arXiv subjects

Anh Nguyen

Publications and source records attributed to Anh Nguyen.

At least 19 recordsLinked to original sources

arXiv2026

Gripper-aware Vision Language Action Models

Vision language action models (VLAs) have advanced general purpose robotic grasping and manipulation by enabling robots to interpret visual observations and natural language instructions to generate executable action sequences. However, existing VLAs often implicitly assume gripper invariance, despite grasping strategies being inherently embodiment-dependent. Different gripper types, such as parallel-jaw and suction, usually require distinct interaction strategies to achieve the same grasping objective. Moreover, current datasets for VLAs predominantly rely on parallel-jaw grippers, limiting gripper-aware learning. To address this gap, we introduce MiGA, a multi-gripper-aware dataset spanning five distinct gripper types across multiple robots with 103,000 demonstrations, explicitly capturing strategy divergence under shared task objectives. We further propose GVLA, which combines a new multi-gripper tokenizer with adapter-based policy routing. Our new gripper encoding induces structured embedding information that balances parameter sharing and strategy differentiation, while layer-wise probing confirms meaningful gripper-conditioned representations for VLAs. Intensive experiments in both simulation and real-world robots show that our GVLA outperforms the current baselines across evaluated settings. Our method also improves zero-shot generalization or few-shot adaptation to new objects or unseen tasks, and enable more efficient gripper adaptation.

cs.RO↗

arXiv2026

Voxel-based 3D Facies Segmentation from Seismic Data: A Comparative Study

Seismic facies segmentation has emerged as a significant challenge in geophysics, requiring robust methods and systems to effectively identify geologically analogous facies with limited labeled data. Although existing studies have shown promising results in 2D facies segmentation, they often preprocess the original 3D seismic volumes into sets of 2D slices, typically the inline and crossline directions, and treat this problem as a purely 2D segmentation task. This simplification introduces discontinuities across slices and fails to preserve the spatial and structural continuity in 3D seismic data, thus limiting the model's ability to learn coherent geological patterns. In this work, we present a comparative and reproducible benchmark for voxel-based 3D seismic facies segmentation, built upon publicly available seismic volumes including the Netherlands F3 and the Parihaka datasets, with standardized data splits and evaluation metrics. By evaluating the three representative families of modern 3D segmentation architectures, we establish strong baseline results that highlight the potential and remaining challenges for future research in this domain.

cs.CV↗

arXiv2026

Dynamic Context Adapters: Efficiently Infusing History into Vision-and-Language Models

Historical context integration presents a fundamental challenge for Vision-Language Models (VLMs) in sequential decision-making tasks. Current VLMs process visual inputs independently, which creates critical limitations for downstream applications that require temporal understanding. Direct incorporation of historical frames into Transformer inputs produces quadratic attention complexity and excessive memory consumption. Existing approaches suffer from significant drawbacks: computational inflation or substantial information loss through temporal compression. To address these challenges, we introduce Dynamic Context Adapter (DCA), a novel context injection approach for pretrained VLMs. Our method employs fixed-size, dynamically compressed memory to preserve historical semantics without frame concatenation. DCA bridges static VLMs and recurrent policies and enables memory capabilities in pretrained models while maintaining computational efficiency. DCA achieves over $25\%$ reduction in attention FLOPs and $13\%$ memory savings while improving performance on long-horizon tasks.

cs.CV↗

arXiv2026

Efficient Human-Contact Representation for Human-Scene Interaction

Human-scene interaction is an active research topic with several industrial applications in virtual reality, gaming, robotics, and surveillance. Despite significant progress in network architectures to improve the results or optimize models' parameters for fast inference speed, the efficient representation of contact between humans and their environments remains an open challenge. In this paper, we propose a new efficient human-contact representation for human-scene interaction. Our primary contribution is the introduction of sparse contact masks that strategically select essential contact information, significantly reducing redundant data in high-dimensional inputs. Leveraging this efficient contact representation, we propose a suite of sparse operators to replace traditional dense operators within deep network layers for faster computation. Our approach not only enhances computational speed but also filters out non-essential contact data, thereby improving the precision of human-scene interaction models. To validate the effectiveness of our method, we conduct intensive experiments across three public benchmark datasets, focusing on two critical tasks for human-scene interaction: contact prediction and scene synthesis. The experimental results show that our approach outperforms state-of-the-art models in reconstruction accuracy and achieves a computation speed-up of at least 12 times over recent baselines.

