Ziwei Chen

Xiaofeng Wang, Zheng Zhu, Guan Huang et al.

Self-supervised monocular methods can efficiently learn depth information of weakly textured surfaces or reflective objects. However, the depth accuracy is limited due to the inherent ambiguity in monocular geometric modeling. In contrast, multi-frame depth estimation methods improve the depth accuracy thanks to the success of Multi-View Stereo (MVS), which directly makes use of geometric constraints. Unfortunately, MVS often suffers from texture-less regions, non-Lambertian surfaces, and moving objects, especially in real-world video sequences without known camera motion and depth supervision. Therefore, we propose MOVEDepth, which exploits the MOnocular cues and VElocity guidance to improve multi-frame Depth learning. Unlike existing methods that enforce consistency between MVS depth and monocular depth, MOVEDepth boosts multi-frame depth learning by directly addressing the inherent problems of MVS. The key of our approach is to utilize monocular depth as a geometric priority to construct MVS cost volume, and adjust depth candidates of cost volume under the guidance of predicted camera velocity. We further fuse monocular depth and MVS depth by learning uncertainty in the cost volume, which results in a robust depth estimation against ambiguity in multi-view geometry. Extensive experiments show MOVEDepth achieves state-of-the-art performance: Compared with Monodepth2 and PackNet, our method relatively improves the depth accuracy by 20\% and 19.8\% on the KITTI benchmark. MOVEDepth also generalizes to the more challenging DDAD benchmark, relatively outperforming ManyDepth by 7.2\%. The code is available at https://github.com/JeffWang987/MOVEDepth.

Xiaofeng Wang, Zheng Zhu, Yunpeng Zhang et al.

In recent years, vision-centric perception has flourished in various autonomous driving tasks, including 3D detection, semantic map construction, motion forecasting, and depth estimation. Nevertheless, the latency of vision-centric approaches is too high for practical deployment (e.g., most camera-based 3D detectors have a runtime greater than 300ms). To bridge the gap between ideal research and real-world applications, it is necessary to quantify the trade-off between performance and efficiency. Traditionally, autonomous-driving perception benchmarks perform the offline evaluation, neglecting the inference time delay. To mitigate the problem, we propose the Autonomous-driving StreAming Perception (ASAP) benchmark, which is the first benchmark to evaluate the online performance of vision-centric perception in autonomous driving. On the basis of the 2Hz annotated nuScenes dataset, we first propose an annotation-extending pipeline to generate high-frame-rate labels for the 12Hz raw images. Referring to the practical deployment, the Streaming Perception Under constRained-computation (SPUR) evaluation protocol is further constructed, where the 12Hz inputs are utilized for streaming evaluation under the constraints of different computational resources. In the ASAP benchmark, comprehensive experiment results reveal that the model rank alters under different constraints, suggesting that the model latency and computation budget should be considered as design choices to optimize the practical deployment. To facilitate further research, we establish baselines for camera-based streaming 3D detection, which consistently enhance the streaming performance across various hardware. ASAP project page: https://github.com/JeffWang987/ASAP.

Kimi Team, Tongtong Bai, Yifan Bai et al.

We introduce Kimi K2.5, an open-source multimodal agentic model designed to advance general agentic intelligence. K2.5 emphasizes the joint optimization of text and vision so that two modalities enhance each other. This includes a series of techniques such as joint text-vision pre-training, zero-vision SFT, and joint text-vision reinforcement learning. Building on this multimodal foundation, K2.5 introduces Agent Swarm, a self-directed parallel agent orchestration framework that dynamically decomposes complex tasks into heterogeneous sub-problems and executes them concurrently. Extensive evaluations show that Kimi K2.5 achieves state-of-the-art results across various domains including coding, vision, reasoning, and agentic tasks. Agent Swarm also reduces latency by up to $4.5\times$ over single-agent baselines. We release the post-trained Kimi K2.5 model checkpoint to facilitate future research and real-world applications of agentic intelligence.

