Self-Ensembling Vision-Language Models for Chart Data Extraction

Charts effectively convey quantitative information, but the underlying data are often locked in image form, hindering reuse and analysis. Manually digitizing charts is time-consuming and error-prone, motivating automatic chart-to-table extraction. Recent approaches use specialized vision-language models (VLMs), yet performance still lags on charts with many datapoints or substantial stylistic variation. We propose a VLM self-ensembling method that repeatedly samples multiple tabular outputs from the same VLM for a fixed chart image and aggregates them at the level of individual table cells. We align candidate tables and take per-cell medians over numerical values to produce a more accurate consensus table. Our method also includes convergence detection to stop sampling once the aggregated table stabilizes, and uncertainty estimation based on dispersion across samples to help users assess extraction reliability. Because existing chart extraction benchmarks contain relatively simple plots with limited room for improvement, we introduce WB-ChartExtract, a new benchmark built from World Bank data with more complex and stylistically diverse charts; on average, its charts contain 7 times more datapoints than those in the ChartQA benchmark. Across both ChartQA and WB-ChartExtract, our approach improves extraction accuracy over single-pass VLM outputs, yielding up to 23% relative improvement on WB-ChartExtract after ensembling. More broadly, our method helps unlock tabular data previously siloed in chart images, enabling downstream analysis and reuse.

LOONG: Online Time-Optimal Autonomous Flight for MAVs in Cluttered Environments

Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework for high-speed, time-optimal autonomous flight of MAVs in cluttered environments. In each replanning cycle (100 Hz), a time-optimal trajectory under polynomial presentation is generated as a reference, with the time-allocation process accelerated by imitation learning. Subsequently, a time-optimal model predictive contouring control (MPCC) incorporates safe flight corridor (SFC) constraints at variable horizon steps to enable aggressive yet safe maneuvering, while fully exploiting the MAV's dynamics. We validate the proposed framework extensively on a custom-built LiDAR-based MAV platform. Simulation results demonstrate superior aggressiveness compared to the state of the art, while real-world experiments achieve a peak speed of 18 m/s in a cluttered environment and succeed in 10 consecutive trials from diverse start points. The video is available at the following link: https://youtu.be/vexXXhv99oQ.