Neural rendering techniques, including NeRF and Gaussian Splatting (GS), rely on photometric consistency to produce high-quality reconstructions. However, in real-world driving scenarios, it is challenging to guarantee perfect photometric consistency in acquired images. Appearance codes have been widely used to address this issue, but their modeling capability is limited, as a single code is applied to the entire image. Recently, the bilateral grid was introduced to perform pixel-wise color mapping, but it is difficult to optimize and constrain effectively. In this paper, we propose a novel multi-scale bilateral grid that unifies appearance codes and bilateral grids. We demonstrate that this approach significantly improves geometric accuracy in dynamic, decoupled autonomous driving scene reconstruction, outperforming both appearance codes and bilateral grids. This is crucial for autonomous driving, where accurate geometry is important for obstacle avoidance and control. Our method shows strong results across four datasets: Waymo, NuScenes, Argoverse, and PandaSet. We further demonstrate that the improvement in geometry is driven by the multi-scale bilateral grid, which effectively reduces floaters caused by photometric inconsistency.

Data filtering has become a powerful tool for improving model performance while reducing computational cost. However, as large language model compute budgets continue to grow, the limited data volume provided by heavily filtered and deduplicated datasets will become a practical constraint. In efforts to better understand how to proceed, we study model performance at various compute budgets and across multiple pre-training datasets created through data filtering and deduplication. We find that, given appropriate modifications to the training recipe, repeating existing aggressively filtered datasets for up to ten epochs can outperform training on the ten times larger superset for a single epoch across multiple compute budget orders of magnitude. While this finding relies on repeating the dataset for many epochs, we also investigate repeats within these datasets at the document level. We find that not all documents within a dataset are equal, and we can create better datasets relative to a token budget by explicitly manipulating the counts of individual documents. We conclude by arguing that even as large language models scale, data filtering remains an important direction of research.

Weight decay is a standard regularization technique for training large language models (LLMs). While it is common to assign a uniform decay rate to every layer, this approach overlooks the structural diversity of LLMs and the varying spectral properties across modules. In this paper, we introduce AlphaDecay, a simple yet effective method that adaptively assigns different weight decay strengths to each module of an LLM. Our approach is guided by Heavy-Tailed Self-Regularization (HT-SR) theory, which analyzes the empirical spectral density (ESD) of weight correlation matrices to quantify "heavy-tailedness." Modules exhibiting more pronounced heavy-tailed ESDs, reflecting stronger feature learning, are assigned weaker decay, while modules with lighter-tailed spectra receive stronger decay. Our method leverages tailored weight decay assignments to balance the module-wise differences in spectral properties, leading to improved performance. Extensive pre-training tasks with various model sizes from 60M to 1B demonstrate that AlphaDecay achieves better perplexity and generalization than conventional uniform decay and other adaptive decay baselines.

Most video-anomaly research stops at frame-wise detection, offering little insight into why an event is abnormal, typically outputting only frame-wise anomaly scores without spatial or semantic context. Recent video anomaly localization and video anomaly understanding methods improve explainability but remain data-dependent and task-specific. We propose a unified reasoning framework that bridges the gap between temporal detection, spatial localization, and textual explanation. Our approach is built upon a chained test-time reasoning process that sequentially connects these tasks, enabling holistic zero-shot anomaly analysis without any additional training. Specifically, our approach leverages intra-task reasoning to refine temporal detections and inter-task chaining for spatial and semantic understanding, yielding improved interpretability and generalization in a fully zero-shot manner. Without any additional data or gradients, our method achieves state-of-the-art zero-shot performance across multiple video anomaly detection, localization, and explanation benchmarks. The results demonstrate that careful prompt design with task-wise chaining can unlock the reasoning power of foundation models, enabling practical, interpretable video anomaly analysis in a fully zero-shot manner.

We propose the Multi-modal Untrimmed Video Retrieval task, along with a new benchmark (MUVR) to advance video retrieval for long-video platforms. MUVR aims to retrieve untrimmed videos containing relevant segments using multi-modal queries. It has the following features: 1) Practical retrieval paradigm: MUVR supports video-centric multi-modal queries, expressing fine-grained retrieval needs through long text descriptions, video tag prompts, and mask prompts. It adopts a one-to-many retrieval paradigm and focuses on untrimmed videos, tailored for long-video platform applications.

