arXiv:2504.05451v2 Announce Type: replace
Abstract: Traditional methods for view-invariant learning rely on controlled multi-view training data with minimal scene clutter. However, they struggle with in-the-wild videos that exhibit extreme viewpoint differences and share little visual content. We introduce ViewBridge, a framework for learning rich video representations in the presence of severe view-occlusions. We introduce a knowledge distillation objective that preserves action-centric semantics, together with a novel curriculum learning procedure that pairs incrementally more challenging views over time, thereby allowing smooth adaptation to extreme viewpoint differences. To sort training video segments for the proposed curriculum, we define a geometry-based metric that reflects their likely occlusion level. While training leverages multi-view data, at inference time, the input is an uncalibrated, single-viewpoint video. Evaluating our approach on two tasks -- temporal keystep grounding and fine-grained keystep recognition -- we outperform SOTA approaches across three datasets (Ego-Exo4D, LEMMA, EPFL-Smart-Kitchen-30). Project page: https://vision.cs.utexas.edu/projects/learning_view_distill/ .
Science Journals
arXiv:2605.15667v1 Announce Type: cross
Abstract: On a finite outcome space, the canonical Gibbs distribution is usually obtained by maximizing Shannon entropy at fixed mean of an externally supplied energy functional. This paper studies the finite-state consequences of a ratio-cost construction instead: after adopting the normalized d'Alembert degree-two closure called the Recognition Composition Law (RCL), with unit log-curvature calibration at the reference ratio, the continuous nontrivial positive branch is $J(x)=\tfrac12(x+x^{-1})-1=\cosh(\log x)-1$. Given the induced cost vector $X_\omega=J(r_\omega)$, multinomial counting and convex duality recover the finite-state Gibbs weights and the identity $F_{\mathrm{R}}(q)-F_{\mathrm{R}}(p)=T_{\mathrm{R}}\,D_{\mathrm{KL}}(q\Vert p)$; the entropy-maximization steps are classical once the cost is fixed. New technical content includes a non-asymptotic Stirling bound and soft-shell constrained-type theorems for real-valued costs. A three-state example compares the Gibbs law to squared-log, affinity-as-energy, and Tsallis alternatives at the same cost vector and mean-cost constraint, with sample-size power calculations at fixed RCL ground truth. The framework is conditional on axioms (A1)--(A3) and restricted to finite outcome spaces with strictly positive weights; it does not derive the composition law from a more primitive principle.
arXiv:2605.15370v1 Announce Type: cross
Abstract: Accurate salt-body delineation is essential for seismic interpretation because salt structures distort wave propagation, complicate velocity-model building, obscure reservoir geometry, and increase uncertainty in exploration and drilling decisions. Although hybrid quantum-classical models have shown competitive performance on small-scale image-classification tasks, their value for dense, pixel-level geophysical prediction remains largely untested. This work introduces quantum feature gating, a hybrid segmentation architecture that embeds a parameterized quantum circuit (PQC) at feature-fusion points within an encoder-decoder pipeline. A 4-qubit, 2-layer PQC with data re-uploading computes a learned convex combination of lateral and top-down features at each Feature Pyramid Network merge point. A global-average-pooling layer maps encoder features to a fixed 4-dimensional quantum input, decoupling the 72-parameter quantum budget from backbone size and image resolution. The method is evaluated on the 2018 TGS Salt Identification Challenge using 4,000 seismic images at 101 x 101 resolution, across two integration topologies, eight circuit variants, and six encoders with 8M to 118M parameters under five-fold cross-validation. In a controlled EfficientNetV2-L ablation at 256 x 256 resolution, replacing the three Quantum FPN Gates with element-wise addition while holding the encoder, loss schedule, splits, and threshold search fixed reduces mean IoU from 0.9389 to 0.8404, a 9.85 percentage-point gap. Inserting the same circuit as skip-connection attention in a custom U-Net improves IoU by 0.88 points over the SolidUNet baseline, showing that the PQC contribution depends on where and what it gates. These results provide controlled evidence that quantum feature fusion can improve dense seismic segmentation.
