Papers

Addressing the issues of severe noise and high frequency structural degradation in visible images under low-light conditions, this paper proposes a Near Infrared (NIR) aided low light image restoration method based on Frequency Decoupled Implicit Neural Representation (FDINR). Based on the statistical prior of RGB-NIR cross-modal frequency correlations, specifically that low-frequency RGB signals are more reliable, whereas high frequency NIR signals exhibit higher correlation, we explicitly decompose images into distinct frequency components via multi-scale wavelet transforms and construct a dual-branch implicit neural representation framework. Within this framework, we design a cross modal differentiated frequency supervision mechanism, leveraging low light RGB to guide the reconstruction of low frequency luminance and color, and utilizing high-SNR NIR signals to constrain the generation of high frequency texture details, thereby achieving complementary advantages in the frequency domain. Furthermore, an uncertainty-based adaptive weighting loss function is introduced to automatically balance the contributions of different frequency tasks, solving the problems of color distortion and artifacts caused by rigid fusion in the spatial domain common in traditional methods. Experimental results demonstrate that FD-INR not only effectively restores image luminance consistency and structural details but also, benefitting from its implicit continuous representation, outperforms existing methods in arbitrary-resolution reconstruction tasks, significantly enhancing the reliability of low light perception.

Generative semantic communication (SemCom) harnesses pretrained generative priors to improve the perceptual quality of wireless image transmission. Existing generative SemCom receivers, however, rely on maximum a posteriori (MAP) estimation, which fundamentally cannot preserve the data distribution and thus limits achievable perceptual quality. Moreover, current diffusion-based approaches using single-domain guidance face significant limitations: latent-domain guidance is sensitive to channel noise, while image-domain guidance inherits decoder bias. Simply combining both domains simultaneously yields an overconfident pseudo-posterior. In this paper, we formulate semantic decoding as a Bayesian inverse problem and prove that posterior sampling achieves optimal perceptual quality by preserving the data distribution. Building on this insight, we propose alternating dual-domain posterior sampling (ADDPS), a diffusion-based SemCom receiver that alternately enforces latent-domain and image-domain consistency during the sampling process. This alternating strategy decomposes joint posterior sampling into simpler subproblems, avoiding gradient conflicts while retaining the complementary strengths of both domains. Experiments on FFHQ demonstrate that the proposed ADDPS achieves superior perceptual quality compared with existing methods.

Radio astronomy plays a crucial role in understanding the universe, particularly within the realm of non-thermal astrophysics. Images of celestial objects are derived from the signals (called visibility) measured by radio telescopes. Such imaging results, called dirty images, contain artifacts due to factors such as sparsity and therefore require reconstruction to improve imaging quality. Existing methods typically restrict reconstruction to a unimodal domain, either to the dirty image after imaging or to the sparse visibility prior to imaging. Focusing solely on each unimodal reconstruction results in the loss of complementary in-context information in either the visibility or image domain, leading to an incomplete modeling of mutual dependency and consistency. To address these challenges, we propose CDCRec, a multimodal radio interferometric data reconstruction method that explicitly models cross-domain consistency. We design a hierarchical multi-task and multi-stage framework to enhance the exploration of interplays between domains during reconstruction. Our experimental results demonstrate that CDCRec improves imaging performance through enhanced cross-domain correlation extraction. In particular, our self-supervised complementary modeling strategy is better than current methods at interferometric domain translations that rely heavily on recovering dense information from constrained source-domain data.

In astronomical imaging, the low photon count of exposures necessitates extensive post-processing steps, including contamination removal and denoising. This paper evaluates deep-learning denoising methods that can be trained without clean ground-truth images and assesses their utility for detection11 oriented analysis of astronomical data. We adapt and compare Noise2Noise, Stein's Unbiased Risk Estimator, and blind-spot-based methods using synthetic data and real observations from the Hubble Space Telescope (HST) and the Canada-France-Hawaii Telescope (CFHT). Performance is evaluated using object-detection metrics, including correct detection rate and false alarm rate, together with image-based metrics and pixel-distribution diagnostics. The results show that these methods can improve faint-source detectability relative to the original noisy images, with encouraging gains on HST data after domain-consistent initialization, while transfer to CFHT data is more limited, highlighting the importance of instrument/domain similarity for unsupervised adaptation.

