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Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical squeezing, etc. will cause changes in extrinsic parameters, especially in the rotational part. Existing initialization methods that simultaneously estimate extrinsic parameters suffer from poor robustness, low precision, and long initialization latency due to the need for sufficient translational motion. To address these problems, we propose a novel VIO initialization method, which jointly considers extrinsic orientation and gyroscope bias within the normal epipolar constraints, achieving higher precision and better robustness without delayed rotational calibration. First, a rotation-only constraint is designed for extrinsic orientation and gyroscope bias estimation, which tightly couples gyroscope measurements and visual observations and can be solved in pure-rotation cases. Second, we propose a weighting strategy together with a failure detection strategy to enhance the precision and robustness of the estimator. Finally, we leverage Maximum A Posteriori to refine the results before enough translation parallax comes. Extensive experiments have demonstrated that our method outperforms the state-of-the-art methods in both accuracy and robustness while maintaining competitive efficiency.

The automatic generation of RTL code (e.g., Verilog) through natural language instructions has emerged as a promising direction with the advancement of large language models (LLMs). However, producing RTL code that is both syntactically and functionally correct remains a significant challenge. Existing single-LLM-agent approaches face substantial limitations because they must navigate between various programming languages and handle intricate generation, verification, and modification tasks. To address these challenges, this paper introduces MAGE, the first open-source multi-agent AI system designed for robust and accurate Verilog RTL code generation. We propose a novel high-temperature RTL candidate sampling and debugging system that effectively explores the space of code candidates and significantly improves the quality of the candidates. Furthermore, we design a novel Verilog-state checkpoint checking mechanism that enables early detection of functional errors and delivers precise feedback for targeted fixes, significantly enhancing the functional correctness of the generated RTL code. MAGE achieves a 95.7% rate of syntactic and functional correctness code generation on VerilogEval-Human 2 benchmark, surpassing the state-of-the-art Claude-3.5-sonnet by 23.3 %, demonstrating a robust and reliable approach for AI-driven RTL design workflows.

Story visualization, the task of creating visual narratives from textual descriptions, has seen progress with text-to-image generation models. However, these models often lack effective control over character appearances and interactions, particularly in multi-character scenes. To address these limitations, we propose a new task: \textbf{customized manga generation} and introduce \textbf{DiffSensei}, an innovative framework specifically designed for generating manga with dynamic multi-character control. DiffSensei integrates a diffusion-based image generator with a multimodal large language model (MLLM) that acts as a text-compatible identity adapter. Our approach employs masked cross-attention to seamlessly incorporate character features, enabling precise layout control without direct pixel transfer. Additionally, the MLLM-based adapter adjusts character features to align with panel-specific text cues, allowing flexible adjustments in character expressions, poses, and actions. We also introduce \textbf{MangaZero}, a large-scale dataset tailored to this task, containing 43,264 manga pages and 427,147 annotated panels, supporting the visualization of varied character interactions and movements across sequential frames. Extensive experiments demonstrate that DiffSensei outperforms existing models, marking a significant advancement in manga generation by enabling text-adaptable character customization. The project page is //jianzongwu.github.io/projects/diffsensei/.

Large language models have exhibited significant enhancements in performance across various tasks. However, the complexity of their evaluation increases as these models generate more fluent and coherent content. Current multilingual benchmarks often use translated English versions, which may incorporate Western cultural biases that do not accurately assess other languages and cultures. To address this research gap, we introduce KULTURE Bench, an evaluation framework specifically designed for Korean culture that features datasets of cultural news, idioms, and poetry. It is designed to assess language models' cultural comprehension and reasoning capabilities at the word, sentence, and paragraph levels. Using the KULTURE Bench, we assessed the capabilities of models trained with different language corpora and analyzed the results comprehensively. The results show that there is still significant room for improvement in the models' understanding of texts related to the deeper aspects of Korean culture.

Activation Editing, which involves directly editting the internal representations of large language models (LLMs) to alter their behaviors and achieve desired properties, has emerged as a promising area of research. Existing works primarily treat LLMs' activations as points in space and modify them by adding steering vectors. However, this approach is limited in its ability to achieve greater performance improvement while maintaining the necessary consistency of activation magnitudes. To overcome these issues, we propose a novel editing method that views activations in terms of their directions and magnitudes. Our method, named Householder Pseudo-Rotation (HPR), mimics the rotation transformation, thus preserving activation norms and resulting in an improved performance on various safety benchmarks.

