Daily Papers

Although perception systems have made remarkable advancements in recent years, particularly in 2D reasoning segmentation, these systems still rely on explicit human instruction or pre-defined categories to identify target objects before executing visual recognition tasks. Such systems have matured significantly, demonstrating the ability to reason and comprehend implicit user intentions in two-dimensional contexts, producing accurate segmentation masks based on complex and implicit query text. However, a comparable framework and structure for 3D reasoning segmentation remain absent. This paper introduces OpenMaskDINO3D, a LLM designed for comprehensive 3D understanding and segmentation. OpenMaskDINO3D processes point cloud data and text prompts to produce instance segmentation masks, excelling in many 3D tasks. By introducing a SEG token and object identifier, we achieve high-precision 3D segmentation mask generation, enabling the model to directly produce accurate point cloud segmentation results from natural language instructions. Experimental results on large-scale ScanNet datasets validate the effectiveness of our OpenMaskDINO3D across various tasks.

The generation of high-quality 3D car assets is essential for various applications, including video games, autonomous driving, and virtual reality. Current 3D generation methods utilizing NeRF or 3D-GS as representations for 3D objects, generate a Lambertian object under fixed lighting and lack separated modelings for material and global illumination. As a result, the generated assets are unsuitable for relighting under varying lighting conditions, limiting their applicability in downstream tasks. To address this challenge, we propose a novel relightable 3D object generative framework that automates the creation of 3D car assets, enabling the swift and accurate reconstruction of a vehicle's geometry, texture, and material properties from a single input image. Our approach begins with introducing a large-scale synthetic car dataset comprising over 1,000 high-precision 3D vehicle models. We represent 3D objects using global illumination and relightable 3D Gaussian primitives integrating with BRDF parameters. Building on this representation, we introduce a feed-forward model that takes images as input and outputs both relightable 3D Gaussians and global illumination parameters. Experimental results demonstrate that our method produces photorealistic 3D car assets that can be seamlessly integrated into road scenes with different illuminations, which offers substantial practical benefits for industrial applications.

Computer-Aided Design (CAD) is a time-consuming and complex process, requiring precise, long-horizon user interactions with intricate 3D interfaces. While recent advances in AI-driven user interface (UI) agents show promise, most existing datasets and methods focus on short, low-complexity tasks in mobile or web applications, failing to capture the demands of professional engineering tools. In this work, we introduce VideoCAD, the first attempt at engineering UI interaction learning for precision tasks. Specifically, VideoCAD is a large-scale synthetic dataset consisting of over 41K annotated video recordings of CAD operations, generated using an automated framework for collecting high-fidelity UI action data from human-made CAD designs. Compared to existing datasets, VideoCAD offers an order of magnitude higher complexity in UI interaction learning for real-world engineering tasks, having up to a 20x longer time horizon than other datasets. We show two important downstream applications of VideoCAD: learning UI interactions from professional precision 3D CAD tools and a visual question-answering (VQA) benchmark designed to evaluate multimodal large language models' (LLM) spatial reasoning and video understanding abilities. To learn the UI interactions, we propose VideoCADFormer - a state-of-the-art model in learning CAD interactions directly from video, which outperforms multiple behavior cloning baselines. Both VideoCADFormer and the VQA benchmark derived from VideoCAD reveal key challenges in the current state of video-based UI understanding, including the need for precise action grounding, multi-modal and spatial reasoning, and long-horizon dependencies.

Polarization-based underwater 3D imaging exploits polarization cues to suppress background scattering, exhibiting distinct advantages in turbid water. Although data-driven polarization-based underwater 3D reconstruction methods show great potential, existing public datasets lack sufficient diversity in scattering and observation conditions, hindering fair comparisons among different approaches, including single-view and multi-view polarization imaging methods. To address this limitation, we construct MuS-Polar3D, a benchmark dataset comprising polarization images of 42 objects captured under seven quantitatively controlled scattering conditions and five viewpoints, together with high-precision 3D models (+/- 0.05 mm accuracy), normal maps, and foreground masks. The dataset supports multiple vision tasks, including normal estimation, object segmentation, descattering, and 3D reconstruction. Inspired by computational imaging, we further decouple underwater 3D reconstruction under scattering into a two-stage pipeline, namely descattering followed by 3D reconstruction, from an imaging-chain perspective. Extensive evaluations using multiple baseline methods under complex scattering conditions demonstrate the effectiveness of the proposed benchmark, achieving a best mean angular error of 15.49 degrees. To the best of our knowledge, MuS-Polar3D is the first publicly available benchmark dataset for quantitative turbidity underwater polarization-based 3D imaging, enabling accurate reconstruction and fair algorithm evaluation under controllable scattering conditions. The dataset and code are publicly available at https://github.com/WangPuyun/MuS-Polar3D.

Single-photon LiDAR achieves high-precision 3D imaging in extreme environments through quantum-level photon detection technology. Current research primarily focuses on reconstructing 3D scenes from sparse photon events, whereas the semantic interpretation of single-photon images remains underexplored, due to high annotation costs and inefficient labeling strategies. This paper presents the first active learning framework for single-photon image classification. The core contribution is an imaging condition-aware sampling strategy that integrates synthetic augmentation to model variability across imaging conditions. By identifying samples where the model is both uncertain and sensitive to these conditions, the proposed method selectively annotates only the most informative examples. Experiments on both synthetic and real-world datasets show that our approach outperforms all baselines and achieves high classification accuracy with significantly fewer labeled samples. Specifically, our approach achieves 97% accuracy on synthetic single-photon data using only 1.5% labeled samples. On real-world data, we maintain 90.63% accuracy with just 8% labeled samples, which is 4.51% higher than the best-performing baseline. This illustrates that active learning enables the same level of classification performance on single-photon images as on classical images, opening doors to large-scale integration of single-photon data in real-world applications.

A social highlighter's most useful signal -- which passages a crowd of readers marks -- exists only for documents people have already read. Can the aggregate crowd salience of a document be predicted from its text before its marks accumulate? Prior work on this data found that zero-shot language models recover highlight locations worse than a trivial lead (position) baseline, so we ask whether a model trained on the highlight corpus can beat that baseline. Using a pre-registered ladder of models and a by-document cluster bootstrap, we find a small but robust edge: a logistic ranker over sentence embeddings and positional/contextual features beats the lead baseline by +0.044 average precision (95% CI [+0.029, +0.058]; clears a pre-registered margin delta=0.03 in 97% of resamples, and stable across pipeline re-runs). Two unsupervised extractive baselines (centroid, LexRank-style centrality) lose to lead, and the trained model beats them by +0.108, so the edge is not recovered by generic unsupervised proxies -- it reflects learning from real reader marks. In product terms, precision@3 rises from 0.25 to 0.39 (+55% relative) and the model beats lead on 69% of documents. An ablation attributes the edge to the raw embedding (+0.014) and training augmentation (+0.010), each with a positive CI. The edge is not a temporal-generalization failure, and we find no evidence that content drift or near-duplicate leakage explains it. A standardized regression shows the advantage is governed mainly by document popularity (lower popularity, larger edge) and by label reliability. It nearly vanishes only on the most popular content; there it is the lead baseline that strengthens, not the model that weakens. Because our evaluation conditions on documents that eventually accumulated readers, these results are a retrospective cold-start simulation.

Agentic large language model (LLM) systems rely on external memory for long-horizon state and concurrent multi-agent execution, but centralized indexes and heuristic partitions become bottlenecks as memory volume and parallel access grow. We present ShardMemo, a budgeted tiered memory service with Tier A per-agent working state, Tier B sharded evidence with shard-local approximate nearest neighbor (ANN) indexes, and Tier C, a versioned skill library. Tier B enforces scope-before-routing: structured eligibility constraints mask ineligible shards before routing or ANN search. We cast shard probing as masked mixture-of-experts (MoE) routing over eligible shards, probing up to B_{probe} shards via Top-B_{probe} or adaptive Top-P, and use cost-aware gating over profile/observation/session shard families; the router is trained from evidence-to-shard supervision. On LoCoMo, ShardMemo improves over the strongest baseline (GAM) by +5.11 to +6.82 F1 across question categories. Under a fixed-budget routing setting (B_{probe}=3), ShardMemo improves over cosine-to-prototype shard routing by +6.87 F1 while reducing retrieval work (VecScan 521->414, -20.5%) and p95 latency (95->76 ms). On long-context HotpotQA, ShardMemo achieves 63.41/61.88/57.95 F1 at 56K/224K/448K tokens. On ToolBench, Tier C reaches 0.97 Precision@3 and 1.94 StepRed (+10.2% and +7.2% over embedding-similarity retrieval).

In the rapidly evolving field of quantum computing, optimizing quantum circuits for specific tasks is crucial for enhancing performance and efficiency. More recently, quantum sensing has become a distinct and rapidly growing branch of research within the area of quantum science and technology. The field is expected to provide new opportunities, especially regarding high sensitivity and precision. Entanglement is one of the key factors in achieving high sensitivity and measurement precision [3]. This paper presents a novel approach utilizing quantum machine learning techniques to optimize entanglement distribution in quantum sensor circuits. By leveraging reinforcement learning within a quantum environment, we aim to optimize the entanglement layout to maximize Quantum Fisher Information (QFI) and entanglement entropy, which are key indicators of a quantum system's sensitivity and coherence, while minimizing circuit depth and gate counts. Our implementation, based on Qiskit, integrates noise models and error mitigation strategies to simulate realistic quantum environments. The results demonstrate significant improvements in circuit performance and sensitivity, highlighting the potential of machine learning in quantum circuit optimization by measuring high QFI and entropy in the range of 0.84-1.0 with depth and gate count reduction by 20-86%.

Prevailing 3D texture generation methods, which often rely on multi-view fusion, are frequently hindered by inter-view inconsistencies and incomplete coverage of complex surfaces, limiting the fidelity and completeness of the generated content. To overcome these challenges, we introduce TEXTRIX, a native 3D attribute generation framework for high-fidelity texture synthesis and downstream applications such as precise 3D part segmentation. Our approach constructs a latent 3D attribute grid and leverages a Diffusion Transformer equipped with sparse attention, enabling direct coloring of 3D models in volumetric space and fundamentally avoiding the limitations of multi-view fusion. Built upon this native representation, the framework naturally extends to high-precision 3D segmentation by training the same architecture to predict semantic attributes on the grid. Extensive experiments demonstrate state-of-the-art performance on both tasks, producing seamless, high-fidelity textures and accurate 3D part segmentation with precise boundaries.

The lactation performance of Saanen dairy goats, renowned for their high milk yield, is intrinsically linked to their body size, making accurate 3D body measurement essential for assessing milk production potential, yet existing reconstruction methods lack goat-specific authentic 3D data. To address this limitation, we establish the FemaleSaanenGoat dataset containing synchronized eight-view RGBD videos of 55 female Saanen goats (6-18 months). Using multi-view DynamicFusion, we fuse noisy, non-rigid point cloud sequences into high-fidelity 3D scans, overcoming challenges from irregular surfaces and rapid movement. Based on these scans, we develop SaanenGoat, a parametric 3D shape model specifically designed for female Saanen goats. This model features a refined template with 41 skeletal joints and enhanced udder representation, registered with our scan data. A comprehensive shape space constructed from 48 goats enables precise representation of diverse individual variations. With the help of SaanenGoat model, we get high-precision 3D reconstruction from single-view RGBD input, and achieve automated measurement of six critical body dimensions: body length, height, chest width, chest girth, hip width, and hip height. Experimental results demonstrate the superior accuracy of our method in both 3D reconstruction and body measurement, presenting a novel paradigm for large-scale 3D vision applications in precision livestock farming.

Perceiving and autonomously navigating through work zones is a challenging and underexplored problem. Open datasets for this long-tailed scenario are scarce. We propose the ROADWork dataset to learn to recognize, observe, analyze, and drive through work zones. State-of-the-art foundation models fail when applied to work zones. Fine-tuning models on our dataset significantly improves perception and navigation in work zones. With ROADWork dataset, we discover new work zone images with higher precision (+32.5%) at a much higher rate (12.8times) around the world. Open-vocabulary methods fail too, whereas fine-tuned detectors improve performance (+32.2 AP). Vision-Language Models (VLMs) struggle to describe work zones, but fine-tuning substantially improves performance (+36.7 SPICE). Beyond fine-tuning, we show the value of simple techniques. Video label propagation provides additional gains (+2.6 AP) for instance segmentation. While reading work zone signs, composing a detector and text spotter via crop-scaling improves performance +14.2% 1-NED). Composing work zone detections to provide context further reduces hallucinations (+3.9 SPICE) in VLMs. We predict navigational goals and compute drivable paths from work zone videos. Incorporating road work semantics ensures 53.6% goals have angular error (AE) < 0.5 (+9.9 %) and 75.3% pathways have AE < 0.5 (+8.1 %).

Large Language Models (LLMs) are scaling rapidly, creating significant challenges for collaborative server client distributed training, particularly in terms of communication efficiency and computational overheads. To address these challenges, we implement Parameter-efficient Split Learning, which effectively balances efficiency and performance for collaborative training on low-resource devices. To reduce communication overhead in collaborative training, we introduce Adaptive Mixed bit Activation Quantization (AMAQ), a strategy that progressively compresses activations and gradients from high precision (6 to 8 bits) to low precision (3 to 4 bits). AMAQ achieves this by effectively allocating bit budgets across channels based on feature wise and layer wise importance using bit regularization. Under the same bit budgets, AMAQ outperforms fixed-precision approaches, delivering about 2.5% higher generation accuracy and about 1.3% better classification accuracy for models like LLaMA3 8B and Qwen2.5 7B. In addition, it significantly enhances training stability and reducing ultra-low bit representation collapse during the training. Experiments demonstrate that AMAQ integrates effectively into practical multi-machine collaborative training setups, offering superior inference accuracy with only a modest communication overhead for bits adaptation during training. This trade off makes AMAQ a practical and effective solution for collaborative training with minimal communication cost.

Despite decades of clinical research, sepsis remains a global public health crisis with high mortality, and morbidity. Currently, when sepsis is detected and the underlying pathogen is identified, organ damage may have already progressed to irreversible stages. Effective sepsis management is therefore highly time-sensitive. By systematically analysing trends in the plethora of clinical data available in the intensive care unit (ICU), an early prediction of sepsis could lead to earlier pathogen identification, resistance testing, and effective antibiotic and supportive treatment, and thereby become a life-saving measure. Here, we developed and validated a machine learning (ML) system for the prediction of sepsis in the ICU. Our analysis represents the largest multi-national, multi-centre in-ICU study for sepsis prediction using ML to date. Our dataset contains 156,309 unique ICU admissions, which represent a refined and harmonised subset of five large ICU databases originating from three countries. Using the international consensus definition Sepsis-3, we derived hourly-resolved sepsis label annotations, amounting to 26,734 (17.1%) septic stays. We compared our approach, a deep self-attention model, to several clinical baselines as well as ML baselines and performed an extensive internal and external validation within and across databases. On average, our model was able to predict sepsis with an AUROC of 0.847 pm 0.050 (internal out-of sample validation) and 0.761 pm 0.052 (external validation). For a harmonised prevalence of 17%, at 80% recall our model detects septic patients with 39% precision 3.7 hours in advance.

Accurately drawing non-planar 3D curves in immersive Virtual Reality (VR) is indispensable for many precise 3D tasks. However, due to lack of physical support, limited depth perception, and the non-planar nature of 3D curves, it is challenging to adjust mid-air strokes to achieve high precision. Instead of creating new interaction techniques, we investigated how task geometric shapes and input modalities affect precision-first drawing performance in a within-subject study (n = 12) focusing on 3D target tracing in commercially available VR headsets. We found that compared to using bare hands, VR controllers and pens yield nearly 30% of precision gain, and that the tasks with large curvature, forward-backward or left-right orientations perform best. We finally discuss opportunities for designing novel interaction techniques for precise 3D drawing. We believe that our work will benefit future research aiming to create usable toolboxes for precise 3D drawing.

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections of static instances during training. Multiple rounds of self-training are used to add detected static instances to the set of training targets; this procedure to improve performance is computationally expensive. To address this, we propose the method UNION. We use spatial clustering and self-supervised scene flow to obtain a set of static and dynamic object proposals from LiDAR. Subsequently, object proposals' visual appearances are encoded to distinguish static objects in the foreground and background by selecting static instances that are visually similar to dynamic objects. As a result, static and dynamic mobile objects are obtained together, and existing detectors can be trained with a single training. In addition, we extend 3D object discovery to detection by using object appearance-based cluster labels as pseudo-class labels for training object classification. We conduct extensive experiments on the nuScenes dataset and increase the state-of-the-art performance for unsupervised 3D object discovery, i.e. UNION more than doubles the average precision to 39.5. The code is available at github.com/TedLentsch/UNION.

