Diffusion Transformers (DiTs) have significantly enhanced text-to-image (T2I) generation quality, enabling high-quality personalized content creation. However, fine-tuning these models requires substantial computational complexity and memory, limiting practical deployment under resource constraints. To tackle these challenges, we propose a memory-efficient fine-tuning framework called DiT-BlockSkip, integrating timestep-aware dynamic patch sampling and block skipping by precomputing residual features. Our dynamic patch sampling strategy adjusts patch sizes based on the diffusion timestep, then resizes the cropped patches to a fixed lower resolution. This approach reduces forward & backward memory usage while allowing the model to capture global structures at higher timesteps and fine-grained details at lower timesteps. The block skipping mechanism selectively fine-tunes essential transformer blocks and precomputes residual features for the skipped blocks, significantly reducing training memory. To identify vital blocks for personalization, we introduce a block selection strategy based on cross-attention masking. Evaluations demonstrate that our approach achieves competitive personalization performance qualitatively and quantitatively, while reducing memory usage substantially, moving toward on-device feasibility (e.g., smartphones, IoT devices) for large-scale diffusion transformers.

During surgeries, there is a risk of medical gauzes being left inside patients' bodies, leading to "Gossypiboma" in patients and can cause serious complications in patients and also lead to legal problems for hospitals from malpractice lawsuits and regulatory penalties. Diagnosis depends on imaging methods such as X-rays or CT scans, and the usual treatment involves surgical excision. Prevention methods, such as manual counts and RFID-integrated gauzes, aim to minimize gossypiboma risks. However, manual tallying of 100s of gauzes by nurses is time-consuming and diverts resources from patient care. In partnership with Singapore General Hospital (SGH) we have developed a new prevention method, an AI-based system for gauze counting in surgical settings. Utilizing real-time video surveillance and object recognition technology powered by YOLOv5, a Deep Learning model was designed to monitor gauzes on two designated trays labelled "In" and "Out". Gauzes are tracked from the "In" tray, prior to their use in the patient's body & in the "Out" tray post-use, ensuring accurate counting and verifying that no gauze remains inside the patient at the end of the surgery. We have trained it using numerous images from Operation Theatres & augmented it to satisfy all possible scenarios. This study has also addressed the shortcomings of previous project iterations. Previously, the project employed two models: one for human detection and another for gauze detection, trained on a total of 2800 images. Now we have an integrated model capable of identifying both humans and gauzes, using a training set of 11,000 images. This has led to improvements in accuracy and increased the frame rate from 8 FPS to 15 FPS now. Incorporating doctor's feedback, the system now also supports manual count adjustments, enhancing its reliability in actual surgeries.

We present an LLM-driven multi-agent probabilistic modeling framework that demonstrates how differences in students' subjective social perceptions arise and evolve in real-world classroom settings, under constraints from an observed social network and limited questionnaire data. When social information is incomplete and the accuracy of perception differs between students, they can form different views of the same group structure from local cues they can access. Repeated peer communication and belief updates can gradually change these views and, over time, lead to stable group-level differences. To avoid assuming a global "god's-eye view," we assign each student an individualized subjective graph that shows which social ties they can perceive and how far information is reachable from their perspective. All judgments and interactions are restricted to this subjective graph: agents use retrieval-augmented generation (RAG) to access only local information and then form evaluations of peers' competence and social standing. We also add structural perturbations related to social-anxiety to represent consistent individual differences in the accuracy of social perception. During peer exchanges, agents share narrative assessments of classmates' academic performance and social position with uncertainty tags, and update beliefs probabilistically using LLM-based trust scores. Using the time series of six real exam scores as an exogenous reference, we run multi-step simulations to examine how epistemic uncertainty spreads through local interactions. Experiments show that, without relying on global information, the framework reproduces several collective dynamics consistent with real-world educational settings. The code is released at https://anonymous.4open.science/r/Rashomonomon-0126.

Graph neural network (GNN) is a powerful tool for analyzing graph-structured data. However, their vulnerability to adversarial attacks raises serious concerns, especially when dealing with sensitive information. Local Differential Privacy (LDP) offers a privacy-preserving framework for training GNNs, but its impact on adversarial robustness remains underexplored. This paper investigates adversarial attacks on LDP-protected GNNs. We explore how the privacy guarantees of LDP can be leveraged or hindered by adversarial perturbations. The effectiveness of existing attack methods on LDP-protected GNNs are analyzed and potential challenges in crafting adversarial examples under LDP constraints are discussed. Additionally, we suggest directions for defending LDP-protected GNNs against adversarial attacks. This work investigates the interplay between privacy and security in graph learning, highlighting the need for robust and privacy-preserving GNN architectures.

