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Daily Research Digest

arXiv Papers

2026-09-16
302
Papers
4
Categories
302
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机器人学 (Robotics)
62
cs.RO / 1 / 2609.16040

Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity

Bi-MoDe:基于双边控制的模仿学习通过修饰符条件解码实现执行速度和接触强度的调节
Kobayashi, Takumi, Kobayashi, Masato, Uranishi, Yuki
Abstract
Bilateral control-based imitation learning captures both position and force information, making it well suited to contact-rich manipulation. However, existing approaches provide limited means for an operator to specify how a learned task should be executed at inference time, such as slowly or quickly, gently or firmly. We propose Bi-MoDe, a modifier-conditioned decoding framework that injects a constrained latent into every layer of the Transformer action decoder via adaLN-Zero, allowing behavioral directives to directly influence action-chunk generation. We evaluate the method on a real-world whiteboard wiping task with combinations of temporal and physical modifiers. Bi-MoDe improves physical directive following over the action-chunking baseline while maintaining comparable temporal control. An ablation further shows that decoder conditioning and latent-space composition interact, and that their combination is important for accurate physical directive following. Additional material is available at the https://mertcookimg.github.io/bi-mode/
Chinese Translation
基于双边控制的模仿学习能够捕捉位置和力的信息,使其非常适合于接触丰富的操作。然而,现有的方法在推理时为操作员指定学习任务的执行方式(例如缓慢或快速、轻柔或坚定)提供的手段有限。我们提出了Bi-MoDe,一种修饰符条件解码框架,通过adaLN-Zero将约束潜变量注入到Transformer动作解码器的每一层,使得行为指令能够直接影响动作块的生成。我们在一个真实的白板擦拭任务上评估了该方法,结合了时间和物理修饰符。Bi-MoDe在遵循物理指令方面优于动作块基线,同时保持了可比的时间控制。消融实验进一步表明,解码器条件和潜空间组合之间存在相互作用,并且它们的结合对于准确遵循物理指令至关重要。更多材料可在 https://mertcookimg.github.io/bi-mode/ 获取。
cs.RO / 2 / 2609.16041

MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control

MR-GLi:基于混合现实的抓手链接叠加层用于水下机器人臂的双向控制遥操作
Sasago, Masashi, Kobayashi, Masato, Uranishi, Yuki
Abstract
Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi, an MR interface that spatially registers a reaction torque indicator and wrist-camera image to the robot gripper. Twenty participants performed lift and pick-and-place tasks with rigid and compliant objects in a counterbalanced within-subject comparison with a 2D monitor, using identical visual-feedback content and four-channel bilateral control. MR-GLi provided gripper-linked access to visual feedback while maintaining a similar level of torque-regulation performance to the 2D monitor. Subjective evaluation further indicated reduced perceived burden associated with shifting attention between the workspace and visual feedback. These results demonstrate the feasibility of gripper-linked MR overlays for underwater bilateral teleoperation and highlight the importance of considering information access in addition to task performance. Additional material: https://mertcookimg.github.io/mr-gli/
Chinese Translation
视觉扭矩反馈支持水下双向遥操作,但混合现实(MR)相较于传统显示器呈现的优势尚不明确。我们提出了MR-GLi,这是一种将反应扭矩指示器和腕部摄像头图像空间注册到机器人抓手的MR界面。二十名参与者在一个平衡的被试内比较中,使用相同的视觉反馈内容和四通道双向控制,执行刚性和柔性物体的提升和放置任务。MR-GLi 提供了与抓手链接的视觉反馈访问,同时保持了与2D显示器相似的扭矩调节性能。主观评估进一步表明,参与者在工作空间与视觉反馈之间转移注意力时感知负担有所降低。这些结果展示了抓手链接的MR叠加层在水下双向遥操作中的可行性,并强调了在考虑任务性能的同时关注信息获取的重要性。附加材料: https://mertcookimg.github.io/mr-gli/
cs.RO / 3 / 2609.16074

World-Action Models for Robot Learning and Control: A Survey

机器人学习与控制的世界-动作模型:综述
Lu, Zuxing, Zhai, Hongjia, Wang, Guanzhi, Zeng, Huajian, Yang, Jiaqi, Liu, Jingyu, Cheng, Lei, Zhang, Yuantai, Qiu, Yuheng, Cheng, Zezhou, Laptev, Ivan, Xu, Danfei, Riviere, Benjamin, Loianno, Giuseppe, Xing, Eric, Zuo, Xingxing
Abstract
Robots operating in open environments act under partial observability, physical constraints, and dynamic task contexts. Beyond mapping observations and language instructions to actions, they must anticipate how candidate actions may affect future states and task-relevant outcomes. Recent advances in world models, video generation, and Vision-Language-Action (VLA) policies have motivated the development of World-Action Models (WAMs), which couple future world prediction with executable action generation. This survey provides a robotics-oriented review of WAMs. We clarify their scope relative to conventional world models, model-based reinforcement learning, action-conditioned video generation, and reactive VLA policies, and organize existing methods through a unified taxonomy covering representations, transition modeling, action interfaces, architectures, training pipelines, data modalities, and scaling strategies. We further review applications of WAMs in manipulation, navigation, and autonomous driving, and we summarize the datasets, benchmarks, metrics, and protocols used to evaluate WAM systems. Finally, we discuss key challenges in action alignment, world-action factorization, spatial and multi-view consistency, long-horizon memory, neural simulation for closed-loop policy learning, and efficient inference. Taken together, this survey aims to provide a concise technical foundation for integrating predictive world modeling with action generation, toward more reliable embodied robot intelligence. Project page: https://rcl-robotics.github.io/Awesome-World-Action-Models.
Chinese Translation
在开放环境中操作的机器人在部分可观测性、物理约束和动态任务背景下进行行动。除了将观察结果和语言指令映射到动作之外,它们还必须预测候选动作如何影响未来状态和与任务相关的结果。最近在世界模型、视频生成和视觉-语言-动作(Vision-Language-Action, VLA)策略方面的进展,促使了世界-动作模型(World-Action Models, WAMs)的发展,该模型将未来世界预测与可执行动作生成相结合。本综述提供了一个面向机器人领域的WAMs回顾。我们澄清了它们相对于传统世界模型、基于模型的强化学习、动作条件的视频生成和反应式VLA策略的范围,并通过一个统一的分类法组织现有方法,涵盖表示、转移建模、动作接口、架构、训练流程、数据模态和扩展策略。我们进一步回顾了WAMs在操控、导航和自动驾驶中的应用,并总结了用于评估WAM系统的数据集、基准、指标和协议。最后,我们讨论了在动作对齐、世界-动作因子分解、空间和多视图一致性、长时间记忆、用于闭环策略学习的神经仿真以及高效推理等方面的关键挑战。综上所述,本综述旨在为将预测性世界建模与动作生成相结合提供简明的技术基础,以实现更可靠的具身机器人智能。项目页面:https://rcl-robotics.github.io/Awesome-World-Action-Models。
cs.RO / 4 / 2609.16075

AssemblyGrid v1: A Benchmark for Multi-Robot Production with Temporary Coalitions, Local Information, and Geometric Constraints

AssemblyGrid v1:一个针对临时联盟、局部信息和几何约束的多机器人生产基准测试
Bahrpeyma, Fouad, Heik, David, Reichelt, Dirk
Abstract
Flexible robotic production requires joint decisions on process progression, material routing, resource assignment, temporary cooperation, and simultaneous execution, since each decision can affect the feasibility of the others. The challenge is greater under decentralized control, where each robot acts from bounded local information while system progress depends on collective decisions, shared resources, material state, and workspace compatibility. These properties closely match cooperative multi-agent decision making under partial observability and resource contention. This paper introduces AssemblyGrid v1, a reproducible benchmark for repeated multi-robot production that combines explicit process progression, decentralized observations, material transfer, temporary multi-robot coalitions, productive concurrency, and geometry-dependent feasibility within one task-level formulation. The benchmark includes Flow, Coalition, and Concurrency workload families, each with three scenario levels. Task success and evaluation measures are defined independently of learning reward and solution method, allowing learning-based and non-learning methods to address the same production problem. AssemblyGrid v1 is evaluated through executable conformance checks, mechanism studies, and algorithmic experiments using a privileged centralized reference, structured decentralized controllers, and MARL methods including IPPO, MAPPO, and QMIX. Results demonstrate productive execution under centralized and decentralized control. The MARL experiments further show that decentralized policies can learn effective production behavior from local observations and actions, supporting AssemblyGrid as a controlled benchmark for studying cooperative decision making in flexible robotic production.
Chinese Translation
灵活的机器人生产需要对过程进展、物料路线、资源分配、临时合作和同时执行进行联合决策,因为每个决策都可能影响其他决策的可行性。在分散控制下,这一挑战更为严峻,因为每个机器人在有限的局部信息基础上行动,而系统的进展依赖于集体决策、共享资源、物料状态和工作空间的兼容性。这些特性与部分可观测性和资源竞争下的合作多智能体决策密切相关。本文介绍了AssemblyGrid v1,这是一个可重复的多机器人生产基准,结合了明确的过程进展、分散观察、物料转移、临时多机器人联盟、有效的并发性和几何依赖的可行性,形成了一个任务级别的框架。该基准包括Flow、Coalition和Concurrency工作负载系列,每个系列有三个场景级别。任务成功和评估指标独立于学习奖励和解决方法定义,允许基于学习和非学习的方法解决相同的生产问题。AssemblyGrid v1通过可执行的一致性检查、机制研究和算法实验进行评估,使用特权的集中参考、结构化的分散控制器以及包括IPPO、MAPPO和QMIX在内的多智能体强化学习(MARL)方法。结果表明,在集中和分散控制下均能有效执行。MARL实验进一步表明,分散策略可以从局部观察和行动中学习有效的生产行为,支持AssemblyGrid作为一个控制基准,用于研究灵活机器人生产中的合作决策。
cs.RO / 5 / 2609.16089

Structure-Preserving Quantum Circuit Architectures for Robot Kinematics

保持结构的量子电路架构用于机器人运动学
Morghen, Andrea, Arpenti, Pierluigi, Schiattarella, Roberto, Acampora, Giovanni, Siciliano, Bruno
Abstract
Structured spatial data require quantum encodings that preserve geometric relations, expose measurable observables, and remain implementable on finite-depth hardware. This work introduces a quantum representation and circuit architecture for rigid-body transformations and specializes it to Denavit--Hartenberg kinematics of serial open-chain manipulators. Each translational contribution is factorized into a classical metric magnitude and a signed unit direction encoded by a single-qubit Bloch vector, while parameterized rotations reproduce the ordered propagation of frame directions. A selector register prepares probabilities proportional to the contribution magnitudes, and the reduced state of a designated readout qubit encodes their normalized weighted sum. The retained classical scale then reconstructs the metric end-effector position. Two additional readout qubits encode terminal-frame axes, providing a compact and geometrically interpretable pose interface. At the ideal expectation-value level, measured Pauli observables reproduce the corresponding classical kinematic quantities. Alternative circuit architectures realize the same representation with different tradeoffs in qubit count, circuit depth, controlled operations, and measurement requirements. Validation on a serial manipulator yields numerically negligible position and orientation reconstruction errors under ideal simulation. Finite-shot simulations, noisy executions, transpilation analysis, and a hardware demonstration further characterize statistical error, noise sensitivity, and implementation overhead without asserting computational advantage.
Chinese Translation
结构化空间数据需要保持几何关系的量子编码,能够暴露可测量的可观测量,并且在有限深度硬件上可实现。本研究介绍了一种用于刚体变换的量子表示和电路架构,并将其专门化为串联开放链操作器的Denavit–Hartenberg运动学。每个平移贡献被分解为一个经典度量大小和一个由单量子比特Bloch向量编码的带符号单位方向,而参数化的旋转则重现了框架方向的有序传播。选择寄存器准备与贡献大小成比例的概率,指定读取量子比特的简化状态编码了它们的归一化加权和。保留的经典尺度随后重建度量末端执行器的位置。两个额外的读取量子比特编码终端框架轴,提供一个紧凑且几何可解释的姿态接口。在理想期望值层面,测量的Pauli可观测量重现相应的经典运动学量。替代电路架构以不同的量子比特数量、电路深度、受控操作和测量要求实现相同的表示。在串联操作器上的验证在理想模拟下产生了数值上可忽略的位置和方向重建误差。有限次实验模拟、噪声执行、转译分析和硬件演示进一步表征了统计误差、噪声敏感性和实现开销,而不声称计算优势。
cs.RO / 6 / 2609.16186

Occupancy Network-Guided Autonomous Robotic Partial Nephrectomy

基于占用网络引导的自主机器人部分肾切除术
Kilmer, Ethan, Henrich, Pit, Ge, Jiawei, Scheikl, Paul M., Connolly, Laura, Lokeshwar, Soum D., Chen, Joseph, Opfermann, Justin D., Kumar, Kaitlyn, Shepard, Lauren, Ghazi, Ahmed, Singla, Nirmish, Cha, Richard J., Cleary, Kevin, Mathis-Ullrich, Franziska, Krieger, Axel
Abstract
Autonomous soft-tissue cancer surgery has been limited to interventions on organ surfaces, because current systems cannot perceive and adapt to anatomy once it deforms or is cut. We introduce the first vision-guided autonomous system capable of performing complete tumor resections for partial nephrectomy. Our system integrates conditional occupancy networks, trained entirely in a physics-based simulation, that infer full 3-D anatomy (tumor, margin tissue, and kidney) from single-view partial point clouds. These occupancy networks maintain intraoperative tracking even as tissue is cut and deformed, enabling adaptive planning and execution. The surgical platform combines a depth camera for capturing surface point clouds, dual robotic arms for electrosurgical cutting and vacuum-based tissue manipulation, and an autonomous control strategy for tumor resection. In patient-derived hydrogel phantoms under an open partial nephrectomy setting, the robot performed eight consecutive autonomous tumor resections comprising 77 electrosurgical cuts, with all cuts achieving negative surgical margins and 1.61 $\pm$ 0.48 mm mean absolute margin error. This work demonstrates, for the first time, a foundation for supervised autonomous closed-loop, imaging-driven, margin-negative tumor removal in phantoms.
Chinese Translation
自主软组织癌症手术目前仅限于对器官表面的干预,因为现有系统无法在解剖结构变形或被切割后进行感知和适应。我们介绍了首个能够进行部分肾切除术完整肿瘤切除的视觉引导自主系统。我们的系统集成了完全在基于物理的仿真中训练的条件占用网络,这些网络能够从单视角的部分点云推断出完整的三维解剖结构(肿瘤、边缘组织和肾脏)。这些占用网络在组织被切割和变形的过程中保持术中跟踪,从而实现适应性规划和执行。该手术平台结合了用于捕获表面点云的深度相机、用于电外科切割和基于真空的组织操作的双机械臂,以及用于肿瘤切除的自主控制策略。在开放式部分肾切除术设置下的患者来源水凝胶模型中,机器人连续执行了八次自主肿瘤切除,共进行了77次电外科切割,所有切割均实现了负手术边缘,平均绝对边缘误差为1.61 ± 0.48 mm。这项工作首次展示了在模型中进行监督自主闭环、基于成像的负边缘肿瘤切除的基础。
cs.RO / 7 / 2609.16256

Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation

具有模块化刚度和现场自我姿态估计的腱驱动连续机器人
Ning, Guo, Sue, Cao, Zheng, Hu, Junzhe, Bu, Xiangyun, Quinn, David, Wu, Tiancheng, Erickson, Zackory, Majidi, Carmel
Abstract
Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrastructure, limiting their adaptability and real-world deployment. This paper presents a self-contained modular continuum robotic platform that combines mechanical reconfigurability with onboard pose estimation. The robot is constructed from interchangeable continuum joints with analytically precomputed stiffness, allowing rapid assembly and direct programming of the robot shape. Proprioceptive sensing is achieved using magnetic sensors and a modular learning-based framework, where a single model is trained per joint and reused across configurations. The system is experimentally validated in real world, demonstrating self-sensing capabilities and adaptation without external tracking.
Chinese Translation
连续机器人能够在受限环境中实现平滑的形状变换和安全交互。然而,大多数现有系统都是特定任务的,并依赖于外部传感基础设施,这限制了它们的适应性和实际部署。本文提出了一种自给自足的模块化连续机器人平台,结合了机械重构能力和车载姿态估计。该机器人由可互换的连续关节构成,具有经过解析预计算的刚度,允许快速组装和直接编程机器人形状。通过使用磁传感器和模块化学习框架实现本体感知,其中每个关节训练一个单一模型,并在不同配置中重复使用。该系统在真实环境中进行了实验验证,展示了自我感知能力和无需外部跟踪的适应性。
cs.RO / 8 / 2609.16319

ConGraspXL: Controllable Constraint-Conditioned Dexterous Grasping Motion Synthesis

ConGraspXL:可控约束条件下的灵巧抓取运动合成
Zhang, Hui, Meboldt, Mirko, Song, Jie
Abstract
Dexterous grasping is usually conducted for specific tasks, leading to heterogeneous constraints such as specific approach directions, desired contact regions, specified wrist trajectories, and functional hand poses. Our previous work, GraspXL, achieves scalable grasping motion synthesis for diverse objects and hand morphologies, while lacking controllability for synthesis under such various task-driven constraints. In this paper, we propose ConGraspXL, which extends GraspXL with controllable constraint-conditioned grasp motion synthesis that accommodates diverse task-driven constraints and their combinations. We introduce a hierarchical constraint formulation, enable flexible constraint composition with a masked residual interface, and improve control precision with dynamic hand centers and feed-forward wrist guidance. Without losing the strong generalization capabilities of GraspXL, ConGraspXL enables precise and flexible controllability for various individual constraints and their combinations, providing a plug-and-play low-level grasp controller for downstream applications such as whole-body grasp completion, functional grasping, and human-motion imitation.
Chinese Translation
灵巧抓取通常针对特定任务进行,因此会产生异构约束,例如特定的接近方向、期望的接触区域、指定的手腕轨迹和功能性手势。我们之前的工作GraspXL实现了针对多样物体和手部形态的可扩展抓取运动合成,但在应对各种任务驱动约束下的合成控制能力方面存在不足。本文提出了ConGraspXL,它在GraspXL的基础上扩展了可控的约束条件抓取运动合成,能够适应多样的任务驱动约束及其组合。我们引入了一种分层约束形式,利用掩码残差接口实现灵活的约束组合,并通过动态手部中心和前馈手腕引导提高控制精度。在不失去GraspXL强大泛化能力的前提下,ConGraspXL为各种单独约束及其组合提供了精确而灵活的可控性,为下游应用如全身抓取完成、功能性抓取和人类运动模仿提供了即插即用的低级抓取控制器。
cs.RO / 9 / 2609.16331

ManiSkillFormer: Demonstration-Free Compositional Manipulation via Task-Conditioned Geometric Contracts

ManiSkillFormer:通过任务条件几何契约实现无演示的组合操控
Yu, Peiqi, Dabhi, Mosam, Li, Shangtao, Li, Bowei, Jeni, Laszlo, Liu, Changliu
Abstract
We present ManiSkillFormer, a neuro-symbolic framework for demonstration-free and compositional robotic manipulation. Instead of learning end-to-end visuomotor policies, ManiSkillFormer introduces task-conditioned geometric contracts that explicitly structure the interface between perception and action. Each manipulation skill declares the semantic geometric primitives required for execution, such as object keypoints and surface normals. Building on human-defined skill structures, LLM agents generate these contracts and corresponding motion templates for different objects and task contexts. These contracts guide the perception module to ground task-relevant 3D primitives from observations, which are then used to instantiate reusable motion templates stored in a skill library. We evaluate ManiSkillFormer on Galaxea R1-Lite dual-arm robot across three settings: zero-shot pick-and-place over 8 object categories with 30 different instances, functional manipulation tasks including unscrewing, pouring, pressing, and folding, and 3 long-horizon tasks. ManiSkillFormer achieves higher average success rates than the evaluated baselines and two ablated pipelines: 88.24% for demonstration-free pick-and-place, 75.00% average success on functional manipulation and 50--80% completion rates across the long-horizon tasks. These results show that our design enables composable and reusable manipulation across objects and tasks without per-object policy fine-tuning or additional robot demonstrations.
Chinese Translation
我们提出了ManiSkillFormer,这是一个用于无演示和组合机器人操控的神经符号框架。ManiSkillFormer并不是学习端到端的视觉运动策略,而是引入了任务条件的几何契约,明确构建了感知与行动之间的接口。每个操控技能声明了执行所需的语义几何原语,例如物体关键点和表面法线。在人类定义的技能结构基础上,LLM代理生成这些契约及相应的运动模板,以适应不同的物体和任务上下文。这些契约指导感知模块从观察中获取与任务相关的3D原语,然后用于实例化存储在技能库中的可重用运动模板。我们在Galaxea R1-Lite双臂机器人上评估了ManiSkillFormer,涵盖三个设置:在8个物体类别中进行零样本的拾取与放置,包含拆卸、倒水、按压和折叠等功能性操控任务,以及3个长时间跨度的任务。ManiSkillFormer在无演示的拾取与放置任务中取得了88.24%的平均成功率,在功能性操控任务中取得了75.00%的平均成功率,并在长时间跨度的任务中实现了50%至80%的完成率。这些结果表明,我们的设计能够在不同物体和任务之间实现可组合和可重用的操控,而无需对每个物体进行策略微调或额外的机器人演示。
cs.RO / 10 / 2609.16346

Auto-HSI: Personalized human control of a robot swarm on demand by using LLMs for online automatic code generation

Auto-HSI:基于大型语言模型的按需个性化人机群体控制的自动代码生成
Nazzari, Alessandro, Cerisara, Nathan, Tonnis, Dorian, Zakir, Raina, Labarile, Lorenzo, Zhu, Weixu, Dorigo, Marco, Heinrich, Mary Katherine
Abstract
This paper presents Auto-HSI, a method for generating personalized human-swarm interaction (HSI) interfaces on demand. The objective is to enable untrained operators to use natural language descriptions and gesture demonstrations to explain how they want the robots to collectively behave in response to their gestures. Based on these inputs, the code should automatically be generated for personalized state machines that will control the robots as desired, in response to the desired gesture inputs. In the developed Auto-HSI prototype, the generated code produces a personalized interface for centralized control using one- and two-handed gestures, enabling a user to teleoperate the robots' motion, formation shape, and shape deformation. We test the gesture tracking and code generation components of Auto-HSI against performance benchmarks. We then test the full Auto-HSI prototype in ``live'' operation experiments, in which real human operators centrally control 50 simulated robots in a physics-based simulator, under nominal and noisy conditions. In these experiments, robots are teleoperated to: score a goal, traverse a maze that requires shape deformation, and score two simultaneous goals by splitting into two groups. We also demonstrate a real human operator making live updates to their personalized Auto-HSI interface during operation (in simulation). Finally, we demonstrate live operation of real robots.
Chinese Translation
本文提出了Auto-HSI,一种按需生成个性化人机群体交互(HSI)界面的方法。其目标是使未经过培训的操作员能够使用自然语言描述和手势演示来解释他们希望机器人如何集体响应其手势。基于这些输入,代码应自动生成个性化状态机,以便根据所需的手势输入控制机器人。开发的Auto-HSI原型生成的代码为集中控制提供了个性化界面,支持单手和双手手势,使用户能够遥控机器人的运动、队形和形状变形。我们对Auto-HSI的手势跟踪和代码生成组件进行了性能基准测试。随后,我们在“实时”操作实验中测试了完整的Auto-HSI原型,在这些实验中,真实的人类操作员在物理基础的模拟器中集中控制50个模拟机器人,测试在正常和噪声条件下的表现。在这些实验中,机器人被遥控以:进球、穿越需要形状变形的迷宫,以及通过分成两组同时进两个球。我们还展示了一位真实人类操作员在操作(模拟中)期间对其个性化Auto-HSI界面进行实时更新。最后,我们展示了真实机器人的实时操作。
cs.RO / 11 / 2609.16368

UDAV: Uncertainty-Driven Adaptive VLM Waypoint Planner

UDAV:基于不确定性的自适应 VLM 路径点规划器
Farhani, Ghazal, Shabani, Shabnam
Abstract
Vision-language models (VLMs) can generate routes directly from aerial imagery for off-road navigation, but their predictions provide no indication of reliability. We present UDAV, an Uncertainty-Driven Adaptive VLM Waypoint Planner for UAV-guided UGV navigation. UDAV draws multiple stochastic trajectory predictions, selects their medoid as a self-consistent nominal route, and estimates predictive uncertainty from their spatial dispersion. When the maximum uncertainty across interior waypoints exceeds a threshold, UDAV invokes a reconsideration stage; otherwise, it returns the medoid directly. We evaluate UDAV on 400 held-out trajectory queries from two UAV flights. Stochastic medoid selection reduces the mean average displacement error (ADE) from 147.4 pixels for a deterministic prediction to 115.9 pixels. The complete planner achieves a mean ADE of 110.4 pixels, a 25.1% reduction relative to deterministic planning, while producing valid trajectories for all queries. UDAV also yields the lowest 90th- and 95th-percentile errors among all evaluated configurations, including a higher-budget K=10 consensus baseline. Relative to the K=5 medoid, UDAV reduces these errors from 225.3 and 326.0 pixels to 199.0 and 290.8 pixels, respectively. These results demonstrate that stochastic VLM predictions provide both a stronger nominal route and an actionable uncertainty signal for selectively mitigating large planning errors.
Chinese Translation
视觉语言模型(VLM)可以直接从航拍图像生成越野导航路线,但其预测并未提供可靠性指示。我们提出了 UDAV,一种用于无人机引导的地面无人驾驶车辆(UGV)导航的基于不确定性的自适应 VLM 路径点规划器。UDAV 绘制多个随机轨迹预测,选择其质心作为自洽的名义路线,并根据其空间分散度估计预测不确定性。当内部路径点的最大不确定性超过阈值时,UDAV 启动重新考虑阶段;否则,直接返回质心。我们在两次无人机飞行的 400 个保留轨迹查询上评估了 UDAV。随机质心选择将确定性预测的平均位移误差(ADE)从 147.4 像素降低到 115.9 像素。完整的规划器实现了平均 ADE 为 110.4 像素,相较于确定性规划减少了 25.1%,同时为所有查询生成有效轨迹。UDAV 还在所有评估配置中产生了最低的 90 百分位和 95 百分位误差,包括更高预算的 K=10 共识基线。相较于 K=5 的质心,UDAV 将这些误差从 225.3 和 326.0 像素分别降低到 199.0 和 290.8 像素。这些结果表明,随机 VLM 预测不仅提供了更强的名义路线,还提供了可操作的不确定性信号,以选择性地减轻大规划误差。
cs.RO / 12 / 2609.16378

Geometry vs Structure: Graph-Based Diagnostics for LiDAR Point-Cloud Simulation Fidelity

几何与结构:基于图的LiDAR点云仿真保真度诊断
Farhani, Ghazal, Rahman, Taufiq
Abstract
Digital twins provide a scalable and cost-effective complement to real-world testing for validating autonomous-driving and advanced driver-assistance system (ADAS) sensor pipelines. However, quantifying their fidelity remains challenging, particularly for 3D LiDAR point clouds, where conventional geometric metrics may overlook important structural discrepancies. We present a graph-based framework for evaluating the structural fidelity of simulated LiDAR point clouds against real-world scans. While scan-level metrics such as Chamfer distance capture point-wise geometric similarity, they do not explicitly represent connectivity, topology, or object-level organization. Our framework constructs graphs from real and simulated point clouds, applies Louvain community detection to identify spatially coherent subgraphs, and matches corresponding communities using centroid proximity. For each matched pair, we compute $r_\lambda$, a bounded graph-spectral metric motivated by Weyl's inequality, and compare it with density-aware Chamfer distance (CDC) as a geometric baseline. Controlled perturbation experiments demonstrate that $r_\lambda$ is invariant to rigid transformations and robust to sensor noise while remaining sensitive to structural deformation. We evaluate the framework on 50 paired real and simulated LiDAR scans acquired using a Velodyne VLP-32C sensor and CARLA, respectively. The dataset contains more than 1,000 matched communities across four representative classes: vehicles, vegetation, trees, and building walls. The results show that geometric and structural measures capture complementary aspects of simulation fidelity, supporting graph-spectral analysis as an additional diagnostic layer for validating digital twins in ADAS and autonomous-driving applications.
Chinese Translation
数字双胞胎为验证自主驾驶和高级驾驶辅助系统(ADAS)传感器管道提供了一种可扩展且具有成本效益的补充,替代现实世界的测试。然而,量化其保真度仍然具有挑战性,特别是在3D LiDAR点云中,传统的几何度量可能忽视重要的结构差异。我们提出了一种基于图的框架,用于评估模拟LiDAR点云相对于现实世界扫描的结构保真度。尽管诸如Chamfer距离等扫描级度量捕捉了逐点的几何相似性,但它们并未明确表示连接性、拓扑或对象级组织。我们的框架从真实和模拟的点云构建图,应用Louvain社区检测以识别空间上连贯的子图,并通过质心接近度匹配相应的社区。对于每对匹配,我们计算$r_ heta$,这是一个受Weyl不等式启发的有界图谱度量,并将其与考虑密度的Chamfer距离(CDC)作为几何基线进行比较。控制扰动实验表明,$r_ heta$对刚性变换不变,对传感器噪声具有鲁棒性,同时对结构变形敏感。我们在使用Velodyne VLP-32C传感器和CARLA分别获取的50对真实和模拟LiDAR扫描上评估了该框架。该数据集包含超过1,000个匹配社区,涵盖四个代表性类别:车辆、植被、树木和建筑墙体。结果表明,几何和结构度量捕捉了仿真保真度的互补方面,支持图谱分析作为验证ADAS和自主驾驶应用中数字双胞胎的额外诊断层。
cs.RO / 13 / 2609.16405

Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets

考虑碰撞的人形机器人全身控制在不完美跟踪目标下的研究
Gadde, Mohitvishnu S., Malik, Ashish, Dugar, Pranay, Shrestha, Aayam Kumar, Fern, Alan
Abstract
Humanoid robots often execute motion commands through whole-body controllers (WBCs) that track targets while maintaining balance and stability. However, most WBCs are blind to scene geometry, which can lead to collisions from imperfect target motions that are geometrically unsafe due to perception, planning, or teleoperation errors. We propose RECAL, a Robot--Environment Cross-Attention Layer that wraps a blind WBC to trade off target tracking against collision avoidance using external scene geometry. RECAL supports collision-aware tracking of floating-base and end-effector commands, including collision avoidance for held objects. It represents the robot, held objects, and environment as point clouds, using cross-attention between robot/object points and the environment to produce geometry-aware control features. In simulation, RECAL improves collision avoidance while preserving target-tracking performance across frozen-arm and adaptive-arm locomotion, object-carrying, and standing-manipulation scenarios relative to alternative geometry-aware WBC architectures. We further demonstrate the controller on a real Digit V3 humanoid robot.
Chinese Translation
人形机器人通常通过全身控制器(WBC)执行运动指令,这些控制器在保持平衡和稳定性的同时跟踪目标。然而,大多数WBC对场景几何形状缺乏感知,这可能导致由于感知、规划或遥控错误而产生的不完美目标运动引发碰撞,这些运动在几何上是不安全的。我们提出了RECAL(Robot--Environment Cross-Attention Layer),这是一个包裹盲WBC的层,旨在利用外部场景几何在目标跟踪与碰撞避免之间进行权衡。RECAL支持对浮动基座和末端执行器指令的碰撞感知跟踪,包括对持有物体的碰撞避免。它将机器人、持有物体和环境表示为点云,通过机器人/物体点与环境之间的交叉注意力生成几何感知控制特征。在仿真中,RECAL在保持目标跟踪性能的同时改善了碰撞避免能力,适用于固定臂和自适应臂的运动、物体携带和站立操作场景,相较于其他几何感知WBC架构表现更佳。我们进一步在真实的Digit V3人形机器人上演示了该控制器。
cs.RO / 14 / 2609.16437

XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

XRoboToolKit-T:具有触觉感知的高稳定性和高精度远程操作以实现接触丰富的操作
Dengxiong, Xiwen, Wang, Xueting, Jing, Ke, Li, Rui, Zhang, Yunbo
Abstract
Collecting high-quality robot data for contact-rich manipulation tasks is essential for enabling robots to acquire real-world skills. However, existing data collection solutions often lack the capability to obtain stable and high-frequency tactile feedback, limiting their effectiveness in contact-rich manipulation scenarios. In this work, we propose a versatile teleoperation system with tactile-driven assistance to enable high-frequency and stable contact-rich manipulation. The proposed XRoboToolKit-T teleoperation system incorporates a tactile-informed force control architecture, designed to ensure both stable and precise force control in contact-rich manipulation during teleoperation. The stabilizer haptic module rapidly analyzes the normal force distribution and infers pseudo shear force, enabling real-time tactile-based assistance during manipulation. The refiner haptic module integrates a vision-language-action model to predict and refine manipulation actions based on tactile sensing data and task descriptions. We apply the proposed teleoperation system to challenging contact-rich manipulation tasks, including grasping a deformable rubber pipette for liquid transfer and inserting a medical syringe into a vascular training pad, to demonstrate the effectiveness of tactile-informed force control. Furthermore, the system achieves higher data collection efficiency and improved manipulation stability compared to state-of-the-art teleoperation without tactile assistance.
Chinese Translation
收集高质量的机器人数据以进行接触丰富的操作任务对于使机器人获得现实世界技能至关重要。然而,现有的数据收集解决方案往往缺乏获取稳定和高频触觉反馈的能力,限制了它们在接触丰富操作场景中的有效性。在本研究中,我们提出了一种多功能的远程操作系统,结合触觉驱动的辅助,以实现高频和稳定的接触丰富操作。所提出的XRoboToolKit-T远程操作系统采用了触觉信息驱动的力控制架构,旨在确保在远程操作过程中接触丰富操作的稳定和精确的力控制。稳定器触觉模块快速分析法向力分布并推断伪剪切力,从而在操作过程中实现实时的触觉辅助。精炼器触觉模块集成了视觉-语言-动作模型,根据触觉感知数据和任务描述预测和优化操作动作。我们将所提出的远程操作系统应用于具有挑战性的接触丰富操作任务,包括抓取可变形的橡胶移液管进行液体转移和将医疗注射器插入血管训练垫,以展示触觉信息驱动的力控制的有效性。此外,与没有触觉辅助的最先进远程操作相比,该系统实现了更高的数据收集效率和更好的操作稳定性。
cs.RO / 15 / 2609.16443

The Neverwhere Visual Parkour Benchmark Suite

Neverwhere视觉跑酷基准套件
Chen, Ziyu, Bao, Henghui, Chang, Haoran, Yu, Alan, Choi, Ran, McClennen, Kai, Huh, Gio, Yang, Kevin, Qiu, Ri-Zhao, Ravan, Yajvan, Leonard, John J., Wang, Xiaolong, Isola, Phillip, Yang, Ge, Wang, Yue
Abstract
State-of-the-art visual locomotion controllers are increasingly capable at handling complex visual environments, making evaluating their real-world performance before deployment increasingly difficult. This work intends to narrow this train/evaluation gap by developing a collection of hyper-photo-realistic, closed-loop evaluation environments - The Neverwhere Benchmark Suite - comprised of over sixty 3D Gaussian Splatting reconstructions of urban indoor and outdoor scenes. Our goal is to encourage large-scale and reproducible robot evaluation by making it easier to create and integrate Gaussian splats-based reconstructions into simulated continuous testing setups. We also underscore the potential pitfalls of relying exclusively on 3D Gaussian-generated data for training, by providing policy checkpoints trained over multiple Neverwhere scenes and their performance when evaluated in novel scenes. Our analysis illustrates the necessity of sourcing diverse data to ensure performance. Code and data are available on the project page: https://ziyc.github.io/neverwhere-bench/.
Chinese Translation
最先进的视觉运动控制器在处理复杂视觉环境方面的能力日益增强,这使得在部署之前评估其实际性能变得愈加困难。本研究旨在通过开发一系列超真实感的闭环评估环境——Neverwhere基准套件,来缩小这一训练/评估差距,该套件由超过六十个城市室内外场景的3D高斯点云重建组成。我们的目标是通过简化基于高斯点云的重建在模拟连续测试环境中的创建和集成,来促进大规模和可重复的机器人评估。我们还强调了仅依赖3D高斯生成数据进行训练的潜在陷阱,通过提供在多个Neverwhere场景上训练的策略检查点及其在新场景中的评估性能来支持这一观点。我们的分析表明,获取多样化数据以确保性能是必要的。代码和数据可在项目页面获取:https://ziyc.github.io/neverwhere-bench/
cs.RO / 16 / 2609.16503

Dense to MoE Adaptation for Compact Vision Language Action Policies

从密集模型到专家混合模型的适应:紧凑视觉语言行动策略
Niu, Muchun, Chen, Shuang, Wu, Yuzhou, Zhang, Linfeng
Abstract
Vision language action (VLA) policies continue to grow in parameter count, making deployment on resource-constrained robot platforms difficult. The central goal is to reduce the number of LLM-side parameters retained in the deployed policy while preserving downstream task performance. Our approach, AdaDE, adapts selected dense feed forward blocks into mixture of experts (MoE) layers and derives expert retention masks from router statistics during fine tuning. The Dense2MoE conversion preserves the original dense FFN function at initialization, so expert deactivation can start without a separate recovery stage. Instead of using a fixed shutdown rule, expert masks are updated dynamically from router usage statistics, with staged training and expert protection to avoid early collapse. With 40% of the LLM parameters deactivated, AdaDE retains 95.1% average success in LIBERO and 42.0% average success across all 50 RobotWin2.0 tasks. These results suggest that dense to MoE adaptation with dynamic expert deactivation is a practical direction for reducing active VLA model size without severe performance loss.
Chinese Translation
视觉语言行动(VLA)策略的参数数量持续增长,使得在资源受限的机器人平台上部署变得困难。我们的核心目标是减少在部署策略中保留的LLM(大规模语言模型)侧参数数量,同时保持下游任务的性能。我们的方法AdaDE将选定的密集前馈块适配为专家混合(MoE)层,并在微调过程中根据路由器统计数据推导专家保留掩码。Dense2MoE转换在初始化时保留了原始密集前馈网络(FFN)功能,因此专家的停用可以在没有单独恢复阶段的情况下开始。我们不使用固定的停用规则,而是根据路由器使用统计动态更新专家掩码,并通过分阶段训练和专家保护避免早期崩溃。在停用40%的LLM参数的情况下,AdaDE在LIBERO任务中保持了95.1%的平均成功率,在所有50个RobotWin2.0任务中保持了42.0%的平均成功率。这些结果表明,采用动态专家停用的密集到MoE适应是一种减少活跃VLA模型规模而不严重损失性能的实用方向。
cs.RO / 17 / 2609.16504

UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

UniDex-ViTac:从人类视频数据中学习统一的视触灵巧操作策略
Lee, Hyesung, Heo, Si-Hwan, Yang, Sungwook
Abstract
Human videos provide demonstrations of dexterous manipulation but lack robot-executable actions and tactile measurements. We present UniDex-ViTac, a framework that uses human-video-guided simulation to generate robot demonstrations paired with fingertip contact observations for training a deployable visuo-tactile policy. Object-specific residual reinforcement learning specialists adapt annotated human-object interaction references to a robotic arm-hand system. Their successful rollouts pair final robot action targets with robot-side fingertip contact observations. From 50 human demonstrations across ten objects, we collect 10,000 simulated trajectories to train a single Action Chunking with Transformers (ACT) based generalist. The policy combines point clouds, proprioception, and four binary contact signals encoded through fingertip labels and a separate token, without requiring human references or privileged object identity and pose at deployment. The contact-augmented configuration achieves 68.3% macro-average success in simulation, compared with 55.5% for the point-cloud-only baseline. Without real-robot demonstrations or policy fine-tuning, it succeeds in 73/110 physical trials (66.4%) across six seen and five unseen objects, compared with 60/110 (54.5%) for the baseline, an increase of 11.8 percentage points. These results support the feasibility of learning a unified visuo-tactile dexterous manipulation policy from video-guided simulated interactions. Project page: https://unidex-vitac.github.io/
Chinese Translation
人类视频提供了灵巧操作的示范,但缺乏机器人可执行的动作和触觉测量。我们提出了UniDex-ViTac,一个利用人类视频引导的仿真框架,生成与指尖接触观察配对的机器人示范,以训练可部署的视触策略。特定物体的残差强化学习专家将注释的人类-物体交互参考适配到机器人手臂系统中。它们成功的回放将最终的机器人动作目标与机器人侧的指尖接触观察配对。从十个物体的50个示范中,我们收集了10,000条模拟轨迹,以训练一个基于变换器的单一动作分块(Action Chunking with Transformers, ACT)通用模型。该策略结合了点云、身体感知和通过指尖标签及单独标记编码的四个二进制接触信号,无需人类参考或在部署时的特权物体身份和姿态。接触增强配置在仿真中实现了68.3%的宏平均成功率,而仅使用点云的基线为55.5%。在没有真实机器人示范或策略微调的情况下,它在六个已见和五个未见物体的110次物理试验中成功了73次(66.4%),而基线为60次(54.5%),提高了11.8个百分点。这些结果支持了从视频引导的模拟交互中学习统一的视触灵巧操作策略的可行性。项目页面:https://unidex-vitac.github.io/
cs.RO / 18 / 2609.16586

ProxiDex: Learning Dynamics-Guided Proximity Policy for Dexterous Manipulation

ProxiDex:基于动态引导的接近策略学习用于灵巧操作
Bai, Yushan, Zheng, Boyu, Mao, Zhiyang, Sun, Hongzheng, Tong, Yuchuang, Li, En, Zhang, Zhengtao
Abstract
Multi-finger dexterous manipulation relies on stable hand-object interactions, yet these interactions are partially observable in practice. Visual observations are often occluded by the hand, tactile sensors introduce hardware-specific modalities and calibration burdens, and existing policies rarely model how these cues evolve under actions, making them brittle under contact uncertainty. To address these, we present ProxiDex, a dynamics-guided proximity policy framework that treats hand-object proximity as an interaction state for dexterous manipulation. ProxiDex reconstructs interaction point clouds and converts geometric distances into proximity cues, forming a hardware-agnostic contact representation that provides immersive feedback during VR teleoperation. Built on this representation, ProxiDex learns action-conditioned proximity dynamics with a coupled forward-inverse design: future observation latents are predicted from actions, while proximity variations are decoded from latent changes. Leveraging these dynamics, ProxiDex adaptively reweights proximity tokens across manipulation phases and uses dynamics-consistency supervision to guide policy inference, stabilizing action generation under unreliable visual feedback. Simulation and real-world experiments demonstrate improved success rates and robustness over representative baselines across standard, unseen objects, and perturbation scenarios. Additional visualizations are available at https://proxidex.github.io/.
Chinese Translation
多指灵巧操作依赖于稳定的手物体交互,然而在实际应用中这些交互是部分可观察的。视觉观察常常被手部遮挡,触觉传感器引入了特定硬件的模态和校准负担,现有策略很少建模这些线索在动作下的演变,使其在接触不确定性下变得脆弱。为了解决这些问题,我们提出了ProxiDex,一个基于动态引导的接近策略框架,将手物体接近度视为灵巧操作的交互状态。ProxiDex重建交互点云,并将几何距离转换为接近度线索,形成一种与硬件无关的接触表示,在虚拟现实远程操作中提供沉浸式反馈。基于这一表示,ProxiDex通过耦合的前向-逆向设计学习动作条件下的接近度动态:未来观察潜变量从动作中预测,而接近度变化则从潜变量变化中解码。利用这些动态,ProxiDex在操作阶段自适应地重新加权接近度标记,并使用动态一致性监督指导策略推理,从而在不可靠的视觉反馈下稳定动作生成。仿真和现实世界实验表明,在标准、未见物体和扰动场景下,ProxiDex的成功率和鲁棒性均优于代表性基线。更多可视化信息可见于 https://proxidex.github.io/。
cs.RO / 19 / 2609.16629

Learning to Optimize UAV Path Planning for Data Sensing in Wireless Sensor Networks