Traditional fish farming practices often lead to inefficient feeding, resulting in environmental issues and reduced productivity. We developed an innovative system combining computer vision and IoT technologies for precise Tilapia feeding. Our solution uses real-time IoT sensors to monitor water quality parameters and computer vision algorithms to analyze fish size and count, determining optimal feed amounts. A mobile app enables remote monitoring and control. We utilized YOLOv8 for keypoint detection to measure Tilapia weight from length, achieving 94\% precision on 3,500 annotated images. Pixel-based measurements were converted to centimeters using depth estimation for accurate feeding calculations. Our method, with data collection mirroring inference conditions, significantly improved results. Preliminary estimates suggest this approach could increase production up to 58 times compared to traditional farms. Our models, code, and dataset are open-source~\footnote{The code, dataset, and models are available upon reasonable request.

In the realm of computer vision, the integration of advanced techniques into the processing of RGB-D camera inputs poses a significant challenge, given the inherent complexities arising from diverse environmental conditions and varying object appearances. Therefore, this paper introduces FusionVision, an exhaustive pipeline adapted for the robust 3D segmentation of objects in RGB-D imagery. Traditional computer vision systems face limitations in simultaneously capturing precise object boundaries and achieving high-precision object detection on depth map as they are mainly proposed for RGB cameras. To address this challenge, FusionVision adopts an integrated approach by merging state-of-the-art object detection techniques, with advanced instance segmentation methods. The integration of these components enables a holistic (unified analysis of information obtained from both color RGB and depth D channels) interpretation of RGB-D data, facilitating the extraction of comprehensive and accurate object information. The proposed FusionVision pipeline employs YOLO for identifying objects within the RGB image domain. Subsequently, FastSAM, an innovative semantic segmentation model, is applied to delineate object boundaries, yielding refined segmentation masks. The synergy between these components and their integration into 3D scene understanding ensures a cohesive fusion of object detection and segmentation, enhancing overall precision in 3D object segmentation. The code and pre-trained models are publicly available at https://github.com/safouaneelg/FusionVision/.

Although recent 3D-native generators have made great progress in synthesizing reliable geometry, they still fall short in achieving realistic appearances. A key obstacle lies in the lack of diverse and high-quality real-world 3D assets with rich texture details, since capturing such data is intrinsically difficult due to the diverse scales of scenes, non-rigid motions of objects, and the limited precision of 3D scanners. We introduce Photo3D, a framework for advancing photorealistic 3D generation, which is driven by the image data generated by the GPT-4o-Image model. Considering that the generated images can distort 3D structures due to their lack of multi-view consistency, we design a structure-aligned multi-view synthesis pipeline and construct a detail-enhanced multi-view dataset paired with 3D geometry. Building on it, we present a realistic detail enhancement scheme that leverages perceptual feature adaptation and semantic structure matching to enforce appearance consistency with realistic details while preserving the structural consistency with the 3D-native geometry. Our scheme is general to different 3D-native generators, and we present dedicated training strategies to facilitate the optimization of geometry-texture coupled and decoupled 3D-native generation paradigms. Experiments demonstrate that Photo3D generalizes well across diverse 3D-native generation paradigms and achieves state-of-the-art photorealistic 3D generation performance.

Recent work (e.g. LAMA (Petroni et al., 2019)) has found that the quality of the factual information extracted from Large Language Models (LLMs) depends on the prompts used to query them. This inconsistency is problematic because different users will query LLMs for the same information using different wording, but should receive the same, accurate responses regardless. In this work we aim to address this shortcoming by introducing P-Adapters: lightweight models that sit between the embedding layer and first attention layer of LLMs. They take LLM embeddings as input and output continuous prompts that are used to query the LLM. Additionally, we investigate Mixture of Experts (MoE) models that learn a set of continuous prompts ("experts") and select one to query the LLM. They require a separate classifier trained on human-annotated data to map natural language prompts to the continuous ones. P-Adapters perform comparably to the more complex MoE models in extracting factual information from BERT and RoBERTa while eliminating the need for additional annotations. P-Adapters show between 12-26% absolute improvement in precision and 36-50% absolute improvement in consistency over a baseline of only using natural language queries. Finally, we investigate what makes P-Adapters successful and conclude that a significant factor is access to the LLM's embeddings of the original natural language prompt, particularly the subject of the entity pair being queried.

Post-training quantization is the leading method for addressing memory-related bottlenecks in LLM inference, but unfortunately, it suffers from significant performance degradation below 4-bit precision. An alternative approach involves training compressed models directly at a low bitwidth (e.g., binary or ternary models). However, the performance, training dynamics, and scaling trends of such models are not yet well understood. To address this issue, we train and openly release the Spectra LLM suite consisting of 54 language models ranging from 99M to 3.9B parameters, trained on 300B tokens. Spectra includes FloatLMs, post-training quantized QuantLMs (3, 4, 6, and 8 bits), and ternary LLMs (TriLMs) - our improved architecture for ternary language modeling, which significantly outperforms previously proposed ternary models of a given size (in bits), matching half-precision models at scale. For example, TriLM 3.9B is (bit-wise) smaller than the half-precision FloatLM 830M, but matches half-precision FloatLM 3.9B in commonsense reasoning and knowledge benchmarks. However, TriLM 3.9B is also as toxic and stereotyping as FloatLM 3.9B, a model six times larger in size. Additionally, TriLM 3.9B lags behind FloatLM in perplexity on validation splits and web-based corpora but performs better on less noisy datasets like Lambada and PennTreeBank. To enhance understanding of low-bitwidth models, we are releasing 500+ intermediate checkpoints of the Spectra suite at https://github.com/NolanoOrg/SpectraSuite{https://github.com/NolanoOrg/SpectraSuite}.

Retrieval-Augmented Generation (RAG) systems face significant performance gaps when applied to technical domains requiring precise information extraction from complex documents. Current evaluation methodologies relying on document-level metrics inadequately capture token-resolution retrieval accuracy that is critical for domain-related documents. We propose a framework combining granular evaluation metrics with synthetic data generation to optimize domain-specific RAG performance. First, we introduce token-aware metrics Precision Omega and Intersection-over-Union (IoU) that quantify context preservation versus information density trade-offs inherent in technical texts. Second, we develop a reasoning model-driven pipeline using instruction-tuned LLMs (DeepSeek-R1, DeepSeek-R1 distilled variants, and Phi-4) to generate context-anchored QA pairs with discontinuous reference spans across three specialized corpora: SEC 10-K filings (finance), biomedical abstracts (PubMed), and APT threat reports (cybersecurity). Our empirical analysis reveals critical insights: smaller chunks (less than 10 tokens) improve precision by 31-42% (IoU = 0.071 vs. baseline 0.053) at recall costs (-18%), while domain-specific embedding strategies yield 22% variance in optimal chunk sizing (5-20 tokens). The DeepSeek-R1-Distill-Qwen-32B model demonstrates superior concept alignment (+14% mean IoU over alternatives), though no configuration universally dominates. Financial texts favor larger chunks for risk factor coverage (Recall = 0.81 at size = 20), whereas cybersecurity content benefits from atomic segmentation, Precision Omega = 0.28 at size = 5. Our code is available on https://github.com/aryan-jadon/Synthetic-Data-Generation-and-Evaluation-using-Reasoning-Model

Post-training quantization (PTQ) techniques applied to weights, activations, and the KV cache greatly reduce memory usage, latency, and power consumption of Large Language Models (LLMs), but may lead to large quantization errors when outliers are present. Recent findings suggest that rotating activation or weight matrices helps remove outliers and benefits quantization. In this work, we identify a collection of applicable rotation parameterizations that lead to identical outputs in full-precision Transformer architectures, and find that some random rotations lead to much better quantization than others, with an up to 13 points difference in downstream zero-shot reasoning performance. As a result, we propose SpinQuant that optimizes (or learns) the rotation matrices with Cayley optimization on a small validation set. With 4-bit quantization of weight, activation, and KV-cache, SpinQuant narrows the accuracy gap on zero-shot reasoning tasks with full precision to merely 2.9 points on the LLaMA-2 7B model, surpassing LLM-QAT by 19.1 points and SmoothQuant by 25.0 points. SpinQuant also outperforms concurrent work QuaRot, which applies random rotations to remove outliers. In particular, for LLaMA-2 7B/LLaMA-3 8B models that are hard to quantize, SpinQuant reduces the gap to full precision by 30.2%/34.1% relative to QuaRot.

Full-parameter fine-tuning has become the go-to choice for adapting language models (LMs) to downstream tasks due to its excellent performance. As LMs grow in size, fine-tuning the full parameters of LMs requires a prohibitively large amount of GPU memory. Existing approaches utilize zeroth-order optimizer to conserve GPU memory, which can potentially compromise the performance of LMs as non-zero order optimizers tend to converge more readily on most downstream tasks. In this paper, we propose a novel optimizer-independent end-to-end hierarchical fine-tuning strategy, HiFT, which only updates a subset of parameters at each training step. HiFT can significantly reduce the amount of gradients and optimizer state parameters residing in GPU memory at the same time, thereby reducing GPU memory usage. Our results demonstrate that: (1) HiFT achieves comparable performance to parameter-efficient fine-tuning and standard full parameter fine-tuning. (2) HiFT supports various optimizers including AdamW, AdaGrad, SGD, etc. (3) HiFT can save more than 60\% GPU memory compared with standard full-parameter fine-tuning for 7B model. (4) HiFT enables full-parameter fine-tuning of a 7B model on single 48G A6000 with a precision of 32 using the AdamW optimizer, without using any memory saving techniques.

Infrared small target detection (IRSTD) is critical for defense and surveillance but remains challenging due to (1) target loss from minimal features, (2) false alarms in cluttered environments, (3) missed detections from low saliency, and (4) high computational costs. To address these issues, we propose TY-RIST, an optimized YOLOv12n architecture that integrates (1) a stride-aware backbone with fine-grained receptive fields, (2) a high-resolution detection head, (3) cascaded coordinate attention blocks, and (4) a branch pruning strategy that reduces computational cost by about 25.5% while marginally improving accuracy and enabling real-time inference. We also incorporate the Normalized Gaussian Wasserstein Distance (NWD) to enhance regression stability. Extensive experiments on four benchmarks and across 20 different models demonstrate state-of-the-art performance, improving mAP at 0.5 IoU by +7.9%, Precision by +3%, and Recall by +10.2%, while achieving up to 123 FPS on a single GPU. Cross-dataset validation on a fifth dataset further confirms strong generalization capability. Additional results and resources are available at https://www.github.com/moured/TY-RIST

We present HRDexDB, a large-scale, multi-modal dataset of high-fidelity dexterous grasping sequences featuring both human and diverse robotic hands. Unlike existing datasets, HRDexDB provides a comprehensive collection of grasping trajectories across human hands and multiple robot hand embodiments, spanning 100 diverse objects. Leveraging state-of-the-art vision methods and a new dedicated multi-camera system, our HRDexDB offers high-precision spatiotemporal 3D ground-truth motion for both the agent and the manipulated object. To facilitate the study of physical interaction, HRDexDB includes high-resolution tactile signals, synchronized multi-view video, and egocentric video streams. The dataset comprises 1.4K grasping trials, encompassing both successes and failures, each enriched with visual, kinematic, and tactile modalities. By providing closely aligned captures of human dexterity and robotic execution on the same target objects under comparable grasping motions, HRDexDB serves as a foundational benchmark for multi-modal policy learning and cross-domain dexterous manipulation.

Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most current methods utilize LiDARs or cameras for Multiple Object Tracking (MOT), the capabilities of 4D imaging radars remain largely unexplored. Recognizing the challenges posed by radar noise and point sparsity in 4D radar data, we introduce RaTrack, an innovative solution tailored for radar-based tracking. Bypassing the typical reliance on specific object types and 3D bounding boxes, our method focuses on motion segmentation and clustering, enriched by a motion estimation module. Evaluated on the View-of-Delft dataset, RaTrack showcases superior tracking precision of moving objects, largely surpassing the performance of the state of the art. We release our code and model at https://github.com/LJacksonPan/RaTrack.

Text-based explainable recommendation aims to generate natural-language explanations that justify item recommendations, to improve user trust and system transparency. Although recent advances leverage LLMs to produce fluent outputs, a critical question remains underexplored: are these explanations factually consistent with the available evidence? We introduce a comprehensive framework for evaluating the factual consistency of text-based explainable recommenders. We design a prompting-based pipeline that uses LLMs to extract atomic explanatory statements from reviews, thereby constructing a ground truth that isolates and focuses on their factual content. Applying this pipeline to five categories from the Amazon Reviews dataset, we create augmented benchmarks for fine-grained evaluation of explanation quality. We further propose statement-level alignment metrics that combine LLM- and NLI-based approaches to assess both factual consistency and relevance of generated explanations. Across extensive experiments on six state-of-the-art explainable recommendation models, we uncover a critical gap: while models achieve high semantic similarity scores (BERTScore F1: 0.81-0.90), all our factuality metrics reveal alarmingly low performance (LLM-based statement-level precision: 4.38%-32.88%). These findings underscore the need for factuality-aware evaluation in explainable recommendation and provide a foundation for developing more trustworthy explanation systems.

Transformer based methods have enabled users to create, modify, and comprehend text and image data. Recently proposed Large Reconstruction Models (LRMs) further extend this by providing the ability to generate high-quality 3D models with the help of a single object image. These models, however, lack the ability to manipulate or edit the finer details, such as adding standard design patterns or changing the color and reflectance of the generated objects, thus lacking fine-grained control that may be very helpful in domains such as augmented reality, animation and gaming. Naively training LRMs for this purpose would require generating precisely edited images and 3D object pairs, which is computationally expensive. In this paper, we propose Instructive3D, a novel LRM based model that integrates generation and fine-grained editing, through user text prompts, of 3D objects into a single model. We accomplish this by adding an adapter that performs a diffusion process conditioned on a text prompt specifying edits in the triplane latent space representation of 3D object models. Our method does not require the generation of edited 3D objects. Additionally, Instructive3D allows us to perform geometrically consistent modifications, as the edits done through user-defined text prompts are applied to the triplane latent representation thus enhancing the versatility and precision of 3D objects generated. We compare the objects generated by Instructive3D and a baseline that first generates the 3D object meshes using a standard LRM model and then edits these 3D objects using text prompts when images are provided from the Objaverse LVIS dataset. We find that Instructive3D produces qualitatively superior 3D objects with the properties specified by the edit prompts.

Diffusion models are emerging models that generate images by iteratively denoising random Gaussian noise using deep neural networks. These models typically exhibit high computational and memory demands, necessitating effective post-training quantization for high-performance inference. Recent works propose low-bitwidth (e.g., 8-bit or 4-bit) quantization for diffusion models, however 4-bit integer quantization typically results in low-quality images. We observe that on several widely used hardware platforms, there is little or no difference in compute capability between floating-point and integer arithmetic operations of the same bitwidth (e.g., 8-bit or 4-bit). Therefore, we propose an effective floating-point quantization method for diffusion models that provides better image quality compared to integer quantization methods. We employ a floating-point quantization method that was effective for other processing tasks, specifically computer vision and natural language tasks, and tailor it for diffusion models by integrating weight rounding learning during the mapping of the full-precision values to the quantized values in the quantization process. We comprehensively study integer and floating-point quantization methods in state-of-the-art diffusion models. Our floating-point quantization method not only generates higher-quality images than that of integer quantization methods, but also shows no noticeable degradation compared to full-precision models (32-bit floating-point), when both weights and activations are quantized to 8-bit floating-point values, while has minimal degradation with 4-bit weights and 8-bit activations.

CNC manufacturing is a process that employs computer numerical control (CNC) machines to govern the movements of various industrial tools and machinery, encompassing equipment ranging from grinders and lathes to mills and CNC routers. However, the reliance on manual CNC programming has become a bottleneck, and the requirement for expert knowledge can result in significant costs. Therefore, we introduce a pioneering approach named CNC-Net, representing the use of deep neural networks (DNNs) to simulate CNC machines and grasp intricate operations when supplied with raw materials. CNC-Net constitutes a self-supervised framework that exclusively takes an input 3D model and subsequently generates the essential operation parameters required by the CNC machine to construct the object. Our method has the potential to transformative automation in manufacturing by offering a cost-effective alternative to the high costs of manual CNC programming while maintaining exceptional precision in 3D object production. Our experiments underscore the effectiveness of our CNC-Net in constructing the desired 3D objects through the utilization of CNC operations. Notably, it excels in preserving finer local details, exhibiting a marked enhancement in precision compared to the state-of-the-art 3D CAD reconstruction approaches.

