Yao Su

Yao Su, Xin Dai, Lifang He et al.

Deformable image registration, i.e., the task of aligning multiple images into one coordinate system by non-linear transformation, serves as an essential preprocessing step for neuroimaging data. Recent research on deformable image registration is mainly focused on improving the registration accuracy using multi-stage alignment methods, where the source image is repeatedly deformed in stages by a same neural network until it is well-aligned with the target image. Conventional methods for multi-stage registration can often blur the source image as the pixel/voxel values are repeatedly interpolated from the image generated by the previous stage. However, maintaining image quality such as sharpness during image registration is crucial to medical data analysis. In this paper, we study the problem of anti-blur deformable image registration and propose a novel solution, called Anti-Blur Network (ABN), for multi-stage image registration. Specifically, we use a pair of short-term registration and long-term memory networks to learn the nonlinear deformations at each stage, where the short-term registration network learns how to improve the registration accuracy incrementally and the long-term memory network combines all the previous deformations to allow an interpolation to perform on the raw image directly and preserve image sharpness. Extensive experiments on both natural and medical image datasets demonstrated that ABN can accurately register images while preserving their sharpness. Our code and data can be found at https://github.com/anonymous3214/ABN

Yao Su, Zhentian Qian, Lifang He et al.

Brain extraction and registration are important preprocessing steps in neuroimaging data analysis, where the goal is to extract the brain regions from MRI scans (i.e., extraction step) and align them with a target brain image (i.e., registration step). Conventional research mainly focuses on developing methods for the extraction and registration tasks separately under supervised settings. The performance of these methods highly depends on the amount of training samples and visual inspections performed by experts for error correction. However, in many medical studies, collecting voxel-level labels and conducting manual quality control in high-dimensional neuroimages (e.g., 3D MRI) are very expensive and time-consuming. Moreover, brain extraction and registration are highly related tasks in neuroimaging data and should be solved collectively. In this paper, we study the problem of unsupervised collective extraction and registration in neuroimaging data. We propose a unified end-to-end framework, called ERNet (Extraction-Registration Network), to jointly optimize the extraction and registration tasks, allowing feedback between them. Specifically, we use a pair of multi-stage extraction and registration modules to learn the extraction mask and transformation, where the extraction network improves the extraction accuracy incrementally and the registration network successively warps the extracted image until it is well-aligned with the target image. Experiment results on real-world datasets show that our proposed method can effectively improve the performance on extraction and registration tasks in neuroimaging data. Our code and data can be found at https://github.com/ERNetERNet/ERNet

Yao Su, Zhentian Qian, Lei Ma et al.

Brain extraction, registration and segmentation are indispensable preprocessing steps in neuroimaging studies. The aim is to extract the brain from raw imaging scans (i.e., extraction step), align it with a target brain image (i.e., registration step) and label the anatomical brain regions (i.e., segmentation step). Conventional studies typically focus on developing separate methods for the extraction, registration and segmentation tasks in a supervised setting. The performance of these methods is largely contingent on the quantity of training samples and the extent of visual inspections carried out by experts for error correction. Nevertheless, collecting voxel-level labels and performing manual quality control on high-dimensional neuroimages (e.g., 3D MRI) are expensive and time-consuming in many medical studies. In this paper, we study the problem of one-shot joint extraction, registration and segmentation in neuroimaging data, which exploits only one labeled template image (a.k.a. atlas) and a few unlabeled raw images for training. We propose a unified end-to-end framework, called JERS, to jointly optimize the extraction, registration and segmentation tasks, allowing feedback among them. Specifically, we use a group of extraction, registration and segmentation modules to learn the extraction mask, transformation and segmentation mask, where modules are interconnected and mutually reinforced by self-supervision. Empirical results on real-world datasets demonstrate that our proposed method performs exceptionally in the extraction, registration and segmentation tasks. Our code and data can be found at https://github.com/Anonymous4545/JERS

Rong Zhou, Houliang Zhou, Yao Su et al.

