Synthesizing human motion has advanced rapidly, yet realistic hand motion and bimanual interaction remain underexplored. Whole-body models often miss the fine-grained cues that drive dexterous behavior, finger articulation, contact timing, and inter-hand coordination, and existing resources lack high-fidelity bimanual sequences that capture nuanced finger dynamics and collaboration. To fill this gap, we present HandX, a unified foundation spanning data, annotation, and evaluation. We consolidate and filter existing datasets for quality, and collect a new motion-capture dataset targeting underrepresented bimanual interactions with detailed finger dynamics. For scalable annotation, we introduce a decoupled strategy that extracts representative motion features, e.g., contact events and finger flexion, and then leverages reasoning from large language models to produce fine-grained, semantically rich descriptions aligned with these features. Building on the resulting data and annotations, we benchmark diffusion and autoregressive models with versatile conditioning modes. Experiments demonstrate high-quality dexterous motion generation, supported by our newly proposed hand-focused metrics. We further observe clear scaling trends: larger models trained on larger, higher-quality datasets produce more semantically coherent bimanual motion. Our dataset is released to support future research.

NVFP4 has grown increasingly popular as a 4-bit format for quantizing large language models due to its hardware support and its ability to retain useful information with relatively few bits per parameter. However, the format is not without limitations: recent work has shown that NVFP4 suffers from its error distribution, resulting in large amounts of quantization error on near-maximal values in each group of 16 values. In this work, we leverage this insight to design new Adaptive Block-Scaled Data Types that can adapt to the distribution of their input values. For four-bit quantization, our proposed IF4 (Int/Float 4) data type selects between FP4 and INT4 representations for each group of 16 values, which are then scaled by an E4M3 scale factor as is done with NVFP4. The selected data type is denoted using the scale factor's sign bit, which is currently unused in NVFP4, and we apply the same insight to design formats for other bit-widths, including IF3 and IF6. When used to quantize language models, we find that IF4 outperforms existing 4-bit block-scaled formats, achieving lower loss during quantized training and achieving higher accuracy on many tasks in post-training quantization. We additionally design and evaluate an IF4 Multiply-Accumulate (MAC) unit to demonstrate that IF4 can be implemented efficiently in next-generation hardware accelerators. Our code is available at https://github.com/mit-han-lab/fouroversix.

Acquiring labeled datasets for 3D human mesh estimation is challenging due to depth ambiguities and the inherent difficulty of annotating 3D geometry from monocular images. Existing datasets are either real, with manually annotated 3D geometry and limited scale, or synthetic, rendered from 3D engines that provide precise labels but suffer from limited photorealism, low diversity, and high production costs. In this work, we explore a third path: generated data. We introduce PoseDreamer, a novel pipeline that leverages diffusion models to generate large-scale synthetic datasets with 3D mesh annotations. Our approach combines controllable image generation with Direct Preference Optimization for control alignment, curriculum-based hard sample mining, and multi-stage quality filtering. Together, these components naturally maintain correspondence between 3D labels and generated images, while prioritizing challenging samples to maximize dataset utility. Using PoseDreamer, we generate more than 500,000 high-quality synthetic samples, achieving a 76% improvement in image-quality metrics compared to rendering-based datasets. Models trained on PoseDreamer achieve performance comparable to or superior to those trained on real-world and traditional synthetic datasets. In addition, combining PoseDreamer with synthetic datasets results in better performance than combining real-world and synthetic datasets, demonstrating the complementary nature of our dataset. We will release the full dataset and generation code.

Accurate 3D understanding of human hands and objects during manipulation remains a significant challenge for egocentric computer vision. Existing hand-object interaction datasets are predominantly captured in controlled studio settings, which limits both environmental diversity and the ability of models trained on such data to generalize to real-world scenarios. To address this challenge, we introduce a novel marker-less multi-camera system that allows for nearly unconstrained mobility in genuinely in-the-wild conditions, while still having the ability to generate precise 3D annotations of hands and objects. The capture system consists of a lightweight, back-mounted, multi-camera rig that is synchronized and calibrated with a user-worn VR headset. For 3D ground-truth annotation of hands and objects, we develop an ego-exo tracking pipeline and rigorously evaluate its quality. Finally, we present SHOW3D, the first large-scale dataset with 3D annotations that show hands interacting with objects in diverse real-world environments, including outdoor settings. Our approach significantly reduces the fundamental trade-off between environmental realism and accuracy of 3D annotations, which we validate with experiments on several downstream tasks. show3d-dataset.github.io

