PhysReflect-VLA: Physical Feasibility and Self-Reflective Regulation for Reliable Vision-Language-Action Policies

Long-horizon robotic manipulation is highly sensitive to physically infeasible transitions, contact-induced disturbances, and the lack of effective self-correction during execution. Although Vision-Language-Action (VLA) models provide strong task grounding through multimodal learning, they typically generate actions in a feed-forward manner without explicitly checking physical feasibility or diagnosing execution errors online. We present PhysReflect-VLA, a plug-and-play execution-time reliability framework that augments VLA policies with physical feasibility evaluation and structured self-reflection in a closed-loop control pipeline. A Feasibility Operator evaluates whether candidate actions induce dynamically consistent state transitions; an Action Explanation Operator verifies transition coherence; and an LLM-based Reflection Module analyzes state discrepancies to generate corrective guidance for subsequent actions. A two-stage training procedure stabilizes feasibility modeling and integrates reflection into the control loop. Experiments on multi-stage, contact-rich real-world manipulation tasks show consistent improvements in stage-wise stability and overall task success compared with representative VLA baselines with an average gain of 5.4\%. Ablation results further indicate that feasibility checking and reflection-based correction both contribute to improved execution robustness. These results highlight the importance of embedding physical consistency checks and online self-reflection for reliable long-horizon robotic manipulation.

PAMAE: Phase-Aware-MoE Action Experts Towards Reliable Flow-Matching Vision-Language-Action Policies

Reliable action generation for multi-stage robotic manipulation remains challenging for Vision-Language-Action (VLA) models. While existing flow-matching VLA policies offer strong multimodal grounding and generalization, they typically employ a single shared action expert, limiting their ability to capture phase-specific control patterns across distinct execution stages. We propose a plug-and-play Phase-Aware Mixture-of-Experts Action Module (PAMAE), as a step towards more reliable phase-consistent action generation. PAMAE replaces the original flow-matching action expert with a sparse expert mixture while preserving the pretrained VLA backbone. PAMAE introduces a phase-aware router that leverages execution-phase cues to allocate action generation across experts, supported by a lightweight phase prediction head and a routing alignment objective. To stabilize specialization, we adopt a two-stage training scheme that first warms up the expert module under the standard flow-matching loss and then optimizes phase-consistent routing under auxiliary supervision. On multi-stage manipulation simulation tasks, PAMAE improves task success by up to \textbf{9.2\%} over strong VLA baselines. Further ablations show that both phase-supervised routing and staged optimization are essential for the observed gains. Our results highlight phase-consistent expert allocation as an effective mechanism for improving the reliability and action quality of flow-matching VLA policies.

Pansharpening for Thin-Cloud Contaminated Remote Sensing Images: A Unified Framework and Benchmark Dataset

Pansharpening under thin cloudy conditions is a practically significant yet rarely addressed task, challenged by simultaneous spatial resolution degradation and cloud-induced spectral distortions. Existing methods often address cloud removal and pansharpening sequentially, leading to cumulative errors and suboptimal performance due to the lack of joint degradation modeling. To address these challenges, we propose a Unified Pansharpening Model with Thin Cloud Removal (Pan-TCR), an end-to-end framework that integrates physical priors. Motivated by theoretical analysis in the frequency domain, we design a frequency-decoupled restoration (FDR) block that disentangles the restoration of multispectral image (MSI) features into amplitude and phase components, each guided by complementary degradation-robust prompts: the near-infrared (NIR) band amplitude for cloud-resilient restoration, and the panchromatic (PAN) phase for high-resolution structural enhancement. To ensure coherence between the two components, we further introduce an interactive inter-frequency consistency (IFC) module, enabling cross-modal refinement that enforces consistency and robustness across frequency cues. Furthermore, we introduce the first real-world thin-cloud contaminated pansharpening dataset (PanTCR-GF2), comprising paired clean and cloudy PAN-MSI images, to enable robust benchmarking under realistic conditions. Extensive experiments on real-world and synthetic datasets demonstrate the superiority and robustness of Pan-TCR, establishing a new benchmark for pansharpening under realistic atmospheric degradations.

