AniGen: Unified $S^3$ Fields for Animatable 3D Asset Generation

Animatable 3D assets, defined as geometry equipped with an articulated skeleton and skinning weights, are fundamental to interactive graphics, embodied agents, and animation production. While recent 3D generative models can synthesize visually plausible shapes from images, the results are typically static. Obtaining usable rigs via post-hoc auto-rigging is brittle and often produces skeletons that are topologically inconsistent with the generated geometry. We present AniGen, a unified framework that directly generates animate-ready 3D assets conditioned on a single image. Our key insight is to represent shape, skeleton, and skinning as mutually consistent $S^3$ Fields (Shape, Skeleton, Skin) defined over a shared spatial domain. To enable the robust learning of these fields, we introduce two technical innovations: (i) a confidence-decaying skeleton field that explicitly handles the geometric ambiguity of bone prediction at Voronoi boundaries, and (ii) a dual skin feature field that decouples skinning weights from specific joint counts, allowing a fixed-architecture network to predict rigs of arbitrary complexity. Built upon a two-stage flow-matching pipeline, AniGen first synthesizes a sparse structural scaffold and then generates dense geometry and articulation in a structured latent space. Extensive experiments demonstrate that AniGen substantially outperforms state-of-the-art sequential baselines in rig validity and animation quality, generalizing effectively to in-the-wild images across diverse categories including animals, humanoids, and machinery. Homepage: https://yihua7.github.io/AniGen-web/

Prior-guided Fusion of Multimodal Features for Change Detection from Optical-SAR Images

Multimodal change detection (MMCD) identifies changed areas in multimodal remote sensing (RS) data, demonstrating significant application value in land use monitoring, disaster assessment, and urban sustainable development. However, literature MMCD approaches exhibit limitations in cross-modal interaction and exploiting modality-specific characteristics. This leads to insufficient modeling of fine-grained change information, thus hindering the precise detection of semantic changes in multimodal data. To address the above problems, we propose STSF-Net, a framework designed for MMCD between optical and SAR images. STSF-Net jointly models modality-specific and spatio-temporal common features to enhance change representations. Specifically, modality-specific features are exploited to capture genuine semantic change signals, while spatio-temporal common features are embedded to suppress pseudo-changes caused by differences in imaging mechanisms. Furthermore, we introduce an optical and SAR feature fusion strategy that adaptively adjusts feature importance based on semantic priors obtained from pre-trained foundational models, enabling semantic-guided adaptive fusion of multi-modal information. In addition, we introduce the Delta-SN6 dataset, the first openly-accessible multiclass MMCD benchmark consisting of very-high-resolution (VHR) fully polarimetric SAR and optical images. Experimental results on Delta-SN6, BRIGHT, and Wuhan-Het datasets demonstrate that our method outperforms the state-of-the-art (SOTA) by 3.21%, 1.08%, and 1.32% in mIoU, respectively. The associated code and Delta-SN6 dataset will be released at: https://github.com/liuxuanguang/STSF-Net.

Kilohertz-Safe: A Scalable Framework for Constrained Dexterous Retargeting

Dexterous hand teleoperation requires motion re-targeting methods that simultaneously achieve high-frequency real-time performance and enforcement of heterogeneous kinematic and safety constraints. Existing nonlinear optimization-based approaches often incur prohibitive computational cost, limiting their applicability to kilohertz-level control, while learning-based methods typically lack formal safety guarantees. This paper proposes a scalable motion retargeting framework that reformulates the nonlinear retargeting problem into a convex quadratic program in joint differential space. Heterogeneous constraints, including kinematic limits and collision avoidance, are incorporated through systematic linearization, resulting in improved computational efficiency and numerical stability. Control barrier functions are further integrated to provide formal safety guarantees during the retargeting process. The proposed framework is validated through simulations and hardware experiments on the Wuji Hand platform, outperforming state-of-the-art methods such as Dex-Retargeting and GeoRT. The framework achieves high-frequency operation with an average latency of 9.05 ms, while over 95% of retargeted frames satisfy the safety criteria, effectively mitigating self-collision and penetration during complex manipulation tasks.

CURVE: Learning Causality-Inspired Invariant Representations for Robust Scene Understanding via Uncertainty-Guided Regularization

Scene graphs provide structured abstractions for scene understanding, yet they often overfit to spurious correlations, severely hindering out-of-distribution generalization. To address this limitation, we propose CURVE, a causality-inspired framework that integrates variational uncertainty modeling with uncertainty-guided structural regularization to suppress high-variance, environment-specific relations. Specifically, we apply prototype-conditioned debiasing to disentangle invariant interaction dynamics from environment-dependent variations, promoting a sparse and domain-stable topology. Empirically, we evaluate CURVE in zero-shot transfer and low-data sim-to-real adaptation, verifying its ability to learn domain-stable sparse topologies and provide reliable uncertainty estimates to support risk prediction under distribution shifts.

Uncooled Poisson Bolometer for High-Speed Event-Based Long-wave Thermal Imaging

Event-based vision provides high-speed, energy-efficient sensing for applications such as autonomous navigation and motion tracking. However, implementing this technology in the long-wave infrared remains a significant challenge. Traditional infrared sensors are hindered by slow thermal response times or the heavy power requirements of cryogenic cooling. Here, we introduce the first event-based infrared detector operating in a Poisson-counting regime. This is realized with a spintronic Poisson bolometer capable of broadband detection from 0.8-14$μ\text{m}$. In this regime, infrared signals are detected through statistically resolvable changes in stochastic switching events. This approach enables room-temperature operation with high timing resolution. Our device achieves a maximum event rate of 1,250 Hz, surpassing the temporal resolution of conventional uncooled microbolometers by a factor of 4. Power consumption is kept low at 0.2$μ$W per pixel. This work establishes an operating principle for infrared sensing and demonstrates a pathway toward high-speed, energy-efficient, event-driven thermal imaging.

