AI 速览：Möbius 将扩散生成过程直接放入与运动理解共享的多模态表示空间，在连续帧级原始运动上统一实现运动描述、文本生成运动、时序补全与指令引导编辑。
We aim to build a truly unified motion model that can understand, generate, and edit human motion within a single framework. Existing motion UMMs remain only partially unified: motion understanding is handled by a language model, while generation is often delegated to a separate diffusion module operating over learned motion latents. We introduce Möbius, which brings the entire diffusion process into the same multimodal representation space used for motion understanding. Clean motion, noisy motion, and text jointly participate in shared attention, while role-specific parameters process understanding and generation streams. Importantly, Möbius operates directly on continuous frame-level raw motion, requiring neither discrete tokenization nor a pretrained motion VAE. This simple formulation naturally supports motion captioning, text-to-motion generation, temporal completion, and instruction-guided editing within a single model. On HumanML3D, Möbius achieves state-of-the-art performance among unified motion models. Scaling to 1.7B parameters and 1,700 hours of motion data further demonstrates that our framework is both effective and scalable.
Qinghui Liu, Jon André Ottesen, Thu Nguyen, Geir Ringstad, Ingrid Mossige, Siri Fløgstad Svensson, Sissel Riis Kalstad, Atle Bjørnerud 等 10 位作者
The brain fluid clearance system can be studied with intrathecal contrast-enhanced magnetic resonance imaging (MRI). By injecting a tracer into the spinal canal and performing MRI over 24--48\,h, one can measure how a tracer injected into the cerebrospinal fluid spreads through the brain. As this is an invasive procedure requiring several MRI scans, we ask how much of the later tracer distribution can be predicted from the pre-contrast scan and elapsed time alone. Using 104 training patients (878 MRI volumes), we compared a direct image-to-image regression model with a more complex generative model based on conditional flow matching, and tested both on 23 held-out patients and on 51 patients from a separate cohort with idiopathic normal pressure hydrocephalus (iNPH). Relative to simply copying the pre-contrast scan, the direct model reduced the mean absolute error (intensities normalized to $[0,1]$) from 0.089 to 0.036, about 60\%, in held-out patients and from 0.075 to 0.056, about 25\%, in the iNPH cohort. The reduction held in every sampled elapsed-time interval and brain compartment, and errors remained largest at 20--30\,h and in the ventricles, where enhancement is strongest. Its predicted change maps agreed with the observed tracer enhancement rather than only reproducing anatomy. The generative model was less accurate in both cohorts. A substantial part of the later tracer distribution is therefore predictable from the patient's brain anatomy as seen on pre-contrast MRI, and the added model complexity gave no benefit at this data scale. Whether this accuracy suffices for a given clinical use remains to be established; with prospective validation, such forecasts could help simplify the MRI protocol used to assess brain clearance.
Depression is a prevalent mental disorder that affects millions worldwide, with early detection crucial for effective intervention. While exist?ing methods have achieved promising results in automated depression detection, they face two key limitations: (1) noise in post screening: symptom-based semantic screening is easily misled by superficial lexical patterns, thereby introducing false-positive posts; (2) weak op?timization of the post encoder: relying solely on coarse user-level supervision signals pre?vents models from capturing depressive cues within individual posts. To address these limita?tions, we propose PAT, a Personality-driven Augmentation and Transfer learning frame?work. In the first phase, PAT optimizes a post?level encoder via a fine-grained contrastive learning objective, utilizing LLM-based data augmentation driven by classic personality the?ories to alleviate data scarcity. In the second phase, the trained post-level scorer is deployed for high-quality post filtering, while its en?coder parameters are seamlessly transferred for user-level tasks. Extensive experiments demon?strate that PAT significantly outperforms exist?ing methods. Furthermore, PAT delivers multi?granular interpretability by tracing post-level mental-state trajectories and highlighting key symptoms, thereby offering reliable diagnostic evidence for clinical practice.
Video character replacement aims to replace actors while preserving facial expressions, motions, and scene dynamics. Existing methods typically rely on masked generation with pose guidance, limiting fine-grained expression and motion preservation in complex scenes. We propose ReXMo, an end-to-end framework that supports single-, multi-, and selective character replacement scenarios. ReXMo introduces paired triplet supervision, where synthesized driving videos and original videos share identical performances but different identities, enabling scalable training through synthetic data generation. An In-Context Diffusion Transformer learns identity transformation by jointly conditioning on driving videos, reference identities, and text prompts, while an Expression Enhancement Adapter improves facial expression preservation in multi-person scenes. Extensive experiments demonstrate that ReXMo outperforms existing methods in identity fidelity, motion consistency, expression preservation, and visual quality. Our dataset and code will be publicly released.