Recent advancements in text-to-image synthesis have been largely propelled by diffusion-based models, yet achieving precise alignment between text prompts and generated images remains a persistent challenge. We find that this difficulty arises primarily from the limitations of conventional diffusion loss, which provides only implicit supervision for modeling fine-grained text-image correspondence. In this paper, we introduce Cross-Timestep Self-Calibration (CTCal), founded on the supporting observation that establishing accurate text-image alignment within diffusion models becomes progressively more difficult as the timestep increases. CTCal leverages the reliable text-image alignment (i.e., cross-attention maps) formed at smaller timesteps with less noise to calibrate the representation learning at larger timesteps with more noise, thereby providing explicit supervision during training. We further propose a timestep-aware adaptive weighting to achieve a harmonious integration of CTCal and diffusion loss. CTCal is model-agnostic and can be seamlessly integrated into existing text-to-image diffusion models, encompassing both diffusion-based (e.g., SD 2.1) and flow-based approaches (e.g., SD 3). Extensive experiments on T2I-Compbench++ and GenEval benchmarks demonstrate the effectiveness and generalizability of the proposed CTCal. Our code is available at https://github.com/xiefan-guo/ctcal.

While recent Transformer and Mamba architectures have advanced point cloud representation learning, they are typically developed for single-task or single-domain settings. Directly applying them to multi-task domain generalization (DG) leads to degraded performance. Transformers effectively model global dependencies but suffer from quadratic attention cost and lack explicit structural ordering, whereas Mamba offers linear-time recurrence yet often depends on coordinate-driven serialization, which is sensitive to viewpoint changes and missing regions, causing structural drift and unstable sequential modeling. In this paper, we propose Structure-Aware Domain Generalization (SADG), a Mamba-based In-Context Learning framework that preserves structural hierarchy across domains and tasks. We design structure-aware serialization (SAS) that generates transformation-invariant sequences using centroid-based topology and geodesic curvature continuity. We further devise hierarchical domain-aware modeling (HDM) that stabilizes cross-domain reasoning by consolidating intra-domain structure and fusing inter-domain relations. At test time, we introduce a lightweight spectral graph alignment (SGA) that shifts target features toward source prototypes in the spectral domain without updating model parameters, ensuring structure-preserving test-time feature shifting. In addition, we introduce MP3DObject, a real-scan object dataset for multi-task DG evaluation. Comprehensive experiments demonstrate that the proposed approach improves structural fidelity and consistently outperforms state-of-the-art methods across multiple tasks including reconstruction, denoising, and registration.

Decoder-only language models can be adapted to diverse tasks through instruction finetuning, but the extent to which this generalizes at small scale for low-resource languages remains unclear. We focus on the languages of South Africa, where we are not aware of a publicly available decoder-only model that explicitly targets all eleven official written languages, nine of which are low-resource. We introduce MzansiText, a curated multilingual pretraining corpus with a reproducible filtering pipeline, and MzansiLM, a 125M-parameter language model trained from scratch. We evaluate MzansiLM on natural language understanding and generation using three adaptation regimes: monolingual task-specific finetuning, multilingual task-specific finetuning, and general multi-task instruction finetuning. Monolingual task-specific finetuning achieves strong performance on data-to-text generation, reaching 20.65 BLEU on isiXhosa and competing with encoder-decoder baselines over ten times larger. Multilingual task-specific finetuning benefits closely related languages on topic classification, achieving 78.5% macro-F1 on isiXhosa news classification. While MzansiLM adapts effectively to supervised NLU and NLG tasks, few-shot reasoning remains challenging at this model size, with performance near chance even for much larger decoder-only models. We release MzansiText and MzansiLM to provide a reproducible decoder-only baseline and clear guidance on adaptation strategies for South African languages at small scale.