Tremendous progress in visual scene generation now turns a single image into an explorable 3D world, yet immersion remains incomplete without sound. We introduce Image2AVScene, the task of generating a 3D audio-visual scene from a single image, and present SonoWorld, the first framework to tackle this challenge. From one image, our pipeline outpaints a 360° panorama, lifts it into a navigable 3D scene, places language-guided sound anchors, and renders ambisonics for point, areal, and ambient sources, yielding spatial audio aligned with scene geometry and semantics. Quantitative evaluations on a newly curated real-world dataset and a controlled user study confirm the effectiveness of our approach. Beyond free-viewpoint audio-visual rendering, we also demonstrate applications to one-shot acoustic learning and audio-visual spatial source separation. Project website: https://humathe.github.io/sonoworld/

The linear representation hypothesis states that neural network activations encode high-level concepts as linear mixtures. However, under superposition, this encoding is a projection from a higher-dimensional concept space into a lower-dimensional activation space, and a linear decision boundary in the concept space need not remain linear after projection. In this setting, classical sparse coding methods with per-sample iterative inference leverage compressed sensing guarantees to recover latent factors. Sparse autoencoders (SAEs), on the other hand, amortise sparse inference into a fixed encoder, introducing a systematic gap. We show this amortisation gap persists across training set sizes, latent dimensions, and sparsity levels, causing SAEs to fail under out-of-distribution (OOD) compositional shifts. Through controlled experiments that decompose the failure, we identify dictionary learning -- not the inference procedure -- as the binding constraint: SAE-learned dictionaries point in substantially wrong directions, and replacing the encoder with per-sample FISTA on the same dictionary does not close the gap. An oracle baseline proves the problem is solvable with a good dictionary at all scales tested. Our results reframe the SAE failure as a dictionary learning challenge, not an amortisation problem, and point to scalable dictionary learning as the key open problem for sparse inference under superposition.

Vision-Language-Action (VLA) models improve action generation by conditioning policies on rich vision-language information. However, current auto-regressive policies are constrained by three bottlenecks: (1) architectural bias drives models to overlook visual details, (2) an excessive number of visual tokens makes attention difficult to focus on the correct regions, and (3) task-irrelevant visual information introduces substantial noise - together severely impairing the quality of action. In this paper, we investigate how to effectively utilize different visual representations for action generation. To this end, we first empirically validate the above issues and show that VLA performance is primarily limited by how visual information is utilized, rather than by the quality of visual representations. Based on these insights, we introduce FocusVLA, a novel paradigm that directs the model's attention to task-relevant visual regions to effectively bridge vision to action. Specifically, we first propose Modality Cascaded Attention to eliminate shortcut pathways, thereby compelling VLA models to rely on task-relevant visual details for action generation. Furthermore, we propose Focus Attention, which dynamically selects task-relevant visual patches to control information quantity while explicitly modulating their influence to suppress task-irrelevant noise. Extensive experiments on both simulated and real-world robotic benchmarks demonstrate that FocusVLA not only effectively leverages visual details to perform dexterous manipulations, but also substantially improves performance and accelerates convergence across a variety of tasks.

In transfer learning, the learner leverages auxiliary data to improve generalization on a main task. However, the precise theoretical understanding of when and how auxiliary data help remains incomplete. We provide new insights on this issue in two canonical linear settings: ordinary least squares regression and under-parameterized linear neural networks. For linear regression, we derive exact closed-form expressions for the expected generalization error with bias-variance decomposition, yielding necessary and sufficient conditions for auxiliary tasks to improve generalization on the main task. We also derive globally optimal task weights as outputs of solvable optimization programs, with consistency guarantees for empirical estimates. For linear neural networks with shared representations of width $q \leq K$, where $K$ is the number of auxiliary tasks, we derive a non-asymptotic expectation bound on the generalization error, yielding the first non-vacuous sufficient condition for beneficial auxiliary learning in this setting, as well as principled directions for task weight curation. We achieve this by proving a new column-wise low-rank perturbation bound for random matrices, which improves upon existing bounds by preserving fine-grained column structures. Our results are verified on synthetic data simulated with controlled parameters.

