On relative universality, regression operator, and conditional independence

The notion of relative universality with respect to a {\sigma}-field was introduced to establish the unbiasedness and Fisher consistency of an estimator in nonlinear sufficient dimension reduction. However, there is a gap in the proof of this result in the existing literature. The existing definition of relative universality seems to be too strong for the proof to be valid. In this note we modify the definition of relative universality using the concept of \k{o}-measurability, and rigorously establish the mentioned unbiasedness and Fisher consistency. The significance of this result is beyond its original context of sufficient dimension reduction, because relative universality allows us to use the regression operator to fully characterize conditional independence, a crucially important statistical relation that sits at the core of many areas and methodologies in statistics and machine learning, such as dimension reduction, graphical models, probability embedding, causal inference, and Bayesian estimation.

CLEAR-KGQA: Clarification-Enhanced Ambiguity Resolution for Knowledge Graph Question Answering

This study addresses the challenge of ambiguity in knowledge graph question answering (KGQA). While recent KGQA systems have made significant progress, particularly with the integration of large language models (LLMs), they typically assume user queries are unambiguous, which is an assumption that rarely holds in real-world applications. To address these limitations, we propose a novel framework that dynamically handles both entity ambiguity (e.g., distinguishing between entities with similar names) and intent ambiguity (e.g., clarifying different interpretations of user queries) through interactive clarification. Our approach employs a Bayesian inference mechanism to quantify query ambiguity and guide LLMs in determining when and how to request clarification from users within a multi-turn dialogue framework. We further develop a two-agent interaction framework where an LLM-based user simulator enables iterative refinement of logical forms through simulated user feedback. Experimental results on the WebQSP and CWQ dataset demonstrate that our method significantly improves performance by effectively resolving semantic ambiguities. Additionally, we contribute a refined dataset of disambiguated queries, derived from interaction histories, to facilitate future research in this direction.

NuWa: Deriving Lightweight Task-Specific Vision Transformers for Edge Devices

Vision Transformers (ViTs) excel in computer vision tasks but lack flexibility for edge devices' diverse needs. A vital issue is that ViTs pre-trained to cover a broad range of tasks are \textit{over-qualified} for edge devices that usually demand only part of a ViT's knowledge for specific tasks. Their task-specific accuracy on these edge devices is suboptimal. We discovered that small ViTs that focus on device-specific tasks can improve model accuracy and in the meantime, accelerate model inference. This paper presents NuWa, an approach that derives small ViTs from the base ViT for edge devices with specific task requirements. NuWa can transfer task-specific knowledge extracted from the base ViT into small ViTs that fully leverage constrained resources on edge devices to maximize model accuracy with inference latency assurance. Experiments with three base ViTs on three public datasets demonstrate that compared with state-of-the-art solutions, NuWa improves model accuracy by up to $\text{11.83}\%$ and accelerates model inference by 1.29$\times$ - 2.79$\times$. Code for reproduction is available at https://anonymous.4open.science/r/Task_Specific-3A5E.

Towards Benchmarking and Assessing the Safety and Robustness of Autonomous Driving on Safety-critical Scenarios

Autonomous driving has made significant progress in both academia and industry, including performance improvements in perception task and the development of end-to-end autonomous driving systems. However, the safety and robustness assessment of autonomous driving has not received sufficient attention. Current evaluations of autonomous driving are typically conducted in natural driving scenarios. However, many accidents often occur in edge cases, also known as safety-critical scenarios. These safety-critical scenarios are difficult to collect, and there is currently no clear definition of what constitutes a safety-critical scenario. In this work, we explore the safety and robustness of autonomous driving in safety-critical scenarios. First, we provide a definition of safety-critical scenarios, including static traffic scenarios such as adversarial attack scenarios and natural distribution shifts, as well as dynamic traffic scenarios such as accident scenarios. Then, we develop an autonomous driving safety testing platform to comprehensively evaluate autonomous driving systems, encompassing not only the assessment of perception modules but also system-level evaluations. Our work systematically constructs a safety verification process for autonomous driving, providing technical support for the industry to establish standardized test framework and reduce risks in real-world road deployment.

Can Video Diffusion Model Reconstruct 4D Geometry?

Reconstructing dynamic 3D scenes (i.e., 4D geometry) from monocular video is an important yet challenging problem. Conventional multiview geometry-based approaches often struggle with dynamic motion, whereas recent learning-based methods either require specialized 4D representation or sophisticated optimization. In this paper, we present Sora3R, a novel framework that taps into the rich spatiotemporal priors of large-scale video diffusion models to directly infer 4D pointmaps from casual videos. Sora3R follows a two-stage pipeline: (1) we adapt a pointmap VAE from a pretrained video VAE, ensuring compatibility between the geometry and video latent spaces; (2) we finetune a diffusion backbone in combined video and pointmap latent space to generate coherent 4D pointmaps for every frame. Sora3R operates in a fully feedforward manner, requiring no external modules (e.g., depth, optical flow, or segmentation) or iterative global alignment. Extensive experiments demonstrate that Sora3R reliably recovers both camera poses and detailed scene geometry, achieving performance on par with state-of-the-art methods for dynamic 4D reconstruction across diverse scenarios.

