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arXiv

Lowering the Barrier to AI-Driven Inspection: A No-Code Workflow for Automated Structural Defect Detection

Michael Holm, Tanner McElroy, Xinghang Zhang, Guang Lin

Structural health monitoring (SHM) is essential in modern engineering, providing data for condition-based maintenance, lifecycle assessment, and predictive decision-making. Traditionally, SHM relied on visual inspection to detect defects such as cracks and deformations. Early computer vision (CV) methods, including thresholding, edge detection, and handcrafted features, aimed to automate this process but were highly sensitive to noise, imaging variations, and multiscale defects, limiting their reliability. Recent advances in machine learning, particularly convolutional neural networks (CNNs) and You Only Look Once (YOLO), have improved defect detection accuracy and enabled real-time analysis. However, adoption in SHM remains limited due to technical barriers such as data labeling, model training, and deployment, which typically require programming expertise. To address this gap, we introduce YOLOEZ, an open-source, GUI-based tool for end-to-end YOLO model application. YOLOEZ integrates data labeling, training, and inference into a single interface, enabling high-performance model development without code while supporting reproducible workflows. Evaluation against existing software and classical image processing demonstrates that YOLOEZ not only outperforms traditional methods across most detection metrics, but also lowers adoption barriers present in other modern CV tools. By combining accuracy with accessibility, YOLOEZ facilitates wider use of AI-driven monitoring for predictive maintenance, digital twins, and intelligent structural systems.

arXiv

See More, Detect Less? Taming Information Leakage in Multi-View Anomaly Detection

Shang-Fu Chen, Kuan-Chuan Peng, Jhih-Ciang Wu, Wen-Huang Cheng, Kai-Lung Hua

In multi-view anomaly detection, more cross-view information can actually hurt. When multiple inspection views are naively fused in a reconstruction-based pipeline, normal cues from intact views propagate to the decoder, which faithfully reconstructs anomalous regions, collapsing the reconstruction gap the detector depends on. We call this failure mode \emph{cross-view information leakage} and show that effective multi-view fusion must explicitly restrict the information reaching the decoder. Building on this insight, we present GLAD(Global-Local Attention Driven framework), the first framework combining vision foundation model features with local and global cross-view fusion for multi-view anomaly detection. The Multi-view Merging Attention (MMA) module performs local cross-view fusion at linear complexity with learnable view importance weighting and token-wise gating, letting each view selectively incorporate fine-grained evidence from other views at $\mathcal{O}(N)$ cost. The Object-Guided Attention (OGA) module captures global context by aggregating class tokens from all views into a single object-level representation and broadcasting it back to patch tokens via temperature-scaled sigmoid gating, replacing the original patch representations rather than adding a residual to preserve the reconstruction gap. Experiments on Real-IAD and MANTA-Tiny show that GLAD outperforms state-of-the-art methods across sample-, image-, and pixel-level metrics, confirming that principled information restriction is key to multi-view anomaly reasoning.

arXiv

What Do Audio-Visual Synchronization Metrics Actually Measure?

Jai Kumar Sharma, Peeyush Tapadiya

Automatic AV-sync metrics are widely used to rank and train audio-visual generators, but they are rarely audited as measurement instruments. We jointly audit AV-Align, ImageBind AV-relevance, JavisScore, and Synchformer/DeSync under a common reliability protocol: controlled-distortion monotonicity, preprocessing sensitivity, rank uncertainty, cross-metric agreement, PEAVS-proxy agreement, and learned fusion. The result is an axis split, not a single winner: Synchformer/DeSync is the strongest temporal-offset tracker ($τ=0.84$), ImageBind/JavisScore better match the PEAVS human-aligned proxy ($τ=0.20$) and content-disruption families, and AV-Align is the weakest standalone metric. The metrics mutually disagree (Krippendorff $α=0.066$), and neither linear nor simple $k$-NN fusion improves PEAVS agreement over the best individual metric. We recommend reporting AV-sync as a Reliability Card (metric-family breakdowns with confidence intervals) rather than a single bare synchronization score.

arXiv

Can You Trust Frozen Hematology Foundation Models under Acquisition Shift?