Robotic mapping systems typically approach building metric-semantic scene representations from the robot's own sensors and cameras. However, these "first person" maps inherit the robot's own limitations due to its embodiment or skillset, which may leave many aspects of the environment unexplored. For example, the robot might not be able to open drawers or access wall cabinets. In this sense, the map representation is not as complete, and requires a more capable robot to fill in the gaps. We narrow these blind spots in current methods by leveraging egocentric data captured as a human naturally explores a scene wearing Project Aria glasses, giving a way to directly transfer knowledge about articulation from the human to any deployable robot. We demonstrate that, by using simple heuristics, we can leverage egocentric data to recover models of articulate object parts, with quality comparable to those of state-of-the-art methods based on other input modalities. We also show how to integrate these models into 3D scene graph representations, leading to a better understanding of object dynamics and object-container relationships. We finally demonstrate that these articulated 3D scene graphs enhance a robot's ability to perform mobile manipulation tasks, showcasing an application where a Boston Dynamics Spot is tasked with retrieving concealed target items, given only the 3D scene graph as input.

Flow-GRPO successfully applies reinforcement learning to flow models, but uses uniform credit assignment across all steps. This ignores the temporal structure of diffusion generation: early steps determine composition and content (low-frequency structure), while late steps resolve details and textures (high-frequency details). Moreover, assigning uniform credit based solely on the final image can inadvertently reward suboptimal intermediate steps, especially when errors are corrected later in the diffusion trajectory. We propose Stepwise-Flow-GRPO, which assigns credit based on each step's reward improvement. By leveraging Tweedie's formula to obtain intermediate reward estimates and introducing gain-based advantages, our method achieves superior sample efficiency and faster convergence. We also introduce a DDIM-inspired SDE that improves reward quality while preserving stochasticity for policy gradients.

Diffusion models have made significant progress in both text-to-image (T2I) generation and text-guided image editing. However, these models are typically built with billions of parameters, leading to high latency and increased deployment challenges. While on-device diffusion models improve efficiency, they largely focus on T2I generation and lack support for image editing. In this paper, we propose DreamLite, a compact unified on-device diffusion model (0.39B) that supports both T2I generation and text-guided image editing within a single network. DreamLite is built on a pruned mobile U-Net backbone and unifies conditioning through in-context spatial concatenation in the latent space. It concatenates images horizontally as input, using a (target | blank) configuration for generation tasks and (target | source) for editing tasks. To stabilize the training of this compact model, we introduce a task-progressive joint pretraining strategy that sequentially targets T2I, editing, and joint tasks. After high-quality SFT and reinforcement learning, DreamLite achieves GenEval (0.72) for image generation and ImgEdit (4.11) for image editing, outperforming existing on-device models and remaining competitive with several server-side models. By employing step distillation, we further reduce denoising processing to just 4 steps, enabling our DreamLite could generate or edit a 1024 x 1024 image in less than 1s on a Xiaomi 14 smartphone. To the best of our knowledge, DreamLite is the first unified on-device diffusion model that supports both image generation and image editing.

This paper presents the design and evaluation of a GPU-accelerated inference pipeline for transformer models using NVIDIA TensorRT with mixed-precision optimization. We evaluate BERT-base (110M parameters) and GPT-2 (124M parameters) across batch sizes from 1 to 32 and sequence lengths from 32 to 512. The system achieves up to 64.4x speedup over CPU baselines, sub-10 ms latency for single-sample inference, and a 63 percent reduction in memory usage. We introduce a hybrid precision strategy that preserves FP32 for numerically sensitive operations such as softmax and layer normalization, while applying FP16 to linear layers. This approach maintains high numerical fidelity (cosine similarity >= 0.9998 relative to baseline outputs) and eliminates NaN instability. The pipeline is implemented as a modular, containerized system that enables reproducible benchmarking across more than 360 configurations. Cross-GPU validation on an NVIDIA A100 shows consistent FP16 speedup ratios between 1.84x and 2.00x, along with stable numerical behavior. Downstream evaluation on SST-2 demonstrates no accuracy degradation under hybrid precision. Validation on WikiText-2 shows that random inputs underestimate NaN instability by up to 6x for full FP16, while confirming the robustness of the hybrid approach (0.0 percent NaN, cosine similarity >= 0.9998). These results provide a detailed characterization of performance and accuracy trade-offs across GPU architectures and offer practical guidance for deploying transformer models in latency-critical environments.