Existing multi-object tracking algorithms typically fail to adequately address the issues in low-quality videos, resulting in a significant decline in tracking performance when image quality deteriorates in real-world scenarios. This performance degradation is primarily due to the algorithms' inability to effectively tackle the problems caused by information loss in low-quality images. To address the challenges of low-quality video scenarios, inspired by vision-language models, we propose a multi-object tracking framework guided by visual semantic distillation (VSD-MOT). Specifically, we introduce the CLIP Image Encoder to extract global visual semantic information from images to compensate for the loss of information in low-quality images. However, direct integration can substantially impact the efficiency of the multi-object tracking algorithm. Therefore, this paper proposes to extract visual semantic information from images through knowledge distillation. This method adopts a teacher-student learning framework, with the CLIP Image Encoder serving as the teacher model. To enable the student model to acquire the capability of extracting visual semantic information suitable for multi-object tracking tasks from the teacher model, we have designed the Dual-Constraint Semantic Distillation method (DCSD). Furthermore, to address the dynamic variation of frame quality in low-quality videos, we propose the Dynamic Semantic Weight Regulation (DSWR) module, which adaptively allocates fusion weights based on real-time frame quality assessment. Extensive experiments demonstrate the effectiveness and superiority of the proposed method in low-quality video scenarios in the real world. Meanwhile, our method can maintain good performance in conventional scenarios.

Existing prompting paradigms structure LLM reasoning in limited topologies: Chain-of-Thought (CoT) produces linear traces, while Tree-of-Thought (ToT) performs branching search. Yet complex reasoning often requires merging intermediate results, revisiting hypotheses, and integrating evidence from multiple sources. We propose Network-of-Thought (NoT), a framework that models reasoning as a directed graph with typed nodes and edges, guided by a heuristic-based controller policy. Across four benchmarks (GSM8K, Game of 24, HotpotQA, ProofWriter) and three models (GPT-4o-mini, Llama-3.3-70B-Instruct, Qwen2.5-72B-Instruct), we investigate when network topology outperforms chain or tree structures, whether LLM-generated heuristics can guide graph-based reasoning search, and the computation-accuracy tradeoff across topologies, evaluating each method on accuracy, topology simplicity, and token efficiency. Our results show that CoT remains effective for sequential tasks with GPT-4o-mini (89.5\% on GSM8K), while NoT surpasses ToT on multi-hop reasoning (91.0\% vs.\ 88.0\% on HotpotQA with LLM-as-Judge). With 72B open-source models, NoT achieves the highest accuracy on GSM8K (91.5\%), and Qwen2.5-72B achieves the best multi-hop QA result overall (91.7\% on HotpotQA). Self-generated controller heuristics outperform fixed and random strategies on logical reasoning, with uncertainty-only weighting achieving 57.0\% on ProofWriter. We also find that evaluation methodology significantly impacts method rankings: string-match underestimates all methods on open-ended QA, with the largest gap for NoT, a pattern consistent across all three models (14--18 percentage point gap on HotpotQA).

Acoustic borehole images provide high-resolution borehole-wall structure, but large-scale interpretation remains difficult because dense expert annotations are rarely available and subsurface information is intrinsically multimodal. The challenge is developing weakly supervised methods combining two-dimensional image texture with depth-aligned one-dimensional well-logs. Here, we introduce a weakly supervised multimodal segmentation framework that refines threshold-guided pseudo-labels through learned models. This preserves the annotation-free character of classical thresholding and clustering workflows while extending them with denoising, confidence-aware pseudo-supervision, and physically structured fusion. We establish that threshold-guided learned refinement provides the most robust improvement over raw thresholding, denoised thresholding, and latent clustering baselines. Multimodal performance depends strongly on fusion strategy: direct concatenation provides limited gains, whereas depth-aware cross-attention, gated fusion, and confidence-aware modulation substantially improve agreement with the weak supervisory reference. The strongest model, confidence-gated depth-aware cross-attention (CG-DCA), consistently outperforms threshold-based, image-only, and earlier multimodal baselines. Targeted ablations show its advantage depends specifically on confidence-aware fusion and structured local depth interaction rather than model complexity alone. Cross-well analyses confirm this performance is broadly stable. These results establish a practical, scalable framework for annotation-free segmentation, showing multimodal improvement is maximized when auxiliary logs are incorporated selectively and depth-aware.