Text-to-image synthesis (T2I) has advanced remarkably with the emergence of large-scale diffusion models. In the conventional setup, the text prompt provides explicit, user-defined guidance, directing the generation process by denoising a randomly sampled Gaussian noise. In this work, we reveal that the often-overlooked noise itself encodes inherent generative tendencies, acting as a "silent prompt" that implicitly guides the output. This implicit guidance, embedded in the noise scheduler design of diffusion model formulations and their training stages, generalizes across a wide range of T2I models and backbones. Building on this insight, we introduce NoiseQuery, a novel strategy that selects optimal initial noise from a pre-built noise library to meet diverse user needs. Our approach not only enhances high-level semantic alignment with text prompts, but also allows for nuanced adjustments of low-level visual attributes, such as texture, sharpness, shape, and color, which are typically challenging to control through text alone. Extensive experiments across various models and target attributes demonstrate the strong performance and zero-shot transferability of our approach, requiring no additional optimization.

Deep learning-based low-light image enhancement (LLIE) is a task of leveraging deep neural networks to enhance the image illumination while keeping the image content unchanged. From the perspective of training data, existing methods complete the LLIE task driven by one of the following three data types: paired data, unpaired data and zero-reference data. Each type of these data-driven methods has its own advantages, e.g., zero-reference data-based methods have very low requirements on training data and can meet the human needs in many scenarios. In this paper, we leverage pure Gaussian noise to complete the LLIE task, which further reduces the requirements for training data in LLIE tasks and can be used as another alternative in practical use. Specifically, we propose Noise SElf-Regression (NoiSER) without access to any task-related data, simply learns a convolutional neural network equipped with an instance-normalization layer by taking a random noise image, $\mathcal{N}(0,\sigma^2)$ for each pixel, as both input and output for each training pair, and then the low-light image is fed to the trained network for predicting the normal-light image. Technically, an intuitive explanation for its effectiveness is as follows: 1) the self-regression reconstructs the contrast between adjacent pixels of the input image, 2) the instance-normalization layer may naturally remediate the overall magnitude/lighting of the input image, and 3) the $\mathcal{N}(0,\sigma^2)$ assumption for each pixel enforces the output image to follow the well-known gray-world hypothesis when the image size is big enough. Compared to current state-of-the-art LLIE methods with access to different task-related data, NoiSER is highly competitive in enhancement quality, yet with a much smaller model size, and much lower training and inference cost. Besides, NoiSER also excels in mitigating overexposure and handling joint tasks.

Neural networks often favor shortcut heuristics based on surface-level patterns. As one example, language models (LMs) behave like n-gram models early in training. However, to correctly apply grammatical rules, LMs must rely on hierarchical syntactic representations instead of n-grams. In this work, we use cases studies of English grammar to explore how latent structure in training data drives models toward improved out-of-distribution (OOD) generalization.We then investigate how data composition can lead to inconsistent OOD behavior across random seeds and to unstable training dynamics. Our results show that models stabilize in their OOD behavior only when they fully commit to either a surface-level linear rule or a hierarchical rule. The hierarchical rule, furthermore, is induced by grammatically complex sequences with deep embedding structures, whereas the linear rule is induced by simpler sequences. When the data contains a mix of simple and complex examples, potential rules compete; each independent training run either stabilizes by committing to a single rule or remains unstable in its OOD behavior. These conditions lead `stable seeds' to cluster around simple rules, forming bimodal performance distributions across seeds. We also identify an exception to the relationship between stability and generalization: models which memorize patterns from low-diversity training data can overfit stably, with different rules for memorized and unmemorized patterns. Our findings emphasize the critical role of training data in shaping generalization patterns and how competition between data subsets contributes to inconsistent generalization outcomes across random seeds. Code is available at //github.com/sunnytqin/concept_comp.git.

As an effective strategy, data augmentation (DA) alleviates data scarcity scenarios where deep learning techniques may fail. It is widely applied in computer vision then introduced to natural language processing and achieves improvements in many tasks. One of the main focuses of the DA methods is to improve the diversity of training data, thereby helping the model to better generalize to unseen testing data. In this survey, we frame DA methods into three categories based on the diversity of augmented data, including paraphrasing, noising, and sampling. Our paper sets out to analyze DA methods in detail according to the above categories. Further, we also introduce their applications in NLP tasks as well as the challenges.

Visual dialogue is a challenging task that needs to extract implicit information from both visual (image) and textual (dialogue history) contexts. Classical approaches pay more attention to the integration of the current question, vision knowledge and text knowledge, despising the heterogeneous semantic gaps between the cross-modal information. In the meantime, the concatenation operation has become de-facto standard to the cross-modal information fusion, which has a limited ability in information retrieval. In this paper, we propose a novel Knowledge-Bridge Graph Network (KBGN) model by using graph to bridge the cross-modal semantic relations between vision and text knowledge in fine granularity, as well as retrieving required knowledge via an adaptive information selection mode. Moreover, the reasoning clues for visual dialogue can be clearly drawn from intra-modal entities and inter-modal bridges. Experimental results on VisDial v1.0 and VisDial-Q datasets demonstrate that our model outperforms exiting models with state-of-the-art results.