Dynamic Manipulation of Deformable Objects in 3D: Simulation, Benchmark and Learning Strategy

Goal-conditioned dynamic manipulation is inherently challenging due to complex system dynamics and stringent task constraints, particularly in deformable object scenarios characterized by high degrees of freedom and underactuation. Prior methods often simplify the problem to low-speed or 2D settings, limiting their applicability to real-world 3D tasks. In this work, we explore 3D goal-conditioned rope manipulation as a representative challenge. To mitigate data scarcity, we introduce a novel simulation framework and benchmark grounded in reduced-order dynamics, which enables compact state representation and facilitates efficient policy learning. Building on this, we propose Dynamics Informed Diffusion Policy (DIDP), a framework that integrates imitation pretraining with physics-informed test-time adaptation. First, we design a diffusion policy that learns inverse dynamics within the reduced-order space, enabling imitation learning to move beyond na\"ive data fitting and capture the underlying physical structure. Second, we propose a physics-informed test-time adaptation scheme that imposes kinematic boundary conditions and structured dynamics priors on the diffusion process, ensuring consistency and reliability in manipulation execution. Extensive experiments validate the proposed approach, demonstrating strong performance in terms of accuracy and robustness in the learned policy.

Patient-Specific Dynamic Digital-Physical Twin for Coronary Intervention Training: An Integrated Mixed Reality Approach

Background and Objective: Precise preoperative planning and effective physician training for coronary interventions are increasingly important. Despite advances in medical imaging technologies, transforming static or limited dynamic imaging data into comprehensive dynamic cardiac models remains challenging. Existing training systems lack accurate simulation of cardiac physiological dynamics. This study develops a comprehensive dynamic cardiac model research framework based on 4D-CTA, integrating digital twin technology, computer vision, and physical model manufacturing to provide precise, personalized tools for interventional cardiology. Methods: Using 4D-CTA data from a 60-year-old female with three-vessel coronary stenosis, we segmented cardiac chambers and coronary arteries, constructed dynamic models, and implemented skeletal skinning weight computation to simulate vessel deformation across 20 cardiac phases. Transparent vascular physical models were manufactured using medical-grade silicone. We developed cardiac output analysis and virtual angiography systems, implemented guidewire 3D reconstruction using binocular stereo vision, and evaluated the system through angiography validation and CABG training applications. Results: Morphological consistency between virtual and real angiography reached 80.9%. Dice similarity coefficients for guidewire motion ranged from 0.741-0.812, with mean trajectory errors below 1.1 mm. The transparent model demonstrated advantages in CABG training, allowing direct visualization while simulating beating heart challenges. Conclusion: Our patient-specific digital-physical twin approach effectively reproduces both anatomical structures and dynamic characteristics of coronary vasculature, offering a dynamic environment with visual and tactile feedback valuable for education and clinical planning.

Innovative Integration of 4D Cardiovascular Reconstruction and Hologram: A New Visualization Tool for Coronary Artery Bypass Grafting Planning

Background: Coronary artery bypass grafting (CABG) planning requires advanced spatial visualization and consideration of coronary artery depth, calcification, and pericardial adhesions. Objective: To develop and evaluate a dynamic cardiovascular holographic visualization tool for preoperative CABG planning. Methods: Using 4D cardiac computed tomography angiography data from 14 CABG candidates, we developed a semi-automated workflow for time-resolved segmentation of cardiac structures, epicardial adipose tissue (EAT), and coronary arteries with calcium scoring. The workflow incorporated methods for cardiac segmentation, coronary calcification quantification, visualization of coronary depth within EAT, and pericardial adhesion assessment through motion analysis. Dynamic cardiovascular holograms were displayed using the Looking Glass platform. Thirteen cardiac surgeons evaluated the tool using a Likert scale. Additionally, pericardial adhesion scores from holograms of 21 patients (including seven undergoing secondary cardiac surgeries) were compared with intraoperative findings. Results: Surgeons rated the visualization tool highly for preoperative planning utility (mean Likert score: 4.57/5.0). Hologram-based pericardial adhesion scoring strongly correlated with intraoperative findings (r=0.786, P<0.001). Conclusion: This study establishes a visualization framework for CABG planning that produces clinically relevant dynamic holograms from patient-specific data, with clinical feedback confirming its effectiveness for preoperative planning.