Epilepsy and psychogenic non-epileptic seizures often present with similar seizure-like manifestations but require fundamentally different management strategies. Misdiagnosis is common and can lead to prolonged diagnostic delays, unnecessary treatments, and substantial patient morbidity. Although prolonged video-electroencephalography is the diagnostic gold standard, its high cost and limited accessibility hinder timely diagnosis. Here, we developed a low-cost, effective approach, EpiScreen, for early epilepsy detection by utilizing routinely collected clinical notes from electronic health records. Through fine-tuning large language models on labeled notes, EpiScreen achieved an AUC of up to 0.875 on the MIMIC-IV dataset and 0.980 on a private cohort of the University of Minnesota. In a clinician-AI collaboration setting, EpiScreen-assisted neurologists outperformed unaided experts by up to 10.9%. Overall, this study demonstrates that EpiScreen supports early epilepsy detection, facilitating timely and cost-effective screening that may reduce diagnostic delays and avoid unnecessary interventions, particularly in resource-limited regions.

Long video understanding remains challenging for Multi-modal Large Language Models (MLLMs) due to high memory costs and context-length limits. Prior approaches mitigate this by scoring and selecting frames/tokens within short clips, but they lack a principled mechanism to (i) compare relevance across distant video clips and (ii) stop processing once sufficient evidence has been gathered. We propose AdaptToken, a training-free framework that turns an MLLM's self-uncertainty into a global control signal for long-video token selection. AdaptToken splits a video into groups, extracts cross-modal attention to rank tokens within each group, and uses the model's response entropy to estimate each group's prompt relevance. This entropy signal enables a global token budget allocation across groups and further supports early stopping (AdaptToken-Lite), skipping the remaining groups when the model becomes sufficiently certain. Across four long-video benchmarks (VideoMME, LongVideoBench, LVBench, and MLVU) and multiple base MLLMs (7B-72B), AdaptToken consistently improves accuracy (e.g., +6.7 on average over Qwen2.5-VL 7B) and continues to benefit from extremely long inputs (up to 10K frames), while AdaptToken-Lite reduces inference time by about half with comparable performance. Project page: https://haozheqi.github.io/adapt-token

Open-Vocabulary Object Navigation (OVON) requires an embodied agent to locate a language-specified target in unknown environments. Existing zero-shot methods often reason over dense frontier points under incomplete observations, causing unstable route selection, repeated revisits, and unnecessary action overhead. We present DRIVE-Nav, a structured framework that organizes exploration around persistent directions rather than raw frontiers. By inspecting encountered directions more completely and restricting subsequent decisions to still-relevant directions within a forward 240 degree view range, DRIVE-Nav reduces redundant revisits and improves path efficiency. The framework extracts and tracks directional candidates from weighted Fast Marching Method (FMM) paths, maintains representative views for semantic inspection, and combines vision-language-guided prompt enrichment with cross-frame verification to improve grounding reliability. Experiments on HM3D-OVON, HM3Dv2, and MP3D demonstrate strong overall performance and consistent efficiency gains. On HM3D-OVON, DRIVE-Nav achieves 50.2% SR and 32.6% SPL, improving the previous best method by 1.9% SR and 5.6% SPL. It also delivers the best SPL on HM3Dv2 and MP3D and transfers to a physical humanoid robot. Real-world deployment also demonstrates its effectiveness. Project page: https://coolmaoguo.github.io/drive-nav-page/

Stable and reliable supplies of rare-Earth minerals and critical raw materials (CRMs) are essential for the development of the European Union. Since a large share of these materials enters the Union from outside, a valid option for CRMs supply resilience and security is to recover them from end-of-use products. Hence, in this paper we present the preliminary phases of the development of real-time visual detection of PC desktop components running on edge devices to simultaneously achieve two goals. The first goal is to perform robotic disassembly of PC desktops, where the adaptivity of learning-based vision can enable the processing of items with unpredictable geometry caused by accidental damages. We also discuss the robot end-effectors for different PC components with the object contact points derivable from neural detector bounding boxes. The second goal is to provide in an autonomous, highly-granular, and timely fashion, the data needed to perform material flow analysis (MFA) since, to date, MFA often lacks of the data needed to accurately study material stocks and flows. The second goal is achievable thanks to the recently-proposed synchromaterials, which can generate both local and wide-area (e.g., national) material mass information in a real-time and synchronized fashion.

