Segmentation
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Evaluation of Uncertainty-Aware Multi-Software Ensembles for Hippocampal Segmentation
2026-10-22 16:22:45Gabriel Oliveira-Stahl, Anna Schroder, James Moggridge, Hamza A. Salhab, Caroline Micallef, Josephine Barnes, M. Jorge Cardoso, Carole H. Sudre, Matthew Grech-SollarsAbstract
Accurate hippocampal segmentation can be a useful tool for diagnosing and monitoring neurological conditions such as Alzheimer's disease and epilepsy. While numerous automated segmentation methods exist, their clinical adoption remains limited. Reliable uncertainty assessment can enhance trust and facilitate clinical translation. This study evaluates ensembles of five heterogeneous hippocampal segmentation methods - InnerEye, ASHS, FastSurfer, HippoSeg, and FreeSurfer - across two dementia datasets and one epilepsy dataset. The sub-ensemble containing InnerEye, FastSurfer, and HippoSeg emerged as both accurate and efficient, highlighting the feasibility of balancing computational cost and performance. Additionally, ensemble-derived uncertainty quantification with sample variance, mutual information, and predictive entropy is shown to reduce inaccurate segmentations by flagging low-confidence cases, potentially providing a mechanism for automatically escalating ambiguous cases for expert assessment. Lastly, this study explores the downstream clinical utility of ensemble-derived uncertainty, finding a significant correlation with motion artefact severity and a modest contribution to Alzheimer's disease classification.
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URL
https://arxiv.org/abs/2610.31505
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Point-Level Refinable Semantic Mapping for Spatial Understanding
2026-10-22 16:02:16Taimeng Fu, Yi Du, Zitong Zhan, Qiwei Du, Shaoshu Su, Zhipeng Zhao, Chen WangAbstract
Open-vocabulary 3D semantic maps have emerged as a key spatial memory representation for long-horizon robot autonomy, enabling robots to reason about objects, their spatial relationships, and past observations across time. However, existing object-centric semantic maps are primarily designed for static environments and rely on an append-only point integration strategy, where newly observed points are accumulated but previously integrated points are rarely reevaluated. Consequently, perception errors accumulate over time, and outdated points persist after objects move or disappear. Although recent dynamic mapping methods update object-level representations in changing scenes, they do not explicitly revise noisy or obsolete points within each object. We propose an online refinable semantic mapping framework that continuously refines object representations through probabilistic point-level confidence updating. Each object point maintains a confidence score that is updated online using multi-view temporal evidence: consistent observations reinforce reliable points, while inconsistent segmentation masks, depth measurements, and visibility cues suppress spurious and outdated points. Combined with object tracking and re-identification to preserve instance identities under motion and relocation, our framework enables object-centric semantic maps to be continuously refined rather than monotonically accumulated. Experiments demonstrate improved mapping accuracy over the previous method by 3.46% on Replica and 2.55% on ScanNet, show robustness in dynamic environments and under perception noise, and provide an effective spatial memory for object navigation and embodied question-answering with success rates of 82.4% and 76.7%.
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URL
https://arxiv.org/abs/2610.31476
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WeVisOne-VL: Unified Visual Perception from Objects to Pixels
2026-10-22 14:19:50Tianming Liang, Junyi Pan, Yuxi Li, Canmiao Fu, Zhipeng Huang, Chong Sun, Chen Li, Jing LyuAbstract
Existing vision-language models (VLMs) remain unreliable for fine-grained visual perception. In this report, we present WeVisOne-VL (WeChat Vision All-in-One), a powerful VLM that unifies object-level and pixel-level perception through structured next-token prediction. It supports multiple visual tasks including object detection, referring localization, counting, OCR, segmentation, and matting, enabling localization at any user-specific granularity, from points and boxes to masks and alpha mattes. Architecturally, we integrate a lightweight pixel decoder into the VLM via a special <OBJ> token to generate instance-level pixel outputs. We train the model with a three-stage curriculum SFT followed by mixed-task RL. Across over 30 benchmarks, WeVisOne-VL demonstrates leading performance on both object-level and pixel-level tasks, while maintaining robust rejection for object-absent queries. By releasing WeVisOne-VL to the open-source community, we hope to advance VLMs from broad visual understanding toward truly reliable perception systems for real-world deployment.
