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版本更新 · v2arXiv:2609.06355

Adaptive stabilization of a leaderless bearing-constrained formation with disturbances

Minh Hoang Trinh, Chuong Van Nguyen, Quoc Van Tran, Tuynh Van Pham

原文摘要

In this paper, we consider the problem of regulating and maintaining a target formation characterized by a set of bidirectional bearing constraints under disturbances. The agents in the formation are modeled by single integrators with deterministic bounded continuous disturbances of which both actual function and upper bound are unavailable for the control design. Due to the time-varying disturbances, the target formation is time-varying. We propose displacement/bearing-only based adaptive sliding mode control laws to uniformly asymptotically stabilize the time-varying target formation and reject the matched disturbances, and provide sufficient conditions to prevent possible collisions. A time-dependent adaptive design method is provided to convert the displacement-based control law to a bearing-only one. In addition, to alleviate chattering phenomena from sliding mode control, smooth adaptive control laws are introduced to guarantee uniform global boundedness of the desired formation. Finally, simulation results are given to support the analysis.

cs.MA · math.OC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.28083

IECG: Weakly-Supervised Interpretability-Enhancing Foundation Model for Electrocardiogram

Huynh Dang Nguyen, Trong-Thang Pham, Anh-Thuan Do, Phuong-Nhi Dinh, Brijesh Patel, Ngan Le, Van Nguyen

原文摘要

Electrocardiography (ECG) is a cornerstone of cardiac diagnosis, yet most machine learning methods for ECG analysis lack interpretability, limiting their clinical adoption. We present IECG, a weakly-supervised ECG foundation model that jointly performs diagnostic classification and abnormality localization without requiring manual abnormal region annotations, overcoming a long-standing bottleneck in interpretable ECG learning. Central to IECG is a weakly-supervised attention strategy that explicitly incorporates clinical priors by deriving abnormality heatmap pseudo-labels from established ECG clinical knowledge. These pseudo-labels guide the model's CLS-token attention through a KL-divergence loss, encouraging it to focus on diagnostically relevant waveform regions. During pretraining, IECG is jointly optimized with clinically guided attention supervision, ECG-text contrastive alignment, and report captioning objectives, enabling it to learn rich multimodal representations while producing localized waveform evidence. By explicitly aggregating features from clinically guided attention regions, IECG grounds its diagnostic predictions in interpretable waveform evidence without sacrificing classification performance. Extensive experiments demonstrate that IECG achieves state-of-the-art abnormal region localization while maintaining strong classification performance, advancing trustworthy foundation models for ECG analysis.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2603.23439

SIGMA: A Physics-Based Benchmark for Gas Chimney Understanding in Seismic Images

Bao Truong, Quang Nguyen, Baoru Huang, Jinpei Han, Van Nguyen, Ngan Le, Minh-Tan Pham, Doan Huy Hien 等 9 位作者

原文摘要

Seismic images reconstruct subsurface reflectivity from field recordings, guiding exploration and reservoir monitoring. Gas chimneys are vertical anomalies caused by subsurface fluid migration. Understanding these phenomena is crucial for assessing hydrocarbon potential and avoiding drilling hazards. However, accurate detection is challenging due to strong seismic attenuation and scattering. Traditional physics-based methods are computationally expensive and sensitive to model errors, while deep learning offers efficient alternatives, yet lacks labeled datasets. In this work, we introduce \textbf{SIGMA}, a new physics-based dataset for gas chimney understanding in seismic images, featuring (i) pixel-level gas-chimney mask for detection and (ii) paired degraded and ground-truth image for enhancement. We employed physics-based methods that cover a wide range of geological settings and data acquisition conditions. Comprehensive experiments demonstrate that SIGMA serves as a challenging benchmark for gas chimney interpretation and benefits general seismic understanding.

cs.CV

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1613ACL Anthology · ACL 2026

Lizard: An Efficient Linearization Framework for Large Language Models

Chien Van Nguyen University of Oregon, Huy Huu Nguyen, Ruiyi Zhang, Hanieh Deilamsalehy Adobe Systems, Puneet Mathur Adobe Systems, Viet Dac Lai Adobe Systems, Haoliang Wang Adobe Research, Jayakumar Subramanian Adobe Systems 等 13 位作者

