Multimodal Spatial Language Maps for Robot Navigation and Manipulation

Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping, lack the spatial precision of geometric maps, or neglect additional modality information beyond vision. To address this, we propose multimodal spatial language maps as a spatial map representation that fuses pretrained multimodal features with a 3D reconstruction of the environment. We build these maps autonomously using standard exploration. We present two instances of our maps, which are visual-language maps (VLMaps) and their extension to audio-visual-language maps (AVLMaps) obtained by adding audio information. When combined with large language models (LLMs), VLMaps can (i) translate natural language commands into open-vocabulary spatial goals (e.g., "in between the sofa and TV") directly localized in the map, and (ii) be shared across different robot embodiments to generate tailored obstacle maps on demand. Building upon the capabilities above, AVLMaps extend VLMaps by introducing a unified 3D spatial representation integrating audio, visual, and language cues through the fusion of features from pretrained multimodal foundation models. This enables robots to ground multimodal goal queries (e.g., text, images, or audio snippets) to spatial locations for navigation. Additionally, the incorporation of diverse sensory inputs significantly enhances goal disambiguation in ambiguous environments. Experiments in simulation and real-world settings demonstrate that our multimodal spatial language maps enable zero-shot spatial and multimodal goal navigation and improve recall by 50% in ambiguous scenarios. These capabilities extend to mobile robots and tabletop manipulators, supporting navigation and interaction guided by visual, audio, and spatial cues.

Document-Level Text Generation with Minimum Bayes Risk Decoding using Optimal Transport

Document-level text generation tasks are known to be more difficult than sentence-level text generation tasks as they require the understanding of longer context to generate high-quality texts. In this paper, we investigate the adaption of Minimum Bayes Risk (MBR) decoding for document-level text generation tasks. MBR decoding makes use of a utility function to estimate the output with the highest expected utility from a set of candidate outputs. Although MBR decoding is shown to be effective in a wide range of sentence-level text generation tasks, its performance on document-level text generation tasks is limited as many of the utility functions are designed for evaluating the utility of sentences. To this end, we propose MBR-OT, a variant of MBR decoding using Wasserstein distance to compute the utility of a document using a sentence-level utility function. The experimental result shows that the performance of MBR-OT outperforms that of the standard MBR in document-level machine translation, text simplification, and dense image captioning tasks. Our code is available at https://github.com/jinnaiyuu/mbr-optimal-transport

A Culturally-diverse Multilingual Multimodal Video Benchmark & Model

Large multimodal models (LMMs) have recently gained attention due to their effectiveness to understand and generate descriptions of visual content. Most existing LMMs are in English language. While few recent works explore multilingual image LMMs, to the best of our knowledge, moving beyond the English language for cultural and linguistic inclusivity is yet to be investigated in the context of video LMMs. In pursuit of more inclusive video LMMs, we introduce a multilingual Video LMM benchmark, named ViMUL-Bench, to evaluate Video LMMs across 14 languages, including both low- and high-resource languages: English, Chinese, Spanish, French, German, Hindi, Arabic, Russian, Bengali, Urdu, Sinhala, Tamil, Swedish, and Japanese. Our ViMUL-Bench is designed to rigorously test video LMMs across 15 categories including eight culturally diverse categories, ranging from lifestyles and festivals to foods and rituals and from local landmarks to prominent cultural personalities. ViMUL-Bench comprises both open-ended (short and long-form) and multiple-choice questions spanning various video durations (short, medium, and long) with 8k samples that are manually verified by native language speakers. In addition, we also introduce a machine translated multilingual video training set comprising 1.2 million samples and develop a simple multilingual video LMM, named ViMUL, that is shown to provide a better tradeoff between high-and low-resource languages for video understanding. We hope our ViMUL-Bench and multilingual video LMM along with a large-scale multilingual video training set will help ease future research in developing cultural and linguistic inclusive multilingual video LMMs. Our proposed benchmark, video LMM and training data will be publicly released at https://mbzuai-oryx.github.io/ViMUL/.

