Relational Epipolar Graphs for Robust Relative Camera Pose Estimation

A key component of Visual Simultaneous Localization and Mapping (VSLAM) is estimating relative camera poses using matched keypoints. Accurate estimation is challenged by noisy correspondences. Classical methods rely on stochastic hypothesis sampling and iterative estimation, while learning-based methods often lack explicit geometric structure. In this work, we reformulate relative pose estimation as a relational inference problem over epipolar correspondence graphs, where matched keypoints are nodes and nearby ones are connected by edges. Graph operations such as pruning, message passing, and pooling estimate a quaternion rotation, translation vector, and the Essential Matrix (EM). Minimizing a loss comprising (i) $\mathcal{L}_2$ differences with ground truth (GT), (ii) Frobenius norm between estimated and GT EMs, (iii) singular value differences, (iv) heading angle differences, and (v) scale differences, yields the relative pose between image pairs. The dense detector-free method LoFTR is used for matching. Experiments on indoor and outdoor benchmarks show improved robustness to dense noise and large baseline variation compared to classical and learning-guided approaches, highlighting the effectiveness of global relational consensus.

Human Pose Estimation in Trampoline Gymnastics: Improving Performance Using a New Synthetic Dataset

Trampoline gymnastics involves extreme human poses and uncommon viewpoints, on which state-of-the art pose estimation models tend to under-perform. We demonstrate that this problem can be addressed by fine-tuning a pose estimation model on a dataset of synthetic trampoline poses (STP). STP is generated from motion capture recordings of trampoline routines. We develop a pipeline to fit noisy motion capture data to a parametric human model, then generate multiview realistic images. We use this data to fine-tune a ViTPose model, and test it on real multi-view trampoline images. The resulting model exhibits accuracy improvements in 2D which translates to improved 3D triangulation. In 2D, we obtain state-of-the-art results on such challenging data, bridging the performance gap between common and extreme poses. In 3D, we reduce the MPJPE by 12.5 mm with our best model, which represents an improvement of 19.6% compared to the pretrained ViTPose model.

HistDiT: A Structure-Aware Latent Conditional Diffusion Model for High-Fidelity Virtual Staining in Histopathology

Immunohistochemistry (IHC) is essential for assessing specific immune biomarkers like Human Epidermal growth-factor Receptor 2 (HER2) in breast cancer. However, the traditional protocols of obtaining IHC stains are resource-intensive, time-consuming, and prone to structural damages. Virtual staining has emerged as a scalable alternative, but it faces significant challenges in preserving fine-grained cellular structures while accurately translating biochemical expressions. Current state-of-the-art methods still rely on Generative Adversarial Networks (GANs) or standard convolutional U-Net diffusion models that often struggle with "structure and staining trade-offs". The generated samples are either structurally relevant but blurry, or texturally realistic but have artifacts that compromise their diagnostic use. In this paper, we introduce HistDiT, a novel latent conditional Diffusion Transformer (DiT) architecture that establishes a new benchmark for visual fidelity in virtual histological staining. The novelty introduced in this work is, a) the Dual-Stream Conditioning strategy that explicitly maintains a balance between spatial constraints via VAE-encoded latents and semantic phenotype guidance via UNI embeddings; b) the multi-objective loss function that contributes to sharper images with clear morphological structure; and c) the use of the Structural Correlation Metric (SCM) to focus on the core morphological structure for precise assessment of sample quality. Consequently, our model outperforms existing baselines, as demonstrated through rigorous quantitative and qualitative evaluations.

InCaRPose: In-Cabin Relative Camera Pose Estimation Model and Dataset

Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present InCaRPose, a Transformer-based architecture designed for robust relative pose prediction between image pairs, which can be used for camera extrinsic calibration. By leveraging frozen backbone features such as DINOv3 and a Transformer-based decoder, our model effectively captures the geometric relationship between a reference and a target view. Unlike traditional methods, our approach achieves absolute metric-scale translation within the physically plausible adjustment range of in-cabin camera mounts in a single inference step, which is critical for ICAM, where accurate real-world distances are required for safety-relevant perception. We specifically address the challenges of highly distorted fisheye cameras in automotive interiors by training exclusively on synthetic data. Our model is capable of generalization to real-world cabin environments without relying on the exact same camera intrinsics and additionally achieves competitive performance on the public 7-Scenes dataset. Despite having limited training data, InCaRPose maintains high precision in both rotation and translation, even with a ViT-Small backbone. This enables real-time performance for time-critical inference, such as driver monitoring in supervised autonomous driving. We release our real-world In-Cabin-Pose test dataset consisting of highly distorted vehicle-interior images and our code at https://github.com/felixstillger/InCaRPose.

