POLYRAG: Integrating Polyviews into Retrieval-Augmented Generation for Medical Applications

Large language models (LLMs) have become a disruptive force in the industry, introducing unprecedented capabilities in natural language processing, logical reasoning and so on. However, the challenges of knowledge updates and hallucination issues have limited the application of LLMs in medical scenarios, where retrieval-augmented generation (RAG) can offer significant assistance. Nevertheless, existing retrieve-then-read approaches generally digest the retrieved documents, without considering the timeliness, authoritativeness and commonality of retrieval. We argue that these approaches can be suboptimal, especially in real-world applications where information from different sources might conflict with each other and even information from the same source in different time scale might be different, and totally relying on this would deteriorate the performance of RAG approaches. We propose PolyRAG that carefully incorporate judges from different perspectives and finally integrate the polyviews for retrieval augmented generation in medical applications. Due to the scarcity of real-world benchmarks for evaluation, to bridge the gap we propose PolyEVAL, a benchmark consists of queries and documents collected from real-world medical scenarios (including medical policy, hospital & doctor inquiry and healthcare) with multiple tagging (e.g., timeliness, authoritativeness) on them. Extensive experiments and analysis on PolyEVAL have demonstrated the superiority of PolyRAG.

Landmark-Free Preoperative-to-Intraoperative Registration in Laparoscopic Liver Resection

Liver registration by overlaying preoperative 3D models onto intraoperative 2D frames can assist surgeons in perceiving the spatial anatomy of the liver clearly for a higher surgical success rate. Existing registration methods rely heavily on anatomical landmark-based workflows, which encounter two major limitations: 1) ambiguous landmark definitions fail to provide efficient markers for registration; 2) insufficient integration of intraoperative liver visual information in shape deformation modeling. To address these challenges, in this paper, we propose a landmark-free preoperative-to-intraoperative registration framework utilizing effective self-supervised learning, termed \ourmodel. This framework transforms the conventional 3D-2D workflow into a 3D-3D registration pipeline, which is then decoupled into rigid and non-rigid registration subtasks. \ourmodel~first introduces a feature-disentangled transformer to learn robust correspondences for recovering rigid transformations. Further, a structure-regularized deformation network is designed to adjust the preoperative model to align with the intraoperative liver surface. This network captures structural correlations through geometry similarity modeling in a low-rank transformer network. To facilitate the validation of the registration performance, we also construct an in-vivo registration dataset containing liver resection videos of 21 patients, called \emph{P2I-LReg}, which contains 346 keyframes that provide a global view of the liver together with liver mask annotations and calibrated camera intrinsic parameters. Extensive experiments and user studies on both synthetic and in-vivo datasets demonstrate the superiority and potential clinical applicability of our method.

REWARD CONSISTENCY: Improving Multi-Objective Alignment from a Data-Centric Perspective

Multi-objective preference alignment in language models often encounters a challenging trade-off: optimizing for one human preference (e.g., helpfulness) frequently compromises others (e.g., harmlessness) due to the inherent conflicts between competing objectives. While prior work mainly focuses on algorithmic solutions, we explore a novel data-driven approach to uncover the types of data that can effectively mitigate these conflicts. Specifically, we propose the concept of Reward Consistency (RC), which identifies samples that align with multiple preference objectives, thereby reducing conflicts during training. Through gradient-based analysis, we demonstrate that RC-compliant samples inherently constrain performance degradation during multi-objective optimization. Building on these insights, we further develop Reward Consistency Sampling, a framework that automatically constructs preference datasets that effectively mitigate conflicts during multi-objective alignment. Our generated data achieves an average improvement of 13.37% in both the harmless rate and helpfulness win rate when optimizing harmlessness and helpfulness, and can consistently resolve conflicts in varying multi-objective scenarios.

Short-Path Prompting in LLMs: Analyzing Reasoning Instability and Solutions for Robust Performance

Recent years have witnessed significant progress in large language models' (LLMs) reasoning, which is largely due to the chain-of-thought (CoT) approaches, allowing models to generate intermediate reasoning steps before reaching the final answer. Building on these advances, state-of-the-art LLMs are instruction-tuned to provide long and detailed CoT pathways when responding to reasoning-related questions. However, human beings are naturally cognitive misers and will prompt language models to give rather short responses, thus raising a significant conflict with CoT reasoning. In this paper, we delve into how LLMs' reasoning performance changes when users provide short-path prompts. The results and analysis reveal that language models can reason effectively and robustly without explicit CoT prompts, while under short-path prompting, LLMs' reasoning ability drops significantly and becomes unstable, even on grade-school problems. To address this issue, we propose two approaches: an instruction-guided approach and a fine-tuning approach, both designed to effectively manage the conflict. Experimental results show that both methods achieve high accuracy, providing insights into the trade-off between instruction adherence and reasoning accuracy in current models.

Audio-visual Controlled Video Diffusion with Masked Selective State Spaces Modeling for Natural Talking Head Generation

Talking head synthesis is vital for virtual avatars and human-computer interaction. However, most existing methods are typically limited to accepting control from a single primary modality, restricting their practical utility. To this end, we introduce \textbf{ACTalker}, an end-to-end video diffusion framework that supports both multi-signals control and single-signal control for talking head video generation. For multiple control, we design a parallel mamba structure with multiple branches, each utilizing a separate driving signal to control specific facial regions. A gate mechanism is applied across all branches, providing flexible control over video generation. To ensure natural coordination of the controlled video both temporally and spatially, we employ the mamba structure, which enables driving signals to manipulate feature tokens across both dimensions in each branch. Additionally, we introduce a mask-drop strategy that allows each driving signal to independently control its corresponding facial region within the mamba structure, preventing control conflicts. Experimental results demonstrate that our method produces natural-looking facial videos driven by diverse signals and that the mamba layer seamlessly integrates multiple driving modalities without conflict.

