Fei Luo

Tuo Cao, Fei Luo, Yanping Fu et al.

Monocular 6D pose estimation is a fundamental task in computer vision. Existing works often adopt a two-stage pipeline by establishing correspondences and utilizing a RANSAC algorithm to calculate 6 degrees-of-freedom (6DoF) pose. Recent works try to integrate differentiable RANSAC algorithms to achieve an end-to-end 6D pose estimation. However, most of them hardly consider the geometric features in 3D space, and ignore the topology cues when performing differentiable RANSAC algorithms. To this end, we proposed a Depth-Guided Edge Convolutional Network (DGECN) for 6D pose estimation task. We have made efforts from the following three aspects: 1) We take advantages ofestimated depth information to guide both the correspondences-extraction process and the cascaded differentiable RANSAC algorithm with geometric information. 2)We leverage the uncertainty ofthe estimated depth map to improve accuracy and robustness ofthe output 6D pose. 3) We propose a differentiable Perspective-n-Point(PnP) algorithm via edge convolution to explore the topology relations between 2D-3D correspondences. Experiments demonstrate that our proposed network outperforms current works on both effectiveness and efficiency.

Zongcheng Li, Xiaoxiao Long, Yusen Wang et al.

We present a novel method, called NeTO, for capturing 3D geometry of solid transparent objects from 2D images via volume rendering. Reconstructing transparent objects is a very challenging task, which is ill-suited for general-purpose reconstruction techniques due to the specular light transport phenomena. Although existing refraction-tracing based methods, designed specially for this task, achieve impressive results, they still suffer from unstable optimization and loss of fine details, since the explicit surface representation they adopted is difficult to be optimized, and the self-occlusion problem is ignored for refraction-tracing. In this paper, we propose to leverage implicit Signed Distance Function (SDF) as surface representation, and optimize the SDF field via volume rendering with a self-occlusion aware refractive ray tracing. The implicit representation enables our method to be capable of reconstructing high-quality reconstruction even with a limited set of images, and the self-occlusion aware strategy makes it possible for our method to accurately reconstruct the self-occluded regions. Experiments show that our method achieves faithful reconstruction results and outperforms prior works by a large margin. Visit our project page at https://www.xxlong.site/NeTO/

Hao Zhou, Lu Qi, Jason Li et al.

Trajectory prediction is critical for autonomous driving, enabling safe and efficient planning in dense, dynamic traffic. Most existing methods optimize prediction accuracy under fixed-length observations. However, real-world driving often yields variable-length, incomplete observations, posing a challenge to these methods. A common strategy is to directly map features from incomplete observations to those from complete ones. This one-shot mapping, however, struggles to learn accurate representations for short trajectories due to significant information gaps. To address this issue, we propose a Progressive Retrospective Framework (PRF), which gradually aligns features from incomplete observations with those from complete ones via a cascade of retrospective units. Each unit consists of a Retrospective Distillation Module (RDM) and a Retrospective Prediction Module (RPM), where RDM distills features and RPM recovers previous timesteps using the distilled features. Moreover, we propose a Rolling-Start Training Strategy (RSTS) that enhances data efficiency during PRF training. PRF is plug-and-play with existing methods. Extensive experiments on datasets Argoverse 2 and Argoverse 1 demonstrate the effectiveness of PRF. Code is available at https://github.com/zhouhao94/PRF.

Zhe Qian, Yanbiao Ma, Zhuohan Ouyang et al.

