A generalizable large-scale foundation model for musculoskeletal radiographs

Artificial intelligence (AI) has shown promise in detecting and characterizing musculoskeletal diseases from radiographs. However, most existing models remain task-specific, annotation-dependent, and limited in generalizability across diseases and anatomical regions. Although a generalizable foundation model trained on large-scale musculoskeletal radiographs is clinically needed, publicly available datasets remain limited in size and lack sufficient diversity to enable training across a wide range of musculoskeletal conditions and anatomical sites. Here, we present SKELEX, a large-scale foundation model for musculoskeletal radiographs, trained using self-supervised learning on 1.2 million diverse, condition-rich images. The model was evaluated on 12 downstream diagnostic tasks and generally outperformed baselines in fracture detection, osteoarthritis grading, and bone tumor classification. Furthermore, SKELEX demonstrated zero-shot abnormality localization, producing error maps that identified pathologic regions without task-specific training. Building on this capability, we developed an interpretable, region-guided model for predicting bone tumors, which maintained robust performance on independent external datasets and was deployed as a publicly accessible web application. Overall, SKELEX provides a scalable, label-efficient, and generalizable AI framework for musculoskeletal imaging, establishing a foundation for both clinical translation and data-efficient research in musculoskeletal radiology.

System-Level Error Propagation and Tail-Risk Amplification in Reference-Based Robotic Navigation

Image guided robotic navigation systems often rely on reference based geometric perception pipelines, where accurate spatial mapping is established through multi stage estimation processes. In biplanar X ray guided navigation, such pipelines are widely used due to their real time capability and geometric interpretability. However, navigation reliability can be constrained by an overlooked system level failure mechanism in which installation induced structural perturbations introduced at the perception stage are progressively amplified along the perception reconstruction execution chain and dominate execution level error and tail risk behavior. This paper investigates this mechanism from a system level perspective and presents a unified error propagation modeling framework that characterizes how installation induced structural perturbations propagate and couple with pixel level observation noise through biplanar imaging, projection matrix estimation, triangulation, and coordinate mapping. Using first order analytic uncertainty propagation and Monte Carlo simulations, we analyze dominant sensitivity channels and quantify worst case error behavior beyond mean accuracy metrics. The results show that rotational installation error is a primary driver of system level error amplification, while translational misalignment of comparable magnitude plays a secondary role under typical biplanar geometries. Real biplanar X ray bench top experiments further confirm that the predicted amplification trends persist under realistic imaging conditions. These findings reveal a broader structural limitation of reference based multi stage geometric perception pipelines and provide a framework for system level reliability analysis and risk aware design in safety critical robotic navigation systems.

ShapeUP: Scalable Image-Conditioned 3D Editing

Recent advancements in 3D foundation models have enabled the generation of high-fidelity assets, yet precise 3D manipulation remains a significant challenge. Existing 3D editing frameworks often face a difficult trade-off between visual controllability, geometric consistency, and scalability. Specifically, optimization-based methods are prohibitively slow, multi-view 2D propagation techniques suffer from visual drift, and training-free latent manipulation methods are inherently bound by frozen priors and cannot directly benefit from scaling. In this work, we present ShapeUP, a scalable, image-conditioned 3D editing framework that formulates editing as a supervised latent-to-latent translation within a native 3D representation. This formulation allows ShapeUP to build on a pretrained 3D foundation model, leveraging its strong generative prior while adapting it to editing through supervised training. In practice, ShapeUP is trained on triplets consisting of a source 3D shape, an edited 2D image, and the corresponding edited 3D shape, and learns a direct mapping using a 3D Diffusion Transformer (DiT). This image-as-prompt approach enables fine-grained visual control over both local and global edits and achieves implicit, mask-free localization, while maintaining strict structural consistency with the original asset. Our extensive evaluations demonstrate that ShapeUP consistently outperforms current trained and training-free baselines in both identity preservation and edit fidelity, offering a robust and scalable paradigm for native 3D content creation.