We introduce PACE, a backpropagation-free continual test-time adaptation system that directly optimizes the affine parameters of normalization layers. Existing derivative-free approaches struggle to balance runtime efficiency with learning capacity, as they either restrict updates to input prompts or require continuous, resource-intensive adaptation regardless of domain stability. To address these limitations, PACE leverages the Covariance Matrix Adaptation Evolution Strategy with the Fastfood projection to optimize high-dimensional affine parameters within a low-dimensional subspace, leading to superior adaptive performance. Furthermore, we enhance the runtime efficiency by incorporating an adaptation stopping criterion and a domain-specialized vector bank to eliminate redundant computation. Our framework achieves state-of-the-art accuracy across multiple benchmarks under continual distribution shifts, reducing runtime by over 50% compared to existing backpropagation-free methods.

Motion planning in dynamic environments, such as robotic warehouses, requires fast adaptation to frequent changes in obstacle poses. Traditional roadmap-based methods struggle in such settings, relying on inefficient reconstruction of a roadmap or expensive collision detection to update the existing roadmap. To address these challenges we introduce the Red-Green-Gray (RGG) framework, a method that builds on SPITE to quickly classify roadmap edges as invalid (red), valid (green), or uncertain (gray) using conservative geometric approximations. Serial RGG provides a high-performance variant leveraging batch serialization and vectorization to enable efficient GPU acceleration. Empirical results demonstrate that while RGG effectively reduces the number of unknown edges requiring full validation, SerRGG achieves a 2-9x speedup compared to the sequential implementation. This combination of geometric precision and computational speed makes SerRGG highly effective for time-critical robotic applications.

Backdoor attacks pose a significant threat to the integrity and reliability of Artificial Intelligence (AI) models, enabling adversaries to manipulate model behavior by injecting poisoned data with hidden triggers. These attacks can lead to severe consequences, especially in critical applications such as autonomous driving, healthcare, and finance. Detecting and mitigating backdoor attacks is crucial across the lifespan of model's phases, including pre-training, in-training, and post-training. In this paper, we propose Pre-Training Backdoor Mitigation for Federated Learning (FL-PBM), a novel defense mechanism that proactively filters poisoned data on the client side before model training in a federated learning (FL) environment. The approach consists of three stages: (1) inserting a benign trigger into the data to establish a controlled baseline, (2) applying Principal Component Analysis (PCA) to extract discriminative features and assess the separability of the data, (3) performing Gaussian Mixture Model (GMM) clustering to identify potentially malicious data samples based on their distribution in the PCA-transformed space, and (4) applying a targeted blurring technique to disrupt potential backdoor triggers. Together, these steps ensure that suspicious data is detected early and sanitized effectively, thereby minimizing the influence of backdoor triggers on the global model. Experimental evaluations on image-based datasets demonstrate that FL-PBM reduces attack success rates by up to 95% compared to baseline federated learning (FedAvg) and by 30 to 80% relative to state-of-the-art defenses (RDFL and LPSF). At the same time, it maintains over 90% clean model accuracy in most experiments, achieving better mitigation without degrading model performance.

This study investigates the effectiveness of synthetic data for sim-to-real transfer in object detection under constrained data conditions and embedded deployment requirements. Synthetic datasets were generated in NVIDIA Isaac Sim and combined with limited real-world fruit images to train YOLO-based detection models under real-only, synthetic-only, and hybrid regimes. Performance was evaluated on two test datasets: an in-domain dataset with conditions matching the training data and a domain shift dataset containing real fruit and different background conditions. Results show that models trained exclusively on real data achieve the highest accuracy, while synthetic-only models exhibit reduced performance due to a domain gap. Hybrid training strategies significantly improve performance compared to synthetic-only approaches and achieve results close to real-only training while reducing the need for manual annotation. Under domain shift conditions, all models show performance degradation, with hybrid models providing improved robustness. The trained models were successfully deployed on a Jetson Orin NX using TensorRT optimization, achieving real-time inference performance. The findings highlight that synthetic data is most effective when used in combination with real data and that deployment constraints must be considered alongside detection accuracy.

