Coarse-to-fine autoregressive modeling has recently shown strong promise for visuomotor policy learning, combining the inference efficiency of autoregressive methods with the global trajectory coherence of diffusion-based policies. However, existing approaches rely on discrete action tokenizers that map continuous action sequences to codebook indices, a design inherited from image generation where learned compression is necessary for high-dimensional pixel data. We observe that robot actions are inherently low-dimensional continuous vectors, for which such tokenization introduces unnecessary quantization error and a multi-stage training pipeline. In this work, we propose Hierarchical Flow Policy (HiFlow), a tokenization-free coarse-to-fine autoregressive policy that operates directly on raw continuous actions. HiFlow constructs multi-scale continuous action targets from each action chunk via simple temporal pooling. Specifically, it averages contiguous action windows to produce coarse summaries that are refined at finer temporal resolutions. The entire model is trained end-to-end in a single stage, eliminating the need for a separate tokenizer. Experiments on MimicGen, RoboTwin 2.0, and real-world environments demonstrate that HiFlow consistently outperforms existing methods including diffusion-based and tokenization-based autoregressive policies.

Modular autonomous driving systems must coordinate global progress objectives with local safety-driven reactions under imperfect sensing and strict real-time constraints. This paper presents a ROS2-native arbitration module that continuously fuses the outputs of two unchanged and interpretable controllers: a global reference-tracking controller based on Pure Pursuit and a reactive LiDAR-based Gap Follow controller. At each control step, both controllers propose Ackermann commands, and a PPO-trained policy predicts a continuous gate from a compact feature observation to produce a single fused drive command, augmented with practical safety checks. For comparison under identical ROS topic inputs and control rate, we implement a lightweight sampling-based predictive baseline. Robustness is evaluated using a ROS2 impairment protocol that injects LiDAR noise, delay, and dropout, and additionally sweeps forward-cone false short-range outliers. In a repeatable close-proximity passing scenario, we report safe success and failure rates together with per-step end-to-end controller runtime as sensing stress increases. The study is intended as a command-level robustness evaluation in a modular ROS2 setting, not as a replacement for planning-level interaction reasoning.

Credal sets, i.e., closed convex sets of probability measures, provide a natural framework to represent aleatoric and epistemic uncertainty in machine learning. Yet how to quantify these two types of uncertainty for a given credal set, particularly in multiclass classification, remains underexplored. In this paper, we propose a distance-based approach to quantify total, aleatoric, and epistemic uncertainty for credal sets. Concretely, we introduce a family of such measures within the framework of Integral Probability Metrics (IPMs). The resulting quantities admit clear semantic interpretations, satisfy natural theoretical desiderata, and remain computationally tractable for common choices of IPMs. We instantiate the framework with the total variation distance and obtain simple, efficient uncertainty measures for multiclass classification. In the binary case, this choice recovers established uncertainty measures, for which a principled multiclass generalization has so far been missing. Empirical results confirm practical usefulness, with favorable performance at low computational cost.

Masked video modeling (MVM) has emerged as a simple and scalable self-supervised pretraining paradigm, but only encodes motion information implicitly, limiting the encoding of temporal dynamics in the learned representations. As a result, such models struggle on motion-centric tasks that require fine-grained motion awareness. To address this, we propose TrackMAE, a simple masked video modeling paradigm that explicitly uses motion information as a reconstruction signal. In TrackMAE, we use an off-the-shelf point tracker to sparsely track points in the input videos, generating motion trajectories. Furthermore, we exploit the extracted trajectories to improve random tube masking with a motion-aware masking strategy. We enhance video representations learned in both pixel and feature semantic reconstruction spaces by providing a complementary supervision signal in the form of motion targets. We evaluate on six datasets across diverse downstream settings and find that TrackMAE consistently outperforms state-of-the-art video self-supervised learning baselines, learning more discriminative and generalizable representations. Code available at https://github.com/rvandeghen/TrackMAE