Super4DR: 4D Radar-centric Self-supervised Odometry and Gaussian-based Map Optimization

Conventional SLAM systems using visual or LiDAR data often struggle in poor lighting and severe weather. Although 4D radar is suited for such environments, its sparse and noisy point clouds hinder accurate odometry estimation, while the radar maps suffer from obscure and incomplete structures. Thus, we propose Super4DR, a 4D radar-centric framework for learning-based odometry estimation and gaussian-based map optimization. First, we design a cluster-aware odometry network that incorporates object-level cues from the clustered radar points for inter-frame matching, alongside a hierarchical self-supervision mechanism to overcome outliers through spatio-temporal consistency, knowledge transfer, and feature contrast. Second, we propose using 3D gaussians as an intermediate representation, coupled with a radar-specific growth strategy, selective separation, and multi-view regularization, to recover blurry map areas and those undetected based on image texture. Experiments show that Super4DR achieves a 67% performance gain over prior self-supervised methods, nearly matches supervised odometry, and narrows the map quality disparity with LiDAR while enabling multi-modal image rendering.

Modality Decoupling is All You Need: A Simple Solution for Unsupervised Hyperspectral Image Fusion

Hyperspectral Image Fusion (HIF) aims to fuse low-resolution hyperspectral images (LR-HSIs) and high-resolution multispectral images (HR-MSIs) to reconstruct high spatial and high spectral resolution images. Current methods typically apply direct fusion from the two modalities without valid supervision, failing to fully perceive the deep modality-complementary information and hence, resulting in a superficial understanding of inter-modality connections. To bridge this gap, we propose a simple and effective solution for unsupervised HIF with an assumption that modality decoupling is essential for HIF. We introduce the modality clustering loss that ensures clear guidance of the modality, decoupling towards modality-shared features while steering clear of modality-complementary ones. Also, we propose an end-to-end Modality-Decoupled Spatial-Spectral Fusion (MossFuse) framework that decouples shared and complementary information across modalities and aggregates a concise representation of the LR-HSI and HR-MSI to reduce the modality redundancy. Systematic experiments over multiple datasets demonstrate that our simple and effective approach consistently outperforms the existing HIF methods while requiring considerably fewer parameters with reduced inference time.

3C: Confidence-Guided Clustering and Contrastive Learning for Unsupervised Person Re-Identification

Unsupervised person re-identification (Re-ID) aims to learn a feature network with cross-camera retrieval capability in unlabelled datasets. Although the pseudo-label based methods have achieved great progress in Re-ID, their performance in the complex scenario still needs to sharpen up. In order to reduce potential misguidance, including feature bias, noise pseudo-labels and invalid hard samples, accumulated during the learning process, in this pa per, a confidence-guided clustering and contrastive learning (3C) framework is proposed for unsupervised person Re-ID. This 3C framework presents three confidence degrees. i) In the clustering stage, the confidence of the discrepancy between samples and clusters is proposed to implement a harmonic discrepancy clustering algorithm (HDC). ii) In the forward-propagation training stage, the confidence of the camera diversity of a cluster is evaluated via a novel camera information entropy (CIE). Then, the clusters with high CIE values will play leading roles in training the model. iii) In the back-propagation training stage, the confidence of the hard sample in each cluster is designed and further used in a confidence integrated harmonic discrepancy (CHD), to select the informative sample for updating the memory in contrastive learning. Extensive experiments on three popular Re-ID benchmarks demonstrate the superiority of the proposed framework. Particularly, the 3C framework achieves state-of-the-art results: 86.7%/94.7%, 45.3%/73.1% and 47.1%/90.6% in terms of mAP/Rank-1 accuracy on Market-1501, the com plex datasets MSMT17 and VeRi-776, respectively. Code is available at https://github.com/stone5265/3C-reid.

