One-shot learning for the complex dynamical behaviors of weakly nonlinear forced oscillators

Extrapolative prediction of complex nonlinear dynamics remains a central challenge in engineering. This study proposes a one-shot learning method to identify global frequency-response curves from a single excitation time history by learning governing equations. We introduce MEv-SINDy (Multi-frequency Evolutionary Sparse Identification of Nonlinear Dynamics) to infer the governing equations of non-autonomous and multi-frequency systems. The methodology leverages the Generalized Harmonic Balance (GHB) method to decompose complex forced responses into a set of slow-varying evolution equations. We validated the capabilities of MEv-SINDy on two critical Micro-Electro-Mechanical Systems (MEMS). These applications include a nonlinear beam resonator and a MEMS micromirror. Our results show that the model trained on a single point accurately predicts softening/hardening effects and jump phenomena across a wide range of excitation levels. This approach significantly reduces the data acquisition burden for the characterization and design of nonlinear microsystems.

RobotPan: A 360$^\circ$ Surround-View Robotic Vision System for Embodied Perception

Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual interfaces are often limited to narrow forward-facing views, or, when multiple on-board cameras are available, require cumbersome manual switching that interrupts the operator's workflow. Both configurations suffer from motion-induced jitter that causes simulator sickness in head-mounted displays. We introduce a surround-view robotic vision system that combines six cameras with LiDAR to provide full 360$^\circ$ visual coverage, while meeting the geometric and real-time constraints of embodied deployment. We further present \textsc{RobotPan}, a feed-forward framework that predicts \emph{metric-scaled} and \emph{compact} 3D Gaussians from calibrated sparse-view inputs for real-time rendering, reconstruction, and streaming. \textsc{RobotPan} lifts multi-view features into a unified spherical coordinate representation and decodes Gaussians using hierarchical spherical voxel priors, allocating fine resolution near the robot and coarser resolution at larger radii to reduce computational redundancy without sacrificing fidelity. To support long sequences, our online fusion updates dynamic content while preventing unbounded growth in static regions by selectively updating appearance. Finally, we release a multi-sensor dataset tailored to 360$^\circ$ novel view synthesis and metric 3D reconstruction for robotics, covering navigation, manipulation, and locomotion on real platforms. Experiments show that \textsc{RobotPan} achieves competitive quality against prior feed-forward reconstruction and view-synthesis methods while producing substantially fewer Gaussians, enabling practical real-time embodied deployment. Project website: https://robotpan.github.io/

MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction

Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and intricate dynamics of humanoid robots make manual motion design impractical, leading to a heavy reliance on expensive motion capture (MoCap) data. These datasets are not only costly to acquire but also frequently lack the necessary geometric context of the surrounding physical environment. Consequently, existing motion synthesis frameworks often suffer from a decoupling of motion and scene, resulting in physical inconsistencies such as contact slippage or mesh penetration during terrain-aware tasks. In this work, we present MeshMimic, an innovative framework that bridges 3D scene reconstruction and embodied intelligence to enable humanoid robots to learn coupled "motion-terrain" interactions directly from video. By leveraging state-of-the-art 3D vision models, our framework precisely segments and reconstructs both human trajectories and the underlying 3D geometry of terrains and objects. We introduce an optimization algorithm based on kinematic consistency to extract high-quality motion data from noisy visual reconstructions, alongside a contact-invariant retargeting method that transfers human-environment interaction features to the humanoid agent. Experimental results demonstrate that MeshMimic achieves robust, highly dynamic performance across diverse and challenging terrains. Our approach proves that a low-cost pipeline utilizing only consumer-grade monocular sensors can facilitate the training of complex physical interactions, offering a scalable path toward the autonomous evolution of humanoid robots in unstructured environments.

