MVP-Nav: Multi-layer Value Map Planner Navigator

Zero-shot Object Goal Navigation (ZSON) with RGB-only perception poses a fundamental challenge for embodied agents, as the absence of explicit depth information introduces severe physical uncertainty and semantic-physical misalignment. Existing approaches either rely on high-level semantic reasoning without geometric grounding or learn end-to-end policies that lack explicit physical constraints, often resulting in semantically plausible but physically unsafe behaviors. In this paper, we propose MVP-Nav, a physical-aware RGB-only navigation framework that aligns perception, planning, and control with the real 3D world. MVP-Nav reconstructs explicit physical occupancy from monocular observations by leveraging 3D foundation models to project 2D semantic instances into 3D oriented bounding boxes, forming a global spatial semantic representation. To unify high-level semantic reasoning and low-level physical constraints, we introduce a Multi-layer Value Map (MVM) that integrates semantic priorities and reconstructed geometry into a shared cost space, enabling physically grounded geometric planning. Extensive experiments on zero-shot object navigation benchmarks demonstrate that MVP-Nav significantly outperforms existing depth-free methods, achieving state-of-the-art performance and validating that structured physical priors can effectively compensate for the absence of active depth sensors.

UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation

Unified multimodal models (UMMs) have shown great promise in integrating understanding and generation across diverse modalities. However, existing research rarely extends this paradigm to the tactile domain, where both object-level semantics and sensor-level configurations jointly determine the meaning of touch. To address this gap, we propose UniTac, the first UMM designed for tactile understanding and generation. UniTac models the tactile process as a transition from non-contact to contact, capturing the physical interaction between sensors and objects through a dual-level representation that encodes both sensor and object attributes. For tactile understanding, UniTac introduces two tasks, object property description and sensor identification, to enhance reasoning over physical and cross-sensor information. For tactile generation, we design a two-stage training paradigm consisting of reconstruction and alignment, together with a sensor-prior-based sampling strategy that simulates realistic tactile contact. Trained on large-scale multi-sensor datasets, UniTac achieves state-of-the-art performance in tactile understanding and generates realistic tactile signals across sensors.

RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

Bridging abstract semantics and precise physical control remains a fundamental challenge in open-world robotic manipulation. While recent data-driven policies show promise, their reliance on isolated contact points or latent affordance embeddings lacks the rigorous kinematic constraints necessary for complex articulated objects.To overcome the limitation, we introduce RelAfford6D, a novel training-free framework centered on a Relational 6D Affordance Graph. Given a free-form instruction, our system deduces a semantic topology linking a primary interacting part to its physical anchor. By elevating these topological nodes into precise metric $SE(3)$ poses via vision foundation models, we analytically formulate downstream execution as a kinematic constraint satisfaction problem. The robot synthesizes continuous trajectories by tracking strictly defined physical manifolds (e.g., revolute or prismatic orbits). Coupled with a closed-loop tracking mechanism for dynamic replanning against disturbances, our physically grounded approach achieves superior zero-shot success rates, cross-category generalization and execution robustness in both simulation and the real world environments, outperforming existing data-driven baselines.

MORE: Multi-Organ Medical Image REconstruction Dataset

CT reconstruction provides radiologists with images for diagnosis and treatment, yet current deep learning methods are typically limited to specific anatomies and datasets, hindering generalization ability to unseen anatomies and lesions. To address this, we introduce the Multi-Organ medical image REconstruction (MORE) dataset, comprising CT scans across 9 diverse anatomies with 15 lesion types. This dataset serves two key purposes: (1) enabling robust training of deep learning models on extensive, heterogeneous data, and (2) facilitating rigorous evaluation of model generalization for CT reconstruction. We further establish a strong baseline solution that outperforms prior approaches under these challenging conditions. Our results demonstrate that: (1) a comprehensive dataset helps improve the generalization capability of models, and (2) optimization-based methods offer enhanced robustness for unseen anatomies. The MORE dataset is freely accessible under CC-BY-NC 4.0 at our project page https://more-med.github.io/

Differentiable Gaussian Representation for Incomplete CT Reconstruction

Incomplete Computed Tomography (CT) benefits patients by reducing radiation exposure. However, reconstructing high-fidelity images from limited views or angles remains challenging due to the ill-posed nature of the problem. Deep Learning Reconstruction (DLR) methods have shown promise in enhancing image quality, but the paradox between training data diversity and high generalization ability remains unsolved. In this paper, we propose a novel Gaussian Representation for Incomplete CT Reconstruction (GRCT) without the usage of any neural networks or full-dose CT data. Specifically, we model the 3D volume as a set of learnable Gaussians, which are optimized directly from the incomplete sinogram. Our method can be applied to multiple views and angles without changing the architecture. Additionally, we propose a differentiable Fast CT Reconstruction method for efficient clinical usage. Extensive experiments on multiple datasets and settings demonstrate significant improvements in reconstruction quality metrics and high efficiency. We plan to release our code as open-source.

Boosting Detection in Crowd Analysis via Underutilized Output Features

Detection-based methods have been viewed unfavorably in crowd analysis due to their poor performance in dense crowds. However, we argue that the potential of these methods has been underestimated, as they offer crucial information for crowd analysis that is often ignored. Specifically, the area size and confidence score of output proposals and bounding boxes provide insight into the scale and density of the crowd. To leverage these underutilized features, we propose Crowd Hat, a plug-and-play module that can be easily integrated with existing detection models. This module uses a mixed 2D-1D compression technique to refine the output features and obtain the spatial and numerical distribution of crowd-specific information. Based on these features, we further propose region-adaptive NMS thresholds and a decouple-then-align paradigm that address the major limitations of detection-based methods. Our extensive evaluations on various crowd analysis tasks, including crowd counting, localization, and detection, demonstrate the effectiveness of utilizing output features and the potential of detection-based methods in crowd analysis.