Kimi Team, Angang Du, Bohong Yin et al. · pku, tsinghua

We present Kimi-VL, an efficient open-source Mixture-of-Experts (MoE) vision-language model (VLM) that offers advanced multimodal reasoning, long-context understanding, and strong agent capabilities - all while activating only 2.8B parameters in its language decoder (Kimi-VL-A3B). Kimi-VL demonstrates strong performance across challenging domains: as a general-purpose VLM, Kimi-VL excels in multi-turn agent tasks (e.g., OSWorld), matching flagship models. Furthermore, it exhibits remarkable capabilities across diverse challenging vision language tasks, including college-level image and video comprehension, OCR, mathematical reasoning, and multi-image understanding. In comparative evaluations, it effectively competes with cutting-edge efficient VLMs such as GPT-4o-mini, Qwen2.5-VL-7B, and Gemma-3-12B-IT, while surpassing GPT-4o in several key domains. Kimi-VL also advances in processing long contexts and perceiving clearly. With a 128K extended context window, Kimi-VL can process diverse long inputs, achieving impressive scores of 64.5 on LongVideoBench and 35.1 on MMLongBench-Doc. Its native-resolution vision encoder, MoonViT, further allows it to see and understand ultra-high-resolution visual inputs, achieving 83.2 on InfoVQA and 34.5 on ScreenSpot-Pro, while maintaining lower computational cost for common tasks. Building upon Kimi-VL, we introduce an advanced long-thinking variant: Kimi-VL-Thinking-2506. Developed through long chain-of-thought (CoT) supervised fine-tuning (SFT) and reinforcement learning (RL), the latest model exhibits strong long-horizon reasoning capabilities (64.0 on MMMU, 46.3 on MMMU-Pro, 56.9 on MathVision, 80.1 on MathVista, 65.2 on VideoMMMU) while obtaining robust general abilities. Code and models are publicly accessible at https://github.com/MoonshotAI/Kimi-VL.

Guoping Cai, Houjin Chen, Yanfeng Li et al.

Breast ultrasound (BUS) image segmentation plays a vital role in assisting clinical diagnosis and early tumor screening. However, challenges such as speckle noise, imaging artifacts, irregular lesion morphology, and blurred boundaries severely hinder accurate segmentation. To address these challenges, this work aims to design a robust and efficient model capable of automatically segmenting breast tumors in BUS images.We propose a novel segmentation network named WDFFU-Mamba, which integrates wavelet-guided enhancement and dual-attention feature fusion within a U-shaped Mamba architecture. A Wavelet-denoised High-Frequency-guided Feature (WHF) module is employed to enhance low-level representations through noise-suppressed high-frequency cues. A Dual Attention Feature Fusion (DAFF) module is also introduced to effectively merge skip-connected and semantic features, improving contextual consistency.Extensive experiments on two public BUS datasets demonstrate that WDFFU-Mamba achieves superior segmentation accuracy, significantly outperforming existing methods in terms of Dice coefficient and 95th percentile Hausdorff Distance (HD95).The combination of wavelet-domain enhancement and attention-based fusion greatly improves both the accuracy and robustness of BUS image segmentation, while maintaining computational efficiency.The proposed WDFFU-Mamba model not only delivers strong segmentation performance but also exhibits desirable generalization ability across datasets, making it a promising solution for real-world clinical applications in breast tumor ultrasound analysis.

Xinyuan Wang, Bowen Wang, Dunjie Lu et al. · cmu

Vision-language models have demonstrated impressive capabilities as computer-use agents (CUAs) capable of automating diverse computer tasks. As their commercial potential grows, critical details of the most capable CUA systems remain closed. As these agents will increasingly mediate digital interactions and execute consequential decisions on our behalf, the research community needs access to open CUA frameworks to study their capabilities, limitations, and risks. To bridge this gap, we propose OpenCUA, a comprehensive open-source framework for scaling CUA data and foundation models. Our framework consists of: (1) an annotation infrastructure that seamlessly captures human computer-use demonstrations; (2) AgentNet, the first large-scale computer-use task dataset spanning 3 operating systems and 200+ applications and websites; (3) a scalable pipeline that transforms demonstrations into state-action pairs with reflective long Chain-of-Thought reasoning that sustain robust performance gains as data scales. Our end-to-end agent models demonstrate strong performance across CUA benchmarks. In particular, OpenCUA-72B achieves an average success rate of 45.0% on OSWorld-Verified, establishing a new state-of-the-art (SOTA) among open-source models. Further analysis confirms that our approach generalizes well across domains and benefits significantly from increased test-time computation. We release our annotation tool, datasets, code, and models to build open foundations for further CUA research.

Hang Chen, Sankepally Sainath Reddy, Ziwei Chen et al.

