FMPose3D: monocular 3D pose estimation via flow matching

Monocular 3D pose estimation is fundamentally ill-posed due to depth ambiguity and occlusions, thereby motivating probabilistic methods that generate multiple plausible 3D pose hypotheses. In particular, diffusion-based models have recently demonstrated strong performance, but their iterative denoising process typically requires many timesteps for each prediction, making inference computationally expensive. In contrast, we leverage Flow Matching (FM) to learn a velocity field defined by an Ordinary Differential Equation (ODE), enabling efficient generation of 3D pose samples with only a few integration steps. We propose a novel generative pose estimation framework, FMPose3D, that formulates 3D pose estimation as a conditional distribution transport problem. It continuously transports samples from a standard Gaussian prior to the distribution of plausible 3D poses conditioned only on 2D inputs. Although ODE trajectories are deterministic, FMPose3D naturally generates various pose hypotheses by sampling different noise seeds. To obtain a single accurate prediction from those hypotheses, we further introduce a Reprojection-based Posterior Expectation Aggregation (RPEA) module, which approximates the Bayesian posterior expectation over 3D hypotheses. FMPose3D surpasses existing methods on the widely used human pose estimation benchmarks Human3.6M and MPI-INF-3DHP, and further achieves state-of-the-art performance on the 3D animal pose datasets Animal3D and CtrlAni3D, demonstrating strong performance across both 3D pose domains. The code is available at https://github.com/AdaptiveMotorControlLab/FMPose3D.

From Vision to Decision: Neuromorphic Control for Autonomous Navigation and Tracking

Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when the absence of a predominant option among goals leads to indecision, challenging reactive systems to break symmetries without computationally-intense planners. We propose a parsimonious neuromorphic control framework that bridges this gap for vision-guided navigation and tracking. Image pixels from an onboard camera are encoded as inputs to dynamic neuronal populations that directly transform visual target excitation into egocentric motion commands. A dynamic bifurcation mechanism resolves indecision by delaying commitment until a critical point induced by the environmental geometry. Inspired by recently proposed mechanistic models of animal cognition and opinion dynamics, the neuromorphic controller provides real-time autonomy with a minimal computational burden, a small number of interpretable parameters, and can be seamlessly integrated with application-specific image processing pipelines. We validate our approach in simulation environments as well as on an experimental quadrotor platform.

Multi-Integration of Labels across Categories for Component Identification (MILCCI)

Many fields collect large-scale temporal data through repeated measurements (trials), where each trial is labeled with a set of metadata variables spanning several categories. For example, a trial in a neuroscience study may be linked to a value from category (a): task difficulty, and category (b): animal choice. A critical challenge in time-series analysis is to understand how these labels are encoded within the multi-trial observations, and disentangle the distinct effect of each label entry across categories. Here, we present MILCCI, a novel data-driven method that i) identifies the interpretable components underlying the data, ii) captures cross-trial variability, and iii) integrates label information to understand each category's representation within the data. MILCCI extends a sparse per-trial decomposition that leverages label similarities within each category to enable subtle, label-driven cross-trial adjustments in component compositions and to distinguish the contribution of each category. MILCCI also learns each component's corresponding temporal trace, which evolves over time within each trial and varies flexibly across trials. We demonstrate MILCCI's performance through both synthetic and real-world examples, including voting patterns, online page view trends, and neuronal recordings.

SynthVerse: A Large-Scale Diverse Synthetic Dataset for Point Tracking

Point tracking aims to follow visual points through complex motion, occlusion, and viewpoint changes, and has advanced rapidly with modern foundation models. Yet progress toward general point tracking remains constrained by limited high-quality data, as existing datasets often provide insufficient diversity and imperfect trajectory annotations. To this end, we introduce SynthVerse, a large-scale, diverse synthetic dataset specifically designed for point tracking. SynthVerse includes several new domains and object types missing from existing synthetic datasets, such as animated-film-style content, embodied manipulation, scene navigation, and articulated objects. SynthVerse substantially expands dataset diversity by covering a broader range of object categories and providing high-quality dynamic motions and interactions, enabling more robust training and evaluation for general point tracking. In addition, we establish a highly diverse point tracking benchmark to systematically evaluate state-of-the-art methods under broader domain shifts. Extensive experiments and analyses demonstrate that training with SynthVerse yields consistent improvements in generalization and reveal limitations of existing trackers under diverse settings.

Shaping Expressiveness in Robotics: The Role of Design Tools in Crafting Embodied Robot Movements

As robots increasingly become part of shared human spaces, their movements must transcend basic functionality by incorporating expressive qualities to enhance engagement and communication. This paper introduces a movement-centered design pedagogy designed to support engineers in creating expressive robotic arm movements. Through a hands-on interactive workshop informed by interdisciplinary methodologies, participants explored various creative possibilities, generating valuable insights into expressive motion design. The iterative approach proposed integrates analytical frameworks from dance, enabling designers to examine motion through dynamic and embodied dimensions. A custom manual remote controller facilitates interactive, real-time manipulation of the robotic arm, while dedicated animation software supports visualization, detailed motion sequencing, and precise parameter control. Qualitative analysis of this interactive design process reveals that the proposed "toolbox" effectively bridges the gap between human intent and robotic expressiveness resulting in more intuitive and engaging expressive robotic arm movements.

