UAV-DETR: DETR for Anti-Drone Target Detection

Drone detection is pivotal in numerous security and counter-UAV applications. However, existing deep learning-based methods typically struggle to balance robust feature representation with computational efficiency. This challenge is particularly acute when detecting miniature drones against complex backgrounds under severe environmental interference. To address these issues, we introduce UAV-DETR, a novel framework that integrates a small-target-friendly architecture with real-time detection capabilities. Specifically, UAV-DETR features a WTConv-enhanced backbone and a Sliding Window Self-Attention (SWSA-IFI) encoder, capturing the high-frequency structural details of tiny targets while drastically reducing parameter overhead. Furthermore, we propose an Efficient Cross-Scale Feature Recalibration and Fusion Network (ECFRFN) to suppress background noise and aggregate multi-scale semantics. To further enhance accuracy, UAV-DETR incorporates a hybrid Inner-CIoU and NWD loss strategy, mitigating the extreme sensitivity of standard IoU metrics to minor positional deviations in small objects. Extensive experiments demonstrate that UAV-DETR significantly outperforms the baseline RT-DETR on our custom UAV dataset (+6.61% in mAP50:95, with a 39.8% reduction in parameters) and the public DUT-ANTI-UAV benchmark (+1.4% in Precision, +1.0% in F1-Score). These results establish UAV-DETR as a superior trade-off between efficiency and precision in counter-UAV object detection. The code is available at https://github.com/wd-sir/UAVDETR.

When Models Judge Themselves: Unsupervised Self-Evolution for Multimodal Reasoning

Recent progress in multimodal large language models has led to strong performance on reasoning tasks, but these improvements largely rely on high-quality annotated data or teacher-model distillation, both of which are costly and difficult to scale.To address this, we propose an unsupervised self-evolution training framework for multimodal reasoning that achieves stable performance improvements without using human-annotated answers or external reward models. For each input, we sample multiple reasoning trajectories and jointly model their within group structure.We use the Actor's self-consistency signal as a training prior, and introduce a bounded Judge based modulation to continuously reweight trajectories of different quality.We further model the modulated scores as a group level distribution and convert absolute scores into relative advantages within each group, enabling more robust policy updates. Trained with Group Relative Policy Optimization (GRPO) on unlabeled data, our method consistently improves reasoning performance and generalization on five mathematical reasoning benchmarks, offering a scalable path toward self-evolving multimodal models.The code are available at https://dingwu1021.github.io/SelfJudge/.

Interference-Aware K-Step Reachable Communication in Multi-Agent Reinforcement Learning

Effective communication is pivotal for addressing complex collaborative tasks in multi-agent reinforcement learning (MARL). Yet, limited communication bandwidth and dynamic, intricate environmental topologies present significant challenges in identifying high-value communication partners. Agents must consequently select collaborators under uncertainty, lacking a priori knowledge of which partners can deliver task-critical information. To this end, we propose Interference-Aware K-Step Reachable Communication (IA-KRC), a novel framework that enhances cooperation via two core components: (1) a K-Step reachability protocol that confines message passing to physically accessible neighbors, and (2) an interference-prediction module that optimizes partner choice by minimizing interference while maximizing utility. Compared to existing methods, IA-KRC enables substantially more persistent and efficient cooperation despite environmental interference. Comprehensive evaluations confirm that IA-KRC achieves superior performance compared to state-of-the-art baselines, while demonstrating enhanced robustness and scalability in complex topological and highly dynamic multi-agent scenarios.

ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation

This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-environment interaction to address diverse scenarios. Additionally, it introduces task-oriented obstacle avoidance that leverages kinematic redundancy to enhance manipulation efficiency in obstructed environments. This complex optimization problem is solved by the alternating direction method of multipliers (ADMM), which decomposes the problem into two subproblems tackled by differential dynamic programming (DDP) and quadratic programming (QP), respectively. The effectiveness of this approach is validated in simulation and hardware experiments on a Franka Panda robotic manipulator. Results demonstrate that the framework can plan motion and/or force trajectories in real time, maximize the manipulation range while avoiding obstacles, and strictly adhere to safety-related hard constraints.

RTLocating: Intent-aware RTL Localization for Hardware Design Iteration

Industrial chip development is inherently iterative, favoring localized, intent-driven updates over rewriting RTL from scratch. Yet most LLM-Aided Hardware Design (LAD) work focuses on one-shot synthesis, leaving this workflow underexplored. To bridge this gap, we for the first time formalize $Δ$Spec-to-RTL localization, a multi-positive problem mapping natural language change requests ($Δ$Spec) to the affected Register Transfer Level (RTL) syntactic blocks. We propose RTLocating, an intent-aware RTL localization framework, featuring a dynamic router that adaptively fuses complementary views from a textual semantic encoder, a local structural encoder, and a global interaction and dependency encoder (GLIDE). To enable scalable supervision, we introduce EvoRTL-Bench, the first industrial-scale benchmark for intent-code alignment derived from OpenTitan's Git history, comprising 1,905 validated requests and 13,583 $Δ$Spec-RTL block pairs. On EvoRTL-Bench, RTLocating achieves 0.568 MRR and 15.08% R@1, outperforming the strongest baseline by +22.9% and +67.0%, respectively, establishing a new state-of-the-art for intent-driven localization in evolving hardware designs.

