Tao Tang

Tingting Liang, Hongwei Xie, Kaicheng Yu et al. · pku

Fusing the camera and LiDAR information has become a de-facto standard for 3D object detection tasks. Current methods rely on point clouds from the LiDAR sensor as queries to leverage the feature from the image space. However, people discovered that this underlying assumption makes the current fusion framework infeasible to produce any prediction when there is a LiDAR malfunction, regardless of minor or major. This fundamentally limits the deployment capability to realistic autonomous driving scenarios. In contrast, we propose a surprisingly simple yet novel fusion framework, dubbed BEVFusion, whose camera stream does not depend on the input of LiDAR data, thus addressing the downside of previous methods. We empirically show that our framework surpasses the state-of-the-art methods under the normal training settings. Under the robustness training settings that simulate various LiDAR malfunctions, our framework significantly surpasses the state-of-the-art methods by 15.7% to 28.9% mAP. To the best of our knowledge, we are the first to handle realistic LiDAR malfunction and can be deployed to realistic scenarios without any post-processing procedure. The code is available at https://github.com/ADLab-AutoDrive/BEVFusion.

Lei Yang, Kaicheng Yu, Tao Tang et al.

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond the visual range. We discover that the state-of-the-art vision-centric bird's eye view detection methods have inferior performances on roadside cameras. This is because these methods mainly focus on recovering the depth regarding the camera center, where the depth difference between the car and the ground quickly shrinks while the distance increases. In this paper, we propose a simple yet effective approach, dubbed BEVHeight, to address this issue. In essence, instead of predicting the pixel-wise depth, we regress the height to the ground to achieve a distance-agnostic formulation to ease the optimization process of camera-only perception methods. On popular 3D detection benchmarks of roadside cameras, our method surpasses all previous vision-centric methods by a significant margin. The code is available at {\url{https://github.com/ADLab-AutoDrive/BEVHeight}}.

Tao Tang, Changlin Li, Guangrun Wang et al.

Automatic data augmentation (AutoAugment) strategies are indispensable in supervised data-efficient training protocols of vision transformers, and have led to state-of-the-art results in supervised learning. Despite the success, its development and application on self-supervised vision transformers have been hindered by several barriers, including the high search cost, the lack of supervision, and the unsuitable search space. In this work, we propose AutoView, a self-regularized adversarial AutoAugment method, to learn views for self-supervised vision transformers, by addressing the above barriers. First, we reduce the search cost of AutoView to nearly zero by learning views and network parameters simultaneously in a single forward-backward step, minimizing and maximizing the mutual information among different augmented views, respectively. Then, to avoid information collapse caused by the lack of label supervision, we propose a self-regularized loss term to guarantee the information propagation. Additionally, we present a curated augmentation policy search space for self-supervised learning, by modifying the generally used search space designed for supervised learning. On ImageNet, our AutoView achieves remarkable improvement over RandAug baseline (+10.2% k-NN accuracy), and consistently outperforms sota manually tuned view policy by a clear margin (up to +1.3% k-NN accuracy). Extensive experiments show that AutoView pretraining also benefits downstream tasks (+1.2% mAcc on ADE20K Semantic Segmentation and +2.8% mAP on revisited Oxford Image Retrieval benchmark) and improves model robustness (+2.3% Top-1 Acc on ImageNet-A and +1.0% AUPR on ImageNet-O). Code and models will be available at https://github.com/Trent-tangtao/AutoView.

Haoyuan Li, Qihang Cao, Tao Tang et al.

Recent progress in spatial reasoning with Multimodal Large Language Models (MLLMs) increasingly leverages geometric priors from 3D encoders. However, most existing integration strategies remain passive: geometry is exposed as a global stream and fused in an indiscriminate manner, which often induces semantic-geometry misalignment and redundant signals. We propose GeoThinker, a framework that shifts the paradigm from passive fusion to active perception. Instead of feature mixing, GeoThinker enables the model to selectively retrieve geometric evidence conditioned on its internal reasoning demands. GeoThinker achieves this through Spatial-Grounded Fusion applied at carefully selected VLM layers, where semantic visual priors selectively query and integrate task-relevant geometry via frame-strict cross-attention, further calibrated by Importance Gating that biases per-frame attention toward task-relevant structures. Comprehensive evaluation results show that GeoThinker sets a new state-of-the-art in spatial intelligence, achieving a peak score of 72.6 on the VSI-Bench. Furthermore, GeoThinker demonstrates robust generalization and significantly improved spatial perception across complex downstream scenarios, including embodied referring and autonomous driving. Our results indicate that the ability to actively integrate spatial structures is essential for next-generation spatial intelligence. Code can be found at https://github.com/Li-Hao-yuan/GeoThinker.

Lei Yang, Tao Tang, Jun Li et al.

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond the visual range. We discover that the state-of-the-art vision-centric bird's eye view detection methods have inferior performances on roadside cameras. This is because these methods mainly focus on recovering the depth regarding the camera center, where the depth difference between the car and the ground quickly shrinks while the distance increases. In this paper, we propose a simple yet effective approach, dubbed BEVHeight++, to address this issue. In essence, we regress the height to the ground to achieve a distance-agnostic formulation to ease the optimization process of camera-only perception methods. By incorporating both height and depth encoding techniques, we achieve a more accurate and robust projection from 2D to BEV spaces. On popular 3D detection benchmarks of roadside cameras, our method surpasses all previous vision-centric methods by a significant margin. In terms of the ego-vehicle scenario, our BEVHeight++ possesses superior over depth-only methods. Specifically, it yields a notable improvement of +1.9% NDS and +1.1% mAP over BEVDepth when evaluated on the nuScenes validation set. Moreover, on the nuScenes test set, our method achieves substantial advancements, with an increase of +2.8% NDS and +1.7% mAP, respectively.

Renqiang Luo, Huafei Huang, Tao Tang et al.

Graph Transformers (GTs) are increasingly applied to social network analysis, yet their deployment is often constrained by fairness concerns. This issue is particularly critical in incomplete social networks, where sensitive attributes are frequently missing due to privacy and ethical restrictions. Existing solutions commonly generate these incomplete attributes, which may introduce additional biases and further compromise user privacy. To address this challenge, FairGE (Fair Graph Encoding) is introduced as a fairness-aware framework for GTs in incomplete social networks. Instead of generating sensitive attributes, FairGE encodes fairness directly through spectral graph theory. By leveraging the principal eigenvector to represent structural information and padding incomplete sensitive attributes with zeros to maintain independence, FairGE ensures fairness without data reconstruction. Theoretical analysis demonstrates that the method suppresses the influence of non-principal spectral components, thereby enhancing fairness. Extensive experiments on seven real-world social network datasets confirm that FairGE achieves at least a 16% improvement in both statistical parity and equality of opportunity compared with state-of-the-art baselines. The source code is shown in https://github.com/LuoRenqiang/FairGE.

Zhijian Huang, Tao Tang, Shaoxiang Chen et al.

