UnderwaterVLA: Dual-brain Vision-Language-Action architecture for Autonomous Underwater Navigation

This paper presents UnderwaterVLA, a novel framework for autonomous underwater navigation that integrates multimodal foundation models with embodied intelligence systems. Underwater operations remain difficult due to hydrodynamic disturbances, limited communication bandwidth, and degraded sensing in turbid waters. To address these challenges, we introduce three innovations. First, a dual-brain architecture decouples high-level mission reasoning from low-level reactive control, enabling robust operation under communication and computational constraints. Second, we apply Vision-Language-Action(VLA) models to underwater robotics for the first time, incorporating structured chain-of-thought reasoning for interpretable decision-making. Third, a hydrodynamics-informed Model Predictive Control(MPC) scheme compensates for fluid effects in real time without costly task-specific training. Experimental results in field tests show that UnderwaterVLA reduces navigation errors in degraded visual conditions while maintaining higher task completion by 19% to 27% over baseline. By minimizing reliance on underwater-specific training data and improving adaptability across environments, UnderwaterVLA provides a scalable and cost-effective path toward the next generation of intelligent AUVs.

Region-aware Distribution Contrast: A Novel Approach to Multi-Task Partially Supervised Learning

In this study, we address the intricate challenge of multi-task dense prediction, encompassing tasks such as semantic segmentation, depth estimation, and surface normal estimation, particularly when dealing with partially annotated data (MTPSL). The complexity arises from the absence of complete task labels for each training image. Given the inter-related nature of these pixel-wise dense tasks, our focus is on mining and capturing cross-task relationships. Existing solutions typically rely on learning global image representations for global cross-task image matching, imposing constraints that, unfortunately, sacrifice the finer structures within the images. Attempting local matching as a remedy faces hurdles due to the lack of precise region supervision, making local alignment a challenging endeavor. The introduction of Segment Anything Model (SAM) sheds light on addressing local alignment challenges by providing free and high-quality solutions for region detection. Leveraging SAM-detected regions, the subsequent challenge lies in aligning the representations within these regions. Diverging from conventional methods that directly learn a monolithic image representation, our proposal involves modeling region-wise representations using Gaussian Distributions. Aligning these distributions between corresponding regions from different tasks imparts higher flexibility and capacity to capture intra-region structures, accommodating a broader range of tasks. This innovative approach significantly enhances our ability to effectively capture cross-task relationships, resulting in improved overall performance in partially supervised multi-task dense prediction scenarios. Extensive experiments conducted on two widely used benchmarks underscore the superior effectiveness of our proposed method, showcasing state-of-the-art performance even when compared to fully supervised methods.

Toward ground-truth optical coherence tomography via three-dimensional unsupervised deep learning processing and data

Optical coherence tomography (OCT) can perform non-invasive high-resolution three-dimensional (3D) imaging and has been widely used in biomedical fields, while it is inevitably affected by coherence speckle noise which degrades OCT imaging performance and restricts its applications. Here we present a novel speckle-free OCT imaging strategy, named toward-ground-truth OCT (tGT-OCT), that utilizes unsupervised 3D deep-learning processing and leverages OCT 3D imaging features to achieve speckle-free OCT imaging. Specifically, our proposed tGT-OCT utilizes an unsupervised 3D-convolution deep-learning network trained using random 3D volumetric data to distinguish and separate speckle from real structures in 3D imaging volumetric space; moreover, tGT-OCT effectively further reduces speckle noise and reveals structures that would otherwise be obscured by speckle noise while preserving spatial resolution. Results derived from different samples demonstrated the high-quality speckle-free 3D imaging performance of tGT-OCT and its advancement beyond the previous state-of-the-art.