Can Wang, Qiyuan Qiao, Lei Liu, Ge Yuan, Xinhui Liu, Dong Xu
Learning robust manipulation policies for diverse everyday objects remains challenging because objects with different materials exhibit distinct deformation and contact dynamics. While diffusion policies provide a powerful framework for modeling multimodal manipulation behaviors, they typically lack explicit physical reasoning and may produce averaged actions when facing heterogeneous objects. We present a physics-aware diffusion policy that augments visual imitation learning with object physical understanding. Our framework recovers material properties from visual demonstrations by coupling 3D Gaussian Splatting with differentiable Material Point Method simulation, where video guidance and particle-level constraints enable accurate physical parameter estimation. The estimated physics conditions are further integrated into a material-aware Mixture-of-Experts diffusion policy, allowing adaptive behavior generation across different physical regimes. For practical deployment, we introduce a physics memory bank that provides efficient physical retrieval without requiring online simulation optimization. Experiments on a wide range of simulated and real-world objects demonstrate improved manipulation success and generalization over existing diffusion-based approaches. These results show that incorporating physical knowledge is critical for scalable robot manipulation in diverse environments.
Diwen Liu, Yiyang Shao, Borui Wang, Chi Zhang, Yunhui Liu
Visual navigation in cluttered environments requires robots to recover previously observed structure and infer obstacles and free space that remain occluded. We present a framework that combines temporal aggregation and occupancy completion in an evidential bird's-eye-view (BEV) representation predicted from short RGB sequences. A decoder adapts frozen VGGT-Omega features and combines historical residual proposals using cellwise weights and a learned no-update option. The BEV predictor produces a local map in the latest ego frame without depth or camera-pose inputs or explicit geometric warping. The evidential model treats observed free space separately and predicts occupancy with associated confidence across the remaining supported region. We train the predictor on simulated RGB sequences paired with complete and visibility-masked occupancy annotations. Our experiments evaluate navigation in simulation and on a wheeled robot, with additional demonstrations on quadruped and humanoid robots. In simulated sequential two-goal navigation, our system achieves 89.6% success, outperforming the strongest evaluated baseline by 32.5 percentage points. Across 60 wheeled-robot trials in 20 scenes, it achieves 73.3% success, compared with 33.3% for the strongest evaluated baseline.
Streaming video generation models typically rely on temporal-centric memory, organizing historical context as latent queues, compressed context tokens, or unclustered token sets. This often causes identity drift and semantic inconsistency when entities exit the frame or during interactive prompt transitions. To address these limitations, we propose SlotMemory, an object-centric Key-Value (KV) memory mechanism for streaming video diffusion. Our approach shifts memory abstraction from ``when'' an event occurred to ``what'' is represented by decomposing the transformer's KV manifold into discrete, reusable semantic slots. Because the slots serve only as routing addresses and the stored content remains the original transformer KV tokens, the mechanism adds entity-level persistence and prompt-aware retrieval across long horizons. Evaluated on 60-second interactive narratives using the Wan2.1-T2V-1.3B backbone, SlotMemory achieves the highest Dynamic Degree among evaluated streaming methods and the second-highest aggregate Quality Score, preserving prompt adherence rather than trading it away for consistency. At the 30-second horizon, SlotMemory leads in Total, Quality, and Dynamic Degree, improving Dynamic Degree by 31.2% over MemFlow, the strongest memory-based baseline. Our results support treating structured semantic representation, rather than raw temporal capacity, as a critical primitive for persistent long-form video synthesis.
Camera motion recognition requires separating viewpoint changes caused by camera translation, rotation, or zoom from object motion and scene dynamics. Video-language models often rely on semantic cues and struggle with the geometric evidence needed for this task. Joint-Embedding Predictive Architectures such as V-JEPA offer strong spatio-temporal representations, but our experiments suggest that they underrepresent geometric cues in some regions. Under temporal-reversal supervision, V-JEPA improves overall but degrades on several motion families, whereas a weaker geometry-oriented VGGT predictor improves across all families. We refer to these geometrically underrepresented regions as geometric blind spots and propose Fovea-JEPA to identify and address them. Using V-JEPA as the base model and VGGT as a geometry expert, we construct intervention pseudo-labels from their prediction errors to weakly supervise a blind-spot predictor. The predictor produces token-wise response maps, which are aggregated into a clip-level intervention score to guide adaptive fusion of visual and geometric features. This selective intervention introduces complementary geometric information while preserving reliable visual predictions. Experiments on CameraMotionDataset, CameraBench, and ShotBench demonstrate the effectiveness of Fovea-JEPA, with gains of 9.67, 8.67, and 24.38 percentage points over previously reported state-of-the-art baselines, respectively. Code and models will be released upon acceptance.
