3D Gaussian Splatting (3DGS) is increasingly explored as an input representation for 3D perception. Yet it remains unclear how current 3D architectures exploit heterogeneous Gaussian attributes. This ambiguity makes accuracy hard to interpret and limits principled architecture design for 3DGS perception. However, existing object-level 3DGS datasets lack the appearance variation or artifact control needed for systematic attribute-level analysis. We introduce COGS, a large-scale 3DGS dataset with 15,675 artifact-filtered and appearance-rich objects across 40 categories. Built on COGS, we establish COGS-Bench for object classification and attribute-usage diagnosis, complemented by external validation. Our benchmark shows that Gaussian attributes are not uniformly beneficial: selected subsets can outperform the full attribute set, and the effects of appearance, opacity, and covariance-related attribute combinations vary substantially across architectures. We further study this finding with HALO, a reference model that preserves attribute-specific evidence before hierarchical aggregation. Experiments on COGS-Bench and external 3DGS datasets demonstrate that COGS supports systematic diagnosis of 3DGS attribute usage, while HALO highlights the value of role-preserving attribute organization. Our dataset is available at https://huggingface.co/datasets/XiaoZhengCV/COGS.
Pengyu Yin, Jie Pan, Junxiang Tan, Mengqi Fu, Kun Cheng, Yifan Liu
Aerial map matching provides position observations for navigation, but a position error alone does not determine how an observation should be weighted. We define five benchmark tasks: position availability and agreement, grouped error structure, predictive uncertainty, controlled updates, and temporal accumulation. We use digital-surface-model-assisted localization to test whether base-anchored uncertainty calibration improves the weighting of unchanged position estimates. The method combines propagated image and map sensitivities with the second moment of a compact configuration subset relative to the reported position. Scale is fitted using separate position references without local surface-height ground truth. Thirteen covariance models are evaluated on two held-out query sets from locations represented in the calibration data. Using reference residuals, we compare the method with a constant full-matrix baseline. With all localization failures included, the method reduces the normalized position-update risk, averaged equally across locations, by 7.70% on 728 conditions and 5.46% on a separate 142 conditions under an independent prior. On the primary set, the equal-location average negative log likelihood on reference residuals improves by 2.571 nat. At these seen locations, exploratory base-only quality calibration and conditional-addition controls leave the incremental update benefit of configuration disagreement unresolved. Navigation benefit and real temporal accumulation remain untested.
Qiaoling Chen, Jiaxiang Cheng, Xueqing Deng, Tiankai Hang, Ji Hou, Jiaqi Li, Yifan Liu, Tao Lu 等 38 位作者
Interactive world generation requires models to follow successive commands while preserving relevant history and action consequences. We present Hy-Nomas, a video world model with an 8B diffusion backbone that supports free-form text instructions and continuous camera control across multiple interaction turns. It generates variable-length segments conditioned on current inputs and cached history. Our central design aligns structured video captions with action-aware causal attention: descriptive context remains accessible across segments, while action instructions are restricted to their intended temporal windows. A vision-language Prompt Enhancer (PE) translates user requests and multimodal interaction histories into structured conditions for the next segment. A multi-stage curriculum progressively introduces causal generation, text interaction, camera control, and training on model-generated histories, followed by diffusion distillation. In human evaluation, Hy-Nomas shows superior performance over existing world models. We release model weights, code and benchmarks, together with a lightweight adaptation workflow, to support reproducible research on interactive world generation.
