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arXiv

Beam-Wise Statistical Background Subtraction for Static Roadside LiDAR: A Cross-Sensor Benchmark Study

Alexander Baumann, Marcel Vosshans, Thao Dang

Background subtraction is a key preprocessing step for infrastructure-based LiDAR perception, enabling efficient isolation of dynamic traffic participants without semantic annotations. However, systematic cross-sensor evaluations and reproducible studies for static roadside LiDAR are missing. This paper presents a comparative benchmark of beam-wise statistical background subtraction for statically mounted LiDAR sensors. We formulate background estimation as a per-beam temporal modeling problem and investigate complementary statistical strategies that capture dominant as well as multi-modal background structures, combined with spatial filtering in the angular and 3D domain. To enable reproducible evaluation, we introduce HighwayScene, a new multi-LiDAR dataset recorded in a static roadside setup, and extend the public CoopScenes dataset with static/dynamic point-wise annotations. Across multiple scenes and heterogeneous sensing technologies, we demonstrate that beam-wise statistical modeling provides a robust and transferable solution. Combining lightweight per-beam models with spatial consistency filtering substantially improves precision while maintaining high recall and real-time capability. All datasets, annotations, and implementations are publicly released.

arXiv

Zero-MELO: Test-Time Evidence Calibration with Multimodal LLMs for Zero-Shot Micro-Gesture Recognition

Chengyan Wang, Hanliang Xie, Yueyi Yang, Haoyu Chen

While Multimodal Large Language Models (MLLMs) excel in general video understanding, their capability in fine-grained and motion-centric tasks remains limited. This limitation is particularly critical in micro-gesture recognition (MGR), where micro-gestures (MGs) - subtle, short-duration, and spatially localized human movements - serve as key discriminative signals for implicit affective analysis, yet are easily neglected following common prompting practices. Although MGR has been intensively studied by many discriminative approaches, the use of MLLMs for MGR is underexplored, with notably poor performance. We hypothesize that the motion-sensitive representation ability of MLLMs is constrained by their inherent single-pass forward inference, which can be substantially enhanced through carefully designed test-time guidance. Motivated by this, building on our prior findings regarding temporal insensitivity in Video LLMs, we diagnose zero-shot MGR errors in the Negative Log-Likelihood (NLL) space. We observe that MLLMs suffer from two bottlenecks: 1) insufficient localized evidence and 2) severe score biases driven by language and motion-agnostic appearances. Thus, we propose a novel test-time evidence calibration framework that improves both reasoning details and prediction reliability. Specifically, we introduce a tree search mechanism to progressively acquire localized, fine-grained visual evidence, coupled with a test-time calibration module to mitigate score biases. The multi-cue fusion module then integrates evidence from multiple cues without relying on a single cue for final prediction. Our framework achieves mean-class accuracies of 26.84\% on iMiGUE and 22.10\% on MA-52, significantly outperforming the Qwen2.5-VL baseline, which produces 16.15\% and 10.20\%, respectively. The code will be available at https://zero-melo.github.io/Zero-MELO.

arXiv

Modality-Invariant Coarse-to-Fine Retinal Image Registration

Bo Wen, Nehal Nailesh Mehta, Melanie Tran, Dirk-Uwe Bartsch, William Freeman, Truong Nguyen

Retinal image registration is essential for ophthalmic diagnosis, longitudinal disease monitoring, and multimodal retinal image analysis. Existing retinal registration methods are typically modality-dependent: they are designed or optimized either for a single imaging modality in mono-modal registration or for a fixed pair of modalities in cross-modal registration. This limits their flexibility and applicability in practical scenarios involving diverse retinal imaging modalities and different combinations of them. In this work, we propose a generalizable two-stage, modality-invariant framework for retinal image registration. First, we introduce a sparse feature-matching model driven by a universal retinal vessel segmentation to achieve robust coarse global alignment across modalities. Second, we develop a modality-invariant optical flow estimation network, termed MI-RAFT, to refine the alignment through dense local registration. Extensive experiments demonstrate that the proposed method can handle diverse combinations of commonly used retinal imaging modalities, exhibiting strong modality invariance while outperforming state-of-the-art modality-dependent registration methods.