Multimodal neuroimaging provides complementary insights for Alzheimer's disease diagnosis, yet clinical datasets frequently suffer from missing modalities. We propose ACADiff, a framework that synthesizes missing brain imaging modalities through adaptive clinical-aware diffusion. ACADiff learns mappings between incomplete multimodal observations and target modalities by progressively denoising latent representations while attending to available imaging data and clinical metadata. The framework employs adaptive fusion that dynamically reconfigures based on input availability, coupled with semantic clinical guidance via GPT-4o-encoded prompts. Three specialized generators enable bidirectional synthesis among sMRI, FDG-PET, and AV45-PET. Evaluated on ADNI subjects, ACADiff achieves superior generation quality and maintains robust diagnostic performance even under extreme 80\% missing scenarios, outperforming all existing baselines. To promote reproducibility, code is available at https://github.com/rongzhou7/ACADiff

Zhengyu Hu, Zheyuan Xiao, Linxin Song et al.

LLM training increasingly relies on teacher-generated supervision, from synthetic responses to reasoning traces and tool-use demonstrations. Current practice often chooses the highest-performing teacher to generate student training data, implicitly treating teacher test performance as a proxy for teaching quality. We show that this assumption can fail: even when multiple teachers provide correct answers to the same question, the answer from the strongest teacher is not necessarily the best supervision for a given student. To address this gap, we propose Student-Centric Answer Sampling (SCAS), a framework that selects from verified teacher-generated answers according to their estimated student-centric learning cost. Motivated by a token-wise gradient decomposition, we derive an efficient forward-only proxy for this cost and use it to guide answer selection during training. Experiments across 30 teacher models, 6 student base models, and 8 tasks show that SCAS consistently improves student performance, suggesting that effective distillation should prioritize supervision matched to the current student rather than teacher strength alone.

Yilue Qian, Peiyu Yu, Ying Nian Wu et al.

Visual planning simulates how humans make decisions to achieve desired goals in the form of searching for visual causal transitions between an initial visual state and a final visual goal state. It has become increasingly important in egocentric vision with its advantages in guiding agents to perform daily tasks in complex environments. In this paper, we propose an interpretable and generalizable visual planning framework consisting of i) a novel Substitution-based Concept Learner (SCL) that abstracts visual inputs into disentangled concept representations, ii) symbol abstraction and reasoning that performs task planning via the self-learned symbols, and iii) a Visual Causal Transition model (ViCT) that grounds visual causal transitions to semantically similar real-world actions. Given an initial state, we perform goal-conditioned visual planning with a symbolic reasoning method fueled by the learned representations and causal transitions to reach the goal state. To verify the effectiveness of the proposed model, we collect a large-scale visual planning dataset based on AI2-THOR, dubbed as CCTP. Extensive experiments on this challenging dataset demonstrate the superior performance of our method in visual task planning. Empirically, we show that our framework can generalize to unseen task trajectories, unseen object categories, and real-world data. Further details of this work are provided at https://fqyqc.github.io/ConTranPlan/.

Hang Yin, Yao Su, Xinyue Liu et al.

Brain network discovery aims to find nodes and edges from the spatio-temporal signals obtained by neuroimaging data, such as fMRI scans of human brains. Existing methods tend to derive representative or average brain networks, assuming observed signals are generated by only a single brain activity state. However, the human brain usually involves multiple activity states, which jointly determine the brain activities. The brain regions and their connectivity usually exhibit intricate patterns that are difficult to capture with only a single-state network. Recent studies find that brain parcellation and connectivity change according to the brain activity state. We refer to such brain networks as multi-state, and this mixture can help us understand human behavior. Thus, compared to a single-state network, a multi-state network can prevent us from losing crucial information of cognitive brain network. To achieve this, we propose a new model called MNGL (Multi-state Network Graphical Lasso), which successfully models multi-state brain networks by combining CGL (coherent graphical lasso) with GMM (Gaussian Mixture Model). Using both synthetic and real world ADHD 200 fMRI datasets, we demonstrate that MNGL outperforms recent state-of-the-art alternatives by discovering more explanatory and realistic results.