Jai Kumar Sharma, Peeyush Tapadiya

Frozen hematology foundation-model (FM) embeddings reach near-saturated in-domain white-blood-cell (WBC) accuracy, but clinical deployment demands reliability across scanners, sites, stains and preparation pipelines. We audit 15 frozen encoders (hematology, pathology, and general vision) across four public single-cell acquisition domains along two axes: accuracy robustness and calibration. In-domain linear-probe macro-F1 is saturated (0.98-0.997), yet cross-dataset macro-F1 drops 34-72% and rankings re-order: DinoBloom-L, the in-domain best, falls to 10th of 15 on the most-shifted target (MLL23) at the benchmark's shared 224-px input, behind RedDino and several general and pathology encoders. Rank transfer is probe-dependent: 1-NN retrieval is more stable on average than a source-fitted linear head (median $ρ$ 0.65 vs 0.45), but neither probe universally predicts target robustness. Calibration also collapses: source-trained probes are nearly calibrated in-domain (expected calibration error, ECE, 0.004) but confidently wrong off-domain (ECE 0.35), and source-fitted temperature scaling transfers poorly. We further audit pretraining exposure and identify MLL23 as DinoBloom's internal cohort; because DinoBloom's only held-out dataset is also our source domain, this benchmark cannot isolate exposure from scanner-associated shift. Label-free adaptation and marginal-entropy-based model selection appear safe under balanced evaluation but fail under realistic WBC class-prior shift. Class-Balanced Re-standardization (CBR), a training-free pseudo-label-balanced feature normalization, improves all evaluated target-prior scenario means and partially improves calibration, although encoder-level exceptions and residual miscalibration remain. Hematology FM benchmarks must therefore jointly audit accuracy, calibration, exposure, and class-prior robustness.

arXiv

Learning spatially varying regularisation parameters of low regularity for image reconstruction

Kostas Papafitsoros, Luca Calatroni, Andreas Kofler

In this chapter, we review and discuss the regularity properties of spatially adaptive regularisation weight functions used in variational image reconstruction. Incorporating such weights into classical model-based regularisers, such as Total Variation (TV) and Total Generalised Variation (TGV), allows the regularisation strength to vary across the image and adapt to local image content. When appropriately estimated, these weights can thus significantly improve edge and detail preservation in the reconstructions. We review the existing theoretical literature on this topic for different regularity classes, including constant, continuous, and piecewise constant functions. Our discussion is motivated by recent work on hybrid image reconstruction methods that combine model-based regularisation with deep neural networks to learn highly adaptive regularisation weights. In particular, we discuss how the structural properties of these weights influence the reconstruction from both theoretical and practical perspectives. Through representative examples in image denoising and magnetic resonance imaging (MRI) reconstruction, we demonstrate that the learned weights are often of low regularity and can adapt not only to the image structure but also to the specific noise realisation. We conclude by highlighting several directions for future research on this topic.

arXiv

Improving Cross-Site Whole-Heart Segmentation

Tanish Mudaliar, Justin Li, Daniel Lin, Julianna Vo, Kaitao Liao, Xin Wang, Shu Hu

