Robust UAV Jittering and Task Scheduling in Mobile Edge Computing with Data Compression

Data compression technology is able to reduce data size, which can be applied to lower the cost of task offloading in mobile edge computing (MEC). This paper addresses the practical challenges for robust trajectory and scheduling optimization based on data compression in the unmanned aerial vehicle (UAV)-assisted MEC, aiming to minimize the sum energy cost of terminal users while maintaining robust performance during UAV flight. Considering the non-convexity of the problem and the dynamic nature of the scenario, the optimization problem is reformulated as a Markov decision process. Then, a randomized ensembled double Q-learning (REDQ) algorithm is adopted to solve the issue. The algorithm allows for higher feasible update-to-data ratio, enabling more effective learning from observed data. The simulation results show that the proposed scheme effectively reduces the energy consumption while ensuring flight robustness. Compared to the PPO and A2C algorithms, energy consumption is reduced by approximately $21.9\%$ and $35.4\%$, respectively. This method demonstrates significant advantages in complex environments and holds great potential for practical applications.

Offloading Revenue Maximization in Multi-UAV-Assisted Mobile Edge Computing for Video Stream

Traditional video transmission systems assisted by multiple Unmanned Aerial Vehicles (UAVs) are often limited by computing resources, making it challenging to meet the demands for efficient video processing. To solve this challenge, this paper presents a multi-UAV-assisted Device-to-Device (D2D) mobile edge computing system for the maximization of task offloading profits in video stream transmission. In particular, the system enables UAVs to collaborate with idle user devices to process video computing tasks by introducing D2D communications. To maximize the system efficiency, the paper jointly optimizes power allocation, video transcoding strategies, computing resource allocation, and UAV trajectory. The resulting non-convex optimization problem is formulated as a Markov decision process and solved relying on the Twin Delayed Deep Deterministic policy gradient (TD3) algorithm. Numerical results indicate that the proposed TD3 algorithm performs a significant advantage over other traditional algorithms in enhancing the overall system efficiency.

GSGTrack: Gaussian Splatting-Guided Object Pose Tracking from RGB Videos

Tracking the 6DoF pose of unknown objects in monocular RGB video sequences is crucial for robotic manipulation. However, existing approaches typically rely on accurate depth information, which is non-trivial to obtain in real-world scenarios. Although depth estimation algorithms can be employed, geometric inaccuracy can lead to failures in RGBD-based pose tracking methods. To address this challenge, we introduce GSGTrack, a novel RGB-based pose tracking framework that jointly optimizes geometry and pose. Specifically, we adopt 3D Gaussian Splatting to create an optimizable 3D representation, which is learned simultaneously with a graph-based geometry optimization to capture the object's appearance features and refine its geometry. However, the joint optimization process is susceptible to perturbations from noisy pose and geometry data. Thus, we propose an object silhouette loss to address the issue of pixel-wise loss being overly sensitive to pose noise during tracking. To mitigate the geometric ambiguities caused by inaccurate depth information, we propose a geometry-consistent image pair selection strategy, which filters out low-confidence pairs and ensures robust geometric optimization. Extensive experiments on the OnePose and HO3D datasets demonstrate the effectiveness of GSGTrack in both 6DoF pose tracking and object reconstruction.

Event-Based Tracking Any Point with Motion-Augmented Temporal Consistency

Tracking Any Point (TAP) plays a crucial role in motion analysis. Video-based approaches rely on iterative local matching for tracking, but they assume linear motion during the blind time between frames, which leads to target point loss under large displacements or nonlinear motion. The high temporal resolution and motion blur-free characteristics of event cameras provide continuous, fine-grained motion information, capturing subtle variations with microsecond precision. This paper presents an event-based framework for tracking any point, which tackles the challenges posed by spatial sparsity and motion sensitivity in events through two tailored modules. Specifically, to resolve ambiguities caused by event sparsity, a motion-guidance module incorporates kinematic features into the local matching process. Additionally, a variable motion aware module is integrated to ensure temporally consistent responses that are insensitive to varying velocities, thereby enhancing matching precision. To validate the effectiveness of the approach, an event dataset for tracking any point is constructed by simulation, and is applied in experiments together with two real-world datasets. The experimental results show that the proposed method outperforms existing SOTA methods. Moreover, it achieves 150\% faster processing with competitive model parameters.