Gheorghe Comanici, Eric Bieber, Mike Schaekermann et al. · amazon-science, baidu

In this report, we introduce the Gemini 2.X model family: Gemini 2.5 Pro and Gemini 2.5 Flash, as well as our earlier Gemini 2.0 Flash and Flash-Lite models. Gemini 2.5 Pro is our most capable model yet, achieving SoTA performance on frontier coding and reasoning benchmarks. In addition to its incredible coding and reasoning skills, Gemini 2.5 Pro is a thinking model that excels at multimodal understanding and it is now able to process up to 3 hours of video content. Its unique combination of long context, multimodal and reasoning capabilities can be combined to unlock new agentic workflows. Gemini 2.5 Flash provides excellent reasoning abilities at a fraction of the compute and latency requirements and Gemini 2.0 Flash and Flash-Lite provide high performance at low latency and cost. Taken together, the Gemini 2.X model generation spans the full Pareto frontier of model capability vs cost, allowing users to explore the boundaries of what is possible with complex agentic problem solving.

Keqi Han, Songlin Zhao, Yao Su et al.

Transforming neuroimaging data into clinically actionable biomarkers is a knowledge-intensive and labor-intensive process. Standardized workflows such as fMRIPrep have improved robustness and efficiency, but they are statically configured and cannot reason about downstream objectives, deliberate over alternative strategies, or close the loop between intermediate evidence and subsequent decisions in the way a human researcher would. This lack of closed-loop adaptation often leaves domain experts trapped in a cycle of manual trial-and-error to tune parameters and remediate pipeline failures, severely constraining the scalability of clinical biomarker development. To bridge this gap, we introduce NIAgent, a multi-agent system for autonomous end-to-end neuroimaging analysis. Unlike conventional flat tool-calling agents, NIAgent adopts a code-centric execution paradigm where specialist agents collaboratively synthesize and optimize executable programs over composable domain-specific primitives. This design enables robust, long-horizon workflow construction that adapts dynamically to runtime observations. Furthermore, we propose a hierarchical verification framework for autonomous quality control, integrating cohort-level metric screening with agentic visual inspection to drive evidence-grounded workflow remediation. Experiments on ADHD-200 and ADNI demonstrate that NIAgent outperforms standard workflow-based baselines in predictive performance while exhibiting sophisticated agentic behaviors, including strategy exploration and adaptive refinement.

Haodi Yao, Fenghua He, Ning Hao et al.

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and computational efficiency. To address this, we introduce Cross-Layer Independent Deformable Description (CLIDD), a method that achieves superior distinctiveness by sampling directly from independent feature hierarchies. This approach utilizes learnable offsets to capture fine-grained structural details across scales while bypassing the computational burden of unified dense representations. To ensure real-time performance, we implement a hardware-aware kernel fusion strategy that maximizes inference throughput. Furthermore, we develop a scalable framework that integrates lightweight architectures with a training protocol leveraging both metric learning and knowledge distillation. This scheme generates a wide spectrum of model variants optimized for diverse deployment constraints. Extensive evaluations demonstrate that our approach achieves superior matching accuracy and exceptional computational efficiency simultaneously. Specifically, the ultra-compact variant matches the precision of SuperPoint while utilizing only 0.004M parameters, achieving a 99.7% reduction in model size. Furthermore, our high-performance configuration outperforms all current state-of-the-art methods, including high-capacity DINOv2-based frameworks, while exceeding 200 FPS on edge devices. These results demonstrate that CLIDD delivers high-precision local feature matching with minimal computational overhead, providing a robust and scalable solution for real-time spatial intelligence tasks.

Lingyu Jiang, Yuping Wang, Yao Su et al.

