R-KV: Redundancy-aware KV Cache Compression for Training-Free Reasoning Models Acceleration

Reasoning models have demonstrated impressive performance in self-reflection and chain-of-thought reasoning. However, they often produce excessively long outputs, leading to prohibitively large key-value (KV) caches during inference. While chain-of-thought inference significantly improves performance on complex reasoning tasks, it can also lead to reasoning failures when deployed with existing KV cache compression approaches. To address this, we propose Redundancy-aware KV Cache Compression for Reasoning models (R-KV), a novel method specifically targeting redundant tokens in reasoning models. Our method preserves nearly 100% of the full KV cache performance using only 10% of the KV cache, substantially outperforming existing KV cache baselines, which reach only 60% of the performance. Remarkably, R-KV even achieves 105% of full KV cache performance with 16% of the KV cache. This KV-cache reduction also leads to a 90% memory saving and a 6.6X throughput over standard chain-of-thought reasoning inference. Experimental results show that R-KV consistently outperforms existing KV cache compression baselines across two mathematical reasoning datasets.

SpatialLLM: From Multi-modality Data to Urban Spatial Intelligence

We propose SpatialLLM, a novel approach advancing spatial intelligence tasks in complex urban scenes. Unlike previous methods requiring geographic analysis tools or domain expertise, SpatialLLM is a unified language model directly addressing various spatial intelligence tasks without any training, fine-tuning, or expert intervention. The core of SpatialLLM lies in constructing detailed and structured scene descriptions from raw spatial data to prompt pre-trained LLMs for scene-based analysis. Extensive experiments show that, with our designs, pretrained LLMs can accurately perceive spatial distribution information and enable zero-shot execution of advanced spatial intelligence tasks, including urban planning, ecological analysis, traffic management, etc. We argue that multi-field knowledge, context length, and reasoning ability are key factors influencing LLM performances in urban analysis. We hope that SpatialLLM will provide a novel viable perspective for urban intelligent analysis and management. The code and dataset are available at https://github.com/WHU-USI3DV/SpatialLLM.

ARMOR: Adaptive Meshing with Reinforcement Optimization for Real-time 3D Monitoring in Unexposed Scenes

Unexposed environments, such as lava tubes, mines, and tunnels, are among the most complex yet strategically significant domains for scientific exploration and infrastructure development. Accurate and real-time 3D meshing of these environments is essential for applications including automated structural assessment, robotic-assisted inspection, and safety monitoring. Implicit neural Signed Distance Fields (SDFs) have shown promising capabilities in online meshing; however, existing methods often suffer from large projection errors and rely on fixed reconstruction parameters, limiting their adaptability to complex and unstructured underground environments such as tunnels, caves, and lava tubes. To address these challenges, this paper proposes ARMOR, a scene-adaptive and reinforcement learning-based framework for real-time 3D meshing in unexposed environments. The proposed method was validated across more than 3,000 meters of underground environments, including engineered tunnels, natural caves, and lava tubes. Experimental results demonstrate that ARMOR achieves superior performance in real-time mesh reconstruction, reducing geometric error by 3.96\% compared to state-of-the-art baselines, while maintaining real-time efficiency. The method exhibits improved robustness, accuracy, and adaptability, indicating its potential for advanced 3D monitoring and mapping in challenging unexposed scenarios. The project page can be found at: https://yizhezhang0418.github.io/armor.github.io/

Learning to Detect Objects from Multi-Agent LiDAR Scans without Manual Labels

Unsupervised 3D object detection serves as an important solution for offline 3D object annotation. However, due to the data sparsity and limited views, the clustering-based label fitting in unsupervised object detection often generates low-quality pseudo-labels. Multi-agent collaborative dataset, which involves the sharing of complementary observations among agents, holds the potential to break through this bottleneck. In this paper, we introduce a novel unsupervised method that learns to Detect Objects from Multi-Agent LiDAR scans, termed DOtA, without using labels from external. DOtA first uses the internally shared ego-pose and ego-shape of collaborative agents to initialize the detector, leveraging the generalization performance of neural networks to infer preliminary labels. Subsequently,DOtA uses the complementary observations between agents to perform multi-scale encoding on preliminary labels, then decodes high-quality and low-quality labels. These labels are further used as prompts to guide a correct feature learning process, thereby enhancing the performance of the unsupervised object detection task. Extensive experiments on the V2V4Real and OPV2V datasets show that our DOtA outperforms state-of-the-art unsupervised 3D object detection methods. Additionally, we also validate the effectiveness of the DOtA labels under various collaborative perception frameworks.The code is available at https://github.com/xmuqimingxia/DOtA.

Strategic priorities for transformative progress in advancing biology with proteomics and artificial intelligence

Artificial intelligence (AI) is transforming scientific research, including proteomics. Advances in mass spectrometry (MS)-based proteomics data quality, diversity, and scale, combined with groundbreaking AI techniques, are unlocking new challenges and opportunities in biological discovery. Here, we highlight key areas where AI is driving innovation, from data analysis to new biological insights. These include developing an AI-friendly ecosystem for proteomics data generation, sharing, and analysis; improving peptide and protein identification and quantification; characterizing protein-protein interactions and protein complexes; advancing spatial and perturbation proteomics; integrating multi-omics data; and ultimately enabling AI-empowered virtual cells.

