Runhao Li

Xiaoxu Ma, Runhao Li, Hanwen Liu et al.

Effective retrieval across both seen and unseen categories is crucial for modern image retrieval systems. Retrieval on seen categories ensures precise recognition of known classes, while retrieval on unseen categories promotes generalization to novel classes with limited supervision. However, most existing deep hashing methods are confined to a single training paradigm, either pointwise or pairwise, where the former excels on seen categories and the latter generalizes better to unseen ones. To overcome this limitation, we propose Unified Hashing (UniHash), a dual-branch framework that unifies the strengths of both paradigms to achieve balanced retrieval performance across seen and unseen categories. UniHash consists of two complementary branches: a center-based branch following the pointwise paradigm and a pairwise branch following the pairwise paradigm. A novel hash code learning method is introduced to enable bidirectional knowledge transfer between branches, improving hash code discriminability and generalization. It employs a mutual learning loss to align hash representations and introduces a Split-Merge Mixture of Hash Experts (SM-MoH) module to enhance cross-branch exchange of hash representations. Theoretical analysis substantiates the effectiveness of UniHash, and extensive experiments on CIFAR-10, MSCOCO, and ImageNet demonstrate that UniHash consistently achieves state-of-the-art performance in both seen and unseen image retrieval scenarios.

Mingfeng Yuan, Hao Zhang, Mahan Mohammadi et al.

Mobile robots are often deployed over long durations in diverse open, dynamic scenes, including indoor setting such as warehouses and manufacturing facilities, and outdoor settings such as agricultural and roadway operations. A core challenge is to build a scalable long-horizon memory that supports an agentic workflow for planning, retrieval, and reasoning over open-ended instructions at variable granularity, while producing precise, actionable answers for navigation. We present STaR, an agentic reasoning framework that (i) constructs a task-agnostic, multimodal long-term memory that generalizes to unseen queries while preserving fine-grained environmental semantics (object attributes, spatial relations, and dynamic events), and (ii) introduces a Scalable TaskConditioned Retrieval algorithm based on the Information Bottleneck principle to extract from long-term memory a compact, non-redundant, information-rich set of candidate memories for contextual reasoning. We evaluate STaR on NaVQA (mixed indoor/outdoor campus scenes) and WH-VQA, a customized warehouse benchmark with many visually similar objects built with Isaac Sim, emphasizing contextual reasoning. Across the two datasets, STaR consistently outperforms strong baselines, achieving higher success rates and markedly lower spatial error. We further deploy STaR on a real Husky wheeled robot in both indoor and outdoor environments, demonstrating robust longhorizon reasoning, scalability, and practical utility.