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Ngan Le

Publications and source records attributed to Ngan Le.

At least 19 recordsLinked to original sources

Learning to Adapt and Calibrate: Score Distribution Alignment for Few-Shot Uncertainty Prediction in Medical VLMs

Uncertainty estimation for medical vision--language models (VLMs) using conformal prediction has gained increasing attention due to its distribution-free coverage guarantees. However, standard conformal prediction relies on exchangeability between calibration and test data and typically requires a sufficiently large calibration set to obtain reliable coverage. These assumptions are difficult to satisfy in few-shot transfer settings, where only a small labeled support set is available to adapt a pretrained VLM to a new medical task, while an unlabeled query set is used for evaluation. Supervised fine-tuning on the support set changes the model parameters and consequently shifts the nonconformity score distribution, breaking exchangeability between calibration and query samples and leading to unreliable coverage under distribution shift. Existing transductive conformal adaptation methods often preserve validity by avoiding supervised updates. While this helps maintain conformal assumptions, it underutilizes the scarce labeled support data and limits task adaptation, which is the primary objective in few-shot learning. In this setting, conformal prediction should serve as an uncertainty estimation layer that supports the adapted model, rather than preventing adaptation itself. To this end, we propose AlignCP, a framework that reconciles supervised few-shot adaptation with conformal uncertainty estimation under non-exchangeability. AlignCP learns a reweighted calibration distribution that reduces the score-level discrepancy between the labeled support set and the unlabeled query set. By aligning the one-dimensional nonconformity score distributions, AlignCP aims to close the coverage gap induced by adaptation without requiring query labels.

cs.CV

GEOSTEER: Geodesic Optimization for Activation Steering in Large Language Models

Activation steering provides a lightweight way to control large language models (LLMs) by modifying their hidden activations at inference time. Among these approaches, norm-preserving steering aims to change model behavior without altering the activation norm, reducing the risk of representation collapse and degradation. However, existing norm-preserving methods are limited by predefined steering trajectories and by their reliance on one-step updates, which may fail to capture the complex structure of activation distributions. We propose GeoSteer, an optimization-based method for norm-preserving activation steering. GeoSteer formulates steering as a Riemannian optimization problem and updates activations through a sequence of small geodesic steps on the representation manifold. To avoid fixed steering directions, GeoSteer learns a nonlinear activation-space objective that distinguishes desired from undesired activations, and uses this function to adaptively guide each steering step. This multistep formulation yields smoother, more stable, and more consistent steering behavior while preserving the activation norm. Across TruthfulQA, RealToxicityPrompts, and UltraFeedback benchmarks, GeoSteer consistently improves over state-of-the-art activation steering baselines. These results suggest that norm-preserving steering can be made more effective by replacing predefined one-step edits with adaptive, geometry-aware optimization.

cs.LG

GloVLA: Let Geometry Move and Local VLA Interact for Robust Object-Centric Manipulation in Unstructured Environments

Vision-language-action (VLA) models have shown promising generalization for language-conditioned robot manipulation, but deploying them in unstructured environments remains challenging. A single end-to-end VLA policy must simultaneously solve long-range transport of the end effector to task-relevant regions and short-horizon, contact-rich interaction upon arrival. This formulation is inefficient and brittle: small visual shifts, distractors, clutter, occlusions, or unfavorable initial gripper poses can push the policy outside the local state distribution in which it was trained, leading to task failure. We introduce GloVLA, a hybrid framework that explicitly separates object-centric manipulation into two complementary regimes: a geometric transport controller moves the end-effector into interaction-centric handoff regions, and local VLA policies handle only the short-horizon interaction phases. GloVLA is model-agnostic and can be integrated with different VLA backbones with no additional demonstrations and no changes to the action space or success predicate. Experiments on standard LIBERO and LIBERO-Plus Object tasks together with a newly introduced LIBERO-Challenge benchmark ettings with clutter, distractors,illumination changes, visual shifts, and obstruction show that GloVLA improves task success and substantially lowers VLA inference cost compared with full end-to-Challenge, full-trajectory GR00T N1.6execution degrades to 20.9% average success while GloVLA retains 88.5%; on a physical UR10e, overall success improves from 35.6% to 90.0% while mean inference time is more than halved. Videos and additional results are available at https://glovla-project.github.io/

cs.RO

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

MVDGC: Joint 3D and 2D Multi-view Pedestrian Detection via Dual Geometric Constraints

