SurgNarrator: A Generative Retrieval Framework for Surgical Video Understanding

Surgical procedures unfold as structured and recurring clinical events, whose real-time understanding via intraoperative surgical videos is critical for intraoperative decision-making and support. However, existing video understanding methods force a trade-off: autoregressive video-language models support comprehensive reasoning but are not practical for time-sensitive clinical applications, whereas contrastive models offer low latency but struggle with complex scene understanding. Recently, generative retrieval has been explored for general-domain video understanding, but transferring it to surgery is not trivial because near-identical visual appearances may indicate semantically distinct events, and the terminology involved is highly surgery-specific. To this end, we propose SurgNarrator, a new generative retrieval framework tailored for surgical video understanding. We construct a well-curated surgery-centric vocabulary from surgical captions to define a clinically meaningful retrieval space. We then adapt the pre-trained Qwen3-VL-Embedding-8B to learn discriminative clinical representations with a temporally-aware contrastive objective. During inference, a hierarchical, procedure-aware retrieval strategy narrows the search space to the relevant procedure type, delivering fast and effective responses. Our method is comprehensively evaluated on twelve benchmarks in a zero-shot setting and achieves consistent performance gains over state-of-the-art baselines, while reducing output-stage latency by more than two orders of magnitude compared with the generative baseline.

Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution

Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in large-scale models demonstrate promising capabilities for reasoning in robotic tasks. However, existing benchmarks for grasping primarily focus on isolated, visual-based grasp pose detection, failing to capture the complexity of grasping tasks that require multi-step reasoning and semantic understanding during execution. To address this gap, we propose GCA-Bench, a benchmark featuring challenging \textit{grasping with complex action} scenarios that involve both scene-level reasoning and semantic constraints. GCA-Bench enables the evaluation of recent large foundation models under the same settings. To demonstrate the effectiveness of our new benchmark, we implement a diverse set of baselines, ranging from traditional grasp detection pipelines to end-to-end learning methods. Empirical studies achieve success rates below 70\% on complex grasping scenarios, underscoring critical limitations. In addition, we propose new evaluation metrics, analyze critical failure models, and provide insights to guide the development of more robust and generalizable grasping strategies.

CoMo3R-SLAM: Collaborative Monocular Dense SLAM with Learned 3D Reconstruction Priors for Outdoor Multi-Agent Systems

Collaborative dense SLAM is essential for multi-robot teams to achieve scalable and consistent 3D perception across large-scale outdoor environments. Existing systems typically depend on depth sensors, incurring significant payload, power, and calibration costs. Monocular RGB cameras are a lightweight alternative, but collaborative monocular dense SLAM remains difficult due to scale ambiguity, unreliable inter-agent data association, especially in outdoor scenes where low overlap and repetitive structures make traditional feature matching unreliable, motivating robust geometric information. We propose CoMo3R-SLAM, the first collaborative monocular dense RGB SLAM system that leverages robust learned feed-forward 3D reconstruction priors for outdoor multi-agent mapping. Each agent runs a prior-guided front-end for real-time tracking and local dense fusion, while a coordinator performs dense pointmap matching for cross-agent verification, closed-form Sim(3) gauge synchronization, and GPU-accelerated global bundle adjustment with segment-level depth optimization. Requiring neither depth sensors nor parametric intrinsics, our system produces robust cross-agent constraints and globally consistent metric maps from monocular RGB alone. On Tanks and Temples and Waymo sequences, CoMo3R-SLAM achieves the best ATE on three of four Tanks and Temples scenes and competitive Waymo accuracy, matching or exceeding state-of-the-art RGB-D methods while running online at 8 FPS.

MAGS-SLAM: Monocular Multi-Agent Gaussian Splatting SLAM for Geometrically and Photometrically Consistent Reconstruction

Collaborative photorealistic 3D reconstruction from multiple agents enables rapid large-scale scene capture for virtual production and cooperative multi-robot exploration. While recent 3D Gaussian Splatting (3DGS) SLAM algorithms can generate high-fidelity real-time mapping, most of the existing multi-agent Gaussian SLAM methods still rely on RGB-D sensors to obtain metric depth and simplify cross-agent alignment, which limits the deployment on lightweight, low-cost, or power-constrained robotic platforms. To address this challenge, we propose MAGS-SLAM, the first RGB-only multi-agent 3DGS SLAM framework for collaborative scene reconstruction. Each agent independently builds local monocular Gaussian submaps and transmits compact submap summaries rather than raw observations or dense maps. To facilitate robust collaboration in the presence of monocular scale ambiguity, our framework integrates compact submap communication, geometry- and appearance-aware loop verification, and occupancy-aware Gaussian fusion, enabling coherent global reconstruction without active depth sensors. We further introduce ReplicaMultiagent Plus benchmark for evaluating collaborative Gaussian SLAM. Intensive experiments on synthetic and real-world datasets show that MAGS-SLAM achieves competitive tracking accuracy and comparable or superior rendering quality to state-of-the-art RGB-D collaborative Gaussian SLAM methods while relying only RGB images.

AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers

Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of objects to determine interactable regions. However, extending this learning capability to a scene is significantly more complicated, as incorporating object- and scene-level semantics is not straightforward. In this work, we introduce AffordBridge, a large-scale dataset with 291,637 functional interaction annotations across 685 high-resolution indoor scenes in the form of point clouds. Our affordance annotations are complemented by RGB images that are linked to the same instances within the scenes. Building upon our dataset, we propose AffordMatcher, an affordance learning method that establishes coherent semantic correspondences between image-based and point cloud-based instances for keypoint matching, enabling a more precise identification of affordance regions based on cues, so-called visual signifiers. Experimental results on our dataset demonstrate the effectiveness of our approach compared to other methods.

