TrackDeform3D: Markerless and Autonomous 3D Keypoint Tracking and Dataset Collection for Deformable Objects

Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and motion planning. However, robustly extracting such representations remains challenging, as current perception methods struggle to handle complex deformations. Moreover, large-scale 3D data collection remains a bottleneck: existing approaches either require prohibitive data collection efforts, such as labor-intensive annotation or expensive motion capture setups, or rely on simplifying assumptions that break down in unstructured environments. As a result, large-scale 3D datasets and benchmarks for deformable objects remain scarce. To address these challenges, this paper presents an affordable and autonomous framework for collecting 3D datasets of deformable objects using only RGB-D cameras. The proposed method identifies 3D keypoints and robustly tracks their trajectories, incorporating motion consistency constraints to produce temporally smooth and geometrically coherent data. TrackDeform3D is evaluated against several state-of-the-art tracking methods across diverse object categories and demonstrates consistent improvements in both geometric and tracking accuracy. Using this framework, this paper presents a high-quality, large-scale dataset consisting of 6 deformable objects, totaling 110 minutes of trajectory data.

TheraAgent: Multi-Agent Framework with Self-Evolving Memory and Evidence-Calibrated Reasoning for PET Theranostics

PET theranostics is transforming precision oncology, yet treatment response varies substantially; many patients receiving 177Lu-PSMA radioligand therapy (RLT) for metastatic castration-resistant prostate cancer (mCRPC) fail to respond, demanding reliable pre-therapy prediction. While LLM-based agents have shown remarkable potential in complex medical diagnosis, their application to PET theranostic outcome prediction remains unexplored, which faces three key challenges: (1) data and knowledge scarcity: RLT was only FDA-approved in 2022, yielding few training cases and insufficient domain knowledge in general LLMs; (2) heterogeneous information integration: robust prediction hinges on structured knowledge extraction from PET/CT, laboratory tests, and free-text clinical documentation; (3) evidence-grounded reasoning: clinical decisions must be anchored in trial evidence rather than LLM hallucinations. In this paper, we present TheraAgent, to our knowledge, the first agentic framework for PET theranostics, with three core innovations: (1) Multi-Expert Feature Extraction with Confidence-Weighted Consensus, where three specialized experts process heterogeneous inputs with uncertainty quantification; (2) Self-Evolving Agentic Memory (SEA-Mem), which learns prognostic patterns from accumulated cases, enabling case-based reasoning from limited data; (3) Evidence-Calibrated Reasoning, integrating a curated theranostics knowledge base to ground predictions in VISION/TheraP trial evidence. Evaluated on 35 real patients and 400 synthetic cases, TheraAgent achieves 75.7% overall accuracy on real patients and 87.0% on synthetic cases, outperforming MDAgents and MedAgent-Pro by over 20%. These results highlight a promising blueprint for trustworthy AI agents in PET theranostics, enabling trial-calibrated, multi-source decision support. Code will be released upon acceptance.

Learning Unified Distance Metric for Heterogeneous Attribute Data Clustering

Datasets composed of numerical and categorical attributes (also called mixed data hereinafter) are common in real clustering tasks. Differing from numerical attributes that indicate tendencies between two concepts (e.g., high and low temperature) with their values in well-defined Euclidean distance space, categorical attribute values are different concepts (e.g., different occupations) embedded in an implicit space. Simultaneously exploiting these two very different types of information is an unavoidable but challenging problem, and most advanced attempts either encode the heterogeneous numerical and categorical attributes into one type, or define a unified metric for them for mixed data clustering, leaving their inherent connection unrevealed. This paper, therefore, studies the connection among any-type of attributes and proposes a novel Heterogeneous Attribute Reconstruction and Representation (HARR) learning paradigm accordingly for cluster analysis. The paradigm transforms heterogeneous attributes into a homogeneous status for distance metric learning, and integrates the learning with clustering to automatically adapt the metric to different clustering tasks. Differing from most existing works that directly adopt defined distance metrics or learn attribute weights to search clusters in a subspace. We propose to project the values of each attribute into unified learnable multiple spaces to more finely represent and learn the distance metric for categorical data. HARR is parameter-free, convergence-guaranteed, and can more effectively self-adapt to different sought number of clusters $k$. Extensive experiments illustrate its superiority in terms of accuracy and efficiency.