Recent advances in Computer Vision have significantly improved image understanding and generation, revolutionizing the fashion industry. However, challenges such as inconsistent lighting, non-ideal garment angles, complex backgrounds, and occlusions in raw images hinder their full potential. Overcoming these obstacles is crucial for developing robust fashion AI systems capable of real-world applications. In this paper, we introduce TrendGen, a Fashion AI system designed to enhance online shopping with intelligent outfit recommendations. Deployed on a major e-commerce platform, TrendGen leverages cloth images and product attributes to generate trend-aligned, cohesive outfit suggestions. Additionally, it employs Generative AI to transform raw images into high-quality lay-down views, offering a clear and structured presentation of garments. Our evaluation on production data demonstrates TrendGen's consistent high-quality outfits and lay-down images, marking a significant advancement in AI-driven solutions for fashion retail.

Multi-organ segmentation in medical imaging remains challenging due to large anatomical variability, complex inter-organ dependencies, and diverse organ scales and shapes. Conventional encoder-decoder architectures often struggle to capture both fine-grained local details and long-range context, which are crucial for accurate delineation - especially for small or deformable organs. To address these limitations, we propose MD-RWKV-UNet, a dynamic encoder network that enables scale-aware representation and spatially adaptive context modeling. At its core is the MD-RWKV block, a dual-path module that integrates deformable spatial shifts with the Receptance Weighted Key Value mechanism, allowing the receptive field to adapt dynamically to local structural cues. We further incorporate Selective Kernel Attention to enable adaptive selection of convolutional kernels with varying receptive fields, enhancing multi-scale interaction and improving robustness to organ size and shape variation. In parallel, a cross-stage dual-attention fusion strategy aggregates multi-level features across the encoder, preserving low-level structure while enhancing semantic consistency. Unlike methods that stack static convolutions or rely heavily on global attention, our approach provides a lightweight yet expressive solution for dynamic organ modeling. Experiments on Synapse and ACDC demonstrate state-of-the-art performance, particularly in boundary precision and small-organ segmentation.

Cross-view geolocalization (CVGL) systems, while effective at retrieving a list of relevant candidates (high Recall@k), often fail to identify the single best match (low Top-1 accuracy). This work investigates the use of zero-shot Vision-Language Models (VLMs) as rerankers to address this gap. We propose a two-stage framework: state-of-the-art (SOTA) retrieval followed by VLM reranking. We systematically compare two strategies: (1) Pointwise (scoring candidates individually) and (2) Pairwise (comparing candidates relatively). Experiments on the VIGOR dataset show a clear divergence: all pointwise methods cause a catastrophic drop in performance or no change at all. In contrast, a pairwise comparison strategy using LLaVA improves Top-1 accuracy over the strong retrieval baseline. Our analysis concludes that, these VLMs are poorly calibrated for absolute relevance scoring but are effective at fine-grained relative visual judgment, making pairwise reranking a promising direction for enhancing CVGL precision.

Prompt-conditioned foundation segmenters have emerged as a dominant paradigm for image segmentation, where explicit spatial prompts (e.g., points, boxes, masks) guide mask decoding. However, many real-world deployments require fully automatic segmentation, creating a structural mismatch: the decoder expects prompts that are unavailable at inference. Existing adaptations typically modify intermediate features, inadvertently bypassing the model's native prompt interface and weakening prompt-conditioned decoding. We propose IP-SAM, which revisits adaptation from a prompt-space perspective through prompt-space conditioning. Specifically, a Self-Prompt Generator (SPG) distills image context into complementary intrinsic prompts that serve as coarse regional anchors. These cues are projected through SAM2's frozen prompt encoder, restoring prompt-guided decoding without external intervention. To suppress background-induced false positives, Prompt-Space Gating (PSG) leverages the intrinsic background prompt as an asymmetric suppressive constraint prior to decoding. Under a deterministic no-external-prompt protocol, IP-SAM achieves state-of-the-art performance across four camouflaged object detection benchmarks (e.g., MAE 0.017 on COD10K) with only 21.26M trainable parameters (optimizing SPG, PSG, and a task-specific mask decoder trained from scratch, alongside image-encoder LoRA while keeping the prompt encoder frozen). Furthermore, the proposed conditioning strategy generalizes beyond COD to medical polyp segmentation, where a model trained solely on Kvasir-SEG exhibits strong zero-shot transfer to both CVC-ClinicDB and ETIS.

