Trajectory Conditioned Cross-embodiment Skill Transfer

Learning manipulation skills from human demonstration videos presents a promising yet challenging problem, primarily due to the significant embodiment gap between human body and robot manipulators. Existing methods rely on paired datasets or hand-crafted rewards, which limit scalability and generalization. We propose TrajSkill, a framework for Trajectory Conditioned Cross-embodiment Skill Transfer, enabling robots to acquire manipulation skills directly from human demonstration videos. Our key insight is to represent human motions as sparse optical flow trajectories, which serve as embodiment-agnostic motion cues by removing morphological variations while preserving essential dynamics. Conditioned on these trajectories together with visual and textual inputs, TrajSkill jointly synthesizes temporally consistent robot manipulation videos and translates them into executable actions, thereby achieving cross-embodiment skill transfer. Extensive experiments are conducted, and the results on simulation data (MetaWorld) show that TrajSkill reduces FVD by 39.6\% and KVD by 36.6\% compared with the state-of-the-art, and improves cross-embodiment success rate by up to 16.7\%. Real-robot experiments in kitchen manipulation tasks further validate the effectiveness of our approach, demonstrating practical human-to-robot skill transfer across embodiments.

Cross-Receiver Generalization for RF Fingerprint Identification via Feature Disentanglement and Adversarial Training

Radio frequency fingerprint identification (RFFI) is a critical technique for wireless network security, leveraging intrinsic hardware-level imperfections introduced during device manufacturing to enable precise transmitter identification. While deep neural networks have shown remarkable capability in extracting discriminative features, their real-world deployment is hindered by receiver-induced variability. In practice, RF fingerprint signals comprise transmitter-specific features as well as channel distortions and receiver-induced biases. Although channel equalization can mitigate channel noise, receiver-induced feature shifts remain largely unaddressed, causing the RFFI models to overfit to receiver-specific patterns. This limitation is particularly problematic when training and evaluation share the same receiver, as replacing the receiver in deployment can cause substantial performance degradation. To tackle this challenge, we propose an RFFI framework robust to cross-receiver variability, integrating adversarial training and style transfer to explicitly disentangle transmitter and receiver features. By enforcing domain-invariant representation learning, our method isolates genuine hardware signatures from receiver artifacts, ensuring robustness against receiver changes. Extensive experiments on multi-receiver datasets demonstrate that our approach consistently outperforms state-of-the-art baselines, achieving up to a 10% improvement in average accuracy across diverse receiver settings.

ChoirRec: Semantic User Grouping via LLMs for Conversion Rate Prediction of Low-Activity Users

Accurately predicting conversion rates (CVR) for low-activity users remains a fundamental challenge in large-scale e-commerce recommender systems.Existing approaches face three critical limitations: (i) reliance on noisy and unreliable behavioral signals; (ii) insufficient user-level information due to the lack of diverse interaction data; and (iii) a systemic training bias toward high-activity users that overshadows the needs of low-activity users.To address these challenges, we propose ChoirRec, a novel framework that leverages the semantic capabilities of Large Language Models (LLMs) to construct semantic user groups and enhance CVR prediction for low-activity users.With a dual-channel architecture designed for robust cross-user knowledge transfer, ChoirRec comprises three components: (i) a Semantic Group Generation module that utilizes LLMs to form reliable, cross-activity user clusters, thereby filtering out noisy signals; (ii) a Group-aware Hierarchical Representation module that enriches sparse user embeddings with informative group-level priors to mitigate data insufficiency; and (iii) a Group-aware Multi-granularity Modual that employs a dual-channel architecture and adaptive fusion mechanism to ensure effective learning and utilization of group knowledge. We conduct extensive offline and online experiments on Taobao, a leading industrial-scale e-commerce platform.ChoirRec improves GAUC by 1.16\% in offline evaluations, while online A/B testing reveals a 7.24\% increase in order volume, highlighting its substantial practical value in real-world applications.

