Dual-Strategy Improvement of YOLOv11n for Multi-Scale Object Detection in Remote Sensing Images

Satellite remote sensing images pose significant challenges for object detection due to their high resolution, complex scenes, and large variations in target scales. To address the insufficient detection accuracy of the YOLOv11n model in remote sensing imagery, this paper proposes two improvement strategies. Method 1: (a) a Large Separable Kernel Attention (LSKA) mechanism is introduced into the backbone network to enhance feature extraction for small objects; (b) a Gold-YOLO structure is incorporated into the neck network to achieve multi-scale feature fusion, thereby improving the detection performance of objects at different scales. Method 2: (a) the Gold-YOLO structure is also integrated into the neck network; (b) a MultiSEAMHead detection head is combined to further strengthen the representation and detection capability for small and multi-scale objects. To verify the effectiveness of the proposed improvements, experiments are conducted on the DOTAv1 dataset. The results show that, while maintaining the lightweight advantage of the model, the proposed methods improve detection accuracy (mAP@0.5) by 1.3% and 1.8%, respectively, compared with the baseline YOLOv11n, demonstrating the effectiveness and practical value of the proposed approaches for object detection in remote sensing images.

GATE-AD: Graph Attention Network Encoding For Few-Shot Industrial Visual Anomaly Detection

Few-Shot Industrial Visual Anomaly Detection (FS-IVAD) comprises a critical task in modern manufacturing settings, where automated product inspection systems need to identify rare defects using only a handful of normal/defect-free training samples. In this context, the current study introduces a novel reconstruction-based approach termed GATE-AD. In particular, the proposed framework relies on the employment of a masked, representation-aligned Graph Attention Network (GAT) encoding scheme to learn robust appearance patterns of normal samples. By leveraging dense, patch-level, visual feature tokens as graph nodes, the model employs stacked self-attentional layers to adaptively encode complex, irregular, non-Euclidean, local relations. The graph is enhanced with a representation alignment component grounded on a learnable, latent space, where high reconstruction residual areas (i.e., defects) are assessed using a Scaled Cosine Error (SCE) objective function. Extensive comparative evaluation on the MVTec AD, VisA, and MPDD industrial defect detection benchmarks demonstrates that GATE-AD achieves state-of-the-art performance across the $1$- to $8$-shot settings, combining the highest detection accuracy (increase up to $1.8\%$ in image AUROC in the 8-shot case in MPDD) with the lowest per-image inference latency (at least $25.05\%$ faster), compared to the best-performing literature methods. In order to facilitate reproducibility and further research, the source code of GATE-AD is available at https://github.com/gthpapadopoulos/GATE-AD.

Multi-turn Physics-informed Vision-language Model for Physics-grounded Anomaly Detection

Vision-Language Models (VLMs) demonstrate strong general-purpose reasoning but remain limited in physics-grounded anomaly detection, where causal understanding of dynamics is essential. Existing VLMs, trained predominantly on appearance-centric correlations, fail to capture kinematic constraints, leading to poor performance on anomalies such as irregular rotations or violated mechanical motions. We introduce a physics-informed instruction tuning framework that explicitly encodes object properties, motion paradigms, and dynamic constraints into structured prompts. By delivering these physical priors through multi-turn dialogues, our method decomposes causal reasoning into incremental steps, enabling robust internal representations of normal and abnormal dynamics. Evaluated on the Phys-AD benchmark, our approach achieves 96.7% AUROC in video-level detection--substantially outperforming prior SOTA (66.9%)--and yields superior causal explanations (0.777 LLM score). This work highlights how structured physics priors can transform VLMs into reliable detectors of dynamic anomalies.