Dynamic Initialization for LiDAR-inertial SLAM

The accuracy of the initial state, including initial velocity, gravity direction, and IMU biases, is critical for the initialization of LiDAR-inertial SLAM systems. Inaccurate initial values can reduce initialization speed or lead to failure. When the system faces urgent tasks, robust and fast initialization is required while the robot is moving, such as during the swift assessment of rescue environments after natural disasters, bomb disposal, and restarting LiDAR-inertial SLAM in rescue missions. However, existing initialization methods usually require the platform to remain stationary, which is ineffective when the robot is in motion. To address this issue, this paper introduces a robust and fast dynamic initialization method for LiDAR-inertial systems (D-LI-Init). This method iteratively aligns LiDAR-based odometry with IMU measurements to achieve system initialization. To enhance the reliability of the LiDAR odometry module, the LiDAR and gyroscope are tightly integrated within the ESIKF framework. The gyroscope compensates for rotational distortion in the point cloud. Translational distortion compensation occurs during the iterative update phase, resulting in the output of LiDAR-gyroscope odometry. The proposed method can initialize the system no matter the robot is moving or stationary. Experiments on public datasets and real-world environments demonstrate that the D-LI-Init algorithm can effectively serve various platforms, including vehicles, handheld devices, and UAVs. D-LI-Init completes dynamic initialization regardless of specific motion patterns. To benefit the research community, we have open-sourced our code and test datasets on GitHub.

HSLiNets: Evaluating Band Ordering Strategies in Hyperspectral and LiDAR Fusion

The integration of hyperspectral imaging (HSI) and Light Detection and Ranging (LiDAR) data provides complementary spectral and spatial information for remote sensing applications. While previous studies have explored the role of band selection and grouping in HSI classification, little attention has been given to how the spectral sequence or band order affects classification outcomes when fused with LiDAR. In this work, we systematically investigate the influence of band order on HSI-LiDAR fusion performance. Through extensive experiments, we demonstrate that band order significantly impacts classification accuracy, revealing a previously overlooked factor in fusion-based models. Motivated by this observation, we propose a novel fusion architecture that not only integrates HSI and LiDAR data but also learns from multiple band order configurations. The proposed method enhances feature representation by adaptively fusing different spectral sequences, leading to improved classification accuracy. Experimental results on the Houston 2013 and Trento datasets show that our approach outperforms state-of-the-art fusion models. Data and code are available at https://github.com/Judyxyang/HSLiNets.

TraNCE: Transformative Non-linear Concept Explainer for CNNs

Convolutional neural networks (CNNs) have succeeded remarkably in various computer vision tasks. However, they are not intrinsically explainable. While the feature-level understanding of CNNs reveals where the models looked, concept-based explainability methods provide insights into what the models saw. However, their assumption of linear reconstructability of image activations fails to capture the intricate relationships within these activations. Their Fidelity-only approach to evaluating global explanations also presents a new concern. For the first time, we address these limitations with the novel Transformative Nonlinear Concept Explainer (TraNCE) for CNNs. Unlike linear reconstruction assumptions made by existing methods, TraNCE captures the intricate relationships within the activations. This study presents three original contributions to the CNN explainability literature: (i) An automatic concept discovery mechanism based on variational autoencoders (VAEs). This transformative concept discovery process enhances the identification of meaningful concepts from image activations. (ii) A visualization module that leverages the Bessel function to create a smooth transition between prototypical image pixels, revealing not only what the CNN saw but also what the CNN avoided, thereby mitigating the challenges of concept duplication as documented in previous works. (iii) A new metric, the Faith score, integrates both Coherence and Fidelity for a comprehensive evaluation of explainer faithfulness and consistency.

FireEdit: Fine-grained Instruction-based Image Editing via Region-aware Vision Language Model

Currently, instruction-based image editing methods have made significant progress by leveraging the powerful cross-modal understanding capabilities of vision language models (VLMs). However, they still face challenges in three key areas: 1) complex scenarios; 2) semantic consistency; and 3) fine-grained editing. To address these issues, we propose FireEdit, an innovative Fine-grained Instruction-based image editing framework that exploits a REgion-aware VLM. FireEdit is designed to accurately comprehend user instructions and ensure effective control over the editing process. Specifically, we enhance the fine-grained visual perception capabilities of the VLM by introducing additional region tokens. Relying solely on the output of the LLM to guide the diffusion model may lead to suboptimal editing results. Therefore, we propose a Time-Aware Target Injection module and a Hybrid Visual Cross Attention module. The former dynamically adjusts the guidance strength at various denoising stages by integrating timestep embeddings with the text embeddings. The latter enhances visual details for image editing, thereby preserving semantic consistency between the edited result and the source image. By combining the VLM enhanced with fine-grained region tokens and the time-dependent diffusion model, FireEdit demonstrates significant advantages in comprehending editing instructions and maintaining high semantic consistency. Extensive experiments indicate that our approach surpasses the state-of-the-art instruction-based image editing methods. Our project is available at https://zjgans.github.io/fireedit.github.io.

MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github.