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An Uncertainty Estimation Framework for Dose Accumulation in Adaptive Radiotherapy: Application to CBCT-Guided Radiotherapy for Cervical Cancer
2026-06-09 15:52:58Cedric Hemon, Delphine Lebret, Jean-Claude Nunes, Valentin Boussot, Karine Peignaux, Nathalie Mesgouez-Nebout, Chantal Hanzen, Antoine Simon, Ana\"is Barateau, Renaud de Crevoisier, Caroline LafondAbstract
Background and purpose: oART enables daily plan adaptation to interfraction anatomical variations, but cumulative dose estimation remains limited by DIR, segmentation, and anatomical uncertainties. We introduce IMPACT-DoseAcc, an uncertainty-aware dose accumulation framework, within IMPACT for semantic feature-driven image analysis. The framework is modality- and disease-agnostic and is applied to CBCT-guided oART for cervical cancer (LACC). Material and Methods: Nine LACC patients were retrospectively analyzed using daily CBCT-derived virtual CTs for dose recalculation. IMPACT-DoseAcc focuses on uncertainty from DIR, without modeling vCT-generation uncertainty. Two DIR uncertainty strategies were tested within IMPACT-Reg: a Bayesian segmentation-guided approach using one probabilistic model to quantify anatomical uncertainty, and an ensemble of segmentation models targeting structures to capture epistemic variability. Voxel-wise uncertainty maps were propagated through dose warping and accumulation to generate probabilistic dose-volume histograms. Ensemble uncertainty was quantified from voxel-wise standard deviation across deformation fields, and geometric error was assessed using surface distance between warped and validated contours. Anatomical-variability weighting refined aggregation. Results: Ensemble DIR uncertainty correlated with geometric error, with Pearson coefficients of 0.63 for CTVt and 0.66 for bladder. For CTVt, pDVHs achieved 96.3 +/- 3.9% coverage, showing calibration of propagated uncertainty. Weighting stabilized estimates across fractions and organs. Conclusions: IMPACT-DoseAcc propagates registration-driven uncertainty to cumulative dose metrics, improving interpretation of accumulated dose under anatomical variations. Its 3DSlicer integration supports reproducible, uncertainty-informed ART workflows.
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URL
https://arxiv.org/abs/2606.11012
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Learning-Guided Integration Contours Construction for Fast Large-Scale Generalized Eigensolvers
2026-06-09 14:09:40Yeqiu Chen, Ziyan Liu, Hong Wang, Lei LiuAbstract
Solving large-scale Generalized Eigenvalue Problems (GEPs) is a fundamental yet computationally prohibitive task in science and engineering. As a promising direction, contour integral (CI) methods offer an efficient and parallelizable framework. However, their performance is critically dependent on the selection of integration contours -- improper selection without reliable prior knowledge of eigenvalue distribution can incur significant computational overhead and compromise numerical accuracy. To address this challenge, we propose Deepcontour, a novel hybrid framework that integrates a deep learning-based spectral predictor with Kernel Density Estimation (KDE) for principled contour design. Specifically, Deepcontour utilizes its specialized Eigen-Neural-Operator (ENO) to provide rapid spectral distribution priors, driving a KDE module to automatically construct the optimized integration contours, which guide the CI solver to efficiently find the desired eigenvalues. Deepcontour achieves up to a 5.63x speedup across diverse scientific datasets while maintaining strict numerical rigor. By merging the predictive power of deep learning with the numerical rigor of classical solvers, this work establishes an efficient and robust paradigm for solving large-scale GEPs.