Data-driven approaches for autonomous driving (AD) have been widely adopted in the past decade but are confronted with dataset bias and uninterpretability. Inspired by the knowledge-driven nature of human driving, recent approaches explore the potential of large language models (LLMs) to improve understanding and decision-making in traffic scenarios. They find that the pretrain-finetune paradigm of LLMs on downstream data with the Chain-of-Thought (CoT) reasoning process can enhance explainability and scene understanding. However, such a popular strategy proves to suffer from the notorious problems of misalignment between the crafted CoTs against the consequent decision-making, which remains untouched by previous LLM-based AD methods. To address this problem, we motivate an end-to-end decision-making model based on multimodality-augmented LLM, which simultaneously executes CoT reasoning and carries out planning results. Furthermore, we propose a reasoning-decision alignment constraint between the paired CoTs and planning results, imposing the correspondence between reasoning and decision-making. Moreover, we redesign the CoTs to enable the model to comprehend complex scenarios and enhance decision-making performance. We dub our proposed large language planners with reasoning-decision alignment as RDA-Driver. Experimental evaluations on the nuScenes and DriveLM-nuScenes benchmarks demonstrate the effectiveness of our RDA-Driver in enhancing the performance of end-to-end AD systems. Specifically, our RDA-Driver achieves state-of-the-art planning performance on the nuScenes dataset with 0.80 L2 error and 0.32 collision rate, and also achieves leading results on challenging DriveLM-nuScenes benchmarks with 0.82 L2 error and 0.38 collision rate.

Tao Tang, Simon Mak, David Dunson

In many areas of science and engineering, computer simulations are widely used as proxies for physical experiments, which can be infeasible or unethical. Such simulations can often be computationally expensive, and an emulator can be trained to efficiently predict the desired response surface. A widely-used emulator is the Gaussian process (GP), which provides a flexible framework for efficient prediction and uncertainty quantification. Standard GPs, however, do not capture structured sparsity on the underlying response surface, which is present in many applications, particularly in the physical sciences. We thus propose a new hierarchical shrinkage GP (HierGP), which incorporates such structure via cumulative shrinkage priors within a GP framework. We show that the HierGP implicitly embeds the well-known principles of effect sparsity, heredity and hierarchy for analysis of experiments, which allows our model to identify structured sparse features from the response surface with limited data. We propose efficient posterior sampling algorithms for model training and prediction, and prove desirable consistency properties for the HierGP. Finally, we demonstrate the improved performance of HierGP over existing models, in a suite of numerical experiments and an application to dynamical system recovery.

Jianan Li, Shuang Liu, Tao Tang et al.

Gradient flows of unit vector fields arise in a wide range of physical models such as harmonic map heat flows, nematic liquid crystals, and magnetization dynamics. Designing numerical schemes that simultaneously preserve the unit length constraint and dissipate energy is essential for reliable simulations of such systems. Although projection methods can effectively enforce the unit length constraint, ensuring energy dissipation under projection, especially in high-order schemes, remains challenging. Unlike traditional implicit-explicit Runge-Kutta (IMEX-RK) methods, in this work we propose a general methodology for constructing product-type IMEX-RK schemes that offers greater adaptability to various models with the goal of designing structure-preserving numerical schemes. For gradient flows of unit vector fields with Dirichlet energy, we design a linear and second-order numerical scheme that simultaneously preserves energy dissipation and the unit length constraint by using product-type IMEX-RK methods and projection techniques. Numerical experiments verify the accuracy, stability, and structure-preserving properties of the scheme. According to our best knowledge, this is the first second-order linear scheme that can preserve both the unit length and the original Dirichlet energy for harmonic map heat flows.

Hong-lin Liao, Chaoyu Quan, Tao Tang et al.

The rigorous stability analysis of high-order implicit-explicit multistep (IEMS) methods for nonlinear parabolic equations by using discrete energy arguments is a long standing open issue due to their non-A-stable property. A novel semi-generating function approach combined with the global discrete energy analysis is suggested to the stability and convergence analysis of general IEMS methods for nonlinear parabolic equations. Inspired from the Grenander-Szegö theorem for the Toeplitz matrix, the semi-generating function approach is used to handle the three groups of discrete coefficients via three complex rational polynomials on the unit circle. A unified theoretical framework is then presented to establish the unconditional stability of IEMS methods if the minimum eigenvalue of composite convolution kernels for the implicit part is properly large and the spectral norm bound of composite convolution kernels for the explicit part is properly small. An indicator, called implicit-explicit controllability intensity, is then introduced to evaluate the degree of controllability of implicit part over explicit part. Some of existing IEMS methods, up to the fifth-order time accuracy, are revisited and compared by computing the associated implicit-explicit controllability intensities such that one can choose certain IEMS method or proper parameter to maintain the unconditional stability for a specific nonlinear parabolic model. We also propose a new parameterized class of IEMS methods, up to the eighth-order time accuracy, which satisfy the priori settings of our theory and have a large value of the implicit-explicit controllability intensity by choosing proper parameter so that they would be well suited for a wide class of nonlinear parabolic problems.

Sihao Lin, Pumeng Lyu, Dongrui Liu et al.

Self-attention mechanism is the key of the Transformer but often criticized for its computation demands. Previous token pruning works motivate their methods from the view of computation redundancy but still need to load the full network and require same memory costs. This paper introduces a novel strategy that simplifies vision transformers and reduces computational load through the selective removal of non-essential attention layers, guided by entropy considerations. We identify that regarding the attention layer in bottom blocks, their subsequent MLP layers, i.e. two feed-forward layers, can elicit the same entropy quantity. Meanwhile, the accompanied MLPs are under-exploited since they exhibit smaller feature entropy compared to those MLPs in the top blocks. Therefore, we propose to integrate the uninformative attention layers into their subsequent counterparts by degenerating them into identical mapping, yielding only MLP in certain transformer blocks. Experimental results on ImageNet-1k show that the proposed method can remove 40% attention layer of DeiT-B, improving throughput and memory bound without performance compromise. Code is available at https://github.com/sihaoevery/lambda_vit.

Tao Tang, Enhui Ma, xia zhou et al.

Autonomous driving has seen remarkable advancements, largely driven by extensive real-world data collection. However, acquiring diverse and corner-case data remains costly and inefficient. Generative models have emerged as a promising solution by synthesizing realistic sensor data. However, existing approaches primarily focus on single-modality generation, leading to inefficiencies and misalignment in multimodal sensor data. To address these challenges, we propose OminiGen, which generates aligned multimodal sensor data in a unified framework. Our approach leverages a shared Bird\u2019s Eye View (BEV) space to unify multimodal features and designs a novel generalizable multimodal reconstruction method, UAE, to jointly decode LiDAR and multi-view camera data. UAE achieves multimodal sensor decoding through volume rendering, enabling accurate and flexible reconstruction. Furthermore, we incorporate a Diffusion Transformer (DiT) with a ControlNet branch to enable controllable multimodal sensor generation. Our comprehensive experiments demonstrate that OminiGen achieves desired performances in unified multimodal sensor data generation with multimodal consistency and flexible sensor adjustments.

Enhui Ma, Jiahuan Zhang, Guantian Zheng et al.

Multimodal Large Language Models (MLLMs) are rapidly becoming the intelligence brain of end-to-end autonomous driving systems. A key challenge is to assess whether MLLMs can truly understand and follow complex real-world traffic rules. However, existing benchmarks mainly focus on single-rule scenarios like traffic sign recognition, neglecting the complexity of multi-rule concurrency and conflicts in real driving. Consequently, models perform well on simple tasks but often fail or violate rules in real world complex situations. To bridge this gap, we propose DriveCombo, a text and vision-based benchmark for compositional traffic rule reasoning. Inspired by human drivers' cognitive development, we propose a systematic Five-Level Cognitive Ladder that evaluates reasoning from single-rule understanding to multi-rule integration and conflict resolution, enabling quantitative assessment across cognitive stages. We further propose a Rule2Scene Agent that maps language-based traffic rules to dynamic driving scenes through rule crafting and scene generation, enabling scene-level traffic rule visual reasoning. Evaluations of 14 mainstream MLLMs reveal performance drops as task complexity grows, particularly during rule conflicts. After splitting the dataset and fine-tuning on the training set, we further observe substantial improvements in both traffic rule reasoning and downstream planning capabilities. These results highlight the effectiveness of DriveCombo in advancing compliant and intelligent autonomous driving systems.