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URL
https://arxiv.org/abs/2610.31329
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RecallGS: Geometry-Grounded Recall for Online Semantic Gaussian Splatting
2026-10-22 13:55:31Thanh-Khoi Nguyen, Thien-Phuc Tran, Minh-Triet TranAbstract
Online semantic 3D Gaussian Splatting (3DGS) enables open-vocabulary scene understanding from streaming observations. However, existing methods recover geometric context missing from image-derived semantic features using an additionally learned 3D network, incurring extra training and runtime overhead. We observe that such geometric-semantic evidence may already exist in the agent's observation history and can be retrieved rather than learned. Based on this insight, we introduce RecallGS (Geometry-Grounded Recall for Online Semantic Gaussian Splatting), a lightweight, training-free mechanism that treats past observations as a non-parametric geometric-semantic prior. RecallGS follows a recall-ground-fuse pipeline: CLIP retrieves relevant observations, alpha-compositing weights identify geometrically supported views, and aggregate their semantic features over each Gaussian's rendered footprint. On ScanNet and ScanNet++, RecallGS achieves strong semantic segmentation performance at 2.48 FPS, demonstrating that geometric-semantic context can be effectively recovered from observation history without an additional learned 3D branch.
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URL
https://arxiv.org/abs/2610.31293
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IndoNutriQA: An Indonesian Clinical Nutrition Question Answering Benchmark
2026-10-22 13:34:29Tirana Noor Fatyanosa, Ummu Ditya Erliana, Mahendra Data, Muhammad Nurwegiono, Eleazar Tadeo Eman, Alham Fikri AjiAbstract
Clinical Question Answering (QA) underpins Clinical Intelligent Decision Support Systems, but progress is severely limited for low-resource languages such as Indonesian by the absence of public domain-specific data. We introduce IndoNutriQA, an expert-curated Indonesian clinical QA benchmark of 911 question-answer pairs built from real clinical-nutrition reports. Rather than a large-scale training corpus, it is positioned as a high-quality evaluation resource: every pair is grounded in a clinically relevant context, enriched with structured metadata (anthropometric assessment, medical diagnosis, document provenance, chunk segmentation). Eight standardised question types following the Nutrition Care Process (NCP), including the Problem, Etiology, Sign and Symptom (PES) diagnosis statement, are answered for every report, which was written by a graduate-level dietetic intern, by one of three nutritionists. Answers are free-form clinical prose rather than extractive spans, and an expert validation study finds 6-10% of reference answers contestable. The dataset supports generative, extractive and retrieval-augmented QA as well as zero- and few-shot LLM evaluation. We report fine-tuned baselines (IndoBERT variants, mT5, RAG) with 5-fold cross-validation, learning curves and bootstrap 95% confidence intervals, and benchmark eight contemporary LLMs zero- and five-shot. We further calibrate our LLM-as-judge rubric against three expert raters (one RD, two nutritionists), finding it human-comparable on factuality and completeness but unreliable on clinical safety, and a human error analysis shows it misses unsupported content that the raters identify. IndoNutriQA is released to foster research in Indonesian clinical NLP and nutritional decision support.
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URL
https://arxiv.org/abs/2610.31256
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Lightweight Frame Compensation for Real-Time Polyp Segmentation under Frame Skipping
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Real-time polyp segmentation in computer-assisted colonoscopy is hampered by the difficulty of deploying high-accuracy models under strict latency budgets. Frame skipping, which performs inference every K frames and reuses or interpolates the rest, improves throughput but introduces motion blur and lesion misalignment that degrade temporal consistency. To close this gap, we propose the Lightweight Frame Compensator (LFC), a 77K-parameter plug-and-play module inserted before a frozen segmentation backbone. Operating on a three-frame window, LFC fuses consecutive frames via spatio-temporal attention into a single compensated frame, and is trained only on pseudo-labels generated by a differently seeded model, without any expert annotation. Experiments on three polyp video benchmarks show that LFC recovers most of the accuracy degraded by direct frame skipping and, in several settings, reaches the accuracy of frame-by-frame inference, while retaining a 2.05X--2.55X throughput gain. We further evaluate the temporal stability of three backbones spanning CNN, pyramid Transformer, and global-attention Transformer architectures, revealing a spectrum of sensitivity to frame skipping that arises from how locally or globally each architecture aggregates misaligned input. The compensation gain of LFC follows this spectrum: it is largest for high-capacity Transformer backbones, which achieve the best static accuracy but suffer the most under skip-frame inference. LFC thus offers a lightweight, pluggable, and deployment-friendly route to real-time polyp segmentation.