Scaling computer-use agents from individual actions to complex software work requires experience that connects decisions to complete outcomes. We present NorthCUA, an integrated system for turbocharging computer-use agents through experience at scale. Its Experience Flywheel supplies diverse executable tasks to the NorthCUA Harness, which sustains long interactions, records decisions, and checks task outcomes. The Flywheel uses these records to curate verified trajectories. For unsolved tasks, recursive self-improvement evolves reusable skills and preserves verified milestones so later attempts build on earlier progress. Staged Learning combines this experience with grounding data from the Flywheel to develop GUI competence through mid-training and long-horizon supervised fine-tuning. The policy then learns from fresh attempts in the same Harness through joint desktop-web reinforcement learning, closing the loop between experience production and policy improvement. The resulting Nano, Mini, and Pro family achieves state-of-the-art results among open-source models across GUI grounding, desktop execution, and Web interaction under the reported evaluation settings. For more responsive Web workflows, NorthCUA-Ultrafast pairs direct action selection with open-ended generation on pre-RL Nano, offering a measured quality-latency tradeoff. Together, these advances establish NorthCUA as a high-performing model family and a reusable foundation for agents that carry complex software work from intent to completion.
Haiyang Zhang, Sicheng Song, Zixin Chen, Jie Gu, Huiya Ou, Chenhui Li, Changbo Wang
Misleading charts can lead vision-language models to conclusions that conflict with underlying data. Existing work focuses on inference-time strategies, while training-time supervision remains less explored. We present VizDAGuide, a DAG-structured supervision method for misleading-chart question answering. The method represents intermediate reasoning states and their dependencies as a directed acyclic graph, assigns supervision weights according to their roles, and serializes the graph into a unified training target for open-ended and multiple-choice QA with single-pass inference. Experiments on two benchmarks across Qwen3-VL and InternVL3.5 models show improvements over a content- and weight-matched Linear CoT-SFT baseline on both answer formats. Process-level evaluation shows gains in grounding and operation execution, while ablations indicate that dependency structure and weighted supervision are most effective when combined. These results support DAG-structured weighted supervision for misleading-chart question answering.
Fengxu Yang, Minghui Liwang, Yang Lu, Bo Han, Xianbin Wang, Seyyedali Hosseinalipour
High-quality annotations are essential for training and evaluating artificial intelligence (AI) systems. Quality control (QC) often acquires additional human or AI judgments before accepting a label. Nevertheless, shared biases can cause correlated judgments, leading conventional methods to mistake repeated agreement for independent evidence of correctness. To address this challenge, we propose JABER (Joint Alias-Preserving Belief for Evidence Routing), a bias-aware sequential QC framework that maintains a joint Bayesian posterior over label correctness and shared biases to guide evidence acquisition and termination decisions. Building on this posterior, we develop a finite-horizon algorithm that selects evidence-acquisition and termination actions to minimize expected QC loss under resource constraints. Our theoretical analysis shows that conditional-independence updating can become arbitrarily confident in an incorrect label under persistent shared bias. We further identify when repeated inspections cannot distinguish a correct label from an incorrect label supported by shared bias, when obtaining a new label can resolve this ambiguity, and why modeling the dependence between label correctness and shared bias can be necessary for QC decisions. Our experiments show that JABER reduces expected QC loss by an average of 4.65% compared with a method maintaining separate label correctness and bias probabilities when shared bias makes repeated inspections unreliable. Further, JABER's finite-horizon planning, which evaluates outcomes of successive QC actions, reduces expected QC loss by an average of 10.05% compared with a one-step lookahead method. In real-API experiments on FEVER, JABER achieves zero labeling errors while reducing QC costs by 2.67% and 16.99% compared with marginal-based belief modeling and one-step lookahead methods, respectively.
Xiangyun Luo, Yunkai Zhang, Yong Huang, Stephen Wu, Hui Li
Bridges are critical transportation infrastructure, and reliable operation and maintenance (O&M) is essential for traffic safety and long-term structural performance. However, bridge O&M faces key bottlenecks: no unified architecture coordinates heterogeneous resources; model inferences lack clear links to physical-mechanical laws; and experts' tacit knowledge remains difficult to formalize. This study proposes a knowledge-enhanced autonomy formalization methodology and apply it to construct the Bridge O&M Multi-Modal Multi-Agent System (BOMMA), which integrates heterogeneous diagnostic actions, physics-mechanics-informed representations, long-term memory, and structured experiential knowledge within a coordinated multi-agent workflow, enabling interpretable and traceable scheduling, analysis, and decision-making. On 3,492 multi-source instructions, the proposed method achieves scheduling recalls of 85.37% for simple and 99.40% for composite tasks, with 95.35% BERT F1-score for O&M action reasoning. Ablation studies confirm the contributions of the components in the autonomy. This study bridges general LLM reasoning and specialized bridge O&M requirements.