Songtao Jiang, Yuan Wang, Sibo Song et al.

Real-world clinical decision-making requires integrating heterogeneous data, including medical text, 2D images, 3D volumes, and videos, while existing AI systems fail to unify all these signals, limiting their utility. In this paper, we introduce Hulu-Med, a transparent, generalist medical Vision-Language Model (VLM) designed to unify language-only, 2D/3D vision-language, and video understanding within a single architecture. Hulu-Med is trained on a curated corpus of 16.7 million samples, comprising exclusively public or synthetic data, spanning 12 major anatomical systems and 14 medical imaging modalities. Hulu-Med employs a medical-aware token-reduction strategy that prunes redundant visual tokens, achieving up to a 55% reduction for 3D and video inputs, improving cross-modal efficiency, and enabling training at 7B-32B parameter scales in approximately 4,000-40,000 GPU hours. Across 30 public in-domain and out-of-domain medical benchmarks-covering text reasoning, visual question answering, report generation, multilingual dialogue, video understanding, and rare disease diagnosis-Hulu-Med surpasses existing open-source models on 27 of 30 benchmarks and outperforms proprietary systems such as GPT-4o on 16 benchmarks. Despite being a VLM, Hulu-Med outperforms GPT-4o and matches GPT-o1 on the text-only HealthBench. For the first time in the community, we provide a fully transparent, reproducible and cost-effective pipeline for holistic medical vision-language understanding by releasing our end-to-end data curation, training procedures, and model parameters. Code and models are available at https://github.com/ZJUI-AI4H/Hulu-Med.

Tao Tang, Hong Liu, Yingxuan You et al.

Human Mesh Reconstruction (HMR) from monocular video plays an important role in human-robot interaction and collaboration. However, existing video-based human mesh reconstruction methods face a trade-off between accurate reconstruction and smooth motion. These methods design networks based on either RNNs or attention mechanisms to extract local temporal correlations or global temporal dependencies, but the lack of complementary long-term information and local details limits their performance. To address this problem, we propose a \textbf{D}ual-branch \textbf{G}raph \textbf{T}ransformer network for 3D human mesh \textbf{R}econstruction from video, named DGTR. DGTR employs a dual-branch network including a Global Motion Attention (GMA) branch and a Local Details Refine (LDR) branch to parallelly extract long-term dependencies and local crucial information, helping model global human motion and local human details (e.g., local motion, tiny movement). Specifically, GMA utilizes a global transformer to model long-term human motion. LDR combines modulated graph convolutional networks and the transformer framework to aggregate local information in adjacent frames and extract crucial information of human details. Experiments demonstrate that our DGTR outperforms state-of-the-art video-based methods in reconstruction accuracy and maintains competitive motion smoothness. Moreover, DGTR utilizes fewer parameters and FLOPs, which validate the effectiveness and efficiency of the proposed DGTR. Code is publicly available at \href{https://github.com/TangTao-PKU/DGTR}{\textcolor{myBlue}{https://github.com/TangTao-PKU/DGTR}}.

Tao Tang, Hong Liu, Yingxuan You et al.

Although existing video-based 3D human mesh recovery methods have made significant progress, simultaneously estimating human pose and shape from low-resolution image features limits their performance. These image features lack sufficient spatial information about the human body and contain various noises (e.g., background, lighting, and clothing), which often results in inaccurate pose and inconsistent motion. Inspired by the rapid advance in human pose estimation, we discover that compared to image features, skeletons inherently contain accurate human pose and motion. Therefore, we propose a novel semiAnalytical Regressor using disenTangled Skeletal representations for human mesh recovery from videos, called ARTS. Specifically, a skeleton estimation and disentanglement module is proposed to estimate the 3D skeletons from a video and decouple them into disentangled skeletal representations (i.e., joint position, bone length, and human motion). Then, to fully utilize these representations, we introduce a semi-analytical regressor to estimate the parameters of the human mesh model. The regressor consists of three modules: Temporal Inverse Kinematics (TIK), Bone-guided Shape Fitting (BSF), and Motion-Centric Refinement (MCR). TIK utilizes joint position to estimate initial pose parameters and BSF leverages bone length to regress bone-aligned shape parameters. Finally, MCR combines human motion representation with image features to refine the initial human model parameters. Extensive experiments demonstrate that our ARTS surpasses existing state-of-the-art video-based methods in both per-frame accuracy and temporal consistency on popular benchmarks: 3DPW, MPI-INF-3DHP, and Human3.6M. Code is available at https://github.com/TangTao-PKU/ARTS.

Zhen Huang, Tao Tang, Ronghao Xu et al.

3D landmark detection is a critical task in medical image analysis, and accurately detecting anatomical landmarks is essential for subsequent medical imaging tasks. However, mainstream deep learning methods in this field struggle to simultaneously capture fine-grained local features and model global spatial relationships, while maintaining a balance between accuracy and computational efficiency. Local feature extraction requires capturing fine-grained anatomical details, while global modeling requires understanding the spatial relationships within complex anatomical structures. The high-dimensional nature of 3D volume further exacerbates these challenges, as landmarks are sparsely distributed, leading to significant computational costs. Therefore, achieving efficient and precise 3D landmark detection remains a pressing challenge in medical image analysis. In this work, We propose a \textbf{H}ybrid \textbf{3}D \textbf{DE}tection \textbf{Net}(H3DE-Net), a novel framework that combines CNNs for local feature extraction with a lightweight attention mechanism designed to efficiently capture global dependencies in 3D volumetric data. This mechanism employs a hierarchical routing strategy to reduce computational cost while maintaining global context modeling. To our knowledge, H3DE-Net is the first 3D landmark detection model that integrates such a lightweight attention mechanism with CNNs. Additionally, integrating multi-scale feature fusion further enhances detection accuracy and robustness. Experimental results on a public CT dataset demonstrate that H3DE-Net achieves state-of-the-art(SOTA) performance, significantly improving accuracy and robustness, particularly in scenarios with missing landmarks or complex anatomical variations. We aready open-source our project, including code, data and model weights.

Tao Tang, Hong Liu, Xinshun Wang et al.

Although recent studies have made remarkable progress in human mesh recovery, they still exhibit limited robustness to occlusions and often produce inaccurate poses and severe motion jitter due to the insufficient spatial features for occluded body parts. Inspired by the rapid advancements in human motion prediction, we discover that compared to occluded image features, pose sequence inherently contains reliable motion prior for estimating occluded body parts. In this paper, we incorporate Motion Prior for Occluded human mesh recovery, called MoPO. Our MoPO mainly consists of two components: 1) The motion de-occlusion module, where we propose a spatial-temporal occlusion detector to detect joint visibility, and then we propose a lightweight motion predictor to complete the occluded body parts by predicting the most plausible joint positions based on history poses. 2) The motion-aware fusion and refinement module, which fuses the completed joint sequence with image features to estimate human shape and initial human pose. Moreover, the completed joint sequence is further used to refine the final human pose through inverse kinematics, which provides the occlusion-free motion prior for regressing human poses. Extensive experiments demonstrate that MoPO achieves state-of-the-art performance on both occlusion-specific and standard benchmarks, significantly enhancing the accuracy and temporal consistency of occluded human mesh recovery. Our code and demo can be found in the supplementary material.

Xiaodong Feng, Haojiong Shangguan, Tao Tang et al.