arXiv:2605.16062v1 Announce Type: cross
Abstract: Correlative nanoscale surface characterization benefits from simultaneously measuring electronic and structural properties in the same environment, a capability that is essential for modern-day materials science and semiconductor failure analysis. In-situ AFM-SEM measurements facilitated by self-sensing cantilevers offer great potential here; however, they are limited due to their inherent capacitive crosstalk. Here, we demonstrate for the first time the in-situ implementation of single-pass heterodyne Kelvin probe force microscopy inside a scanning electron microscope, using piezo-resistive cantilevers. We overcome the capacitive crosstalk prevalent in piezo-resistive cantilevers by demodulating excitation and detection to simultaneously map surface topography and contact potential difference for correlation with compositional analysis. We systematically compare different operational modes of this heterodyne technique, elucidating their spatial resolution, signal sensitivity, and signal-to-noise ratio. The integrated approach yields exceptional signal quality and reveals how electron beam scan parameters can directly influence surface potential contrast. We demonstrate this correlative analysis workflow on two-dimensional heterostructures and semiconductor circuits. This work establishes a robust and versatile correlative imaging mode for in-situ Kelvin force and topography imaging inside a scanning electron microscope for next-generation semiconductor device analysis and materials science.
arXiv:2511.02342v3 Announce Type: replace
Abstract: Aerial manipulation combines the maneuverability of multirotors with the dexterity of robotic arms to perform complex tasks in cluttered spaces. Yet planning safe, dynamically feasible trajectories remains difficult due to whole-body collision avoidance and the conservativeness of common geometric abstractions such as bounding boxes or ellipsoids. We present a whole-body motion planning and safety-critical control framework for aerial manipulators built on superquadrics (SQs). Using an SQ-plus-proxy representation, we model both the vehicle and obstacles with differentiable, geometry-accurate surfaces. Leveraging this representation, we introduce a maximum-clearance planner that fuses Voronoi diagrams with an equilibrium-manifold formulation to generate smooth, collision-aware trajectories. We further design a safety-critical controller that jointly enforces thrust limits and collision avoidance via high-order control barrier functions. In simulation, our approach outperforms sampling-based planners in cluttered environments, producing faster, safer, and smoother trajectories and exceeding ellipsoid-based baselines in geometric fidelity. Actual experiments on a physical aerial-manipulation platform confirm feasibility and robustness, demonstrating consistent performance across simulation and hardware settings. The video can be found at https://youtu.be/hQYKwrWf1Ak.
arXiv:2512.04457v2 Announce Type: replace
Abstract: Removing specific data influence from large language models (LLMs) remains challenging, as retraining is costly and existing approximate unlearning methods are often unstable. The challenge is exacerbated when the forget set is small or imbalanced. We introduce RapidUn, an influence-driven and parameter-efficient unlearning framework. It first estimates per-sample influence through a fast estimation module, then maps these scores into adaptive update weights that guide selective parameter updates -- forgetting harmful behavior while retaining general knowledge. On Mistral-7B and Llama-3-8B across Dolly-15k and Alpaca-57k, RapidUn achieves up to 100 times higher efficiency than full retraining and consistently outperforms Fisher, GA, and LoReUn on both in-distribution and out-of-distribution forgetting. These results establish influence-guided parameter reweighting as a scalable and interpretable paradigm for LLM unlearning.
arXiv:2502.04871v2 Announce Type: replace
Abstract: The Landau-Lifshitz equation describes the dynamics of magnetization in ferromagnetic materials. Due to the essential nonlinearity and nonconvex constraint, it is typically solved numerically. In this paper, we developed a finite volume element method (FVEM) with the Gauss-Seidel projection method (GSPM) for the micromagnetics simulations. We provide the approximation error in space and depict the energy law when the FVEM is adopted. Owing to the GSPM for time-marching, the discrete system is decoupled component by component, making the computational complexity comparable to that of solving the scalar heat equation implicitly. This significantly accelerates real simulations. We present several numerical experiments to validate the theoretical analysis and the efficiency gain. Additionally, we study the blow-up solution and efficiently simulate the 2D magnetic textures using the proposed method.