While deep learning has enabled great advances in many areas of music, labeled music datasets remain especially hard, expensive, and time-consuming to create. In this work, we introduce SimCLR to the music domain and contribute a large chain of audio data augmentations to form a simple framework for self-supervised, contrastive learning of musical representations: CLMR. This approach works on raw time-domain music data and requires no labels to learn useful representations. We evaluate CLMR in the downstream task of music classification on the MagnaTagATune and Million Song datasets and present an ablation study to test which of our music-related innovations over SimCLR are most effective. A linear classifier trained on the proposed representations achieves a higher average precision than supervised models on the MagnaTagATune dataset, and performs comparably on the Million Song dataset. Moreover, we show that CLMR's representations are transferable using out-of-domain datasets, indicating that our method has strong generalisability in music classification. Lastly, we show that the proposed method allows data-efficient learning on smaller labeled datasets: we achieve an average precision of 33.1% despite using only 259 labeled songs in the MagnaTagATune dataset (1% of the full dataset) during linear evaluation. To foster reproducibility and future research on self-supervised learning in music, we publicly release the pre-trained models and the source code of all experiments of this paper.

While vision transformers (ViTs) have shown great potential in computer vision tasks, their intense computation and memory requirements pose challenges for practical applications. Existing post-training quantization methods leverage value redistribution or specialized quantizers to address the non-normal distribution in ViTs. However, without considering the asymmetry in activations and relying on hand-crafted settings, these methods often struggle to maintain performance under low-bit quantization. To overcome these challenges, we introduce SmoothQuant with bias term (SQ-b) to alleviate the asymmetry issue and reduce the clamping loss. We also introduce optimal scaling factor ratio search (OPT-m) to determine quantization parameters by a data-dependent mechanism automatically. To further enhance the compressibility, we incorporate the above-mentioned techniques and propose a mixed-precision post-training quantization framework for vision transformers (MPTQ-ViT). We develop greedy mixed-precision quantization (Greedy MP) to allocate layer-wise bit-width considering both model performance and compressibility. Our experiments on ViT, DeiT, and Swin demonstrate significant accuracy improvements compared with SOTA on the ImageNet dataset. Specifically, our proposed methods achieve accuracy improvements ranging from 0.90% to 23.35% on 4-bit ViTs with single-precision and from 3.82% to 78.14% on 5-bit fully quantized ViTs with mixed-precision.

In pose estimation for seen objects, a prevalent pipeline involves using neural networks to predict dense 3D coordinates of the object surface on 2D images, which are then used to establish dense 2D-3D correspondences. However, current methods primarily focus on more efficient encoding techniques to improve the precision of predicted 3D coordinates on the object's front surface, overlooking the potential benefits of incorporating the back surface and interior of the object. To better utilize the full surface and interior of the object, this study predicts 3D coordinates of both the object's front and back surfaces and densely samples 3D coordinates between them. This process creates ultra-dense 2D-3D correspondences, effectively enhancing pose estimation accuracy based on the Perspective-n-Point (PnP) algorithm. Additionally, we propose Hierarchical Continuous Coordinate Encoding (HCCE) to provide a more accurate and efficient representation of front and back surface coordinates. Experimental results show that, compared to existing state-of-the-art (SOTA) methods on the BOP website, the proposed approach outperforms across seven classic BOP core datasets. Code is available at https://github.com/WangYuLin-SEU/HCCEPose.

Recent years have witnessed an increasing interest in deploying LLMs on resource-constrained devices, among which quantization has emerged as a promising lightweight technique that converts full-precision model weights and activations into lower-bit formats. Existing weight quantization approaches can be roughly divided into three categories: Post-Training Quantization (PTQ) that calibrates quantized parameters on a small dataset without retraining but suffers from severe performance degradation below 4-bit, Quantization-Aware Training (QAT) that searches low-bit parameters using surrogate gradients but demands substantial computational resources, and Quantization-Aware Distillation that integrates QAT with knowledge transfer from a full-precision teacher but manually selects features to distill and relies heavily on teacher-specific data. In this paper, we propose EdgeRazor, a lightweight framework for LLMs with mixed-precision and extremely low-bit weight quantization. The EdgeRazor framework contains three modules: Mixed-Precision Quantization-Aware Distillation for the fine-grained control of precision, Adaptive Feature Distillation that derives an n-bit student from its 16-bit teacher, and Entropy-Aware KL Divergence on both human-annotated and distilled datasets, whose forward-reverse balance is determined solely by the teacher's output distribution. Empirical investigations of EdgeRazor are conducted on base, instruction-tuned, and multimodal LLMs. Notably, EdgeRazor with 1.88-bit surpasses all contenders with the 3-bit precision, especially outperforms the leading 2-bit PTQ methods by 11.3 points, within a 4-10times lower training budget than the leading QAT approach. EdgeRazor delivers higher compression ratios at all bit width; the 1.58-bit Qwen3-0.6B reduces storage from 1.41 GB to 0.28 GB while accelerating decoding by 15.1times relative to the 16-bit baseline.

This is the 1st part of the dissertation for my master degree and compares the power consumption using the default floating point (32bit) and Nvidia mixed precision (16bit and 32bit) while training a classification ML model. A custom PC with specific hardware was built to perform the experiments, and different ML hyper-parameters, such as batch size, neurons, and epochs, were chosen to build Deep Neural Networks (DNN). Additionally, various software was used during the experiments to collect the power consumption data in Watts from the Graphics Processing Unit (GPU), Central Processing Unit (CPU), Random Access Memory (RAM) and manually from a wattmeter connected to the wall. A benchmarking test with default hyper parameter values for the DNN was used as a reference, while the experiments used a combination of different settings. The results were recorded in Excel, and descriptive statistics were chosen to calculate the mean between the groups and compare them using graphs and tables. The outcome was positive when using mixed precision combined with specific hyper-parameters. Compared to the benchmarking, the optimisation for the classification reduced the power consumption between 7 and 11 Watts. Similarly, the carbon footprint is reduced because the calculation uses the same power consumption data. Still, a consideration is required when configuring hyper-parameters because it can negatively affect hardware performance. However, this research required inferential statistics, specifically ANOVA and T-test, to compare the relationship between the means. Furthermore, tests indicated no statistical significance of the relationship between the benchmarking and experiments. However, a more extensive implementation with a cluster of GPUs can increase the sample size significantly, as it is an essential factor and can change the outcome of the statistical analysis.

In this technical report, we introduce SEED-Data-Edit: a unique hybrid dataset for instruction-guided image editing, which aims to facilitate image manipulation using open-form language. SEED-Data-Edit is composed of three distinct types of data: (1) High-quality editing data produced by an automated pipeline, ensuring a substantial volume of diverse image editing pairs. (2) Real-world scenario data collected from the internet, which captures the intricacies of user intentions for promoting the practical application of image editing in the real world. (3) High-precision multi-turn editing data annotated by humans, which involves multiple rounds of edits for simulating iterative editing processes. The combination of these diverse data sources makes SEED-Data-Edit a comprehensive and versatile dataset for training language-guided image editing model. We fine-tune a pretrained Multimodal Large Language Model (MLLM) that unifies comprehension and generation with SEED-Data-Edit. The instruction tuned model demonstrates promising results, indicating the potential and effectiveness of SEED-Data-Edit in advancing the field of instructional image editing. The datasets are released in https://huggingface.co/datasets/AILab-CVC/SEED-Data-Edit.

Creating high-quality 3D models of clothed humans from single images for real-world applications is crucial. Despite recent advancements, accurately reconstructing humans in complex poses or with loose clothing from in-the-wild images, along with predicting textures for unseen areas, remains a significant challenge. A key limitation of previous methods is their insufficient prior guidance in transitioning from 2D to 3D and in texture prediction. In response, we introduce SIFU (Side-view Conditioned Implicit Function for Real-world Usable Clothed Human Reconstruction), a novel approach combining a Side-view Decoupling Transformer with a 3D Consistent Texture Refinement pipeline.SIFU employs a cross-attention mechanism within the transformer, using SMPL-X normals as queries to effectively decouple side-view features in the process of mapping 2D features to 3D. This method not only improves the precision of the 3D models but also their robustness, especially when SMPL-X estimates are not perfect. Our texture refinement process leverages text-to-image diffusion-based prior to generate realistic and consistent textures for invisible views. Through extensive experiments, SIFU surpasses SOTA methods in both geometry and texture reconstruction, showcasing enhanced robustness in complex scenarios and achieving an unprecedented Chamfer and P2S measurement. Our approach extends to practical applications such as 3D printing and scene building, demonstrating its broad utility in real-world scenarios. Project page https://river-zhang.github.io/SIFU-projectpage/ .

Large language models with billions of parameters are often over-provisioned: many layers contribute little unique information yet dominate the memory and energy footprint during inference. We present LieQ, a metric-driven post-training quantization framework that addresses the critical challenge of maintaining accuracy in sub-7B models under extreme low-bit compression. Our method introduces three complementary layer-wise diagnostics-Perplexity Drop, Representational Compactness, and Top-k Energy Gain -that reveal a canonical division of labour across layers, enabling automatic bit-width allocation without gradient updates. Unlike existing approaches that suffer severe accuracy degradation at 2-3 bits precision, LieQ achieves state-of-the-art compression-accuracy trade-offs: on Qwen3-4B, it recovers 95.9% of FP16 baseline performance at 2.05-bit quantization, outperforming GPTQ by 19.7% and AWQ by 18.1% on average across seven zero-shot reasoning tasks. Applied to LLaMA3.2-3B, LieQ maintains 98.2% of baseline accuracy at 2.07-bit precision while enabling 4x memory reduction, establishing new paradigms for deploying small language models on resource-constrained edge devices.

Mixture-of-Experts (MoE) architectures scale model capacity through sparse expert activation, but their deployment remains memory-bound because all expert weights must reside in memory. Mixed-precision quantization can substantially reduce this footprint by assigning different bit-widths to different experts. Existing approaches, however, typically rely on calibration data to estimate expert importance and determine bit allocation. For frontier MoE LLMs, the original training data, and hence the true training distribution, is proprietary and inaccessible. As a result, calibration sets are inevitably imperfect surrogates, and this can misestimate expert utilization and lead to suboptimal bit allocation. Motivated by the substantial cross-expert quality variability observed in modern MoE models, and by the success of Heavy-Tailed Self-Regularization (HT-SR) theory at predicting neural network model quality without access to training or testing data, we propose AlphaQ, a calibration-free bit-allocation method for MoE quantization. AlphaQ draws on HT-SR theory and follows a simple principle: experts with more heavy-tailed weight spectra are typically better trained and hence should receive higher bit-widths, while experts with weaker heavy-tailed structure can be quantized more aggressively. AlphaQ operationalizes this principle by measuring expert-wise spectral heavy-tailedness and solving a budget-constrained optimization problem that minimizes total quantization error under a global bit-budget constraint. Across several MoE models, AlphaQ consistently outperforms calibration-based baselines under matched bit budgets. Notably, on Qwen1.5-MoE, AlphaQ achieves near full-precision accuracy with an average expert precision of only 3.5 bits, while delivering more than 4times memory compression. Our code is available at https://github.com/Superone77/AlphaQ.

Weight quantization effectively reduces memory consumption and enables the deployment of large language models on CPU-based edge devices, yet existing hardware-friendly methods often rely on uniform quantization, which suffers from poor weight-distribution fitting and high dequantization overhead under low-bit settings. In this paper, we propose ELUTQ, an efficient quantization framework featuring a novel quantization format termed Hierarchical Linear Quantization (HLQ). HLQ is designed to better capture the statistical characteristics of weights without increasing the computational cost of bit-serial LUT-based GEMM operations, thereby eliminating dequantization overhead. HLQ is orthogonal to existing quantization algorithms. For the LLaMA3.1-8B model, when combined with post-training quantization, HLQ improves uniform quantization by achieving approximately 8 percent perplexity reduction at 3-bit precision and 85 percent perplexity reduction at 2-bit precision. When combined with efficient finetuning techniques, HLQ further improves model accuracy. We also integrate a disk-offload technique into ELUTQ, enabling it to complete the quantization of LLaMA3.1-70B using only 64 GB of CPU memory and 48 GB of VRAM, significantly reducing the hardware requirements for large-scale model quantization. To enable efficient deployment on edge devices, ELUTQ provides high-performance CPU kernels to support end-to-end inference. Under a 4-thread configuration with batch size 1, our 2-bit quantized LLaMA2-7B model achieves a throughput of more than 25 tokens per second on an Apple M2 chip. All the code is available at https://github.com/Nkniexin/ELUTQ.

Attention, as a core layer of the ubiquitous Transformer architecture, is the bottleneck for large language models and long-context applications. FlashAttention elaborated an approach to speed up attention on GPUs through minimizing memory reads/writes. However, it has yet to take advantage of new capabilities present in recent hardware, with FlashAttention-2 achieving only 35% utilization on the H100 GPU. We develop three main techniques to speed up attention on Hopper GPUs: exploiting asynchrony of the Tensor Cores and TMA to (1) overlap overall computation and data movement via warp-specialization and (2) interleave block-wise matmul and softmax operations, and (3) block quantization and incoherent processing that leverages hardware support for FP8 low-precision. We demonstrate that our method, FlashAttention-3, achieves speedup on H100 GPUs by 1.5-2.0times with FP16 reaching up to 740 TFLOPs/s (75% utilization), and with FP8 reaching close to 1.2 PFLOPs/s. We validate that FP8 FlashAttention-3 achieves 2.6times lower numerical error than a baseline FP8 attention.

We introduce 3DEgo to address a novel problem of directly synthesizing photorealistic 3D scenes from monocular videos guided by textual prompts. Conventional methods construct a text-conditioned 3D scene through a three-stage process, involving pose estimation using Structure-from-Motion (SfM) libraries like COLMAP, initializing the 3D model with unedited images, and iteratively updating the dataset with edited images to achieve a 3D scene with text fidelity. Our framework streamlines the conventional multi-stage 3D editing process into a single-stage workflow by overcoming the reliance on COLMAP and eliminating the cost of model initialization. We apply a diffusion model to edit video frames prior to 3D scene creation by incorporating our designed noise blender module for enhancing multi-view editing consistency, a step that does not require additional training or fine-tuning of T2I diffusion models. 3DEgo utilizes 3D Gaussian Splatting to create 3D scenes from the multi-view consistent edited frames, capitalizing on the inherent temporal continuity and explicit point cloud data. 3DEgo demonstrates remarkable editing precision, speed, and adaptability across a variety of video sources, as validated by extensive evaluations on six datasets, including our own prepared GS25 dataset. Project Page: https://3dego.github.io/

We present ITQ3_S (Interleaved Ternary Quantization -- Specialized), a novel 3-bit weight quantization format for LLMs integrating TurboQuant (TQ), a rotation-domain strategy based on the Fast Walsh-Hadamard Transform (FWHT). Conventional 3-bit methods suffer precision loss from heavy-tailed weight distributions and inter-channel outliers. ITQ3_S pre-rotates the weight space via FWHT before quantization, spreading outlier energy across the vector and inducing a near-Gaussian distribution amenable to uniform ternary coding. We derive a rigorous dequantization procedure fusing a 256-point Inverse FWHT into the CUDA shared-memory loading stage, ensuring reconstruction error is bounded exclusively by the ternary quantization grid with no additional error from the transform inversion. For any weight vector w in R^{256}, the reconstruction satisfies |mathbf{w} - w|_2 leq ε_q, strictly smaller than uniform 3-bit baselines that do not exploit rotation-induced distribution normalization. TurboQuant lacks a native CUDA kernel, precluding direct deployment; naively composing TQ with existing weight quantizers introduces domain mismatch errors that accumulate across layers, degrading quality below standard 3-bit baselines. ITQ3_S resolves this by co-designing the FWHT rotation and quantization kernel as a unified pipeline grounded in the IQ3_S weight format, with the inverse transform fused into the CUDA MMQ kernel. Empirically, on the NVIDIA RTX 5090 (Blackwell), ITQ3_S achieves perplexity competitive with FP16 while delivering throughput exceeding 1.5x that of 4-bit alternatives via optimized DP4A and Tensor Core scheduling. Our results establish ITQ3_S as a practical, mathematically grounded solution for high-fidelity LLM deployment on consumer hardware.

Enabling On-Device Learning (ODL) for Ultra-Low-Power Micro-Controller Units (MCUs) is a key step for post-deployment adaptation and fine-tuning of Deep Neural Network (DNN) models in future TinyML applications. This paper tackles this challenge by introducing a novel reduced precision optimization technique for ODL primitives on MCU-class devices, leveraging the State-of-Art advancements in RISC-V RV32 architectures with support for vectorized 16-bit floating-point (FP16) Single-Instruction Multiple-Data (SIMD) operations. Our approach for the Forward and Backward steps of the Back-Propagation training algorithm is composed of specialized shape transform operators and Matrix Multiplication (MM) kernels, accelerated with parallelization and loop unrolling. When evaluated on a single training step of a 2D Convolution layer, the SIMD-optimized FP16 primitives result up to 1.72times faster than the FP32 baseline on a RISC-V-based 8+1-core MCU. An average computing efficiency of 3.11 Multiply and Accumulate operations per clock cycle (MAC/clk) and 0.81 MAC/clk is measured for the end-to-end training tasks of a ResNet8 and a DS-CNN for Image Classification and Keyword Spotting, respectively -- requiring 17.1 ms and 6.4 ms on the target platform to compute a training step on a single sample. Overall, our approach results more than two orders of magnitude faster than existing ODL software frameworks for single-core MCUs and outperforms by 1.6 times previous FP32 parallel implementations on a Continual Learning setup.