Physics-Integrated Inference for Signal Recovery in Non-Gaussian Regimes

High-performance room-temperature sensing is often limited by non-stationary $1/f$ fluctuations and non-Gaussian stochasticity. In spintronic devices, thermally activated Néel switching creates heavy-tailed noise that masks weak signals, defeating linear filters optimized for Gaussian statistics. Here, we introduce a physics-integrated inference framework that decouples signal morphology from stochastic transients using a hierarchical 1D CNN-GRU topology. By learning the temporal signatures of Néel relaxation, this architecture reduces the Noise Equivalent Differential Temperature (NEDT) of spintronic Poisson bolometers by a factor of six (233.78 mK to 40.44 mK), effectively elevating room-temperature sensitivity toward cryogenic limits. We demonstrate the framework's universality across the electromagnetic and biological spectrum, achieving a 9-fold error suppression in Radar tracking, a 40\% uncertainty reduction in LiDAR, and a 15.56 dB SNR enhancement in ECG. This hardware-inference coupling recovers deterministic signals from fluctuation-dominated regimes, enabling near-ideal detection limits in noisy edge environments.

A Stabilized Hybrid Active Noise Control Algorithm of GFANC and FxNLMS with Online Clustering

The Filtered-x Normalized Least Mean Square (FxNLMS) algorithm suffers from slow convergence and a risk of divergence, although it can achieve low steady-state errors after sufficient adaptation. In contrast, the Generative Fixed-Filter Active Noise Control (GFANC) method offers fast response speed, but its lack of adaptability may lead to large steady-state errors. This paper proposes a hybrid GFANC-FxNLMS algorithm to leverage the complementary advantages of both approaches. In the hybrid GFANC-FxNLMS algorithm, GFANC provides a frame-level control filter as an initialization for FxNLMS, while FxNLMS performs continuous adaptation at the sampling rate. Small variations in the GFANC-generated filter may repeatedly reinitialize FxNLMS, interrupting its adaptation process and destabilizing the system. An online clustering module is introduced to avoid unnecessary re-initializations and improve system stability. Simulation results show that the proposed algorithm achieves fast response, very low steady-state error, and high stability, requiring only one pre-trained broadband filter.

Distributed Multichannel Active Noise Control with Asynchronous Communication

Distributed multichannel active noise control (DMCANC) offers effective noise reduction across large spatial areas by distributing the computational load of centralized control to multiple low-cost nodes. Conventional DMCANC methods, however, typically assume synchronous communication and require frequent data exchange, resulting in high communication overhead. To enhance efficiency and adaptability, this work proposes an asynchronous communication strategy where each node executes a weight-constrained filtered-x LMS (WCFxLMS) algorithm and independently requests communication only when its local noise reduction performance degrades. Upon request, other nodes transmit the weight difference between their local control filter and the center point in WCFxLMS, which are then integrated to update both the control filter and the center point. This design enables nodes to operate asynchronously while preserving cooperative behavior. Simulation results demonstrate that the proposed asynchronous communication DMCANC (ACDMCANC) system maintains effective noise reduction with significantly reduced communication load, offering improved scalability for heterogeneous networks.

Co-Initialization of Control Filter and Secondary Path via Meta-Learning for Active Noise Control

Active noise control (ANC) must adapt quickly when the acoustic environment changes, yet early performance is largely dictated by initialization. We address this with a Model-Agnostic Meta-Learning (MAML) co-initialization that jointly sets the control filter and the secondary-path model for FxLMS-based ANC while keeping the runtime algorithm unchanged. The initializer is pre-trained on a small set of measured paths using short two-phase inner loops that mimic identification followed by residual-noise reduction, and is applied by simply setting the learned initial coefficients. In an online secondary path modeling FxLMS testbed, it yields lower early-stage error, shorter time-to-target, reduced auxiliary-noise energy, and faster recovery after path changes than a baseline without re-initialization. The method provides a simple fast start for feedforward ANC under environment changes, requiring a small set of paths to pre-train.

Directional Selective Fixed-Filter Active Noise Control Based on a Convolutional Neural Network in Reverberant Environments

Selective fixed-filter active noise control (SFANC) is a novel approach capable of mitigating noise with varying frequency characteristics. It offers faster response and greater computational efficiency compared to traditional adaptive algorithms. However, spatial factors, particularly the influence of the noise source location, are often overlooked. Some existing studies have explored the impact of the direction-of-arrival (DoA) of the noise source on ANC performance, but they are mostly limited to free-field conditions and do not consider the more complex indoor reverberant environments. To address this gap, this paper proposes a learning-based directional SFANC method that incorporates the DoA of the noise source in reverberant environments. In this framework, multiple reference signals are processed by a convolutional neural network (CNN) to estimate the azimuth and elevation angles of the noise source, as well as to identify the most appropriate control filter for effective noise cancellation. Compared to traditional adaptive algorithms, the proposed approach achieves superior noise reduction with shorter response times, even in the presence of reverberations.