Xiaokai Song, Zhang Li, Leqi Liu, Yibin Ye, Kun Wang, Xichao Teng
Event cameras enable tracking under fast motion and challenging illumination. However, stable long-term point tracking remains challenging: event activity is sparse and varies with scene content and motion, complicating correspondence, while trajectory estimates can drift over long sequences. Together, these challenges motivate a tracker that selectively uses informative event evidence and retains trajectory constraints across temporal windows. We propose Selective Event Evidence and Persistent Temporal Priors (SEPT), an event-only framework for tracking any point (TAP) over long sequences. SEPT introduces two complementary modules: Task-Adaptive Event Evidence Modulation (TEEM) and Persistent Trajectory Prior (PTP). Using only tracking supervision, TEEM learns a bounded reliability field that weights the event tensor across space, time, and channels before feature extraction. PTP carries geometric information across overlapping windows by marginalizing a fixed local quadratic trajectory model with a Schur complement. Its visibility-aware correction refines overlap coordinates, while a clipped terminal velocity initializes coordinates at newly exposed timestamps. SEPT builds on the ETAP architecture. SEPT is trained exclusively on synthetic EventKubric data and evaluated on five datasets across TAP and feature tracking. Results show that SEPT outperforms the retrained ETAP baseline in average Jaccard for TAP and in feature age and expected feature age for feature tracking; it also surpasses several methods combining event and frame inputs on EC and EDS. The source code is publicly available at https://github.com/sssxxxkkkk/SEPT.
This paper studies the constrained line-of-sight pointing control problem of a two-axis current-command gimbal subjected to mismatched mechanical disturbances. Friction, torque ripple, current-response lag, model mismatch, and limited drive commands make accurate pointing more challenging yet interesting. A quantile disturbance predictor is proposed to compensate predictable acceleration residuals and describe their remaining uncertainty, with the aid of learning median and outer quantiles from state, command, and reference histories. A tube-inspired model predictive controller is proposed to reserve command headroom according to prediction uncertainty, with the aid of calibrated radii and stage-dependent input margins. The median improves the nominal prediction, while the radius adapts the command reserve without adding optimization variables. A finite-horizon tube inclusion result is established for a specified linear error model and fixed ancillary policy; its conditions are distinguished from the approximations used in hardware. Native command bounds and a final command limiter keep the sent commands within their prescribed range. On a two-axis embedded platform, four controller configurations are compared in seven repeated trials each. The proposed configuration achieves a two-dimensional pointing root-mean-square error of $3.94 \pm 0.10$ mrad with no command-limit samples in the evaluation windows. Its performance supports the combined use of residual prediction and adaptive command margins in the tested operating condition. Solver times and logged loop overruns are reported separately for the nominal 100 Hz implementation.
This paper studies the constrained pointing control problem of airborne electro-optical gimbals subjected to composite periodic and aperiodic disturbances. Under carrier vibration, input delay, and actuator constraints, achieving line-of-sight stabilization and tracking is challenging. A disturbance-separated model predictive control (MPC) scheme is proposed to compensate these heterogeneous disturbances according to their physical characteristics. An adaptive periodic observer predicts multi-harmonic vibrations over the MPC horizon using linear-regression frequency estimation. A linear observer estimates the aperiodic disturbance, and a bounded long short-term memory (LSTM) network predicts its change over the input delay. Embedding periodic predictions into the MPC model while applying aperiodic compensation outside the optimizer limits amplification of aperiodic estimation errors and improves pointing accuracy under frequency changes and parameter mismatch. On the stated headroom envelope, input-set tightening provides feasible commands within the prescribed limits, and a regional practical tracking bound is established under explicit input-sequence and predicted-state margin conditions. A UAV-mounted two-axis gimbal platform is assembled for comparative indoor hovering experiments, complemented by simulations under frequency changes and parameter mismatch. In the reported trials, the proposed method achieves yaw and pitch relative-angle root-mean-square errors (RMSEs) of 0.770 degrees and 0.350 degrees, reducing tracking errors by 25.1% and 45.9% compared with linear active disturbance rejection control.
