Global Covariance Pooling (GCP) has garnered increasing attention in visual recognition tasks, where second-order statistics frequently yield stronger representations than first-order approaches.

Long-horizon, dexterous manipulation tasks such as furniture assembly, food preparation, and manufacturing have been a holy grail in robotics. Recent large robot action models (T eam et al., 2025; Black et al., 2024; Kim et al., 2024) have made substantial breakthroughs towards these goals by imitating expert demonstrations of diverse qualities. We provide a more comprehensive review of related work in Section 6, but highlight here a key trend: while supervised learning from demonstration, also known as behavior cloning (BC), has been applied across domains for decades (Pomerleau, 1988), its recent success in robotic manipulation has coincided with the adoption of what we term generative control policies (GCPs): robotic control policies that use generative modeling architectures, such as diffusion models, flow models, and autoregressive transformers, as parameterizations of the mapping from observation to action. Given the seemingly transformative nature of GCPs for robot learning, there has been much speculation about the origin of their superior performance relative to policies trained with a regression loss, henceforth regression control policies (RCPs). GCPs, by modeling conditional distributions over actions, are uniquely suited to the multi-task pretraining paradigm popular in today's large robotic models.

Understanding the predictions made by deep learning models remains a central challenge, especially in high-stakes applications. A promising approach is to equip models with the ability to answer counterfactual questions -- hypothetical ``what if?'' scenarios that go beyond the observed data and provide insight into a model reasoning. In this work, we introduce the notion of causal interpretability, which formalizes when counterfactual queries can be evaluated from a specific class of models and observational data. We analyze two common model classes -- blackbox and concept-based predictors -- and show that neither is causally interpretable in general. To address this gap, we develop a framework for building models that are causally interpretable by design. Specifically, we derive a complete graphical criterion that determines whether a given model architecture supports a given counterfactual query. This leads to a fundamental tradeoff between causal interpretability and predictive accuracy, which we characterize by identifying the unique maximal set of features that yields an interpretable model with maximal predictive expressiveness. Experiments corroborate the theoretical findings.

Single-cell sequencing is revolutionizing biology by enabling detailed investigations of cell-state transitions. Many biological processes unfold along continuous trajectories, yet it remains challenging to extract smooth, low-dimensional representations from inherently noisy, high-dimensional single-cell data. Neighbor embedding (NE) algorithms, such as t-SNE and UMAP, are widely used to embed high-dimensional single-cell data into low dimensions. But they often introduce undesirable distortions, resulting in misleading interpretations. Existing evaluation methods for NE algorithms primarily focus on separating discrete cell types rather than capturing continuous cell-state transitions, while dynamic modeling approaches rely on strong assumptions about cellular processes and specialized data. To address these challenges, we build on the Predictability-Computability-Stability (PCS) framework for reliable and reproducible data-driven discoveries. First, we systematically evaluate popular NE algorithms through empirical analysis, simulation, and theory, and reveal their key shortcomings, such as artifacts and instability. We then introduce NESS, a principled and interpretable machine learning approach to improve NE representations by leveraging algorithmic stability and to enable robust inference of smooth biological structures. NESS offers useful concepts, quantitative stability metrics, and efficient computational workflows to uncover developmental trajectories and cell-state transitions in single-cell data. Finally, we apply NESS to six single-cell datasets, spanning pluripotent stem cell differentiation, organoid development, and multiple tissue-specific lineage trajectories. Across these diverse contexts, NESS consistently yields useful biological insights, such as identification of transitional and stable cell states and quantification of transcriptional dynamics during development.

The graph coloring problem (GCP) is a classic combinatorial optimization problem that aims to find the minimum number of colors assigned to vertices of a graph such that no two adjacent vertices receive the same color. GCP has been extensively studied by researchers from various fields, including mathematics, computer science, and biological science. Due to the NP-hard nature, many heuristic algorithms have been proposed to solve GCP. However, existing GCP algorithms focus on either small hard graphs or large-scale sparse graphs (with up to 10^7 vertices). This paper presents an efficient hybrid heuristic algorithm for GCP, named HyColor, which excels in handling large-scale sparse graphs while achieving impressive results on small dense graphs. The efficiency of HyColor comes from the following three aspects: a local decision strategy to improve the lower bound on the chromatic number; a graph-reduction strategy to reduce the working graph; and a k-core and mixed degree-based greedy heuristic for efficiently coloring graphs. HyColor is evaluated against three state-of-the-art GCP algorithms across four benchmarks, comprising three large-scale sparse graph benchmarks and one small dense graph benchmark, totaling 209 instances. The results demonstrate that HyColor consistently outperforms existing heuristic algorithms in both solution accuracy and computational efficiency for the majority of instances. Notably, HyColor achieved the best solutions in 194 instances (over 93%), with 34 of these solutions significantly surpassing those of other algorithms. Furthermore, HyColor successfully determined the chromatic number and achieved optimal coloring in 128 instances.

