REBot: Reflexive Evasion Robot for Instantaneous Dynamic Obstacle Avoidance

Dynamic obstacle avoidance (DOA) is critical for quadrupedal robots operating in environments with moving obstacles or humans. Existing approaches typically rely on navigation-based trajectory replanning, which assumes sufficient reaction time and leading to fails when obstacles approach rapidly. In such scenarios, quadrupedal robots require reflexive evasion capabilities to perform instantaneous, low-latency maneuvers. This paper introduces Reflexive Evasion Robot (REBot), a control framework that enables quadrupedal robots to achieve real-time reflexive obstacle avoidance. REBot integrates an avoidance policy and a recovery policy within a finite-state machine. With carefully designed learning curricula and by incorporating regularization and adaptive rewards, REBot achieves robust evasion and rapid stabilization in instantaneous DOA tasks. We validate REBot through extensive simulations and real-world experiments, demonstrating notable improvements in avoidance success rates, energy efficiency, and robustness to fast-moving obstacles. Videos and appendix are available on https://rebot-2025.github.io/.

LIDAR: Lightweight Adaptive Cue-Aware Fusion Vision Mamba for Multimodal Segmentation of Structural Cracks

Achieving pixel-level segmentation with low computational cost using multimodal data remains a key challenge in crack segmentation tasks. Existing methods lack the capability for adaptive perception and efficient interactive fusion of cross-modal features. To address these challenges, we propose a Lightweight Adaptive Cue-Aware Vision Mamba network (LIDAR), which efficiently perceives and integrates morphological and textural cues from different modalities under multimodal crack scenarios, generating clear pixel-level crack segmentation maps. Specifically, LIDAR is composed of a Lightweight Adaptive Cue-Aware Visual State Space module (LacaVSS) and a Lightweight Dual Domain Dynamic Collaborative Fusion module (LD3CF). LacaVSS adaptively models crack cues through the proposed mask-guided Efficient Dynamic Guided Scanning Strategy (EDG-SS), while LD3CF leverages an Adaptive Frequency Domain Perceptron (AFDP) and a dual-pooling fusion strategy to effectively capture spatial and frequency-domain cues across modalities. Moreover, we design a Lightweight Dynamically Modulated Multi-Kernel convolution (LDMK) to perceive complex morphological structures with minimal computational overhead, replacing most convolutional operations in LIDAR. Experiments on three datasets demonstrate that our method outperforms other state-of-the-art (SOTA) methods. On the light-field depth dataset, our method achieves 0.8204 in F1 and 0.8465 in mIoU with only 5.35M parameters. Code and datasets are available at https://github.com/Karl1109/LIDAR-Mamba.

Beyond Task-Specific Reasoning: A Unified Conditional Generative Framework for Abstract Visual Reasoning

Abstract visual reasoning (AVR) enables humans to quickly discover and generalize abstract rules to new scenarios. Designing intelligent systems with human-like AVR abilities has been a long-standing topic in the artificial intelligence community. Deep AVR solvers have recently achieved remarkable success in various AVR tasks. However, they usually use task-specific designs or parameters in different tasks. In such a paradigm, solving new tasks often means retraining the model, and sometimes retuning the model architectures, which increases the cost of solving AVR problems. In contrast to task-specific approaches, this paper proposes a novel Unified Conditional Generative Solver (UCGS), aiming to address multiple AVR tasks in a unified framework. First, we prove that some well-known AVR tasks can be reformulated as the problem of estimating the predictability of target images in problem panels. Then, we illustrate that, under the proposed framework, training one conditional generative model can solve various AVR tasks. The experiments show that with a single round of multi-task training, UCGS demonstrates abstract reasoning ability across various AVR tasks. Especially, UCGS exhibits the ability of zero-shot reasoning, enabling it to perform abstract reasoning on problems from unseen AVR tasks in the testing phase.