BiKC+: Bimanual Hierarchical Imitation with Keypose-Conditioned Coordination-Aware Consistency Policies

Robots are essential in industrial manufacturing due to their reliability and efficiency. They excel in performing simple and repetitive unimanual tasks but still face challenges with bimanual manipulation. This difficulty arises from the complexities of coordinating dual arms and handling multi-stage processes. Recent integration of generative models into imitation learning (IL) has made progress in tackling specific challenges. However, few approaches explicitly consider the multi-stage nature of bimanual tasks while also emphasizing the importance of inference speed. In multi-stage tasks, failures or delays at any stage can cascade over time, impacting the success and efficiency of subsequent sub-stages and ultimately hindering overall task performance. In this paper, we propose a novel keypose-conditioned coordination-aware consistency policy tailored for bimanual manipulation. Our framework instantiates hierarchical imitation learning with a high-level keypose predictor and a low-level trajectory generator. The predicted keyposes serve as sub-goals for trajectory generation, indicating targets for individual sub-stages. The trajectory generator is formulated as a consistency model, generating action sequences based on historical observations and predicted keyposes in a single inference step. In particular, we devise an innovative approach for identifying bimanual keyposes, considering both robot-centric action features and task-centric operation styles. Simulation and real-world experiments illustrate that our approach significantly outperforms baseline methods in terms of success rates and operational efficiency. Implementation codes can be found at https://github.com/JoanaHXU/BiKC-plus.

Artificial intelligence for simplified patient-centered dosimetry in radiopharmaceutical therapies

KEY WORDS: Artificial Intelligence (AI), Theranostics, Dosimetry, Radiopharmaceutical Therapy (RPT), Patient-friendly dosimetry KEY POINTS - The rapid evolution of radiopharmaceutical therapy (RPT) highlights the growing need for personalized and patient-centered dosimetry. - Artificial Intelligence (AI) offers solutions to the key limitations in current dosimetry calculations. - The main advances on AI for simplified dosimetry toward patient-friendly RPT are reviewed. - Future directions on the role of AI in RPT dosimetry are discussed.

BagIt! An Adaptive Dual-Arm Manipulation of Fabric Bags for Object Bagging

Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI) manipulation strategy for dual robot arms. The system dynamically adjusts its actions based on real-time visual feedback, removing the need for pre-existing knowledge of bag properties. Our framework incorporates Gaussian Mixture Models (GMM) for estimating SOI states, optimization techniques for SOI generation, motion planning via Constrained Bidirectional Rapidly-exploring Random Tree (CBiRRT), and dual-arm coordination using Model Predictive Control (MPC). Extensive experiments validate the capability of our system to perform precise and robust bagging across various objects, showcasing its adaptability. This work offers a new solution for robotic deformable object manipulation (DOM), particularly in automated bagging tasks. Video of this work is available at https://youtu.be/6JWjCOeTGiQ.

SViP: Sequencing Bimanual Visuomotor Policies with Object-Centric Motion Primitives

