Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion

Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directly applying MPPI to legged robotic systems presents several challenges. This paper systematically investigates the role of sampling strategy design within the MPPI framework for legged robot locomotion. Based upon the idea of structured control parameterization, we explore and compare multiple sampling strategies within the framework, including both unstructured and spline-based approaches. Through extensive simulations on a quadruped robot platform, we evaluate how different sampling strategies affect control smoothness, task performance, robustness, and sample efficiency. The results provide new insights into the practical implications of sampling design for deploying MPPI on complex legged systems.

LibContinual: A Comprehensive Library towards Realistic Continual Learning

A fundamental challenge in Continual Learning (CL) is catastrophic forgetting, where adapting to new tasks degrades the performance on previous ones. While the field has evolved with diverse methods, this rapid surge in diverse methodologies has culminated in a fragmented research landscape. The lack of a unified framework, including inconsistent implementations, conflicting dependencies, and varying evaluation protocols, makes fair comparison and reproducible research increasingly difficult. To address this challenge, we propose LibContinual, a comprehensive and reproducible library designed to serve as a foundational platform for realistic CL. Built upon a high-cohesion, low-coupling modular architecture, LibContinual integrates 19 representative algorithms across five major methodological categories, providing a standardized execution environment. Meanwhile, leveraging this unified framework, we systematically identify and investigate three implicit assumptions prevalent in mainstream evaluation: (1) offline data accessibility, (2) unregulated memory resources, and (3) intra-task semantic homogeneity. We argue that these assumptions often overestimate the real-world applicability of CL methods. Through our comprehensive analysis using strict online CL settings, a novel unified memory budget protocol, and a proposed category-randomized setting, we reveal significant performance drops in many representative CL methods when subjected to these real-world constraints. Our study underscores the necessity of resource-aware and semantically robust CL strategies, and offers LibContinual as a foundational toolkit for future research in realistic continual learning. The source code is available from \href{https://github.com/RL-VIG/LibContinual}{https://github.com/RL-VIG/LibContinual}.

SDialog: A Python Toolkit for End-to-End Agent Building, User Simulation, Dialog Generation, and Evaluation

We present SDialog, an MIT-licensed open-source Python toolkit that unifies dialog generation, evaluation and mechanistic interpretability into a single end-to-end framework for building and analyzing LLM-based conversational agents. Built around a standardized \texttt{Dialog} representation, SDialog provides: (1) persona-driven multi-agent simulation with composable orchestration for controlled, synthetic dialog generation, (2) comprehensive evaluation combining linguistic metrics, LLM-as-a-judge and functional correctness validators, (3) mechanistic interpretability tools for activation inspection and steering via feature ablation and induction, and (4) audio generation with full acoustic simulation including 3D room modeling and microphone effects. The toolkit integrates with all major LLM backends, enabling mixed-backend experiments under a unified API. By coupling generation, evaluation, and interpretability in a dialog-centric architecture, SDialog enables researchers to build, benchmark and understand conversational systems more systematically.

Latency Minimization for Multi-AAV-Enabled ISCC Systems with Movable Antenna

This paper investigates an autonomous aerial vehicle (AAV)-enabled integrated sensing, communication, and computation system, with a particular focus on integrating movable antennas (MAs) into the system for enhancing overall system performance. Specifically, multiple MA-enabled AVVs perform sensing tasks and simultaneously transmit the generated computational tasks to the base station for processing. To minimize the maximum latency under the sensing and resource constraints, we formulate an optimization problem that jointly coordinates the position of the MAs, the computation resource allocation, and the transmit beamforming. Due to the non-convexity of the objective function and strong coupling among variables, we propose a two-layer iterative algorithm leveraging particle swarm optimization and convex optimization to address it. The simulation results demonstrate that the proposed scheme achieves significant latency improvements compared to the baseline schemes.

Full-Duplex ISCC for Low-Altitude Networks: Resource Allocation and Coordinated Beamforming

This paper investigates an integrated sensing, communication, and computing system deployed over low-altitude networks for enabling applications within the low-altitude economy. In the considered system, a full-duplex enabled unmanned aerial vehicle (UAV) is dispatched in the airspace, functioning as a UAV-enabled low-altitude platform (ULAP). The ULAP is capable of achieving simultaneous information transmission, target sensing, and mobile edge computing services. To reduce the overall energy consumption of the system while meeting the sensing beampattern threshold and user computation requirements, we formulate an energy consumption minimization problem by jointly optimizing the task allocation, computation resource allocation, transmit beamforming, and receive beamforming. Since the problem is non-convex and involves highly coupled variables, we propose an efficient algorithm based on alternation optimization, which decomposes the original problem into tractable convex subproblems. Moreover, we analyze the convergence and complexity of the proposed algorithm. Numerical results demonstrate that the proposed scheme saves up to 54.12\% energy consumption performance compared to the benchmark schemes.