The dimensionality of the embedding and the number of available embeddings ( also called codebook size) are critical factors influencing the performance of Vector Quantization(VQ), a discretization process used in many models such as the Vector Quantized Variational Autoencoder (VQ-VAE) architecture. This study examines the balance between the codebook sizes and dimensions of embeddings in VQ, while maintaining their product constant. Traditionally, these hyper parameters are static during training; however, our findings indicate that augmenting the codebook size while simultaneously reducing the embedding dimension can significantly boost the effectiveness of the VQ-VAE. As a result, the strategic selection of codebook size and embedding dimensions, while preserving the capacity of the discrete codebook space, is critically important. To address this, we propose a novel adaptive dynamic quantization approach, underpinned by the Gumbel-Softmax mechanism, which allows the model to autonomously determine the optimal codebook configuration for each data instance. This dynamic discretizer gives the VQ-VAE remarkable flexibility. Thorough empirical evaluations across multiple benchmark datasets validate the notable performance enhancements achieved by our approach, highlighting the significant potential of adaptive dynamic quantization to improve model performance.

Ziling Liu, Ziwei Chen, Mingqi Gao et al.

Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish cross-image correspondence to assist change detection. However, large viewpoint changes can alter visual observations, causing appearance-based matching to drift or fail. Additionally, supervision limited to 2D change masks from small-scale SCD datasets restricts the learning of generalizable multi-view knowledge, making it difficult to reliably identify visual overlaps and handle occlusions. This lack of explicit geometric reasoning represents a critical yet overlooked limitation. In this work, we introduce geometric priors for the first time to address the core challenges of unaligned SCD, for reliable identification of visual overlaps, robust correspondence establishment, and explicit occlusion detection. Building on these priors, we propose a training-free framework that integrates them with the powerful representations of a visual foundation model to enable reliable change detection under viewpoint misalignment. Through extensive evaluation on the PSCD, ChangeSim, and PASLCD datasets, we demonstrate that our approach achieves superior and robust performance. Our code will be released at https://github.com/ZilingLiu/GeoSCD.

Ziwei Chen, Ziling Liu, Zitong Huang et al.

Viewpoint missing of objects is common in scene reconstruction, as camera paths typically prioritize capturing the overall scene structure rather than individual objects. This makes it highly challenging to achieve high-fidelity object-level modeling while maintaining accurate scene-level representation. Addressing this issue is critical for advancing downstream tasks requiring high-fidelity object reconstruction. In this paper, we introduce Scene-Consistent Object Refinement via Proxy Generation and Tuning (SCORP), a novel 3D enhancement framework that leverages 3D generative priors to recover fine-grained object geometry and appearance under missing views. Starting with proxy generation by substituting degraded objects using a 3D generation model, SCORP then progressively refines geometry and texture by aligning each proxy to its degraded counterpart in 7-DoF pose, followed by correcting spatial and appearance inconsistencies through registration-constrained enhancement. This two-stage proxy tuning ensures the high-fidelity geometry and appearance of the original object in unseen views while maintaining consistency in spatial positioning, observed geometry, and appearance. Across challenging benchmarks, SCORP achieves consistent gains over recent state-of-the-art baselines on both novel view synthesis and geometry completion tasks. SCORP is available at https://github.com/PolySummit/SCORP.

Ziwei Chen, Jiawen Shen, Luna et al.

Recent work has highlighted the risks of LLM-generated content for a wide range of harmful behaviors, including incorrect and harmful code. In this work, we extend this by studying whether LLM-generated web design contains dark patterns. This work evaluated designs of ecommerce web components generated by four popular LLMs: Claude, GPT, Gemini, and Llama. We tested 13 commonly used ecommerce components (e.g., search, product reviews) and used them as prompts to generate a total of 312 components across all models. Over one-third of generated components contain at least one dark pattern. The majority of dark pattern strategies involve hiding crucial information, limiting users' actions, and manipulating them into making decisions through a sense of urgency. Dark patterns are also more frequently produced in components that are related to company interests. These findings highlight the need for interventions to prevent dark patterns during front-end code generation with LLMs and emphasize the importance of expanding ethical design education to a broader audience.

Hang Chen, Yuchuan Jang, Weijie Zhou et al.