Accurate 3D crop monitoring underpins data-driven precision agriculture by enabling field-scale analysis of plant structure, growth dynamics, and management response. Modern 3D reconstruction methods perform strongly on generic benchmarks, but rendered appearance may not translate into metrically and agronomically useful geometry in crop fields. We introduce UAV3DCrop, a public benchmark of repeated multi-angle unmanned aerial vehicle (UAV) crop surveys. It contains 88,830 RGB images at 5280 times 3956 pixels, with a ground sampling distance of 3.6-5.8 mm, from 91 scenes spanning corn, soybean, wheat, and oat. Track A evaluates seven scene-optimized methods -- Neural Radiance Field (NeRF) and 3D Gaussian Splatting (3DGS) variants -- on held-out views, photogrammetry-referenced depth, and canopy-height recovery. Track B tests four pretrained feed-forward models on zero-shot camera-pose and geometry estimation. The scene-optimized methods rank differently across the three targets: Splatfacto-big leads appearance, whereas Scaffold-GS leads depth and is statistically tied with Splatfacto for canopy height. Among feed-forward models, MapAnything leads on seven of the eight metrics, while the remaining models vary more across crops and fail severely on absolute scale in a way that alignment conceals. Repeated acquisitions reveal further sensitivities that differ by output type and by model, associated with position within the acquisition sequence and with tie-point multiplicity. Current 3D reconstruction methods are therefore not yet interchangeable for agronomic use: no single method wins on appearance, geometry, and canopy height at once, and only one of four feed-forward models recovers usable metric scale. The dataset is publicly available at https://link-dev.github.io/UAV3DCrop/

This paper presents a novel haptic device DeltaFinger designed to deliver the force of interaction with virtual objects by guiding user's finger with wearable delta mechanism. The developed interface is capable to deliver 3D force vector to the fingertip of the index finger of the user, allowing complex rendering of virtual reality (VR) environment. The developed device is able to produce the kinesthetic feedback up to 1.8 N in vertical projection and 0.9 N in horizontal projection without restricting the motion freedom of of the remaining fingers. The experimental results showed a sufficient precision in perception of force vector with DeltaFinger (mean force vector error of 0.6 rad). The proposed device potentially can be applied to VR communications, medicine, and navigation of the people with vision problems.

We introduce the Bittensor Language Model, called "BTLM-3B-8K", a new state-of-the-art 3 billion parameter open-source language model. BTLM-3B-8K was trained on 627B tokens from the SlimPajama dataset with a mixture of 2,048 and 8,192 context lengths. BTLM-3B-8K outperforms all existing 3B parameter models by 2-5.5% across downstream tasks. BTLM-3B-8K is even competitive with some 7B parameter models. Additionally, BTLM-3B-8K provides excellent long context performance, outperforming MPT-7B-8K and XGen-7B-8K on tasks up to 8,192 context length. We trained the model on a cleaned and deduplicated SlimPajama dataset; aggressively tuned the \textmu P hyperparameters and schedule; used ALiBi position embeddings; and adopted the SwiGLU nonlinearity. On Hugging Face, the most popular models have 7B parameters, indicating that users prefer the quality-size ratio of 7B models. Compacting the 7B parameter model to one with 3B parameters, with little performance impact, is an important milestone. BTLM-3B-8K needs only 3GB of memory with 4-bit precision and takes 2.5x less inference compute than 7B models, helping to open up access to a powerful language model on mobile and edge devices. BTLM-3B-8K is available under an Apache 2.0 license on Hugging Face: https://huggingface.co/cerebras/btlm-3b-8k-base.

Multimodal large language models can write code to produce complex programs as well as use programs to do 3D modeling, which opens up a new avenue for 3D generation powered by their priors, world knowledge and reasoning. Yet existing benchmarks rarely evaluate 3D modeling through code. Such modeling demands more than runnable code: from a text or visual specification, a model must generate a parametric 3D program that is geometrically precise, semantically aligned and assembly-consistent. We introduce P3D-Bench, a benchmark for parametric 3D generation. Unlike a 3D mesh, a parametric 3D program exposes explicit dimensions, construction operations and part relations, revealing whether a model recovers a design's structure, not just its appearance. Under a unified protocol, P3D-Bench covers three task families (Text-to-3D, Image-to-3D and Assembly-3D) and scores each output for executability, geometric fidelity, topology, text-grounded constraints, multiview semantic alignment and part-level structure. We evaluate frontier MLLMs and text-only LLMs on 400 text cases, 400 image cases and 203 annotated assemblies, with domain-specific models as reference points. Our extensive evaluation yields three findings. First, assemblies are the hardest setting, where models still fail to compose multiple parts into a coherent structure. Second, models can often recover the global shape and semantic identity of the target object, yet fail to reproduce the precise parametric geometry specified by the input. Third, part-level modeling remains weak on assemblies, where models recover neither the geometry of each part nor the right number of parts. These results position P3D-Bench as a benchmark for evaluating precise parametric geometry and part-level structure in parametric 3D generation.

In this study, a robust method for 3D pose estimation of immature green apples (fruitlets) in commercial orchards was developed, utilizing the YOLO11(or YOLOv11) object detection and pose estimation algorithm alongside Vision Transformers (ViT) for depth estimation (Dense Prediction Transformer (DPT) and Depth Anything V2). For object detection and pose estimation, performance comparisons of YOLO11 (YOLO11n, YOLO11s, YOLO11m, YOLO11l and YOLO11x) and YOLOv8 (YOLOv8n, YOLOv8s, YOLOv8m, YOLOv8l and YOLOv8x) were made under identical hyperparameter settings among the all configurations. It was observed that YOLO11n surpassed all configurations of YOLO11 and YOLOv8 in terms of box precision and pose precision, achieving scores of 0.91 and 0.915, respectively. Conversely, YOLOv8n exhibited the highest box and pose recall scores of 0.905 and 0.925, respectively. Regarding the mean average precision at 50\% intersection over union (mAP@50), YOLO11s led all configurations with a box mAP@50 score of 0.94, while YOLOv8n achieved the highest pose mAP@50 score of 0.96. In terms of image processing speed, YOLO11n outperformed all configurations with an impressive inference speed of 2.7 ms, significantly faster than the quickest YOLOv8 configuration, YOLOv8n, which processed images in 7.8 ms. Subsequent integration of ViTs for the green fruit's pose depth estimation revealed that Depth Anything V2 outperformed Dense Prediction Transformer in 3D pose length validation, achieving the lowest Root Mean Square Error (RMSE) of 1.52 and Mean Absolute Error (MAE) of 1.28, demonstrating exceptional precision in estimating immature green fruit lengths. Integration of YOLO11 and Depth Anything Model provides a promising solution to 3D pose estimation of immature green fruits for robotic thinning applications. (YOLOv11 pose detection, YOLOv11 Pose, YOLOv11 Keypoints detection, YOLOv11 pose estimation)

3D editing plays a crucial role in many areas such as gaming and virtual reality. Traditional 3D editing methods, which rely on representations like meshes and point clouds, often fall short in realistically depicting complex scenes. On the other hand, methods based on implicit 3D representations, like Neural Radiance Field (NeRF), render complex scenes effectively but suffer from slow processing speeds and limited control over specific scene areas. In response to these challenges, our paper presents GaussianEditor, an innovative and efficient 3D editing algorithm based on Gaussian Splatting (GS), a novel 3D representation. GaussianEditor enhances precision and control in editing through our proposed Gaussian semantic tracing, which traces the editing target throughout the training process. Additionally, we propose Hierarchical Gaussian splatting (HGS) to achieve stabilized and fine results under stochastic generative guidance from 2D diffusion models. We also develop editing strategies for efficient object removal and integration, a challenging task for existing methods. Our comprehensive experiments demonstrate GaussianEditor's superior control, efficacy, and rapid performance, marking a significant advancement in 3D editing. Project Page: https://buaacyw.github.io/gaussian-editor/

Autonomous driving perceives its surroundings for decision making, which is one of the most complex scenarios in visual perception. The success of paradigm innovation in solving the 2D object detection task inspires us to seek an elegant, feasible, and scalable paradigm for fundamentally pushing the performance boundary in this area. To this end, we contribute the BEVDet paradigm in this paper. BEVDet performs 3D object detection in Bird-Eye-View (BEV), where most target values are defined and route planning can be handily performed. We merely reuse existing modules to build its framework but substantially develop its performance by constructing an exclusive data augmentation strategy and upgrading the Non-Maximum Suppression strategy. In the experiment, BEVDet offers an excellent trade-off between accuracy and time-efficiency. As a fast version, BEVDet-Tiny scores 31.2% mAP and 39.2% NDS on the nuScenes val set. It is comparable with FCOS3D, but requires just 11% computational budget of 215.3 GFLOPs and runs 9.2 times faster at 15.6 FPS. Another high-precision version dubbed BEVDet-Base scores 39.3% mAP and 47.2% NDS, significantly exceeding all published results. With a comparable inference speed, it surpasses FCOS3D by a large margin of +9.8% mAP and +10.0% NDS. The source code is publicly available for further research at https://github.com/HuangJunJie2017/BEVDet .

Quantization methods reduce the number of bits required to represent each parameter in a model, trading accuracy for smaller memory footprints and inference latencies. However, the final model size depends on both the number of parameters of the original model and the rate of compression. For example, a 30B 8-bit model and a 60B 4-bit model have the same number of bits but may have very different zero-shot accuracies. In this work, we study this trade-off by developing inference scaling laws of zero-shot performance in Large Language Models (LLMs) to determine the bit-precision and model size that maximizes zero-shot performance. We run more than 35,000 experiments with 16-bit inputs and k-bit parameters to examine which zero-shot quantization methods improve scaling for 3 to 8-bit precision at scales of 19M to 176B parameters across the LLM families BLOOM, OPT, NeoX/Pythia, and GPT-2. We find that it is challenging to improve the bit-level scaling trade-off, with the only improvements being the use of a small block size -- splitting the parameters into small independently quantized blocks -- and the quantization data type being used (e.g., Int vs Float). Overall, our findings show that {4-bit} precision is almost universally optimal for total model bits and zero-shot accuracy.

We propose a memory-efficient finetuning algorithm for large language models (LLMs) that supports finetuning LLMs with 65B parameters in 3-bit or 4-bit precision on as little as one 48GB GPU. Our method, modular low-rank adaptation (ModuLoRA), integrates any user-specified weight quantizer with finetuning via low-rank adapters (LoRAs). Our approach relies on a simple quantization-agnostic backward pass that adaptively materializes low-precision LLM weights from a custom black-box quantization module. This approach enables finetuning 3-bit LLMs for the first time--leveraging state-of-the-art 3-bit OPTQ quantization often outperforms finetuning that relies on less sophisticated 4-bit and 8-bit methods. In our experiments, ModuLoRA attains competitive performance on text classification, natural language infernece, and instruction following tasks using significantly less memory than existing approaches, and we also surpass the state-of-the-art ROUGE score on a popular summarization task. We release ModuLoRA together with a series of low-precision models--including the first family of 3-bit instruction following Alpaca LLMs--as part of LLMTOOLS, a user-friendly library for quantizing, running, and finetuning LLMs on consumer GPUs.

Cross-platform strategy game automation remains a challenge due to diverse user interfaces and dynamic battlefield environments. Existing Vision--Language Models (VLMs) struggle with generalization across heterogeneous platforms and lack precision in interface understanding and action execution. We introduce Yanyun-3, a VLM-based agent that integrates Qwen2.5-VL for visual reasoning and UI-TARS for interface execution. We propose a novel data organization principle -- combination granularity -- to distinguish intra-sample fusion and inter-sample mixing of multimodal data (static images, multi-image sequences, and videos). The model is fine-tuned using QLoRA on a curated dataset across three strategy game platforms. The optimal strategy (M*V+S) achieves a 12.98x improvement in BLEU-4 score and a 63% reduction in inference time compared to full fusion. Yanyun-3 successfully executes core tasks (e.g., target selection, resource allocation) across platforms without platform-specific tuning. Our findings demonstrate that structured multimodal data organization significantly enhances VLM performance in embodied tasks. Yanyun-3 offers a generalizable framework for GUI automation, with broader implications for robotics and autonomous systems.

This work, together with its companion paper, Secco and Samuroff et al. (2021), presents the Dark Energy Survey Year 3 cosmic shear measurements and cosmological constraints based on an analysis of over 100 million source galaxies. With the data spanning 4143 deg^2 on the sky, divided into four redshift bins, we produce the highest significance measurement of cosmic shear to date, with a signal-to-noise of 40. We conduct a blind analysis in the context of the ΛCDM model and find a 3% constraint of the clustering amplitude, S_8equiv σ_8 (Ω_{rm m}/0.3)^{0.5} = 0.759^{+0.025}_{-0.023}. A ΛCDM-Optimized analysis, which safely includes smaller scale information, yields a 2% precision measurement of S_8= 0.772^{+0.018}_{-0.017} that is consistent with the fiducial case. The two low-redshift measurements are statistically consistent with the Planck Cosmic Microwave Background result, however, both recovered S_8 values are lower than the high-redshift prediction by 2.3σ and 2.1σ (p-values of 0.02 and 0.05), respectively. The measurements are shown to be internally consistent across redshift bins, angular scales and correlation functions. The analysis is demonstrated to be robust to calibration systematics, with the S_8 posterior consistent when varying the choice of redshift calibration sample, the modeling of redshift uncertainty and methodology. Similarly, we find that the corrections included to account for the blending of galaxies shifts our best-fit S_8 by 0.5σ without incurring a substantial increase in uncertainty. We examine the limiting factors for the precision of the cosmological constraints and find observational systematics to be subdominant to the modeling of astrophysics. Specifically, we identify the uncertainties in modeling baryonic effects and intrinsic alignments as the limiting systematics.

In this paper, we present Motion-X, a large-scale 3D expressive whole-body motion dataset. Existing motion datasets predominantly contain body-only poses, lacking facial expressions, hand gestures, and fine-grained pose descriptions. Moreover, they are primarily collected from limited laboratory scenes with textual descriptions manually labeled, which greatly limits their scalability. To overcome these limitations, we develop a whole-body motion and text annotation pipeline, which can automatically annotate motion from either single- or multi-view videos and provide comprehensive semantic labels for each video and fine-grained whole-body pose descriptions for each frame. This pipeline is of high precision, cost-effective, and scalable for further research. Based on it, we construct Motion-X, which comprises 13.7M precise 3D whole-body pose annotations (i.e., SMPL-X) covering 96K motion sequences from massive scenes. Besides, Motion-X provides 13.7M frame-level whole-body pose descriptions and 96K sequence-level semantic labels. Comprehensive experiments demonstrate the accuracy of the annotation pipeline and the significant benefit of Motion-X in enhancing expressive, diverse, and natural motion generation, as well as 3D whole-body human mesh recovery.

Current 3D representations like meshes, voxels, point clouds, and NeRF-based neural implicit fields exhibit significant limitations: they are often task-specific, lacking universal applicability across reconstruction, generation, editing, and driving. While meshes offer high precision, their dense vertex data complicates editing; NeRFs deliver excellent rendering but suffer from structural ambiguity, hindering animation and manipulation; all representations inherently struggle with the trade-off between data complexity and fidelity. To overcome these issues, we introduce a novel 3D Hierarchical Proxy Node representation. Its core innovation lies in representing an object's shape and texture via a sparse set of hierarchically organized (tree-structured) proxy nodes distributed on its surface and interior. Each node stores local shape and texture information (implicitly encoded by a small MLP) within its neighborhood. Querying any 3D coordinate's properties involves efficient neural interpolation and lightweight decoding from relevant nearby and parent nodes. This framework yields a highly compact representation where nodes align with local semantics, enabling direct drag-and-edit manipulation, and offers scalable quality-complexity control. Extensive experiments across 3D reconstruction and editing demonstrate our method's expressive efficiency, high-fidelity rendering quality, and superior editability.

While neural fields have made significant strides in view synthesis and scene reconstruction, editing them poses a formidable challenge due to their implicit encoding of geometry and texture information from multi-view inputs. In this paper, we introduce LatentEditor, an innovative framework designed to empower users with the ability to perform precise and locally controlled editing of neural fields using text prompts. Leveraging denoising diffusion models, we successfully embed real-world scenes into the latent space, resulting in a faster and more adaptable NeRF backbone for editing compared to traditional methods. To enhance editing precision, we introduce a delta score to calculate the 2D mask in the latent space that serves as a guide for local modifications while preserving irrelevant regions. Our novel pixel-level scoring approach harnesses the power of InstructPix2Pix (IP2P) to discern the disparity between IP2P conditional and unconditional noise predictions in the latent space. The edited latents conditioned on the 2D masks are then iteratively updated in the training set to achieve 3D local editing. Our approach achieves faster editing speeds and superior output quality compared to existing 3D editing models, bridging the gap between textual instructions and high-quality 3D scene editing in latent space. We show the superiority of our approach on four benchmark 3D datasets, LLFF, IN2N, NeRFStudio and NeRF-Art.