Rotation-Equivariant Self-Supervised Method in Image Denoising

Self-supervised image denoising methods have garnered significant research attention in recent years, for this kind of method reduces the requirement of large training datasets. Compared to supervised methods, self-supervised methods rely more on the prior embedded in deep networks themselves. As a result, most of the self-supervised methods are designed with Convolution Neural Networks (CNNs) architectures, which well capture one of the most important image prior, translation equivariant prior. Inspired by the great success achieved by the introduction of translational equivariance, in this paper, we explore the way to further incorporate another important image prior. Specifically, we first apply high-accuracy rotation equivariant convolution to self-supervised image denoising. Through rigorous theoretical analysis, we have proved that simply replacing all the convolution layers with rotation equivariant convolution layers would modify the network into its rotation equivariant version. To the best of our knowledge, this is the first time that rotation equivariant image prior is introduced to self-supervised image denoising at the network architecture level with a comprehensive theoretical analysis of equivariance errors, which offers a new perspective to the field of self-supervised image denoising. Moreover, to further improve the performance, we design a new mask mechanism to fusion the output of rotation equivariant network and vanilla CNN-based network, and construct an adaptive rotation equivariant framework. Through extensive experiments on three typical methods, we have demonstrated the effectiveness of the proposed method.

StyleAR: Customizing Multimodal Autoregressive Model for Style-Aligned Text-to-Image Generation

In the current research landscape, multimodal autoregressive (AR) models have shown exceptional capabilities across various domains, including visual understanding and generation. However, complex tasks such as style-aligned text-to-image generation present significant challenges, particularly in data acquisition. In analogy to instruction-following tuning for image editing of AR models, style-aligned generation requires a reference style image and prompt, resulting in a text-image-to-image triplet where the output shares the style and semantics of the input. However, acquiring large volumes of such triplet data with specific styles is considerably more challenging than obtaining conventional text-to-image data used for training generative models. To address this issue, we propose StyleAR, an innovative approach that combines a specially designed data curation method with our proposed AR models to effectively utilize text-to-image binary data for style-aligned text-to-image generation. Our method synthesizes target stylized data using a reference style image and prompt, but only incorporates the target stylized image as the image modality to create high-quality binary data. To facilitate binary data training, we introduce a CLIP image encoder with a perceiver resampler that translates the image input into style tokens aligned with multimodal tokens in AR models and implement a style-enhanced token technique to prevent content leakage which is a common issue in previous work. Furthermore, we mix raw images drawn from large-scale text-image datasets with stylized images to enhance StyleAR's ability to extract richer stylistic features and ensure style consistency. Extensive qualitative and quantitative experiments demonstrate our superior performance.

Towards Generating Realistic Underwater Images

This paper explores the use of contrastive learning and generative adversarial networks for generating realistic underwater images from synthetic images with uniform lighting. We investigate the performance of image translation models for generating realistic underwater images using the VAROS dataset. Two key evaluation metrics, Fr\'echet Inception Distance (FID) and Structural Similarity Index Measure (SSIM), provide insights into the trade-offs between perceptual quality and structural preservation. For paired image translation, pix2pix achieves the best FID scores due to its paired supervision and PatchGAN discriminator, while the autoencoder model attains the highest SSIM, suggesting better structural fidelity despite producing blurrier outputs. Among unpaired methods, CycleGAN achieves a competitive FID score by leveraging cycle-consistency loss, whereas CUT, which replaces cycle-consistency with contrastive learning, attains higher SSIM, indicating improved spatial similarity retention. Notably, incorporating depth information into CUT results in the lowest overall FID score, demonstrating that depth cues enhance realism. However, the slight decrease in SSIM suggests that depth-aware learning may introduce structural variations.

A Deep Learning Framework for Two-Dimensional, Multi-Frequency Propagation Factor Estimation

Accurately estimating the refractive environment over multiple frequencies within the marine atmospheric boundary layer is crucial for the effective deployment of radar technologies. Traditional parabolic equation simulations, while effective, can be computationally expensive and time-intensive, limiting their practical application. This communication explores a novel approach using deep neural networks to estimate the pattern propagation factor, a critical parameter for characterizing environmental impacts on signal propagation. Image-to-image translation generators designed to ingest modified refractivity data and generate predictions of pattern propagation factors over the same domain were developed. Findings demonstrate that deep neural networks can be trained to analyze multiple frequencies and reasonably predict the pattern propagation factor, offering an alternative to traditional methods.

