Dayou Li, Hao Wang, Qianqian Yang, Zihao Zhu, Haoquan Fang, Ziyao Zeng, Yan Han, Zihan Wang 等 26 位作者
Large-scale egocentric human interaction data is becoming an important source of physical supervision for embodied learning, yet video alone leaves the contact and pressure that characterize physical interaction unrecorded. Recent visual-tactile datasets provide this missing supervision, but their synchronized tactile data remain far smaller in volume than human video. Moreover, the largest resources often merge recordings from different sensors or annotation procedures, which makes the effect of data scale difficult to isolate. We therefore introduce TouchScale, a 500-hour dataset of contact-rich human interaction recorded with a single unified wearable setup. Its approximately 2K predefined task descriptions span everyday activities and structured manipulation, and each recording temporally aligns egocentric RGB-D video with wrist RGB video and dense full-hand bimanual tactile measurements. Compared with prior tactile data, training on the full TouchScale raises zero-shot contact IoU on data from an unseen tactile sensor from 0.134 to 0.383. Pretraining a visual encoder on TouchScale also yields the highest action recognition accuracy on three benchmarks among the compared visual-tactile datasets. Used for visual-tactile mid-training of a robot policy, TouchScale improves the average real-world success rate across four contact-rich manipulation tasks from 22.5% to 57.5%. With the sensor and collection protocol held fixed, both zero-shot tactile prediction and robot success show an overall upward trend as more TouchScale data is used. These results suggest that human visual-tactile data collected at scale with consistent sensing benefits both perception and robot manipulation. We will publicly release TouchScale, including all synchronized visual-tactile recordings and reconstructed object models, to support future research on scalable visual-tactile learning.
Visual foundation models learn rich pathological morphology but lack explicit concept-level supervision. Vision--language pretraining can provide this supervision but requires costly image--text pairs. Here, we introduce GloSAGE, a semantic self-distillation framework that uses lesion profiles predicted by a pretrained visual teacher to construct structured pathology descriptions. Reliability-guided selection identifies image--text anchors, while Knowledge-Structured Pathology Text Synthesis and Evidence-Guided Negative-pair Construction account for partially observed lesions. Image--text alignment trains projection layers while retaining the frozen visual encoder; an intermediate Semantic Transfer Layer supplies features for downstream tasks. Developed on GloMillion and evaluated across seven glomerulus- and case-level cohorts, GloSAGE supported zero-shot lesion recognition, image--text retrieval, hard-negative discrimination and concept-intervention analyses. It outperformed its source visual model in most lesion-recognition tasks and improved lesion grading, while supporting competitive case-level disease classification, injury grading and baseline renal function estimation. Ablations supported the combined contributions of knowledge-structured text and evidence-guided negatives, and the intermediate transfer layer improved mean lesion-recognition ROC-AUC relative to the complete projection output. A frozen language model conditioned on GloSAGE features generated glomerular descriptions. These findings suggest that teacher-derived lesion profiles can provide annotation-efficient semantic supervision for extending a glomerular visual foundation model.
Jiayi Tuo, Cheng Tang, Zihan Wang University of Science and Technology of China, Chenyue Zhou Nanjing University of Aeronautics and Astronautics, Yao Li, Yanbiao Ma Renmin University of China, Chao Wang, Wei Dai Tsinghua University 等 11 位作者
Intelligent education systems often collect exam sheets as in-the-wild photos. These photos often suffer from distortions and noise caused by handwriting and occlusions, collectively referred to as Real-World Degraded Exam Images (RDEI). Structure-preserving reconstruction is key to converting RDEI into structured assets for downstream educational applications. Existing Multimodal Large Language Models (MLLMs) often fail under RDEI, leading to disrupted structure and evidence-unsupported hallucinations. To tackle these challenges, we propose MessToClean, a backbone-agnostic, evidence-driven pipeline that treats off-the-shelf MLLMs as interchangeable components. By grounding extraction in pixel-aligned evidence and enforcing post-hoc consistency auditing on recovered structures, MessToClean mitigates unsupported hallucinations and enhances both controllability and structural fidelity in question-level reconstruction. We curate RDEI-Exam from our educational platforms and evaluate across 12 state-of-the-art MLLM backbones. Across these, MessToClean improves stem consistency by 1.01-3.18%, figure consistency by 0.50-49.16%, and refusal F1 by 1.06-10.88% across question types.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表