Multimodal Large Reasoning Models (MLRMs) have achieved remarkable strides in visual reasoning through test time compute scaling, yet long chain reasoning remains prone to hallucinations. We identify a concerning phenomenon termed the Reasoning Vision Truth Disconnect (RVTD): hallucinations are strongly correlated with cognitive bifurcation points that often exhibit high entropy states. We attribute this vulnerability to a breakdown in visual semantic anchoring, localized within the network's intermediate layers; specifically, during these high uncertainty transitions, the model fails to query visual evidence, reverting instead to language priors. Consequently, we advocate a shift from solely outcome level supervision to augmenting it with fine grained internal attention guidance. To this end, we propose V-STAR (Visual Structural Training with Attention Reinforcement), a lightweight, holistic training paradigm designed to internalize visually aware reasoning capabilities. Central to our approach is the Hierarchical Visual Attention Reward (HVAR), integrated within the GRPO framework. Upon detecting high entropy states, this mechanism dynamically incentivizes visual attention across critical intermediate layers, thereby anchoring the reasoning process back to the visual input. Furthermore, we introduce the Forced Reflection Mechanism (FRM), a trajectory editing strategy that disrupts cognitive inertia by triggering reflection around high entropy cognitive bifurcation points and encouraging verification of subsequent steps against the visual input, thereby translating external debiasing interventions into an intrinsic capability for hallucination mitigation.

Zhe Qian, Nianbing Su, Zhonghua Wang et al.

Current multimodal models often suffer from shallow reasoning, leading to errors caused by incomplete or inconsistent thought processes. To address this limitation, we propose Self-Verification and Self-Rectification (SVSR), a unified framework that explicitly integrates self-verification and self-rectification into the model's reasoning pipeline, substantially improving robustness and reliability in complex visual understanding and multimodal reasoning tasks. SVSR is built on a novel three-stage training paradigm. First, we construct a high-quality unified preference dataset by refining reasoning traces from pre-trained vision-language models, incorporating both forward and backward reasoning to embed self-reflective signals. Second, we perform cold-start supervised fine-tuning on this dataset to learn structured, multi-step reasoning behaviors. Third, we apply a Semi-online Direct Preference Optimization (Semi-online DPO) process, continuously augmenting the training corpus with high-quality, model-generated reasoning traces filtered by a powerful teacher VLM. This pipeline enables the model to learn, elicit, and refine its ability to self-verify and self-rectify. Extensive experiments across diverse benchmarks demonstrate that SVSR improves reasoning accuracy and enables stronger generalization to unseen tasks and question types. Notably, once trained with explicit self-reflective reasoning, the model also exhibits improved implicit reasoning ability, outperforming strong baselines even when no explicit reasoning traces are provided. These results highlight the potential of SVSR for building more dependable, introspective, and cognitively aligned multimodal systems.

Zheng Wu, Yiping Xie, Bo Zhao et al.

Heart rate (HR) estimation via remote photoplethysmography (rPPG) offers a non-invasive solution for health monitoring. However, traditional single-modality approaches (RGB or Radio Frequency (RF)) face challenges in balancing robustness and accuracy due to lighting variations, motion artifacts, and skin tone bias. In this paper, we propose CardiacMamba, a multimodal RGB-RF fusion framework that leverages the complementary strengths of both modalities. It introduces the Temporal Difference Mamba Module (TDMM) to capture dynamic changes in RF signals using timing differences between frames, enhancing the extraction of local and global features. Additionally, CardiacMamba employs a Bidirectional SSM for cross-modal alignment and a Channel-wise Fast Fourier Transform (CFFT) to effectively capture and refine the frequency domain characteristics of RGB and RF signals, ultimately improving heart rate estimation accuracy and periodicity detection. Extensive experiments on the EquiPleth dataset demonstrate state-of-the-art performance, achieving marked improvements in accuracy and robustness. CardiacMamba significantly mitigates skin tone bias, reducing performance disparities across demographic groups, and maintains resilience under missing-modality scenarios. By addressing critical challenges in fairness, adaptability, and precision, the framework advances rPPG technology toward reliable real-world deployment in healthcare. The codes are available at: https://github.com/WuZheng42/CardiacMamba.

Changyu Li, Shuanghong Huang, Jiashen Liu et al.