Recovering 3D human poses from a monocular camera view is a highly ill-posed problem due to the depth ambiguity. Earlier studies on 3D human pose lifting from 2D often contain incorrect-yet-overconfident 3D estimations. To mitigate the problem, emerging probabilistic approaches treat the 3D estimations as a distribution, taking into account the uncertainty measurement of the poses. Falling in a similar category, we proposed FMPose, a probabilistic 3D human pose estimation method based on the flow matching generative approach. Conditioned on the 2D cues, the flow matching scheme learns the optimal transport from a simple source distribution to the plausible 3D human pose distribution via continuous normalizing flows. The 2D lifting condition is modeled via graph convolutional networks, leveraging the learnable connections between human body joints as the graph structure for feature aggregation. While trade-offs between processing time and precision exist, already in the equal-accuracy comparison, FMPose exhibits significantly faster processing time than the diffusion model, and also offers another faster and more accurate configuration. Experimental results show major improvements of our FMPose over current state-of-the-art methods on two common benchmarks for 3D human pose estimation, namely Human3.6M, MPI-INF-3DHP. Additionally, FMPose shows competitive performance on the more challenging 3DPW dataset. The code implementation is available at https://github.com/cuongle1206/FMPose

The increasing complexity of industrial anomaly detection (IAD) has positioned multimodal detection methods as a focal area of machine vision research. However, dedicated multimodal datasets specifically tailored for IAD remain limited. Pioneering datasets like MVTec 3D have laid essential groundwork in multimodal IAD by incorporating RGB+3D data, but still face challenges in bridging the gap with real industrial environments due to limitations in scale and resolution. To address these challenges, we introduce Real-IAD D3, a high-precision multimodal dataset that uniquely incorporates an additional pseudo3D modality generated through photometric stereo, alongside high-resolution RGB images and micrometer-level 3D point clouds. Real-IAD D3 features finer defects, diverse anomalies, and greater scale across 20 categories, providing a challenging benchmark for multimodal IAD Additionally, we introduce an effective approach that integrates RGB, point cloud, and pseudo-3D depth information to leverage the complementary strengths of each modality, enhancing detection performance. Our experiments highlight the importance of these modalities in boosting detection robustness and overall IAD performance. The dataset and code are publicly accessible for research purposes at https://realiad4ad.github.io/Real-IAD D3

We present I2V3D, a novel framework for animating static images into dynamic videos with precise 3D control, leveraging the strengths of both 3D geometry guidance and advanced generative models. Our approach combines the precision of a computer graphics pipeline, enabling accurate control over elements such as camera movement, object rotation, and character animation, with the visual fidelity of generative AI to produce high-quality videos from coarsely rendered inputs. To support animations with any initial start point and extended sequences, we adopt a two-stage generation process guided by 3D geometry: 1) 3D-Guided Keyframe Generation, where a customized image diffusion model refines rendered keyframes to ensure consistency and quality, and 2) 3D-Guided Video Interpolation, a training-free approach that generates smooth, high-quality video frames between keyframes using bidirectional guidance. Experimental results highlight the effectiveness of our framework in producing controllable, high-quality animations from single input images by harmonizing 3D geometry with generative models. The code for our framework will be publicly released.

Conventional production workflow of high-precision mesh assets necessitates a cumbersome and laborious process of manual sculpting by specialized 3D artists/modelers. The recent years have witnessed remarkable advances in AI-empowered 3D content creation for generating plausible structures and intricate appearances from images or text prompts. However, synthesizing realistic surface details still poses great challenges, and enhancing the geometry fidelity of existing lower-quality 3D meshes (instead of image/text-to-3D generation) remains an open problem. In this paper, we introduce SuperCarver, a 3D geometry super-resolution pipeline for supplementing texture-consistent surface details onto a given coarse mesh. We start by rendering the original textured mesh into the image domain from multiple viewpoints. To achieve detail boosting, we construct a deterministic prior-guided normal diffusion model, which is fine-tuned on a carefully curated dataset of paired detail-lacking and detail-rich normal map renderings. To update mesh surfaces from potentially imperfect normal map predictions, we design a noise-resistant inverse rendering scheme through deformable distance field. Experiments demonstrate that our SuperCarver is capable of generating realistic and expressive surface details depicted by the actual texture appearance, making it a powerful tool to both upgrade historical low-quality 3D assets and reduce the workload of sculpting high-poly meshes.

The precision, stability, and performance of lightweight high-strength steel structures in heavy machinery is affected by their highly nonlinear dynamics. This, in turn, makes control more difficult, simulation more computationally intensive, and achieving real-time autonomy, using standard approaches, impossible. Machine learning through data-driven, physics-informed and physics-inspired networks, however, promises more computationally efficient and accurate solutions to nonlinear dynamic problems. This study proposes a novel framework that has been developed to estimate real-time structural deflection in hydraulically actuated three-dimensional systems. It is based on SLIDE, a machine-learning-based method to estimate dynamic responses of mechanical systems subjected to forced excitations.~Further, an algorithm is introduced for the data acquisition from a hydraulically actuated system using randomized initial configurations and hydraulic pressures.~The new framework was tested on a hydraulically actuated flexible boom with various sensor combinations and lifting various payloads. The neural network was successfully trained in less time using standard parameters from PyTorch, ADAM optimizer, the various sensor inputs, and minimal output data. The SLIDE-trained neural network accelerated deflection estimation solutions by a factor of 10^7 in reference to flexible multibody simulation batches and provided reasonable accuracy. These results support the studies goal of providing robust, real-time solutions for control, robotic manipulators, structural health monitoring, and automation problems.

We present MegaTrain, a memory-centric system that efficiently trains 100B+ parameter large language models at full precision on a single GPU. Unlike traditional GPU-centric systems, MegaTrain stores parameters and optimizer states in host memory (CPU memory) and treats GPUs as transient compute engines. For each layer, we stream parameters in and compute gradients out, minimizing persistent device state. To battle the CPU-GPU bandwidth bottleneck, we adopt two key optimizations. 1) We introduce a pipelined double-buffered execution engine that overlaps parameter prefetching, computation, and gradient offloading across multiple CUDA streams, enabling continuous GPU execution. 2) We replace persistent autograd graphs with stateless layer templates, binding weights dynamically as they stream in, eliminating persistent graph metadata while providing flexibility in scheduling. On a single H200 GPU with 1.5TB host memory, MegaTrain reliably trains models up to 120B parameters. It also achieves 1.84times the training throughput of DeepSpeed ZeRO-3 with CPU offloading when training 14B models. MegaTrain also enables 7B model training with 512k token context on a single GH200.

Weight quantization has become a standard tool for efficient LLM deployment, especially for local inference, where models are now routinely served at 2-3 bits per parameter. The state of the art is currently split into two sets of methods: simple scalar quantization techniques, such as GPTQ or AWQ, which are widely deployed but plateau in accuracy at 3-4 bits per parameter (bpp), and "second-generation" vector- or trellis-quantized methods, such as QTIP, GPTVQ and AQLM, which push the accuracy frontier at low bit-widths but are notoriously hard to implement and to scale, and have gained relatively less traction. In this paper, we ask whether this gap is fundamental, or whether a carefully optimized scalar quantizer can recover most of it. We answer in the affirmative, by introducing GSQ (Gumbel-Softmax Quantization), a post-training scalar quantization method which jointly learns the per-coordinate grid assignments and the per-group scales using a Gumbel-Softmax relaxation of the discrete grid. GSQ matches the cardinality of the relaxation to the small number of levels available in the target bit-width regime (e.g., 3-8 levels for ternary and 3 bpp, respectively), making the relaxation tight and the optimization tractable. Practically, on the standard Llama-3.1-8B/70B-Instruct models, GSQ closes most of the gap between scalar quantization and the QTIP frontier at 2 and 3 bits, while using a symmetric scalar grid with group-wise quantization, and thus fully compatible with existing scalar inference kernels. We further show that GSQ scales to trillion-scale Mixture-of-Experts models such as Kimi-K2.5, where vector-quantized methods are difficult to apply.

Quantization has significantly improved the compute and memory efficiency of Large Language Model (LLM) training. However, existing approaches still rely on accumulating their updates in high-precision: concretely, gradient updates must be applied to a high-precision weight buffer, known as master weights. This buffer introduces substantial memory overhead, particularly for Sparse Mixture of Experts (SMoE) models, where model parameters and optimizer states dominate memory usage. To address this, we introduce the Error-Compensating Optimizer (ECO), which eliminates master weights by applying updates directly to quantized parameters. ECO quantizes weights after each step and carefully injects the resulting quantization error into the optimizer momentum, forming an error-feedback loop with no additional memory. We prove that, under standard assumptions and a decaying learning rate, ECO converges to a constant-radius neighborhood of the optimum, while naive master-weight removal can incur an error that is inversely proportional to the learning rate. We show empirical results for pretraining small Transformers (30-800M), a Gemma-3 1B model, and a 2.1B parameter Sparse MoE model with FP8 quantization, and fine-tuning DeepSeek-MoE-16B in INT4 precision. Throughout, ECO matches baselines with master weights up to near-lossless accuracy, significantly shifting the static memory vs validation loss Pareto frontier.

Large Language Models are routinely compressed via post-training quantization to reduce inference costs and memory footprint for cloud and edge deployment, yet the impact of this compression on model quality remains poorly understood. Existing studies typically compare only two conditions (full-precision vs. a single quantized variant), rely on aggregate bias metrics, and evaluate a single model family, making it impossible to distinguish gradual degradation from threshold-dependent safety failures. We conduct a controlled empirical study of three instruction-tuned models (Qwen2.5-7B, Mistral-7B, Phi-3.5-mini) at five precision levels (BF16 through 3-bit) on 12,148 BBQ bias benchmark items across 5 random seeds, totaling 911,100 inference records. Our results reveal that 3-bit quantization causes 6-21% of previously unbiased items to develop new stereotypical behaviors, following a clear dose-response pattern confirmed via logistic regression, while models' willingness to select "unknown" answers declines by 17.4%. Crucially, these item-level changes are invisible to standard quality metrics: perplexity increases by less than 0.5% at 8-bit and under 3% at 4-bit across all three models, yet 2.5-5.6% of items already develop new biases at 4-bit. These findings demonstrate that aggregate evaluation metrics systematically miss fairness-critical degradation, underscoring the need for quality-aware compression protocols that explicitly test for bias emergence before deployment.

Underwater Object Tracking (UOT) is crucial for efficient marine robotics, large scale ecological monitoring, and ocean exploration; however, progress has been hindered by the scarcity of large, multimodal, and diverse datasets. Existing benchmarks remain small and RGB only, limiting robustness under severe color distortion, turbidity, and low visibility conditions. We introduce MUOT_3M, the first pseudo multimodal UOT benchmark comprising 3 million frames from 3,030 videos (27.8h) annotated with 32 tracking attributes, 677 fine grained classes, and synchronized RGB, estimated enhanced RGB, estimated depth, and language modalities validated by a marine biologist. Building upon MUOT_3M, we propose MUTrack, a SAM-based multimodal to unimodal tracker featuring visual geometric alignment, vision language fusion, and four level knowledge distillation that transfers multimodal knowledge into a unimodal student model. Extensive evaluations across five UOT benchmarks demonstrate that MUTrack achieves up to 8.40% higher AUC and 7.80% higher precision than the strongest SOTA baselines while running at 24 FPS. MUOT_3M and MUTrack establish a new foundation for scalable, multimodally trained yet practically deployable underwater tracking.

Medical image and video segmentation is a critical task for precision medicine, which has witnessed considerable progress in developing task or modality-specific and generalist models for 2D images. However, there have been limited studies on building general-purpose models for 3D images and videos with comprehensive user studies. Here, we present MedSAM2, a promptable segmentation foundation model for 3D image and video segmentation. The model is developed by fine-tuning the Segment Anything Model 2 on a large medical dataset with over 455,000 3D image-mask pairs and 76,000 frames, outperforming previous models across a wide range of organs, lesions, and imaging modalities. Furthermore, we implement a human-in-the-loop pipeline to facilitate the creation of large-scale datasets resulting in, to the best of our knowledge, the most extensive user study to date, involving the annotation of 5,000 CT lesions, 3,984 liver MRI lesions, and 251,550 echocardiogram video frames, demonstrating that MedSAM2 can reduce manual costs by more than 85%. MedSAM2 is also integrated into widely used platforms with user-friendly interfaces for local and cloud deployment, making it a practical tool for supporting efficient, scalable, and high-quality segmentation in both research and healthcare environments.

Tracking dense 3D motion from monocular videos remains challenging, particularly when aiming for pixel-level precision over long sequences. We introduce \Approach, a novel method that efficiently tracks every pixel in 3D space, enabling accurate motion estimation across entire videos. Our approach leverages a joint global-local attention mechanism for reduced-resolution tracking, followed by a transformer-based upsampler to achieve high-resolution predictions. Unlike existing methods, which are limited by computational inefficiency or sparse tracking, \Approach delivers dense 3D tracking at scale, running over 8x faster than previous methods while achieving state-of-the-art accuracy. Furthermore, we explore the impact of depth representation on tracking performance and identify log-depth as the optimal choice. Extensive experiments demonstrate the superiority of \Approach on multiple benchmarks, achieving new state-of-the-art results in both 2D and 3D dense tracking tasks. Our method provides a robust solution for applications requiring fine-grained, long-term motion tracking in 3D space.

Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image aggregation under occlusions and constrained viewpoints. To mitigate the impact of such inconsistency, we propose RAG-3DSG, which introduces re-shot guided uncertainty estimation. By measuring the semantic consistency between original limited viewpoints and re-shot optimal viewpoints, this method quantifies the underlying semantic ambiguity of each graph object. Based on this quantification, we devise an Object-level Retrieval-Augmented Generation (RAG) that leverages low-uncertainty objects as semantic anchors to retrieve more reliable contextual knowledge, enabling a Vision-Language Model to rectify the predictions of uncertain objects and optimize the final 3DSG. Extensive evaluations across three challenging benchmarks and real-world robot trials demonstrate that RAG-3DSG achieves superior recall and precision, effectively mitigating semantic noise to provide highly reliable scene representations for robotics tasks.

3D Anomaly Detection (AD) has shown great potential in detecting anomalies or defects of high-precision industrial products. However, existing methods are typically trained in a class-specific manner and also lack the capability of learning from emerging classes. In this study, we proposed a continual learning framework named Continual 3D Anomaly Detection (C3D-AD), which can not only learn generalized representations for multi-class point clouds but also handle new classes emerging over time.Specifically, in the feature extraction module, to extract generalized local features from diverse product types of different tasks efficiently, Kernel Attention with random feature Layer (KAL) is introduced, which normalizes the feature space. Then, to reconstruct data correctly and continually, an efficient Kernel Attention with learnable Advisor (KAA) mechanism is proposed, which learns the information from new categories while discarding redundant old information within both the encoder and decoder. Finally, to keep the representation consistency over tasks, a Reconstruction with Parameter Perturbation (RPP) module is proposed by designing a representation rehearsal loss function, which ensures that the model remembers previous category information and returns category-adaptive representation.Extensive experiments on three public datasets demonstrate the effectiveness of the proposed method, achieving an average performance of 66.4%, 83.1%, and 63.4% AUROC on Real3D-AD, Anomaly-ShapeNet, and MulSen-AD, respectively.

Large language models have transformed the comprehension and generation of natural language tasks, but they come with substantial memory and computational requirements. Quantization techniques have emerged as a promising avenue for addressing these challenges while preserving accuracy and making energy efficient. We propose CPTQuant, a comprehensive strategy that introduces correlation-based (CMPQ), pruning-based (PMPQ), and Taylor decomposition-based (TDMPQ) mixed precision techniques. CMPQ adapts the precision level based on canonical correlation analysis of different layers. PMPQ optimizes precision layer-wise based on their sensitivity to sparsity. TDMPQ modifies precision using Taylor decomposition to assess each layer's sensitivity to input perturbation. These strategies allocate higher precision to more sensitive layers while diminishing precision to robust layers. CPTQuant assesses the performance across BERT, OPT-125M, OPT-350M, OPT-1.3B, and OPT-2.7B. We demonstrate up to 4x compression and a 2x-fold increase in efficiency with minimal accuracy drop compared to Hugging Face FP16. PMPQ stands out for achieving a considerably higher model compression. Sensitivity analyses across various LLMs show that the initial and final 30% of layers exhibit higher sensitivities than the remaining layers. PMPQ demonstrates an 11% higher compression ratio than other methods for classification tasks, while TDMPQ achieves a 30% greater compression ratio for language modeling tasks.