Whole-heart segmentation from CT and MRI is essential for quantitative cardiac image analysis, but remains challenging under multi-center and multi-modality distribution shift. In the CARE whole-heart segmentation task, models must generalize from limited labeled sites to unseen acquisition distributions, where variation in spacing, intensity, reconstruction texture, and anatomy can degrade out-of-distribution performance. We propose a modality-routed 3D cardiac segmentation pipeline that combines TotalSegmentator-initialized nnU-Netv2 models with site-characterized, label-preserving appearance augmentation. We first characterize the available sites using measurable image properties and use this analysis to motivate candidate data-space generalization routes. The final retained recipe applies Bias Field + Bezier appearance augmentation, combining smooth spatial intensity perturbation with nonlinear intensity remapping, followed by lightweight class-wise largest-connected-component cleanup. On the primary held-out-site validation splits, the final configuration improves CT mean Dice from 0.8350 to 0.9135 and MRI mean Dice from 0.7695 to 0.7830, while also reducing HD95. These results suggest that site-motivated appearance augmentation is a practical strategy for improving cross-site robustness in limited-data whole-heart segmentation. Our code can be found in https://github.com/Purdue-M2/Improving-Cross-Site-Whole-Heart-Segmentation

arXiv

SHIFT-LLM: Distribution Shift Correction in Depth-Pruned LLMs

Ali Bahri, Hang Li, Hongliang Li, Zhitang Chen

Depth pruning removes entire Transformer blocks to reduce the inference cost of large language models, but disrupts the hidden-state distributions expected by downstream layers, leading to significant accuracy loss. We introduce SHIFT-LLM, a training-free post-pruning correction framework that inserts a Linear Residual Adapter (LRA) at each pruning site. Each LRA preserves the identity pathway of the original residual block and adds a lightweight affine residual correction. This correction is calibrated via closed-form least-squares regression on a small held-out set, without gradient computation, to approximate the missing residual update produced by the pruned block. Together with the preserved identity pathway, the resulting LRA output approximates the hidden state produced by the original block, thereby mitigating the distributional mismatch introduced by layer removal while avoiding the expensive attention and feed-forward computations of the removed blocks. The resulting LRAs support low-rank factorization and exact merging across consecutive pruned layers for additional compression, and combine naturally with parameter-efficient fine-tuning for further recovery beyond fine-tuning the pruned model alone. Experiments on five model families, six layer-selection criteria, and seven zero-shot benchmarks show that SHIFT-LLM consistently recovers accuracy lost to depth pruning across most configurations, achieving gains up to +15.7 points on Llama-3.1-8B-Instruct while requiring only a few hundred calibration samples and no gradient computation.

arXiv

CVE-SAI: Counterfactual Visual Evidence-Guided Selective Attribute Indexing for Risk-Controlled E-commerce Search

Xiaolong Sun, Qichao Wang, Hangyu Li, Liang Chen

Multimodal product models can complete missing e-commerce attributes, yet current methods still optimize attribute-answer accuracy without verifying visual support, conflate transient prediction with persistent index admission, and lack explicit risk control over factually incorrect or visually unsupported values. We address these gaps with Counterfactual Visual Evidence-Guided Selective Attribute Indexing (CVE-SAI), which first infers and freezes an ontology-constrained candidate from the primary image and attribute question without catalog text, and then decides whether that candidate should enter the index. Focus-Zone Distortion (FZD) constructs an attribute-specific visual-dependence proxy through a controlled counterfactual intervention, and Evidence-Guided Attention Redistribution (EGAR) uses the proxy to refine ontology-constrained scoring. The canonical candidate is frozen before evidence necessity, evidence retention, nuisance-transformation stability, and candidate-specific catalog-text conflict audits; catalog text can only tighten admission and cannot revise the candidate. Independent family-level calibration selects one policy with a simultaneous one-sided finite-sample bound under a 5% unsafe-admission budget. Experiments on five visual attributes derived from Amazon Berkeley Objects show that CVE-SAI improves attribute inference and evidence localization, achieves the highest certified admission coverage under the shared risk protocol, and yields the strongest controlled retrieval performance with the lowest unsafe auto-induced exposure among automatic-admission systems. Separating inference from admission therefore enables visually supported attribute completion to improve retrieval while limiting persistent index contamination.

