Defining Robust Ultrasound Quality Metrics via an Ultrasound Foundation Model

Clinicians lack a principled framework to quantify diagnostic utility in ultrasound reconstructions. Existing standards like PSNR and VGG-LPIPS are inadequate, failing to account for modality-specific physics or the structural nuances of acoustic imaging. We close this gap with a TinyUSFM-based evaluation framework featuring two distinct metrics: TinyUSFM-uLPIPS, a full-reference perceptual distance based on multi-layer token relations, and TinyUSFM-NRQ, a deployable no-reference quality score utilizing clean-manifold modeling and worst-region aggregation to detect localized harmful artifacts. We demonstrate that the presented metrics have four unique advantages: 1) Task-linked quality, where TinyUSFM-uLPIPS achieves superior calibration with semantic task damage, accurately reflecting Dice-score drops in segmentation where VGG-based metrics fail; 2) Cross-organ comparability, maintaining stable scoring scales and consistent severity rankings across diverse anatomical sites and domain-shifted data; 3) PSNR-consistent sensitivity, with TinyUSFM-NRQ providing a reliable quality score without ground-truth images that remains consistent with traditional fidelity benchmarks (i.e. PSNR); and 4) Clinical utility, improving the prediction of expert preference from 47.2$\%$ to 72.8$\%$ accuracy and producing super-resolution reconstructions preferred by sonographers. By integrating these advantages into a unified assessment and optimization loop, this work establishes a modality-aligned standard that finally bridges the gap between algorithmic performance and diagnostic utility. https://github.com/sextant-fable/US-Metrics

From Craft to Kernel: A Governance-First Execution Architecture and Semantic ISA for Agentic Computers

The transition of agentic AI from brittle prototypes to production systems is stalled by a pervasive crisis of craft. We suggest that the prevailing orchestration paradigm-delegating the system control loop to large language models and merely patching with heuristic guardrails-is the root cause of this fragility. Instead, we propose Arbiter-K, a Governance-First execution architecture that reconceptualizes the underlying model as a Probabilistic Processing Unit encapsulated by a deterministic, neuro-symbolic kernel. Arbiter-K implements a Semantic Instruction Set Architecture (ISA) to reify probabilistic messages into discrete instructions. This allows the kernel to maintain a Security Context Registry and construct an Instruction Dependency Graph at runtime, enabling active taint propagation based on the data-flow pedigree of each reasoning node. By leveraging this mechanism, Arbiter-K precisely interdicts unsafe trajectories at deterministic sinks (e.g., high-risk tool calls or unauthorized network egress) and enables autonomous execution correction and architectural rollback when security policies are triggered. Evaluations on OpenClaw and NanoBot demonstrate that Arbiter-K enforces security as a microarchitectural property, achieving 76% to 95% unsafe interception for a 92.79% absolute gain over native policies. The code is publicly available at https://github.com/cure-lab/ArbiterOS.

DiffHLS: Differential Learning for High-Level Synthesis QoR Prediction with GNNs and LLM Code Embeddings

High-Level Synthesis (HLS) compiles C/C++ into RTL, but exploring pragma-driven optimization choices remains expensive because each design point requires time-consuming synthesis. We propose \textbf{\DiffHLS}, a differential learning framework for HLS Quality-of-Result (QoR) prediction that learns from kernel--design pairs: a kernel baseline and a pragma-inserted design variant. \DiffHLS~encodes kernel and design intermediate-representation graphs with dedicated graph neural network (GNN) branches, and augments the delta pathway with code embeddings from a pretrained code large language model (LLM). Instead of regressing absolute targets directly, we jointly predict the kernel baseline and the design-induced delta, and compose them to obtain the design prediction. On PolyBench, \DiffHLS~attains lower average MAPE than GNN baselines under four GNN backbones, and LLM code embeddings consistently improve over a GNN-only ablation. We further validate scalability on the ForgeHLS dataset.

Fine-Grained Action Segmentation for Renorrhaphy in Robot-Assisted Partial Nephrectomy

Fine-grained action segmentation during renorrhaphy in robot-assisted partial nephrectomy requires frame-level recognition of visually similar suturing gestures with variable duration and substantial class imbalance. The SIA-RAPN benchmark defines this problem on 50 clinical videos acquired with the da Vinci Xi system and annotated with 12 frame-level labels. The benchmark compares four temporal models built on I3D features: MS-TCN++, AsFormer, TUT, and DiffAct. Evaluation uses balanced accuracy, edit score, segmental F1 at overlap thresholds of 10, 25, and 50, frame-wise accuracy, and frame-wise mean average precision. In addition to the primary evaluation across five released split configurations on SIA-RAPN, the benchmark reports cross-domain results on a separate single-port RAPN dataset. Across the strongest reported values over those five runs on the primary dataset, DiffAct achieves the highest F1, frame-wise accuracy, edit score, and frame mAP, while MS-TCN++ attains the highest balanced accuracy.