LUIEO: A Lightweight Model for Integrating Underwater Image Enhancement and Object Detection

Underwater optical images inevitably suffer from various degradation factors such as blurring, low contrast, and color distortion, which hinder the accuracy of object detection tasks. Due to the lack of paired underwater/clean images, most research methods adopt a strategy of first enhancing and then detecting, resulting in a lack of feature communication between the two learning tasks. On the other hand, due to the contradiction between the diverse degradation factors of underwater images and the limited number of samples, existing underwater enhancement methods are difficult to effectively enhance degraded images of unknown water bodies, thereby limiting the improvement of object detection accuracy. Therefore, most underwater target detection results are still displayed on degraded images, making it difficult to visually judge the correctness of the detection results. To address the above issues, this paper proposes a multi-task learning method that simultaneously enhances underwater images and improves detection accuracy. Compared with single-task learning, the integrated model allows for the dynamic adjustment of information communication and sharing between different tasks. Due to the fact that real underwater images can only provide annotated object labels, this paper introduces physical constraints to ensure that object detection tasks do not interfere with image enhancement tasks. Therefore, this article introduces a physical module to decompose underwater images into clean images, background light, and transmission images and uses a physical model to calculate underwater images for self-supervision. Numerical experiments demonstrate that the proposed model achieves satisfactory results in visual performance, object detection accuracy, and detection efficiency compared to state-of-the-art comparative methods.

When Large Vision-Language Models Meet Person Re-Identification

Large Vision-Language Models (LVLMs) that incorporate visual models and Large Language Models (LLMs) have achieved impressive results across various cross-modal understanding and reasoning tasks. In recent years, person re-identification (ReID) has also started to explore cross-modal semantics to improve the accuracy of identity recognition. However, effectively utilizing LVLMs for ReID remains an open challenge. While LVLMs operate under a generative paradigm by predicting the next output word, ReID requires the extraction of discriminative identity features to match pedestrians across cameras. In this paper, we propose LVLM-ReID, a novel framework that harnesses the strengths of LVLMs to promote ReID. Specifically, we employ instructions to guide the LVLM in generating one pedestrian semantic token that encapsulates key appearance semantics from the person image. This token is further refined through our Semantic-Guided Interaction (SGI) module, establishing a reciprocal interaction between the semantic token and visual tokens. Ultimately, the reinforced semantic token serves as the pedestrian identity representation. Our framework integrates the semantic understanding and generation capabilities of LVLMs into end-to-end ReID training, allowing LVLMs to capture rich semantic cues from pedestrian images during both training and inference. Our method achieves competitive results on multiple benchmarks without additional image-text annotations, demonstrating the potential of LVLM-generated semantics to advance person ReID and offering a promising direction for future research.

Self-supervised Monocular Depth and Pose Estimation for Endoscopy with Generative Latent Priors

Accurate 3D mapping in endoscopy enables quantitative, holistic lesion characterization within the gastrointestinal (GI) tract, requiring reliable depth and pose estimation. However, endoscopy systems are monocular, and existing methods relying on synthetic datasets or complex models often lack generalizability in challenging endoscopic conditions. We propose a robust self-supervised monocular depth and pose estimation framework that incorporates a Generative Latent Bank and a Variational Autoencoder (VAE). The Generative Latent Bank leverages extensive depth scenes from natural images to condition the depth network, enhancing realism and robustness of depth predictions through latent feature priors. For pose estimation, we reformulate it within a VAE framework, treating pose transitions as latent variables to regularize scale, stabilize z-axis prominence, and improve x-y sensitivity. This dual refinement pipeline enables accurate depth and pose predictions, effectively addressing the GI tract's complex textures and lighting. Extensive evaluations on SimCol and EndoSLAM datasets confirm our framework's superior performance over published self-supervised methods in endoscopic depth and pose estimation.