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URL
https://arxiv.org/abs/2610.31228
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Moving Regions, Not Moving Objects: Segmenting What Actually Moves under Camera Motion
2026-10-22 12:56:38Wenhua Jin, Tiancheng Chen, Sheng Tang, Jiahao Li, Yupeng Liu, Weiqi Zhang, Juntong Fang, Zesong LiAbstract
Moving object segmentation is conventionally formulated at the sequence and object level, marking an entire instance as moving once it moves anywhere in a video. Recent instantaneous formulations distinguish moving from stationary intervals, but still generate masks at the object level through frozen segmentation foundation models. Because the mask is derived from an instance-level proposal, motion is typically attributed to the entire instance rather than localized to the regions that actually move. Moreover, such instance-level predictions can produce masks even when no part of the instance is actually moving, revealing a more fundamental issue: motion is not an intrinsic property of an instance; it can only be determined by comparing at least two frames. Building on this premise, we introduce MoRSe, which jointly interprets two frames to predict a moving-region mask, distinguishing actual scene motion from apparent motion induced by the camera. A single RGB encoder replaces multi-stage foundation stacks, so no optical flow, point tracks, or separate mask generator is needed at inference. We release MoRSe-5K, a benchmark of 42 sequences with Static, Dynamic-Static, and Dynamic settings designed to evaluate the model's ability to distinguish and localize moving and stationary regions under different camera and scene motion conditions. MoRSe outperforms both specialized moving object segmentation methods and dense 4D reconstruction methods with motion-thresholded predictions, while producing the fewest false positives on sequences where nothing moves.
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URL
https://arxiv.org/abs/2610.31209
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RaSFNet: Ray-aligned and Scan-aware Fusion Network for LiDAR Semantic Segmentation
2026-10-22 12:35:29Chuang ChenAbstract
LiDAR point cloud semantic segmentation is a fundamental component of 3D perception for autonomous driving and robotics. Projection-based methods map 3D point clouds into 2D representations for feature extraction using 2D networks. However, aggregating multiple points during projection can obscure geometric differences within each frustum, while local feature extraction limits the modeling of spatial relationships across scanning regions. Moreover, proximity in the projected representation does not necessarily imply proximity in 3D space, and interactions between point and projected features may mix features from different ranges, reducing semantic discriminability. To address these challenges, we propose the Ray-aligned and Scan-aware Fusion Network (RaSFNet), which incorporates point cloud geometry and LiDAR scanning characteristics into projection-based semantic segmentation. Specifically, the Ray-Aligned Geometric Distribution Encoding (RAGDE) module characterizes point distributions within each frustum using a ray-aligned coordinate system. To model spatial context, a Scan-Topology-Aware Mamba (STAM) block organizes frustum features according to the LiDAR azimuth sampling pattern and captures long-range dependencies across scanning regions. In addition, a Range-Constrained Point-Frustum Fusion (RCPFF) mechanism uses shared range information to guide feature exchange between point and frustum representations while maintaining spatial correspondence. RaSFNet achieves mIoU scores of 70.2% and 77.7% on the SemanticKITTI and nuScenes validation sets, respectively, indicating competitive segmentation performance compared with the evaluated methods.
