High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing

Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the safety and reliability required for complex, sustained physical interaction with humans. A key challenge hindering the development of such systems is that collecting, understanding, and effectively transferring highly dynamic, contact-rich human bathing demonstrations is difficult, even with modern motion and tactile sensing equipment. We present a straightforward, but effective framework for doing so with high fidelity by utilizing contact regions as a key processing primitive. We use our framework to build a dataset of bathing demonstrations performed by trained clinicians on human subjects. We then use this dataset to design and control an arm-mounted dexterous soft hand to perform bathing tasks on a mannequin using open- and closed-loop strategies. Our dataset is the first to provide high quality synchronized motion, shape, contact, and force during sustained, contact-rich human-human interaction, and our transfer strategies demonstrate effective use of these data across multiple levels of the robotics stack. All relevant materials will be publicly released to enable further advancements in physical human-robot interaction (pHRI) research.

SemAnCorr: Semantic Anchored Correspondence for Zero-Shot Manipulation Skill Transfer

Transferring manipulation skills across object instances that share functionality but differ in geometry remains a fundamental challenge in robot learning. While recent correspondence methods leverage dense visual descriptors and 3D feature fields, nearest-neighbor feature matching often produces spatially incoherent correspondences that fail to recover the local geometric frames required for reliable skill transfer. We introduce SemAnCorr, a training-free framework that establishes dense correspondence by selecting semantically consistent anchor regions through joint pose-correspondence optimization and propagating these constraints over the object surface using functional maps. The resulting correspondences preserve both semantic consistency and geometric coherence, enabling object-centric manipulation skills to transfer across geometrically diverse instances. We evaluate SemAnCorr on a dense correspondence benchmark built on PartNet-Mobility, achieving 90.8% semantic accuracy in our benchmark evaluation while improving geometric coherence over recent state-of-the-art baselines. Finally, we show that these improvements translate directly into real-world manipulation performance: using a single demonstration, SemAnCorr enables substantially more reliable zero-shot manipulation skill transfer to previously unseen objects than existing correspondence methods. Videos and additional visualizations are available at [https://semancorr.github.io](https://semancorr.github.io) .

IR275K: A Benchmark for Infrared Multi-Frame Super-Resolution Toward Efficient Remote Sensing

Efficient processing is becoming increasingly important in infrared remote sensing, where satellite constellations produce large volumes of observations under constrained detector resolution, power, and downlink bandwidth. Multi-frame super-resolution (MFSR) offers a software-based route to spatial enhancement, but its evaluation in infrared sensing remains fragmented across private datasets and ad-hoc protocols. Existing benchmarks do not explicitly capture the thermal contrast, sensor noise, weak texture, and platform-induced frame-to-frame variation that characterize infrared video. We introduce IR275K, a curated benchmark containing 594 infrared video sequences and 275,196 frames. It provides sequence-level train/validation/test splits and a reproducible X4 evaluation protocol. As an initial architectural probe, we further evaluate CGMamba, a lightweight state-space model with 10.90M parameters and 112.14G FLOPs. CGMamba combines 2D rotary position encoding (2D~RoPE) with center-guided cross-Mamba (CGCM) fusion for implicit multi-frame reconstruction. It achieves 33.19dB PSNR, outperforming infrared single-image super-resolution references by 0.35--0.52~dB at substantially lower computational cost. Ablation results show that removing 2D~RoPE from CGCM causes a 1.53dB drop and severe grid-like artifacts. This indicates that explicit spatial anchoring is critical for stabilizing SSM-based cross-frame gating under infrared conditions. IR275K provides a reproducible foundation for accuracy--efficiency evaluation of infrared MFSR methods, while the architectural analysis offers a concrete starting point for spatially aware SSM design under resource-constrained infrared sensing. Dataset and evaluation resources are available at: https://github.com/InfraRecon7/IR275K.