arXiv

Targeting the Attention Heads Behind Object Hallucination in LLaVA

Armaan Sandhu, Abhilasha Senapati, Hima Kammachi

Vision-language models such as LLaVA-1.5-7B often hallucinate objects absent from the image when generating captions. We ask whether an interpretability diagnosis of this failure can guide a targeted fix, and we measure what that fix actually changes. We rank attention heads by how much their image attention drops around hallucinated object words, then screen the shortlist by ablating candidate heads and measuring the change in hallucination-token log probability, yielding a 32-head set. We restrict two interventions to these heads: a head-sliced LoRA adapter and an inference-time grounding controller. On 400 held-out COCO images, the combined method lowers CHAIRs (the fraction of captions with a hallucinated object) from 0.370 to 0.230 and CHAIRi (the fraction of hallucinated object mentions) from 0.156 to 0.096 (p < 0.001, paired sign-flip tests). Two controls sharpen attribution. A random-head LoRA control, matched layer-for-layer and trained identically, performs no better than the matched baseline on a separate 200-image control split, supporting the role of head selection rather than LoRA capacity. Under fixed decoding budgets, the CHAIR reduction persists and grows with budget (23% at 64 tokens to 58% at 128), arguing against a pure max-token or truncation artifact, although the method remains shorter and more conservative. The resulting behavior reduces unsupported object mentions while also lowering object recall (0.78 to 0.70). We present a diagnosis-to-intervention pipeline for object hallucination, and, more importantly, a controlled account of what acting on the diagnostic signal actually does: it localizes intervention sites with real, non-random leverage, reported as a behavioral profile rather than a single score.

arXiv

GaussVLA: Geometry-Aware Spatial Reasoning for Vision-Language-Action Model

Md Selim Sarowar, Md Tanvir Islam, Sungho Kim, Sangtae Ahn

Vision-Language-Action (VLA) models encode visual observations as flat 2D patch tokens that carry no intrinsic geometric structure, and augmenting them with dense monocular depth injects per-pixel scalar values that encode neither surface orientation nor geometric confidence. This leaves the policy with limited structured spatial reasoning for action prediction. We propose GaussVLA, a Mamba-based VLA that incorporates two custom modules: Gaussian Spatial Tokenizer (GST) to lift frozen semantic and depth features into compact 3D Gaussian tokens, pools geometrically salient regions with learned queries, and \emph{Depth-Aware Chain-of-Thought (DA-CoT)} that performs structured, non-autoregressive geometric reasoning under language and flow-time conditioning. Across both simulation and real-world evaluations, GaussVLA demonstrates strong spatial-manipulation performance while remaining parameter-efficient. On LIBERO, it achieves 93.5% average success and 100.0% success on the Spatial suite with only 200M parameters, improving over SpatialVLA by 19.7% relative average success while remaining significantly more parameter-efficient.

arXiv

Synergising Local Geo-Environmental Characteristics with Spatial Context for Enhancing Landslide Susceptibility Mapping

Yusen Cheng, Lei Fan, Qinfeng Zhu, Cheng Zhang, Yangyang Li, Ron Mahabir

Data-driven methods are widely used in landslide susceptibility mapping (LSM) because they can effectively model the complex relationships between landslides and geo-environmental conditions. Existing data-driven approaches generally follow two types of data representations. Pixel-based models focus solely on the geo-environmental characteristics of a specific landslide but neglect the influence of its surrounding environment. Patch-based models incorporate surrounding spatial context but may include pixels with weak or no spatial relevance to the target landslide location. To address this limitation, this study proposes a Local-Geo and Spatial Context Fusion (LGSCF) strategy, which synergises the geo-environmental characteristics of landslide points with their corresponding spatial context through a feature-wise modulation mechanism. We tested the LGSCF strategy by integrating it into several representative convolutional neural network (CNN) architectures, creating nine different LGSCF-based models. The study area covers approximately 2644 km2 across Jenai and Sinyi Townships in Nantou County, Taiwan, and the dataset comprises 5332 landslide samples and an equal number of non-landslide samples. The results show that LGSCF-based models consistently outperform their original versions, achieving F1-scores up to 87.09% and AUC values up to 0.9472. Furthermore, the susceptibility maps produced by LGSCF-based models show that known landslides are more accurately concentrated in "very high" susceptibility zones with fewer misclassifications. These findings demonstrate that our fusion strategy can significantly improve the accuracy of landslide susceptibility mapping.