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URL
https://arxiv.org/abs/2511.01927
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Patient-Level Diagnosis of Acute Myeloid Leukemia via Deep Learning Analysis of Bone Marrow Smear
2026-06-09 11:45:19Yuqi Ma, Tianyi Wang, Weihua Meng, Hongru Chen, Fajin Tao, Qunxian Lu, Lin An, Xiaodong Mo, Gen YangAbstract
Bone marrow smear review remains important for acute myeloid leukemia (AML) assessment, but manual single-cell interpretation is labor-intensive and patient-level diagnosis requires aggregation of many cellular observations. We present a cell-to-patient deep learning pipeline for AML-assisted diagnosis from bone marrow smear images. The study included 258 patients from six anonymized centers, including a main cohort of 169 patients from Centers 1-3 and an external validation cohort of 89 patients from Centers 4-6. A 16-category cell annotation vocabulary was used to describe the global cellular composition, including granulocytic, monocytic, erythroid, lymphoid, eosinophilic, and other cells. Rather than identifying strict AML blasts or leukemic blasts, the model targets an expert-defined composite category termed Composite Blast-like Cells (CBLC), comprising N, N1, M, M1, R, R1, J, and J1 according to the project-wide morphological standard. A fixed YOLO-based segmentation module detected cells, predicted contours were matched to expert polygon annotations by contour IoU, and standardized single-cell crops were generated. An EfficientNet-B0 classifier was trained through a two-stage GT-to-YOLO and YOLO-to-YOLO strategy with class-imbalance correction, center-border regularization, and morphology-assisted supervision. Cell-level predictions were aggregated into patient-level CBLC ratios for AML-oriented diagnostic support. The pipeline achieved stable internal validation and maintained external generalization, with ensemble weighted F1-scores of 0.9076, 0.8696, and 0.9124 on Centers 4, 5, and 6, respectively.
Abstract (translated)
URL
https://arxiv.org/abs/2606.10735
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Geometry-Aware Reinforcement Learning for 2D Irregular Nesting
2026-06-09 09:11:36Auguste Lehuger, Guillaume Henon-JustAbstract
Traditional heuristic solvers for the 2D irregular nesting problem share a fundamental limitation: they are blind to polygon geometry, relying on guided brute-force to navigate the continuous placement space with minimal geometrical guidance. In this paper, we argue that Reinforcement Learning is uniquely positioned to overcome this bottleneck. By pairing an optimization policy with a geometry-aware neural encoder, an agent can automatically discover rich geometric priors directly from data, utilizing these learned intuitions to strategically guide exploration. To realize this, we introduce the Polygons Transformer (PoT), a novel architecture that encodes 2D continuous vector geometries while allowing cross-polygons attention. We couple this novel architecture with a Combinatorial Optimization Reinforcement Learning (CORL) training framework to find optimal solutions. To support this paradigm, we release an open-source training dataset derived from complex geographic contours alongside a dedicated evaluation benchmark. Our empirical validation demonstrates that our trained agent achieves area utilization performance highly competitive with Sparrow, the state-of-the-art heuristic solver, proving that reinforcement learning can successfully discover and exploit geometric awareness for precise spatial tasks.
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URL
https://arxiv.org/abs/2606.10611
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PrismAvatar: Pseudo-Multiview Reconstruction and Subpixel Prism Rendering for Real-Time Stereoscopic Communication
2026-06-09 08:17:51Chufeng Fang, Dongdong Teng, Lilin LiuAbstract
Real-time stereoscopic video communication has long been a goal of immersive telepresence, yet practical systems still require specialized capture rigs or reduce remote users to a single portrait view. We present PrismAvatar, a Gaussian head-avatar system that connects monocular avatar capture with subpixel-encoded glasses-free lenticular display for real-time autostereoscopic communication. From a monocular portrait video, PrismAvatar reconstructs a controllable head avatar and optimizes it for the lateral viewing zones induced by the display. The method uses natural head turns as pseudo-multiview (PMV) supervision to constrain regions that are otherwise weakly observed in monocular training, including hair, ears, jaw contours, and neck boundaries. Reliable side frames are yaw-binned, aligned to virtual cameras, and supervised within a strict head-and-hair domain; contour-aware losses and staged regularization further suppress ghosting, alpha leakage, and depth instability while preserving lateral detail. At runtime, PrismAvatar renders 32 virtual views and encodes them into a 4K lenticular raster with calibrated subpixel-routing masks. The live-tracker prototype sustains 10.65 FPS, and a subject-specific distilled driver raises the same display pipeline to 38.49 FPS.