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URL
https://arxiv.org/abs/2610.31186
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Pos4CHD: A Positive-Free Mask-Guided Counterfactual Synthesis Framework for Fetal Congenital Heart Defect Analysis
2026-10-22 11:59:11Wenjie Xuan, Yapeng Li, Hang Su, Chen Cheng, Juhua Liu, Sheng Zhao, Ziming Huang, Bo DuAbstract
The scarcity of positive cases remains a major bottleneck in developing automated diagnostic systems for fetal Congenital Heart Defects~(CHDs), particularly for rare subtypes. Although normal cases are accessible with effort, positive cases are hard to collect due to low incidence rates and privacy concerns, causing severe class imbalance or absence of positive training samples. Existing works resort to synthesizing positives with conditional generative models, but they are task-specific and require positive training samples, hindering application for fetal CHDs. To this end, we propose a positive-free mask-guided counterfactual generation framework for fetal echocardiography, namely Pos4CHD, which enables realistic, high-quality synthesis of pseudo-positive samples from semantic masks, with only normal samples at hand. Technically, we first develop FE-Gen, a mask-guided generative model tailored for fetal heart ultrasound synthesis that mitigates histogram drift and enhances image-mask spatial alignment. Building on FE-Gen, Pos4CHD employs a mask-to-image generation paradigm for CHD synthesis. It first manipulates semantic masks to simulate fetal-heart structural anomalies and then renders anatomically consistent images. Extensive experiments on in-house datasets, together with expert evaluations, demonstrate the visual fidelity~($-12.97$ FID) and anatomical consistency~($+3.96\%$ DSC) of synthesized images. Further validations across diverse real-world CHD diagnosis tasks exhibit promising results and consistent increments, including zero-shot classification~(achieving $93.25\%$ ACC on EbA and $72.92\%$ ACC on TAPVC), lesion detection~($+6.95\%$ mAP50 on VSD), and anatomy segmentation~($+10.49\%$ DSC on fetal heart) compared with baselines. Codes and models are publicly available on \href{this https URL}{GitHub}.
Abstract (translated)
URL
https://arxiv.org/abs/2610.31139
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A General-Purpose Dual-Path Interaction Framework for Multi-View Medical Image Segmentation: Alleviating Data Volume Dependency in Small-Sample Regimes
2026-10-22 10:43:50Shuhuan Wang, Yuanyuan Cui, Pengju Wang, Huimin Guo, Ling Yue, Yin Gu, Yanchao Zhang, Wei Feng, Yunhe Liu, Wei Qian, Mingjun Xu, Shuang Liu, He MaAbstract
The performance of medical image segmentation depends on a large amount of annotated data, and most segmentation models experience a significant drop in performance in low-sample-size scenarios. Existing semi-supervised and weakly supervised methods rely on specific network architectures, while traditional multi-view-assisted segmentation methods require strictly paired samples, which limits their clinical applications. To address these issues, we propose DPIF, a general-purpose plug-and-play dual-path interaction framework compatible with arbitrary encoder-decoder segmentation networks, which leverages cross-view anatomical complementarity to reduce annotation reliance. DPIF first performs Sinkhorn optimal transport-based cross-view distribution alignment to establish global semantic correspondence without sample-level pairing. It then adopts conditional mutual information-guided feature decoupling to enable bidirectional knowledge transfer only within the shared semantic space, suppressing view-specific noise. Finally, persistent homology-based topological regularization encodes anatomical invariants as unsupervised priors to mitigate overfitting. Experiments were conducted using 24 baseline models on a private multicenter echocardiography dataset and two public datasets. The results show that DPIF-enhanced models outperform single-view baseline models when trained on comparable amounts of data. Notably, most dual-path variants trained on 40\% - 60\% of the data achieve performance comparable to that of single-view models trained on the full dataset. This demonstrates that DPIF provides a general-purpose and scalable solution for data-scarce multi-view medical image segmentation problems.
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URL
https://arxiv.org/abs/2610.31065
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Vision Transformers for Estimating Irradiance Using Data Scarce Sky Images
2026-10-22 08:57:55David Hamlyn, Sunny Chaudhary, Tasmiat RahmanAbstract
Accurate estimation of diffuse horizontal irradiance (DHI) is critical for optimising photovoltaic system performance and energy forecasting yet remains challenging in regions lacking comprehensive ground-based instrumentation. Recent advancements using Vision Transformers (ViTs) trained on extensive sky image datasets have shown promise in replacing costly irradiance measurement equipment, but the scarcity of long-term, high-quality sky imagery significantly restricts practical implementation. Addressing this critical gap, this study proposes a novel dual-framework approach designed for data-scarce scenarios. First, calculated atmospheric parameters, including extraterrestrial irradiance and cyclic time encodings, are integrated to represent sky conditions without utilising any instrumentation. Next, a sequential pipeline initially predicts synthetic global horizontal irradiance (GHI) and uses it as a feature, to refine DHI estimation. Finally, a dual-parallel architecture simultaneously processes raw and overlay-enhanced fisheye sky images. Overlays are generated through unsupervised, physics-informed cloud segmentation to highlight dynamic sky features. Empirical validation is performed using data from the Chilbolton Observatory, chosen for its temperate climate and frequent cloud variability. To simulate data-scarce conditions, models are trained on a single month (e.g., January) and evaluated across a temporally disjoint, full-year test set. Under this setup, the sequential and dual-parallel frameworks achieve RMSE values within 2-3 W/m^2 and 1-6 W/m^2, respectively, of a state-of-the-art ViT trained on the complete dataset. By combining physics-informed modelling with unsupervised segmentation, the proposed method provides a scalable and cost-effective solution for DHI estimation, advancing solar resource assessment in data-constrained environments.
