Uni-World VLA: Interleaved World Modeling and Planning for Autonomous Driving

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination that may drift from the actual decision process. In this paper, we present Uni-World VLA, a unified vision-language-action (VLA) model that tightly interleaves future frame prediction and trajectory planning. Instead of generating a full world rollout before planning, our model alternates between predicting future frames and ego actions step by step, allowing planning decisions to be continuously conditioned on the imagined future observations. This interleaved generation forms a closed-loop interaction between world modeling and control, enabling more adaptive decision-making in dynamic traffic scenarios. In addition, we incorporate monocular depth information into frames to provide stronger geometric cues for world modeling, improving long-horizon scene prediction. Experiments on the NAVSIM benchmark show that our approach achieves competitive closed-loop planning performance while producing high-fidelity future frame predictions. These results demonstrate that tightly coupling world prediction and planning is a promising direction for scalable VLA driving systems.

Fast Low-light Enhancement and Deblurring for 3D Dark Scenes

Novel view synthesis from low-light, noisy, and motion-blurred imagery remains a valuable and challenging task. Current volumetric rendering methods struggle with compound degradation, and sequential 2D preprocessing introduces artifacts due to interdependencies. In this work, we introduce FLED-GS, a fast low-light enhancement and deblurring framework that reformulates 3D scene restoration as an alternating cycle of enhancement and reconstruction. Specifically, FLED-GS inserts several intermediate brightness anchors to enable progressive recovery, preventing noise blow-up from harming deblurring or geometry. Each iteration sharpens inputs with an off-the-shelf 2D deblurrer and then performs noise-aware 3DGS reconstruction that estimates and suppresses noise while producing clean priors for the next level. Experiments show FLED-GS outperforms state-of-the-art LuSh-NeRF, achieving 21$\times$ faster training and 11$\times$ faster rendering.

RAID: Retrieval-Augmented Anomaly Detection

Unsupervised Anomaly Detection (UAD) aims to identify abnormal regions by establishing correspondences between test images and normal templates. Existing methods primarily rely on image reconstruction or template retrieval but face a fundamental challenge: matching between test images and normal templates inevitably introduces noise due to intra-class variations, imperfect correspondences, and limited templates. Observing that Retrieval-Augmented Generation (RAG) leverages retrieved samples directly in the generation process, we reinterpret UAD through this lens and introduce \textbf{RAID}, a retrieval-augmented UAD framework designed for noise-resilient anomaly detection and localization. Unlike standard RAG that enriches context or knowledge, we focus on using retrieved normal samples to guide noise suppression in anomaly map generation. RAID retrieves class-, semantic-, and instance-level representations from a hierarchical vector database, forming a coarse-to-fine pipeline. A matching cost volume correlates the input with retrieved exemplars, followed by a guided Mixture-of-Experts (MoE) network that leverages the retrieved samples to adaptively suppress matching noise and produce fine-grained anomaly maps. RAID achieves state-of-the-art performance across full-shot, few-shot, and multi-dataset settings on MVTec, VisA, MPDD, and BTAD benchmarks. \href{https://github.com/Mingxiu-Cai/RAID}{https://github.com/Mingxiu-Cai/RAID}.

UniMotion: A Unified Motion Framework for Simulation, Prediction and Planning

Motion simulation, prediction and planning are foundational tasks in autonomous driving, each essential for modeling and reasoning about dynamic traffic scenarios. While often addressed in isolation due to their differing objectives, such as generating diverse motion states or estimating optimal trajectories, these tasks inherently depend on shared capabilities: understanding multi-agent interactions, modeling motion behaviors, and reasoning over temporal and spatial dynamics. Despite this underlying commonality, existing approaches typically adopt specialized model designs, which hinders cross-task generalization and system scalability. More critically, this separation overlooks the potential mutual benefits among tasks. Motivated by these observations, we propose UniMotion, a unified motion framework that captures shared structures across motion tasks while accommodating their individual requirements. Built on a decoder-only Transformer architecture, UniMotion employs dedicated interaction modes and tailored training strategies to simultaneously support these motion tasks. This unified design not only enables joint optimization and representation sharing but also allows for targeted fine-tuning to specialize in individual tasks when needed. Extensive experiments on the Waymo Open Motion Dataset demonstrate that joint training leads to robust generalization and effective task integration. With further fine-tuning, UniMotion achieves state-of-the-art performance across a range of motion tasks, establishing it as a versatile and scalable solution for autonomous driving.

Deep Leakage with Generative Flow Matching Denoiser

Federated Learning (FL) has emerged as a powerful paradigm for decentralized model training, yet it remains vulnerable to deep leakage (DL) attacks that reconstruct private client data from shared model updates. While prior DL methods have demonstrated varying levels of success, they often suffer from instability, limited fidelity, or poor robustness under realistic FL settings. We introduce a new DL attack that integrates a generative Flow Matching (FM) prior into the reconstruction process. By guiding optimization toward the distribution of realistic images (represented by a flow matching foundation model), our method enhances reconstruction fidelity without requiring knowledge of the private data. Extensive experiments on multiple datasets and target models demonstrate that our approach consistently outperforms state-of-the-art attacks across pixel-level, perceptual, and feature-based similarity metrics. Crucially, the method remains effective across different training epochs, larger client batch sizes, and under common defenses such as noise injection, clipping, and sparsification. Our findings call for the development of new defense strategies that explicitly account for adversaries equipped with powerful generative priors.