Log parsing is a critical step for automated log analysis in complex systems. Traditional heuristic-based methods offer high efficiency but are limited in accuracy due to overlooking semantic context. In contrast, recent LLM-based parsers improve accuracy via se mantic understanding but incur high latency from frequent model calls. To address this, we propose SCOPE, the first self-correcting online log parsing method that integrates the strengths of both heuristic and LLM-based paradigms. SCOPE introduces a novel bi-directional tree structure that enables efficient template match ing from both forward and reverse directions, resulting in a higher overall matching rate. Additionally, it adopts a two-stage syntactic semantic collaboration framework: a lightweight NLP model first utilizes part-of-speech (POS) information for syntax-based match ing, while the LLM is selectively invoked as a fallback to handle semantically complex cases when uncertainty remains. This design significantly reduces LLM API usage while maintaining high ac curacy, achieving a balance between efficiency and effectiveness. Extensive evaluations on diverse benchmark datasets show that SCOPE outperforms state-of-the-art methods in both accuracy and efficiency. The implementation and datasets are publicly released to facilitate further research.

In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientation for posture correction. In compact V-shaped platforms, these functions often rely on shared contacts or indirect actuation, which introduces strong kinematic coupling and makes performance sensitive to geometry and friction variations. This paper presents a V-shaped in-pipe robot with a joint-axis-and-wheel-separation layout that provides two physically independent actuation channels, with all-wheel-drive propulsion and motorized rolling reorientation while using only two motors. To make the decoupling mechanism explicit and designable, we formulate an actuation transmission matrix and identify the spherical-wheel contact angle as the key geometric variable governing the dominant roll-to-propulsion leakage and roll-channel efficiency. A geometric transmission analysis maps mounting parameters to the contact angle, leakage, and efficiency, yielding a structural guideline for suppressing crosstalk by driving the contact angle toward zero. A static stability model further provides a stability-domain map for selecting torsion-spring stiffness under friction uncertainty to ensure vertical-pipe stability with a margin. Experiments validate the decoupling effect, where during high-dynamic rolling in a vertical pipe, the propulsion torque remains nearly invariant. On a multi-material testbed including out-of-plane double elbows, the robot achieved a 100% success rate in more than 10 independent round-trip trials.

Referring video object segmentation (RVOS) commonly grounds targets in videos based on static textual cues. MeViS benchmark extends this by incorporating motion-centric expressions (referring & reasoning motion expressions) and introducing no-target queries. Extending SaSaSa2VA, where increased input frames and [SEG] tokens already strengthen the Sa2VA backbone, we adopt a simple yet effective target existence-aware verification mechanism, leading to Still Awesome SaSaSa2VA (SaSaSaSa2VA). Despite its simplicity, the method achieves a final score of 89.19 in the 5th PVUW Challenge (MeViS-Text Track), securing 2nd place. Both quantitative results and ablations suggest that this existence-aware verification strategy is sufficient to unlock strong performance on motion-centric referring tasks.

Large Vision-Language Models (LVLMs) have achieved impressive performance across multimodal understanding and reasoning tasks, yet their internal safety mechanisms remain opaque and poorly controlled. In this work, we present a comprehensive framework for diagnosing and repairing unsafe channels within LVLMs (CARE). We first perform causal mediation analysis to identify neurons and layers that are causally responsible for unsafe behaviors. Based on these findings, we introduce a dual-modal safety subspace projection method that learns generalized safety subspaces for both visual and textual modalities through generalized eigen-decomposition between benign and malicious activations. During inference, activations are dynamically projected toward these safety subspaces via a hybrid fusion mechanism that adaptively balances visual and textual corrections, effectively suppressing unsafe features while preserving semantic fidelity. Extensive experiments on multiple safety benchmarks demonstrate that our causal-subspace repair framework significantly enhances safety robustness without degrading general multimodal capabilities, outperforming prior activation steering and alignment-based baselines. Additionally, our method exhibits good transferability, defending against unseen attacks.