In this work, we present a hybrid numerical method for solving evolution partial differential equations (PDEs) by merging the time finite element method with deep neural networks. In contrast to the conventional deep learning-based formulation where the neural network is defined on a spatiotemporal domain, our methodology utilizes finite element basis functions in the time direction where the space-dependent coefficients are defined as the output of a neural network. We then apply the Galerkin or collocation projection in the time direction to obtain a system of PDEs for the space-dependent coefficients which is approximated in the framework of PINN. The advantages of such a hybrid formulation are twofold: statistical errors are avoided for the integral in the time direction, and the neural network's output can be regarded as a set of reduced spatial basis functions. To further alleviate the difficulties from high dimensionality and low regularity, we have developed an adaptive sampling strategy that refines the training set. More specifically, we use an explicit density model to approximate the distribution induced by the PDE residual and then augment the training set with new time-dependent random samples given by the learned density model. The effectiveness and efficiency of our proposed method have been demonstrated through a series of numerical experiments.

Mengyuan Liu, Xinshun Wang, Zhongbin Fang et al.

This paper aims to model 3D human motion across domains, where a single model is expected to handle multiple modalities, tasks, and datasets. Existing cross-domain models often rely on domain-specific components and multi-stage training, which limits their practicality and scalability. To overcome these challenges, we propose a new setting to train a unified cross-domain model through a single process, eliminating the need for domain-specific components and multi-stage training. We first introduce Pose-in-Context (PiC), which leverages in-context learning to create a pose-centric cross-domain model. While PiC generalizes across multiple pose-based tasks and datasets, it encounters difficulties with modality diversity, prompting strategy, and contextual dependency handling. We thus propose Human-in-Context (HiC), an extension of PiC that broadens generalization across modalities, tasks, and datasets. HiC combines pose and mesh representations within a unified framework, expands task coverage, and incorporates larger-scale datasets. Additionally, HiC introduces a max-min similarity prompt sampling strategy to enhance generalization across diverse domains and a network architecture with dual-branch context injection for improved handling of contextual dependencies. Extensive experimental results show that HiC performs better than PiC in terms of generalization, data scale, and performance across a wide range of domains. These results demonstrate the potential of HiC for building a unified cross-domain 3D human motion model with improved flexibility and scalability. The source codes and models are available at https://github.com/BradleyWang0416/Human-in-Context.

Changlin Li, Tao Tang, Guangrun Wang et al.

A myriad of recent breakthroughs in hand-crafted neural architectures for visual recognition have highlighted the urgent need to explore hybrid architectures consisting of diversified building blocks. Meanwhile, neural architecture search methods are surging with an expectation to reduce human efforts. However, whether NAS methods can efficiently and effectively handle diversified search spaces with disparate candidates (e.g. CNNs and transformers) is still an open question. In this work, we present Block-wisely Self-supervised Neural Architecture Search (BossNAS), an unsupervised NAS method that addresses the problem of inaccurate architecture rating caused by large weight-sharing space and biased supervision in previous methods. More specifically, we factorize the search space into blocks and utilize a novel self-supervised training scheme, named ensemble bootstrapping, to train each block separately before searching them as a whole towards the population center. Additionally, we present HyTra search space, a fabric-like hybrid CNN-transformer search space with searchable down-sampling positions. On this challenging search space, our searched model, BossNet-T, achieves up to 82.5% accuracy on ImageNet, surpassing EfficientNet by 2.4% with comparable compute time. Moreover, our method achieves superior architecture rating accuracy with 0.78 and 0.76 Spearman correlation on the canonical MBConv search space with ImageNet and on NATS-Bench size search space with CIFAR-100, respectively, surpassing state-of-the-art NAS methods. Code: https://github.com/changlin31/BossNAS

Qifeng Chen, Jiarun Liu, Rengan Xie et al.

Recent GS-based rendering has made significant progress for LiDAR, surpassing Neural Radiance Fields (NeRF) in both quality and speed. However, these methods exhibit artifacts in extrapolated novel view synthesis due to the incomplete reconstruction from single traversal scans. To address this limitation, we present LiDAR-GS++, a LiDAR Gaussian Splatting reconstruction method enhanced by diffusion priors for real-time and high-fidelity re-simulation on public urban roads. Specifically, we introduce a controllable LiDAR generation model conditioned on coarsely extrapolated rendering to produce extra geometry-consistent scans and employ an effective distillation mechanism for expansive reconstruction. By extending reconstruction to under-fitted regions, our approach ensures global geometric consistency for extrapolative novel views while preserving detailed scene surfaces captured by sensors. Experiments on multiple public datasets demonstrate that LiDAR-GS++ achieves state-of-the-art performance for both interpolated and extrapolated viewpoints, surpassing existing GS and NeRF-based methods.

Bingbing Dan, Meihui Li, Tao Tang et al.

Infrared small target sequences exhibit strong similarities between frames and contain rich contextual information, which motivates us to achieve sequential infrared small target segmentation (IRSTS) with minimal data. Inspired by the success of Segment Anything Model (SAM) across various downstream tasks, we propose a one-shot and training-free method that perfectly adapts SAM's zero-shot generalization capability to sequential IRSTS. Specifically, we first obtain a confidence map through local feature matching (LFM). The highest point in the confidence map is used as the prompt to replace the manual prompt. Then, to address the over-segmentation issue caused by the domain gap, we design the point prompt-centric focusing (PPCF) module. Subsequently, to prevent miss and false detections, we introduce the triple-level ensemble (TLE) module to produce the final mask. Experiments demonstrate that our method requires only one shot to achieve comparable performance to state-of-the-art IRSTS methods and significantly outperforms other one-shot segmentation methods. Moreover, ablation studies confirm the robustness of our method in the type of annotations and the selection of reference images.

Tao Tang, Jiang Yang, Yuxiang Zhao et al.

In recent years, deep learning methods, exemplified by Physics-Informed Neural Networks (PINNs), have been widely applied to the numerical solution of differential equations. However, these methods may suffer from limited accuracy, high training costs, and lack of robustness, particularly their inability to preserve the intrinsic physical structures of continuous PDE models, such as the energy dissipation property in gradient flow systems. To address these challenges, we propose a feature-based Deep Neural Network Galerkin (DNN-G) framework designed for structure-preserving simulations of gradient flows. Instead of treating neural networks merely as optimization-driven solvers, we employ them as adaptive feature generators that define nonlinear trial spaces within a Galerkin projection formulation.This formulation guarantees semi-discrete energy dissipation and can be naturally combined with energy stable time integration schemes. Several strategies for constructing neural basis functions are investigated, including random features, structured initialization, and problem-informed pre-training. Numerical experiments demonstrate that the proposed method preserves robust energy stability in high-dimensional settings and accurately captures complex topological transitions. With equivalent degrees of freedom, the DNN-G framework achieves higher accuracy than classical spectral methods, highlighting the effectiveness of neural feature representations for the numerical solution of partial differential equations.

Hu Zhang, Jianhua Xu, Tao Tang et al.