Recovering 3D Shapes from Ultra-Fast Motion-Blurred Images

We consider the problem of 3D shape recovery from ultra-fast motion-blurred images. While 3D reconstruction from static images has been extensively studied, recovering geometry from extreme motion-blurred images remains challenging. Such scenarios frequently occur in both natural and industrial settings, such as fast-moving objects in sports (e.g., balls) or rotating machinery, where rapid motion distorts object appearance and makes traditional 3D reconstruction techniques like Multi-View Stereo (MVS) ineffective. In this paper, we propose a novel inverse rendering approach for shape recovery from ultra-fast motion-blurred images. While conventional rendering techniques typically synthesize blur by averaging across multiple frames, we identify a major computational bottleneck in the repeated computation of barycentric weights. To address this, we propose a fast barycentric coordinate solver, which significantly reduces computational overhead and achieves a speedup of up to 4.57x, enabling efficient and photorealistic simulation of high-speed motion. Crucially, our method is fully differentiable, allowing gradients to propagate from rendered images to the underlying 3D shape, thereby facilitating shape recovery through inverse rendering. We validate our approach on two representative motion types: rapid translation and rotation. Experimental results demonstrate that our method enables efficient and realistic modeling of ultra-fast moving objects in the forward simulation. Moreover, it successfully recovers 3D shapes from 2D imagery of objects undergoing extreme translational and rotational motion, advancing the boundaries of vision-based 3D reconstruction. Project page: https://maxmilite.github.io/rec-from-ultrafast-blur/

Lost in Space? Vision-Language Models Struggle with Relative Camera Pose Estimation

Vision-Language Models (VLMs) perform well in 2D perception and semantic reasoning compared to their limited understanding of 3D spatial structure. We investigate this gap using relative camera pose estimation (RCPE), a fundamental vision task that requires inferring relative camera translation and rotation from a pair of images. We introduce VRRPI-Bench, a benchmark derived from unlabeled egocentric videos with verbalized annotations of relative camera motion, reflecting realistic scenarios with simultaneous translation and rotation around a shared object. We further propose VRRPI-Diag, a diagnostic benchmark that isolates individual motion degrees of freedom. Despite the simplicity of RCPE, most VLMs fail to generalize beyond shallow 2D heuristics, particularly for depth changes and roll transformations along the optical axis. Even state-of-the-art models such as GPT-5 ($0.64$) fall short of classic geometric baselines ($0.97$) and human performance ($0.92$). Moreover, VLMs exhibit difficulty in multi-image reasoning, with inconsistent performance (best $59.7\%$) when integrating spatial cues across frames. Our findings reveal limitations in grounding VLMs in 3D and multi-view spatial reasoning.

Finite-time Stable Pose Estimation on TSE(3) using Point Cloud and Velocity Sensors

This work presents a finite-time stable pose estimator (FTS-PE) for rigid bodies undergoing rotational and translational motion in three dimensions, using measurements from onboard sensors that provide position vectors to inertially-fixed points and body velocities. The FTS-PE is a full-state observer for the pose (position and orientation) and velocities and is obtained through a Lyapunov analysis that shows its stability in finite time and its robustness to bounded measurement noise. Further, this observer is designed directly on the state space, the tangent bundle of the Lie group of rigid body motions, SE(3), without using local coordinates or (dual) quaternion representations. Therefore, it can estimate arbitrary rigid body motions without encountering singularities or the unwinding phenomenon and be readily applied to autonomous vehicles. A version of this observer that does not need translational velocity measurements and uses only point clouds and angular velocity measurements from rate gyros, is also obtained. It is discretized using the framework of geometric mechanics for numerical and experimental implementations. The numerical simulations compare the FTS-PE with a dual-quaternion extended Kalman filter and our previously developed variational pose estimator (VPE). The experimental results are obtained using point cloud images and rate gyro measurements obtained from a Zed 2i stereo depth camera sensor. These results validate the stability and robustness of the FTS-PE.

