Decentralized Cooperative Localization for Multi-Robot Systems with Asynchronous Sensor Fusion

Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot performs localization locally using an Extended Kalman Filter, while sharing measurement information during update stages only when communication links are available and companion robots are successfully detected by LiDAR. The framework preserves cross-correlation consistency among robot state estimates while handling asynchronous sensor data with heterogeneous sampling rates and accommodating accelerations during dynamic maneuvers. Unlike methods that require pre-aligned coordinate systems, the proposed approach allows robots to initialize with arbitrary reference-frame orientations and achieves automatic alignment through transformation matrices in both the prediction and update stages. To improve robustness in feature-sparse environments, we introduce a dual-landmark evaluation framework that exploits both static environmental features and mobile robots as dynamic landmarks. The proposed framework enables reliable detection and feature extraction during sharp turns, while prediction accuracy is improved through information sharing from mutual observations. Experimental results in both Gazebo simulation and real-world basement environments show that DCL outperforms centralized cooperative localization (CCL), achieving a 34% reduction in RMSE, while the dual-landmark variant yields an improvement of 56%. These results demonstrate the applicability of DCL to challenging domains such as enclosed spaces, underwater environments, and feature-sparse terrains where conventional localization methods are ineffective.

ChArtist: Generating Pictorial Charts with Unified Spatial and Subject Control

A pictorial chart is an effective medium for visual storytelling, seamlessly integrating visual elements with data charts. However, creating such images is challenging because the flexibility of visual elements often conflicts with the rigidity of chart structures. This process thus requires a creative deformation that maintains both data faithfulness and visual aesthetics. Current methods that extract dense structural cues from natural images (e.g., edge or depth maps) are ill-suited as conditioning signals for pictorial chart generation. We present ChArtist, a domain-specific diffusion model for generating pictorial charts automatically, offering two distinct types of control: 1) spatial control that aligns well with the chart structure, and 2) subject-driven control that respects the visual characteristics of a reference image. To achieve this, we introduce a skeleton-based spatial control representation. This representation encodes only the data-encoding information of the chart, allowing for the easy incorporation of reference visuals without a rigid outline constraint. We implement our method based on the Diffusion Transformer (DiT) and leverage an adaptive position encoding mechanism to manage these two controls. We further introduce Spatially Gated Attention to modulate the interaction between spatial control and subject control. To support the fine-tuning of pre-trained models for this task, we created a large-scale dataset of 30,000 triplets (skeleton, reference image, pictorial chart). We also propose a unified data accuracy metric to evaluate the data faithfulness of the generated charts. We believe this work demonstrates that current generative models can achieve data-driven visual storytelling by moving beyond general-purpose conditions to task-specific representations. Project page: https://chartist-ai.github.io/.

Gaussian Process Regression-based Knowledge Distillation Framework for Simultaneous Prediction of Physical and Mechanical Properties of Epoxy Polymers

Epoxy polymers are widely used due to their multifunctional properties, but machine learning (ML) applications remain limited owing to their complex 3D molecular structure, multi-component nature, and lack of curated datasets. Existing ML studies are largely restricted to simulation data, specific properties, or narrow constituent ranges. To address these limitations, we developed an informed Gaussian Process Regression-based Knowledge Distillation (GPR-KD) framework for predicting multiple physical (glass transition temperature, density) and mechanical properties (elastic modulus, tensile strength, compressive strength, flexural strength, fracture energy, adhesive strength) of thermoset epoxy polymers. The model was trained on experimental literature data covering diverse monomer classes (9 resins, 40 hardeners). Individual GPR models serve as teacher models capturing nonlinear feature-property relationships, while a unified neural network student model learns distilled knowledge across all properties simultaneously. By encoding the target property as an input feature, the student model leverages cross-property correlations. Molecular-level descriptors extracted from SMILES representations using RDKit create a physics-informed model. The framework combines GPR interpretability and robustness with deep learning scalability and generalization. Comparative analysis demonstrates superior prediction accuracy over conventional ML models. Simultaneous multi-property prediction further improves accuracy through information sharing across correlated properties. The proposed framework enables accelerated design of novel epoxy polymers with tailored properties.