arXiv:2605.12509v2 Announce Type: replace
Abstract: Many real-world phenomena are naturally modeled by graphs and networks. However, classical graph models are often limited to pairwise interactions and may not adequately capture the richer structures that arise in practice. Higher-order graph formalisms extend this framework by incorporating multiway, hierarchical, temporal, multilayer, recursive, and tensor-based interactions, thereby providing more expressive representations of complex systems. This book presents a comprehensive overview of mathematical notions that can be used to model higher-order networks. It surveys foundational concepts, extensional frameworks, and newly introduced formalisms, with an emphasis on their structural principles, relationships, and modeling roles. The aim is to provide a unified perspective that helps readers compare diverse higher-order network models and identify appropriate tools for theoretical study and practical applications. This book is Edition 2.0. It mainly includes the addition of several concepts, as well as corrections and improvements of typographical errors and explanations.
arXiv:2602.00364v4 Announce Type: replace
Abstract: Large language models (LLMs) have been serving as effective backbones for retrieval systems, including Retrieval-Augmentation-Generation (RAG), Dense Information Retriever (IR), and Agent Memory Retrieval. Recent studies have demonstrated that such LLM-based Retrieval (LLMR) is vulnerable to adversarial attacks, which manipulates documents by token-level injections and enables adversaries to either boost or diminish these documents in retrieval tasks. However, existing attack studies mainly (1) presume a known query is given to the attacker, and (2) highly rely on access to the victim model's parameters or interactions, which are hardly accessible in real-world scenarios, leading to limited validity. To further explore the secure risks of LLMR, we propose a practical black-box attack method that generates transferable injection tokens based on zero-shot surrogate LLMs without need of victim queries or victim models knowledge. The effectiveness of our attack raises such a robustness issue that similar effects may arise from benign or unintended document edits in the real world. To achieve our attack, we first establish a theoretical framework of LLMR and empirically verify it. Under the framework, we simulate the transferable attack as a min-max problem, and propose an adversarial learning mechanism that finds optimal adversarial tokens with learnable query samples. Our attack is validated to be effective on benchmark datasets across popular LLM retrievers.
arXiv:2605.15366v1 Announce Type: cross
Abstract: We present hybrid quantum-classical pipelines for solving the Duffing equation that leverage Carleman linearization and the Variational Quantum Linear Solver (VQLS). First, we demonstrate that Carleman linearization accurately approximates the weakly nonlinear Duffing equation, with errors diminishing as the truncation order increases. Next, across IBM and Xanadu platforms, we deploy VQLS with symmetry-grouped Hadamard Test evaluations under both global and local cost formulations, compare distinct Hermitianization within a common cost framework, and benchmark hardware-efficient ansatz architectures under a fixed Hermitianization. Across block-banded test cases, each method achieves near-unity fidelity and vanishing relative residuals. These results show that topology-agnostic ansatz, optimized Hermitianization, and efficient cost formulation enable VQLS to recover quantum states proportional to classical solutions for Carleman-structured systems, providing a portable recipe for quantum-in-the-loop simulation of nonlinear dynamics.
arXiv:2605.16213v1 Announce Type: new
Abstract: Sorting is a fundamental operation across numerous computational domains. Traditionally, this process involves transferring data from main memory to a processing unit for sorting, followed by writing the sorted data back to memory. This conventional approach incurs substantial latency and energy overheads due to the extensive data movement between memory and processing components. To mitigate these overheads, this paper introduces novel architectures for executing sorting operations directly within the memory fabric, eliminating the need for off-chip data transfer. To our knowledge, this work represents the first exploration of in-memory sorting using 6T SRAM. The proposed architecture is designed to operate on data represented in the standard weighted binary radix format commonly used in digital systems. The proposed architecture achieves a significant 3.4x reduction in latency compared to memristor-based IMC sorting.