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for open-vocabulary ability, however, tends to suffer from over-fitting problems: The obtained model will detect the known objects, even presented with a novel category. In this paper, we propose OpenSight, a more advanced 2D-3D modeling framework for LiDAR-based open-vocabulary detection. OpenSight utilizes 2D-3D geometric priors for the initial discernment and localization of generic objects, followed by a more specific semantic interpretation of the detected objects. The process begins by generating 2D boxes for generic objects from the accompanying camera images of LiDAR. These 2D boxes, together with LiDAR points, are then lifted back into the LiDAR space to estimate corresponding 3D boxes. For better generic object perception, our framework integrates both temporal and spatial-aware constraints. Temporal awareness correlates the predicted 3D boxes across consecutive timestamps, recalibrating the missed or inaccurate boxes. The spatial awareness randomly places some ``precisely'' estimated 3D boxes at varying distances, increasing the visibility of generic objects. To interpret the specific semantics of detected objects, we develop a cross-modal alignment and fusion module to first align 3D features with 2D image embeddings and then fuse the aligned 3D-2D features for semantic decoding. Our experiments indicate that our method establishes state-of-the-art open-vocabulary performance on widely used 3D detection benchmarks and effectively identifies objects for new categories of interest.

Tao Tang, Guangrun Wang, Yixing Lao et al.

Neural implicit fields have been a de facto standard in novel view synthesis. Recently, there exist some methods exploring fusing multiple modalities within a single field, aiming to share implicit features from different modalities to enhance reconstruction performance. However, these modalities often exhibit misaligned behaviors: optimizing for one modality, such as LiDAR, can adversely affect another, like camera performance, and vice versa. In this work, we conduct comprehensive analyses on the multimodal implicit field of LiDAR-camera joint synthesis, revealing the underlying issue lies in the misalignment of different sensors. Furthermore, we introduce AlignMiF, a geometrically aligned multimodal implicit field with two proposed modules: Geometry-Aware Alignment (GAA) and Shared Geometry Initialization (SGI). These modules effectively align the coarse geometry across different modalities, significantly enhancing the fusion process between LiDAR and camera data. Through extensive experiments across various datasets and scenes, we demonstrate the effectiveness of our approach in facilitating better interaction between LiDAR and camera modalities within a unified neural field. Specifically, our proposed AlignMiF, achieves remarkable improvement over recent implicit fusion methods (+2.01 and +3.11 image PSNR on the KITTI-360 and Waymo datasets) and consistently surpasses single modality performance (13.8% and 14.2% reduction in LiDAR Chamfer Distance on the respective datasets).

Tao Tang, Dafeng Wei, Zhengyu Jia et al.

The rapid development of the autonomous driving industry has led to a significant accumulation of autonomous driving data. Consequently, there comes a growing demand for retrieving data to provide specialized optimization. However, directly applying previous image retrieval methods faces several challenges, such as the lack of global feature representation and inadequate text retrieval ability for complex driving scenes. To address these issues, firstly, we propose the BEV-TSR framework which leverages descriptive text as an input to retrieve corresponding scenes in the Bird's Eye View (BEV) space. Then to facilitate complex scene retrieval with extensive text descriptions, we employ a large language model (LLM) to extract the semantic features of the text inputs and incorporate knowledge graph embeddings to enhance the semantic richness of the language embedding. To achieve feature alignment between the BEV feature and language embedding, we propose Shared Cross-modal Embedding with a set of shared learnable embeddings to bridge the gap between these two modalities, and employ a caption generation task to further enhance the alignment. Furthermore, there lack of well-formed retrieval datasets for effective evaluation. To this end, we establish a multi-level retrieval dataset, nuScenes-Retrieval, based on the widely adopted nuScenes dataset. Experimental results on the multi-level nuScenes-Retrieval show that BEV-TSR achieves state-of-the-art performance, e.g., 85.78% and 87.66% top-1 accuracy on scene-to-text and text-to-scene retrieval respectively. Codes and datasets will be available.

Pumeng Lyu, Tao Tang, Fenghua Ling et al.

Recent studies have shown that deep learning (DL) models can skillfully predict the El Niño-Southern Oscillation (ENSO) forecasts over 1.5 years ahead. However, concerns regarding the reliability of predictions made by DL methods persist, including potential overfitting issues and lack of interpretability. Here, we propose ResoNet, a DL model that combines convolutional neural network (CNN) and Transformer architectures. This hybrid architecture design enables our model to adequately capture local SSTA as well as long-range inter-basin interactions across oceans. We show that ResoNet can robustly predict ESNO at lead times between 19 and 26 months, thus outperforming existing approaches in terms of the forecast horizon. According to an explainability method applied to ResoNet predictions of El Niño and La Niña events from 1- to 18-month lead, we find that it predicts the Niño3.4 index based on multiple physically reasonable mechanisms, such as the Recharge Oscillator concept, Seasonal Footprint Mechanism, and Indian Ocean capacitor effect. Moreover, we demonstrate that for the first time, the asymmetry between El Niño and La Niña development can be captured by ResoNet. Our results could help alleviate skepticism about applying DL models for ENSO prediction and encourage more attempts to discover and predict climate phenomena using AI methods.

Xin Chen, Mingliang Hou, Tao Tang et al.

With the arrival of the big data era, mobility profiling has become a viable method of utilizing enormous amounts of mobility data to create an intelligent transportation system. Mobility profiling can extract potential patterns in urban traffic from mobility data and is critical for a variety of traffic-related applications. However, due to the high level of complexity and the huge amount of data, mobility profiling faces huge challenges. Digital Twin (DT) technology paves the way for cost-effective and performance-optimised management by digitally creating a virtual representation of the network to simulate its behaviour. In order to capture the complex spatio-temporal features in traffic scenario, we construct alignment diagrams to assist in completing the spatio-temporal correlation representation and design dilated alignment convolution network (DACN) to learn the fine-grained correlations, i.e., spatio-temporal interactions. We propose a digital twin mobility profiling (DTMP) framework to learn node profiles on a mobility network DT model. Extensive experiments have been conducted upon three real-world datasets. Experimental results demonstrate the effectiveness of DTMP.

Haoyuan Li, Yanpeng Zhou, Yufei Gao et al.

Remarkable progress in 2D Vision-Language Models (VLMs) has spurred interest in extending them to 3D settings for tasks like 3D Question Answering, Dense Captioning, and Visual Grounding. Unlike 2D VLMs that typically process images through an image encoder, 3D scenes, with their intricate spatial structures, allow for diverse model architectures. Based on their encoder design, this paper categorizes recent 3D VLMs into 3D object-centric, 2D image-based, and 3D scene-centric approaches. Despite the architectural similarity of 3D scene-centric VLMs to their 2D counterparts, they have exhibited comparatively lower performance compared with the latest 3D object-centric and 2D image-based approaches. To understand this gap, we conduct an in-depth analysis, revealing that 3D scene-centric VLMs show limited reliance on the 3D scene encoder, and the pre-train stage appears less effective than in 2D VLMs. Furthermore, we observe that data scaling benefits are less pronounced on larger datasets. Our investigation suggests that while these models possess cross-modal alignment capabilities, they tend to over-rely on linguistic cues and overfit to frequent answer distributions, thereby diminishing the effective utilization of the 3D encoder. To address these limitations and encourage genuine 3D scene understanding, we introduce a novel 3D Relevance Discrimination QA dataset designed to disrupt shortcut learning and improve 3D understanding. Our findings highlight the need for advanced evaluation and improved strategies for better 3D understanding in 3D VLMs.

Haoyuan Li, Yanpeng Zhou, Tao Tang et al.