arXiv

Imagining Recovery: Inference-Time Counterfactual Realignment for Vision-Language-Action Models

Yanyan Zhang, Disheng Liu, Kai Ye, Chaoda Song, Xinpeng Li, Mohsen Hariri, Vikash Singh, Yu Yin, Vipin Chaudhary

Vision-language-action (VLA) models have improved the flexibility and generality of robotic manipulation, yet they remain fragile to online disruptions, such as changes in task goal, scene configuration, or robot state. Existing recovery methods often require failure data, policy retraining, or external corrective agents, introducing additional data requirements and execution risks. We propose Counterfactual Realignment (CoRe), a training-free framework that recovers a frozen VLA at inference time without failure data. Upon detecting a deviation, CoRe imagines how the policy would continue toward the current goal from a recent viable state, using synthesized observations in place of physical execution, and then minimally realigns the robot and scene to rejoin this imagined continuation before returning control to the policy. Recovery is therefore planned without physical trial-and-error, preserves completed task progress, and handles both mid-episode instruction changes and physical perturbations in a unified manner. Extensive experiments across multiple simulators, VLA backbones, and real-world settings show that CoRe improves success rates by up to 85.0 percentage points to near-nominal levels while reducing physical restorations by 42.2%, without policy fine-tuning or failure-specific recovery training.

arXiv

Where the Cost Falls: A Deployment-Aware Adoption Order for Stability Enhancements to Cycle-Consistent Adversarial Networks

Rowan Hussein, Mohamed Ouf

Teams that adopt cycle-consistent adversarial networks for unpaired image-to-image translation meet the same obstacles: adversarial training oscillates or collapses, cycle consistency preserves coarse layout while finer texture drifts, and a single discriminator judging global realism misses local artifacts. Four enhancements address these failures, and they are usually compared on output quality alone. We show that they also divide sharply by where their cost falls, and that this division, which follows from the architecture and not from any particular run, yields an adoption order for teams under a compute or latency budget. A Wasserstein objective with gradient penalty, a VGG19 perceptual loss on the cycle reconstruction, and multi-scale discriminators change training only, so a team can adopt or drop them without altering what ships. Self-attention alone persists into the deployed generator, with memory growing as the square of the feature-map size, which makes it the one component a resource-constrained team should defer. We integrate all four onto a lightly tuned baseline for horse-to-zebra translation, introduced one at a time on a fixed control and then combined, and for each we give the failure mode it targets and how it integrates. We document the collapse and reconstruction-artifact modes the baseline produced, report what visual inspection of saved samples showed for each variant, and report Fréchet Inception Distance and Kernel Inception Distance for the combined model. We specify the protocol still needed, covering the individual variants, perceptual similarity, and downstream segmentation, to rank these enhancements on measured evidence.

arXiv

Bit-Level Triangular Content-Aware Permutation for Fragile Image Watermarking: Zero False Positive Rate, Single-Bit Sensitivity, and Arbitrary Dimension Support

Zahra Ghoraeian, Mohammad-Reza Sadeghi, Samaneh Mashhadi

With the growth of digital document exchange, protecting image integrity against attacks such as Vector Quantization (VQ) and collage has become critical. Existing methods are vulnerable to these attacks and limited to fixed image dimensions. This paper presents a novel, dimension-agnostic, fragile watermarking algorithm that enhances security and tamper localization by replacing conventional hash functions with Triangular Content-Aware Permutation (TCA). The image is combined with key-based global noise and divided into blocks. The core innovation is applying content-dependent permutation with intrinsic avalanche effect (TCA) at the bit-plane level, generating a unique content-dependent watermark. For color images, a vertical sandwich transformation merges channels, preserving inter-channel dependency with only 1.62x time increase. The "remainder merging" strategy eliminates padding constraints. Experiments on 50 grayscale and 10 color images under 18 attacks show FPR=0% and FNR=0% for 17 attacks. Salt-and-pepper noise yields negligible FNR of 0.27% (grayscale) and 0.14% (color). Average PSNR is 51.14 dB (8-bit), 75.25 dB (12-bit), and 99.33 dB (16-bit). Embedding and extraction times are 1.61 s and 1.63 s, respectively. The algorithm achieves 100% accuracy against collage, VQ, copy-move, JPEG (quality 5-95), and geometric attacks, providing a secure solution for digital forensics, medical imaging, and legal document authentication.

