Enhancing Vector Quantization with Distributional Matching: A Theoretical and Empirical Study

The success of autoregressive models largely depends on the effectiveness of vector quantization, a technique that discretizes continuous features by mapping them to the nearest code vectors within a learnable codebook. Two critical issues in existing vector quantization methods are training instability and codebook collapse. Training instability arises from the gradient discrepancy introduced by the straight-through estimator, especially in the presence of significant quantization errors, while codebook collapse occurs when only a small subset of code vectors are utilized during training. A closer examination of these issues reveals that they are primarily driven by a mismatch between the distributions of the features and code vectors, leading to unrepresentative code vectors and significant data information loss during compression. To address this, we employ the Wasserstein distance to align these two distributions, achieving near 100\% codebook utilization and significantly reducing the quantization error. Both empirical and theoretical analyses validate the effectiveness of the proposed approach.

FOAM: A General Frequency-Optimized Anti-Overlapping Framework for Overlapping Object Perception

Overlapping object perception aims to decouple the randomly overlapping foreground-background features, extracting foreground features while suppressing background features, which holds significant application value in fields such as security screening and medical auxiliary diagnosis. Despite some research efforts to tackle the challenge of overlapping object perception, most solutions are confined to the spatial domain. Through frequency domain analysis, we observe that the degradation of contours and textures due to the overlapping phenomenon can be intuitively reflected in the magnitude spectrum. Based on this observation, we propose a general Frequency-Optimized Anti-Overlapping Framework (FOAM) to assist the model in extracting more texture and contour information, thereby enhancing the ability for anti-overlapping object perception. Specifically, we design the Frequency Spatial Transformer Block (FSTB), which can simultaneously extract features from both the frequency and spatial domains, helping the network capture more texture features from the foreground. In addition, we introduce the Hierarchical De-Corrupting (HDC) mechanism, which aligns adjacent features in the separately constructed base branch and corruption branch using a specially designed consistent loss during the training phase. This mechanism suppresses the response to irrelevant background features of FSTBs, thereby improving the perception of foreground contour. We conduct extensive experiments to validate the effectiveness and generalization of the proposed FOAM, which further improves the accuracy of state-of-the-art models on four datasets, specifically for the three overlapping object perception tasks: Prohibited Item Detection, Prohibited Item Segmentation, and Pneumonia Detection. The code will be open source once the paper is accepted.

Tady: A Neural Disassembler without Structural Constraint Violations

Disassembly is a crucial yet challenging step in binary analysis. While emerging neural disassemblers show promise for efficiency and accuracy, they frequently generate outputs violating fundamental structural constraints, which significantly compromise their practical usability. To address this critical problem, we regularize the disassembly solution space by formalizing and applying key structural constraints based on post-dominance relations. This approach systematically detects widespread errors in existing neural disassemblers' outputs. These errors often originate from models' limited context modeling and instruction-level decoding that neglect global structural integrity. We introduce Tady, a novel neural disassembler featuring an improved model architecture and a dedicated post-processing algorithm, specifically engineered to address these deficiencies. Comprehensive evaluations on diverse binaries demonstrate that Tady effectively eliminates structural constraint violations and functions with high efficiency, while maintaining instruction-level accuracy.

SMPL Normal Map Is All You Need for Single-view Textured Human Reconstruction

Single-view textured human reconstruction aims to reconstruct a clothed 3D digital human by inputting a monocular 2D image. Existing approaches include feed-forward methods, limited by scarce 3D human data, and diffusion-based methods, prone to erroneous 2D hallucinations. To address these issues, we propose a novel SMPL normal map Equipped 3D Human Reconstruction (SEHR) framework, integrating a pretrained large 3D reconstruction model with human geometry prior. SEHR performs single-view human reconstruction without using a preset diffusion model in one forward propagation. Concretely, SEHR consists of two key components: SMPL Normal Map Guidance (SNMG) and SMPL Normal Map Constraint (SNMC). SNMG incorporates SMPL normal maps into an auxiliary network to provide improved body shape guidance. SNMC enhances invisible body parts by constraining the model to predict an extra SMPL normal Gaussians. Extensive experiments on two benchmark datasets demonstrate that SEHR outperforms existing state-of-the-art methods.