Abstract (translated)
URL
https://arxiv.org/abs/2606.10550
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PolyBuild: An End-to-End Method for Polygonal Building Contour Extraction from High-Resolution Remote Sensing Images
2026-06-08 01:59:36Yaoteng Zhang, Julin Zhang, Guangshuai Wang, Jiwei Deng, Hui Sheng, Yasir Muhammad, Shiqing WeiAbstract
Extracting building polygon contours from high-resolution remote sensing images is a fundamental task for various mapping applications. However, the presence of varying imaging conditions and complex building structures, makes automatic contour extraction extremely challenging. Mainstream approaches for building extraction often rely on pixel-level segmentation followed by multiple post-processing steps to produce building contour, which can be computationally intensive and prone to errors. In this paper, we propose an end-to-end method named PolyBuild, which can directly extract building vector polygons from high-resolution remote sensing images without the need for any post-processing operations. The proposed method leverages two primary modules: an Initial Contour Generation Module (ICGM) and a Contour Optimization Module (COM). The ICGM is designed to generate an initial building contour by utilizing concatenated sub-region center features for each building instance. It performs simultaneous object detection and initial contour extraction by generating bounding boxes and using the center features of four sub-regions to represent each building. The Contour Optimization Module (COM) further refines the generated building contours by iteratively integrating Convolutional Neural Network (CNN) features and contour positional information in a Transformer-based decoder. The hybrid CNN-Transformer architecture effectively captures both local and global spatial relationships within the building contour, ensuring high-quality boundary delineation. Extensive experiments are conducted on three building datasets to evaluate the performance of PolyBuild. The results demonstrate that PolyBuild significantly outperforms state-of-the-art methods, including mask-based and contour-based approaches.
Abstract (translated)
URL
https://arxiv.org/abs/2606.08920
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LEGS: Laplacian-Enhanced Gaussian Splatting with a Nonlinear Weighted Loss
2026-06-06 01:50:14Yongfei Guo, Qizhou Huo, Xuan Sun, Yuanhao GongAbstract
3D Gaussian Splatting (3DGS) has become an efficient explicit representation for radiance field reconstruction and real-time novel view synthesis. However, its standard photometric loss treats flat and structure-rich regions similarly, which may limit the recovery of sharp contours and fine details. Edge-Guided Gaussian Splatting (EGGS) improves structure awareness through edge-guided weighting, but mainly relies on first-order gradient responses and linear weighting. In this paper, we propose LEGS, a Laplacian-Enhanced Gaussian Splatting method with a nonlinearly weighted loss. LEGS replaces first-order gradient guidance with second-order Laplacian structural guidance and maps the normalized Laplacian response into pixel-wise weights through nonlinear response-to-weight functions. The proposed loss improves structure-aware Gaussian optimization while keeping the original 3DGS rendering pipeline unchanged. Experiments on the full Tanks\&Temples and Mip-NeRF360 datasets show that LEGS improves peak signal-to-noise ratio (PSNR) by up to 1.68 dB over 3DGS and up to 0.52 dB over EGGS. Incorporating the proposed second-order nonlinear weighting strategy into FastGS and FasterGS further improves PSNR by up to 1.69 dB, demonstrating its effectiveness as a general loss-level extension for Gaussian Splatting pipelines with potential applications in AR/VR, immersive visualization, and real-time 3D content generation.
Abstract (translated)
URL
https://arxiv.org/abs/2606.07932
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Varifold Moment Invariants for Sustainable and Explainable Contour Feature Extraction
2026-06-05 14:48:04G. Longari, J. -C. Alvarez Paiva, A. B. TumpachAbstract
We introduce Varifold Moments Invariants (VMI) as a unifying framework for many previously introduced Moment Invariants. These invariants are deeply related to other contour features that are invariant under translations and rotations, like Extended Gaussian Image, Elliptic Fourier Descriptors or Shape Distributions. The advantage of the varifold approach to moments consists in being able to combine the geometry of the region, its boundary, and the family of lines tangent to it, in order to create a substantial number of invariant features with high discriminating power and clear geometric meaning. By coupling our VMI feature extraction with the light feature classifiers Random Forest or Multi-Layer-Perceptron, we outperform state-of-the-art approaches based on contours, while decreasing drastically the computational cost to the point of allowing our algorithm to run on light devices. We tested our approach on classification tasks on a large number of widely-used datasets of various types (leaves, objects, cells) and achieved high accuracy with a low number of geometrically interpretable features.