学习优化无人机路径规划以进行无线传感器网络中的数据感知
Ma, Sijie, Ma, Zeyuan, Cao, Weijia, Gong, Yue-Jiao, Ma, Lingling, Huang, Zhiyang, Zhang, Jun
Abstract
UAVs have emerged as highly flexible platforms for data sensing in Wireless Sensor Networks (WSNs). Path planning for UAVs in such tasks plays a key role to assure remote sensing effectiveness and friendly energy consumption. However, existing approaches show two key limitations: i) they are primarily hand-crafted with certain design biases that harm adaptation on unseen tasks. ii) they predominantly assume idealized spatial complexities of actual environments through simplified simulation, causing them to underperform during real-world deployment. In this paper, we propose a novel learning-assisted planning framework, termed Landscape-Aware Meta Differential Evolution (LAMDE), to tackle the mentioned limitations. The major contributions come from the following aspects. We first re-formulate such UAV path planning problem to embrace challenging constraints. To efficiently navigate this highly constrained space, we propose a bi-level learning to optimize approach, where the meta-level is a trainable algorithm configuration policy that meta-learns an adaptable planning strategy for low-level planning algorithm. To address the potential training data scarcity and distribution shift in real-world environments, we introduce a landscape-aware automatic augmentation scheme that enriches training data. At the low-level, a Differential Evolution algorithm is deployed for solving the path planning tasks. To enhance the solving flexibility, we further design a variable-length encoding strategy that dynamically prunes redundant hover points and optimizes continuous flight parameters concurrently within a unified search space. Based on all proposed designs, we meta-train LAMDE and compare it with representative baselines. Comprehensive experiments demonstrate that LAMDE achieves state-of-the-art performance on the tested complex UAV path planning tasks in WSN data collection scenarios.
Chinese Translation
无人机(UAV)已成为无线传感器网络(WSNs)中数据感知的高度灵活平台。在此类任务中,无人机的路径规划起着关键作用,以确保远程感知的有效性和友好的能耗。然而,现有方法存在两个主要限制:i)它们主要是手工设计,带有某些设计偏差,这影响了在未见任务上的适应性。ii)它们主要假设实际环境的理想化空间复杂性,通过简化的模拟导致在实际部署中表现不佳。在本文中,我们提出了一种新颖的学习辅助规划框架,称为景观感知元差分进化(Landscape-Aware Meta Differential Evolution, LAMDE),以解决上述限制。主要贡献来自以下几个方面。我们首先重新表述了无人机路径规划问题,以应对具有挑战性的约束。为了有效地在这个高度受限的空间中导航,我们提出了一种双层学习优化方法,其中元层是一个可训练的算法配置策略,能够元学习适应性规划策略以供低层规划算法使用。为了解决实际环境中潜在的训练数据稀缺和分布转移问题,我们引入了一种景观感知自动增强方案,以丰富训练数据。在低层中,采用差分进化算法来解决路径规划任务。为了增强求解的灵活性,我们进一步设计了一种可变长度编码策略,动态修剪冗余的悬停点,并在统一的搜索空间内同时优化连续飞行参数。基于所有提出的设计,我们对LAMDE进行元训练,并与代表性的基线进行比较。全面的实验表明,LAMDE在测试的复杂无人机路径规划任务中,在无线传感器网络数据收集场景中实现了最先进的性能。
cs.RO / 20 / 2609.16641

SAVLA: Symmetry-Aware Vision-Language-Action Models for Robotic Manipulation

SAVLA:面向对称性的视觉-语言-动作模型用于机器人操作
Li, Junle, Li, Weixian Waylon, Wu, Fuxiang, Hao, Fusheng, He, Fengxiang
Abstract
Vision-language-action (VLA) models have become the dominant paradigm for language-conditioned robot manipulation. However, although images and language instructions inherently encode geometric information, VLAs acquire their spatial competence purely from demonstrations. As a result, they are reliable only within the range of scene poses that the demonstrations cover. We propose SAVLA, an end-to-end symmetry-aware VLA model for robust and data-efficient policy learning. Our approach keeps the pretrained vision-language backbone entirely frozen while combining it with an equivariant flow-matching action head and a learned canonicalizer. The head decomposes its state, action, and conditioning inputs into invariant and equivariant channels, and preserves this typing throughout all of its layers. The canonicalizer transforms oblique-view images into a canonical frame and rotates the geometric conditions consistently. We evaluate our model on LIBERO. Compared with the GR00T N1.5 baseline, SAVLA improves the success rate averaged over all four LIBERO suites by 5.1 points and increases the mean success rate under rotation on LIBERO-Goal from 41.5% to 90.4%.
Chinese Translation
视觉-语言-动作(VLA)模型已成为语言条件下机器人操作的主流范式。然而,尽管图像和语言指令本质上编码了几何信息,VLA模型的空间能力完全依赖于示范。因此,它们仅在示范覆盖的场景姿态范围内可靠。我们提出了SAVLA,一种端到端的对称性意识VLA模型,用于稳健且数据高效的策略学习。我们的方法保持预训练的视觉-语言主干完全不变,同时将其与一个等变流匹配动作头和一个学习的规范化器结合。该动作头将其状态、动作和条件输入分解为不变和等变通道,并在所有层中保持这种类型。规范化器将斜视图像转换为规范框架,并一致地旋转几何条件。我们在LIBERO上评估了我们的模型。与GR00T N1.5基线相比,SAVLA在所有四个LIBERO套件上的成功率平均提高了5.1个百分点,并将LIBERO-Goal下的平均成功率在旋转条件下从41.5%提高到90.4%。
cs.RO / 21 / 2609.16644

WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination

WholeBodyWAM:通过WBC基础协调将预训练的世界动作先验推广到类人运动操控
Li, Zhuo, Yao, Yiming, Tan, Jim, Jing, Mengjie, Dong, Zhipeng, Chen, Fei
Abstract
World Action Models (WAMs) offer a promising approach to general-purpose robot manipulation by jointly modeling visual dynamics and actions. However, most WAM studies focus on tabletop or arm-centric manipulation, while humanoid loco-manipulation remains less explored. To address this gap, we introduce WholeBodyWAM, which jointly predicts future visual dynamics, manipulation actions, and whole-body control intents for generalizable humanoid loco-manipulation. It preserves pre-trained world-action priors while grounding heterogeneous whole-body controller (WBC) semantics and coordinating whole-body behavior. Extensive experiments show that WholeBodyWAM achieves an overall simulation task success rate of 91.9%, with a 0.23 improvement in real-world out-of-distribution task progress and a 70% reduction in success-rate variance across WBCs relative to the respective baselines. These results suggest a path toward scalable humanoid whole-body intelligence by extending pre-trained world-action priors through structured WBC grounding and coordination, rather than relearning whole-body behavior from scratch. Project page: https://wholebodywam.github.io/.
Chinese Translation
世界动作模型(WAMs)通过联合建模视觉动态和动作,为通用机器人操控提供了一种有前景的方法。然而,大多数WAM研究集中在桌面或以手臂为中心的操控上,而类人运动操控的研究相对较少。为了解决这一空白,我们提出了WholeBodyWAM,它联合预测未来的视觉动态、操控动作和类人运动操控的全身控制意图,以实现可推广的类人运动操控。它保留了预训练的世界动作先验,同时将异构全身控制器(WBC)的语义进行基础化,并协调全身行为。大量实验表明,WholeBodyWAM在整体仿真任务中的成功率达到了91.9%,在真实世界的分布外任务进展中提高了0.23,并且相对于各自的基线,WBC的成功率方差减少了70%。这些结果表明,通过结构化的WBC基础化和协调,扩展预训练的世界动作先验,而不是从头开始重新学习全身行为,为可扩展的类人全身智能指明了一条道路。项目页面:https://wholebodywam.github.io/
cs.RO / 22 / 2609.16683

Weave: Learning Whole-Body Dexterous Loco-Manipulation from Human-Object Interactions

Weave:从人类-物体交互中学习全身灵巧的运动操控
Cao, Liu, Wu, Xingze, Cui, Jingzhi, Xu, Botian, Pei, Mingzhi, Chen, Ruoqu, Xu, Mengdi
Abstract
Learning humanoid-object interaction requires coordinating whole-body balance, locomotion, and dexterous hand contact to control both robot and object motion. Human demonstrations provide examples of coordinated interaction, but transferring these behaviors to humanoid robots requires learning how to establish and maintain effective contacts under different embodiments and dynamics. We present Weave, a unified framework for learning whole-body dexterous humanoid-object interaction from captured human demonstrations. Weave first converts captured human-object interactions into executable robot-object references through contact-aware retargeting and approach-motion completion. At its core is a contact- and geometry-aware policy that jointly commands 29 body joints and 12 actuated finger joints across multiple objects and interaction sequences. Evaluation across nine objects yields a 92.5% success rate on trained interactions and, without any additional training, 65.0% on sequences never seen during training. We additionally release ~9,000 physically executed rollouts spanning ~23 hours, providing robot-object trajectories with contact annotations for downstream interaction-policy learning and physically consistent HOI motion generation. Project website: https://xiaohu-art.github.io/Weave/
Chinese Translation
学习类人机器人与物体的交互需要协调全身的平衡、运动和灵巧的手部接触,以控制机器人和物体的运动。人类示范提供了协调交互的实例,但将这些行为转移到类人机器人上需要学习如何在不同的形态和动态下建立和维持有效的接触。我们提出了Weave,一个统一的框架,用于从捕获的人类示范中学习全身灵巧的类人-物体交互。Weave首先通过接触感知的重定向和接近运动的完成,将捕获的人类-物体交互转换为可执行的机器人-物体参考。在其核心是一个接触和几何感知的策略,它共同控制29个身体关节和12个驱动手指关节,适用于多个物体和交互序列。对九个物体的评估显示,训练交互的成功率为92.5%,而在没有任何额外训练的情况下,对训练过程中从未见过的序列的成功率为65.0%。此外,我们还发布了约9,000个物理执行的回放,持续约23小时,为下游交互策略学习和物理一致的类人-物体交互运动生成提供了带有接触注释的机器人-物体轨迹。项目网站:https://xiaohu-art.github.io/Weave/
cs.RO / 23 / 2609.16686

Differentiable Mesh State Estimation via Factor Graph Inference for Deformable Object Reconstruction

通过因子图推理进行可变形物体重建的可微网格状态估计
Al-Zogbi, Lidia, Li, Fangjie, Tobin, Samuel, Ferguson, James, Kumar, Nithesh, Chara, Alejandro, Chung, Kuan-I, Rao, Mingxing, Acar, Ayberk, Stern, Susheela Sharma, Webster, Robert, Moyer, Daniel, Kuntz, Alan, Rucker, Caleb, Hermans, Tucker, Wu, Jie Ying
Abstract
Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a novel factor graph-based framework for probabilistic mesh state estimation of deformable objects. The method directly updates a tetrahedral mesh, a rich and physically-grounded representation of an environment, by combining physics priors, noisy sensor measurements, and temporal smoothness constraints within a unified probabilistic formulation. The estimation problem is posed as a nonlinear least-squares optimization and solved using Levenberg-Marquardt. Ex vivo central-airway obstruction experiments and simulations on deforming cube models demonstrate reliable and accurate reconstruction under both rigid motion and deformation, highlighting the potential of this probabilistic approach for principled, measurement-driven mesh state estimation in deformable object reconstruction.
Chinese Translation
可变形物体状态的估计仍然是机器人技术和仿真中的一个基本挑战。我们提出了一种基于因子图的新颖框架,用于可变形物体的概率网格状态估计。该方法通过在统一的概率模型中结合物理先验、噪声传感器测量和时间平滑约束,直接更新四面体网格,这是一种丰富且基于物理的环境表示。估计问题被构造为非线性最小二乘优化,并使用Levenberg-Marquardt算法求解。体外中央气道阻塞实验和变形立方体模型的仿真展示了在刚性运动和变形下的可靠和准确的重建,突显了这种概率方法在可变形物体重建中的原则性和基于测量的网格状态估计的潜力。
cs.RO / 24 / 2609.16696

IL-ACT: Imitation Learning with Adaptive Cartesian Tracking Control for a 30-ton Excavator

IL-ACT:用于30吨挖掘机的自适应笛卡尔跟踪控制模仿学习
Shahna, Mehdi Heydari, Kim, Seihun, Jung, Soyi, Park, Soohyun, Mattila, Jouni, Kim, Joongheon
Abstract
Autonomous excavator control is challenged by coupled kinematics, actuation lag, and uncertainty. We propose imitation learning and adaptive Cartesian tracking (IL-ACT), a novel motion control framework for a 30-ton-class excavator. An anchored, 14-input imitation policy pretrained on operator demonstrations generates nominal joint rates; adaptive Cartesian feedback and gated gain/bias estimation correct these commands before a stopping-distance governor constrains joint-reference generation. Simscape evaluation covers 100 sequential goals and spiral, figure-eight, and rounded-raster tracking, including 88 additional runs across three training seeds, two initializations, and speeds, under hydraulic response and sensing conditions. Compared with Teacher+ACT, IL-ACT completes all goals with shorter duration and lower terminal errors under both response conditions. Telemetry-initialized IL-ACT lowers RMSE in all 24 figure-eight and rounded-raster seed comparisons and lowers additional-load spiral mean RMSE by approximately 29%. Original spiral RMSE also improves over IL-only and PID. Under a shared sensor-noise realization, telemetry-initialized IL-ACT achieves 27.67% lower mean RMSE than Teacher+ACT; enabling estimation reduces mean RMSE by $22.44\%$ relative to the frozen estimator. Pretrained-weight effects remain mixed, and the original teacher comparison exhibits a spiral RMSE--maximum-error tradeoff. Analysis establishes bounded adaptive states and Cartesian feedback, with reference admissibility conditional on governor feasibility.
Chinese Translation
自主挖掘机控制面临耦合运动学、驱动滞后和不确定性等挑战。我们提出了一种模仿学习与自适应笛卡尔跟踪相结合的框架(IL-ACT),用于30吨级挖掘机的运动控制。一个基于操作员演示预训练的锚定14输入模仿策略生成名义关节速率;自适应笛卡尔反馈和门控增益/偏差估计在停止距离调节器约束关节参考生成之前修正这些指令。Simscape评估涵盖100个连续目标以及螺旋、八字形和圆形栅格跟踪,包括在液压响应和传感条件下,基于三个训练种子、两次初始化和速度的88次额外运行。与Teacher+ACT相比,IL-ACT在这两种响应条件下以更短的时间和更低的终端误差完成所有目标。基于遥测初始化的IL-ACT在所有24个八字形和圆形栅格种子比较中降低了均方根误差(RMSE),并将额外负载螺旋的平均RMSE降低了约29%。原始螺旋RMSE在IL-only和PID的基础上也有所改善。在共享传感器噪声实现下,基于遥测初始化的IL-ACT的平均RMSE比Teacher+ACT低27.67%;启用估计相较于冻结估计器降低了22.44%的平均RMSE。预训练权重的影响仍然不一,原始教师比较显示出螺旋RMSE与最大误差之间的权衡。分析建立了有界自适应状态和笛卡尔反馈,参考的可接受性依赖于调节器的可行性。
cs.RO / 25 / 2609.16697

World Models for Embodied Intelligence: From Plausible to Controllable to Actionable

具身智能的世界模型:从可信到可控再到可操作
Yao, Nanjie, Wang, Hao, Cheng, Chong, Chen, Zhikang, Li, Wenzhe, Lyu, Jiafei, Shen, Li, Zhao, Peilin, Lu, Zongqing, Huang, Gao, Hoi, Steven, Tao, Dacheng, Ye, Deheng
Abstract
World models connect perception and decision-making in embodied intelligence by maintaining hidden state, anticipating consequences, comparing interventions, and adapting when execution departs from expectations. Although progress is often measured by visual fidelity, their value lies in improving behavior. Before reaching for a cup, a person anticipates its weight and resistance to grasping, shaping the hand before contact. Such anticipation is coarse and rarely pictorial, yet it guides action. This raises a central question: which predictive capabilities improve behavior? Existing surveys, organized by architecture, output modality, or application domain, leave this question implicit. We introduce three progressively stronger capability levels: Plausible models preserve task-relevant temporal, geometric, or physical structure; Controllable models additionally predict how interventions alter that structure; and Actionable models translate predictions into measurable gains in planning, action, learning, evaluation, verification, recovery, or data selection. We complement this hierarchy with a 3 x 4 matrix crossing geometry, physics, and action grounding with improvement loops centered on data, rewards, policies, and the model itself. Using this framework, we survey manipulation, navigation, locomotion, autonomous driving, and general embodied learning, tracing technical progressions, clarifying capability requirements, and examining datasets, benchmarks, and evaluation protocols. We identify challenges in long-horizon consistency, uncertainty calibration, causal intervention testing, latency, verification and recovery, and cross-embodiment transfer. This perspective shifts evaluation from visual plausibility toward whether predictions capture task-relevant state, reflect intervention effects, and improve the closed-loop behavior of embodied agents.
Chinese Translation
世界模型通过维持隐藏状态、预测后果、比较干预措施以及在执行偏离预期时进行适应,连接了具身智能中的感知与决策。尽管进展通常通过视觉逼真度来衡量,但它们的价值在于改善行为。在伸手去拿杯子之前,人们会预期其重量和抓握时的阻力,从而在接触之前调整手的形状。这种预期是粗略的,且很少是图像化的,但它指导着行动。这引发了一个核心问题:哪些预测能力能够改善行为?现有的调查研究根据架构、输出方式或应用领域进行组织,但未明确回答这一问题。我们提出了三个逐渐增强的能力层次:可信模型保留与任务相关的时间、几何或物理结构;可控模型进一步预测干预如何改变该结构;可操作模型则将预测转化为在规划、行动、学习、评估、验证、恢复或数据选择中的可测量收益。我们用一个3 x 4的矩阵补充了这一层次结构,将几何、物理和行动基础与围绕数据、奖励、策略和模型本身的改进循环相交。利用这一框架,我们调查了操控、导航、运动、自动驾驶和一般的具身学习,追踪技术进展,澄清能力要求,并检查数据集、基准和评估协议。我们识别出在长时间一致性、不确定性校准、因果干预测试、延迟、验证与恢复以及跨具身转移方面的挑战。这一视角将评估从视觉可信性转向预测是否捕捉到与任务相关的状态、反映干预效果以及改善具身代理的闭环行为。
cs.RO / 26 / 2609.16705

The Robot Data Factory

机器人数据工厂
Haddadin, Sami, Laptev, Ivan, Reid, Ian, Song, Dezhen, Stefanini, Cesare, Swikir, Abdalla, Zuo, Xingxing, Saoud, Lyes Saad, Hamandi, Mahmoud, Heshmat, Mohamed, Doukhi, Oualid, Naceri, Abdeldjallil, Bashar, Attique, Mohamed, Abdelrahim, Tomic, Teodor, Peng, Yue, Schneider, Samuel, Lee, Cheng-Chung, Guo, Janine, Zhang, Qinghao, Jeffery, Kim
Abstract
Physical AI requires more than increasingly large robot datasets: intelligent robots acquire knowledge through continuous interaction with the physical world. We argue that the defining scientific resource of Physical AI is therefore not raw robot data alone, but robot experience - physically grounded interaction whose observations, actions, embodiment, context, and outcomes preserve the perception-action-consequence loop. We introduce the Robot Data Factory (RDF), a mission-driven infrastructure and methodology for continuously generating, validating, benchmarking, and reusing such experience. RDF organizes heterogeneous robots and environment-specific training grounds through reproducible missions, skill curricula, synchronized multimodal sensing, external ground truth, an agentic robot network, data pipelines, and living benchmarks. Rather than treating datasets as static end products, RDF implements a closed Deploy-Measure-Learn-Repeat cycle in which validated physical experience supports world models, vision-language-action models, embodied policies, digital twins, and subsequent robot deployment. We further formalize robot experience and its quality, introduce a mission-task-skill-episode-dataset-benchmark-capability hierarchy, and derive quantitative scaling laws and an algorithmic synthesis procedure connecting robot fleet size, sensor rates, storage, learning representations, tokenization, training compute, inference, and latency to Embodied-AI cluster requirements. The framework is instantiated in three complementary physical training grounds for domestic, environmental, and energy applications. RDF thus reframes robot data generation as a continuous scientific production process and provides a pathway toward reproducible, scalable, and eventually federated infrastructure for Physical AI.
Chinese Translation
物理人工智能不仅需要越来越大的机器人数据集:智能机器人通过与物理世界的持续互动来获取知识。因此,我们认为物理人工智能的定义性科学资源不仅仅是原始的机器人数据,而是机器人经验——这种经验是基于物理的互动,其观察、行动、具身性、背景和结果保留了感知-行动-后果循环。我们介绍了机器人数据工厂(Robot Data Factory, RDF),这是一种以使命为驱动的基础设施和方法论,旨在持续生成、验证、基准测试和重用这种经验。RDF通过可重复的任务、技能课程、同步的多模态感知、外部真实数据、代理机器人网络、数据管道和动态基准,组织异构机器人和特定环境的训练场。RDF并不将数据集视为静态的最终产品,而是实施一个封闭的部署-测量-学习-重复循环,在这个循环中,经过验证的物理经验支持世界模型、视觉-语言-行动模型、具身策略、数字双胞胎以及后续的机器人部署。我们进一步形式化了机器人经验及其质量,介绍了任务-技能-情节-数据集-基准-能力层级,并推导出定量缩放法则和算法合成程序,将机器人车队规模、传感器速率、存储、学习表示、标记化、训练计算、推理和延迟与具身人工智能集群要求连接起来。该框架在三个互补的物理训练场中得以实现,分别用于家庭、环境和能源应用。因此,RDF将机器人数据生成重新框架为一个持续的科学生产过程,并为物理人工智能提供了一条通向可重复、可扩展和最终联邦化基础设施的路径。
cs.RO / 27 / 2609.16724

CorrRisk-WM: Corridor-Conditioned Risk World Modeling for Safety-Critical Trajectory Planning

CorrRisk-WM:基于走廊条件的风险世界建模用于安全关键的轨迹规划
Guo, Tingyu, Langari, Reza
Abstract
Safe local planning requires forecasting surrounding-agent motion and evaluating candidate-specific risks, since identical agent motion can pose different risks to different ego trajectories. We present CorrRisk-WM, a planning-oriented partial world model coupling environment evolution with supervised intrusion and near-miss prediction over bounded candidate-trajectory corridors. A latent environment model recursively predicts agent states and updates agent-agent and agent-map interactions. Each candidate queries the evolving environment through footprint- aware geometry and learned agent-corridor representations. A lightweight recurrent risk module uses temporal context to estimate per-slice hazards; survival aggregation yields first-entry and horizon-level event probabilities. On 29,176 scenarios from 100 Waymo validation shards, CorrRisk-WM achieves intrusion average precision (AP) of 0.8567 and 1-m near-miss first-entry AP of 0.8671. In baseline comparisons, it attains the highest near-miss AP at all three distance thresholds and the lowest observed open-loop collision rate (4.88%), with route progress of 15.35 m. Across three seeds, removing dynamic environment modeling or candidate-conditioned geometric interaction reduces mean intrusion AP from 0.8590 to 0.7624 and 0.7252, respectively. These results support coupling environment evolution with candidate-conditioned geometric reasoning for risk prediction and safety-oriented candidate selection.
Chinese Translation
安全的局部规划需要预测周围代理的运动并评估特定候选轨迹的风险,因为相同的代理运动对不同的自我轨迹可能会带来不同的风险。我们提出了CorrRisk-WM,这是一种面向规划的部分世界模型,将环境演变与监督入侵和近失预测结合在有限候选轨迹走廊中。一个潜在的环境模型递归地预测代理状态并更新代理-代理和代理-地图的交互。每个候选轨迹通过考虑足迹的几何形状和学习到的代理-走廊表示来查询不断演变的环境。一个轻量级的递归风险模块利用时间上下文来估计每个切片的危险;生存聚合产生首次入侵和水平事件的概率。在来自100个Waymo验证片段的29,176个场景中,CorrRisk-WM实现了0.8567的入侵平均精度(AP)和0.8671的1米近失首次入侵AP。在基线比较中,它在所有三个距离阈值下达到了最高的近失AP,并且观察到的开放环路碰撞率最低(4.88%),行进路线为15.35米。在三个种子的实验中,移除动态环境建模或候选条件几何交互分别将平均入侵AP从0.8590降低到0.7624和0.7252。这些结果支持将环境演变与候选条件几何推理结合用于风险预测和安全导向的候选选择。
cs.RO / 28 / 2609.16737

Seeing What Matters: Visual Cue Guided Video Planning for Generalizable Robot Navigation

关注重要信息:基于视觉线索的可泛化机器人导航视频规划
Lee, Hojin, Li, Sizhe Lester, Hilger, Maximilian, Lu, Susie, Lilienthal, Achim J., Sitzmann, Vincent, Duecker, Daniel A.
Abstract
Generative video models can serve as a promising backbone for robot navigation by predicting future observations as video plans. Recent approaches often condition video planning on short-horizon guidance and recover geometric waypoints through scene reconstruction, leaving longer-horizon planning and precise video-to-action translation less explored. We present CueNav, a video model-based navigation framework combining visual cue guided video planning with an embodiment-specific Inverse-Dynamics Model (IDM). As visual cues, we use a Bird's-Eye View (BEV) map to convey global task context and retain part of the robot body in the egocentric observation to expose embodiment context. These cues guide the video planner, while the IDM translates dense flow fields extracted from the video plan into robot actions. With the visual cue encoding global task context, CueNav achieves nearly 2x higher success in maze navigation than planning without the cue. The body-aware view with the IDM enables precise navigation with 70% success in a narrow passage where comparison methods largely fail to complete the task. We further demonstrate zero-shot semantic-conditioned navigation and deployment of the same video planner across different robot platforms. Our results show that visual cue-guided video planning with embodiment-specific action grounding paves the way toward a generalizable navigation framework for longer-horizon planning and embodiment-aware control. Additional results and code are available on our project website: https://cuenav.github.io.
Chinese Translation
生成视频模型可以作为机器人导航的有前景的基础,通过预测未来观察作为视频规划。近期的方法通常依赖于短期指导进行视频规划,并通过场景重建恢复几何路径点,而对长期规划和精确的视频到动作转换的研究相对较少。我们提出了CueNav,一个基于视频模型的导航框架,将视觉线索引导的视频规划与特定于体现的逆动力学模型(Inverse-Dynamics Model, IDM)结合起来。作为视觉线索,我们使用鸟瞰图(Bird's-Eye View, BEV)地图来传达全局任务上下文,并在自我中心观察中保留部分机器人身体以揭示体现上下文。这些线索引导视频规划器,而IDM则将从视频规划中提取的密集流场转换为机器人动作。通过视觉线索编码全局任务上下文,CueNav在迷宫导航中的成功率几乎提高了2倍,相较于没有线索的规划。在狭窄通道中,IDM提供的身体感知视图使得导航精确成功率达到70%,而对比方法在完成任务方面大多失败。我们进一步展示了零样本语义条件导航,并在不同机器人平台上部署相同的视频规划器。我们的结果表明,基于视觉线索的引导视频规划与特定于体现的动作基础相结合,为长期规划和体现感知控制的可泛化导航框架铺平了道路。更多结果和代码可在我们的项目网站上获取:https://cuenav.github.io。
cs.RO / 29 / 2609.16745

The Latent That Never Was: A Forensic Re-run of the CVAE Ablation in Action Chunking Transformer

从未存在的潜变量:对行动分块变换器中CVAE消融实验的法医重演
Kang, Bo
Abstract
Action Chunking Transformers (ACT) are widely used to learn robot manipulation from demonstrations. Their conditional variational autoencoder includes an encoder meant to capture differences between demonstrations during training. The original ACT paper reported that encoder removal dropped the mean success rate from 35% to 2% on two simulated tasks with human demonstrations. We re-ran this ablation in the original code and checked whether the findings depend on the implementation or training data. The published drop does not reappear in our tests, although smaller gains or losses in success rate remain uncertain. To investigate the discrepancy, we varied training length and how checkpoints are selected for evaluation. Both can reverse which policy scores higher, but the published drop's cause remains unknown. Success rates alone leave open whether the encoder provides information that helps the policy reconstruct demonstrated actions. On the tested ACT benchmark, the sampled latent provides little reconstruction benefit at every tested nonzero weight of the penalty on latent information. At inference, ACT leaves this latent unused and sets it to zero. Skipping the encoder increases training throughput in both implementations we timed. We release code, evaluation tools and results so others can repeat the comparisons and test the encoder on other tasks.
Chinese Translation
行动分块变换器(ACT)广泛用于从示范中学习机器人操作。其条件变分自编码器包含一个编码器,旨在捕捉训练期间示范之间的差异。原始的ACT论文报告称,移除编码器使得在两个模拟任务上的平均成功率从35%降至2%。我们在原始代码中重新进行了这一消融实验,并检查发现结果是否依赖于实现或训练数据。尽管在我们的测试中未再出现已发布的下降,成功率的较小增益或损失仍然不确定。为了调查这一差异,我们改变了训练时长以及评估时检查点的选择方式。这两者都可以逆转哪个策略得分更高,但已发布下降的原因仍然未知。仅凭成功率无法确定编码器是否提供了帮助策略重构示范动作的信息。在测试的ACT基准上,采样的潜变量在每个测试的非零权重下对重构的益处很小。在推理时,ACT未使用该潜变量并将其设置为零。跳过编码器在我们计时的两个实现中都提高了训练吞吐量。我们发布了代码、评估工具和结果,以便其他人能够重复比较并在其他任务上测试编码器。
cs.RO / 30 / 2609.16786

Optimal Excitation Trajectories for System Identification of Underwater Vehicles

水下车辆系统识别的最优激励轨迹
Panetsos, Fotis, Kyriakopoulos, Kostas J.
Abstract
In this work, we propose a structured methodology for the system identification of underwater vehicles through the design of optimal excitation trajectories. To this end, the trajectories are parameterized using Bezier curves, which ensure smooth and differentiable motion profiles while facilitating the enforcement of constraints through appropriate manipulation of the control points. An optimization problem is formulated to determine a dynamically feasible excitation trajectory that respects safety limits and maximizes the quality of the collected data, thereby enabling reliable estimation of the vehicle's dynamic parameters using least squares. The proposed methodology is experimentally validated in a laboratory water tank, where the dynamic parameters, identified from the optimized trajectory, are evaluated by predicting the vehicle's velocity through forward simulation on previously unseen trajectories.
Chinese Translation
在本研究中,我们提出了一种通过设计最优激励轨迹来进行水下车辆系统识别的结构化方法。为此,轨迹采用贝塞尔曲线(Bezier curves)进行参数化,这确保了运动轨迹的平滑性和可微性,同时通过适当操作控制点来便于施加约束。我们构建了一个优化问题,以确定一个动态可行的激励轨迹,该轨迹遵循安全限制并最大化所收集数据的质量,从而能够通过最小二乘法可靠地估计车辆的动态参数。所提方法在实验室水槽中进行了验证,通过在未见轨迹上进行前向仿真来预测车辆的速度,从而评估从优化轨迹中识别出的动态参数。
cs.RO / 31 / 2609.16810

Motion planning in high dimensional spaces hybridizing RRT and HAR via position-direction decoupling

高维空间中的运动规划:通过位置-方向解耦结合RRT和HAR
Cazals, Frederic, Feyeux, Nelson
Abstract
The exploration of high-dimensional spaces remains a challenging problem, in particular in the presence of narrow passages and small clearances. We propose novel sampling-based path-planning methods for high-dimensional spaces combining Rapidly-exploring Random Trees (RRT) and Hit-and-Run (HAR) random walks by decoupling the point being extended from the direction of extension. We also show that RRT and HAR appear as special cases of a generic algorithm coupling the biases used for the point and direction extension, respectively. We further study a sparse-move strategy in which only a fraction p_r of the robots is moved at each step, helping both RRT and the proposed HAR algorithms handle cluttered instances. Tests are presented for two families of models: classical piano mover problems in 3D, and complex molecular systems involving tens of rigid domains moving relatively to one another -- the latter viewed as independent robots exploring the motion space SE(3)N . Within seconds on a standard laptop, our algorithms solve instances with up to 64 robots and 384 degrees of freedom. We conclude by suggesting one of our methods, HARF, as the method of choice for complex multi-robot planning problems, being up to two orders of magnitude faster than the classical RRT moving all robots at each step--when it succeeds at all, and still up to 2.4 fold faster on most instances when both use their best p_r.
Chinese Translation
高维空间的探索仍然是一个具有挑战性的问题,尤其是在狭窄通道和小间隙的情况下。我们提出了一种新颖的基于采样的高维空间路径规划方法,通过将扩展点与扩展方向解耦,结合了快速探索随机树(Rapidly-exploring Random Trees, RRT)和随机游走(Hit-and-Run, HAR)。我们还展示了RRT和HAR作为一种通用算法的特例,该算法分别耦合了用于点和方向扩展的偏差。我们进一步研究了一种稀疏移动策略,在该策略中,每一步仅移动一部分机器人(比例为p_r),这有助于RRT和我们提出的HAR算法处理复杂的实例。我们对两类模型进行了测试:三维经典钢琴搬运问题和涉及数十个刚性域相对运动的复杂分子系统——后者被视为独立的机器人在运动空间SE(3)N中探索。在标准笔记本电脑上,我们的算法在几秒钟内解决了最多64个机器人和384个自由度的实例。我们最后建议将我们的其中一种方法HARF作为复杂多机器人规划问题的首选方法,其速度比经典RRT在每一步移动所有机器人时快两个数量级——当它成功时,在大多数实例中仍然比两者都使用其最佳p_r时快2.4倍。
cs.RO / 32 / 2609.16815

Rethinking Visual Embodiment Dependence in Visuomotor Policies

重新思考视觉体现依赖在视觉运动策略中的作用
Fang, Hongjie, Lu, Yuxuan, Wang, Chenxi, Qin, Haoxiang, Tang, Shirun, He, Zihao, Xia, Shangning, Chen, Jingjing, Liu, Wanxi, Wang, Shiquan, Lu, Cewu
Abstract
Visuomotor policies observe both the task scene and the acting embodiment, allowing embodiment-specific visual cues to influence action prediction. We study this phenomenon as visual embodiment dependence (VED) and show, through cue-conflict interventions across representative policies, that visible robot configuration can become a shortcut to task progress. Rather than eliminating VED, we argue that it should be structured around embodiment information that supports control and generalization. We realize this through embodiment canonicalization in 3D point clouds, replacing the original embodiment with a canonical end-effector representation (CER) that preserves control-relevant geometry while abstracting embodiment-specific morphology. Its editable form further enables configuration-decorrelation augmentation for unfamiliar robot configurations. Experiments show that embodiment canonicalization substantially improves human-to-robot policy transfer without robot demonstrations, while simply removing the embodiment is insufficient without preserving control-relevant geometry. We further find that CER itself can become a configuration shortcut when robot configuration becomes decoupled from task progress; configuration-decorrelation augmentation mitigates this failure mode and restores robust recovery without sacrificing performance on seen configurations. Together, these results show that robust visuomotor learning benefits from structuring, rather than removing, visual embodiment information. Project website: https://tonyfang.net/ved
Chinese Translation
视觉运动策略同时观察任务场景和执行体现,使得体现特定的视觉线索能够影响动作预测。我们将这一现象研究为视觉体现依赖(Visual Embodiment Dependence, VED),并通过在代表性策略中进行线索冲突干预,展示可见的机器人配置可以成为任务进展的捷径。我们认为,应该围绕支持控制和泛化的体现信息来构建 VED,而不是消除它。我们通过在三维点云中进行体现规范化实现这一点,用一个规范的末端执行器表示(Canonical End-Effector Representation, CER)替代原始体现,该表示保留了与控制相关的几何形状,同时抽象了体现特定的形态。其可编辑形式进一步使得对不熟悉的机器人配置进行配置去相关增强成为可能。实验表明,体现规范化在没有机器人演示的情况下显著提高了人机策略转移的效果,而仅仅去除体现在没有保留与控制相关的几何形状的情况下是不够的。我们进一步发现,当机器人配置与任务进展脱钩时,CER 本身可以成为配置捷径;配置去相关增强缓解了这一失败模式,并在不牺牲已知配置性能的情况下恢复了稳健的恢复能力。这些结果共同表明,稳健的视觉运动学习受益于构建而非去除视觉体现信息。项目网站:https://tonyfang.net/ved
cs.RO / 33 / 2609.16864

TEMPO: Learning Temporal Context for Dynamic Robot Manipulation

TEMPO:学习动态机器人操作的时间上下文
Feng, Zhenyang, Heo, Jimin, Sudderth, Erik B., Jain, Unnat
Abstract
Vision-language-action (VLA) models have achieved impressive performance in quasi-static manipulation, but struggle in dynamic manipulation tasks because they operate on a single observation at inference time. We identify two representational failures that underlie this limitation. The first is motion ambiguity, where a single observation does not include scene dynamics and therefore cannot anticipate the future state of moving objects. The second is state aliasing, where visually similar observations from different points in a task require different actions. We argue that these failures persist regardless of model scale and inference latency, showing that the bottleneck is missing temporal context rather than model capacity. Based on this insight, we propose TEMPO, which augments a pretrained VLA with two temporal inputs: a motion summary extracted from a frozen video foundation model to resolve motion ambiguity and a compact proprioceptive history to resolve state aliasing. TEMPO requires no modification to the backbone and adds minimal compute overhead at training or deployment. Across four dynamic manipulation tasks, it improves Bottle Handover success from 44% to 74% and is the only method that solves state aliasing. Probing and ablation studies confirm that each temporal signal independently addresses its corresponding failure. We further release TEMPO-Bench, a benchmark of over 50k annotated frames for evaluating motion-aware robot perception in both regression and multiple-choice formats. Project Website: https://tempo-robot.github.io/
Chinese Translation
视觉-语言-动作(VLA)模型在准静态操作中取得了令人瞩目的表现,但在动态操作任务中却表现不佳,因为它们在推理时仅基于单一观察进行操作。我们识别出导致这一限制的两个表征失败。第一个是运动模糊,单一观察无法包含场景动态,因此无法预测移动物体的未来状态。第二个是状态混淆,来自任务不同点的视觉相似观察需要采取不同的行动。我们认为这些失败无论在模型规模和推理延迟下都持续存在,显示出瓶颈在于缺乏时间上下文,而非模型容量。基于这一见解,我们提出了TEMPO,它通过两个时间输入增强了预训练的VLA:从冻结的视频基础模型中提取的运动摘要以解决运动模糊,以及紧凑的本体感知历史以解决状态混淆。TEMPO无需修改主干网络,并在训练或部署时增加的计算开销极小。在四个动态操作任务中,它将瓶子传递成功率从44%提高到74%,并且是唯一能够解决状态混淆的方法。探测和消融研究确认每个时间信号独立地解决了其对应的失败。我们进一步发布了TEMPO-Bench,这是一个包含超过5万帧注释的基准,用于评估运动感知机器人感知的回归和多项选择格式。项目网站:https://tempo-robot.github.io/
cs.RO / 34 / 2609.16880

Artificial Intelligence-Enabled Space Robot Operations: Technologies, Challenges and Prospects

人工智能驱动的空间机器人操作:技术、挑战与前景
Huang, Zeyuan, Chen, Gang, Hao, Zixuan, Tang, Guoqin, Zong, Junyi, Ban, Guoyou, Wang, Jiale, Lv, Haoyang, Ren, Chaoqian, Liu, Sitong
Abstract
Space robots are increasingly expected to perform long-duration, contact-rich, and multi-stage operations with limited human intervention. Recent advances in artificial intelligence (AI), robot learning, and embodied foundation models provide new opportunities to improve the autonomy and adaptability of such systems, but their transfer to space is constrained by scarce mission data, space-specific dynamics and sensing conditions, limited onboard resources, and stringent safety requirements. This article reviews artificial intelligence-enabled space robot operations (AI-SRO) from a capability-building perspective. We first summarize representative operational scenarios, autonomy trends, and space-specific constraints. We then establish a three-layer technical framework comprising capability foundations, capability formation, and capability deployment/evolution. Within this framework, we review simulation environments, datasets and benchmarks; task and environment understanding, state perception, decision-making and planning, and action execution; and onboard deployment, ground-to-space adaptation, continual learning, and capability transfer. Finally, we propose key research directions toward trustworthy simulation and data, open-world multimodal cognition, long-horizon safe decision-making, physically constrained policy learning, and space computing infrastructures.
Chinese Translation
空间机器人越来越被期望在有限的人类干预下执行长时间、接触丰富和多阶段的操作。近期在人工智能(AI)、机器人学习和具身基础模型方面的进展为提高这类系统的自主性和适应性提供了新机遇,但其向太空的转移受到稀缺任务数据、特定空间动态与感知条件、有限的机载资源以及严格的安全要求的限制。本文从能力构建的角度回顾了人工智能驱动的空间机器人操作(AI-SRO)。我们首先总结了代表性的操作场景、自主性趋势和特定空间约束。接着,我们建立了一个包括能力基础、能力形成和能力部署/演化的三层技术框架。在该框架内,我们回顾了仿真环境、数据集和基准测试;任务与环境理解、状态感知、决策与规划以及行动执行;以及机载部署、地面到太空的适应、持续学习和能力转移。最后,我们提出了可信仿真与数据、开放世界多模态认知、长时间安全决策、物理约束政策学习和空间计算基础设施等关键研究方向。
cs.RO / 35 / 2609.16958

Waggle Dance Inspired Motion Communication for Multiple UAVs in MuJoCo

受摇舞启发的多无人机运动通信机制在MuJoCo中的应用
Nengbo, Zhang
Abstract
The honeybee waggle dance motivates a communication mechanism in which one agent's movement conveys spatial information that guides other agents' actions. This paper presents a MuJoCo system that extends the point-to-point motion communication setting of MoCom to one performer and multiple observers. A performer broadcasts a six-bit navigation payload using four flight primitives and explicit null signals. Each of one to five observers processes its own onboard RGB images, extracts optical-flow trajectories, recognizes symbols, parses the message, and starts navigation only after confirming its own complete frame. Reception states and execution triggers are separate across observers, while simulation control and safety checks use shared ground truth. With stationary observers, 25 Hz image input, and ideal state-feedback control, a fixed standard suite yielded 44 correct complete messages from 53 receiver exposures across 17 nominal broadcasts; 13 broadcasts passed all group-level decoding and execution checks. Three additional no-message or input-fault controls met their expected outcomes. A separately reported supplemental suite, using the same frozen code at the default geometry, achieved 14 successful receiver exposures across three broadcasts. Near-range and wide-angle configurations exposed tracking and recognition failures, while unsuccessful receivers remained stationary. These finite simulation results support the feasibility of a waggle-dance-inspired broadcast-to-action mechanism under the tested conditions and identify the present perceptual and protocol limits.
Chinese Translation
蜜蜂的摇舞激发了一种通信机制,其中一个体的运动传达空间信息,以指导其他体的行动。本文提出了一个MuJoCo系统,将MoCom的点对点运动通信设置扩展到一个执行者和多个观察者。执行者使用四种飞行动作和明确的空信号广播六位导航负载。每个观察者处理其自身的机载RGB图像,提取光流轨迹,识别符号,解析消息,并在确认自身完整帧后才开始导航。接收状态和执行触发在观察者之间是分开的,而仿真控制和安全检查使用共享的真实数据。在静止观察者、25 Hz图像输入和理想状态反馈控制的条件下,固定标准套件在17次名义广播中,从53次接收曝光中获得了44条正确完整的消息;13次广播通过了所有组级解码和执行检查。三个额外的无消息或输入故障控制达到了预期结果。一个单独报告的补充套件,使用相同的冻结代码和默认几何形状,在三次广播中实现了14次成功的接收曝光。近距离和广角配置暴露了跟踪和识别失败,而未成功的接收者保持静止。这些有限的仿真结果支持在测试条件下基于摇舞的广播到行动机制的可行性,并识别出当前的感知和协议限制。
cs.RO / 36 / 2609.16996

Overcoming technical adoption barriers for mobile service robots in rehabilitation

克服移动服务机器人在康复领域的技术采纳障碍
Sternitzke, Christian, Blumenthal, Sebastian, Kleedoerfer, Lukas, Deserno, Verena, Mayfarth, Anke
Abstract
Many publications on robotic systems in healthcare describe early-stage work on low technology readiness levels. This paper describes how a mobile service robot approved as a medical device reaches higher technology readiness levels by adding peripheral functions and smaller improvements, which are pivotal for user acceptance in clinical environments and which often cannot be elicited by questioning users ex-ante as certain aspects only come in mind from testing the systems in clinical settings or operational environments. Especially developers of service robots in healthcare are advised to plan with such downstream developments, which can take significant implementation time, to obtain user acceptance and achieve widespread adoption of their robotic systems.
Chinese Translation
许多关于医疗保健中机器人系统的出版物描述了低技术准备水平的早期阶段工作。本文描述了一种被批准为医疗设备的移动服务机器人如何通过添加外围功能和较小的改进来达到更高的技术准备水平,这些改进对于临床环境中的用户接受度至关重要,而这些方面往往无法通过事先询问用户来引出,因为某些方面只有在临床环境或操作环境中测试系统时才能想到。特别是医疗保健领域服务机器人的开发者被建议考虑这样的后续发展,这可能需要显著的实施时间,以获得用户的接受度并实现其机器人系统的广泛应用。
cs.RO / 37 / 2609.17035

SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation

SWIM:基于视觉-语言的软体全身交互操控
Liu, Tingcong, Aung, Aye Phyu Phyu, Xiong, Junjie, Ma, Siyi, An, Bo, Wu, Ke, Jayavelu, Senthilnath
Abstract
Soft and continuum robots enable manipulation through distributed body deformation and contact, yet translating language and visual context into executable whole-body actuation remains a fundamental challenge. We present SWIM, a framework that maps an initial RGB observation and a language instruction to a complete actuation-command sequence. Its vision-language-action (VLA) policy, SWIM-VLA, combines a diffusion action head with Visual Soft Proprioception (VSP) through a shared representation of RGB observations, language instructions, and tendon states. The diffusion head models conditional distributions of expert command chunks, while VSP supervises ordered body-anchor predictions using simulation ground truth, encouraging the representation to retain body geometry when learning from limited demonstrations. Embodied mechanical intelligence supports physical execution of command sequences generated through iterative virtual rollout from evolving simulated observations, with intrinsic compliance providing local contact adaptation without online policy queries. We evaluate SWIM on packing, reaching, and grasping on a planar tendon-driven soft robot, with grasping targets anchored. In simulation, SWIM-VLA achieves success rates of 100\%, 96\%, and 88\%, respectively, outperforming an adapted OpenVLA-OFT baseline and controlled ablations. On hardware, SWIM achieves success rates of 100\%, 80\%, and 75\%, compared with 75\%, 40\%, and 25\% for direct online deployment of the same policy checkpoint.
Chinese Translation
软体和连续机器人通过分布式的身体变形和接触实现操控,但将语言和视觉上下文转化为可执行的全身驱动仍然是一个基本挑战。我们提出了SWIM,一个将初始RGB观测和语言指令映射到完整驱动命令序列的框架。其视觉-语言-动作(VLA)策略SWIM-VLA通过RGB观测、语言指令和肌腱状态的共享表示,结合了扩散动作头和视觉软本体感知(VSP)。扩散头建模专家命令片段的条件分布,而VSP则利用仿真真实值监督有序的身体锚点预测,鼓励表示在有限演示学习中保持身体几何形状。具身机械智能支持通过从不断演变的仿真观测中进行迭代虚拟展开生成的命令序列的物理执行,内在的顺应性在没有在线策略查询的情况下提供局部接触适应。我们在一个平面肌腱驱动的软体机器人上评估SWIM在打包、到达和抓取任务中的表现,抓取目标被锚定。在仿真中,SWIM-VLA分别实现了100%、96%和88%的成功率,优于改编的OpenVLA-OFT基线和控制消融实验。在硬件上,SWIM的成功率为100%、80%和75%,而相同策略检查点的直接在线部署成功率为75%、40%和25%。
cs.RO / 38 / 2609.17106

BRAVE-6D: Benchmark for Robotic Active Vision in 6DOF Pose Estimation

BRAVE-6D:机器人主动视觉在六自由度姿态估计中的基准测试
Ausserlechner, Philipp, Neuberger, Bernhard, Scherl, Alessandro, Schebek, Michael, Thalhammer, Stefan, Vincze, Markus
Abstract
Detecting and grasping small objects remains a significant challenge in robotics. Active vision, where the robot moves closer to the object, is an intuitive solution, yet comparing approaches on common ground is difficult since identical physical scene setups are required. Hence, we introduce BRAVE-6D, a benchmark designed to evaluate robotic active vision systems for object pose estimation, a crucial first step in grasping objects. BRAVE-6D leverages view synthesis based on Gaussian Splats (3DGS) to provide scenes and tools for benchmarking active vision systems. We show baseline solutions performing visual servoing within the scene and accurately estimating the poses of small objects.
Chinese Translation
检测和抓取小物体在机器人技术中仍然是一个重大挑战。主动视觉,即机器人靠近物体的方式,是一种直观的解决方案,但由于需要相同的物理场景设置,比较不同的方法变得困难。因此,我们提出了BRAVE-6D,这是一个旨在评估机器人主动视觉系统在物体姿态估计中的基准测试,这是抓取物体的关键第一步。BRAVE-6D利用基于高斯点云(Gaussian Splats, 3DGS)的视图合成来提供场景和工具,以便对主动视觉系统进行基准测试。我们展示了基线解决方案在场景中执行视觉伺服并准确估计小物体姿态的能力。
cs.RO / 39 / 2609.17115

Intrinsic Robot Rewarding: Reusing VLA Representations for Autonomous Evaluation and Policy Improvement

内在机器人奖励:重用视觉-语言-动作(VLA)表示以实现自主评估和策略改进
Schaffer, Tobias, Elkhayat, Mohab, Nicklas, Daniela, Almohamad, Mustafa, Al-Fuqara, Elham
Abstract
Vision-language-action (VLA) systems already bring together two valuable resources for robot learning: rich visual representations and demonstrations of successful task execution. Intrinsic Robot Rewarding (IRR) proposes to use these resources for a second, complementary purpose: evaluating the robot's own outcomes and providing feedback for policy improvement. Successful demonstration endpoints define task-specific references, and the policy's frozen visual encoder provides the feature space in which new outcomes are assessed. The core reward mechanism adds a reference bank and a scoring operation to the existing pipeline, without requiring a separate learned evaluator or an additional perception backbone. Our position is that this reuse offers a promising route to lower integration effort, efficient reward computation, and reduced recurring human outcome scoring. Building on established research in visual rewards and learning from experience, IRR brings these ideas into the robot's existing perception and demonstration pipeline. An operational COMAU Racer 3 demonstrator is available at technology readiness level 4 (TRL 4). This laboratory foundation supports the next research step: connecting internal outcome evaluation to physical policy improvement. We present the reward formulation, central research questions, and an evaluation methodology linking reward reliability to task success and supervision effort. The intended contribution is a reusable approach to learn and improve from the data and experience already available in industrial robot systems.
Chinese Translation
视觉-语言-动作(VLA)系统已经将机器人学习的两个宝贵资源结合在一起:丰富的视觉表示和成功任务执行的示范。内在机器人奖励(Intrinsic Robot Rewarding, IRR)提出将这些资源用于第二个互补目的:评估机器人的自身结果并提供策略改进的反馈。成功示范的终点定义了特定任务的参考,而冻结的视觉编码器提供了评估新结果的特征空间。核心奖励机制在现有流程中添加了参考库和评分操作,而无需单独学习的评估器或额外的感知骨干。我们的观点是,这种重用提供了一条有前景的途径,以降低集成工作量、提高奖励计算效率,并减少人类对结果的重复评分。基于在视觉奖励和经验学习方面的既有研究,IRR将这些理念引入机器人的现有感知和示范流程。一个操作性的COMAU Racer 3演示器已达到技术准备水平4(TRL 4)。这一实验室基础支持下一步研究:将内部结果评估与物理策略改进连接起来。我们提出了奖励公式、核心研究问题以及将奖励可靠性与任务成功和监督工作量联系起来的评估方法。预期的贡献是提供一种可重用的方法,以从工业机器人系统中已有的数据和经验中学习和改进。
cs.RO / 40 / 2609.17124

LOTUSim-Energy: A Maritime Simulator for Human-Drone Interaction in Autonomous Offshore Operation \& Maintenance

LOTUSim-Energy:一种用于自主海上操作与维护中人机无人机交互的海洋模拟器
Grosset, Juliette, Dubromel, Marie, Lechêne, Hélène, Arzel, Quentin, Buche, Cédric
Abstract
Offshore maintenance requires operations in the air, the surface, and the subsea domain and include human supervision. This paper presents LOTUSim-Energy, a real-time maritime simulator designed for multi-domain human--drone interaction for offshore operation and maintenance. The plat- form unifies heterogeneous unmanned vehicles (Unmanned Aerial Vehicles: UAVs, Unmanned Surface Vehicles: USVs, Autonomous Underwater Vehicles: AUVs, Remotely Operated Vehicles: ROVs) within a distributed architecture coupling environment forcing (wind, waves, currents) and provides immersive user interfaces for supervision (desktop and virtual reality). A structured offshore task library enables repeatable evaluation of autonomy stacks under realistic metocean disturbances. The simulator supports realistic physics, energy-aware battery modeling, and fault-detection pipelines as modular validation tools. System-level performance is demonstrated on a multi-domain inspection scenario for monopile and transition piece structure, where we evaluate the reliability of integrated waypoint-follower plugin and Automatic Identification System (AIS)-referenced trajectory tracking under real-time energy monitoring. By combining unified environmental physics, heterogeneous vehicle simulation, and immersive supervision, LOTUSim-Energy provides an integration testbed for prototyping and rehearsing offshore human--robot collaboration workflows, as a step toward de-risking sea deployment.
Chinese Translation
海上维护需要在空中、表面和水下领域进行操作,并包括人类监督。本文介绍了LOTUSim-Energy,这是一款为海上操作与维护设计的实时海洋模拟器,旨在实现多领域的人机无人机交互。该平台统一了异构无人车辆(无人机:UAV,无人水面车辆:USV,自主水下车辆:AUV,遥控操作车辆:ROV),在分布式架构中耦合环境强迫(风、波浪、洋流),并提供沉浸式用户界面以便于监督(桌面和虚拟现实)。结构化的海上任务库使得在现实的气象海洋扰动下对自主堆栈进行可重复评估成为可能。该模拟器支持真实物理、能量感知电池建模和故障检测管道,作为模块化验证工具。系统级性能在单桩和过渡件结构的多领域检查场景中得以展示,我们评估了集成航点跟随插件和自动识别系统(AIS)参考轨迹跟踪在实时能量监测下的可靠性。通过结合统一的环境物理、异构车辆模拟和沉浸式监督,LOTUSim-Energy为原型设计和排练海上人机协作工作流程提供了一个集成测试平台,作为降低海上部署风险的一步。
cs.RO / 41 / 2609.17141

Continual Learning for Traversability Prediction with Uncertainty-Aware Adaptation

基于不确定性感知适应的可通行性预测持续学习
Lee, Hojin, Lee, Yunho, Duecker, Daniel A, Kwon, Cheolhyeon
Abstract
Traversability prediction is a critical component of autonomous navigation in unstructured environments, where complex and uncertain robot-terrain interactions pose significant challenges such as traction loss and dynamic instability. Despite recent progress in learning-based traversability prediction, these methods often fail to adapt to novel terrains. Even when adaptation is achieved, retaining experience from previously trained environments remains a challenge, a problem known as catastrophic forgetting. To address this challenge, we propose a continual learning framework for traversability prediction that incrementally adapts to new terrains using a generative experience recall model. A key virtue of the proposed framework is two folds: i) retain prior experience without storing past data; and ii) incorporate the uncertainty of the generated samples from the recall model, enabling uncertainty-aware adaptation. Real-world experiments with a skid-steering robot validate the effectiveness of the proposed framework, demonstrating its ability to adapt across a series of diverse environments while mitigating catastrophic forgetting.
Chinese Translation
可通行性预测是自主导航在非结构化环境中的关键组成部分,在这些环境中,复杂且不确定的机器人与地形的交互带来了显著挑战,例如牵引力丧失和动态不稳定性。尽管近年来基于学习的可通行性预测取得了一定进展,但这些方法往往无法适应新型地形。即使实现了适应,从先前训练环境中保留经验仍然是一个挑战,这一问题被称为灾难性遗忘。为了解决这一挑战,我们提出了一种可通行性预测的持续学习框架,该框架利用生成经验回忆模型逐步适应新地形。该框架的一个关键优点有两个方面:i) 在不存储过去数据的情况下保留先前经验;ii) 结合来自回忆模型的生成样本的不确定性,实现不确定性感知适应。通过与滑转转向机器人进行的实际实验验证了所提框架的有效性,展示了其在一系列多样化环境中适应的能力,同时减轻了灾难性遗忘。
cs.RO / 42 / 2609.17145

LiLi: Lie Theory Based 3D LiDAR Scan Alignment Degeneracy Detection

LiLi:基于李群理论的3D LiDAR扫描对齐退化检测
Hulchuk, Vsevolod, Bayer, Jan, Faigl, Jan
Abstract
In this paper, we study 3D LiDAR scan alignment in challenging scenarios with degeneracies, such as straight corridors or flat fields, where the alignment solution is not unique and compromises localization and mapping accuracy. Existing degeneracy detection methods that neglect the potential for reassociating data points are prone to being sensitive to noise and complex degeneracies. Therefore, we propose LiLi - a novel method that leverages Lie theory to identify the full set of degenerate transformations within the SE(3) Lie group of rigid transformations. The method employs perturbations of the optimized solution and compares the resulting optimized poses to ensure robust detection of degeneracies. By leveraging generators from the Lie algebra se(3), the method provides a systematic approach to describing the set of degenerate transformations. Quantitative evaluations on synthetic data show significant improvement over the state-of-the-art Hessian-based method, reducing alignment error by 50%, with more significant improvements for datasets featuring noise. In the real-world degenerate datasets, the proposed method integrated into LiDAR-based odometry yields superior localization performance compared to the reference solution based on the Hessian-based degeneracy detector on a 260 m long trajectory, and succeeds on a 430 m long round-trip tunnel trajectory where the reference fails.
Chinese Translation
本文研究了在具有退化特征的挑战性场景中进行3D LiDAR扫描对齐的问题,例如直走廊或平坦田野,这些场景中对齐解并非唯一,从而影响定位和地图构建的准确性。现有的退化检测方法忽视了重新关联数据点的潜力,容易对噪声和复杂退化情况敏感。因此,我们提出了LiLi——一种新颖的方法,利用李群理论识别刚性变换的SE(3)李群中的所有退化变换。该方法采用优化解的扰动,并比较得到的优化姿态,以确保对退化的稳健检测。通过利用李代数se(3)中的生成元,该方法提供了一种系统的方法来描述退化变换的集合。在合成数据上的定量评估显示,该方法相比于最先进的基于Hessian的方法显著改善,减少了50%的对齐误差,对于包含噪声的数据集改善更为显著。在真实世界的退化数据集中,所提方法集成到基于LiDAR的里程计中,相较于基于Hessian的退化检测器的参考解,在260米长的轨迹上实现了更优的定位性能,并在430米长的往返隧道轨迹上成功运行,而参考解则失败。
cs.RO / 43 / 2609.17147

Kernel-Based Metrics Learning for Uncertain Opponent Vehicle Trajectory Prediction in Autonomous Racing

基于核的度量学习用于自主赛车中不确定对手车辆轨迹预测
Lee, Hojin, Nam, Youngim, Lee, Sanghun, Kwon, Cheolhyeon
Abstract
Autonomous racing confronts significant challenges in safely overtaking Opponent Vehicles (OVs) that exhibit uncertain trajectories, stemming from unknown driving policies. To address these challenges, this study proposes heterogeneous kernel metrics for Deep Kernel Learning (DKL), designed to robustly capture the diverse driving policies of OVs, and carry out precise trajectory predictions along with the associated uncertainties. A key virtue of the proposed kernel metrics lies in their ability to align similar driving policies and disjoin dissimilar ones in an unsupervised manner, given the observed interactions between the Ego Vehicle (EV) and OVs. The efficacy of the proposed method is substantiated through experimental studies on a 1/10th scale racecar platform, demonstrating improved prediction accuracy and thereby safely overtaking against OVs. Furthermore, our method is computationally efficient for onboard computing units, affirming its viability in fast-paced racing environments. The video and source code can be found at https://github.com/HMCL-UNIST/OpponentPredictionWithKMDKL.git.
Chinese Translation
自主赛车在安全超越表现出不确定轨迹的对手车辆(OVs)时面临重大挑战,这些不确定性源于未知的驾驶策略。为了解决这些挑战,本研究提出了异构核度量,用于深度核学习(Deep Kernel Learning, DKL),旨在稳健地捕捉对手车辆的多样化驾驶策略,并进行精确的轨迹预测及相关的不确定性。所提核度量的一个关键优点在于其能够在无监督的情况下,根据自我车辆(Ego Vehicle, EV)与对手车辆之间的观察交互,自动对相似的驾驶策略进行对齐,并将不相似的策略分离。通过在1/10比例的赛车平台上的实验研究,验证了所提方法的有效性,显示出预测准确性的提升,从而安全地超越对手车辆。此外,我们的方法在车载计算单元上计算效率高,确认其在快速赛车环境中的可行性。视频和源代码可在 https://github.com/HMCL-UNIST/OpponentPredictionWithKMDKL.git 找到。
cs.RO / 44 / 2609.17168

HuMemSLAM: Efficient Human-Inspired Semantic Place Recognition for Robust Visual SLAM

HuMemSLAM:高效类人语义场所识别用于鲁棒视觉SLAM
Adebambo, Mayowa, Donnelly, Sebastian, Amaritei, Armand, Bradley, Andrew, Rast, Alexander
Abstract
Autonomous systems require reliable place recognition for efficient and effective simultaneous localisation and mapping (SLAM). Traditional geometric visual SLAM approaches rely on low-level features and geometric consistency, but remain vulnerable to perceptual aliasing, where different places appear similar, and perceptual variation, where the same place appears different. Although semantic SLAM and modern learned visual place recognition (VPR) methods improve robustness under challenging perceptual conditions, real-time deployment requires both high retrieval accuracy and low latency. Inspired by human memory and perception, we propose HuMem-VPR, which exploits the bidirectional relationship between bottom-up perceptual evidence and top-down contextual reasoning to achieve high-level place understanding. We further introduce HuMemSLAM, the integration of HuMem-VPR with ORB-SLAM3. HuMem VPR achieved the highest aggregate retrieval accuracy on the real-image benchmark, competitive accuracy on the CARLA benchmark, and approximately two to three times lower latency than the evaluated state-of-the-art VPR methods. Across the evaluated dataset families and online experiments, HuMemSLAM substantially improved integrated Recall @1 over ORB-SLAM3's native retrieval while reducing the proposals submitted to its geometric backend.
Chinese Translation
自主系统需要可靠的场所识别以实现高效且有效的同步定位与地图构建(SLAM)。传统的几何视觉SLAM方法依赖低级特征和几何一致性,但仍易受感知混淆(不同地点外观相似)和感知变化(同一地点外观不同)的影响。尽管语义SLAM和现代学习型视觉场所识别(VPR)方法在复杂感知条件下提升了鲁棒性,实时部署仍需兼顾高检索准确率和低延迟。受人类记忆与感知机制启发,我们提出了HuMem-VPR,该方法利用自底向上的感知证据与自顶向下的上下文推理之间的双向关系,实现高层次的场所理解。进一步地,我们引入了HuMemSLAM,将HuMem-VPR与ORB-SLAM3集成。HuMem-VPR在真实图像基准测试中取得了最高的综合检索准确率,在CARLA基准测试中表现出竞争力的准确率,且延迟约为评估的最先进VPR方法的二至三分之一。在所评估的数据集系列及在线实验中,HuMemSLAM显著提升了相较于ORB-SLAM3原生检索的集成Recall @1,同时减少了提交给其几何后端的候选提议数量。
cs.RO / 45 / 2609.17172

Fingers as Legs: Learning Self-Supported Locomotion and Manipulation with an Anthropomorphic Hand

手指作为腿:利用类人手学习自我支撑的运动与操作
Kazemipour, Amirhossein, Zheng, Hehui, Katzschmann, Robert
Abstract
A walking robotic hand must use the same fingers to move its body, support its weight, and interact with the environment. We show how an anthropomorphic hand can learn these skills while retaining its finger design and position controller. Onboard power and computation make the platform self-contained. Our reinforcement learning approach accounts for the hand's unequal fingers, with training in a simulator calibrated from hardware measurements. In simulation, the hand moves faster with our reward formulation than with tuned rewards originally designed for quadrupeds. On hardware, task-specific policies enable untethered crawling, steering, and fall recovery. While supporting its own weight, the hand also executes successive keyboard commands without vision and pushes an object to targets using overhead visual feedback. These results demonstrate a compact mobile manipulator that reuses its fingers for locomotion and interaction, without a separate locomotion mechanism.
Chinese Translation
一个行走的机器人手必须使用相同的手指来移动其身体、支撑自身重量并与环境互动。我们展示了一个类人手如何在保持其手指设计和位置控制器的同时学习这些技能。平台的自带电源和计算能力使其成为一个自给自足的系统。我们的强化学习方法考虑了手指的不等长特性,并在基于硬件测量校准的模拟器中进行训练。在模拟中,使用我们的奖励公式,手的移动速度比使用最初为四足动物设计的调优奖励更快。在硬件上,特定任务的策略使得无束缚爬行、转向和跌倒恢复成为可能。在支撑自身重量的同时,手还能够在没有视觉的情况下执行连续的键盘命令,并利用上方视觉反馈将物体推向目标。这些结果展示了一个紧凑的移动操作器,它重用手指进行运动和互动,而无需单独的运动机制。
cs.RO / 46 / 2609.17187

Fleet-To-Lab: A Transfer Learning Framework For Lunar Rover Slippage Estimation Via Model Fusion

舰队到实验室:通过模型融合进行月球探测车滑移估计的迁移学习框架
Viviano, Riccardo, Omi, Saki, Orsula, Andrej, Olivares-Mendez, Miguel
Abstract
Accurate wheel slip estimation is essential for autonomous lunar rover mobility and navigation. Machine Learning models trained on terrestrial data generalize poorly to lunar terrain, and real lunar datasets are scarce due to the limited number of missions and costly data acquisition. We present Fleet-to-Lab, a transfer learning framework that leverages proprioceptive data collected by previously deployed heterogeneous lunar rovers to mitigate the Earth-Moon domain gap in slip estimation for a future deployable unit. We fuse several heterogeneous expert models into a single architecture, using a modest dataset collected after the rover deployment. We propose AcoMerge, a new hybrid swarm-intelligence algorithm that performs model fusion by searching for an optimal combi- nation of expert parameters. Experiments conducted in a high- fidelity physics simulation show balanced accuracy and macro- F1 improvements compared to deep model fusion baselines. AcoMerge exhibits competitive performance with joint training on deep architectures, while achieving higher macro-F1 and balanced accuracy on a smaller model. Overall, our framework shows model fusion as a possible transfer learning alternative for slippage estimation in space robotic missions with limited data.
Chinese Translation
准确的轮滑估计对自主月球探测车的移动性和导航至关重要。基于地面数据训练的机器学习模型在月球地形上的泛化能力较差,而由于任务数量有限和数据获取成本高,真实的月球数据集稀缺。我们提出了Fleet-to-Lab,一个迁移学习框架,利用先前部署的异构月球探测车收集的本体感知数据,以减轻未来可部署单元在滑移估计中的地球-月球领域差距。我们将多个异构专家模型融合为一个单一架构,使用在探测车部署后收集的适度数据集。我们提出了AcoMerge,一种新的混合群体智能算法,通过搜索专家参数的最佳组合来执行模型融合。在高保真物理仿真中进行的实验显示,与深度模型融合基线相比,AcoMerge在平衡准确性和宏观F1值上都有所提升。AcoMerge在深度架构上的联合训练表现出竞争力,同时在较小模型上实现了更高的宏观F1值和平衡准确性。总体而言,我们的框架展示了模型融合作为在数据有限的空间机器人任务中进行滑移估计的可能迁移学习替代方案。
cs.RO / 47 / 2609.17198

TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

TIO-Former:一种基于流式因果变换器的超轻量级六维时间飞行-惯性里程计,用于纳米无人机
Liu, Yang, He, Yifan, Zhao, Wenhao, Mo, Xiangyu, Xu, Yang, Wei, Hao, Ma, Mingze, Li, Huan, Wu, Yifan, Dai, Zipeng, Zhou, Xin, Gao, Fei
Abstract
Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exceed payload limits, optical flow degrades in low-texture scenes, and inertial-only state estimation is susceptible to accumulated drift. While multi-zone time-of-flight (ToF) arrays provide a lightweight metric complement, 6-DoF estimation from merely 384 ranges per frame is challenged by invalid returns, anisotropic observability, and temporal computational scaling. We propose TIO-FORMER, a camera-free, optical-flow-free, and mapless range-inertial odometry framework driven by an IMU and an ultra-lightweight (15 g) payload of six orthogonal 8 x 8 ToF arrays. Our frontend pairs consecutive range grids with a bilateral gated difference, while IMU-guided cross-attention dynamically routes directional features conditioned on platform kinematics. A Streaming Causal Transformer couples an uncompressed Local KV cache with compressed Chunk-FIFO memory, maintaining bounded inference cost and memory footprint independent of flight duration. In real-flight evaluations, TIO-FORMER reduces open-loop position error by 54.4% compared to nano-UAV optical flow and by 66.4%-89.1% over learned inertial baselines. We also evaluate performance across multiple environments and robustness under severe sensing degradation. Deployed on an edge RISC-V companion computer, TIO-FORMER achieves a P95 latency of 10.466 ms and peak resident memory of 6.324 MiB (less than 5 percent system RAM), demonstrating that sparse range sensing provides practical geometric anchoring for resource-constrained micro-aerial robots. Code is available at https://github.com/Ly041021/TIO-Former.
Chinese Translation
自主纳米无人机导航需要在严格的尺寸、重量、功耗和计算(SWaP-C)限制下进行准确的自我运动估计,其中视觉传感器和激光雷达超出了有效载荷限制,光流在低纹理场景中退化,而仅依赖惯性状态估计则容易受到累积漂移的影响。虽然多区域时间飞行(ToF)阵列提供了一种轻量级的度量补充,但仅从每帧384个范围数据中进行的六自由度(6-DoF)估计面临无效返回、各向异性可观测性和时间计算扩展的挑战。我们提出了TIO-FORMER,这是一种无相机、无光流和无地图的范围-惯性里程计框架,由IMU驱动,并配备六个正交的8 x 8 ToF阵列,重量仅为15克。我们的前端通过双边门控差异将连续的范围网格配对,而IMU引导的交叉注意力动态路由方向特征,条件是平台运动学。流式因果变换器将未压缩的本地KV缓存与压缩的Chunk-FIFO内存相结合,保持推理成本和内存占用在飞行时间独立的范围内。在实际飞行评估中,TIO-FORMER相比于纳米无人机光流减少了54.4%的开环位置误差,并且相比于学习的惯性基准减少了66.4%-89.1%。我们还评估了在多种环境下的性能和在严重传感器退化下的鲁棒性。部署在边缘RISC-V伴随计算机上,TIO-FORMER实现了10.466毫秒的P95延迟和6.324 MiB的峰值驻留内存(低于5%的系统RAM),证明稀疏范围传感为资源受限的微型空中机器人提供了实用的几何锚定。代码可在https://github.com/Ly041021/TIO-Former获取。
cs.RO / 48 / 2609.17210

FluxVLA Engine: A One-Stop VLA Engineering Platform for Embodied Intelligence

FluxVLA引擎:一个一站式的具身智能VLA工程平台
Li, Yinhao, Mao, Weixin, Lan, Zihan, Rong, Jikun, Hu, Qirui, Zhang, Yiming, Deng, Weipeng, Shen, Bowen, Zhu, Minzhao, Mao, Yiming, Yang, Yan, Cui, Chenguang, Chen, Hongyuan, Huang, Xu, Zhao, Zheyi, Shen, Pinxi, He, Bozhen, Fu, Zhen, Wang, Yifan, Zhang, Zexin, Gao, Ang, Chen, Haoyu, Shi, Chengqi, Chen, Hua
Abstract
Vision-language-action (VLA) models, world-action models (WAMs), and offline reinforcement learning methods are rapidly expanding the design space of embodied policies, yet turning these algorithms into reliable robot systems remains constrained by fragmented data formats, training stacks, evaluation protocols, inference runtimes, and embodiment-specific interfaces. We present $\mathrm{FluxVLA}$ Engine, an open, configuration-driven platform that turns heterogeneous embodied-policy components into a reproducible data-to-deployment workflow. Rather than introducing another policy model, $\mathrm{FluxVLA}$ standardizes interfaces for datasets, visual-language and world models, action heads, reward- or advantage-weighted learning, distributed training, simulation evaluation, optimized inference, and robot operators. The engine further integrates compositional dual-arm simulation, scalable automatic data generation, and model-decoupled human-in-the-loop rollout, takeover, correction collection, and reward annotation. For responsive physical execution, it combines Real-Time Chunking (RTC) with accelerated inference backends, lightweight remote GPU serving, and configurable trajectory post-processing. Together, these capabilities connect offline learning, simulation validation, online correction, and real-robot execution through shared and auditable contracts. $\mathrm{FluxVLA}$ therefore targets the engineering bottlenecks separating promising embodied-learning algorithms from reproducible evaluation and dependable deployment. Code is available at https://github.com/FluxVLA/FluxVLA
Chinese Translation
视觉-语言-行动(VLA)模型、世界-行动模型(WAMs)和离线强化学习方法正在迅速扩展具身策略的设计空间,但将这些算法转化为可靠的机器人系统仍受到数据格式、训练堆栈、评估协议、推理运行时和具身特定接口碎片化的限制。我们提出了$ ext{FluxVLA}$引擎,这是一个开放的、基于配置的平台,将异构的具身策略组件转化为可重复的数据到部署工作流。$ ext{FluxVLA}$并不是引入另一个策略模型,而是标准化数据集、视觉-语言和世界模型、行动头、基于奖励或优势加权的学习、分布式训练、模拟评估、优化推理和机器人操作员的接口。该引擎进一步集成了组合双臂模拟、可扩展的自动数据生成,以及模型解耦的人机协作回滚、接管、修正收集和奖励标注。为了实现响应式的物理执行,它结合了实时分块(Real-Time Chunking, RTC)与加速推理后端、轻量级远程GPU服务和可配置的轨迹后处理。这些能力共同连接了离线学习、模拟验证、在线修正和真实机器人执行,通过共享和可审计的合同。$ ext{FluxVLA}$因此旨在解决将有前景的具身学习算法与可重复评估和可靠部署之间的工程瓶颈。代码可在 https://github.com/FluxVLA/FluxVLA 获取。
cs.RO / 49 / 2609.17240

Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control

掌规模的游泳与跃出:一种具有差动推力俯仰控制的舵控制双螺旋桨水下机器人平台
Choi, Daehyun, Bergerson, Ian, Zhu, Hengjia, Lan, Tianjun, Bhamla, Saad
Abstract
We present a palm-scale (65 mm, 34 g) swim-and-breach robot platform. Two vertically stacked propellers provide both propulsion and differential-thrust pitch control under a proportional-integral-derivative (PID) loop, and a tail rudder adds yaw control. The hull, evaluated by flow simulation, reduces the drag five-fold relative to an equivalent cuboid, and the propellers are optimized using B-series modeling validated by dynamometer measurements. The current robot swims at 13.9 body lengths per second and turns at 209 deg per second, corresponding to the upper limits reported for underwater robots. In free swimming, the pitch loop turns the body to any commanded nose-up pitch angle, and, with the rudder stabilizing the exit, the current robot leaps 1.6 body lengths high and 3.7 long in a seamless cruise-leap-cruise sequence. The platform can be used to build small-scale robots that cross barriers and dry gaps between pools for inspection in streams, flooded structures, and industrial systems.
Chinese Translation
我们展示了一种掌规模(65毫米,34克)的游泳与跃出机器人平台。两个垂直叠加的螺旋桨在比例-积分-微分(PID)控制环下提供推进和差动推力俯仰控制,尾舵则增加了偏航控制。通过流动模拟评估的船体相较于等效的立方体减少了五倍的阻力,螺旋桨则通过动力计测量验证的B系列建模进行了优化。目前的机器人以每秒13.9个身体长度的速度游动,并以每秒209度的速度转向,这对应于水下机器人报告的上限。在自由游泳中,俯仰控制环将身体转向任何指令的抬头俯仰角,并在舵的稳定下,当前机器人在无缝的巡航-跃出-巡航序列中跃起1.6个身体长度的高度和3.7个身体长度的距离。该平台可用于构建小型机器人,跨越障碍物和池塘之间的干燥间隙,以便在溪流、淹没结构和工业系统中进行检查。
cs.RO / 50 / 2609.17247

DriveMCP: An Agentic AI framework for Advanced Driver Assistance System

DriveMCP:一种用于高级驾驶辅助系统的代理智能框架
Nadiri, Farzad, Cina, Mehdi, Rad, Ahmad B.
Abstract
An agentic AI driver-assistance framework that integrates perception, compliance reasoning, vehicle-state interpretation, and safety arbitration into a modular and auditable pipeline. The architecture, referred to as DriveMCP, incorporates a sensor-like perception stack alongside DriveLM as the vision-language front end to generate a graph-structured scene understanding (Graph Visual Question Answering) and language-grounded driving information. Key compliance elements in world_state, including posted speed limits and jurisdiction cues, are derived from DriveLM outputs through a structured parsing layer rather than being injected as simulator ground truth. A stateful orchestration layer coordinates specialized experts exposed as Model Context Protocol (MCP) servers: (i) a Rules server that performs retrieval-augmented compliance reasoning over jurisdiction-specific traffic codes and sign conventions, (ii) a Weather server that estimates traction risk and contextual speed advisories, and (iii) an MCP-CAN server that surfaces Controller Area Network (CAN)/On-Board Diagnostics (OBD) telemetry and diagnostic context for health-aware risk shaping. These outputs are fused to generate a structured decision that prompts a recommended course of action. The outcome is then further filtered by a Responsibility-Sensitive Safety (RSS)-inspired guardrail that arbitrates speak versus act decisions under bounded online adaptation. In CARLA simulation across multilingual, cross-border, and dynamic speed-limit scenarios, DriveMCP reduces traffic infractions and overspeed relative to the VLM-Direct, VLM-Direct+RAG, and VLM-Tools-NoArbiter baselines, while improving hazard response time and maintaining sub-second advisory latency.
Chinese Translation
一种代理智能驾驶辅助框架,将感知、合规推理、车辆状态解释和安全仲裁集成到一个模块化和可审计的流程中。该架构称为DriveMCP,结合了类似传感器的感知堆栈和DriveLM作为视觉-语言前端,以生成图结构场景理解(图形视觉问答)和基于语言的驾驶信息。世界状态中的关键合规元素,包括发布的速度限制和管辖权提示,通过结构化解析层从DriveLM输出中提取,而不是作为模拟器的真实数据注入。一个有状态的协调层协调作为模型上下文协议(Model Context Protocol, MCP)服务器暴露的专业专家:(i)一个规则服务器,执行针对特定管辖区的交通法规和标志惯例的检索增强合规推理;(ii)一个天气服务器,估计牵引风险和上下文速度建议;(iii)一个MCP-CAN服务器,提供控制器局域网(Controller Area Network, CAN)/车载诊断(On-Board Diagnostics, OBD)遥测和健康感知风险塑造的诊断上下文。这些输出被融合以生成结构化决策,从而提示推荐的行动方案。结果随后通过受责任敏感安全(Responsibility-Sensitive Safety, RSS)启发的护栏进一步过滤,在有限的在线适应下仲裁说与行动的决策。在CARLA模拟中,针对多语言、跨境和动态速度限制场景,DriveMCP相较于VLM-Direct、VLM-Direct+RAG和VLM-Tools-NoArbiter基线减少了交通违规和超速,同时提高了危险响应时间并保持了亚秒级的建议延迟。
cs.RO / 51 / 2609.17249

Port-Hamiltonian Koopman Operator Synthesis for Mechanical Systems

机械系统的端-哈密顿库普曼算子合成
Singh, Rajpal, Singh, Aditya, Keshavan, Jishnu
Abstract
Finite-dimensional Koopman models enable efficient linear prediction and control of nonlinear robotic systems. However, models learned purely from trajectory data may violate the energetic structure of the underlying mechanics, producing predictions that exhibit artificial energy growth and diverge under recursive propagation. This work presents a structure-preserving Koopman framework for Euler-Lagrange systems built on generalized-momentum coordinates. The momentum transformation exposes the mechanical actuation as a known, state-independent port, which is preserved explicitly in the lifted dynamics. A structure-constrained neural architecture is developed to jointly learn the lifting functions and a port-Hamiltonian Koopman generator, rendering the learned dynamics passive by construction rather than through penalty terms or post-hoc projection. A Cayley-midpoint discretization further preserves the corresponding storage-dissipation balance exactly in discrete time. These properties are established analytically by deriving the discrete storage balance and associated stability guarantees of the learned predictor. Simulation and experimental studies demonstrate improved prediction accuracy, data efficiency, and closed-loop tracking over Koopman baselines, with increasing gains for higher-dimensional systems.
Chinese Translation
有限维库普曼模型能够有效地对非线性机器人系统进行线性预测和控制。然而,纯粹从轨迹数据学习的模型可能会违反潜在机械的能量结构,导致预测结果出现人工能量增长,并在递归传播下发散。本研究提出了一种基于广义动量坐标的保结构库普曼框架,适用于欧拉-拉格朗日系统。动量变换将机械驱动暴露为已知的、状态无关的端口,并在提升的动态中显式保留。我们开发了一种结构约束的神经网络架构,以联合学习提升函数和端-哈密顿库普曼生成器,从而使学习到的动态在构造上是被动的,而不是通过惩罚项或事后投影实现的。凯利-中点离散化进一步在离散时间中精确保留了相应的储存-耗散平衡。这些性质通过推导学习预测器的离散储存平衡及相关稳定性保证进行了分析。仿真和实验研究表明,与库普曼基线相比,预测准确性、数据效率和闭环跟踪能力得到了改善,并且在高维系统中增益不断提高。
cs.RO / 52 / 2609.17263

CAD-Based Relation Learning and Geometric-Symbolic Planning for Robotic Assembly

基于CAD的关系学习与几何-符号规划用于机器人装配
Harlacher, Fabian, Friedrich, Christian
Abstract
Assembly Sequence Planning (ASP) remains a challenging problem due to its combinatorial nature, making exhaustive planning approaches impractical for complex industrial assemblies. Furthermore, many CAD models lack reliable semantic contact information or require extensive manual preprocessing, limiting the applicability of existing methods. This paper presents a hybrid ASP framework combining learning-based relation extraction with geometric-symbolic reasoning to generate feasible robotic disassembly sequences from imperfect CAD data. A neural network predicts semantic geometric relations from point clouds, while human-in-the-loop verification enables correction of uncertain predictions and planning failures. Extracted relations are transformed into a symbolic assembly graph, enabling a geometric-symbolic planner to efficiently compute locally valid sets of robotic manipulation primitives. A visibility-based ray-casting strategy guides the search for feasible disassembly directions without requiring an exhaustive combinatorial search, while the local solution space enables efficient sequence optimization. The framework is evaluated on an introduced assembly dataset and on the ASAP test dataset. On the ASAP test dataset, the proposed planner achieves an 85.83% planning success rate while reducing the median planning time by more than one order of magnitude across all assembly sizes and by more than a factor of 50 for assemblies with more than 30 components compared to the baseline. The results demonstrate that the proposed hybrid framework enables efficient robotic assembly sequence planning from imperfect CAD data while substantially reducing planning time. By combining learning-based feature segmentation, human-in-the-loop verification, and geometric-symbolic reasoning, the framework provides a practical foundation for scalable and adaptable robotic assembly and disassembly planning.
Chinese Translation
装配序列规划(ASP)由于其组合性质仍然是一个具有挑战性的问题,使得对于复杂工业装配的穷举规划方法变得不切实际。此外,许多CAD模型缺乏可靠的语义接触信息或需要大量手动预处理,从而限制了现有方法的适用性。本文提出了一种混合ASP框架,将基于学习的关系提取与几何-符号推理相结合,以从不完美的CAD数据中生成可行的机器人拆卸序列。神经网络从点云中预测语义几何关系,而人机协作的验证则能够纠正不确定的预测和规划失败。提取的关系被转换为符号装配图,使几何-符号规划器能够高效计算局部有效的机器人操作原语集合。基于可见性的光线投射策略指导可行拆卸方向的搜索,而无需进行穷举组合搜索,同时局部解空间使得序列优化变得高效。该框架在引入的装配数据集和ASAP测试数据集上进行了评估。在ASAP测试数据集上,所提出的规划器实现了85.83%的规划成功率,同时在所有装配规模上将中位规划时间减少了一个数量级,对于超过30个组件的装配,其中位规划时间减少了50倍以上。结果表明,所提出的混合框架能够从不完美的CAD数据中高效进行机器人装配序列规划,同时显著减少规划时间。通过结合基于学习的特征分割、人机协作验证和几何-符号推理,该框架为可扩展和适应性的机器人装配与拆卸规划提供了实用基础。
cs.RO / 53 / 2609.17292

Escape-Aware Control Barrier Functions for Quadrotor Safety under Body-Rate Limits

考虑逃逸的控制障碍函数在四旋翼安全性中的应用:基于机体速率限制
Shi, Lei, Wen, Haosong, Liu, Qichao
Abstract
Control barrier functions for input-constrained systems place the admissible input set inside the definition of the safe set, yet the resulting barrier is almost always a function of the state alone; On a quadrotor this is not cosmetic: because the thrust vector must be reoriented before it can decelerate an approach, and reorientation is limited by the attainable body rate, a state-only barrier certifies states from which no escape is reachable in time; We characterize the certification gap in closed form and show its width is proportional to closing speed and inversely proportional to the body-rate limit; We then define an escape barrier on the augmented pair of state and previously applied input, with escape authority measured over the one-step reachable thrust cap; It admits a closed form and an analytic inverse for the maximum certifiable closing speed, and embeds in a predictive controller at no additional state cost; Across 550 paired closed-loop episodes on a 13-state quadrotor, the proposed controller completes every tested scenario, whereas the stopping-distance barrier enforced over the same horizon fails 15% and 25% of episodes in exactly the two scenarios that enter the predicted gap; Against an online backup-CBF baseline enforcing the same escape condition at the reached state, it holds a 29-74 degree larger directional margin and 3-18 times the clearance, and an independent conservative rollout referee finds no certified state from which escape fails.
Chinese Translation
对于输入受限系统的控制障碍函数,将可接受的输入集置于安全集的定义之内,但由此产生的障碍几乎总是仅依赖于状态;在四旋翼上,这并非表面现象:因为推力矢量必须在减速之前重新定向,而重新定向受到可达到的机体速率的限制,因此仅依赖状态的障碍只能证明在一定时间内无法逃逸的状态;我们以封闭形式表征了认证间隙,并表明其宽度与闭合速度成正比,与机体速率限制成反比;然后,我们在扩展的状态和之前施加的输入对上定义了一个逃逸障碍,其逃逸能力通过一步可达的推力上限进行测量;它允许一个封闭形式和一个解析逆向,用于最大可认证的闭合速度,并在不增加状态成本的情况下嵌入预测控制器;在对一个13状态的四旋翼进行的550对闭环实验中,所提出的控制器成功完成了每个测试场景,而在同一时间范围内施加的停止距离障碍在恰好进入预测间隙的两个场景中失败了15%和25%;与在线备份控制障碍函数(CBF)基线相比,该基线在达到的状态下强制执行相同的逃逸条件,保持了29-74度更大的方向余量和3-18倍的间隙,而一个独立的保守回滚裁判发现没有任何认证状态导致逃逸失败。
cs.RO / 54 / 2609.17302