Invalid issue reports are prevalent in open source software (OSS) projects, imposing substantial burdens on maintainers who already face a high risk of burnout. Prior research has primarily focused on identifying invalid reports for specific issue categories (e.g., bug and wontfix), leaving the broader landscape of OSS issue types largely unexplored and limiting the generalizability of existing approaches. Moreover, existing methods provide little support for explaining or validating their predictions, reducing their practical usefulness for maintainers. With the rise of LLM-based agents, it remains unclear whether a comprehensive understanding of the causes of invalidity across all issue types can improve validity assessment performance while producing well-grounded rationales. To this end, we first manually annotated the validity status of 520 issue reports from three OSS projects, i.e., pandas, scikit-learn, and mypy, resulting in 257 invalid reports and 263 valid ones. Then, we conducted a thematic analysis on these invalid reports and identified 13 causes of invalidity that are closely specific to issue types. Based on these insights, we propose IssueLighter, an agent-based framework with a type-aware validity assessment strategy that dynamically executes commands. Experimental results show that IssueLighter consistently and substantially outperforms all baseline methods, with an average F1 improvement of over 20 percentage points. Ablation studies confirm that both the type-aware strategy and the taxonomy of causes of invalidity contribute to the performance gains. Qualitative analysis further demonstrates that IssueLighter generates rationales grounded in accurately identified causes of invalidity and supported by evidence. Moreover, leveraging these rationales, we challenged maintainers' original decisions in four disputed cases, and all received approval.
Tan Sang Nguyen, Yi Ru Wang, Shailesh Shailesh, Gang Yang, Jiamo Hu, Jianuo Jiang, Haoquan Fang, Zhongzheng Ren 等 27 位作者
General-purpose robot policies must work across robots, tasks, and environments, yet the variation that makes physical trials informative also makes them difficult to reproduce. We introduce RoboColosseum, a distributed evaluation framework that combines unified policy serving and standardized protocols across a network of locally operated robots in diverse environments. Our initial study evaluates five vision-language-action (VLA) policies and three frontier AI agents across four embodiments (SO-101, Franka, Bimanual-YAM, and G1 Humanoid). The Open Track compares models without task-specific adaptation in blinded, pairwise trials under matched local conditions. The Fine-tune Track measures how well VLA policies adapt to 20 tasks across all four embodiments when each policy receives the same 100 demonstrations per task. Across 5,699 pairwise Open Track comparisons at 124 sites, frontier agents rival specialized VLA policies, while all systems struggle to complete open-world tasks reliably. After fine-tuning, GR00T N1.7 leads on SO-101 and pi0.5 leads on Franka and Bimanual-YAM. Policy rankings show weak agreement across embodiment-specific task suites (Kendall W = 0.24). Open Track rankings poorly predict relative performance after fine-tuning, with substantial rank reversals on all three embodiments shared between tracks. Measuring partial progress reveals differences that task success alone misses. On the G1 Humanoid, no policy completes any of the five tasks, yet average progress ranges from 13.3% to 23.2% across policies. Open Track rankings stabilize as trials accumulate, and active matchmaking achieves comparable ranking agreement with substantially fewer physical trials than uniform sampling. These results show how distributed physical evaluation can reveal where robot policies generalize, how well they adapt to new tasks, and how far they progress on tasks they fail to complete.
Shuiwen Shen, Jinhua Zhang, Chenlei Hou, Peng Shi, Yong Han, Bo Gao, Xiaoxiao Na, Zhihui Lin 等 9 位作者
Online Active Learning (OAL) aims to extend deep learning from static inference after offline training to continuous adaptation during real-time interaction with a changing physical environment. This transition is essential for safety-critical applications, but it raises a central theoretical question: whether the online parameter update process remains stable when scaled to multilayer neural architectures. This paper develops a stability-focused OAL framework. The framework uses prediction error as a feedback signal to update a structured deep model, thereby linking online learning with Lyapunov-based energy minimization. We show that prediction error convergence alone is insufficient for global parameter convergence because multilayer networks may admit high-dimensional manifolds of equivalent output solutions. The analysis therefore separates output error regulation, internal zero dynamics, interlayer coupling, and parameter convergence. Persistency of excitation and active damping are then used to remove the residual null-space modes that remain after output error convergence. A cascaded Lyapunov analysis establishes asymptotic stability of the overall OAL learning process, while monotonic activation functions and diffeomorphic layer mappings provide the uniqueness condition for the target parameter trajectory. The resulting proof provides a theoretical basis for applying online adaptive learning to large-scale neural systems in nonstationary and safety-critical settings.