Panoptic occupancy prediction aims to jointly infer voxel-wise semantics and instance identities within a unified 3D scene representation. Nevertheless, progress in this field remains constrained by the absence of high-quality 3D mesh resources, instance-level annotations, and physically consistent occupancy datasets. Existing benchmarks typically provide incomplete and low-resolution geometry without instance-level annotations, limiting the development of models capable of achieving precise geometric reconstruction, reliable occlusion reasoning, and holistic 3D understanding. To address these challenges, this paper presents an instance-centric benchmark for the 3D panoptic occupancy prediction task. Specifically, we introduce ADMesh, the first unified 3D mesh library tailored for autonomous driving, which integrates over 15K high-quality 3D models with diverse textures and rich semantic annotations. Building upon ADMesh, we further construct CarlaOcc, a large-scale, physically consistent panoptic occupancy dataset generated using the CARLA simulator. This dataset contains over 100K frames with fine-grained, instance-level occupancy ground truth at voxel resolutions as fine as 0.05 m. Furthermore, standardized evaluation metrics are introduced to quantify the quality of existing occupancy datasets. Finally, a systematic benchmark of representative models is established on the proposed dataset, which provides a unified platform for fair comparison and reproducible research in the field of 3D panoptic perception. Code and dataset are available at https://mias.group/CarlaOcc.

This study explores the extent to which deep learning models can predict groove and its related perceptual dimensions directly from audio signals. We critically examine the effectiveness of seven state-of-the-art deep learning models in predicting groove ratings and responses to groove-related queries through the extraction of audio embeddings. Additionally, we compare these predictions with traditional handcrafted audio features. To better understand the underlying mechanics, we extend this methodology to analyze predictions based on source-separated instruments, thereby isolating the contributions of individual musical elements. Our analysis reveals a clear separation of groove characteristics driven by the underlying musical style of the tracks (funk, pop, and rock). These findings indicate that deep audio representations can successfully encode complex, style-dependent groove components that traditional features often miss. Ultimately, this work highlights the capacity of advanced deep learning models to capture the multifaceted concept of groove, demonstrating the strong potential of representation learning to advance predictive Music Information Retrieval methodologies.

We introduce AFSTRESS, the first multi-label corpus of self-reported stress narratives in Dari (Eastern Persian), comprising 737 responses collected from Afghan individuals during an ongoing humanitarian crisis. Participants describe experienced stress and select emotion and stressor labels via Dari checklists. The dataset enables analysis at three levels: computational (multi-label classification), social (structural drivers and gender disparities), and psychological (learned helplessness, chronic stress, and emotional cascade patterns). It includes 12 binary labels (5 emotions, 7 stressors), with high label cardinality (5.54) and density (0.462), reflecting complex, multi-dimensional stress. Structural stressors dominate: uncertain future (62.6 percent) and education closure (60.0 percent) exceed emotional states, indicating stress is primarily structurally driven. The strongest co-occurrence is between hopelessness and uncertain future (J = 0.388). Baseline experiments show that character TF-IDF with Linear SVM achieves Micro-F1 = 0.663 and Macro-F1 = 0.651, outperforming ParsBERT and XLM-RoBERTa, while threshold tuning improves Micro-F1 by 10.3 points. AFSTRESS provides the first Dari resource for computational analysis of stress and well-being in a crisis-affected population.

We present NimbusGS, a unified framework for reconstructing high-quality 3D scenes from degraded multi-view inputs captured under diverse and mixed adverse weather conditions. Unlike existing methods that target specific weather types, NimbusGS addresses the broader challenge of generalization by modeling the dual nature of weather: a continuous, view-consistent medium that attenuates light, and dynamic, view-dependent particles that cause scattering and occlusion. To capture this structure, we decompose degradations into a global transmission field and per-view particulate residuals. The transmission field represents static atmospheric effects shared across views, while the residuals model transient disturbances unique to each input. To enable stable geometry learning under severe visibility degradation, we introduce a geometry-guided gradient scaling mechanism that mitigates gradient imbalance during the self-supervised optimization of 3D Gaussian representations. This physically grounded formulation allows NimbusGS to disentangle complex degradations while preserving scene structure, yielding superior geometry reconstruction and outperforming task-specific methods across diverse and challenging weather conditions. Code is available at https://github.com/lyy-ovo/NimbusGS.

