Multimodal Large Language Models (MLLMs) have demonstrated significant progress in vision-language tasks, yet they still face challenges when processing long-duration video inputs. The limitation arises from MLLMs' context limit and training costs, necessitating sparse frame sampling before feeding videos into MLLMs. However, building a trainable sampling method remains challenging due to the unsupervised and non-differentiable nature of sparse frame sampling in Video-MLLMs. To address these problems, we propose Temporal Sampling Policy Optimization (**TSPO**), advancing MLLMs' long-form video-language understanding via reinforcement learning. Specifically, we first propose a trainable event-aware temporal agent, which captures event-query correlation for performing probabilistic keyframe selection. Then, we propose the TSPO reinforcement learning paradigm, which models keyframe selection and language generation as a joint decision-making process, enabling end-to-end group relative optimization for the temporal sampling policy. Furthermore, we propose a dual-style long video training data construction pipeline, balancing comprehensive temporal understanding and key segment localization. Finally, we incorporate rule-based answering accuracy and temporal locating reward mechanisms to optimize the temporal sampling policy. Comprehensive experiments show that our TSPO achieves state-of-the-art performance across multiple long video understanding benchmarks, and shows transferable ability across different cutting-edge Video-MLLMs.

With the wide application of knowledge distillation between an ImageNet pre-trained teacher model and a learnable student model, unsupervised anomaly detection has witnessed a significant achievement in the past few years. The success of this framework mainly relies on how to keep the feature discrepancy between the teacher and student model, in which it has two underlying sub-assumptions: (1) The teacher model can represent two separable distributions for the normal and abnormal patterns, while (2) the student model can only reconstruct the normal distribution. However, it still remains a challenging issue to maintain these ideal assumptions in practice. In this paper, we propose a simple yet effective two-stage industrial anomaly detection framework, termed AAND, which sequentially performs Anomaly Amplification and Normality Distillation to enhance the two assumptions. In the first anomaly amplification stage, we propose a novel Residual Anomaly Amplification (RAA) module to advance the pre-trained teacher encoder with synthetic anomalies. It generates adaptive residuals to amplify anomalies while maintaining the feature integrity of pre-trained model. It mainly comprises a Matching-guided Residual Gate and an Attribute-scaling Residual Generator, which can determine the residuals' proportion and characteristic, respectively. In the second normality distillation stage, we further employ a reverse distillation paradigm to train a student decoder, in which a novel Hard Knowledge Distillation (HKD) loss is built to better facilitate the reconstruction of normal patterns. Comprehensive experiments on the MvTecAD, VisA, and MvTec3D-RGB datasets show that our method achieves state-of-the-art performance. Our code is available at https://github.com/Hui-design/AAND.

Keypoint detection and descriptor matching are two vital steps in the 3D feature extraction framework, but they are difficult to learn in an end-to-end fashion due to their inherent discreteness. To tackle the non-differentiable operations, we formulate feature extraction as a decision-making problem: the network is treated as a policy pool that can make probabilistic estimations for keypoint selection and feature matching, supervised by maximizing a reward expectation of actions. In this way, we propose a novel end-to-end training paradigm of 3D feature extraction based on the stochastic policy gradient method, named Reinforced Detectors and Descriptors (RDD). Firstly, we propose a local-to-global probabilistic keypoint selection module that formulates the sampling probabilities of keypoints in a local-and-global mechanism to yield sparse and accurate keypoints. Secondly, we regard feature matching as an optimal transport problem and an efficient Sinkhorn method is leveraged to solve the optimal matching probabilities. In particular, we carefully design a reward function and derive gradients of probabilistic actions, thus overcoming the discreteness and providing reinforced supervision signals. Since our reward function is calculated from sampled keypoints rather than from randomly sampled points as in existing methods, the gap between training and inference is bridged. Experimental results demonstrate that our approach exceeds the quality of state-of-the-art methods and shows strong generalization ability. Remarkably, our approach can achieve significantly higher Registration Recall than other advanced methods when aligning scenes with a small number of keypoints, due to our highly accurate and repeatable detector.

Device-to-device (D2D) communication, as a traffic offloading technology in the fifth-generation (5G) network, can be widely used in several scenarios to provide 5G characteristics of higher speed, lower latency, and larger capacity. D2D data transmission over wireless channels among mobile devices is vulnerable to security threats and privacy violations from third parties and relay nodes. However, academia and industry have yet to propose relevant schemes or standards for D2D relay data transmission scenarios. We first propose a generic construction for D2D relay communication in this paper. Then, a concrete anonymous and secure D2D data transmission scheme with trajectory tracking is presented based on Chebyshev polynomials, hash-based message authentication code, and symmetric encryption. We employ a formal verification tool -Tamarin, modal logic analysis -BAN logic, and informal security analysis to demonstrate the security features of the proposed scheme. The performance evaluation shows that the proposed scheme can achieve desirable efficiency compared with other related schemes. Finally, we developed an APP‘, D2DWatchmen’, to simulate the whole protocol and test its robustness and real execution time, where the result shows good availability and effectiveness.

Patch-to-point matching has become a robust way of point cloud registration. However, previous patch-matching methods employ superpoints with poor localization precision as nodes, which may lead to ambiguous patch partitions. In this paper, we propose a HybridPoint-based network to find more robust and accurate correspondences. Firstly, we propose to use salient points with prominent local features as nodes to increase patch repeatability, and introduce some uniformly distributed points to complete the point cloud, thus constituting hybrid points. Hybrid points not only have better localization precision but also give a complete picture of the whole point cloud. Furthermore, based on the characteristic of hybrid points, we propose a dual-classes patch matching module, which leverages the matching results of salient points and filters the matching noise of non-salient points. Experiments show that our model achieves state-of-the-art performance on 3DMatch, 3DLoMatch, and KITTI odometry, especially with 93.0% Registration Recall on the 3DMatch dataset. Our code and models are available at https://github.com/liyih/HybridPoint.

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and detectors. In this paper, we present a framework that explicitly extracts dual-level descriptors and detectors and performs coarse-to-fine matching with them. First, to explicitly learn local and global semantics, we propose a hierarchical contrastive learning strategy, training the robust matching ability of high-level descriptors, and refining the local feature space using low-level descriptors. Furthermore, we propose to learn dual-level saliency maps that extract two groups of keypoints in two different senses. To overcome the weak supervision of binary matchability labels, we propose a ranking strategy to label the significance ranking of keypoints, and thus provide more fine-grained supervision signals. Finally, we propose a global-to-local matching scheme to obtain robust and accurate correspondences by leveraging the complementary dual-level features. Quantitative experiments on 3DMatch and KITTI odometry datasets show that our method achieves robust and accurate point cloud registration and outperforms recent keypoint-based methods. [code release]