Recent advances in Multimodal Large Language Models (MLLMs) have enabled open-ended object recognition, yet they struggle with fine-grained tasks. In contrast, CLIP-style models excel at fine-grained recognition but lack broad coverage of general object categories. To bridge this gap, we propose HyMOR, a Hybrid Multi-granularity open-ended Object Recognition framework that integrates an MLLM with a CLIP model. In HyMOR, the MLLM performs open-ended and coarse-grained object recognition, while the CLIP model specializes in fine-grained identification of domain-specific objects such as animals and plants. This hybrid design enables accurate object understanding across multiple semantic granularities, serving as a robust perceptual foundation for downstream multi-modal content generation and interactive gameplay. To support evaluation in content-rich and educational scenarios, we introduce TBO (TextBook Objects), a dataset containing 20,942 images annotated with 8,816 object categories extracted from textbooks. Extensive experiments demonstrate that HyMOR narrows the fine-grained recognition gap with CLIP to 0.2% while improving general object recognition by 2.5% over a baseline MLLM, measured by average Sentence-BERT (SBert) similarity. Overall, HyMOR achieves a 23.2% improvement in average SBert across all evaluated datasets, highlighting its effectiveness in enabling accurate perception for multi-modal game content generation and interactive learning applications.

Vehicle trajectory prediction is central to highway perception, but deployment on roadside edge devices necessitates bounded, deterministic end-to-end latency. We present EdgeVTP, an embedded-first trajectory predictor that combines interaction-aware graph modeling with a lightweight transformer backbone and a one-shot curve decoder. By predicting future motion as compact curve parameters (anchored at the last observed position) rather than horizon-scaled autoregressive waypoints, EdgeVTP reduces decoding overhead while producing smooth trajectories. To keep runtime predictable in crowded scenes, we explicitly bound interaction complexity via a locality graph with a hard neighbor cap. Across three highway benchmarks and two Jetson-class platforms, EdgeVTP achieves the lowest measured end-to-end latency under a protocol that includes graph construction and post-processing, while attaining state-of-the-art (SotA) prediction accuracy on two of the three datasets and competitive error on other benchmarks. Our code is available at https://github.com/SeungjinStevenKim/EdgeVTP.

This paper presents FairNVT, a lightweight debiasing framework for pretrained transformer-based encoders that improves prediction fairness while preserving task performance. FairNVT is motivated by the intuition that reducing sensitive-attribute information in the representation used by the downstream classifier can facilitate fairer predictions. Our approach learns task-relevant and sensitive embeddings via lightweight adapters, applies calibrated Gaussian noise to the sensitive embedding, and fuses it with the task representation. Together with orthogonality constraints and fairness regularization, these components jointly reduce sensitive-attribute leakage in the learned embeddings and encourage fairer downstream predictions. Across three datasets spanning vision and language, FairNVT reduces sensitive-attribute attacker accuracy, improves fairness metrics such as demographic parity difference and equalized odds, and maintains competitive task performance.

We present a system for automated detection, localization, and scoring of arrow punctures on 40\,cm indoor archery target faces, trained on only 48 annotated photographs (5{,}084 punctures). Our pipeline combines three components: a color-based canonical rectification stage that maps perspective-distorted photographs into a standardized coordinate system where pixel distances correspond to known physical measurements; a frozen self-supervised vision transformer (DINOv3 ViT-L/16) paired with AnyUp guided feature upsampling to recover sub-millimeter spatial precision from $32 \times 32$ patch tokens; and lightweight CenterNet-style detection heads for arrow-center heatmap prediction. Only 3.8\,M of 308\,M total parameters are trainable. Across three cross-validation folds, we achieve a mean F1 score of $0.893 \pm 0.011$ and a mean localization error of $1.41 \pm 0.06$\,mm, comparable to or better than prior fully-supervised approaches that require substantially more training data. An ablation study shows that the CenterNet offset regression head, typically essential for sub-pixel refinement, provides negligible detection improvement while degrading localization in our setting. This suggests that guided feature upsampling already resolves the spatial precision lost through patch tokenization. On downstream archery metrics, the system recovers per-image average arrow scores with a median error of 1.8% and group centroid positions to within a median of 4.00\,mm. These results demonstrate that frozen foundation models with minimal task-specific adaptation offer a practical paradigm for dense prediction in small-data regimes.