Reconstruction of the Vocal Tract from Speech via Phonetic Representations Using MRI Data

Articulatory acoustic inversion aims to reconstruct the complete geometry of the vocal tract from the speech signal. In this paper, we present a comparative study of several levels of phonetic segmentation accuracy, together with a comparison to the baseline introduced in our previous work, which is based on Mel-Frequency Cepstral Coefficients (MFCCs). All the approaches considered are based on a denoised speech signal and aim to investigate the impact of incorporating phonetic information through three successive levels: an uncorrected automatic transcription, a temporally aligned phonetic segmentation, and an expert manual correction following alignment. The models are trained to predict articulatory contours extracted from vocal tract MRI images using an automatic contour tracking method. The results show that, among the models relying on phonetic representations, manual correction after alignment yields the best performance, approaching that of the baseline.

Muscle Synergy Priors Enhance Biomechanical Fidelity in Predictive Musculoskeletal Locomotion Simulation

Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle synergies. We extracted a low-dimensional synergy basis from inverse musculoskeletal analyses of a small set of overground walking trials and used it as the action space for a muscle-driven three-dimensional model trained across variable speeds, slopes and uneven terrain. The resulting controller generated stable gait from 0.7-1.8 m/s and on $\pm$ 6$^{\circ}$ grades and reproduced condition-dependent modulation of joint angles, joint moments and ground reaction forces. Compared with an unconstrained controller, synergy-constrained control reduced non-physiological knee kinematics and kept knee moment profiles within the experimental envelope. Across conditions, simulated vertical ground reaction forces correlated strongly with human measurements, and muscle-activation timing largely fell within inter-subject variability. These results show that embedding neurophysiological structure into reinforcement learning can improve biomechanical fidelity and generalization in predictive human locomotion simulation with limited experimental data.

Beyond Polarity: Multi-Dimensional LLM Sentiment Signals for WTI Crude Oil Futures Return Prediction

Forecasting crude oil prices remains challenging because market-relevant information is embedded in large volumes of unstructured news and is not fully captured by traditional polarity-based sentiment measures. This paper examines whether multi-dimensional sentiment signals extracted by large language models improve the prediction of weekly WTI crude oil futures returns. Using energy-sector news articles from 2020 to 2025, we construct five sentiment dimensions covering relevance, polarity, intensity, uncertainty, and forwardness based on GPT-4o, Llama 3.2-3b, and two benchmark models, FinBERT and AlphaVantage. We aggregate article-level signals to the weekly level and evaluate their predictive performance in a classification framework. The best results are achieved by combining GPT-4o and FinBERT, suggesting that LLM-based and conventional financial sentiment models provide complementary predictive information. SHAP analysis further shows that intensity- and uncertainty-related features are among the most important predictors, indicating that the predictive value of news sentiment extends beyond simple polarity. Overall, the results suggest that multi-dimensional LLM-based sentiment measures can improve commodity return forecasting and support energy-market risk monitoring.

FutureVLA: Joint Visuomotor Prediction for Vision-Language-Action Model

Predictive foresight is important to intelligent embodied agents. Since the motor execution of a robot is intrinsically constrained by its visual perception of environmental geometry, effectively anticipating the future requires capturing this tightly coupled visuomotor interplay. While recent vision-language-action models attempt to incorporate future guidance, they struggle with this joint modeling. Existing explicit methods divert capacity to task-irrelevant visual details, whereas implicit methods relying on sparse frame pairs disrupt temporal continuity. By heavily relying on visual reconstruction, these methods become visually dominated, entangling static scene context with dynamic action intent. We argue that effective joint visuomotor predictive modeling requires both temporal continuity and visually-conditioned supervision decoupling. To this end, we propose FutureVLA, featuring a novel Joint Visuomotor Predictive Architecture. FutureVLA is designed to extract joint visuomotor embeddings by first decoupling visual and motor information, and then jointly encoding generalized physical priors. Specifically, in the pretraining stage, we leverage heterogeneous manipulation datasets and introduce a Joint Visuomotor Gating mechanism to structurally separate visual state preservation from temporal action modeling. It allows the motor stream to focus on continuous physical dynamics while explicitly querying visual tokens for environmental constraints, yielding highly generalizable joint visuomotor embeddings. Subsequently, in the post-training stage, we employ a latent embeddings alignment strategy, enabling diverse downstream VLA models to internalize these temporal priors without modifying their inference architectures. Extensive experiments demonstrate that FutureVLA consistently improves VLA frameworks.