DCF-ASN: Coarse-to-fine Real-time Visual Tracking via Discriminative Correlation Filter and Attentional Siamese Network

Discriminative correlation filters (DCF) and siamese networks have achieved promising performance on visual tracking tasks thanks to their superior computational efficiency and reliable similarity metric learning, respectively. However, how to effectively take advantages of powerful deep networks, while maintaining the real-time response of DCF, remains a challenging problem. Embedding the cross-correlation operator as a separate layer into siamese networks is a popular choice to enhance the tracking accuracy. Being a key component of such a network, the correlation layer is updated online together with other parts of the network. Yet, when facing serious disturbance, fused trackers may still drift away from the target completely due to accumulated errors. To address these issues, we propose a coarse-to-fine tracking framework, which roughly infers the target state via an online-updating DCF module first and subsequently, finely locates the target through an offline-training asymmetric siamese network (ASN). Benefitting from the guidance of DCF and the learned channel weights obtained through exploiting the given ground-truth template, ASN refines feature representation and implements precise target localization. Systematic experiments on five popular tracking datasets demonstrate that the proposed DCF-ASN achieves the state-of-the-art performance while exhibiting good tracking efficiency.

Hyperspectral Classification Based on Lightweight 3-D-CNN With Transfer Learning

Recently, hyperspectral image (HSI) classification approaches based on deep learning (DL) models have been proposed and shown promising performance. However, because of very limited available training samples and massive model parameters, DL methods may suffer from overfitting. In this paper, we propose an end-to-end 3-D lightweight convolutional neural network (CNN) (abbreviated as 3-D-LWNet) for limited samples-based HSI classification. Compared with conventional 3-D-CNN models, the proposed 3-D-LWNet has a deeper network structure, less parameters, and lower computation cost, resulting in better classification performance. To further alleviate the small sample problem, we also propose two transfer learning strategies: 1) cross-sensor strategy, in which we pretrain a 3-D model in the source HSI data sets containing a greater number of labeled samples and then transfer it to the target HSI data sets and 2) cross-modal strategy, in which we pretrain a 3-D model in the 2-D RGB image data sets containing a large number of samples and then transfer it to the target HSI data sets. In contrast to previous approaches, we do not impose restrictions over the source data sets, in which they do not have to be collected by the same sensors as the target data sets. Experiments on three public HSI data sets captured by different sensors demonstrate that our model achieves competitive performance for HSI classification compared to several state-of-the-art methods

Robust Correlation Tracking via Multi-channel Fused Features and Reliable Response Map

Benefiting from its ability to efficiently learn how an object is changing, correlation filters have recently demonstrated excellent performance for rapidly tracking objects. Designing effective features and handling model drifts are two important aspects for online visual tracking. This paper tackles these challenges by proposing a robust correlation tracking algorithm (RCT) based on two ideas: First, we propose a method to fuse features in order to more naturally describe the gradient and color information of the tracked object, and introduce the fused features into a background aware correlation filter to obtain the response map. Second, we present a novel strategy to significantly reduce noise in the response map and therefore ease the problem of model drift. Systematic comparative evaluations performed over multiple tracking benchmarks demonstrate the efficacy of the proposed approach.

Multi-Modal Subjective Context Modelling and Recognition

Applications like personal assistants need to be aware ofthe user's context, e.g., where they are, what they are doing, and with whom. Context information is usually inferred from sensor data, like GPS sensors and accelerometers on the user's smartphone. This prediction task is known as context recognition. A well-defined context model is fundamental for successful recognition. Existing models, however, have two major limitations. First, they focus on few aspects, like location or activity, meaning that recognition methods based onthem can only compute and leverage few inter-aspect correlations. Second, existing models typically assume that context is objective, whereas in most applications context is best viewed from the user's perspective. Neglecting these factors limits the usefulness of the context model and hinders recognition. We present a novel ontological context model that captures five dimensions, namely time, location, activity, social relations and object. Moreover, our model defines three levels of description(objective context, machine context and subjective context) that naturally support subjective annotations and reasoning.An initial context recognition experiment on real-world data hints at the promise of our model.