GGTalker: Talking Head Systhesis with Generalizable Gaussian Priors and Identity-Specific Adaptation

Creating high-quality, generalizable speech-driven 3D talking heads remains a persistent challenge. Previous methods achieve satisfactory results for fixed viewpoints and small-scale audio variations, but they struggle with large head rotations and out-of-distribution (OOD) audio. Moreover, they are constrained by the need for time-consuming, identity-specific training. We believe the core issue lies in the lack of sufficient 3D priors, which limits the extrapolation capabilities of synthesized talking heads. To address this, we propose GGTalker, which synthesizes talking heads through a combination of generalizable priors and identity-specific adaptation. We introduce a two-stage Prior-Adaptation training strategy to learn Gaussian head priors and adapt to individual characteristics. We train Audio-Expression and Expression-Visual priors to capture the universal patterns of lip movements and the general distribution of head textures. During the Customized Adaptation, individual speaking styles and texture details are precisely modeled. Additionally, we introduce a color MLP to generate fine-grained, motion-aligned textures and a Body Inpainter to blend rendered results with the background, producing indistinguishable, photorealistic video frames. Comprehensive experiments show that GGTalker achieves state-of-the-art performance in rendering quality, 3D consistency, lip-sync accuracy, and training efficiency.

CoLa: Chinese Character Decomposition with Compositional Latent Components

Humans can decompose Chinese characters into compositional components and recombine them to recognize unseen characters. This reflects two cognitive principles: Compositionality, the idea that complex concepts are built on simpler parts; and Learning-to-learn, the ability to learn strategies for decomposing and recombining components to form new concepts. These principles provide inductive biases that support efficient generalization. They are critical to Chinese character recognition (CCR) in solving the zero-shot problem, which results from the common long-tail distribution of Chinese character datasets. Existing methods have made substantial progress in modeling compositionality via predefined radical or stroke decomposition. However, they often ignore the learning-to-learn capability, limiting their ability to generalize beyond human-defined schemes. Inspired by these principles, we propose a deep latent variable model that learns Compositional Latent components of Chinese characters (CoLa) without relying on human-defined decomposition schemes. Recognition and matching can be performed by comparing compositional latent components in the latent space, enabling zero-shot character recognition. The experiments illustrate that CoLa outperforms previous methods in both character the radical zero-shot CCR. Visualization indicates that the learned components can reflect the structure of characters in an interpretable way. Moreover, despite being trained on historical documents, CoLa can analyze components of oracle bone characters, highlighting its cross-dataset generalization ability.

Dynamic Graph-Like Learning with Contrastive Clustering on Temporally-Factored Ship Motion Data for Imbalanced Sea State Estimation in Autonomous Vessel

Accurate sea state estimation is crucial for the real-time control and future state prediction of autonomous vessels. However, traditional methods struggle with challenges such as data imbalance and feature redundancy in ship motion data, limiting their effectiveness. To address these challenges, we propose the Temporal-Graph Contrastive Clustering Sea State Estimator (TGC-SSE), a novel deep learning model that combines three key components: a time dimension factorization module to reduce data redundancy, a dynamic graph-like learning module to capture complex variable interactions, and a contrastive clustering loss function to effectively manage class imbalance. Our experiments demonstrate that TGC-SSE significantly outperforms existing methods across 14 public datasets, achieving the highest accuracy in 9 datasets, with a 20.79% improvement over EDI. Furthermore, in the field of sea state estimation, TGC-SSE surpasses five benchmark methods and seven deep learning models. Ablation studies confirm the effectiveness of each module, demonstrating their respective roles in enhancing overall model performance. Overall, TGC-SSE not only improves the accuracy of sea state estimation but also exhibits strong generalization capabilities, providing reliable support for autonomous vessel operations.