MFH: A Multi-faceted Heuristic Algorithm Selection Approach for Software Verification

Currently, many verification algorithms are available to improve the reliability of software systems. Selecting the appropriate verification algorithm typically demands domain expertise and non-trivial manpower. An automated algorithm selector is thus desired. However, existing selectors, either depend on machine-learned strategies or manually designed heuristics, encounter issues such as reliance on high-quality samples with algorithm labels and limited scalability. In this paper, an automated algorithm selection approach, namely MFH, is proposed for software verification. Our approach leverages the heuristics that verifiers producing correct results typically implement certain appropriate algorithms, and the supported algorithms by these verifiers indirectly reflect which ones are potentially applicable. Specifically, MFH embeds the code property graph (CPG) of a semantic-preserving transformed program to enhance the robustness of the prediction model. Furthermore, our approach decomposes the selection task into the sub-tasks of predicting potentially applicable algorithms and matching the most appropriate verifiers. Additionally, MFH also introduces a feedback loop on incorrect predictions to improve model prediction accuracy. We evaluate MFH on 20 verifiers and over 15,000 verification tasks. Experimental results demonstrate the effectiveness of MFH, achieving a prediction accuracy of 91.47% even without ground truth algorithm labels provided during the training phase. Moreover, the prediction accuracy decreases only by 0.84% when introducing 10 new verifiers, indicating the strong scalability of the proposed approach.

RSRWKV: A Linear-Complexity 2D Attention Mechanism for Efficient Remote Sensing Vision Task

High-resolution remote sensing analysis faces challenges in global context modeling due to scene complexity and scale diversity. While CNNs excel at local feature extraction via parameter sharing, their fixed receptive fields fundamentally restrict long-range dependency modeling. Vision Transformers (ViTs) effectively capture global semantic relationships through self-attention mechanisms but suffer from quadratic computational complexity relative to image resolution, creating critical efficiency bottlenecks for high-resolution imagery. The RWKV model's linear-complexity sequence modeling achieves breakthroughs in NLP but exhibits anisotropic limitations in vision tasks due to its 1D scanning mechanism. To address these challenges, we propose RSRWKV, featuring a novel 2D-WKV scanning mechanism that bridges sequential processing and 2D spatial reasoning while maintaining linear complexity. This enables isotropic context aggregation across multiple directions. The MVC-Shift module enhances multi-scale receptive field coverage, while the ECA module strengthens cross-channel feature interaction and semantic saliency modeling. Experimental results demonstrate RSRWKV's superior performance over CNN and Transformer baselines in classification, detection, and segmentation tasks on NWPU RESISC45, VHR-10.v2, and GLH-Water datasets, offering a scalable solution for high-resolution remote sensing analysis.

FRESA:Feedforward Reconstruction of Personalized Skinned Avatars from Few Images

We present a novel method for reconstructing personalized 3D human avatars with realistic animation from only a few images. Due to the large variations in body shapes, poses, and cloth types, existing methods mostly require hours of per-subject optimization during inference, which limits their practical applications. In contrast, we learn a universal prior from over a thousand clothed humans to achieve instant feedforward generation and zero-shot generalization. Specifically, instead of rigging the avatar with shared skinning weights, we jointly infer personalized avatar shape, skinning weights, and pose-dependent deformations, which effectively improves overall geometric fidelity and reduces deformation artifacts. Moreover, to normalize pose variations and resolve coupled ambiguity between canonical shapes and skinning weights, we design a 3D canonicalization process to produce pixel-aligned initial conditions, which helps to reconstruct fine-grained geometric details. We then propose a multi-frame feature aggregation to robustly reduce artifacts introduced in canonicalization and fuse a plausible avatar preserving person-specific identities. Finally, we train the model in an end-to-end framework on a large-scale capture dataset, which contains diverse human subjects paired with high-quality 3D scans. Extensive experiments show that our method generates more authentic reconstruction and animation than state-of-the-arts, and can be directly generalized to inputs from casually taken phone photos. Project page and code is available at https://github.com/rongakowang/FRESA.