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URL
https://arxiv.org/abs/2610.30940
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Query-Time Calibration of CLIP Features for Open-Vocabulary 3D Segmentation
2026-10-22 08:31:12Dominik Engel, Yousef Rajeh, Leon Sick, Ivan ViolaAbstract
Lifting vision-language features such as CLIP into 3D Gaussian reconstructions enables open-vocabulary segmentation through natural-language queries. Although CLIP represents a broad range of semantic concepts, the lifted features of individual scenes can exhibit strong directional concentration, while raw cosine similarity does not account for the scene-specific feature distribution. We show that substantial segmentation gains can be obtained by changing how a fixed lifted feature field is compared with text. Our method partially subtracts a shared scene direction from visual features and text prototypes and whitens text prototypes using a fixed reference vocabulary of generic terms. It then uses soft clustering for multiclass prediction and CSLS with a relevance margin against the reference vocabulary for single-query prediction. Beyond reducing directional concentration, scene centering improves class-relative feature separation in every evaluated scene. Across seven lifting methods and four datasets, the resulting query-time calibration consistently improves mean intersection over union in both multiclass and single-query segmentation. These gains require no retraining, source-image re-encoding, or feature re-lifting, demonstrating the value of scene-conditioned comparison for making better use of existing lifted representations.
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URL
https://arxiv.org/abs/2610.30908
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AGF-Net: A Robust Multimodal Emotion Recognition Model for Asynchronous Audio-Visual Signals Based on Predictive Dynamic Fusion with Negative Learning
2026-10-22 03:16:19Chuan Han Li, Yun Chien ChengAbstract
This study develops an audio-visual emotion recognition system that integrates automatic utterance segmentation with multimodal fusion. Unlike conventional methods that rely on manually annotated utterance boundaries, the proposed system automatically generates candidate segments from continuous dialogue and extracts the corresponding audio and visual features for emotion classification. To address the challenges introduced by automatic segmentation, the proposed AGF-Net integrates Audio-Guided Fusion (AGF), Multimodal Negative Learning (MNL), and Predictive Dynamic Fusion (PDF) to improve cross-modal fusion, modality balance, and robustness to varying modality quality. Experimental results show that AGF-Net achieves 64.92% Accuracy and 65.47% F1-score under clean conditions, 62.13% Accuracy and 63.08% F1-score under moderate noise, and 58.19% Accuracy and 59.41% F1-score under higher noise. Overall, the proposed framework reduces reliance on manually annotated utterance boundaries and maintains competitive performance under automatically segmented and noisy audio-visual inputs.
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URL
https://arxiv.org/abs/2610.30651
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Refining Open-Vocabulary Semantic Segmentation via Regional Semantics and Visual Prototypes
2026-10-22 02:36:18Aijing Yu, Zhengbo Wang, Lijun Sheng, Jian Liang, Xiao-Yu ZhangAbstract
Contrastive Language-Image Pre-training (CLIP) has shown superior performance in the image-level open-vocabulary classification task, benefiting from its powerful alignment of visual features and text embeddings. However, dense prediction tasks require models to perform pixel-level predictions, necessitating modifications to CLIP for region-text alignment. In this paper, we adjust the attention layers within the vanilla visual encoder of CLIP. With a novel attention calculation method for selective attention features, the model retains more regional semantic information. To further mitigate the negative impact of the modality gap, we introduce additional visual prototypes to refine the original predictor solely based on text embeddings. Specifically, patch features with confident predictions are selected to form an additional auxiliary memory-based classifier for more accurate prediction. We further integrate an optimizable feature extractor with an exponential moving average updating strategy to enhance prediction quality. Extensive experiments on $5$ semantic segmentation datasets demonstrate the effectiveness of our method.
