Kang An

Hui Zhang, Zhiyang Wu, Qianqian Shangguan et al.

Monocular visual localization plays a pivotal role in advanced driver assistance systems and autonomous driving by estimating a vehicle's ego-motion from a single pinhole camera. Nevertheless, conventional monocular visual odometry encoun-ters challenges in scale estimation due to the absence of depth information during projection. Previous methodologies, whether rooted in physical constraints or deep learning paradigms, con-tend with issues related to computational complexity and the management of dynamic objects. This study extends our prior research, presenting innovative strategies for ego-motion estima-tion and the selection of ground points. Striving for a nuanced equilibrium between computational efficiency and precision, we propose a hybrid method that leverages the SegNeXt model for real-time applications, encompassing both ego-motion estimation and ground point selection. Our methodology incorporates dy-namic object masks to eliminate unstable features and employs ground plane masks for meticulous triangulation. Furthermore, we exploit Geometry-constraint to delineate road regions for scale recovery. The integration of this approach with the mo-nocular version of ORB-SLAM3 culminates in the accurate esti-mation of a road model, a pivotal component in our scale recov-ery process. Rigorous experiments, conducted on the KITTI da-taset, systematically compare our method with existing monocu-lar visual odometry algorithms and contemporary scale recovery methodologies. The results undeniably confirm the superior ef-fectiveness of our approach, surpassing state-of-the-art visual odometry algorithms. Our source code is available at https://git hub.com/bFr0zNq/MVOSegScale.

FaQiang Qian, WeiKun Zhang, Ziliang Wang et al.

Shaping powerful LLMs to be beneficial and safe is central to AI alignment. We argue that post-training alignment is fundamentally a unified Preference Learning problem, involving two modalities: demonstrated preferences (e.g., Supervised Fine-Tuning, SFT) and comparative preferences (e.g., Reinforcement Learning, RL).The standard sequential pipeline-SFT followed by RL-is flawed due to a critical distributional mismatch: SFT uses static expert data, but as the policy evolves, its generation distribution drifts, making SFT knowledge brittle. Subsequent RL then explores without direct access to the rich, ground-truth knowledge in expert demonstrations, leading to inefficient, ungrounded updates. This separation prevents mutual regularization between data sources. To address this, we reframe alignment as a constrained optimization problem and propose Unified Adversarial Preference Learning (UniAPL),a novel framework that dynamically aligns the policy's distribution with the expert's. UniAPL implements a single-stage unified training objective, jointly learning from mixed batches of SFT and preference data. In every gradient step, dense expert demonstrations directly ground and regularize online exploration, inherently resolving distributional mismatch and maximizing data synergy.We evaluate UniAPL on instruction-following tasks using Qwen3-235B-Instruct-2507 as the teacher. Our models match or exceed strong GRPO baselines: +5.77% on Qwen3-0.6B (matching a 32B model) and +3.75% on Qwen3-4B,even outperforming the teacher. Analyses of response length and log-probability distributions confirm that UniAPL outputs closely mimic expert demonstrations, achieving both stronger performance and better behavioral alignment.