arXiv

Zero-Shot Adaptation of Medical Vision Foundation Models for High-Frequency Micro-Ultrasound Prostate Segmentation

Ayusha Abbas, Saram Abbas, Kabita Adhikari

Prostate cancer claims a life every 80 seconds. Early detection is needed to prevent disease progression, and both PSA density calculation and biopsy decisions rely on knowing the exact boundary of the gland. Conventional ultrasound at 6-12 MHz blurs this boundary, missing one in three high-risk cancers. Micro-ultrasound (29 MHz) improves resolution threefold but introduces dense acoustic speckle that obscures the outer wall; given the same image, two clinicians draw outlines differing by over 10% in area. Supervised methods are costly and generalise poorly across scanners. Can a foundation model segment the prostate with no training data? We present the first zero-shot pipeline for this modality: MedSAM, pre-trained on over 1.5 million medical images, localises the prostate; we then apply CLAHE to sharpen the outer wall, binary dilation to recover missed pixels, and Fourier smoothing (4 modes, s=1.05) to refine the boundary. MedSAM requires a spatial prompt, so we evaluate bounding-box and point-click strategies across 75 patients of the Micro-Ultrasound Prostate Segmentation dataset (2,621 slices). On the 20-patient held-out test set, the pipeline reduces mean boundary-distance error by 45% (Dice 0.749+/-0.043 to 0.865+/-0.029; HD95 217.2+/-36.9 to 120.1+/-26.1 px), reaching Dice 0.859 across the cohort. Its mean overlap shows no significant difference from the three non-expert rater groups (p>0.19), while segmenting 38-52% more consistently (lower inter-patient standard deviation). Point-click prompts fail regardless of placement (best Dice=0.350), because speckle gives no stable local contrast. Only an approximate bounding box is required, so any clinic can deploy it without data collection, annotation, or retraining.

arXiv

MegaParts: Scaling Part-Aware 3D Object Generation to 300 Parts via Token-Efficient Autoregressive Modeling

Manwen Liao, Xinyu Lian, Jian Mao, Kaixu Chen, Li Luo, Jinghao Yan, Wanshui Gan, Qiao Yu, Weitian Zhang, Chunhua Shen, Guang Chen, Bo Dai, Xudong Xu, Zhaoyang Lyu

Part-aware 3D object generation is essential for graphics applications such as controllable modeling, editing, and articulation, where objects are represented as coherent assemblies of semantic parts. However, existing part-aware generation methods, do not scale well to highly complex objects. As the number of parts increases, generating detailed geometry becomes prohibitively expensive in token length and memory. We introduce MegaParts, a scalable autoregressive 3D generation framework to address this challenge by combining structured sequence modeling with a token-efficient vector-quantized shape tokenizer. Our tokenizer learns discrete latent representations for part-level geometry by minimizing token usage subject to high-fidelity reconstruction, enabling adaptive-length tokenization based on geometric complexity. On top of this compact representation, we train a large language model to generate object bounding boxes, part bounding boxes, and part shape tokens within a unified structured sequence. Combined with efficient long-context training strategy, our token-efficient formulation scales to objects with up to 300 parts and sequence lengths up to 256k tokens. This substantially extends the scale of part-aware 3D generation while preserving compositional structure and enabling fine-grained part-level control. Our method achieves higher mesh quality than baseline autoregressive and diffusion models, showing that compressed discrete part tokens improve not only scalability but also the achievable fidelity of generated geometry. These results suggest that LLM native token-efficient autoregressive modeling is a compelling alternative to diffusion for large-scale part-aware 3D generation. The project page is available at https://expmaster.github.io/megaparts_webpage.

