Multimodal pretraining has revolutionized visual understanding, but its impact on video-based person re-identification (ReID) remains underexplored. Existing approaches often rely on video-text pairs, yet suffer from two fundamental limitations: (1) lack of genuine multimodal pretraining, and (2) text poorly captures fine-grained temporal motion—an essential cue for distinguishing identities in video. In this work, we take a bold departure from text-based paradigms by introducing the first skeleton-driven pretraining framework for ReID. To achieve this, we propose Contrastive Skeleton-Image Pretraining for ReID (CSIP-ReID), a novel two-stage method that leverages skeleton sequences as a spatiotemporally informative modality aligned with video frames. In the first stage, we employ contrastive learning to align skeleton and visual features at sequence level. In the second stage, we introduce a dynamic Prototype Fusion Updater (PFU) to refine multimodal identity prototypes, fusing motion and appearance cues. Moreover, we propose a Skeleton Guided Temporal Modeling (SGTM) module that distills temporal cues from skeleton data and integrates them into visual features. Extensive experiments demonstrate that CSIP-ReID achieves new state-of-the-art results on standard video ReID benchmarks (MARS, LS-VID, iLIDS-VID). Moreover, it exhibits strong generalization to skeleton-only ReID tasks (BIWI, IAS), significantly outperforming previous methods. CSIP-ReID pioneers an annotation-free and motion-aware pretraining paradigm for ReID, opening a new frontier in multimodal representation learning.

Despite continuous advancements in deep learning for understanding human motion, existing models often struggle to accurately identify action timing and specific body parts, typically supporting only single-round interaction. This limitation is particularly pronounced in home exercise monitoring, neurological disorder assessment, and rehabilitation, where precise motion analysis is crucial for ensuring exercise efficacy, detecting early signs of neurological conditions, and guiding personalized recovery programs. In this paper, we propose MoChat, a multimodal large language model capable of spatio-temporal grounding of human motion and multi-turn dialogue understanding. To achieve this, we first group spatial features in skeleton frames according to human anatomical structures and process them through a Joints-Grouped Skeleton Encoder. The encoder's outputs are fused with large language model embeddings to generate spatio-aware representations. A cross-attention-based Regression Head module is then designed to align hidden-layer embeddings and skeletal sequence embeddings, enabling precise temporal grounding. Furthermore, we develop a pipeline for temporal grounding task to extract timestamps from skeleton-text pairs and construct a multi-turn instruction dialogues for spatial grounding task. Finally, various task instructions are generated for jointly training. Experimental results demonstrate that MoChat achieves state-of-the-art performance across multiple metrics in motion understanding tasks, making it as the first model capable of fine-grained spatio-temporal grounding of human motion.

CNN-based and Transformer-based models are widely applied in medical image segmentation. However, CNN models exhibit limitations in capturing long-range dependencies, while Transformer models demand a substantially higher number of parameters due to their self-attention mechanism. To address these challenges, some methods adopt State Space Models (SSM), which excel at modeling long-range interactions with a compact parameter design. Recently, Mamba2 introduces State Space Duality (SSD), an improved variant of SSM that enhances model performance and efficiency. Nevertheless, the inherent causal property of SSM/SSD restricts their applicability in medical image segmentation. To overcome this limitation, we propose a novel method, Vision Mamba2 State-Space UNet (VMS2-UNet), a U-shaped lightweight Vision Mamba2 model with Non-Causal State Space Duality, specifically designed for medical image segmentation. VMS2-UNet integrates multiple NCState Blocks (NCS Blocks), which adopt the non-causal format of SSD to efficiently model long-range dependencies while preserving parameter efficiency. To mitigate spatial information loss caused by downsampling, we introduce FIMA (Feature Integration and Modulation Attention), which enhances feature integration in the skip connections, improving segmentation performance while adding only 0.04M parameters. We conduct extensive experiments on three challenging benchmarks, and the results show that VMS2-UNet achieves competitive performance in medical image segmentation, outperforming several state-of-the-art methods while maintaining a lightweight design.

We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which are compared to the measurements from the inertial measurement unit (IMU) for optimal state estimation. The spline boundary conditions create constraints between the camera and the IMU, with which we formulate VIO as a constrained nonlinear optimization problem. Continuous-time pose representation makes it possible to address many VIO challenges, e.g., rolling shutter distortion and sensors that may lack synchronization. We conduct experiments on two publicly available datasets that demonstrate the state-of-the-art accuracy and real-time computational efficiency of our method.

In this paper we present the LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction capabilities on LoCO, including gestural control, diver following, and robot communication via motion. Finally, we discuss the practical concerns of deployment and our experiences in using this robot in pools, lakes, and the ocean. All design details, instructions on assembly, and code will be released under a permissive, open-source license.

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images representing these locations. However, such approaches are sensitive to visual appearance change and also can be computationally expensive. In this paper, we propose an alternative approach adapting LiDAR descriptors for 3D points obtained from stereo-visual odometry for place recognition. 3D points are potentially more reliable than 2D visual cues (e.g., 2D features) against environmental changes (e.g., variable illumination) and this may benefit visual SLAM systems in long-term deployment scenarios. Stereo-visual odometry generates 3D points with an absolute scale, which enables us to use LiDAR descriptors for place recognition with high computational efficiency. Through extensive evaluations on standard benchmark datasets, we demonstrate the accuracy, efficiency, and robustness of using 3D points for place recognition over 2D methods.

This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather than triangulating 3D points from stereo matching. Specifically, the 3D points generated by the monocular visual odometry are projected onto the other camera of the stereo pair, and the scale is recovered and optimized by directly minimizing the photometric error. It is computationally efficient, adding minimal overhead to the stereo vision system compared to straightforward stereo matching, and is robust to repetitive texture. Additionally, direct scale optimization enables stereo visual odometry to be purely based on the direct method. Extensive evaluation on public datasets (e.g., KITTI), and outdoor environments (both terrestrial and underwater) demonstrates the accuracy and efficiency of a stereo visual odometry approach extended by scale optimization, and its robustness in environments with challenging textures.