TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance

Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel cross-policy visuo-tactile fusion paradigm that fuses modalities within a low-dimensional action space. Specifically, TouchGuide operates in two stages to guide a pre-trained diffusion or flow-matching visuomotor policy at inference time. First, the policy produces a coarse, visually-plausible action using only visual inputs during early sampling. Second, a task-specific Contact Physical Model (CPM) provides tactile guidance to steer and refine the action, ensuring it aligns with realistic physical contact conditions. Trained through contrastive learning on limited expert demonstrations, the CPM provides a tactile-informed feasibility score to steer the sampling process toward refined actions that satisfy physical contact constraints. Furthermore, to facilitate TouchGuide training with high-quality and cost-effective data, we introduce TacUMI, a data collection system. TacUMI achieves a favorable trade-off between precision and affordability; by leveraging rigid fingertips, it obtains direct tactile feedback, thereby enabling the collection of reliable tactile data. Extensive experiments on five challenging contact-rich tasks, such as shoe lacing and chip handover, show that TouchGuide consistently and significantly outperforms state-of-the-art visuo-tactile policies.

VC-Bench: Pioneering the Video Connecting Benchmark with a Dataset and Evaluation Metrics

While current video generation focuses on text or image conditions, practical applications like video editing and vlogging often need to seamlessly connect separate clips. In our work, we introduce Video Connecting, an innovative task that aims to generate smooth intermediate video content between given start and end clips. However, the absence of standardized evaluation benchmarks has hindered the development of this task. To bridge this gap, we proposed VC-Bench, a novel benchmark specifically designed for video connecting. It includes 1,579 high-quality videos collected from public platforms, covering 15 main categories and 72 subcategories to ensure diversity and structure. VC-Bench focuses on three core aspects: Video Quality Score VQS, Start-End Consistency Score SECS, and Transition Smoothness Score TSS. Together, they form a comprehensive framework that moves beyond conventional quality-only metrics. We evaluated multiple state-of-the-art video generation models on VC-Bench. Experimental results reveal significant limitations in maintaining start-end consistency and transition smoothness, leading to lower overall coherence and fluidity. We expect that VC-Bench will serve as a pioneering benchmark to inspire and guide future research in video connecting. The evaluation metrics and dataset are publicly available at: https://anonymous.4open.science/r/VC-Bench-1B67/.

Average shortest-path length in word-adjacency networks: Chinese versus English

Complex networks provide powerful tools for analyzing and understanding the intricate structures present in various systems, including natural language. Here, we analyze topology of growing word-adjacency networks constructed from Chinese and English literary works written in different periods. Unconventionally, instead of considering dictionary words only, we also include punctuation marks as if they were ordinary words. Our approach is based on two arguments: (1) punctuation carries genuine information related to emotional state, allows for logical grouping of content, provides a pause in reading, and facilitates understanding by avoiding ambiguity, and (2) our previous works have shown that punctuation marks behave like words in a Zipfian analysis and, if considered together with regular words, can improve authorship attribution in stylometric studies. We focus on a functional dependence of the average shortest path length $L(N)$ on a network size $N$ for different epochs and individual novels in their original language as well as for translations of selected novels into the other language. We approximate the empirical results with a growing network model and obtain satisfactory agreement between the two. We also observe that $L(N)$ behaves asymptotically similar for both languages if punctuation marks are included but becomes sizably larger for Chinese if punctuation marks are neglected.

Opt3DGS: Optimizing 3D Gaussian Splatting with Adaptive Exploration and Curvature-Aware Exploitation

3D Gaussian Splatting (3DGS) has emerged as a leading framework for novel view synthesis, yet its core optimization challenges remain underexplored. We identify two key issues in 3DGS optimization: entrapment in suboptimal local optima and insufficient convergence quality. To address these, we propose Opt3DGS, a robust framework that enhances 3DGS through a two-stage optimization process of adaptive exploration and curvature-guided exploitation. In the exploration phase, an Adaptive Weighted Stochastic Gradient Langevin Dynamics (SGLD) method enhances global search to escape local optima. In the exploitation phase, a Local Quasi-Newton Direction-guided Adam optimizer leverages curvature information for precise and efficient convergence. Extensive experiments on diverse benchmark datasets demonstrate that Opt3DGS achieves state-of-the-art rendering quality by refining the 3DGS optimization process without modifying its underlying representation.