arXiv

Artificial Intelligence as a Tool for Combating Child Labour: A Real-Time Edge Vision Pipeline for Child Detection and Age Estimation

Mark Nowak

An estimated 138 million children remain in child labour worldwide, and the monitoring systems used by affected sectors, built on periodic household visits and interviews, systematically under-detect them. We present a real-time computer-vision pipeline, built and operated solely as a research prototype, that studies the feasibility of giving Child Labour Monitoring and Remediation Systems (CLMRS) a continuous, presence-based evidence channel. The pipeline combines a multi-task person and face detector (YOLO26x backbone in the CerberusDet framework), cascaded age estimation pairing MiVOLO v2 with a child-specialist model for ages 0-12, ByteTrack tracking, ArcFace and DINOv2 re-identification, and track-level fusion producing reviewable per-person records. The detector raises person mAP@0.5 from 0.390 to 0.683 over the previous-generation baseline; the child specialist reaches 1.944 years MAE on children-only validation, where widely used open-source stacks err by 18-23 years. FP8 TensorRT compilation yields a 1.77x speedup at +0.002 years MAE, bringing the pipeline above twice real-time on embedded hardware. On 26.8 hours of proxy video the system finds 634 unique child candidates versus 285 for its predecessor. We further report a seventeen-day unattended field pilot on a farm in Zimbabwe (38.7 million frames, six cameras) evaluated against a daily attendance register: software tuning improved detection yield 36-fold, and identity consolidation under a simultaneity veto cut over-reporting from 9.1x to 1.8-3.9x with zero proven-false merges. We document training and quantisation failures alongside successes, and the data-protection and human-in-the-loop safeguards such a system requires.

arXiv

Uncertainty Identifies Difficult Samples Across Methods: A Multi-Task Study on a Heterogeneous Skin Lesion Dataset

Leon Koole, Jiapan Guo, Matias Valdenegro-Toro

Skin lesion classifiers can be confidently wrong on the cases that matter most, so knowing when a prediction should not be trusted is clinically as useful as the prediction. We study uncertainty quantification on a dataset pooled from many ISIC sources, with a shared backbone and two jointly learned heads: a binary malignant versus non-malignant head and a five-class diagnostic head. Five UQ methods (MC Dropout, DropConnect, Flipout, Deep Ensembles, DUQ) are compared on accuracy, calibration, uncertainty decomposition, and risk-coverage. Difficulty is largely method-agnostic: even methods with narrow entropy distributions rank the same samples as hard (per-sample entropy correlations of $0.54$ to $0.91$). The choice of method matters more for calibration and uncertainty decomposition, where Deep Ensembles is the clear winner, than for finding difficult cases. The ranking is also good enough that deferring the most uncertain cases removes a disproportionate share of errors, supporting uncertainty-based selective referral, evaluated here in-distribution only.

arXiv

Beyond Boundary Noise: Aggregated Aleatoric Uncertainty Fails to Capture Presence Ambiguity in 3D Lung Nodule Segmentation