Imitation learning (IL), particularly when leveraging high-dimensional visual inputs for policy training, has proven intuitive and effective in complex bimanual manipulation tasks. Nonetheless, the generalization capability of visuomotor policies remains limited, especially when small demonstration datasets are available. Accumulated errors in visuomotor policies significantly hinder their ability to complete long-horizon tasks. To address these limitations, we propose SViP, a framework that seamlessly integrates visuomotor policies into task and motion planning (TAMP). SViP partitions human demonstrations into bimanual and unimanual operations using a semantic scene graph monitor. Continuous decision variables from the key scene graph are employed to train a switching condition generator. This generator produces parameterized scripted primitives that ensure reliable performance even when encountering out-of-the-distribution observations. Using only 20 real-world demonstrations, we show that SViP enables visuomotor policies to generalize across out-of-distribution initial conditions without requiring object pose estimators. For previously unseen tasks, SViP automatically discovers effective solutions to achieve the goal, leveraging constraint modeling in TAMP formulism. In real-world experiments, SViP outperforms state-of-the-art generative IL methods, indicating wider applicability for more complex tasks. Project website: https://sites.google.com/view/svip-bimanual

Establishing Reliability Metrics for Reward Models in Large Language Models

The reward model (RM) that represents human preferences plays a crucial role in optimizing the outputs of large language models (LLMs), e.g., through reinforcement learning from human feedback (RLHF) or rejection sampling. However, a long challenge for RM is its uncertain reliability, i.e., LLM outputs with higher rewards may not align with actual human preferences. Currently, there is a lack of a convincing metric to quantify the reliability of RMs. To bridge this gap, we propose the \textit{\underline{R}eliable at \underline{$\eta$}} (RETA) metric, which directly measures the reliability of an RM by evaluating the average quality (scored by an oracle) of the top $\eta$ quantile responses assessed by an RM. On top of RETA, we present an integrated benchmarking pipeline that allows anyone to evaluate their own RM without incurring additional Oracle labeling costs. Extensive experimental studies demonstrate the superior stability of RETA metric, providing solid evaluations of the reliability of various publicly available and proprietary RMs. When dealing with an unreliable RM, we can use the RETA metric to identify the optimal quantile from which to select the responses.

Grammar-Based Code Representation: Is It a Worthy Pursuit for LLMs?

Grammar serves as a cornerstone in programming languages and software engineering, providing frameworks to define the syntactic space and program structure. Existing research demonstrates the effectiveness of grammar-based code representations in small-scale models, showing their ability to reduce syntax errors and enhance performance. However, as language models scale to the billion level or beyond, syntax-level errors become rare, making it unclear whether grammar information still provides performance benefits. To explore this, we develop a series of billion-scale GrammarCoder models, incorporating grammar rules in the code generation process. Experiments on HumanEval (+) and MBPP (+) demonstrate a notable improvement in code generation accuracy. Further analysis shows that grammar-based representations enhance LLMs' ability to discern subtle code differences, reducing semantic errors caused by minor variations. These findings suggest that grammar-based code representations remain valuable even in billion-scale models, not only by maintaining syntax correctness but also by improving semantic differentiation.

PET Image Denoising via Text-Guided Diffusion: Integrating Anatomical Priors through Text Prompts

Low-dose Positron Emission Tomography (PET) imaging presents a significant challenge due to increased noise and reduced image quality, which can compromise its diagnostic accuracy and clinical utility. Denoising diffusion probabilistic models (DDPMs) have demonstrated promising performance for PET image denoising. However, existing DDPM-based methods typically overlook valuable metadata such as patient demographics, anatomical information, and scanning parameters, which should further enhance the denoising performance if considered. Recent advances in vision-language models (VLMs), particularly the pre-trained Contrastive Language-Image Pre-training (CLIP) model, have highlighted the potential of incorporating text-based information into visual tasks to improve downstream performance. In this preliminary study, we proposed a novel text-guided DDPM for PET image denoising that integrated anatomical priors through text prompts. Anatomical text descriptions were encoded using a pre-trained CLIP text encoder to extract semantic guidance, which was then incorporated into the diffusion process via the cross-attention mechanism. Evaluations based on paired 1/20 low-dose and normal-dose 18F-FDG PET datasets demonstrated that the proposed method achieved better quantitative performance than conventional UNet and standard DDPM methods at both the whole-body and organ levels. These results underscored the potential of leveraging VLMs to integrate rich metadata into the diffusion framework to enhance the image quality of low-dose PET scans.