Online Geometric Change Detection via Scene Decomposition

通过场景分解进行在线几何变化检测
Thorne, David, Chua, Samuel Jia Cong, Joshi, Nakul, Wong, Aiden, Robison, Christa S., Osteen, Philip, Lopez, Brett T.
Abstract
Autonomous robots are increasingly deployed on long duration single- and multi-session missions in dynamic environments, where the ability to identify environmental changes such as fallen trees or opened doors provides important contextual information for online planning. We propose a framework called Change Detection via Scene Decomposition (CDSD) for accurate online geometric change detection using LiDAR or RGB-D sensors. Recent advances in geometric SLAM have made it possible to generate dense, tightly aligned maps without post processing, but comparing global maps across entire sessions is computationally expensive and does not allow for single-session online change detection. CDSD instead spatially decomposes mapped environments into unique scenes where changes can be found efficiently by comparing dense, local subsets of the global map called submaps. As the first submap-based approach for geometric change detection, we identify and address the following core challenges: 1) identifying appropriate scenes for change detection that require minimal redundant information; 2) generating dense and representative submaps for each scene; 3) detecting changes between submaps with differing fields of view; and 4) processing detected changes for real-time map reconstruction. Results demonstrate our algorithm on custom datasets collected at the Army Research Laboratory facility in Graces Quarters, Maryland, and on open-source multi-session change detection datasets.
Chinese Translation
自主机器人越来越多地在动态环境中执行长时间的单次和多次任务,其中识别环境变化(如倒下的树木或打开的门)为在线规划提供了重要的上下文信息。我们提出了一种名为通过场景分解进行变化检测(Change Detection via Scene Decomposition, CDSD)的框架,用于利用激光雷达(LiDAR)或RGB-D传感器进行准确的在线几何变化检测。最近在几何同步定位与地图构建(SLAM)方面的进展,使得在不进行后处理的情况下生成密集且紧密对齐的地图成为可能,但在整个会话中比较全局地图的计算成本很高,且不允许进行单次会话的在线变化检测。相反,CDSD将映射环境空间分解为独特的场景,通过比较称为子地图的全局地图的密集局部子集,能够高效地发现变化。作为首个基于子地图的几何变化检测方法,我们识别并解决了以下核心挑战:1)识别适合变化检测的场景,以最小化冗余信息;2)为每个场景生成密集且具有代表性的子地图;3)检测视场不同的子地图之间的变化;4)处理检测到的变化以实现实时地图重建。结果展示了我们在马里兰州Graces Quarters的陆军研究实验室设施收集的定制数据集以及开源多次会话变化检测数据集上的算法表现。
cs.RO / 55 / 2609.17372

XPACE: Joint World and Action Modeling from Heterogeneous Experience

XPACE:来自异构经验的联合世界与动作建模
Wei, Jiacheng, Bai, Jerry, Yue, Xiaoyu, Wang, Zidong, Guo, Xiaoyang, Chen, Cheng, Pu, Fanqi, Wu, Fan, Yue, Zhixu, Li, Yizhuo, Qiu, Feng, Liu, Bo, Ge, Yuying, Zhou, Hui, Chen, Chenyi, Ge, Yixiao
Abstract
A general-purpose robot needs to draw on diverse experience, choose actions, and anticipate how those actions will change the world. We introduce XPACE, a unified embodied world model that serves as both a world action model, jointly predicting executable robot actions and future video, and a world simulator, predicting the visual consequences of prescribed actions. Our key insight is that video prediction can both connect heterogeneous experience to action learning and generate new experience for policy improvement. With a shared video backbone between the policy and simulator, we use action-unlabeled video to learn visual dynamics and action-labeled human and robot demonstrations to jointly learn video and action prediction. Building on this architecture, a coarse-to-fine training curriculum progressively emphasizes robot control while retaining human experience, allowing the policy to learn behaviors beyond those covered by robot demonstrations. Beyond learning from recorded experience, XPACE uses its simulator to create additional recovery supervision for the policy. Specifically, we adapt the simulator to its own generated context, synthesize deviation-recovery trajectories around expert demonstrations, and fine-tune the policy on filtered recovery examples. Experiments on XPENG's IRON humanoid robot show that heterogeneous training improves robustness and enables transfer of human-observed skills to tasks absent from robot demonstrations, while recovery data generated by the model's own simulator further improves real-world task completion. Together, these results demonstrate how joint world and action modeling connects learning from heterogeneous experience with simulation-driven policy self-improvement.
Chinese Translation
通用机器人需要借助多样化的经验,选择动作,并预测这些动作将如何改变世界。我们提出了XPACE,一种统一的具身世界模型,它既作为世界动作模型,联合预测可执行的机器人动作和未来视频,又作为世界模拟器,预测规定动作的视觉后果。我们的关键见解是,视频预测既可以将异构经验与动作学习连接起来,又可以生成新的经验以改善策略。在策略和模拟器之间共享视频骨干网络的基础上,我们利用未标记的动作视频学习视觉动态,并利用标记了动作的人类和机器人演示共同学习视频和动作预测。在此架构的基础上,粗到细的训练课程逐步强调机器人控制,同时保留人类经验,使得策略能够学习超出机器人演示所覆盖的行为。除了从记录的经验中学习,XPACE还利用其模拟器为策略创造额外的恢复监督。具体而言,我们将模拟器适应其自身生成的上下文,围绕专家演示合成偏差恢复轨迹,并在过滤的恢复示例上微调策略。在XPENG的IRON人形机器人上的实验表明,异构训练提高了鲁棒性,并使得人类观察到的技能能够转移到机器人演示缺失的任务上,而模型自身模拟器生成的恢复数据进一步改善了现实世界任务的完成。这些结果共同展示了联合世界与动作建模如何将来自异构经验的学习与基于模拟的策略自我改善连接起来。
cs.RO / 56 / 2609.17384

Exact Fusion and Coordinated Exploration in Multi-Robot Active Inference

多机器人主动推理中的精确融合与协调探索
Wu, Peng, Imani, Mohsen, Kamara, Amidu, Islam, Md Tamzeed, Ghoreishi, Seyede Fatemeh, Imani, Mahdi
Abstract
Robot teams that learn a common environment model exchange belief summaries and plan by the expected information gain of their actions. Under conjugate exponential-family beliefs the shared belief is counted once per robot at two points: at fusion, the product of local posteriors counts the common prior $n$ times, and at planning, every robot scores its plan under the same belief and the team converges on the same unknown. Both errors are removed by adding evidence increments to the shared natural parameter, realized increments at fusion and expected increments at planning. The expected increment of a committed teammate gives the next robot its conditional gain; corrected gains sum to the joint gain, the redundancy removed equals the total correlation of the planned observation streams, and sequential commitment keeps the $1/2$ greedy guarantee. The expected increment is exact for Gaussian beliefs with fixed sampling paths and for Dirichlet beliefs under the novelty approximation of discrete active inference, whose team objective has a closed concave form within an explicit bound of the exact mutual information, and fails for finite hypothesis classes, where a short exact enumeration replaces it. Experiments on cooperative RockSample, foraging, and field monitoring show that fusion correction leaves exploration redundancy unchanged, anticipated evidence removes it, and sequential commitment recovers most of the value of centralized joint planning at cost linear in the team size.
Chinese Translation
学习共同环境模型的机器人团队通过交换信念摘要并根据其行动的预期信息增益进行规划。在共轭指数族信念下,共享信念在两个点上被每个机器人计算一次:在融合时,局部后验的乘积将共同先验计算$n$次;在规划时,每个机器人在相同信念下评估其计划,团队收敛于相同的未知目标。这两种误差通过向共享自然参数添加证据增量来消除,融合时实现增量,规划时预期增量。一个承诺的队友的预期增量为下一个机器人提供了条件增益;修正后的增益总和为联合增益,去除的冗余等于计划观察流的总相关性,而顺序承诺保持了$1/2$的贪婪保证。对于具有固定采样路径的高斯信念和在离散主动推理的新颖性近似下的狄利克雷信念,预期增量是精确的,其团队目标在精确互信息的显式界限内具有封闭的凹形态,但在有限假设类中失效,此时用短的精确枚举替代。关于合作RockSample、觅食和现场监测的实验表明,融合修正保持探索冗余不变,预期证据消除冗余,而顺序承诺以线性成本恢复了集中联合规划的大部分价值,成本与团队规模成正比。
cs.RO / 57 / 2609.17404

Residual Fault Adaptation for Dexterous In-Hand Manipulation Under Runtime Joint Faults

运行时关节故障下灵巧手内操作的残余故障适应
Deng, Linan, Liu, Xing, Hong, Lin, Hua, Feng, Ma, Guijun, Yue, Zuogong, Zhang, Fumin
Abstract
Dexterous in-hand manipulation requires coordinated control of multiple actuated joints, and a runtime joint fault can abruptly disrupt the contact configuration required for successful manipulation. In this work, we propose residual fault adaptation (RFA), a teacher-anchored framework for compensating for hidden command-channel faults. RFA retains a frozen healthy teacher to provide nominal behavior and trains a recurrent residual policy to infer corrective actions from proprioceptive and command-response history. During training, fault-injection domain randomization (FIDR) varies the fault mode, affected joint, severity, and onset time, while adaptive sampling increases the frequency of fault modes associated with lower recent performance. A frozen Direct FIDR policy provides a distributional reference only on fault-active training samples and is absent from deployment. The deployed controller receives neither fault labels nor controller-switching signals. Simulation experiments on the dexterous hand indicate that RFA can improve manipulation performance relative to the healthy policy under a fixed mixed-fault protocol. Real-robot experiments with software-injected faults further demonstrate zero-shot deployment of the learned adaptation policy.
Chinese Translation
灵巧的手内操作需要对多个驱动关节进行协调控制,而运行时关节故障可能会突然中断成功操作所需的接触配置。在本研究中,我们提出了残余故障适应(Residual Fault Adaptation, RFA),这是一种以教师为锚的框架,用于补偿隐蔽的指令通道故障。RFA 保留一个静态的健康教师,以提供标准行为,并训练一个递归残余策略,从本体感知和指令响应历史中推断纠正动作。在训练过程中,故障注入领域随机化(Fault-Injection Domain Randomization, FIDR)变化故障模式、受影响的关节、严重程度和发生时间,同时自适应采样增加与近期较低性能相关的故障模式的频率。一个静态的直接 FIDR 策略仅在故障活跃的训练样本上提供分布性参考,并在部署中缺失。部署的控制器既不接收故障标签,也不接收控制器切换信号。在灵巧手的仿真实验中,结果表明 RFA 相较于健康策略在固定混合故障协议下能够提高操作性能。使用软件注入故障的真实机器人实验进一步展示了学习到的适应策略的零样本部署。
cs.RO / 58 / 2609.17405

Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations

优化的扭矩多面体分析用于复杂多接触配置下的腿式机器人实时稳定性控制
Graaf, Friedrich, Birkefeld, Elias, Eichmann, Christian, Hofele, Elias, Schnell, Tristan, Heppner, Georg, Roennau, Arne, Dillmann, Rüdiger
Abstract
Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great challenge for traversal. To tackle this problem, we propose an optimized algorithm for evaluating the full actuatable wrench polytope for arbitrary contact scenarios. With our improved analysis algorithm, the torques for each joint of the robot can be calculated within a control frequency of 49 Hz. The achieved speedup allows for deployment within a regular control loop for actuating robot poses for different contact scenarios. We evaluated our stability controller extensively in simulation scenarios and validated its applicability by deploying it on actual walking robot hardware. The proposed controller achieved stability in very complex scenarios that are currently not achievable by any other controller.
Chinese Translation
腿式机器人在现实场景中提供了多种自动化应用。然而,像坡道、洞穴或脚手架等难以穿越的区域仍然对行走构成了巨大挑战。为了解决这个问题,我们提出了一种优化算法,用于评估任意接触场景下的全可驱动扭矩多面体。通过我们改进的分析算法,机器人每个关节的扭矩可以在49 Hz的控制频率内计算得出。实现的加速使得可以在常规控制循环中部署,以驱动机器人在不同接触场景下的姿态。我们在模拟场景中对稳定性控制器进行了广泛评估,并通过在实际行走机器人硬件上部署验证了其适用性。所提出的控制器在当前任何其他控制器无法实现的非常复杂的场景中实现了稳定性。
cs.RO / 59 / 2609.17430

Hamilton-Jacobi Reachability for Hybrid Systems: Unified Goal-Driven Control with Safety Guarantees

混合系统的哈密顿-雅可比可达性:具有安全保障的统一目标驱动控制
Borquez, Javier, Peng, Shuang, Bansal, Somil
Abstract
Hybrid dynamical systems provide a powerful modeling framework for robotic systems, particularly in contact-rich environments. However, ensuring safety and performance in such systems remains challenging due to the intricate coupling between continuous dynamics and discrete mode transitions. In this work, we extend classical Hamilton-Jacobi (HJ) reachability analysis, a formal verification method for continuous-time nonlinear systems, to hybrid dynamical systems. Our framework characterizes safe sets for hybrid systems through a generalized value function defined over both discrete and continuous states while accounting for control constraints and model uncertainty. We additionally provide a numerical algorithm to compute this value function. Building on these safe sets, we propose two different mechanisms to integrate performance objectives. First, we introduce a hybrid least-restrictive safety filter that intervenes on both the discrete and continuous components of a nominal controller only when necessary to avoid unsafe states, thereby preserving nominal behavior whenever possible. Second, we formulate and compute hybrid backward reach-avoid tubes, enabling the simultaneous enforcement of safety and goal-reaching behavior, an extension not previously addressed within hybrid HJ reachability. This enables the synthesis of continuous and discrete control policies that guarantee both safety and task completion. We validate our framework through simulation studies and real-world experiments on a quadrupedal robot, demonstrating its effectiveness in hybrid mode planning and safety-critical applications.
Chinese Translation
混合动态系统为机器人系统提供了强大的建模框架,特别是在接触丰富的环境中。然而,由于连续动态与离散模式转换之间复杂的耦合关系,确保此类系统的安全性和性能仍然具有挑战性。在本研究中,我们将经典的哈密顿-雅可比(Hamilton-Jacobi, HJ)可达性分析这一连续时间非线性系统的形式验证方法扩展到混合动态系统。我们的框架通过在离散和连续状态上定义的广义价值函数来表征混合系统的安全集,同时考虑控制约束和模型不确定性。我们还提供了一种数值算法来计算该价值函数。在这些安全集的基础上,我们提出了两种不同的机制来整合性能目标。首先,我们引入了一种混合最少限制安全过滤器,该过滤器仅在必要时对名义控制器的离散和连续组件进行干预,以避免不安全状态,从而在可能的情况下保持名义行为。其次,我们构建并计算混合反向可达-避免管道,使得安全性和目标达成行为能够同时得到执行,这是在混合 HJ 可达性中未曾涉及的扩展。这使得能够合成保证安全性和任务完成的连续和离散控制策略。我们通过对四足机器人进行的仿真研究和实际实验验证了我们的框架,展示了其在混合模式规划和安全关键应用中的有效性。
cs.RO / 60 / 2609.17463

Gaussian Processes for Modelling Spatial Fields with Robot Swarms

用于机器人群体建模空间场的高斯过程
Herranz, Guillermo Legarda, Francesca, Gianpiero, Birattari, Mauro
Abstract
Robot swarms, by virtue of their decentralised architecture, are a natural tool for scalable, robust modelling of spatial fields, such as water temperature, wind velocity, or terrain elevation. However, existing methods rely on external positioning systems that allow each robot to determine its own position in space. Here, we introduce location-unaware Gaussian process regression (LU-GPR) as a solution to the modelling of spatial fields in the absence of such positioning systems. LU-GPR allows each robot to infer the posterior mean and variance of the field in space, while simultaneously agreeing on a common frame of reference with its peers, using only local sensing and communication. We propose an online algorithm that allows each robot to consistently infer local estimates as its local frame of reference converges to the common one. By means of a product of experts model, each robot also combines the estimates of its peers with its own to obtain a global model. Our results show that LU-GPR scales well with the number of robots and is robust to limited communication ranges. We also demonstrate how it can be used in real-world monitoring scenarios to estimate the flow of an evacuating crowd.
Chinese Translation
机器人群体由于其分散的架构,成为了可扩展、稳健的空间场建模的自然工具,例如水温、风速或地形高度。然而,现有方法依赖于外部定位系统,使每个机器人能够确定其在空间中的位置。在此,我们提出了位置无关的高斯过程回归(LU-GPR),作为在缺乏此类定位系统情况下进行空间场建模的解决方案。LU-GPR允许每个机器人推断空间中场的后验均值和方差,同时仅通过局部感知和通信与其同伴达成共识的参考框架。我们提出了一种在线算法,使每个机器人能够在其局部参考框架收敛到共同参考框架的过程中一致地推断局部估计。通过专家模型的乘积,每个机器人还将其同伴的估计与自身的估计结合,以获得全局模型。我们的结果表明,LU-GPR在机器人数量增加时表现良好,并且对有限通信范围具有稳健性。我们还展示了它如何在现实监测场景中用于估计撤离人群的流动。
cs.RO / 61 / 2609.17484

Dissecting Motion-Prior Regularization for Data-Scarce Robotic Insertion

剖析数据稀缺条件下机器人插入的运动先验正则化
Hu, Ning, Li, Shuai, Tan, Jindong
Abstract
This study asks whether training-time motion-prior regularization can improve insertion success when a diffusion policy is learned from only 15 demonstrations. Minimum jerk discourages abrupt changes in predicted translational acceleration; speed-curvature regularization instead couples movement speed to path geometry. These are candidate mechanisms for task completion, not safety guarantees. We compare the priors individually and jointly, neither prior, and generic smoothness, with 80 real-robot trials per setting pooled over four recorded condition classes. Joint and minimum-jerk-only settings each achieved 70/80 successes (87.5%), versus 69/80 (86.3%) for speed-curvature only, 66/80 (82.5%) for neither prior, and 67/80 (83.8%) for generic smoothness. Success rates and Wilson 95% confidence intervals are visualized for direct comparison. Joint regularization exceeded neither by 5.0 percentage points but provided no observed gain over minimum jerk alone. The results motivate minimum jerk as the simpler candidate for replication, without establishing synergy, biomechanical specificity, improved safety, or distribution-shift robustness.
Chinese Translation
本研究探讨了训练时的运动先验正则化是否能够在仅从15个示例中学习扩散策略时提高插入成功率。最小颤动(Minimum jerk)抑制预测的平移加速度的突变变化;而速度-曲率正则化则将运动速度与路径几何形状相耦合。这些都是完成任务的候选机制,而非安全保障。我们分别和联合比较了这些先验、无先验和通用平滑性,在四个记录条件类别中,每种设置进行了80次真实机器人试验。联合和仅最小颤动设置均实现了70/80的成功率(87.5%),而仅速度-曲率的成功率为69/80(86.3%),无先验的成功率为66/80(82.5%),通用平滑性的成功率为67/80(83.8%)。成功率和威尔逊95%置信区间被可视化以便进行直接比较。联合正则化的成功率比最小颤动高出5.0个百分点,但未能提供相较于单独最小颤动的观察增益。结果表明,最小颤动是复制的更简单候选,但未建立协同效应、生物力学特异性、改善安全性或分布转移的鲁棒性。
cs.RO / 62 / 2609.17524

Modality-Autoregressive World-Action Models

模态自回归世界动作模型
Hung, Adam, Duisterhof, Bardienus P., Ramanan, Deva, Ichnowski, Jeffrey
Abstract
World-action models (WAMs) jointly model future observations and actions, typically predicting the future as RGB images. Other visual modalities such as depth, pretrained visual features, and point tracks can more efficiently capture geometric, semantic, and motion features. However, how best to combine these modalities within WAMs remains an open question. We introduce ModAR, the first WAM to autoregressively denoise multiple future modalities before predicting actions. This allows each prediction to condition on previously generated modalities. We train from scratch to systematically study how training-data mixtures, predicted modalities, and WAM formulations affect performance. In our evaluations, WAMs benefit from predicting point tracks, DINO features, and depth maps, while additionally predicting future RGB does not provide a consistent benefit. We also find that ModAR's sequential generation outperforms existing WAM formulations, with the highest average success rate at all evaluated data scales. We also fine-tune the video-model-initialized WAM Flex-$\pi$ on the same data; ModAR achieves a slightly higher observed average success rate (75% vs. 72%) while using approximately $20\times$ fewer training FLOPs and no pretraining. On three real-world bimanual tasks, ModAR outperforms baselines and improves with human videos.
Chinese Translation
世界动作模型(WAMs)共同建模未来观察和动作,通常预测未来为RGB图像。其他视觉模态,如深度、预训练视觉特征和点轨迹,可以更有效地捕捉几何、语义和运动特征。然而,如何在WAMs中最佳地结合这些模态仍然是一个未解的问题。我们介绍了ModAR,这是第一个在预测动作之前自回归去噪多个未来模态的WAM。这使得每个预测可以基于先前生成的模态进行条件化。我们从零开始训练,以系统地研究训练数据混合、预测模态和WAM公式如何影响性能。在我们的评估中,WAMs在预测点轨迹、DINO特征和深度图时受益,而额外预测未来RGB并未提供一致的好处。我们还发现,ModAR的顺序生成优于现有的WAM公式,在所有评估的数据规模中具有最高的平均成功率。我们还对同一数据集进行了视频模型初始化的WAM Flex-$ ext{π}$的微调;ModAR在观察到的平均成功率上略高(75%对72%),同时使用了大约$20 imes$更少的训练FLOPs且没有预训练。在三个真实的双手任务中,ModAR超越了基线,并随着人类视频的增加而改进。
计算机视觉 (Computer Vision)
94
cs.CV / 1 / 2609.16012

MechReason: Benchmarking Multi-Image Multi-Hop Reasoning in Mechanical Engineering

MechReason:机械工程领域多图像多跳推理的基准测试
Wang, Tengyue, An, Kang, Du, Chenxu, Yang, Zhongyu, Zhu, Yuanchi, Yang, Xinqi, Zhu, Hebao, Wang, Ziliang, Qian, FaQiang, Yang, Yunli, Ren, Qibing
Abstract
Despite significant progress in general visual question answering and cross-modal understanding, multimodal large language models still face a pronounced gap in evaluation for complex reasoning within the mechanical engineering domain. Existing benchmarks predominantly focus on rudimentary tasks such as drawing recognition, CAD interpretation, or single-chart querying, falling short of assessing whether models can integrate multiple images, textual conditions, physical principles, and engineering constraints to perform multi-step reasoning when confronted with authentic, intricate mechanical problems. To address this, we introduce MechReason, a benchmark derived from real mechanical engineering papers, comprising 12k question-answer pairs with explicit reasoning-chain annotations and 21k visual materials spanning nine evidence types, including statistical charts, parameter tables, engineering drawings, microscopic images, simulation images, system architectures, real mechanical scene photos, CAD model images and manufacturing flowcharts. MechReason covers eight task types across four reasoning dimensions: explanation, prediction, design, and diagnosis. We devise a four-stage construction pipeline: we first extract core engineering claims and decompose their supporting evidence into premises, reasoning processes, conclusions, and corroborative evidence; we then generate shortcut-preventing questions by masking posterior verification information; finally, we apply multimodal quality validation to ensure task quality and multi-hop nature. Extensive experimental results demonstrate that MechReason is highly challenging, with even the most advanced models achieving only 62.89\% accuracy.
Chinese Translation
尽管在一般视觉问答和跨模态理解方面取得了显著进展,但多模态大型语言模型在机械工程领域复杂推理的评估中仍面临明显的差距。现有基准主要集中在基础任务上,如图纸识别、CAD 解释或单图查询,未能评估模型在面对真实复杂机械问题时,是否能够整合多幅图像、文本条件、物理原理和工程约束以进行多步骤推理。为了解决这一问题,我们引入了 MechReason,这是一个基于真实机械工程论文的基准,包含 12,000 对问题-答案对,并附有明确的推理链注释,以及 21,000 个视觉材料,涵盖九种证据类型,包括统计图表、参数表、工程图、显微图像、仿真图像、系统架构、真实机械场景照片、CAD 模型图像和制造流程图。MechReason 涉及四个推理维度的八种任务类型:解释、预测、设计和诊断。我们设计了一个四阶段的构建流程:首先提取核心工程主张,并将其支持证据分解为前提、推理过程、结论和证据支持;然后通过屏蔽后验证信息生成防止捷径的问题;最后,我们应用多模态质量验证以确保任务质量和多跳特性。大量实验结果表明,MechReason 具有很高的挑战性,即使是最先进的模型也仅达到 62.89% 的准确率。
cs.CV / 2 / 2609.16149

DenseFace: Bias Mitigation in Face Recognition via Density-Aware Probabilistic Matching

DenseFace:通过密度感知的概率匹配缓解人脸识别中的偏见
Bultygov, Mansur, Seliutin, Vadim, Nekhaev, Dmitry, Laptev, Ivan
Abstract
Despite steady progress in face recognition, current face recognition models still suffer from significant demographic biases. While approaches for bias mitigation have been proposed, existing methods often impose constraints on the training procedure and result in the degradation of recognition accuracy. To address this issue, we here introduce a method that reduces racial bias in pre-trained face recognition models without compromising their accuracy. To this end, we model face embeddings of each person by von Mises-Fisher (MF) distribution. We next observe the dependency between demographic attributes and the density of MF distributions, and propose DenseFace, a probabilistic face matching procedure that accounts for differences in MF distributions. Our extensive experiments demonstrate DenseFace to consistently reduce racial bias in strong face recognition models varying in network architectures, training datasets and loss functions. Notably, DenseFace preserves recognition accuracy and requires no retraining of the underlying face recognition model. Our work also investigates previously adopted bias measures and makes suggestions.
Chinese Translation
尽管人脸识别技术取得了稳步进展,但当前的人脸识别模型仍然存在显著的人口统计学偏见。虽然已经提出了偏见缓解的方法,但现有方法往往对训练过程施加约束,导致识别准确性下降。为了解决这一问题,我们在此提出了一种方法,可以在不影响准确性的情况下减少预训练人脸识别模型中的种族偏见。为此,我们通过冯·米塞斯-费舍尔(von Mises-Fisher, MF)分布对每个人的人脸嵌入进行建模。接下来,我们观察到人口属性与MF分布密度之间的依赖关系,并提出了DenseFace,这是一种考虑MF分布差异的概率人脸匹配程序。我们的大量实验表明,DenseFace能够在不同网络架构、训练数据集和损失函数的强大人脸识别模型中持续减少种族偏见。值得注意的是,DenseFace保持了识别准确性,并且无需对基础的人脸识别模型进行重新训练。我们的工作还调查了之前采用的偏见度量,并提出了建议。
cs.CV / 3 / 2609.16207

Hyperbolic Contrastive Learning with Entailment for Spatial Transcriptomics

具有蕴涵的超曲率对比学习在空间转录组学中的应用
Vega, Daniela, Cárdenas, Paula, Ceballos, Hannah, Manrique, Leonardo, Arbelaéz, Pablo
Abstract
Spatial Transcriptomics (ST) has transformed biomedical research by enabling the spatial mapping of gene expression across tissue sections. However, high operational costs, specialized equipment requirements, and sensitivity to experimental noise limit the accessibility and scalability of ST. Recent computer vision approaches aim to overcome these limitations by predicting spatial gene expression directly from histopathology images. While effective, current approaches often suffer from gene expression over-smoothing and overly uniform predictions across tissue regions, suggesting that further progress depends on learning representations that reflect the hierarchical and asymmetric structure of gene regulation and tissue morphology. To address these issues, we propose Hyperbolic Contrastive Learning with Entailment for Spatial Transcriptomics (HyCLoST), a hyperbolic contrastive learning model that captures the intrinsic hierarchical relationships within ST data. By leveraging hyperbolic geometry and a gene-to-image entailment loss, HyCLoST learns structured, biologically grounded representations that improve gene expression prediction accuracy, achieving a 6% reduction in MSE and an 8% increase in PCC across 26 ST datasets, over previous methods. Our source code is publicly available at https://github.com/BCV-Uniandes/HyCLoST
Chinese Translation
空间转录组学(ST)通过实现基因表达在组织切片中的空间映射,改变了生物医学研究。然而,高昂的操作成本、对专用设备的需求以及对实验噪声的敏感性限制了ST的可及性和可扩展性。最近的计算机视觉方法旨在通过直接从组织病理图像中预测空间基因表达来克服这些限制。尽管这些方法有效,但当前的方法往往面临基因表达过度平滑和组织区域预测过于均匀的问题,这表明进一步的进展依赖于学习反映基因调控和组织形态的层次性和非对称结构的表示。为了解决这些问题,我们提出了具有蕴涵的超曲率对比学习模型(HyCLoST),该模型捕捉了ST数据中的内在层次关系。通过利用超曲率几何和基因到图像的蕴涵损失,HyCLoST学习了结构化的、生物学基础的表示,从而提高了基因表达预测的准确性,相较于之前的方法在26个ST数据集上实现了均方误差(MSE)降低6%和皮尔逊相关系数(PCC)提高8%。我们的源代码已公开发布在 https://github.com/BCV-Uniandes/HyCLoST
cs.CV / 4 / 2609.16233

SceneBench: A Hierarchical Benchmark for Vision-Language Understanding of 3D Scenes

SceneBench:用于3D场景视觉-语言理解的分层基准测试
Khanal, Anubhav, Acharya, Prabigya, Poudel, Roshni, Kapali, Sujan, Bhatta, Bigyan, Paudel, Pramish, Rameau, Francois, Paudel, Danda Pani
Abstract
Vision-language models excel at 2D image understanding but remain limited in 3D spatial reasoning. Progress is hindered by limitations in current benchmarks. First, 3D datasets often rely on point clouds that capture geometry but discard rich visual features like texture, text, and materials. Second, annotations treat objects in isolation while ignoring real-world hierarchical organization (scenes, rooms, functional areas, object groups). Third, evaluation tasks focus narrowly on basic recognition rather than multi-step spatial reasoning. In this context, we introduce SceneBench, a benchmark of 966 photorealistic 3D scenes reconstructed with Gaussian Splatting and densely annotated with hierarchical semantics spanning scenes, rooms, functional areas, object groups, and individual objects. These annotations are produced through a human-in-the-loop pipeline combining vision-language models with roughly 1,500 human-hours of iterative refinement and verification, producing over 183K annotated nodes with textual descriptions and 3D bounding boxes. Building on this representation, we define three evaluation tasks: Existence-Based Questions probing object attributes, Spatial Intelligence Questions covering counting, size comparison, distance, and directional relations, and Grounded Question-Reasoning-Answer (QRA) triplets requiring multi-step reasoning across semantic levels. Experiments with state-of-the-art vision-language models show that while models perform well on basic recognition tasks (e.g., up to 85% accuracy for detection), performance drops substantially on hierarchical and compositional reasoning (e.g., down to 60% for counting), revealing limitations not captured by existing benchmarks. SceneBench provides a realistic testbed for developing and evaluating models capable of fine-grained spatial reasoning in photorealistic 3D environments.
Chinese Translation
视觉-语言模型在2D图像理解方面表现出色,但在3D空间推理方面仍然有限。当前基准测试的局限性阻碍了进展。首先,3D数据集通常依赖于捕捉几何形状的点云,但忽略了丰富的视觉特征,如纹理、文本和材料。其次,注释将对象孤立对待,而忽视了现实世界的层次组织(场景、房间、功能区域、对象组)。第三,评估任务过于集中于基本识别,而非多步骤空间推理。在此背景下,我们引入了SceneBench,这是一个包含966个通过高斯溅射重建的照片级真实感3D场景的基准,并对场景、房间、功能区域、对象组和单个对象进行了层次语义的密集注释。这些注释通过一个人机协作的流程生成,结合了视觉-语言模型和大约1500小时的人力反复精炼与验证,产生了超过183K个带有文本描述和3D边界框的注释节点。在此基础上,我们定义了三个评估任务:基于存在的问题探测对象属性的存在性问题,涵盖计数、大小比较、距离和方向关系的空间智能问题,以及需要跨语义层次进行多步骤推理的基础问题-推理-答案(QRA)三元组。与最先进的视觉-语言模型的实验表明,尽管模型在基本识别任务上表现良好(例如,检测准确率高达85%),但在层次和组合推理上的表现显著下降(例如,计数准确率降至60%),揭示了现有基准未能捕捉的局限性。SceneBench为开发和评估能够在照片级真实感3D环境中进行细致空间推理的模型提供了一个现实的测试平台。
cs.CV / 5 / 2609.16284

ProtoLIP: From Sentence-Level to Object-Level Evidence Disentanglement

ProtoLIP:从句子级到对象级证据解耦
Zhu, Yan, Chen, Yongbo, Ding, Zhengming, Faust, Rebecca
Abstract
Query-conditioned vision--language models enable fine-grained interpretation by revealing how visual evidence changes with textual queries. However, evidence conditioned on complete descriptions does not necessarily resolve into object-specific evidence, nor does an exposed evidence map necessarily identify the evidence that constitutes the model's prediction. Across multiple VLM architectures and independent benchmarks, we find that object-level queries often retain evidence from co-occurring objects and shared context. In this paper, we introduce \textbf{ProtoLIP}, a lightweight prototype-mediated evidence layer that organizes reusable visual prototypes into text-derived semantic families and uses query-dependent family routing to constrain which prototypes may provide evidence. Without spatial annotations or backbone retraining, ProtoLIP improves evidence localization and separation across query granularities, with localization gains transferring to independently pretrained VLMs with well-aligned patch--text representations. Despite using only text-derived weak supervision, ProtoLIP remains competitive with a spatially supervised grounding model while maintaining strong matching and competitive image--text retrieval. Crucially, ProtoLIP constructs its matching score directly from localized prototype evidence, enabling the score to be exactly decomposed into semantic-family and prototype contributions.
Chinese Translation
查询条件的视觉-语言模型通过揭示视觉证据如何随着文本查询而变化,实现了细粒度的解释。然而,基于完整描述的证据并不一定会解构为特定对象的证据,暴露的证据图也不一定能识别出构成模型预测的证据。在多个视觉-语言模型(VLM)架构和独立基准测试中,我们发现对象级查询往往保留来自共现对象和共享上下文的证据。在本文中,我们介绍了 extbf{ProtoLIP},一种轻量级的原型介导证据层,它将可重用的视觉原型组织成基于文本派生的语义家族,并使用依赖查询的家族路由来限制哪些原型可以提供证据。在没有空间注释或主干网络再训练的情况下,ProtoLIP改善了跨查询粒度的证据定位和分离,定位增益可以转移到独立预训练的VLM,且具有良好对齐的补丁-文本表示。尽管仅使用文本派生的弱监督,ProtoLIP仍与空间监督的基础模型竞争,同时保持强匹配和竞争性的图像-文本检索。至关重要的是,ProtoLIP直接从定位的原型证据构建其匹配分数,使得该分数可以精确分解为语义家族和原型的贡献。
cs.CV / 6 / 2609.16306

Sequence Recognition in Bharatnatyam dance

巴拉特纳提亚姆舞蹈中的序列识别
Bhuyan, Himadri, Dhaipule, Rohit, Das, Partha Pratim
Abstract
Bharatanatyam is the oldest Indian Classical Dance (ICD) which is learned and practiced across India and the world. Adavu is the core of this dance form. There exist 15 Adavus and 58 variations. Each Adavu variation comprises a well-defined set of motions and postures (called dance steps) that occur in a particular order. So, while learning Adavus, students not only learn the dance steps but also take care of its sequence of occurrences. This paper proposed a method to recognize these sequences. In this work, firstly, we recognize the involved Key Postures (KPs) and motions in the Adavu using Convolutional Neural Network (CNN) and Support Vector Machine (SVM), respectively. In this, CNN achieves 99% and SVM's recognition accuracy becomes 84%. Next, we compare these KP and motion sequences with the ground truth to find the best match using the Edit Distance algorithm with an accuracy of 98%. The paper contributes hugely to the state-of-the-art in the form of digital heritage, dance tutoring system, and many more. The paper addresses three novelties; (a) Recognizing the sequences based on the KPs and motions rather than only KPs as reported in the earlier works. (b) The performance of the proposed work is measured by analyzing the prediction time per sequence. We also compare our proposed approach with the previous works that deal with the same problem statement. (c) It tests the scalability of the proposed approach by including all the Adavu variations, unlike the earlier literature, which uses only one/two variations.
Chinese Translation
巴拉特纳提亚姆是最古老的印度古典舞蹈(Indian Classical Dance, ICD),在印度及全球范围内学习和实践。Adavu是这一舞蹈形式的核心,共有15种Adavu和58种变体。每种Adavu变体由一组明确的动作和姿势(称为舞步)组成,这些舞步按照特定的顺序进行。因此,在学习Adavu时,学生不仅学习舞步,还需关注其发生的顺序。本文提出了一种识别这些序列的方法。在这项工作中,我们首先使用卷积神经网络(Convolutional Neural Network, CNN)和支持向量机(Support Vector Machine, SVM)分别识别Adavu中的关键姿势(Key Postures, KPs)和动作。在此过程中,CNN的识别准确率达到了99%,而SVM的识别准确率为84%。接下来,我们使用编辑距离(Edit Distance)算法将这些KP和动作序列与真实值进行比较,以找到最佳匹配,准确率达到98%。本文在数字遗产、舞蹈教学系统等领域对前沿技术做出了重要贡献。本文提出了三项创新:(a)基于KPs和动作而不仅仅是KPs来识别序列,这与早期的研究不同;(b)通过分析每个序列的预测时间来衡量所提方法的性能,并与处理相同问题陈述的先前工作进行比较;(c)通过包含所有Adavu变体来测试所提方法的可扩展性,而早期文献仅使用一到两个变体。
cs.CV / 7 / 2609.16310

Racing in Volume with Flow Ensembles

与流集合竞速
Mallick, Saswat Subhajyoti, Cherdchusakulchai, Riu, Olle, Marc Ruiz, Mosella-Montoro, Albert, Ribeiro-Gomes, Jose, Carrasco, Francisco Vicente, De la Torre, Fernando
Abstract
Streaming 4D reconstruction has been demonstrated only indoors, on dense camera rigs surrounding subjects that move at human pace. Outdoor 4D reconstruction exists but relies either on cameras mounted on the moving vehicle itself, or on limited-coverage arrays observing quasi-static subjects offline. The case that actually matters for spectators is a fast-moving subject, watched from a sparse ring of allocentric cameras, streaming. No method targets this, and no benchmark exists to evaluate one. To this end, we introduce FastFlowGS, a streaming 4D Gaussian Splatting method for reconstructing fast-moving subjects from a small set of fixed external cameras, and Monaco4D, a photorealistic Unreal Engine 5 benchmark for high-speed outdoor reconstruction. FastFlowGS fuses sparse matches, semi-dense tracks, and dense optical flow by lifting each signal to 3D with geometric uncertainty and combining them through a Kalman-style temporal update. Monaco4D provides Formula 1 sequences under varied illumination from trackside, onboard, and drone viewpoints with dense ground truth. On CMU-Panoptic, FastFlowGS exceeds the strongest baseline by 12.6% VMAF at 35% greater efficiency. On Monaco4D, where existing streaming methods degrade severely, it improves dynamic-region PSNR by up to 18.6% with 28.3% lower per-frame optimization time. Dataset and additional details can be found at https://humansensinglab.github.io/monaco4d/.
Chinese Translation
流式4D重建仅在室内环境中得到验证,使用密集的相机阵列围绕以人类速度移动的对象。虽然户外4D重建已经存在,但要么依赖于安装在移动车辆上的相机,要么依赖于观察离线准静态对象的有限覆盖阵列。对于观众而言,真正重要的情况是快速移动的对象,从稀疏的外部相机环中进行观察并进行流式传输。目前没有方法专门针对这一点,也没有基准来评估此类方法。为此,我们提出了FastFlowGS,一种用于从少量固定外部相机重建快速移动对象的流式4D高斯喷溅方法,以及Monaco4D,一个用于高速户外重建的光线逼真的虚幻引擎5基准。FastFlowGS通过将每个信号提升到具有几何不确定性的3D,并通过卡尔曼风格的时间更新将它们结合,融合稀疏匹配、半密集轨迹和密集光流。在Monaco4D中,提供了在不同光照条件下的一级方程式序列,视角包括赛道旁、车载和无人机,且具有密集的真实值。在CMU-Panoptic数据集上,FastFlowGS在效率提高35%的情况下,VMAF超越最强基线12.6%。在Monaco4D上,现有的流式方法严重退化,而FastFlowGS在动态区域PSNR上提高了多达18.6%,每帧优化时间降低了28.3%。数据集和更多详细信息可在 https://humansensinglab.github.io/monaco4d/ 找到。
cs.CV / 8 / 2609.16409

Reasoning with Image Generation

图像生成中的推理
Singhi, Nishad, Rodriguez, Hector Garcia, Arora, Aditya, Rohrbach, Marcus, Rohrbach, Anna
Abstract
Chain-of-thought reasoning has revolutionized natural language processing by enabling large language models (LLMs) to decompose problems into intermediate steps before answering. Yet confining reasoning to the textual domain presents limitations for tasks requiring direct manipulation of visual representations. Recent efforts augment multimodal LLMs with external visual expert tools such as depth estimation or object detection modules, but these remain fundamentally limited by their reliance on narrow, rigid operations that cannot flexibly generate or transform visual content. We propose ReImaGin, which leverages image generation models as a flexible visual reasoning mechanism for multimodal LLMs: unlike fixed-function tools, they accept natural language commands and can perform open-ended visual operations, like removing an occlusion or generating a floorplan from multiple disjoint views of a room. Across six diverse visual reasoning tasks including multi-view spatial reasoning and collision prediction, ReImaGin consistently outperforms both text-only reasoning and specialist vision-tool baselines, with gains of up to 25\%, demonstrating the advantage of flexible, generative visual reasoning.
Chinese Translation
链式思维推理通过使大型语言模型(LLMs)能够在回答问题之前将问题分解为中间步骤,彻底改变了自然语言处理。然而,将推理局限于文本领域对需要直接操作视觉表示的任务存在局限性。最近的努力通过引入外部视觉专家工具(如深度估计或目标检测模块)来增强多模态LLMs,但这些工具在根本上仍然受到其依赖狭窄、刚性操作的限制,无法灵活生成或转换视觉内容。我们提出了ReImaGin,它利用图像生成模型作为多模态LLMs的灵活视觉推理机制:与固定功能工具不同,它们接受自然语言命令,并能够执行开放式视觉操作,例如去除遮挡或从多个不相连的房间视图生成平面图。在包括多视角空间推理和碰撞预测在内的六个不同视觉推理任务中,ReImaGin始终优于仅使用文本的推理和专业视觉工具基线,性能提升高达25%,展示了灵活生成视觉推理的优势。
cs.CV / 9 / 2609.16448

Decentralized Gossip Learning and Federated Averaging for Histopathology Image Classification

去中心化的闲聊学习与联邦平均在组织病理图像分类中的应用
Ozturk, Yusuf, Goltekin, Enes, Atli, Bengisu, Ozturk, Akin, Bagci, Ulas
Abstract
Breast histopathology analysis increasingly relies on distributed learning because direct data pooling across institutions is often restricted by privacy, governance, and communication constraints. This study compares server-based Federated Averaging (FedAvg), fully decentralized gossip learning, and Hybrid Gossip-FedAvg for invasive ductal carcinoma (IDC) patch classification. Experiments used 277,524 color image patches with patient-disjoint training, validation, and test partitions and a workload-balanced, Dirichlet-guided allocation across six nodes. Ring, random degree-3, and fully connected gossip topologies were evaluated together with sensitivity analyses for statistical heterogeneity, mixing coefficient, learning rate, model drift, prediction disagreement, calibration, clinically motivated operating points, communication payload, and patient-level IDC burden, together with auxiliary backbone robustness analyses. In the principal alpha=0.3 experiment, Hybrid Gossip-FedAvg achieved a test area under the receiver operating characteristic curve (ROC-AUC) of 0.8811, closely followed by FedAvg at 0.8801 and fully connected gossip at 0.8751. Across three independent patient-level repetitions, FedAvg and Hybrid Gossip-FedAvg obtained the same mean ROC-AUC of 0.9082, with standard deviations of 0.0037 and 0.0043, respectively. Hybrid achieved the highest mean area under the precision-recall curve of 0.8240, whereas FedAvg produced the lowest mean Brier score of 0.1335. Denser gossip graphs improved discrimination but increased theoretical model payload, while ring gossip remained sensitive to learning rate and mixing strength. Overall, FedAvg provided the most consistently reliable server-based baseline, topology-aware gossip offered a viable decentralized alternative, and Hybrid Gossip-FedAvg provided a balanced compromise between peer-to-peer diffusion and periodic global coordination.
Chinese Translation
乳腺组织病理分析日益依赖于分布式学习,因为跨机构直接数据汇聚通常受到隐私、治理和通信限制的制约。本研究比较了基于服务器的联邦平均(Federated Averaging, FedAvg)、完全去中心化的闲聊学习以及混合闲聊-FedAvg在侵袭性导管癌(invasive ductal carcinoma, IDC)斑块分类中的表现。实验使用了277,524个彩色图像斑块,采用患者不重叠的训练、验证和测试分区,并在六个节点之间进行负载平衡的、受狄利克雷引导的分配。评估了环形、随机度数为3的和完全连接的闲聊拓扑,并进行了统计异质性、混合系数、学习率、模型漂移、预测不一致性、校准、临床驱动的操作点、通信负载和患者级IDC负担等的敏感性分析,以及辅助主干稳健性分析。在主要的alpha=0.3实验中,混合闲聊-FedAvg达到了0.8811的接收者操作特征曲线下面积(ROC-AUC),紧随其后的是FedAvg的0.8801和完全连接闲聊的0.8751。在三次独立的患者级重复实验中,FedAvg和混合闲聊-FedAvg获得了相同的平均ROC-AUC为0.9082,标准差分别为0.0037和0.0043。混合方法达到了最高的平均精确率-召回率曲线下面积为0.8240,而FedAvg则产生了最低的平均布赖尔分数为0.1335。更密集的闲聊图提高了区分能力,但增加了理论模型负载,而环形闲聊对学习率和混合强度仍然敏感。总体而言,FedAvg提供了最一致可靠的基于服务器的基线,拓扑感知的闲聊提供了可行的去中心化替代方案,而混合闲聊-FedAvg则在点对点扩散与周期性全球协调之间提供了平衡的折衷。
cs.CV / 10 / 2609.16464