Curriculum learning (CL), motivated by the intuition that learning in increasing order of difficulty should ease generalization, is commonly adopted both in pre-training and post-training of large language models (LLMs). The intuition of CL is particularly compelling for compositional reasoning, where complex problems are built from elementary inference rules; however, the actual impact of CL on such tasks remains largely underexplored. We present a systematic empirical study of CL for post-training of LLMs, using synthetic arithmetic and logical benchmarks where difficulty is characterized by reasoning complexity rather than surface-level proxies. Surprisingly, across multiple model families and curriculum schedules, we find no robust advantage in difficulty-based sequencing over standard random sampling in either accuracy or response length. These findings persist across both supervised fine-tuning (SFT) and reinforcement learning (RL) methods. Our study suggests that, in the context of deductive reasoning, the specific ordering of training examples plays a negligible role in achieving compositional generalization, challenging the practical utility of curriculum-based post-training.

Music Structure Analysis (MSA) aims to uncover the high-level organization of musical pieces. State-of-the-art methods are often based on supervised deep learning, but these methods are bottlenecked by the need for heavily annotated data and inherent structural ambiguities. In this paper, we propose an unsupervised evaluation of nine open-source, generic pre-trained deep audio models, on MSA. For each model, we extract barwise embeddings and segment them using three unsupervised segmentation algorithms (Foote's checkerboard kernels, spectral clustering, and Correlation Block-Matching (CBM)), focusing exclusively on boundary retrieval. Our results demonstrate that modern, generic deep embeddings generally outperform traditional spectrogram-based baselines, but not systematically. Furthermore, our unsupervised boundary estimation methodology generally yields stronger performance than recent linear probing baselines. Among the evaluated techniques, the CBM algorithm consistently emerges as the most effective downstream segmentation method. Finally, we highlight the artificial inflation of standard evaluation metrics and advocate for the systematic adoption of ``trimming'', or even ``double trimming'' annotations to establish more rigorous MSA evaluation standards.

We present LightMover, a framework for controllable light manipulation in single images that leverages video diffusion priors to produce physically plausible illumination changes without re-rendering the scene. We formulate light editing as a sequence-to-sequence prediction problem in visual token space: given an image and light-control tokens, the model adjusts light position, color, and intensity together with resulting reflections, shadows, and falloff from a single view. This unified treatment of spatial (movement) and appearance (color, intensity) controls improves both manipulation and illumination understanding. We further introduce an adaptive token-pruning mechanism that preserves spatially informative tokens while compactly encoding non-spatial attributes, reducing control sequence length by 41% while maintaining editing fidelity. To train our framework, we construct a scalable rendering pipeline that generates large numbers of image pairs across varied light positions, colors, and intensities while keeping the scene content consistent with the original image. LightMover enables precise, independent control over light position, color, and intensity, and achieves high PSNR and strong semantic consistency (DINO, CLIP) across different tasks.

Vehicle overtaking is one of the most complex driving maneuvers for autonomous vehicles. To achieve optimal autonomous overtaking, driving systems rely on multiple sensors that enable safe trajectory optimization and overtaking efficiency. This paper presents a reinforcement learning mechanism for multi-agent autonomous racing environments, enabling overtaking trajectory optimization, based on LiDAR and depth image data. The developed reinforcement learning agent uses pre-generated raceline data and sensor inputs to compute the steering angle and linear velocity for optimal overtaking. The system uses LiDAR with a 2D detection algorithm and a depth camera with YOLO-based object detection to identify the vehicle to be overtaken and its pose. The LiDAR and the depth camera detection data are fused using a UKF for improved opponent pose estimation and trajectory optimization for overtaking in racing scenarios. The results show that the proposed algorithm successfully performs overtaking maneuvers in both simulation and real-world experiments, with pose estimation RMSE of (0.0816, 0.0531) m in (x, y).