Abstract (translated)
URL
https://arxiv.org/abs/2606.07333
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TopoPult-SSL: Gland-Mask-Free Cross-Device Meibomian Gland Segmentation via Self-Distilled Weak Clinical Priors
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Every new clinical imaging device creates a domain shift where dense gland masks are expensive yet cheap clinical signals -- eyelid outlines, Pult grades, morphometric ratios -- are routinely recorded. We present TopoPult-SSL, a two-stage framework for cross-device meibomian gland segmentation. Stage 1 adapts a source-trained model without target gland masks in the training loss, using four weak-prior anchors driven by target eyelid masks and clinical metadata only. Stage 2, when target gland masks are available, distils complementary Stage-1 teachers into a single compact student via supervised self-distillation. We develop and validate the technique on the public MGD-1k to CAMG research benchmark (1,000 to 100 images, different device), where the distilled model achieves Dice 0.716+/-0.006 (best 0.726), surpassing UA-MT (0.710) and the ensemble teacher (0.720) -- with a single pass. The gland-mask-free Stage-1 variant reaches Precision 0.694 vs. 0.30-0.34 for SAM/MedSAM (p<0.001), enabling deployment without dense gland contouring. Code and reproducibility scripts are released.
Abstract (translated)
URL
https://arxiv.org/abs/2606.05347
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MineXplore: An Open-Source Reinforcement Learning Exploration Benchmark for GNSS-Denied Underground Environment
2026-06-03 07:59:40Abhishek S, Badrikanath Praharaj, Sreeram MVAbstract
Underground mines present extreme conditions for autonomous robot navigation: GPS is denied, lighting is degraded, and tunnel topology is loop-rich and non-convex. Simulation benchmarks grounded in real production-mine geometry and compatible with GPU-accelerated learning pipelines do not yet exist in the open-source ecosystem. We present MineXplore, an open-source MuJoCo-based navigation benchmark derived from the Leung et al. 2017 Chilean underground copper mine dataset. The environment reconstructs a 104,423 sq.m tunnel network through an six-stage contour-to-MJCF pipeline incorporating octagonal wall cross-sections, LiDAR-sourced jagged wall geometry, three terrain friction zones, a global 5 degree incline, and periodic spot lighting. Geometric fidelity is validated at an Intersection over Union (IoU) of 0.9538 against the source survey map, and surface texture similarity scores 79.4% across six structural dimensions. A single-agent PPO baseline trained via RLlib across five independent random seeds achieves a best rolling coverage of 88.89% (3 of 5 seeds reaching the 90% coverage target), confirming that MineXplore supports stable and reproducible policy learning under realistic underground sensing and topology.
Abstract (translated)
URL
https://arxiv.org/abs/2606.04569
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Static and Dynamic Representations for Tactile Contact-Angle Estimation with Event-Based Sensors
2026-06-02 12:08:49Yanhui Lu, Efi Psomopoulou, Benjamin Ward-CherrierAbstract
Event-based tactile sensing offers low-latency signal acquisition for contact-rich robotic interaction. This paper investigates contact-angle estimation using event streams from an event-based tactile sensor (NeuroTac) and compares three event-derived spatial contour representations: a dynamic representation capturing recent event activity, a static representation recovering a more persistent contact state, and their combined representation. Across the evaluated motion scenarios, all representation pipelines exhibited P99 processing latency below 10 ms at all tested sampling intervals, demonstrating their potential for high-frequency event-based tactile angle estimation in robotic manipulation. The static representation consistently achieved marginally better performance than the dynamic and combined representations under scenario-specific training, yielding a mean overall MAE of 0.160° during continuous sensor rolling and a stop-phase mean MAE of 0.251° during randomly inserted motion interruptions. It also exhibited smaller performance fluctuations across speed and indentation depth variations than the other two representations.