A multimodal large language model for evidence-based autism spectrum disorder screening

一种用于基于证据的自闭症谱系障碍筛查的多模态大型语言模型
Chen, Jun, Zhao, Qi, Jiang, Yunliang, Cao, Shuqin, Lin, Yunqiang, Jia, Chenglong, Guo, Qiang, Dai, Guang, Zhang, Xiongtao, Wang, Mengmeng, Ma, Xiaoyue
Abstract
The clinical management of autism spectrum disorder (ASD) faces a bottleneck in early screening, mainly because trained specialists are scarce and conventional assessment tools are subjective. Here, we introduce ASDchat, a multimodal large language model designed for evidence-based ASD screening, which takes video, audio, and dialogue as input. ASDchat adopts a dual-branch architecture, where the decision branch generates screening probabilities and the evidence branch generates traceable, timestamped behavioral evidence aligned with standardized clinical criteria (ADOS-2). The model was trained and evaluated on a dataset of 1,035 participants from 27 sites in China, which covered typically developing (TD) children, children with ASD, and children with other disorders. For ASD versus TD, ASDchat reached an area under the receiver operating characteristic curve (AUC) of 0.953 $\pm$ 0.021. On 9 held-out sites that were not used for training, the mean AUC was 0.932. Furthermore, unsupervised clustering of the behavioral dimensions split the ASD cases into six subtypes with different phenotypic profiles, and ASDchat suggests an intervention for each subtype. ASDchat provides a feasible path for large-scale, evidence-based early ASD screening in clinical practice.
Chinese Translation
自闭症谱系障碍(ASD)的临床管理在早期筛查方面面临瓶颈,主要原因是受过训练的专业人员稀缺,且传统评估工具具有主观性。在此,我们介绍了ASDchat,这是一种旨在进行基于证据的ASD筛查的多模态大型语言模型,能够接受视频、音频和对话作为输入。ASDchat采用双分支架构,其中决策分支生成筛查概率,而证据分支生成与标准化临床标准(ADOS-2)对齐的可追溯、带时间戳的行为证据。该模型在中国27个地点的1,035名参与者的数据集上进行了训练和评估,涵盖了典型发育(TD)儿童、自闭症儿童和其他障碍儿童。对于ASD与TD的区分,ASDchat达到了0.953 ± 0.021的接收者操作特征曲线下面积(AUC)。在9个未用于训练的保留地点,平均AUC为0.932。此外,行为维度的无监督聚类将ASD病例分为六种具有不同表型特征的亚型,ASDchat为每种亚型建议了一种干预措施。ASDchat为临床实践中的大规模、基于证据的早期ASD筛查提供了一条可行的路径。
cs.CV / 11 / 2609.16475

MDN-Control: Mask-Depth-Noise Guided Region Control for Multi-Subject Video Editing

MDN-Control:基于掩码-深度-噪声引导的多主体视频编辑区域控制
Yu, Jiayi, Ye, Xi, Wang, Lina, Xia, Yunkun
Abstract
Multi subject video editing modifies designated subjects while preserving non target content, but faces cross subject attribute leakage, and occlusion ambiguity. Existing approaches rely on masks and struggle to distinguish overlapping subjects or ensure consistent generation. To address these limitations, we propose MDN-Control, a training free framework jointly controlling target localization, occlusion geometry, and appearance initialization. Specifically, mask-guided localization provides consistent target localization, while depth-aware occlusion control resolves ambiguous boundaries between overlapping subjects. We further introduce noise latent prompting, which retrieves Gaussian initializations from a noise library for prompt relevant priors. Experiments on MSVBench show that MDN-Control achieves the lowest CM-Err and the highest Q-Edit, while maintaining competitive text alignment and temporal consistency, demonstrating the effectiveness of combining spatial, geometric, and latent priors for multi subject video editing.
Chinese Translation
多主体视频编辑在修改指定主体的同时保持非目标内容,但面临跨主体属性泄漏和遮挡模糊的问题。现有方法依赖于掩码,难以区分重叠主体或确保生成的一致性。为了解决这些局限性,我们提出了MDN-Control,一种无需训练的框架,联合控制目标定位、遮挡几何和外观初始化。具体而言,基于掩码的定位提供了一致的目标定位,而深度感知的遮挡控制解决了重叠主体之间的模糊边界。我们进一步引入了噪声潜在提示,从噪声库中检索高斯初始化,以获取与提示相关的先验信息。在MSVBench上的实验表明,MDN-Control实现了最低的CM-Err和最高的Q-Edit,同时保持了竞争性的文本对齐和时间一致性,证明了结合空间、几何和潜在先验用于多主体视频编辑的有效性。
cs.CV / 12 / 2609.16486

VPRef: A Cross-Domain Benchmark for Referring Remote Sensing Image Segmentation

VPRef:一个用于指称遥感图像分割的跨域基准数据集
Liu, Quanwei, Huang, Tao, Yang, Jiaqi, Xiang, Wei
Abstract
Rapid advancements in vision-language models have propelled Referring Remote Sensing Image Segmentation (RRSIS) to the forefront of Earth observation. However, practical deployments suffer severe performance degradation under a coupled dual-drift paradigm: visual domain drift from cross-spatial-resolution mismatches and spectral variations, alongside textual logic drift from unconstrained, variable user-input granularities. To mitigate these bottlenecks, this paper establishes the first cross-domain RRSIS benchmark, designated as the Vaihingen-Potsdam Referring (VPRef) dataset, comprising 46,972 language-image-annotation triplets organized into a three-tier linguistic hierarchy. Building upon this benchmark, we develop a tailored parameter-efficient domain adaptation baseline anchored on the Segment Anything Model (SAM3) via Low-Rank Adaptation (LoRA). Our framework counteracts visual distribution discrepancies through pseudo-label-driven self-training and addresses textual logic drift via random multi-granularity text prompt mixing. Crucially, the distribution of empirical metrics across ablative variants suggests a potential decoupling between cross-modal semantic robustification and visual domain alignment, demonstrating that linguistic variance drives fine-grained semantic invariance while pseudo-label propagation governs macro-scale spatial grid alignment. Extensive benchmarks demonstrate the proposed framework achieves superior cross-domain segmentation boundaries while modifying merely 1.08\% of the foundational parameter footprint, establishing a robust baseline for future multi-modal remote sensing domain adaptation research. The dataset and code will be available at https://github.com/quanweiliu/VPRef.
Chinese Translation
视觉-语言模型的快速发展推动了指称遥感图像分割(Referring Remote Sensing Image Segmentation, RRSIS)成为地球观测领域的前沿。然而,实际应用中存在严重的性能下降,源于耦合的双重漂移范式:视觉域漂移来自跨空间分辨率不匹配和光谱变化,文本逻辑漂移则源于用户输入粒度的不受限制和多变。为缓解这些瓶颈,本文构建了首个跨域RRSIS基准数据集,命名为Vaihingen-Potsdam Referring(VPRef)数据集,包含46,972个语言-图像-标注三元组,组织成三级语言层次结构。在此基准基础上,我们开发了一个基于Segment Anything Model(SAM3)通过低秩适配(Low-Rank Adaptation, LoRA)的定制参数高效域适应基线。该框架通过伪标签驱动的自训练抵消视觉分布差异,并通过随机多粒度文本提示混合解决文本逻辑漂移。关键的是,消融实验中经验指标的分布表明跨模态语义鲁棒化与视觉域对齐可能实现解耦,显示语言变异驱动细粒度语义不变性,而伪标签传播控制宏观空间网格对齐。大量基准测试表明,所提框架在仅修改基础参数1.08%的情况下,实现了优越的跨域分割边界性能,为未来多模态遥感域适应研究奠定了坚实基线。数据集和代码将发布于https://github.com/quanweiliu/VPRef。
cs.CV / 13 / 2609.16551

Which Pretext Task Transfers? Self-Supervised Pretraining Objectives for Lung Ultrasound

哪种预训练任务具有迁移性?肺部超声的自监督预训练目标
Heidari, Moein, Rao, Junbo, Choraria, Jai, Chen, Wenjin, Foran, David J., Hacihaliloglu, Ilker
Abstract
Self-supervised learning (SSL) can reduce the need for labelled medical images, but the choice of pretext objective remains unclear for lung ultrasound (LUS). Contrastive learning, masked reconstruction, and joint-embedding predictive architectures (JEPA) differ in the space in which their targets are defined, yet existing ultrasound studies compare them under different corpora, backbones, and evaluation protocols. We compare these three objective families using the same encoder backbone, pretraining corpus, optimisation schedule, and frozen-evaluation protocol. Encoders are pretrained on COVID-BLUeS LUS videos and evaluated with linear, $k$NN, and attentive probes at 5\%, 10\%, 50\%, and 100\% label budgets. Evaluation is performed on POCUS using patient-level five-fold cross-validation and on the independently acquired Mendeley-Uganda dataset, which is excluded from both pretraining and probe fitting. At the full label budget under linear probing, VideoMAE and V-JEPA achieve $66.5 \pm 13.1$ and $65.4 \pm 11.7$ balanced accuracy on POCUS, while MoCo achieves $42.1 \pm 1.2$. On Mendeley-Uganda, the ranking reverses: MoCo performs best at $62.7 \pm 1.0$, followed by VideoMAE at $53.8 \pm 2.8$, while V-JEPA falls near chance at $35.1 \pm 4.9$. These results show that POCUS probe accuracy alone does not identify the objective that transfers best across datasets. We also outline planned representation-level analyses to examine this reversal. Code is publicly available at https://github.com/moeinheidari7829/LUSVideoSSL.
Chinese Translation
自监督学习(SSL)可以减少对标注医学图像的需求,但对于肺部超声(LUS)而言,预训练目标的选择仍不明确。对比学习、掩蔽重建和联合嵌入预测架构(JEPA)在其目标定义的空间上存在差异,但现有的超声研究在不同的语料库、基础网络和评估协议下对它们进行了比较。我们使用相同的编码器基础网络、预训练语料库、优化计划和冻结评估协议来比较这三种目标家族。编码器在COVID-BLUeS LUS视频上进行预训练,并在5%、10%、50%和100%的标签预算下使用线性、$k$NN和注意力探针进行评估。在POCUS上使用患者级五折交叉验证进行评估,并在独立获取的Mendeley-Uganda数据集上进行评估,该数据集在预训练和探针拟合中均被排除。在全标签预算下,通过线性探测,VideoMAE和V-JEPA在POCUS上分别实现了$66.5 imes 13.1$和$65.4 imes 11.7$的平衡准确率,而MoCo的准确率为$42.1 imes 1.2$。在Mendeley-Uganda上,排名发生了逆转:MoCo的表现最佳,准确率为$62.7 imes 1.0$,其次是VideoMAE,准确率为$53.8 imes 2.8$,而V-JEPA的表现接近随机,准确率为$35.1 imes 4.9$。这些结果表明,仅凭POCUS探针的准确性无法确定在数据集之间迁移效果最佳的目标。我们还概述了计划中的表示级分析,以检查这一逆转。代码已公开发布在https://github.com/moeinheidari7829/LUSVideoSSL。
cs.CV / 14 / 2609.16565

Vision And Text Transformer For Predicting Answerability On Visual Question Answering

视觉与文本变换器在视觉问答中的可回答性预测
Le, Tung, Nguyen, Huy Tien, Nguyen, Le Minh
Abstract
Answerability on Visual Question Answering is a novel and attractive task to predict answerable scores between images and questions in multi-modal data. Existing works often utilize a binary mapping from visual question answering systems into Answerability. It does not reflect the essence of this problem. Together with our consideration of Answerability in a regression task, we propose VT-Transformer, which exploits visual and textual features through Transformer architecture. Experimental results on VizWiz 2020 dataset show the effectiveness and robustness of VT-Transformer for Answerability on Visual Question Answering when comparing with competitive baselines.
Chinese Translation
视觉问答中的可回答性是一项新颖且引人注目的任务,旨在预测多模态数据中图像与问题之间的可回答性评分。现有的研究通常采用从视觉问答系统到可回答性的二元映射,这并未反映该问题的本质。结合我们对可回答性作为回归任务的考虑,我们提出了VT-Transformer,该模型通过变换器架构利用视觉和文本特征。对VizWiz 2020数据集的实验结果表明,与竞争基线相比,VT-Transformer在视觉问答中的可回答性预测上展现了有效性和鲁棒性。
cs.CV / 15 / 2609.16567

Counterfactual Reasoning for Robust Visual Question Answering

反事实推理在鲁棒视觉问答中的应用
Duong, Truong-Binh, Tran, Thanh-Ngan, Nguyen, Ngoc-Thao, Le, Bac
Abstract
Modern Visual Question Answering (VQA) models often exploit spurious correlations in training data, leading to poor out-of-distribution (OOD) generalization due to language bias. Although counterfactual learning has shown promise, existing methods can be improved to better guide attention toward causal evidence and strengthen feature discrimination. To address this, we propose a novel training framework that enhances counterfactual contrastive learning for VQA. Our framework introduces three key contributions: (1) a three-stage curriculum for stable multi-objective optimization, (2) an enhanced Batch-Contrastive loss for more discriminative feature learning, and (3) two novel regularizers, Answer-Contrastive (AC) loss to refine the prediction space and Gradient-Discrepancy (GD) loss to enforce causal visual grounding. Our model achieves a competitive accuracy of 61.64% on the bias-sensitive VQA-CP v2 benchmark while maintaining 62.80% on the standard VQA v2 dataset, yielding a small generalization gap of 1.16%. This demonstrates a strong balance between OOD robustness and in-distribution performance.
Chinese Translation
现代视觉问答(VQA)模型通常利用训练数据中的虚假相关性,这导致由于语言偏见而产生较差的分布外(OOD)泛化。尽管反事实学习展现出良好的前景,现有方法仍可改进,以更好地引导注意力朝向因果证据并增强特征区分能力。为此,我们提出了一种新颖的训练框架,增强了VQA的反事实对比学习。我们的框架引入了三个关键贡献:(1)一个三阶段课程用于稳定的多目标优化,(2)一种增强的批量对比损失(Batch-Contrastive loss),以实现更具区分性的特征学习,以及(3)两个新颖的正则化器,即答案对比(Answer-Contrastive, AC)损失,用于细化预测空间,以及梯度差异(Gradient-Discrepancy, GD)损失,以强制执行因果视觉基础。我们的模型在偏见敏感的VQA-CP v2基准上达到了61.64%的竞争性准确率,同时在标准VQA v2数据集上保持了62.80%,产生了1.16%的小泛化差距。这表明了OOD鲁棒性与分布内性能之间的良好平衡。
cs.CV / 16 / 2609.16572

Efficient Text-to-Image Generation: An Adaptive Step Schedule Controller for Diffusion Models

高效的文本到图像生成:一种用于扩散模型的自适应步长调度控制器
Binici, Kuluhan, Acar, Cihan, Aggarwal, Shivam, Liu, Siying, Mitra, Tulika
Abstract
Text-to-image diffusion models often use a fixed number of denoising steps, balancing time costs and image quality. However, the optimal number of steps depends on the complexity of the input text prompt. We propose an adaptive diffusion controller that dynamically adjusts the number of steps to generate high-quality images efficiently, without additional model training. By leveraging a mixture of step schedules with varying step sizes and evaluating the error term discrepancy at each timestep, our method transitions between schedules to optimize performance. Experiments on COCO and DiffusionDB show that our approach reduces inference time while maintaining visual fidelity, offering a more efficient alternative for text-to-image diffusion models.
Chinese Translation
文本到图像的扩散模型通常使用固定数量的去噪步骤,以平衡时间成本和图像质量。然而,最佳步骤数量取决于输入文本提示的复杂性。我们提出了一种自适应扩散控制器,能够动态调整步骤数量,以高效生成高质量图像,而无需额外的模型训练。通过利用不同步长的步骤调度混合,并在每个时间步评估误差项差异,我们的方法在调度之间进行转换,以优化性能。在 COCO 和 DiffusionDB 上的实验表明,我们的方法在保持视觉保真度的同时减少了推理时间,为文本到图像的扩散模型提供了一种更高效的替代方案。
cs.CV / 17 / 2609.16578

GraLoD: Graphics-Inspired Continuous Level-of-Detail Learning for Image Restoration

GraLoD:基于图形的连续细节层次学习用于图像修复
Gao, Hu, Ma, Lizhuang, Chen, Yulong
Abstract
The spatial support required for image restoration varies across degradation types, image regions, and reconstruction stages. However, most existing methods rely on predefined multi-scale hierarchies and aggregate features through fixed fusion or attention, leaving the representation scale itself largely determined by the network architecture. This limitation becomes more pronounced when a task-specific backbone is extended to heterogeneous degradations in all-in-one restoration. Inspired by level-of-detail (LOD) rendering in computer graphics, we propose GraLoD, a plug-and-play framework that treats restoration scale as a spatially varying and stage-dependent continuous variable. GraLoD reuses the native encoder hierarchy, aligns its multi-scale features into a shared LOD representation space, and predicts a stage-conditioned LOD field at each decoder stage. Each spatial location then continuously queries only two neighboring representation levels, enabling the effective restoration scale to adapt to both local image content and reconstruction progress. To prevent degenerate or arbitrary scale selection, we further introduce minimal-sufficient footprint calibration (MSFC) together with structure-aware regularization (SAR) to encourage restoration-effective and spatially coherent LOD assignments. GraLoD can be directly integrated into existing restoration backbones without redesigning their fundamental feature-processing blocks. Extensive experiments demonstrate consistent improvements in task-specific and all-in-one restoration.
Chinese Translation
图像修复所需的空间支持因退化类型、图像区域和重建阶段而异。然而,大多数现有方法依赖于预定义的多尺度层次结构,并通过固定的融合或注意力机制聚合特征,使得表示尺度在很大程度上由网络架构决定。当任务特定的主干网络扩展到异构退化的全能修复时,这一限制变得更加明显。受到计算机图形学中细节层次(LOD)渲染的启发,我们提出了GraLoD,一个即插即用的框架,将修复尺度视为一个空间变化和阶段依赖的连续变量。GraLoD重用原生编码器层次结构,将其多尺度特征对齐到共享的LOD表示空间,并在每个解码器阶段预测一个阶段条件的LOD场。每个空间位置仅连续查询两个相邻的表示层次,从而使有效的修复尺度能够适应局部图像内容和重建进展。为了防止退化或任意尺度选择,我们进一步引入了最小充分足迹校准(MSFC)以及结构感知正则化(SAR),以鼓励有效修复和空间一致的LOD分配。GraLoD可以直接集成到现有的修复主干网络中,而无需重新设计其基本特征处理模块。大量实验表明,在任务特定和全能修复方面均有一致的改进。
cs.CV / 18 / 2609.16591

FLAT: Resampling Image and Text into 1D Flexible-Length Aligned Transmodal Tokens for Retrieval and Generation

FLAT:将图像和文本重采样为1D灵活长度对齐的跨模态标记以用于检索和生成
Sun, Guangyu, Mishra, Shlok Kumar, Bao, Wentao, Yang, Robert Zhenheng, Wang, Xiao, Wang, Xiyuan, Ma, Yujunrong, Yuan, Chen, Fan, Max Xiangjun, Xiao, Jun, Cheng, Jianpeng
Abstract
Traditional multimodal representation learning and generation are two stages: a contrastive or self-supervised visual encoder is trained first, followed by a separate downstream generative model. This setup bottlenecks generative performance behind frozen embeddings. To bridge this gap, we revisit joint multimodal representation learning and generation to produce linearly interpolatable embeddings that are directly consumable by generative decoders. We present FLAT (Flexible-Length Aligned Transmodal representations), a representation pre-training framework that jointly optimizes a shared multimodal encoder alongside downstream text-to-image (T2I) and image-to-text (I2T) decoders. By combining contrastive alignment with bidirectional cross-modal generative objectives, FLAT ensures its representations function as both discriminative semantic descriptors and generative conditions. Architecturally, FLAT maps visual and textual inputs into a unified continuous 1D sequence space, applying nested dropout over prefix-K tokens to enable dynamic output lengths. A single pre-training stage allows FLAT to perform cross-modal retrieval and generation across variable prefix K, achieving a T2I GenEval score of 71.1. Task-specific fine-tuning aligns model performance with state-of-the-art baselines: 83.1 GenEval on T2I generation; 40.5 BLEU-4 and 138.6 CIDEr on MS-COCO image captioning; and Recall@5 scores of 86.8 (I2T) / 75.8 (T2I) on MS-COCO alongside 98.3 (I2T) / 93.6 (T2I) on Flickr30K. Finally, qualitative evaluations demonstrate that FLAT representations natively support linear interpolation, latent space arithmetic, and zero-shot composed retrieval.
Chinese Translation
传统的多模态表示学习和生成分为两个阶段:首先训练一个对比或自监督的视觉编码器,然后是一个单独的下游生成模型。这种设置使得生成性能受到冻结嵌入的瓶颈。为了弥补这一差距,我们重新审视联合多模态表示学习和生成,以产生可线性插值的嵌入,这些嵌入可以被生成解码器直接使用。我们提出了FLAT(灵活长度对齐的跨模态表示),这是一种表示预训练框架,联合优化一个共享的多模态编码器以及下游的文本到图像(T2I)和图像到文本(I2T)解码器。通过将对比对齐与双向跨模态生成目标相结合,FLAT确保其表示既作为判别性语义描述符,又作为生成条件。在架构上,FLAT将视觉和文本输入映射到统一的连续1D序列空间,应用嵌套的随机失活(dropout)在前缀-K标记上,以实现动态输出长度。单一的预训练阶段使FLAT能够在可变前缀K上执行跨模态检索和生成,达到71.1的T2I GenEval得分。特定任务的微调使模型性能与最新基准对齐:在T2I生成上达到83.1的GenEval;在MS-COCO图像描述上达到40.5的BLEU-4和138.6的CIDEr;在MS-COCO上I2T和T2I的Recall@5得分分别为86.8和75.8,以及在Flickr30K上分别为98.3和93.6。最后,定性评估表明FLAT表示本质上支持线性插值、潜在空间算术和零-shot组合检索。
cs.CV / 19 / 2609.16594

FRPSS: Feature Rearrangement in Pre-Shape Space for Single-Image Generation

FRPSS:用于单图像生成的预形状空间中的特征重排
Han, Yuexing, Zhang, Haoxuan, Wang, Bing
Abstract
Generative models trained on a single image often struggle to balance global structural integrity and local diversity. Existing single-image generation methods commonly rely on random noise to drive the generation process and lack explicit global structural constraints, making the generated results prone to spatial structural misalignment when structural variations occur. To address the issue, Feature Rearrangement in Pre-Shape Space for Single-Image Generation (FRPSS) is proposed in this paper. The core of FRPSS is the Manifold Structural Rearrangement with Feature Augmentation on Geodesic Surface (MSR-FAGS) module. MSR-FAGS replaces the randomly initialized features of the low-scale generator with rearranged Pre-Shape features and uses the features to guide image generation at subsequent scales, thereby reducing the risk of structural misalignment. To support downstream tasks such as stylization, a Scale-adaptive Sliding-window Patch Extraction (SSPE) strategy is further designed, and a directional Contrastive Language-Image Pre-training supervision module with SSPE (CLIP-SSPE) is constructed. Qualitative and quantitative experiments demonstrate that FRPSS achieves the best Single Image Fr\'echet Inception Distance (SIFID) scores on all three datasets while maintaining competitive Learned Perceptual Image Patch Similarity (LPIPS). Further qualitative experiments verify the effectiveness of FRPSS across multiple downstream tasks with the CLIP-SSPE module.
Chinese Translation
基于单一图像训练的生成模型往往难以平衡全局结构完整性与局部多样性。现有的单图像生成方法通常依赖随机噪声来驱动生成过程,缺乏明确的全局结构约束,使得在结构变化发生时生成结果容易出现空间结构错位。为了解决这一问题,本文提出了用于单图像生成的预形状空间中的特征重排(FRPSS)。FRPSS的核心是带有特征增强的流形结构重排模块(MSR-FAGS)。MSR-FAGS用重排的预形状特征替换低尺度生成器的随机初始化特征,并利用这些特征指导后续尺度的图像生成,从而降低结构错位的风险。为了支持风格化等下游任务,进一步设计了一种尺度自适应滑动窗口补丁提取策略(SSPE),并构建了一个带有SSPE的方向性对比语言-图像预训练监督模块(CLIP-SSPE)。定性和定量实验表明,FRPSS在所有三个数据集上实现了最佳的单图像Fréchet Inception距离(SIFID)得分,同时保持了竞争力的学习感知图像补丁相似性(LPIPS)。进一步的定性实验验证了FRPSS在多个下游任务中的有效性,尤其是在CLIP-SSPE模块的支持下。
cs.CV / 20 / 2609.16597

A Vision-Language Foundation Model for Precise and Comprehensive Brain Tumor Diagnosis from Preoperative Multimodal Data

一种用于从术前多模态数据中精确全面诊断脑肿瘤的视觉-语言基础模型
Wang, Yinong, Chen, Jianwen, Chen, Zhou, Kuang, Shuwen, Jiang, Haoning, Shi, Yanzhao, Yuan, Huichun, Yan-ran, Wang, Wang, Bing, Wu, Lei, Tang, Bin, Meng, Li, Luo, Baihua, Zhou, Bin, Ding, Wei, Zhong, Weiming, Hou, Wei, Chen, Yuanbing, Wan, Zhiping, Wang, Wei, Xiao, Zhenkun, Wan, Wenwu, He, Allen, Zhou, Yuyin, Zhang, Longbo, Wang, Feifei, Liu, Zhixiong, Iv, Michael, Gong, Xuan, Qu, Liangqiong
Abstract
Background Non-invasive presurgical diagnosis of brain tumor types from Magnetic Resonance Imaging (MRI) is essential but challenging due to overlapping imaging features across tumor types, inter-observer variability, and the extensive training required for expertise. We aimed to develop an MRI-based Artificial Intelligence (AI) model for automatic and reliable brain tumor classification with diagnostic uncertainty quantification and radiology reports generation. Methods We developed BrainVLM to classify all 12 World Health Organization (WHO) 2021 brain tumor types. BrainVLM integrates an uncertainty quantification strategy to indicate prediction reliability and a module for generating radiology reports to elucidate the clinical rationale. BrainVLM was trained on multi-modal data (MRI scans, demographics, and radiology reports) from 40,043 individuals. It was validated on 5,211 patients with pathologically confirmed brain tumors, including 3,877 held-out patients from the primary hospital and 1,334 patients from 11 independent hospitals. We further conducted two proof-of-concept studies to validate its clinical utility in AI-clinician workflows: 1) a blinded multi-reader study where 12 neuroradiologists across varying experience levels interpreted 248 retrospective cases with or without AI assistance, and 2) a real-world prospective study in which 1,009 patients were independently and blindly assessed by BrainVLM and radiologists before surgery. Additionally, we demonstrated BrainVLM's utility in preoperative molecular subgroup prediction for adult-type diffuse gliomas, using a multi-center cohort of 632 patients.
Chinese Translation
背景:从磁共振成像(MRI)中进行非侵入性术前脑肿瘤类型诊断至关重要,但由于肿瘤类型之间成像特征的重叠、观察者间的变异性以及所需的广泛培训,诊断过程面临挑战。我们的目标是开发一个基于MRI的人工智能(AI)模型,实现自动化和可靠的脑肿瘤分类,同时量化诊断不确定性并生成放射学报告。方法:我们开发了BrainVLM,以分类12种2021年世界卫生组织(WHO)脑肿瘤类型。BrainVLM整合了一种不确定性量化策略,以指示预测的可靠性,并包含一个生成放射学报告的模块,以阐明临床依据。BrainVLM在来自40,043名个体的多模态数据(MRI扫描、人口统计学信息和放射学报告)上进行了训练。它在5,211名病理确认的脑肿瘤患者中进行了验证,其中包括来自主要医院的3,877名保留患者和来自11家独立医院的1,334名患者。此外,我们还进行了两项概念验证研究,以验证其在AI-临床医生工作流程中的临床实用性:1)一项盲法多读者研究,12名神经放射学家在不同经验水平下解读248个回顾性病例,使用或不使用AI辅助;2)一项真实世界的前瞻性研究,其中1,009名患者在手术前由BrainVLM和放射科医生独立盲法评估。此外,我们还展示了BrainVLM在成人型弥漫性胶质瘤术前分子亚组预测中的实用性,使用了632名患者的多中心队列。
cs.CV / 21 / 2609.16601

SAVOR: Self-Aware Visual Grounding via Confidence-Calibrated Reinforcement Learning for Multimodal Hallucination Mitigation

SAVOR:通过置信度校准强化学习实现自我意识视觉定位以减轻多模态幻觉
Ding, Zixiu, Zhao, Zilin, He, Yingjie, Kang, Xinlang, Wang, Guansu, Zhang, Wei
Abstract
Multimodal large language models (MLLMs) have made strong progress on visual question answering and image captioning, yet they still produce fluent claims about objects, attributes, or relations that are not grounded in the image. Many remedies either modify decoding at test time, which adds latency, or fine tune with preferences such as DPO variants, which teach which answer is preferred but not when the model's own answer is unreliable. We argue that calibrated self assessment is the missing signal. We introduce Savor, a training framework that (i) augments the output schema with token and answer confidence, (ii) optimises the policy with a Group Relative Policy Optimisation (GRPO) objective that penalises calibration error and poor abstention decisions, and (iii) uses the learned confidence at inference time to revisit visual evidence only when the model is uncertain. Experiments on POPE, HallusionBench, AMBER and MMHal-Bench across two recent backbones (InternVL3-8B and Qwen3-VL-8B) show that Savor reduces hallucination while preserving general capability on MME and MMBench, with lower Expected Calibration Error than DPO and decoding baselines.
Chinese Translation
多模态大型语言模型(MLLMs)在视觉问答和图像描述方面取得了显著进展,但它们仍然会流畅地生成关于图像中对象、属性或关系的陈述,而这些陈述并未得到图像的支持。许多解决方案要么在测试时修改解码,这会增加延迟,要么通过诸如DPO变体的偏好进行微调,这些方法教会模型哪些答案是优选的,但并未解决模型自身答案不可靠的情况。我们认为,校准的自我评估是缺失的信号。我们提出了Savor,一个训练框架,(i) 通过令牌和答案置信度增强输出模式,(ii) 使用群体相对策略优化(Group Relative Policy Optimisation, GRPO)目标优化策略,该目标惩罚校准错误和不良弃权决策,以及(iii) 在推理时利用学习到的置信度,仅在模型不确定时重新审视视觉证据。在POPE、HallusionBench、AMBER和MMHal-Bench上的实验,基于两个最近的骨干网络(InternVL3-8B和Qwen3-VL-8B)表明,Savor在降低幻觉的同时保持了在MME和MMBench上的整体能力,并且其预期校准误差低于DPO和解码基线。
cs.CV / 22 / 2609.16603

G3AR: Graph-Guided Neural Visual Geometry for Scalable Multi-Sequence Aerial Registration

G3AR:用于可扩展多序列航空注册的图引导神经视觉几何
Lean, Jeng Wen Joshua, Yen, Ting-Yu, Sun, Wei-Fang, See, Simon, Chu, Hung-Kuo, Hung, Shih-Hsuan
Abstract
Full-context neural visual geometry is impractical for thousands of images, while sequence-based chunking poorly captures irregular non-local overlap in multi-sequence aerial collections. We present Graph-Guided Neural Visual Geometry for Aerial Registration (G3AR), a graph-guided framework for scalable dense neural geometry. Before local inference, G3AR builds a geometrically verified image-proximity graph that guides bounded overlapping chunks and induces a chunk graph whose maximum spanning tree defines alignment topology. Compatible backbones process chunks independently; shared-image predictions then estimate three-dimensional similarity (Sim(3)) transforms that register local cameras and geometry in a common frame. Across four real aerial scenes, G3AR improves pose error and runtime in matched VGGT- and Pi3-backed comparisons, while its DA3 variant achieves the lowest pose error among evaluated neural-geometry methods.
Chinese Translation
全上下文神经视觉几何对于数千张图像来说是不切实际的,而基于序列的分块方法在多序列航空集合中难以有效捕捉不规则的非局部重叠。我们提出了图引导神经视觉几何用于航空注册(G3AR),这是一个用于可扩展密集神经几何的图引导框架。在局部推断之前,G3AR构建了一个几何验证的图像邻近图,该图引导有界重叠块并诱导出一个块图,其最大生成树定义了对齐拓扑。兼容的主干网络独立处理块;共享图像预测随后估计三维相似性(Sim(3))变换,以在共同框架中注册局部相机和几何。在四个真实航空场景中,G3AR在匹配的VGGT和Pi3支持的比较中提高了姿态误差和运行时间,而其DA3变体在评估的神经几何方法中实现了最低的姿态误差。
cs.CV / 23 / 2609.16610

EgoPathBench: Evaluating Zero-Shot Egocentric Waypoint Decision-Making in Vision-Language Models

EgoPathBench:评估视觉-语言模型中的零-shot自我中心路径决策
Zhao, Yang, Chen, Zhuo, Yang, Xubo
Abstract
Zero-shot waypoint navigation requires vision-language models to select, from the current first-person observation, a sequence of spatial actions that is feasible for the agent and reaches the goal, placing joint demands on the integrated spatial intelligence of today's foundation VLMs. Existing spatial-intelligence benchmarks primarily evaluate isolated judgments of relations, directions, or targets and therefore do not directly measure the integrated navigation ability required to combine target recognition, action-consequence assessment, distance estimation, and path planning. To fill this evaluation gap, we introduce EgoPathBench, a dataset and five-task benchmark for first-person waypoint decision-making. Each question presents an egocentric RGB image, a natural-language goal, and numbered visible waypoints; a model returns traversable candidates or an ordered route. Predictions are evaluated for candidate feasibility, adjacent-edge legality, and goal arrival under point-agent or embodied geometry. EgoPathBench contains 31,852 training, 1,345 validation, and 1,111 benchmark questions and retains at least one geometrically verified reference route for every route question. Across nine VLMs, the highest EgoPath Score is only 28.3. The top-ranked model reaches 35.9% success on Point Path, but only 2.9% and 4.0% on Embodied Path and Intent Path, respectively, showing that current models remain limited in forming complete, goal-consistent routes under embodiment constraints. Beyond the evaluation data, we release the corresponding training resource. Fine-tuning Qwen 3.5 4B on the released training split raises its EgoPath Score from 3.9 to 38.9 and improves all four reported evaluations across three external spatial benchmarks, with gains of 1.4--9.6 points.
Chinese Translation
零-shot路径导航要求视觉-语言模型从当前的第一人称观察中选择一系列可行的空间动作,以便代理能够到达目标,这对当今基础视觉-语言模型(VLM)的综合空间智能提出了共同的要求。现有的空间智能基准主要评估关系、方向或目标的孤立判断,因此并未直接测量结合目标识别、行动后果评估、距离估计和路径规划所需的综合导航能力。为填补这一评估空白,我们引入了EgoPathBench,一个用于第一人称路径决策的数据集和五项基准测试。每个问题呈现一个自我中心的RGB图像、一个自然语言目标和编号的可见路径点;模型返回可遍历的候选项或有序路线。预测结果根据候选的可行性、相邻边的合法性和在点代理或具身几何下的目标到达情况进行评估。EgoPathBench包含31,852个训练问题、1,345个验证问题和1,111个基准问题,并为每个路径问题保留至少一条几何验证的参考路线。在九个VLM中,最高的EgoPath Score仅为28.3。排名最高的模型在点路径(Point Path)上达到35.9%的成功率,但在具身路径(Embodied Path)和意图路径(Intent Path)上仅分别为2.9%和4.0%,显示当前模型在具身约束下形成完整且一致的目标路径方面仍然有限。除了评估数据外,我们还发布了相应的训练资源。在发布的训练集上对Qwen 3.5 4B进行微调,将其EgoPath Score从3.9提升至38.9,并在三个外部空间基准中改善了所有四项报告的评估,增幅为1.4至9.6分。
cs.CV / 24 / 2609.16626

JewelTry: Mask-Free Scale Aware Jewelry Virtual Try-On

JewelTry:无遮罩的尺度感知珠宝虚拟试穿
Niu, Xinlei, Li, Peixia, Wang, Jun, Xu, Chenchen, Yang, Jiayu, Zhang, Jing, Purkait, Pulak, Li, Hongdong
Abstract
Virtual try-on (VTON) enables customers to visualize how fashion products appear when worn and has become an important technology for online shopping. While recent advances have substantially improved garment VTON, jewelry remains a challenging and underexplored category due to its small size, rigid structure, and sensitivity to fine-grained visual details. Realistic jewelry VTON requires not only faithful appearance transfer but also accurate scale and placement relative to the wearer. Existing jewelry VTON methods typically rely on mask guidance, whereas mask-free approaches lack explicit guidance for modeling the product scale. To bridge this gap, we introduce JVTO-Bench, a benchmark dataset for scale-faithful jewelry VTON, providing reference source target triplets with real-world product-scale annotations across four major jewelry categories. Building upon this benchmark, we propose JewelTry, a mask-free diffusion framework for scale-aware jewelry VTON. JewelTry incorporates a scale adapter that encodes product dimensions into a scale token, enabling the model to learn scale relationships between jewelry items and surrounding human anatomy in-context. To further improve jewelry consistency, we introduce a single-directional condition attention mechanism and an attention refinement loss that preserve both coarse geometry and fine-grained structural details of the reference jewelry. Extensive experiments show that JewelTry achieves a balance among visual fidelity, background preservation, object consistency and scale accuracy, establishing a strong baseline for mask-free, scale-aware jewelry virtual try-on.
Chinese Translation
虚拟试穿(VTON)使顾客能够可视化时尚产品穿戴后的效果,已成为在线购物的重要技术。尽管近期的进展显著改善了服装的虚拟试穿,但珠宝仍然是一个具有挑战性且未被充分探索的类别,原因在于其小尺寸、刚性结构以及对细微视觉细节的敏感性。逼真的珠宝虚拟试穿不仅需要忠实的外观转移,还需要相对于佩戴者的准确尺度和位置。现有的珠宝虚拟试穿方法通常依赖于遮罩指导,而无遮罩的方法缺乏对产品尺度建模的明确指导。为了解决这一问题,我们引入了JVTO-Bench,一个用于尺度忠实珠宝虚拟试穿的基准数据集,提供了四大珠宝类别中具有真实产品尺度注释的参考源目标三元组。在此基准的基础上,我们提出了JewelTry,一个无遮罩的扩散框架,用于尺度感知的珠宝虚拟试穿。JewelTry结合了一个尺度适配器,将产品尺寸编码为尺度标记,使模型能够学习珠宝物品与周围人体解剖结构之间的尺度关系。为了进一步提高珠宝的一致性,我们引入了单向条件注意机制和注意力细化损失,以保留参考珠宝的粗略几何形状和细微结构细节。大量实验表明,JewelTry在视觉保真度、背景保留、物体一致性和尺度准确性之间达成了平衡,为无遮罩、尺度感知的珠宝虚拟试穿建立了强有力的基准。
cs.CV / 25 / 2609.16637

Can Knowledge Transfer Parameters Be Learned? LePoKet for Efficient Robotic Vision

知识转移参数可以被学习吗?LePoKet用于高效的机器人视觉
Tchenko, Yanick C., Mohr, Felix, Hadj-Abdelkader, Hicham, Tabia, Hedi
Abstract
Efficient perception is central to robotic systems operating under constrained computation, memory, and latency budgets. Knowledge transfer from larger pretrained models offers a practical route to stronger compact perception networks, but existing approaches commonly rely on fixed distillation objectives or manually designed interaction mechanisms. Building on Hereditary Knowledge Transfer (HKT), we propose LePoKet (Learnable Parameter Optimization for Knowledge Transfer), a structural transfer framework that embeds knowledge inheritance directly into the forward computation. LePoKet introduces a block-wise Extract-Transform-Mix interface whose interaction parameters are optimized jointly with the child network through a Learnable Genetic Attention (LGA) operator, without auxiliary distillation losses or temperature scaling. We first characterize the mechanism on CIFAR-10 and CIFAR-100 using ResNet parent-child pairs, obtaining relative error reductions of 24.57% and 25.1%, respectively, over standard child training. We then evaluate LePoKet for dense motion estimation by integrating it into a compact RAFT-based optical-flow model trained only on FlyingChairs and FlyingThings3D. LePoKet improves the compact RAFT baseline from 2.21 to 1.92 EPE on Sintel Clean, from 3.35 to 3.01 on Sintel Final, and from 7.51 to 6.39 on KITTI. A direct comparison with HKT further shows that LePoKet improves CIFAR-10 accuracy from 92.40% to 93.40% while achieving the best Sintel Final and KITTI errors among the evaluated compact transfer variants, with comparable performance on Sintel Clean. These results demonstrate that learnable structural transfer generalizes across recognition and motion perception tasks and provides a promising approach for efficient robotic vision.
Chinese Translation
高效的感知对于在计算、内存和延迟预算受限的机器人系统至关重要。通过从更大预训练模型中进行知识转移,为构建更强大的紧凑感知网络提供了一条实用的途径,但现有方法通常依赖于固定的蒸馏目标或手动设计的交互机制。在遗传知识转移(Hereditary Knowledge Transfer, HKT)的基础上,我们提出了LePoKet(可学习参数优化的知识转移),这是一种将知识继承直接嵌入前向计算的结构性转移框架。LePoKet引入了一种块级提取-转换-混合接口,其交互参数通过可学习的遗传注意力(Learnable Genetic Attention, LGA)操作符与子网络共同优化,无需辅助蒸馏损失或温度缩放。我们首先在CIFAR-10和CIFAR-100上使用ResNet父子对对该机制进行表征,分别获得相对于标准子训练的相对误差降低24.57%和25.1%。然后,我们通过将LePoKet集成到仅在FlyingChairs和FlyingThings3D上训练的紧凑RAFT基础光流模型中,评估其在密集运动估计中的表现。LePoKet将紧凑RAFT基线在Sintel Clean上的EPE从2.21提高到1.92,在Sintel Final上从3.35降低到3.01,在KITTI上从7.51降低到6.39。与HKT的直接比较进一步表明,LePoKet将CIFAR-10的准确率从92.40%提高到93.40%,同时在评估的紧凑转移变体中实现了最佳的Sintel Final和KITTI误差,并在Sintel Clean上表现相当。这些结果表明,可学习的结构转移在识别和运动感知任务中具有广泛的泛化能力,并为高效的机器人视觉提供了一种有前景的方法。
cs.CV / 26 / 2609.16646

What Do Hallucinations Reveal About Multimodal Reasoning? Diagnosing Visual Grounding Failures via Contrastive Decoding Probes

幻觉揭示了多模态推理的什么?通过对比解码探测视觉基础失败
Zhao, Zhipeng, Wang, Wenxu, Liu, Peishun, Tang, Ruichun
Abstract
When strong multimodal models are widely available, progress requires new scientific methodologies beyond benchmark scores---using models as instruments for understanding behavior. We address this by asking: can we use large vision-language models (LVLMs) as experimental instruments for studying their own failure dynamics? Focusing on visual hallucination, we introduce SAFE, a training-free decoding framework that contrasts visually-grounded and vision-ablated generation paths to produce a token-level contrastive grounding score that identifies when the model favors linguistic priors over visual evidence. This signal serves dual roles: as a practical proxy for detecting visually-ungrounded tokens, and as the basis for decoding-time penalties. Our analysis yields three empirical observations: visual dependency decays over generation, hallucinations co-occur in temporal clusters, and early intervention reduces clustering without substantially degrading fluency. On MMHalBench, SAFE substantially outperforms all compared baselines; results elsewhere are more mixed. We argue that designing contrastive probes exemplifies a broader mission: using models as instruments for scientific understanding. Code: https://github.com/zhaozhipeng1997/SAFE_public.
Chinese Translation
随着强大的多模态模型的广泛应用,进展需要超越基准分数的新科学方法论——将模型作为理解行为的工具。我们通过提出以下问题来解决这一问题:我们能否将大型视觉-语言模型(LVLMs)作为实验工具来研究它们自身的失败动态?我们聚焦于视觉幻觉,介绍了SAFE,一个无训练的解码框架,通过对比视觉基础和视觉消融的生成路径,产生一个标记级别的对比基础分数,以识别模型何时偏向语言先验而非视觉证据。该信号具有双重作用:作为检测视觉无基础标记的实用代理,以及作为解码时惩罚的基础。我们的分析得出了三个实证观察:视觉依赖性在生成过程中衰减,幻觉在时间上聚集出现,早期干预减少聚集而不会显著降低流畅性。在MMHalBench上,SAFE显著优于所有比较基线;其他地方的结果则更加复杂。我们认为设计对比探测器体现了一个更广泛的使命:将模型作为科学理解的工具。代码:https://github.com/zhaozhipeng1997/SAFE_public。
cs.CV / 27 / 2609.16647