cs.CV↗

arXiv2026

SurgNarrator: A Generative Retrieval Framework for Surgical Video Understanding

Surgical procedures unfold as structured and recurring clinical events, whose real-time understanding via intraoperative surgical videos is critical for intraoperative decision-making and support. However, existing video understanding methods force a trade-off: autoregressive video-language models support comprehensive reasoning but are not practical for time-sensitive clinical applications, whereas contrastive models offer low latency but struggle with complex scene understanding. Recently, generative retrieval has been explored for general-domain video understanding, but transferring it to surgery is not trivial because near-identical visual appearances may indicate semantically distinct events, and the terminology involved is highly surgery-specific. To this end, we propose SurgNarrator, a new generative retrieval framework tailored for surgical video understanding. We construct a well-curated surgery-centric vocabulary from surgical captions to define a clinically meaningful retrieval space. We then adapt the pre-trained Qwen3-VL-Embedding-8B to learn discriminative clinical representations with a temporally-aware contrastive objective. During inference, a hierarchical, procedure-aware retrieval strategy narrows the search space to the relevant procedure type, delivering fast and effective responses. Our method is comprehensively evaluated on twelve benchmarks in a zero-shot setting and achieves consistent performance gains over state-of-the-art baselines, while reducing output-stage latency by more than two orders of magnitude compared with the generative baseline.

cs.CV↗

arXiv2026

ISRS-DETR: Detection-Guided Click Propagation for Remote Sensing Interactive Segmentation

Interactive segmentation reduces the prohibitive cost of pixel-level annotation by allowing users to delineate objects with a few clicks. However, applying this paradigm directly to remote sensing imagery is non-trivial: ultra-high resolutions, small object sizes, and sparse spatial distributions all degrade segmentation quality. Recent work has addressed the resolution barrier and achieved competitive results in interactive segmentation for remote sensing (ISRS). However, they treat all instances of a class within an image as a single objective target. Consequently, interactions spent on one object contribute nothing to its same-class neighbours, and satisfactory masks may demand up to 40 clicks per image, hindering the practicality of these frameworks. We observe that remote sensing scenes exhibit markedly strong inter-object correlation, meaning a single clicked object is highly informative about the rest of its category. Building on this, we propose ISRS-DETR, a detection-guided interactive segmentation framework that injects object-level evidence into both training and inference. Our ISRS-DETR employs an RF-DETR decoder with the interactive segmentation backbone to localise co-occurring same-class objects, and introduces a Dynamic Top-K Click Selection strategy that retains only reliable proposals and converts each into a simulated click, so one user interaction propagates across an entire class. Experiments on three standard remote sensing benchmarks show that ISRS-DETR achieves state-of-the-art accuracy while substantially reducing Number of Clicks per Image (NoC-I). All codes and data splits will be released for reproducibility upon acceptance.

cs.CV↗

arXiv2026

Profiling and Endogenous Valuation

We study a monopolist facing a buyer whose valuation is determined by pre-trade investment. Before setting price, the seller observes a signal about the buyer's private investment cost (buyer profiling). Information that helps the seller extract surplus can also undermine the buyer's incentive to create it. We characterize the buyer-seller payoffs attainable across all possible profiling. On the Pareto frontier, if investment increases, hold-up risk always raises the payoff that the seller captures faster than the surplus that the investment creates. Protecting buyer welfare therefore requires discouraging investment, even though investment is socially efficient.

econ.TH↗

arXiv2026

Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution

Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in large-scale models demonstrate promising capabilities for reasoning in robotic tasks. However, existing benchmarks for grasping primarily focus on isolated, visual-based grasp pose detection, failing to capture the complexity of grasping tasks that require multi-step reasoning and semantic understanding during execution. To address this gap, we propose GCA-Bench, a benchmark featuring challenging \textit{grasping with complex action} scenarios that involve both scene-level reasoning and semantic constraints. GCA-Bench enables the evaluation of recent large foundation models under the same settings. To demonstrate the effectiveness of our new benchmark, we implement a diverse set of baselines, ranging from traditional grasp detection pipelines to end-to-end learning methods. Empirical studies achieve success rates below 70\% on complex grasping scenarios, underscoring critical limitations. In addition, we propose new evaluation metrics, analyze critical failure models, and provide insights to guide the development of more robust and generalizable grasping strategies.