A Quality-Centric Framework for Generic Deepfake Detection

This paper addresses the generalization issue in deepfake detection by harnessing forgery quality in training data. Generally, the forgery quality of different deepfakes varies: some have easily recognizable forgery clues, while others are highly realistic. Existing works often train detectors on a mix of deepfakes with varying forgery qualities, potentially leading detectors to short-cut the easy-to-spot artifacts from low-quality forgery samples, thereby hurting generalization performance. To tackle this issue, we propose a novel quality-centric framework for generic deepfake detection, which is composed of a Quality Evaluator, a low-quality data enhancement module, and a learning pacing strategy that explicitly incorporates forgery quality into the training process. The framework is inspired by curriculum learning, which is designed to gradually enable the detector to learn more challenging deepfake samples, starting with easier samples and progressing to more realistic ones. We employ both static and dynamic assessments to assess the forgery quality, combining their scores to produce a final rating for each training sample. The rating score guides the selection of deepfake samples for training, with higher-rated samples having a higher probability of being chosen. Furthermore, we propose a novel frequency data augmentation method specifically designed for low-quality forgery samples, which helps to reduce obvious forgery traces and improve their overall realism. Extensive experiments show that our method can be applied in a plug-and-play manner and significantly enhance the generalization performance.

LLM-R: A Framework for Domain-Adaptive Maintenance Scheme Generation Combining Hierarchical Agents and RAG

The increasing use of smart devices has emphasized the critical role of maintenance in production activities. Interactive Electronic Technical Manuals (IETMs) are vital tools that support the maintenance of smart equipment. However, traditional IETMs face challenges such as transitioning from Graphical User Interfaces (GUIs) to natural Language User Interfaces (LUIs) and managing complex logical relationships. Additionally, they must meet the current demands for higher intelligence. This paper proposes a Maintenance Scheme Generation Method based on Large Language Models (LLM-R). The proposed method includes several key innovations: We propose the Low Rank Adaptation-Knowledge Retention (LORA-KR) loss technology to proportionally adjust mixed maintenance data for fine-tuning the LLM. This method prevents knowledge conflicts caused by mixed data, improving the model's adaptability and reasoning ability in specific maintenance domains, Besides, Hierarchical Task-Based Agent and Instruction-level Retrieval-Augmented Generation (RAG) technologies are adopted to optimize the generation steps and mitigate the phenomenon of hallucination caused by the model's Inability to access contextual information. This enhancement improves the model's flexibility and accuracy in handling known or unknown maintenance objects and maintenance scheme scenarios. To validate the proposed method's effectiveness in maintenance tasks, a maintenance scheme dataset was constructed using objects from different fields. The experimental results show that the accuracy of the maintenance schemes generated by the proposed method reached 91.59%, indicating which improvement enhances the intelligence of maintenance schemes and introduces novel technical approaches for equipment maintenance.

Learning to Unify Audio, Visual and Text for Audio-Enhanced Multilingual Visual Answer Localization

The goal of Multilingual Visual Answer Localization (MVAL) is to locate a video segment that answers a given multilingual question. Existing methods either focus solely on visual modality or integrate visual and subtitle modalities. However, these methods neglect the audio modality in videos, consequently leading to incomplete input information and poor performance in the MVAL task. In this paper, we propose a unified Audio-Visual-Textual Span Localization (AVTSL) method that incorporates audio modality to augment both visual and textual representations for the MVAL task. Specifically, we integrate features from three modalities and develop three predictors, each tailored to the unique contributions of the fused modalities: an audio-visual predictor, a visual predictor, and a textual predictor. Each predictor generates predictions based on its respective modality. To maintain consistency across the predicted results, we introduce an Audio-Visual-Textual Consistency module. This module utilizes a Dynamic Triangular Loss (DTL) function, allowing each modality's predictor to dynamically learn from the others. This collaborative learning ensures that the model generates consistent and comprehensive answers. Extensive experiments show that our proposed method outperforms several state-of-the-art (SOTA) methods, which demonstrates the effectiveness of the audio modality.