Toward Maturity-Based Certification of Embodied AI: Quantifying Trustworthiness Through Measurement Mechanisms

We propose a maturity-based framework for certifying embodied AI systems through explicit measurement mechanisms. We argue that certifiable embodied AI requires structured assessment frameworks, quantitative scoring mechanisms, and methods for navigating multi-objective trade-offs inherent in trustworthiness evaluation. We demonstrate this approach using uncertainty quantification as an exemplar measurement mechanism and illustrate feasibility through an Uncrewed Aircraft System (UAS) detection case study.

Point-SRA: Self-Representation Alignment for 3D Representation Learning

Masked autoencoders (MAE) have become a dominant paradigm in 3D representation learning, setting new performance benchmarks across various downstream tasks. Existing methods with fixed mask ratio neglect multi-level representational correlations and intrinsic geometric structures, while relying on point-wise reconstruction assumptions that conflict with the diversity of point cloud. To address these issues, we propose a 3D representation learning method, termed Point-SRA, which aligns representations through self-distillation and probabilistic modeling. Specifically, we assign different masking ratios to the MAE to capture complementary geometric and semantic information, while the MeanFlow Transformer (MFT) leverages cross-modal conditional embeddings to enable diverse probabilistic reconstruction. Our analysis further reveals that representations at different time steps in MFT also exhibit complementarity. Therefore, a Dual Self-Representation Alignment mechanism is proposed at both the MAE and MFT levels. Finally, we design a Flow-Conditioned Fine-Tuning Architecture to fully exploit the point cloud distribution learned via MeanFlow. Point-SRA outperforms Point-MAE by 5.37% on ScanObjectNN. On intracranial aneurysm segmentation, it reaches 96.07% mean IoU for arteries and 86.87% for aneurysms. For 3D object detection, Point-SRA achieves 47.3% AP@50, surpassing MaskPoint by 5.12%.

LabelAny3D: Label Any Object 3D in the Wild

Detecting objects in 3D space from monocular input is crucial for applications ranging from robotics to scene understanding. Despite advanced performance in the indoor and autonomous driving domains, existing monocular 3D detection models struggle with in-the-wild images due to the lack of 3D in-the-wild datasets and the challenges of 3D annotation. We introduce LabelAny3D, an \emph{analysis-by-synthesis} framework that reconstructs holistic 3D scenes from 2D images to efficiently produce high-quality 3D bounding box annotations. Built on this pipeline, we present COCO3D, a new benchmark for open-vocabulary monocular 3D detection, derived from the MS-COCO dataset and covering a wide range of object categories absent from existing 3D datasets. Experiments show that annotations generated by LabelAny3D improve monocular 3D detection performance across multiple benchmarks, outperforming prior auto-labeling approaches in quality. These results demonstrate the promise of foundation-model-driven annotation for scaling up 3D recognition in realistic, open-world settings.

AIVD: Adaptive Edge-Cloud Collaboration for Accurate and Efficient Industrial Visual Detection

Multimodal large language models (MLLMs) demonstrate exceptional capabilities in semantic understanding and visual reasoning, yet they still face challenges in precise object localization and resource-constrained edge-cloud deployment. To address this, this paper proposes the AIVD framework, which achieves unified precise localization and high-quality semantic generation through the collaboration between lightweight edge detectors and cloud-based MLLMs. To enhance the cloud MLLM's robustness against edge cropped-box noise and scenario variations, we design an efficient fine-tuning strategy with visual-semantic collaborative augmentation, significantly improving classification accuracy and semantic consistency. Furthermore, to maintain high throughput and low latency across heterogeneous edge devices and dynamic network conditions, we propose a heterogeneous resource-aware dynamic scheduling algorithm. Experimental results demonstrate that AIVD substantially reduces resource consumption while improving MLLM classification performance and semantic generation quality. The proposed scheduling strategy also achieves higher throughput and lower latency across diverse scenarios.

Robust Ship Detection and Tracking Using Modified ViBe and Backwash Cancellation Algorithm

In this paper, we propose a robust real time detection and tracking method for detecting ships in a coastal video sequences. Since coastal scenarios are unpredictable and scenes have dynamic properties it is essential to apply detection methods that are robust to these conditions. This paper presents modified ViBe for moving object detection which detects ships and backwash. In the modified ViBe the probability of losing ships is decreased in comparison with the original ViBe. It is robust to natural sea waves and variation of lights and is capable of quickly updating the background. Based on geometrical properties of ship and some concepts such as brightness distortion, a new method for backwash cancellation is proposed. Experimental results demonstrate that the proposed strategy and methods have outstanding performance in ship detection and tracking. These results also illustrate real time and precise performance of the proposed strategy.

