#01Aug 3, 2026
cs.CV
Implicit Neural Representations for Multimodal Longitudinal Image Imputation and Interpolation
Sina Wendrich, Lukas Förner, Zoe Reinke and 5 more
Longitudinal multiparametric MRI is central to follow-up imaging in oncology, yet real-world clinical data are characterised by missing sequences, heterogeneous acquisition protocols, and varying spatial resolutions across time points. We propose a patient-specific conditional implicit neural representation (INR) that models multimodal longitudinal MRI as a continuous function of world coordinates, time, and modality conditioning. The model is trained with stochastic modality dropout to handle incomplete data, and its continuous coordinate-space formulation enables both spatial and temporal interpolation without resampling to a fixed voxel grid. A self-consistency-based confidence estimator is derived from cross-modal reconstruction performance at inference time. We evaluate the framework on longitudinal MRI from paediatric brain tumour patients, demonstrating statistically significant improvements over linear interpolation for T1CE and FLAIR (p < 0.05), with mean MS-SSIM of 0.95 $\pm$ 0.02 for T1CE. Predicted confidence correlates strongly with true reconstruction quality (Pearson r up to 0.996), suggesting reliable deployment potential in heterogeneous clinical settings.
#02Aug 3, 2026
cs.CV
GROVE: Growing and Reasoning over Temporally Stratified Memory from Streaming Video Experience
Sitong Gong, Caixin Kang, Tianyu Yan and 7 more
A wearable assistant should both answer questions about its visual history and recognize when that history is useful to the present situation. Existing video-memory systems primarily support question-conditioned recall, whereas proactive assistants typically use separate memory and control mechanisms. We introduce GROVE, a training-free framework that supports both behaviors with one memory grown causally from a continuous video stream. GROVE retains fine-grained perceptual evidence and incrementally consolidates it into time-stamped moments, coherent episodes, and recurring cross-day patterns. Each stratum is paired with a scale-native retrieval skill for locating an observation, replaying an activity, or traversing long-range regularities. Reactive QA and proactive assistance share this memory and access interface, differing in whether retrieval is initiated by a user query or the current situation. Across multiple benchmarks including the challenging MM-lifelong and EgoServe, GROVE achieves the best results among the compared methods. Controlled ablations show that the temporal strata and their access skills are complementary, with patterns providing the largest benefit when evidence spans multiple days. Code will be available at https://github.com/SitongGong/GROVE.
#03Aug 3, 2026
cs.CV
InfiniSplat: Implicit Gaussian Decoding for Large-Baseline Monocular View Synthesis
Jiawei Wang, Hao Yu, Yongzhen Hu and 7 more
Single-image feed-forward 3D Gaussian Splatting (3DGS) aims to directly generate a renderable 3D scene representation from one input image, avoiding the cost of multi-view capture and per-scene optimization. However, existing methods are often constrained by a pixel-aligned representation, where Gaussians are predicted from fixed image-grid locations. Such pixel-aligned primitives can produce promising nearby-view renderings, but they remain weakly coupled to underlying scene surfaces and struggle to preserve coherent structures under large viewpoint shifts. We present InfiniSplat, a feed-forward single-image 3DGS framework that moves from a pixel-aligned representation toward a surface-aligned representation. InfiniSplat constructs this representation by first using geometry-guided sampling to place 2D supports according to depth-induced local surface structure, and then applying a query-conditioned implicit decoder to predict Gaussian attributes from the image features queried at these supports.By grounding support locations in geometry while decoupling Gaussian prediction from fixed pixel centers, InfiniSplat produces Gaussian layouts that better follow scene surfaces and reduce scattered primitives caused by grid discretization.Across multiple cross-dataset NVS evaluations, InfiniSplat achieves state-of-the-art performance compared with single-image feed-forward baselines, and demonstrates zero-shot generalization from Hypersim indoor synthetic training to complex open-world scenes.Project page: https://zju3dv.github.io/InfiniSplat.
#04Aug 3, 2026
cs.RO
TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks
Daniel Fusaro, Simone Mosco, Wanmeng Li and 1 more
Traversability analysis is a fundamental capability for autonomous mobile robots operating in unstructured environments. While modern machine learning approaches such as deep neural networks and gradient-boosted trees achieve strong predictive performance, they lack interpretability and provide limited insight into the underlying terrain-robot interaction dynamics. In this paper, we propose TravKAN, a Kolmogorov-Arnold Network-based framework for fast, scalable, and interpretable traversability estimation. TravKAN represents multivariate decision functions through compositions of learnable univariate functions, enabling compact architectures and symbolic extraction of analytic expressions after training. In addition, we introduce a novel set of handcrafted features derived from the reflectivity channel of LiDAR sensors. To the best of our knowledge, reflectivity has not been systematically exploited for handcrafted traversability descriptors, despite its potential to capture material and surface properties complementary to geometric cues. We evaluate TravKAN on public, real-world urban and off-road datasets and compare it against strong baselines. TravKAN achieves strong performance across all metrics, outperforming conventional deep models and approaching the performance of XGBoost. TravKAN-Lite, i.e., TravKAN's symbolic representation, reveals meaningful nonlinear feature interactions and provides a compact, deployment-friendly, and fast analytic model. Ablation studies further show the robustness of our method to architectural variations and quantify the contribution of the proposed reflectivity-based features. These properties make TravKAN attractive for robotic systems requiring transparency, real-time computational efficiency, and interpretability in safety-critical decision-making.
#05Aug 3, 2026
cs.CV
EchoCache: Energy-Guided Cross-Modal Caching for Efficient Audio-Driven Video Generation
Jiayu Chen, Xiaoyu Wu, Rongshan Gao and 6 more
Audio-driven video generation (A2V) has achieved promising progress in synthesizing temporally coherent and audio-visually aligned videos, yet its inference remains expensive due to the iterative denoising process of diffusion models. Existing caching methods mainly exploit temporal redundancy in visual features while overlooking the cross-modal alignment of A2V, where audio drives visual generation with highly non-uniform temporal importance. In this paper, we identify two levels of misalignment in existing A2V caching methods: temporal-semantic and computation-storage misalignment. To address them, we propose EchoCache, an energy-guided cross-modal caching framework for efficient A2V generation. EchoCache leverages audio time-frequency energy as a saliency anchor to guide latent-level cache updates and further introduces a dynamic timestep-latent caching mechanism with quantized cache management for joint efficiency and memory optimization. Extensive experiments on mainstream A2V models show that EchoCache consistently improves the latency-quality trade-off while preserving generation quality and audio-visual consistency. In particular, on Wan2.2-S2V over the EMTD benchmark, EchoCache achieves a 2.46x speedup with the best overall performance. Code is available at https://github.com/IF-LAB-PKU/EchoCache.