Identity-document fraud detection is not a stationary binary classification problem. Adaptive attackers modify templates and fabrication pipelines, making historical fraud labels stale, and successful forgeries recur at scale as coherent campaigns. We therefore study layout-aware representation learning for open-set fraud discovery rather than only closed-set classification. We adapt DINOv3 to the document domain via context-aware SimMIM fine-tuning and supervised metric learning with composite loss that encourages inter-class separability and intra-class compactness. The model is trained with U.S. IDs only. With a lightweight MLP and softmax classifier, the embedding achieves 99.83% layout classification accuracy on Canadian layouts. Moreover, on a dataset of 20,448 Canadian IDs, embedding-space analysis surfaces 276 adaptive physical-fraud cases, including 222 not surfaced by incumbent detectors. The embedding supports similarity-based expansion from a single confirmed seed to additional related cases not linked by conventional metadata graphs. The layout-aware document embeddings provide a production-aligned basis for discovering novel and campaign-scale fraud under distribution shift.

Time series forecasting plays a pivotal role in critical sectors such as finance, energy, transportation, and meteorology. However, Long-term Time Series Forecasting (LTSF) remains a significant challenge because real-world signals contain highly entangled temporal dynamics that are difficult to fully capture from a purely 1D perspective. To break this representation bottleneck, we propose TriTS, a novel cross-modal disentanglement framework that projects 1D time series into orthogonal time, frequency, and 2D-vision spaces.To seamlessly bridge the 1D-to-2D modality gap without the prohibitive $O(N^2)$ computational overhead of Vision Transformers (ViTs), we introduce a Period-Aware Reshaping strategy and incorporate Visual Mamba (Vim). This approach efficiently models cross-period dependencies as global visual textures while maintaining linear computational complexity. Complementing this, we design a Multi-Resolution Wavelet Mixing (MR-WM) module for the frequency modality, which explicitly decouples non-stationary signals into trend and noise components to achieve fine-grained time-frequency localization. Finally, a streaming linear branch is retained in the time domain to anchor numerical stability. By dynamically fusing these three complementary representations, TriTS effectively adapts to diverse data contexts. Extensive experiments across multiple benchmark datasets demonstrate that TriTS achieves state-of-the-art (SOTA) performance, fundamentally outperforming existing vision-based forecasters by drastically reducing both parameter count and inference latency.

Dynamic 3D Gaussian Splatting methods achieve strong training-view PSNR on monocular video but generalize poorly: on the D-NeRF benchmark we measure an average train-test PSNR gap of 6.18 dB, rising to 11 dB on individual scenes. We report two findings that together account for most of that gap. Finding 1 (the role of splitting). A systematic ablation of the Adaptive Density Control pipeline (split, clone, prune, frequency, threshold, schedule) shows that splitting is responsible for over 80% of the gap: disabling split collapses the cloud from 44K to 3K Gaussians and the gap from 6.18 dB to 1.15 dB. Across all threshold-varying ablations, gap is log-linear in count (r = 0.995, bootstrap 95% CI [0.99, 1.00]), which suggests a capacity-based explanation. Finding 2 (the role of deformation coherence). We show that the capacity explanation is incomplete. A local-smoothness penalty on the per-Gaussian deformation field – Elastic Energy Regularization (EER) – reduces the gap by 40.8% while growing the cloud by 85%. Measuring per-Gaussian strain directly on trained checkpoints, EER reduces mean strain by 99.72% (median 99.80%) across all 8 scenes; on 8/8 scenes the median Gaussian under EER is less strained than the 1st-percentile (best-behaved) Gaussian under baseline. Alongside EER, we evaluate two further regularizers: GAD, a loss-rate-aware densification threshold, and PTDrop, a jitter-weighted Gaussian dropout. GAD+EER reduces the gap by 48%; adding PTDrop and a soft growth cap reaches 57%. We confirm that coherence generalizes to (a) a different deformation architecture (Deformable-3DGS, +40.6% gap reduction at re-tuned lambda), and (b) real monocular video (4 HyperNeRF scenes, reducing the mean PSNR gap by 14.9% at the same lambda as D-NeRF, with near-zero quality cost). The overfitting in dynamic 3DGS is driven by incoherent deformation, not parameter count.