Robotic manipulation requires accurate metric depth, yet commodity RGB-D cameras often fail on non-Lambertian objects such as transparent, reflective, and translucent materials, producing holes, structured noise, and biased depth. Most restoration methods produce only a single depth map, treating noisy and reliable regions uniformly for downstream tasks while ignoring regional uncertainty. We present UA-Depth, an uncertainty-aware depth restoration framework that iteratively co-refines depth and pixel-wise uncertainty, and uses uncertainty-gated features to suppress unreliable cues for stable updates. To strengthen zero-shot behavior, UA-Depth leverages a frozen depth foundation model as a prior to initialize missing or unreliable depth, and applies two-stage MAD-weighted log-depth scale normalization to reduce outlier bias in relative-to-metric alignment. We introduce an eight-dataset zero-shot benchmark across diverse scenes, materials, and sensors. Across these benchmarks, UA-Depth achieves the best mean rank among representative baselines, with particularly strong gains on datasets dominated by transparent and reflective objects. Beyond depth metrics, we demonstrate downstream improvements in category-level 6D pose estimation and 6D grasp synthesis by exploiting the predicted uncertainty. \emph{Code, models, and data for training and evaluation will be released upon publication.}
Multi-LoRA serving allows many task-specific adapters to share a common base model, but scaling to large adapter fleets introduces substantial storage, loading, and execution overheads. Post-hoc compression can reduce the memory footprint of trained LoRA adapters, yet smaller ranks do not automatically translate into faster serving. For instance, padding, factor access, and generic kernels can obscure the retained low-rank structure, while independently recompressing thousands of modules also incurs significant preparation overhead. We present LoRAForge, a system connecting batched factor construction to rank-specialized execution through an explicit retained-rank representation. It supports two allocation policies: uniform retention ratios (LoRAForge-U) and spectral-energy budget allocation (LoRAForge-S). Both share FlashTSQR factor construction and the same serving backend. FlashTSQR exploits parallelism across modules and row tiles, accelerating factor construction by up to $2.28\times$ over matched library QR. In a fixed-work Qwen control, the shared runtime adds $1.17$--$1.22\times$ throughput across both compressed policies, with negligible gains on original adapters. Across 85 trained open-weighted Qwen and Llama adapters, the spectral policy's floored quality configuration retains about 7.7% of adapter parameters with fleet-average score drops of at most 1.2 points on a 0--100 scale. The same rank-floored $1/12$ spectral exports achieve substantial token-throughput gains on both AMD and NVIDIA GPUs.
Cone beam computed tomography (CBCT) is widely used for image guided and adaptive radiotherapy, but scatter, noise, reconstruction artifacts, and inaccurate Hounsfield units limit its quantitative use. Recent diffusion approaches for CBCT to CT synthesis remain largely image driven, with limited use of the underlying acquisition physics. We propose EPC-RawDC, a conditional 3D latent diffusion framework that combines volumetric generative modeling with two complementary constraints derived from the same scanner specific CBCT forward model. First, geometry equivariant projection constraint exploits the rotational equivariance of the CBCT forward operator by supervising the synthesized CT through correspondingly transformed reference projections. Second, raw data consistency uses noisy projection measurements of the individual acquisition as scan specific supervision during training. The framework was evaluated on two independent clinical cohorts with distinct scanner geometries and projection sources. For JUST, the physics constraints used measured clinical raw CBCT projections acquired with an Elekta system, whereas for SynthRAD2025 the projection data were simulated from the reference CT using a Varian geometry with Poisson photon statistics. EPC-RawDC achieved an SSIM of 0.97 in both cohorts and improved PSNR over DDPM by 2.66 dB on SynthRAD2025 and 2.10 dB on JUST, while reducing mean MAE by 20.3% and 19.0%, respectively. On SynthRAD2025, projection consistency and equivariant errors were reduced by 55.0% and 41.4% relative to DDPM. These results demonstrate that combining a volumetric diffusion prior with scanner geometry and scan specific projection measurements improves quantitative CBCT to CT synthesis across both simulated and measured projection domains. Code available after publication at https://github.com/ALZAHRAALTALIB/EPC-RawDC.
Normalizing flows (NFs) provide exact likelihoods and deterministic invertible sampling, but have historically lagged behind diffusion models for large-scale image generation. We identify a key obstacle: NFs are required to learn a single invertible transport over the full ambient space, making them highly sensitive to high-dimensional representations. This leads to a semantic-capacity mismatch in modern visual representation spaces, where semantic information is compact but encoded in overcomplete features. We propose SRC-Flow, which introduces a Semantic Representation Compressor (SRC) to compact high-dimensional RAE features into a low-dimensional semantic space before flow modeling and preserve reconstruction through the frozen RAE decoder. This compact space reduces the modeling burden of NFs and enables effective likelihood-based generation in semantic representation space. We further adopt constant noise regularization tailored to the fixed unconditional bijection learned by flows. On ImageNet 256x256 and 512x512, SRC-Flow achieves state-of-the-art generation quality among normalizing flow methods, with gFID scores of 1.65 and 2.07 under classifier-free guidance, while retaining exact likelihood computation in the compact semantic representation space and deterministic invertible sampling at the flow level. Codes and models will be released in the future.