Federated fine-tuning provides a practical route to adapt large language models (LLMs) on edge devices without centralizing private data, yet in mobile deployments the training wall-clock is often bottlenecked by straggler-limited uplink communication under heterogeneous bandwidth and intermittent participation. Although parameter-efficient fine-tuning (PEFT) reduces trainable parameters, per-round payloads remain prohibitive in non-IID regimes, where uniform compression can discard rare but task-critical signals. We propose Fed-FSTQ, a Fisher-guided token quantization system primitive for communication-efficient federated LLM fine-tuning. Fed-FSTQ employs a lightweight Fisher proxy to estimate token sensitivity, coupling importance-aware token selection with non-uniform mixed-precision quantization to allocate higher fidelity to informative evidence while suppressing redundant transmission. The method is model-agnostic, serves as a drop-in module for standard federated PEFT pipelines, e.g., LoRA, without modifying the server aggregation rule, and supports bandwidth-heterogeneous clients via compact sparse message packing. Experiments on multilingual QA and medical QA under non-IID partitions show that Fed-FSTQ reduces cumulative uplink traffic required to reach a fixed quality threshold by 46x relative to a standard LoRA baseline, and improves end-to-end wall-clock time-to-accuracy by 52%. Furthermore, enabling Fisher-guided token reduction at inference yields up to a 1.55x end-to-end speedup on NVIDIA Jetson-class edge devices, demonstrating deployability under tight resource constraints.

Nengbo Zhang, Yao Ying, Lu Wang et al.

WiFi-based human action recognition (HAR) has gained significant attention due to its non-intrusive and privacy-preserving nature. However, most existing WiFi sensing models predominantly focus on improving recognition accuracy, while issues of power consumption and energy efficiency remain insufficiently discussed. In this work, we present Wi-Spike, a bio-inspired spiking neural network (SNN) framework for efficient and accurate action recognition using WiFi channel state information (CSI) signals. Specifically, leveraging the event-driven and low-power characteristics of SNNs, Wi-Spike introduces spiking convolutional layers for spatio-temporal feature extraction and a novel temporal attention mechanism to enhance discriminative representation. The extracted features are subsequently encoded and classified through spiking fully connected layers and a voting layer. Comprehensive experiments on three benchmark datasets (NTU-Fi-HAR, NTU-Fi-HumanID, and UT-HAR) demonstrate that Wi-Spike achieves competitive accuracy in single-action recognition and superior performance in multi-action recognition tasks. As for energy consumption, Wi-Spike reduces the energy cost by at least half compared with other methods, while still achieving 95.83% recognition accuracy in human activity recognition. More importantly, Wi-Spike establishes a new state-of-the-art in WiFi-based multi-action HAR, offering a promising solution for real-time, energy-efficient edge sensing applications.

Zi Liang, Qipeng Xie, Jun He et al.

Recent advancements in Large Language Models (LLMs) have sparked interest in their application to Static Application Security Testing (SAST), primarily due to their superior contextual reasoning capabilities compared to traditional symbolic or rule-based methods. However, existing LLM-based approaches typically attempt to replace human experts directly without integrating effectively with existing SAST tools. This lack of integration results in ineffectiveness, including high rates of false positives, hallucinations, limited reasoning depth, and excessive token usage, making them impractical for industrial deployment. To overcome these limitations, we present a paradigm shift that reorchestrates the SAST workflow from current LLM-assisted structure to a new LLM-centered workflow. We introduce Argus (Agentic and Retrieval-Augmented Guarding System), the first multi-agent framework designed specifically for vulnerability detection. Argus incorporates three key novelties: comprehensive supply chain analysis, collaborative multi-agent workflows, and the integration of state-of-the-art techniques such as Retrieval-Augmented Generation (RAG) and ReAct to minimize hallucinations and enhance reasoning. Extensive empirical evaluation demonstrates that Argus significantly outperforms existing methods by detecting a higher volume of true vulnerabilities while simultaneously reducing false positives and operational costs. Notably, Argus has identified several critical zero-day vulnerabilities with CVE assignments.

Changyu Li, Lu Wang, Ming Lei et al.