Training-free token reduction methods for Vision Transformers (ToMe, ToFu, PiToMe, and MCTF) employ different scoring mechanisms, yet they share a closely matched cliff-like collapse at high compression. This paper explains why. We develop a diagnostic framework with two tools, ranking consistency $\rho_s$ and off-diagonal correlation $\rho_\text{off}$, that decomposes the collapse into (1)a signal-agnostic error amplifier inherent to layer-wise reduction, predicting convex Pareto curves and $r_{\text{crit}} \propto 1/L$; and (2)shared reliance on pairwise similarity signals whose ranking consistency degrades from $\rho_s{=}0.88$ to $0.27$ in deep layers. Pairwise rankings are inherently unstable ($O(N_p^2)$ joint perturbations) while unary signals enjoy greater stability ($O(N_p)$ perturbations, CLT). From three design principles derived from this diagnosis, we construct CATIS as a constructive validation: unary signals raise the trigger threshold, triage suppresses the gain. On ViT-Large at 63% FLOPs reduction, CATIS retains 96.9% of vanilla accuracy (81.0%) on ImageNet-1K where all baselines collapse to 43–65%.

Traditional melissopalynology is a time-consuming and subjective process, often taking 4-6 hours per sample. We present an automated, high-throughput microscopy system that integrates H_\infty robust mechanical control with advanced deep learning pipelines for the precise counting, classification, and morphological analysis of pollen grains from Bio Bio region in south central territory in Chile. Our system employs U^2-Net for salient object detection and a DINOv2 Vision Transformer backbone trained via Deep Metric Learning for classification. By integrating Gradient-Weighted Attention, the model provides human-interpretable texture and diagnostic feature annotations. The system achieves a 95.8% classification recall and at least 6x processing speedup compared to manual expert analysis.

Multimodal large language models (MLLMs) have recently demonstrated strong capabilities in understanding and generating responses from diverse visual inputs, including high-resolution images and long video sequences. As these models scale to richer visual representations, inference increasingly relies on storing large numbers of vision tokens in the key-value (KV) cache, making memory consumption a central bottleneck. Existing methods address this issue by identifying redundancy in vision tokens and compressing the cache, but such compression is typically applied only after all inputs are processed, resulting in high peak memory usage during the prefill stage. In this work, we show that MLLMs exhibit inherent structural regularities and representational redundancy that can be exploited to control memory growth throughout inference. Based on this insight, we propose a sequential input-compression mechanism that enforces a fixed memory budget by performing structure-aware key-value cache compression during the prefill process. This approach substantially reduces peak memory usage while maintaining generative performance with only minimal degradation, enabling more practical and memory-efficient multimodal inference.

Physical awareness, especially in a large and dynamic environment, is shaped by sensing decisions that determine observability across space, time, and scale, while observations impact the quality of sensing decisions. This loopy information structure makes physical awareness a fundamentally challenging decision problem with partial observations. While in the past decade we have witnessed the unprecedented success of reinforcement learning (RL) in problems with full observability, decision problems with partial observation, such as POMDPs, remain largely open: real-world explorations are excessively costly, while sim-to-real pipeline suffer from unobserved viewpoints. We introduce AW4RE (Active World-model with 4D-informed Retrieval for Exploration), an awareness-centric generative world model that provides a sensor-native surrogate environment for exploring sensing queries. Conditioned on a queried sensing action, AW4RE estimates the action-conditioned observation process. This is done by combining 4D-informed evidence retrieval, action-conditioned geometric support with temporal coherence, and conditional generative completion. Experiments demonstrate that AW4RE produces more grounded and consistent predictions than geometry-aware generative baselines under extreme viewpoint shifts, temporal gaps, and sparse geometric support.

