The ability to extract oriented edges from visual input is a core computation across animal vision systems. Orientation maps, long associated with the layered architecture of the mammalian visual cortex, systematically organise neurons by their preferred edge orientation. Despite lacking cortical structures, the Drosophila melanogaster brain contains feature-selective neurons and exhibits complex visual detection capacity, raising the question of whether map-like vision representations can emerge without cortical infrastructure. We integrate a complete fruit fly brain connectome with biologically grounded spiking neuron models to simulate neuroprocessing in the fly visual system. By driving the network with oriented stimuli and analysing downstream responses, we show that coherent orientation maps can emerge from purely connectome-constrained dynamics. These results suggest that species of independent origin could evolve similar visual structures.

We introduce ORIGEN, the first zero-shot method for 3D orientation grounding in text-to-image generation across multiple objects and diverse categories. While previous work on spatial grounding in image generation has mainly focused on 2D positioning, it lacks control over 3D orientation. To address this, we propose a reward-guided sampling approach using a pretrained discriminative model for 3D orientation estimation and a one-step text-to-image generative flow model. While gradient-ascent-based optimization is a natural choice for reward-based guidance, it struggles to maintain image realism. Instead, we adopt a sampling-based approach using Langevin dynamics, which extends gradient ascent by simply injecting random noise--requiring just a single additional line of code. Additionally, we introduce adaptive time rescaling based on the reward function to accelerate convergence. Our experiments show that ORIGEN outperforms both training-based and test-time guidance methods across quantitative metrics and user studies.

Humans intuitively perceive object shape and orientation from a single image, guided by strong priors about canonical poses. However, existing 3D generative models often produce misaligned results due to inconsistent training data, limiting their usability in downstream tasks. To address this gap, we introduce the task of orientation-aligned 3D object generation: producing 3D objects from single images with consistent orientations across categories. To facilitate this, we construct Objaverse-OA, a dataset of 14,832 orientation-aligned 3D models spanning 1,008 categories. Leveraging Objaverse-OA, we fine-tune two representative 3D generative models based on multi-view diffusion and 3D variational autoencoder frameworks to produce aligned objects that generalize well to unseen objects across various categories. Experimental results demonstrate the superiority of our method over post-hoc alignment approaches. Furthermore, we showcase downstream applications enabled by our aligned object generation, including zero-shot object orientation estimation via analysis-by-synthesis and efficient arrow-based object rotation manipulation.

We present Orientation-anchored Gaussian Splatting (OriGS), a novel framework for high-quality 4D reconstruction from casually captured monocular videos. While recent advances extend 3DGaussian Splatting to dynamic scenes via various motion anchors, such as graph nodes or spline control points, they often rely on low-rank assumptions and fall short in modeling complex, region-specific deformations inherent to unconstrained dynamics. OriGS addresses this by introducing a hyperdimensional representation grounded in scene orientation.

Controllable image generation has attracted increasing attention in recent years, enabling users to manipulate visual content such as identity and style. However, achieving simultaneous control over the 9D poses (location, size, and orientation) of multiple objects remains an open challenge. Despite recent progress, existing methods often suffer from limited controllability and degraded quality, falling short of comprehensive multi-object 9D pose control. To address these limitations, we propose SceneDesigner, a method for accurate and flexible multi-object 9-DoF pose manipulation. SceneDesigner incorporates a branched network to the pre-trained base model and leverages a new representation, CNOCS map, which encodes 9D pose information from the camera view.

Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder framework can learn a representation from a sequence of tactile measurements that contains all the relevant information about the palpated object. We conjecture that such a representation can be used for downstream tasks such as tactile imaging and change detection. With enough training data, it should capture intricate patterns in the tactile measurements that go beyond a simple map of forces - the current state of the art. To validate our approach, we both develop a simulation environment and collect a real-world dataset of soft objects and corresponding ground truth images obtained by magnetic resonance imaging (MRI). We collect palpation sequences using a robot equipped with a tactile sensor, and train a model that predicts sensory readings at different positions on the object. We investigate the representation learned in this process, and demonstrate its use in imaging and change detection.

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Neural Radiance Fields (NeRFs) have been remarkably successful at synthesizing novel views of 3D scenes by optimizing a volumetric scene function. This scene function models how optical rays bring color information from a 3D object to the camera pixels. Radio frequency (RF) or audio signals can also be viewed as a vehicle for delivering information about the environment to a sensor. However, unlike camera pixels, an RF/audio sensor receives a mixture of signals that contain many environmental reflections (also called "multipath"). Is it still possible to infer the environment using such multipath signals? We show that with redesign, NeRFs can be taught to learn from multipath signals, and thereby "see" the environment. As a grounding application, we aim to infer the indoor floorplan of a home from sparse WiFi measurements made at multiple locations inside the home. Although a difficult inverse problem, our implicitly learnt floorplans look promising, and enables forward applications, such as indoor signal prediction and basic ray tracing.

Path integration is essential for spatial navigation. Experimental studies have identified neural correlates for path integration, but exactly how the neural system accomplishes this computation remains unresolved. Here, we adopt recurrent neural networks (RNNs) trained to perform a path integration task to explore this issue. After training, we borrow neuroscience prior knowledge and methods to unfold the black box of the trained model, including: clarifying neuron types based on their receptive fields, dissecting information flows between neuron groups by pruning their connections, and analyzing internal dynamics of neuron groups using the attractor framework. Intriguingly, we uncover a hierarchical information processing pathway embedded in the RNN model, along which velocity information of an agent is first forwarded to band cells, band and grid cells then coordinate to carry out path integration, and finally grid cells output the agent location. Inspired by the RNN-based study, we construct a neural circuit model, in which band cells form one-dimensional (1D) continuous attractor neural networks (CANNs) and serve as upstream neurons to support downstream grid cells to carry out path integration in the 2D space. Our study challenges the conventional view of considering grid cells as the principal velocity integrator, and supports a neural circuit model with the hierarchy of band and grid cells.

Causal discovery methods are powerful tools for uncovering the structure of relationships among variables, yet they face significant challenges in scalability and interpretability, especially in high-dimensional settings. In many domains, researchers are not only interested in causal links between individual variables, but also in relationships among sets or clusters of variables. Learning causal structure at the cluster level can both reveal higher-order relationships of interest and improve scalability. In this work, we introduce an approach for causal discovery over clusters in Markov causal systems. We propose a new graphical model that encodes knowledge of relationships between user-defined clusters while fully representing independencies and dependencies over clusters, faithful to a given distribution. We then define and characterize a graphical equivalence class of these models that share cluster-level independence information. Lastly, we present a sound and complete algorithm for causal discovery to represent learnable causal relationships between clusters of variables.