Discriminative Flow Matching Via Local Generative Predictors

Traditional discriminative computer vision relies predominantly on static projections, mapping input features to outputs in a single computational step. Although efficient, this paradigm lacks the iterative refinement and robustness inherent in biological vision and modern generative modelling. In this paper, we propose Discriminative Flow Matching, a framework that reformulates classification and object detection as a conditional transport process. By learning a vector field that continuously transports samples from a simple noise distribution toward a task-aligned target manifold -- such as class embeddings or bounding box coordinates -- we are at the interface between generative and discriminative learning. Our method attaches multiple independent flow predictors to a shared backbone. These predictors are trained using local flow matching objectives, where gradients are computed independently for each block. We formulate this approach for standard image classification and extend it to the complex task of object detection, where targets are high-dimensional and spatially distributed. This architecture provides the flexibility to update blocks either sequentially to minimise activation memory or in parallel to suit different hardware constraints. By aggregating the predictions from these independent flow predictors, our framework enables robust, generative-inspired inference across diverse architectures, including CNNs and vision transformers.

Surprised by Attention: Predictable Query Dynamics for Time Series Anomaly Detection

Multivariate time series anomalies often manifest as shifts in cross-channel dependencies rather than simple amplitude excursions. In autonomous driving, for instance, a steering command might be internally consistent but decouple from the resulting lateral acceleration. Residual-based detectors can miss such anomalies when flexible sequence models still reconstruct signals plausibly despite altered coordination. We introduce AxonAD, an unsupervised detector that treats multi-head attention query evolution as a short horizon predictable process. A gradient-updated reconstruction pathway is coupled with a history-only predictor that forecasts future query vectors from past context. This is trained via a masked predictor-target objective against an exponential moving average (EMA) target encoder. At inference, reconstruction error is combined with a tail-aggregated query mismatch score, which measures cosine deviation between predicted and target queries on recent timesteps. This dual approach provides sensitivity to structural dependency shifts while retaining amplitude-level detection. On proprietary in-vehicle telemetry with interval annotations and on the TSB-AD multi-variate suite (17 datasets, 180 series) with threshold-free and range-aware metrics, AxonAD improves ranking quality and temporal localization over strong baselines. Ablations confirm that query prediction and combined scoring are the primary drivers of the observed gains. Code is available at the URL https://github.com/iis-esslingen/AxonAD.

OCRA: Object-Centric Learning with 3D and Tactile Priors for Human-to-Robot Action Transfer

We present OCRA, an Object-Centric framework for video-based human-to-Robot Action transfer that learns directly from human demonstration videos to enable robust manipulation. Object-centric learning emphasizes task-relevant objects and their interactions while filtering out irrelevant background, providing a natural and scalable way to teach robots. OCRA leverages multi-view RGB videos, the state-of-the-art 3D foundation model VGGT, and advanced detection and segmentation models to reconstruct object-centric 3D point clouds, capturing rich interactions between objects. To handle properties not easily perceived by vision alone, we incorporate tactile priors via a large-scale dataset of over one million tactile images. These 3D and tactile priors are fused through a multimodal module (ResFiLM) and fed into a Diffusion Policy to generate robust manipulation actions. Extensive experiments on both vision-only and visuo-tactile tasks show that OCRA significantly outperforms existing baselines and ablations, demonstrating its effectiveness for learning from human demonstration videos.

Facial beauty prediction fusing transfer learning and broad learning system

Facial beauty prediction (FBP) is an important and challenging problem in the fields of computer vision and machine learning. Not only it is easily prone to overfitting due to the lack of large-scale and effective data, but also difficult to quickly build robust and effective facial beauty evaluation models because of the variability of facial appearance and the complexity of human perception. Transfer Learning can be able to reduce the dependence on large amounts of data as well as avoid overfitting problems. Broad learning system (BLS) can be capable of quickly completing models building and training. For this purpose, Transfer Learning was fused with BLS for FBP in this paper. Firstly, a feature extractor is constructed by way of CNNs models based on transfer learning for facial feature extraction, in which EfficientNets are used in this paper, and the fused features of facial beauty extracted are transferred to BLS for FBP, called E-BLS. Secondly, on the basis of E-BLS, a connection layer is designed to connect the feature extractor and BLS, called ER-BLS. Finally, experimental results show that, compared with the previous BLS and CNNs methods existed, the accuracy of FBP was improved by E-BLS and ER-BLS, demonstrating the effectiveness and superiority of the method presented, which can also be widely used in pattern recognition, object detection and image classification.