State-of-the-art large language models (LLMs) show high performance in general visual question answering. However, a fundamental limitation remains: current architectures lack the native 3D spatial reasoning required to directly analyze volumetric medical imaging, such as CT or MRI. Emerging agentic AI offers a new solution, eliminating the need for intrinsic 3D processing by enabling LLMs to orchestrate and leverage specialized external tools. Yet, the feasibility of such agentic frameworks in complex, multi-step radiological workflows remains underexplored. In this work, we present a training-free agentic pipeline for automated brain MRI analysis. Validating our methodology on several LLMs (GPT-5.4, Gemini 3.1 Pro, Claude Sonnet 4.6) with off-the-shelf domain-specific tools, our system autonomously executes complex end-to-end workflows, including preprocessing (skull stripping, registration), pathology segmentation (glioma, meningioma, metastases), and volumetric reasoning. We evaluate our framework across increasingly complex radiological tasks, from single-scan tumor and anatomy analysis to longitudinal response assessment requiring multi-timepoint comparisons. We analyze the impact of architectural design by comparing single-agent models against multi-agent "domain-expert" collaborations. To support rigorous evaluation of future agentic systems, we release a benchmark dataset of image-prompt-answer tuples derived from public data. Our results demonstrate that agentic AI can solve highly neuro-radiological image analysis tasks through tool use without the need for training or fine-tuning.

Considering the imminent massification of digital books, it has become critical to facilitate searching collections through graphical patterns. Current strategies for document retrieval and pattern spotting in historical documents still need to be improved. State-of-the-art strategies achieve an overall precision of $0.494$ for pattern spotting, where the precision for small non-square queries reaches 0.427. In addition, the processing time is excessive, requiring up to 7 seconds for searching in the DocExplore dataset due to a dense-based strategy used by SOTA models. Therefore, we propose a new model based on a better encoder (iDoc), trained under a self-supervised strategy, and an open-set detector to accelerate searching. Our model achieves competitive results with state-of-the-art pattern spotting and document retrieval, improving speed by 10x. Furthermore, our model reaches a new SOTA performance on the small non-square queries, achieving a new precision of 0.612.Different from the previous version, this leverages non-maximum suppression to reduce false positives.

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR architecture to better capture both local geometry and global context. Our method introduces an upsampling operation that generates high-resolution feature maps, enabling the network to better detect smaller and semantically related objects. Experiments conducted on the ScanNetv2 dataset demonstrate that our 3DETR + MSA model improves detection performance, achieving a gain of almost 1% in mAP@25 and 4.78% in mAP@50 over the baseline. While applying MSA to the 3DETR-m variant shows limited improvement, our analysis reveals the importance of adapting the upsampling strategy for lightweight models. These results highlight the effectiveness of combining hierarchical feature extraction with attention mechanisms in enhancing 3D scene understanding.

Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked policies. Once execution drifts off the demonstration manifold, these policies often continue producing locally plausible actions without recovering from the failure. Existing runtime monitors either require failure data, over-trigger under benign feature drift, or stop at failure detection without providing a recovery mechanism. We present Rewind-IL, a training-free online safeguard framework for generative action-chunked imitation policies. Rewind-IL combines a zero-shot failure detector based on Temporal Inter-chunk Discrepancy Estimate (TIDE), calibrated with split conformal prediction, with a state-respawning mechanism that returns the robot to a semantically verified safe intermediate state. Offline, a vision-language model identifies recovery checkpoints in demonstrations, and the frozen policy encoder is used to construct a compact checkpoint feature database. Online, Rewind-IL monitors self-consistency in overlapping action chunks, tracks similarity to the checkpoint library, and, upon failure, rewinds execution to the latest verified safe state before restarting inference from a clean policy state. Experiments on real-world and simulated long-horizon manipulation tasks, including transfer to flow-matching action-chunked policies, demonstrate that policy-internal consistency coupled with semantically grounded respawning offers a practical route to improved reliability in imitation learning. Supplemental materials are available at https://sjay05.github.io/rewind-il