ViD: Vision-Dominant Gender Bias Mitigation for Large Vision-Language Models

ViD:面向大型视觉-语言模型的视觉主导性性别偏见缓解
Zhao, Zhipeng, Wei, Zhaoqiang, Liu, Peishun, Zhao, Youwei, Tang, Ruichun
Abstract
Gender bias in large vision-language models (LVLMs) undermines their fairness and reliability, compromising output trustworthiness. Current mitigation methods rely on training-phase adjustments or post-hoc calibration, but face limitations in dynamic visual bias mitigation. These include inability to capture real-time visual-textual incongruence, dependence on predefined gender bias taxonomies, and degraded cross-modal alignment with emergent bias patterns. To address these challenges, we propose ViD, a causally-inspired framework that analyzes attention mechanisms across five distinct patterns, revealing confounding effects from strong language priors. ViD demonstrates that visual-to-language cross-attention effectively suppresses bias while preserving general reasoning capabilities and text generation quality. ViD incorporates dual mechanisms: backdoor adjustment counters strong language priors, while refined token selection in decoding layers optimizes processing. This enhances model robustness and inference efficiency. Our integrated approach significantly mitigates gender bias across multidimensional social attributes in LVLMs, improving visual grounding and output fairness. Cross-benchmark validation shows ViD reduces gender bias by 14.7\% on single-attribute evaluations (FACET) and achieves significant improvements on image captioning tasks (MS COCO), with gender bias score improving from 0.6708 to 0.9978 for LLaVA. Crucially, these improvements require no additional training overhead, making ViD a scalable and practical solution for bias mitigation in LVLMs.
Chinese Translation
大型视觉-语言模型(LVLMs)中的性别偏见削弱了其公平性和可靠性,损害了输出的可信度。目前的缓解方法依赖于训练阶段的调整或事后校准,但在动态视觉偏见缓解方面面临局限性。这些局限性包括无法捕捉实时的视觉-文本不一致性、依赖于预定义的性别偏见分类法,以及与新兴偏见模式的跨模态对齐能力下降。为了解决这些挑战,我们提出了ViD,一个基于因果关系的框架,分析五种不同模式下的注意力机制,揭示了强语言先验带来的混淆效应。ViD表明,视觉到语言的交叉注意力有效抑制偏见,同时保持一般推理能力和文本生成质量。ViD结合了双重机制:后门调整抵消强语言先验,而解码层中的精细标记选择优化了处理。这增强了模型的鲁棒性和推理效率。我们综合的方法显著缓解了LVLMs中多维社会属性的性别偏见,提高了视觉基础和输出的公平性。跨基准验证显示,ViD在单一属性评估(FACET)中将性别偏见降低了14.7 ext{%},并在图像描述任务(MS COCO)上取得了显著改善,LLaVA的性别偏见评分从0.6708提高到0.9978。重要的是,这些改善不需要额外的训练开销,使ViD成为一个可扩展且实用的偏见缓解解决方案。
cs.CV / 28 / 2609.16656

Channel-Wise and Token-Aware Post-Training Quantization for Visual State Space Duality

面向通道和令牌的后训练量化方法用于视觉状态空间对偶
Lim, Jonghyeon, Yim, Changhoon
Abstract
State space models (SSMs), particularly Mamba, have emerged as efficient alternatives to attention-based architectures and have been extended to vision through ViM, VMamba, and Visual State Space Duality (VSSD). Yet the low-bit post-training quantization (PTQ) behavior of VSSD remains insufficiently understood. A weight-activation split on VSSD-Tiny identifies activation quantization as the dominant low-bit bottleneck, while representative inputs to selected VSSD-backbone linear layers exhibit strong channel-wise magnitude variation and token-localized extremes. We propose the Channel-wise Token-balanced Output-Aware Clipping (CTOAC) method, which learns per-input-channel clipping bounds by minimizing a token-balanced reconstruction loss on the corresponding linear outputs. Only the selected linear layers and their input activations are quantized; other backbone operations retain their original precision. Across VSSD-Tiny, VSSD-Small, and VSSD-Base, the proposed CTOAC method retains ImageNet-1K accuracy and remains substantially more robust than the evaluated baselines at more aggressive precision settings. Applying the same quantization scope to VSSD backbones on COCO and ADE20K preserves strong object detection, instance segmentation, and semantic segmentation performance. An optimized RTX 4090 deployment configuration achieves up to 1.42x end-to-end speedup over FP32.
Chinese Translation
状态空间模型(SSMs),特别是Mamba,已成为基于注意力架构的高效替代方案,并通过ViM、VMamba和视觉状态空间对偶(VSSD)扩展到视觉领域。然而,VSSD的低位后训练量化(PTQ)行为仍然不够清楚。对VSSD-Tiny进行的权重-激活分离表明,激活量化是主要的低位瓶颈,而对选定VSSD骨干线性层的代表性输入则表现出强烈的通道间幅度变化和令牌局部极值。我们提出了通道平衡令牌感知输出裁剪(Channel-wise Token-balanced Output-Aware Clipping,CTOAC)方法,该方法通过最小化相应线性输出上的令牌平衡重构损失来学习每个输入通道的裁剪边界。仅对选定的线性层及其输入激活进行量化;其他骨干操作保持其原始精度。在VSSD-Tiny、VSSD-Small和VSSD-Base上,所提出的CTOAC方法保持了ImageNet-1K的准确性,并在更激进的精度设置下显著比评估的基线更具鲁棒性。将相同的量化范围应用于COCO和ADE20K上的VSSD骨干,保持了强大的目标检测、实例分割和语义分割性能。优化后的RTX 4090部署配置在FP32上实现了高达1.42倍的端到端加速。
cs.CV / 29 / 2609.16662

SAVTrack: Selective Vote Aggregation for Reliability-Aware Point Cloud Tracking

SAVTrack:面向可靠性意识的点云跟踪的选择性投票聚合
Zhou, Sifan, Tan, Linyue, Wang, Qiwei, Zhao, Ziyu, Lu, Xiaobo
Abstract
3D single object tracking (SOT) in LiDAR point clouds is essential for autonomous systems, but remains challenging under sparse and incomplete observations. In such cases, different target points provide highly uneven constraints on the object center, causing some point-to-center votes to be substantially less reliable than others. Existing point-based trackers typically aggregate these hypotheses without explicitly modeling their reliability, allowing inaccurate votes to contaminate proposal clustering and degrade localization accuracy. To address this issue, we propose \textbf{SAVTrack}, a motion-aware tracking framework with \textbf{Selective Vote Aggregation (SAV)}. SAVTrack estimates the reliability of each candidate vote from both local seed features and inter-frame motion context, and removes low-confidence hypotheses before proposal clustering. This pre-aggregation gating prevents unreliable hypotheses from affecting cluster formation while introducing only modest computational overhead. SAVTrack achieves competitive performance on KITTI and nuScenes, reaching 68.4/87.4 and 58.44/69.82 Success/Precision, respectively, while running at 82 FPS. It retains fewer than one-sixth of the candidate votes used by dense aggregation and remains particularly effective under sparse target observations.
Chinese Translation
在LiDAR点云中进行3D单目标跟踪(SOT)对自主系统至关重要,但在稀疏和不完整的观测条件下仍然具有挑战性。在这种情况下,不同的目标点对物体中心提供了高度不均匀的约束,导致一些点到中心的投票显著不可靠。现有的基于点的跟踪器通常在没有明确建模其可靠性的情况下聚合这些假设,允许不准确的投票污染提议聚类并降低定位精度。为了解决这个问题,我们提出了 extbf{SAVTrack},一种具有 extbf{选择性投票聚合(SAV)}的运动感知跟踪框架。SAVTrack通过局部种子特征和帧间运动上下文来估计每个候选投票的可靠性,并在提议聚类之前去除低置信度的假设。这种预聚合门控防止了不可靠的假设影响聚类形成,同时仅引入适度的计算开销。SAVTrack在KITTI和nuScenes上实现了竞争性能,分别达到了68.4/87.4和58.44/69.82的成功率/精度,同时以82 FPS的速度运行。它保留的候选投票数量不到密集聚合的六分之一,并在稀疏目标观测下仍然特别有效。
cs.CV / 30 / 2609.16664

Bridging the Perceptual Gap: Residual-Enhanced Downscaling and Manifold-Aware Perception Alignment Adaptation for NR-IQA

弥合感知差距:基于残差增强的下采样与流形感知的感知对齐适应用于无参考图像质量评估
Li, Yu, Shen, Zhengran, Mi, Yachun, Zhou, Puchao, Liu, Shaohui
Abstract
Leveraging Large Vision-Language Models like CLIP has recently set new benchmarks for No-Reference Image Quality Assessment (NR-IQA). However, the contrastive pretraining of CLIP inherently prioritizes semantic invariance, which often suppresses subtle perceptual signals, a phenomenon we term perceptual submergence. Furthermore, standard preprocessing techniques (e.g., cropping and interpolation) further exacerbate the loss of critical high-frequency quality cues. In this paper, we propose the Cross-modal Perception Alignment Adapter (CMPA), a manifold-aware framework designed to disentangle perceptual distortions from dominant semantics. CMPA introduces a Perception-Sensitive Feature Extractor (PFE) that projects CLIP features into a compact, low-dimensional subspace, explicitly magnifying distortion-induced off-manifold deviations. Subsequently, a Cross-Modal Perception Alignment Injector (PAI) aligns these features with quality-aware text anchors and re-injects them into the backbone. To ensure input fidelity, we also devise a Residual-enhanced Perceptual Downscaling strategy that adaptively compensates for resolution-induced information loss using Just Noticeable Difference (JND) guided frequency re-injection. Extensive evaluations on several benchmark datasets demonstrate that our approach significantly outperforms state-of-the-art methods, effectively recovering the perceptual signals submerged in semantic-dense representations.
Chinese Translation
利用大型视觉-语言模型如CLIP最近为无参考图像质量评估(NR-IQA)设定了新的基准。然而,CLIP的对比预训练本质上优先考虑语义不变性,这往往抑制了微妙的感知信号,我们称之为感知淹没。此外,标准的预处理技术(例如裁剪和插值)进一步加剧了关键高频质量线索的丧失。在本文中,我们提出了跨模态感知对齐适配器(CMPA),这是一个旨在将感知失真与主导语义分离的流形感知框架。CMPA引入了一种感知敏感特征提取器(PFE),将CLIP特征投影到一个紧凑的低维子空间中,明确放大因失真引起的非流形偏差。随后,跨模态感知对齐注入器(PAI)将这些特征与质量感知文本锚点对齐,并重新注入到主干网络中。为了确保输入的保真性,我们还设计了一种基于残差增强的感知下采样策略,该策略通过可觉差(JND)引导的频率再注入自适应补偿因分辨率引起的信息损失。在多个基准数据集上的广泛评估表明,我们的方法显著优于最先进的方法,有效恢复了淹没在语义密集表示中的感知信号。
cs.CV / 31 / 2609.16672

Lesion-centered 3D mapping of colonoscopy procedures: validation of a hierarchical ensemble pipeline on public benchmark videos

以病变为中心的结肠镜检查程序三维映射:在公共基准视频上验证分层集成管道
Kim, Hyunjun, Na, Hyeonwoo, Lee, Jaewoo
Abstract
Background and Objective: Colonoscopy recording practice preserves text reports and still photographs, while the spatial information already present in the recorded video - where the scope traveled, where a lesion was observed, and whether the same lesion was seen again - is discarded when the procedure ends. This study determines whether a lesion-centered spatial record can be assembled and validated without full-colon 3D reconstruction. Methods: A four-layer hierarchical pipeline was assembled - (1) a global topological map, (2) lesion-level spatio-temporal tracks, (3) on-demand local 3D reconstruction, and (4) persistent lesion identity across repeated observations - and ran end to end on four public videos (two C3VDv2 sequences with ground-truth depth and two full REAL-Colon procedures; 40,245 frames). All components are published, individually validated methods; the contribution is their lesion-centered assembly, linking rules, and evaluation. Results: Revisits, impossible under forward-only mapping by construction, were detected by entry-map Bayesian localization: 5,614 and 4,043 revisit events (56 and 68 distinct nodes) in the two full procedures. Lesion-identity merging at the adopted threshold 0.5 maintained ground-truth purity 1.0 while auto-merging 20 of 231 candidate pairs. The endoscopy-specific geometry engine outperformed a general-purpose foundation model on all metrics (overall absolute relative error (AbsRel) 0.2276 vs. 0.3523). Conclusions: The results are partial but establish a concrete near-term path: revisit detection, lesion identity, and local 3D each returned quantitative, reproducible output without waiting for complete geometric reconstruction; validating the record on clinical data is the next step.
Chinese Translation
背景与目的:结肠镜检查记录实践保留了文本报告和静态照片,而在记录视频中已经存在的空间信息——探头的移动轨迹、观察到的病变位置以及是否再次观察到同一病变——在程序结束时被丢弃。本研究旨在确定是否可以在不进行全结肠三维重建的情况下组装和验证以病变为中心的空间记录。方法:组建了一个四层分层管道——(1)全局拓扑图,(2)病变级时空轨迹,(3)按需局部三维重建,以及(4)在重复观察中保持病变身份的持久性——并在四个公共视频上进行了端到端的运行(两个带有真实深度的C3VDv2序列和两个完整的REAL-Colon程序;共40,245帧)。所有组件均已发布,且为单独验证的方法;其贡献在于病变中心的组装、关联规则和评估。结果:通过入口图的贝叶斯定位检测到了在构造上无法通过单向映射实现的重访事件:在两个完整程序中分别检测到5,614和4,043个重访事件(56和68个不同节点)。在采用的阈值0.5下,病变身份合并保持了真实数据的纯度为1.0,同时自动合并了231个候选对中的20个。特定于内窥镜的几何引擎在所有指标上均优于通用基础模型(整体绝对相对误差(AbsRel)为0.2276 vs. 0.3523)。结论:结果虽然部分,但为建立一个具体的近期路径奠定了基础:重访检测、病变身份和局部三维各自返回了定量、可重复的输出,而无需等待完整的几何重建;在临床数据上验证记录是下一步。
cs.CV / 32 / 2609.16684

MEgoVista: Multi-view Ego-aware Motion Estimation for Metric 4D Hands and Head in the Wild

MEgoVista:用于野外度量4D手部和头部的多视角自我意识运动估计
Xiao, Jiangong, Zhang, Zhihao, Dong, Yifei, Ma, Chao, Jin, Zhouyi, Hou, Zhiwen, Liu, Li, Chen, Weihuang, Sun, Hongbin, Yao, Maoqing
Abstract
Learning manipulation from human video requires high-fidelity hand-motion reconstruction in metric units. Today's metric hand labels come from studio rigs and instrumented headsets, and both are confined in the same two ways: neither leaves a prepared setting, and neither is checked against an independent reference. Unconstrained head-worn recording promises the opposite trade-off, scaling with the number of people wearing a device. We therefore introduce MEgoVista, an offline pipeline that turns a single unprepared MEgo View recording into metric two-hand and head motion in one gravity-aligned world frame. Three properties set it apart from existing egocentric reconstruction systems: first, it reconstructs in settings studio volumes and tabletop rigs cannot reach, settling hand ownership at detection so bystander hands stay out of the wearer's trajectory; second, it takes its metric gauge from calibrated stereo rather than a monocular prior, installing scale at initialisation so policies receive physical units, not arbitrary coordinates; third, both outputs are scored inside a motion-capture volume against independent Chingmu optical capture, under a protocol that audits its own reference and charges what a method declines to predict. MEgoVista is offered as a measured route from egocentric video to metric hand supervision, one that widens where such labels can be gathered.
Chinese Translation
从人类视频中学习操控需要高保真度的手部运动重建,以度量单位为准。当前的度量手部标签来自于工作室设备和仪器化耳机,且两者都受到相同的两种限制:既不离开准备好的环境,也未与独立参考进行核对。无约束的头戴式录制则承诺提供相反的权衡,随着佩戴设备的人数增加而扩展。因此,我们提出了MEgoVista,这是一个离线流程,将单个未准备的MEgo视图录制转换为一个重力对齐世界框架中的度量双手和头部运动。三大特性使其区别于现有的自我中心重建系统:首先,它在工作室体积和桌面设备无法到达的环境中进行重建,在检测时确定手的归属,从而使旁观者的手不进入佩戴者的轨迹;其次,它从标定的立体视觉中获取度量标准,而不是单目先验,在初始化时安装比例,使得策略接收物理单位,而非任意坐标;第三,两个输出在运动捕捉体积内与独立的Chingmu光学捕捉进行评分,遵循一种审计自身参考的协议,并对方法拒绝预测的内容进行收费。MEgoVista被视为从自我中心视频到度量手部监督的测量路径,拓宽了可以收集此类标签的范围。
cs.CV / 33 / 2609.16689

Efficient Quantization-Aware Distillation with Cross-Modal Alignment for Edge Vision-Language Models

针对边缘视觉-语言模型的高效量化感知蒸馏与跨模态对齐
Jeon, Jinwoo, Do, GyuYeop, Lim, Yubin, Kim, Nam-Joon, Ryu, Hyun Gon, Lee, Hyuk-Jae, Lee, Byung-Jun
Abstract
Large-scale vision-language models (VLM) such as CLIP enable strong open-vocabulary reasoning, yet deploying these capabilities on resource-constrained edge devices remains challenging. EdgeVL addresses this problem by distilling CLIP representations into lightweight multi-modal encoders and applying quantization-aware training (QAT) for efficient Open-Vocabulary Classification (OVC) on edge hardware. However, its two-stage optimization applies different objectives for distillation and QAT, and contrastive learning is performed within the quantized student space, which can result in inconsistent optimization and reduced training efficiency. Moreover, identical supervision across RGB and non-RGB modalities may lead to modality imbalance. We propose a unified framework for quantized semantic distillation tailored to edge deployment. By jointly optimizing distillation and quantization within a unified teacher-anchored framework, our method ensures consistent training under quantization, suppressing hard negatives and enlarging decision margins. Additionally, we design a lightweight cross-attention adapter that enhances non-RGB representations through RGB-guided semantic transfer, narrowing the modality gap. Extensive experiments demonstrate consistent improvements on non-RGB modalities while maintaining deployment efficiency.
Chinese Translation
大规模视觉-语言模型(VLM)如 CLIP 能够实现强大的开放词汇推理,但在资源受限的边缘设备上部署这些能力仍然面临挑战。EdgeVL 通过将 CLIP 表示蒸馏为轻量级多模态编码器,并应用量化感知训练(QAT)以实现边缘硬件上的高效开放词汇分类(OVC),解决了这一问题。然而,其两阶段优化对蒸馏和 QAT 应用了不同的目标,而对比学习是在量化的学生空间内进行的,这可能导致不一致的优化和降低的训练效率。此外,RGB 和非 RGB 模态之间的相同监督可能导致模态不平衡。我们提出了一个针对边缘部署的量化语义蒸馏统一框架。通过在统一的教师锚定框架内联合优化蒸馏和量化,我们的方法确保了在量化下的一致训练,抑制了难负样本并扩大了决策边际。此外,我们设计了一种轻量级跨注意力适配器,通过 RGB 引导的语义转移增强非 RGB 表示,缩小了模态差距。大量实验表明,在保持部署效率的同时,非 RGB 模态的性能得到了持续改善。
cs.CV / 34 / 2609.16690

Efficient 3D Whole-Body PET Image Denoising via Conditional Rectified Flow With Optimized Sampling Strategy

通过条件整流流与优化采样策略实现高效的三维全身PET图像去噪
Shen, Jiale, Wang, Guolin, Wang, Chenhao, Su, Xinhui, Luo, Wei, Yu, Feng
Abstract
Reducing radiation exposure in Positron Emission Tomography (PET) is important for patient safety; however, ultra-low-dose imaging suffers from severe noise, which may affect diagnostic interpretation without appropriate image enhancement. While current 3D deep generative models, particularly diffusion models, have shown strong reconstruction fidelity, their practical use can be limited by long inference times. In contrast, faster 2D-based alternatives may have difficulty maintaining volumetric consistency, an important consideration for whole-body PET imaging analysis. To bridge this gap, we propose a one-pass conditional 3D rectified flow (3D Flow) framework for whole-body PET image denoising that incorporates a novel optimized non-uniform sampling strategy. The model is trained with a one-pass linear-interpolant velocity-matching objective. This approach reconstructs a full 3D volume in approximately 30 seconds in our implementation, compared with multi-hour inference for the evaluated 3D DDPM baseline. Evaluations including zero-shot transfer to an independent clinical dataset show that our model achieves favorable global image quality and lesion conspicuity compared with the evaluated 3D DDPM and DDIM baselines, including on challenging short-acquisition data. Furthermore, the proposed method shows promising zero-shot transfer performance across the evaluated datasets and unseen dose levels (down to 1/100 of the standard dose), with artifact-focused visual comparisons supporting the need for further lesion-level validation. By balancing reconstruction fidelity and computational efficiency, this work presents a candidate approach for ultra-low-dose whole-body PET image denoising.
Chinese Translation
在正电子发射断层扫描(PET)中减少辐射暴露对患者安全至关重要;然而,超低剂量成像会遭受严重噪声,这可能在没有适当图像增强的情况下影响诊断解释。尽管当前的三维深度生成模型,特别是扩散模型,显示出强大的重建保真度,但其实际应用可能受到长推理时间的限制。相比之下,更快的基于二维的替代方案可能难以保持体积一致性,这对于全身PET成像分析是一个重要考虑。为了解决这一问题,我们提出了一种一次性条件三维整流流(3D Flow)框架,用于全身PET图像去噪,该框架结合了一种新颖的优化非均匀采样策略。该模型通过一次性线性插值速度匹配目标进行训练。在我们的实现中,该方法在大约30秒内重建出完整的三维体积,而评估的三维DDPM基线则需要多小时的推理时间。包括零-shot迁移到独立临床数据集的评估显示,与评估的三维DDPM和DDIM基线相比,我们的模型在整体图像质量和病灶显著性方面表现良好,包括在具有挑战性的短采集数据上。此外,所提出的方法在评估的数据集和未见剂量水平(低至标准剂量的1/100)上显示出有希望的零-shot迁移性能,针对伪影的视觉比较支持了进一步病灶级验证的必要性。通过平衡重建保真度和计算效率,本研究提出了一种超低剂量全身PET图像去噪的候选方法。
cs.CV / 35 / 2609.16695

MAETrack: Unleashing the Potential of Pretrained Geometric Priors for 3D Single Object Tracking

MAETrack:释放预训练几何先验在3D单目标跟踪中的潜力
Zhou, Sifan, Wang, Qiwei, Tan, Linyue, Liu, Ziyu, Zhao, Ziyu, Lu, Xiaobo
Abstract
Large-scale pre-training has transformed representation learning in 2D vision, yet its transferability to 3D single object tracking (SOT) remains insufficiently understood. Directly fine-tuning self-supervised 3D encoders, such as masked autoencoders (MAE), often leads to sub-optimal adaptation because the reconstruction objective is not fully aligned with the spatial-temporal matching requirements of tracking. In this paper, we observe that this difficulty can be interpreted as a layer-wise transfer mismatch: shallow layers tend to preserve transferable geometric cues, while deeper layers become increasingly specialized to the reconstruction pretext task and are less suitable for downstream tracking. Based on this observation, we propose MAETrack, a lightweight adaptation framework for transferring pre-training MAE representations to 3D SOT. MAETrack includes Layer-Selective Initialization (LSI), which initializes only the shallow stages of the tracking backbone from pre-trained weights while re-initializing deeper stages, and Geometric Residual Gating (GRG), which reinforces structurally salient regions in the search BEV features before template-search fusion through residual spatial modulation. Extensive experiments on standard 3D SOT benchmarks show that MAETrack consistently improves upon vanilla fine-tuning baselines with limited computational overhead. More broadly, our results suggest that effective transfer from 3D reconstruction pre-training to 3D tracking is not merely a matter of partial fine-tuning, but depends on a tracking-oriented transfer principle that preserves shallow geometry while adapting deeper representations to the downstream objective.
Chinese Translation
大规模预训练已经改变了2D视觉中的表示学习,但其在3D单目标跟踪(SOT)中的可迁移性仍然不够清楚。直接微调自监督的3D编码器,如掩码自编码器(MAE),往往导致次优的适应性,因为重建目标与跟踪的时空匹配要求并不完全对齐。在本文中,我们观察到这一困难可以解释为层级传递不匹配:浅层通常保留可迁移的几何线索,而深层则越来越专注于重建前置任务,因此不太适合下游跟踪。基于这一观察,我们提出了MAETrack,一个轻量级的适应框架,用于将预训练的MAE表示迁移到3D SOT。MAETrack包括层选择初始化(Layer-Selective Initialization, LSI),它仅从预训练权重初始化跟踪主干的浅层阶段,同时重新初始化深层阶段,以及几何残差门控(Geometric Residual Gating, GRG),在模板搜索融合之前通过残差空间调制增强搜索BEV特征中的结构显著区域。在标准3D SOT基准上的大量实验表明,MAETrack在有限的计算开销下始终优于普通微调基线。更广泛地说,我们的结果表明,从3D重建预训练到3D跟踪的有效迁移不仅仅是部分微调的问题,而是依赖于一种跟踪导向的迁移原则,该原则在适应深层表示到下游目标的同时保留浅层几何信息。
cs.CV / 36 / 2609.16727

PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimation

PriorPose:基于参考的关节变形与对齐用于类别级物体姿态估计
Chen, Yihan, Ren, Huan, Yang, Wenfei, Du, Hang, Zhang, Tianzhu, Wu, Feng
Abstract
Category-level object pose estimation seeks to recover a similarity transform $(R,t,s)$ for unseen instances without instance-specific CAD models. Most competitive methods are correspondence-based: prior-free variants regress canonical (NOCS) coordinates directly from local observations and implicitly memorize the canonical frame in the weights, which ties the parameters to category-typical orientations and hurts generalization under distribution shift; prior-based variants introduce a category prior but typically follow a serial deform-then-align pipeline, where underconstrained canonical completion can corrupt correspondences and induce error cascades in pose. We propose PriorPose, a reference-guided correspondence framework that keeps the category prior explicit and solves canonicalization and alignment jointly in a shared feature space. A reference-guided seeded transformer embeds the partial observation and the category prior as token sets and fuses them via geometry-aware seeds, from which the network jointly predicts a per-point NOCS field for visible points and a canonical deformation of the prior that reconstructs a full canonical instance, while a deep pose head regresses $(R,t,s)$ from the induced correspondences. A two-part shape consistency objective, with canonical-space and camera-space consistency losses, couples correspondence, deformation, and pose, reducing reliance on memorized canonical orientations and avoiding deform-then-align error cascades. Experiments on standard and larger-category benchmarks demonstrate that PriorPose sets new state-of-the-art results on most evaluated metrics, especially under strict pose thresholds, while remaining competitive on relaxed pose and IoU metrics and showing improved robustness under shape variation and domain shift.
Chinese Translation
类别级物体姿态估计旨在为未见实例恢复相似变换 $(R,t,s)$,而无需特定实例的CAD模型。大多数竞争性方法基于对应关系:无先验变体直接从局部观测回归典型坐标(NOCS),并在权重中隐式记忆典型框架,这使得参数与类别典型方向绑定,导致在分布转移下的泛化能力受损;基于先验的变体引入类别先验,但通常遵循串行的变形-再对齐流程,其中不受约束的典型补全可能会破坏对应关系并引发姿态的错误级联。我们提出了PriorPose,一种基于参考的对应关系框架,明确保持类别先验,并在共享特征空间中联合解决典型化和对齐。基于参考的种子变换器将部分观测和类别先验嵌入为令牌集,并通过几何感知的种子进行融合,从中网络联合预测可见点的每点NOCS场和重建完整典型实例的先验典型变形,同时深度姿态头从诱导的对应关系中回归 $(R,t,s)$。一个由典型空间和相机空间一致性损失构成的双重形状一致性目标,将对应关系、变形和姿态耦合,减少对记忆典型方向的依赖,避免变形-再对齐的错误级联。在标准和大类别基准上的实验表明,PriorPose在大多数评估指标上设定了新的最先进结果,尤其是在严格的姿态阈值下,同时在放宽的姿态和IoU指标上保持竞争力,并在形状变化和领域转移下显示出更好的鲁棒性。
cs.CV / 37 / 2609.16755

De-GAN - Dynamic Parameter Tuned GAN for 3D Medical Image Segmentation: A Step Towards Generalisation

De-GAN - 动态参数调节生成对抗网络用于三维医学图像分割:迈向泛化的一步
Usama, Zoha, Alavi, Azadeh
Abstract
Brain tumor segmentation remains difficult because enhancing tumor (ET) has low contrast and overlaps surrounding tissue, while scanner and site variation causes domain shift. We propose DE-GAN, a contrast-enhancing conditional GAN that combines input-adaptive dynamic convolutions, style-aware feature mixing, and coordinate encoding to synthesize slice-adaptive FLAIR images. A label-guided, class-conditional target separates tumor-core (TC) and ET intensities while preserving anatomy. The generated FLAIR is concatenated with the original MR modalities and used to train a 3D U-Net. Across BraTS 2015, 2018, and 2019, DE-GAN improves segmentation over the baseline and static EnhGAN replacement on most reported TC/ET metrics, with the largest gains from retaining both original and enhanced FLAIR. Code and pretrained models are available at https://github.com/zkhansuri-ui/DE-GAN.
Chinese Translation
脑肿瘤分割仍然困难,因为增强肿瘤(ET)具有低对比度并与周围组织重叠,而扫描仪和场地的变化导致领域转移。我们提出了DE-GAN,这是一种对比度增强的条件生成对抗网络(GAN),结合了输入自适应动态卷积、风格感知特征混合和坐标编码,以合成切片自适应的FLAIR图像。标签引导的类别条件目标在保留解剖结构的同时分离肿瘤核心(TC)和ET强度。生成的FLAIR与原始MR模态连接,并用于训练三维U-Net。在BraTS 2015、2018和2019数据集中,DE-GAN在大多数报告的TC/ET指标上超越了基线和静态EnhGAN替代方案,最大的提升来自于同时保留原始和增强的FLAIR。代码和预训练模型可在https://github.com/zkhansuri-ui/DE-GAN获取。
cs.CV / 38 / 2609.16772

HLC-GS: Risk-Map-Guided Height-Layer Consistency Gaussian Splatting for DSM Reconstruction from Optical Satellite Imagery

HLC-GS:基于风险图的高度层一致性高斯溅射法用于光学卫星影像的数字表面模型重建
Yang, Jie, Pi, Yingdong, Luo, Qiyan, Wang, Xiaoyu, Wen, Lekang, Wang, Mi
Abstract
A Digital Surface Model (DSM) is a fundamental geospatial data product for representing the elevation of the Earth's surface. Recently, 3D Gaussian Splatting (3DGS) has shown considerable potential for DSM reconstruction from multi-view optical satellite imagery due to its explicit scene representation and efficient optimization. However, in 3DGS-based DSM generation, alpha-weighted aggregation of Gaussian altitudes may blend splats from different height layers at the same rendered pixel or DSM sampling location, producing non-physical intermediate elevations and height-layer mixing errors. To address this problem, we propose HLC-GS, a risk-map-guided height-layer consistency Gaussian Splatting method for DSM reconstruction from optical satellite imagery. HLC-GS consists of a risk map module, a dominant-layer reliability correction module, and a secondary-layer suppression module. The risk map localizes high-risk pixels with abnormal height dispersion and unreliable dominant-layer responses, while the latter two modules regularize unreliable dominant-layer responses and suppress weakly supported far secondary-layer responses. Extensive experiments are conducted on the DFC2019 and IARPA2016 datasets. Compared with six state-of-the-art DSM reconstruction methods, HLC-GS achieves better overall accuracy. Compared with the latest and precision-enhanced EOGS, HLC-GS reduces the average MAE from 1.46 m to 1.18 m and the average RMSE from 2.78 m to 2.58 m over the evaluated scenes, while improving PAG$_{2.5}$ from 86.09\% to 88.61\%. Overall, these results demonstrate that explicitly modeling per-pixel height-layer consistency alleviates height-layer mixing and improves the geometric quality of 3DGS-based DSM reconstruction from optical satellite imagery.
Chinese Translation
数字表面模型(DSM)是用于表示地球表面高程的基础地理空间数据产品。近年来,3D高斯溅射(3DGS)因其明确的场景表示和高效的优化,在从多视角光学卫星影像中重建DSM方面显示出相当大的潜力。然而,在基于3DGS的DSM生成中,带有alpha权重的高斯高度聚合可能会在同一渲染像素或DSM采样位置混合来自不同高度层的溅射,导致非物理的中间高程和高度层混合错误。为了解决这个问题,我们提出了HLC-GS,一种基于风险图的高度层一致性高斯溅射方法,用于从光学卫星影像中重建DSM。HLC-GS由风险图模块、主层可靠性校正模块和次层抑制模块组成。风险图定位具有异常高度分散和不可靠主层响应的高风险像素,而后两个模块则对不可靠的主层响应进行正则化,并抑制支持较弱的远次层响应。在DFC2019和IARPA2016数据集上进行了大量实验。与六种最先进的DSM重建方法相比,HLC-GS实现了更好的整体准确性。与最新的精度增强EOGS相比,HLC-GS将评估场景的平均绝对误差(MAE)从1.46米降低到1.18米,平均均方根误差(RMSE)从2.78米降低到2.58米,同时将PAG$_{2.5}$从86.09\%提高到88.61\\%。总体而言,这些结果表明,明确建模每像素的高度层一致性可以减轻高度层混合问题,并改善基于3DGS的光学卫星影像DSM重建的几何质量。
cs.CV / 39 / 2609.16773

FSANet: Frequency-Spatial Aware Network for Image Segmentation

FSANet:频率-空间感知网络用于图像分割
Wang, Ruibo, Shen, Ziyi, Wu, Huaming, Liang, Dong, Shang, Kun
Abstract
Image segmentation remains challenging due to occlusions, poor lighting, and irregular structures. Although transformer-based methods achieve high accuracy, they rely heavily on long-range spatial features, leading to high computational costs and neglecting prior knowledge or noise patterns, resulting in missing details and unclear boundaries. To address these issues, we propose Frequency Spatial Aware Network (FSANet), which integrates prior knowledge with a dual-domain solver to sequentially adapt to diverse segmentation tasks. Specifically, we design three key modules: (1) Structure Prior Module, which recovers overlooked details; (2) Dual-Domain Awareness Module, which captures salient features while disentangling noise; and (3) Edge Estimation Module, which enhances edge awareness for more precise segmentation. In addition, the limited availability of comprehensive segmentation datasets covering various real-world scenarios hinders the performance of existing methods. To address this, we introduce SceneX, a novel open-source dataset featuring 10 challenging non-ideal scenarios, establishing a new benchmark for evaluating and improving the robustness and real-world applicability of the segmentation models. Extensive experiments demonstrate the efficiency and effectiveness of FSANet.
Chinese Translation
图像分割仍然面临挑战,主要由于遮挡、光照不足和不规则结构。尽管基于变换器的方法能够实现高精度,但它们过于依赖长距离空间特征,导致计算成本高,并忽视了先验知识或噪声模式,从而导致细节缺失和边界不清。为了解决这些问题,我们提出了频率空间感知网络(FSANet),该网络将先验知识与双域求解器相结合,以顺序适应多样的分割任务。具体而言,我们设计了三个关键模块:(1)结构先验模块,用于恢复被忽视的细节;(2)双域感知模块,捕捉显著特征,同时解开噪声;(3)边缘估计模块,增强边缘感知以实现更精确的分割。此外,涵盖各种现实场景的综合分割数据集的有限可用性阻碍了现有方法的性能。为了解决这一问题,我们引入了SceneX,一个新颖的开源数据集,包含10个具有挑战性的非理想场景,为评估和提高分割模型的鲁棒性和现实适用性建立了新的基准。大量实验表明FSANet的高效性和有效性。
cs.CV / 40 / 2609.16775

IMVS: Interactive Medical Volume Segmentation with Test-Time Adaptation - A New Method for Annotating Radiology Datasets

IMVS:具有测试时适应的交互式医学体积分割 - 一种用于标注放射学数据集的新方法
Reen, Abhilaksh Singh, Borkar, Kushal, Mahapatra, Ritvik
Abstract
Annotating large radiology datasets is bottlenecked by the manual effort of delineating structures slice-by-slice in 3D volumes. Interactive methods reduce this effort but stay interaction-inefficient: slice-wise methods (including many foundation models) ignore inter-slice continuity, while 3D and video-based methods propagate a prompt with a \emph{fixed} propagator that never adapts to the target volume, so it drifts on low-contrast or pathological structures and must be re-prompted. We present IMVS, a human-in-the-loop annotation framework that composes three components into a closed loop rather than a new segmentation primitive: a lightweight 2D Slice Mask Adapter (SMA) fine-tuned online from user scribbles, a frozen Volume Mask Tracker (VMT) that propagates corrected masks across adjacent slices, and a soft teacher--student alignment that limits forgetting. The SMA is backbone-agnostic (UNet++, DeepLabV3, TransUNet). Across 8 public CT/MRI datasets, IMVS matches strong interactive baselines in quality while sharply cutting annotation effort: $14.4\times$ faster than a proficient copy-based manual workflow ($22.3\times$ over naive manual), $4.6\times$ over slice-wise and $1.9\times$ over 3D interactive methods. MedSAM2 and ScribblePrompt stay competitive or stronger on well-delineated organs; IMVS's advantage is largest on challenging targets and on interaction efficiency. Source code and Demo Video: https://github.com/AbhilakshSinghReen/imvs.
Chinese Translation
标注大型放射学数据集的瓶颈在于手动逐层描绘三维体积中的结构。交互式方法虽然减少了这一工作量,但在交互效率上仍显不足:逐层方法(包括许多基础模型)忽略了层间连续性,而基于三维和视频的方法则使用固定的传播器进行提示传播,这种传播器从未适应目标体积,因此在低对比度或病理结构上漂移,必须重新提示。我们提出了IMVS,一个人机协作的标注框架,它将三个组件组合成一个闭环,而不是一个新的分割原语:一个从用户涂鸦在线微调的轻量级2D切片掩码适配器(SMA),一个在相邻切片间传播校正掩码的冻结体积掩码追踪器(VMT),以及一个限制遗忘的软教师-学生对齐。SMA与骨干网络无关(UNet++、DeepLabV3、TransUNet)。在8个公共CT/MRI数据集上,IMVS在质量上与强大的交互基线相匹配,同时显著减少了标注工作量:比熟练的基于复制的手动工作流程快$14.4 imes$(比简单手动快$22.3 imes$),比逐层方法快$4.6 imes$,比3D交互方法快$1.9 imes$。在标注清晰的器官上,MedSAM2和ScribblePrompt保持竞争力或更强;而IMVS在具有挑战性的目标和交互效率上优势最大。源代码和演示视频: https://github.com/AbhilakshSinghReen/imvs。
cs.CV / 41 / 2609.16778

Unifying Semantic Priors and High-Frequency Traces: Enhancing V-JEPA with Mixture-of-Experts for Robust Synthetic Image Forensics

统一语义先验与高频特征:通过专家混合模型增强 V-JEPA 以实现稳健的合成图像取证
Teglia, Simone, Amerini, Irene
Abstract
The unchecked proliferation of manipulated images on social media platforms has increased the spread of misinformation, posing a severe threat to public trust and information integrity. Modern deepfake detectors typically rely on Vision Transformers (ViTs) to capture the low-level inconsistencies that characterize fully synthetic or locally tampered images. However, the global understanding of such foundation models is not enough to discriminate alone between real and fake multimedia content, especially in challenging scenarios where images are compressed or transmitted through social media. In this paper we pioneer the application of Joint-Embedding Predictive Architecture (JEPA) models to deepfake detection, taking advantage of the generalized representation of visual reality that such World Models have exhibited. We hypothesize, and empirically demonstrate, that the intrinsic world understanding of JEPA models can be used as a strong prior for a deepfake detector. To fully exploit JEPA capabilities, we propose MoE-JEPA, a dual-stream architecture for deepfake detection. By enhancing a V-JEPA 2 backbone with a Residual Mixture-of-Experts (MoE) mechanism, along with a noise stream branch, our model dynamically internalizes forensic knowledge. Furthermore, a Gated Attention Multiple Instance Learning (MIL) module is employed to ensure precise spatial semantic understanding. Evaluated on the SID-Set benchmark, comprising 300K AI-generated, tampered and authentic images, MoE-JEPA establishes a new state-of-the-art with an accuracy of 95.54%, successfully outperforming vastly larger models.
Chinese Translation
社交媒体平台上被操纵图像的 unchecked 膨胀加剧了虚假信息的传播,严重威胁公众信任和信息完整性。现代深度伪造检测器通常依赖于视觉变换器(Vision Transformers, ViTs)来捕捉完全合成或局部篡改图像的低级不一致性。然而,这些基础模型的全球理解不足以单独区分真实和虚假的多媒体内容,尤其是在图像被压缩或通过社交媒体传输的挑战性场景中。本文首次将联合嵌入预测架构(Joint-Embedding Predictive Architecture, JEPA)模型应用于深度伪造检测,利用这些世界模型所展现的视觉现实的广义表征。我们假设并实证证明,JEPA 模型的内在世界理解可以作为深度伪造检测器的强先验。为了充分利用 JEPA 的能力,我们提出了 MoE-JEPA,一种用于深度伪造检测的双流架构。通过增强 V-JEPA 2 主干网络与残差专家混合(Residual Mixture-of-Experts, MoE)机制,以及噪声流分支,我们的模型动态地内化取证知识。此外,采用门控注意力多实例学习(Gated Attention Multiple Instance Learning, MIL)模块,以确保精确的空间语义理解。在包含 30 万张 AI 生成、篡改和真实图像的 SID-Set 基准上进行评估,MoE-JEPA 以 95.54% 的准确率建立了新的最先进水平,成功超越了更大规模的模型。
cs.CV / 42 / 2609.16785

PSMP-CLIP: Patch-Prompt SAM and Multi-Semantic Prompting for CLIP-Based Zero-Shot Anomaly Detection

PSMP-CLIP:基于补丁提示的SAM和多语义提示的CLIP零样本异常检测
Xiang, Xuezhi, Wu, Guanghao, Xiang, Heqi, Liu, Jiayao, Li, Xiaoheng, Chen, Yiming, Zhang, Shanjun
Abstract
Zero-shot anomaly detection aims to localize anomalies without target-domain samples. Existing CLIP-based methods suffer from coarse anomaly maps and limited semantic prompts. We propose PSMP-CLIP, integrating patch-prompt SAM2 segmentation (PPSS) and multi-semantic guided prompt regularization (MSGPR). PPSS samples prompts directly from intermediate patch features, avoiding threshold drift and guiding SAM2 to produce precise masks. MSGPR uses multiple learnable prompts constrained by semantic anchors to preserve generalization. Experiments on 14 datasets show highly competitive performance, achieving the best pixel-level AUROC on MVTec AD, BTAD, DTD-Synthetic, CVC-ClinicDB, TN3K, Endo, and Kvasir.
Chinese Translation
零样本异常检测旨在在没有目标领域样本的情况下定位异常。现有的基于CLIP的方法存在异常图谱粗糙和语义提示有限的问题。我们提出了PSMP-CLIP,结合了补丁提示的SAM2分割(PPSS)和多语义引导的提示正则化(MSGPR)。PPSS直接从中间补丁特征中采样提示,避免了阈值漂移,并引导SAM2生成精确的掩膜。MSGPR使用多个受语义锚点约束的可学习提示,以保持模型的泛化能力。在14个数据集上的实验表明,PSMP-CLIP表现出高度竞争力,在MVTec AD、BTAD、DTD-Synthetic、CVC-ClinicDB、TN3K、Endo和Kvasir上实现了最佳的像素级AUROC。
cs.CV / 43 / 2609.16797