SG-NeRF: Neural Surface Reconstruction with Scene Graph Optimization

3D surface reconstruction from images is essential for numerous applications. Recently, Neural Radiance Fields (NeRFs) have emerged as a promising framework for 3D modeling. However, NeRFs require accurate camera poses as input, and existing methods struggle to handle significantly noisy pose estimates (i.e., outliers), which are commonly encountered in real-world scenarios. To tackle this challenge, we present a novel approach that optimizes radiance fields with scene graphs to mitigate the influence of outlier poses. Our method incorporates an adaptive inlier-outlier confidence estimation scheme based on scene graphs, emphasizing images of high compatibility with the neighborhood and consistency in the rendering quality. We also introduce an effective intersection-over-union (IoU) loss to optimize the camera pose and surface geometry, together with a coarse-to-fine strategy to facilitate the training. Furthermore, we propose a new dataset containing typical outlier poses for a detailed evaluation. Experimental results on various datasets consistently demonstrate the effectiveness and superiority of our method over existing approaches, showcasing its robustness in handling outliers and producing high-quality 3D reconstructions. Our code and data are available at: \url{https://github.com/Iris-cyy/SG-NeRF}.

Deep Reinforcement Learning in Autonomous Car Path Planning and Control: A Survey

Combining data-driven applications with control systems plays a key role in recent Autonomous Car research. This thesis offers a structured review of the latest literature on Deep Reinforcement Learning (DRL) within the realm of autonomous vehicle Path Planning and Control. It collects a series of DRL methodologies and algorithms and their applications in the field, focusing notably on their roles in trajectory planning and dynamic control. In this review, we delve into the application outcomes of DRL technologies in this domain. By summarizing these literatures, we highlight potential challenges, aiming to offer insights that might aid researchers engaged in related fields.

Local-consistent Transformation Learning for Rotation-invariant Point Cloud Analysis

Rotation invariance is an important requirement for point shape analysis. To achieve this, current state-of-the-art methods attempt to construct the local rotation-invariant representation through learning or defining the local reference frame (LRF). Although efficient, these LRF-based methods suffer from perturbation of local geometric relations, resulting in suboptimal local rotation invariance. To alleviate this issue, we propose a Local-consistent Transformation (LocoTrans) learning strategy. Specifically, we first construct the local-consistent reference frame (LCRF) by considering the symmetry of the two axes in LRF. In comparison with previous LRFs, our LCRF is able to preserve local geometric relationships better through performing local-consistent transformation. However, as the consistency only exists in local regions, the relative pose information is still lost in the intermediate layers of the network. We mitigate such a relative pose issue by developing a relative pose recovery (RPR) module. RPR aims to restore the relative pose between adjacent transformed patches. Equipped with LCRF and RPR, our LocoTrans is capable of learning local-consistent transformation and preserving local geometry, which benefits rotation invariance learning. Competitive performance under arbitrary rotations on both shape classification and part segmentation tasks and ablations can demonstrate the effectiveness of our method. Code will be available publicly at https://github.com/wdttt/LocoTrans.

CharNeRF: 3D Character Generation from Concept Art

3D modeling holds significant importance in the realms of AR/VR and gaming, allowing for both artistic creativity and practical applications. However, the process is often time-consuming and demands a high level of skill. In this paper, we present a novel approach to create volumetric representations of 3D characters from consistent turnaround concept art, which serves as the standard input in the 3D modeling industry. While Neural Radiance Field (NeRF) has been a game-changer in image-based 3D reconstruction, to the best of our knowledge, there is no known research that optimizes the pipeline for concept art. To harness the potential of concept art, with its defined body poses and specific view angles, we propose encoding it as priors for our model. We train the network to make use of these priors for various 3D points through a learnable view-direction-attended multi-head self-attention layer. Additionally, we demonstrate that a combination of ray sampling and surface sampling enhances the inference capabilities of our network. Our model is able to generate high-quality 360-degree views of characters. Subsequently, we provide a simple guideline to better leverage our model to extract the 3D mesh. It is important to note that our model's inferencing capabilities are influenced by the training data's characteristics, primarily focusing on characters with a single head, two arms, and two legs. Nevertheless, our methodology remains versatile and adaptable to concept art from diverse subject matters, without imposing any specific assumptions on the data.

Behavioral Refinement via Interpolant-based Policy Diffusion

Imitation learning empowers artificial agents to mimic behavior by learning from demonstrations. Recently, diffusion models, which have the ability to model high-dimensional and multimodal distributions, have shown impressive performance on imitation learning tasks. These models learn to shape a policy by diffusing actions (or states) from standard Gaussian noise. However, the target policy to be learned is often significantly different from Gaussian and this mismatch can result in poor performance when using a small number of diffusion steps (to improve inference speed) and under limited data. The key idea in this work is that initiating from a more informative source than Gaussian enables diffusion methods to overcome the above limitations. We contribute both theoretical results, a new method, and empirical findings that show the benefits of using an informative source policy. Our method, which we call BRIDGER, leverages the stochastic interpolants framework to bridge arbitrary policies, thus enabling a flexible approach towards imitation learning. It generalizes prior work in that standard Gaussians can still be applied, but other source policies can be used if available. In experiments on challenging benchmarks, BRIDGER outperforms state-of-the-art diffusion policies and we provide further analysis on design considerations when applying BRIDGER.