Improving Image-to-Image Translation via a Rectified Flow Reformulation

In this work, we propose Image-to-Image Rectified Flow Reformulation (I2I-RFR), a practical plug-in reformulation that recasts standard I2I regression networks as continuous-time transport models. While pixel-wise I2I regression is simple, stable, and easy to adapt across tasks, it often over-smooths ill-posed and multimodal targets, whereas generative alternatives often require additional components, task-specific tuning, and more complex training and inference pipelines. Our method augments the backbone input by channel-wise concatenation with a noise-corrupted version of the ground-truth target and optimizes a simple t-reweighted pixel loss. This objective admits a rectified-flow interpretation via an induced velocity field, enabling ODE-based progressive refinement at inference time while largely preserving the standard supervised training pipeline. In most cases, adopting I2I-RFR requires only expanding the input channels, and inference can be performed with a few explicit solver steps (e.g., 3 steps) without distillation. Extensive experiments across multiple image-to-image translation and video restoration tasks show that I2I-RFR generally improves performance across a wide range of tasks and backbones, with particularly clear gains in perceptual quality and detail preservation. Overall, I2I-RFR provides a lightweight way to incorporate continuous-time refinement into conventional I2I models without requiring a heavy generative pipeline.

Automated Detection of Multiple Sclerosis Lesions on 7-tesla MRI Using U-net and Transformer-based Segmentation

Ultra-high field 7-tesla (7T) MRI improves visualization of multiple sclerosis (MS) white matter lesions (WML) but differs sufficiently in contrast and artifacts from 1.5-3T imaging - suggesting that widely used automated segmentation tools may not translate directly. We analyzed 7T FLAIR scans and generated reference WML masks from Lesion Segmentation Tool (LST) outputs followed by expert manual revision. As external comparators, we applied LST-LPA and the more recent LST-AI ensemble, both originally developed on lower-field data. We then trained 3D UNETR and SegFormer transformer-based models on 7T FLAIR at multiple resolutions (0.5x0.5x0.5^3, 1.0x1.0x1.0^3, and 1.5x1.5x2.0^3) and evaluated all methods using voxel-wise and lesion-wise metrics from the BraTS 2023 framework. On the held-out test set at native 0.5x0.5x0.5^3 resolution, 7T-trained transformers achieved competitive overlap with LST-AI while recovering additional small lesions that were missed by classical methods, at the cost of some boundary variability and occasional artifact-related false positives. On a held-out 7 T test set, our best transformer model (SegFormer) achieved a voxel-wise Dice of 0.61 and lesion-wise Dice of 0.20, improving on the classical LST-LPA tool (Dice 0.39, lesion-wise Dice 0.02). Performance decreased for models trained on downsampled images, underscoring the value of native 7T resolution for small-lesion detection. By releasing our 7T-trained models, we aim to provide a reproducible, ready-to-use resource for automated lesion quantification in ultra-high field MS research (https://github.com/maynord/7T-MS-lesion-segmentation).

Jagle: Building a Large-Scale Japanese Multimodal Post-Training Dataset for Vision-Language Models

Developing vision-language models (VLMs) that generalize across diverse tasks requires large-scale training datasets with diverse content. In English, such datasets are typically constructed by aggregating and curating numerous existing visual question answering (VQA) resources. However, this strategy does not readily extend to other languages, where VQA datasets remain limited in both scale and domain coverage, posing a major obstacle to building high-quality multilingual and non-English VLMs. In this work, we introduce Jagle, the largest Japanese multimodal post-training dataset to date, comprising approximately 9.2 million instances across diverse tasks. Rather than relying on existing VQA datasets, we collect heterogeneous source data, including images, image-text pairs, and PDF documents, and generate VQA pairs through multiple strategies such as VLM-based QA generation, translation, and text rendering. Experiments demonstrate that a 2.2B model trained with Jagle achieves strong performance on Japanese tasks, surpassing InternVL3.5-2B in average score across ten Japanese evaluation tasks and approaching within five points of Qwen3-VL-2B-Instruct. Furthermore, combining Jagle with FineVision does not degrade English performance; instead, it improves English performance compared to training with FineVision alone. To facilitate reproducibility and future research, we release the dataset, trained models, and code.