Recent advancements in multi-modal 3D pre-training methods have shown promising efficacy in learning joint representations of text, images, and point clouds. However, adopting point clouds as 3D representation fails to fully capture the intricacies of the 3D world and exhibits a noticeable gap between the discrete points and the dense 2D pixels of images. To tackle this issue, we propose UniGS, integrating 3D Gaussian Splatting (3DGS) into multi-modal pre-training to enhance the 3D representation. We first rely on the 3DGS representation to model the 3D world as a collection of 3D Gaussians with color and opacity, incorporating all the information of the 3D scene while establishing a strong connection with 2D images. Then, to achieve Language-Image-3D pertaining, UniGS starts with a pre-trained vision-language model to establish a shared visual and textual space through extensive real-world image-text pairs. Subsequently, UniGS employs a 3D encoder to align the optimized 3DGS with the Language-Image representations to learn unified multi-modal representations. To facilitate the extraction of global explicit 3D features by the 3D encoder and achieve better cross-modal alignment, we additionally introduce a novel Gaussian-Aware Guidance module that guides the learning of fine-grained representations of the 3D domain. Through extensive experiments across the Objaverse, ABO, MVImgNet and SUN RGBD datasets with zero-shot classification, text-driven retrieval and open-world understanding tasks, we demonstrate the effectiveness of UniGS in learning a more general and stronger aligned multi-modal representation. Specifically, UniGS achieves leading results across different 3D tasks with remarkable improvements over previous SOTA, Uni3D, including on zero-shot classification (+9.36%), text-driven retrieval (+4.3%) and open-world understanding (+7.92%).

Likui Zhang, Tao Tang, Zhihao Zhan et al.

Recent advances in Visual-Language-Action (VLA) models have shown promising potential for robotic manipulation tasks. However, real-world robotic tasks often involve long-horizon, multi-step problem-solving and require generalization for continual skill acquisition, extending beyond single actions or skills. These challenges present significant barriers for existing VLA models, which use monolithic action decoders trained on aggregated data, resulting in poor scalability. To address these challenges, we propose AtomicVLA, a unified planning-and-execution framework that jointly generates task-level plans, atomic skill abstractions, and fine-grained actions. AtomicVLA constructs a scalable atomic skill library through a Skill-Guided Mixture-of-Experts (SG-MoE), where each expert specializes in mastering generic yet precise atomic skills. Furthermore, we introduce a flexible routing encoder that automatically assigns dedicated atomic experts to new skills, enabling continual learning. We validate our approach through extensive experiments. In simulation, AtomicVLA outperforms $π_{0}$ by 2.4\% on LIBERO, 10\% on LIBERO-LONG, and outperforms $π_{0}$ and $π_{0.5}$ by 0.22 and 0.25 in average task length on CALVIN. Additionally, our AtomicVLA consistently surpasses baselines by 18.3\% and 21\% in real-world long-horizon tasks and continual learning. These results highlight the effectiveness of atomic skill abstraction and dynamic expert composition for long-horizon and lifelong robotic tasks. The project page is \href{https://zhanglk9.github.io/atomicvla-web/}{here}.

Jing Ren, Tao Tang, Hong Jia et al.

As data continues to grow in volume and complexity across domains such as finance, manufacturing, and healthcare, effective anomaly detection is essential for identifying irregular patterns that may signal critical issues. Recently, foundation models (FMs) have emerged as a powerful tool for advancing anomaly detection. They have demonstrated unprecedented capabilities in enhancing anomaly identification, generating detailed data descriptions, and providing visual explanations. This survey presents the first comprehensive review of recent advancements in FM-based anomaly detection. We propose a novel taxonomy that classifies FMs into three categories based on their roles in anomaly detection tasks, i.e., as encoders, detectors, or interpreters. We provide a systematic analysis of state-of-the-art methods and discuss key challenges in leveraging FMs for improved anomaly detection. We also outline future research directions in this rapidly evolving field.

Pengcheng Lyu, Chaokun Zhang, Gong Chen et al.

Multi-agent collaborative perception enables autonomous systems to overcome individual sensing limits through collective intelligence. However, real-world sensor and communication corruptions severely undermine this advantage. Crucially, existing approaches treat corruptions as static perturbations or passively conform to corrupted inputs, failing to actively recover the underlying clean semantics. To address this limitation, we introduce Diff-KD, a framework that integrates diffusion-based generative refinement into teacher-student knowledge distillation for robust collaborative perception. Diff-KD features two core components: (i) Progressive Knowledge Distillation (PKD), which treats local feature restoration as a conditional diffusion process to recover global semantics from corrupted observations; and (ii) Adaptive Gated Fusion (AGF), which dynamically weights neighbors based on ego reliability during fusion. Evaluated on OPV2V and DAIR-V2X under seven corruption types, Diff-KD achieves state-of-the-art performance in both detection accuracy and calibration robustness.

Tao Tang, Shijie Xu, Yiting Wu et al.

The clinical utility of deep learning models for medical image segmentation is severely constrained by their inability to generalize to unseen domains. This failure is often rooted in the models learning spurious correlations between anatomical content and domain-specific imaging styles. To overcome this fundamental challenge, we introduce Causal-SAM-LLM, a novel framework that elevates Large Language Models (LLMs) to the role of causal reasoners. Our framework, built upon a frozen Segment Anything Model (SAM) encoder, incorporates two synergistic innovations. First, Linguistic Adversarial Disentanglement (LAD) employs a Vision-Language Model to generate rich, textual descriptions of confounding image styles. By training the segmentation model's features to be contrastively dissimilar to these style descriptions, it learns a representation robustly purged of non-causal information. Second, Test-Time Causal Intervention (TCI) provides an interactive mechanism where an LLM interprets a clinician's natural language command to modulate the segmentation decoder's features in real-time, enabling targeted error correction. We conduct an extensive empirical evaluation on a composite benchmark from four public datasets (BTCV, CHAOS, AMOS, BraTS), assessing generalization under cross-scanner, cross-modality, and cross-anatomy settings. Causal-SAM-LLM establishes a new state of the art in out-of-distribution (OOD) robustness, improving the average Dice score by up to 6.2 points and reducing the Hausdorff Distance by 15.8 mm over the strongest baseline, all while using less than 9% of the full model's trainable parameters. Our work charts a new course for building robust, efficient, and interactively controllable medical AI systems.

Feiyang Cai, Jiahui Bai, Tao Tang et al.

Precise recognition, editing, and generation of molecules are essential prerequisites for both chemists and AI systems tackling various chemical tasks. We present MolLangBench, a comprehensive benchmark designed to evaluate fundamental molecule-language interface tasks: language-prompted molecular structure recognition, editing, and generation. To ensure high-quality, unambiguous, and deterministic outputs, we construct the recognition tasks using automated cheminformatics tools, and curate editing and generation tasks through rigorous expert annotation and validation. MolLangBench supports the evaluation of models that interface language with different molecular representations, including linear strings, molecular images, and molecular graphs. Evaluations of state-of-the-art models reveal significant limitations: the strongest model (GPT-5) achieves $86.2\%$ and $85.5\%$ accuracy on recognition and editing tasks, which are intuitively simple for humans, and performs even worse on the generation task, reaching only $43.0\%$ accuracy. These results highlight the shortcomings of current AI systems in handling even preliminary molecular recognition and manipulation tasks. We hope MolLangBench will catalyze further research toward more effective and reliable AI systems for chemical applications.

Renqiang Luo, Tao Tang, Feng Xia et al.

Recent advancements in machine learning and deep learning have brought algorithmic fairness into sharp focus, illuminating concerns over discriminatory decision making that negatively impacts certain individuals or groups. These concerns have manifested in legal, ethical, and societal challenges, including the erosion of trust in intelligent systems. In response, this survey delves into the existing literature on algorithmic fairness, specifically highlighting its multifaceted social consequences. We introduce a novel taxonomy based on 'tolerance', a term we define as the degree to which variations in fairness outcomes are acceptable, providing a structured approach to understanding the subtleties of fairness within algorithmic decisions. Our systematic review covers diverse industries, revealing critical insights into the balance between algorithmic decision making and social equity. By synthesizing these insights, we outline a series of emerging challenges and propose strategic directions for future research and policy making, with the goal of advancing the field towards more equitable algorithmic systems.