Although self-supervised 3D anomaly detection assumes that acquiring high-precision point clouds is computationally expensive, in real manufacturing scenarios it is often feasible to collect a limited number of anomalous samples. Therefore, we study open-set supervised 3D anomaly detection, where the model is trained with only normal samples and a small number of known anomalous samples, aiming to identify unknown anomalies at test time. We present Open-Industry, a high-quality industrial dataset containing 15 categories, each with five real anomaly types collected from production lines. We first adapt general open-set anomaly detection methods to accommodate 3D point cloud inputs better. Building upon this, we propose Open3D-AD, a point-cloud-oriented approach that leverages normal samples, simulated anomalies, and partially observed real anomalies to model the probability density distributions of normal and anomalous data. Then, we introduce a simple Correspondence Distributions Subsampling to reduce the overlap between normal and non-normal distributions, enabling stronger dual distributions modeling. Based on these contributions, we establish a comprehensive benchmark and evaluate the proposed method extensively on Open-Industry as well as established datasets including Real3D-AD and Anomaly-ShapeNet. Benchmark results and ablation studies demonstrate the effectiveness of Open3D-AD and further reveal the potential of open-set supervised 3D anomaly detection.

Training large language models (LLMs) efficiently while preserving model quality poses significant challenges, particularly with subbyte precision supported by state-of-the-art GPUs. Current mixed-precision training approaches either apply uniform precision to all GEMM operations or rely on heuristic-based methods that fail to generalize during training, leading to suboptimal convergence and instability. To address these challenges, this paper introduces SNIP, a fine-grained adaptive mixed-precision training framework for LLM pretraining that supports subbyte precision. SNIP periodically collects statistics on activations, gradients, and optimizer states to assess the precision loss impact on model quality. We define two key metrics: loss divergence in the forward pass, caused by quantization-induced increases in training loss, and weight divergence in the backward pass, which measures error propagation through gradients affecting model updates. These metrics guide an Integer Linear Programming (ILP) problem that systematically optimizes layerwise precision to minimize overall quality loss while meeting efficiency targets. Experiments on 1B, 3B, 7B and 70B Llama-like models demonstrate that SNIP consistently outperforms existing baselines, reducing FLOPs by up to 80% while preserving model quality across different model sizes and training phases with minimal computational overhead.

Computer-Aided Design (CAD) plays a foundational role in modern manufacturing and product development, often requiring designers to modify or build upon existing models. Converting 3D scans into parametric CAD representations--a process known as CAD reverse engineering--remains a significant challenge due to the high precision and structural complexity of CAD models. Existing deep learning-based approaches typically fall into two categories: bottom-up, geometry-driven methods, which often fail to produce fully parametric outputs, and top-down strategies, which tend to overlook fine-grained geometric details. Moreover, current methods neglect an essential aspect of CAD modeling: sketch-level constraints. In this work, we introduce a novel approach to CAD reverse engineering inspired by how human designers manually perform the task. Our method leverages multi-plane cross-sections to extract 2D patterns and capture fine parametric details more effectively. It enables the reconstruction of detailed and editable CAD models, outperforming state-of-the-art methods and, for the first time, incorporating sketch constraints directly into the reconstruction process.

Accurate estimation of pasture biomass is important for decision-making in livestock production systems. Estimates of pasture biomass can be used to manage stocking rates to maximise pasture utilisation, while minimising the risk of overgrazing and promoting overall system health. We present a comprehensive dataset of 1,162 annotated top-view images of pastures collected across 19 locations in Australia. The images were taken across multiple seasons and include a range of temperate pasture species. Each image captures a 70cm * 30cm quadrat and is paired with on-ground measurements including biomass sorted by component (green, dead, and legume fraction), vegetation height, and Normalized Difference Vegetation Index (NDVI) from Active Optical Sensors (AOS). The multidimensional nature of the data, which combines visual, spectral, and structural information, opens up new possibilities for advancing the use of precision grazing management. The dataset is released and hosted in a Kaggle competition that challenges the international Machine Learning community with the task of pasture biomass estimation. The dataset is available on the official Kaggle webpage: https://www.kaggle.com/competitions/csiro-biomass

Open-vocabulary (OV) 3D object detection is an emerging field, yet its exploration through image-based methods remains limited compared to 3D point cloud-based methods. We introduce OpenM3D, a novel open-vocabulary multi-view indoor 3D object detector trained without human annotations. In particular, OpenM3D is a single-stage detector adapting the 2D-induced voxel features from the ImGeoNet model. To support OV, it is jointly trained with a class-agnostic 3D localization loss requiring high-quality 3D pseudo boxes and a voxel-semantic alignment loss requiring diverse pre-trained CLIP features. We follow the training setting of OV-3DET where posed RGB-D images are given but no human annotations of 3D boxes or classes are available. We propose a 3D Pseudo Box Generation method using a graph embedding technique that combines 2D segments into coherent 3D structures. Our pseudo-boxes achieve higher precision and recall than other methods, including the method proposed in OV-3DET. We further sample diverse CLIP features from 2D segments associated with each coherent 3D structure to align with the corresponding voxel feature. The key to training a highly accurate single-stage detector requires both losses to be learned toward high-quality targets. At inference, OpenM3D, a highly efficient detector, requires only multi-view images for input and demonstrates superior accuracy and speed (0.3 sec. per scene) on ScanNet200 and ARKitScenes indoor benchmarks compared to existing methods. We outperform a strong two-stage method that leverages our class-agnostic detector with a ViT CLIP-based OV classifier and a baseline incorporating multi-view depth estimator on both accuracy and speed.

Mixed-precision inference techniques reduce the memory and computational demands of Large Language Models (LLMs) by applying hybrid precision formats to model weights, activations, and KV caches. This work introduces mixed-precision LLM inference techniques that encompass (i) systematic memory and compute optimization across hierarchical storage and tensor core architectures, and (ii) comprehensive end-to-end mixed-precision optimization across diverse precision formats and hardware configurations. Our approach features two novel mixed-precision pipelines designed for optimal hardware utilization: a General Matrix Multiply (GEMM) pipeline that optimizes matrix operations through offline weight packing and online acceleration, and an attention pipeline that enables efficient attention computation with arbitrary Query, Key, and Value precision combinations. The key implementation of the pipelines includes (i) hardware-aware weight packing for automatic format optimization, (ii) adaptive head alignment for efficient attention computation, (iii) instruction-level parallelism for memory hierarchy exploitation, and (iv) KV memory loading pipeline for enhanced inference efficiency. We conduct comprehensive evaluations across 16 popular LLMs and 4 representative GPU architectures. Results demonstrate that our approach achieves up to 61% lower serving latency (30% on average) and up to 156% higher throughput (58% on average) in mixed-precision workloads compared to existing mixed-precision frameworks, establishing consistent performance improvements across all tested configurations and hardware types. This work is integrated into TurboMind, a high-performance inference engine of the LMDeploy project, which is open-sourced and publicly available at https://github.com/InternLM/lmdeploy.

Neurons encode information in a binary manner and process complex signals. However, predicting or generating diverse neural activity patterns remains challenging. In vitro and in vivo studies provide distinct advantages, yet no robust computational framework seamlessly integrates both data types. We address this by applying the Transformer model, widely used in large-scale language models, to neural data. To handle binary data, we introduced Dice loss, enabling accurate cross-domain neural activity generation. Structural analysis revealed how Dice loss enhances learning and identified key brain regions facilitating high-precision data generation. Our findings support the 3Rs principle in animal research, particularly Replacement, and establish a mathematical framework bridging animal experiments and human clinical studies. This work advances data-driven neuroscience and neural activity modeling, paving the way for more ethical and effective experimental methodologies.

Recent advancements in high-fidelity dynamic scene reconstruction have leveraged dynamic 3D Gaussians and 4D Gaussian Splatting for realistic scene representation. However, to make these methods viable for real-time applications such as AR/VR, gaming, and rendering on low-power devices, substantial reductions in memory usage and improvements in rendering efficiency are required. While many state-of-the-art methods prioritize lightweight implementations, they struggle in handling scenes with complex motions or long sequences. In this work, we introduce Temporally Compressed 3D Gaussian Splatting (TC3DGS), a novel technique designed specifically to effectively compress dynamic 3D Gaussian representations. TC3DGS selectively prunes Gaussians based on their temporal relevance and employs gradient-aware mixed-precision quantization to dynamically compress Gaussian parameters. It additionally relies on a variation of the Ramer-Douglas-Peucker algorithm in a post-processing step to further reduce storage by interpolating Gaussian trajectories across frames. Our experiments across multiple datasets demonstrate that TC3DGS achieves up to 67times compression with minimal or no degradation in visual quality.

3D anomaly detection plays a crucial role in monitoring parts for localized inherent defects in precision manufacturing. Embedding-based and reconstruction-based approaches are among the most popular and successful methods. However, there are two major challenges to the practical application of the current approaches: 1) the embedded models suffer the prohibitive computational and storage due to the memory bank structure; 2) the reconstructive models based on the MAE mechanism fail to detect anomalies in the unmasked regions. In this paper, we propose R3D-AD, reconstructing anomalous point clouds by diffusion model for precise 3D anomaly detection. Our approach capitalizes on the data distribution conversion of the diffusion process to entirely obscure the input's anomalous geometry. It step-wisely learns a strict point-level displacement behavior, which methodically corrects the aberrant points. To increase the generalization of the model, we further present a novel 3D anomaly simulation strategy named Patch-Gen to generate realistic and diverse defect shapes, which narrows the domain gap between training and testing. Our R3D-AD ensures a uniform spatial transformation, which allows straightforwardly generating anomaly results by distance comparison. Extensive experiments show that our R3D-AD outperforms previous state-of-the-art methods, achieving 73.4% Image-level AUROC on the Real3D-AD dataset and 74.9% Image-level AUROC on the Anomaly-ShapeNet dataset with an exceptional efficiency.

Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip features, which require computationally expensive 2D foundation models like Segment Anything (SAM) and CLIP for multi-view aggregation into 3D. As a consequence, this hampers their applicability in many real-world applications that require both fast and accurate predictions. To this end, we propose a fast yet accurate open-vocabulary 3D instance segmentation approach, named Open-YOLO 3D, that effectively leverages only 2D object detection from multi-view RGB images for open-vocabulary 3D instance segmentation. We address this task by generating class-agnostic 3D masks for objects in the scene and associating them with text prompts. We observe that the projection of class-agnostic 3D point cloud instances already holds instance information; thus, using SAM might only result in redundancy that unnecessarily increases the inference time. We empirically find that a better performance of matching text prompts to 3D masks can be achieved in a faster fashion with a 2D object detector. We validate our Open-YOLO 3D on two benchmarks, ScanNet200 and Replica, under two scenarios: (i) with ground truth masks, where labels are required for given object proposals, and (ii) with class-agnostic 3D proposals generated from a 3D proposal network. Our Open-YOLO 3D achieves state-of-the-art performance on both datasets while obtaining up to sim16times speedup compared to the best existing method in literature. On ScanNet200 val. set, our Open-YOLO 3D achieves mean average precision (mAP) of 24.7\% while operating at 22 seconds per scene. Code and model are available at github.com/aminebdj/OpenYOLO3D.

Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable estimates. To address these limitations, we propose a reinforcement learning (RL)-based extrinsic calibration framework that formulates extrinsic calibration as a decision-making problem, directly optimizes SE(3) extrinsics to enhance odometry accuracy. Our approach leverages a probabilistic Bingham distribution to model 3D rotations, ensuring stable optimization while inherently retaining quaternion symmetry. A trajectory alignment reward mechanism enables robust calibration without structured targets by quantitatively evaluating estimated tightly-coupled trajectory against a reference trajectory. Additionally, an automated data selection module filters uninformative samples, significantly improving efficiency and scalability for large-scale datasets. Extensive experiments on UAVs, UGVs, and handheld platforms demonstrate that our method outperforms traditional optimization-based approaches, achieving high-precision calibration even under weak excitation conditions. Our framework simplifies deployment on diverse robotic platforms by eliminating the need for high-quality initial extrinsics and enabling calibration from routine operating data. The code is available at https://github.com/APRIL-ZJU/learn-to-calibrate.

Post-Training Quantization (PTQ) is pivotal for deploying large language models (LLMs) within resource-limited settings by significantly reducing resource demands. However, existing PTQ strategies underperform at low bit levels < 3 bits due to the significant difference between the quantized and original weights. To enhance the quantization performance at low bit widths, we introduce a Mixed-precision Graph Neural PTQ (MG-PTQ) approach, employing a graph neural network (GNN) module to capture dependencies among weights and adaptively assign quantization bit-widths. Through the information propagation of the GNN module, our method more effectively captures dependencies among target weights, leading to a more accurate assessment of weight importance and optimized allocation of quantization strategies. Extensive experiments on the WikiText2 and C4 datasets demonstrate that our MG-PTQ method outperforms previous state-of-the-art PTQ method GPTQ, setting new benchmarks for quantization performance under low-bit conditions.

Flow matching over carefully designed latent representations has recently emerged as a powerful paradigm for topology-aware mesh generation. Existing approaches, however, model vertices and connectivity jointly in a joint latent space, entangling continuous vertex geometry with discrete combinatorial structure; this complicates flow learning and manifests as drifting vertices and broken surfaces. We present LATO.2, a factorized flow matching framework that decomposes mesh generation into a vertex flow followed by a connectivity flow conditioned on the realized vertices, with both stages anchored to a shared coarse voxel scaffold. Dedicated VAEs underpin the two stages, recovering vertices at sub-voxel precision and embedding discrete connectivity into a continuous latent space. We demonstrate two advantages unique to this factorization: (i) part-wise generation, in which the scaffold is partitioned and each part synthesized at full latent capacity, yielding substantially higher-resolution meshes than a monolithic latent permits; and (ii) topology-adaptive editing, in which manipulating first-stage vertices induces the corresponding connectivity without re-optimization. Experiments show that LATO.2 surpasses state-of-the-art topology-aware mesh generators in geometric fidelity and connectivity quality.

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for real-time, high-performance rendering, enabling a wide range of applications. However, representing 3D scenes with numerous explicit Gaussian primitives imposes significant storage and memory overhead. Recent studies have shown that high-quality rendering can be achieved with a substantially reduced number of Gaussians when represented with high-precision attributes. Nevertheless, existing 3DGS compression methods still rely on a relatively large number of Gaussians, focusing primarily on attribute compression. This is because a smaller set of Gaussians becomes increasingly sensitive to lossy attribute compression, leading to severe quality degradation. Since the number of Gaussians is directly tied to computational costs, it is essential to reduce the number of Gaussians effectively rather than only optimizing storage. In this paper, we propose Optimized Minimal Gaussians representation (OMG), which significantly reduces storage while using a minimal number of primitives. First, we determine the distinct Gaussian from the near ones, minimizing redundancy without sacrificing quality. Second, we propose a compact and precise attribute representation that efficiently captures both continuity and irregularity among primitives. Additionally, we propose a sub-vector quantization technique for improved irregularity representation, maintaining fast training with a negligible codebook size. Extensive experiments demonstrate that OMG reduces storage requirements by nearly 50% compared to the previous state-of-the-art and enables 600+ FPS rendering while maintaining high rendering quality. Our source code is available at https://maincold2.github.io/omg/.

Recent generalizable 3D Gaussian Splatting models have advanced long-sequence novel view synthesis (NVS), but at the cost of substantial redundant computation. We identify that the redundancy can be mitigated based on two observations: (i) high-precision geometry is not strictly required for high-quality NVS; (ii) appearance learning is generally easier than geometry recovery. Motivated by these insights, we propose an asymmetric architecture that decouples geometry and appearance modeling. The geometry branch processes coarse-grained tokens with most of the parameters for multi-view reconstruction, while the appearance branch operates on fine-grained tokens to capture details using significantly fewer parameters. The two branches interact through bilateral connections, enabling mutual guidance for their respective tasks. This task-aware asymmetry reduces the computational redundancy and allocates the computation more judiciously, thereby increasing parameter efficiency and enabling smaller models to achieve strong performance. On 32-view 960P inputs, our model matches optimization-based methods while delivering nearly 800x speedup, and surpasses the zero-shot performance of state-of-the-art generalizable models with markedly fewer parameters and reduced training/inference overhead, achieving an overall efficiency improvement.

Long-horizon LLM inference turns the key--value (KV) cache into the dominant GPU memory consumer and makes per-token attention increasingly expensive. Many common eviction policies use static recency windows or historical attention, leaving unused a signal computed on every decoding step: the model's current uncertainty. We introduce CONF-KV, a KV-cache manager that converts the next-token distribution into a scalar confidence score and uses it to choose the per-step cache budget, retaining more context when the model is uncertain and pruning aggressively when it is confident. Within each budget, tokens are ranked by a composite of accumulated attention mass and recency, while a protected recent window preserves local coherence. We combine the policy with blockwise online-softmax attention, mixed FP16/INT8 storage, and a pyramidal per-layer budget variant. Across four model families and generated lengths up to 4K, CONF-KV stays near the footprint of a fixed 512-token sliding window while remaining within 1.5--2.1 perplexity points of full KV. On Needle-in-a-Haystack up to 32K tokens, CONF-KV reaches 91.4% retrieval accuracy versus 53.8% for sliding windows and 80.6% for H2O; on 75 VisualWebArena tasks it retains 95.3% of full-KV success at 2.8 times lower peak memory.