The core challenge in multi-view pedestrian detection (MVPD) lies in effective aggregation of visual features from different viewpoints for robust occlusion reasoning. Recent approaches have addressed this by first projecting image-view features onto a Bird's Eye View (BEV) map, where ground localization is then performed. Despite impressive performance, the perspective transformation induces severe distortion, causing spatial structure break and degrading the quality of object feature extraction. The blurred and ambiguous features hinder accurate BEV point localization, especially in densely populated regions. Moreover, the strong mutual relationship between the BEV ground point and image bounding boxes is not capitalized on. Although multi-view consistency of 2D detections can serve as a powerful constraint in BEV space, these detections are commonly treated as auxiliary signals rather than being jointly optimized with the primary task.In this work, we propose \textbf{MVDGC}, a unified framework that \emph{jointly estimates pedestrian locations on the BEV plane and 2D bounding boxes in image views}. MVDGC employs a \emph{sparse set of 3D cylindrical queries} that embraces geometric context across both BEV and image views, enforcing dual spatial constraints for precise localization. Specifically, the geometric constraints is established by modeling each pedestrian as a vertical cylinder whose center lies on the BEV plane and whose projection casts a rectangular box in the image views. These queries function as shape anchors that directly extract 2D features from the intact image-view features using camera projection, eliminating projection-induced distortions. The 3D cylindrical query enables the unification of BEV and ImV localization into a single task: 3D cylinder position and shape refinement. Code is available at: https://github.com/UARK-AICV/MVDGC

cs.CV

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

Finetuning Vision-Language-Action Models Requires Fewer Layers Than You Think

Vision-Language-Action (VLA) models pre-trained on massive video-robot datasets have revolutionized robotic manipulation, yet their multi-billion parameter architectures impose prohibitive computational burdens during downstream fine-tuning and real-time inference. In this work, we reveal a highly non-trivial architectural characteristic of these continuous control foundation policies (e.g., pi_0, GR00T-N1.5): despite being trained on diverse physical trajectories, they exhibit severe layer-wise representational redundancy. To exploit this, we introduce a structural compression pipeline that is entirely training-free, bypassing the need of existing methods to load full-scale models to learn optimized token reductions or dynamic layer selectors. Instead, using only a single forward pass via Centered Kernel Alignment to identify redundant layer features, we remove twin layers to permanently compress the model depth by up to 50% across both the VLM backbone and the continuous control policy head. Downstream fine-tuning of this streamlined architecture yields a dual acceleration benefit: a 40-50% reduction in training time and up to 30% faster real-time inference, while matching or exceeding full-scale base model performance. We comprehensively validate our method across three simulation benchmarks (LIBERO, RoboCasa, SimplerEnv) and 10 diverse real-world manipulation tasks across 4 unique robotic embodiments. These results prove that advanced VLAs require significantly fewer layers than previously assumed, offering a highly compute-efficient paradigm for scalable robot learning.

cs.RO

ARGUSTRACK: A Multi-View Annotation System for Multi-Object Tracking

Multi-Camera Multi-Target (MCMT) tracking has emerged as a critical capability for applications ranging from autonomous driving to animal behavior monitoring. While recent advances have yielded sophisticated tracking algorithms, the availability of annotated multi-view data remains a significant bottleneck. Existing annotation tools predominantly support single-camera workflows or rely on LiDAR sensors, making cross-view labeling tedious and impractical for camera-only setups. We present ARGUS-TRACK, a multi-camera annotation system that addresses these limitations by enabling annotators to work directly on a bird's-eye-view (BEV) plane. Given calibrated camera parameters, a single ground-plane annotation is automatically projected into 2D bounding boxes across all relevant views, inherently ensuring identity consistency without manual cross-view alignment. To further accelerate the labeling process, ARGUSTRACK incorporates two complementary mechanisms: a Temporal Aware module that propagates annotations from preceding frames to initialize new ones, requiring only minor positional adjustments; and a Multi-camera Semi-annotation module that leverages off-the-shelf 2D detectors combined with foot-point estimation to automatically generate candidate BEV positions for annotator verification. We evaluate ARGUSTRACK through a pilot study on multi-camera broiler tracking and demonstrate that it substantially reduces annotation time compared to conventional single-camera labeling workflows.

cs.CV

Self-Improving VLA Policies: Selected Diffusion Noise for Spurious-Robust Action Smoothing

