Multi-Scale Gaussian-Language Map for Zero-shot Embodied Navigation and Reasoning

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native interface for large models, thus requiring additional training of feature projection for semantic alignment. To this end, we propose the multi-scale Gaussian-Language Map (GLMap), which introduces three key designs: (1) explicit geometry, (2) multi-scale semantics covering both instance and region concepts, and (3) a dual-modality interface where each semantic unit jointly stores a natural language description and a 3D Gaussian representation. The 3D Gaussians enable compact storage and fast rendering of task-relevant images via Gaussian splatting. To enable efficient incremental construction, we further propose a Gaussian Estimator that analytically derives Gaussian parameters from dense point clouds without gradient-based optimization. Experiments on ObjectNav, InstNav, and SQA tasks show that GLMap effectively enhances target navigation and contextual reasoning, while remaining compatible with large-model-based methods in a zero-shot manner. The code is available at https://github.com/sx-zhang/GLMap.

DT-BEHRT: Disease Trajectory-aware Transformer for Interpretable Patient Representation Learning

The growing adoption of electronic health record (EHR) systems has provided unprecedented opportunities for predictive modeling to guide clinical decision making. Structured EHRs contain longitudinal observations of patients across hospital visits, where each visit is represented by a set of medical codes. While sequence-based, graph-based, and graph-enhanced sequence approaches have been developed to capture rich code interactions over time or within the same visits, they often overlook the inherent heterogeneous roles of medical codes arising from distinct clinical characteristics and contexts. To this end, in this study we propose the Disease Trajectory-aware Transformer for EHR (DT-BEHRT), a graph-enhanced sequential architecture that disentangles disease trajectories by explicitly modeling diagnosis-centric interactions within organ systems and capturing asynchronous progression patterns. To further enhance the representation robustness, we design a tailored pre-training methodology that combines trajectory-level code masking with ontology-informed ancestor prediction, promoting semantic alignment across multiple modeling modules. Extensive experiments on multiple benchmark datasets demonstrate that DT-BEHRT achieves strong predictive performance and provides interpretable patient representations that align with clinicians' disease-centered reasoning. The source code is publicly accessible at https://github.com/GatorAIM/DT-BEHRT.git.

Solving NP-Hard Problems on Graphs by Reinforcement Learning without Domain Knowledge

We propose an algorithm based on reinforcement learning for solving NP-hard problems on graphs. We combine Graph Isomorphism Networks and the Monte-Carlo Tree Search, which was originally used for game searches, for solving combinatorial optimization on graphs. Similarly to AlphaGo Zero, our method does not require any problem-specific knowledge or labeled datasets (exact solutions), which are difficult to calculate in principle. We show that our method, which is trained by generated random graphs, successfully finds near-optimal solutions for the Maximum Independent Set problem on citation networks. Experiments illustrate that the performance of our method is comparable to SOTA solvers, but we do not require any problem-specific reduction rules, which is highly desirable in practice since collecting hand-crafted reduction rules is costly and not adaptive for a wide range of problems.