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.

Fast-Slow Efficient Training for Multimodal Large Language Models via Visual Token Pruning

Multimodal Large Language Models (MLLMs) suffer from severe training inefficiency issue, which is associated with their massive model sizes and visual token numbers. Existing efforts in efficient training focus on reducing model sizes or trainable parameters. Inspired by the success of Visual Token Pruning (VTP) in improving inference efficiency, we are exploring another substantial research direction for efficient training by reducing visual tokens. However, applying VTP at the training stage results in a training-inference mismatch: pruning-trained models perform poorly when inferring on non-pruned full visual token sequences. To close this gap, we propose DualSpeed, a fast-slow framework for efficient training of MLLMs. The fast-mode is the primary mode, which incorporates existing VTP methods as plugins to reduce visual tokens, along with a mode isolator to isolate the model's behaviors. The slow-mode is the auxiliary mode, where the model is trained on full visual sequences to retain training-inference consistency. To boost its training, it further leverages self-distillation to learn from the sufficiently trained fast-mode. Together, DualSpeed can achieve both training efficiency and non-degraded performance. Experiments show DualSpeed accelerates the training of LLaVA-1.5 by 2.1$\times$ and LLaVA-NeXT by 4.0$\times$, retaining over 99% performance. Code: https://github.com/dingkun-zhang/DualSpeed

QVLA: Not All Channels Are Equal in Vision-Language-Action Model's Quantization

The advent of Vision-Language-Action (VLA) models represents a significant leap for embodied intelligence, yet their immense computational demands critically hinder deployment on resource-constrained robotic platforms. Intuitively, low-bit quantization is a prevalent and preferred technique for large-scale model compression. However, we find that a systematic analysis of VLA model's quantization is fundamentally lacking. We argue that naively applying uniform-bit quantization from Large Language Models (LLMs) to robotics is flawed, as these methods prioritize passive data fidelity while ignoring how minor action deviations compound into catastrophic task failures. To bridge this gap, we introduce QVLA, the first action-centric quantization framework specifically designed for embodied control. In a sharp departure from the rigid, uniform-bit quantization of LLM-based methods, QVLA introduces a highly granular, channel-wise bit allocation strategy. Its core mechanism is to directly measure the final action-space sensitivity when quantizing each individual channel to various bit-widths. This process yields a precise, per-channel importance metric that guides a global optimization, which elegantly unifies quantization and pruning (0-bit) into a single, cohesive framework. Extensive evaluations on different baselines demonstrate the superiority of our approach. In the LIBERO, the quantization version of OpenVLA-OFT with our method requires only 29.2% of the original model's VRAM while maintaining 98.9% of its original performance and achieving a 1.49x speedup. This translates to a 22.6% performance improvement over the LLM-derived method SmoothQuant. Our work establishes a new, principled foundation for compressing VLA models in robotics, paving the way for deploying powerful, large-scale models on real-world hardware. Code will be released.

A Scene Graph Backed Approach to Open Set Semantic Mapping

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant challenge. Most existing approaches decouple perception from representation, treating the scene graph as a derivative layer generated post hoc. This limits both consistency and scalability. In contrast, we propose a mapping architecture where the 3DSSG serves as the foundational backend, acting as the primary knowledge representation for the entire mapping process. Our approach leverages prior work on incremental scene graph prediction to infer and update the graph structure in real-time as the environment is explored. This ensures that the map remains topologically consistent and computationally efficient, even during extended operations in large-scale settings. By maintaining an explicit, spatially grounded representation that supports both flat and hierarchical topologies, we bridge the gap between sub-symbolic raw sensor data and high-level symbolic reasoning. Consequently, this provides a stable, verifiable structure that knowledge-driven frameworks, ranging from knowledge graphs and ontologies to Large Language Models (LLMs), can directly exploit, enabling agents to operate with enhanced interpretability, trustworthiness, and alignment to human concepts.

