Generalization remains a central challenge in robotics, calling for policies that address domain variations from multiple dimensions such as diverse embodiments, camera poses, and/or scene layouts. In order to approach this problem, we introduce PointPilot, a task-focused and 3D aligned manipulation framework built on a 3D space point-flow prediction. Rather than modeling the global scene, PointPilot only represents task-focused objects (robot grippers treated as objects), avoiding the prediction of potentially redundant scene parts unrelated to the manipulation tasks. Moreover, PointPilot aligns 3D spatial representation in one unified coordinate and supports closed-loop and fully automatic action execution across different manipulation modes from object point flow without a separately trained action expert, while existing works typically need an extra action head or are (semi-)automatic and single-arm mode specific. Given sensor observations and language instructions, our model jointly learns subtask planning, task-relevant object grounding, and 3D point flow prediction in an end-to-end way. By processing heterogeneous data in a shared 3D point flow space, PointPilot is able to absorb demonstrations from different embodiments. Extensive simulative and real world experiments validate our method. Notably, we demonstrate zero-shot embodiment generalization with PointPilot. A single trained policy can be deployed on previously unseen embodiments and successfully complete manipulation tasks without any additional fine-tuning.
Currently, there is a gap in the field of ultra-high-definition (UHD) video dehazing due to the lack of a benchmark for evaluation. Furthermore, existing video dehazing methods cannot run on consumer-grade GPUs when processing continuous UHD sequences of 3--5 frames at a time. In this paper, we address both issues with a new benchmark and an efficient method. Our key observation is that atmospheric dehazing reduces to a per-pixel affine transform governed by the low-frequency depth field, which can be compactly encoded in bilateral grids whose prediction cost is decoupled from the output resolution. Building on this, we propose LiBrA-Net, which factorizes the spatiotemporal affine field into a spatial--color and a temporal bilateral sub-grid predicted at a fixed low resolution, fuses their coefficients in the $\mathfrak{gl}(3)$ Lie algebra under group-theoretic regularization, maps the result to invertible $GL(3)$ transforms via a Cayley parameterization, and restores high-frequency detail through a lightweight input-guided branch. We further release UHV-4K, the first paired 4K video dehazing benchmark with depth, transmission, and optical-flow annotations on every frame. Across UHV-4K, REVIDE, and HazeWorld, LiBrA-Net sets a new state of the art among compared video dehazing methods while running native 4K at 25FPS on a single GPU with only 6.12M parameters. Code is available at https://github.com/ycwang31/LiBrA-Net.
Qianliang Wu, Yaqing Ding, Guangwei Gao, Weiping Ding, Jin Xie, Jian Yang
Non-rigid point cloud registration depends on accurate correspondences under deformation and partial visibility. Existing coarse-to-fine methods use coarse matches to select regions for fine matching, but incorrect selection can remove valid correspondences before refinement. We introduce \paper, a conditional transport framework that connects coarse correspondence estimation to high-resolution matching. A diffusion model first estimates a coarse matching matrix. We lift the complete estimate to a fine-level source matrix and refine its scores with a geometry-conditioned bridge. We consider two bridge formulations: a deterministic endpoint-parameterized flow and a stochastic paired Brownian bridge with endpoint and noise prediction. At each step, the current matrix provides an alignment for the next prediction. Both models reuse backbone features throughout inference. Experiments on 4DMatch and 4DLoMatch show improved correspondence and non-rigid registration accuracy. The models also transfer to CAPE and DeepDeform without target-domain training. Ablations examine the roles of candidate coverage, source initialization, and refinement budget.
Chuyi Kong, Wei Gao Singapore Management University, Jing Ma Hong Kong Baptist University, Hongzhan Lin National University of Singapore, Yuxi Sun
The prevalence of fake news on social media calls for automated fact-checking systems that deliver not only accurate verdicts but also faithful explanations. However, existing large language model (LLM)-based methods often overlook deceptive misinformation styles in generated explanations, producing unfaithful rationales that may mislead human judgment. They also rely heavily on external knowledge sources, which can introduce hallucinations and incur substantial latency, undermining both reliability and responsiveness in real-time settings. To address these limitations, we propose REason-guided Fact-checking with Latent EXplanations (REFLEX), a self-refining framework that explicitly controls reasoning style by anchoring explanations to the predicted verdict. REFLEX leverages self-disagreement veracity signals between a backbone model and its fine-tuned variant to construct steering vectors, thereby naturally disentangling factual content from stylistic cues. Experiments on a real-world benchmark show that REFLEX achieves state-of-the-art performance under LLaMA-series models using only 465 self-refined samples. Owing to its transferability, REFLEX also yields gains of up to 7.54 Macro-F1 points on in-the-wild data. Further analysis shows that our method effectively mitigates faithful hallucination, leading to both more reliable explanations and more accurate verdicts than prior explainable fact-checking approaches.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表