Hawk: Harnessing Hardware-Aware Knowledge for High-Performance NPU Kernel Generation

Developing high-performance kernels for Neural Processing Units (NPUs) is a critical industry bottleneck, requiring developers to manually navigate implicit hardware constraints and strict memory hierarchies. While large language models offer immense automation potential, they fail catastrophically on NPUs due to a fundamental lack of hardware-specific priors. Naively transplanting code snippets from similar NPU kernels may pass the compiler, but it consistently triggers runtime crashes and performance degradation by blindly violating underlying hardware constraints. To overcome this, we introduce Hawk, a training-free framework that harnesses hardware-aware knowledge through three core modules: (1) Run-Time Knowledge Synthesis Module, which employs a Triple-Part Executable Knowledge Representation to inherently couple the error context with executable semantics; (2) Bottleneck-Aware Knowledge Retrieval Module, which implements a 2D-Retrieval paradigm to project queries into orthogonal syntactic and hardware-aligned semantic spaces; and (3) Effect-Driven Knowledge Distillation Module, which leverages LLM-driven semantic arbitration to continuously distill the knowledge by pruning errors and consolidating redundancies based on the empirical execution feedback. Extensive evaluations on real-world NPU workloads demonstrate that Hawk elevates generation accuracy from 49.4% to 80.0%, while achieving up to a 2.2x execution speedup over state-of-the-art baselines.

SkinGPT-X: A Self-Evolving Collaborative Multi-Agent System for Transparent and Trustworthy Dermatological Diagnosis

While recent advancements in Large Language Models have significantly advanced dermatological diagnosis, monolithic LLMs frequently struggle with fine-grained, large-scale multi-class diagnostic tasks and rare skin disease diagnosis owing to training data sparsity, while also lacking the interpretability and traceability essential for clinical reasoning. Although multi-agent systems can offer more transparent and explainable diagnostics, existing frameworks are primarily concentrated on Visual Question Answering and conversational tasks, and their heavy reliance on static knowledge bases restricts adaptability in complex real-world clinical settings. Here, we present SkinGPT-X, a multimodal collaborative multi-agent system for dermatological diagnosis integrated with a self-evolving dermatological memory mechanism. By simulating the diagnostic workflow of dermatologists and enabling continuous memory evolution, SkinGPT-X delivers transparent and trustworthy diagnostics for the management of complex and rare dermatological cases. To validate the robustness of SkinGPT-X, we design a three-tier comparative experiment. First, we benchmark SkinGPT-X against four state-of-the-art LLMs across four public datasets, demonstrating its state-of-the-art performance with a +9.6% accuracy improvement on DDI31 and +13% weighted F1 gain on Dermnet over the state-of-the-art model. Second, we construct a large-scale multi-class dataset covering 498 distinct dermatological categories to evaluate its fine-grained classification capabilities. Finally, we curate the rare skin disease dataset, the first benchmark to address the scarcity of clinical rare skin diseases which contains 564 clinical samples with eight rare dermatological diseases. On this dataset, SkinGPT-X achieves a +9.8% accuracy improvement, a +7.1% weighted F1 improvement, a +10% Cohen's Kappa improvement.

Dexterous Manipulation Policies from RGB Human Videos via 4D Hand-Object Trajectory Reconstruction

Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing approaches largely rely on human teleoperation with wearable devices or specialized sensing equipment to capture hand-object interactions, which limits scalability. In this work, we propose VIDEOMANIP, a device-free framework that learns dexterous manipulation directly from RGB human videos. Leveraging recent advances in computer vision, VIDEOMANIP reconstructs explicit 4D robot-object trajectories from monocular videos by estimating human hand poses, object meshes, and retargets the reconstructed human motions to robotic hands for manipulation learning. To make the reconstructed robot data suitable for dexterous manipulation training, we introduce hand-object contact optimization with interaction-centric grasp modeling, as well as a demonstration synthesis strategy that generates diverse training trajectories from a single video, enabling generalizable policy learning without additional robot demonstrations. In simulation, the learned grasping model achieves a 70.25% success rate across 20 diverse objects using the Inspire Hand. In the real world, manipulation policies trained from RGB videos achieve an average 62.86% success rate across seven tasks using the LEAP Hand, outperforming retargeting-based methods by 15.87%. Project videos are available at videomanip.github.io.