Simon Baur, Arne Schernich, Ekin Böke, Wojciech Samek, Jackie Ma

Uncertainty estimation is critical for the safe clinical deployment of deep learning in medical image segmentation, with aleatoric uncertainty theoretically designed to capture irreducible data ambiguity. However, whether entropy-based measures reflect clinically meaningful ambiguity, i.e. case-level disagreement about whether a pathology is present at all, remains poorly understood. Contrary to most prior work, which focused on pixel-wise boundary disagreement, we systematically evaluate how well aleatoric uncertainty captures presence ambiguity. Our evaluation spans 3D lung nodule segmentation across four architectures with Monte Carlo dropout and deep ensembles, on LIDC-IDRI and an external validation cohort (LNDb). We find that entropy-based uncertainty maps align with boundary noise and minor drawing variation but carry insufficient discriminative signal for presence ambiguity. In contrast, a lightweight supervised ambiguity head trained on frozen segmentation features substantially outperforms all entropy-aggregation-based baselines across architectures, metrics, and both cohorts, and matches or exceeds methods that explicitly model ambiguity under disagreement supervision (Probabilistic U-Net, Annotator-Confusion 3D-UNet). A qualitative feature-space analysis shows that presence ambiguity is already encoded in the frozen encoder features of pixel-wise-trained networks, only to be discarded by the segmentation output and its entropy aggregation. Our findings expose a fundamental mismatch between the theoretical promise of aleatoric uncertainty and its practical behavior, and suggest that practitioners should not rely on entropy-based uncertainty as a proxy for clinical ambiguity in safety-critical applications.

arXiv

Cross-Modal Ultrasound-MRI Learning for Fetal Brain Ventricular Volumetry and Abnormality Screening

Yuhao Huang, Yuanji Zhang, Yuhuan Lu, Dong Ni, P. Ellen Grant, Davood Karimi

Assessment of ventriculomegaly (VM) on fetal brain ultrasound relies primarily on measuring lateral ventricular atrial width on standard planes, which is operator-dependent and may not fully reflect the overall ventricular enlargement. Fetal brain MRI provides more reliable volumetric information but is costly and less accessible for routine use. To address these limitations, we propose VIFBA, an ultrasound video-based framework for fetal brain assessment that predicts MRI-derived lateral ventricular volume, classifies VM severity, and identifies potential non-VM fetal brain abnormalities. Our contribution is three-fold. First, we introduce a joint-embedding predictive architecture (JEPA)-inspired tube latent prediction objective that leverages spatio-temporal coherence in ultrasound videos to enhance representation learning. Second, we develop a contrastive cross-modal alignment strategy that transfers structural information from MRI to ultrasound during training, while requiring ultrasound alone at inference. Third, we augment VIFBA with a training-free vision-language model and retrieval augmentation to verify uncertain predictions and identify potential non-VM fetal brain abnormalities. We validated VIFBA on a large dataset comprising 857 cases (3,196 videos) with paired fetal brain ultrasound and MRI examinations. On held-out test data, VIFBA achieved an MAE of 0.5909 mL and Pearson correlation coefficient of 0.9907 for ventricular volume regression, 0.9400 accuracy for VM severity classification, and an F1 score of 0.7764 for multi-abnormality classification, substantially outperforming single-task baselines, video-based strong competitors, and state-of-the-art foundation models. By enabling MRI-informed volumetric assessment from routine ultrasound alone, VIFBA offers a practical and potentially broadly deployable pathway toward accurate and affordable prenatal brain screening.

arXiv

Test-Time Instance Selection for Improved Whole Slide Image Analysis

Quoc Anh Nguyen, Sunhong Park, Jin Tae Kwak

Whole Slide Image (WSI) analysis has been widely studied for cancer diagnosis. Conventionally, a gigapixel WSI is divided into small patches and processed by Multiple Instance Learning (MIL) models. However, existing MIL models typically process all patches, many of which contain redundant or non-informative tissue patterns. Although recent approaches have focused on instance selection to identify discriminative patches and reduce redundancy, these selection modules still require additional training. In this work, we propose Test-Time Instance Selection (TTIS), a training-free, plug-and-play framework that selects compact yet representative patches during inference. TTIS further incorporates a multi-view ensemble strategy to integrate distinct facets of tissue morphology, enhancing robustness. Importantly, TTIS can be seamlessly integrated into existing MIL models without retraining or architectural changes, enabling flexible deployment. Extensive evaluations across multiple benchmarks demonstrate that our approach improves or matches baseline MIL performance across a range of classification and subtyping tasks. Our implementation code is available at https://github.com/QuIIL/TTIS

arXiv

Synthesizing Post-Acetazolamide Cerebral Blood Flow Maps from Baseline MRI in Moyamoya Using 3D Generative AI