arXiv

SafeGesture: Evaluating Fine-Grained Hand Gesture Understanding in Vision-Language Models through Scenario-Conditioned Safety Interpretation

Taegang Kim, Saleh Afroogh, Junfeng Jiao

Open-weight and frontier vision-language models (VLMs) perform well on general image understanding, but their ability to interpret fine-grained hand gestures in safety-critical operational contexts remains largely unexamined. We introduce SafeGesture, a benchmark that evaluates whether a model can infer scenario-appropriate safety actions from hand gestures. It pairs six HaGRID gestures with eight operational scenarios for 4,800 items and evaluates Qwen2.5-VL-7B, LLaVA-NeXT-7B, InternVL2-8B, Phi-3.5-Vision, and GPT-4o. Results reveal a perception-reasoning decoupling: GPT-4o achieves 98.4% gesture accuracy but 53.3% safety accuracy, while Qwen2.5-VL reaches 84.9% and 39.5%, yielding gaps of 45.0 and 45.4 percentage points. Four of five models rarely or never use the uncertainty label, and failure directions differ substantially across models. Accuracy also obscures label bias: a scenario-majority policy with no visual input reaches 58.3%, above every evaluated model, while only GPT-4o exceeds this prior under macro-F1. Visual input improves safety accuracy by 11.2 to 30.2 percentage points, but providing the ground-truth gesture as text improves performance by only 0.4 to 3.2 points, and no model exceeds 56.2%. These results indicate that the main bottleneck is scenario-conditioned safety reasoning rather than gesture recognition.

arXiv

Continuous Adversarial Flow Models

Shanchuan Lin, Ceyuan Yang, Zhijie Lin, Hao Chen, Haoqi Fan

We propose continuous adversarial flow models, a type of continuous-time flow model trained with an adversarial objective. Unlike flow matching, which uses a fixed mean-squared-error criterion, our approach introduces a learned discriminator to guide training. This change in objective induces a different generalized distribution, which empirically produces samples that are better aligned with the target data distribution. Our method is primarily proposed for post-training existing flow-matching models, although it can also train models from scratch. On the ImageNet 256px generation task, our post-training substantially improves the guidance-free FID of latent-space SiT from 8.26 to 3.63 and of pixel-space JiT from 7.17 to 3.57. It also improves guided generation, reducing FID from 2.06 to 1.53 for SiT and from 1.86 to 1.80 for JiT. We further evaluate our approach on text-to-image generation, where it achieves improved results on both the GenEval and DPG benchmarks.

arXiv

Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers

Tzu-Yuan Lin, Ho Jae Lee, Kevin Doherty, Yonghyeon Lee, Sangbae Kim

We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from monocular RGB-D video. Initialized only from sparse image points on the objects, our approach tracks multiple unseen objects without requiring object CAD models or category priors. Point2Pose leverages a 2D point tracker to obtain long-range correspondences, enabling instant recovery after complete occlusion. Simultaneously, the system incrementally reconstructs an online Truncated Signed Distance Function (TSDF) representation of the tracked targets. Alongside the method, we introduce a new multi-object tracking dataset comprising both simulation and real-world sequences, with motion-capture ground truth for evaluation. Experiments show that Point2Pose trades some single-object pose accuracy for broader model-free tracking capabilities, including multi-object tracking and recovery from complete occlusion. Project page: https://point2pose.github.io/.

