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arXiv 最近完成扫描:2026-11-16 00:32 · 全站最近入库:2026-11-14 15:09各信源进度 →

统计口径与数据新鲜度

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新论文 · v1arXiv:2611.15652

Taming Neural Fields with a Frequency-Lipschitz Curriculum for Sparse-View CT Reconstruction

Songtao Hu, Jingrui Wu, Hong Ding, Fanhao Zhu, Yunhao Liu, Suyang Xi

原文摘要

Sparse-view computed tomography (SVCT) reduces radiation dose by acquiring fewer projection views, but the resulting under-determined inverse problem requires careful regularization to prevent reconstruction algorithms from fitting streak artifacts and hallucinated structures. Existing implicit neural representation (INR) methods rely on implicit spectral bias or iterative external denoising, yet they provide limited control over when high-frequency capacity is exposed during optimization. To address this limitation, we propose FLIC (Frequency-Lipschitz INR Curriculum), a capacity-controlled self-prior INR framework that makes the network's representational capacity explicit and schedulable. The core of our method is a joint frequency-Lipschitz curriculum that couples random Fourier feature encoding with spectrally normalized MLP decoding under non-uniform Lipschitz budgets, guiding reconstruction along a coarse-to-fine trajectory from stable global anatomy to fine details. The terminal capacity is automatically calibrated from FBP gradient statistics, enabling scan-adaptive regularization without per-scan manual tuning of the terminal Lipschitz budget. We further introduce a prior-guided adaptive ray sampling strategy that concentrates integration samples near high-gradient anatomical boundaries, improving forward-model fidelity. The entire framework operates in a single training stage without iterative denoising, enabling efficient per-image reconstruction. Extensive experiments on four public CT datasets under noise-free and low-dose settings show that our method achieves state-of-the-art unsupervised reconstruction quality with consistent performance across diverse anatomical structures.

cs.CV · cs.LG

新论文 · v1arXiv:2611.11510

Reaching Is Not Finding: Map-Anchored Visual Prompting for the Last Mile of Aerial Vision-Language Navigation

Ningbo Li, Kebin Liu, Jingcan Chen, Weichen Zhang, Rong Ding, Yunhao Liu, Mo Li

原文摘要

Aerial vision-language navigation (VLN) asks a drone to find an object described in natural language. The description usually locates the object relative to named landmarks, such as streets and buildings. We observe that current navigators often bring the drone close to the target and then stop at the wrong place: they reach the target without finding it. This gap is shared by navigators of very different designs, from imitation learners to a fine-tuned 7B vision-language model. A simple test reveals the cause. When we replace the target object in the instruction with another one next to the same landmarks, no navigator goes to it, and most stop where they did before. Navigators learn to reach the landmarks, not to identify the described object. We therefore propose MAP-VP, a plug-and-play module for the last step. After any navigator stops, MAP-VP draws the landmarks named in the instruction onto the drone's current view, using the landmark outlines that the benchmark provides on a map. A fine-tuned 4B vision-language model then locates the target relative to these landmarks. The training data are generated automatically from the benchmark annotations. Neither drawing the landmarks nor fine-tuning helps much alone, but together they are highly effective. Without retraining any navigator, MAP-VP significantly improves all six navigators we test on CityNav. It roughly doubles the success rate of the two strongest trained navigators, raising HETT from 25.9% to 54.6% and FlightGPT from 24.2% to 48.9%, whereas CityNav's official detector-based last step adds less than two points to HETT.

cs.CV

版本更新 · v2arXiv:2605.16797

EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices

Liuchuan Yu, Erdem Murat, Beichen Wang, Yan Zeng, Tingting Luo, Huizhen Zhou, Shanghao Li, Huining Feng 等 13 位作者

原文摘要

Egocentric video is increasingly used as a data source for robot learning, activity understanding, and embodied AI research, but collecting it at scale remains fragmented in practice: each candidate host device, such as an Android phone, iPhone, iPad, smart glasses, or extended reality (XR) headset, exposes a different SDK, a different policy on raw camera access, and different limitations on external USB cameras and on-device tracking. Synchronized ego-view and wrist-view capture is therefore typically obtained by either committing to a single proprietary platform or building one-off rigs that do not transfer across devices. To address this gap, we present EgoKit, a toolkit that exposes the same egocentric recording workflow across six heterogeneous host devices. Across all supported devices, EgoKit presents the same recording interaction and produces locally stored video with a uniform log format; on XR headsets, it additionally logs head pose and OpenXR-standard 26-joint hand tracking aligned to the video streams. The companion accessories, including two wrist cameras with mounts, a head strap, and a USB-C hub, add wrist-view capture to any supported host without custom hardware fabrication. To validate that EgoKit data can train robot policies, we replicated HumanEgo with 41 demonstrations recorded by EgoKit-PICO: in simulation, policies trained on 20 or 40 of them placed a cube on a tray in 60-74% of 100 unseen layouts, about as often as policies trained on Project Aria recordings of the same layouts. EgoKit is available at https://egokit.chuange.org/.

cs.CV · cs.RO

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.2042ACL Anthology · ACL 2026

Response-G1: Explicit Scene Graph Modeling for Proactive Streaming Video Understanding

Ke Ma, Jiaqi Tang, Bin Guo Northwestern Polytechnical University, Xueting Han, Ruonan Xu, Qingfeng He, Ziheng Wang, Xu Wang 等 11 位作者

原文摘要

Proactive streaming video understanding requires Video-LLMs to decide when to respond as a video unfolds, a task where existing methods often fall short due to their implicit, query-agnostic modeling of visual evidence. We introduce Response-G1, a novel framework that establishes explicit, structured alignment between the accumulated video evidence and the query’s expected response conditions via scene graphs. The framework operates in three fine-tuning-free stages: (1) online query-guided scene graph generation from streaming clips; (2) memory-based retrieval of the most semantically relevant historical scene graphs; and (3) retrieval-augmented trigger prompting for per-frame “silence/response” decisions. By grounding both evidence and conditions in a shared graph representation, Response-G1 achieves more interpretable and accurate response timing decisions. Experimental results on established benchmarks demonstrate the superiority of our method in both proactive and reactive tasks, validating the advantage of explicit scene graph modeling and retrieval in streaming video understanding.

cs.CL

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