Abstract (translated)
URL
https://arxiv.org/abs/2606.03545
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CAD-to-CT Registration of Cylindrical Objects via Ellipse-Based Axis Estimation
2026-06-01 22:33:40Aleksander Ogonowski, Miko{\l}aj Mrozowski, Daniel Wi\k{e}cek, Arkadiusz \'Cwiek, Konrad Klimaszewski, Rafa{\l} Mo\.zd\.zonek, Adam Padee, Lech Raczy\'nski, Piotr Wasiuk, Wojciech Wi\'slicki, Micha{\l} Matusiak, S{\l}awomir WronkaAbstract
Accurate registration of CAD models to CT scans is essential for establishing ground truth geometry in volumetric imaging. Obtaining reliable object masks is of growing importance in machine learning settings; as recent architectures grow more capable, huge datasets are required to fully utilise their capabilities. Traditional intensity-based methods fail when CT grayscale values lack calibration references, while point-based algorithms (e.g., ICP, RANSAC) require feature correspondence unavailable between idealized CAD geometry and noisy volumetric CT data. We propose a two-stage geometric registration method for cylindrical objects (ionization chambers) that takes advantage of the distinctive geometric features of the objects. First, we estimate the 3D rotation axis by detecting elliptical cross-sections across CT slices, fitting ellipses to edge-detected contours, and performing PCA on the fitted ellipse centers after RANSAC outlier removal. Second, we voxelize the CAD model, orient it along the detected axis, and maximize volumetric overlap with the CT scan through translational adjustment. This approach achieves robust registration with tilt and orientation errors below $0.1^\circ$ without intensity calibration or feature matching. Once registered, the aligned CAD model provides ground truth geometry for applications including machine learning-based object localization and automated analysis in industrial CT workflows.
Abstract (translated)
URL
https://arxiv.org/abs/2606.02935
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Generative Animations: A Multi-Model Pipeline for Prompt-Driven Motion Synthesis
2026-05-26 15:58:30Mannat Khurana, Sanyam Jain, Rishav AgarwalAbstract
Animation elevates digital documents into immersive experiences, yet creating custom motion paths remains cumbersome, requiring designers to manually select presets, plot Bézier points, and configure timing properties. We introduce Generative Animations, a system that transforms natural language prompts into production-ready animations. By chaining Large Language Models (LLMs) for semantic parsing with the Segment Anything Model (SAM) for visual grounding, our pipeline automatically generates motion paths that respect scene geometry, handle depth-based occlusions, and honor 3D perspective transforms. We demonstrate the system through three use cases: contour-following trajectories, orbital animations with z-order awareness, and perspective-aligned motion on transformed objects.
Abstract (translated)
URL
https://arxiv.org/abs/2605.27203
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Generating 3D models from sketches of human faces using a combined approach of Convolutional Neural Networks, Procedural Modeling, and Contour Mapping
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Generating 3D models from face sketches is an active topic of research in Computer Graphics due to its potential to tremendously facilitate the modeling of faces for both professional 3D arists and novices. Motivated by the observation that facial expressions are responsible for significantly altering and shaping the contours in our faces, we combine both expression detection and 3D model generation in our approach. The result is a novel approach to generating 3D models from sketches which relies on three components: Convolutional Neural Networks, a parametric 3D face model (Valley Girl), and Active Snake Contours. For the first time in the literature, CNNs are trained (using our own generated dataset) to detect the expression in the given sketch through detecting the active FACS Action Units. The expression is then duplicated on Valley Girl to obtain a 3D model with a similar expression. Active Snake Contours are then used to find the transforms needed to close the gaps between that model and the given sketch.