Multi-RF Fusion achieves a test ROC-AUC of 0.8476 +/- 0.0002 on ogbg-molhiv (10 seeds), placing #1 on the OGB leaderboard ahead of HyperFusion (0.8475 +/- 0.0003). The core of the method is a rank-averaged ensemble of 12 Random Forest models trained on concatenated molecular fingerprints (FCFP, ECFP, MACCS, atom pairs -- 4,263 dimensions total), blended with deep-ensembled GNN predictions at 12% weight. Two findings drive the result: (1) setting max_features to 0.20 instead of the default sqrt(d) gives a +0.008 AUC gain on this scaffold split, and (2) averaging GNN predictions across 10 seeds before blending with the RF eliminates GNN seed variance entirely, dropping the final standard deviation from 0.0008 to 0.0002. No external data or pre-training is used.

Text-aerial person retrieval aims to identify targets in UAV-captured images from eyewitness descriptions, supporting intelligent transportation and public security applications. Compared to ground-view text--image person retrieval, UAV-captured images often suffer from degraded visual information due to drastic variations in viewing angles and flight altitudes, making semantic alignment with textual descriptions very challenging. To address this issue, we propose a novel Cross-modal Fuzzy Alignment Network, which quantifies the token-level reliability by fuzzy logic to achieve accurate fine-grained alignment and incorporates ground-view images as a bridge agent to further mitigate the gap between aerial images and text descriptions, for text--aerial person retrieval. In particular, we design the Fuzzy Token Alignment module that employs the fuzzy membership function to dynamically model token-level association strength and suppress the influence of unobservable or noisy tokens. It can alleviate the semantic inconsistencies caused by missing visual cues and significantly enhance the robustness of token-level semantic alignment. Moreover, to further mitigate the gap between aerial images and text descriptions, we design a Context-Aware Dynamic Alignment module to incorporate the ground-view agent as a bridge in text--aerial alignment and adaptively combine direct alignment and agent-assisted alignment to improve the robustness. In addition, we construct a large-scale benchmark dataset called AERI-PEDES by using a chain-of-thought to decompose text generation into attribute parsing, initial captioning, and refinement, thus boosting textual accuracy and semantic consistency. Experiments on AERI-PEDES and TBAPR demonstrate the superiority of our method.

Turbulence mitigation (TM) is highly ill-posed due to the stochastic nature of atmospheric turbulence. Most methods rely on multiple frames recorded by conventional cameras to capture stable patterns in natural scenarios. However, they inevitably suffer from a trade-off between accuracy and efficiency: more frames enhance restoration at the cost of higher system latency and larger data overhead. Event cameras, equipped with microsecond temporal resolution and efficient sensing of dynamic changes, offer an opportunity to break the bottleneck. In this work, we present EHETM, a high-quality and efficient TM method inspired by the superiority of events to model motions in continuous sequences. We discover two key phenomena: (1) turbulence-induced events exhibit distinct polarity alternation correlated with sharp image gradients, providing structural cues for restoring scenes; and (2) dynamic objects form spatiotemporally coherent ``event tubes'' in contrast to irregular patterns within turbulent events, providing motion priors for disentangling objects from turbulence. Based on these insights, we design two complementary modules that respectively leverage polarity-weighted gradients for scene refinement and event-tube constraints for motion decoupling, achieving high-quality restoration with few frames. Furthermore, we construct two real-world event-frame turbulence datasets covering atmospheric and thermal cases. Experiments show that EHETM outperforms SOTA methods, especially under scenes with dynamic objects, while reducing data overhead and system latency by approximately 77.3% and 89.5%, respectively. Our code is available at: https://github.com/Xavier667/EHETM.

In the immediate aftermath of natural disasters, rapid situational awareness is critical. Traditionally, satellite observations are widely used to estimate damage extent. However, they lack the ground-level perspective essential for characterizing specific structural failures and impacts. Meanwhile, ground-level data (e.g., street-view imagery) remains largely inaccessible during time-sensitive events. This study investigates Satellite-to-Street View Synthesis to bridge this data gap. We introduce two generative strategies to synthesize post-disaster street views from satellite imagery: a Vision-Language Model (VLM)-guided approach and a damage-sensitive Mixture-of-Experts (MoE) method. We benchmark these against general-purpose baselines (Pix2Pix, ControlNet) using a proposed Structure-Aware Evaluation Framework. This multi-tier protocol integrates (1) pixel-level quality assessment, (2) ResNet-based semantic consistency verification, and (3) a novel VLM-as-a-Judge for perceptual alignment. Experiments on 300 disaster scenarios reveal a critical realism--fidelity trade-off: while diffusion-based approaches (e.g., ControlNet) achieve high perceptual realism, they often hallucinate structural details. Quantitative results show that standard ControlNet achieves the highest semantic accuracy, 0.71, whereas VLM-enhanced and MoE models excel in textural plausibility but struggle with semantic clarity. This work establishes a baseline for trustworthy cross-view synthesis, emphasizing that visually realistic generations may still fail to preserve critical structural information required for reliable disaster assessment.