Evaluating Fundus-Specific Foundation Models for Diabetic Macular Edema Detection

Diabetic Macular Edema (DME) is a leading cause of vision loss among patients with Diabetic Retinopathy (DR). While deep learning has shown promising results for automatically detecting this condition from fundus images, its application remains challenging due the limited availability of annotated data. Foundation Models (FM) have emerged as an alternative solution. However, it is unclear if they can cope with DME detection in particular. In this paper, we systematically compare different FM and standard transfer learning approaches for this task. Specifically, we compare the two most popular FM for retinal images--RETFound and FLAIR--and an EfficientNet-B0 backbone, across different training regimes and evaluation settings in IDRiD, MESSIDOR-2 and OCT-and-Eye-Fundus-Images (OEFI). Results show that despite their scale, FM do not consistently outperform fine-tuned CNNs in this task. In particular, an EfficientNet-B0 ranked first or second in terms of area under the ROC and precision/recall curves in most evaluation settings, with RETFound only showing promising results in OEFI. FLAIR, on the other hand, demonstrated competitive zero-shot performance, achieving notable AUC-PR scores when prompted appropriately. These findings reveal that FM might not be a good tool for fine-grained ophthalmic tasks such as DME detection even after fine-tuning, suggesting that lightweight CNNs remain strong baselines in data-scarce environments.

Mutual Learning for Hashing: Unlocking Strong Hash Functions from Weak Supervision

Deep hashing has been widely adopted for large-scale image retrieval, with numerous strategies proposed to optimize hash function learning. Pairwise-based methods are effective in learning hash functions that preserve local similarity relationships, whereas center-based methods typically achieve superior performance by more effectively capturing global data distributions. However, the strength of center-based methods in modeling global structures often comes at the expense of underutilizing important local similarity information. To address this limitation, we propose Mutual Learning for Hashing (MLH), a novel weak-to-strong framework that enhances a center-based hashing branch by transferring knowledge from a weaker pairwise-based branch. MLH consists of two branches: a strong center-based branch and a weaker pairwise-based branch. Through an iterative mutual learning process, the center-based branch leverages local similarity cues learned by the pairwise-based branch. Furthermore, inspired by the mixture-of-experts paradigm, we introduce a novel mixture-of-hash-experts module that enables effective cross-branch interaction, further enhancing the performance of both branches. Extensive experiments demonstrate that MLH consistently outperforms state-of-the-art hashing methods across multiple benchmark datasets.

Resolution scaling governs DINOv3 transfer performance in chest radiograph classification

Self-supervised learning (SSL) has advanced visual representation learning, but its value in chest radiography, a high-volume imaging modality with fine-grained findings, remains unclear. Meta's DINOv3 extends earlier SSL models through Gram-anchored self-distillation. Whether these design choices improve transfer learning for chest radiography has not been systematically tested. We benchmarked DINOv3 against DINOv2 and ImageNet initialization across seven datasets (n>814,000). Two representative backbones were evaluated: ViT-B/16 and ConvNeXt-B. Images were analyzed at 224x224, 512x512, and 1024x1024 pixels. We additionally assessed frozen features from a 7B model. The primary outcome was mean AUROC across labels. At 224x224, DINOv3 and DINOv2 achieved comparable performance on adult datasets. Increasing resolution to 512x512 yielded consistent improvements for DINOv3 over both DINOv2 and ImageNet. In contrast, results in pediatric cohort showed no differences across initializations. Across all settings, ConvNeXt-B outperformed ViT-B/16. Models using frozen DINOv3-7B features underperformed relative to fully finetuned 86-89M-parameter backbones, highlighting the importance of domain adaptation. Scaling to 1024x1024 did not further improve accuracy. Resolution-related gains were most evident for boundary-dependent and small focal abnormalities. In chest radiography, higher input resolution is critical for leveraging the benefits of modern self-supervised models. 512x512 pixels represent a practical upper limit where DINOv3-initialized ConvNeXt-B networks provide the strongest performance, while larger inputs offer minimal return on cost. Clinically, these findings support use of finetuned, mid-sized backbones at 512x512 for chest radiograph interpretation, with the greatest gains expected in detecting subtle or boundary-centered lesions relevant to emergency and critical care settings.

Validation of Various Normalization Methods for Brain Tumor Segmentation: Can Federated Learning Overcome This Heterogeneity?