Generalized few-shot semantic segmentation (GFSS) is fundamentally limited by the coverage of novel-class appearances under scarce annotations. While diffusion models can synthesize novel-class images at scale, practical gains are often hindered by insufficient coverage and noisy supervision when masks are unavailable or unreliable. We propose Syn4Seg, a generation-enhanced GFSS framework designed to expand novel-class coverage while improving pseudo-label quality. Syn4Seg first maximizes prompt-space coverage by constructing an embedding-deduplicated prompt bank for each novel class, yielding diverse yet class-consistent synthetic images. It then performs support-guided pseudo-label estimation via a two-stage refinement that i) filters low-consistency regions to obtain high-precision seeds and ii) relabels uncertain pixels with image-adaptive prototypes that combine global (support) and local (image) statistics. Finally, we refine only boundary-band and unlabeled pixels using a constrained SAM-based update to improve contour fidelity without overwriting high-confidence interiors. Extensive experiments on PASCAL-$5^i$ and COCO-$20^i$ demonstrate consistent improvements in both 1-shot and 5-shot settings, highlighting synthetic data as a scalable path for GFSS with reliable masks and precise boundaries.

Large Language Models (LLMs) are strong decoders for Serialized Output Training (SOT) in two-talker Automatic Speech Recognition (ASR), yet their performance degrades substantially in challenging conditions such as three-talker mixtures. A key limitation is that current systems inject acoustic evidence only through a projected prefix, which can be lossy and imperfectly aligned with the LLM input space, providing insufficient fine-grained grounding during decoding. Addressing this limitation is crucial for robust multi-talker ASR, especially in three-talker mixtures. This paper improves LLM-based multi-talker ASR by explicitly injecting talker-aware acoustic evidence into the decoder. We first revisit Connectionist Temporal Classification (CTC)-derived prefix prompting and compare three variants with increasing acoustic content. The CTC information is obtained using the serialized CTC proposed in our previous works. While acoustic-enriched prompts outperform the SOT-only baseline, prefix-only conditioning remains inadequate for three-talker mixtures. We therefore propose a lightweight gated residual cross-attention adapter and design a two-stage acoustic adaptation framework based on low-rank updates (LoRA). In Stage 1, we insert gated cross-attention adapters after the self-attention sub-layer to stably inject acoustic embeddings as external memory. In Stage 2, we refine both the cross-attention adapters and the pretrained LLM's self-attention projections using parameter-efficient LoRA, improving robustness for large backbones under limited data; the learned updates are merged into the base weights for inference. Experiments on Libri2Mix/Libri3Mix under clean and noisy conditions show consistent gains, with particularly large improvements in three-talker settings.

Multimodal Chain-of-Thought (MCoT) models have demonstrated impressive capability in complex visual reasoning tasks. Unfortunately, recent studies reveal that they suffer from severe hallucination problems due to diminished visual attention during the generation process. However, visual attention decay is a well-studied problem in Large Vision-Language Models (LVLMs). Considering the fundamental differences in reasoning processes between MCoT models and traditional LVLMs, we raise a basic question: Whether MCoT models have unique causes of hallucinations? To answer this question, we systematically investigate the hallucination patterns of MCoT models and find that fabricated texts are primarily generated in associative reasoning steps, which we term divergent thinking. Leveraging these insights, we introduce a simple yet effective strategy that can effectively localize divergent thinking steps and intervene in the decoding process to mitigate hallucinations. Extensive experiments show that our method outperforms existing methods by a large margin. More importantly, our proposed method can be conveniently integrated with other hallucination mitigation methods and further boost their performance. The code is publicly available at https://github.com/ASGO-MM/MCoT-hallucination.