SIGMA: A Physics-Based Benchmark for Gas Chimney Understanding in Seismic Images

Seismic images reconstruct subsurface reflectivity from field recordings, guiding exploration and reservoir monitoring. Gas chimneys are vertical anomalies caused by subsurface fluid migration. Understanding these phenomena is crucial for assessing hydrocarbon potential and avoiding drilling hazards. However, accurate detection is challenging due to strong seismic attenuation and scattering. Traditional physics-based methods are computationally expensive and sensitive to model errors, while deep learning offers efficient alternatives, yet lacks labeled datasets. In this work, we introduce \textbf{SIGMA}, a new physics-based dataset for gas chimney understanding in seismic images, featuring (i) pixel-level gas-chimney mask for detection and (ii) paired degraded and ground-truth image for enhancement. We employed physics-based methods that cover a wide range of geological settings and data acquisition conditions. Comprehensive experiments demonstrate that SIGMA serves as a challenging benchmark for gas chimney interpretation and benefits general seismic understanding.

Pessimistic Auxiliary Policy for Offline Reinforcement Learning

Offline reinforcement learning aims to learn an agent from pre-collected datasets, avoiding unsafe and inefficient real-time interaction. However, inevitable access to out-ofdistribution actions during the learning process introduces approximation errors, causing the error accumulation and considerable overestimation. In this paper, we construct a new pessimistic auxiliary policy for sampling reliable actions. Specifically, we develop a pessimistic auxiliary strategy by maximizing the lower confidence bound of the Q-function. The pessimistic auxiliary strategy exhibits a relatively high value and low uncertainty in the vicinity of the learned policy, avoiding the learned policy sampling high-value actions with potentially high errors during the learning process. Less approximation error introduced by sampled action from pessimistic auxiliary strategy leads to the alleviation of error accumulation. Extensive experiments on offline reinforcement learning benchmarks reveal that utilizing the pessimistic auxiliary strategy can effectively improve the efficacy of other offline RL approaches.

CADKnitter: Compositional CAD Generation from Text and Geometry Guidance

Crafting computer-aided design (CAD) models has long been a painstaking and time-intensive task, demanding both precision and expertise from designers. With the emergence of 3D generation, this task has undergone a transformative impact, shifting not only from visual fidelity to functional utility but also enabling editable CAD designs. Prior works have achieved early success in single-part CAD generation, which is not well-suited for real-world applications, as multiple parts need to be assembled under semantic and geometric constraints. In this paper, we propose CADKnitter, a compositional CAD generation framework with a geometry-guided diffusion sampling strategy. CADKnitter is able to generate a complementary CAD part that follows both the geometric constraints of the given CAD model and the semantic constraints of the desired design text prompt. We also curate a dataset, so-called KnitCAD, containing over 310,000 samples of CAD models, along with textual prompts and assembly metadata that provide semantic and geometric constraints. Intensive experiments demonstrate that our proposed method outperforms other state-of-the-art baselines by a clear margin.

EndoWave: Rational-Wavelet 4D Gaussian Splatting for Endoscopic Reconstruction

In robot-assisted minimally invasive surgery, accurate 3D reconstruction from endoscopic video is vital for downstream tasks and improved outcomes. However, endoscopic scenarios present unique challenges, including photometric inconsistencies, non-rigid tissue motion, and view-dependent highlights. Most 3DGS-based methods that rely solely on appearance constraints for optimizing 3DGS are often insufficient in this context, as these dynamic visual artifacts can mislead the optimization process and lead to inaccurate reconstructions. To address these limitations, we present EndoWave, a unified spatio-temporal Gaussian Splatting framework by incorporating an optical flow-based geometric constraint and a multi-resolution rational wavelet supervision. First, we adopt a unified spatio-temporal Gaussian representation that directly optimizes primitives in a 4D domain. Second, we propose a geometric constraint derived from optical flow to enhance temporal coherence and effectively constrain the 3D structure of the scene. Third, we propose a multi-resolution rational orthogonal wavelet as a constraint, which can effectively separate the details of the endoscope and enhance the rendering performance. Extensive evaluations on two real surgical datasets, EndoNeRF and StereoMIS, demonstrate that our method EndoWave achieves state-of-the-art reconstruction quality and visual accuracy compared to the baseline method.

Learning Human Motion with Temporally Conditional Mamba

Learning human motion based on a time-dependent input signal presents a challenging yet impactful task with various applications. The goal of this task is to generate or estimate human movement that consistently reflects the temporal patterns of conditioning inputs. Existing methods typically rely on cross-attention mechanisms to fuse the condition with motion. However, this approach primarily captures global interactions and struggles to maintain step-by-step temporal alignment. To address this limitation, we introduce Temporally Conditional Mamba, a new mamba-based model for human motion generation. Our approach integrates conditional information into the recurrent dynamics of the Mamba block, enabling better temporally aligned motion. To validate the effectiveness of our method, we evaluate it on a variety of human motion tasks. Extensive experiments demonstrate that our model significantly improves temporal alignment, motion realism, and condition consistency over state-of-the-art approaches. Our project page is available at https://zquang2202.github.io/TCM.