EchoAgent: Towards Reliable Echocardiography Interpretation with "Eyes","Hands" and "Minds"

Reliable interpretation of echocardiography (Echo) is crucial for assessing cardiac function, which demands clinicians to synchronously orchestrate multiple capabilities, including visual observation (eyes), manual measurement (hands), and expert knowledge learning and reasoning (minds). While current task-specific deep-learning approaches and multimodal large language models have demonstrated promise in assisting Echo analysis through automated segmentation or reasoning, they remain focused on restricted skills, i.e., eyes-hands or eyes-minds, thereby limiting clinical reliability and utility. To address these issues, we propose EchoAgent, an agentic system tailored for end-to-end Echo interpretation, which achieves a fully coordinated eyes-hands-minds workflow that learns, observes, operates, and reasons like a cardiac sonographer. First, we introduce an expertise-driven cognition engine where our agent can automatically assimilate credible Echo guidelines into a structured knowledge base, thus constructing an Echo-customized mind. Second, we devise a hierarchical collaboration toolkit to endow EchoAgent with eyes-hands, which can automatically parse Echo video streams, identify cardiac views, perform anatomical segmentation, and quantitative measurement. Third, we integrate the perceived multimodal evidence with the exclusive knowledge base into an orchestrated reasoning hub to conduct explainable inferences. We evaluate EchoAgent on CAMUS and MIMIC-EchoQA datasets, which cover 48 distinct echocardiographic views spanning 14 cardiac anatomical regions. Experimental results show that EchoAgent achieves optimal performance across diverse structure analyses, yielding overall accuracy of up to 80.00%. Importantly, EchoAgent empowers a single system with abilities to learn, observe, operate and reason like an echocardiologist, which holds great promise for reliable Echo interpretation.

ColoDiff: Integrating Dynamic Consistency With Content Awareness for Colonoscopy Video Generation

Colonoscopy video generation delivers dynamic, information-rich data critical for diagnosing intestinal diseases, particularly in data-scarce scenarios. High-quality video generation demands temporal consistency and precise control over clinical attributes, but faces challenges from irregular intestinal structures, diverse disease representations, and various imaging modalities. To this end, we propose ColoDiff, a diffusion-based framework that generates dynamic-consistent and content-aware colonoscopy videos, aiming to alleviate data shortage and assist clinical analysis. At the inter-frame level, our TimeStream module decouples temporal dependency from video sequences through a cross-frame tokenization mechanism, enabling intricate dynamic modeling despite irregular intestinal structures. At the intra-frame level, our Content-Aware module incorporates noise-injected embeddings and learnable prototypes to realize precise control over clinical attributes, breaking through the coarse guidance of diffusion models. Additionally, ColoDiff employs a non-Markovian sampling strategy that cuts steps by over 90% for real-time generation. ColoDiff is evaluated across three public datasets and one hospital database, based on both generation metrics and downstream tasks including disease diagnosis, modality discrimination, bowel preparation scoring, and lesion segmentation. Extensive experiments show ColoDiff generates videos with smooth transitions and rich dynamics. ColoDiff presents an effort in controllable colonoscopy video generation, revealing the potential of synthetic videos in complementing authentic representation and mitigating data scarcity in clinical settings.

AGILE: Hand-Object Interaction Reconstruction from Video via Agentic Generation

Reconstructing dynamic hand-object interactions from monocular videos is critical for dexterous manipulation data collection and creating realistic digital twins for robotics and VR. However, current methods face two prohibitive barriers: (1) reliance on neural rendering often yields fragmented, non-simulation-ready geometries under heavy occlusion, and (2) dependence on brittle Structure-from-Motion (SfM) initialization leads to frequent failures on in-the-wild footage. To overcome these limitations, we introduce AGILE, a robust framework that shifts the paradigm from reconstruction to agentic generation for interaction learning. First, we employ an agentic pipeline where a Vision-Language Model (VLM) guides a generative model to synthesize a complete, watertight object mesh with high-fidelity texture, independent of video occlusions. Second, bypassing fragile SfM entirely, we propose a robust anchor-and-track strategy. We initialize the object pose at a single interaction onset frame using a foundation model and propagate it temporally by leveraging the strong visual similarity between our generated asset and video observations. Finally, a contact-aware optimization integrates semantic, geometric, and interaction stability constraints to enforce physical plausibility. Extensive experiments on HO3D, DexYCB, and in-the-wild videos reveal that AGILE outperforms baselines in global geometric accuracy while demonstrating exceptional robustness on challenging sequences where prior art frequently collapses. By prioritizing physical validity, our method produces simulation-ready assets validated via real-to-sim retargeting for robotic applications.