D-Compress: Detail-Preserving LiDAR Range Image Compression for Real-Time Streaming on Resource-Constrained Robots

Efficient 3D LiDAR point cloud compression (LPCC) and streaming are critical for edge server-assisted robotic systems, enabling real-time communication with compact data representations. A widely adopted approach represents LiDAR point clouds as range images, enabling the direct use of mature image and video compression codecs. However, because these codecs are designed with human visual perception in mind, they often compromise geometric details, which downgrades the performance of downstream robotic tasks such as mapping and object detection. Furthermore, rate-distortion optimization (RDO)-based rate control remains largely underexplored for range image compression (RIC) under dynamic bandwidth conditions. To address these limitations, we propose D-Compress, a new detail-preserving and fast RIC framework tailored for real-time streaming. D-Compress integrates both intra- and inter-frame prediction with an adaptive discrete wavelet transform approach for precise residual compression. Additionally, we introduce a new RDO-based rate control algorithm for RIC through new rate-distortion modeling. Extensive evaluations on various datasets demonstrate the superiority of D-Compress, which outperforms state-of-the-art (SOTA) compression methods in both geometric accuracy and downstream task performance, particularly at compression ratios exceeding 100x, while maintaining real-time execution on resource-constrained hardware. Moreover, evaluations under dynamic bandwidth conditions validate the robustness of its rate control mechanism.

GoalSwarm: Multi-UAV Semantic Coordination for Open-Vocabulary Object Navigation

Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal navigation remains challenging due to the computational constraints of deploying heavy perception models onboard and the complexity of decentralized multi-agent coordination. We present GoalSwarm, a fully decentralized multi-UAV framework for zero-shot semantic object-goal navigation. Each UAV collaboratively constructs a shared, lightweight 2D top-down semantic occupancy map by projecting depth observations from aerial vantage points, eliminating the computational burden of full 3D representations while preserving essential geometric and semantic structure. The core contributions of GoalSwarm are threefold: (1) integration of zero-shot foundation model -- SAM3 for open vocabulary detection and pixel-level segmentation, enabling open-vocabulary target identification without task-specific training; (2) a Bayesian Value Map that fuses multi-viewpoint detection confidences into a per-pixel goal-relevance distribution, enabling informed frontier scoring via Upper Confidence Bound (UCB) exploration; and (3) a decentralized coordination strategy combining semantic frontier extraction, cost-utility bidding with geodesic path costs, and spatial separation penalties to minimize redundant exploration across the swarm.

RSONet: Region-guided Selective Optimization Network for RGB-T Salient Object Detection

This paper focuses on the inconsistency in salient regions between RGB and thermal images. To address this issue, we propose the Region-guided Selective Optimization Network for RGB-T Salient Object Detection, which consists of the region guidance stage and saliency generation stage. In the region guidance stage, three parallel branches with same encoder-decoder structure equipped with the context interaction (CI) module and spatial-aware fusion (SF) module are designed to generate the guidance maps which are leveraged to calculate similarity scores. Then, in the saliency generation stage, the selective optimization (SO) module fuses RGB and thermal features based on the previously obtained similarity values to mitigate the impact of inconsistent distribution of salient targets between the two modalities. After that, to generate high-quality detection result, the dense detail enhancement (DDE) module which adopts the multiple dense connections and visual state space blocks is applied to low-level features for optimizing the detail information. In addition, the mutual interaction semantic (MIS) module is placed in the high-level features to dig the location cues by the mutual fusion strategy. We conduct extensive experiments on the RGB-T dataset, and the results demonstrate that the proposed RSONet achieves competitive performance against 27 state-of-the-art SOD methods.