ChangingGrounding: 3D Visual Grounding in Changing Scenes

Real-world robots localize objects from natural-language instructions while scenes around them keep changing. Yet most of the existing 3D visual grounding (3DVG) method still assumes a reconstructed and up-to-date point cloud, an assumption that forces costly re-scans and hinders deployment. We argue that 3DVG should be formulated as an active, memory-driven problem, and we introduce ChangingGrounding, the first benchmark that explicitly measures how well an agent can exploit past observations, explore only where needed, and still deliver precise 3D boxes in changing scenes. To set a strong reference point, we also propose Mem-ChangingGrounder, a zero-shot method for this task that marries cross-modal retrieval with lightweight multi-view fusion: it identifies the object type implied by the query, retrieves relevant memories to guide actions, then explores the target efficiently in the scene, falls back when previous operations are invalid, performs multi-view scanning of the target, and projects the fused evidence from multi-view scans to get accurate object bounding boxes. We evaluate different baselines on ChangingGrounding, and our Mem-ChangingGrounder achieves the highest localization accuracy while greatly reducing exploration cost. We hope this benchmark and method catalyze a shift toward practical, memory-centric 3DVG research for real-world applications. Project page: https://hm123450.github.io/CGB/ .

MCGM: Multi-stage Clustered Global Modeling for Long-range Interactions in Molecules

Geometric graph neural networks (GNNs) excel at capturing molecular geometry, yet their locality-biased message passing hampers the modeling of long-range interactions. Current solutions have fundamental limitations: extending cutoff radii causes computational costs to scale cubically with distance; physics-inspired kernels (e.g., Coulomb, dispersion) are often system-specific and lack generality; Fourier-space methods require careful tuning of multiple parameters (e.g., mesh size, k-space cutoff) with added computational overhead. We introduce Multi-stage Clustered Global Modeling (MCGM), a lightweight, plug-and-play module that endows geometric GNNs with hierarchical global context through efficient clustering operations. MCGM builds a multi-resolution hierarchy of atomic clusters, distills global information via dynamic hierarchical clustering, and propagates this context back through learned transformations, ultimately reinforcing atomic features via residual connections. Seamlessly integrated into four diverse backbone architectures, MCGM reduces OE62 energy prediction error by an average of 26.2%. On AQM, MCGM achieves state-of-the-art accuracy (17.0 meV for energy, 4.9 meV/{\AA} for forces) while using 20% fewer parameters than Neural P3M. Code will be made available upon acceptance.

LongReasonArena: A Long Reasoning Benchmark for Large Language Models

Existing long-context benchmarks for Large Language Models (LLMs) focus on evaluating comprehension of long inputs, while overlooking the evaluation of long reasoning abilities. To address this gap, we introduce LongReasonArena, a benchmark specifically designed to assess the long reasoning capabilities of LLMs. Our tasks require models to solve problems by executing multi-step algorithms that reflect key aspects of long reasoning, such as retrieval and backtracking. By controlling the inputs, the required reasoning length can be arbitrarily scaled, reaching up to 1 million tokens of reasoning for the most challenging tasks. Extensive evaluation results demonstrate that LongReasonArena presents a significant challenge for both open-source and proprietary LLMs. For instance, Deepseek-R1 achieves only 7.5% accuracy on our task. Further analysis also reveals that the accuracy exhibits a linear decline with respect to the logarithm of the expected number of reasoning steps. Our code and data is available at https://github.com/LongReasonArena/LongReasonArena.

EVA: Mixture-of-Experts Semantic Variant Alignment for Compositional Zero-Shot Learning

Compositional Zero-Shot Learning (CZSL) investigates compositional generalization capacity to recognize unknown state-object pairs based on learned primitive concepts. Existing CZSL methods typically derive primitives features through a simple composition-prototype mapping, which is suboptimal for a set of individuals that can be divided into distinct semantic subsets. Moreover, the all-to-one cross-modal primitives matching neglects compositional divergence within identical states or objects, limiting fine-grained image-composition alignment. In this study, we propose EVA, a Mixture-of-Experts Semantic Variant Alignment framework for CZSL. Specifically, we introduce domain-expert adaption, leveraging multiple experts to achieve token-aware learning and model high-quality primitive representations. To enable accurate compositional generalization, we further present semantic variant alignment to select semantically relevant representation for image-primitives matching. Our method significantly outperforms other state-of-the-art CZSL methods on three popular benchmarks in both closed- and open-world settings, demonstrating the efficacy of the proposed insight.

StructVPR++: Distill Structural and Semantic Knowledge with Weighting Samples for Visual Place Recognition

Visual place recognition is a challenging task for autonomous driving and robotics, which is usually considered as an image retrieval problem. A commonly used two-stage strategy involves global retrieval followed by re-ranking using patch-level descriptors. Most deep learning-based methods in an end-to-end manner cannot extract global features with sufficient semantic information from RGB images. In contrast, re-ranking can utilize more explicit structural and semantic information in one-to-one matching process, but it is time-consuming. To bridge the gap between global retrieval and re-ranking and achieve a good trade-off between accuracy and efficiency, we propose StructVPR++, a framework that embeds structural and semantic knowledge into RGB global representations via segmentation-guided distillation. Our key innovation lies in decoupling label-specific features from global descriptors, enabling explicit semantic alignment between image pairs without requiring segmentation during deployment. Furthermore, we introduce a sample-wise weighted distillation strategy that prioritizes reliable training pairs while suppressing noisy ones. Experiments on four benchmarks demonstrate that StructVPR++ surpasses state-of-the-art global methods by 5-23% in Recall@1 and even outperforms many two-stage approaches, achieving real-time efficiency with a single RGB input.

ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images

Place recognition is essential to maintain global consistency in large-scale localization systems. While research in urban environments has progressed significantly using LiDARs or cameras, applications in natural forest-like environments remain largely under-explored. Furthermore, forests present particular challenges due to high self-similarity and substantial variations in vegetation growth over time. In this work, we propose a robust LiDAR-based place recognition method for natural forests, ForestLPR. We hypothesize that a set of cross-sectional images of the forest's geometry at different heights contains the information needed to recognize revisiting a place. The cross-sectional images are represented by \ac{bev} density images of horizontal slices of the point cloud at different heights. Our approach utilizes a visual transformer as the shared backbone to produce sets of local descriptors and introduces a multi-BEV interaction module to attend to information at different heights adaptively. It is followed by an aggregation layer that produces a rotation-invariant place descriptor. We evaluated the efficacy of our method extensively on real-world data from public benchmarks as well as robotic datasets and compared it against the state-of-the-art (SOTA) methods. The results indicate that ForestLPR has consistently good performance on all evaluations and achieves an average increase of 7.38\% and 9.11\% on Recall@1 over the closest competitor on intra-sequence loop closure detection and inter-sequence re-localization, respectively, validating our hypothesis

HRVMamba: High-Resolution Visual State Space Model for Dense Prediction

Recently, State Space Models (SSMs) with efficient hardware-aware designs, i.e., Mamba, have demonstrated significant potential in computer vision tasks due to their linear computational complexity with respect to token length and their global receptive field. However, Mamba's performance on dense prediction tasks, including human pose estimation and semantic segmentation, has been constrained by three key challenges: insufficient inductive bias, long-range forgetting, and low-resolution output representation. To address these challenges, we introduce the Dynamic Visual State Space (DVSS) block, which utilizes multi-scale convolutional kernels to extract local features across different scales and enhance inductive bias, and employs deformable convolution to mitigate the long-range forgetting problem while enabling adaptive spatial aggregation based on input and task-specific information. By leveraging the multi-resolution parallel design proposed in HRNet, we introduce High-Resolution Visual State Space Model (HRVMamba) based on the DVSS block, which preserves high-resolution representations throughout the entire process while promoting effective multi-scale feature learning. Extensive experiments highlight HRVMamba's impressive performance on dense prediction tasks, achieving competitive results against existing benchmark models without bells and whistles. Code is available at https://github.com/zhanghao5201/HRVMamba.

Neural P$^3$M: A Long-Range Interaction Modeling Enhancer for Geometric GNNs

Geometric graph neural networks (GNNs) have emerged as powerful tools for modeling molecular geometry. However, they encounter limitations in effectively capturing long-range interactions in large molecular systems. To address this challenge, we introduce Neural P$^3$M, a versatile enhancer of geometric GNNs to expand the scope of their capabilities by incorporating mesh points alongside atoms and reimaging traditional mathematical operations in a trainable manner. Neural P$^3$M exhibits flexibility across a wide range of molecular systems and demonstrates remarkable accuracy in predicting energies and forces, outperforming on benchmarks such as the MD22 dataset. It also achieves an average improvement of 22% on the OE62 dataset while integrating with various architectures.

DexDiff: Towards Extrinsic Dexterity Manipulation of Ungraspable Objects in Unrestricted Environments

Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges to grasp such objects. However, they are limited to task-specific policies and lack task planning to find pre-grasp conditions. This makes it difficult to adapt to various environments and extrinsic dexterity constraints. Therefore, we present DexDiff, a robust robotic manipulation method for long-horizon planning with extrinsic dexterity. Specifically, we utilize a vision-language model (VLM) to perceive the environmental state and generate high-level task plans, followed by a goal-conditioned action diffusion (GCAD) model to predict the sequence of low-level actions. This model learns the low-level policy from offline data with the cumulative reward guided by high-level planning as the goal condition, which allows for improved prediction of robot actions. Experimental results demonstrate that our method not only effectively performs ungraspable tasks but also generalizes to previously unseen objects. It outperforms baselines by a 47% higher success rate in simulation and facilitates efficient deployment and manipulation in real-world scenarios.

PMT: Progressive Mean Teacher via Exploring Temporal Consistency for Semi-Supervised Medical Image Segmentation

Semi-supervised learning has emerged as a widely adopted technique in the field of medical image segmentation. The existing works either focuses on the construction of consistency constraints or the generation of pseudo labels to provide high-quality supervisory signals, whose main challenge mainly comes from how to keep the continuous improvement of model capabilities. In this paper, we propose a simple yet effective semi-supervised learning framework, termed Progressive Mean Teachers (PMT), for medical image segmentation, whose goal is to generate high-fidelity pseudo labels by learning robust and diverse features in the training process. Specifically, our PMT employs a standard mean teacher to penalize the consistency of the current state and utilizes two sets of MT architectures for co-training. The two sets of MT architectures are individually updated for prolonged periods to maintain stable model diversity established through performance gaps generated by iteration differences. Additionally, a difference-driven alignment regularizer is employed to expedite the alignment of lagging models with the representation capabilities of leading models. Furthermore, a simple yet effective pseudo-label filtering algorithm is employed for facile evaluation of models and selection of high-fidelity pseudo-labels outputted when models are operating at high performance for co-training purposes. Experimental results on two datasets with different modalities, i.e., CT and MRI, demonstrate that our method outperforms the state-of-the-art medical image segmentation approaches across various dimensions. The code is available at https://github.com/Axi404/PMT.