Prototype-based Heterogeneous Federated Learning for Blade Icing Detection in Wind Turbines with Class Imbalanced Data

Wind farms, typically in high-latitude regions, face a high risk of blade icing. Traditional centralized training methods raise serious privacy concerns. To enhance data privacy in detecting wind turbine blade icing, traditional federated learning (FL) is employed. However, data heterogeneity, resulting from collections across wind farms in varying environmental conditions, impacts the model's optimization capabilities. Moreover, imbalances in wind turbine data lead to models that tend to favor recognizing majority classes, thus neglecting critical icing anomalies. To tackle these challenges, we propose a federated prototype learning model for class-imbalanced data in heterogeneous environments to detect wind turbine blade icing. We also propose a contrastive supervised loss function to address the class imbalance problem. Experiments on real data from 20 turbines across two wind farms show our method outperforms five FL models and five class imbalance methods, with an average improvement of 19.64\% in \( mF_{\beta} \) and 5.73\% in \( m \)BA compared to the second-best method, BiFL.

SCSegamba: Lightweight Structure-Aware Vision Mamba for Crack Segmentation in Structures

Pixel-level segmentation of structural cracks across various scenarios remains a considerable challenge. Current methods encounter challenges in effectively modeling crack morphology and texture, facing challenges in balancing segmentation quality with low computational resource usage. To overcome these limitations, we propose a lightweight Structure-Aware Vision Mamba Network (SCSegamba), capable of generating high-quality pixel-level segmentation maps by leveraging both the morphological information and texture cues of crack pixels with minimal computational cost. Specifically, we developed a Structure-Aware Visual State Space module (SAVSS), which incorporates a lightweight Gated Bottleneck Convolution (GBC) and a Structure-Aware Scanning Strategy (SASS). The key insight of GBC lies in its effectiveness in modeling the morphological information of cracks, while the SASS enhances the perception of crack topology and texture by strengthening the continuity of semantic information between crack pixels. Experiments on crack benchmark datasets demonstrate that our method outperforms other state-of-the-art (SOTA) methods, achieving the highest performance with only 2.8M parameters. On the multi-scenario dataset, our method reached 0.8390 in F1 score and 0.8479 in mIoU. The code is available at https://github.com/Karl1109/SCSegamba.

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation

First-order Policy Gradient (FoPG) algorithms such as Backpropagation through Time and Analytical Policy Gradients leverage local simulation physics to accelerate policy search, significantly improving sample efficiency in robot control compared to standard model-free reinforcement learning. However, FoPG algorithms can exhibit poor learning dynamics in contact-rich tasks like locomotion. Previous approaches address this issue by alleviating contact dynamics via algorithmic or simulation innovations. In contrast, we propose guiding the policy search by learning a residual over a simple baseline policy. For quadruped locomotion, we find that the role of residual policy learning in FoPG-based training (FoPG RPL) is primarily to improve asymptotic rewards, compared to improving sample efficiency for model-free RL. Additionally, we provide insights on applying FoPG's to pixel-based local navigation, training a point-mass robot to convergence within seconds. Finally, we showcase the versatility of FoPG RPL by using it to train locomotion and perceptive navigation end-to-end on a quadruped in minutes.

Staircase Cascaded Fusion of Lightweight Local Pattern Recognition and Long-Range Dependencies for Structural Crack Segmentation

Detecting cracks with pixel-level precision for key structures is a significant challenge, as existing methods struggle to effectively integrate local textures and pixel dependencies of cracks. Furthermore, these methods often possess numerous parameters and substantial computational requirements, complicating deployment on edge devices. In this paper, we propose a staircase cascaded fusion crack segmentation network (CrackSCF) that generates high-quality crack segmentation maps using minimal computational resources. We constructed a staircase cascaded fusion module that effectively captures local patterns of cracks and long-range dependencies of pixels, and it can suppress background noise well. To reduce the computational resources required by the model, we introduced a lightweight convolution block, which replaces all convolution operations in the network, significantly reducing the required computation and parameters without affecting the network's performance. To evaluate our method, we created a challenging benchmark dataset called TUT and conducted experiments on this dataset and five other public datasets. The experimental results indicate that our method offers significant advantages over existing methods, especially in handling background noise interference and detailed crack segmentation. The F1 and mIoU scores on the TUT dataset are 0.8382 and 0.8473, respectively, achieving state-of-the-art (SOTA) performance while requiring the least computational resources. The code and dataset is available at https://github.com/Karl1109/CrackSCF.