arXiv

Recognising BSL Fingerspelling in Continuous Signing Sequences

Alyssa Chan, Taein Kwon, Andrew Zisserman

Fingerspelling is a critical component of British Sign Language (BSL), used to spell proper names, technical terms, and words that lack established lexical signs. Fingerspelling recognition is challenging due to the rapid pace of signing and common letter omissions by native signers, while existing BSL fingerspelling datasets are either small in scale or temporally and letter-wise inaccurate. In this work, we introduce a new large-scale BSL fingerspelling dataset, FS23K, constructed using an iterative annotation framework. In addition, we propose a fingerspelling recognition model that explicitly accounts for bi-manual interactions and mouthing cues. As a result, with refined annotations, our approach halves the character error rate (CER) compared to the prior state of the art on fingerspelling recognition. These findings demonstrate the effectiveness of our method and highlight its potential to support future research in sign language understanding and scalable, automated annotation pipelines. The project page can be found at https://taeinkwon.com/projects/fs23k/.

arXiv

Latent Chain-of-Thought World Modeling for End-to-End Driving

Shuhan Tan, Kashyap Chitta, Yuxiao Chen, Ran Tian, Yurong You, Yan Wang, Wenjie Luo, Yulong Cao, Philipp Krahenbuhl, Marco Pavone, Boris Ivanovic

Recent Vision-Language-Action (VLA) models for autonomous driving explore inference-time reasoning as a way to improve driving performance and safety in challenging scenarios. Most prior work uses natural language to express chain-of-thought (CoT) reasoning before producing driving actions. However, text may not be the most efficient representation for reasoning. In this work, we present Latent-CoT-Drive (LCDrive): a model that expresses CoT in a latent language that captures possible outcomes of the driving actions being considered. Our approach unifies CoT reasoning and decision making by representing both in an action-aligned latent space. Instead of natural language, the model reasons by interleaving (1) action-proposal tokens, which use the same vocabulary as the model's output actions; and (2) world model tokens, which are grounded in a learned latent world model and express future outcomes of these actions. We cold start latent CoT by supervising the model's action proposals and world model tokens based on ground-truth future rollouts of the scene. We then post-train with closed-loop reinforcement learning to strengthen reasoning capabilities. On a large-scale end-to-end driving benchmark, LCDrive achieves faster inference, better trajectory quality, and larger improvements from interactive reinforcement learning compared to both non-reasoning and text-reasoning baselines.

arXiv

Model-Agnostic Open-Set Air-to-Air Visual Object Detection for Reliable UAV Perception

Spyridon Loukovitis, Anastasios Arsenos, Vasileios Karampinis, Athanasios Voulodimos

Open-set detection is crucial for robust UAV autonomy in air-to-air object detection under real-world conditions. Traditional closed-set detectors degrade significantly under domain shifts and flight data corruption, posing risks to safety-critical applications. We propose a novel, model-agnostic open-set detection framework designed specifically for embedding-based detectors. The method explicitly handles unknown object rejection while maintaining robustness against corrupted flight data. It estimates semantic uncertainty via entropy modeling in the embedding space and incorporates spectral normalization and temperature scaling to enhance open-set discrimination. We validate our approach on the challenging AOT aerial benchmark and through extensive real-world flight tests. Comprehensive ablation studies demonstrate consistent improvements over baseline methods, achieving up to a 10\% relative AUROC gain compared to standard YOLO-based detectors. Additionally, we show that background rejection further strengthens robustness without compromising detection accuracy, making our solution particularly well-suited for reliable UAV perception in dynamic air-to-air environments.

arXiv

Do Robotic World Models Really Follow Actions? Diagnosing and Aligning Action-Conditioned Generation for Policy Learning

Sixiang Chen, Jiaming Liu, Jixian Wu, Yichen Guo, Tinghao Wang, Siyuan Qian, Hao Chen, Jiajun Cao, Jian Tang, Shanghang Zhang

