Zeyu Ren

Zhengyang Liu, Ying Qin, Zeyu Ren et al.

The landmark Myerson-Satterthwaite Theorem establishes a fundamental impossibility in bilateral trade: no Bayesian incentive-compatible mechanism can simultaneously achieve ex-post efficiency, individual rationality, and strong budget balance. We resolve a long-standing open question regarding the efficiency loss imposed by these constraints. Specifically, we prove that the Bayesian-optimal (second-best) mechanism always captures at least half of the first-best gains from trade ($\mathrm{SB}\ge\frac{1}{2}\mathrm{FB}$). This result is tight, definitively closing the gap between the previously best-known bounds of $0.317$ and $0.736$.

Zeyu Ren, Xiang Li, Yiran Wang et al.

Stereo depth estimation is fundamental to underwater robotic perception, yet suffers from severe domain shifts caused by wavelength-dependent light attenuation, scattering, and refraction. Recent approaches leverage monocular foundation models with GRU-based iterative refinement for underwater adaptation; however, the sequential gating and local convolutional kernels in GRUs necessitate multiple iterations for long-range disparity propagation, limiting performance in large-disparity and textureless underwater regions. In this paper, we propose StereoAdapter-2, which replaces the conventional ConvGRU updater with a novel ConvSS2D operator based on selective state space models. The proposed operator employs a four-directional scanning strategy that naturally aligns with epipolar geometry while capturing vertical structural consistency, enabling efficient long-range spatial propagation within a single update step at linear computational complexity. Furthermore, we construct UW-StereoDepth-80K, a large-scale synthetic underwater stereo dataset featuring diverse baselines, attenuation coefficients, and scattering parameters through a two-stage generative pipeline combining semantic-aware style transfer and geometry-consistent novel view synthesis. Combined with dynamic LoRA adaptation inherited from StereoAdapter, our framework achieves state-of-the-art zero-shot performance on underwater benchmarks with 17% improvement on TartanAir-UW and 7.2% improvment on SQUID, with real-world validation on the BlueROV2 platform demonstrates the robustness of our approach. Code: https://github.com/AIGeeksGroup/StereoAdapter-2. Website: https://aigeeksgroup.github.io/StereoAdapter-2.

Yunfei Li, Xiao Ma, Jiafeng Xu et al.

We present GR-RL, a robotic learning framework that turns a generalist vision-language-action (VLA) policy into a highly capable specialist for long-horizon dexterous manipulation. Assuming the optimality of human demonstrations is core to existing VLA policies. However, we claim that in highly dexterous and precise manipulation tasks, human demonstrations are noisy and suboptimal. GR-RL proposes a multi-stage training pipeline that filters, augments, and reinforces the demonstrations by reinforcement learning. First, GR-RL learns a vision-language-conditioned task progress, filters the demonstration trajectories, and only keeps the transitions that contribute positively to the progress. Specifically, we show that by directly applying offline RL with sparse reward, the resulting $Q$-values can be treated as a robust progress function. Next, we introduce morphological symmetry augmentation that greatly improves the generalization and performance of GR-RL. Lastly, to better align the VLA policy with its deployment behaviors for high-precision control, we perform online RL by learning a latent space noise predictor. With this pipeline, GR-RL is, to our knowledge, the first learning-based policy that can autonomously lace up a shoe by threading shoelaces through multiple eyelets with an 83.3% success rate, a task requiring long-horizon reasoning, millimeter-level precision, and compliant soft-body interaction. We hope GR-RL provides a step toward enabling generalist robot foundations models to specialize into reliable real-world experts.

Zeyu Ren, Nurmement Yolwas, Huiru Wang et al.

In recent years, End-to-End speech recognition technology based on deep learning has developed rapidly. Due to the lack of Turkish speech data, the performance of Turkish speech recognition system is poor. Firstly, this paper studies a series of speech recognition tuning technologies. The results show that the performance of the model is the best when the data enhancement technology combining speed perturbation with noise addition is adopted and the beam search width is set to 16. Secondly, to maximize the use of effective feature information and improve the accuracy of feature extraction, this paper proposes a new feature extractor LSPC. LSPC and LiGRU network are combined to form a shared encoder structure, and model compression is realized. The results show that the performance of LSPC is better than MSPC and VGGnet when only using Fbank features, and the WER is improved by 1.01% and 2.53% respectively. Finally, based on the above two points, a new multi-feature fusion network is proposed as the main structure of the encoder. The results show that the WER of the proposed feature fusion network based on LSPC is improved by 0.82% and 1.94% again compared with the single feature (Fbank feature and Spectrogram feature) extraction using LSPC. Our model achieves performance comparable to that of advanced End-to-End models.