Individuals, despite having varied life experiences and learning processes, can communicate effectively through languages. This study aims to explore the efficiency of language as a communication medium. We put forth two specific hypotheses: First, discrete messages are more effective than continuous ones when agents have diverse personal experiences. Second, communications using multiple discrete tokens are more advantageous than those using a single token. To valdate these hypotheses, we designed multi-agent machine learning experiments to assess communication efficiency using various information transmission methods between speakers and listeners. Our empirical findings indicate that, in scenarios where agents are exposed to different data, communicating through sentences composed of discrete tokens offers the best inter-agent communication efficiency. The limitations of our finding include lack of systematic advantages over other more sophisticated encoder-decoder model such as variational autoencoder and lack of evluation on non-image dataset, which we will leave for future studies.

Tianyi Zhang, Shirui Zhang, Ziwei Chen et al.

Federated machine learning is a versatile and flexible tool to utilize distributed data from different sources, especially when communication technology develops rapidly and an unprecedented amount of data could be collected on mobile devices nowadays. Federated learning method exploits not only the data but the computational power of all devices in the network to achieve more efficient model training. Nevertheless, while most traditional federated learning methods work well for homogeneous data and tasks, adapting the method to a different heterogeneous data and task distribution is challenging. This limitation has constrained the applications of federated learning in real-world contexts, especially in healthcare settings. Inspired by the fundamental idea of meta-learning, in this study we propose a new algorithm, which is an integration of federated learning and meta-learning, to tackle this issue. In addition, owing to the advantage of transfer learning for model generalization, we further improve our algorithm by introducing partial parameter sharing. We name this method partial meta-federated learning (PMFL). Finally, we apply the algorithms to two medical datasets. We show that our algorithm could obtain the fastest training speed and achieve the best performance when dealing with heterogeneous medical datasets.

Di Fu, Fares Abawi, Hugo Carneiro et al.

To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input information across modalities is inevitable and could be challenging for robots to process. To tackle this challenge, our study adopted the neurorobotic paradigm of crossmodal conflict resolution to make a robot express human-like social attention. A behavioural experiment was conducted on 37 participants for the human study. We designed a round-table meeting scenario with three animated avatars to improve ecological validity. Each avatar wore a medical mask to obscure the facial cues of the nose, mouth, and jaw. The central avatar shifted its eye gaze while the peripheral avatars generated sound. Gaze direction and sound locations were either spatially congruent or incongruent. We observed that the central avatar's dynamic gaze could trigger crossmodal social attention responses. In particular, human performances are better under the congruent audio-visual condition than the incongruent condition. Our saliency prediction model was trained to detect social cues, predict audio-visual saliency, and attend selectively for the robot study. After mounting the trained model on the iCub, the robot was exposed to laboratory conditions similar to the human experiment. While the human performances were overall superior, our trained model demonstrated that it could replicate attention responses similar to humans.

Ziwei Chen, Yiye Wang, Wankou Yang

Video based fall detection accuracy has been largely improved due to the recent progress on deep convolutional neural networks. However, there still exists some challenges, such as lighting variation, complex background, which degrade the accuracy and generalization ability of these approaches. Meanwhile, large computation cost limits the application of existing fall detection approaches. To alleviate these problems, a video based fall detection approach using human poses is proposed in this paper. First, a lightweight pose estimator extracts 2D poses from video sequences and then 2D poses are lifted to 3D poses. Second, we introduce a robust fall detection network to recognize fall events using estimated 3D poses, which increases respective filed and maintains low computation cost by dilated convolutions. The experimental results show that the proposed fall detection approach achieves a high accuracy of 99.83% on large benchmark action recognition dataset NTU RGB+D and real-time performance of 18 FPS on a non-GPU platform and 63 FPS on a GPU platform.

Jianfei Cui, He Zhu, Hao Deng et al.

Sometimes electrical medical records are restricted and difficult to centralize for machine learning, which could only be trained in distributed manner that involved many institutions in the process. However, sometimes some institutions are likely to figure out the private data used for training certain models based on the parameters they obtained, which is a violation of privacy and certain regulations. Under those circumstances, we develop an algorithm, called 'federated machine learning with anonymous random hybridization'(abbreviated as 'FeARH'), using mainly hybridization algorithm to eliminate connections between medical record data and models' parameters, which avoid untrustworthy institutions from stealing patients' private medical records. Based on our experiment, our new algorithm has similar AUCROC and AUCPR result compared with machine learning in centralized manner and original federated machine learning, at the same time, our algorithm can greatly reduce data transfer size in comparison with original federated machine learning.