Julia Huang, Camila Gonzalez, Rydham Goyal, Aja Zou, Sasha Alexander, Michael Moseley, Moss Y. Zhao, Gary K. Steinberg

For patients with Moyamoya disease, impaired cerebrovascular reserve (CVR) is an important hemodynamic criterion for recommending extracranial-to-intracranial bypass surgery. Standard CVR assessment in this cohort uses paired arterial spin labeling (ASL) perfusion MRI acquired before and after acetazolamide (ACZ). When ACZ is contraindicated or avoided, the post-ACZ cerebral blood flow (CBF) map needed for hemodynamic assessment is unavailable. We propose CAE3D, a deterministic 3D conditional autoencoder that synthesizes post-ACZ CBF maps directly from pre-ACZ ASL input. We evaluated CAE3D against ten comparators, including deterministic and diffusion-style 3D baselines, a 2D contextual baseline, and frozen-encoder foundation-model adapters. CAE3D achieved the lowest held-out MAE (0.066), with SSIM 0.80 and PSNR 24.0 dB, and near-zero full-brain mean bias. Its MAE advantage was statistically significant over seven of eight trained-from-scratch baselines, excluding the 2D CAE_2D comparator; its SSIM and PSNR advantages were significant over all eight. Regional delta-CBF predictions compressed the dynamic range in high-response territories. These results establish the retrospective feasibility of post-ACZ CBF synthesis in patients who completed the standard two-scan protocol. Extension to ACZ-contraindicated patients, who were not represented in this cohort, requires external and prospective validation.

arXiv

KHiM-Mamba: Injecting Pathology Knowledge into Mamba via Hidden-State Modulation for Whole Slide Image Analysis

Qixiang ZHANG, Yi Li, Tianqi Xiang, Haonan Wang, Mengjiao Wei, bo xu, Xiaomeng Li

Whole slide image analysis is commonly formulated as multiple instance learning (MIL), where instance features are contextually updated and aggregated into a slide representation, a process we term slide encoding dynamics. Recently, selective state-space models (SSM) have emerged as promising MIL architectures due to their long-sequence modeling capability and linear complexity. However, existing SSM-based MIL methods rely solely on visual features during MIL. Meanwhile, in large-scale WSIs, where sparse diagnostically decisive regions are surrounded by abundant irrelevant information, such purely vision-driven selective dynamics can misallocate state updates and readouts, causing the evolving SSM state to accumulate task-irrelevant evidence and dilute critical diagnostic cues over long scan trajectories. In this work, we propose the Knowledge-Aware Hidden-State Modulation architecture (KHiM-Mamba), which innovatively regulates Mamba's core selective state-space mechanism with explicit knowledge priors, steering slide encoding dynamics toward diagnostically meaningful evidence accumulation. Specifically, we redesign the original SSM layer to perform knowledge modulation operations during the evolution of hidden states, thereby guiding what visual evidence is accumulated and retrieved from the hidden state at each encoding step. Furthermore, we additionally introduce a local-adaptive vocabulary retrieval module that uses large language models to assign each patch fine-grained, tissue-specific semantic descriptions, enabling precise modulation across diverse tasks. Experiments on 11 public benchmarks across 4 tasks show that KHiM-Mamba consistently achieves state-of-the-art performance.

arXiv

A Unified DINOv2-Based Framework for LVEF Estimation, GLS Dysfunction Classification, and Early Cardiotoxicity Prediction