Xiang Yu, Yayan Chen, Guannan He et al.

While modern segmentation models often prioritize performance over practicality, we advocate a design philosophy prioritizing simplicity and efficiency, and attempted high performance segmentation model design. This paper presents SimpleUNet, a scalable ultra-lightweight medical image segmentation model with three key innovations: (1) A partial feature selection mechanism in skip connections for redundancy reduction while enhancing segmentation performance; (2) A fixed-width architecture that prevents exponential parameter growth across network stages; (3) An adaptive feature fusion module achieving enhanced representation with minimal computational overhead. With a record-breaking 16 KB parameter configuration, SimpleUNet outperforms LBUNet and other lightweight benchmarks across multiple public datasets. The 0.67 MB variant achieves superior efficiency (8.60 GFLOPs) and accuracy, attaining a mean DSC/IoU of 85.76%/75.60% on multi-center breast lesion datasets, surpassing both U-Net and TransUNet. Evaluations on skin lesion datasets (ISIC 2017/2018: mDice 84.86%/88.77%) and endoscopic polyp segmentation (KVASIR-SEG: 86.46%/76.48% mDice/mIoU) confirm consistent dominance over state-of-the-art models. This work demonstrates that extreme model compression need not compromise performance, providing new insights for efficient and accurate medical image segmentation. Codes can be found at https://github.com/Frankyu5666666/SimpleUNet.

Chilam Cheang, Sijin Chen, Zhongren Cui et al.

We report our recent progress towards building generalist robot policies, the development of GR-3. GR-3 is a large-scale vision-language-action (VLA) model. It showcases exceptional capabilities in generalizing to novel objects, environments, and instructions involving abstract concepts. Furthermore, it can be efficiently fine-tuned with minimal human trajectory data, enabling rapid and cost-effective adaptation to new settings. GR-3 also excels in handling long-horizon and dexterous tasks, including those requiring bi-manual manipulation and mobile movement, showcasing robust and reliable performance. These capabilities are achieved through a multi-faceted training recipe that includes co-training with web-scale vision-language data, efficient fine-tuning from human trajectory data collected via VR devices, and effective imitation learning with robot trajectory data. In addition, we introduce ByteMini, a versatile bi-manual mobile robot designed with exceptional flexibility and reliability, capable of accomplishing a wide range of tasks when integrated with GR-3. Through extensive real-world experiments, we show GR-3 surpasses the state-of-the-art baseline method, $π_0$, on a wide variety of challenging tasks. We hope GR-3 can serve as a step towards building generalist robots capable of assisting humans in daily life.

Haorui Chen, Zeyu Ren, Jiaxuan Ren et al.

Deep learning has substantially advanced pansharpening, achieving impressive fusion quality. However, a prevalent limitation is that conventional deep learning models, which typically rely on training datasets, often exhibit suboptimal generalization to unseen real-world image pairs. This restricts their practical utility when faced with real-world scenarios not included in the training datasets. To overcome this, we introduce a two-stage random alternating framework (TRA-PAN) that performs instance-specific optimization for any given Multispectral(MS)/Panchromatic(PAN) pair, ensuring robust and high-quality fusion. TRA-PAN effectively integrates strong supervision constraints from reduced-resolution images with the physical characteristics of the full-resolution images. The first stage introduces a pre-training procedure, which includes Degradation-Aware Modeling (DAM) to capture spectral degradation mappings, alongside a warm-up procedure designed to reduce training time and mitigate the adverse effects of reduced-resolution data. The second stage employs Random Alternation Optimization (RAO), randomly alternating between reduced- and full-resolution images to refine the fusion model progressively. This adaptive, per-instance optimization strategy, operating in a one-shot manner for each MS/PAN pair, yields superior high-resolution multispectral images. Experimental results demonstrate that TRA-PAN outperforms state-of-the-art (SOTA) methods in quantitative metrics and visual quality in real-world scenarios, underscoring its enhanced practical applicability and robustness.

Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere et al.

Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and suitable control interfaces including an immersive tele-presence suit and support-operator controls on different levels of autonomy. In this article, we give an overview of the final CENTAURO system. In particular, we explain several high-level design decisions and how those were derived from requirements and extensive experience of Kerntechnische Hilfsdienst GmbH, Karlsruhe, Germany (KHG). We focus on components which were recently integrated and report about a systematic evaluation which demonstrated system capabilities and revealed valuable insights.