Source-free test-time adaptation (TTA) is appealing for mobile and wearable sensing because it enables on-device personalization from unlabeled test streams without centralizing private data. However, sensor-based human activity recognition (HAR) poses challenges that are less pronounced in standard vision benchmarks: behavioral inertial streams are temporally correlated and often exhibit within-session shifts caused by sensor rotation, placement change, and sampling-rate drift. Under this streaming non-i.i.d. setting, widely used vision-style TTA objectives can become unstable, leading to overconfident errors, representation collapse, and catastrophic forgetting. We propose PI-TTA, a lightweight source-free adaptation framework that stabilizes online updates through three physics-consistent constraints: gravity consistency, short-horizon temporal continuity, and spectral stability. PI-TTA updates the same small parameter subset as strong source-free baselines and incurs only modest overhead, making it suitable for on-device deployment. Experiments on USCHAD, PAMAP2, and mHealth under long-sequence stress tests and factorized shift protocols show that PI-TTA mitigates the severe degradation observed in confidence-driven baselines and preserves stable adaptation under sustained streaming conditions. It improves long-sequence accuracy by up to 9.13% and reduces physical-violation rates by 27.5%, 24.1%, and 45.4% on USCHAD, PAMAP2, and mHealth, respectively. These results demonstrate that physics-informed adaptation can improve accuracy, stability, and deployment reliability for real-world mobile sensing systems.

Fei Luo, Ziwei Zhao, Mingxuan Wang et al.

Federated Prompt Learning (FPL) offers a parameter-efficient solution for collaboratively training large models, but its performance is severely hindered by data heterogeneity, which causes locally trained prompts to become biased. Existing methods, focusing on aggregation or regularization, fail to address this root cause of local training bias. To this end, we propose Geometry-Guided Text Prompt Calibration (GGTPC), a novel framework that directly corrects this bias by providing clients with a global geometric prior. This prior, representing the shape of the global data distribution derived from the covariance matrix, is reconstructed on the server in a privacy-preserving manner. Clients then use a novel Geometry-Prior Calibration Layer (GPCL) to align their local feature distributions with this global prior during training. Extensive experiments show GGTPC's effectiveness. On the label-skewed CIFAR-100 dataset ($β$=0.1), it outperforms the state-of-the-art by 2.15\%. Under extreme skew ($β$=0.01), it improves upon the baseline by 9.17\%. Furthermore, as a plug-and-play module on the domain-skewed Office-Home dataset, it boosts FedAvg's performance by 4.60\%. These results demonstrate that GGTPC effectively mitigates data heterogeneity by correcting the fundamental local training bias, serving as a versatile module to enhance various FL algorithms.

Yanbiao Ma, Fei Luo, Linfeng Zhang et al.

Reasoning in large language models is predominantly evaluated through labeled benchmarks, conflating task performance with the quality of internal inference. Here we study reasoning as an intrinsic dynamical process by examining the evolution of internal representations during inference. We find that inference-time dynamics consistently self-organize into low-dimensional manifolds embedded within high-dimensional representation spaces. we find that such geometric compression, although pervasive, is not sufficient for stable or reliable reasoning. Instead, effective reasoning dynamics emerge within a constrained structural regime characterized by three conditions: adequate representational expressivity, spontaneous manifold compression, and preservation of non-degenerate information volume within the compressed subspace. Models outside this regime exhibit characteristic pathological inference dynamics. Based on these insights, we introduce a unified, label-free diagnostic computed solely from internal dynamics. These findings suggest that reasoning in LLMs is fundamentally governed by geometric and informational constraints, offering a complementary framework to benchmark-centric assessment.

Chunjie Luo, Fei Luo, Yusen Wang et al.

Reconstructing a dynamic human with loose clothing is an important but difficult task. To address this challenge, we propose a method named DLCA-Recon to create human avatars from monocular videos. The distance from loose clothing to the underlying body rapidly changes in every frame when the human freely moves and acts. Previous methods lack effective geometric initialization and constraints for guiding the optimization of deformation to explain this dramatic change, resulting in the discontinuous and incomplete reconstruction surface. To model the deformation more accurately, we propose to initialize an estimated 3D clothed human in the canonical space, as it is easier for deformation fields to learn from the clothed human than from SMPL. With both representations of explicit mesh and implicit SDF, we utilize the physical connection information between consecutive frames and propose a dynamic deformation field (DDF) to optimize deformation fields. DDF accounts for contributive forces on loose clothing to enhance the interpretability of deformations and effectively capture the free movement of loose clothing. Moreover, we propagate SMPL skinning weights to each individual and refine pose and skinning weights during the optimization to improve skinning transformation. Based on more reasonable initialization and DDF, we can simulate real-world physics more accurately. Extensive experiments on public and our own datasets validate that our method can produce superior results for humans with loose clothing compared to the SOTA methods.

