HERBench: A Benchmark for Multi-Evidence Integration in Video Question Answering

Video Large Language Models (Video-LLMs) are rapidly improving, yet current Video Question Answering (VideoQA) benchmarks often allow questions to be answered from a single salient cue, under-testing reasoning that must aggregate multiple, temporally separated visual evidence. We present HERBench, a VideoQA benchmark purpose-built to assess multi-evidence integration across time. Each question requires aggregating at least three non-overlapping evidential cues across distinct video segments, so neither language priors nor a single snapshot can suffice. HERBench comprises 26K five-way multiple-choice questions organized into twelve compositional tasks that probe identity binding, cross-entity relations, temporal ordering, co-occurrence verification, and counting. To make evidential demand measurable, we introduce the Minimum Required Frame-Set (MRFS), the smallest number of frames a model must fuse to answer correctly, and show that HERBench imposes substantially higher demand than prior datasets (mean MRFS 5.5 vs. 2.6-4.2). Evaluating 13 state-of-the-art Video-LLMs on HERBench reveals pervasive failures: accuracies of 31-42% are only slightly above the 20% random-guess baseline. We disentangle this failure into two critical bottlenecks: (1) a retrieval deficit, where frame selectors overlook key evidence, and (2) a fusion deficit, where models fail to integrate information even when all necessary evidence is provided. By making cross-time evidence both unavoidable and quantifiable, HERBench establishes a principled target for advancing robust, compositional video understanding.

Active propulsion noise shaping for multi-rotor aircraft localization

Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and vulnerability to occlusions. Acoustic sensing can serve as a complementary or even alternative modality for vision in many situations, and it also has the added benefits of lower system cost and energy footprint, which is especially important for micro aircraft. This paper proposes actively controlling and shaping the aircraft propulsion noise generated by the rotors to benefit localization tasks, rather than considering it a harmful nuisance. We present a neural network architecture for selfnoise-based localization in a known environment. We show that training it simultaneously with learning time-varying rotor phase modulation achieves accurate and robust localization. The proposed methods are evaluated using a computationally affordable simulation of MAV rotor noise in 2D acoustic environments that is fitted to real recordings of rotor pressure fields.