ME-CPT: Multi-Task Enhanced Cross-Temporal Point Transformer for Urban 3D Change Detection

The point clouds collected by the Airborne Laser Scanning (ALS) system provide accurate 3D information of urban land covers. By utilizing multi-temporal ALS point clouds, semantic changes in urban area can be captured, demonstrating significant potential in urban planning, emergency management, and infrastructure maintenance. Existing 3D change detection methods struggle to efficiently extract multi-class semantic information and change features, still facing the following challenges: (1) the difficulty of accurately modeling cross-temporal point clouds spatial relationships for effective change feature extraction; (2) class imbalance of change samples which hinders distinguishability of semantic features; (3) the lack of real-world datasets for 3D semantic change detection. To resolve these challenges, we propose the Multi-task Enhanced Cross-temporal Point Transformer (ME-CPT) network. ME-CPT establishes spatiotemporal correspondences between point cloud across different epochs and employs attention mechanisms to jointly extract semantic change features, facilitating information exchange and change comparison. Additionally, we incorporate a semantic segmentation task and through the multi-task training strategy, further enhance the distinguishability of semantic features, reducing the impact of class imbalance in change types. Moreover, we release a 22.5 $km^2$ 3D semantic change detection dataset, offering diverse scenes for comprehensive evaluation. Experiments on multiple datasets show that the proposed MT-CPT achieves superior performance compared to existing state-of-the-art methods. The source code and dataset will be released upon acceptance at \url{https://github.com/zhangluqi0209/ME-CPT}.

Diffusion as Shader: 3D-aware Video Diffusion for Versatile Video Generation Control

Diffusion models have demonstrated impressive performance in generating high-quality videos from text prompts or images. However, precise control over the video generation process, such as camera manipulation or content editing, remains a significant challenge. Existing methods for controlled video generation are typically limited to a single control type, lacking the flexibility to handle diverse control demands. In this paper, we introduce Diffusion as Shader (DaS), a novel approach that supports multiple video control tasks within a unified architecture. Our key insight is that achieving versatile video control necessitates leveraging 3D control signals, as videos are fundamentally 2D renderings of dynamic 3D content. Unlike prior methods limited to 2D control signals, DaS leverages 3D tracking videos as control inputs, making the video diffusion process inherently 3D-aware. This innovation allows DaS to achieve a wide range of video controls by simply manipulating the 3D tracking videos. A further advantage of using 3D tracking videos is their ability to effectively link frames, significantly enhancing the temporal consistency of the generated videos. With just 3 days of fine-tuning on 8 H800 GPUs using less than 10k videos, DaS demonstrates strong control capabilities across diverse tasks, including mesh-to-video generation, camera control, motion transfer, and object manipulation.

SaliencyI2PLoc: saliency-guided image-point cloud localization using contrastive learning

Image to point cloud global localization is crucial for robot navigation in GNSS-denied environments and has become increasingly important for multi-robot map fusion and urban asset management. The modality gap between images and point clouds poses significant challenges for cross-modality fusion. Current cross-modality global localization solutions either require modality unification, which leads to information loss, or rely on engineered training schemes to encode multi-modality features, which often lack feature alignment and relation consistency. To address these limitations, we propose, SaliencyI2PLoc, a novel contrastive learning based architecture that fuses the saliency map into feature aggregation and maintains the feature relation consistency on multi-manifold spaces. To alleviate the pre-process of data mining, the contrastive learning framework is applied which efficiently achieves cross-modality feature mapping. The context saliency-guided local feature aggregation module is designed, which fully leverages the contribution of the stationary information in the scene generating a more representative global feature. Furthermore, to enhance the cross-modality feature alignment during contrastive learning, the consistency of relative relationships between samples in different manifold spaces is also taken into account. Experiments conducted on urban and highway scenario datasets demonstrate the effectiveness and robustness of our method. Specifically, our method achieves a Recall@1 of 78.92% and a Recall@20 of 97.59% on the urban scenario evaluation dataset, showing an improvement of 37.35% and 18.07%, compared to the baseline method. This demonstrates that our architecture efficiently fuses images and point clouds and represents a significant step forward in cross-modality global localization. The project page and code will be released.

GAGS: Granularity-Aware Feature Distillation for Language Gaussian Splatting

3D open-vocabulary scene understanding, which accurately perceives complex semantic properties of objects in space, has gained significant attention in recent years. In this paper, we propose GAGS, a framework that distills 2D CLIP features into 3D Gaussian splatting, enabling open-vocabulary queries for renderings on arbitrary viewpoints. The main challenge of distilling 2D features for 3D fields lies in the multiview inconsistency of extracted 2D features, which provides unstable supervision for the 3D feature field. GAGS addresses this challenge with two novel strategies. First, GAGS associates the prompt point density of SAM with the camera distances, which significantly improves the multiview consistency of segmentation results. Second, GAGS further decodes a granularity factor to guide the distillation process and this granularity factor can be learned in a unsupervised manner to only select the multiview consistent 2D features in the distillation process. Experimental results on two datasets demonstrate significant performance and stability improvements of GAGS in visual grounding and semantic segmentation, with an inference speed 2$\times$ faster than baseline methods. The code and additional results are available at https://pz0826.github.io/GAGS-Webpage/ .

Align3R: Aligned Monocular Depth Estimation for Dynamic Videos

Recent developments in monocular depth estimation methods enable high-quality depth estimation of single-view images but fail to estimate consistent video depth across different frames. Recent works address this problem by applying a video diffusion model to generate video depth conditioned on the input video, which is training-expensive and can only produce scale-invariant depth values without camera poses. In this paper, we propose a novel video-depth estimation method called Align3R to estimate temporal consistent depth maps for a dynamic video. Our key idea is to utilize the recent DUSt3R model to align estimated monocular depth maps of different timesteps. First, we fine-tune the DUSt3R model with additional estimated monocular depth as inputs for the dynamic scenes. Then, we apply optimization to reconstruct both depth maps and camera poses. Extensive experiments demonstrate that Align3R estimates consistent video depth and camera poses for a monocular video with superior performance than baseline methods.