LongFly: Long-Horizon UAV Vision-and-Language Navigation with Spatiotemporal Context Integration

Unmanned aerial vehicles (UAVs) are crucial tools for post-disaster search and rescue, facing challenges such as high information density, rapid changes in viewpoint, and dynamic structures, especially in long-horizon navigation. However, current UAV vision-and-language navigation(VLN) methods struggle to model long-horizon spatiotemporal context in complex environments, resulting in inaccurate semantic alignment and unstable path planning. To this end, we propose LongFly, a spatiotemporal context modeling framework for long-horizon UAV VLN. LongFly proposes a history-aware spatiotemporal modeling strategy that transforms fragmented and redundant historical data into structured, compact, and expressive representations. First, we propose the slot-based historical image compression module, which dynamically distills multi-view historical observations into fixed-length contextual representations. Then, the spatiotemporal trajectory encoding module is introduced to capture the temporal dynamics and spatial structure of UAV trajectories. Finally, to integrate existing spatiotemporal context with current observations, we design the prompt-guided multimodal integration module to support time-based reasoning and robust waypoint prediction. Experimental results demonstrate that LongFly outperforms state-of-the-art UAV VLN baselines by 7.89\% in success rate and 6.33\% in success weighted by path length, consistently across both seen and unseen environments.

EventGPT: Event Stream Understanding with Multimodal Large Language Models

Event cameras record visual information as asynchronous pixel change streams, excelling at scene perception under unsatisfactory lighting or high-dynamic conditions. Existing multimodal large language models (MLLMs) concentrate on natural RGB images, failing in scenarios where event data fits better. In this paper, we introduce EventGPT, the first MLLM for event stream understanding, to the best of our knowledge, marking a pioneering attempt to integrate large language models (LLMs) with event stream comprehension. To mitigate the huge domain gaps, we develop a three-stage optimization paradigm to gradually equip a pre-trained LLM with the capability of understanding event-based scenes. Our EventGPT comprises an event encoder, followed by a spatio-temporal aggregator, a linear projector, an event-language adapter, and an LLM. Firstly, RGB image-text pairs generated by GPT are leveraged to warm up the linear projector, referring to LLaVA, as the gap between natural image and language modalities is relatively smaller. Secondly, we construct a synthetic yet large dataset, N-ImageNet-Chat, consisting of event frames and corresponding texts to enable the use of the spatio-temporal aggregator and to train the event-language adapter, thereby aligning event features more closely with the language space. Finally, we gather an instruction dataset, Event-Chat, which contains extensive real-world data to fine-tune the entire model, further enhancing its generalization ability. We construct a comprehensive benchmark, and experiments show that EventGPT surpasses previous state-of-the-art MLLMs in generation quality, descriptive accuracy, and reasoning capability.

Two New Stenosis Detection Methods of Coronary Angiograms

Coronary angiography is the "gold standard" for diagnosing coronary artery disease (CAD). At present, the methods for detecting and evaluating coronary artery stenosis cannot satisfy the clinical needs, e.g., there is no prior study of detecting stenoses in prespecified vessel segments, which is necessary in clinical practice. Two vascular stenosis detection methods are proposed to assist the diagnosis. The first one is an automatic method, which can automatically extract the entire coronary artery tree and mark all the possible stenoses. The second one is an interactive method. With this method, the user can choose any vessel segment to do further analysis of its stenoses. Experiments show that the proposed methods are robust for angiograms with various vessel structures. The precision, sensitivity, and $F_1$ score of the automatic stenosis detection method are 0.821, 0.757, and 0.788, respectively. Further investigation proves that the interactive method can provide a more precise outcome of stenosis detection, and our quantitative analysis is closer to reality. The proposed automatic method and interactive method are effective and can complement each other in clinical practice. The first method can be used for preliminary screening, and the second method can be used for further quantitative analysis. We believe the proposed solution is more suitable for the clinical diagnosis of CAD.

Two New Stenoses Detection Methods of Coronary Angiograms

Coronary angiography is the "gold standard" for the diagnosis of coronary heart disease. At present, the methods for detecting coronary artery stenoses and evaluating the degree of it in coronary angiograms are either subjective or not efficient enough. Two vascular stenoses detection methods in coronary angiograms are proposed to assist the diagnosis. The first one is an automatic method, which can automatically segment the entire coronary vessels and mark the stenoses. The second one is an interactive method. With this method, the user only needs to give a start point and an end point to detect the stenoses of a certain vascular segment. We have shown that the proposed tracking methods are robust for angiograms with various vessel structure. The automatic detection method can effectively measure the diameter of the vessel and mark the stenoses in different angiograms. Further investigation proves that the results of interactive detection method can accurately reflect the true stenoses situation. The proposed automatic method and interactive method are effective in various angiograms and can complement each other in clinical practice. The first method can be used for preliminary screening and the second method can be used for further quantitative analysis. It has the potential to improve the level of clinical diagnosis of coronary heart disease.