In recent years, multilayer perceptrons (MLP)-based deep learning models have demonstrated remarkable success in long-term time series forecasting (LTSF). Existing approaches typically augment MLP backbones with hand-crafted external modules to address the inherent limitations of their flat architectures. Despite their success, these augmented methods neglect hierarchical locality and sequential inductive biases essential for time-series modeling, and recent studies indicate diminishing performance improvements. To overcome these limitations, we explore Kolmogorov-Arnold Networks (KAN), a recently proposed model featuring adaptive basis functions capable of granular, local modulation of nonlinearities. This raises a fundamental question: Can KAN serve as a new modeling core for LTSF? To answer this, we introduce KANMixer, a concise architecture integrating a multi-scale mixing backbone that fully leverages KAN's adaptive capabilities. Extensive evaluation demonstrates that KANMixer achieves state-of-the-art performance in 16 out of 28 experiments across seven benchmark datasets. To uncover the reasons behind this strong performance, we systematically analyze the strengths and limitations of KANMixer in comparison with traditional MLP architectures. Our findings reveal that the adaptive flexibility of KAN's learnable basis functions significantly transforms the influence of network structural prior on forecasting performance. Furthermore, we identify critical design factors affecting forecasting accuracy and offer practical insights for effectively utilizing KAN in LTSF. Together, these insights constitute the first empirically grounded guidelines for effectively leveraging KAN in LTSF. Code is available in the supplementary file.

Yao Su, Keqi Han, Mingjie Zeng et al.

Brain imaging analysis is fundamental in neuroscience, providing valuable insights into brain structure and function. Traditional workflows follow a sequential pipeline-brain extraction, registration, segmentation, parcellation, network generation, and classification-treating each step as an independent task. These methods rely heavily on task-specific training data and expert intervention to correct intermediate errors, making them particularly burdensome for high-dimensional neuroimaging data, where annotations and quality control are costly and time-consuming. We introduce UniBrain, a unified end-to-end framework that integrates all processing steps into a single optimization process, allowing tasks to interact and refine each other. Unlike traditional approaches that require extensive task-specific annotations, UniBrain operates with minimal supervision, leveraging only low-cost labels (i.e., classification and extraction) and a single labeled atlas. By jointly optimizing extraction, registration, segmentation, parcellation, network generation, and classification, UniBrain enhances both accuracy and computational efficiency while significantly reducing annotation effort. Experimental results demonstrate its superiority over existing methods across multiple tasks, offering a more scalable and reliable solution for neuroimaging analysis. Our code and data can be found at https://github.com/Anonymous7852/UniBrain

Guiyao Tie, Zeli Zhao, Dingjie Song et al.

The emergence of Large Language Models (LLMs) has fundamentally transformed natural language processing, making them indispensable across domains ranging from conversational systems to scientific exploration. However, their pre-trained architectures often reveal limitations in specialized contexts, including restricted reasoning capacities, ethical uncertainties, and suboptimal domain-specific performance. These challenges necessitate advanced post-training language models (PoLMs) to address these shortcomings, such as OpenAI-o1/o3 and DeepSeek-R1 (collectively known as Large Reasoning Models, or LRMs). This paper presents the first comprehensive survey of PoLMs, systematically tracing their evolution across five core paradigms: Fine-tuning, which enhances task-specific accuracy; Alignment, which ensures ethical coherence and alignment with human preferences; Reasoning, which advances multi-step inference despite challenges in reward design; Efficiency, which optimizes resource utilization amidst increasing complexity; Integration and Adaptation, which extend capabilities across diverse modalities while addressing coherence issues. Charting progress from ChatGPT's alignment strategies to DeepSeek-R1's innovative reasoning advancements, we illustrate how PoLMs leverage datasets to mitigate biases, deepen reasoning capabilities, and enhance domain adaptability. Our contributions include a pioneering synthesis of PoLM evolution, a structured taxonomy categorizing techniques and datasets, and a strategic agenda emphasizing the role of LRMs in improving reasoning proficiency and domain flexibility. As the first survey of its scope, this work consolidates recent PoLM advancements and establishes a rigorous intellectual framework for future research, fostering the development of LLMs that excel in precision, ethical robustness, and versatility across scientific and societal applications.