We introduce C-GenReg, a training-free framework for 3D point cloud registration that leverages the complementary strengths of world-scale generative priors and registration-oriented Vision Foundation Models (VFMs). Current learning-based 3D point cloud registration methods struggle to generalize across sensing modalities, sampling differences, and environments. Hence, C-GenReg augments the geometric point cloud registration branch by transferring the matching problem into an auxiliary image domain, where VFMs excel, using a World Foundation Model to synthesize multi-view-consistent RGB representations from the input geometry. This generative transfer, preserves spatial coherence across source and target views without any fine-tuning. From these generated views, a VFM pretrained for finding dense correspondences extracts matches. The resulting pixel correspondences are lifted back to 3D via the original depth maps. To further enhance robustness, we introduce a "Match-then-Fuse" probabilistic cold-fusion scheme that combines two independent correspondence posteriors, that of the generated-RGB branch with that of the raw geometric branch. This principled fusion preserves each modality inductive bias and provides calibrated confidence without any additional learning. C-GenReg is zero-shot and plug-and-play: all modules are pretrained and operate without fine-tuning. Extensive experiments on indoor (3DMatch, ScanNet) and outdoor (Waymo) benchmarks demonstrate strong zero-shot performance and superior cross-domain generalization. For the first time, we demonstrate a generative registration framework that operates successfully on real outdoor LiDAR data, where no imagery data is available.

Action recognition is a fundamental ability for social species. Yet, its underlying computations are not well understood. Classical psychophysical studies using simplified stimuli have shown that humans can perceive body motion even under degradation of relevant shape cues. Recent work using real-world action videos and their appearance-free counterparts (that preserve motion but lack static shape cues) included explicit training of humans and models on the appearance-free videos. Whether humans and vision models generalize in a zero-shot manner to appearance-free transformations of real-world action videos is not yet known. To measure this generalization in humans, we conducted a laboratory-based psychophysics experiment. 22 participants were trained to recognize five action categories using naturalistic videos (UCF5 dataset), and tested zero-shot on two types of appearance-free transformations: (i) dense-noise motion videos from an existing dataset (AFD5) and (ii) random-dot appearance-free videos. We find that participants recognize actions in both types of appearance-free videos well above chance, albeit with reduced accuracy compared to naturalistic videos. To model this behavior, we developed a two-pathway 3D CNN-based model combining an RGB (form) stream and an optical flow (motion) stream, including a coherence-gating mechanism inspired by Gestalt common-fate grouping. Our model generalizes to both appearance-free datasets and outperforms contemporary video classification models, narrowing the gap to human performance. We find that the motion pathway is critical for generalization to appearance-free videos, while the form pathway improves performance on naturalistic videos. Our findings highlight the importance of motion-based representations for generalization to appearance-free videos, and support the use of multi-stream architectures to model video-based action recognition.

Landslide detection from high resolution satellite imagery is a critical task for disaster response and risk assessment, yet the relative effectiveness of modern segmentation architectures and finetuning strategies for this problem remains insufficiently understood. In this work, we present a systematic benchmarking study of convolutional neural networks, transformer based segmentation models, and large pre-trained foundation models for landslide detection. Using the Globally Distributed Coseismic Landslide Dataset (GDCLD) dataset, we evaluate representative CNN- and transformer-based segmentation models alongside large pretrained foundation models under consistent training and evaluation protocols. In addition, we compare full fine-tuning with parameter-efficient fine-tuning methods, including LoRA and AdaLoRA, to assess their performance efficiency tradeoffs. Experimental results show that transformer-based models achieve strong segmentation performance, while parameter efficient finetuning reduces trainable parameters by up to 95% with comparable accuracy to full finetuning. We further analyze generalization under distribution shift by comparing validation and held-out test performance.

