Single-Eye View: Monocular Real-time Perception Package for Autonomous Driving

Amidst the rapid advancement of camera-based autonomous driving technology, effectiveness is often prioritized with limited attention to computational efficiency. To address this issue, this paper introduces LRHPerception, a real-time monocular perception package for autonomous driving that uses single-view camera video to interpret the surrounding environment. The proposed system combines the computational efficiency of end-to-end learning with the rich representational detail of local mapping methodologies. With significant improvements in object tracking and prediction, road segmentation, and depth estimation integrated into a unified framework, LRHPerception processes monocular image data into a five-channel tensor consisting of RGB, road segmentation, and pixel-level depth estimation, augmented with object detection and trajectory prediction. Experimental results demonstrate strong performance, achieving real-time processing at 29 FPS on a single GPU, representing a 555% speedup over the fastest mapping-based approach.

Video Understanding: From Geometry and Semantics to Unified Models

Video understanding aims to enable models to perceive, reason about, and interact with the dynamic visual world. In contrast to image understanding, video understanding inherently requires modeling temporal dynamics and evolving visual context, placing stronger demands on spatiotemporal reasoning and making it a foundational problem in computer vision. In this survey, we present a structured overview of video understanding by organizing the literature into three complementary perspectives: low-level video geometry understanding, high-level semantic understanding, and unified video understanding models. We further highlight a broader shift from isolated, task-specific pipelines toward unified modeling paradigms that can be adapted to diverse downstream objectives, enabling a more systematic view of recent progress. By consolidating these perspectives, this survey provides a coherent map of the evolving video understanding landscape, summarizes key modeling trends and design principles, and outlines open challenges toward building robust, scalable, and unified video foundation models.

Dynamics Within Latent Chain-of-Thought: An Empirical Study of Causal Structure

Latent or continuous chain-of-thought methods replace explicit textual rationales with a number of internal latent steps, but these intermediate computations are difficult to evaluate beyond correlation-based probes. In this paper, we view latent chain-of-thought as a manipulable causal process in representation space by modeling latent steps as variables in a structural causal model (SCM) and analyzing their effects through step-wise $\mathrm{do}$-interventions. We study two representative paradigms (i.e., Coconut and CODI) on both mathematical and general reasoning tasks to investigate three key questions: (1) which steps are causally necessary for correctness and when answers become decidable early; (2) how does influence propagate across steps, and how does this structure compare to explicit CoT; and (3) do intermediate trajectories retain competing answer modes, and how does output-level commitment differ from representational commitment across steps. We find that latent-step budgets behave less like homogeneous extra depth and more like staged functionality with non-local routing, and we identify a persistent gap between early output bias and late representational commitment. These results motivate mode-conditional and stability-aware analyses -- and corresponding training/decoding objectives -- as more reliable tools for interpreting and improving latent reasoning systems.

JMedEthicBench: A Multi-Turn Conversational Benchmark for Evaluating Medical Safety in Japanese Large Language Models

As Large Language Models (LLMs) are increasingly deployed in healthcare field, it becomes essential to carefully evaluate their medical safety before clinical use. However, existing safety benchmarks remain predominantly English-centric, and test with only single-turn prompts despite multi-turn clinical consultations. To address these gaps, we introduce JMedEthicBench, the first multi-turn conversational benchmark for evaluating medical safety of LLMs for Japanese healthcare. Our benchmark is based on 67 guidelines from the Japan Medical Association and contains over 50,000 adversarial conversations generated using seven automatically discovered jailbreak strategies. Using a dual-LLM scoring protocol, we evaluate 27 models and find that commercial models maintain robust safety while medical-specialized models exhibit increased vulnerability. Furthermore, safety scores decline significantly across conversation turns (median: 9.5 to 5.0, $p < 0.001$). Cross-lingual evaluation on both Japanese and English versions of our benchmark reveals that medical model vulnerabilities persist across languages, indicating inherent alignment limitations rather than language-specific factors. These findings suggest that domain-specific fine-tuning may accidentally weaken safety mechanisms and that multi-turn interactions represent a distinct threat surface requiring dedicated alignment strategies.