Yicheng Lang, Kehan Guo, Yue Huang et al.

Due to the widespread use of LLMs and the rising critical ethical and safety concerns, LLM unlearning methods have been developed to remove harmful knowledge and undesirable capabilities. In this context, evaluations are mostly based on single-value metrics such as QA accuracy. However, these metrics often fail to capture the nuanced retention of harmful knowledge components, making it difficult to assess the true effectiveness of unlearning. To address this issue, we propose UNCD (UNlearning evaluation via Cognitive Diagnosis), a novel framework that leverages Cognitive Diagnosis Modeling for fine-grained evaluation of LLM unlearning. Our dedicated benchmark, UNCD-Cyber, provides a detailed assessment of the removal of dangerous capabilities. Moreover, we introduce UNCD-Agent, which refines unlearning by diagnosing knowledge remnants and generating targeted unlearning data. Extensive experiments across eight unlearning methods and two base models demonstrate that UNCD not only enhances evaluation but also effectively facilitates the removal of harmful LLM abilities.

Shibowen Zhang, Jiayang Wu, Guannan Liu et al.

This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both leveraging future state prediction to enable robust and dynamic dance motions in real-world environments. In the offline motion generation stage, human dance demonstrations are captured via a motion capture (MoCap) system, retargeted to the robot by solving a Quadratic Programming (QP) problem, and further refined using Trajectory Optimization (TO) to ensure dynamic feasibility. In the online motion execution stage, a centroidal dynamics-based Model Predictive Control (MPC) framework tracks the planned motions in real time and proactively adjusts swing foot placement to adapt to real world disturbances. We validate our framework on the full-size humanoid robot Kuavo 4Pro, demonstrating the dynamic dance motions both in simulation and in a four-minute live public performance with a team of four robots. Experimental results show that longer prediction horizons improve both motion expressiveness in planning and stability in execution.

Keqi Han, Yao Su, Lifang He et al.

Functional brain connectome is crucial for deciphering the neural mechanisms underlying cognitive functions and neurological disorders. Graph deep learning models have recently gained tremendous popularity in this field. However, their actual effectiveness in modeling the brain connectome remains unclear. In this study, we re-examine graph deep learning models based on four large-scale neuroimaging studies encompassing diverse cognitive and clinical outcomes. Surprisingly, we find that the message aggregation mechanism, a hallmark of graph deep learning models, does not help with predictive performance as typically assumed, but rather consistently degrades it. To address this issue, we propose a hybrid model combining a linear model with a graph attention network through dual pathways, achieving robust predictions and enhanced interpretability by revealing both localized and global neural connectivity patterns. Our findings urge caution in adopting complex deep learning models for functional brain connectome analysis, emphasizing the need for rigorous experimental designs to establish tangible performance gains and perhaps more importantly, to pursue improvements in model interpretability.

Rong Zhou, Dongping Chen, Zihan Jia et al.

Digital twins, as precise digital representations of physical systems, have evolved from passive simulation tools into intelligent and autonomous entities through the integration of artificial intelligence technologies. This paper presents a unified four-stage framework that systematically characterizes AI integration across the digital twin lifecycle, spanning modeling, mirroring, intervention, and autonomous management. By synthesizing existing technologies and practices, we distill a unified four-stage framework that systematically characterizes how AI methodologies are embedded across the digital twin lifecycle: (1) modeling the physical twin through physics-based and physics-informed AI approaches, (2) mirroring the physical system into a digital twin with real-time synchronization, (3) intervening in the physical twin through predictive modeling, anomaly detection, and optimization strategies, and (4) achieving autonomous management through large language models, foundation models, and intelligent agents. We analyze the synergy between physics-based modeling and data-driven learning, highlighting the shift from traditional numerical solvers to physics-informed and foundation models for physical systems. Furthermore, we examine how generative AI technologies, including large language models and generative world models, transform digital twins into proactive and self-improving cognitive systems capable of reasoning, communication, and creative scenario generation. Through a cross-domain review spanning eleven application domains, including healthcare, aerospace, smart manufacturing, robotics, and smart cities, we identify common challenges related to scalability, explainability, and trustworthiness, and outline directions for responsible AI-driven digital twin systems.