cs.RO↗

arXiv2026

Cross-Space Distillation: Teaching One-Step Students with Modern Diffusion Teachers

Modern one-step diffusion models achieve impressive quality through distribution-based timestep distillation. Yet, they rely on a critical assumption: Teacher and Student must inhabit the same latent space. This Shared-Space constraint prevents knowledge transfer from modern high-capacity Teachers (e.g., SD 3.5 and Flux) into compact, deployment-friendly Students such as SD 1.5, whose latent resolution and VAE parameterization differ from the Teacher. We formalize this overlooked regime as Cross-Space Distillation, where Teacher and Student differ in both latent resolution and VAE space. To enable distillation under this mismatch, we introduce the Bridge, a lightweight latent interface that maps Student latents into the Teacher space without modifying the Student backbone. Bridge combines a frozen Student VAE decoder as a spatial prior with a compact learnable projector, and is trained with latent reconstruction and attention fidelity objectives for stable Teacher-space alignment. Across diverse modern Teachers, Bridge enables substantial gains for compact one-step Students; for example, it improves SD 1.5 from 5.4 to 9.4 HPSv3 while preserving one-step inference, low latency, and broad ecosystem compatibility. These results show that heterogeneous large Teachers can be distilled into efficient, deployable backbones through a lightweight latent-space interface.

cs.CV↗

arXiv2026

TAVR-VLM: Risk-Conditioned Causal Grounding for Hallucination-Resistant Report Generation

Transcatheter Aortic Valve Replacement (TAVR) planning requires meticulous multimodal reasoning. However, adapting Multimodal Large Language Models (MLLMs) to this high-stakes domain is severely impeded by diagnostic hallucinations, where generated text lacks anatomical grounding. To address this, TAVR-VLM is introduced: a novel framework featuring Risk-Conditioned Causal Grounding Attention (R-CGA) that instantiates a model-internal ``Risk $\rightarrow$ Region $\rightarrow$ Word'' structural grounding pathway. R-CGA compresses multimodal inputs into a causal risk bottleneck, purifying dense visual features into a global risk mask. During autoregressive generation, a support-projected causal consistency objective constrains token-level grounding within the risk-defined support mask. Evaluated on $\text{M}^3\text{TAVR}$, a comprehensive 1,482-patient cohort, TAVR-VLM establishes a new state-of-the-art. It achieves an AUROC of 0.896, boosts CIDEr to 0.936, and drastically reduces the hallucination rate to 8.1\%, thereby improving interpretability for evidence-based surgical AI.

cs.AI↗

arXiv2026

OmniSpace: Efficient Geometry Awareness for Autonomous Vehicles MLLMs

Multimodal Large Language Models (MLLMs) have achieved remarkable performance on 2D visual tasks, yet enhancing their spatial intelligence for real-world applications such as Autonomous Vehicles (AV) remains an open challenge. Existing geometry-aware MLLMs typically rely on auxiliary 3D models at inference time, introducing pipeline complexity and the risk of cascading failures. In this paper, we present OmniSpace, a simple yet effective plug-and-play paradigm for geometry-aware spatial reasoning from purely 2D observations. Motivated by our finding that current MLLMs are bottlenecked by weak cross-view correspondence and depth estimation, OmniSpace introduces a Camera Pose Injector, a Multi-view Epipolar Attention module, and a 3D Geometric Distillation objective that jointly address these two limitations by transferring geometric knowledge into the model. Extensive experiments show that OmniSpace surpasses existing methods on planning benchmarks (nuScenes, Bench2Drive), risk detection (nuInstruct), language (Omnidrive), and generalization (DriveBench).