arXiv:2605.16193v1 Announce Type: new
Abstract: Large language models (LLMs) are increasingly used to simulate human opinions and survey responses, but their ability to reproduce population responses across cultures remains limited. Existing persona-based prompting methods typically rely on sociodemographic or personality traits, which are only indirect proxies for the values that shape human responses. We propose a value-based persona construction method that derives textual descriptors from survey responses capturing core cultural dimensions. By sampling value profiles from target populations and aggregating LLM responses across personas, we obtain population-level predictions grounded in observed value distributions. We further introduce a calibration procedure that improves response diversity while preserving estimated opinions. We show that our approach reduces prediction error across countries, with the largest improvements observed in underrepresented populations. This substantially narrows the performance gap between countries aligned with dominant LLM priors and those that are less represented in training data, while also yielding response distributions that closely match human diversity.
arXiv:2507.02032v2 Announce Type: replace-cross
Abstract: One of the forthcoming major challenges in particle physics is the experimental determination of the Higgs trilinear self-coupling. While efforts have largely focused on on-shell double- and single-Higgs production in proton-proton collisions, off-shell Higgs production has also been proposed as a valuable complementary probe. In this article, we design a hybrid neural simulation-based inference (NSBI) approach to construct a likelihood of the Higgs signal incorporating modifications from the Standard Model effective field theory (SMEFT), relevant background processes, and quantum interference effects. It leverages the training efficiency of matrix-element-enhanced techniques, which are vital for robust SMEFT applications, while also incorporating the practical advantages of classification-based methods for effective background estimates. We demonstrate that our NSBI approach achieves sensitivity close to the theoretical optimum and provide expected constraints for the high-luminosity upgrade of the Large Hadron Collider. While we primarily concentrate on the Higgs trilinear self-coupling, we also consider constraints on other SMEFT operators that affect off-shell Higgs production.
arXiv:2605.15350v1 Announce Type: cross
Abstract: Stochastic compositional optimization minimizes objectives of the form $\min_{\bm{x} \in \mathcal{X}} F(\bm{f}(\bm{x}), \bm{x})$, where $\bm{f}$ is accessible only through noisy stochastic queries. Existing methods for this problem assume that the outer function $F$ is continuously differentiable, which excludes many practically important applications such as robust max-of-losses, Conditional Value-at-Risk, and norm regularizers. We propose the Hybrid Momentum Stochastic Frank--Wolfe algorithm, which drops the smoothness assumption on $F$. By combining a momentum-based Jacobian tracker with a Taylor-corrected function tracker, the algorithm feeds an entire stochastic linearization -- rather than a single gradient -- into a generalized linear minimization oracle. We establish an $\mathcal{O}(K^{-1/4})$ convergence rate in the generalized Frank--Wolfe gap for non-convex objectives with $L_F$-Lipschitz outer functions, matching the optimal complexity for projection-free single-sample stochastic methods under expected smoothness. The analysis extends to heavy-tailed noise oracles with bounded $r$-th moments for $r \in (1, 2]$ and recovers the deterministic rates of Vladarean et al (2023) as the noise vanishes.
arXiv:2605.02960v2 Announce Type: replace
Abstract: Production LLM workloads increasingly serve discriminative tasks, such as classification, recommendation, and verification, whose answers are read from the logits of a single prefill pass with no autoregressive decoding. Serving these prefill-only workloads on mixture-of-experts (MoE) models is bottlenecked not by compute but by the distributed execution required to fit the model: existing parallel strategies (tensor, expert, and pipeline parallelism) trade memory pressure for redundant computation, communication, and synchronization, severely degrading MoE prefill serving efficiency. We observe that these overheads stem from coupling expert placement with synchronous activation routing -- a design inherited from the decoding era. The long, compute-bound forward passes of large-batch prefill open a per-layer window wide enough to stream expert weights in the background, replacing per-layer activation AllToAll with asynchronous weight AllGather fully overlapped with computation. We propose MoE-Prefill, a prefill-only serving system whose backend, AsyncEP (Asynchronous Expert Parallelism), gathers experts by weight rather than routing them by activation, and whose frontend co-enforces a physically-derived saturation threshold through prefix-aware routing and true-FLOPs load tracking. On Qwen3-235B-A22B across four hardware/precision configurations, MoE-Prefill delivers 1.35-1.37x throughput over the strongest distributed baseline on real-world workloads and up to 1.59x on long-context synthetic workloads, sustaining 29.8-36.2% per-GPU model FLOPs utilization.