SARMAE: Masked Autoencoder for SAR Representation Learning

Synthetic Aperture Radar (SAR) imagery plays a critical role in all-weather, day-and-night remote sensing applications. However, existing SAR-oriented deep learning is constrained by data scarcity, while the physically grounded speckle noise in SAR imagery further hampers fine-grained semantic representation learning. To address these challenges, we propose SARMAE, a Noise-Aware Masked Autoencoder for self-supervised SAR representation learning. Specifically, we construct SAR-1M, the first million-scale SAR dataset, with additional paired optical images, to enable large-scale pre-training. Building upon this, we design Speckle-Aware Representation Enhancement (SARE), which injects SAR-specific speckle noise into masked autoencoders to facilitate noise-aware and robust representation learning. Furthermore, we introduce Semantic Anchor Representation Constraint (SARC), which leverages paired optical priors to align SAR features and ensure semantic consistency. Extensive experiments across multiple SAR datasets demonstrate that SARMAE achieves state-of-the-art performance on classification, detection, and segmentation tasks. Code and models will be available at https://github.com/MiliLab/SARMAE.

SimCast: Enhancing Precipitation Nowcasting with Short-to-Long Term Knowledge Distillation

Precipitation nowcasting predicts future radar sequences based on current observations, which is a highly challenging task driven by the inherent complexity of the Earth system. Accurate nowcasting is of utmost importance for addressing various societal needs, including disaster management, agriculture, transportation, and energy optimization. As a complementary to existing non-autoregressive nowcasting approaches, we investigate the impact of prediction horizons on nowcasting models and propose SimCast, a novel training pipeline featuring a short-to-long term knowledge distillation technique coupled with a weighted MSE loss to prioritize heavy rainfall regions. Improved nowcasting predictions can be obtained without introducing additional overhead during inference. As SimCast generates deterministic predictions, we further integrate it into a diffusion-based framework named CasCast, leveraging the strengths from probabilistic models to overcome limitations such as blurriness and distribution shift in deterministic outputs. Extensive experimental results on three benchmark datasets validate the effectiveness of the proposed framework, achieving mean CSI scores of 0.452 on SEVIR, 0.474 on HKO-7, and 0.361 on MeteoNet, which outperforms existing approaches by a significant margin.

Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots

Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become widely recognized as particularly suitable for humanoid robots, as it provides both rich semantic and 3D geometric information essential for comprehensive environmental understanding. In this work, we present Humanoid Occupancy, a generalized multimodal occupancy perception system that integrates hardware and software components, data acquisition devices, and a dedicated annotation pipeline. Our framework employs advanced multi-modal fusion techniques to generate grid-based occupancy outputs encoding both occupancy status and semantic labels, thereby enabling holistic environmental understanding for downstream tasks such as task planning and navigation. To address the unique challenges of humanoid robots, we overcome issues such as kinematic interference and occlusion, and establish an effective sensor layout strategy. Furthermore, we have developed the first panoramic occupancy dataset specifically for humanoid robots, offering a valuable benchmark and resource for future research and development in this domain. The network architecture incorporates multi-modal feature fusion and temporal information integration to ensure robust perception. Overall, Humanoid Occupancy delivers effective environmental perception for humanoid robots and establishes a technical foundation for standardizing universal visual modules, paving the way for the widespread deployment of humanoid robots in complex real-world scenarios.

Occupancy World Model for Robots

Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajectory prediction of potential instances, current works use the occupancy world model as a generative framework for describing fine-grained overall scene dynamics. However, existing methods cluster on the outdoor structured road scenes, while ignoring the exploration of forecasting 3D occupancy scene evolutions for robots in indoor scenes. In this work, we explore a new framework for learning the scene evolutions of observed fine-grained occupancy and propose an occupancy world model based on the combined spatio-temporal receptive field and guided autoregressive transformer to forecast the scene evolutions, called RoboOccWorld. We propose the Conditional Causal State Attention (CCSA), which utilizes camera poses of next state as conditions to guide the autoregressive transformer to adapt and understand the indoor robotics scenarios. In order to effectively exploit the spatio-temporal cues from historical observations, Hybrid Spatio-Temporal Aggregation (HSTA) is proposed to obtain the combined spatio-temporal receptive field based on multi-scale spatio-temporal windows. In addition, we restructure the OccWorld-ScanNet benchmark based on local annotations to facilitate the evaluation of the indoor 3D occupancy scene evolution prediction task. Experimental results demonstrate that our RoboOccWorld outperforms state-of-the-art methods in indoor 3D occupancy scene evolution prediction task. The code will be released soon.