cs.CV↗

arXiv2026

TSA: Temporal Slot Activation for Persistent Object-Centric Video Representation

Unsupervised video object-centric learning aims to decompose dynamic scenes into temporally persistent entity representations. Existing recurrent video slot-attention methods propagate a fixed set of slots across frames, but typically assume unconditional slot propagation: every slot is updated and decoded at every frame, regardless of whether its corresponding object is visible. We show that this design violates a basic lifecycle requirement for persistent slots: when an object is absent or fully occluded, its slot should preserve its previous state and avoid explaining unrelated visible content. Instead, unconditional propagation creates two failure pathways: update-induced state drift, where current-frame evidence overwrites the absent object's representation, and decoder-induced reconstruction interference, where the inactive slot remains coupled to reconstruction through decoder attention. We propose Temporal Slot Activation (TSA), a mechanism that learns a per-slot, per-frame activation score $\alpha_{k,t} \in (0, 1)$ without visibility supervision. TSA uses this activation as a shared latent control variable for slot lifecycle modeling. When a slot is inactive, TSA anchors its state to the previous slot via activation-gated updating and suppresses its decoder participation through an activation-dependent additive bias on attention logits before softmax normalization. This jointly reduces state drift and reconstruction-driven interference. To improve decisions under partial occlusion and gradual reappearance, TSA further conditions activation prediction on a per-slot temporal memory produced by a Temporal Context Encoder. We evaluate TSA on MOVi-C/E, YT-VIS, and OVIS benchmarks using both standard and tracking-based metrics (FG-ARI, mBO, IDF1, HOTA). TSA consistently improves object decomposition and temporal identity preservation, with large gains on long, heavily occluded videos.

cs.CV↗

arXiv2026

The Winner's Bliss in Common-Value Auctions under Horizontal Differentiation

We study common-value auctions in which bidders have horizontally differentiated preferences. In a specific two-bidder parameterization, winning conveys good news about the object's value to the winner, a phenomenon we call the winner's bliss in contrast to the conventional winner's curse. Additional implications also differ from the conventional analysis. When bidders' preferences are horizontally differentiated, seller revenue is reduced with information disclosure, and advantageous selection sustains bilateral trade under asymmetric information.

econ.GN↗

arXiv2026

CoMo3R-SLAM: Collaborative Monocular Dense SLAM with Learned 3D Reconstruction Priors for Outdoor Multi-Agent Systems

Outdoor robot teams need a shared dense map despite limited overlap, independent reference frames, and uncertain monocular scale. Collaborative dense SLAM systems typically resolve this with depth sensors, which add payload, power, and calibration cost. We present CoMo3R-SLAM, a collaborative monocular dense SLAM system that places learned feed-forward 3D reconstruction priors at the center of the multi-agent problem: their dense pointmaps anchor scale across agents and supply correspondences strong enough to verify inter-agent links geometrically. Each agent tracks and fuses its own keyframes from a single RGB stream, while a coordinator retrieves cross-agent keyframes over the prior's encoder features, verifies them by bidirectional dense pointmap matching, synchronizes the independent similarity gauges in closed form, and refines every keyframe in one unified multi-agent sim(3) graph. Finally, a pose-depth alternation over geometry-aware segments lets inter-agent observations constrain dense structure as well as trajectories. Requiring neither measured depth nor supplied intrinsics, CoMo3R-SLAM attains the lowest trajectory error on three of four Tanks and Temples scenes, and competitive accuracy on Waymo driving sequences, while running at approximately 6-8 FPS on RTX 3080 Ti. A long-horizon traversal, independently captured day and night streams, and teams of up to four agents further map its operating range.

cs.RO↗

arXiv2026

DRIVESPATIAL: A Benchmark for Spatiotemporal Intelligence in VLMs for Autonomous Driving

Spatiotemporal intelligence in autonomous driving (AD) requires an agent to integrate multi-view observations into a coherent scene representation, maintain object continuity across viewpoints and time, and reason about spatial relations, interactions, and future dynamics. However, existing AD vision-language benchmarks largely focus on single-view, static, ego-centric, or single-source question answering, leaving it unclear whether current Vision-Language Models (VLMs) can truly construct and reason over dynamic driving scenes. We introduce DriveSpatial, a benchmark of 15.6K human-verified QA pairs across 20 tasks from five large-scale AD datasets. DriveSpatial evaluates four abilities: Cognitive Scene Construction, Multi-view Relational Understanding, Temporal Reasoning, and Generalization. Unlike prior benchmarks, DriveSpatial is generated from a dynamic multi-relational scene graph that encodes object states, spatial relations, interactions, camera visibility, and temporal correspondences, enabling QA pairs that enforce genuine cross-view and spatiotemporal reasoning. Evaluating 15 representative VLMs reveals a substantial human-model gap: the strongest model trails humans by 28.4 points, with Cognitive Scene Construction emerging as the key bottleneck. Further diagnostics show that language-only prompting is insufficient, while explicit BEV grounding consistently improves performance. These results suggest that current VLMs lack the scene-construction ability needed for reliable spatiotemporal driving intelligence. DriveSpatial and its construction pipeline will be released to support future research.

