Jie Peng

Jiaqi Peng, Xiqian Yu, Delin Feng et al.

While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying solely on current observations. Hierarchical dual-system methods address this but suffer from a gap between high-level planning semantics and low-level execution kinematics. We introduce Cortex, a bidirectionally aligned embodied agent framework with a customized planning interface that conveys executable and tractable subtask plans from high-level VLM to low-level VLA. Specifically, we standardize manipulation subtasks into 32 canonical skill primitives and inject tractability principles, such as representative object attributes and improved trajectory reachability, into the data generation pipeline. This enables automatic annotation of over 4k hours of open-source video data and generation of 30 hours of simulation data. We further devise an event-balanced sampling strategy to construct training data for fine-tuning the framework to better handle planning ambiguity during subtask transitions, enhanced by carefully designed harness engineering from task contexts to skill constraints during inference. Both open-loop VLM and closed-loop system evaluations demonstrate Cortex's efficacy, e.g., it outperforms monolithic baselines by 3.1% on Libero-long and 4.1% on RoboTwin. Notably, Cortex's generalist VLM enables zero-shot completion of unseen real-world long-horizon tasks, such as multi-stage chemistry experiments, by simply combining with a fine-tuned VLA-a capability infeasible through VLA fine-tuning alone.

Baiyang Song, Yuli Lin, Qiong Wu et al.

Currently, streaming video understanding is still a daunting task for existing \emph{multimodal large language models} (MLLMs). Its difficulties not only lie in handling the ever-increasing video frames, but also in the unpredictability of future video content and input instructions. In this paper, we study this task from the perspective of constructing a dynamic but fixed-budget memory bank, and propose a novel and training-free approach termed \emph{\textbf{CausalMem}}. CausalMem is dedicated to constructing a dynamic visual memory update mechanism, thereby maximizing the amount of information in streaming video within a limited memory space, much like the human brain. In practice, CausalMem estimates the redundancy of visual tokens and updates the memory bank via an online semantic basis, which models the principal semantics of the observed video stream. To validate CausalMem, we apply it to two representative MLLMs, namely LLaVA-OneVision and Qwen2.5-VL respectively, and conduct extensive experiments on both streaming and offline video understanding benchmarks. The experimental results not only show the great advantages than existing methods under both streaming and offline settings, \emph{e.g.}, $+3.2\%$ and $+3.0\%$ average accuracy gains respectively, but also witness the superior semantic preservation for streaming videos, \emph{e.g.}, using 12$k$ token budgets to memorize hour-long streaming videos, which achieves more than \textbf{20$\times$} visual token compression ratio and only occupies about \textbf{82 MB} storage. \textbf{Our code} is given in \href{https://github.com/hktk07/CausalMem}{CausalMem}.

Leshu Li, Jie Peng, Yang Zhao

3D Gaussian Splatting (3DGS) has garnered significant attention in Simultaneous Localization and Mapping (SLAM) due to its advances in capturing fine-grained geometry features and synthesizing novel views. For SLAM in large-scale scenes, such as autonomous driving, 3DGS-SLAM faces a critical limitation: memory consumption increases continuously over time as Gaussian points accumulate, leading to poor memory efficiency and limiting its applicability. In this work, we propose a rendering-area-aware pruning strategy that selectively removes Gaussians based on their contribution to the effective rendering area, rather than solely relying on Gaussian-level heuristics such as opacity or gradient magnitude. This perspective directly targets the sources of memory redundancy, effectively reducing the peak memory footprint of 3DGS-SLAM during runtime. Evaluations on the EuRoC and KITTI datasets demonstrate that our method consistently outperforms existing pruning approaches in large-scale outdoor scenes, achieving over 60% memory reduction and more than 2 times FPS improvement while preserving localization and mapping accuracy. These results highlight rendering-area-aware pruning as a promising direction for scaling 3DGS-SLAM to real-world autonomous driving scenarios. Our code is publicly available at https://github.com/UMN-ZhaoLab/Pocket-SLAM.git.

Haoxiang Ma, Junhao Cai, Xiaoxu Xu et al.

Unified models for robot manipulation aim to equip one policy with both the semantic priors of pretrained VLMs and the physical dynamics learned through future prediction. In practice, existing designs tend to erode the semantics of the pretrained backbone, suffer interference among heterogeneous objectives, and learn future prediction from scratch in pixel space, leaving the dynamics priors of pretrained video generators unexploited. We present InternVLA-A1.5, which builds the policy on a native VLM backbone that keeps training on VQA and subtask prediction, and attaches a lightweight unified expert for continuous action generation. Future prediction is recast as a latent-querying problem, where a small set of learnable foresight tokens condenses the task-relevant future into a compact latent code under the supervision of a frozen pretrained video generation model, so the policy inherits world-model dynamics priors without ever learning pixel-level generation. The video branch is discarded at inference, keeping real-time control. Pretrained on 1.2M robot episodes and 3M multimodal samples, InternVLA-A1.5 achieves the best overall results on all six simulation benchmarks. In the real world, the preserved semantics deliver the strongest compositional generalization on held-out instruction bindings, and the two designs together sustain long-horizon execution.

