Masked Depth Modeling for Spatial Perception

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D cameras would be the most viable way, yet it usually faces obstacles posed by hardware limitations and challenging imaging conditions, especially in the presence of specular or texture-less surfaces. In this work, we argue that the inaccuracies from depth sensors can be viewed as "masked" signals that inherently reflect underlying geometric ambiguities. Building on this motivation, we present LingBot-Depth, a depth completion model which leverages visual context to refine depth maps through masked depth modeling and incorporates an automated data curation pipeline for scalable training. It is encouraging to see that our model outperforms top-tier RGB-D cameras in terms of both depth precision and pixel coverage. Experimental results on a range of downstream tasks further suggest that LingBot-Depth offers an aligned latent representation across RGB and depth modalities. We release the code, checkpoint, and 3M RGB-depth pairs (including 2M real data and 1M simulated data) to the community of spatial perception.

Trustworthy Longitudinal Brain MRI Completion: A Deformation-Based Approach with KAN-Enhanced Diffusion Model

Longitudinal brain MRI is essential for lifespan study, yet high attrition rates often lead to missing data, complicating analysis. Deep generative models have been explored, but most rely solely on image intensity, leading to two key limitations: 1) the fidelity or trustworthiness of the generated brain images are limited, making downstream studies questionable; 2) the usage flexibility is restricted due to fixed guidance rooted in the model structure, restricting full ability to versatile application scenarios. To address these challenges, we introduce DF-DiffCom, a Kolmogorov-Arnold Networks (KAN)-enhanced diffusion model that smartly leverages deformation fields for trustworthy longitudinal brain image completion. Trained on OASIS-3, DF-DiffCom outperforms state-of-the-art methods, improving PSNR by 5.6% and SSIM by 0.12. More importantly, its modality-agnostic nature allows smooth extension to varied MRI modalities, even to attribute maps such as brain tissue segmentation results.

Conditional Memory via Scalable Lookup: A New Axis of Sparsity for Large Language Models

While Mixture-of-Experts (MoE) scales capacity via conditional computation, Transformers lack a native primitive for knowledge lookup, forcing them to inefficiently simulate retrieval through computation. To address this, we introduce conditional memory as a complementary sparsity axis, instantiated via Engram, a module that modernizes classic $N$-gram embedding for O(1) lookup. By formulating the Sparsity Allocation problem, we uncover a U-shaped scaling law that optimizes the trade-off between neural computation (MoE) and static memory (Engram). Guided by this law, we scale Engram to 27B parameters, achieving superior performance over a strictly iso-parameter and iso-FLOPs MoE baseline. Most notably, while the memory module is expected to aid knowledge retrieval (e.g., MMLU +3.4; CMMLU +4.0), we observe even larger gains in general reasoning (e.g., BBH +5.0; ARC-Challenge +3.7) and code/math domains~(HumanEval +3.0; MATH +2.4). Mechanistic analyses reveal that Engram relieves the backbone's early layers from static reconstruction, effectively deepening the network for complex reasoning. Furthermore, by delegating local dependencies to lookups, it frees up attention capacity for global context, substantially boosting long-context retrieval (e.g., Multi-Query NIAH: 84.2 to 97.0). Finally, Engram establishes infrastructure-aware efficiency: its deterministic addressing enables runtime prefetching from host memory, incurring negligible overhead. We envision conditional memory as an indispensable modeling primitive for next-generation sparse models.

Motion Blur Robust Wheat Pest Damage Detection with Dynamic Fuzzy Feature Fusion

Motion blur caused by camera shake produces ghosting artifacts that substantially degrade edge side object detection. Existing approaches either suppress blur as noise and lose discriminative structure, or apply full image restoration that increases latency and limits deployment on resource constrained devices. We propose DFRCP, a Dynamic Fuzzy Robust Convolutional Pyramid, as a plug in upgrade to YOLOv11 for blur robust detection. DFRCP enhances the YOLOv11 feature pyramid by combining large scale and medium scale features while preserving native representations, and by introducing Dynamic Robust Switch units that adaptively inject fuzzy features to strengthen global perception under jitter. Fuzzy features are synthesized by rotating and nonlinearly interpolating multiscale features, then merged through a transparency convolution that learns a content adaptive trade off between original and fuzzy cues. We further develop a CUDA parallel rotation and interpolation kernel that avoids boundary overflow and delivers more than 400 times speedup, making the design practical for edge deployment. We train with paired supervision on a private wheat pest damage dataset of about 3,500 images, augmented threefold using two blur regimes, uniform image wide motion blur and bounding box confined rotational blur. On blurred test sets, YOLOv11 with DFRCP achieves about 10.4 percent higher accuracy than the YOLOv11 baseline with only a modest training time overhead, reducing the need for manual filtering after data collection.