Agentic vision-language models increasingly act through extended interactions, but most evaluations still focus on single-image, single-turn correctness. We introduce AMIGO (Agentic Multi-Image Grounding Oracle Benchmark), a long-horizon benchmark for hidden-target identification over galleries of visually similar images. In AMIGO, the oracle privately selects a target image, and the model must recover it by asking a sequence of attribute-focused Yes/No/Unsure questions under a strict protocol that penalizes invalid actions with Skip. This setting stresses (i) question selection under uncertainty, (ii) consistent constraint tracking across turns, and (iii) fine-grained discrimination as evidence accumulates. AMIGO also supports controlled oracle imperfections to probe robustness and verification behavior under inconsistent feedback. We instantiate AMIGO with Guess My Preferred Dress task and report metrics covering both outcomes and interaction quality, including identification success, evidence verification, efficiency, protocol compliance, noise tolerance, and trajectory-level diagnostics.

Automated semantic understanding of dense point clouds is a prerequisite for Scan-to-BIM pipelines, digital twin construction, and as-built verification--core tasks in the digital transformation of the construction industry. Yet for industrial mechanical, electrical, and plumbing (MEP) facilities, this challenge remains largely unsolved: TLS acquisitions of water treatment plants, chiller halls, and pumping stations exhibit extreme geometric ambiguity, severe occlusion, and extreme class imbalance that architectural benchmarks (e.g., S3DIS or ScanNet) cannot adequately represent. We present Industrial3D, a terrestrial LiDAR dataset comprising 612 million expertly labelled points at 6 mm resolution from 13 water treatment facilities. At 6.6x the scale of the closest comparable MEP dataset, Industrial3D provides the largest and most demanding testbed for industrial 3D scene understanding to date. We further establish the first industrial cross-paradigm benchmark, evaluating nine representative methods across fully supervised, weakly supervised, unsupervised, and foundation model settings under a unified benchmark protocol. The best supervised method achieves 55.74% mIoU, whereas zero-shot Point-SAM reaches only 15.79%--a 39.95 percentage-point gap that quantifies the unresolved domain-transfer challenge for industrial TLS data. Systematic analysis reveals that this gap originates from a dual crisis: statistical rarity (215:1 imbalance, 3.5x more severe than S3DIS) and geometric ambiguity (tail-class points share cylindrical primitives with head-class pipes) that frequency-based re-weighting alone cannot resolve. Industrial3D, along with benchmark code and pre-trained models, will be publicly available at https://github.com/pointcloudyc/Industrial3D.

Restoring images affected by various types of degradation, such as noise, blur, or improper exposure, remains a significant challenge in computer vision. While recent trends favor complex monolithic all-in-one architectures, these models often suffer from negative task interference and require extensive joint training cycles on high-end computing clusters. In this paper, we propose a modular, task-decoupled image restoration framework based on an explicit diagnostic routing mechanism. The architecture consists of a lightweight Convolutional Neural Network (CNN) classifier that evaluates the input image and dynamically directs it to a specialized restoration node. A key advantage of this framework is its model-agnostic extensibility: while we demonstrate it using three independent U-Net experts, the system allows for the integration of any restoration method tailored to specific tasks. By isolating reconstruction paths, the framework prevents feature conflicts and significantly reduces training overhead. Unlike monolithic models, adding new degradation types in our framework only requires training a single expert and updating the router, rather than a full system retraining. Experimental results demonstrate that this computationally accessible approach offers a scalable and efficient solution for multi-degradation restoration on standard local hardware. The code will be published upon paper acceptance.