TEDi: Temporal Memory-Enhanced and Denoising Transformer for Surgical Instrument Segmentation

TEDi:用于外科器械分割的时间记忆增强去噪变换器
Yuan, Jiahong, Mi, Weiming, Zhang, Tao, Zhou, Haoyin
Abstract
Query-based segmentation methods have shown promising potential for surgical instrument segmentation and recognition, which is essential for scene understanding and downstream tasks in computer assisted surgery. However, most existing approaches predominantly rely on per-frame predictions and overlook cross-frame temporal priors as well as temporal-consistency constraints. This limitation often leads to unstable query representations and suboptimal category recognition. In this paper, we propose TEDi, a Temporal memory-Enhanced and Denoising transformer for surgical instrument segmentation that addresses these is sues through Memory Search Enhancement and Temporal Consistency Denoising. The former introduces a query-level memory bank and a memory search enhancement encoder to retrieve discriminative representations from historical frames, enriching current-frame features. The latter constructs a temporally consistent reference as a cross-frame semantic anchor to suppress temporally unstable predictions and promote semantic coherence across frames. Extensive experiments on two benchmark datasets, EndoVis 2017 and EndoVis 2018, demonstrate that TEDi consistently outperforms state-of-the-art methods, highlighting its potential to further advance computer-assisted surgery. Our code is available at github.com/argon-xixi/TEDi.
Chinese Translation
基于查询的分割方法在外科器械分割和识别中展现出良好的潜力,这对于计算机辅助外科手术中的场景理解和后续任务至关重要。然而,大多数现有方法主要依赖于逐帧预测,忽视了跨帧时间先验和时间一致性约束。这一局限性常常导致查询表示不稳定和类别识别不理想。本文提出了TEDi,一种用于外科器械分割的时间记忆增强去噪变换器,通过记忆搜索增强和时间一致性去噪来解决这些问题。前者引入了查询级记忆库和记忆搜索增强编码器,从历史帧中检索出具有区分性的表示,丰富当前帧特征。后者构建了一个时间一致的参考作为跨帧语义锚点,以抑制时间上不稳定的预测并促进跨帧的语义一致性。在两个基准数据集EndoVis 2017和EndoVis 2018上的大量实验表明,TEDi始终优于最先进的方法,突显了其进一步推动计算机辅助外科手术的潜力。我们的代码可在github.com/argon-xixi/TEDi获取。
cs.CV / 44 / 2609.16811

Hyper-RED: Scalable Event Pre-training via Semantic Hypergraph Distillation

Hyper-RED:通过语义超图蒸馏实现可扩展事件预训练
Wang, Meisen, Tian, Zhiqiang, Bao, Wei, Wang, Chengjie, Du, Shaoyi, Li, Siqi
Abstract
Event cameras have shown great potential for robust visual perception, yet scaling event representation learning remains challenging due to the scarcity of large-scale annotated event data. Pretrained image models provide scalable semantic supervision, but existing image-to-event methods rely on rigid pixel-wise or token-wise alignment that overlooks modality discrepancies in texture, density, and appearance, potentially causing semantic collapse and limiting transferability. To address this issue, we propose Hyper-RED, a simple, painless, and scalable image-to-event pretraining framework that transfers high-order semantic structures from images to events. Hyper-RED uses hypergraphs to model and align high-order semantic associations among multiple image and event tokens, enabling cross-modal knowledge transfer while accommodating modality-specific differences rather than enforcing rigid one-to-one correspondence. Specifically, given a paired event--image sample, Hyper-RED leverages DINOv3 to extract spatial token representations and constructs image, event, and cross-modal semantic hypergraphs, where each hyperedge connects multiple semantically correlated tokens. We further introduce a hypergraph relational distillation loss that imposes complementary intra- and cross-modal constraints, enabling the event encoder to inherit image-derived semantic organization while preserving local relational consistency and event-specific characteristics. Experiments on three tasks across five event datasets demonstrate consistent scaling from ViT-S to ViT-L and state-of-the-art performance (Fig.1). The code is available at: https://github.com/meisenwang/Hyper--RED.
Chinese Translation
事件相机在稳健视觉感知方面展现出巨大潜力,但由于缺乏大规模标注事件数据,事件表示学习的扩展仍然面临挑战。预训练图像模型提供了可扩展的语义监督,但现有的图像到事件的方法依赖于严格的像素级或标记级对齐,忽视了纹理、密度和外观等模态差异,可能导致语义崩溃并限制可迁移性。为了解决这一问题,我们提出了Hyper-RED,一个简单、无痛且可扩展的图像到事件预训练框架,能够将高阶语义结构从图像转移到事件。Hyper-RED利用超图来建模和对齐多个图像和事件标记之间的高阶语义关联,实现跨模态知识转移,同时适应模态特定差异,而不是强制执行严格的一对一对应。具体而言,给定一对事件-图像样本,Hyper-RED利用DINOv3提取空间标记表示,并构建图像、事件和跨模态语义超图,其中每个超边连接多个语义相关的标记。我们进一步引入了一种超图关系蒸馏损失,施加互补的内部和跨模态约束,使事件编码器能够继承图像派生的语义组织,同时保持局部关系一致性和事件特定特征。在五个事件数据集上的三个任务实验表明,从ViT-S到ViT-L的一致扩展以及最先进的性能(图1)。代码可在以下链接获取:https://github.com/meisenwang/Hyper--RED。
cs.CV / 45 / 2609.16832

What Breaks Local Watermarks? A Robustness Benchmark for Local Invisible Image Watermarking

什么破坏了局部水印?局部隐形图像水印的鲁棒性基准测试
Yao, Kai, Szilágyi, Bence, Kamp, Sebestyén, Poór, Máté, Szilveszter, Máté, Zsoldos, Matyas K., Juarez, Marc
Abstract
Local image watermarking embeds an invisible signal into selected image regions rather than spreading it across the entire image, enabling payload recovery from specific objects or regions without perceptibly altering the image. Existing studies evaluate the robustness of payload recovery and localization under image transformations, but they often focus on their own proposed method, resulting in narrow evaluations with inconsistent choices of transformations, datasets, and metrics. These inconsistencies across studies limit direct comparisons across methods and muddle the overall picture of local watermark robustness. To address this gap, we present the first systematic robustness benchmark for local watermarks across 55 image transformations, including (i) signal distortions, (ii) changes in image coordinate alignment, (iii) indirect local edits, and (iv) direct watermark edits. The benchmark evaluates MaskWM, WAM, OmniGuard, TrustMark, and PixelSeal, all methods that either provide native localization or require minimal adaptation to support it. Our results show that all evaluated methods are vulnerable to some transformation, with MaskWM standing out as offering the strongest payload recovery and localization, although it has the lowest image quality in the clean setting. Synchronization further improves MaskWM's payload recovery under several geometric transformations, albeit at an additional cost to image quality. A key finding is that local watermark robustness depends strongly on the nature of the transformation: signal distortions are often tolerated by the strongest methods, while geometric misalignment and generative local edits, such as inpainting and outpainting, can completely impair payload recovery. We observe that payload recovery and localization are related but not interchangeable, and both strongly depend on the transformation's impact on the watermark region.
Chinese Translation
局部图像水印技术将隐形信号嵌入选定的图像区域,而不是在整个图像中扩散,从而能够在不明显改变图像的情况下,从特定对象或区域恢复载荷。现有研究评估了在图像变换下载荷恢复和定位的鲁棒性,但通常集中于各自提出的方法,导致评估范围狭窄,变换、数据集和指标的选择不一致。这些研究之间的不一致限制了方法之间的直接比较,并模糊了局部水印鲁棒性的整体情况。为了解决这一问题,我们提出了第一个系统的局部水印鲁棒性基准,涵盖55种图像变换,包括(i)信号失真,(ii)图像坐标对齐的变化,(iii)间接局部编辑,以及(iv)直接水印编辑。该基准评估了MaskWM、WAM、OmniGuard、TrustMark和PixelSeal,这些方法要么提供原生定位,要么需要最小的适配以支持定位。我们的结果表明,所有评估的方法在某些变换下都存在脆弱性,其中MaskWM在载荷恢复和定位方面表现最强,尽管在干净设置下图像质量最低。同步进一步提高了MaskWM在几种几何变换下的载荷恢复,尽管这会对图像质量造成额外影响。一个关键发现是,局部水印的鲁棒性在很大程度上依赖于变换的性质:最强的方法通常能容忍信号失真,而几何失调和生成性局部编辑(如修补和外绘)则可能完全损害载荷恢复。我们观察到,载荷恢复和定位是相关但不可互换的,并且两者都强烈依赖于变换对水印区域的影响。
cs.CV / 46 / 2609.16841

StackTok: Accelerating VLMs Inference with Budget-Adaptive Visual Token Selection

StackTok:通过预算自适应视觉标记选择加速视觉语言模型推理
Wang, Zhenbin, Zhang, Lei, Wang, Lituan, Huang, Wei, Wang, Yan, Zhang, Zhenwei
Abstract
Increasing image resolution produces ever-longer visual-token sequences in vision-language models (VLMs), substantially raising their inference cost. To reduce this overhead without retraining, existing methods select compact token subsets that prioritize query relevance, visual coverage, or a fixed trade-off between them. The appropriate balance, however, varies across queries and token budgets: localized questions favor relevance, whereas holistic questions demand broader visual coverage. We introduce StackTok, a training-free selector that treats query relevance as the objective and visual coverage as budget-calibrated support. StackTok builds a size-indexed coverage reference from a coverage-only greedy sequence and adjusts its support target using query--vision affinity entropy. A reference-gated interleaved selection policy then switches between relevance- and coverage-oriented additions according to the current subset's support deficit. For high-resolution inputs, StackTok allocates one shared token budget across crops according to the combined marginal gain of locally nominated tokens. Evaluated with five VLMs over ten distinct image-understanding benchmarks, StackTok ranks first among training-free selectors in every tested model--budget setting. On high-resolution LLaVA-NeXT-7B, it retains 95.26% of full-token performance with only 160 of 2{,}880 (5.6%) visual tokens.
Chinese Translation
随着图像分辨率的提高,视觉语言模型(VLMs)中视觉标记序列的长度不断增加,显著提高了其推理成本。为了在不重新训练的情况下减少这一开销,现有方法选择紧凑的标记子集,优先考虑查询相关性、视觉覆盖率或二者之间的固定权衡。然而,适当的平衡在不同的查询和标记预算中是不同的:局部问题更倾向于相关性,而整体问题则需要更广泛的视觉覆盖。我们提出了StackTok,这是一种无训练的选择器,将查询相关性视为目标,将视觉覆盖视为预算校准的支持。StackTok从仅覆盖的贪婪序列构建了一个大小索引的覆盖参考,并使用查询-视觉亲和熵调整其支持目标。然后,参考门控的交错选择策略根据当前子集的支持缺口在相关性和覆盖导向的添加之间切换。对于高分辨率输入,StackTok根据局部提名标记的边际增益在作物之间分配一个共享的标记预算。在对五个VLMs进行的十个不同图像理解基准的评估中,StackTok在每个测试模型-预算设置中均在无训练选择器中排名第一。在高分辨率的LLaVA-NeXT-7B上,它仅使用2,880个视觉标记中的160个(5.6%),便保留了95.26%的全标记性能。
cs.CV / 47 / 2609.16842

FAHCD-Net: Frequency-Adaptive Heatmap-Conditional Diffusion Networks for Robust Facial Landmark Detection

FAHCD-Net:频率自适应热图条件扩散网络用于鲁棒的人脸关键点检测
Wan, Jun, Hu, Jiwei, Hu, Shengkai, Zhu, Qilu
Abstract
Facial Landmark Detection(FLD) is a crucial task in various applications and has achieved significant advancements in recent years. However, current FLD methods still struggle under challenging conditions, where facial structural variations, information loss, and noise interference severely compromise the integrity and accuracy of learned facial features. To address these issues, we propose Frequency-Adaptive Heatmap-Conditional Diffusion Network (FAHCD-Net), which integrates a Frequency-Adaptive Heatmap-Conditional Diffusion (FAHCD) model with a Smoothness Regularization (SR) loss in a cascaded framework. Specifically, the FAHCD model incorporates a Hierarchical Frequency Adaptation (HFA) module designed to suppress redundant high-frequency noise through multi-layer frequency decomposition and adaptive reconstruction, thereby preserving essential facial structures. Additionally, the SR loss is proposed to further mitigate the interference of high-frequency noise and enhance the smoothness of the generated landmark heatmaps. By cascading the FAHCD model with the SR loss, FAHCD-Net effectively leverages both statistical and frequency-based distribution characteristics of the data to progressively generate more accurate landmark heatmaps from noisy inputs. Extensive experiments on popular benchmarks demonstrate the effectiveness and robustness of the proposed method, achieving state-of-the-art performance in FLD tasks under challenging scenarios. The source code is available at https://github.com/HJWKryptonite/FAHCD-Net.
Chinese Translation
人脸关键点检测(FLD)是各种应用中的一项关键任务,并在近年来取得了显著进展。然而,当前的FLD方法在复杂条件下仍然面临挑战,其中人脸结构的变化、信息丢失和噪声干扰严重影响了学习到的人脸特征的完整性和准确性。为了解决这些问题,我们提出了频率自适应热图条件扩散网络(FAHCD-Net),该网络在级联框架中集成了频率自适应热图条件扩散(FAHCD)模型和光滑性正则化(SR)损失。具体而言,FAHCD模型结合了一个层次频率自适应(HFA)模块,旨在通过多层频率分解和自适应重构来抑制冗余的高频噪声,从而保留重要的人脸结构。此外,提出的SR损失进一步减轻高频噪声的干扰,并增强生成的关键点热图的光滑性。通过将FAHCD模型与SR损失级联,FAHCD-Net有效利用数据的统计特性和基于频率的分布特征,逐步从噪声输入中生成更准确的关键点热图。在流行基准上的大量实验表明,所提方法的有效性和鲁棒性,在复杂场景下的FLD任务中实现了最先进的性能。源代码可在 https://github.com/HJWKryptonite/FAHCD-Net 获取。
cs.CV / 48 / 2609.16847

RegRet: Enhancing Region-Level Retrieval in Large Multimodal Models

RegRet:增强大型多模态模型中的区域级检索
Liang, Xun, Yang, Honghui, Pan, Weihang, Zhao, Ruisi, Pan, Boyuan, Hu, Yao, Wang, Wenxiao, Lin, Binbin, Cai, Deng
Abstract
Region-level retrieval aims to align user-specified image regions with relevant regions or textual descriptions, playing a crucial role in realworld applications such as e-commerce product search and RAG. Although recent Large Multimodal Models (LMMs) have made significant strides in multimodal retrieval, they primarily focus on global-level tasks and struggle to capture effective region-level representations. To bridge this gap, we present RegRet, an LMM-based Region-level Retrieval framework that enhances the regional representations without compromising overall global retrieval performance. At its core, RegRet integrates a Region-Aware Encoder to capture detailed regional features while balancing them with the global background context. To further enhance the fine-grained understanding and discriminability of representations, we design a multi-stage training pipeline that includes detailed localized captioning and regional contrastive learning tasks. In addition, considering the absence of region-level contrastive training data and the limited diversity of evaluation tasks in current benchmarks, we introduce the REGMB benchmark. It comprises 225k contrastive pairs, covering four multimodal retrieval tasks. Extensive experiments validate the effectiveness of our approach. RegRet outperforms strong baselines in the zero-shot setting. Further training with contrastive learning leads to an average improvement of more than 20\% on both REGMB and public benchmarks, while achieving comparable or better results on global-level retrieval tasks.
Chinese Translation
区域级检索旨在将用户指定的图像区域与相关区域或文本描述对齐,在电子商务产品搜索和RAG等现实应用中发挥着至关重要的作用。尽管近期的大型多模态模型(LMMs)在多模态检索方面取得了显著进展,但它们主要集中于全局级任务,难以捕捉有效的区域级表示。为了解决这一问题,我们提出了RegRet,一种基于LMM的区域级检索框架,旨在增强区域表示而不影响整体全局检索性能。RegRet的核心是集成了区域感知编码器,以捕捉详细的区域特征,同时与全局背景上下文进行平衡。为了进一步增强表示的细粒度理解和可区分性,我们设计了一个多阶段训练流程,包括详细的局部描述和区域对比学习任务。此外,考虑到当前基准中缺乏区域级对比训练数据以及评估任务的多样性有限,我们引入了REGMB基准。该基准包含225k对比对,涵盖四个多模态检索任务。大量实验验证了我们方法的有效性。在零-shot设置中,RegRet超越了强基线。进一步使用对比学习进行训练,在REGMB和公共基准上平均提高了超过20%的性能,同时在全局级检索任务上取得了可比或更好的结果。
cs.CV / 49 / 2609.16858

TecoPrompt: Temporal-Conservative Prompt Learning for Vision-Language Models

TecoPrompt:面向视觉-语言模型的时间保守提示学习
Shao, Zeyi, Hua, Haowen, Zhang, Jiaxin, See, John, Boukhers, Zeyd, Yang, Cong
Abstract
Prompt learning adapts vision-language models, such as CLIP, by adjusting a small set of context tokens. However, under few-shot supervision, even moderate label noise can disrupt prompt optimization. To address this issue, we propose TecoPrompt, a closed-loop robust prompt-learning framework that revisits optimal transport (OT) pseudo-labeling from a temporal perspective. TecoPrompt employs an entropic OT plan in the CLIP semantic space to obtain globally consistent label candidates. It verifies the reliability of these candidates by examining trajectory stability: a noisy label is only rewritten if the OT candidate remains unchanged within a K-epoch temporal stability window and passes a confidence gate based on Exponential Moving Average (EMA). This approach helps reduce confirmation bias. The rewritten labels are then integrated back into prompt training using a tri-group objective that includes three loss functions aligned with clean, mid, and noisy subsets. Experiments on seven datasets with synthetic symmetric and asymmetric noise, as well as Food101N, demonstrate significant performance improvements. For example, on the OxfordPets dataset, with 50% asymmetric noise, TecoPrompt achieves an accuracy of 0.843, up from 0.775.
Chinese Translation
提示学习通过调整一小组上下文标记来适应视觉-语言模型,如 CLIP。然而,在少量样本监督下,即使是适度的标签噪声也会干扰提示优化。为了解决这个问题,我们提出了 TecoPrompt,一个闭环的鲁棒提示学习框架,从时间的角度重新审视最优传输(OT)伪标签化。TecoPrompt 在 CLIP 语义空间中采用熵 OT 计划,以获得全局一致的标签候选。它通过检查轨迹稳定性来验证这些候选的可靠性:只有当 OT 候选在 K 轮时间稳定窗口内保持不变并通过基于指数移动平均(EMA)的置信门时,才会重写噪声标签。这种方法有助于减少确认偏差。然后,重写的标签通过一个三组目标重新整合到提示训练中,该目标包括与干净、中等和噪声子集对齐的三个损失函数。在七个具有合成对称和非对称噪声的数据集以及 Food101N 上的实验表明,性能显著提升。例如,在 OxfordPets 数据集上,50% 非对称噪声下,TecoPrompt 的准确率达到 0.843,较之前的 0.775 有所提高。
cs.CV / 50 / 2609.16859

Measuring Annotation Efficiency for Handwritten Devanagari Recognition: Sample-Complexity Curves for Four Pretraining Regimes

手写天城文识别的标注效率测量:四种预训练模式下的样本复杂度曲线
Pandey, Manglesh Kumar, Banshal, Sumit Kumar
Abstract
To train handwritten text recognition systems we need word images and their corresponding transcriptions, and these transcriptions are produced manually. For a script that can be read by only a small number of specialists, this manual transcription is a limitation, because the trained models are supposed to save the time of those same specialists. A relevant question therefore arises: how many transcriptions are needed before a recogniser becomes useful, and how much of that cost can pretraining remove? In this study the answer is measured directly for handwritten Devanagari. We keep the recogniser, optimiser and evaluation protocol the same and change only the number of real transcribed words used for fine-tuning across nine budgets from 10 to 4,000 and four initialisation regimes, with six seeds at every point. The resulting curves are then converted into annotation-equivalent terms. A CER of 0.50 is reached by supervised synthetic pretraining using only 81 transcribed words, whereas random initialisation requires 355, which gives a label multiplier of 4.40 [3.56, 4.99]. There is a zero-shot reference point as well: with no real transcribed words at all, this pretraining is worth about 136 of them. This advantage gets smaller as the target accuracy improves, and at the most demanding target we measure, it cannot be distinguished from no saving at all. A fourth arm in which only the encoder is transferred separates the effect of the pretraining method from that of transfer scope, and masked image modelling is observed to transfer negatively over a bounded range of budgets. We emphasise that the scarcity in this study is constructed by subsampling a large corpus.
Chinese Translation
为了训练手写文本识别系统,我们需要单词图像及其对应的转录,而这些转录是手动生成的。对于仅有少数专家能够阅读的文字,这种手动转录成为一种限制,因为训练出的模型本应节省这些专家的时间。因此,相关的问题随之而来:在识别器变得有用之前,需要多少转录?预训练可以消除多少成本?在本研究中,我们直接测量了手写天城文的答案。我们保持识别器、优化器和评估协议不变,仅改变用于微调的真实转录单词数量,跨越从10到4000的九个预算和四种初始化模式,每个点使用六个种子。然后将结果曲线转换为标注等效术语。通过使用仅81个转录单词的监督合成预训练,CER达到了0.50,而随机初始化则需要355个,这给出了4.40 [3.56, 4.99]的标签倍增器。还有一个零样本参考点:在没有真实转录单词的情况下,这种预训练相当于约136个转录单词。随着目标准确度的提高,这一优势逐渐减小,在我们测量的最苛刻目标下,无法与没有任何节省区分开来。第四个部分仅转移编码器,将预训练方法的效果与转移范围的效果分开,观察到掩蔽图像建模在有限预算范围内的转移效果为负。我们强调,本研究中的稀缺性是通过对大型语料库进行子采样构建的。
cs.CV / 51 / 2609.16870

tcnerv:dual-domain temporal context modeling for implicit neural video compression

tcnerv:用于隐式神经视频压缩的双域时间上下文建模
Xiang, Xuezhi, Zhao, Yixin, Xiang, Heqi, Liu, Jiayao, Zhang, Shanjun
Abstract
Video compression aims to minimize reconstruction distor tion under a constrained bit rate. Existing video implicit neural representations (INRs) often decode frames independently, leaving intermediate features unconditioned on previous reconstructions and content embeddings without explicit temporal prediction. We propose TCNeRV, which exploits reconstructed context in both feature and embedding domains. Its multi-scale temporal-context fusion (MTCF) module injects gated historical features at multiple decoder scales, while temporal embedding-residual coding (TERC) predicts each content embedding and codes only its residual. With approximately 3M parameters, TCNeRV achieves an average PSNR of 36.08 dB on the UVG dataset, outperforming HNeRV-Boost by 2.20 dB. It reduces BD-rate by 22.06%, 66.73%, and 29.85% relative to HM, DCVC, and HiNeRV, respectively, demonstrating competitive rate-distortion performance with limited model capacity.
Chinese Translation
视频压缩旨在在受限比特率下最小化重建失真。现有的视频隐式神经表示(INRs)通常独立解码帧,导致中间特征未能基于先前的重建和内容嵌入进行条件化,且缺乏明确的时间预测。我们提出了TCNeRV,它利用了特征和嵌入域中的重建上下文。其多尺度时间上下文融合(MTCF)模块在多个解码器尺度上注入门控历史特征,而时间嵌入残差编码(TERC)则预测每个内容嵌入并仅编码其残差。TCNeRV大约有300万参数,在UVG数据集上实现了36.08 dB的平均PSNR,超越了HNeRV-Boost 2.20 dB。相较于HM、DCVC和HiNeRV,它分别减少了22.06%、66.73%和29.85%的BD-rate,展示了在有限模型容量下具有竞争力的率失真性能。
cs.CV / 52 / 2609.16871

SPEAR NeXT Causal Latent Forecasting Across Multiple Horizons for Spectral Temporal Earth Representation Learning

SPEAR NeXT:跨多个时间尺度的因果潜在预测用于光谱时间地球表征学习
Ranjan, Rajiv, Singh, Udaiveer, Tamaskar, Shashank, Saraswat, Dharmendra
Abstract
Earth observation is inherently dynamic, yet temporal information in many foundation models is learned through reconstruction, invariance, or retrospective sequence summarization. SPEAR NeXT is introduced as a compact pixel-wise multimodal spectral temporal foundation model in which temporal self supervision is formulated as past only, multi horizon latent Earth state prediction. Instantaneous states are first encoded by the pretrained SPEAR model from optical, radar, and environmental observations into compact 32 dimensional embeddings. Their temporal evolution is then modeled by a causally masked Trans former that predicts multiple future latent states from pre ceding observations. Relative temporal order is represented using Rotary Position Embeddings, while month and year embeddings encode seasonal phase and interannual con text.
Chinese Translation
地球观测本质上是动态的,但许多基础模型中的时间信息是通过重建、不变性或回顾性序列总结来学习的。SPEAR NeXT被引入作为一种紧凑的像素级多模态光谱时间基础模型,其中时间自监督被构建为仅基于过去的多时间尺度潜在地球状态预测。瞬时状态首先通过预训练的SPEAR模型从光学、雷达和环境观测中编码为紧凑的32维嵌入。然后,利用因果掩蔽的Transformer对其时间演变进行建模,该模型从先前的观测中预测多个未来的潜在状态。相对时间顺序通过旋转位置嵌入(Rotary Position Embeddings)表示,而月份和年份嵌入则编码季节相位和年际背景。
cs.CV / 53 / 2609.16872

GRACE: Geometry- and Ray-Aware Camera-Efficient Multi-View Pedestrian Tracking

GRACE:几何和光线感知的相机高效多视角行人跟踪
Sakai, Taigo, Hotta, Kazuhiro, Kouno, Hiroki, Kato, Naoki
Abstract
Reducing the number of cameras reduces the deployment cost but removes views that correct BEV responses stretched away from true pedestrian positions by projection and short score drops that can split tracks} in Bird's-Eye View (BEV) tracking. We introduce GRACE, a camera-efficient multi-view tracker with three components. Volumetric-Guided Fusion combines homography-based BEV features with features lifted through 3D space. Ray Conditioning exposes each camera's viewing direction to the fusion network. Its tracking component, BEV Track Recovery (BTR), uses low-confidence detections only to continue existing tracks. The same detections cannot start new tracks. With two WildTrack cameras, GRACE improves MOTA from 83.54 for TrackTacular, our baseline, to 91.07.
Chinese Translation
减少相机数量可以降低部署成本,但会移除那些通过投影修正从真实行人位置偏离的鸟瞰视图(BEV)响应的视角,以及可能导致轨迹分裂的短暂得分下降。我们提出了GRACE,一种高效的多视角跟踪器,包含三个组件。体积引导融合(Volumetric-Guided Fusion)将基于单应性的BEV特征与通过三维空间提升的特征相结合。光线条件化(Ray Conditioning)将每个相机的视角暴露给融合网络。其跟踪组件BEV轨迹恢复(BTR)仅使用低置信度检测来继续现有轨迹,而相同的检测不能启动新轨迹。在两个WildTrack相机的测试中,GRACE将我们的基线TrackTacular的MOTA从83.54提高到91.07。
cs.CV / 54 / 2609.16873

NeuroTS-Net: Multi-Class Semantic Segmentation of Pediatric Brain Tumors in Multi-Modal MRI

NeuroTS-Net:多模态MRI中小儿脑肿瘤的多类语义分割
Peteleaza, Darius, Dumitru, Razvan-Gabriel, Neamtu, Bogdan, Gellert, Arpad, Sandu, Mariana, Matei, Claudiu
Abstract
Pediatric brain tumors are a leading cause of cancer-related mortality in children, and their small, rare, and often low-contrast subregions make accurate manual delineation challenging. Reliable automated segmentation is therefore needed to support diagnosis, treatment planning, and response assessment. Accordingly, we introduce NeuroTS-Net, a three-dimensional encoder-decoder convolutional neural network architecture for multi-class semantic segmentation that incorporates a dual-scale raw-detail stream, adaptive low-resolution context selection, and detail-preserving multipath downsampling. These components preserve fine intensity and boundary information while efficiently modeling broader tumor context. NeuroTS-Net was trained on the BraTS 2026 pediatric dataset without external data or pretrained weights and evaluated against nnU-Net and MedNeXt under the same experimental protocol. NeuroTS-Net outperformed the baseline methods, achieving whole-tumor and tumor-core Dice scores of 0.938 and 0.937 on the internal validation set and 0.927 and 0.926 on the official challenge validation set. The code is open-sourced at: https://github.com/maenstru56/NeuroTS.
Chinese Translation
小儿脑肿瘤是儿童癌症相关死亡的主要原因,其小型、稀有且通常低对比度的亚区域使得准确的手动描绘具有挑战性。因此,需要可靠的自动分割来支持诊断、治疗计划和反应评估。因此,我们提出了NeuroTS-Net,一种三维编码-解码卷积神经网络架构,用于多类语义分割,结合了双尺度原始细节流、自适应低分辨率上下文选择和保持细节的多路径下采样。这些组件在有效建模更广泛肿瘤上下文的同时,保留了细腻的强度和边界信息。NeuroTS-Net在BraTS 2026小儿数据集上进行训练,未使用外部数据或预训练权重,并在相同实验协议下与nnU-Net和MedNeXt进行了评估。NeuroTS-Net的表现优于基线方法,在内部验证集上实现了整体肿瘤和肿瘤核心的Dice分数分别为0.938和0.937,在官方挑战验证集上为0.927和0.926。代码已开源,地址为:https://github.com/maenstru56/NeuroTS。
cs.CV / 55 / 2609.16874

Accelerated Decoding of Centroid Positional Encoding for Instance Segmentation

实例分割中中心位置编码的加速解码
Scribano, Carmelo, Muzzini, Filippo, Prisadnikov, Nedyalko, Mahdi, Mohammad, Fu, Yuqian, Franchini, Giorgia, Paudel, Danda Pani, Bertogna, Marko, Van Gool, Luc
Abstract
Beyond model inference, the decoding stage, which converts raw network outputs into task-level representations, constitutes a significant portion of the execution cost. Despite its practical impact, prediction decoding has received comparatively little attention and is often implemented using generic CPU routines or inefficient GPU kernels, limiting the benefits of advances in model efficiency. In this work, we investigate the decoding overhead associated with a recent sinusoidal centroid encoding for Instance Segmentation, in which each pixel regresses a positional embedding of its instance centroid. This approach allows flexible segmentation without predefined proposals, but extracting instance masks from dense embeddings incurs a high computational cost. We present an optimized CUDA-based implementation of the decoding algorithm tailored to this encoding, explicitly addressing challenges related to parallelization, synchronization, and memory access on modern GPUs. Our solution significantly reduces decoding overhead and improves End-to-End inference latency, outperforming both CPU-based approaches and naive GPU implementations. The results demonstrate that efficient decoding is essential to fully exploit the advantages of advanced output representations and highlight the importance of jointly designing encoding schemes and their decoding algorithms for real-time computer vision systems.
Chinese Translation
在模型推理之外,解码阶段将原始网络输出转换为任务级表示,占据了执行成本的显著部分。尽管其实际影响显著,预测解码却相对较少受到关注,通常使用通用的 CPU 例程或低效的 GPU 内核实现,这限制了模型效率进展的好处。在本研究中,我们探讨了与最近的正弦中心编码(sinusoidal centroid encoding)相关的解码开销,该编码用于实例分割,其中每个像素回归其实例中心的位置信息。该方法允许灵活的分割而无需预定义的提案,但从密集嵌入中提取实例掩膜会产生高计算成本。我们提出了一种针对这种编码的优化 CUDA 实现的解码算法,明确解决了与现代 GPU 上的并行化、同步和内存访问相关的挑战。我们的解决方案显著减少了解码开销,提高了端到端推理延迟,优于基于 CPU 的方法和简单的 GPU 实现。结果表明,高效的解码对于充分利用先进输出表示的优势至关重要,并强调了在实时计算机视觉系统中共同设计编码方案及其解码算法的重要性。
cs.CV / 56 / 2609.16875

Multi-modal Knowledge Preserving Adapter for Embedding Backward Compatibility

多模态知识保留适配器用于嵌入向后兼容性
Byun, Jaeseok, Kwon, Gukyeong, Hsu, Han-Kai, Karumuri, Meher Gitika, Zhang, Zhikang, Yang, Hao, Modolo, Davide
Abstract
Upgrading embedding models typically requires expensive database re-indexing, as new query embeddings are incompatible with existing database embeddings. While Backward Compatible Training (BCT) mitigates this by enforcing compatibility during training, existing approaches often require updating the backbone model. This is impractical because of significant training cost, the risk of performance regression, and limited access to proprietary model weights. We introduce Multi-modal Knowledge Preserving Adapter (MKP-Adapter), the first adapter-only BCT approach for Multi-modal Large Language Models (MLLMs) that requires no backbone updates. We identified that the primary challenge in adapter-only BCT is preserving the knowledge of the new embeddings while enforcing backward compatibility. Hence, we propose a multi-level preservation loss that maintains the geometric structure of the embedding spaces throughout BCT. Furthermore, a focal re-weighting strategy is integrated to prioritize learning from challenging samples. Experiments demonstrate that our method achieves strong backward compatibility across diverse multi-modal benchmarks (image, text, visual document, and video retrieval tasks) and model types. Notably, MKP-Adapter is trained solely on pre-extracted embeddings and requires only negligible additional latency relative to the original backbone forward pass, highlighting its efficiency.
Chinese Translation
升级嵌入模型通常需要昂贵的数据库重新索引,因为新的查询嵌入与现有数据库嵌入不兼容。虽然向后兼容训练(Backward Compatible Training, BCT)通过在训练过程中强制兼容性来缓解这一问题,但现有方法通常需要更新主干模型。这在实践中是不切实际的,因为这会导致显著的训练成本、性能回退的风险以及对专有模型权重的有限访问。我们提出了多模态知识保留适配器(Multi-modal Knowledge Preserving Adapter, MKP-Adapter),这是首个仅使用适配器的BCT方法,适用于多模态大型语言模型(Multi-modal Large Language Models, MLLMs),且无需更新主干模型。我们发现,仅使用适配器的BCT的主要挑战在于在强制向后兼容的同时保留新嵌入的知识。因此,我们提出了一种多层次保留损失,以在整个BCT过程中保持嵌入空间的几何结构。此外,我们整合了一种聚焦重加权策略,以优先学习具有挑战性的样本。实验表明,我们的方法在多种多模态基准(图像、文本、视觉文档和视频检索任务)及模型类型上实现了强大的向后兼容性。值得注意的是,MKP-Adapter仅在预提取的嵌入上进行训练,相对于原始主干前向传播仅需极少的额外延迟,突显了其高效性。
cs.CV / 57 / 2609.16878

VOR-Bench: A Human Perception-Driven Benchmark for Video Object Removal

VOR-Bench:一个以人类感知为驱动的视频物体移除基准
Huang, Haonan, Qiu, Tianrui, Zang, Xianghao, Du, Yinan, He, Zhixiang, Zhang, Chi, Sun, Hao, He, Zhongjiang, Cao, Tianwei, Zhang, Xuchong, Sun, Hongbin, Liang, Kongming, Ma, Zhanyu
Abstract
Despite its crucial role in video object removal (VOR), existing evaluation paradigms face two critical limitations: questionable references and a misalignment between tradi- tional metrics and human preference. To address these challenges, we introduce VOR- Bench, which advances VOR evaluation through three integrated components. First, we present the VOR Dataset (VORD), the first benchmark dataset providing both paired edited videos and graffiti masks. Its unique strength lies in a diverse data spectrum, which encompasses model-generated, tool-rendered, and camera-captured data, ensuring robust assessment across real-world scenarios. Second, we develop rMPAF, a realistic Motion- capable Paired-video Acquisition Framework. By combining the strengths of image- based object removal and fine-tuned video generation models, rMPAF automatically generates realistic, motion-coherent paired videos. Finally, we propose three evaluation dimensions and introduce VOR-MDSM, the first perception-driven VLM-based scoring model specifically designed for mask-guided VOR. It bridges the gap between arithmetic metrics and human perception by covering the essential visual attributes and matching nuanced human judgment. Extensive experiments demonstrate that VOR-Bench yields evaluation results that align closely with human perception, achieving a remarkable cor- relation (\r{ho} > 0.9) with subjective assessments. We will release VOR-Bench along with its documentation to ensure full reproducibility.
Chinese Translation
尽管在视频物体移除(VOR)中发挥着至关重要的作用,现有的评估范式面临两个关键限制:参考标准的可靠性存疑以及传统指标与人类偏好之间的不一致。为了解决这些挑战,我们提出了VOR-Bench,通过三个集成组件推进VOR评估。首先,我们介绍了VOR数据集(VORD),这是第一个提供配对编辑视频和涂鸦掩膜的基准数据集。其独特的优势在于多样化的数据谱,包括模型生成、工具渲染和相机捕获的数据,确保在现实场景中的稳健评估。其次,我们开发了rMPAF,一个现实的运动能力配对视频获取框架。通过结合基于图像的物体移除和精细调优的视频生成模型的优势,rMPAF自动生成现实的、运动一致的配对视频。最后,我们提出了三个评估维度,并引入了VOR-MDSM,这是第一个专为掩膜引导的VOR设计的感知驱动的VLM(视觉语言模型)评分模型。它通过涵盖基本的视觉属性并匹配细微的人类判断,弥合了算术指标与人类感知之间的差距。大量实验表明,VOR-Bench的评估结果与人类感知高度一致,与主观评估的相关性达到显著水平( {ho} > 0.9)。我们将发布VOR-Bench及其文档,以确保完全的可重复性。
cs.CV / 58 / 2609.16889

Temporally Consistent Graph Extraction and Matching for Longitudinal Angiographic Images

纵向血管造影图像的时间一致性图提取与匹配
Kreitner, Linus, Lux, Laurin, Baumann, Carmen, Rueckert, Daniel, Menten, Martin J.
Abstract
Recent advances in angiographic imaging have enabled longitudinal visualization of the microvasculature. Image processing pipelines based on vessel graphs are able to resolve subtle temporal changes at the level of individual blood vessels. However, current strategies for graph extraction, refinement, and matching are highly sensitive, with even minuscule differences in the underlying segmentation map resulting in substantially different vessel graphs. These artifacts severely inhibit the ability to accurately match sequential vessel graphs of the same subject over time. To address this problem, we propose a strategy that matches graphs before jointly refining them. Specifically, we perform an early matching after basic graph extraction before removing spurious bulges and merging junctions in both graphs using joint information. In experiments with complex retinal vessel graphs, we demonstrate that this strategy results in a higher matched area without graph fragmentation compared to separate or no refinement, respectively.
Chinese Translation
最近的血管造影成像技术进展使得微血管的纵向可视化成为可能。基于血管图的图像处理流程能够解析单个血管层面的微妙时间变化。然而,目前的图提取、精炼和匹配策略高度敏感,底层分割图中的微小差异会导致显著不同的血管图。这些伪影严重妨碍了准确匹配同一受试者随时间变化的连续血管图。为了解决这个问题,我们提出了一种在共同精炼之前进行图匹配的策略。具体而言,我们在基本图提取后进行早期匹配,然后使用联合信息去除两个图中的虚假隆起并合并交叉点。在复杂的视网膜血管图实验中,我们证明该策略与单独精炼或不精炼相比,能够实现更高的匹配区域且没有图的碎片化。
cs.CV / 59 / 2609.16909

PiPS: Post-Hoc Prototypical Explanations for Interpretable Semantic Segmentation

PiPS:用于可解释语义分割的事后原型解释
Adamczyk, Miłosz, Zapala, Tymoteusz, Borycki, Piotr, Spurek, Przemysław
Abstract
With the increasing deployment of deep neural networks in critical systems, such as medical diagnostics and autonomous vehicles, ensuring their interpretability is crucial to building trust in decision-making systems. In the field of explainable artificial intelligence, prototype-based reasoning has gained particular popularity, as it mimics human cognitive processes by explaining model decisions based on visual similarity under the looks like this paradigm. While this paradigm has been thoroughly investigated in the context of global image classification, the interpretability of dense predictions, particularly semantic segmentation, remains largely unexplored despite its immense importance in tasks requiring precise object localization. Existing prototype-based interpretable segmentation models rely on ante-hoc architectures, which entails significant limitations because they require costly training from scratch and modifications to the network structure, ultimately leading to a noticeable drop in predictive performance compared to standard black-box models. To address this issue, we propose PiPS (Post-hoc interpretable Prototypical Segmentation), the first fully post-hoc solution for generating prototypical explanations for semantic segmentation models. Our method enables the extraction of intuitive, spatially localized explanations from any pre-trained network without modification or fine-tuning, thereby preserving 100% of the model's original predictive performance. This approach opens a new avenue for the safe and cost-effective deployment of transparent systems in advanced computer vision tasks. Codebase available at https://github.com/gmum/PIPS.
Chinese Translation
随着深度神经网络在医疗诊断和自动驾驶等关键系统中的广泛应用,确保其可解释性对于建立决策系统的信任至关重要。在可解释人工智能领域,基于原型的推理因其通过在“看起来像这样”(looks like this)范式下基于视觉相似性解释模型决策而受到特别关注,模仿了人类的认知过程。尽管这一范式在全局图像分类的背景下得到了深入研究,但对于密集预测,特别是语义分割的可解释性仍然 largely 未被探索,尽管它在需要精确物体定位的任务中具有重要意义。现有的基于原型的可解释分割模型依赖于事前(ante-hoc)架构,这带来了显著的局限性,因为它们需要从头开始进行昂贵的训练并对网络结构进行修改,最终导致与标准黑箱模型相比,预测性能显著下降。为了解决这一问题,我们提出了PiPS(事后可解释原型分割),这是第一个完全事后的解决方案,用于为语义分割模型生成原型解释。我们的方法能够从任何预训练网络中提取直观的、空间上局部化的解释,而无需修改或微调,从而保持模型原始预测性能的100%。这种方法为在先进计算机视觉任务中安全且具有成本效益的透明系统的部署开辟了新的途径。代码库可在 https://github.com/gmum/PIPS 获取。
cs.CV / 60 / 2609.16919

NeuroSymbEAD: A Large Scale Neuro-Symbolic Caption Dataset for Omni-Directional Embodied Autonomous Driving

NeuroSymbEAD:一个用于全向具身自主驾驶的大规模神经符号字幕数据集
Khan, Muhammad Ahmed Ullah, Elamine, Mohammed, Uddin, Sheikh Talha, Stricker, Didier, Ali, Sk Aziz, Afzal, Muhammad Zeshan
Abstract
This paper introduces NeuroSymbEAD, a large-scale neuro-symbolic caption dataset featuring an ego-centric knowledge graph (KG) of static and dynamic objects annotated with classes, categories, heading directions, orientations, and distances from the ego-vehicle. These annotations are used on the KITTI-360 dataset to generate multilevel textual captions representing a lightweight version of an ego-centric scene map. Outdoor scene-map reconstruction, visual recognition, and object grounding establish baselines for driving common sense and traffic/scene understanding. For these purposes, natural language-based grounded captioning of objects and their complex relationships is a widely adopted contextual representation for indoor scene tasks. Neuro-symbolic representations have proven effective in handling structured information for various computer vision and language applications. Our data annotation pipeline allows the generation of varied map segments, populating simulated or real objects within the bounding boxes predicted by any 3D object detection network, and building hierarchical text captions. We benchmark our neuro-symbolic and ontological caption generation using pre-trained grounding and learned auto-regressive captioning networks. By converting 3D driving scenes into structured ego-centric language, NeuroSymbEAD provides a benchmark for vision-language and foundation models for traffic-scene explanation, 3D reasoning, and interpretable autonomous-driving perception.
Chinese Translation
本文介绍了NeuroSymbEAD,一个大规模的神经符号字幕数据集,包含一个以自我为中心的知识图谱(KG),该图谱对静态和动态物体进行了注释,包括类别、类型、朝向、方向和与自我车辆的距离。这些注释在KITTI-360数据集上用于生成多层次的文本字幕,代表自我中心场景地图的轻量版本。户外场景地图重建、视觉识别和物体定位为驾驶常识和交通/场景理解建立了基准。为此,基于自然语言的物体及其复杂关系的有根据字幕生成是室内场景任务中广泛采用的上下文表示。神经符号表示在处理各种计算机视觉和语言应用中的结构化信息方面已被证明是有效的。我们的数据注释管道允许生成多样的地图片段,在任何3D物体检测网络预测的边界框内填充模拟或真实物体,并构建层次文本字幕。我们使用预训练的定位和学习的自回归字幕生成网络对我们的神经符号和本体字幕生成进行基准测试。通过将3D驾驶场景转换为结构化的自我中心语言,NeuroSymbEAD为交通场景解释、3D推理和可解释的自主驾驶感知提供了基准。
cs.CV / 61 / 2609.16926