Bin~Wan,G2HFNet: GeoGran-Aware Hierarchical Feature Fusion Network for Salient Object Detection in Optical Remote Sensing Images

Remote sensing images captured from aerial perspectives often exhibit significant scale variations and complex backgrounds, posing challenges for salient object detection (SOD). Existing methods typically extract multi-level features at a single scale using uniform attention mechanisms, leading to suboptimal representations and incomplete detection results. To address these issues, we propose a GeoGran-Aware Hierarchical Feature Fusion Network (G2HFNet) that fully exploits geometric and granular cues in optical remote sensing images. Specifically, G2HFNet adopts Swin Transformer as the backbone to extract multi-level features and integrates three key modules: the multi-scale detail enhancement (MDE) module to handle object scale variations and enrich fine details, the dual-branch geo-gran complementary (DGC) module to jointly capture fine-grained details and positional information in mid-level features, and the deep semantic perception (DSP) module to refine high-level positional cues via self-attention. Additionally, a local-global guidance fusion (LGF) module is introduced to replace traditional convolutions for effective multi-level feature integration. Extensive experiments demonstrate that G2HFNet achieves high-quality saliency maps and significantly improves detection performance in challenging remote sensing scenarios.

A Deformable Attention-Based Detection Transformer with Cross-Scale Feature Fusion for Industrial Coil Spring Inspection

Automated visual inspection of locomotive coil springs presents significant challenges due to the morphological diversity of surface defects, substantial scale variations, and complex industrial backgrounds. This paper proposes MSD-DETR (Multi-Scale Deformable Detection Transformer), a novel detection framework that addresses these challenges through three key innovations: (1) a structural re-parameterization strategy that decouples training-time multi-branch topology from inference-time efficiency, enhancing feature extraction while maintaining real-time performance; (2) a deformable attention mechanism that enables content-adaptive spatial sampling, allowing dynamic focus on defect-relevant regions regardless of morphological irregularity; and (3) a cross-scale feature fusion architecture incorporating GSConv modules and VoVGSCSP blocks for effective multi-resolution information aggregation. Comprehensive experiments on a real-world locomotive coil spring dataset demonstrate that MSD-DETR achieves 92.4\% mAP@0.5 at 98 FPS, outperforming state-of-the-art detectors including YOLOv8 (+3.1\% mAP) and the baseline RT-DETR (+2.8\% mAP) while maintaining comparable inference speed, establishing a new benchmark for industrial coil spring quality inspection.

Leveraging Large Vision Model for Multi-UAV Co-perception in Low-Altitude Wireless Networks

Multi-uncrewed aerial vehicle (UAV) cooperative perception has emerged as a promising paradigm for diverse low-altitude economy applications, where complementary multi-view observations are leveraged to enhance perception performance via wireless communications. However, the massive visual data generated by multiple UAVs poses significant challenges in terms of communication latency and resource efficiency. To address these challenges, this paper proposes a communication-efficient cooperative perception framework, termed Base-Station-Helped UAV (BHU), which reduces communication overhead while enhancing perception performance. Specifically, we employ a Top-K selection mechanism to identify the most informative pixels from UAV-captured RGB images, enabling sparsified visual transmission with reduced data volume and latency. The sparsified images are transmitted to a ground server via multi-user MIMO (MU-MIMO), where a Swin-large-based MaskDINO encoder extracts bird's-eye-view (BEV) features and performs cooperative feature fusion for ground vehicle perception. Furthermore, we develop a diffusion model-based deep reinforcement learning (DRL) algorithm to jointly select cooperative UAVs, sparsification ratios, and precoding matrices, achieving a balance between communication efficiency and perception utility. Simulation results on the Air-Co-Pred dataset demonstrate that, compared with traditional CNN-based BEV fusion baselines, the proposed BHU framework improves perception performance by over 5% while reducing communication overhead by 85%, providing an effective solution for multi-UAV cooperative perception under resource-constrained wireless environments.