Human cognition flexibly draws on a shared perceptual foundation to understand environments, attend to referenced entities, reason about spatial relationships, and act. Endowing aerial robots with an analogous functional organization remains challenging, as existing systems are often specialized for individual capabilities, dependent on offboard computation, or unable to sustain closed-loop operation on resource-constrained platforms. We present OpenFlyV2, a unified onboard vision-language-action architecture that uses a shared vision-language representation to support semantic understanding, language-grounded perception, spatial reasoning, and continuous aerial control within a single model. A compact action expert converts the shared multimodal context into short-horizon flight waypoints, while motion-aware temporal memory and action priors reduce the computational cost of closed-loop execution. We construct \dataset{}, a simulation-based dataset comprising approximately 70,000 navigation trajectories and 60,000 vision-language instruction--response pairs. OpenFlyV2 generates action chunks, each comprising 12 waypoints, entirely onboard at 10 Hz using an NVIDIA Jetson Orin NX. It transfers zero-shot from simulation to physical quadrotor flight, achieving a 48\% navigation success rate across four real-world environments without real-world aerial training data. Extensive results demonstrate that broad vision-language competence and continuous closed-loop flight can coexist within a single model on a resource-constrained aerial platform. Code will be made publicly available at https://github.com/Ideal-ljl/AeroBrain.
Single image super-resolution aims to reconstruct high-resolution images from low-resolution inputs. This paper proposes FreeTransformSR, a novel lightweight super-resolution network based on a channel-wise free low-rank learnable transform. The transform learns task-adaptive basis functions in a data-driven manner, enabling adaptive feature modulation with minimal parameter overhead. To further enhance high-frequency detail recovery, we introduce a local feature modulation branch that complements transform-domain processing with depthwise convolution. In addition, a soft complexity adaptive module dynamically fuses the outputs of local convolution and window self-attention branches through a lightweight gating network, adaptively adjusting the fusion ratio based on regional texture characteristics. An adaptive intensity modulation strategy is also incorporated to adjust transform-domain response strength at the sample level, enabling the network to dynamically adjust processing intensity according to input features. Extensive experiments on five benchmark datasets demonstrate that FreeTransformSR achieves competitive PSNR/SSIM performance with significantly fewer parameters and FLOPs. Specifically, FreeTransformSR achieves 32.41 dB on BSD100 x2 and 27.00 dB on Urban100 x4 with only 595K parameters, while delivering faster inference speed than competing methods, making it well-suited for deployment in resource-constrained scenarios. Source code is available at: https://github.com/HJiLi/FreeTransformSR.
Jiahui Li, Jiawei Sun, Zixiang Ren, Ming Liu, Jiamin Shi, Ruiteng Zhao, Zhiyang Liu, Liying Liu 等 10 位作者
Recent perception-free end-to-end (E2E) autonomous driving methods bypass explicit perception outputs by compressing dense image patch tokens into compact scene tokens for downstream trajectory generation and scoring. While these scene tokens form a compact visual bottleneck for the planner, they receive supervision solely from the planning objective, providing limited constraints on the encoded visual information. To address this limitation, we introduce Neural Token Reconstruction (NTR), a representation learning framework to directly constrain the compact scene-token bottleneck in perception-free driving. NTR introduces a self-distillation masked latent reconstruction objective that reconstructs masked patch-level latent features using only compact scene tokens as reconstruction memory. This forces reconstruction gradients to pass exclusively through the scene-token bottleneck, encouraging scene tokens to preserve richer and less redundant visual representations for planning. We further introduce semantic priors derived from foundation-model annotations as a weak semantic interface biasing reconstruction targets toward driving-related structures without introducing explicit perception heads. All auxiliary reconstruction components are removed at inference time, leaving the deployed planner unchanged. NTR achieves state-of-the-art performance on three public autonomous driving benchmarks, including 8.0461 RFS on Waymo E2E and 94.1 PDMS / 90.9 EPDMS on NavSim1&2. The learned scene tokens exhibit lower pairwise redundancy and higher effective rank, indicating that effective bottleneck supervision improves both compact visual representation learning and planning performance.
Ke Zou, Nan Zhou, Tao Yang, Meng Liu, Linchao He, Zehui Liao, Ling Huang, Guangren Huang 等 12 位作者
Medical vision-language models (VLMs) show strong performance in radiology report generation (RRG) and medical visual question answering (Med-VQA), producing free-form clinical descriptions and answers from medical images. However, they may generate clinically meaningful statements that lack visual evidence or contradict image content. We refer to these errors as visually irrelevant hallucinations and investigate them at the phrase level. We propose CLEAR (Counterfactual Localized Evaluation of Alignment and Response), a model-agnostic post-hoc framework for phrase-level hallucination risk estimation. CLEAR decomposes generated responses into visually assessable clinical phrases. For each phrase, phrase-conditioned grounding identifies a candidate visual region, which is selectively perturbed by a localized counterfactual intervention. CLEAR characterizes the intervention using two complementary auditing cues: response cues, capturing semantic and clinically meaningful changes in the generated response, and alignment cues, measuring changes in image-phrase compatibility. These cues are normalized and jointly modeled to estimate phrase-level hallucination risk. Across four datasets spanning RRG and Med-VQA, CLEAR outperforms state-of-the-art hallucination detection baselines across multiple medical and general-purpose VLMs. On MIMIC-CXR, CLEAR improves AUPRC from 85.10% to 90.23%. Its effectiveness is further validated on a GT-derived controlled VIH benchmark. These results establish visually irrelevant hallucination as an important fine-grained reliability failure mode in medical VLMs and demonstrate the value of model-agnostic visual-support auditing for more trustworthy multimodal clinical generation.