Gong Chen, Chaokun Zhang, Tao Tang et al.

Cooperative perception significantly enhances scene understanding by integrating complementary information from diverse agents. However, existing research often overlooks critical challenges inherent in real-world multi-source data integration, specifically high temporal latency and multi-source noise. To address these practical limitations, we propose Collaborative Alignment and Transformation Network (CATNet), an adaptive compensation framework that resolves temporal latency and noise interference in multi-agent systems. Our key innovations can be summarized in three aspects. First, we introduce a Spatio-Temporal Recurrent Synchronization (STSync) that aligns asynchronous feature streams via adjacent-frame differential modeling, establishing a temporal-spatially unified representation space. Second, we design a Dual-Branch Wavelet Enhanced Denoiser (WTDen) that suppresses global noise and reconstructs localized feature distortions within aligned representations. Third, we construct an Adaptive Feature Selector (AdpSel) that dynamically focuses on critical perceptual features for robust fusion. Extensive experiments on multiple datasets demonstrate that CATNet consistently outperforms existing methods under complex traffic conditions, proving its superior robustness and adaptability.

Enhui Ma, Lijun Zhou, Tao Tang et al.

End-to-end planning methods are the de facto standard of the current autonomous driving system, while the robustness of the data-driven approaches suffers due to the notorious long-tail problem (i.e., rare but safety-critical failure cases). In this work, we explore whether recent diffusion-based video generation methods (a.k.a. world models), paired with structured 3D layouts, can enable a fully automated pipeline to self-correct such failure cases. We first introduce an agent to simulate the role of product manager, dubbed PM-Agent, which formulates data requirements to collect data similar to the failure cases. Then, we use a generative model that can simulate both data collection and annotation. However, existing generative models struggle to generate high-fidelity data conditioned on 3D layouts. To address this, we propose DriveSora, which can generate spatiotemporally consistent videos aligned with the 3D annotations requested by PM-Agent. We integrate these components into our self-correcting agentic system, CorrectAD. Importantly, our pipeline is an end-to-end model-agnostic and can be applied to improve any end-to-end planner. Evaluated on both nuScenes and a more challenging in-house dataset across multiple end-to-end planners, CorrectAD corrects 62.5% and 49.8% of failure cases, reducing collision rates by 39% and 27%, respectively.

Tianyi Yan, Tao Tang, Xingtai Gui et al.

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to overcome these limitations, yet its success in autonomous driving has been elusive. We identify a fundamental flaw hindering this progress: a deep seated optimistic bias in the world models used for RL. To address this, we introduce a framework for post-training policy refinement built around an Impartial World Model. Our primary contribution is to teach this model to be honest about danger. We achieve this with a novel data synthesis pipeline, Counterfactual Synthesis, which systematically generates a rich curriculum of plausible collisions and off-road events. This transforms the model from a passive scene completer into a veridical forecaster that remains faithful to the causal link between actions and outcomes. We then integrate this Impartial World Model into our closed-loop RL framework, where it serves as an internal critic. During refinement, the agent queries the critic to ``dream" of the outcomes for candidate actions. We demonstrate through extensive experiments, including on a new Risk Foreseeing Benchmark, that our model significantly outperforms baselines in predicting failures. Consequently, when used as a critic, it enables a substantial reduction in safety violations in challenging simulations, proving that teaching a model to dream of danger is a critical step towards building truly safe and intelligent autonomous agents.

Tao Tang, Chengxu Yang

The core role of medical images in disease diagnosis makes their quality directly affect the accuracy of clinical judgment. However, due to factors such as low-dose scanning, equipment limitations and imaging artifacts, medical images are often accompanied by non-uniform noise interference, which seriously affects structure recognition and lesion detection. This paper proposes a medical image adaptive denoising model (MI-ND) that integrates multi-scale convolutional and Transformer architecture, introduces a noise level estimator (NLE) and a noise adaptive attention module (NAAB), and realizes channel-spatial attention regulation and cross-modal feature fusion driven by noise perception. Systematic testing is carried out on multimodal public datasets. Experiments show that this method significantly outperforms the comparative methods in image quality indicators such as PSNR, SSIM, and LPIPS, and improves the F1 score and ROC-AUC in downstream diagnostic tasks, showing strong prac-tical value and promotional potential. The model has outstanding benefits in structural recovery, diagnostic sensitivity, and cross-modal robustness, and provides an effective solution for medical image enhancement and AI-assisted diagnosis and treatment.

Tao Tang, Chengxu Yang

Pansharpening refers to the process of integrating a high resolution panchromatic (PAN) image with a lower resolution multispectral (MS) image to generate a fused product, which is pivotal in remote sensing. Despite the effectiveness of CNNs in addressing this challenge, they are inherently constrained by the uniform application of convolutional kernels across all spatial positions, overlooking local content variations. To overcome this issue, we introduce RAPNet, a new architecture that leverages content-adaptive convolution. At its core, RAPNet employs the Receptive-field Adaptive Pansharpening Convolution (RAPConv), designed to produce spatially adaptive kernels responsive to local feature context, thereby enhancing the precision of spatial detail extraction. Additionally, the network integrates the Pansharpening Dynamic Feature Fusion (PAN-DFF) module, which incorporates an attention mechanism to achieve an optimal balance between spatial detail enhancement and spectral fidelity. Comprehensive evaluations on publicly available datasets confirm that RAPNet delivers superior performance compared to existing approaches, as demonstrated by both quantitative metrics and qualitative assessments. Ablation analyses further substantiate the effectiveness of the proposed adaptive components.

Tao Tang, Likui Zhang, Youpeng Wen et al.

The development of generalist robot manipulation policies has seen significant progress, driven by large-scale demonstration data across diverse environments. However, the high cost and inefficiency of collecting real-world demonstrations hinder the scalability of data acquisition. While existing simulation platforms enable controlled environments for robotic learning, the challenge of bridging the sim-to-real gap remains. To address these challenges, we propose RoboPearls, an editable video simulation framework for robotic manipulation. Built on 3D Gaussian Splatting (3DGS), RoboPearls enables the construction of photo-realistic, view-consistent simulations from demonstration videos, and supports a wide range of simulation operators, including various object manipulations, powered by advanced modules like Incremental Semantic Distillation (ISD) and 3D regularized NNFM Loss (3D-NNFM). Moreover, by incorporating large language models (LLMs), RoboPearls automates the simulation production process in a user-friendly manner through flexible command interpretation and execution. Furthermore, RoboPearls employs a vision-language model (VLM) to analyze robotic learning issues to close the simulation loop for performance enhancement. To demonstrate the effectiveness of RoboPearls, we conduct extensive experiments on multiple datasets and scenes, including RLBench, COLOSSEUM, Ego4D, Open X-Embodiment, and a real-world robot, which demonstrate our satisfactory simulation performance.

Ruonan Lin, Tao Tang, Yongtai Liu et al.