Abstract (translated)
URL
https://arxiv.org/abs/2605.25418
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A Functional Approach to Curve Alignment and Shape Analysis
2026-05-24 13:04:23Issam-Ali Moindji\'e, C\'edric Beaulac, Marie-H\'el\`ene DescaryAbstract
In many image analysis problems, the contours of objects carry important statistical information about shape. Such contours are typically affected by deformation variables including scaling, translation, rotation, and reparametrization. Previous studies in statistical shape analysis have mainly focused on analyzing contours and shapes through discrete observations. While this approach might offer computational advantages, it overlooks the continuous nature of these objects and their underlying geometric structure. It also ignores potential dependencies between the deformation variables and their effect on the shape, which may result in a loss of statistical information and reduced interpretability. In this paper, we introduce a novel framework for analyzing shapes within the context of Functional Data Analysis (FDA). Basis expansion techniques are employed to derive analytic solutions for the estimation of deformation variables, namely scaling, translation, rotation, and reparametrization, thereby achieving curve alignment. A generative model for random contours is then developed using principal component analysis techniques. Numerical experiments on simulated data and the \textit{MPEG-7} database demonstrate that our method successfully identifies deformation parameters and captures the underlying distribution of random contours in settings where traditional FDA methods fail.
Abstract (translated)
URL
https://arxiv.org/abs/2503.05632
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Fishbone: From One 3D Asset to a Million Controllable Edits
2026-05-24 01:38:43Yumeng He, Xiaoying Wang, Peihao Li, Yanjia Huang, Joe Masterjohn, Jiajun Wu, Leonidas Guibas, Yin Yang, Ying Jiang, Chenfanfu JiangAbstract
Large-scale controllable 3D assets are critical for computer graphics, embodied AI, robotics, and interactive content creation, yet creating diverse 3D assets remains challenging due to the high cost of manual modeling and rigging. Shape deformation offers a natural way to generate variations from existing meshes, but existing data-driven methods often rely on sparse user inputs, while parametric editing frameworks require manually designed control structures and category-specific configurations. Inspired by natural creatures, where a central spine governs global shape and cross-sectional ribs control local variation, we introduce Fishbone, a unified rib-spine representation for general shapes that supports controllable parametric mesh deformation, reduced-space dynamics, and animation. Given an input mesh, Fishbone computes a geodesic scalar field with an adaptive heat method, extracts iso-contours as cross-sectional ribs, constructs a smooth geometry-aware spine through rib centers, and associates surface vertices with nearby rib and spine structures using Gaussian-weighted skinning. The resulting representation enables real-time and predictable deformation: ribs control local profiles such as thickness, orientation, and cross-sectional variation, while the spine controls global bending, twisting, and stretching. The same structure also supports reduced-space simulation and keyframe animation. We further construct Fishbone-136K by augmenting Hunyuan3D with rib-spine structures, and demonstrate applications in controllable 3D generation, deformation-based data augmentation for robot learning, interactive mesh editing, and agentic generation. Experiments demonstrate the effectiveness, efficiency, and versatility of the proposed framework.