Large language models (LLMs) have demonstrated remarkable performance across various tasks. However, it remains an open question whether the default Euclidean space is the most suitable choice for LLMs. In this study, we investigate the geometric characteristics of LLMs, focusing specifically on tokens and their embeddings. Our findings reveal that token frequency follows a power-law distribution, where high-frequency tokens (e.g., "the," "that") constitute the minority, while low-frequency tokens (e.g., "apple," "dog") constitute the majority. Furthermore, high-frequency tokens cluster near the origin, whereas low-frequency tokens are positioned farther away in the embedding space.

Learning pseudo-contractive denoisers is a fundamental challenge in the theoretical analysis of Plug-and-Play (PnP) methods and the Regularization by Denoising (RED) framework. While spectral methods attempt to address this challenge using the power iteration method, they fail to guarantee the truly pseudo-contractive property and suffer from high computational complexity. In this work, we rethink gradient step (GS) denoisers and establish a theoretical connection between GS denoisers and pseudo-contractive operators. We show that GS denoisers, with the gradients of convex potential functions parameterized by input convex neural networks (ICNNs), can achieve truly pseudo-contractive properties. Furthermore, we integrate the learned truly pseudo-contractive denoiser into the RED-PRO (RED via fixed-point projection) model, definitely ensuring convergence in terms of both iterative sequences and objective functions. Extensive numerical experiments confirm that the learned GS denoiser satisfies the truly pseudo-contractive property and, when integrated into RED-PRO, provides a favorable trade-off between interpretability and empirical performance on inverse problems.

Modern AI systems struggle most in environments where reliability is criticalscenes with smoke, poor visibility, and structural deformation. Each year, tens of thousands of firefighters are injured on duty, often due to breakdowns in situational perception [35]. We introduce Fire360, a benchmark for evaluating perception and reasoning in safety-critical firefighting scenarios. The dataset includes 228 360 videos from professional training sessions under diverse conditions (e.g., low light, thermal distortion), annotated with action segments, object locations, and degradation metadata. Fire360 supports five tasks: Visual Question Answering, Temporal Action Captioning, Object Localization, Safety-Critical Reasoning, and Transformed Object Retrieval (TOR). TOR tests whether models can match pristine exemplars to fire-damaged counterparts in unpaired scenes, evaluating episodic memory under irreversible visual transformations. While human experts achieve 83.5% on TOR, models like GPT-4o lag significantly, exposing failures in reasoning under degradation. By releasing Fire360 and its evaluation suite, we aim to advance models that not only see, but also remember, reason, and act under uncertainty.

Modeling and forecasting nonlinear dynamics under distribution shifts is essential for robust decision-making in real-world systems. In this work, we propose MetaKoopman, a Bayesian meta-learning framework for modeling nonlinear dynamics through linear latent representations. MetaKoopman learns a Matrix Normal-Inverse Wishart (MNIW) prior over the Koopman operator, enabling closed-form Bayesian updates conditioned on recent trajectory segments. Moreover, it provides a closed-form posterior predictive distribution over future state trajectories, capturing both epistemic and aleatoric uncertainty in the learned dynamics. We evaluate MetaKoopman on a full-scale autonomous truck and trailer system across a wide range of adverse winter scenarios--including snow, ice, and mixed-friction conditions--as well as in simulated control tasks with diverse distribution shifts. MetaKoopman consistently outperforms prior approaches in multi-step prediction accuracy, uncertainty calibration and robustness to distributional shifts. Field experiments further demonstrate its effectiveness in dynamically feasible motion planning, particularly during evasive maneuvers and operation at the limits of traction.

Deep neural networks (DNNs) have been shown to memorize their training data, but similar analyses for graph neural networks (GNNs) remain under-explored. We introduce NCMemo(Node Classification Memorization), the first framework to quantify label memorization in semi-supervised node classification. We establish an inverse relationship between memorization and graph homophily, i.e., the tendency of connected nodes to share labels or features. Lower homophily significantly increases memorization, indicating that GNNs rely on label memorization when learning less homophilic graphs. We then analyze GNN training dynamics and find that increased memorization in low-homophily graphs is tightly coupled to GNNs' implicit bias toward using graph structure.