consistently outperforms established baselines, achieving the highest win rate and significant reductions in both point and probabilistic forecasting metrics. Further evaluations across diverse real-world energy datasets demonstrate its robustness, yielding substantial improvements.

Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial structures. Although human-readable spatial schematics (e.g., floor plans) are ubiquitous in real-world buildings, current agents lack the cognitive ability to comprehend and utilize them. To bridge this gap, we introduce \textbf{FloorPlan-VLN}, a new paradigm that leverages structured semantic floor plans as global spatial priors to enable navigation with only concise instructions. We first construct the FloorPlan-VLN dataset, which comprises over 10k episodes across 72 scenes. It pairs more than 100 semantically annotated floor plans with Matterport3D-based navigation trajectories and concise instructions that omit step-by-step guidance. Then, we propose a simple yet effective method \textbf{FP-Nav} that uses a dual-view, spatio-temporally aligned video sequence, and auxiliary reasoning tasks to align observations, floor plans, and instructions. When evaluated under this new benchmark, our method significantly outperforms adapted state-of-the-art VLN baselines, achieving more than a 60\% relative improvement in navigation success rate. Furthermore, comprehensive noise modeling and real-world deployments demonstrate the feasibility and robustness of FP-Nav to actuation drift and floor plan distortions. These results validate the effectiveness of floor plan guided navigation and highlight FloorPlan-VLN as a promising step toward more spatially intelligent navigation.

Non-stationarity is a fundamental challenge in multivariate long-term time series forecasting, often manifested as rapid changes in amplitude and phase. These variations lead to severe distribution shifts and consequently degrade predictive performance. Existing normalization-based methods primarily rely on first- and second-order statistics, implicitly assuming that distributions evolve smoothly and overlooking fine-grained temporal dynamics. To address these limitations, we propose TimeAPN, an Adaptive Amplitude-Phase Non-Stationarity Normalization framework that explicitly models and predicts non-stationary factors from both the time and frequency domains. Specifically, TimeAPN first models the mean sequence jointly in the time and frequency domains, and then forecasts its evolution over future horizons. Meanwhile, phase information is extracted in the frequency domain, and the phase discrepancy between the predicted and ground-truth future sequences is explicitly modeled to capture temporal misalignment. Furthermore, TimeAPN incorporates amplitude information into an adaptive normalization mechanism, enabling the model to effectively account for abrupt fluctuations in signal energy. The predicted non-stationary factors are subsequently integrated with the backbone forecasting outputs through a collaborative de-normalization process to reconstruct the final non-stationary time series. The proposed framework is model-agnostic and can be seamlessly integrated with various forecasting backbones. Extensive experiments on seven real-world multivariate datasets demonstrate that TimeAPN consistently improves long-term forecasting accuracy across multiple prediction horizons and outperforms state-of-the-art reversible normalization methods.

Transformer models have redefined sequence learning, yet dot-product self-attention introduces a quadratic token-mixing bottleneck for long-context time-series. We introduce the \textbf{Phasor Transformer} block, a phase-native alternative representing sequence states on the unit-circle manifold $S^1$. Each block combines lightweight trainable phase-shifts with parameter-free Discrete Fourier Transform (DFT) token coupling, achieving global $\mathcal{O}(N\log N)$ mixing without explicit attention maps. Stacking these blocks defines the \textbf{Large Phasor Model (LPM)}. We validate LPM on autoregressive time-series prediction over synthetic multi-frequency benchmarks. Operating with a highly compact parameter budget, LPM learns stable global dynamics and achieves competitive forecasting behavior compared to conventional self-attention baselines. Our results establish an explicit efficiency-performance frontier, demonstrating that large-model scaling for time-series can emerge from geometry-constrained phase computation with deterministic global coupling, offering a practical path toward scalable temporal modeling in oscillatory domains.

Autonomous landing of uncrewed aerial vehicles (UAVs) in unknown, dynamic environments poses significant safety challenges, particularly near people and infrastructure, as UAVs transition to routine urban and rural operations. Existing methods often rely on prior maps, heavy sensors like LiDAR, static markers, or fail to handle non-cooperative dynamic obstacles like humans, limiting generalization and real-time performance. To address these challenges, we introduce SafeLand, a lean, vision-based system for safe autonomous landing (SAL) that requires no prior information and operates only with a camera and a lightweight height sensor. Our approach constructs an online semantic ground map via deep learning-based semantic segmentation, optimized for embedded deployment and trained on a consolidation of seven curated public aerial datasets (achieving 70.22% mIoU across 20 classes), which is further refined through Bayesian probabilistic filtering with temporal semantic decay to robustly identify metric-scale landing spots. A behavior tree then governs adaptive landing, iteratively validates the spot, and reacts in real time to dynamic obstacles by pausing, climbing, or rerouting to alternative spots, maximizing human safety. We extensively evaluate our method in 200 simulations and 60 end-to-end field tests across industrial, urban, and rural environments at altitudes up to 100m, demonstrating zero false negatives for human detection. Compared to the state of the art, SafeLand achieves sub-second response latency, substantially lower than previous methods, while maintaining a superior success rate of 95%. To facilitate further research in aerial robotics, we release SafeLand's segmentation model as a plug-and-play ROS package, available at https://github.com/markus-42/SafeLand.