Sim2Real-AD: A Modular Sim-to-Real Framework for Deploying VLM-Guided Reinforcement Learning in Real-World Autonomous Driving

Deploying reinforcement learning policies trained in simulation to real autonomous vehicles remains a fundamental challenge, particularly for VLM-guided RL frameworks whose policies are typically learned with simulator-native observations and simulator-coupled action semantics that are unavailable on physical platforms. This paper presents Sim2Real-AD, a modular framework for zero-shot sim-to-real transfer of CARLA-trained VLM-guided RL policies to full-scale vehicles without any real-world RL training data. The framework decomposes the transfer problem into four components: a Geometric Observation Bridge (GOB) that converts monocular front-view images into simulator-compatible bird's-eye-view (BEV) observations, a Physics-Aware Action Mapping (PAM) that translates policy outputs into platform-agnostic physical commands, a Two-Phase Progressive Training (TPT) strategy that stabilizes adaptation by separating action-space and observation-space transfer, and a Real-time Deployment Pipeline (RDP) that integrates perception, policy inference, control conversion, and safety monitoring for closed-loop execution. Simulation experiments show that the framework preserves the relative performance ordering of representative RL algorithms across different reward paradigms and validate the contribution of each module. Zero-shot deployment on a full-scale Ford E-Transit achieves success rates of 90%, 80%, and 75% in car-following, obstacle avoidance, and stop-sign interaction scenarios, respectively. To the best of our knowledge, this study is among the first to demonstrate zero-shot closed-loop deployment of a CARLA-trained VLM-guided RL policy on a full-scale real vehicle without any real-world RL training data. The demo video and code are available at: https://zilin-huang.github.io/Sim2Real-AD-website/.

EarthEmbeddingExplorer: A Web Application for Cross-Modal Retrieval of Global Satellite Images

While the Earth observation community has witnessed a surge in high-impact foundation models and global Earth embedding datasets, a significant barrier remains in translating these academic assets into freely accessible tools. This tutorial introduces EarthEmbeddingExplorer, an interactive web application designed to bridge this gap, transforming static research artifacts into dynamic, practical workflows for discovery. We will provide a comprehensive hands-on guide to the system, detailing its cloud-native software architecture, demonstrating cross-modal queries (natural language, visual, and geolocation), and showcasing how to derive scientific insights from retrieval results. By democratizing access to precomputed Earth embeddings, this tutorial empowers researchers to seamlessly transition from state-of-the-art models and data archives to real-world application and analysis. The web application is available at https://modelscope.ai/studios/Major-TOM/EarthEmbeddingExplorer.

Adversarial Attacks on Multimodal Large Language Models: A Comprehensive Survey

Multimodal large language models (MLLMs) integrate information from multiple modalities such as text, images, audio, and video, enabling complex capabilities such as visual question answering and audio translation. While powerful, this increased expressiveness introduces new and amplified vulnerabilities to adversarial manipulation. This survey provides a comprehensive and systematic analysis of adversarial threats to MLLMs, moving beyond enumerating attack techniques to explain the underlying causes of model susceptibility. We introduce a taxonomy that organizes adversarial attacks according to attacker objectives, unifying diverse attack surfaces across modalities and deployment settings. Additionally, we also present a vulnerability-centric analysis that links integrity attacks, safety and jailbreak failures, control and instruction hijacking, and training-time poisoning to shared architectural and representational weaknesses in multimodal systems. Together, this framework provides an explanatory foundation for understanding adversarial behavior in MLLMs and informs the development of more robust and secure multimodal language systems.