Exploring Few-Shot Defect Segmentation in General Industrial Scenarios with Metric Learning and Vision Foundation Models

Industrial defect segmentation is critical for manufacturing quality control. Due to the scarcity of training defect samples, few-shot semantic segmentation (FSS) holds significant value in this field. However, existing studies mostly apply FSS to tackle defects on simple textures, without considering more diverse scenarios. This paper aims to address this gap by exploring FSS in broader industrial products with various defect types. To this end, we contribute a new real-world dataset and reorganize some existing datasets to build a more comprehensive few-shot defect segmentation (FDS) benchmark. On this benchmark, we thoroughly investigate metric learning-based FSS methods, including those based on meta-learning and those based on Vision Foundation Models (VFMs). We observe that existing meta-learning-based methods are generally not well-suited for this task, while VFMs hold great potential. We further systematically study the applicability of various VFMs in this task, involving two paradigms: feature matching and the use of Segment Anything (SAM) models. We propose a novel efficient FDS method based on feature matching. Meanwhile, we find that SAM2 is particularly effective for addressing FDS through its video track mode. The contributed dataset and code will be available at: https://github.com/liutongkun/GFDS.

Multi-Agents Based on Large Language Models for Knowledge-based Visual Question Answering

Large Language Models (LLMs) have achieved impressive results in knowledge-based Visual Question Answering (VQA). However existing methods still have challenges: the inability to use external tools autonomously, and the inability to work in teams. Humans tend to know whether they need to use external tools when they encounter a new question, e.g., they tend to be able to give a direct answer to a familiar question, whereas they tend to use tools such as search engines when they encounter an unfamiliar question. In addition, humans also tend to collaborate and discuss with others to get better answers. Inspired by this, we propose the multi-agent voting framework. We design three LLM-based agents that simulate different levels of staff in a team, and assign the available tools according to the levels. Each agent provides the corresponding answer, and finally all the answers provided by the agents are voted to get the final answer. Experiments on OK-VQA and A-OKVQA show that our approach outperforms other baselines by 2.2 and 1.0, respectively.

WiFi CSI Based Temporal Activity Detection Via Dual Pyramid Network

We address the challenge of WiFi-based temporal activity detection and propose an efficient Dual Pyramid Network that integrates Temporal Signal Semantic Encoders and Local Sensitive Response Encoders. The Temporal Signal Semantic Encoder splits feature learning into high and low-frequency components, using a novel Signed Mask-Attention mechanism to emphasize important areas and downplay unimportant ones, with the features fused using ContraNorm. The Local Sensitive Response Encoder captures fluctuations without learning. These feature pyramids are then combined using a new cross-attention fusion mechanism. We also introduce a dataset with over 2,114 activity segments across 553 WiFi CSI samples, each lasting around 85 seconds. Extensive experiments show our method outperforms challenging baselines. Code and dataset are available at https://github.com/AVC2-UESTC/WiFiTAD.

Belted and Ensembled Neural Network for Linear and Nonlinear Sufficient Dimension Reduction

We introduce a unified, flexible, and easy-to-implement framework of sufficient dimension reduction that can accommodate both linear and nonlinear dimension reduction, and both the conditional distribution and the conditional mean as the targets of estimation. This unified framework is achieved by a specially structured neural network -- the Belted and Ensembled Neural Network (BENN) -- that consists of a narrow latent layer, which we call the belt, and a family of transformations of the response, which we call the ensemble. By strategically placing the belt at different layers of the neural network, we can achieve linear or nonlinear sufficient dimension reduction, and by choosing the appropriate transformation families, we can achieve dimension reduction for the conditional distribution or the conditional mean. Moreover, thanks to the advantage of the neural network, the method is very fast to compute, overcoming a computation bottleneck of the traditional sufficient dimension reduction estimators, which involves the inversion of a matrix of dimension either p or n. We develop the algorithm and convergence rate of our method, compare it with existing sufficient dimension reduction methods, and apply it to two data examples.

mR$^2$AG: Multimodal Retrieval-Reflection-Augmented Generation for Knowledge-Based VQA

Advanced Multimodal Large Language Models (MLLMs) struggle with recent Knowledge-based VQA tasks, such as INFOSEEK and Encyclopedic-VQA, due to their limited and frozen knowledge scope, often leading to ambiguous and inaccurate responses. Thus, multimodal Retrieval-Augmented Generation (mRAG) is naturally introduced to provide MLLMs with comprehensive and up-to-date knowledge, effectively expanding the knowledge scope. However, current mRAG methods have inherent drawbacks, including: 1) Performing retrieval even when external knowledge is not needed. 2) Lacking of identification of evidence that supports the query. 3) Increasing model complexity due to additional information filtering modules or rules. To address these shortcomings, we propose a novel generalized framework called \textbf{m}ultimodal \textbf{R}etrieval-\textbf{R}eflection-\textbf{A}ugmented \textbf{G}eneration (mR$^2$AG), which achieves adaptive retrieval and useful information localization to enable answers through two easy-to-implement reflection operations, preventing high model complexity. In mR$^2$AG, Retrieval-Reflection is designed to distinguish different user queries and avoids redundant retrieval calls, and Relevance-Reflection is introduced to guide the MLLM in locating beneficial evidence of the retrieved content and generating answers accordingly. In addition, mR$^2$AG can be integrated into any well-trained MLLM with efficient fine-tuning on the proposed mR$^2$AG Instruction-Tuning dataset (mR$^2$AG-IT). mR$^2$AG significantly outperforms state-of-the-art MLLMs (e.g., GPT-4v/o) and RAG-based MLLMs on INFOSEEK and Encyclopedic-VQA, while maintaining the exceptional capabilities of base MLLMs across a wide range of Visual-dependent tasks.