This paper addresses the challenge of mapping polygonal buildings from remote sensing images and introduces a novel algorithm, the Global Collinearity-aware Polygonizer (GCP). GCP, built upon an instance segmentation framework, processes binary masks produced by any instance segmentation model. The algorithm begins by collecting polylines sampled along the contours of the binary masks. These polylines undergo a refinement process using a transformer-based regression module to ensure they accurately fit the contours of the targeted building instances. Subsequently, a collinearity-aware polygon simplification module simplifies these refined polylines and generate the final polygon representation. This module employs dynamic programming technique to optimize an objective function that balances the simplicity and fidelity of the polygons, achieving globally optimal solutions. Furthermore, the optimized collinearity-aware objective is seamlessly integrated into network training, enhancing the cohesiveness of the entire pipeline. The effectiveness of GCP has been validated on two public benchmarks for polygonal building mapping. Further experiments reveal that applying the collinearity-aware polygon simplification module to arbitrary polylines, without prior knowledge, enhances accuracy over traditional methods such as the Douglas-Peucker algorithm. This finding underscores the broad applicability of GCP. The code for the proposed method will be made available at https://github.com/zhu-xlab.

Humanoid robots must master numerous tasks with sparse rewards, posing a challenge for reinforcement learning (RL). We propose a method combining RL and automated planning to address this. Our approach uses short goal-conditioned policies (GCPs) organized hierarchically, with Monte Carlo Tree Search (MCTS) planning using high-level actions (HLAs). Instead of primitive actions, the planning process generates HLAs. A single plan-tree, maintained during the agent's lifetime, holds knowledge about goal achievement. This hierarchy enhances sample efficiency and speeds up reasoning by reusing HLAs and anticipating future actions. Our Hierarchical Goal-Conditioned Policy Planning (HGCPP) framework uniquely integrates GCPs, MCTS, and hierarchical RL, potentially improving exploration and planning in complex tasks.

Simultaneous Localization and Mapping systems are a key enabler for positioning in both handheld and robotic applications. The Hilti SLAM Challenges organized over the past years have been successful at benchmarking some of the world's best SLAM Systems with high accuracy. However, more capabilities of these systems are yet to be explored, such as platform agnosticism across varying sensor suites and multi-session SLAM. These factors indirectly serve as an indicator of robustness and ease of deployment in real-world applications. There exists no dataset plus benchmark combination publicly available, which considers these factors combined. The Hilti SLAM Challenge 2023 Dataset and Benchmark addresses this issue. Additionally, we propose a novel fiducial marker design for a pre-surveyed point on the ground to be observable from an off-the-shelf LiDAR mounted on a robot, and an algorithm to estimate its position at mm-level accuracy. Results from the challenge show an increase in overall participation, single-session SLAM systems getting increasingly accurate, successfully operating across varying sensor suites, but relatively few participants performing multi-session SLAM.

The 3D ultrasound (US) entrance inspires a multitude of automated prenatal examinations. However, studies about the structuralized description of the whole fetus in 3D US are still rare. In this paper, we propose to estimate the 3D pose of fetus in US volumes to facilitate its quantitative analyses in global and local scales. Given the great challenges in 3D US, including the high volume dimension, poor image quality, symmetric ambiguity in anatomical structures and large variations of fetal pose, our contribution is three-fold. (i) This is the first work about 3D pose estimation of fetus in the literature. We aim to extract the skeleton of whole fetus and assign different segments/joints with correct torso/limb labels. (ii) We propose a self-supervised learning (SSL) framework to finetune the deep network to form visually plausible pose predictions. Specifically, we leverage the landmark-based registration to effectively encode case-adaptive anatomical priors and generate evolving label proxy for supervision. (iii) To enable our 3D network perceive better contextual cues with higher resolution input under limited computing resource, we further adopt the gradient check-pointing (GCP) strategy to save GPU memory and improve the prediction. Extensively validated on a large 3D US dataset, our method tackles varying fetal poses and achieves promising results. 3D pose estimation of fetus has potentials in serving as a map to provide navigation for many advanced studies.

Resource constrained job scheduling is a hard combinatorial optimisation problem that originates in the mining industry. Off-the-shelf solvers cannot solve this problem satisfactorily in reasonable timeframes, while other solution methods such as many evolutionary computation methods and matheuristics cannot guarantee optimality and require low-level customisation and specialised heuristics to be effective. This paper addresses this gap by proposing a genetic programming algorithm to discover efficient search strategies of constraint programming for resource-constrained job scheduling. In the proposed algorithm, evolved programs represent variable selectors to be used in the search process of constraint programming, and their fitness is determined by the quality of solutions obtained for training instances. The novelties of this algorithm are (1) a new representation of variable selectors, (2) a new fitness evaluation scheme, and (3) a pre-selection mechanism. Tests with a large set of random and benchmark instances, the evolved variable selectors can significantly improve the efficiency of constraining programming. Compared to highly customised metaheuristics and hybrid algorithms, evolved variable selectors can help constraint programming identify quality solutions faster and proving optimality is possible if sufficiently large run-times are allowed. The evolved variable selectors are especially helpful when solving instances with large numbers of machines.