Skin Tokens: A Learned Compact Representation for Unified Autoregressive Rigging

The rapid proliferation of generative 3D models has created a critical bottleneck in animation pipelines: rigging. Existing automated methods are fundamentally limited by their approach to skinning, treating it as an ill-posed, high-dimensional regression task that is inefficient to optimize and is typically decoupled from skeleton generation. We posit this is a representation problem and introduce SkinTokens: a learned, compact, and discrete representation for skinning weights. By leveraging an FSQ-CVAE to capture the intrinsic sparsity of skinning, we reframe the task from continuous regression to a more tractable token sequence prediction problem. This representation enables TokenRig, a unified autoregressive framework that models the entire rig as a single sequence of skeletal parameters and SkinTokens, learning the complicated dependencies between skeletons and skin deformations. The unified model is then amenable to a reinforcement learning stage, where tailored geometric and semantic rewards improve generalization to complex, out-of-distribution assets. Quantitatively, the SkinTokens representation leads to a 98%-133% percents improvement in skinning accuracy over state-of-the-art methods, while the full TokenRig framework, refined with RL, enhances bone prediction by 17%-22%. Our work presents a unified, generative approach to rigging that yields higher fidelity and robustness, offering a scalable solution to a long-standing challenge in 3D content creation.

PrevizWhiz: Combining Rough 3D Scenes and 2D Video to Guide Generative Video Previsualization

In pre-production, filmmakers and 3D animation experts must rapidly prototype ideas to explore a film's possibilities before fullscale production, yet conventional approaches involve trade-offs in efficiency and expressiveness. Hand-drawn storyboards often lack spatial precision needed for complex cinematography, while 3D previsualization demands expertise and high-quality rigged assets. To address this gap, we present PrevizWhiz, a system that leverages rough 3D scenes in combination with generative image and video models to create stylized video previews. The workflow integrates frame-level image restyling with adjustable resemblance, time-based editing through motion paths or external video inputs, and refinement into high-fidelity video clips. A study with filmmakers demonstrates that our system lowers technical barriers for film-makers, accelerates creative iteration, and effectively bridges the communication gap, while also surfacing challenges of continuity, authorship, and ethical consideration in AI-assisted filmmaking.

See-through: Single-image Layer Decomposition for Anime Characters

We introduce a framework that automates the transformation of static anime illustrations into manipulatable 2.5D models. Current professional workflows require tedious manual segmentation and the artistic ``hallucination'' of occluded regions to enable motion. Our approach overcomes this by decomposing a single image into fully inpainted, semantically distinct layers with inferred drawing orders. To address the scarcity of training data, we introduce a scalable engine that bootstraps high-quality supervision from commercial Live2D models, capturing pixel-perfect semantics and hidden geometry. Our methodology couples a diffusion-based Body Part Consistency Module, which enforces global geometric coherence, with a pixel-level pseudo-depth inference mechanism. This combination resolves the intricate stratification of anime characters, e.g., interleaving hair strands, allowing for dynamic layer reconstruction. We demonstrate that our approach yields high-fidelity, manipulatable models suitable for professional, real-time animation applications.

GPAIR: Gaussian-Kernel-Based Ultrafast 3D Photoacoustic Iterative Reconstruction

Although the iterative reconstruction (IR) algorithm can substantially correct reconstruction artifacts in photoacoustic (PA) computed tomography (PACT), it suffers from long reconstruction times, especially for large-scale three-dimensional (3D) imaging in which IR takes hundreds of seconds to hours. The computing burden severely limits the practical applicability of IR algorithms. In this work, we proposed an ultrafast IR method for 3D PACT, called Gaussian-kernel-based Ultrafast 3D Photoacoustic Iterative Reconstruction (GPAIR), which achieves orders-of-magnitude acceleration in computing. GPAIR transforms traditional spatial grids with continuous isotropic Gaussian kernels. By deriving analytical closed-form expression for pressure waves and implementing powerful GPU-accelerated differentiable Triton operators, GPAIR demonstrates extraordinary ultrafast sub-second reconstruction speed for 3D targets containing 8.4 million voxels in animal experiments. This revolutionary ultrafast image reconstruction enables near-real-time large-scale 3D PA reconstruction, significantly advancing 3D PACT toward clinical applications.

Vision Transformers for Zero-Shot Clustering of Animal Images: A Comparative Benchmarking Study

Manual labeling of animal images remains a significant bottleneck in ecological research, limiting the scale and efficiency of biodiversity monitoring efforts. This study investigates whether state-of-the-art Vision Transformer (ViT) foundation models can reduce thousands of unlabeled animal images directly to species-level clusters. We present a comprehensive benchmarking framework evaluating five ViT models combined with five dimensionality reduction techniques and four clustering algorithms, two supervised and two unsupervised, across 60 species (30 mammals and 30 birds), with each test using a random subset of 200 validated images per species. We investigate when clustering succeeds at species-level, where it fails, and whether clustering within the species-level reveals ecologically meaningful patterns such as sex, age, or phenotypic variation. Our results demonstrate near-perfect species-level clustering (V-measure: 0.958) using DINOv3 embeddings with t-SNE and supervised hierarchical clustering methods. Unsupervised approaches achieve competitive performance (0.943) while requiring no prior species knowledge, rejecting only 1.14% of images as outliers requiring expert review. We further demonstrate robustness to realistic long-tailed distributions of species and show that intentional over-clustering can reliably extract intra-specific variation including age classes, sexual dimorphism, and pelage differences. We introduce an open-source benchmarking toolkit and provide recommendations for ecologists to select appropriate methods for sorting their specific taxonomic groups and data.