On Path to Multimodal Historical Reasoning: HistBench and HistAgent

Recent advances in large language models (LLMs) have led to remarkable progress across domains, yet their capabilities in the humanities, particularly history, remain underexplored. Historical reasoning poses unique challenges for AI, involving multimodal source interpretation, temporal inference, and cross-linguistic analysis. While general-purpose agents perform well on many existing benchmarks, they lack the domain-specific expertise required to engage with historical materials and questions. To address this gap, we introduce HistBench, a new benchmark of 414 high-quality questions designed to evaluate AI's capacity for historical reasoning and authored by more than 40 expert contributors. The tasks span a wide range of historical problems-from factual retrieval based on primary sources to interpretive analysis of manuscripts and images, to interdisciplinary challenges involving archaeology, linguistics, or cultural history. Furthermore, the benchmark dataset spans 29 ancient and modern languages and covers a wide range of historical periods and world regions. Finding the poor performance of LLMs and other agents on HistBench, we further present HistAgent, a history-specific agent equipped with carefully designed tools for OCR, translation, archival search, and image understanding in History. On HistBench, HistAgent based on GPT-4o achieves an accuracy of 27.54% pass@1 and 36.47% pass@2, significantly outperforming LLMs with online search and generalist agents, including GPT-4o (18.60%), DeepSeek-R1(14.49%) and Open Deep Research-smolagents(20.29% pass@1 and 25.12% pass@2). These results highlight the limitations of existing LLMs and generalist agents and demonstrate the advantages of HistAgent for historical reasoning.

Improving Medical Reasoning with Curriculum-Aware Reinforcement Learning

Recent advances in reinforcement learning with verifiable, rule-based rewards have greatly enhanced the reasoning capabilities and out-of-distribution generalization of VLMs/LLMs, obviating the need for manually crafted reasoning chains. Despite these promising developments in the general domain, their translation to medical imaging remains limited. Current medical reinforcement fine-tuning (RFT) methods predominantly focus on close-ended VQA, thereby restricting the model's ability to engage in world knowledge retrieval and flexible task adaptation. More critically, these methods fall short of addressing the critical clinical demand for open-ended, reasoning-intensive decision-making. To bridge this gap, we introduce \textbf{MedCCO}, the first multimodal reinforcement learning framework tailored for medical VQA that unifies close-ended and open-ended data within a curriculum-driven RFT paradigm. Specifically, MedCCO is initially fine-tuned on a diverse set of close-ended medical VQA tasks to establish domain-grounded reasoning capabilities, and is then progressively adapted to open-ended tasks to foster deeper knowledge enhancement and clinical interpretability. We validate MedCCO across eight challenging medical VQA benchmarks, spanning both close-ended and open-ended settings. Experimental results show that MedCCO consistently enhances performance and generalization, achieving a 11.4\% accuracy gain across three in-domain tasks, and a 5.7\% improvement on five out-of-domain benchmarks. These findings highlight the promise of curriculum-guided RL in advancing robust, clinically-relevant reasoning in medical multimodal language models.

AllMetrics: A Unified Python Library for Standardized Metric Evaluation and Robust Data Validation in Machine Learning

Machine learning (ML) models rely heavily on consistent and accurate performance metrics to evaluate and compare their effectiveness. However, existing libraries often suffer from fragmentation, inconsistent implementations, and insufficient data validation protocols, leading to unreliable results. Existing libraries have often been developed independently and without adherence to a unified standard, particularly concerning the specific tasks they aim to support. As a result, each library tends to adopt its conventions for metric computation, input/output formatting, error handling, and data validation protocols. This lack of standardization leads to both implementation differences (ID) and reporting differences (RD), making it difficult to compare results across frameworks or ensure reliable evaluations. To address these issues, we introduce AllMetrics, an open-source unified Python library designed to standardize metric evaluation across diverse ML tasks, including regression, classification, clustering, segmentation, and image-to-image translation. The library implements class-specific reporting for multi-class tasks through configurable parameters to cover all use cases, while incorporating task-specific parameters to resolve metric computation discrepancies across implementations. Various datasets from domains like healthcare, finance, and real estate were applied to our library and compared with Python, Matlab, and R components to identify which yield similar results. AllMetrics combines a modular Application Programming Interface (API) with robust input validation mechanisms to ensure reproducibility and reliability in model evaluation. This paper presents the design principles, architectural components, and empirical analyses demonstrating the ability to mitigate evaluation errors and to enhance the trustworthiness of ML workflows.