Diffusion-based Vision-Language-Action (VLA) policies enable strong generalization in robotic manipulation, but remain sensitive to spurious visual correlations and noisy action generation, leading to brittle behavior under perturbations. We introduce Selected Diffusion Noise (SDN), a simple, training-free test-time method that improves both robustness and success rate by leveraging the diffusion noise space as a controllable degree of freedom. SDN dynamically samples noise vectors that are maximally separated from a reference set to mitigate reliance on spurious cues, while selecting candidates that yield more coherent action trajectories. This dual objective encourages stable behavior even under object-masked observations and reduces action jitter without modifying model parameters. We evaluate SDN on two simulation benchmarks (Google Robot, Widow-X) and two real-world robotic datasets across multiple VLA policies, including pi_0, Groot-N1.5, and Groot-N1.6. SDN consistently improves success rates by +8% in simulation and +10% in real-world settings, while producing smoother and more stable actions. Our results highlight that diffusion noise selection can serve as an effective and general mechanism for enhancing VLA policies at test time.

cs.RO

Dual-State Slot Attention: Decoupling Appearance and Identity for Video Object-Centric Learning

Unsupervised video object-centric learning aims to decompose dynamic scenes into persistent, object-level representations without supervision. However, existing slot-based methods struggle to maintain stable object identity in challenging settings such as rapid motion and partial occlusion. First, they typically encode both the per-frame appearance of an object and its identity across frames in a single slot vector, creating an objective conflict that leads to slot swapping: reconstruction requires sensitivity to transient visual changes, whereas temporal consistency requires invariance to them. Second, the token renormalization used in Slot Attention can amplify weakly attending slots, allowing them to absorb tokens from other objects and destabilize slot-to-object correspondence. We propose Dual-State Slot Attention (DSSA), a fully self-supervised framework that addresses these limitations by separating appearance from identity and by reducing spurious updates from weakly matching slots. DSSA decomposes each slot into a local state for per-frame appearance and an identity state for temporally stable object information, thereby aligning reconstruction and temporal consistency with separate representations. The identity state is updated through a learned recurrent transition that acts as a temporal filter on the local state, while competition-modulated aggregation (CMA) down-weights updates from weakly matching slots and prevents them from absorbing tokens from other objects. Experiments on MOVi-C, MOVi-D, and YouTube-VIS demonstrate that DSSA consistently improves segmentation quality and temporal consistency over prior methods, while also yielding stronger downstream object recognition and video dynamics prediction. Code and models will be made publicly available upon acceptance.

cs.CV

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

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

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

SemLT3D: Semantic-Guided Expert Distillation for Camera-only Long-Tailed 3D Object Detection

Camera-only 3D object detection has emerged as a cost-effective and scalable alternative to LiDAR for autonomous driving, yet existing methods primarily prioritize overall performance while overlooking the severe long-tail imbalance inherent in real-world datasets. In practice, many rare but safety-critical categories such as children, strollers, or emergency vehicles are heavily underrepresented, leading to biased learning and degraded performance. This challenge is further exacerbated by pronounced inter-class ambiguity (e.g., visually similar subclasses) and substantial intra-class diversity (e.g., objects varying widely in appearance, scale, pose, or context), which together hinder reliable long-tail recognition. In this work, we introduce SemLT3D, a Semantic-Guided Expert Distillation framework designed to enrich the representation space for underrepresented classes through semantic priors. SemLT3D consists of: (1) a language-guided mixture-of-experts module that routes 3D queries to specialized experts according to their semantic affinity, enabling the model to better disentangle confusing classes and specialize on tail distributions; and (2) a semantic projection distillation pipeline that aligns 3D queries with CLIP-informed 2D semantics, producing more coherent and discriminative features across diverse visual manifestations. Although motivated by long-tail imbalance, the semantically structured learning in SemLT3D also improves robustness under broader appearance variations and challenging corner cases, offering a principled step toward more reliable camera-only 3D perception.

cs.CV

GazeQwen: Lightweight Gaze-Conditioned LLM Modulation for Streaming Video Understanding