Know What You Don't Know: Uncertainty Calibration of Process Reward Models

Process reward models (PRMs) play a central role in guiding inference-time scaling algorithms for large language models (LLMs). However, we observe that even state-of-the-art PRMs can be poorly calibrated and often overestimate success probabilities. To address this, we present a calibration approach, performed via quantile regression, that adjusts PRM outputs to better align with true success probabilities. Leveraging these calibrated success estimates and their associated confidence bounds, we introduce an \emph{instance-adaptive scaling} (IAS) framework that dynamically adjusts the inference budget based on the estimated likelihood that a partial reasoning trajectory will yield a correct final answer. Unlike conventional methods that allocate a fixed number of reasoning trajectories per query, this approach successfully adapts to each instance and reasoning step when using our calibrated PRMs. Experiments on mathematical reasoning benchmarks show that (i) our PRM calibration method successfully achieves small calibration error, outperforming the baseline methods, (ii) calibration is crucial for enabling effective adaptive scaling, and (iii) the proposed IAS strategy reduces inference costs while maintaining final answer accuracy, utilizing less compute on more confident problems as desired.

SpikePingpong: High-Frequency Spike Vision-based Robot Learning for Precise Striking in Table Tennis Game

Learning to control high-speed objects in the real world remains a challenging frontier in robotics. Table tennis serves as an ideal testbed for this problem, demanding both rapid interception of fast-moving balls and precise adjustment of their trajectories. This task presents two fundamental challenges: it requires a high-precision vision system capable of accurately predicting ball trajectories, and it necessitates intelligent strategic planning to ensure precise ball placement to target regions. The dynamic nature of table tennis, coupled with its real-time response requirements, makes it particularly well-suited for advancing robotic control capabilities in fast-paced, precision-critical domains. In this paper, we present SpikePingpong, a novel system that integrates spike-based vision with imitation learning for high-precision robotic table tennis. Our approach introduces two key attempts that directly address the aforementioned challenges: SONIC, a spike camera-based module that achieves millimeter-level precision in ball-racket contact prediction by compensating for real-world uncertainties such as air resistance and friction; and IMPACT, a strategic planning module that enables accurate ball placement to targeted table regions. The system harnesses a 20 kHz spike camera for high-temporal resolution ball tracking, combined with efficient neural network models for real-time trajectory correction and stroke planning. Experimental results demonstrate that SpikePingpong achieves a remarkable 91% success rate for 30 cm accuracy target area and 71% in the more challenging 20 cm accuracy task, surpassing previous state-of-the-art approaches by 38% and 37% respectively. These significant performance improvements enable the robust implementation of sophisticated tactical gameplay strategies, providing a new research perspective for robotic control in high-speed dynamic tasks.

Simplifying Bayesian Optimization Via In-Context Direct Optimum Sampling

The optimization of expensive black-box functions is ubiquitous in science and engineering. A common solution to this problem is Bayesian optimization (BO), which is generally comprised of two components: (i) a surrogate model and (ii) an acquisition function, which generally require expensive re-training and optimization steps at each iteration, respectively. Although recent work enabled in-context surrogate models that do not require re-training, virtually all existing BO methods still require acquisition function maximization to select the next observation, which introduces many knobs to tune, such as Monte Carlo samplers and multi-start optimizers. In this work, we propose a completely in-context, zero-shot solution for BO that does not require surrogate fitting or acquisition function optimization. This is done by using a pre-trained deep generative model to directly sample from the posterior over the optimum point. We show that this process is equivalent to Thompson sampling and demonstrate the capabilities and cost-effectiveness of our foundation model on a suite of real-world benchmarks. We achieve an efficiency gain of more than 35x in terms of wall-clock time when compared with Gaussian process-based BO, enabling efficient parallel and distributed BO, e.g., for high-throughput optimization.