Hang Yin, Yao Su, Liping Liu et al.

Spike train classification has recently become an important topic in the machine learning community, where each spike train is a binary event sequence with \emph{temporal-sparsity of signals of interest} and \emph{temporal-noise} properties. A promising model for it should follow the design principle of performing intensive computation only when signals of interest appear. So such tasks use mainly Spiking Neural Networks (SNNs) due to their consideration of temporal-sparsity of spike trains. However, the basic mechanism of SNNs ignore the temporal-noise issue, which makes them computationally expensive and thus high power consumption for analyzing spike trains on resource-constrained platforms. As an event-driven model, an SNN neuron makes a reaction given any input signals, making it difficult to quickly find signals of interest. In this paper, we introduce an event-attention mechanism that enables SNNs to dynamically highlight useful signals of the original spike trains. To this end, we propose SkipSNN, which extends existing SNN models by learning to mask out noise by skipping membrane potential updates and shortening the effective size of the computational graph. This process is analogous to how people choose to open and close their eyes to filter the information they see. We evaluate SkipSNN on various neuromorphic tasks and demonstrate that it achieves significantly better computational efficiency and classification accuracy than other state-of-the-art SNNs.

Zhenliang Zhang, Zeyu Zhang, Ziyuan Jiao et al.

Artificial intelligence (AI) has revolutionized human cognitive abilities and facilitated the development of new AI entities capable of interacting with humans in both physical and virtual environments. Despite the existence of virtual reality, mixed reality, and augmented reality for several years, integrating these technical fields remains a formidable challenge due to their disparate application directions. The advent of AI agents, capable of autonomous perception and action, further compounds this issue by exposing the limitations of traditional human-centered research approaches. It is imperative to establish a comprehensive framework that accommodates the dual perceptual centers of humans and AI agents in both physical and virtual worlds. In this paper, we introduce the symmetrical reality framework, which offers a unified representation encompassing various forms of physical-virtual amalgamations. This framework enables researchers to better comprehend how AI agents can collaborate with humans and how distinct technical pathways of physical-virtual integration can be consolidated from a broader perspective. We then delve into the coexistence of humans and AI, demonstrating a prototype system that exemplifies the operation of symmetrical reality systems for specific tasks, such as pouring water. Subsequently, we propose an instance of an AI-driven active assistance service that illustrates the potential applications of symmetrical reality. This paper aims to offer beneficial perspectives and guidance for researchers and practitioners in different fields, thus contributing to the ongoing research about human-AI coexistence in both physical and virtual environments.

Yao Su, Yuhong Jiang, Yixin Zhu et al.

We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net. Specifically, the proposed planning framework first produces a set of dense waypoints for each robot, serving as the initialization for optimization. Next, we formulate an iterative optimization scheme to generate smooth and collision-free trajectories while ensuring cooperation within the robot duo to efficiently gather objects and properly avoid obstacles. We validate the generated trajectories in simulation and implement them in physical robots using Model Reference Adaptive Controller (MRAC) to handle unknown dynamics of carried payloads. In a series of studies, we find that: (i) a U-shape cost function is effective in planning cooperative robot duo, and (ii) the task efficiency is not always proportional to the tethered net's length. Given an environment configuration, our framework can gauge the optimal net length. To our best knowledge, ours is the first that provides such estimation for tethered robot duo.