RFAssigner: A Generic Label Assignment Strategy for Dense Object Detection

Label assignment is a critical component in training dense object detectors. State-of-the-art methods typically assign each training sample a positive and a negative weight, optimizing the assignment scheme during training. However, these strategies often assign an insufficient number of positive samples to small objects, leading to a scale imbalance during training. To address this limitation, we introduce RFAssigner, a novel assignment strategy designed to enhance the multi-scale learning capabilities of dense detectors. RFAssigner first establishes an initial set of positive samples using a point-based prior. It then leverages a Gaussian Receptive Field (GRF) distance to measure the similarity between the GRFs of unassigned candidate locations and the ground-truth objects. Based on this metric, RFAssigner adaptively selects supplementary positive samples from the unassigned pool, promoting a more balanced learning process across object scales. Comprehensive experiments on three datasets with distinct object scale distributions validate the effectiveness and generalizability of our method. Notably, a single FCOS-ResNet-50 detector equipped with RFAssigner achieves state-of-the-art performance across all object scales, consistently outperforming existing strategies without requiring auxiliary modules or heuristics.

CT Scans As Video: Efficient Intracranial Hemorrhage Detection Using Multi-Object Tracking

Automated analysis of volumetric medical imaging on edge devices is severely constrained by the high memory and computational demands of 3D Convolutional Neural Networks (CNNs). This paper develops a lightweight computer vision framework that reconciles the efficiency of 2D detection with the necessity of 3D context by reformulating volumetric Computer Tomography (CT) data as sequential video streams. This video-viewpoint paradigm is applied to the time-sensitive task of Intracranial Hemorrhage (ICH) detection using the Hemorica dataset. To ensure operational efficiency, we benchmarked multiple generations of the YOLO architecture (v8, v10, v11 and v12) in their Nano configurations, selecting the version with the highest mAP@50 to serve as the slice-level backbone. A ByteTrack algorithm is then introduced to enforce anatomical consistency across the $z$-axis. To address the initialization lag inherent in video trackers, a hybrid inference strategy and a spatiotemporal consistency filter are proposed to distinguish true pathology from transient prediction noise. Experimental results on independent test data demonstrate that the proposed framework serves as a rigorous temporal validator, increasing detection Precision from 0.703 to 0.779 compared to the baseline 2D detector, while maintaining high sensitivity. By approximating 3D contextual reasoning at a fraction of the computational cost, this method provides a scalable solution for real-time patient prioritization in resource-constrained environments, such as mobile stroke units and IoT-enabled remote clinics.

Foundational Analysis of Safety Engineering Requirements (SAFER)

We introduce a framework for Foundational Analysis of Safety Engineering Requirements (SAFER), a model-driven methodology supported by Generative AI to improve the generation and analysis of safety requirements for complex safety-critical systems. Safety requirements are often specified by multiple stakeholders with uncoordinated objectives, leading to gaps, duplications, and contradictions that jeopardize system safety and compliance. Existing approaches are largely informal and insufficient for addressing these challenges. SAFER enhances Model-Based Systems Engineering (MBSE) by consuming requirement specification models and generating the following results: (1) mapping requirements to system functions, (2) identifying functions with insufficient requirement specifications, (3) detecting duplicate requirements, and (4) identifying contradictions within requirement sets. SAFER provides structured analysis, reporting, and decision support for safety engineers. We demonstrate SAFER on an autonomous drone system, significantly improving the detection of requirement inconsistencies, enhancing both efficiency and reliability of the safety engineering process. We show that Generative AI must be augmented by formal models and queried systematically, to provide meaningful early-stage safety requirement specifications and robust safety architectures.

Evolving CNN Architectures: From Custom Designs to Deep Residual Models for Diverse Image Classification and Detection Tasks

This paper presents a comparative study of a custom convolutional neural network (CNN) architecture against widely used pretrained and transfer learning CNN models across five real-world image datasets. The datasets span binary classification, fine-grained multiclass recognition, and object detection scenarios. We analyze how architectural factors, such as network depth, residual connections, and feature extraction strategies, influence classification and localization performance. The results show that deeper CNN architectures provide substantial performance gains on fine-grained multiclass datasets, while lightweight pretrained and transfer learning models remain highly effective for simpler binary classification tasks. Additionally, we extend the proposed architecture to an object detection setting, demonstrating its adaptability in identifying unauthorized auto-rickshaws in real-world traffic scenes. Building upon a systematic analysis of custom CNN architectures alongside pretrained and transfer learning models, this study provides practical guidance for selecting suitable network designs based on task complexity and resource constraints.

From Stories to Cities to Games: A Qualitative Evaluation of Behaviour Planning

The primary objective of a diverse planning approach is to generate a set of plans that are distinct from one another. Such an approach is applied in a variety of real-world domains, including risk management, automated stream data analysis, and malware detection. More recently, a novel diverse planning paradigm, referred to as behaviour planning, has been proposed. This approach extends earlier methods by explicitly incorporating a diversity model into the planning process and supporting multiple planning categories. In this paper, we demonstrate the usefulness of behaviour planning in real-world settings by presenting three case studies. The first case study focuses on storytelling, the second addresses urban planning, and the third examines game evaluation.