Xiaotong Zhang, Mingyue Cui, Qing Cao, Jingming Xia

Left ventricular ejection fraction (LVEF) estimation (Task 1), global longitu-dinal strain (GLS)-based dysfunction classification (Task 2), and early cardi-otoxicity prediction (Task 3) provide complementary information for cardio-oncology assessment. LVEF reflects macroscopic ventricular volume chang-es as the clinical standard, whereas GLS captures subtle myocardial defor-mation, indicating subclinical cardiotoxicity before overt LVEF decline. Fur-thermore, predicting cardiotoxicity from baseline echocardiography prior to treatment enables preventive interventions at an early stage. To address these three tasks, we employ a DINOv2-based framework with task-specific adap-tation and prediction heads. Built upon a frozen foundation encoder, the framework incorporates parameter-efficient Low-Rank Adaptation (LoRA) and temporal aggregation to learn task-specialized representations, ensuring robust generalization. Crucially, during inference, it operates in a fully cycle-detection-free and phase-free manner, requiring neither cardiac cycle seg-mentation nor explicit End-Diastolic/End-Systolic (ED/ES) annotations. Ad-ditionally, we introduce an ED/ES-guided 2D/3D hybrid multi-view regres-sion model specifically to optimize Task 1. On a patient-level split containing 1,203 training videos from 237 patients and 300 validation videos from 59 independent patients, the DINOv2-based framework achieved a mean abso-lute error (MAE) of 5.03% for Task 1, an AUC-ROC of 76.48% for Task 2, and an AUC-ROC of 70.26% for Task 3. For Task 1, the specialized ED/ES-guided model further improves performance, achieving an MAE of 4.64%. This framework demonstrates the effectiveness of foundation model repre-sentations across diverse cardio-oncology tasks and the additional benefit of physiology-guided modeling for accurate LVEF estimation.

arXiv

Incision trajectory tracing for electrosurgical navigation by CNN-based knife contacting frames extraction method

Yu Chun Wang, Kaixu Chen, Naoto Ienaga, Yoshihiro Kuroda

Background and Objective: Image-guided surgical navigation has been actively studied because of its advantage of identifying subsurface targets and critical structures, whereas it requires incision trajectories to update the preoperative three-dimensional model dynamically during the surgery. The novelty of this study is the thermal feature distinguishment of whether the electric tools contacting the tissue by Convolutional Neural Network (CNN), and the extraction of the knife contacting frames, to form incision trajectories which can meet with the requirement during the surgery. Methods: This study firstly verified that CNN can classify the thermal images of electric knife and ultrasonic cutter operations separately, and can raise the accuracy of the incision trajectories derived from the connection of the thermal intensity centroid of the frames predicted by CNN as contacting. Results: Our results obtained by employing the electric knife not only reveal a remarkably high accuracy 97.2 % in CNNs identification, but also can achieve an error reduction as high as more than 2.5 times of the incision trajectory prediction as compared to those proceeded in the conventional method. Besides electric knife, the results obtained by employing another electric tool, ultrasonic cutter, reveal a high accuracy up to 93.7 %. Conclusion: In this study, we ensured the possibility of CNN in distinguishing electric tools contacting with the tissue, and confirmed that the proposed method has not only overcome the problem of missing trajectories which usually occurs in the convolutional long-short term memory method but also achieved a remarkable improvement of the accuracy with less limitation.

arXiv

Auditing Frame-Level AUC in Weakly Supervised Video Anomaly Detection: Granularity, Resolution, and Scene Bias

Sara Abdulaziz, Egor Bondarev

Frame-level area under the ROC curve (AUC) is the dominant evaluation metric for weakly supervised video anomaly detection (WSVAD). Its standard form measures whether an anomalous frame outranks a normal frame drawn from anywhere in the test set. We refer to this comparison as pooled AUC, since it aggregates frame pairs across test videos regardless of source. Pooled AUC therefore credits both event localization and differences between video sources. We audit this protocol on UCF-Crime across recent state-of-the-art models spanning different backbone families. Holding each model's frame scores fixed, we read them under three pairing granularities: global, per anomaly category, and within each video, then repeat the same three-granularity readout on zero-shot scores computed from the models' internal representations. We assess ranking reliability with a paired video bootstrap. Three findings follow. First, pooled AUC does not reliably predict within-video anomaly localization: models with similar pooled scores exhibit large localization differences and rank reversals under stricter granularities. Second, at the benchmark's test-split size, pooled AUC lacks the resolution to support state-of-the-art margins reported in the field. Within each backbone family, it resolves no comparison at those margins, while within-video AUC resolves several over identical predictions. Learned representations further reveal that within-video anomaly structure and detector localization are decoupled. Third, on normal footage alone, every model we examine separates videos by recording properties, such as resolution and color encoding, indicating that scene sensitivity is shared across the setting rather than specific to any architecture. We publicly release a granularity-aware protocol computable from existing predictions and scene-factor annotations for UCF-Crime.