Show, Don't Tell: Morphing Latent Reasoning into Image Generation

Text-to-image (T2I) generation has achieved remarkable progress, yet existing methods often lack the ability to dynamically reason and refine during generation--a hallmark of human creativity. Current reasoning-augmented paradigms most rely on explicit thought processes, where intermediate reasoning is decoded into discrete text at fixed steps with frequent image decoding and re-encoding, leading to inefficiencies, information loss, and cognitive mismatches. To bridge this gap, we introduce LatentMorph, a novel framework that seamlessly integrates implicit latent reasoning into the T2I generation process. At its core, LatentMorph introduces four lightweight components: (i) a condenser for summarizing intermediate generation states into compact visual memory, (ii) a translator for converting latent thoughts into actionable guidance, (iii) a shaper for dynamically steering next image token predictions, and (iv) an RL-trained invoker for adaptively determining when to invoke reasoning. By performing reasoning entirely in continuous latent spaces, LatentMorph avoids the bottlenecks of explicit reasoning and enables more adaptive self-refinement. Extensive experiments demonstrate that LatentMorph (I) enhances the base model Janus-Pro by $16\%$ on GenEval and $25\%$ on T2I-CompBench; (II) outperforms explicit paradigms (e.g., TwiG) by $15\%$ and $11\%$ on abstract reasoning tasks like WISE and IPV-Txt, (III) while reducing inference time by $44\%$ and token consumption by $51\%$; and (IV) exhibits $71\%$ cognitive alignment with human intuition on reasoning invocation.

SAGE: Agentic Framework for Interpretable and Clinically Translatable Computational Pathology Biomarker Discovery

Despite significant progress in computational pathology, many AI models remain black-box and difficult to interpret, posing a major barrier to clinical adoption due to limited transparency and explainability. This has motivated continued interest in engineered image-based biomarkers, which offer greater interpretability but are often proposed based on anecdotal evidence or fragmented prior literature rather than systematic biological validation. We introduce SAGE (Structured Agentic system for hypothesis Generation and Evaluation), an agentic AI system designed to identify interpretable, engineered pathology biomarkers by grounding them in biological evidence. SAGE integrates literature-anchored reasoning with multimodal data analysis to correlate image-derived features with molecular biomarkers, such as gene expression, and clinically relevant outcomes. By coordinating specialized agents for biological contextualization and empirical hypothesis validation, SAGE prioritizes transparent, biologically supported biomarkers and advances the clinical translation of computational pathology.

Effect of Convolutional Depth on Image Recognition Performance: VGG vs. ResNet vs. GoogLeNet

Increasing convolutional depth has been central to advances in image recognition, yet deeper networks do not uniformly yield higher accuracy, stable optimization, or efficient computation. We present a controlled comparative study of three canonical convolutional neural network architectures - VGG, ResNet, and GoogLeNet - to isolate how depth influences classification performance, convergence behavior, and computational efficiency. By standardizing training protocols and explicitly distinguishing between nominal and effective depth, we show that the benefits of depth depend critically on architectural mechanisms that constrain its effective manifestation during training rather than on nominal depth alone. Although plain deep networks exhibit early accuracy saturation and optimization instability, residual and inception-based architectures consistently translate additional depth into improved accuracy at lower effective depth and favorable accuracy-compute trade-offs. These findings demonstrate that effective depth, not nominal depth, is the operative quantity governing depth's role as a productive scaling dimension in convolutional networks.

Wide-field high-resolution microscopy via high-speed galvo scanning and real-time mosaicking

Wide-field high-resolution microscopy requires fast scanning and accurate image mosaicking to cover large fields of view without compromising image quality. However, conventional galvanometric scanning, particularly under sinusoidal driving, can introduce nonuniform spatial sampling, leading to geometric inconsistencies and brightness variations across the scanned field. To address these challenges, we present an image mosaicking framework for wide-field microscopic imaging that is applicable to both linear and sinusoidal galvanometric scanning strategies. The proposed approach combines a translation-based geometric mosaicking model with region-of-interest (ROI) based brightness correction and seam-aware feathering to improve radiometric consistency across large fields of view. The method relies on calibrated scan parameters and synchronized scan--camera control, without requiring image-content-based registration. Using the proposed framework, wide-field mosaicked images were successfully reconstructed under both linear and sinusoidal scanning strategies, achieving a field of view of up to $2.5 \times 2.5~\mathrm{cm}^2$ with a total acquisition time of approximately $6~\mathrm{s}$ per dataset. Quantitative evaluation shows that both scanning strategies demonstrate improved image quality, including enhanced brightness uniformity, increased contrast-to-noise ratio (CNR), and reduced seam-related artifacts after image processing, while preserving a lateral resolution of $7.81~μ\mathrm{m}$. Overall, the presented framework provides a practical and efficient solution for scan-based wide-field microscopic mosaicking.