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.

SwimBird: Eliciting Switchable Reasoning Mode in Hybrid Autoregressive MLLMs

Multimodal Large Language Models (MLLMs) have made remarkable progress in multimodal perception and reasoning by bridging vision and language. However, most existing MLLMs perform reasoning primarily with textual CoT, which limits their effectiveness on vision-intensive tasks. Recent approaches inject a fixed number of continuous hidden states as "visual thoughts" into the reasoning process and improve visual performance, but often at the cost of degraded text-based logical reasoning. We argue that the core limitation lies in a rigid, pre-defined reasoning pattern that cannot adaptively choose the most suitable thinking modality for different user queries. We introduce SwimBird, a reasoning-switchable MLLM that dynamically switches among three reasoning modes conditioned on the input: (1) text-only reasoning, (2) vision-only reasoning (continuous hidden states as visual thoughts), and (3) interleaved vision-text reasoning. To enable this capability, we adopt a hybrid autoregressive formulation that unifies next-token prediction for textual thoughts with next-embedding prediction for visual thoughts, and design a systematic reasoning-mode curation strategy to construct SwimBird-SFT-92K, a diverse supervised fine-tuning dataset covering all three reasoning patterns. By enabling flexible, query-adaptive mode selection, SwimBird preserves strong textual logic while substantially improving performance on vision-dense tasks. Experiments across diverse benchmarks covering textual reasoning and challenging visual understanding demonstrate that SwimBird achieves state-of-the-art results and robust gains over prior fixed-pattern multimodal reasoning methods.

VRIQ: Benchmarking and Analyzing Visual-Reasoning IQ of VLMs

Recent progress in Vision Language Models (VLMs) has raised the question of whether they can reliably perform nonverbal reasoning. To this end, we introduce VRIQ (Visual Reasoning IQ), a novel benchmark designed to assess and analyze the visual reasoning ability of VLMs. We evaluate models on two sets of tasks: abstract puzzle-style and natural-image reasoning tasks. We find that on abstract puzzles, performance remains near random with an average accuracy of around 28%, while natural tasks yield better but still weak results with 45% accuracy. We also find that tool-augmented reasoning demonstrates only modest improvements. To uncover the source of this weakness, we introduce diagnostic probes targeting perception and reasoning. Our analysis demonstrates that around 56% of failures arise from perception alone, 43% from both perception and reasoning, and only a mere 1% from reasoning alone. This motivates us to design fine-grained diagnostic probe questions targeting specific perception categories (e.g., shape, count, position, 3D/depth), revealing that certain categories cause more failures than others. Our benchmark and analysis establish that current VLMs, even with visual reasoning tools, remain unreliable abstract reasoners, mostly due to perception limitations, and offer a principled basis for improving visual reasoning in multimodal systems.

A Comparative Study of 3D Person Detection: Sensor Modalities and Robustness in Diverse Indoor and Outdoor Environments

Accurate 3D person detection is critical for safety in applications such as robotics, industrial monitoring, and surveillance. This work presents a systematic evaluation of 3D person detection using camera-only, LiDAR-only, and camera-LiDAR fusion. While most existing research focuses on autonomous driving, we explore detection performance and robustness in diverse indoor and outdoor scenes using the JRDB dataset. We compare three representative models - BEVDepth (camera), PointPillars (LiDAR), and DAL (camera-LiDAR fusion) - and analyze their behavior under varying occlusion and distance levels. Our results show that the fusion-based approach consistently outperforms single-modality models, particularly in challenging scenarios. We further investigate robustness against sensor corruptions and misalignments, revealing that while DAL offers improved resilience, it remains sensitive to sensor misalignment and certain LiDAR-based corruptions. In contrast, the camera-based BEVDepth model showed the lowest performance and was most affected by occlusion, distance, and noise. Our findings highlight the importance of utilizing sensor fusion for enhanced 3D person detection, while also underscoring the need for ongoing research to address the vulnerabilities inherent in these systems.

Can vision language models learn intuitive physics from interaction?

Pre-trained vision language models do not have good intuitions about the physical world. Recent work has shown that supervised fine-tuning can improve model performance on simple physical tasks. However, fine-tuned models do not appear to learn robust physical rules that can generalize to new contexts. Based on research in cognitive science, we hypothesize that models need to interact with an environment to properly learn its physical dynamics. We train models that learn through interaction with the environment using reinforcement learning. While learning from interaction allows models to improve their within-task performance, it fails to produce models with generalizable physical intuitions. We find that models trained on one task do not reliably generalize to related tasks, even if the tasks share visual statistics and physical principles, and regardless of whether the models are trained through interaction.