Feichen Song, Boyi Zeng, Yiqin Hao, Shixiang Song, He Li, Yizhou Yang, Zitong Wang, Yifan Liu 等 10 位作者
Looped Transformers increase computation per token by repeatedly applying a shared backbone, offering a way to improve language modeling and downstream task performance at a fixed backbone parameter count. However, each loop depends on the preceding loop, so increasing recurrent depth also increases decoding latency. Existing approaches include Parallel Loop Transformers, which reduce latency by overlapping loop computation across token positions, but yield rapidly diminishing marginal accuracy gains at larger depths. To address this challenge, we introduce LoopFold, which folds computation at multiple recurrent depths into parallel batches for the same token prefix. A lightweight predictor estimates inputs to later loops so they can start before earlier loops finish. A corrector then refines the outputs of these later loops using newly available results from earlier loops. All components are trained jointly using only the final next-token prediction loss. In experiments with 1.4B models, deeper LoopFold configurations achieve progressively higher average zero-shot accuracy across eight tasks, rising from 53.41% to 56.38%. Vanilla looped models and PLT show limited gains over the same depth range. Compared with a nine-loop vanilla model, LoopFold uses five sequential stages and additional parallel computation to reduce decoding latency by 46%.
Feichen Song, Boyi Zeng, He Li, Shixiang Song, Yiqin Hao, Zitong Wang, Yizhou Yang, Yifan Liu 等 10 位作者
Looped Transformers offer a parameter-efficient approach to language modeling by repeatedly applying a shared backbone. Vanilla looped Transformers use each backbone output directly as the input to the next iteration. These outputs may contain information useful several iterations later, but retaining it across the loop depends entirely on the single hidden state. We introduce StateLoop, which maintains one additional persistent state per token to retain information across iterations. At each iteration, a learned gate controls how much of the previous state is retained and how much information from the backbone output is incorporated. The updated state is projected back and added to the backbone output for subsequent iterations and final prediction. This design reduces Pile perplexity and improves average accuracy across eight zero-shot tasks over Vanilla Looped. Its perplexity advantage over Vanilla Looped grows with trained loop depth, consistent with persistent state becoming increasingly useful as recurrent computation deepens.
Humans reason about the physical world by flexibly combining different forms of inference as a problem unfolds. Achieving this flexibility is a major open challenge in AI: capabilities often remain separated across specialized models, limiting how they can be composed and jointly adapted to a task. We introduce $Ψ$-0.6, a unified vision-language world model that adaptively composes perception, language, geometry, and simulation within a shared reasoning process we call streams of thought. These streams interleave images, text, and explicit representations of geometry and motion, all of which the model can generate and interpret through a shared token interface. $Ψ$-0.6 surpasses leading open-weight models zero-shot on multi-view spatial reasoning, with further gains from reasoning through geometric intermediates. It also supports counterfactual simulation: generating and interpreting imagined scenes to determine, for example, whether moving an object would obstruct a pathway. Reinforcement learning from task feedback jointly optimizes the selection, generation, and use of intermediate representations, improving visual question-answering accuracy with gains that transfer to unseen benchmarks. $Ψ$-0.6 offers a path toward adaptive physical reasoning -- not only predicting the physical world but also choosing the representations through which to reason.
Haoliang Huang Hunan University, Zihuang Cai Hunan University, Zhuo Tang Hunan University, Yifan Liu Hunan University, Chen Tian nanjing university, Kenli Li Hunan University, Changjian Chen Hunan University
In many real-world applications, such as medical insurance, many regulations exist that define how data should comply with certain standards. Auditors typically use these regulations to identify anomalies in tabular data. However, existing tabular anomaly detection methods often focus on detecting anomalies based on data distribution without considering regulatory compliance. In this paper, we introduce a new task, Regulation-guided Tabular Anomaly Detection, which leverages regulations to detect anomalies in tabular data. We also developed three new datasets for this task. To address this task, we present RegValidator, a training-free method that integrates data validation with large language models (LLMs) for detecting anomalies. In this process, the LLMs generate ideas for anomaly detection from a regulation perspective, while the data validation validates these ideas from a data distribution perspective. This process can be framed as a Budgeted Maximum Coverage problem, which can be solved by a constant-factor approximation algorithm with provable guarantees. Empirical results on the new datasets demonstrate that our method outperforms existing baselines. A field experiment in a commercial health insurance company also reveals the practical value of our method. Our code is available at https://github.com/hnu-vis/RegValidator.
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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