AI compute is becoming large and fast-changing electrical loads. Its impacts on data center infrastructure and power grids depend not only on total energy consumption, but also on how their power draw moves over sub-second to minute timescales, including peaks, ramps, and synchronized fluctuations across accelerators. Existing energy benchmarks for large language models (LLMs) report aggregate quantities such as joules per token and rarely release the underlying time-series measurements, leaving these power dynamics poorly characterized and difficult to model. We introduce LLM-PowerTrace, an open dataset of time-resolved, per-GPU power traces for LLM fine-tuning and inference, sampled every 100\,ms on varying NVIDIA platforms paired with complete workload and system metadata. For fine-tuning, LLM-PowerTrace profiles open model families spanning a wide range of model sizes and fine-tuning methods, together with controlled sweeps over batch size, sequence length, precision, parallelism, and checkpointing. For inference, it covers variations in concurrency, GPU frequency, KV-cache and weight quantization, prompt and output lengths, and request-arrival patterns. LLM-PowerTrace profiles a set of open model families across a wide range of model sizes, and controlled sweeps over batch size, sequence length, precision, parallelism, and checkpointing for fine-tuning, and it sweeps concurrency, GPU frequency, KV cache and weight quantization, prompt and output lengths, and request arrival patterns for inference. Built upon power traces, we define power-grid-facing metrics as well as AI-compute power\&energy scaling law for extrapolating beyond the measured settings. Together, LLM-PowerTrace provides a dataset foundation for modeling, forecasting, and managing the fast-changing electrical behavior of AI compute.
Sankalp Vaish, Rishank Singh, Sumukh Veeramalla, Caroline Summerour, John A. Batsis, Xiaohui Liang
Dementia affects millions of older adults worldwide, yet early detection remains difficult outside clinical settings. Traditional models primarily rely on text or voice-based responses, capturing only a limited view of human cognition despite the inherently multimodal nature of human expression. This work proposes a contactless, multimodal screening framework that leverages video, audio, and text signals collected during structured voice-based interactions with Amazon Alexa. By incorporating these modalities, our approach captures a more holistic representation of human behavior encompassing speech patterns, vocal characteristics, facial expressions, and linguistic structure, which may enable more accurate detection of cognitive decline. Different participants completed three conversational tasks designed to probe spontaneous speech, comprehension, and recall. We pursued three objectives: (1) evaluate which of the three Alexa tasks provides the most informative cognitive signals, (2) compare the effectiveness of unimodal models, and (3) assess the benefits of multimodal fusion models. Task-level analysis shows that the video model achieves its best performance on Command-Reading, with an accuracy of 0.65 (AUC 0.69), while the audio model performs best on Question-Answering, reaching an accuracy of 0.67 (AUC 0.73). In contrast, the multimodal model demonstrates consistently stable performance across tasks, achieving an accuracy of 0.76 (AUC 0.75) on Command-Reading and 0.76 (AUC 0.73) on Question-Answering. These findings demonstrate that multimodal behavioral cues captured through naturalistic interactions can reliably distinguish MCI from healthy aging, highlighting the limitations of traditional diagnostic paradigms and supporting the shift toward multimodal, real-world cognitive assessment frameworks.
Adrien Petralia, Alexandre Gavaudan, Artjom Joosen, Etienne Goffinet, Richard Kurle, Yassine El Ouahidi, Yassir Bendou, Abdelaziz Bounhar 等 356 位作者
We introduce Timestral, a family of four time series foundation models for probabilistic forecasting, with 5M, 28M, 123M, and 209M parameters. Timestral sets a new state of the art on GIFT-Eval, TIME, and fev-bench, where Timestral-209M and Timestral-123M take the top two places on every metric. We achieve this with three ingredients: Decoupled Horizon Forecasting (DHF), which separates prediction tokens from the causally encoded context, so that longer horizons are trained without masking context and each observed value is both a forecast target and context for later forecasts; a covariate framework that natively supports known-future covariates within a causal architecture; and a two-stage pipeline that pretrains exclusively on a diverse, large-scale synthetic corpus before post-training on a mix of real and synthetic data with extended context. This report describes the model design and its benchmark results. Weights for all four models are available on Hugging Face and inference code on GitHub.