Deep learning (DL) has been increasingly applied in medical imaging, however, it requires large amounts of data, which raises many challenges related to data privacy, storage, and transfer. Federated learning (FL) is a training paradigm that overcomes these issues, though its effectiveness may be reduced when dealing with non-independent and identically distributed (non-IID) data. This study simulates non-IID conditions by applying different MRI intensity normalization techniques to separate data subsets, reflecting a common cause of heterogeneity. These subsets are then used for training and testing models for brain tumor segmentation. The findings provide insights into the influence of the MRI intensity normalization methods on segmentation models, both training and inference. Notably, the FL methods demonstrated resilience to inconsistently normalized data across clients, achieving the 3D Dice score of 92%, which is comparable to a centralized model (trained using all data). These results indicate that FL is a solution to effectively train high-performing models without violating data privacy, a crucial concern in medical applications. The code is available at: https://github.com/SanoScience/fl-varying-normalization.

STEPER: Step-wise Knowledge Distillation for Enhancing Reasoning Ability in Multi-Step Retrieval-Augmented Language Models

Answering complex real-world questions requires step-by-step retrieval and integration of relevant information to generate well-grounded responses. However, existing knowledge distillation methods overlook the need for different reasoning abilities at different steps, hindering transfer in multi-step retrieval-augmented frameworks. To address this, we propose Stepwise Knowledge Distillation for Enhancing Reasoning Ability in Multi-Step Retrieval-Augmented Language Models (StepER). StepER employs step-wise supervision to align with evolving information and reasoning demands across stages. Additionally, it incorporates difficulty-aware training to progressively optimize learning by prioritizing suitable steps. Our method is adaptable to various multi-step retrieval-augmented language models, including those that use retrieval queries for reasoning paths or decomposed questions. Extensive experiments show that StepER outperforms prior methods on multi-hop QA benchmarks, with an 8B model achieving performance comparable to a 70B teacher model.

BLAZER: Bootstrapping LLM-based Manipulation Agents with Zero-Shot Data Generation

Scaling data and models has played a pivotal role in the remarkable progress of computer vision and language. Inspired by these domains, recent efforts in robotics have similarly focused on scaling both data and model size to develop more generalizable and robust policies. However, unlike vision and language, robotics lacks access to internet-scale demonstrations across diverse robotic tasks and environments. As a result, the scale of existing datasets typically suffers from the need for manual data collection and curation. To address this problem, here we propose BLAZER, a framework that learns manipulation policies from automatically generated training data. We build on the zero-shot capabilities of LLM planners and automatically generate demonstrations for diverse manipulation tasks in simulation. Successful examples are then used to finetune an LLM and to improve its planning capabilities without human supervision. Notably, while BLAZER training requires access to the simulator's state, we demonstrate direct transfer of acquired skills to sensor-based manipulation. Through extensive experiments, we show BLAZER to significantly improve zero-shot manipulation in both simulated and real environments. Moreover, BLAZER improves on tasks outside of its training pool and enables downscaling of LLM models. Our code and data will be made publicly available on the project page.

Backdoor Vectors: a Task Arithmetic View on Backdoor Attacks and Defenses

Model merging (MM) recently emerged as an effective method for combining large deep learning models. However, it poses significant security risks. Recent research shows that it is highly susceptible to backdoor attacks, which introduce a hidden trigger into a single fine-tuned model instance that allows the adversary to control the output of the final merged model at inference time. In this work, we propose a simple framework for understanding backdoor attacks by treating the attack itself as a task vector. $Backdoor\ Vector\ (BV)$ is calculated as the difference between the weights of a fine-tuned backdoored model and fine-tuned clean model. BVs reveal new insights into attacks understanding and a more effective framework to measure their similarity and transferability. Furthermore, we propose a novel method that enhances backdoor resilience through merging dubbed $Sparse\ Backdoor\ Vector\ (SBV)$ that combines multiple attacks into a single one. We identify the core vulnerability behind backdoor threats in MM: $inherent\ triggers$ that exploit adversarial weaknesses in the base model. To counter this, we propose $Injection\ BV\ Subtraction\ (IBVS)$ - an assumption-free defense against backdoors in MM. Our results show that SBVs surpass prior attacks and is the first method to leverage merging to improve backdoor effectiveness. At the same time, IBVS provides a lightweight, general defense that remains effective even when the backdoor threat is entirely unknown.