TinyUSFM: Towards Compact and Efficient Ultrasound Foundation Models

Foundation models for medical imaging demonstrate superior generalization capabilities across diverse anatomical structures and clinical applications. Their outstanding performance relies on substantial computational resources, limiting deployment in resource-constrained clinical environments. This paper presents TinyUSFM, the first lightweight ultrasound foundation model that maintains superior organ versatility and task adaptability of our large-scale Ultrasound Foundation Model (USFM) through knowledge distillation with strategically curated small datasets, delivering significant computational efficiency without sacrificing performance. Considering the limited capacity and representation ability of lightweight models, we propose a feature-gradient driven coreset selection strategy to curate high-quality compact training data, avoiding training degradation from low-quality redundant images. To preserve the essential spatial and frequency domain characteristics during knowledge transfer, we develop domain-separated masked image modeling assisted consistency-driven dynamic distillation. This novel framework adaptively transfers knowledge from large foundation models by leveraging teacher model consistency across different domain masks, specifically tailored for ultrasound interpretation. For evaluation, we establish the UniUS-Bench, the largest publicly available ultrasound benchmark comprising 8 classification and 10 segmentation datasets across 15 organs. Using only 200K images in distillation, TinyUSFM matches USFM's performance with just 6.36% of parameters and 6.40% of GFLOPs. TinyUSFM significantly outperforms the vanilla model by 9.45% in classification and 7.72% in segmentation, surpassing all state-of-the-art lightweight models, and achieving 84.91% average classification accuracy and 85.78% average segmentation Dice score across diverse medical devices and centers.

StaMo: Unsupervised Learning of Generalizable Robot Motion from Compact State Representation

A fundamental challenge in embodied intelligence is developing expressive and compact state representations for efficient world modeling and decision making. However, existing methods often fail to achieve this balance, yielding representations that are either overly redundant or lacking in task-critical information. We propose an unsupervised approach that learns a highly compressed two-token state representation using a lightweight encoder and a pre-trained Diffusion Transformer (DiT) decoder, capitalizing on its strong generative prior. Our representation is efficient, interpretable, and integrates seamlessly into existing VLA-based models, improving performance by 14.3% on LIBERO and 30% in real-world task success with minimal inference overhead. More importantly, we find that the difference between these tokens, obtained via latent interpolation, naturally serves as a highly effective latent action, which can be further decoded into executable robot actions. This emergent capability reveals that our representation captures structured dynamics without explicit supervision. We name our method StaMo for its ability to learn generalizable robotic Motion from compact State representation, which is encoded from static images, challenging the prevalent dependence to learning latent action on complex architectures and video data. The resulting latent actions also enhance policy co-training, outperforming prior methods by 10.4% with improved interpretability. Moreover, our approach scales effectively across diverse data sources, including real-world robot data, simulation, and human egocentric video.

ODYSSEY: Open-World Quadrupeds Exploration and Manipulation for Long-Horizon Tasks

Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large language models have improved spatial reasoning and task planning through semantic priors, existing implementations remain confined to tabletop scenarios, failing to address the constrained perception and limited actuation ranges of mobile platforms. Second, current manipulation strategies exhibit insufficient generalization when confronted with the diverse object configurations encountered in open-world environments. Third, while crucial for practical deployment, the dual requirement of maintaining high platform maneuverability alongside precise end-effector control in unstructured settings remains understudied. In this work, we present ODYSSEY, a unified mobile manipulation framework for agile quadruped robots equipped with manipulators, which seamlessly integrates high-level task planning with low-level whole-body control. To address the challenge of egocentric perception in language-conditioned tasks, we introduce a hierarchical planner powered by a vision-language model, enabling long-horizon instruction decomposition and precise action execution. At the control level, our novel whole-body policy achieves robust coordination across challenging terrains. We further present the first benchmark for long-horizon mobile manipulation, evaluating diverse indoor and outdoor scenarios. Through successful sim-to-real transfer, we demonstrate the system's generalization and robustness in real-world deployments, underscoring the practicality of legged manipulators in unstructured environments. Our work advances the feasibility of generalized robotic assistants capable of complex, dynamic tasks. Our project page: https://kaijwang.github.io/odyssey.github.io/