Action-conditioned world models are increasingly used as learned simulators for policy evaluation and improvement, yet their effectiveness rests on an unverified assumption: generated futures faithfully reflect arbitrary valid actions. Existing benchmarks are typically confined to expert demonstrations, leaving off-expert action following inadequately evaluated. To address this gap, we introduce WorldEcho, which probes action following over a broader action distribution using visual integrity and SE(3) trajectory alignment. Our diagnosis shows that current world models reasonably execute expert actions but struggle with diverse off-expert trajectories, either ignoring the commanded actions or producing visually invalid rollouts. We further propose WorldSync, which strengthens action following along three complementary axes: distributional coverage, representational grounding, and intervention-effect alignment. It broadens the training distribution over action consequences, grounds intermediate video representations in action-induced robot dynamics through an Action-Forcing Expert, and aligns predicted changes under action interventions with the corresponding changes in ground-truth futures. Experiments on RoboTwin benchmarks and real-robot tasks show that WorldSync improves WorldEcho metrics and serves as a more reliable simulator for iterative policy improvement, enabling policies to achieve higher success rates.

arXiv

From Seeing to Acting: Smart Glasses as First-Person Intelligence Platforms

Jiangning Zhang, Haojun Chen, Yong Liu

Smart glasses are evolving from capture and display accessories into first-person intelligence platforms that connect human perception, persistent context, and digital or physical action. Their on-body viewpoint aligns with the wearer's vision, audition, motion, and hand-object interaction, but must operate under tight energy, thermal, privacy, and feedback constraints. Despite rapid progress in augmented reality, egocentric vision, multimodal models, human-computer interaction, and embodied intelligence, the literature remains fragmented across devices, tasks, and benchmarks. \textit{The key challenge is not whether a model can recognize, answer, remember, or act in isolation, but whether a complete system can sustain a reliable, temporally valid, correctable, and governable perception-state-interaction-action loop.} This survey is \textit{the \textbf{first} to systematically study smart glasses through such a unified framework}. We formalize first-person data flow and constrained task utility, characterize devices along eight verifiable hardware capability axes, organize the literature around seven interdependent foundational capabilities, and introduce an L0-L5 framework spanning capture, reactive perception, contextual assistance, persistent state, governed action, and embodied coupling. Across nine application scenes, we connect tasks with datasets, systems, products, stakeholders, failure consequences, and evidence gaps. We further present a nine-dimensional deployment framework, a claim-conditioned evaluation protocol, and an evidence ladder from controlled measurement to longitudinal field validation and audit. Together, these elements make smart glasses more comparable, deployable, and reproducibly evaluated, while outlining a roadmap toward trustworthy first-person intelligence.

arXiv

LeFlow: Generative Latent Flow Planning for World Models

Hsiang-Wei Huang, Jianxu Shangguan, Junbin Lu, Jenq-Neng Hwang

Latent world models are inherently strong encoders that transform image pixel to latent embedding, yet existing world models still rely on online trajectory optimization for action planning: for every state-goal pair, an iterative optimizer is run from scratch to search for optimal action sequences, treating the world model as a black-box simulator. This approach pays the full iterative optimization cost anew at every replanning step and reuses no planning experience across queries. In this work, we ask whether planning itself can be amortized once a latent world model has been learned. We present LeFlow, which learns a reusable latent trajectory prior operating directly in the latent dynamics space from the world model. LeFlow recasts planning as conditional latent trajectory generation: a rectified-flow model imagines a future latent path between the current and goal embeddings, an inverse dynamics decoder turns latent transitions into action chunks, and the frozen world model verifies each candidate by autoregressive rollout. Across four major goal-conditioned pixel-control benchmarks, LeFlow replaces iterative action-space optimization with amortized latent planning and fixed-budget rollout selection, achieving consistent success-rate gains with an order-of-magnitude reduction in planning time. Our results argue that latent world models should support not only prediction but reusable planning priors. Our code is available at https://github.com/hsiangwei0903/LeFlow.

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