PACE: Polar Axis-Conditioned Estimation for PairUAV Relative Localization

PairUAV relative localization maps two UAV images to a polar navigation command. Although heading and range share the same pairwise pose context, treating them as homogeneous coordinates forces both outputs to use the same decoder evidence and optimization state. Controlled readout probes reveal a different structure: the two axes favor different decoder-depth combinations, their best checkpoints disagree on 80.8% of a validation trajectory, and range errors exhibit a distinct high-error tail. We introduce method, Polar Axis-Conditioned Estimation, which retains a shared Reloc3r-style pair representation while assigning axis-specific readout interfaces. Heading uses mid/late relational evidence, whereas range remains attached to a direct late metric path. On the official hidden test, the strongest released raw predictor scores 0.002460; the complementary PAAER predictor scores 0.002514 with a slightly lower angle error. Deterministic challenge packaging, reported separately from learned estimation, yields the final score of 0.001874. Code, checkpoints, predictions, and reconstruction tools are available at https://github.com/zerong7777-boop/PairUAV-PACE.

FaRMamba: Frequency-based learning and Reconstruction aided Mamba for Medical Segmentation

Accurate medical image segmentation remains challenging due to blurred lesion boundaries (LBA), loss of high-frequency details (LHD), and difficulty in modeling long-range anatomical structures (DC-LRSS). Vision Mamba employs one-dimensional causal state-space recurrence to efficiently model global dependencies, thereby substantially mitigating DC-LRSS. However, its patch tokenization and 1D serialization disrupt local pixel adjacency and impose a low-pass filtering effect, resulting in Local High-frequency Information Capture Deficiency (LHICD) and two-dimensional Spatial Structure Degradation (2D-SSD), which in turn exacerbate LBA and LHD. In this work, we propose FaRMamba, a novel extension that explicitly addresses LHICD and 2D-SSD through two complementary modules. A Multi-Scale Frequency Transform Module (MSFM) restores attenuated high-frequency cues by isolating and reconstructing multi-band spectra via wavelet, cosine, and Fourier transforms. A Self-Supervised Reconstruction Auxiliary Encoder (SSRAE) enforces pixel-level reconstruction on the shared Mamba encoder to recover full 2D spatial correlations, enhancing both fine textures and global context. Extensive evaluations on CAMUS echocardiography, MRI-based Mouse-cochlea, and Kvasir-Seg endoscopy demonstrate that FaRMamba consistently outperforms competitive CNN-Transformer hybrids and existing Mamba variants, delivering superior boundary accuracy, detail preservation, and global coherence without prohibitive computational overhead. This work provides a flexible frequency-aware framework for future segmentation models that directly mitigates core challenges in medical imaging.