In natural face-to-face interaction, participants seamlessly alternate between speaking and listening, producing facial behaviors (FBs) that are finely informed by long-range context and naturally exhibit contextual appropriateness and emotional rationality. Interactive Head Generation (IHG) aims to synthesize lifelike avatar head video emulating such capabilities. Existing IHG methods typically condition on dual-track signals (i.e., human user's behaviors and pre-defined audio for avatar) within a short temporal window, jointly driving generation of avatar's audio-aligned lip articulation and non-verbal FBs. However, two main challenges persist in these methods: (i) the reliance on short-clip behavioral cues without long-range contextual modeling leads them to produce facial behaviors lacking contextual appropriateness; and (ii) the entangled, role-agnostic fusion of dual-track signals empirically introduces cross-signal interference, potentially compromising lip-region synchronization during speaking. To this end, we propose ECHO, a novel IHG framework comprising two key components: a Long-range Contextual Understanding (LCU) component that facilitates contextual understanding of both behavior-grounded dynamics and linguistic-driven affective semantics to promote contextual appropriateness and emotional rationality of synthesized avatar FBs; and a block-wise Spatial-aware Decoupled Cross-attention Modulation (SDCM) module, that preserves self-audio-driven lip articulation while adaptively integrating user contextual behavioral cues for non-lip facial regions, complemented by our designed two-stage training paradigm, to jointly enhance lip synchronization and visual fidelity. Extensive experiments demonstrate the effectiveness of proposed components and ECHO's superior IHG performance.

Image-conditioned Video diffusion models achieve impressive visual realism but often suffer from weakened motion fidelity, e.g., reduced motion dynamics or degraded long-term temporal coherence, especially after fine-tuning. We study the problem of motion alignment in video diffusion models post-training. To address this, we introduce pixel-motion rewards based on pixel flux dynamics, capturing both instantaneous and long-term motion consistency. We further propose Smooth Hybrid Fine-tuning (SHIFT), a scalable reward-driven fine-tuning framework for video diffusion models. SHIFT fuses the normal supervised fine-tuning and advantage weighted fine-tuning into a unified framework. Benefiting from novel adversarial advantages, SHIFT improves convergence speed and mitigates reward hacking. Experiments show that our approach efficiently resolves dynamic-degree collapse in modern video diffusion models supervised fine-tuning.

Most automated electronic medical record (EMR) pipelines remain output-oriented: they transcribe, extract, and summarize after the consultation, but they do not explicitly model what is already known, what is still missing, which uncertainty matters most, or what question or recommendation should come next. We formulate doctor-patient dialogue as a proactive knowledge-inquiry problem under partial observability. The proposed framework combines stateful extraction, sequential belief updating, gap-aware state modeling, hybrid retrieval over objectified medical knowledge, and a POMDP-lite action planner. Instead of treating the EMR as the only target artifact, the framework treats documentation as the structured projection of an ongoing inquiry loop. To make the formulation concrete, we report a controlled pilot evaluation on ten standardized multi-turn dialogues together with a 300-query retrieval benchmark aggregated across dialogues. On this pilot protocol, the full framework reaches 83.3% coverage, 80.0% risk recall, 81.4% structural completeness, and lower redundancy than the chunk-only and template-heavy interactive baselines. These pilot results do not establish clinical generalization; rather, they suggest that proactive inquiry may be methodologically interesting under tightly controlled conditions and can be viewed as a conceptually appealing formulation worth further investigation for dialogue-based EMR generation. This work should be read as a pilot concept demonstration under a controlled simulated setting rather than as evidence of clinical deployment readiness. No implication of clinical deployment readiness, clinical safety, or real-world clinical utility should be inferred from this pilot protocol.

The rapid evolution toward 6G and beyond communication systems is accelerating the convergence of digital twins and world models at the network edge. Traditional digital twins provide high-fidelity representations of physical systems and support monitoring, analysis, and offline optimization. However, in highly dynamic edge environments, they face limitations in autonomy, adaptability, and scalability. This paper presents a systematic survey of the transition from digital twins to world models and discusses its role in enabling edge general intelligence (EGI). First, the paper clarifies the conceptual differences between digital twins and world models and highlights the shift from physics-based, centralized, and system-centric replicas to data-driven, decentralized, and agent-centric internal models. This discussion helps readers gain a clear understanding of how this transition enables more adaptive, autonomous, and resource-efficient intelligence at the network edge. The paper reviews the design principles, architectures, and key components of world models, including perception, latent state representation, dynamics learning, imagination-based planning, and memory. In addition, it examines the integration of world models and digital twins in wireless EGI systems and surveys emerging applications in integrated sensing and communications, semantic communication, air-ground networks, and low-altitude wireless networks. Finally, this survey provides a systematic roadmap and practical insights for designing world-model-driven edge intelligence systems in wireless and edge computing environments. It also outlines key research challenges and future directions toward scalable, reliable, and interoperable world models for edge-native agentic AI.

Advanced autonomous driving systems require accurate vehicle dynamics modeling. However, identifying a precise dynamics model remains challenging due to strong nonlinearities and the coupled longitudinal and lateral dynamic characteristics. Previous research has employed physics-based analytical models or neural networks to construct vehicle dynamics representations. Nevertheless, these approaches often struggle to simultaneously achieve satisfactory performance in terms of system identification efficiency, modeling accuracy, and compatibility with linear control strategies. In this paper, we propose a fully data-driven dynamics modeling method tailored for complex distributed electric-drive trucks (DETs), leveraging Koopman operator theory to represent highly nonlinear dynamics in a lifted linear embedding space. To achieve high-precision modeling, we first propose a novel dual-branch encoder which encodes dynamic states and provides a powerful basis for the proposed Koopman-based methods entitled KODE. A physics-informed supervision mechanism, grounded in the geometric consistency of temporal vehicle motion, is incorporated into the training process to facilitate effective learning of both the encoder and the Koopman operator. Furthermore, to accommodate the diverse driving patterns of DETs, we extend the vanilla Koopman operator to a mixture-of-Koopman operator framework, enhancing modeling capability. Simulations conducted in a high-fidelity TruckSim environment and real-world experiments demonstrate that the proposed approach achieves state-of-the-art performance in long-term dynamics state estimation.