arXiv:2605.08401v2 Announce Type: replace
Abstract: Recent advances in large language models (LLMs) have demonstrated remarkable reasoning capabilities, largely stimulated by Reinforcement Learning with Verifiable Rewards (RLVR). However, existing RL algorithms face a fundamental limitation: their exploration remains largely constrained by the inherent capability boundary of the policy model. Although recent methods introduce external expert demonstrations to extend this boundary, they typically rely on complete trajectory-level guidance, which is sample-inefficient, information-sparse, and may confine exploration to a static guidance space. Inspired by the potential of multi-agent systems, we propose $\textbf{AIPO}$, an enhanced reinforcement learning framework that improves LLM reasoning through active multi-agent interaction during exploration. Specifically, AIPO enables the policy model to proactively consult three functional collaborative agents, $\textit{Verify Agent}$, $\textit{Knowledge Agent}$, and $\textit{Reasoning Agent}$, when encountering reasoning bottlenecks, thereby receiving fine-grained and targeted guidance to actively expand its capability boundary during training. We further introduce a tailored importance sampling coefficient together with a clipping strategy to mitigate the off-policy bias and gradient vanishing issues that arise when learning from agent-provided feedback. After training, the policy model performs reasoning independently without relying on collaborative agents. Extensive experiments on diverse reasoning benchmarks, including AIME, MATH500, GPQA-Diamond, and LiveCodeBench, show that AIPO consistently improves reasoning performance, generalizes robustly across different policy models and RLVR algorithms, and effectively expands the reasoning capability boundary of the policy model.
arXiv:2605.11485v2 Announce Type: replace
Abstract: Imitation learning powered by generative models has proven effective for modeling complex single-agent behaviors. However, teaching multi-agent systems, like multiple arms or vehicles, to coordinate through imitation learning is hindered by a fundamental data bottleneck: as the joint state-action space grows exponentially with the number of agents, collecting a sufficient amount of coordinated multi-agent demonstrations becomes extremely costly. In this work, we ask: how can we leverage single-agent demonstration data to learn multi-agent policies? We present Coordinated Diffusion (CoDi), a framework that couples independently trained single-agent diffusion policies through a user-defined multi-agent cost function, without requiring any coordinated demonstrations. We derive a new diffusion-based sampling scheme wherein the diffusion score function decomposes into independent, single-agent pre-trained base policies plus a cost-driven guidance term that coordinates these base policies into cohesive multi-agent behavior. We show that this guidance term can be estimated in a gradient-free manner, making CoDi applicable to black-box, non-differentiable cost functions without additional training. Theoretically and empirically, we analyze the conditions under which this composition can faithfully approximate a target multi-agent behavior. We find a complementary role for demonstration data versus the cost function: single-agent demonstrations must cover the support of the desired multi-agent behavior, while the cost function must promote desired behavior from this product of single-agent policies. Our results in simulation and hardware experiments of a two-arm manipulation task show that CoDi discovers robust coordinated behavior from single-agent data, is more data-efficient than multi-agent baselines, and highlights the importance of joint guidance, base policy support, and cost design.
