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.

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.

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.

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.

SIDiffAgent: Self-Improving Diffusion Agent

Text-to-image diffusion models have revolutionized generative AI, enabling high-quality and photorealistic image synthesis. However, their practical deployment remains hindered by several limitations: sensitivity to prompt phrasing, ambiguity in semantic interpretation (e.g., ``mouse" as animal vs. a computer peripheral), artifacts such as distorted anatomy, and the need for carefully engineered input prompts. Existing methods often require additional training and offer limited controllability, restricting their adaptability in real-world applications. We introduce Self-Improving Diffusion Agent (SIDiffAgent), a training-free agentic framework that leverages the Qwen family of models (Qwen-VL, Qwen-Image, Qwen-Edit, Qwen-Embedding) to address these challenges. SIDiffAgent autonomously manages prompt engineering, detects and corrects poor generations, and performs fine-grained artifact removal, yielding more reliable and consistent outputs. It further incorporates iterative self-improvement by storing a memory of previous experiences in a database. This database of past experiences is then used to inject prompt-based guidance at each stage of the agentic pipeline. \modelour achieved an average VQA score of 0.884 on GenAIBench, significantly outperforming open-source, proprietary models and agentic methods. We will publicly release our code upon acceptance.

ProxyImg: Towards Highly-Controllable Image Representation via Hierarchical Disentangled Proxy Embedding

Prevailing image representation methods, including explicit representations such as raster images and Gaussian primitives, as well as implicit representations such as latent images, either suffer from representation redundancy that leads to heavy manual editing effort, or lack a direct mapping from latent variables to semantic instances or parts, making fine-grained manipulation difficult. These limitations hinder efficient and controllable image and video editing. To address these issues, we propose a hierarchical proxy-based parametric image representation that disentangles semantic, geometric, and textural attributes into independent and manipulable parameter spaces. Based on a semantic-aware decomposition of the input image, our representation constructs hierarchical proxy geometries through adaptive Bezier fitting and iterative internal region subdivision and meshing. Multi-scale implicit texture parameters are embedded into the resulting geometry-aware distributed proxy nodes, enabling continuous high-fidelity reconstruction in the pixel domain and instance- or part-independent semantic editing. In addition, we introduce a locality-adaptive feature indexing mechanism to ensure spatial texture coherence, which further supports high-quality background completion without relying on generative models. Extensive experiments on image reconstruction and editing benchmarks, including ImageNet, OIR-Bench, and HumanEdit, demonstrate that our method achieves state-of-the-art rendering fidelity with significantly fewer parameters, while enabling intuitive, interactive, and physically plausible manipulation. Moreover, by integrating proxy nodes with Position-Based Dynamics, our framework supports real-time physics-driven animation using lightweight implicit rendering, achieving superior temporal consistency and visual realism compared with generative approaches.

DreamActor-M2: Universal Character Image Animation via Spatiotemporal In-Context Learning

Character image animation aims to synthesize high-fidelity videos by transferring motion from a driving sequence to a static reference image. Despite recent advancements, existing methods suffer from two fundamental challenges: (1) suboptimal motion injection strategies that lead to a trade-off between identity preservation and motion consistency, manifesting as a "see-saw", and (2) an over-reliance on explicit pose priors (e.g., skeletons), which inadequately capture intricate dynamics and hinder generalization to arbitrary, non-humanoid characters. To address these challenges, we present DreamActor-M2, a universal animation framework that reimagines motion conditioning as an in-context learning problem. Our approach follows a two-stage paradigm. First, we bridge the input modality gap by fusing reference appearance and motion cues into a unified latent space, enabling the model to jointly reason about spatial identity and temporal dynamics by leveraging the generative prior of foundational models. Second, we introduce a self-bootstrapped data synthesis pipeline that curates pseudo cross-identity training pairs, facilitating a seamless transition from pose-dependent control to direct, end-to-end RGB-driven animation. This strategy significantly enhances generalization across diverse characters and motion scenarios. To facilitate comprehensive evaluation, we further introduce AW Bench, a versatile benchmark encompassing a wide spectrum of characters types and motion scenarios. Extensive experiments demonstrate that DreamActor-M2 achieves state-of-the-art performance, delivering superior visual fidelity and robust cross-domain generalization. Project Page: https://grisoon.github.io/DreamActor-M2/

Can 3D point cloud data improve automated body condition score prediction in dairy cattle?

Body condition score (BCS) is a widely used indicator of body energy status and is closely associated with metabolic status, reproductive performance, and health in dairy cattle; however, conventional visual scoring is subjective and labor-intensive. Computer vision approaches have been applied to BCS prediction, with depth images widely used because they capture geometric information independent of coat color and texture. More recently, three-dimensional point cloud data have attracted increasing interest due to their ability to represent richer geometric characteristics of animal morphology, but direct head-to-head comparisons with depth image-based approaches remain limited. In this study, we compared top-view depth image and point cloud data for BCS prediction under four settings: 1) unsegmented raw data, 2) segmented full-body data, 3) segmented hindquarter data, and 4) handcrafted feature data. Prediction models were evaluated using data from 1,020 dairy cows collected on a commercial farm, with cow-level cross-validation to prevent data leakage. Depth image-based models consistently achieved higher accuracy than point cloud-based models when unsegmented raw data and segmented full-body data were used, whereas comparable performance was observed when segmented hindquarter data were used. Both depth image and point cloud approaches showed reduced accuracy when handcrafted feature data were employed compared with the other settings. Overall, point cloud-based predictions were more sensitive to noise and model architecture than depth image-based predictions. Taken together, these results indicate that three-dimensional point clouds do not provide a consistent advantage over depth images for BCS prediction in dairy cattle under the evaluated conditions.

Splat-Portrait: Generalizing Talking Heads with Gaussian Splatting

Talking Head Generation aims at synthesizing natural-looking talking videos from speech and a single portrait image. Previous 3D talking head generation methods have relied on domain-specific heuristics such as warping-based facial motion representation priors to animate talking motions, yet still produce inaccurate 3D avatar reconstructions, thus undermining the realism of generated animations. We introduce Splat-Portrait, a Gaussian-splatting-based method that addresses the challenges of 3D head reconstruction and lip motion synthesis. Our approach automatically learns to disentangle a single portrait image into a static 3D reconstruction represented as static Gaussian Splatting, and a predicted whole-image 2D background. It then generates natural lip motion conditioned on input audio, without any motion driven priors. Training is driven purely by 2D reconstruction and score-distillation losses, without 3D supervision nor landmarks. Experimental results demonstrate that Splat-Portrait exhibits superior performance on talking head generation and novel view synthesis, achieving better visual quality compared to previous works. Our project code and supplementary documents are public available at https://github.com/stonewalking/Splat-portrait.