Reading measurement instruments is effortless for humans and requires relatively little domain expertise, yet it remains surprisingly challenging for current vision-language models (VLMs) as we find in preliminary evaluation. In this work, we introduce MeasureBench, a benchmark on visual measurement reading covering both real-world and synthesized images of various types of measurements, along with an extensible pipeline for data synthesis. Our pipeline procedurally generates a specified type of gauge with controllable visual appearance, enabling scalable variation in key details such as pointers, scales, fonts, lighting, and clutter. Evaluation on popular proprietary and open-weight VLMs shows that even the strongest frontier VLMs struggle measurement reading in general. A consistent failure mode is indicator localization: models can read digits or labels but misidentify the key positions of pointers or alignments, leading to big numeric errors despite plausible textual reasoning. We have also conducted preliminary experiments with reinforcement learning over synthetic data, and find encouraging results on in-domain synthetic subset but less promising for real-world images. Our analysis highlights a fundamental limitation of current VLMs in fine-grained spatial grounding. We hope this resource can help future advances on visually grounded numeracy and precise spatial perception of VLMs, bridging the gap between recognizing numbers and measuring the world.

This thesis investigates how foundation models can be systematically leveraged to enhance robotic capabilities, enabling more effective localization, interaction, and manipulation in unstructured environments. The work is structured around four core lines of inquiry, each addressing a fundamental challenge in robotics while collectively contributing to a cohesive framework for semantics-aware robotic intelligence.

Large Language Models (LLMs) are susceptible to jailbreak attacks where malicious prompts are disguised using ciphers and character-level encodings to bypass safety guardrails. While these guardrails often fail to interpret the encoded content, the underlying models can still process the harmful instructions. We introduce CPT-Filtering, a novel, model-agnostic with negligible-costs and near-perfect accuracy guardrail technique that aims to mitigate these attacks by leveraging the intrinsic behavior of Byte-Pair Encoding (BPE) tokenizers. Our method is based on the principle that tokenizers, trained on natural language, represent out-of-distribution text, such as ciphers, using a significantly higher number of shorter tokens. Our technique uses a simple yet powerful artifact of using language models: the average number of Characters Per Token (CPT) in the text. This approach is motivated by the high compute cost of modern methods - relying on added modules such as dedicated LLMs or perplexity models. We validate our approach across a large dataset of over 100,000 prompts, testing numerous encoding schemes with several popular tokenizers. Our experiments demonstrate that a simple CPT threshold robustly identifies encoded text with high accuracy, even for very short inputs. CPT-Filtering provides a practical defense layer that can be immediately deployed for real-time text filtering and offline data curation.

Community-driven Text-to-SQL evaluation platforms play a pivotal role in tracking the state of the art of Text-to-SQL performance. The reliability of the evaluation process is critical for driving progress in the field. Current evaluation methods are largely test-based, which involves comparing the execution results of a generated SQL query and a human-labeled ground-truth on a static test database. Such an evaluation is optimistic, as two queries can coincidentally produce the same output on the test database while actually being different. In this work, we propose a new alternative evaluation pipeline, called SpotIt, where a formal bounded equivalence verification engine actively searches for a database that differentiates the generated and ground-truth SQL queries. We develop techniques to extend existing verifiers to support a richer SQL subset relevant to Text-to-SQL. A performance evaluation of ten Text-to-SQL methods on the high-profile BIRD dataset suggests that test-based methods can often overlook differences between the generated query and the ground-truth. Further analysis of the verification results reveals a more complex picture of the current Text-to-SQL evaluation.

The purpose of this study is to present and compare three denoising diffusion probabilistic models (DDPMs) that generate 3D $T_1$-weighted MRI human brain images. Three DDPMs were trained using 80,675 image volumes from 42,406 subjects spanning 38 publicly available brain MRI datasets. These images had approximately 1 mm isotropic resolution and were manually inspected by three human experts to exclude those with poor quality, field-of-view issues, and excessive pathology. The images were minimally preprocessed to preserve the visual variability of the data. Furthermore, to enable the DDPMs to produce images with natural orientation variations and inhomogeneity, the images were neither registered to a common coordinate system nor bias field corrected. Evaluations included segmentation, Frechet Inception Distance (FID), and qualitative inspection. Regarding results, all three DDPMs generated coherent MR brain volumes. The velocity and flow prediction models achieved lower FIDs than the sample prediction model. However, all three models had higher FIDs compared to real images across multiple cohorts. In a permutation experiment, the generated brain regional volume distributions differed statistically from real data. However, the velocity and flow prediction models had fewer statistically different volume distributions in the thalamus and putamen. In conclusion this work presents and releases the first 3D non-latent diffusion model for brain data without skullstripping or registration. Despite the negative results in statistical testing, the presented DDPMs are capable of generating high-resolution 3D $T_1$-weighted brain images. All model weights and corresponding inference code are publicly available at https://github.com/piksl-research/medforj .