The accurate quantification of brain age from MRI has emerged as an important biomarker of brain health. However, existing approaches are often restricted to narrow age ranges and single-modality MRI data, limiting their capacity to capture the coordinated macro- and microstructural changes that unfold across the human lifespan. To address these limitations, we develop a multi-modal brain age framework to characterize the integrated evolution of brain morphology and white matter organization. Our model adopts a two-stage architecture, where modalities are processed independently and integrated via late fusion in both stages: first to estimate a probability distribution over six developmental stages, and then to predict age via probability-weighted stage-specialized experts. Experiments on nine datasets spanning fetal to elderly stages demonstrate competitive in-domain performance and out-of-domain generalization, with our method reducing MAE by 13% and 78% over existing baselines and multi-modal integration yielding 12-13% gains. Analysis of ADNI clinical groups further suggests the potential of the predicted brain age gap to characterize Alzheimer's-related brain aging.

Reliable UAV object detection requires robustness to illumination changes, motion blur, and scene dynamics that suppress RGB cues. Thermal long-wave infrared (LWIR) sensing preserves contrast in low light, and event cameras retain microsecond-level temporal edges, but integrating all three modalities in a unified detector has not been systematically studied. We present a tri-modal framework that processes RGB, thermal, and event data with a dual-stream hierarchical vision transformer. At selected encoder depths, a Modality-Aware Gated Exchange (MAGE) applies inter-sensor channel and spatial gating, and a Bidirectional Token Exchange (BiTE) module performs bidirectional token-level attention with depthwise-pointwise refinement, producing resolution-preserving fused maps for a standard feature pyramid and two-stage detector. We introduce a 10,489-frame UAV dataset with synchronized and pre-aligned RGB-thermal-event streams and 24,223 annotated vehicles across day and night flights. Through 61 controlled ablations, we evaluate fusion placement, mechanism (baseline MAGE+BiTE, CSSA, GAFF), modality subsets, and backbone capacity. Tri-modal fusion improves over all dual-modal baselines, with fusion depth having a significant effect and a lightweight CSSA variant recovering most of the benefit at minimal cost. This work provides the first systematic benchmark and modular backbone for tri-modal UAV-based object detection.

Inverse kinematics (IK) is a core operation in animation, robotics, and biomechanics: given Cartesian constraints, recover joint rotations under a known kinematic tree. In many real-time human avatar pipelines, the available signal per frame is a sparse set of tracked 3D joint positions, whereas animation systems require joint orientations to drive skinning. Recovering full orientations from positions is underconstrained, most notably because twist about bone axes is ambiguous, and classical IK solvers typically rely on iterative optimization that can be slow and sensitive to noisy inputs. We introduce IK-GAT, a lightweight graph-attention network that reconstructs full-body joint orientations from 3D joint positions in a single forward pass. The model performs message passing over the skeletal parent-child graph to exploit kinematic structure during rotation inference. To simplify learning, IK-GAT predicts rotations in a bone-aligned world-frame representation anchored to rest-pose bone frames. This parameterization makes the twist axis explicit and is exactly invertible to standard parent-relative local rotations given the kinematic tree and rest pose. The network uses a continuous 6D rotation representation and is trained with a geodesic loss on SO(3) together with an optional forward-kinematics consistency regularizer. IK-GAT produces animation-ready local rotations that can directly drive a rigged avatar or be converted to pose parameters of SMPL-like body models for real-time and online applications. With 374K parameters and over 650 FPS on CPU, IK-GAT outperforms VPoser-based per-frame iterative optimization without warm-start at significantly lower cost, and is robust to initial pose and input noise