Jinhui Chen, Shizhu He Institute of automation, Chinese academy of science, Chinese Academy of Sciences, Xingchang Yang, Huanxuan Liao, Yequan Wang Peking University and Beijing Academy of Artificial Intelligence, Xiangwen Liao Fuzhou University, Wenhao Teng, Kang Liu Institute of automation, Chinese academy of science, Chinese Academy of Sciences 等 9 位作者
Enabling Large Language Models (LLMs) to evolve sustainably requires simultaneously preserving previously acquired knowledge (Past), effectively acquiring new task-specific skills (Present), and reserving sufficient parameter capacity for subsequent adaptation (Future). However, existing continual learning (CL) paradigms often prioritize immediate performance through dense updates, leading to catastrophic forgetting and rapid exhaustion of model capacity. To harmonize these conflicting demands, we draw inspiration from the brain’s functional partitioning and propose the Null-Space Constrained Parameter Region Specificity Method (PaRSP). PaRSP establishes a dynamic “Task-Region Mapping” that distinguishes between specialized neurons and generalist neurons. By precisely localizing a sparse “functional core” for each task, PaRSP restricts updates to specific regions via null-space orthogonality, preserving the vast majority of the network as an immutable “long-term memory bank.” This induced sparsity not only enhances plasticity via targeted adaptation and minimizes interference to ensure stability, but also strategically reserves substantial capacity, securing sustainability for future evolution. Extensive experiments validate PaRSP’s state-of-the-art performance, particularly on Standard CL and Long Sequence benchmarks, effectively harmonizing the stability-plasticity-sustainability trade-off. Code is available at https://github.com/JinhuiBot/PaRSP
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Yumeng Fu, Weitao Huang Harbin Institute of Technology, Junjie Wu Suzhou University, Hao Teng Harbin Institute of Technology, Meishan Zhang Harbin Institute of Technology (Shenzhen), China, Bingquan Liu Harbin Institute of Technology
Emotion Recognition in Conversation (ERC), the task of identifying the emotion of each utterance in a conversation, is crucial for human-machine interaction. Existing LLM-based ERC methods focus on standard prompting and slow thinking for emotion analysis. However, they suffer from the lack of human-like emotion reasoning and discrimination between similar emotions, thus limiting accurate emotion predictions. To this end, we present JoPR, jointing perception-curriculum learning and emotional reasoning for conversational emotion recognition. Specifically, we devise a multi-dimension curriculum with long CoT fine-tuning to clone human-like emotion reasoning. We further design an emotion-specific reward function in a novel reinforcement learning framework, thereby enhancing the discernment between similar emotions. Our proposal is extensively evaluated over three widely used benchmark datasets, and experimental results confirm the superiority of JoPR. Furthermore, we provide an in-depth analysis to confirm the emotion perception and reasoning capabilities of JoPR.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Yumeng Fu, Weitao Huang Harbin Institute of Technology, Junjie Wu Suzhou University, Hao Teng Harbin Institute of Technology, Shouduo Shang, Meishan Zhang Harbin Institute of Technology (Shenzhen), China, Bingquan Liu Harbin Institute of Technology
Emotion Recognition in Conversation (ERC) aims to identify the emotional states of speakers in conversations. Existing ERC methods perform either fast thinking or slow thinking for emotion predictions. The former lacks interpretability of emotion predictions, and the latter focuses on emotion analysis at shallow semantics. Such insufficient reasoning chains fall short in capturing deep semantics within conversations. To address these limitations, we propose ERCThinker, a Fast-Slow thinking framework for the task of ERC. First, we design different thinking strategies with fine-grained emotion reasoning chains to capture deep semantics that contain topic, discourse structure, speaker characteristic, scene, and emotion shift. Second, we develop an adaptive thinking mechanism in both strategy-level and utterance-level, guiding the model to dynamically perform thinking switching across various scenarios. Furthermore, we utilize Agent-as-Judge to score reasoning chains as reward signals for more accurate emotion predictions. To support training, we construct EmotionCueCoT, the emotion reasoning dataset with supervision in both explanation and judgment. Extensive experiments on various ERC benchmark datasets demonstrate that ERCThinker achieves state-of-the-art performance in both explanation and judgment, making progress in the realm of ERC.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Huanxuan Liao, Shizhu He Institute of automation, Chinese academy of science, Chinese Academy of Sciences, Yupu Hao Institute of automation, Chinese academy of science, Chinese Academy of Sciences, Yequan Wang Peking University and Beijing Academy of Artificial Intelligence, Wenhao Teng, Xiangwen Liao Fuzhou University, Jun Zhao Institute of automation, Chinese academy of science, Kang Liu Institute of automation, Chinese academy of science, Chinese Academy of Sciences
Continual Learning (CL) for Large Language Models (LLMs) faces a fundamental Stability-Plasticity Dilemma: balancing the plasticity to acquire new capabilities with the stability to preserve prior knowledge. While Parameter-Efficient Fine-Tuning methods, such as LoRA, enable efficient adaptation, we identify a critical flaw in current approaches termed Rank-Blindness: the enforcement of a single rank constraint across diverse tasks, which entangles task-shared and task-specific knowledge, leading to catastrophic forgetting of earlier tasks and underfitting on complex new ones. To address this, we propose SpaRTA, a novel rehearsal-free framework guided by a rank-spectrum perspective that explicitly disentangles knowledge into two orthogonal subspaces. Specifically, SpaRTA employs a low-rank branch to capture task-shared representations and a high-rank branch to model task-specific features. To integrate these complementary representations, we introduce a context-aware dynamic router that adaptively fuses the two branches based on input semantics, while an explicit orthogonality constraint minimizes interference between shared and specific parameter subspaces. This design effectively isolates task-specific updates from shared knowledge, preventing the overwriting of prior capabilities while preserving strong adaptation capacity. Extensive experiments demonstrate that SpaRTA achieves a superior stability-plasticity balance compared to single-rank baselines. Notably, the proposed spectral disentanglement strategy substantially reduces inter-task interference and yields strong zero-shot generalization on unseen tasks. Our code will be available at https://github.com/Xnhyacinth/SpaRTA.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表