Predictive maintenance is vital for commercial aviation, yet progress remains hindered by the lack of public, large-scale real-world datasets. As a result, most methods are developed and evaluated on proprietary data, limiting reproducibility. We introduce Pneuma, the first publicly available large-scale benchmark for predictive maintenance using onboard time series from in-service commercial aircraft. Built around bleed air systems, Pneuma contains over 920 million multivariate time steps across four aircraft types and 9 verified fault scenarios, directly aligned with real maintenance logs. The dataset exhibits key real-world challenges, including substantial class imbalance, subtle fault evolution patterns, and significant variance across aircraft configurations. We structure the benchmark around three tasks: multivariate forecasting, supervised fault classification, and unsupervised anomaly detection, with labels derived from actual maintenance records. Under unified settings, we evaluate over 25 models from four methodological families on 9 carefully curated subsets. The results reveal that even strong contemporary models struggle with subtle fault signatures. Further analyses show consistent gains from additional in-context examples and multivariate inference, while forecasting quality is strongly associated with anomaly detection performance. Together, these findings provide practical insights into effectively modeling complex real-world aviation time series. We hope Pneuma will serve as a rigorous and reproducible foundation for advancing data-driven predictive maintenance toward real-world deployment in commercial aviation.
Low-Rank Adaptation (LoRA) has become a key mechanism for efficiently specializing foundation models into many task- and user-specific variants. Serving many LoRA adapters under a shared resource budget turns post-hoc compression into a two-level allocation problem: rank must be distributed across layers within each adapter and across adapters within the fleet. Although trained LoRAs contain substantial spectral redundancy, spectral reconstruction alone does not determine how much compression an adapter can functionally tolerate. We formulate fleet compression through a functional rank-distortion frontier for each adapter, followed by fleet-level minimax allocation under a shared rank budget. Given exact frontiers, this decomposition is equivalent to joint optimization over all layer ranks. We introduce Functional Rank Allocation (FRA), an unlabeled method for constructing practical frontiers. FRA measures isolated module truncations end to end, uses these measurements as an additive search surrogate solved by dynamic programming, remeasures every complete candidate, and takes the lower-risk envelope with a complementary spectral proposal before exact minimax allocation over the constructed frontiers. Across 78 adapters from three public fleets, FRA improves worst-case and tail utility over uniform spectral compression in constrained-budget regimes. Fixed-budget probes show that isolated costs rank candidates well, but their calibration shifts across proposal shapes; end-to-end verification and the spectral proposal therefore limit functional-search error.
Zhuohang Li, Yiding Ma, Yu Shang, Lei Jin, Shengyuan Wang, Jianjie Fang, Zhaolu Wang, Xvyuan Liu 等 29 位作者
World models have emerged as a central paradigm for embodied intelligence, enabling agents to predict action-conditioned future and reason about environmental dynamics. However, existing embodied world model benchmarks are still largely confined to vision-only prediction, offline embodied applications, and simulator-based evaluation, making them insufficient for assessing increasingly comprehensive world models. In this work, we introduce WorldArena 2.0, an expanded benchmark that systematically broadens embodied world model evaluation along three dimensions: modality, functionality, and platform. Along the modality dimension, WorldArena 2.0 extends evaluation from vision-only to visuotactile modalities, enabling assessment of multimodal perception and prediction. Along the functionality dimension, it extends beyond policy evaluation and planning to assess world models as interactive RL environments for policy optimization. Along the platform dimension, it moves beyond simulator-only evaluation to a diverse suite of simulated and real-world robotic settings across multiple embodiments. Under a standardized protocol, WorldArena 2.0 comprehensively evaluates perceptual quality, interactive utility, and cross-platform performance, providing a comprehensive testbed for tracking progress toward embodied world models. The project page including codes and demos is available at: https://world-arena.ai/.
Doniyorkhon Obidov, Xiaolong Guo, Yonghui Li, Kaichen Yang
Large Language Models (LLMs) have accelerated drug discovery, particularly in the automated design of antimicrobial peptides (AMPs). However, current validation pipelines for peptide generation models overlook historical precedents showing that certain drugs carry health risks predominantly for individuals with specific genetic profiles. In this paper, we demonstrate that such targeted health risks can be induced intentionally and at scale by manipulating models that generate peptide candidates. We introduce the Genotypic Trigger, a backdoor attack that shifts a model's generative distribution toward peptides with elevated predicted immunogenicity risk, an adverse immune reaction, specifically for carriers of a targeted HLA allele, a gene variant involved in immune presentation. Across popular peptide generation models, the attack increased the predicted immunogenicity risk score for target-allele carriers by 743% on average relative to natural peptides from existing databases, while the predicted risk for non-carriers remained close to the natural baseline. Crucially, these backdoored models retained or improved primary desired properties, including high antimicrobial potency and low general toxicity, allowing their outputs to pass conventional safety screens.