Diffusion- and flow-based models have advanced Real-world Image Super-Resolution (Real-ISR), but their multi-step sampling makes inference slow and hard to deploy. One-step distillation alleviates the cost, yet often degrades restoration quality and removes the option to refine with more steps. We present Mean Flows for Super-Resolution (MFSR), a new distillation framework that produces photorealistic results in a single step while still allowing an optional few-step path for further improvement. Our approach uses MeanFlow as the learning target, enabling the student to approximate the average velocity between arbitrary states of the Probability Flow ODE (PF-ODE) and effectively capture the teacher's dynamics without explicit rollouts. To better leverage pretrained generative priors, we additionally improve original MeanFlow's Classifier-Free Guidance (CFG) formulation with teacher CFG distillation strategy, which enhances restoration capability and preserves fine details. Experiments on both synthetic and real-world benchmarks demonstrate that MFSR achieves efficient, flexible, and high-quality super-resolution, delivering results on par with or even better than multi-step teachers while requiring much lower computational cost.

Spiking Neural Networks (SNNs) are promising for energy-efficient, real-time edge computing, yet their performance is often constrained by the limited adaptability of conventional leaky integrate-and-fire (LIF) neurons. Existing LIF models struggle with restricted information capacity and susceptibility to noise, leading to degraded accuracy and compromised robustness. Inspired by the dynamic self-regulation of biological potassium channels, we propose the Potassium-regulated LIF (KvLIF) neuron model. KvLIF introduces an auxiliary conductance state that integrates membrane potential and spiking history to adaptively modulate neuronal excitability and reset dynamics. This design extends the dynamic response range of neurons to varying input intensities and effectively suppresses noise-induced spikes. We extensively evaluate KvLIF on both static image and neuromorphic datasets, demonstrating consistent improvements in classification accuracy and superior robustness compared to existing LIF models. Our work bridges biological plausibility with computational efficiency, offering a neuron model that enhances SNN performance while maintaining suitability for low-power neuromorphic deployment.

Recent advancements in text-to-speech technologies enable generating high-fidelity synthetic speech nearly indistinguishable from real human voices. While recent studies show the efficacy of self-supervised learning-based speech encoders for deepfake detection, these models struggle to generalize across unseen speakers. Our quantitative analysis suggests these encoder representations are substantially influenced by speaker information, causing detectors to exploit speaker-specific correlations rather than artifact-related cues. We call this phenomenon speaker entanglement. To mitigate this reliance, we introduce SNAP, a speaker-nulling framework. We estimate a speaker subspace and apply orthogonal projection to suppress speaker-dependent components, isolating synthesis artifacts within the residual features. By reducing speaker entanglement, SNAP encourages detectors to focus on artifact-related patterns, leading to state-of-the-art performance.

Echo State Networks (ESNs) are a reservoir computing framework widely used for nonlinear time-series prediction. However, despite their effectiveness, the randomly initialized reservoir often contains redundant nodes, leading to unnecessary computational overhead and reduced efficiency. In this work, we propose a graph centrality-based pruning approach that interprets the reservoir as a weighted directed graph and removes structurally less important nodes using centrality measures. Experiments on Mackey-Glass time-series prediction and electric load forecasting demonstrate that the proposed method can significantly reduce reservoir size while maintaining, and in some cases improving, prediction accuracy, while preserving the essential reservoir dynamics.