RoboOcc: Enhancing the Geometric and Semantic Scene Understanding for Robots

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense voxels do not effectively exploit the geometry and opacity properties of Gaussians, which limits the network's estimation of complex environments and also limits the description of the scene by 3D Gaussians. In this paper, we propose a 3D occupancy prediction method which enhances the geometric and semantic scene understanding for robots, dubbed RoboOcc. It utilizes the Opacity-guided Self-Encoder (OSE) to alleviate the semantic ambiguity of overlapping Gaussians and the Geometry-aware Cross-Encoder (GCE) to accomplish the fine-grained geometric modeling of the surrounding scene. We conduct extensive experiments on Occ-ScanNet and EmbodiedOcc-ScanNet datasets, and our RoboOcc achieves state-of the-art performance in both local and global camera settings. Further, in ablation studies of Gaussian parameters, the proposed RoboOcc outperforms the state-of-the-art methods by a large margin of (8.47, 6.27) in IoU and mIoU metric, respectively. The codes will be released soon.

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots

The perceptual system design for humanoid robots poses unique challenges due to inherent structural constraints that cause severe self-occlusion and limited field-of-view (FOV). We present HumanoidPano, a novel hybrid cross-modal perception framework that synergistically integrates panoramic vision and LiDAR sensing to overcome these limitations. Unlike conventional robot perception systems that rely on monocular cameras or standard multi-sensor configurations, our method establishes geometrically-aware modality alignment through a spherical vision transformer, enabling seamless fusion of 360 visual context with LiDAR's precise depth measurements. First, Spherical Geometry-aware Constraints (SGC) leverage panoramic camera ray properties to guide distortion-regularized sampling offsets for geometric alignment. Second, Spatial Deformable Attention (SDA) aggregates hierarchical 3D features via spherical offsets, enabling efficient 360{\deg}-to-BEV fusion with geometrically complete object representations. Third, Panoramic Augmentation (AUG) combines cross-view transformations and semantic alignment to enhance BEV-panoramic feature consistency during data augmentation. Extensive evaluations demonstrate state-of-the-art performance on the 360BEV-Matterport benchmark. Real-world deployment on humanoid platforms validates the system's capability to generate accurate BEV segmentation maps through panoramic-LiDAR co-perception, directly enabling downstream navigation tasks in complex environments. Our work establishes a new paradigm for embodied perception in humanoid robotics.

DRESS: Disentangled Representation-based Self-Supervised Meta-Learning for Diverse Tasks

Meta-learning represents a strong class of approaches for solving few-shot learning tasks. Nonetheless, recent research suggests that simply pre-training a generic encoder can potentially surpass meta-learning algorithms. In this paper, we first discuss the reasons why meta-learning fails to stand out in these few-shot learning experiments, and hypothesize that it is due to the few-shot learning tasks lacking diversity. We propose DRESS, a task-agnostic Disentangled REpresentation-based Self-Supervised meta-learning approach that enables fast model adaptation on highly diversified few-shot learning tasks. Specifically, DRESS utilizes disentangled representation learning to create self-supervised tasks that can fuel the meta-training process. Furthermore, we also propose a class-partition based metric for quantifying the task diversity directly on the input space. We validate the effectiveness of DRESS through experiments on datasets with multiple factors of variation and varying complexity. The results suggest that DRESS is able to outperform competing methods on the majority of the datasets and task setups. Through this paper, we advocate for a re-examination of proper setups for task adaptation studies, and aim to reignite interest in the potential of meta-learning for solving few-shot learning tasks via disentangled representations.