Variable Search Stepsize for Randomized Local Search in Multi-Objective Combinatorial Optimization

Over the past two decades, research in evolutionary multi-objective optimization has predominantly focused on continuous domains, with comparatively limited attention given to multi-objective combinatorial optimization problems (MOCOPs). Combinatorial problems differ significantly from continuous ones in terms of problem structure and landscape. Recent studies have shown that on MOCOPs multi-objective evolutionary algorithms (MOEAs) can even be outperformed by simple randomised local search. Starting with a randomly sampled solution in search space, randomised local search iteratively draws a random solution (from an archive) to perform local variation within its neighbourhood. However, in most existing methods, the local variation relies on a fixed neighbourhood, which limits exploration and makes the search easy to get trapped in local optima. In this paper, we present a simple yet effective local search method, called variable stepsize randomized local search (VS-RLS), which adjusts the stepsize during the search. VS-RLS transitions gradually from a broad, exploratory search in the early phases to a more focused, fine-grained search as the search progresses. We demonstrate the effectiveness and generalizability of VS-RLS through extensive evaluations against local search and MOEAs methods on diverse MOCOPs.

Breaking Symmetry Bottlenecks in GNN Readouts

Graph neural networks (GNNs) are widely used for learning on structured data, yet their ability to distinguish non-isomorphic graphs is fundamentally limited. These limitations are usually attributed to message passing; in this work we show that an independent bottleneck arises at the readout stage. Using finite-dimensional representation theory, we prove that all linear permutation-invariant readouts, including sum and mean pooling, factor through the Reynolds (group-averaging) operator and therefore project node embeddings onto the fixed subspace of the permutation action, erasing all non-trivial symmetry-aware components regardless of encoder expressivity. This yields both a new expressivity barrier and an interpretable characterization of what global pooling preserves or destroys. To overcome this collapse, we introduce projector-based invariant readouts that decompose node representations into symmetry-aware channels and summarize them with nonlinear invariant statistics, preserving permutation invariance while retaining information provably invisible to averaging. Empirically, swapping only the readout enables fixed encoders to separate WL-hard graph pairs and improves performance across multiple benchmarks, demonstrating that readout design is a decisive and under-appreciated factor in GNN expressivity.

Bifrost: Steering Strategic Trajectories to Bridge Contextual Gaps for Self-Improving Agents

Autonomous agents excel in self-improvement through reflection and iterative refinement, which reuse successful task trajectories as in-context examples to assist subsequent reasoning. However, shifting across tasks often introduces a context mismatch. Hence, existing approaches either discard the trajectories or manipulate them using heuristics, leading to a non-negligible fine-tuning cost or unguaranteed performance. To bridge this gap, we reveal a context-trajectory correlation, where shifts of context are highly parallel with shifts of trajectory. Based on this finding, we propose BrIdge contextual gap FoR imprOvised trajectory STeering (Bifrost), a training-free method that leverages context differences to precisely guide the adaptation of previously solved trajectories towards the target task, mitigating the misalignment caused by context shifts. Our trajectory adaptation is conducted at the representation level using agent hidden states, ensuring trajectory transformation accurately aligns with the target context in a shared space. Across diverse benchmarks, Bifrost consistently outperforms existing trajectory reuse and finetuned self-improvement methods, demonstrating that agents can effectively leverage past experiences despite substantial context shifts.

V-Retrver: Evidence-Driven Agentic Reasoning for Universal Multimodal Retrieval

Multimodal Large Language Models (MLLMs) have recently been applied to universal multimodal retrieval, where Chain-of-Thought (CoT) reasoning improves candidate reranking. However, existing approaches remain largely language-driven, relying on static visual encodings and lacking the ability to actively verify fine-grained visual evidence, which often leads to speculative reasoning in visually ambiguous cases. We propose V-Retrver, an evidence-driven retrieval framework that reformulates multimodal retrieval as an agentic reasoning process grounded in visual inspection. V-Retrver enables an MLLM to selectively acquire visual evidence during reasoning via external visual tools, performing a multimodal interleaved reasoning process that alternates between hypothesis generation and targeted visual verification.To train such an evidence-gathering retrieval agent, we adopt a curriculum-based learning strategy combining supervised reasoning activation, rejection-based refinement, and reinforcement learning with an evidence-aligned objective. Experiments across multiple multimodal retrieval benchmarks demonstrate consistent improvements in retrieval accuracy (with 23.0% improvements on average), perception-driven reasoning reliability, and generalization.

Visuo-Tactile World Models

We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich tasks, avoiding common failure modes of vision-only models under occlusion or ambiguous contact states, such as objects disappearing, teleporting, or moving in ways that violate basic physics. Trained across a set of contact-rich manipulation tasks, VT-WM improves physical fidelity in imagination, achieving 33% better performance at maintaining object permanence and 29% better compliance with the laws of motion in autoregressive rollouts. Moreover, experiments show that grounding in contact dynamics also translates to planning. In zero-shot real-robot experiments, VT-WM achieves up to 35% higher success rates, with the largest gains in multi-step, contact-rich tasks. Finally, VT-WM demonstrates significant downstream versatility, effectively adapting its learned contact dynamics to a novel task and achieving reliable planning success with only a limited set of demonstrations.