Traffic accident prediction and detection are critical for enhancing road safety, and vision-based traffic accident anticipation (Vision-TAA) has emerged as a promising approach in the era of deep learning. This paper reviews 147 recent studies, focusing on the application of supervised, unsupervised, and hybrid deep learning models for accident prediction, alongside the use of real-world and synthetic datasets. Current methodologies are categorized into four key approaches: image and video feature-based prediction, spatio-temporal feature-based prediction, scene understanding, and multi modal data fusion. While these methods demonstrate significant potential, challenges such as data scarcity, limited generalization to complex scenarios, and real-time performance constraints remain prevalent. This review highlights opportunities for future research, including the integration of multi modal data fusion, self-supervised learning, and Transformer-based architectures to enhance prediction accuracy and scalability. By synthesizing existing advancements and identifying critical gaps, this paper provides a foundational reference for developing robust and adaptive Vision-TAA systems, contributing to road safety and traffic management.

Xiaodong Feng, Haojiong Shangguan, Tao Tang et al.

Evolution equations, including both ordinary differential equations (ODEs) and partial differential equations (PDEs), play a pivotal role in modeling dynamic systems. However, achieving accurate long-time integration for these equations remains a significant challenge. While physics-informed neural networks (PINNs) provide a mesh-free framework for solving PDEs, they often suffer from temporal error accumulation, which limits their effectiveness in capturing long-time behaviors. To alleviate this issue, we propose integral regularization PINNs (IR-PINNs), a novel approach that enhances temporal accuracy by incorporating an integral-based residual term into the loss function. This method divides the entire time interval into smaller sub-intervals and enforces constraints over these sub-intervals, thereby improving the resolution and correlation of temporal dynamics. Furthermore, IR-PINNs leverage adaptive sampling to dynamically refine the distribution of collocation points based on the evolving solution, ensuring higher accuracy in regions with sharp gradients or rapid variations. Numerical experiments on benchmark problems demonstrate that IR-PINNs outperform original PINNs and other state-of-the-art methods in capturing long-time behaviors, offering a robust and accurate solution for evolution equations.

Zhiqiang Zhong, Simon Sataa-Yu Larsen, Haoyu Guo et al.

Recent advancements in AI for biological research focus on integrating molecular data with natural language to accelerate drug discovery. However, the scarcity of high-quality annotations limits progress in this area. This paper introduces LA$^3$, a Language-based Automatic Annotation Augmentation framework that leverages large language models to augment existing datasets, thereby improving AI training. We demonstrate the effectiveness of LA$^3$ by creating an enhanced dataset, LaChEBI-20, where we systematically rewrite the annotations of molecules from an established dataset. These rewritten annotations preserve essential molecular information while providing more varied sentence structures and vocabulary. Using LaChEBI-20, we train LaMolT5 based on a benchmark architecture to learn the mapping between molecular representations and augmented annotations. Experimental results on text-based *de novo* molecule generation and molecule captioning demonstrate that LaMolT5 outperforms state-of-the-art models. Notably, incorporating LA$^3$ leads to improvements of up to 301% over the benchmark architecture. Furthermore, we validate the effectiveness of LA$^3$ notable applications in *image*, *text* and *graph* tasks, affirming its versatility and utility.

Zhen Cai, Tao Tang, Shuo Yu et al.

Federated recommender systems have been crucially enhanced through data sharing and continuous model updates, attributed to the pervasive connectivity and distributed computing capabilities of Internet of Things (IoT) devices. Given the sensitivity of IoT data, transparent data processing in data sharing and model updates is paramount. However, existing methods fall short in tracing the flow of shared data and the evolution of model updates. Consequently, data sharing is vulnerable to exploitation by malicious entities, raising significant data privacy concerns, while excluding data sharing will result in sub-optimal recommendations. To mitigate these concerns, we present LIBERATE, a privacy-traceable federated recommender system. We design a blockchain-based traceability mechanism, ensuring data privacy during data sharing and model updates. We further enhance privacy protection by incorporating local differential privacy in user-server communication. Extensive evaluations with the real-world dataset corroborate LIBERATE's capabilities in ensuring data privacy during data sharing and model update while maintaining efficiency and performance. Results underscore blockchain-based traceability mechanism as a promising solution for privacy-preserving in federated recommender systems.

Tao Tang, Lijun Zhou, Pengkun Hao et al.

3D multiple object tracking (MOT) plays a crucial role in autonomous driving perception. Recent end-to-end query-based trackers simultaneously detect and track objects, which have shown promising potential for the 3D MOT task. However, existing methods are still in the early stages of development and lack systematic improvements, failing to track objects in certain complex scenarios, like occlusions and the small size of target object's situations. In this paper, we first summarize the current end-to-end 3D MOT framework by decomposing it into three constituent parts: query initialization, query propagation, and query matching. Then we propose corresponding improvements, which lead to a strong yet simple tracker: S2-Track. Specifically, for query initialization, we present 2D-Prompted Query Initialization, which leverages predicted 2D object and depth information to prompt an initial estimate of the object's 3D location. For query propagation, we introduce an Uncertainty-aware Probabilistic Decoder to capture the uncertainty of complex environment in object prediction with probabilistic attention. For query matching, we propose a Hierarchical Query Denoising strategy to enhance training robustness and convergence. As a result, our S2-Track achieves state-of-the-art performance on nuScenes benchmark, i.e., 66.3% AMOTA on test split, surpassing the previous best end-to-end solution by a significant margin of 8.9% AMOTA. We achieve 1st place on the nuScenes tracking task leaderboard.

Enhui Ma, Lijun Zhou, Tao Tang et al.

Using generative models to synthesize new data has become a de-facto standard in autonomous driving to address the data scarcity issue. Though existing approaches are able to boost perception models, we discover that these approaches fail to improve the performance of planning of end-to-end autonomous driving models as the generated videos are usually less than 8 frames and the spatial and temporal inconsistencies are not negligible. To this end, we propose Delphi, a novel diffusion-based long video generation method with a shared noise modeling mechanism across the multi-views to increase spatial consistency, and a feature-aligned module to achieves both precise controllability and temporal consistency. Our method can generate up to 40 frames of video without loss of consistency which is about 5 times longer compared with state-of-the-art methods. Instead of randomly generating new data, we further design a sampling policy to let Delphi generate new data that are similar to those failure cases to improve the sample efficiency. This is achieved by building a failure-case driven framework with the help of pre-trained visual language models. Our extensive experiment demonstrates that our Delphi generates a higher quality of long videos surpassing previous state-of-the-art methods. Consequentially, with only generating 4% of the training dataset size, our framework is able to go beyond perception and prediction tasks, for the first time to the best of our knowledge, boost the planning performance of the end-to-end autonomous driving model by a margin of 25%.

Chenjiao Tan, Qian Cao, Yiwei Li et al.

The advent of large language models (LLMs) has heightened interest in their potential for multimodal applications that integrate language and vision. This paper explores the capabilities of GPT-4V in the realms of geography, environmental science, agriculture, and urban planning by evaluating its performance across a variety of tasks. Data sources comprise satellite imagery, aerial photos, ground-level images, field images, and public datasets. The model is evaluated on a series of tasks including geo-localization, textual data extraction from maps, remote sensing image classification, visual question answering, crop type identification, disease/pest/weed recognition, chicken behavior analysis, agricultural object counting, urban planning knowledge question answering, and plan generation. The results indicate the potential of GPT-4V in geo-localization, land cover classification, visual question answering, and basic image understanding. However, there are limitations in several tasks requiring fine-grained recognition and precise counting. While zero-shot learning shows promise, performance varies across problem domains and image complexities. The work provides novel insights into GPT-4V's capabilities and limitations for real-world geospatial, environmental, agricultural, and urban planning challenges. Further research should focus on augmenting the model's knowledge and reasoning for specialized domains through expanded training. Overall, the analysis demonstrates foundational multimodal intelligence, highlighting the potential of multimodal foundation models (FMs) to advance interdisciplinary applications at the nexus of computer vision and language.