OmniIndoor3D: Comprehensive Indoor 3D Reconstruction

We propose a novel framework for comprehensive indoor 3D reconstruction using Gaussian representations, called OmniIndoor3D. This framework enables accurate appearance, geometry, and panoptic reconstruction of diverse indoor scenes captured by a consumer-level RGB-D camera. Since 3DGS is primarily optimized for photorealistic rendering, it lacks the precise geometry critical for high-quality panoptic reconstruction. Therefore, OmniIndoor3D first combines multiple RGB-D images to create a coarse 3D reconstruction, which is then used to initialize the 3D Gaussians and guide the 3DGS training. To decouple the optimization conflict between appearance and geometry, we introduce a lightweight MLP that adjusts the geometric properties of 3D Gaussians. The introduced lightweight MLP serves as a low-pass filter for geometry reconstruction and significantly reduces noise in indoor scenes. To improve the distribution of Gaussian primitives, we propose a densification strategy guided by panoptic priors to encourage smoothness on planar surfaces. Through the joint optimization of appearance, geometry, and panoptic reconstruction, OmniIndoor3D provides comprehensive 3D indoor scene understanding, which facilitates accurate and robust robotic navigation. We perform thorough evaluations across multiple datasets, and OmniIndoor3D achieves state-of-the-art results in appearance, geometry, and panoptic reconstruction. We believe our work bridges a critical gap in indoor 3D reconstruction. The code will be released at: https://ucwxb.github.io/OmniIndoor3D/

GenKI: Enhancing Open-Domain Question Answering with Knowledge Integration and Controllable Generation in Large Language Models

Open-domain question answering (OpenQA) represents a cornerstone in natural language processing (NLP), primarily focused on extracting answers from unstructured textual data. With the rapid advancements in Large Language Models (LLMs), LLM-based OpenQA methods have reaped the benefits of emergent understanding and answering capabilities enabled by massive parameters compared to traditional methods. However, most of these methods encounter two critical challenges: how to integrate knowledge into LLMs effectively and how to adaptively generate results with specific answer formats for various task situations. To address these challenges, we propose a novel framework named GenKI, which aims to improve the OpenQA performance by exploring Knowledge Integration and controllable Generation on LLMs simultaneously. Specifically, we first train a dense passage retrieval model to retrieve associated knowledge from a given knowledge base. Subsequently, we introduce a novel knowledge integration model that incorporates the retrieval knowledge into instructions during fine-tuning to intensify the model. Furthermore, to enable controllable generation in LLMs, we leverage a certain fine-tuned LLM and an ensemble based on text consistency incorporating all coherence, fluency, and answer format assurance. Finally, extensive experiments conducted on the TriviaQA, MSMARCO, and CMRC2018 datasets, featuring diverse answer formats, have demonstrated the effectiveness of GenKI with comparison of state-of-the-art baselines. Moreover, ablation studies have disclosed a linear relationship between the frequency of retrieved knowledge and the model's ability to recall knowledge accurately against the ground truth. Our code of GenKI is available at https://github.com/USTC-StarTeam/GenKI

DLF: Enhancing Explicit-Implicit Interaction via Dynamic Low-Order-Aware Fusion for CTR Prediction

Click-through rate (CTR) prediction is a critical task in online advertising and recommender systems, relying on effective modeling of feature interactions. Explicit interactions capture predefined relationships, such as inner products, but often suffer from data sparsity, while implicit interactions excel at learning complex patterns through non-linear transformations but lack inductive biases for efficient low-order modeling. Existing two-stream architectures integrate these paradigms but face challenges such as limited information sharing, gradient imbalance, and difficulty preserving low-order signals in sparse CTR data. We propose a novel framework, Dynamic Low-Order-Aware Fusion (DLF), which addresses these limitations through two key components: a Residual-Aware Low-Order Interaction Network (RLI) and a Network-Aware Attention Fusion Module (NAF). RLI explicitly preserves low-order signals while mitigating redundancy from residual connections, and NAF dynamically integrates explicit and implicit representations at each layer, enhancing information sharing and alleviating gradient imbalance. Together, these innovations balance low-order and high-order interactions, improving model expressiveness. Extensive experiments on public datasets demonstrate that DLF achieves state-of-the-art performance in CTR prediction, addressing key limitations of existing models. The implementation is publicly available at https://github.com/USTC-StarTeam/DLF.