Abstract (translated)
URL
https://arxiv.org/abs/2605.24805
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Cell Phantom Video Generation in Elliptical Fourier Descriptor Domain
2026-05-21 14:43:52Francesco Benedetto, Roberto Basla, Luca Magri, Giacomo BoracchiAbstract
Training Deep Neural Networks for tracking individual cells in biomedical videos requires a large amount of annotated data. The annotation of videos for cell tracking is very time consuming and often requires domain expertise; this explains the limited availability of public annotated data to address important medical problems like tissue repair or cancer treatment. Generating synthetic videos along with their Ground Truth annotations is a promising solution that relies, as a foundational first step, on the synthesis of single cell annotations (or phantoms). Phantoms need to be time consistent, as they have to replicate biological processes that are specific to the cell types. In this work, we propose a novel framework for generating videos of cell phantoms in the Elliptical Fourier Descriptors (EFDs) domain, a compact and geometrically interpretable representation for 2D closed contours. We represent the cell phantom evolution as a multivariate time series of EFD coefficients, introducing a strong prior for cell morphology and enabling the efficient generation of sequences that evolve coherently in time. Our experimental validation proves that modelling the temporal evolution in EFD space enables the generation of biologically plausible phantom videos. Our method can be used in generative pipelines for synthesizing annotated data for cell tracking, thus strongly mitigating the annotation effort for creating new datasets. Our code is available for download here: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2605.22563
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Exposing Vulnerabilities in Visible-Infrared VLMs: A Unified Geometric Adversarial Framework with Cross-Task Transferability
2026-05-21 10:15:58Xiang Chen, Yuxian Dong, Chao Li, Chengyin Hu, Jiaju Han, Fengyu Zhang, Yiwei Wei, Jiahuan Long, Jiujiang GuoAbstract
Vision-language models (VLMs) have achieved strong performance across diverse multimodal tasks, but their adversarial robustness in visible-infrared (VIS-IR) scenarios remains underexplored. This gap is critical because VIS-IR sensing is widely used in real-world perception systems to support reliable understanding under challenging imaging conditions. To address this cross-modal threat setting, we propose CFGPatch, a curved-edge fractal geometric adversarial patch framework for attacking VIS-IR VLMs. CFGPatch builds on triangular fractal geometry and replaces rigid straight-edged primitives with Bezier-curved elements, preserving multi-scale fractal self-similarity while introducing smoother contours, richer directional variation, and more flexible shape deformation. In addition, we design a modality-specific Fraser-spiral rendering mechanism to inject fine-grained texture distortions and misleading perceptual cues into visible and infrared images. By coupling global curved-fractal geometry with local spiral-based appearance interference, CFGPatch disrupts both shape perception and texture interpretation. We further adopt expectation over transformation (EOT) to improve robustness against common image-level transformations. Extensive experiments show that CFGPatch effectively fools VIS-IR VLMs and consistently outperforms standard patch baselines in attack effectiveness and robustness. Moreover, adversarial samples optimized for zero-shot classification transfer well to image captioning and visual question answering, demonstrating strong cross-task transferability and generalizability across downstream tasks.
Abstract (translated)
URL
https://arxiv.org/abs/2605.22273
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R2AoP: Reliable and Robust Angle of Progression Estimation from Intrapartum Ultrasound
2026-05-20 12:28:37Yuanhan Wang, Yifei Chen, Beining Wu, Mingxuan Liu, Xiaotian Hu, Chunbo Jiang, Yijin Li, Changmiao Wang, Feiwei Qin, Qiyuan TianAbstract
Accurate estimation of the Angle of Progression (AoP) from intrapartum transperineal ultrasound is critical for objective assessment of labor progression, yet remains highly sensitive to imaging noise, boundary ambiguities, and the geometric amplification of local segmentation errors. We propose R2AoP, a reliable and robust AoP estimation framework that integrates structurally informed segmentation and confidence-guided geometric modeling to achieve stable and reproducible measurements. A three-branch local-structure-enhanced backbone improves the delineation of the pubic symphysis (PS) and fetal head (FH), while confidence-weighted contour fitting explicitly suppresses the influence of unreliable boundary points in AoP computation. To further improve performance under heterogeneous acquisition conditions, we introduce a lightweight geometry-reliable test-time adaptation strategy as an auxiliary component, enabling stable inference without target annotations. Extensive evaluations on multi-center benchmarks demonstrate consistent reductions in AoP error and boundary metrics compared with state-of-the-art AoP methods. Our source code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2605.21099
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VBT-MPC: Vision-Based Tactile MPC for Contour Following
2026-05-19 18:40:45Edison Velasco-Sanchez, Luis F. Recalde, Guanrui Li, Pablo GilAbstract
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based Tactile Model Predictive Control (VBT-MPC) framework for robotic contour following using a Vision-Based Tactile Sensor (VBTS) mounted in an eye-in-hand configuration. The proposed controller operates directly in contour features space, thereby avoiding the need for separate pose-estimation modules or complex force-control architectures. We further compare our VBT-MPC with visual-servoing strategies adapted to tactile features, and evaluate contour tracking on objects with diverse geometries and materials in both simulation and real-world experiments.
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URL
https://arxiv.org/abs/2605.20392
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