Foundation Model-Aided Hierarchical Control for Robust RIS-Assisted Near-Field Communications

The deployment of extremely large aperture arrays (ELAAs) in sixth-generation (6G) networks could shift communication into the near-field communication (NFC) regime. In this regime, signals exhibit spherical wave propagation, unlike the planar waves in conventional far-field systems. Reconfigurable intelligent surfaces (RISs) can dynamically adjust phase shifts to support NFC beamfocusing, concentrating signal energy at specific spatial coordinates. However, effective RIS utilization depends on both rapid channel state information (CSI) estimation and proactive blockage mitigation, which occur on inherently different timescales. CSI varies at millisecond intervals due to small-scale fading, while blockage events evolve over seconds, posing challenges for conventional single-level control algorithms. To address this issue, we propose a dual-transformer (DT) hierarchical framework that integrates two specialized transformer models within a hierarchical deep reinforcement learning (HDRL) architecture, referred to as the DT-HDRL framework. A fast-timescale transformer processes ray-tracing data for rapid CSI estimation, while a vision transformer (ViT) analyzes visual data to predict impending blockages. In HDRL, the high-level controller selects line-of-sight (LoS) or RIS-assisted non-line-of-sight (NLoS) transmission paths and sets goals, while the low-level controller optimizes base station (BS) beamfocusing and RIS phase shifts using instantaneous CSI. This dual-timescale coordination maximizes spectral efficiency (SE) while ensuring robust performance under dynamic conditions. Simulation results demonstrate that our approach improves SE by approximately 18% compared to single-timescale baselines, while the proposed blockage predictor achieves an F1-score of 0.92, providing a 769 ms advance warning window in dynamic scenarios.

Multi-Modal Data-Enhanced Foundation Models for Prediction and Control in Wireless Networks: A Survey

Foundation models (FMs) are recognized as a transformative breakthrough that has started to reshape the future of artificial intelligence (AI) across both academia and industry. The integration of FMs into wireless networks is expected to enable the development of general-purpose AI agents capable of handling diverse network management requests and highly complex wireless-related tasks involving multi-modal data. Inspired by these ideas, this work discusses the utilization of FMs, especially multi-modal FMs in wireless networks. We focus on two important types of tasks in wireless network management: prediction tasks and control tasks. In particular, we first discuss FMs-enabled multi-modal contextual information understanding in wireless networks. Then, we explain how FMs can be applied to prediction and control tasks, respectively. Following this, we introduce the development of wireless-specific FMs from two perspectives: available datasets for development and the methodologies used. Finally, we conclude with a discussion of the challenges and future directions for FM-enhanced wireless networks.

PhyAVBench: A Challenging Audio Physics-Sensitivity Benchmark for Physically Grounded Text-to-Audio-Video Generation

Text-to-audio-video (T2AV) generation underpins a wide range of applications demanding realistic audio-visual content, including virtual reality, world modeling, gaming, and filmmaking. However, existing T2AV models remain incapable of generating physically plausible sounds, primarily due to their limited understanding of physical principles. To situate current research progress, we present PhyAVBench, a challenging audio physics-sensitivity benchmark designed to systematically evaluate the audio physics grounding capabilities of existing T2AV models. PhyAVBench comprises 1,000 groups of paired text prompts with controlled physical variables that implicitly induce sound variations, enabling a fine-grained assessment of models' sensitivity to changes in underlying acoustic conditions. We term this evaluation paradigm the Audio-Physics Sensitivity Test (APST). Unlike prior benchmarks that primarily focus on audio-video synchronization, PhyAVBench explicitly evaluates models' understanding of the physical mechanisms underlying sound generation, covering 6 major audio physics dimensions, 4 daily scenarios (music, sound effects, speech, and their mix), and 50 fine-grained test points, ranging from fundamental aspects such as sound diffraction to more complex phenomena, e.g., Helmholtz resonance. Each test point consists of multiple groups of paired prompts, where each prompt is grounded by at least 20 newly recorded or collected real-world videos, thereby minimizing the risk of data leakage during model pre-training. Both prompts and videos are iteratively refined through rigorous human-involved error correction and quality control to ensure high quality. We argue that only models with a genuine grasp of audio-related physical principles can generate physically consistent audio-visual content. We hope PhyAVBench will stimulate future progress in this critical yet largely unexplored domain.