Trinity: A Scenario-Aware Recommendation Framework for Large-Scale Cold-Start Users

Early-stage users in a new scenario intensify cold-start challenges, yet prior works often address only parts of the problem through model architecture. Launching a new user experience to replace an established product involves sparse behavioral signals, low-engagement cohorts, and unstable model performance. We argue that effective recommendations require the synergistic integration of feature engineering, model architecture, and stable model updating. We propose Trinity, a framework embodying this principle. Trinity extracts valuable information from existing scenarios while ensuring predictive effectiveness and accuracy in the new scenario. In this paper, we showcase Trinity applied to a billion-user Microsoft product transition. Both offline and online experiments demonstrate that our framework achieves substantial improvements in addressing the combined challenge of new users in new scenarios.

Perception-Control Coupled Visual Servoing for Textureless Objects Using Keypoint-Based EKF

Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual conditions, such as occlusions, often corrupt visual feedback, leading to reduced accuracy and instability in visual servoing. In this work, we build upon learning-based keypoint detection for textureless objects and propose a method that enhances robustness by tightly integrating perception and control in a closed loop. Specifically, we employ an Extended Kalman Filter (EKF) that integrates per-frame keypoint measurements to estimate 6D object pose, which drives pose-based visual servoing (PBVS) for control. The resulting camera motion, in turn, enhances the tracking of subsequent keypoints, effectively closing the perception-control loop. Additionally, unlike standard PBVS, we propose a probabilistic control law that computes both camera velocity and its associated uncertainty, enabling uncertainty-aware control for safe and reliable operation. We validate our approach on real-world robotic platforms using quantitative metrics and grasping experiments, demonstrating that our method outperforms traditional visual servoing techniques in both accuracy and practical application.

ActiShade: Activating Overshadowed Knowledge to Guide Multi-Hop Reasoning in Large Language Models

In multi-hop reasoning, multi-round retrieval-augmented generation (RAG) methods typically rely on LLM-generated content as the retrieval query. However, these approaches are inherently vulnerable to knowledge overshadowing - a phenomenon where critical information is overshadowed during generation. As a result, the LLM-generated content may be incomplete or inaccurate, leading to irrelevant retrieval and causing error accumulation during the iteration process. To address this challenge, we propose ActiShade, which detects and activates overshadowed knowledge to guide large language models (LLMs) in multi-hop reasoning. Specifically, ActiShade iteratively detects the overshadowed keyphrase in the given query, retrieves documents relevant to both the query and the overshadowed keyphrase, and generates a new query based on the retrieved documents to guide the next-round iteration. By supplementing the overshadowed knowledge during the formulation of next-round queries while minimizing the introduction of irrelevant noise, ActiShade reduces the error accumulation caused by knowledge overshadowing. Extensive experiments show that ActiShade outperforms existing methods across multiple datasets and LLMs.

Curator: Efficient Vector Search with Low-Selectivity Filters

Embedding-based dense retrieval has become the cornerstone of many critical applications, where approximate nearest neighbor search (ANNS) queries are often combined with filters on labels such as dates and price ranges. Graph-based indexes achieve state-of-the-art performance on unfiltered ANNS but encounter connectivity breakdown on low-selectivity filtered queries, where qualifying vectors become sparse and the graph structure among them fragments. Recent research proposes specialized graph indexes that address this issue by expanding graph degree, which incurs prohibitively high construction costs. Given these inherent limitations of graph-based methods, we argue for a dual-index architecture and present Curator, a partition-based index that complements existing graph-based approaches for low-selectivity filtered ANNS. Curator builds specialized indexes for different labels within a shared clustering tree, where each index adapts to the distribution of its qualifying vectors to ensure efficient search while sharing structure to minimize memory overhead. The system also supports incremental updates and handles arbitrary complex predicates beyond single-label filters by efficiently constructing temporary indexes on the fly. Our evaluation demonstrates that integrating Curator with state-of-the-art graph indexes reduces low-selectivity query latency by up to 20.9x compared to pre-filtering fallback, while increasing construction time and memory footprint by only 5.5% and 4.3%, respectively.

cuPilot: A Strategy-Coordinated Multi-agent Framework for CUDA Kernel Evolution

Optimizing CUDA kernels is a challenging and labor-intensive task, given the need for hardware-software co-design expertise and the proprietary nature of high-performance kernel libraries. While recent large language models (LLMs) combined with evolutionary algorithms show promise in automatic kernel optimization, existing approaches often fall short in performance due to their suboptimal agent designs and mismatched evolution representations. This work identifies these mismatches and proposes cuPilot, a strategy-coordinated multi-agent framework that introduces strategy as an intermediate semantic representation for kernel evolution. Key contributions include a strategy-coordinated evolution algorithm, roofline-guided prompting, and strategy-level population initialization. Experimental results show that the generated kernels by cuPilot achieve an average speed up of 3.09$\times$ over PyTorch on a benchmark of 100 kernels. On the GEMM tasks, cuPilot showcases sophisticated optimizations and achieves high utilization of critical hardware units. The generated kernels are open-sourced at https://github.com/champloo2878/cuPilot-Kernels.git.