3D reconstruction, which aims to recover the dense three-dimensional structure of a scene, is a cornerstone technology for numerous applications, including augmented/virtual reality, autonomous driving, and robotics. While traditional pipelines like Structure from Motion (SfM) and Multi-View Stereo (MVS) achieve high precision through iterative optimization, they are limited by complex workflows, high computational cost, and poor robustness in challenging scenarios like texture-less regions. Recently, deep learning has catalyzed a paradigm shift in 3D reconstruction. A new family of models, exemplified by DUSt3R, has pioneered a feed-forward approach. These models employ a unified deep network to jointly infer camera poses and dense geometry directly from an Unconstrained set of images in a single forward pass. This survey provides a systematic review of this emerging domain. We begin by dissecting the technical framework of these feed-forward models, including their Transformer-based correspondence modeling, joint pose and geometry regression mechanisms, and strategies for scaling from two-view to multi-view scenarios. To highlight the disruptive nature of this new paradigm, we contrast it with both traditional pipelines and earlier learning-based methods like MVSNet. Furthermore, we provide an overview of relevant datasets and evaluation metrics. Finally, we discuss the technology's broad application prospects and identify key future challenges and opportunities, such as model accuracy and scalability, and handling dynamic scenes.

PubTator 3.0 (https://www.ncbi.nlm.nih.gov/research/pubtator3/) is a biomedical literature resource using state-of-the-art AI techniques to offer semantic and relation searches for key concepts like proteins, genetic variants, diseases, and chemicals. It currently provides over one billion entity and relation annotations across approximately 36 million PubMed abstracts and 6 million full-text articles from the PMC open access subset, updated weekly. PubTator 3.0's online interface and API utilize these precomputed entity relations and synonyms to provide advanced search capabilities and enable large-scale analyses, streamlining many complex information needs. We showcase the retrieval quality of PubTator 3.0 using a series of entity pair queries, demonstrating that PubTator 3.0 retrieves a greater number of articles than either PubMed or Google Scholar, with higher precision in the top 20 results. We further show that integrating ChatGPT (GPT-4) with PubTator APIs dramatically improves the factuality and verifiability of its responses. In summary, PubTator 3.0 offers a comprehensive set of features and tools that allow researchers to navigate the ever-expanding wealth of biomedical literature, expediting research and unlocking valuable insights for scientific discovery.

The high cure rate of cancer is inextricably linked to physicians' accuracy in diagnosis and treatment, therefore a model that can accomplish high-precision tumor segmentation has become a necessity in many applications of the medical industry. It can effectively lower the rate of misdiagnosis while considerably lessening the burden on clinicians. However, fully automated target organ segmentation is problematic due to the irregular stereo structure of 3D volume organs. As a basic model for this class of real applications, U-Net excels. It can learn certain global and local features, but still lacks the capacity to grasp spatial long-range relationships and contextual information at multiple scales. This paper proposes a tumor segmentation model MPU-Net for patient volume CT images, which is inspired by Transformer with a global attention mechanism. By combining image serialization with the Position Attention Module, the model attempts to comprehend deeper contextual dependencies and accomplish precise positioning. Each layer of the decoder is also equipped with a multi-scale module and a cross-attention mechanism. The capability of feature extraction and integration at different levels has been enhanced, and the hybrid loss function developed in this study can better exploit high-resolution characteristic information. Moreover, the suggested architecture is tested and evaluated on the Liver Tumor Segmentation Challenge 2017 (LiTS 2017) dataset. Compared with the benchmark model U-Net, MPU-Net shows excellent segmentation results. The dice, accuracy, precision, specificity, IOU, and MCC metrics for the best model segmentation results are 92.17%, 99.08%, 91.91%, 99.52%, 85.91%, and 91.74%, respectively. Outstanding indicators in various aspects illustrate the exceptional performance of this framework in automatic medical image segmentation.

In orchard automation, dense foliage during the canopy season severely occludes tree structures, minimizing visibility to various canopy parts such as trunks and branches, which limits the ability of a machine vision system. However, canopy structure is more open and visible during the dormant season when trees are defoliated. In this work, we present an information fusion framework that integrates multi-seasonal structural data to support robotic and automated crop load management during the entire growing season. The framework combines high-resolution RGB-D imagery from both dormant and canopy periods using YOLOv9-Seg for instance segmentation, Kinect Fusion for 3D reconstruction, and Fast Generalized Iterative Closest Point (Fast GICP) for model alignment. Segmentation outputs from YOLOv9-Seg were used to extract depth-informed masks, which enabled accurate 3D point cloud reconstruction via Kinect Fusion; these reconstructed models from each season were subsequently aligned using Fast GICP to achieve spatially coherent multi-season fusion. The YOLOv9-Seg model, trained on manually annotated images, achieved a mean squared error (MSE) of 0.0047 and segmentation mAP@50 scores up to 0.78 for trunks in dormant season dataset. Kinect Fusion enabled accurate reconstruction of tree geometry, validated with field measurements resulting in root mean square errors (RMSE) of 5.23 mm for trunk diameter, 4.50 mm for branch diameter, and 13.72 mm for branch spacing. Fast GICP achieved precise cross-seasonal registration with a minimum fitness score of 0.00197, allowing integrated, comprehensive tree structure modeling despite heavy occlusions during the growing season. This fused structural representation enables robotic systems to access otherwise obscured architectural information, improving the precision of pruning, thinning, and other automated orchard operations.

KV cache quantization can improve Large Language Models (LLMs) inference throughput and latency in long contexts and large batch-size scenarios while preserving LLMs effectiveness. However, current methods have three unsolved issues: overlooking layer-wise sensitivity to KV cache quantization, high overhead of online fine-grained decision-making, and low flexibility to different LLMs and constraints. Therefore, we theoretically analyze the inherent correlation of layer-wise transformer attention patterns to KV cache quantization errors and study why key cache is generally more important than value cache for quantization error reduction. We further propose a simple yet effective framework KVTuner to adaptively search for the optimal hardware-friendly layer-wise KV quantization precision pairs for coarse-grained KV cache with multi-objective optimization and directly utilize the offline searched configurations during online inference. To reduce the computational cost of offline calibration, we utilize the intra-layer KV precision pair pruning and inter-layer clustering to reduce the search space. Experimental results show that we can achieve nearly lossless 3.25-bit mixed precision KV cache quantization for LLMs like Llama-3.1-8B-Instruct and 4.0-bit for sensitive models like Qwen2.5-7B-Instruct on mathematical reasoning tasks. The maximum inference throughput can be improved by 21.25\% compared with KIVI-KV8 quantization over various context lengths. Our code and searched configurations are available at https://github.com/cmd2001/KVTuner.

The increasing demand for controllable outputs in text-to-image generation has spurred advancements in multi-instance generation (MIG), allowing users to define both instance layouts and attributes. However, unlike image-conditional generation methods such as ControlNet, MIG techniques have not been widely adopted in state-of-the-art models like SD2 and SDXL, primarily due to the challenge of building robust renderers that simultaneously handle instance positioning and attribute rendering. In this paper, we introduce Depth-Driven Decoupled Instance Synthesis (3DIS), a novel framework that decouples the MIG process into two stages: (i) generating a coarse scene depth map for accurate instance positioning and scene composition, and (ii) rendering fine-grained attributes using pre-trained ControlNet on any foundational model, without additional training. Our 3DIS framework integrates a custom adapter into LDM3D for precise depth-based layouts and employs a finetuning-free method for enhanced instance-level attribute rendering. Extensive experiments on COCO-Position and COCO-MIG benchmarks demonstrate that 3DIS significantly outperforms existing methods in both layout precision and attribute rendering. Notably, 3DIS offers seamless compatibility with diverse foundational models, providing a robust, adaptable solution for advanced multi-instance generation. The code is available at: https://github.com/limuloo/3DIS.

Intraoperative registration of real-time ultrasound (iUS) to preoperative Magnetic Resonance Imaging (MRI) remains an unsolved problem due to severe modality-specific differences in appearance, resolution, and field-of-view. To address this, we propose a novel 3D cross-modal keypoint descriptor for MRI-iUS matching and registration. Our approach employs a patient-specific matching-by-synthesis approach, generating synthetic iUS volumes from preoperative MRI. This enables supervised contrastive training to learn a shared descriptor space. A probabilistic keypoint detection strategy is then employed to identify anatomically salient and modality-consistent locations. During training, a curriculum-based triplet loss with dynamic hard negative mining is used to learn descriptors that are i) robust to iUS artifacts such as speckle noise and limited coverage, and ii) rotation-invariant. At inference, the method detects keypoints in MR and real iUS images and identifies sparse matches, which are then used to perform rigid registration. Our approach is evaluated using 3D MRI-iUS pairs from the ReMIND dataset. Experiments show that our approach outperforms state-of-the-art keypoint matching methods across 11 patients, with an average precision of 69.8%. For image registration, our method achieves a competitive mean Target Registration Error of 2.39 mm on the ReMIND2Reg benchmark. Compared to existing iUS-MR registration approaches, our framework is interpretable, requires no manual initialization, and shows robustness to iUS field-of-view variation. Code, data and model weights are available at https://github.com/morozovdd/CrossKEY.

Most 2D human pose estimation benchmarks are nearly saturated, with the exception of crowded scenes. We introduce PMPose, a top-down 2D pose estimator that incorporates the probabilistic formulation and the mask-conditioning. PMPose improves crowded pose estimation without sacrificing performance on standard scenes. Building on this, we present BBoxMaskPose v2 (BMPv2) integrating PMPose and an enhanced SAM-based mask refinement module. BMPv2 surpasses state-of-the-art by 1.5 average precision (AP) points on COCO and 6 AP points on OCHuman, becoming the first method to exceed 50 AP on OCHuman. We demonstrate that BMP's 2D prompting of 3D model improves 3D pose estimation in crowded scenes and that advances in 2D pose quality directly benefit 3D estimation. Results on the new OCHuman-Pose dataset show that multi-person performance is more affected by pose prediction accuracy than by detection. The code, models, and data are available on https://MiraPurkrabek.github.io/BBox-Mask-Pose/.

As a cornerstone of the modern digital economy, 3D modeling and rendering demand substantial resources and manual effort when scene editing is performed in the traditional manner. Despite recent progress in VLM-based agents for 3D editing, the fundamental trade-off between editing precision and agent responsiveness remains unresolved. To overcome these limitations, we present EZBlender, a Blender agent with a hybrid framework that combines planning-based task decomposition and reactive local autonomy for efficient human AI collaboration and semantically faithful 3D editing. Specifically, this unexplored Plan-and-ReAct design not only preserves editing quality but also significantly reduces latency and computational cost. To further validate the efficiency and effectiveness of the proposed edge-autonomy architecture, we construct a dedicated multi-tasking benchmark that has not been systematically investigated in prior research. In addition, we provide a comprehensive analysis of language model preference, system responsiveness, and economic efficiency.

Training models for Natural Language Processing (NLP) requires substantial computational resources and time, posing significant challenges, especially for NLP development in Bangla, where access to high-end hardware is often limited. In this work, we explore automatic mixed precision (AMP) training as a means to improve computational efficiency without sacrificing model performance. By leveraging a dynamic mix of 16-bit and 32-bit floating-point computations, AMP lowers GPU memory requirements and speeds up training without degrading model performance. We evaluate AMP across four standard Bangla NLP tasks, namely sentiment analysis, named entity recognition, error classification, and question answering, using four transformer-based models: BanglaBERT, BanglishBERT, XLM-R, and mBERT. Our results demonstrate that AMP accelerates training by 44.5% and reduces memory consumption by 17.6%, while maintaining F-1 score within 99.7% of the full-precision baselines. This empirical study highlights AMP's potential to democratize access to state-of-the-art NLP capabilities in hardware-constrained settings by lowering computational barriers.

Despite recent advances in feed-forward 3D Gaussian Splatting, generalizable 3D reconstruction remains challenging, particularly in multi-view correspondence modeling. Existing approaches face a fundamental trade-off: explicit methods achieve geometric precision but struggle with ambiguous regions, while implicit methods provide robustness but suffer from slow convergence. We present H3R, a hybrid framework that addresses this limitation by integrating volumetric latent fusion with attention-based feature aggregation. Our framework consists of two complementary components: an efficient latent volume that enforces geometric consistency through epipolar constraints, and a camera-aware Transformer that leverages Plücker coordinates for adaptive correspondence refinement. By integrating both paradigms, our approach enhances generalization while converging 2times faster than existing methods. Furthermore, we show that spatial-aligned foundation models (e.g., SD-VAE) substantially outperform semantic-aligned models (e.g., DINOv2), resolving the mismatch between semantic representations and spatial reconstruction requirements. Our method supports variable-number and high-resolution input views while demonstrating robust cross-dataset generalization. Extensive experiments show that our method achieves state-of-the-art performance across multiple benchmarks, with significant PSNR improvements of 0.59 dB, 1.06 dB, and 0.22 dB on the RealEstate10K, ACID, and DTU datasets, respectively. Code is available at https://github.com/JiaHeng-DLUT/H3R.

The rapid adaptation of data driven AI models, such as deep learning inference, training, Vision Transformers (ViTs), and other HPC applications, drives a strong need for runtime precision configurable different non linear activation functions (AF) hardware support. Existing solutions support diverse precision or runtime AF reconfigurability but fail to address both simultaneously. This work proposes a flexible and SIMD multiprecision processing element (FlexPE), which supports diverse runtime configurable AFs, including sigmoid, tanh, ReLU and softmax, and MAC operation. The proposed design achieves an improved throughput of up to 16X FxP4, 8X FxP8, 4X FxP16 and 1X FxP32 in pipeline mode with 100% time multiplexed hardware. This work proposes an area efficient multiprecision iterative mode in the SIMD systolic arrays for edge AI use cases. The design delivers superior performance with up to 62X and 371X reductions in DMA reads for input feature maps and weight filters in VGG16, with an energy efficiency of 8.42 GOPS / W within the accuracy loss of 2%. The proposed architecture supports emerging 4-bit computations for DL inference while enhancing throughput in FxP8/16 modes for transformers and other HPC applications. The proposed approach enables future energy-efficient AI accelerators in edge and cloud environments.

Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic understanding. We present G3Flow, a novel framework that constructs real-time semantic flow, a dynamic, object-centric 3D semantic representation by leveraging foundation models. Our approach uniquely combines 3D generative models for digital twin creation, vision foundation models for semantic feature extraction, and robust pose tracking for continuous semantic flow updates. This integration enables complete semantic understanding even under occlusions while eliminating manual annotation requirements. By incorporating semantic flow into diffusion policies, we demonstrate significant improvements in both terminal-constrained manipulation and cross-object generalization. Extensive experiments across five simulation tasks show that G3Flow consistently outperforms existing approaches, achieving up to 68.3% and 50.1% average success rates on terminal-constrained manipulation and cross-object generalization tasks respectively. Our results demonstrate the effectiveness of G3Flow in enhancing real-time dynamic semantic feature understanding for robotic manipulation policies.

We introduce 3D-Speaker-Toolkit, an open-source toolkit for multimodal speaker verification and diarization, designed for meeting the needs of academic researchers and industrial practitioners. The 3D-Speaker-Toolkit adeptly leverages the combined strengths of acoustic, semantic, and visual data, seamlessly fusing these modalities to offer robust speaker recognition capabilities. The acoustic module extracts speaker embeddings from acoustic features, employing both fully-supervised and self-supervised learning approaches. The semantic module leverages advanced language models to comprehend the substance and context of spoken language, thereby augmenting the system's proficiency in distinguishing speakers through linguistic patterns. The visual module applies image processing technologies to scrutinize facial features, which bolsters the precision of speaker diarization in multi-speaker environments. Collectively, these modules empower the 3D-Speaker-Toolkit to achieve substantially improved accuracy and reliability in speaker-related tasks. With 3D-Speaker-Toolkit, we establish a new benchmark for multimodal speaker analysis. The toolkit also includes a handful of open-source state-of-the-art models and a large-scale dataset containing over 10,000 speakers. The toolkit is publicly available at https://github.com/modelscope/3D-Speaker.

To enable self-driving vehicles accurate detection and tracking of surrounding objects is essential. While Light Detection and Ranging (LiDAR) sensors have set the benchmark for high-performance systems, the appeal of camera-only solutions lies in their cost-effectiveness. Notably, despite the prevalent use of Radio Detection and Ranging (RADAR) sensors in automotive systems, their potential in 3D detection and tracking has been largely disregarded due to data sparsity and measurement noise. As a recent development, the combination of RADARs and cameras is emerging as a promising solution. This paper presents Camera-RADAR 3D Detection and Tracking (CR3DT), a camera-RADAR fusion model for 3D object detection, and Multi-Object Tracking (MOT). Building upon the foundations of the State-of-the-Art (SotA) camera-only BEVDet architecture, CR3DT demonstrates substantial improvements in both detection and tracking capabilities, by incorporating the spatial and velocity information of the RADAR sensor. Experimental results demonstrate an absolute improvement in detection performance of 5.3% in mean Average Precision (mAP) and a 14.9% increase in Average Multi-Object Tracking Accuracy (AMOTA) on the nuScenes dataset when leveraging both modalities. CR3DT bridges the gap between high-performance and cost-effective perception systems in autonomous driving, by capitalizing on the ubiquitous presence of RADAR in automotive applications. The code is available at: https://github.com/ETH-PBL/CR3DT.