Text-to-image models such as Stable Diffusion have achieved unprecedented levels of high-fidelity visual synthesis. As these models advance, personalization of generative models -- commonly facilitated through Low-Rank Adaptation (LoRA) with a dedicated trigger token -- has become a significant area of research. Previous works have naively assumed that fine-tuning with a single trigger token to represent new concepts. However, this often results in poor controllability, where the trigger token alone fails to reliably evoke the intended concept. We attribute this issue to the frequent co-occurrence of the trigger token with the surrounding context during fine-tuning, which entangles their representations and compromises the token's semantic distinctiveness. To disentangle this, we propose Frequency-Aware Dropout (FAD) -- a novel regularization technique that improves prompt controllability without adding new parameters. FAD consists of two key components: co-occurrence analysis and curriculum-inspired scheduling. Qualitative and quantitative analyses across token-based diffusion models (SD~1.5 and SDXL) and natural language--driven backbones (FLUX and Qwen-Image) demonstrate consistent gains in prompt fidelity, stylistic precision, and user-perceived quality. Our method provides a simple yet effective dropout strategy that enhances controllability and personalization in text-to-image generation. Notably, it achieves these improvements without introducing additional parameters or architectural modifications, making it readily applicable to existing models with minimal computational overhead.

Progress in object detection benchmarks is stagnating. It is limited not by architectures but by the inability to distinguish model improvements from label noise. To restore trust in benchmarking the field requires rigorous quantification of annotation consistency to ensure the reliability of evaluation data. However, standard statistical metrics fail to handle the instance correspondence problem inherent to vision tasks. Furthermore, validating new agreement metrics remains circular because no objective ground truth for agreement exists. This forces reliance on unverifiable heuristics. We propose K$α$LOS (KALOS), a unified meta-algorithm that generalizes the "Localization First" principle to standardize dataset quality evaluation. By resolving spatial correspondence before assessing agreement, our framework transforms complex spatio-categorical problems into nominal reliability matrices. Unlike prior heuristic implementations, K$α$LOS employs a principled, data-driven configuration; by statistically calibrating the localization parameters to the inherent agreement distribution, it generalizes to diverse tasks ranging from bounding boxes to volumetric segmentation or pose estimation. This standardization enables granular diagnostics beyond a single score. These include annotator vitality, collaboration clustering, and localization sensitivity. To validate this approach, we introduce a novel and empirically derived noise generator. Where prior validations relied on uniform error assumptions, our controllable testbed models complex and non-isotropic human variability. This provides evidence of the metric's properties and establishes K$α$LOS as a robust standard for distinguishing signal from noise in modern computer vision benchmarks.

With the rapid advancement of underwater net-working and multi-agent coordination technologies, autonomous underwater vehicle (AUV) ad-hoc networks have emerged as a pivotal framework for executing complex maritime missions, such as multi-target tracking. However, traditional data-centricarchitectures struggle to maintain operational consistency under highly dynamic topological fluctuations and severely constrained acoustic communication bandwidth. This article proposes a scene-adaptive embodied intelligence (EI) architecture for multi-AUV ad-hoc networks, which re-envisions AUVs as embodied entities by integrating perception, decision-making, and physical execution into a unified cognitive loop. To materialize the functional interaction between these layers, we define a beacon-based communication and control model that treats the communication link as a dynamic constraint-aware channel, effectively bridging the gap between high-level policy inference and decentralized physical actuation. Specifically, the proposed architecture employs a three-layer functional framework and introduces a Scene-Adaptive MARL (SA-MARL) algorithm featuring a dual-path critic mechanism. By integrating a scene critic network and a general critic network through a weight-based dynamic fusion process, SA-MARL effectively decouples specialized tracking tasks from global safety constraints, facilitating autonomous policy evolution. Evaluation results demonstrate that the proposedscheme significantly accelerates policy convergence and achieves superior tracking accuracy compared to mainstream MARL approaches, maintaining robust performance even under intense environmental interference and fluid topological shifts.

Existing omni-modal benchmarks attempt to measure modality-specific contributions, but their measurements are confounded: naturally co-occurring modalities carry correlated yet unequal information, making it unclear whether results reflect true modality reliance or information asymmetry. We introduce OMD-Bench, where all modalities are initially congruent - each presenting the same anchor, an object or event independently perceivable through video, audio, and text - which we then systematically corrupt to isolate each modality's contribution. We also evaluate calibrated abstention: whether models appropriately refrain from answering when evidence is conflicting. The benchmark comprises 4,080 instances spanning 27 anchors across eight corruption conditions. Evaluating ten omni-modal models under zero-shot and chain-of-thought prompting, we find that models over-abstain when two modalities are corrupted yet under-abstain severely when all three are, while maintaining high confidence (~60-100%) even under full corruption. Chain-of-thought prompting improves abstention alignment with human judgment but amplifies overconfidence rather than mitigating it. OMD-Bench provides a diagnostic benchmark for diagnosing modality reliance, robustness to cross-modal inconsistency, and uncertainty calibration in omni-modal systems.