SpooFL: Spoofing Federated Learning

Traditional defenses against Deep Leakage (DL) attacks in Federated Learning (FL) primarily focus on obfuscation, introducing noise, transformations or encryption to degrade an attacker's ability to reconstruct private data. While effective to some extent, these methods often still leak high-level information such as class distributions or feature representations, and are frequently broken by increasingly powerful denoising attacks. We propose a fundamentally different perspective on FL defense: framing it as a spoofing problem.We introduce SpooFL (Figure 1), a spoofing-based defense that deceives attackers into believing they have recovered the true training data, while actually providing convincing but entirely synthetic samples from an unrelated task. Unlike prior synthetic-data defenses that share classes or distributions with the private data and thus still leak semantic information, SpooFL uses a state-of-the-art generative model trained on an external dataset with no class overlap. As a result, attackers are misled into recovering plausible yet completely irrelevant samples, preventing meaningful data leakage while preserving FL training integrity. We implement the first example of such a spoofing defense, and evaluate our method against state-of-the-art DL defenses and demonstrate that it successfully misdirects attackers without compromising model performance significantly.

MERGETUNE: Continued fine-tuning of vision-language models

Fine-tuning vision-language models (VLMs) such as CLIP often leads to catastrophic forgetting of pretrained knowledge. Prior work primarily aims to mitigate forgetting during adaptation; however, forgetting often remains inevitable during this process. We introduce a novel paradigm, continued fine-tuning (CFT), which seeks to recover pretrained knowledge after a zero-shot model has already been adapted. We propose a simple, model-agnostic CFT strategy (named MERGETUNE) guided by linear mode connectivity (LMC), which can be applied post hoc to existing fine-tuned models without requiring architectural changes. Given a fine-tuned model, we continue fine-tuning its trainable parameters (e.g., soft prompts or linear heads) to search for a continued model which has two low-loss paths to the zero-shot (e.g., CLIP) and the fine-tuned (e.g., CoOp) solutions. By exploiting the geometry of the loss landscape, the continued model implicitly merges the two solutions, restoring pretrained knowledge lost in the fine-tuned counterpart. A challenge is that the vanilla LMC constraint requires data replay from the pretraining task. We approximate this constraint for the zero-shot model via a second-order surrogate, eliminating the need for large-scale data replay. Experiments show that MERGETUNE improves the harmonic mean of CoOp by +5.6% on base-novel generalisation without adding parameters. On robust fine-tuning evaluations, the LMC-merged model from MERGETUNE surpasses ensemble baselines with lower inference cost, achieving further gains and state-of-the-art results when ensembled with the zero-shot model. Our code is available at https://github.com/Surrey-UP-Lab/MERGETUNE.

DentalX: Context-Aware Dental Disease Detection with Radiographs

Diagnosing dental diseases from radiographs is time-consuming and challenging due to the subtle nature of diagnostic evidence. Existing methods, which rely on object detection models designed for natural images with more distinct target patterns, struggle to detect dental diseases that present with far less visual support. To address this challenge, we propose {\bf DentalX}, a novel context-aware dental disease detection approach that leverages oral structure information to mitigate the visual ambiguity inherent in radiographs. Specifically, we introduce a structural context extraction module that learns an auxiliary task: semantic segmentation of dental anatomy. The module extracts meaningful structural context and integrates it into the primary disease detection task to enhance the detection of subtle dental diseases. Extensive experiments on a dedicated benchmark demonstrate that DentalX significantly outperforms prior methods in both tasks. This mutual benefit arises naturally during model optimization, as the correlation between the two tasks is effectively captured. Our code is available at https://github.com/zhiqin1998/DentYOLOX.

SGDrive: Scene-to-Goal Hierarchical World Cognition for Autonomous Driving

Recent end-to-end autonomous driving approaches have leveraged Vision-Language Models (VLMs) to enhance planning capabilities in complex driving scenarios. However, VLMs are inherently trained as generalist models, lacking specialized understanding of driving-specific reasoning in 3D space and time. When applied to autonomous driving, these models struggle to establish structured spatial-temporal representations that capture geometric relationships, scene context, and motion patterns critical for safe trajectory planning. To address these limitations, we propose SGDrive, a novel framework that explicitly structures the VLM's representation learning around driving-specific knowledge hierarchies. Built upon a pre-trained VLM backbone, SGDrive decomposes driving understanding into a scene-agent-goal hierarchy that mirrors human driving cognition: drivers first perceive the overall environment (scene context), then attend to safety-critical agents and their behaviors, and finally formulate short-term goals before executing actions. This hierarchical decomposition provides the structured spatial-temporal representation that generalist VLMs lack, integrating multi-level information into a compact yet comprehensive format for trajectory planning. Extensive experiments on the NAVSIM benchmark demonstrate that SGDrive achieves state-of-the-art performance among camera-only methods on both PDMS and EPDMS, validating the effectiveness of hierarchical knowledge structuring for adapting generalist VLMs to autonomous driving.

Adaptive Diffusion-based Augmentation for Recommendation

Recommendation systems often rely on implicit feedback, where only positive user-item interactions can be observed. Negative sampling is therefore crucial to provide proper negative training signals. However, existing methods tend to mislabel potentially positive but unobserved items as negatives and lack precise control over negative sample selection. We aim to address these by generating controllable negative samples, rather than sampling from the existing item pool. In this context, we propose Adaptive Diffusion-based Augmentation for Recommendation (ADAR), a novel and model-agnostic module that leverages diffusion to synthesize informative negatives. Inspired by the progressive corruption process in diffusion, ADAR simulates a continuous transition from positive to negative, allowing for fine-grained control over sample hardness. To mine suitable negative samples, we theoretically identify the transition point at which a positive sample turns negative and derive a score-aware function to adaptively determine the optimal sampling timestep. By identifying this transition point, ADAR generates challenging negative samples that effectively refine the model's decision boundary. Experiments confirm that ADAR is broadly compatible and boosts the performance of existing recommendation models substantially, including collaborative filtering and sequential recommendation, without architectural modifications.