Transition control poses a critical challenge in Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL UAV) development due to the tilting rotor mechanism, which shifts the center of gravity and thrust direction during transitions. Current control methods' decoupled control of altitude and position leads to significant vibration, and limits interaction consideration and adaptability. In this study, we propose a novel coupled transition control methodology based on reinforcement learning (RL) driven controller. Besides, contrasting to the conventional phase-transition approach, the ST3M method demonstrates a new perspective by treating cruise mode as a special case of hover. We validate the feasibility of applying our method in simulation and real-world environments, demonstrating efficient controller development and migration while accurately controlling UAV position and attitude, exhibiting outstanding trajectory tracking and reduced vibrations during the transition process.

Multimodal Large Language Models (MLLMs) excel in numerous vision-language tasks yet suffer from hallucinations, producing content inconsistent with input visuals, that undermine reliability in precision-sensitive domains. This issue stems from a fundamental problem of visual neglect, where models fail to adequately prioritize input images. Existing methods typically alleviate hallucinations by intervening in the attention score or output logits, focusing on "how to intervene" but overlooking the prerequisite "when to intervene", which leads to the "over-intervention" problem and subsequently introduces new hallucinations and unnecessary computational overhead. T o address this gap, we first investigate the mechanism of visual neglect and reveal it can be accurately detected via head-level activation patterns in MLLMs. W e thus propose V-ITI, a lightweight visual inference-time intervention framework integrating a Visual Neglect Detector that identifies visual neglect via head-level discriminative probes and a Visual Recall Intervenor that modulates activations with prestored visual activation information only when the visual neglect is detected. Extensive experiments across eight benchmarks and different MLLM families demonstrate that V-ITI consistently mitigates vision-related hallucinations while preserving general task performance.

Communication is one of the effective means to improve the learning of cooperative policy in multi-agent systems. However, in most real-world scenarios, lossy communication is a prevalent issue. Existing multi-agent reinforcement learning with communication, due to their limited scalability and robustness, struggles to apply to complex and dynamic real-world environments. To address these challenges, we propose a generalized communication-constrained model to uniformly characterize communication conditions across different scenarios. Based on this, we utilize it as a learning prior to distinguish between lossy and lossless messages for specific scenarios. Additionally, we decouple the impact of lossy and lossless messages on distributed decision-making, drawing on a dual mutual information estimatior, and introduce a communication-constrained multi-agent reinforcement learning framework, quantifying the impact of communication messages into the global reward. Finally, we validate the effectiveness of our approach across several communication-constrained benchmarks.

Department of Engineering Sciences, University of Agder, NorwayAbstract: Compressed sensing enables sparse sampling but relies on generic bases and random measurements, limiting efficiency and reconstruction quality. Optimal sensor placement uses historcal data to design tailored sampling patterns, yet its fixed, linear bases cannot adapt to nonlinear or sample-specific variations. Generative model-based compressed sensing improves reconstruction using deep generative priors but still employs suboptimal random sampling. We propose an adaptive sparse sensing framework that couples a variational autoencoder prior with reinforcement learning to select measurements sequentially. Experiments show that this approach outperforms CS, OSP, and Generative model-based reconstruction from sparse measurements.

We study the dynamics and equilibria of a new kind of routing games, where players - drivers of future autonomous vehicles - may switch between individual (HDV) and collective (CAV) routing. In individual routing, just like today, drivers select routes minimizing expected travel costs, whereas in collective routing an operator centrally assigns vehicles to routes. The utility is then the average experienced travel time discounted with individually perceived attractiveness of automated driving. The market share maximising strategy amounts to offering utility greater than for individual routing to as many drivers as possible. Our theoretical contribution consists in developing a rigorous mathematical framework of individualized collective routing and studying algorithms which fleets of CAVs may use for their market-share optimization. We also define bi-level CAV - HDV equilibria and derive conditions which link the potential marketing behaviour of CAVs to the behavioural profile of the human population. Practically, we find that the fleet operator may often be able to equilibrate at full market share by simply mimicking the choices HDVs would make. In more realistic heterogenous human population settings, however, we discover that the market-share maximizing fleet controller should use highly variable mixed strategies as a means to attract or retain customers. The reason is that in mixed routing the powerful group player can control which vehicles are routed via congested and uncongested alternatives. The congestion pattern generated by CAVs is, however, not known to HDVs before departure and so HDVs cannot select faster routes and face huge uncertainty whichever alternative they choose. Consequently, mixed market-share maximising fleet strategies resulting in unpredictable day-to-day driving conditions may, alarmingly, become pervasive in our future cities.

Multimodal document retrieval systems have shown strong progress in aligning visual and textual content for semantic search. However, most existing approaches remain heavily English-centric, limiting their effectiveness in multilingual contexts. In this work, we present M3DR (Multilingual Multimodal Document Retrieval), a framework designed to bridge this gap across languages, enabling applicability across diverse linguistic and cultural contexts. M3DR leverages synthetic multilingual document data and generalizes across different vision-language architectures and model sizes, enabling robust cross-lingual and cross-modal alignment. Using contrastive training, our models learn unified representations for text and document images that transfer effectively across languages. We validate this capability on 22 typologically diverse languages, demonstrating consistent performance and adaptability across linguistic and script variations. We further introduce a comprehensive benchmark that captures real-world multilingual scenarios, evaluating models under monolingual, multilingual, and mixed-language settings. M3DR generalizes across both single dense vector and ColBERT-style token-level multi-vector retrieval paradigms. Our models, NetraEmbed and ColNetraEmbed achieve state-of-the-art performance with ~150% relative improvements on cross-lingual retrieval.