Current multimodal large language models (MLLMs) cannot effectively utilize eye-gaze information for video understanding, even when gaze cues are supplied via visual overlays or text descriptions. We introduce GazeQwen, a parameter efficient approach that equips an open-source MLLM with gaze awareness through hidden-state modulation. At its core is a compact gaze resampler (~1-5 M trainable parameters) that encodes V-JEPA 2.1 video features together with fixation-derived positional encodings and produces additive residuals injected into selected LLM decoder layers via forward hooks. An optional second training stage adds low-rank adapters (LoRA) to the LLM for tighter integration. Evaluated on all 10 tasks of the StreamGaze benchmark, GazeQwen reaches 63.9% accuracy, a +16.1 point gain over the same Qwen2.5-VL-7B backbone with gaze as visual prompts and +10.5 points over GPT-4o, the highest score among all open-source and proprietary models tested. These results suggest that learning where to inject gaze within an LLM is more effective than scaling model size or engineering better prompts. All code and checkpoints are available at https://github.com/phamtrongthang123/gazeqwen .

cs.CV

SIGMA: A Physics-Based Benchmark for Gas Chimney Understanding in Seismic Images

Seismic images reconstruct subsurface reflectivity from field recordings, guiding exploration and reservoir monitoring. Gas chimneys are vertical anomalies caused by subsurface fluid migration. Understanding these phenomena is crucial for assessing hydrocarbon potential and avoiding drilling hazards. However, accurate detection is challenging due to strong seismic attenuation and scattering. Traditional physics-based methods are computationally expensive and sensitive to model errors, while deep learning offers efficient alternatives, yet lacks labeled datasets. In this work, we introduce \textbf{SIGMA}, a new physics-based dataset for gas chimney understanding in seismic images, featuring (i) pixel-level gas-chimney mask for detection and (ii) paired degraded and ground-truth image for enhancement. We employed physics-based methods that cover a wide range of geological settings and data acquisition conditions. Comprehensive experiments demonstrate that SIGMA serves as a challenging benchmark for gas chimney interpretation and benefits general seismic understanding.

cs.CV

PolypSteer: Counterfactual Endoscopic Synthesis via Training-Free Activation Steering

Generative diffusion models are increasingly used for medical imaging data augmentation, but text prompting cannot produce causal training data. Re-prompting rerolls the entire generation trajectory, altering anatomy, texture, and background. Inversion-based editing methods introduce reconstruction error that causes structural drift. We propose PolypSteer, a training-free activation-steering framework for endoscopic synthesis. PolypSteer identifies a pathology vector for each contrastive prompt pair in the cross-attention layers of a diffusion transformer. At inference time, it steers image activations along this vector, generating counterfactual pairs from scratch where the only difference is the steered concept. All other structure is preserved by construction. We evaluate PolypSteer across three experiments on Kvasir v3 and HyperKvasir. On counterfactual generation across three clinical concept pairs, PolypSteer achieves flip rates of 0.800, 0.925, and 0.950, outperforming the best inversion-based baseline in both concept flip rate and structural preservation. On dye disentanglement, PolypSteer achieves 75% dye removal against 20% (PnP) and 10% (h-Edit). On downstream polyp detection, augmenting with PolypSteer counterfactual pairs achieves ViT AUC of 0.9755 versus 0.9083 for quantity-matched re-prompting, confirming that counterfactual structure drives the gain. Code is at link https://github.com/UARK-AICV/PolypSteer

cs.CV

StructSAM: Structure- and Spectrum-Preserving Token Merging for Segment Anything Models

Recent token merging techniques for Vision Transformers (ViTs) provide substantial speedups by reducing the number of tokens processed by self-attention, often without retraining. However, their direct application to the Segment Anything Model (SAM) family is nontrivial: SAM's image encoder mixes windowed and global attention, and its mask decoder relies on dense, prompt-conditioned features for precise boundary prediction. We systematically evaluate representative token-merging methods on SAM and Medical SAM in a strict off-the-shelf setting, and find that existing destination-selection heuristics can erode boundaries and leak prompt information as merge rates increase. We propose \textbf{StructSAM}, a resolution-preserving merge-unmerge framework tailored to SAM. StructSAM computes a lightweight token-energy score from first-order feature gradients, uses grid-based flatness screening to protect boundary and prompt regions, and merges tokens within flat areas toward low-energy destinations with explicit token recovery. We further provide a spectral graph coarsening view showing that score-guided merging yields bounded Laplacian spectral distortion compared to random or window-restricted baselines. Across eight natural and medical benchmarks, StructSAM reduces encoder FLOPs by 25-30\% (up to 40\%+ with prompt-aware merging) with minor drops in mIoU/Dice, consistently outperforming ToMe, PiToMe, ToMeSD, VidToMe, and ALGM at the same compute.

cs.CV