Chenyue Zhou, Mingxuan Wang, Yanbiao Ma et al.

Multimodal Large Language Models (MLLMs) strive to achieve a profound, human-like understanding of and interaction with the physical world, but often exhibit a shallow and incoherent integration when acquiring information (Perception) and conducting reasoning (Cognition). This disconnect leads to a spectrum of reasoning failures, with hallucination being the most prominent. Collectively, these issues expose a fundamental challenge: the ability to process pixels does not yet confer the ability to construct a coherent, credible internal world model. To systematically dissect and address this challenge, this survey introduces a novel and unified analytical framework: ``From Perception to Cognition." We deconstruct the complex process of vision-language interactive understanding into two interdependent layers: Perception, the foundational ability to accurately extract visual information and achieve fine-grained alignment with textual instructions; and Cognition, the higher-order capability for proactive, multi-step, goal-oriented reasoning built upon this perceptual foundation, the core of which is the formation of a dynamic observe-think-verify reasoning loop. Guided by this framework, this paper systematically analyzes the key bottlenecks of current MLLMs at both layers. It surveys the landscape of cutting-edge methods designed to address these challenges, spanning from techniques that enhance low-level visual representations to those that improve high-level reasoning paradigms. Furthermore, we review critical benchmarks and delineate future research directions. This survey aims to provide the research community with a clear, structured perspective for understanding the intrinsic limitations of current MLLMs and to illuminate the path toward building next-generation models capable of deep reasoning and a genuine understanding of the world.

Changyu Li, Dingcheng Huang, Kexuan Yao et al.

Reliability-centered prognostics for rotating machinery requires early warning signals that remain accurate under nonstationary operating conditions, domain shifts across speed/load/sensors, and severe class imbalance, while keeping the false-alarm rate small and predictable. We propose the Physics-Guided Tiny-Mamba Transformer (PG-TMT), a compact tri-branch encoder tailored for online condition monitoring. A depthwise-separable convolutional stem captures micro-transients, a Tiny-Mamba state-space branch models near-linear long-range dynamics, and a lightweight local Transformer encodes cross-channel resonances. We derive an analytic temporal-to-spectral mapping that ties the model's attention spectrum to classical bearing fault-order bands, yielding a band-alignment score that quantifies physical plausibility and provides physics-grounded explanations. To ensure decision reliability, healthy-score exceedances are modeled with extreme-value theory (EVT), which yields an on-threshold achieving a target false-alarm intensity (events/hour); a dual-threshold hysteresis with a minimum hold time further suppresses chatter. Under a leakage-free streaming protocol with right-censoring of missed detections on CWRU, Paderborn, XJTU-SY, and an industrial pilot, PG-TMT attains higher precision-recall AUC (primary under imbalance), competitive or better ROC AUC, and shorter mean time-to-detect at matched false-alarm intensity, together with strong cross-domain transfer. By coupling physics-aligned representations with EVT-calibrated decision rules, PG-TMT delivers calibrated, interpretable, and deployment-ready early warnings for reliability-centric prognostics and health management.

Jindong Jiang, Lunan Zheng, Fei Luo et al.

Indoor semantic segmentation has always been a difficult task in computer vision. In this paper, we propose an RGB-D residual encoder-decoder architecture, named RedNet, for indoor RGB-D semantic segmentation. In RedNet, the residual module is applied to both the encoder and decoder as the basic building block, and the skip-connection is used to bypass the spatial feature between the encoder and decoder. In order to incorporate the depth information of the scene, a fusion structure is constructed, which makes inference on RGB image and depth image separately, and fuses their features over several layers. In order to efficiently optimize the network's parameters, we propose a `pyramid supervision' training scheme, which applies supervised learning over different layers in the decoder, to cope with the problem of gradients vanishing. Experiment results show that the proposed RedNet(ResNet-50) achieves a state-of-the-art mIoU accuracy of 47.8% on the SUN RGB-D benchmark dataset.