arXiv:2605.12309v2 Announce Type: replace
Abstract: The development of separate-encoder Unified multimodal models (UMMs) comes with a rapidly growing inference cost due to dense visual token processing. In this paper, we focus on understanding-side visual token reduction for improving the efficiency of separate-encoder UMMs. While this topic has been widely studied for MLLMs, existing methods typically rely on attention scores, text-image similarity and so on, implicitly assuming that the final objective is discriminative reasoning. This assumption does not hold for UMMs, where understanding-side visual tokens must also preserve the model's capabilities for editing images. We propose G$^2$TR, a generation-guided visual token reduction framework for separate-encoder UMMs. Our key insight is that the generation branch provides a task-agnostic signal for identifying understanding-side visual tokens that are not only semantically relevant but also important for latent-space image reconstruction and generation. G$^2$TR estimates token importance from consistency with VAE latent, performs balanced token selection, and merges redundant tokens into retained representatives to reduce information loss. The method is training-free, plug-and-play, and applied only after the understanding encoding stage, making it compatible with existing UMM inference pipelines. Experiments on image understanding and editing benchmarks show that G$^2$TR substantially reduces visual tokens and prefill computation by 1.94x while maintaining both reasoning accuracy and editing quality, outperforming baselines on almost all benchmarks. Code is at: https://github.com/lijunxian111/G2TR.
arXiv:2605.12715v2 Announce Type: replace
Abstract: As language models scale, the amount of data they require grows -- yet many target data sources, such as low-resource languages or specialized domains, are inherently limited in size. A common strategy is to mix this scarce but valuable target data with abundant generic data, which presents a fundamental trade-off: too little target data in the mixture underexposes the model to the target domain, while too much target data repeats the same examples excessively, yielding diminishing returns and eventual overfitting. We study this trade-off across more than 2,000 language-model training runs spanning multiple model and target dataset sizes, as well as several data types, including multilingual, domain-specific, and quality-filtered mixtures. Across all settings, we find that repetition is a central driver of target-domain performance, and that mixture training tolerates much higher repetition than single-source training: scarce target corpora can be reused 15-20 times, with the optimal number of repetitions depending on the target data size, compute budget, and model scale. Next, we introduce a repetition-aware mixture scaling law that accounts for the decreasing value of repeated target tokens and the regularizing role of generic data. Optimizing the scaling law provides a principled way to compute effective mixture configurations, yielding practical mixture recommendations for pretraining under data constraints.
arXiv:2605.12942v2 Announce Type: replace
Abstract: Large-scale datasets have been a key driving force behind the rapid progress of deep learning, but their storage, computational, and energy costs have become increasingly prohibitive. Dataset distillation (DD) mitigates this problem by synthesizing compact yet informative datasets, thereby enabling efficient model training and storage. However, the ease of copying and distributing distilled datasets introduces serious risks of copyright infringement and data leakage. Existing protection methods are primarily designed for raw datasets rather than distilled datasets, and typically rely on backdoor-triggered malicious behaviors, which may raise security concerns. In this paper, we observe that deep neural networks tend to memorize subpopulation distributions during training, resulting in a systematic prediction bias, where models perform better on samples aligned with memorized subpopulations. Motivated by this observation, we propose SubPopMark, a harmless subpopulation-driven protection framework for distilled datasets. SubPopMark consists of two stages. First, the Copyright Verification Marker(CVM) optimization stage injects a class-consistent subpopulation bias while preserving the original optimization trajectory. Second, the User-Specific Tracing Marker (USTM) optimization stage further introduces user-distinguishable perturbations into the CVM-augmented data. To enable black-box verification and tracing, we construct a reference behavior bank by collecting model outputs over carefully designed test sets that cover both standard and subpopulation-shifted data distributions. The provenance of a suspicious model is then inferred by comparing its output behavior signature with the bank and identifying the most consistent reference behavior pattern.
arXiv:2604.14692v2 Announce Type: replace
Abstract: Video understanding requires identifying and reasoning over semantically discriminative visual objects across frames, yet existing object-agnostic solutions struggle to effectively handle substantial object variations over time. To address this, we introduce Chain-of-Glimpse, a search-guided progressive object-grounded reasoning framework that explicitly anchors each reasoning step to specific visual evidence regions, enabling compositional and multi-step decision-making. Formally, Chain-of-Glimpse formulates video reasoning as a step-by-step process that incrementally builds spatially grounded traces around task-relevant visual objects, thereby mitigating over-reliance on saliency-driven cues. Specifically, Chain-of-Glimpse features a search-guided controller, optimized via reinforcement learning with a format reward that significantly incentivizes grounding capability, to iteratively ground visual evidence regions and form reliable reasoning trajectories, yielding accurate and interpretable multi-step decisions. Extensive evaluations on both in domain NExTQA and out-of-domain Video-Holmes, CG-Bench Reasoning, and VRBench benchmarks demonstrate consistent performance gains, robustness and generalization of Chain-of-Glimpse across diverse video reasoning tasks.