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URL
https://arxiv.org/abs/2610.30623
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CMAR-search: Commonsense and Memory Augmented Reasoning for Object Search in Dynamic Interactive Environments
2026-10-22 02:13:52Kaiyao Liao, Qingfeng Li, Xinlei Zhang, Chen Chen, Qing Sun, Jianwei NiuAbstract
Dynamic interactive object search in large-scale human environments presents substantial challenges for existing methods. Current scene representations like 3D Scene Graphs (3DSG) only provide coarse-grained spatial segmentation and cannot identify functional areas such as storage or leisure areas. Without functional area understanding, existing methods are constrained to exhaustive sequential exploration at large scales, resulting in inefficient search behaviors -- particularly in open-layout environments with numerous interactive objects such as drawers and cabinets. Moreover, these methods lack adaptability to environmental dynamics such as object relocations. To address these limitations, this paper proposes CMAR-search, a novel framework built upon Commonsense and Memory Augmented Reasoning (CMAR). Our approach leverages commonsense about area functionalities and aggregates environmental memory to construct a Functional 3D Scene Graph (F3DSG), which organizes the environment into functional areas with their associated containers. Through this structured representation, CMAR enables hierarchical action planning at both macro-area and micro-container levels, empowering the system to efficiently identify and inspect semantically relevant areas for effective object search. Notably, CMAR continuously integrates real-time perception, accumulated memory, and commonsense to dynamically relocalize objects in changing environments. Extensive experiments in simulation and real-world settings demonstrate that CMAR-search significantly surpasses state-of-the-art baselines in both success rate and search efficiency for object search in dynamic interactive environments.
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URL
https://arxiv.org/abs/2610.30606
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Climbing the Ladder: Automating Data Pipelines and Reproducing Baselines in Low-Resource Settings
2026-10-21 19:36:05Donato Meoli, Eryk WdowiakAbstract
The massively multilingual translation systems that now include Sicilian learned it from noisy, non-standardised web text. To obtain better translation quality, we redevelop the small neural machine translation (NMT) system that Wdowiak customized for Sicilian. We rebuild on maintained software the extraction of the parallel text from the PDFs of the bilingual journal Arba Sicula, whose sentences are aligned by a language-agnostic sentence encoder with thresholds tuned against an existing hand alignment and then filtered for the typical errors of automatic alignment. Furthermore, the tokenization and the desinence-biased subword segmentation of the original system are ported to a Perl-free implementation, and all the results are measured on a frozen test set drawn from the journal. We compare small Transformers trained from scratch with the pretrained NLLB model adapted by low-rank fine-tuning, in both directions and with Italian as a closely related bridge language, and we adapt to the pretrained model the reverse-training recipe of the original system, i.e., a stage on forward-scored back-translations of the web Sicilian followed by a stage on the curated literary text. The pretrained model is by far the better of the two, and the staged training improves the translation into Sicilian more than the translation from it. On the test set of the original system, and in the tokenized space in which it was scored, the staged model with a larger adapter and more back-translations is above the reverse-training recipe in the directions that involve English and below it between Sicilian and Italian. Yet, a multilingual adapter degrades the directions on which it was not trained, which limits its use as a general multilingual model.
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URL
https://arxiv.org/abs/2610.30374
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R4DGS: Referring Segmentation in 4D Gaussian Splatting
2026-10-21 18:42:09Bangpu Chen, Yaxuan Li, Shirui Peng, Xiangtian Si, Liuxin Chu, Xitong Cao, Hongbo Jin, Jiayu DingAbstract
Dynamic representations based on 4D Gaussian Splatting (4DGS) have shown strong capabilities in reconstruction and rendering, yet current methods remain limited in supporting complex natural-language referring in dynamic scenes. Existing 4D Gaussian methods are primarily designed for rendering-oriented dynamic modeling, while current semantic extensions often rely on scene-specific semantic optimization or are evaluated on relatively simple query settings. In this paper, we study Referring 4D Gaussian Splatting (R4DGS), a task for grounding temporally varying, multi-target or reasoning-intensive, and zero-target or distractor expressions in dynamic 4D scenes. To support this task, we introduce R4D-Bench-QA, a benchmark with structured query annotations. We further present ReferGaussian, a unified framework built upon 4DGS that converts low-level dynamic Gaussians into persistent, language-addressable entities for training-free referring inference. ReferGaussian organizes mask-supported Gaussian entities in an EntityBank, uses Multimodal Large Language Models (MLLMs) to decompose complex queries into trackable object phrases and structured referring constraints, and performs constraint-aware grounding without scene-specific semantic optimization. Experiments on R4D-Bench-QA and the 4D LangSplat protocol demonstrate improved temporal target selection and competitive spatiotemporal grounding without scene-specific semantic training. Project resources are available at this https URL.
