RMGS-SLAM: Real-time Multi-sensor Gaussian Splatting SLAM

Real-time 3D Gaussian splatting (3DGS)-based Simultaneous Localization and Mapping (SLAM) in large-scale real-world environments remains challenging, as existing methods often struggle to jointly achieve low-latency pose estimation, 3D Gaussian reconstruction in step with incoming sensor streams, and long-term global consistency. In this paper, we present a tightly coupled LiDAR-Inertial-Visual (LIV) 3DGS-based SLAM framework for real-time pose estimation and photorealistic mapping in large-scale real-world scenes. The system executes state estimation and 3D Gaussian primitive initialization in parallel with global Gaussian optimization, thereby enabling continuous dense mapping. To improve Gaussian initialization quality and accelerate optimization convergence, we introduce a cascaded strategy that combines feed-forward predictions with voxel-based principal component analysis (voxel-PCA) geometric priors. To enhance global consistency in large scenes, we further perform loop closure directly on the optimized global Gaussian map by estimating loop constraints through Gaussian-based Generalized Iterative Closest Point (GICP) registration, followed by pose-graph optimization. In addition, we collected challenging large-scale looped outdoor SLAM sequences with hardware-synchronized LiDAR-camera-IMU and ground-truth trajectories to support realistic and comprehensive evaluation. Extensive experiments on both public datasets and our dataset demonstrate that the proposed method achieves a strong balance among real-time efficiency, localization accuracy, and rendering quality across diverse and challenging real-world scenes.

Position-Prior-Guided Network for System Matrix Super-Resolution in Magnetic Particle Imaging

Magnetic Particle Imaging (MPI) is a novel medical imaging modality. One of the established methods for MPI reconstruction is based on the System Matrix (SM). However, the calibration of the SM is often time-consuming and requires repeated measurements whenever the system parameters change. Current methodologies utilize deep learning-based super-resolution (SR) techniques to expedite SM calibration; nevertheless, these strategies do not fully exploit physical prior knowledge associated with the SM, such as symmetric positional priors. Consequently, we integrated positional priors into existing frameworks for SM calibration. Underpinned by theoretical justification, we empirically validated the efficacy of incorporating positional priors through experiments involving both 2D and 3D SM SR methods.

SP-VLA: A Joint Model Scheduling and Token Pruning Approach for VLA Model Acceleration

Vision-Language-Action (VLA) models have attracted increasing attention for their strong control capabilities. However, their high computational cost and low execution frequency hinder their suitability for real-time tasks such as robotic manipulation and autonomous navigation. Existing VLA acceleration methods primarily focus on structural optimization, overlooking the fact that these models operate in sequential decision-making environments. As a result, temporal redundancy in sequential action generation and spatial redundancy in visual input remain unaddressed. To this end, we propose SP-VLA, a unified framework that accelerates VLA models by jointly scheduling models and pruning tokens. Specifically, we design an action-aware model scheduling mechanism that reduces temporal redundancy by dynamically switching between VLA model and a lightweight generator. Inspired by the human motion pattern of focusing on key decision points while relying on intuition for other actions, we categorize VLA actions into deliberative and intuitive, assigning the former to the VLA model and the latter to the lightweight generator, enabling frequency-adaptive execution through collaborative model scheduling. To address spatial redundancy, we further develop a spatio-semantic dual-aware token pruning method. Tokens are classified into spatial and semantic types and pruned based on their dual-aware importance to accelerate VLA inference. These two mechanisms work jointly to guide the VLA in focusing on critical actions and salient visual information, achieving effective acceleration while maintaining high accuracy. Experimental results demonstrate that our method achieves up to 1.5$\times$ acceleration with less than 3% drop in accuracy, outperforming existing approaches in multiple tasks.

OODD: Test-time Out-of-Distribution Detection with Dynamic Dictionary

Out-of-distribution (OOD) detection remains challenging for deep learning models, particularly when test-time OOD samples differ significantly from training outliers. We propose OODD, a novel test-time OOD detection method that dynamically maintains and updates an OOD dictionary without fine-tuning. Our approach leverages a priority queue-based dictionary that accumulates representative OOD features during testing, combined with an informative inlier sampling strategy for in-distribution (ID) samples. To ensure stable performance during early testing, we propose a dual OOD stabilization mechanism that leverages strategically generated outliers derived from ID data. To our best knowledge, extensive experiments on the OpenOOD benchmark demonstrate that OODD significantly outperforms existing methods, achieving a 26.0% improvement in FPR95 on CIFAR-100 Far OOD detection compared to the state-of-the-art approach. Furthermore, we present an optimized variant of the KNN-based OOD detection framework that achieves a 3x speedup while maintaining detection performance.