Capsule networks (CapsNets) are superior at modeling hierarchical spatial relationships but suffer from two critical limitations: high computational cost due to iterative dynamic routing and poor robustness under input corruptions. To address these issues, we propose IBCapsNet, a novel capsule architecture grounded in the Information Bottleneck (IB) principle. Instead of iterative routing, IBCapsNet employs a one-pass variational aggregation mechanism, where primary capsules are first compressed into a global context representation and then processed by class-specific variational autoencoders (VAEs) to infer latent capsules regularized by the KL divergence. This design enables efficient inference while inherently filtering out noise. Experiments on MNIST, Fashion-MNIST, SVHN and CIFAR-10 show that IBCapsNet matches CapsNet in clean-data accuracy (achieving 99.41% on MNIST and 92.01% on SVHN), yet significantly outperforms it under four types of synthetic noise - demonstrating average improvements of +17.10% and +14.54% for clamped additive and multiplicative noise, respectively. Moreover, IBCapsNet achieves 2.54x faster training and 3.64x higher inference throughput compared to CapsNet, while reducing model parameters by 4.66%. Our work bridges information-theoretic representation learning with capsule networks, offering a principled path toward robust, efficient, and interpretable deep models. Code is available at https://github.com/cxiang26/IBCapsnet

Vision-based policies are widely applied in robotics for tasks such as manipulation and locomotion. On lightweight mobile robots, however, they face a trilemma of limited scene transferability, restricted onboard computation resources, and sensor hardware cost. To address these issues, we propose a knowledge distillation approach that transfers knowledge from an information-rich, appearance invariant omniview depth policy to a lightweight monocular policy. The key idea is to train the student not only to mimic the expert actions but also to align with the latent embeddings of the omni view depth teacher. Experiments demonstrate that omni-view and depth inputs improve the scene transfer and navigation performance, and that the proposed distillation method enhances the performance of a singleview monocular policy, compared with policies solely imitating actions. Real world experiments further validate the effectiveness and practicality of our approach. Code will be released publicly.

Contemporary societies face a severe crisis of demographic reproduction. Global fertility rates continue to decline precipitously, with East Asian nations exhibiting the most dramatic trends -- China's total fertility rate (TFR) fell to approximately 1.0 in 2023, while South Korea's dropped below 0.72. Simultaneously, the institution of marriage is undergoing structural disintegration: educated women rationally reject unions lacking both emotional fulfillment and economic security, while a growing proportion of men at the lower end of the socioeconomic spectrum experience chronic sexual deprivation, anxiety, and learned helplessness. This paper proposes a computational framework for modeling and evaluating a Stratified Polyamory System (SPS) using techniques from agent-based modeling (ABM), multi-agent reinforcement learning (MARL), and large language model (LLM)-empowered social simulation. The SPS permits individuals to maintain a limited number of legally recognized secondary partners in addition to one primary spouse, combined with socialized child-rearing and inheritance reform. We formalize the A/B/C stratification as heterogeneous agent types in a multi-agent system and model the matching process as a MARL problem amenable to Proximal Policy Optimization (PPO). The mating network is analyzed using graph neural network (GNN) representations. Drawing on evolutionary psychology, behavioral ecology, social stratification theory, computational social science, algorithmic fairness, and institutional economics, we argue that SPS can improve aggregate social welfare in the Pareto sense. Preliminary computational results demonstrate the framework's viability in addressing the dual crisis of female motherhood penalties and male sexlessness, while offering a non-violent mechanism for wealth dispersion analogous to the historical Chinese Grace Decree (Tui'en Ling).

The problem of constrained online convex optimization is considered, where at each round, once a learner commits to an action $x_t \in \mathcal{X} \subset \mathbb{R}^d$, a convex loss function $f_t$ and a convex constraint function $g_t$ that drives the constraint $g_t(x)\le 0$ are revealed. The objective is to simultaneously minimize the static regret and cumulative constraint violation (CCV) compared to the benchmark that knows the loss functions and constraint functions $f_t$ and $g_t$ for all $t$ ahead of time, and chooses a static optimal action that is feasible with respect to all $g_t(x)\le 0$. In recent prior work Sinha and Vaze [2024], algorithms with simultaneous regret of $O(\sqrt{T})$ and CCV of $O(\sqrt{T})$ or (CCV of $O(1)$ in specific cases Vaze and Sinha [2025], e.g. when $d=1$) have been proposed. It is widely believed that CCV is $Ω(\sqrt{T})$ for all algorithms that ensure that regret is $O(\sqrt{T})$ with the worst case input for any $d\ge 2$. In this paper, we refute this and show that the algorithm of Vaze and Sinha [2025] simultaneously achieves regret of $O(\sqrt{T})$ regret and CCV of $O(T^{1/3})$ when $d=2$.

Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a potential solution to expand the sensing range of ToF cameras, but existing research lacks dedicated datasets and struggles to generalize to ToF measurements. In this paper, we propose a full-stack framework that enables depth completion in large-scale scenarios for short-range ToF cameras. First, we construct a multi-sensor platform with a reconstruction-based pipeline to collect real-world ToF samples with dense large-scale ground truth, yielding the first LArge-ScalE scenaRio ToF depth completion dataset (LASER-ToF). Second, we propose a sensor-aware depth completion network that incorporates a novel 3D branch with a 3D-2D Joint Propagation Pooling (JPP) module and Multimodal Cross-Covariance Attention (MXCA), enabling effective modeling of long-range relationships and efficient 3D-2D fusion under non-uniform ToF depth sparsity. Moreover, our network can utilize the sparse point cloud from visual SLAM as a supplement to ToF depth to further improve prediction accuracy. Experiments show that our method achieves an 8.6% lower mean absolute error than the second-best method, while maintaining lightweight design to support onboard deployment. Finally, to verify the system's applicability on real robots, we deploy proposed method on a quadrotor at a 10Hz runtime, enabling reliable large-scale mapping and long-range planning in challenging environments for short-range ToF cameras.

The development of embodied AI systems is increasingly constrained by the availability and structure of physical interaction data. Despite recent advances in vision-language-action (VLA) models, current pipelines suffer from high data collection cost, limited cross-embodiment alignment, and poor transfer from internet-scale visual data to robot control. We propose a region-of-interest (ROI) driven engineering workflow that introduces an egocentric, geometry-grounded data representation. By projecting end-effector poses via forward kinematics (FK) into a single external camera, we derive movement-aligned hand-centric ROIs without requiring wrist-mounted cameras or multi-view systems. Unlike directly downsampling the full frame, ROI is cropped from the original image before resizing, preserving high local information density for contact-critical regions while retaining global context. We present a reproducible pipeline covering calibration, synchronization, ROI generation, deterministic boundary handling, and metadata governance. The resulting representation is embodiment-aligned and viewpoint-normalized, enabling data reuse across heterogeneous robots. We argue that egocentric ROI serves as a practical data abstraction for scalable collection and cross-embodiment learning, bridging internet-scale perception and robot-specific control.

Language models (LMs) are increasingly applied to robotic navigation; however, existing benchmarks primarily emphasize navigation success rates while paying limited attention to social compliance. Moreover, relying on large-scale LMs can raise efficiency concerns, as their heavy computational overhead leads to slower response times and higher energy consumption, making them impractical for real-time deployment on resource-constrained robotic platforms. In this work, we evaluate the social compliance of GPT-4o and Claude in robotic navigation and propose E-SocialNav, an efficient LM designed for socially compliant navigation. Despite being trained on a relatively small dataset, E-SocialNav consistently outperforms zero-shot baselines in generating socially compliant behaviors. By employing a two-stage training pipeline consisting of supervised fine-tuning followed by direct preference optimization, E-SocialNav achieves strong performance in both text-level semantic similarity to human annotations and action accuracy. The source code is available at https://github.com/Dr-LingXiao/ESocialNav.

Despite remarkable advances in large Vision-Language Models (VLMs), spatial reasoning remains a persistent challenge. In this work, we investigate how attention heads within VLMs contribute to spatial reasoning by analyzing their functional roles through a mechanistic interpretability lens. We introduce CogVSR, a dataset that decomposes complex spatial reasoning questions into step-by-step subquestions designed to simulate human-like reasoning via a chain-of-thought paradigm, with each subquestion linked to specific cognitive functions such as spatial perception or relational reasoning. Building on CogVSR, we develop a probing framework to identify and characterize attention heads specialized for these functions. Our analysis across diverse VLM families reveals that these functional heads are universally sparse, vary in number and distribution across functions. Notably, spatially specialized heads are fewer than those for other cognitive functions, highlighting their scarcity. We propose methods to activate latent spatial heads, improving spatial understanding. Intervention experiments further demonstrate their critical role in spatial reasoning: removing functional heads leads to performance degradation, while emphasizing them enhances accuracy. This study provides new interpretability driven insights into how VLMs attend to space and paves the way for enhancing complex spatial reasoning in multimodal models.