Federated Learning (FL) is witnessing wider adoption due to its ability to benefit from large amounts of scattered data while preserving privacy. However, despite its advantages, federated learning suffers from several setbacks that directly impact the accuracy, and the integrity of the global model it produces. One of these setbacks is the presence of malicious clients who actively try to harm the global model by injecting backdoor data into their local models while trying to evade detection. The objective of such clients is to trick the global model into making false predictions during inference, thereby compromising the integrity and trustworthiness of the global model on which honest stakeholders rely. To mitigate such mischievous behavior, we propose FedBBA (Federated Backdoor and Behavior Analysis). The proposed model aims to dampen the effect of such clients on the final accuracy, creating more resilient federated learning environments. We engineer our approach through the combination of (1) a reputation system to evaluate and track client behavior, (2) an incentive mechanism to reward honest participation and penalize malicious behavior, and (3) game theoretical models with projection pursuit analysis (PPA) to dynamically identify and minimize the impact of malicious clients on the global model. Extensive simulations on the German Traffic Sign Recognition Benchmark (GTSRB) and Belgium Traffic Sign Classification (BTSC) datasets demonstrate that FedBBA reduces the backdoor attack success rate to approximately 1.1%--11% across various attack scenarios, significantly outperforming state-of-the-art defenses like RDFL and RoPE, which yielded attack success rates between 23% and 76%, while maintaining high normal task accuracy (~95%--98%).

With the rapid progress of multimodal large language models (MLLMs), AI already performs well at literature retrieval and certain reasoning tasks, serving as a capable assistant to human researchers, yet it remains far from autonomous research. The fundamental reason is that current work on academic paper reasoning is largely confined to a search-oriented paradigm centered on pre-specified targets, with reasoning grounded in relevance retrieval, which struggles to support researcher-style full-document understanding, reasoning, and verification. To bridge this gap, we propose \textbf{ScholScan}, a new benchmark for academic paper reasoning. ScholScan introduces a scan-oriented task setting that asks models to read and cross-check entire papers like human researchers, scanning the document to identify consistency issues. The benchmark comprises 1,800 carefully annotated questions drawn from nine error categories across 13 natural-science domains and 715 papers, and provides detailed annotations for evidence localization and reasoning traces, together with a unified evaluation protocol. We assessed 15 models across 24 input configurations and conducted a fine-grained analysis of MLLM capabilities for all error categories. Across the board, retrieval-augmented generation (RAG) methods yield no significant improvements, revealing systematic deficiencies of current MLLMs on scan-oriented tasks and underscoring the challenge posed by ScholScan. We expect ScholScan to be the leading and representative work of the scan-oriented task paradigm.

Combining multiple audio features can improve the performance of music tagging, but common deep learning-based feature fusion methods often lack interpretability. To address this problem, we propose a Genetic Programming (GP) pipeline that automatically evolves composite features by mathematically combining base music features, thereby capturing synergistic interactions while preserving interpretability. This approach provides representational benefits similar to deep feature fusion without sacrificing interpretability. Experiments on the MTG-Jamendo and GTZAN datasets demonstrate consistent improvements compared to state-of-the-art systems across base feature sets at different abstraction levels. It should be noted that most of the performance gains are noticed within the first few hundred GP evaluations, indicating that effective feature combinations can be identified under modest search budgets. The top evolved expressions include linear, nonlinear, and conditional forms, with various low-complexity solutions at top performance aligned with parsimony pressure to prefer simpler expressions. Analyzing these composite features further reveals which interactions and transformations tend to be beneficial for tagging, offering insights that remain opaque in black-box deep models.

Psychological scale development has traditionally required extensive expert involvement, iterative revision, and large-scale pilot testing before psychometric evaluation can begin. The `AIGENIE` R package implements the AI-GENIE framework (Automatic Item Generation with Network-Integrated Evaluation), which integrates large language model (LLM) text generation with network psychometric methods to automate the early stages of this process. The package generates candidate item pools using LLMs, transforms them into high-dimensional embeddings, and applies a multi-step reduction pipeline -- Exploratory Graph Analysis (EGA), Unique Variable Analysis (UVA), and bootstrap EGA -- to produce structurally validated item pools entirely *in silico*. This tutorial introduces the package across six parts: installation and setup, understanding Application Programming Interfaces (APIs), text generation, item generation, the `AIGENIE` function, and the `GENIE` function. Two running examples illustrate the package's use: the Big Five personality model (a well-established construct) and AI Anxiety (an emerging construct). The package supports multiple LLM providers (OpenAI, Anthropic, Groq, HuggingFace, and local models), offers a fully offline mode with no external API calls, and provides the `GENIE()` function for researchers who wish to apply the psychometric reduction pipeline to existing item pools regardless of their origin. The `AIGENIE` package is freely available on R-universe at https://laralee.r-universe.dev/AIGENIE.

Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, tendon-driven humanoid hand with 11 degrees of freedom - 2 per finger and 3 at the thumb - buildable for under $1,300. It was one of the first fully open-sourced humanoid hands, and introduced a novel data-driven approach to finger control that captures tendon dynamics within the control system. Despite these contributions, Ruka lacked two degrees of freedom essential for closely imitating human behavior: wrist mobility and finger adduction/abduction. In this paper, we introduce Ruka-v2: a fully open-sourced, tendon-driven humanoid hand featuring a decoupled 2-DOF parallel wrist and abduction/adduction at the fingers. The parallel wrist adds smooth, independent flexion/extension and radial/ulnar deviation, enabling manipulation in confined environments such as cabinets. Abduction enables motions such as grasping thin objects, in-hand rotation, and calligraphy. We present the design of Ruka-v2 and evaluate it against Ruka through user studies on teleoperated tasks, finding a 51.3% reduction in completion time and a 21.2% increase in success rate. We further demonstrate its full range of applications for robot learning: bimanual and single-arm teleoperation across 13 dexterous tasks, and autonomous policy learning on 3 tasks. All 3D print files, assembly instructions, controller software, and videos are available at https://ruka-hand-v2.github.io/ .

Decoding the orchestration of neural activity in electroencephalography (EEG) signals is a central challenge in bridging neuroscience with artificial intelligence. Foundation models have made strides in generalized EEG decoding, yet many existing frameworks primarily relying on separate temporal and spectral masking of raw signals during self-supervised pretraining. Such strategies often tend to bias learning toward high-frequency oscillations, as low-frequency rhythmic patterns can be easily inferred from the unmasked signal. We introduce a foundation model that utilizes a novel Gaussian-smoothed masking scheme applied to short-time Fourier transform (STFT) maps. By jointly applying time, frequency, and time-frequency Gaussian masks, we make the reconstruction task much more challenging, forcing the model to learn intricate neural patterns across both high- and low-frequency domains. To effectively recover signals under this aggressive masking strategy, we design SpecHi-Net, a U-shaped hierarchical architecture with multiple encoding and decoding stages. To accelerate large-scale pretraining, we partition the data into three subsets, each used to train an independent expert model. We then combine these models through SpecMoE, a mixture of experts framework guided by a learned spectral gating mechanism. SpecMoE achieves state-of-the-art performance across a diverse set of EEG decoding tasks, including sleep staging, emotion recognition, motor imagery classification, abnormal signal detection, and drug effect prediction. Importantly, the model demonstrates strong cross-species and cross-subject generalization, maintaining high accuracy on both human and murine EEG datasets.

Slot attention has emerged as a powerful framework for unsupervised object-centric learning, decomposing visual scenes into a small set of compact vector representations called \emph{slots}, each capturing a distinct region or object. However, these slots are learned in Euclidean space, which provides no geometric inductive bias for the hierarchical relationships that naturally structure visual scenes. In this work, we propose a simple post-hoc pipeline to project Euclidean slot embeddings onto the Lorentz hyperboloid of hyperbolic space, without modifying the underlying training pipeline. We construct five-level visual hierarchies directly from slot attention masks and analyse whether hyperbolic geometry reveals latent hierarchical structure that remains invisible in Euclidean space. Integrating our pipeline with SPOT (images), VideoSAUR (video), and SlotContrast (video), We find that hyperbolic projection exposes a consistent scene-level to object-level organisation, where coarse slots occupy greater manifold depth than fine slots, which is absent in Euclidean space. We further identify a "curvature--task tradeoff": low curvature ($c{=}0.2$) matches or outperforms Euclidean on parent slot retrieval, while moderate curvature ($c{=}0.5$) achieves better inter-level separation. Together, these findings suggest that slot representations already encode latent hierarchy that hyperbolic geometry reveals, motivating end-to-end hyperbolic training as a natural next step. Code and models are available at \href{https://github.com/NeeluMadan/HHS}{github.com/NeeluMadan/HHS}.