Complementary Learning System Empowers Online Continual Learning of Vehicle Motion Forecasting in Smart Cities

Artificial intelligence underpins most smart city services, yet deep neural network (DNN) that forecasts vehicle motion still struggle with catastrophic forgetting, the loss of earlier knowledge when models are updated. Conventional fixes enlarge the training set or replay past data, but these strategies incur high data collection costs, sample inefficiently and fail to balance long- and short-term experience, leaving them short of human-like continual learning. Here we introduce Dual-LS, a task-free, online continual learning paradigm for DNN-based motion forecasting that is inspired by the complementary learning system of the human brain. Dual-LS pairs two synergistic memory rehearsal replay mechanisms to accelerate experience retrieval while dynamically coordinating long-term and short-term knowledge representations. Tests on naturalistic data spanning three countries, over 772,000 vehicles and cumulative testing mileage of 11,187 km show that Dual-LS mitigates catastrophic forgetting by up to 74.31\% and reduces computational resource demand by up to 94.02\%, markedly boosting predictive stability in vehicle motion forecasting without inflating data requirements. Meanwhile, it endows DNN-based vehicle motion forecasting with computation efficient and human-like continual learning adaptability fit for smart cities.

Escaping Stability-Plasticity Dilemma in Online Continual Learning for Motion Forecasting via Synergetic Memory Rehearsal

Deep neural networks (DNN) have achieved remarkable success in motion forecasting. However, most DNN-based methods suffer from catastrophic forgetting and fail to maintain their performance in previously learned scenarios after adapting to new data. Recent continual learning (CL) studies aim to mitigate this phenomenon by enhancing memory stability of DNN, i.e., the ability to retain learned knowledge. Yet, excessive emphasis on the memory stability often impairs learning plasticity, i.e., the capacity of DNN to acquire new information effectively. To address such stability-plasticity dilemma, this study proposes a novel CL method, synergetic memory rehearsal (SyReM), for DNN-based motion forecasting. SyReM maintains a compact memory buffer to represent learned knowledge. To ensure memory stability, it employs an inequality constraint that limits increments in the average loss over the memory buffer. Synergistically, a selective memory rehearsal mechanism is designed to enhance learning plasticity by selecting samples from the memory buffer that are most similar to recently observed data. This selection is based on an online-measured cosine similarity of loss gradients, ensuring targeted memory rehearsal. Since replayed samples originate from learned scenarios, this memory rehearsal mechanism avoids compromising memory stability. We validate SyReM under an online CL paradigm where training samples from diverse scenarios arrive as a one-pass stream. Experiments on 11 naturalistic driving datasets from INTERACTION demonstrate that, compared to non-CL and CL baselines, SyReM significantly mitigates catastrophic forgetting in past scenarios while improving forecasting accuracy in new ones. The implementation is publicly available at https://github.com/BIT-Jack/SyReM.

Pronunciation Editing for Finnish Speech using Phonetic Posteriorgrams

Synthesizing second-language (L2) speech is potentially highly valued for L2 language learning experience and feedback. However, due to the lack of L2 speech synthesis datasets, it is difficult to synthesize L2 speech for low-resourced languages. In this paper, we provide a practical solution for editing native speech to approximate L2 speech and present PPG2Speech, a diffusion-based multispeaker Phonetic-Posteriorgrams-to-Speech model that is capable of editing a single phoneme without text alignment. We use Matcha-TTS's flow-matching decoder as the backbone, transforming Phonetic Posteriorgrams (PPGs) to mel-spectrograms conditioned on external speaker embeddings and pitch. PPG2Speech strengthens the Matcha-TTS's flow-matching decoder with Classifier-free Guidance (CFG) and Sway Sampling. We also propose a new task-specific objective evaluation metric, the Phonetic Aligned Consistency (PAC), between the edited PPGs and the PPGs extracted from the synthetic speech for editing effects. We validate the effectiveness of our method on Finnish, a low-resourced, nearly phonetic language, using approximately 60 hours of data. We conduct objective and subjective evaluations of our approach to compare its naturalness, speaker similarity, and editing effectiveness with TTS-based editing. Our source code is published at https://github.com/aalto-speech/PPG2Speech.