Large scale pre-training on text and image data along with diverse robot demonstrations has helped Vision Language Action models (VLAs) to generalize to novel tasks, objects and scenes. However, these models are still susceptible to failure in the presence of execution-time impediments such as distractors and physical obstructions in the robot's workspace. Existing policy improvement methods finetune base VLAs to improve generalization, yet they still struggle in unseen distractor settings. To address this problem, we investigate whether internet-scale pretraining of large vision-language models (VLMs) can be leveraged to reason about these impediments and mitigate policy failures. To this end, we propose StageCraft, a training-free approach to improve pretrained VLA policy performance by manipulating the environment's initial state using VLM-based in-context reasoning. StageCraft takes policy rollout videos and success labels as input and leverages VLM's reasoning ability to infer which objects in the initial state need to be manipulated to avoid anticipated execution failures. StageCraft is an extensible plug-and-play module that does not introduce additional constraints on the underlying policy, and only requires a few policy rollouts to work. We evaluate performance of state-of-the-art VLA models with StageCraft and show an absolute 40% performance improvement across three real world task domains involving diverse distractors and obstructions. Our simulation experiments in RLBench empirically show that StageCraft tailors its extent of intervention based on the strength of the underlying policy and improves its performance with more in-context samples. Videos of StageCraft in effect can be found at https://stagecraft-decorator.github.io/stagecraft/ .

While current embodied policies exhibit remarkable manipulation skills, their execution remains unsatisfactorily slow as they inherit the tardy pacing of human demonstrations. Existing acceleration methods typically require policy retraining or costly online interactions, limiting their scalability for large-scale foundation models. In this paper, we propose Speedup Patch (SuP), a lightweight, policy-agnostic framework that enables plug-and-play acceleration using solely offline data. SuP introduces an external scheduler that adaptively downsamples action chunks provided by embodied policies to eliminate redundancies. Specifically, we formalize the optimization of our scheduler as a Constrained Markov Decision Process (CMDP) aimed at maximizing efficiency without compromising task performance. Since direct success evaluation is infeasible in offline settings, SuP introduces World Model based state deviation as a surrogate metric to enforce safety constraints. By leveraging a learned world model as a virtual evaluator to predict counterfactual trajectories, the scheduler can be optimized via offline reinforcement learning. Empirical results on simulation benchmarks (Libero, Bigym) and real-world tasks validate that SuP achieves an overall 1.8x execution speedup for diverse policies while maintaining their original success rates.

Deploying high-fidelity AI tutors in schools is often blocked by the Resource Curse -- the need for expensive cloud GPUs and massive data engineering. In this practitioner report, we present a replicable Standard Operating Procedure that breaks this barrier. Using a Vision-Language Model data cleaning strategy and a novel Shadow-RAG architecture, we localized a graduate-level Applied Mathematics tutor using only 3 person-days of non-expert labor and open-weights 32B models deployable on a single consumer-grade GPU. Our pilot study on a full graduate-level final exam reveals a striking emergence phenomenon: while both zero-shot baselines and standard retrieval stagnate around 50-60% accuracy across model generations, the Shadow Agent, which provides structured reasoning guidance, triggers a massive capability surge in newer 32B models, boosting performance from 74% (Naive RAG) to mastery level (90%). In contrast, older models see only modest gains (~10%). This suggests that such guidance is the key to unlocking the latent power of modern small language models. This work offers a cost-effective, scientifically grounded blueprint for ubiquitous AI education.

Most fine-grained fashion image retrieval (FIR) methods assume a static setting, requiring full retraining when new attributes appear, which is costly and impractical for dynamic scenarios. Although pretrained models support zero-shot inference, their accuracy drops without supervision, and no prior work explores class-incremental learning (CIL) for fine-grained FIR. We propose a multihead continual learning framework for fine-grained fashion image retrieval with contrastive learning and exponential moving average (EMA) distillation (MCL-FIR). MCL-FIR adopts a multi-head design to accommodate evolving classes across increments, reformulates triplet inputs into doublets with InfoNCE for simpler and more effective training, and employs EMA distillation for efficient knowledge transfer. Experiments across four datasets demonstrate that, beyond its scalability, MCL-FIR achieves a strong balance between efficiency and accuracy. It significantly outperforms CIL baselines under similar training cost, and compared with static methods, it delivers comparable performance while using only about 30% of the training cost. The source code is publicly available in https://github.com/Dr-LingXiao/MCL-FIR.