arXiv

ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow

Dongxiu Liu, Haoyi Niu, Peng Cheng, Yuan Gao, Xirui Kang, Sangli Teng, Koushil Sreenath, Xianyuan Zhan

In the physical world we inhabit, space and time are fundamentally continuous. However, existing machine learning paradigms for world modeling are largely confined to discrete-time prediction, thereby exhibiting significant inefficiency in capturing the dynamics of physical world. We introduce Physical-Time Flow (PT-Flow), a novel approach that learns a continuous latent velocity field operating in physical time. Crucially, the underlying dynamics of sequential data are parameterized by an ordinary differential equation (ODE) embedded in a well-structured representation space. Under this paradigm, the prediction of future can be recast as temporal integration via an ODE solver in the compressed latent space. Building upon PT-Flow, we construct ODEWorld, a continuous-time latent world model that is both efficient and versatile. By extracting time-variant features and enforcing ODE properties on both the dynamical representation space and the latent velocity field, ODEWorld effectively addresses the long-standing representation collapse issue in latent world model literature. This also enables high-quality image reconstruction even after long-horizon prediction. Moreover, its continuous nature allows for arbitrary temporal resolution and even backward prediction, which is impossible for most discrete-time models. Lastly, ODEWorld can provide rich planning-oriented information to facilitate downstream policy learning. Comprehensive experiments demonstrate that ODEWorld successfully reconciles planning-conducive dynamics abstraction with visual realism, excelling in both video generation and robotic control. Project page: https://dstate.github.io/odeworld_website/.

arXiv

GridVAD: Open-Set Video Anomaly Detection via Spatial Reasoning over Stratified Frame Grids

Mohamed Eltahir, Ahmed O. Ibrahim, Obada Siralkhatim, Tabarak Abdallah, Sondos Mohamed

Vision-Language Models (VLMs) are powerful open-set reasoners, yet their direct use as anomaly detectors in video surveillance is fragile: without calibrated anomaly priors, they alternate between missed detections and hallucinated false alarms. We argue the problem is not the VLM itself but how it is used. VLMs should function as anomaly proposers, generating open-set candidate descriptions that are then grounded and tracked by purpose-built spatial and temporal modules. We instantiate this propose-ground-propagate principle in GridVAD, a training-free pipeline that produces pixel-level anomaly masks without any domain-specific training. A VLM reasons over stratified grid representations of video clips to generate natural-language anomaly proposals. Self-Consistency Consolidation (SCC) filters hallucinations by retaining only proposals that recur across multiple independent samplings. Grounding DINO anchors each surviving proposal to a bounding box, and SAM2 propagates it as a dense mask through the anomaly interval. The per-clip model budget is fixed at M+1 calls regardless of video length, where M can be set according to the proposals needed. On UCSD Ped2, GridVAD achieves the highest Pixel-AUROC (77.59) among all compared methods, surpassing even the partially fine-tuned TAO (75.11) and outperforms other zero-shot approaches on object-level RBDC by over 5x. Ablations reveal that SCC provides a controllable precision-recall tradeoff: filtering improves all pixel level metrics at a modest cost in object-level recall. Efficiency experiments show GridVAD is 2.7x more call-efficient than uniform per-frame VLM querying while additionally producing dense segmentation masks.Code and qualitative video results are available at https://gridvad.github.io.

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