CEMG: Collaborative-Enhanced Multimodal Generative Recommendation

Generative recommendation models often struggle with two key challenges: (1) the superficial integration of collaborative signals, and (2) the decoupled fusion of multimodal features. These limitations hinder the creation of a truly holistic item representation. To overcome this, we propose CEMG, a novel Collaborative-Enhaned Multimodal Generative Recommendation framework. Our approach features a Multimodal Fusion Layer that dynamically integrates visual and textual features under the guidance of collaborative signals. Subsequently, a Unified Modality Tokenization stage employs a Residual Quantization VAE (RQ-VAE) to convert this fused representation into discrete semantic codes. Finally, in the End-to-End Generative Recommendation stage, a large language model is fine-tuned to autoregressively generate these item codes. Extensive experiments demonstrate that CEMG significantly outperforms state-of-the-art baselines.

PID-controlled Langevin Dynamics for Faster Sampling of Generative Models

Langevin dynamics sampling suffers from extremely low generation speed, fundamentally limited by numerous fine-grained iterations to converge to the target distribution. We introduce PID-controlled Langevin Dynamics (PIDLD), a novel sampling acceleration algorithm that reinterprets the sampling process using control-theoretic principles. By treating energy gradients as feedback signals, PIDLD combines historical gradients (the integral term) and gradient trends (the derivative term) to efficiently traverse energy landscapes and adaptively stabilize, thereby significantly reducing the number of iterations required to produce high-quality samples. Our approach requires no additional training, datasets, or prior information, making it immediately integrable with any Langevin-based method. Extensive experiments across image generation and reasoning tasks demonstrate that PIDLD achieves higher quality with fewer steps, making Langevin-based generative models more practical for efficiency-critical applications. The implementation can be found at \href{https://github.com/tsinghua-fib-lab/PIDLD}{https://github.com/tsinghua-fib-lab/PIDLD}.

Research on Multi-hop Inference Optimization of LLM Based on MQUAKE Framework

Accurately answering complex questions has consistently been a significant challenge for Large Language Models (LLMs). To address this, this paper proposes a multi-hop question decomposition method for complex questions, building upon research within the MQUAKE framework. Utilizing the LLAMA3 model, we systematically investigate the impact of multi-hop question decomposition within knowledge graphs on model comprehension and reasoning accuracy, both before and after model training. In our experiments, we systematically partitioned and converted the MQUAKE-T dataset into two distinct formats: a single-hop dataset designed for directly answering complex questions, and a multi-hop dataset constructed using the multi-hop question decomposition method. We then fine-tuned the LLAMA3 model on these datasets and conducted inference tests. Our results demonstrate that, without fine-tuning the LLM, the prediction performance based on the multi-hop question decomposition method significantly outperforms the method of directly answering complex questions. After fine-tuning using the LoRA (Low-Rank Adaptation) method, the performance of both approaches improved compared to the untrained baseline. Crucially, the method utilizing multi-hop decomposition consistently maintained its superiority. These findings validate the effectiveness of the multi-hop decomposition method both before and after training, demonstrating its capability to effectively enhance the LLM's ability to answer complex questions.

RPD-Diff: Region-Adaptive Physics-Guided Diffusion Model for Visibility Enhancement under Dense and Non-Uniform Haze

Single-image dehazing under dense and non-uniform haze conditions remains challenging due to severe information degradation and spatial heterogeneity. Traditional diffusion-based dehazing methods struggle with insufficient generation conditioning and lack of adaptability to spatially varying haze distributions, which leads to suboptimal restoration. To address these limitations, we propose RPD-Diff, a Region-adaptive Physics-guided Dehazing Diffusion Model for robust visibility enhancement in complex haze scenarios. RPD-Diff introduces a Physics-guided Intermediate State Targeting (PIST) strategy, which leverages physical priors to reformulate the diffusion Markov chain by generation target transitions, mitigating the issue of insufficient conditioning in dense haze scenarios. Additionally, the Haze-Aware Denoising Timestep Predictor (HADTP) dynamically adjusts patch-specific denoising timesteps employing a transmission map cross-attention mechanism, adeptly managing non-uniform haze distributions. Extensive experiments across four real-world datasets demonstrate that RPD-Diff achieves state-of-the-art performance in challenging dense and non-uniform haze scenarios, delivering high-quality, haze-free images with superior detail clarity and color fidelity.