Jian Peng, Hanwei Fan, Jingbo Jiang et al.

Chiplet-based DNN accelerators provide a scalable path to balance performance and yield for modern AI workloads. However, such systems face critical challenges in area and thermal constraints. Design space optimization should jointly consider fine-grained task modeling, chiplet granularity, core granularity, and critical physical constraints. To the best of our knowledge, this is the first framework that involves all these factors. In this work, we propose ThermoDSE, a thermal-aware and comprehensive design space exploration framework for chiplet-based DNN accelerators. ThermoDSE integrates existing fine-grained modeling techniques into a unified simulation and optimization framework that jointly considers architecture design, task orchestration, and inter-chiplet communication under strict thermal and area constraints. Experimental results show that ThermoDSE achieves up to 3.5x improvement in Energy-Delay-Inverse-Yield, defined as E times D times inverse Y, compared with state-of-the-art Simba and other baselines. Furthermore, relative to simulated annealing and reinforcement learning-based methods, ThermoDSE converges to better design points with 3.7x and 29.4x runtime speedups, respectively.

Qinbing Fu, Jingyu Huang, Yan Xie et al.

Fast and reliable motion detection is essential for machine vision and autonomous systems operating in dynamic environments. This work integrates emerging event-based sensing with biologically structured neural computation to establish an efficient computational paradigm for visual motion detection. The proposed framework is built upon a recently developed fly-inspired neural network that emulates motion-processing circuits in the optic lobe. Owing to its feed-forward and training-free architecture, the neural model requires only a small number of interpretable parameters and is well suited for real-time embedded implementation. Event cameras provide low-latency, low-power, and high-dynamic-range visual sensing by asynchronously transmitting brightness-change events. However, their performance can be degraded by event noise, including temporal noise and junction-leakage-induced activity, particularly under low-light conditions. Moreover, effective integration between event-based visual representations and biologically inspired neural processing remains under-explored. To address these challenges, we propose an event-driven computational framework that combines time-surface encoding for front-end event representation with a fly optic-lobe-inspired neural network for foreground motion-direction estimation. A bottom-up attention mechanism is further incorporated to suppress background motion and enhance the saliency of foreground targets. The proposed method is evaluated on real-world ground-vehicle datasets and compared with a baseline frame-based model and an optimization-based approach. Experimental results demonstrate that the framework effectively combines the temporal advantages of event-driven vision with the efficiency and interpretability of bio-inspired neural processing.

Huaizhi Qu, Xiao Wang, Gengwei Zhang et al.

Cryo-electron microscopy (cryo-EM) has become a central tool for high-resolution structural biology, yet the massive scale of datasets (often exceeding 100k particle images) renders 3D reconstruction both computationally expensive and memory intensive. Traditional Fourier-space methods are efficient but lose fidelity due to repeated transforms, while recent real-space approaches based on neural radiance fields (NeRFs) improve accuracy but incur cubic memory and computation overhead. Therefore, we introduce GEM, a novel cryo-EM reconstruction framework built on 3D Gaussian Splatting (3DGS) that operates directly in real-space while maintaining high efficiency. Instead of modeling the entire density volume, GEM represents proteins with compact 3D Gaussians, each parameterized by only 11 values. To further improve the training efficiency, we designed a novel gradient computation to 3D Gaussians that contribute to each voxel. This design substantially reduced both memory footprint and training cost. On standard cryo-EM benchmarks, GEM achieves up to 48% faster training and 12% lower memory usage compared to state-of-the-art methods, while improving local resolution by as much as 38.8%. These results establish GEM as a practical and scalable paradigm for cryo-EM reconstruction, unifying speed, efficiency, and high-resolution accuracy. Our code is available at https://github.com/UNITES-Lab/GEM.

Yongxue Shan, Meihan Wu, Cundi Fang et al.

Knowledge graph question answering (KGQA) aims to answer natural-language questions by reasoning over structured facts. Existing multi-hop KGQA methods mainly rely on topic-centered expansion, which faces two key challenges: the search space rapidly grows with noisy mixed-type paths, and retrieved paths may fail to satisfy the semantic constraints of complex questions. To address these challenges, we propose OPI, an ontology-guided evidence path inference framework for multi-hop KGQA. OPI introduces a relation-centric ontology graph to capture the head-tail type constraints of relations, providing a compact interface for answer-side constraints. Based on this ontology graph, OPI first introduces a bidirectional retrieval mechanism by mapping the predicted answer type to compatible final-hop relations and combining topic-side prefix expansion with answer-side final-hop matching, thereby suppressing noisy mixed-type expansion. OPI further adopts an iterative refinement strategy to reassess retrieved paths and candidate answers under the question context, filtering type-compatible but question-irrelevant evidence for more reliable answer prediction. Experiments on WebQSP, CWQ, and MetaQA show that OPI substantially reduces the search space, improves Hit@1/F1 by 4.6/5.0 points on WebQSP and 8.9/3.3 points on CWQ over the strongest prior results, and achieves near-saturated Hit@1 on MetaQA with the retrieval module alone.