Edge-Optimized Vision-Language Models for Underground Infrastructure Assessment

Autonomous inspection of underground infrastructure, such as sewer and culvert systems, is critical to public safety and urban sustainability. Although robotic platforms equipped with visual sensors can efficiently detect structural deficiencies, the automated generation of human-readable summaries from these detections remains a significant challenge, especially on resource-constrained edge devices. This paper presents a novel two-stage pipeline for end-to-end summarization of underground deficiencies, combining our lightweight RAPID-SCAN segmentation model with a fine-tuned Vision-Language Model (VLM) deployed on an edge computing platform. The first stage employs RAPID-SCAN (Resource-Aware Pipeline Inspection and Defect Segmentation using Compact Adaptive Network), achieving 0.834 F1-score with only 0.64M parameters for efficient defect segmentation. The second stage utilizes a fine-tuned Phi-3.5 VLM that generates concise, domain-specific summaries in natural language from the segmentation outputs. We introduce a curated dataset of inspection images with manually verified descriptions for VLM fine-tuning and evaluation. To enable real-time performance, we employ post-training quantization with hardware-specific optimization, achieving significant reductions in model size and inference latency without compromising summarization quality. We deploy and evaluate our complete pipeline on a mobile robotic platform, demonstrating its effectiveness in real-world inspection scenarios. Our results show the potential of edge-deployable integrated AI systems to bridge the gap between automated defect detection and actionable insights for infrastructure maintenance, paving the way for more scalable and autonomous inspection solutions.

OCRTurk: A Comprehensive OCR Benchmark for Turkish

Document parsing is now widely used in applications, such as large-scale document digitization, retrieval-augmented generation, and domain-specific pipelines in healthcare and education. Benchmarking these models is crucial for assessing their reliability and practical robustness. Existing benchmarks mostly target high-resource languages and provide limited coverage for low-resource settings, such as Turkish. Moreover, existing studies on Turkish document parsing lack a standardized benchmark that reflects real-world scenarios and document diversity. To address this gap, we introduce OCRTurk, a Turkish document parsing benchmark covering multiple layout elements and document categories at three difficulty levels. OCRTurk consists of 180 Turkish documents drawn from academic articles, theses, slide decks, and non-academic articles. We evaluate seven OCR models on OCRTurk using element-wise metrics. Across difficulty levels, PaddleOCR achieves the strongest overall results, leading most element-wise metrics except figures and attaining high Normalized Edit Distance scores in easy, medium, and hard subsets. We also observe performance variation by document type. Models perform well on non-academic documents, while slideshows become the most challenging.

CTTVAE: Latent Space Structuring for Conditional Tabular Data Generation on Imbalanced Datasets

Generating synthetic tabular data under severe class imbalance is essential for domains where rare but high-impact events drive decision-making. However, most generative models either overlook minority groups or fail to produce samples that are useful for downstream learning. We introduce CTTVAE, a Conditional Transformer-based Tabular Variational Autoencoder equipped with two complementary mechanisms: (i) a class-aware triplet margin loss that restructures the latent space for sharper intra-class compactness and inter-class separation, and (ii) a training-by-sampling strategy that adaptively increases exposure to underrepresented groups. Together, these components form CTTVAE+TBS, a framework that consistently yields more representative and utility-aligned samples without destabilizing training. Across six real-world benchmarks, CTTVAE+TBS achieves the strongest downstream utility on minority classes, often surpassing models trained on the original imbalanced data while maintaining competitive fidelity and bridging the gap for privacy for interpolation-based sampling methods and deep generative methods. Ablation studies further confirm that both latent structuring and targeted sampling contribute to these gains. By explicitly prioritizing downstream performance in rare categories, CTTVAE+TBS provides a robust and interpretable solution for conditional tabular data generation, with direct applicability to industries such as healthcare, fraud detection, and predictive maintenance where even small gains in minority cases can be critical.