arXiv:2605.16239v1 Announce Type: new
Abstract: We introduce a dynamics-level approach to watermarking generative models. Rather than embedding signals into model weights or outputs, we embed the watermark directly into the learned continuous dynamics -- the velocity field of a flow matching model. We formulate this as random coding over a continuous channel: a key-dependent perturbation is added during training, and the message is recovered at detection time from black-box queries. The perturbation is designed to leave the generated distribution unchanged. Experiments on MNIST and CIFAR-10 across different architectures confirm reliable message recovery, preserved generation quality, and chance-level decoding accuracy without the secret key.
arXiv:2605.13925v2 Announce Type: replace
Abstract: Robotic dexterous hands are central to contact-rich manipulation, with rapid progress driven by advances in hardware, sensing, control, simulation, and data generation. However, existing studies are often developed under different assumptions regarding hand embodiments, sensory configurations, task settings, training data, and evaluation protocols, making systematic comparison difficult and obscuring the developmental trajectory of the field. This survey provides a holistic review of dexterous hand research from four complementary aspects. First, we present a hardware-level analysis covering actuation, transmission, perception, and representative hand designs, highlighting the key trade-offs in force capability, compliance, bandwidth, integration, and system complexity. Furthermore, we review control and learning methods for dexterous manipulation from a methodological perspective, grouping representative works by major paradigms and tracing their evolution in chronological order. In addition, we consolidate datasets, modality design, and evaluation practices, which enables methodological progress to be interpreted together with the ways in which it is trained, benchmarked, and assessed. Finally, we discuss the major limitations of current dexterous hand research and summarize the corresponding future directions. By connecting hardware analysis, methodological development, data resources, and evaluation, this survey aims to provide a structured understanding of dexterous hand research and to clarify the most important open challenges for future study.
arXiv:2603.08063v3 Announce Type: replace
Abstract: Cross-view UAV geolocalization is fundamentally a challenging large-scale image retrieval task, aiming to determine the geographic coordinates of Unmanned Aerial Vehicle (UAV) queries by matching them against an extensive geo-tagged satellite image database. Most existing methods learn separate feature representations for each view and determine the final prediction using naive heuristics to assess feature similarity, thereby neglecting to model the crucial cross-view relationships. In this paper, we propose SkyLink, a novel plug-and-play ranking framework that pioneers joint relational modeling of inter-view relationships to enhance cross-view UAV geolocalization. SkyLink leverages a Large Vision-Language Model (LVLM) to model the intricate visual-semantic relationships between UAV and satellite views, facilitating effective cross-view matching. To further refine the learning process, we introduce a relational-aware loss. It leverages soft labels to provide a more nuanced supervision signal, mitigating the harsh penalty on near-positive pairs. This approach enhances both training stability and the model's discriminative capacity. Extensive experiments conducted across multiple base retrieval architectures and benchmark datasets demonstrate that SkyLink significantly boosts the ranking effectiveness of existing models, consistently achieving superior performance in various challenging scenarios.
arXiv:2501.13216v2 Announce Type: replace
Abstract: In this work we present a novel linear and positivity preserving upwind discontinuous Galerkin (DG) approximation of a class of chemotaxis models with damping gradient nonlinearities. In particular, both a local and a nonlocal model including nonlinear diffusion, chemoattraction, chemorepulsion and logistic growth are considered. Some numerical experiments in the context of chemotactic collapse are presented, whose results are in accordance with the previous analysis of the approximation and show how the blow-up can be prevented by means of the damping gradient term.