FedAdamW: A Communication-Efficient Optimizer with Convergence and Generalization Guarantees for Federated Large Models

AdamW has become one of the most effective optimizers for training large-scale models. We have also observed its effectiveness in the context of federated learning (FL). However, directly applying AdamW in federated learning settings poses significant challenges: (1) due to data heterogeneity, AdamW often yields high variance in the second-moment estimate $\boldsymbol{v}$; (2) the local overfitting of AdamW may cause client drift; and (3) Reinitializing moment estimates ($\boldsymbol{v}$, $\boldsymbol{m}$) at each round slows down convergence. To address these challenges, we propose the first \underline{Fed}erated \underline{AdamW} algorithm, called \texttt{FedAdamW}, for training and fine-tuning various large models. \texttt{FedAdamW} aligns local updates with the global update using both a \textbf{local correction mechanism} and decoupled weight decay to mitigate local overfitting. \texttt{FedAdamW} efficiently aggregates the \texttt{mean} of the second-moment estimates to reduce their variance and reinitialize them. Theoretically, we prove that \texttt{FedAdamW} achieves a linear speedup convergence rate of $\mathcal{O}(\sqrt{(L \Delta \sigma_l^2)/(S K R \epsilon^2)}+(L \Delta)/R)$ without \textbf{heterogeneity assumption}, where $S$ is the number of participating clients per round, $K$ is the number of local iterations, and $R$ is the total number of communication rounds. We also employ PAC-Bayesian generalization analysis to explain the effectiveness of decoupled weight decay in local training. Empirically, we validate the effectiveness of \texttt{FedAdamW} on language and vision Transformer models. Compared to several baselines, \texttt{FedAdamW} significantly reduces communication rounds and improves test accuracy. The code is available in https://github.com/junkangLiu0/FedAdamW.

FedMuon: Accelerating Federated Learning with Matrix Orthogonalization

The core bottleneck of Federated Learning (FL) lies in the communication rounds. That is, how to achieve more effective local updates is crucial for reducing communication rounds. Existing FL methods still primarily use element-wise local optimizers (Adam/SGD), neglecting the geometric structure of the weight matrices. This often leads to the amplification of pathological directions in the weights during local updates, leading deterioration in the condition number and slow convergence. Therefore, we introduce the Muon optimizer in local, which has matrix orthogonalization to optimize matrix-structured parameters. Experimental results show that, in IID setting, Local Muon significantly accelerates the convergence of FL and reduces communication rounds compared to Local SGD and Local AdamW. However, in non-IID setting, independent matrix orthogonalization based on the local distributions of each client induces strong client drift. Applying Muon in non-IID FL poses significant challenges: (1) client preconditioner leading to client drift; (2) moment reinitialization. To address these challenges, we propose a novel Federated Muon optimizer (FedMuon), which incorporates two key techniques: (1) momentum aggregation, where clients use the aggregated momentum for local initialization; (2) local-global alignment, where the local gradients are aligned with the global update direction to significantly reduce client drift. Theoretically, we prove that \texttt{FedMuon} achieves a linear speedup convergence rate without the heterogeneity assumption, where $S$ is the number of participating clients per round, $K$ is the number of local iterations, and $R$ is the total number of communication rounds. Empirically, we validate the effectiveness of FedMuon on language and vision models. Compared to several baselines, FedMuon significantly reduces communication rounds and improves test accuracy.

UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation

Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like USB connectors. While existing methods often rely on regression, feature matching, or registration techniques, achieving high precision and generalizability to unseen CAD models remains a significant challenge. In this paper, we propose a novel three-stage framework for in-hand pose estimation. The first stage involves sampling and pre-ranking pose candidates, followed by iterative refinement of these candidates in the second stage. In the final stage, post-ranking is applied to identify the most likely pose candidates. These stages are governed by a unified energy-based diffusion model, which is trained solely on simulated data. This energy model simultaneously generates gradients to refine pose estimates and produces an energy scalar that quantifies the quality of the pose estimates. Additionally, borrowing the idea from the computer vision domain, we incorporate a render-compare architecture within the energy-based score network to significantly enhance sim-to-real performance, as demonstrated by our ablation studies. We conduct comprehensive experiments to show that our method outperforms conventional baselines based on regression, matching, and registration techniques, while also exhibiting strong intra-category generalization to previously unseen CAD models. Moreover, our approach integrates tactile object pose estimation, pose tracking, and uncertainty estimation into a unified framework, enabling robust performance across a variety of real-world conditions.

Highly Undersampled MRI Reconstruction via a Single Posterior Sampling of Diffusion Models

Incoherent k-space under-sampling and deep learning-based reconstruction methods have shown great success in accelerating MRI. However, the performance of most previous methods will degrade dramatically under high acceleration factors, e.g., 8$\times$ or higher. Recently, denoising diffusion models (DM) have demonstrated promising results in solving this issue; however, one major drawback of the DM methods is the long inference time due to a dramatic number of iterative reverse posterior sampling steps. In this work, a Single Step Diffusion Model-based reconstruction framework, namely SSDM-MRI, is proposed for restoring MRI images from highly undersampled k-space. The proposed method achieves one-step reconstruction by first training a conditional DM and then iteratively distilling this model. Comprehensive experiments were conducted on both publicly available fastMRI images and an in-house multi-echo GRE (QSM) subject. Overall, the results showed that SSDM-MRI outperformed other methods in terms of numerical metrics (PSNR and SSIM), qualitative error maps, image fine details, and latent susceptibility information hidden in MRI phase images. In addition, the reconstruction time for a 320*320 brain slice of SSDM-MRI is only 0.45 second, which is only comparable to that of a simple U-net, making it a highly effective solution for MRI reconstruction tasks.

Streamlining Biomedical Research with Specialized LLMs

In this paper, we propose a novel system that integrates state-of-the-art, domain-specific large language models with advanced information retrieval techniques to deliver comprehensive and context-aware responses. Our approach facilitates seamless interaction among diverse components, enabling cross-validation of outputs to produce accurate, high-quality responses enriched with relevant data, images, tables, and other modalities. We demonstrate the system's capability to enhance response precision by leveraging a robust question-answering model, significantly improving the quality of dialogue generation. The system provides an accessible platform for real-time, high-fidelity interactions, allowing users to benefit from efficient human-computer interaction, precise retrieval, and simultaneous access to a wide range of literature and data. This dramatically improves the research efficiency of professionals in the biomedical and pharmaceutical domains and facilitates faster, more informed decision-making throughout the R\&D process. Furthermore, the system proposed in this paper is available at https://synapse-chat.patsnap.com.

Embodied Perception for Test-time Grasping Detection Adaptation with Knowledge Infusion

It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and are realized by training various deep neural networks with extensive annotated data support. {In this paper, we propose an embodied test-time adaptation framework for grasp detection that exploits the robot's exploratory capabilities.} The framework aims to improve the generalization performance of grasping skills for robots in an unforeseen environment. Specifically, we introduce embodied assessment criteria based on the robot's manipulation capability to evaluate the quality of the grasp detection and maintain suitable samples. This process empowers the robots to actively explore the environment and continuously learn grasping skills, eliminating human intervention. Besides, to improve the efficiency of robot exploration, we construct a flexible knowledge base to provide context of initial optimal viewpoints. Conditioned on the maintained samples, the grasp detection networks can be adapted in the test-time scene. When the robot confronts new objects, it will undergo the same adaptation procedure mentioned above to realize continuous learning. Extensive experiments conducted on a real-world robot demonstrate the effectiveness and generalization of our proposed framework.