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URL
https://arxiv.org/abs/2610.30326
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Implementation of Dynamic Microsegmentation for a Multi-Robot Network
2026-10-21 17:50:18Vishwam Raval, Jaewon Kim, Ravi Pattabhi, Sandip RoyAbstract
This report describes a laboratory instantiation of a dynamic microsegmentation function for an Internet-of-Things network, specifically a multi-robot network, using a commercial software-defined microsegmentation tool. Fine-grained dynamic segmentation policies are defined, where segments are adapted based on asset functional and health tags. Automated implementation of the dynamic policies in software is also undertaken. The microsegmentation solution is shown to automatically isolate an indicated threat in real time, while maintaining unaffected operations. The demonstration indicates that microsegmentation can be implemented in IoT networks, in a way that allows for robust operation in the face of threats and disruptions.
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URL
https://arxiv.org/abs/2610.30102
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GoiBERT: Compact Vietnamese Language Models via Two-Stage Knowledge Distillation
2026-10-21 17:24:36Quang Anh Kiet Tran, Nam Anh Tran, Manh Hung Trinh, Thanh Danh Le, Khang Nhat Hoang Vo, Huynh Dai Nhan TranAbstract
Vietnamese pre-trained encoders have improved rapidly, but the strongest ones are large, multilingual-vocabulary models or depend on external word segmentation, which makes them costly to deploy. We present GoiBERT, a family of two compact Vietnamese encoders with 26M and 49M parameters that operate directly on raw text. GoiBERT learns from two complementary teachers. A same-tokenizer Vietnamese encoder first teaches general-purpose representations. A much larger teacher then provides task-level guidance through soft labels that are generated without ever labeling its own training data. Across eight benchmarks covering text classification, aspect-based sentiment analysis, natural language inference, and named entity recognition, GoiBERT-large achieves the highest average score among non-teacher models. It does so with fewer than half the parameters of the strongest compact baseline and twice its throughput. GoiBERT-base retains 99% of that baseline's performance at a quarter of its size. Our analysis shows that compression is nearly lossless for sentiment and classification tasks but remains costly for inference and entity recognition, which points to clear directions for future work. Our code and models are available at: this https URL
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URL
https://arxiv.org/abs/2610.30067
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ClunoGS: Compact Language 3D Gaussian Splatting via Unified Optimization
2026-10-21 16:43:53Jian Xu, Yi Li, Ying Huang, Siyi Wu, Bingzhe Li, Yuede Ji, Miao YinAbstract
Language 3D Gaussian Splatting enables open-vocabulary scene understanding by associating Gaussian primitives with language features. These semantic attributes increase model storage, while most existing 3DGS compression methods are designed mainly to preserve RGB rendering quality. One straightforward approach is to apply sparsification and quantization sequentially. However, pruning based only on rendering quality can remove Gaussians that have small RGB contributions but are important for semantic prediction. Once removed, their semantic information cannot be recovered by later quantization. We propose ClunoGS, a compact framework for Language 3DGS that combines semantics-aware Gaussian sparsification and vector quantization in a unified constrained objective. Semantic supervision is used during sparsification, and the objective jointly considers rendering quality, semantic accuracy, and compactness. We optimize the unified objective with alternating primal, sparsification, quantization, and dual updates. We evaluate ClunoGS on open-vocabulary localization and segmentation using the LERF and ScanNet-10 benchmarks. Under aggressive compression, our unified, semantics-aware formulation substantially alleviates the degradation of semantic representations caused by sequential compression and semantics-agnostic Gaussian sparsification. Ablations further show that jointly coordinating sparsification and quantization better preserves semantic accuracy than applying them independently.
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URL
https://arxiv.org/abs/2610.30013
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