Confidence analysis-based hybrid heartbeat detection for ballistocardiogram using template matching and deep learning

Heartbeat interval can be detected from ballistocardiogram (BCG) signals in a non-contact manner. Conventional methods achieved heartbeat detection from different perspectives, where template matching (TM) and deep learning (DL) were based on the similarity of neighboring heartbeat episodes and robust spatio-temporal characteristics, respectively, and thus, performed varied from case to case. Inspired by the above facts, we propose confidence analysis-based hybrid heartbeat detection using both TM and DL, and further explore the advantages of both methods in various scenarios. To be specific, the confidence of the heartbeat detection results was evaluated by the consistency of signal morphology and the variability of the detected heartbeat intervals, which could be formulated by the averaged correlation between each heartbeat episode and the detected template and the normalized standard deviation among detected heartbeat intervals, respectively, where the results with higher confidence were remained. In order to validate the effectiveness of the proposed hybrid method, we conducted experiments using practical clinical BCG dataset with 34 subjects including 924,235 heartbeats. Numerical results showed that the proposed hybrid method achieved an average absolute interval error of 20.73 ms, yielding a reduction of 29.28 ms and 10.13 ms compared to solo TM and DL methods, respectively. Besides, case study showed the robustness of heartbeat detection of TM and DL to individual differences and signal quality, respectively, and in turn, validated that the hybrid method could benefit from the complementary advantages of both methods, which demonstrated the superiority of the proposed hybrid method in practical BCG monitoring scenarios.

Image Diffusion Preview with Consistency Solver

The slow inference process of image diffusion models significantly degrades interactive user experiences. To address this, we introduce Diffusion Preview, a novel paradigm employing rapid, low-step sampling to generate preliminary outputs for user evaluation, deferring full-step refinement until the preview is deemed satisfactory. Existing acceleration methods, including training-free solvers and post-training distillation, struggle to deliver high-quality previews or ensure consistency between previews and final outputs. We propose ConsistencySolver derived from general linear multistep methods, a lightweight, trainable high-order solver optimized via Reinforcement Learning, that enhances preview quality and consistency. Experimental results demonstrate that ConsistencySolver significantly improves generation quality and consistency in low-step scenarios, making it ideal for efficient preview-and-refine workflows. Notably, it achieves FID scores on-par with Multistep DPM-Solver using 47% fewer steps, while outperforming distillation baselines. Furthermore, user studies indicate our approach reduces overall user interaction time by nearly 50% while maintaining generation quality. Code is available at https://github.com/G-U-N/consolver.

SOFA-FL: Self-Organizing Hierarchical Federated Learning with Adaptive Clustered Data Sharing

Federated Learning (FL) faces significant challenges in evolving environments, particularly regarding data heterogeneity and the rigidity of fixed network topologies. To address these issues, this paper proposes \textbf{SOFA-FL} (Self-Organizing Hierarchical Federated Learning with Adaptive Clustered Data Sharing), a novel framework that enables hierarchical federated systems to self-organize and adapt over time. The framework is built upon three core mechanisms: (1) \textbf{Dynamic Multi-branch Agglomerative Clustering (DMAC)}, which constructs an initial efficient hierarchical structure; (2) \textbf{Self-organizing Hierarchical Adaptive Propagation and Evolution (SHAPE)}, which allows the system to dynamically restructure its topology through atomic operations -- grafting, pruning, consolidation, and purification -- to adapt to changes in data distribution; and (3) \textbf{Adaptive Clustered Data Sharing}, which mitigates data heterogeneity by enabling controlled partial data exchange between clients and cluster nodes. By integrating these mechanisms, SOFA-FL effectively captures dynamic relationships among clients and enhances personalization capabilities without relying on predetermined cluster structures.