Crowdsourcing enables scalable autonomous driving map construction, but low-cost sensor noise hinders quality from improving with data volume. We propose CSMapping, a system that produces accurate semantic maps and topological road centerlines whose quality consistently increases with more crowdsourced data. For semantic mapping, we train a latent diffusion model on HD maps (optionally conditioned on SD maps) to learn a generative prior of real-world map structure, without requiring paired crowdsourced/HD-map supervision. This prior is incorporated via constrained MAP optimization in latent space, ensuring robustness to severe noise and plausible completion in unobserved areas. Initialization uses a robust vectorized mapping module followed by diffusion inversion; optimization employs efficient Gaussian-basis reparameterization, projected gradient descent zobracket multi-start, and latent-space factor-graph for global consistency. For topological mapping, we apply confidence-weighted k-medoids clustering and kinematic refinement to trajectories, yielding smooth, human-like centerlines robust to trajectory variation. Experiments on nuScenes, Argoverse 2, and a large proprietary dataset achieve state-of-the-art semantic and topological mapping performance, with thorough ablation and scalability studies.

The Segment Anything Model (SAM) has emerged as a powerful visual foundation model for image segmentation. However, adapting SAM to specific downstream tasks, such as medical and agricultural imaging, remains a significant challenge. To address this, Low-Rank Adaptation (LoRA) and its variants have been widely employed to enhancing SAM's adaptation performance on diverse domains. Despite advancements, a critical question arises: can we integrate inductive bias into the model? This is particularly relevant since the Transformer encoder in SAM inherently lacks spatial priors within image patches, potentially hindering the acquisition of high-level semantic information. In this paper, we propose NAS-LoRA, a new Parameter-Efficient Fine-Tuning (PEFT) method designed to bridge the semantic gap between pre-trained SAM and specialized domains. Specifically, NAS-LoRA incorporates a lightweight Neural Architecture Search (NAS) block between the encoder and decoder components of LoRA to dynamically optimize the prior knowledge integrated into weight updates. Furthermore, we propose a stage-wise optimization strategy to help the ViT encoder balance weight updates and architectural adjustments, facilitating the gradual learning of high-level semantic information. V arious Experiments demonstrate our NAS-LoRA improves existing PEFT methods, while reducing training cost by 24.14% without increasing inference cost, highlighting the potential of NAS in enhancing PEFT for visual foundation models.

In multicellular organisms, cells coordinate their activities through cell-cell communication (CCC), which are crucial for development, tissue homeostasis, and disease progression. Recent advances in single-cell and spatial omics technologies provide unprecedented opportunities to systematically infer and analyze CCC from these omics data, either by integrating prior knowledge of ligand-receptor interactions (LRIs) or through de novo approaches. A variety of computational methods have been developed, focusing on methodological innovations, accurate modeling of complex signaling mechanisms, and investigation of broader biological questions. These advances have greatly enhanced our ability to analyze CCC and generate biological hypotheses. Here, we introduce the biological mechanisms and modeling strategies of CCC, and provide a focused overview of more than 140 computational methods for inferring CCC from single-cell and spatial transcriptomic data, emphasizing the diversity in methodological frameworks and biological questions. Finally, we discuss the current challenges and future opportunities in this rapidly evolving field.

Large Language Models (LLMs) are increasingly prevalent in the field of long-context modeling, however, their inference computational costs have become a critical bottleneck hindering the advancement of tasks such as agents and multimodal applications. This report conducts a preliminary investigation into the effectiveness and theoretical mechanisms of the Top-$k$ Attention mechanism during both the decoding and training phases. First, we validate the effectiveness of exact Top-$k$ Decoding through extensive experimentation. Experiments demonstrate that retaining only the pivotal Keys with the highest similarity to the Query as the context window during the decoding stage achieves performance comparable to, or even surpassing, full attention on downstream tasks such as HELMET and LongBench v2. Second, we further explore the native Top-$k$ Attention training strategy. Experiments confirm that ensuring the consistency between training and inference regarding Top-$k$ Attention operations facilitates the further unlocking of Top-$k$ Decoding's potential, thereby significantly enhancing model performance. Furthermore, considering the high computational complexity of exact Top-$k$ Attention, we investigate the impact of approximate Top-$k$ algorithm precision on downstream tasks. Our research confirms a positive correlation between downstream task performance and approximation fidelity, and we provide statistical evaluations of the Lightning Indexer's precision within the DeepSeek-V3.2-Exp model. Finally, this report provides a theoretical interpretation from the perspective of Entropy. Experimental observations indicate that models subjected to Top-$k$ Attention SFT exhibit a distinct phenomenon of entropy reduction in downstream tasks, which validates the hypothesis that low-entropy states are better adapted to Top-$k$ Decoding.