Prior work in 3D object detection evaluates models using offline metrics like average precision since closed-loop online evaluation on the downstream driving task is costly. However, it is unclear how indicative offline results are of driving performance. In this work, we perform the first empirical evaluation measuring how predictive different detection metrics are of driving performance when detectors are integrated into a full self-driving stack. We conduct extensive experiments on urban driving in the CARLA simulator using 16 object detection models. We find that the nuScenes Detection Score has a higher correlation to driving performance than the widely used average precision metric. In addition, our results call for caution on the exclusive reliance on the emerging class of `planner-centric' metrics.

Serving large-scale machine learning (ML) models efficiently and with low latency has become challenging owing to increasing model size and complexity. Quantizing models can simultaneously reduce memory and compute requirements, facilitating their widespread access. However, for large models not all layers are equally amenable to the same numerical precision and aggressive quantization can lead to unacceptable loss in model accuracy. One approach to prevent this accuracy degradation is mixed-precision quantization, which allows different tensors to be quantized to varying levels of numerical precision, leveraging the capabilities of modern hardware. Such mixed-precision quantiztaion can more effectively allocate numerical precision to different tensors `as needed' to preserve model accuracy while reducing footprint and compute latency. In this paper, we propose a method to efficiently determine quantization configurations of different tensors in ML models using post-training mixed precision quantization. We analyze three sensitivity metrics and evaluate them for guiding configuration search of two algorithms. We evaluate our method for computer vision and natural language processing and demonstrate latency reductions of up to 27.59% and 34.31% compared to the baseline 16-bit floating point model while guaranteeing no more than 1% accuracy degradation.

Automatic detection of prohibited objects within passenger baggage is important for aviation security. X-ray Computed Tomography (CT) based 3D imaging is widely used in airports for aviation security screening whilst prior work on automatic prohibited item detection focus primarily on 2D X-ray imagery. These works have proven the possibility of extending deep convolutional neural networks (CNN) based automatic prohibited item detection from 2D X-ray imagery to volumetric 3D CT baggage security screening imagery. However, previous work on 3D object detection in baggage security screening imagery focused on the detection of one specific type of objects (e.g., either {\it bottles} or {\it handguns}). As a result, multiple models are needed if more than one type of prohibited item is required to be detected in practice. In this paper, we consider the detection of multiple object categories of interest using one unified framework. To this end, we formulate a more challenging multi-class 3D object detection problem within 3D CT imagery and propose a viable solution (3D RetinaNet) to tackle this problem. To enhance the performance of detection we investigate a variety of strategies including data augmentation and varying backbone networks. Experimentation carried out to provide both quantitative and qualitative evaluations of the proposed approach to multi-class 3D object detection within 3D CT baggage security screening imagery. Experimental results demonstrate the combination of the 3D RetinaNet and a series of favorable strategies can achieve a mean Average Precision (mAP) of 65.3\% over five object classes (i.e. {\it bottles, handguns, binoculars, glock frames, iPods}). The overall performance is affected by the poor performance on {\it glock frames} and {\it iPods} due to the lack of data and their resemblance with the baggage clutter.

Large language models (LLMs) have achieved impressive performance across various domains. However, the substantial hardware resources required for their training present a significant barrier to efficiency and scalability. To mitigate this challenge, low-precision training techniques have been widely adopted, leading to notable advancements in training efficiency. Despite these gains, low-precision training involves several componentsx2013such as weights, activations, and gradientsx2013each of which can be represented in different numerical formats. The resulting diversity has created a fragmented landscape in low-precision training research, making it difficult for researchers to gain a unified overview of the field. This survey provides a comprehensive review of existing low-precision training methods. To systematically organize these approaches, we categorize them into three primary groups based on their underlying numerical formats, which is a key factor influencing hardware compatibility, computational efficiency, and ease of reference for readers. The categories are: (1) fixed-point and integer-based methods, (2) floating-point-based methods, and (3) customized format-based methods. Additionally, we discuss quantization-aware training approaches, which share key similarities with low-precision training during forward propagation. Finally, we highlight several promising research directions to advance this field. A collection of papers discussed in this survey is provided in https://github.com/Hao840/Awesome-Low-Precision-Training.

Recently, considerable efforts have been directed towards compressing Large Language Models (LLMs), which showcase groundbreaking capabilities across diverse applications but entail significant deployment costs due to their large sizes. Meanwhile, much less attention has been given to mitigating the costs associated with deploying multiple LLMs of varying sizes despite its practical significance. Thus, this paper introduces any-precision LLM, extending the concept of any-precision DNN to LLMs. Addressing challenges in any-precision LLM, we propose a lightweight method for any-precision quantization of LLMs, leveraging a post-training quantization framework, and develop a specialized software engine for its efficient serving. As a result, our solution significantly reduces the high costs of deploying multiple, different-sized LLMs by overlaying LLMs quantized to varying bit-widths, such as 3, 4, ..., n bits, into a memory footprint comparable to a single n-bit LLM. All the supported LLMs with varying bit-widths demonstrate state-of-the-art model quality and inference throughput, proving itself to be a compelling option for deployment of multiple, different-sized LLMs. The source code will be publicly available soon.

We present Image Sculpting, a new framework for editing 2D images by incorporating tools from 3D geometry and graphics. This approach differs markedly from existing methods, which are confined to 2D spaces and typically rely on textual instructions, leading to ambiguity and limited control. Image Sculpting converts 2D objects into 3D, enabling direct interaction with their 3D geometry. Post-editing, these objects are re-rendered into 2D, merging into the original image to produce high-fidelity results through a coarse-to-fine enhancement process. The framework supports precise, quantifiable, and physically-plausible editing options such as pose editing, rotation, translation, 3D composition, carving, and serial addition. It marks an initial step towards combining the creative freedom of generative models with the precision of graphics pipelines.

Post training quantization is essential for deploying large language models (LLMs) on resource constrained hardware, yet state of the art methods enforce uniform bit widths across layers, yielding suboptimal accuracy efficiency trade offs. We present RAMP (Reinforcement Adaptive Mixed Precision), an off policy Soft Actor Critic framework that learns per layer bit width assignments to minimize perplexity under a global bit budget. The policy conditions on an 11 dimensional embedding of activation statistics, weight properties, and structural descriptors, enabling zero shot transfer across model families and scales. To enable stable sub 4 bit quantization, we introduce Scale Folding, a preconditioning technique that migrates activation outliers into weights via per channel scaling and normalization layer compensation. A quality prioritized reward with asymmetric penalties and budget cliffs drives rapid convergence. On Llama 2 7B, RAMP achieves 5.54 perplexity at 3.68GB (3.65 effective bits), outperforming uniform 4 bit AWQ (5.60 at 3.90 GB) and GPTQ by 6% in size and 1% to3% in quality. Critically, a policy trained only on Llama 2 7B generalizes zero shot to Llama 2 13B and Mistral 7B, often surpassing target specific training, supporting the hypothesis that quantization sensitivity is primarily architectural. The HALO pipeline exports allocations to GGUF format for kernel free inference on CPUs, GPUs, and edge devices, retaining 99.5% of FP16 commonsense reasoning performance.

We investigate the effectiveness of GPT-3.5 and GPT-4, two large language models, as Grammatical Error Correction (GEC) tools for Brazilian Portuguese and compare their performance against Microsoft Word and Google Docs. We introduce a GEC dataset for Brazilian Portuguese with four categories: Grammar, Spelling, Internet, and Fast typing. Our results show that while GPT-4 has higher recall than other methods, LLMs tend to have lower precision, leading to overcorrection. This study demonstrates the potential of LLMs as practical GEC tools for Brazilian Portuguese and encourages further exploration of LLMs for non-English languages and other educational settings.

In this work, we tackle the limitations of current LiDAR-based 3D object detection systems, which are hindered by a restricted class vocabulary and the high costs associated with annotating new object classes. Our exploration of open-vocabulary (OV) learning in urban environments aims to capture novel instances using pre-trained vision-language models (VLMs) with multi-sensor data. We design and benchmark a set of four potential solutions as baselines, categorizing them into either top-down or bottom-up approaches based on their input data strategies. While effective, these methods exhibit certain limitations, such as missing novel objects in 3D box estimation or applying rigorous priors, leading to biases towards objects near the camera or of rectangular geometries. To overcome these limitations, we introduce a universal Find n' Propagate approach for 3D OV tasks, aimed at maximizing the recall of novel objects and propagating this detection capability to more distant areas thereby progressively capturing more. In particular, we utilize a greedy box seeker to search against 3D novel boxes of varying orientations and depth in each generated frustum and ensure the reliability of newly identified boxes by cross alignment and density ranker. Additionally, the inherent bias towards camera-proximal objects is alleviated by the proposed remote simulator, which randomly diversifies pseudo-labeled novel instances in the self-training process, combined with the fusion of base samples in the memory bank. Extensive experiments demonstrate a 53% improvement in novel recall across diverse OV settings, VLMs, and 3D detectors. Notably, we achieve up to a 3.97-fold increase in Average Precision (AP) for novel object classes. The source code is made available at https://github.com/djamahl99/findnpropagate.

Multi-view 3D object detection systems often struggle with generating precise predictions due to the challenges in estimating depth from images, increasing redundant and incorrect detections. Our paper presents Ray Denoising, an innovative method that enhances detection accuracy by strategically sampling along camera rays to construct hard negative examples. These examples, visually challenging to differentiate from true positives, compel the model to learn depth-aware features, thereby improving its capacity to distinguish between true and false positives. Ray Denoising is designed as a plug-and-play module, compatible with any DETR-style multi-view 3D detectors, and it only minimally increases training computational costs without affecting inference speed. Our comprehensive experiments, including detailed ablation studies, consistently demonstrate that Ray Denoising outperforms strong baselines across multiple datasets. It achieves a 1.9\% improvement in mean Average Precision (mAP) over the state-of-the-art StreamPETR method on the NuScenes dataset. It shows significant performance gains on the Argoverse 2 dataset, highlighting its generalization capability. The code will be available at https://github.com/LiewFeng/RayDN.

Emerging Artificial Intelligence-enabled Internet-of-Things (AI-IoT) System-on-a-Chip (SoC) for augmented reality, personalized healthcare, and nano-robotics need to run many diverse tasks within a power envelope of a few tens of mW over a wide range of operating conditions: compute-intensive but strongly quantized Deep Neural Network (DNN) inference, as well as signal processing and control requiring high-precision floating-point. We present Marsellus, an all-digital heterogeneous SoC for AI-IoT end-nodes fabricated in GlobalFoundries 22nm FDX that combines 1) a general-purpose cluster of 16 RISC-V Digital Signal Processing (DSP) cores attuned for the execution of a diverse range of workloads exploiting 4-bit and 2-bit arithmetic extensions (XpulpNN), combined with fused MAC&LOAD operations and floating-point support; 2) a 2-8bit Reconfigurable Binary Engine (RBE) to accelerate 3x3 and 1x1 (pointwise) convolutions in DNNs; 3) a set of On-Chip Monitoring (OCM) blocks connected to an Adaptive Body Biasing (ABB) generator and a hardware control loop, enabling on-the-fly adaptation of transistor threshold voltages. Marsellus achieves up to 180 Gop/s or 3.32 Top/s/W on 2-bit precision arithmetic in software, and up to 637 Gop/s or 12.4 Top/s/W on hardware-accelerated DNN layers.

3D Gaussian Splatting (3DGS) has revolutionized neural rendering with its efficiency and quality, but like many novel view synthesis methods, it heavily depends on accurate camera poses from Structure-from-Motion (SfM) systems. Although recent SfM pipelines have made impressive progress, questions remain about how to further improve both their robust performance in challenging conditions (e.g., textureless scenes) and the precision of camera parameter estimation simultaneously. We present 3R-GS, a 3D Gaussian Splatting framework that bridges this gap by jointly optimizing 3D Gaussians and camera parameters from large reconstruction priors MASt3R-SfM. We note that naively performing joint 3D Gaussian and camera optimization faces two challenges: the sensitivity to the quality of SfM initialization, and its limited capacity for global optimization, leading to suboptimal reconstruction results. Our 3R-GS, overcomes these issues by incorporating optimized practices, enabling robust scene reconstruction even with imperfect camera registration. Extensive experiments demonstrate that 3R-GS delivers high-quality novel view synthesis and precise camera pose estimation while remaining computationally efficient. Project page: https://zsh523.github.io/3R-GS/

360-degree images offer a significantly wider field of view compared to traditional pinhole cameras, enabling sparse sampling and dense 3D reconstruction in low-texture environments. This makes them crucial for applications in VR, AR, and related fields. However, the inherent distortion caused by the wide field of view affects feature extraction and matching, leading to geometric consistency issues in subsequent multi-view reconstruction. In this work, we propose 360Recon, an innovative MVS algorithm for ERP images. The proposed spherical feature extraction module effectively mitigates distortion effects, and by combining the constructed 3D cost volume with multi-scale enhanced features from ERP images, our approach achieves high-precision scene reconstruction while preserving local geometric consistency. Experimental results demonstrate that 360Recon achieves state-of-the-art performance and high efficiency in depth estimation and 3D reconstruction on existing public panoramic reconstruction datasets.

Speech-driven 3D facial animation has improved a lot recently while most related works only utilize acoustic modality and neglect the influence of visual and textual cues, leading to unsatisfactory results in terms of precision and coherence. We argue that visual and textual cues are not trivial information. Therefore, we present a novel framework, namely PMMTalk, using complementary Pseudo Multi-Modal features for improving the accuracy of facial animation. The framework entails three modules: PMMTalk encoder, cross-modal alignment module, and PMMTalk decoder. Specifically, the PMMTalk encoder employs the off-the-shelf talking head generation architecture and speech recognition technology to extract visual and textual information from speech, respectively. Subsequently, the cross-modal alignment module aligns the audio-image-text features at temporal and semantic levels. Then PMMTalk decoder is employed to predict lip-syncing facial blendshape coefficients. Contrary to prior methods, PMMTalk only requires an additional random reference face image but yields more accurate results. Additionally, it is artist-friendly as it seamlessly integrates into standard animation production workflows by introducing facial blendshape coefficients. Finally, given the scarcity of 3D talking face datasets, we introduce a large-scale 3D Chinese Audio-Visual Facial Animation (3D-CAVFA) dataset. Extensive experiments and user studies show that our approach outperforms the state of the art. We recommend watching the supplementary video.

Multi-sensor fusion (MSF) is widely used in autonomous vehicles (AVs) for perception, particularly for 3D object detection with camera and LiDAR sensors. The purpose of fusion is to capitalize on the advantages of each modality while minimizing its weaknesses. Advanced deep neural network (DNN)-based fusion techniques have demonstrated the exceptional and industry-leading performance. Due to the redundant information in multiple modalities, MSF is also recognized as a general defence strategy against adversarial attacks. In this paper, we attack fusion models from the camera modality that is considered to be of lesser importance in fusion but is more affordable for attackers. We argue that the weakest link of fusion models depends on their most vulnerable modality, and propose an attack framework that targets advanced camera-LiDAR fusion-based 3D object detection models through camera-only adversarial attacks. Our approach employs a two-stage optimization-based strategy that first thoroughly evaluates vulnerable image areas under adversarial attacks, and then applies dedicated attack strategies for different fusion models to generate deployable patches. The evaluations with six advanced camera-LiDAR fusion models and one camera-only model indicate that our attacks successfully compromise all of them. Our approach can either decrease the mean average precision (mAP) of detection performance from 0.824 to 0.353, or degrade the detection score of a target object from 0.728 to 0.156, demonstrating the efficacy of our proposed attack framework. Code is available.

This article explores the usage of the state-of-art neural network Mask R-CNN to be used for window detection of texture files from the CityGML model of Berlin. As texture files are very irregular in terms of size, exposure settings and orientation, we use several parameter optimisation methods to improve the precision. Those textures are cropped from aerial photos, which implies that the angle of the facade, the exposure as well as contrast are calibrated towards the mean and not towards the single facade. The analysis of a single texture image with the human eye itself is challenging: A combination of window and facade estimation and perspective analysis is necessary in order to determine the facades and windows. We train and detect bounding boxes and masks from two data sets with image size 128 and 256. We explore various configuration optimisation methods and the relation of the Region Proposal Network, detected ROIs and the mask output. Our final results shows that the we can improve the average precision scores for both data set sizes, yet the initial AP score varies and leads to different resulting scores.