We present VISAT, a novel open dataset and benchmarking suite for evaluating model robustness in the task of traffic sign recognition with the presence of visual attributes. Built upon the Mapillary Traffic Sign Dataset (MTSD), our dataset introduces two benchmarks that respectively emphasize robustness against adversarial attacks and distribution shifts. For our adversarial attack benchmark, we employ the state-of-the-art Projected Gradient Descent (PGD) method to generate adversarial inputs and evaluate their impact on popular models. Additionally, we investigate the effect of adversarial attacks on attribute-specific multi-task learning (MTL) networks, revealing spurious correlations among MTL tasks. The MTL networks leverage visual attributes (color, shape, symbol, and text) that we have created for each traffic sign in our dataset. For our distribution shift benchmark, we utilize ImageNet-C's realistic data corruption and natural variation techniques to perform evaluations on the robustness of both base and MTL models. Moreover, we further explore spurious correlations among MTL tasks through synthetic alterations of traffic sign colors using color quantization techniques. Our experiments focus on two major backbones, ResNet-152 and ViT-B/32, and compare the performance between base and MTL models. The VISAT dataset and benchmarking framework contribute to the understanding of model robustness for traffic sign recognition, shedding light on the challenges posed by adversarial attacks and distribution shifts. We believe this work will facilitate advancements in developing more robust models for real-world applications in autonomous driving and cyber-physical systems.

Abstract--Unlike existing methods that rely on source images as appearance references and use source speech to generate motion, this work proposes a novel approach that directly extracts information from the speech, addressing key challenges in speech-to-talking face. Specifically, we first employ a speech-to-face portrait generation stage, utilizing a speech-conditioned diffusion model combined with statistical facial prior and a sample-adaptive weighting module to achieve high-quality portrait generation. T o generate high-resolution outputs, we integrate a pre-trained Transformer-based discrete codebook with an image rendering network, enhancing video frame details in an end-to-end manner . Experimental results demonstrate that our method outperforms existing approaches on the HDTF, V oxCeleb, and A VSpeech datasets. Notably, this is the first method capable of generating high-resolution, high-quality talking face videos exclusively from a single speech input. UDIO-driven talking face generation aims to animate a target portrait image to create realistic talking videos given a driving audio speech. This technique finds wide application in various practical scenarios, including high-quality film and animation production, virtual assistants, interactive educational content creation, and realistic character animation. Recently, significant advancements have been made in this field with the development of generative models. Existing talking face generation methods mainly focus on creating animated videos from a reference portrait [1]-[5]. Still, there is a dilemma: users are concerned about privacy breaches when using real portrait images [6]. FaceChain [6] made the first attempt to liberate the source face and directly infer the synchronized portrait using disentangled identity features from speech. However, the generated virtual face fails to preserve identity consistency.

Dance-to-music (D2M) generation aims to automatically compose music that is rhythmically and temporally aligned with dance movements. Existing methods typically rely on coarse rhythm embeddings, such as global motion features or binarized joint-based rhythm values, which discard fine-grained motion cues and result in weak rhythmic alignment. Moreover, temporal mismatches introduced by feature downsampling further hinder precise synchronization between dance and music. To address these problems, we propose \textbf{GACA-DiT}, a diffusion transformer-based framework with two novel modules for rhythmically consistent and temporally aligned music generation. First, a \textbf{genre-adaptive rhythm extraction} module combines multi-scale temporal wavelet analysis and spatial phase histograms with adaptive joint weighting to capture fine-grained, genre-specific rhythm patterns. Second, a \textbf{context-aware temporal alignment} module resolves temporal mismatches using learnable context queries to align music latents with relevant dance rhythm features. Extensive experiments on the AIST++ and TikTok datasets demonstrate that GACA-DiT outperforms state-of-the-art methods in both objective metrics and human evaluation. Project page: https://beria-moon.github.io/GACA-DiT/.

Auditory sensory overload affects 50-70% of individuals with Autism Spectrum Disorder (ASD), yet existing approaches, such as mechanistic models (Hodgkin Huxley type, Wilson Cowan, excitation inhibition balance), clinical tools (EEG/MEG, Sensory Profile scales), and ML methods (Neural ODEs, predictive coding), either assume fixed parameters or lack interpretability, missing autism heterogeneity. We present a Scientific Machine Learning approach using Universal Differential Equations (UDEs) to model sensory adaptation dynamics in autism. Our framework combines ordinary differential equations grounded in biophysics with neural networks to capture both mechanistic understanding and individual variability. We demonstrate that UDEs achieve a 90.8% improvement over pure Neural ODEs while using 73.5% fewer parameters. The model successfully recovers physiological parameters within the 2% error and provides a quantitative risk assessment for sensory overload, predicting 17.2% risk for pulse stimuli with specific temporal patterns. This framework establishes foundations for personalized, evidence-based interventions in autism, with direct applications to wearable technology and clinical practice.

Modern machine learning (ML) has grown into a tightly coupled, full-stack ecosystem that combines hardware, software, network, and applications. Many users rely on cloud providers for elastic, isolated, and cost-efficient resources. Unfortunately, these platforms as a service use virtualization, which means operators have little insight into the users' workloads. This hinders resource optimizations by the operator, which is essential to ensure cost efficiency and minimize execution time. In this paper, we argue that workload knowledge is unnecessary for system-level optimization. We propose Reveal, which takes a hardware-centric approach, relying only on hardware signals - fully accessible by operators. Using low-level signals collected from the system, Reveal detects anomalies through an unsupervised learning pipeline. The pipeline is developed by analyzing over 30 popular ML models on various hardware platforms, ensuring adaptability to emerging workloads and unknown deployment patterns. Using Reveal, we successfully identified both network and system configuration issues, accelerating the DeepSeek model by 5.97%.