Can LLMs Do Rocket Science? Exploring the Limits of Complex Reasoning with GTOC 12

Large Language Models (LLMs) have demonstrated remarkable proficiency in code generation and general reasoning, yet their capacity for autonomous multi-stage planning in high-dimensional, physically constrained environments remains an open research question. This study investigates the limits of current AI agents by evaluating them against the 12th Global Trajectory Optimization Competition (GTOC 12), a complex astrodynamics challenge requiring the design of a large-scale asteroid mining campaign. We adapt the MLE-Bench framework to the domain of orbital mechanics and deploy an AIDE-based agent architecture to autonomously generate and refine mission solutions. To assess performance beyond binary validity, we employ an "LLM-as-a-Judge" methodology, utilizing a rubric developed by domain experts to evaluate strategic viability across five structural categories. A comparative analysis of models, ranging from GPT-4-Turbo to reasoning-enhanced architectures like Gemini 2.5 Pro, and o3, reveals a significant trend: the average strategic viability score has nearly doubled in the last two years (rising from 9.3 to 17.2 out of 26). However, we identify a critical capability gap between strategy and execution. While advanced models demonstrate sophisticated conceptual understanding, correctly framing objective functions and mission architectures, they consistently fail at implementation due to physical unit inconsistencies, boundary condition errors, and inefficient debugging loops. We conclude that, while current LLMs often demonstrate sufficient knowledge and intelligence to tackle space science tasks, they remain limited by an implementation barrier, functioning as powerful domain facilitators rather than fully autonomous engineers.

Generative Decompression: Optimal Lossy Decoding Against Distribution Mismatch

This paper addresses optimal decoding strategies in lossy compression where the assumed distribution for compressor design mismatches the actual (true) distribution of the source. This problem has immediate relevance in standardized communication systems where the decoder acquires side information or priors about the true distribution that are unavailable to the fixed encoder. We formally define the mismatched quantization problem, demonstrating that the optimal reconstruction rule, termed generative decompression, aligns with classical Bayesian estimation by taking the conditional expectation under the true distribution given the quantization indices and adapting it to fixed-encoder constraints. This strategy effectively performs a generative Bayesian correction on the decoder side, strictly outperforming the conventional centroid rule. We extend this framework to transmission over noisy channels, deriving a robust soft-decoding rule that quantifies the inefficiency of standard modular source--channel separation architectures under mismatch. Furthermore, we generalize the approach to task-oriented decoding, showing that the optimal strategy shifts from conditional mean estimation to maximum a posteriori (MAP) detection. Experimental results on Gaussian sources and deep-learning-based semantic classification demonstrate that generative decompression closes a vast majority of the performance gap to the ideal joint-optimization benchmark, enabling adaptive, high-fidelity reconstruction without modifying the encoder.

When Routing Collapses: On the Degenerate Convergence of LLM Routers

LLM routing aims to achieve a favorable quality--cost trade-off by dynamically assigning easy queries to smaller models and harder queries to stronger ones. However, across both unimodal and multimodal settings, we uncover a pervasive yet underexplored failure mode in existing routers: as the user's cost budget increases, routers systematically default to the most capable and most expensive model even when cheaper models already suffice. As a result, current routers under-utilize small models, wasting computation and monetary cost and undermining the core promise of routing; we term this phenomenon routing collapse. We attribute routing collapse to an objective--decision mismatch: many routers are trained to predict scalar performance scores, whereas routing decisions ultimately depend on discrete comparisons among candidate models. Consequently, small prediction errors can flip relative orderings and trigger suboptimal selections. To bridge this gap, we propose EquiRouter, a decision-aware router that directly learns model rankings, restoring the role of smaller models and mitigating routing collapse. On RouterBench, EquiRouter reduces cost by about 17\% at GPT-4-level performance compared to the strongest prior router. Our code is available at https://github.com/AIGNLAI/EquiRouter.