arXiv:2510.20486v2 Announce Type: replace-cross Abstract: Imbalanced labels can cause frequent samples to dominate AI-based quantitative remote sensing, degrading rare-event retrieval. In rain-rate retrieval based on satellite infrared brightness temperatures, this imbalance leads to systematic underestimation of rare high-intensity rainfall. In this study, Hurdle-Retrieval Model Imbalanced Learning (RMIL) is proposed. Following a divide-and-conquer strategy, Hurdle-RMIL separates zero inflation from the long-tailed distribution of positive rain. A hurdle model handles zero inflation, whereas RMIL exploits invariance under fixed observation conditions of the rainfall-to-satellite forward process to derive a Bayes-based transformation linking conditional distributions under naturally long-tailed and hypothetical balanced rainfall. This transformation enables the balanced-distribution model to be learned from natural samples without constructing a balanced dataset. Comparisons with conventional learning, classification-regression modeling, cost-sensitive learning, and generative learning using test data from multiple regions in China show that Hurdle-RMIL mitigates systematic underestimation and improves detection of rare high-intensity and extreme rainfall without markedly degrading lower-threshold accuracy. At 0.1-10 mm per hour, its root mean square error remains close to those of the best baselines, and it yields the highest equitable threat score (ETS) at most evaluated thresholds, with its advantage becoming more pronounced at high thresholds. At 30 mm per hour, its ETS is 0.051 versus 0.015 for the best baseline, and its mean error is -25.41 mm per hour versus -28.98 mm per hour. Case studies further show improved representations of rainfall intensity and spatial extent, demonstrating that Hurdle-RMIL effectively addresses rainfall-distribution imbalance and improves the retrieval of rare high-intensity rainfall.

arXiv:2608.18234v3 Announce Type: replace-cross Abstract: Whole-body motion tracking policies turn a humanoid into a robust control interface: the teleoperator---or an upstream model---only supplies a coarse movement intent, while the low-level policy keeps the robot balanced and physically feasible. Existing trackers deliver this interface only on flat ground: trained in empty scenes, they never learn how contact with terrain and objects reshapes their dynamics, and they attempt to teach the policy to balance under any command by continually enlarging the reference-motion corpus, which stops working once feasible behaviors become environment-dependent. We present GigaBrain-WBC-0.5, the first Behavior World Model (BWM) for humanoid whole-body control. Rather than a purely reactive tracker, we train a causal Transformer to jointly predict its next action, next state, and the distribution over its next latent behavior command, so the network that acts also models how the environment shapes what it can do next. An automatic terrain-annotation pipeline recovers full 3D contact geometry from retargeted motion, enabling terrain annotation at the scale of existing motion datasets. The predicted distribution is reused at deployment to detect implausible commands online and retract them onto learned behaviors, so the robot attempts tasks in a "best-effort" manner. The result is a unified policy that takes real-time command, interacts with environment, and stays robust to implausible commands, falls, and disturbances. GigaBrain-WBC-0.5 achieves the highest success rate across all four regimes among three large-scale tracker baselines: 81.3% on terrain interaction (4.3x the strongest baseline), 83.1% under implausible commands, and 99.3% fall recovery (16.8x the strongest baseline). Hardware trials show robust interaction under missing supports and disturbances; the Unitree G1 checkpoint transfers to the Maker L01 robot with simple fine-tuning.