原文摘要

We propose Lizard, a linearization framework that transforms pretrained Transformer-based Large Language Models (LLMs) into subquadratic architectures. Transformers faces severe computational and memory bottlenecks with long sequences due to the quadratic complexity of softmax attention and the growing Key-Value (KV) cache that makes inference memory-bound by context length. Lizard addresses these limitations by introducing a subquadratic attention mechanism that closely approximates softmax attention while preserving model quality. Unlike prior linearization methods constrained by fixed, non-adaptive structures, Lizard augments the architecture with compact, learnable modules that enable adaptive memory control and robust length generalization. Moreover, we introduce a hardware-aware algorithm that solves numerical instability in gated attention to accelerate training. Extensive experiments show that Lizard achieves near-lossless recovery of its teacher model’s performance, significantly outperforming previous methods by up to 9.4 - 24.5 points on the 5-shot MMLU benchmark and demonstrating superior associative recall.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1631ACL Anthology · ACL 2026

Octopus: Gated Selective Attention for Memory-Bounded Long-Context Inference in Large Language Models

Chien Van Nguyen University of Oregon, Ryan A. Rossi, Linh Ngo Van Hanoi University of Science and Technology, Franck Dernoncourt Adobe Research, Thien Huu Nguyen University of Oregon

原文摘要

Transformer inference becomes increasingly memory-bound as the Key–Value (KV) cache grows linearly with sequence length. While subquadratic architectures offer constant-memory inference, they rely on aggressive state compression that degrades performance on complex reasoning tasks. We propose Octopus, a framework that confers fixed-memory inference onto pretrained Transformers without the information loss of linearization. Octopus retrofits attention layers with Gated Selective Attention, a learnable module that enforces an adaptive sparsity policy over the context history. By dynamically scoring and retaining only high-utility KV states, this mechanism transforms the unbounded cache into a compact, evolving memory budget that filters out uninformative noise. Empirically, on the GSM8K benchmark, it outperforms state-of-the-art linearized baselines by over 36 points under identical memory constraints. Remarkably, Octopus also surpasses its own full-cache teacher, demonstrating that learned sparse retention serves as an effective regularizer for long-horizon reasoning.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1CVF · CVPR 2026:cvf:1d2a7595b585f2b852eb69ec239dbf05CVF · CVPR 2026

Consistent Instance Field for Dynamic Scene Understanding

Wu, Junyi, Nguyen, Van Nguyen, Planche, Benjamin, Tao, Jiachen, Sun, Changchang, Gao, Zhongpai, Zhao, Zhenghao, Choudhuri, Anwesa 等 14 位作者

原文摘要

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding.Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles visibility from persistent object identity by modeling each space-time point with an occupancy probability and a conditional instance distribution. To realize this, we introduce a novel instance-embedded representation based on deformable 3D Gaussians, which jointly encode radiance and semantic information and are learned directly from input RGB images and instance masks through differentiable rasterization.Furthermore, we introduce new mechanisms to calibrate per-Gaussian identities and resample Gaussians toward semantically active regions, ensuring consistent instance representations across space and time. Experiments on HyperNeRF and Neu3D datasets demonstrate that our method significantly outperforms state-of-the-art methods on novel-view panoptic segmentation and open-vocabulary 4D querying tasks.

cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

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CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:56ff9808079144e24e9817b4cd1f7154CVF · CVPR 2026

MedGRPO: Multi-Task Reinforcement Learning for Heterogeneous Medical Video Understanding

Su, Yuhao, Choudhuri, Anwesa, Gao, Zhongpai, Planche, Benjamin, Nguyen, Van Nguyen, Zheng, Meng, Shen, Yuhan, Innanje, Arun 等 11 位作者

原文摘要

Large vision-language models struggle with medical video understanding, where spatial precision, temporal reasoning, and clinical semantics are critical. To address this, we first introduce MedVidBench, a large-scale benchmark of 531,850 video-instruction pairs across 8 medical sources spanning video, segment, and frame-level tasks, curated through a rigorous quality assurance pipeline with expert-guided prompting and dual-model validation. While supervised fine-tuning on MedVidBench yields noticeable gains, standard Reinforcement Learning (RL) fails due to imbalanced reward scales across datasets, which destabilizes optimization and leads to training collapse. To overcome this, we introduce MedGRPO, a novel RL framework for balanced multi-dataset training with two key innovations: (1) cross-dataset reward normalization that maps each dataset's median performance to a common reward value, ensuring fair optimization regardless of difficulty, and (2) a medical LLM judge that evaluates caption quality on five clinical dimensions through comparative similarity scoring. Supervised fine-tuning Qwen2.5-VL-7B on MedVidBench substantially outperforms GPT-4.1 and Gemini-2.5-Flash across all tasks, demonstrating MedVidBench's efficacy, while our MedGRPO framework further improves upon the SFT baseline across grounding and captioning tasks. Our work establishes a foundational benchmark and robust training methodology for advancing vision-language models in medical domains.

cs.CV · cs.CL

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

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CVF · CVPR 2026 ↗PDF ↗