Breaking the Vicious Cycle: Coherent 3D Gaussian Splatting from Sparse and Motion-Blurred Views

3D Gaussian Splatting (3DGS) has emerged as a state-of-the-art method for novel view synthesis. However, its performance heavily relies on dense, high-quality input imagery, an assumption that is often violated in real-world applications, where data is typically sparse and motion-blurred. These two issues create a vicious cycle: sparse views ignore the multi-view constraints necessary to resolve motion blur, while motion blur erases high-frequency details crucial for aligning the limited views. Thus, reconstruction often fails catastrophically, with fragmented views and a low-frequency bias. To break this cycle, we introduce CoherentGS, a novel framework for high-fidelity 3D reconstruction from sparse and blurry images. Our key insight is to address these compound degradations using a dual-prior strategy. Specifically, we combine two pre-trained generative models: a specialized deblurring network for restoring sharp details and providing photometric guidance, and a diffusion model that offers geometric priors to fill in unobserved regions of the scene. This dual-prior strategy is supported by several key techniques, including a consistency-guided camera exploration module that adaptively guides the generative process, and a depth regularization loss that ensures geometric plausibility. We evaluate CoherentGS through both quantitative and qualitative experiments on synthetic and real-world scenes, using as few as 3, 6, and 9 input views. Our results demonstrate that CoherentGS significantly outperforms existing methods, setting a new state-of-the-art for this challenging task. The code and video demos are available at https://potatobigroom.github.io/CoherentGS/.

Look, Zoom, Understand: The Robotic Eyeball for Embodied Perception

In embodied AI perception systems, visual perception should be active: the goal is not to passively process static images, but to actively acquire more informative data within pixel and spatial budget constraints. Existing vision models and fixed RGB-D camera systems fundamentally fail to reconcile wide-area coverage with fine-grained detail acquisition, severely limiting their efficacy in open-world robotic applications. To address this issue, we propose EyeVLA, a robotic eyeball for active visual perception that can take proactive actions based on instructions, enabling clear observation of fine-grained target objects and detailed information across a wide spatial extent. EyeVLA discretizes action behaviors into action tokens and integrates them with vision-language models (VLMs) that possess strong open-world understanding capabilities, enabling joint modeling of vision, language, and actions within a single autoregressive sequence. By using the 2D bounding box coordinates to guide the reasoning chain and applying reinforcement learning to refine the viewpoint selection policy, we transfer the open-world scene understanding capability of the VLM to a vision language action (VLA) policy using only minimal real-world data. Experiments show that our system efficiently performs instructed scenes in real-world environments and actively acquires more accurate visual information through instruction-driven actions of rotation and zoom, thereby achieving strong environmental perception capabilities. EyeVLA introduces a novel robotic vision system that leverages detailed and spatially rich, large-scale embodied data, and actively acquires highly informative visual observations for downstream embodied tasks.

Kongzi: A Historical Large Language Model with Fact Enhancement

The capabilities of the latest large language models (LLMs) have been extended from pure natural language understanding to complex reasoning tasks. However, current reasoning models often exhibit factual inaccuracies in longer reasoning chains, which poses challenges for historical reasoning and limits the potential of LLMs in complex, knowledge-intensive tasks. Historical studies require not only the accurate presentation of factual information but also the ability to establish cross-temporal correlations and derive coherent conclusions from fragmentary and often ambiguous sources. To address these challenges, we propose Kongzi, a large language model specifically designed for historical analysis. Through the integration of curated, high-quality historical data and a novel fact-reinforcement learning strategy, Kongzi demonstrates strong factual alignment and sophisticated reasoning depth. Extensive experiments on tasks such as historical question answering and narrative generation demonstrate that Kongzi outperforms existing models in both factual accuracy and reasoning depth. By effectively addressing the unique challenges inherent in historical texts, Kongzi sets a new standard for the development of accurate and reliable LLMs in professional domains.