Recent advances in reasoning models have shown remarkable progress in text-based domains, but transferring those capabilities to multimodal settings, e.g., to allow reasoning over audio-visual data, still remains a challenge, in part because of the limited availability of high-quality reasoning data in targeted multimodal combinations. To address this problem, we introduce AVRT, a novel framework that generates high-quality audio-visual reasoning traces from single-modality teacher models. We generate independent vision- and audio-reasoning traces via models specialized to reason over their respective modalities and merge the resulting traces with an LLM merger model. The resulting multimodal traces are used in a supervised fine-tuning (SFT) cold start to adapt the target model to audio-visual reasoning traces first, before training it in a second reinforcement learning stage on larger-scale data. Evaluated on seven audio-visual and audio benchmarks, our 3B and 7B parameter models achieve state-of-the-art results among models of comparable size including OmniBench and DailyOmni for audio-visual and MMAR for audio-only reasoning, showing that cross-modal training also transfers to single-modality tasks and establishing a new training pipeline for multimodal reasoning models.

Dehazing is a technique in computer vision for enhancing the visual quality of images captured in cloudy or foggy conditions. Dehazing helps to recover clear, high-quality images from haze-affected remote sensing data. In this study, we introduce IncepDeHazeGAN, a novel Generative Adversarial Network (GAN) involving Inception block and multi-layer feature fusion for the task of single-image dehazing. Utilizing the Inception block allows for multi-scale feature extraction. On the other hand, the multi-layer feature fusion design achieves efficient reuse of features as the features extracted at different convolution layers are fused several times. Grad-CAM XAI technique has been applied to our network, highlighting the regions focused on by the network for dehazing and its adaptation to different haze conditions. Experiments demonstrate that our network achieves state-of-the-art results in several datasets.

This report of world models distinguishes prior works by the cognitive functions they innovate. Many works claim an almost human-like cognitive capability in their world models. To evaluate these claims requires a proper grounding in first principles from human and machine cognition theory. In moving towards human-like world models we present a conceptual unified framework for world models that fully incorporates all the cognitive functions (i.e., memory, perception, language, reasoning, imagining, motivation, and metacognition) and identify gaps in existing research as a guide for future states of the art. In particular, we find that motivation (especially intrinsic motivation) and metacognition remain drastically under-researched, and we propose concrete directions to address these gaps informed by active inference and global workspace theory. We also introduce epistemic world models, a new category encompassing agent frameworks for scientific discovery that operate over structured knowledge. Our taxonomy, applied to video, embodied, and epistemic world models, suggests research directions where prior taxonomies have not.

Penalty kicks in soccer are decided under extreme time constraints, where goalkeepers benefit from anticipating shot direction from the kickers motion before or around ball contact. In this paper, MambaKick is presented as a learning-based framework for penalty direction prediction that leverages pretrained human action recognition (HAR) embeddings extracted from contact-centered short video segments and combines them with a lightweight temporal predictor. Rather than relying on explicit kinematic reconstruction or handcrafted biomechanical features, the approach reuses transferable spatiotemporal representations and utilizes selective state-spare models (Mamba) for efficient sequence aggregation. Simple contextual metadata (e.g., field side and footedness) are also considered as complementary cues that may reduce ambiguity in real-world footage. Across a range of HAR backbones, MambaKick consistently improves or matches strong embedding baselines, achieving up to 53.1% accuracy for three classes and 64.5% for two classes under the proposed methodology. Overall, the results indicate that combining pretrained HAR representations with efficient state-space temporal modeling is a practical direction for low-latency intention prediction in real-world sports video. The code will be available at GitHub: https://github.com/hvelesaca/MambaKick/

We present an amortized framework for real-time visual attribution streaming in multimodal thinking models. When these models generate code from a screenshot or solve math problems from images, their long reasoning traces should be grounded in visual evidence. However, verifying this reliance is challenging: faithful causal methods require costly repeated backward passes or perturbations, while raw attention maps offer instant access, they lack causal validity. To resolve this, we introduce an amortized approach that learns to estimate the causal effects of semantic regions directly from the rich signals encoded in attention features. Across five diverse benchmarks and four thinking models, our approach achieves faithfulness comparable to exhaustive causal methods while enabling visual attribution streaming, where users observe grounding evidence as the model reasons, not after. Our results demonstrate that real-time, faithful attribution in multimodal thinking models is achievable through lightweight learning, not brute-force computation.