DocMMIR: A Framework for Document Multi-modal Information Retrieval

The rapid advancement of unsupervised representation learning and large-scale pre-trained vision-language models has significantly improved cross-modal retrieval tasks. However, existing multi-modal information retrieval (MMIR) studies lack a comprehensive exploration of document-level retrieval and suffer from the absence of cross-domain datasets at this granularity. To address this limitation, we introduce DocMMIR, a novel multi-modal document retrieval framework designed explicitly to unify diverse document formats and domains, including Wikipedia articles, scientific papers (arXiv), and presentation slides, within a comprehensive retrieval scenario. We construct a large-scale cross-domain multimodal benchmark, comprising 450K samples, which systematically integrates textual and visual information. Our comprehensive experimental analysis reveals substantial limitations in current state-of-the-art MLLMs (CLIP, BLIP2, SigLIP-2, ALIGN) when applied to our tasks, with only CLIP demonstrating reasonable zero-shot performance. Furthermore, we conduct a systematic investigation of training strategies, including cross-modal fusion methods and loss functions, and develop a tailored approach to train CLIP on our benchmark. This results in a +31% improvement in MRR@10 compared to the zero-shot baseline. All our data and code are released in https://github.com/J1mL1/DocMMIR.

InterHub: A Naturalistic Trajectory Dataset with Dense Interaction for Autonomous Driving

The driving interaction-a critical yet complex aspect of daily driving-lies at the core of autonomous driving research. However, real-world driving scenarios sparsely capture rich interaction events, limiting the availability of comprehensive trajectory datasets for this purpose. To address this challenge, we present InterHub, a dense interaction dataset derived by mining interaction events from extensive naturalistic driving records. We employ formal methods to describe and extract multi-agent interaction events, exposing the limitations of existing autonomous driving solutions. Additionally, we introduce a user-friendly toolkit enabling the expansion of InterHub with both public and private data. By unifying, categorizing, and analyzing diverse interaction events, InterHub facilitates cross-comparative studies and large-scale research, thereby advancing the evaluation and development of autonomous driving technologies.

ArrivalNet: Predicting City-wide Bus/Tram Arrival Time with Two-dimensional Temporal Variation Modeling

Accurate arrival time prediction (ATP) of buses and trams plays a crucial role in public transport operations. Current methods focused on modeling one-dimensional temporal information but overlooked the latent periodic information within time series. Moreover, most studies developed algorithms for ATP based on a single or a few routes of public transport, which reduces the transferability of the prediction models and their applicability in public transport management systems. To this end, this paper proposes \textit{ArrivalNet}, a two-dimensional temporal variation-based multi-step ATP for buses and trams. It decomposes the one-dimensional temporal sequence into intra-periodic and inter-periodic variations, which can be recast into two-dimensional tensors (2D blocks). Each row of a tensor contains the time points within a period, and each column involves the time points at the same intra-periodic index across various periods. The transformed 2D blocks in different frequencies have an image-like feature representation that enables effective learning with computer vision backbones (e.g., convolutional neural network). Drawing on the concept of residual neural network, the 2D block module is designed as a basic module for flexible aggregation. Meanwhile, contextual factors like workdays, peak hours, and intersections, are also utilized in the augmented feature representation to improve the performance of prediction. 125 days of public transport data from Dresden were collected for model training and validation. Experimental results show that the root mean square error, mean absolute error, and mean absolute percentage error of the proposed predictor decrease by at least 6.1\%, 14.7\%, and 34.2\% compared with state-of-the-art baseline methods.