Time-Varying Coronary Artery Deformation: A Dynamic Skinning Framework for Surgical Training

Purpose: This study proposes a novel anatomically-driven dynamic modeling framework for coronary arteries using skeletal skinning weights computation, aiming to achieve precise control over vessel deformation while maintaining real-time performance for surgical simulation applications. Methods: We developed a computational framework based on biharmonic energy minimization for skinning weight calculation, incorporating volumetric discretization through tetrahedral mesh generation. The method implements temporal sampling and interpolation for continuous vessel deformation throughout the cardiac cycle, with mechanical constraints and volume conservation enforcement. The framework was validated using clinical datasets from 5 patients, comparing interpolated deformation results against ground truth data obtained from frame-by-frame segmentation across cardiac phases. Results: The proposed framework effectively handled interactive vessel manipulation. Geometric accuracy evaluation showed mean Hausdorff distance of 4.96 +- 1.78 mm and mean surface distance of 1.78 +- 0.75 mm between interpolated meshes and ground truth models. The Branch Completeness Ratio achieved 1.82 +- 0.46, while Branch Continuity Score maintained 0.84 +- 0.06 (scale 0-1) across all datasets. The system demonstrated capability in supporting real-time guidewire-vessel collision detection and contrast medium flow simulation throughout the complete coronary tree structure. Conclusion: Our skinning weight-based methodology enhances model interactivity and applicability while maintaining geometric accuracy. The framework provides a more flexible technical foundation for virtual surgical training systems, demonstrating promising potential for both clinical practice and medical education applications. The code is available at https://github.com/ipoirot/DynamicArtery.

JADE: Joint-aware Latent Diffusion for 3D Human Generative Modeling

Generative modeling of 3D human bodies have been studied extensively in computer vision. The core is to design a compact latent representation that is both expressive and semantically interpretable, yet existing approaches struggle to achieve both requirements. In this work, we introduce JADE, a generative framework that learns the variations of human shapes with fined-grained control. Our key insight is a joint-aware latent representation that decomposes human bodies into skeleton structures, modeled by joint positions, and local surface geometries, characterized by features attached to each joint. This disentangled latent space design enables geometric and semantic interpretation, facilitating users with flexible controllability. To generate coherent and plausible human shapes under our proposed decomposition, we also present a cascaded pipeline where two diffusions are employed to model the distribution of skeleton structures and local surface geometries respectively. Extensive experiments are conducted on public datasets, where we demonstrate the effectiveness of JADE framework in multiple tasks in terms of autoencoding reconstruction accuracy, editing controllability and generation quality compared with existing methods.

A Greedy Strategy for Graph Cut

We propose a Greedy strategy to solve the problem of Graph Cut, called GGC. It starts from the state where each data sample is regarded as a cluster and dynamically merges the two clusters which reduces the value of the global objective function the most until the required number of clusters is obtained, and the monotonicity of the sequence of objective function values is proved. To reduce the computational complexity of GGC, only mergers between clusters and their neighbors are considered. Therefore, GGC has a nearly linear computational complexity with respect to the number of samples. Also, unlike other algorithms, due to the greedy strategy, the solution of the proposed algorithm is unique. In other words, its performance is not affected by randomness. We apply the proposed method to solve the problem of normalized cut which is a widely concerned graph cut problem. Extensive experiments show that better solutions can often be achieved compared to the traditional two-stage optimization algorithm (eigendecomposition + k-means), on the normalized cut problem. In addition, the performance of GGC also has advantages compared to several state-of-the-art clustering algorithms.

Dspy-based Neural-Symbolic Pipeline to Enhance Spatial Reasoning in LLMs

Large Language Models (LLMs) have demonstrated remarkable capabilities across various tasks, yet they often struggle with spatial reasoning. This paper presents a novel neural-symbolic framework that enhances LLMs' spatial reasoning abilities through iterative feedback between LLMs and Answer Set Programming (ASP). We evaluate our approach on two benchmark datasets: StepGame and SparQA, implementing three distinct strategies: (1) direct prompting baseline, (2) Facts+Rules prompting, and (3) DSPy-based LLM+ASP pipeline with iterative refinement. Our experimental results demonstrate that the LLM+ASP pipeline significantly outperforms baseline methods, achieving an average 82% accuracy on StepGame and 69% on SparQA, marking improvements of 40-50% and 8-15% respectively over direct prompting. The success stems from three key innovations: (1) effective separation of semantic parsing and logical reasoning through a modular pipeline, (2) iterative feedback mechanism between LLMs and ASP solvers that improves program rate, and (3) robust error handling that addresses parsing, grounding, and solving failures. Additionally, we propose Facts+Rules as a lightweight alternative that achieves comparable performance on complex SparQA dataset, while reducing computational overhead.Our analysis across different LLM architectures (Deepseek, Llama3-70B, GPT-4.0 mini) demonstrates the framework's generalizability and provides insights into the trade-offs between implementation complexity and reasoning capability, contributing to the development of more interpretable and reliable AI systems.