Accurate prediction of lithium-ion battery remaining useful life (RUL) is essential for reliable health monitoring and data-driven analysis of battery degradation. However, the robustness and generalization capabilities of existing RUL prediction models are significantly challenged by complex operating conditions and limited data availability. To address these limitations, this study proposes a hybrid deep learning model, CDFormer, which integrates convolutional neural networks, deep residual shrinkage networks, and Transformer encoders extract multiscale temporal features from battery measurement signals, including voltage, current, and capacity. This architecture enables the joint modeling of local and global degradation dynamics, effectively improving the accuracy of RUL prediction.To enhance predictive reliability, a composite temporal data augmentation strategy is proposed, incorporating Gaussian noise, time warping, and time resampling, explicitly accounting for measurement noise and variability. CDFormer is evaluated on two real-world datasets, with experimental results demonstrating its consistent superiority over conventional recurrent neural network-based and Transformer-based baselines across key metrics. By improving the reliability and predictive performance of RUL prediction from measurement data, CDFormer provides accurate and reliable forecasts, supporting effective battery health monitoring and data-driven maintenance strategies.

Text-to-motion generation has advanced with diffusion- and flow-based generative models, yet supervised pretraining remains insufficient to align models with high-level objectives such as semantic consistency, realism, and human preference. Existing post-training methods have key limitations: they (1) target a specific motion representation, such as joints, (2) optimize a particular aspect, such as text-motion alignment, and may compromise other factors; and (3) incur substantial computational overhead, data dependence, and coarse-grained optimization. We present a reinforcement fine-tuning framework that comprises a heterogeneous-representation, multi-dimensional reward model, MotionReward, and an efficient, fine-grained fine-tuning method, EasyTune. To obtain a unified semantics representation, MotionReward maps heterogeneous motions into a shared semantic space anchored by text, enabling multidimensional reward learning; Self-refinement Preference Learning further enhances semantics without additional annotations. For efficient and effective fine-tuning, we identify the recursive gradient dependence across denoising steps as the key bottleneck, and propose EasyTune, which optimizes step-wise rather than over the full trajectory, yielding dense, fine-grained, and memory-efficient updates. Extensive experiments validate the effectiveness of our framework, achieving FID 0.132 at 22.10 GB peak memory for MLD model and saving up to 15.22 GB over DRaFT. It reduces FID by 22.9% on joint-based ACMDM, and achieves a 12.6% R-Precision gain and 23.3% FID improvement on rotation-based HY Motion. Our project page with code is publicly available.

Multimodal large language models (MLLMs) have recently shown strong performance in visual understanding, yet they often lack temporal awareness, particularly in egocentric settings where reasoning depends on the correct ordering and evolution of events. This deficiency stems in part from training objectives that fail to explicitly reward temporal reasoning and instead rely on frame-level spatial shortcuts. To address this limitation, we propose Temporal Global Policy Optimization (TGPO), a reinforcement learning with verifiable rewards (RLVR) algorithm designed to incentivize temporal awareness in MLLMs. TGPO contrasts model outputs generated from temporally ordered versus shuffled video frames to derive calibrated, globally normalized reward signals that explicitly favor temporally coherent reasoning. Integrated with GRPO and GSPO, TGPO supports cold-start RL training and effectively suppresses spatial shortcut behaviors learned by existing MLLMs. Experiments across five egocentric video benchmarks demonstrate that TGPO consistently improves temporal grounding and causal coherence, outperforming prior RL-based video reasoning approaches. Our results suggest that TGPO offers a simple and scalable pathway toward temporally robust MLLMs for egocentric video understanding.