cs.CV↗

arXiv2026

Multi-scale Coarse-to-fine Modeling for Test-time Human Motion Control

We present MSCoT, a multi-scale, coarse-to-fine model for test-time human motion synthesis and control. Unlike recent approaches that rely on multiple iterative denoising/token-prediction steps, or modules tailored for specific control signals, MSCoT discretizes motion into a multi-scale hierarchical representation and predicts the entire token sequence at each temporal scale in a coarse-to-fine fashion. Building on this coarse-to-fine paradigm, we propose an efficient multi-scale token guidance strategy that overcomes the challenge of discrete sampling and steers the token distribution towards the control goals, allowing for fast and flexible control. To address the limitations of a discrete codebook, a lightweight token refiner further adds continuous residuals to the discrete token embeddings and allows differentiable test-time refinement optimization to ensure precise alignment with the control objectives. MSCoT is able to produce quality motions, consistent with the control constraints, while offering substantially faster sampling than diffusion-based approaches. Experiments on popular benchmarks demonstrate state-of-the-art controllable text-to-motion generation performance of MSCoT over existing baselines, with better motion quality (48% FID improvement), higher control accuracy (-61% avg error), and $10 \times$ faster inference speed on HumanML3D.

cs.CV↗

arXiv2026

MAGS-SLAM: Monocular Multi-Agent Gaussian Splatting SLAM for Geometrically and Photometrically Consistent Reconstruction

Collaborative photorealistic 3D reconstruction from multiple agents enables rapid large-scale scene capture for virtual production and cooperative multi-robot exploration. While recent 3D Gaussian Splatting (3DGS) SLAM algorithms can generate high-fidelity real-time mapping, most of the existing multi-agent Gaussian SLAM methods still rely on RGB-D sensors to obtain metric depth and simplify cross-agent alignment, limiting their deployment on low-cost or power-constrained robotic platforms, especially given the wider availability of RGB cameras. To address this challenge, we propose MAGS-SLAM, the first RGB-only multi-agent 3DGS SLAM framework for collaborative scene reconstruction. Each agent independently builds local monocular Gaussian submaps and transmits compact submap summaries rather than raw observations or dense maps. To facilitate robust collaboration in the presence of monocular scale ambiguity, our framework integrates compact submap communication, geometry- and appearance-aware loop verification, and occupancy-aware Gaussian fusion, enabling coherent global reconstruction without active depth sensors. We further introduce ReplicaMultiagent Plus, a benchmark containing larger robot teams for evaluating collaborative Gaussian SLAM. Extensive experiments on synthetic and real-world datasets show that MAGS-SLAM achieves tracking accuracy and rendering quality competitive with or superior to those of state-of-the-art RGB-D collaborative Gaussian SLAM methods using RGB images alone.

cs.RO↗

arXiv2026

CodeGraphVLP: Code-as-Planner Meets Semantic-Graph State for Non-Markovian Vision-Language-Action Models

Vision-Language-Action (VLA) models promise generalist robot manipulation, but are typically trained and deployed as short-horizon policies that assume the latest observation is sufficient for action reasoning. This assumption breaks in non-Markovian long-horizon tasks, where task-relevant evidence can be occluded or appear only earlier in the trajectory, and where clutter and distractors make fine-grained visual grounding brittle. We present CodeGraphVLP, a hierarchical framework that enables reliable long-horizon manipulation by combining a persistent semantic-graph state with an executable code-based planner and progress-guided visual-language prompting. The semantic-graph maintains task-relevant entities and relations under partial observability. The synthesized planner executes over this semantic-graph to perform efficient progress checks and outputs a subtask instruction together with subtask-relevant objects. We use these outputs to construct clutter-suppressed observations that focus the VLA executor on critical evidence. On real-world non-Markovian tasks, CodeGraphVLP improves task completion over strong VLA baselines and history-enabled variants while substantially lowering planning latency compared to VLM-in-the-loop planning. We also conduct extensive ablation studies to confirm the contributions of each component.

cs.RO↗