Evaluating Mesh Reconstruction Methods for Crop Phenotyping

评估作物表型分析的网格重建方法
Singh, Karanvir, Morales, Theo, Hua, Binh-Son, Saini, Mukesh
Abstract
Phenotyping an agricultural crop is crucial for studying its entire life cycle, as it provides vital insights to improve yield and, ultimately, food production. Doing the same for crops grown on remote sites is a challenge for the specialists who cannot be available on-site. 3D reconstruction techniques offer a promising solution to this problem by enabling crop digitization, allowing specialists to access the resulting 3D crop models from anywhere at any time. In this work, we evaluate recent 3D reconstruction pipelines for crop phenotyping. We focus on 7 mesh reconstruction pipelines and measure the fidelity and consistency of their outputs qualitatively and quantitatively. Our results suggest that the meshes produced by the GGGS, PGSR, and 2DGS are preferable to the other pipelines, owing to their quantitative metrics and visually pleasing outputs. The GGGS pipeline is better than the second-best pipeline (2DGS) by about 27\% on the radar chart with 5 dimensions, namely, User ratings, Chamfer distance, LPIPS, PSNR, and SSIM.
Chinese Translation
对农业作物进行表型分析对于研究其整个生命周期至关重要,因为这为提高产量和最终的食品生产提供了重要见解。对于在偏远地区种植的作物,无法现场进行分析的专家面临着挑战。三维重建技术为此问题提供了有前景的解决方案,通过实现作物数字化,使专家能够随时随地访问生成的三维作物模型。在本研究中,我们评估了近期用于作物表型分析的三维重建流程。我们重点关注7个网格重建流程,并对其输出的保真度和一致性进行了定性和定量的测量。我们的结果表明,GGGS、PGSR和2DGS生成的网格优于其他流程,原因在于其定量指标和视觉效果令人满意。在包含用户评分、Chamfer距离、LPIPS、PSNR和SSIM的5维雷达图中,GGGS流程的表现比第二好的流程(2DGS)高出约27%。
cs.CV / 62 / 2609.16934

MedPCFM-TED: One-Step Point Cloud Flow Matching for Implant Generation via Teacher-Guided Endpoint Distillation

MedPCFM-TED:通过教师引导的端点蒸馏实现的一步点云流匹配植入物生成
Kwarciak, Kamil, Wodzinski, Marek
Abstract
Cranial implant generation is an important task in medical imaging. Recent point cloud based generative methods, particularly flow matching, offer strong reconstruction quality and efficient sampling, but still require multiple neural function evaluations during inference. This limits rapid generation of multiple plausible implant candidates. We propose Teacher-guided Endpoint Distillation (TED), a simple one-step distillation framework for conditional cranial implant generation on point clouds. TED trains a one-step student using teacher-guided endpoint supervision and geometric matching losses, while avoiding explicit path straightening. We evaluate TED on the SkullFix and SkullBreak benchmarks. TED achieves the best overall performance on the SkullBreak dataset, remains competitive on SkullFix, and provides the strongest Chamfer distance performance among the compared one-step methods. In addition, TED generates implants in approximately 0.04s per sample. These results show that one-step distillation can substantially accelerate conditional point cloud implant generation without sacrificing reconstruction quality.
Chinese Translation
颅骨植入物生成是医学成像中的一项重要任务。近期基于点云的生成方法,特别是流匹配,提供了强大的重建质量和高效的采样,但在推理过程中仍需多次评估神经网络功能。这限制了多个合理植入候选者的快速生成。我们提出了一种教师引导的端点蒸馏(Teacher-guided Endpoint Distillation, TED)方法,这是一个简单的一步蒸馏框架,用于基于点云的条件颅骨植入物生成。TED通过教师引导的端点监督和几何匹配损失训练一个一步学生模型,同时避免了显式路径直线化。我们在SkullFix和SkullBreak基准上评估了TED。TED在SkullBreak数据集上实现了最佳整体性能,在SkullFix上保持竞争力,并在比较的一步方法中提供了最强的Chamfer距离性能。此外,TED每个样本生成植入物的时间约为0.04秒。这些结果表明,一步蒸馏可以显著加速条件点云植入物生成,而不牺牲重建质量。
cs.CV / 63 / 2609.16946

High-Fidelity Video Quality Assessment with VQA-Specific Saliency

高保真视频质量评估与VQA特定显著性
Gedik, Hakan Emre, Gupta, Shashank, Bovik, Alan
Abstract
No-reference video quality assessment (NR VQA) has recently seen promising progress with deep learning. However, video data is inherently large, and processing them with deep models incurs high computational cost. This challenge is particularly acute in VQA, where preserving original-resolution cues and dense temporal information is critical for accuracy. Existing efficiency-driven preprocessing strategies, such as fragmenting, reduce computation but alter the input data distribution, limiting effective reuse of pretrained video foundation models (ViFMs). To address these challenges, we propose \textbf{H}igh-\textbf{F}idelity \textbf{V}ideo \textbf{Q}uality \textbf{A}ssessment (\textbf{HFVQA}), a framework built on fixed-size spatio-temporal (ST) patches that is fully compatible with pretrained ViFMs. HFVQA samples ST patches across multiple scales, including the original resolution, with minimal temporal subsampling to preserve low-level quality cues and semantic context. To limit computation, HFVQA introduces a lightweight auxiliary network trained end-to-end with the ViFM encoder to learn \textit{VQA-specific saliency}. Distilled directly from quality supervision, this saliency captures task-specific importance patterns, reflecting that video quality perception is dominated by a small subset of spatio-temporal regions. By combining high-fidelity spatio-temporal cues with learned, task-specific saliency, HFVQA achieves SOTA performance on standard NR VQA benchmarks while processing as little as 12\% of candidate ST patches, making high-fidelity ViFM-based VQA computationally tractable.
Chinese Translation
最近,无参考视频质量评估(NR VQA)在深度学习方面取得了令人鼓舞的进展。然而,视频数据本质上庞大,使用深度模型处理这些数据会产生高计算成本。这个挑战在VQA中特别明显,因为保持原始分辨率线索和密集时间信息对于准确性至关重要。现有的以效率为驱动的预处理策略,如碎片化,虽然减少了计算量,但改变了输入数据分布,限制了预训练视频基础模型(ViFMs)的有效重用。为了解决这些挑战,我们提出了高保真视频质量评估(HFVQA),这是一个基于固定大小时空(ST)块的框架,完全兼容预训练的ViFMs。HFVQA在多个尺度上采样ST块,包括原始分辨率,进行最小的时间子采样,以保留低级质量线索和语义上下文。为了限制计算,HFVQA引入了一个轻量级辅助网络,该网络与ViFM编码器端到端训练,以学习VQA特定显著性。该显著性直接从质量监督中提取,捕捉任务特定的重要性模式,反映出视频质量感知主要由一小部分时空区域主导。通过将高保真的时空线索与学习到的任务特定显著性相结合,HFVQA在标准NR VQA基准上实现了SOTA性能,同时处理的候选ST块仅为12%,使得基于高保真ViFM的VQA在计算上变得可行。
cs.CV / 64 / 2609.17004

Symmetry-Aware Likelihood-Orbit Aggregation for Selective Left-Right Claim Verification

面向对称性的可能性-轨道聚合用于选择性左右声明验证
Xiong, Zhouzhi, Zhang, Chuxi, He, Weizhen, Chen, Yi, Li, Qi, Qi, Donglian
Abstract
Frozen vision-language models (VLMs) remain unreliable on fine-grained left-right claims, and raw claim likelihoods need not reliably rank verification errors. After a horizontal-reflection intervention is fixed, how should its induced likelihood measurements be combined into a selective verification signal? We introduce Relation-Orbit, a closed-form contrast with no learned fusion parameters that assigns eight normalized likelihoods to query-supporting and counterfactual roles determined by reflection, inverse relation, and entity exchange. A claim is asserted only when the signed contrast exceeds a threshold selected on held-out data using pointwise Clopper-Pearson upper confidence bounds. On VSR and GQA across four frozen VLMs, Relation-Orbit yields higher mean test coverage at a 10% selective-risk calibration target than an all-eight Orbit-Max baseline in all eight dataset-backbone settings; gains over a nearly abstain-all one-sided intervention score are reported separately. A separate LLaVA-1.5/COCO evaluation, reduced-orbit controls, and a two-sided partition diagnostic further characterize the structural advantage.
Chinese Translation
冻结的视觉-语言模型(VLMs)在细粒度的左右声明上仍然不可靠,原始声明的可能性未必能够可靠地对验证错误进行排序。在固定水平反射干预后,如何将其引发的可能性测量结合成选择性验证信号?我们引入了Relation-Orbit,这是一种无学习融合参数的封闭形式对比,赋予八个归一化的可能性给由反射、逆关系和实体交换决定的查询支持和反事实角色。只有当签名对比超过在保留数据上使用逐点Clopper-Pearson上置信界选择的阈值时,声明才被确认。在四个冻结的VLMs上进行的VSR和GQA实验中,Relation-Orbit在所有八个数据集-骨干设置中,在10%的选择性风险校准目标下,提供了比所有八个Orbit-Max基线更高的平均测试覆盖率;与几乎完全弃权的单侧干预得分相比,增益单独报告。另一个LLaVA-1.5/COCO评估、减少轨道控制和双侧分区诊断进一步表征了其结构优势。
cs.CV / 65 / 2609.17021

sensVLA: Spatially-Grounded Vision-Language-Action Model for Autonomous Wheel Loader

sensVLA:用于自主轮式装载机的空间基础视觉-语言-动作模型
Erabati, Gopi Krishna, Johannsen, Bjarne, Stewart, Angus, Sandhu, Vardeep Singh
Abstract
Autonomous wheel-loader control requires joint reasoning over task semantics, egocentric vision, proprioception, and 3D scene geometry. We present sensVLA, a Vision-Language-Action (VLA) architecture that combines a Qwen3-2B Vision-Language Model (VLM) with a fully trainable transformer action expert trained by flow-matching velocity regression. sensVLA routes Bird's-Eye-View (BEV) features, extracted from fused front and rear lidar, directly to the action expert through a dedicated cross-attention pathway, while the VLM consumes front and rear RGB views to provide task-conditioned semantic context. This design decouples spatial grounding from linguistic reasoning while preserving interaction between both streams at decision time. The expert predicts six action dimensions: longitudinal velocity, steering, body-frame displacement, arm rate, and bucket rate. On a real-world dataset from a wheel loader, sensVLA reaches aggregate per-step parity with a strong camera-only baseline and reduces longitudinal velocity RMSE by 28% and displacement error by 9% on loading centric scenarios. It also degrades 29% less when the camera stream is corrupted or removed, evidencing that explicit spatial grounding improves accuracy and fault-tolerance for heavy equipment autonomy.
Chinese Translation
自主轮式装载机的控制需要对任务语义、自我中心视觉、本体感觉和三维场景几何进行联合推理。我们提出了sensVLA,这是一种视觉-语言-动作(VLA)架构,它将Qwen3-2B视觉-语言模型(VLM)与通过流匹配速度回归训练的完全可训练的变换器动作专家相结合。sensVLA通过专用的跨注意力通道将从融合的前后激光雷达提取的鸟瞰图(BEV)特征直接传递给动作专家,同时VLM利用前后RGB视图提供任务条件的语义上下文。该设计将空间基础与语言推理解耦,同时在决策时保留两者之间的交互。专家预测六个动作维度:纵向速度、转向、车身框架位移、臂速和铲斗速率。在来自轮式装载机的真实世界数据集中,sensVLA在每步聚合上达到了强大的仅摄像头基线的平衡,并在以装载为中心的场景中将纵向速度均方根误差(RMSE)降低了28%,位移误差降低了9%。当摄像头流被损坏或移除时,它的性能下降幅度也减少了29%,这证明了显式空间基础提高了重型设备自主性的准确性和容错能力。
cs.CV / 66 / 2609.17039

Bi-FlowGS: Bridging Generative View Completion and Gaussian Geometry through Bidirectional Flow Co-Refinement

双向流动生成系统(Bi-FlowGS):通过双向流动共同优化连接生成视图补全与高斯几何
Wang, Yuetong, Quan, Jinsheng, Yang, Yi, Luo, Yawei
Abstract
Sparse-view 3D scene reconstruction with 3D Gaussian Splatting (3DGS) is inherently underconstrained. Plausible renderings can also coexist with erroneous Gaussian geometry, as errors in positions or depths may be concealed by opacity, scale, and appearance; we term this failure mode Geometry Cheating. Existing regularization methods constrain geometry but remain limited to observed views, while video-diffusion-based methods complete unseen views yet mainly use them as RGB pseudo-supervision, underusing motion and temporal priors and lacking explicit geometry supervision. We present Bi-FlowGS, which uses optical flow to bridge generative view completion and Gaussian geometry regularization. Our plug-and-play Video-to-Geometry Flow Distillation (V2G) distills temporal correspondence priors from restored videos into Gaussian geometry to alleviate Geometry Cheating. Conversely, Geometry-to-Video Flow-Guided Restoration (G2V) uses the current 3DGS geometry to guide temporally consistent video restoration, providing more reliable generative supervision. Together, V2G and G2V form an implicit bidirectional co-refinement process, enabling restored videos and the optimized 3DGS scene to iteratively improve each other. Experiments demonstrate improved rendering quality and geometric consistency across wide-baseline and unbounded 360{\deg} benchmarks.
Chinese Translation
稀疏视图的三维场景重建与三维高斯点云(3D Gaussian Splatting, 3DGS)本质上是欠约束的。合理的渲染可能与错误的高斯几何共存,因为位置或深度的错误可能被不透明度、尺度和外观所掩盖;我们将这种失败模式称为几何欺骗(Geometry Cheating)。现有的正则化方法约束几何,但仍然局限于观察到的视图,而基于视频扩散的方法则完成未见视图,但主要将其作为RGB伪监督,未充分利用运动和时间先验,并缺乏明确的几何监督。我们提出了双向流动生成系统(Bi-FlowGS),它利用光流将生成视图补全与高斯几何正则化连接起来。我们的即插即用视频到几何流蒸馏(Video-to-Geometry Flow Distillation, V2G)从恢复的视频中提取时间对应先验,以缓解几何欺骗。相反,几何到视频流引导恢复(Geometry-to-Video Flow-Guided Restoration, G2V)使用当前的3DGS几何来引导时间一致的视频恢复,提供更可靠的生成监督。V2G和G2V共同形成一个隐式的双向共同优化过程,使恢复的视频和优化后的3DGS场景能够相互迭代改进。实验表明,在宽基线和无界360°基准测试中,渲染质量和几何一致性得到了改善。
cs.CV / 67 / 2609.17068

Beyond In-Distribution Metrics: A Systematic Out-of-Distribution Evaluation of Congenital Heart Disease Segmentation

超越分布内指标:先天性心脏病分割的系统性分布外评估
Vijesh, Aniketh, Vasu, Shrisharanyan, Ramesh, Abhijit, Pomeroy-Ward, Clare, Maya, Harikrishnan Anil, Xavier, Sarin, Kappanayil, Mahesh, Gressel, Gilad
Abstract
Congenital heart disease (CHD) diagnosis and surgical planning often require patient-specific 3D anatomical models, but manual segmentation is labor-intensive, particularly in complex anatomies. Although deep-learning methods can automate this process, they are typically evaluated in-distribution, despite clinically relevant shifts in scanner, protocol, institution, population, and imaging modality. We present, to our knowledge, the first systematic evaluation of out-of-distribution (OOD) generalization in CHD segmentation, using ImageCHD as a held-out target cohort. We compare representative segmentation architectures under combined CT and CMR training, CT-only training, self-supervised pretraining, and limited target-domain adaptation. In-distribution performance proves to be a poor indicator of cross-cohort robustness: nnU-Net achieves the highest validation Dice (0.77) but falls to 0.51 on ImageCHD, while SwinUNETR generalizes substantially better, reaching 0.67 Dice. MAE and JEPA pretraining provide only modest additional benefit, suggesting that architecture contributes more to robustness than the tested pretraining strategies in this setting. When limited target-domain supervision is introduced, all SwinUNETR variants exceed 0.76 Dice with only 11 labeled ImageCHD cases. These findings demonstrate that conventional in-distribution evaluation can obscure clinically important generalization failures and support explicit cross-dataset testing as a key component of CHD segmentation evaluation.
Chinese Translation
先天性心脏病(CHD)的诊断和手术规划通常需要患者特定的三维解剖模型,但手动分割劳动强度大,尤其是在复杂解剖结构中。尽管深度学习方法可以自动化这一过程,但它们通常在分布内进行评估,尽管在扫描仪、协议、机构、人口和成像方式等方面存在临床相关的变化。我们提出了迄今为止首次系统性评估CHD分割中分布外(OOD)泛化的方法,使用ImageCHD作为保留的目标队列。我们比较了在结合CT和CMR训练、仅CT训练、自监督预训练和有限目标领域适应下的代表性分割架构。分布内性能被证明是跨队列鲁棒性差的指标:nnU-Net在验证集上获得了最高的Dice系数(0.77),但在ImageCHD上降至0.51,而SwinUNETR的泛化能力显著更好,达到了0.67的Dice系数。MAE和JEPA预训练仅提供了适度的额外收益,表明在这种情况下,架构对鲁棒性的贡献大于所测试的预训练策略。当引入有限的目标领域监督时,所有SwinUNETR变体在仅有11个标记的ImageCHD病例下均超过了0.76的Dice系数。这些发现表明,传统的分布内评估可能掩盖临床上重要的泛化失败,并支持将明确的跨数据集测试作为CHD分割评估的关键组成部分。
cs.CV / 68 / 2609.17094

Hub-Spectral Activation of Latent Multimodal Knowledge

潜在多模态知识的中心谱激活
Guo, Ying, Chen, Haidong, Xu, Linrui, Liu, Xiaohao, Shi, Chuancheng, Xiao, Canran, Zhang, Dan, Shen, Fei, Shen, Li, Chua, Tat-Seng
Abstract
Multimodal representation learning seeks shared representations for cross-modal retrieval and knowledge transfer. Hub-based binding reduces pairwise supervision costs, but separate hub connections cannot guarantee reliable alignment between modalities without direct joint training. We introduce Hub-Spectral Activation (HSA), a closed-form method for recovering and activating the hub-readable component of latent multimodal knowledge in frozen representations. We formalize this knowledge as source-induced cross-modal dependence and characterize the component determined by the second-order statistics of two trained hub edges. Under a second-order source model, we establish conditions for exact recovery of the complete source-induced relation and bound the dimension of its hub-readable component by the hub covariance rank. HSA composes and standardizes hub-edge statistics, extracts paired spectral directions, and combines reliability-weighted matching evidence with source-gated candidate resolution for bidirectional retrieval and prototype classification. HSA requires no target-pair supervision, gradient optimization, or backbone updates. Across 19 retrieval and 11 prototype-classification relations on ImageBind and LanguageBind, HSA raises mean bidirectional Recall@10 from 18.27% to 31.15% and mean macro Top-1 accuracy from 29.01% to 52.43%, respectively. Controlled analyses further identify valid hub-edge correspondence and leading spectral directions as key sources of retrieval gains, demonstrating the utility of latent multimodal knowledge beyond native similarity scores. Code and models are publicly available at https://github.com/Luo1Yan/HSA.
Chinese Translation
多模态表示学习旨在为跨模态检索和知识转移寻找共享表示。基于中心的绑定方法降低了成对监督的成本,但单独的中心连接无法保证模态之间的可靠对齐,而不进行直接的联合训练。我们提出了中心谱激活(Hub-Spectral Activation, HSA),这是一种闭式方法,用于恢复和激活冻结表示中潜在多模态知识的中心可读组件。我们将这种知识形式化为源诱导的跨模态依赖,并通过两个训练好的中心边的二阶统计特征来表征该组件。在二阶源模型下,我们建立了完全源诱导关系的精确恢复条件,并通过中心协方差秩界定其中心可读组件的维度。HSA组合并标准化中心边统计,提取成对谱方向,并将可靠性加权的匹配证据与源门控候选分辨结合,以实现双向检索和原型分类。HSA不需要目标对监督、梯度优化或主干更新。在ImageBind和LanguageBind上的19个检索和11个原型分类关系中,HSA将平均双向Recall@10从18.27%提高到31.15%,将平均宏观Top-1准确率从29.01%提高到52.43%。控制分析进一步识别有效的中心边对应关系和主导谱方向作为检索增益的关键来源,展示了潜在多模态知识超越原生相似度得分的实用性。代码和模型已公开发布在 https://github.com/Luo1Yan/HSA。
cs.CV / 69 / 2609.17099

GeoLAM: Learning Geometry-Grounded Latent Actions from Unlabeled Human Videos

GeoLAM:从未标记的人类视频中学习几何基础的潜在动作
Xie, Yifan, Tian, Hekun, Liu, Jinkun, Wang, YuAn, Sun, Qiao, Ding, Wenbo
Abstract
Human videos provide rich manipulation experience, but extracting action representations that preserve useful motion remains challenging. Visual reconstruction alone can entangle manipulation-related motion with appearance changes and camera movement. We present GeoLAM, a framework for learning geometry-grounded latent actions from action-free human videos. GeoLAM combines future-frame reconstruction through a frozen geometric feature hierarchy with motion supervision from a training-only 4D geometry teacher. The geometric representation provides a structural prior, while the teacher's predictions yield spatially pooled targets capturing 3D displacement, residual image-plane motion, and surface-orientation changes. Visibility and confidence weighting reduces the contribution of unreliable estimates, encouraging continuous latent actions to retain geometric motion without explicit hand-pose or hand-trajectory annotations. After video pretraining without action labels, the learned representation provides transition targets for a world-action model trained on action-labeled robot demonstrations. The model jointly denoises latent actions and executable action chunks, with future-video prediction used only as an auxiliary training task. Deployment therefore requires neither the geometry teacher nor future-video generation. Evaluations on a latent-action benchmark and robotic manipulation tasks demonstrate the strong performance of GeoLAM.
Chinese Translation
人类视频提供了丰富的操作经验,但提取保留有用运动的动作表征仍然具有挑战性。仅靠视觉重建可能会将与操作相关的运动与外观变化和相机运动混淆。我们提出了GeoLAM,一个从无动作的人类视频中学习几何基础潜在动作的框架。GeoLAM结合了通过冻结的几何特征层次进行的未来帧重建和来自仅用于训练的4D几何教师的运动监督。几何表征提供了结构先验,而教师的预测则产生了空间聚合目标,捕捉3D位移、残余图像平面运动和表面方向变化。可见性和置信度加权减少了不可靠估计的贡献,鼓励连续的潜在动作保留几何运动,而无需显式的手势或手轨迹注释。在没有动作标签的视频预训练后,学习到的表征为在动作标记的机器人演示上训练的世界动作模型提供了过渡目标。该模型共同去噪潜在动作和可执行的动作片段,未来视频预测仅用作辅助训练任务。因此,部署不需要几何教师或未来视频生成。在潜在动作基准和机器人操作任务上的评估展示了GeoLAM的强大性能。
cs.CV / 70 / 2609.17112

Not Another Text Benchmark: Putting the "Visual" Back in Visual Question Answering for Large Video Models

不再是另一个文本基准:将“视觉”重新引入大型视频模型的视觉问答
Chakraborty, Rwiddhi, Yinong, Wang, Zhang, Cheng, Bai, Fan, You, Zhuoran, Kampffmeyer, Michael, Lee, Yong Jae, De la Torre, Fernando, Jenssen, Robert
Abstract
Large video models have exhibited impressive performance on a wide range of visual question answering tasks, owing to the rise of powerful, pretrained text and vision encoders. The usefulness of such models have also been demonstrated on a wide range of benchmarks, with an important caveat - the dominant approach in these benchmarks evaluates multiple choice reasoning via text options. This is a natural way to test text-based reasoning in these models, and has led to significant insights regarding model behavior in the community. In this work, we ask a different question - what happens when the evaluation modality is visual, rather than text? We introduce three new vision-centric evaluation benchmarks in temporal frame retrieval, video future prediction, and causal memory distortion, all designed around evaluating visual understanding capabilities in large video models. Our approach complements the existing approaches to evaluate video understanding in frontier models. We show that current frontier models exhibit significant weakness when attempting to reason through visual queries, rather than text. We conclude with an extended analysis section that provides pointers for future improvements in visual understanding for large video models.
Chinese Translation
大型视频模型在各种视觉问答任务中展现了令人印象深刻的性能,这得益于强大的预训练文本和视觉编码器的兴起。这些模型的有效性也在多个基准测试中得到了验证,但有一个重要的警告——这些基准测试中的主流方法通过文本选项评估多项选择推理。这是测试这些模型基于文本的推理能力的一种自然方式,并为社区提供了关于模型行为的重要见解。在本研究中,我们提出了一个不同的问题——当评估方式是视觉而非文本时会发生什么?我们引入了三个新的以视觉为中心的评估基准,分别用于时间帧检索、视频未来预测和因果记忆扭曲,旨在评估大型视频模型的视觉理解能力。我们的方法补充了现有的评估前沿模型视频理解的方法。我们展示了当前前沿模型在通过视觉查询进行推理时表现出显著的弱点,而不是文本。最后,我们提供了一个扩展的分析部分,为大型视频模型的视觉理解未来改进提供了建议。
cs.CV / 71 / 2609.17130

Predicting Human Disagreement for Calibrated Dynamic Facial Expression Recognition

预测人类分歧以实现校准的动态面部表情识别
Wang, Yiming, Li, Frederick W. B., Wang, Jingyun
Abstract
Dynamic facial expression recognition (DFER) benchmarks such as DFEW provide multiple annotator votes per clip, yet most models collapse them to a majority label and cannot represent human disagreement at inference time. We propose a disagreement-aware DFER framework that trains directly on the raw annotator count vector using a Dirichlet-Multinomial likelihood. Unlike mean-only soft-label objectives, the proposed likelihood provides scale-sensitive supervision for the Dirichlet concentration while preserving the predictive mean. A separate ambiguity head predicts annotation entropy for unseen clips, and a monotone Chow-style reject rule combines predicted ambiguity, vacuity, temporal instability, and input quality for selective prediction. On DFEW, the method preserves recognition accuracy while reducing ECE by 30% and AURC by 15%, and predicted ambiguity reaches a Spearman correlation of 0.52 with the annotation entropy of test clips. The calibration and selective-prediction gains transfer to FERV39k and remain under identity- and movie-disjoint DFEW splits.
Chinese Translation
动态面部表情识别(DFER)基准,如DFEW,为每个片段提供多个标注者投票,但大多数模型将其简化为多数标签,无法在推理时表示人类分歧。我们提出了一种关注分歧的DFER框架,直接在原始标注者计数向量上进行训练,使用Dirichlet-多项式似然。与仅使用均值的软标签目标不同,所提出的似然为Dirichlet浓度提供了对尺度敏感的监督,同时保留了预测均值。一个独立的模糊头预测未见片段的标注熵,而单调的Chow风格拒绝规则结合了预测的模糊性、空白性、时间不稳定性和输入质量,以实现选择性预测。在DFEW上,该方法在保持识别准确性的同时,将ECE降低了30%,AURC降低了15%,预测的模糊性与测试片段的标注熵达到了0.52的斯皮尔曼相关性。校准和选择性预测的提升转移到FERV39k,并在身份和电影不重叠的DFEW分割下保持有效。
cs.CV / 72 / 2609.17134

Event-based Selective Attention for Multi-resolution Fast Region of Interest (ROI) Detection

基于事件的选择性注意力用于多分辨率快速兴趣区域(ROI)检测
Peres, Luca, D'Angelo, Giulia, Bartolozzi, Chiara, Rhodes, Oliver
Abstract
Neuromorphic vision systems operate under strict constraints on bandwidth, memory, and energy, particularly at the edge, motivating early mechanisms for data reduction and selective processing. In this work, we investigate a multi-scale training-free, saliency-based, bottom-up visual attention model that operates directly on low-resolution event-based input and selects Regions of Interest (ROI) from the visual scene. The model is evaluated across multiple downscaling factors applied to the incoming event stream, with input resolutions reduced by up to 256x relative to full resolution. Performance is assessed on the Prophesee Automotive dataset, the largest publicly available event-based dataset, demonstrating robust ROI selection across different scales on a real-world use-case. The proposed approach is capable of detecting ROIs belonging to multiple object classes, including various vehicle types, pedestrians, traffic lights, and traffic signs, with accuracy up to 70.8%, while operating at millisecond temporal resolution, 16x finer than the temporal resolution provided by the dataset ground truth. These results highlight the potential of combining early event downscaling with saliency-based attention as an effective front-end for efficient edge neuromorphic vision systems.
Chinese Translation
神经形态视觉系统在带宽、内存和能量方面面临严格的限制,尤其是在边缘计算环境中,这促使了数据减少和选择性处理的早期机制。在本研究中,我们探讨了一种多尺度无训练、基于显著性的自下而上的视觉注意力模型,该模型直接在低分辨率的基于事件的输入上运行,并从视觉场景中选择兴趣区域(ROI)。该模型在对输入事件流应用多个下采样因子的情况下进行评估,输入分辨率相对于全分辨率降低了最多256倍。性能评估基于Prophesee汽车数据集,这是最大的公开可用的基于事件的数据集,展示了在真实世界应用中不同尺度下的稳健ROI选择。所提出的方法能够检测属于多种物体类别的ROI,包括各种车辆类型、行人、交通信号灯和交通标志,准确率高达70.8%,同时以毫秒级的时间分辨率运行,比数据集的真实值提供的时间分辨率细致16倍。这些结果突显了将早期事件下采样与基于显著性的注意力相结合的潜力,作为高效边缘神经形态视觉系统的有效前端。
cs.CV / 73 / 2609.17138

From Foundation Embeddings to Cropland Maps: Label Efficiency, Temporal Transferability and Independent Human Validation

从基础嵌入到农田地图:标签效率、时间可转移性和独立人类验证
Mughees, Mohammad Ammar, Montefoschi, Giovanni, Chen, Zhongxin, Brovelli, Maria Antonia
Abstract
Geospatial foundation models provide reusable representations of satellite imagery that support downstream mapping with limited task-specific modelling. We evaluate whether annual AlphaEarth embeddings support binary cultivated-versus-non-cultivated mapping in Maine, USA, using 192 spatially separated patches and labels derived from the USDA Cropland Data Layer (CDL). Without fine-tuning the foundation model, a lightweight classifier reaches 93.7% overall accuracy and 90.8% balanced accuracy on held-out patches. Logistic regression is within 0.3 percentage points of a gradient-boosted ensemble, while a nearest-class-centroid rule, which uses class centroids but fits no parameters, reaches 90.2%. A balanced sample of 60,000 labelled pixels is within 1.3 percentage points of the full pool of 8.6 million pixels; because pixels are spatially autocorrelated, this result concerns pixel-sample efficiency rather than 60,000 independent annotation sites. In a same-region transfer experiment, classifiers trained in one year remain accurate across 2018 to 2023. Against a blind, two-interpreter consensus at 385 randomly sampled points in one contiguous 2023 block, the AlphaEarth-plus-random-forest map agrees at 95.3% ($\kappa=0.82$), compared with 91.7% for the CDL ($\kappa=0.72$; exact two-sided McNemar $p=0.0161$). This local result is consistent with partial smoothing of CDL label noise, but it does not establish statewide correction of the reference product. On the same points, the difference from a fine-tuned TerraMind segmentation model is not statistically significant (95.3% versus 93.5%; $p=0.14$), and the experiment is not a controlled comparison of computational cost. These results support frozen geospatial embeddings as a low-compute candidate for regional cropland mapping, subject to the limits of a single-state study, a 30 m-derived training reference, and a one-block human validation.
Chinese Translation
地理空间基础模型提供了可重用的卫星影像表示,支持有限的任务特定建模的下游制图。我们评估了年度 AlphaEarth 嵌入是否支持美国缅因州的二元耕作与非耕作制图,使用了192个空间分离的样本块和来自美国农业部农田数据层(CDL)的标签。在不对基础模型进行微调的情况下,一个轻量级分类器在保留样本块上达到了93.7%的总体准确率和90.8%的平衡准确率。逻辑回归的准确率与梯度提升集成模型相差0.3个百分点,而使用类中心但不拟合参数的最近类中心规则达到了90.2%。60,000个标记像素的平衡样本与860万像素的完整池相差1.3个百分点;由于像素具有空间自相关性,这一结果关注的是像素样本效率,而非60,000个独立标注点。在同一区域的迁移实验中,在一年内训练的分类器在2018年至2023年间保持准确性。在对2023年一个连续块中385个随机采样点进行盲法两位解释者共识时,AlphaEarth加随机森林地图的匹配度为95.3%($ ext{kappa}=0.82$),而CDL为91.7%($ ext{kappa}=0.72$;精确的双侧 McNemar $p=0.0161$)。这一局部结果与CDL标签噪声的部分平滑一致,但并未确立参考产品的全州修正。在相同点上,与微调的TerraMind分割模型的差异在统计上并不显著(95.3%对93.5%;$p=0.14$),且该实验并不是对计算成本的控制比较。这些结果支持将冻结的地理空间嵌入作为区域农田制图的低计算候选者,但受限于单州研究、30米衍生的训练参考和一个块的人类验证。
cs.CV / 74 / 2609.17152

ResLRP: The Role of Residual Cancellation in Attribution Instability in Vision Transformers

ResLRP:残差取消在视觉变换器归因不稳定性中的作用
Berend, Jim, Achtibat, Reduan, Schäffer, Daniel, Binder, Alexander, Samek, Wojciech, Lapuschkin, Sebastian, Dreyer, Maximilian
Abstract
Vision Transformers (ViTs) are central to most modern vision models, yet obtaining input attributions that are fine-grained, faithful, and stable remains challenging. Layer-wise Relevance Propagation (LRP) has been adapted to transformer attention, but in ViTs it often produces noisy, unfaithful explanations. We show that the missing ingredient is the treatment of residual connections: cancellation effects in residual pathways lead to attribution explosion. Moreover, we find that these cancellations are substantially stronger in ViTs than in language transformers. To address this issue, we introduce Residual-aware Layer-wise Relevance Propagation (ResLRP), a simple extension of LRP whose propagation rules explicitly account for cancellations in residual branches, are exactly conservative, and provably bound relevance explosion. Causal channel-wise interventions confirm that residual cancellation, not a generic regularization effect, drives the instability. ResLRP substantially improves attribution quality across faithfulness and localization, evaluated on ViT architectures spanning supervised, self-supervised, contrastive, hierarchical, and multimodal families, as well as on the ground-truth-controlled FunnyBirds benchmark. The largest gains arise in modern Vision Language Models (VLMs), with +27-29% localization and up to 3.4x faithfulness scores. Beyond benchmarks, ResLRP localizes Sparse Autoencoder (SAE) features in input space, and our residual amplification measure serves as an architecture-level diagnostic predicting where attribution degrades.
Chinese Translation
视觉变换器(ViTs)是大多数现代视觉模型的核心,但获取细粒度、真实且稳定的输入归因仍然具有挑战性。层级相关传播(LRP)已被调整为适应变换器注意力,但在ViTs中,它通常会产生嘈杂且不真实的解释。我们表明,缺失的关键在于对残差连接的处理:残差路径中的取消效应导致归因爆炸。此外,我们发现这些取消效应在ViTs中比在语言变换器中显著更强。为了解决这个问题,我们引入了残差感知层级相关传播(ResLRP),这是LRP的一个简单扩展,其传播规则明确考虑了残差分支中的取消效应,具有完全的保守性,并且可以证明限制归因爆炸。因果通道干预确认,驱动不稳定性的因素是残差取消,而非一般的正则化效应。ResLRP在归因的真实性和定位质量上显著提升,评估对象包括跨越监督、自监督、对比、层级和多模态家族的ViT架构,以及基于真实数据控制的FunnyBirds基准。最大的提升出现在现代视觉语言模型(VLMs)中,定位提升达到27-29%,真实度评分提升高达3.4倍。除了基准测试,ResLRP还在输入空间中定位稀疏自编码器(SAE)特征,我们的残差放大度量作为一种架构级诊断工具,预测归因下降的地方。
cs.CV / 75 / 2609.17169

MUMINS: Metadata-conditioned Uncertainty-aware Medical Image Next-state Synthesis

MUMINS:元数据条件的不确定性感知医学图像下一状态合成
Oliveras, Anna, Marí, Roger, Redondo, Rafael, Guardià, Oriol, Ugwu, Cynthia Ifeyinwa, Tost, Ana, Nagarajan, Bhalaji, Migliorelli, Carolina, Ribas, Vicent, Radeva, Petia
Abstract
Forecasting anatomical changes such as tumor growth and neurodegeneration is a challenging generative vision task. Morphological evolution is subtle relative to static anatomy, highly patient-specific, and inherently stochastic. Existing methods struggle with several issues: deterministic networks ignore biological stochasticity, while standard diffusion models require computationally prohibitive multi-pass sampling to quantify uncertainty. We propose MUMINS (Metadata-conditioned Uncertainty-aware Medical Image Next-state Synthesis), an efficient diffusion framework that jointly diffuses a baseline scan and its follow-up residual, summed to synthesize the follow-up scan, while concurrently predicting a spatial uncertainty map, in a single reverse diffusion process. Conditioned on the time interval and relevant metadata, it preserves fine-grained anatomy by dynamically re-injecting the baseline as a soft anchor at every denoising step, and a negative-log-likelihood head learns the uncertainty map to explicitly flag error-prone regions. Designed without organ-specific heuristics, the same architecture is reused across anatomies via separate, dataset-specific retraining. Extensive evaluations demonstrate that dataset-specific retraining of MUMINS matches or outperforms dedicated, domain-specific state-of-the-art methods on lung CT (PNG) and brain MRI (OASIS-3). Project page: https://github.com/aolivtous/MUMINS.
Chinese Translation
预测解剖变化,如肿瘤生长和神经退行性变,是一项具有挑战性的生成视觉任务。相对于静态解剖结构,形态演变是微妙的,具有高度的个体特异性,并且本质上是随机的。现有方法面临几个问题:确定性网络忽视了生物随机性,而标准扩散模型则需要计算上昂贵的多次采样来量化不确定性。我们提出了MUMINS(元数据条件的不确定性感知医学图像下一状态合成),这是一个高效的扩散框架,它在单次反向扩散过程中共同扩散基线扫描及其后续残差,并将其相加以合成后续扫描,同时预测空间不确定性图。基于时间间隔和相关元数据,它通过在每个去噪步骤动态重新注入基线作为软锚点,保持细粒度解剖结构,并且负对数似然头学习不确定性图以明确标记错误易发区域。该框架设计时没有特定于器官的启发式方法,通过单独的数据集特定重训练在不同解剖结构中重用相同的架构。广泛的评估表明,MUMINS的数据集特定重训练在肺CT(PNG)和脑MRI(OASIS-3)上与专门的领域特定最先进方法相匹配或超越。项目页面:https://github.com/aolivtous/MUMINS。
cs.CV / 76 / 2609.17181

Multimodal Cultural Heritage Architectural Style Classification for Residential Buildings in the UAE Based on CLIP Embeddings and SVM

基于CLIP嵌入和支持向量机的阿联酋住宅建筑多模态文化遗产建筑风格分类
Kubba, Ahmed Ammar, Talib, Manar Abu, Ibrahim, Iman, Nasir, Qassim
Abstract
The analysis and classification of cultural heritage architectural styles remain challenging due to the complexity of visual images of buildings, which are highly relied on in traditional CNN-based classification approaches in comparison to textual descriptions, and the relative lack of non-western region-specific datasets. This paper addresses this gap by proposing a multimodal machine learning framework to analyze and classify Emirati residential architecture using OpenAI's CLIP model. We integrate visual features from images and textual features from expert descriptions into a unified 512-dimensional embedding, followed by dimensionality reduction with UMAP for visualization and unsupervised clustering using K-Means. Cluster labels, which are derived from manual analysis of the K-Means clusters, are used to train an SVM classifier for automated architectural style classification. Our approach achieves a classification accuracy of 98% across eight identified style clusters, higher than every other study in the literature, demonstrating the effectiveness of combining visual and textual modalities. Overall, this paper highlights the potential of using multimodal AI to support architectural heritage analysis, offering scalable and interpretable tools for exploring regional architectural identities.
Chinese Translation
由于建筑视觉图像的复杂性,文化遗产建筑风格的分析和分类仍然面临挑战。与文本描述相比,传统基于卷积神经网络(CNN)的分类方法高度依赖视觉图像,并且缺乏针对非西方地区的特定数据集。本文通过提出一个多模态机器学习框架,利用OpenAI的CLIP模型分析和分类阿联酋住宅建筑,填补了这一空白。我们将来自图像的视觉特征和来自专家描述的文本特征整合为一个统一的512维嵌入,随后使用UMAP进行降维以便可视化,并使用K-Means进行无监督聚类。聚类标签是通过对K-Means聚类的手动分析得出的,随后用于训练支持向量机(SVM)分类器以实现自动建筑风格分类。我们的方法在八个识别的风格聚类中实现了98%的分类准确率,超过了文献中的其他研究,证明了结合视觉和文本模态的有效性。总体而言,本文强调了使用多模态人工智能支持建筑遗产分析的潜力,提供了可扩展和可解释的工具,以探索区域建筑身份。
cs.CV / 77 / 2609.17189

EventEgoHands++: Event-based Egocentric 3D Hand Mesh Reconstruction with Real Dataset

EventEgoHands++:基于事件的自我中心3D手部网格重建与真实数据集
Hara, Ryosei, Ikeda, Wataru, Hatano, Masashi, Isogawa, Mariko
Abstract
3D hand mesh reconstruction is a challenging yet essential task for downstream applications, including human-robot interaction and AR/VR. Although conventional cameras have been widely adopted for this task, methods that rely on them struggle in low-light environments and under severe motion blur. To address these limitations, event-based cameras have recently attracted attention for their high dynamic range and high temporal resolution. However, applying event cameras to egocentric hand reconstruction remains challenging because camera wearer's motion produces dense background events that obscure hand-specific signals. Although the first egocentric event-based approach mitigates this issue using hand segmentation, its binary hand mask does not distinguish between left and right hands. As a result, the model lacks instance-level hand information and predicts both hands even when only one or neither hand is present. This limitation leads to incorrect inter-hand relationships and degraded reconstruction accuracy. In this paper, we propose EventEgoHands++, a framework for event-based 3D hand mesh reconstruction from an egocentric viewpoint. The proposed method incorporates a Hand Detector that estimates instance-level bounding boxes and masks for both the left and right hands. Moreover, we introduce Adaptive Attention, which dynamically gates the attention based on these detection results to accurately learn the spatial relationship and mutual interactions between the hands. To train and evaluate our framework, we extend the synthetic N-HOT3D dataset and newly construct EEH-R, the largest real-world event-based egocentric hand dataset to date, comprising approximately 1M annotated frames captured in environments including low-light conditions. Extensive experiments on both synthetic and real datasets demonstrate that our method consistently outperforms the baselines.
Chinese Translation
3D手部网格重建是一项具有挑战性但又至关重要的任务,广泛应用于人机交互和增强现实/虚拟现实(AR/VR)等下游应用。尽管传统相机已被广泛应用于此任务,但依赖于它们的方法在低光环境和严重运动模糊下表现不佳。为了解决这些局限性,基于事件的相机因其高动态范围和高时间分辨率而受到关注。然而,将事件相机应用于自我中心的手部重建仍然具有挑战性,因为摄像机佩戴者的运动会产生密集的背景事件,掩盖手部特定信号。虽然首个基于事件的自我中心方法通过手部分割缓解了这一问题,但其二进制手部掩模无法区分左右手。因此,该模型缺乏实例级手部信息,即使只有一只手或没有手存在时也会预测出双手。这一限制导致了错误的手间关系和降低的重建精度。在本文中,我们提出了EventEgoHands++,一个基于事件的自我中心3D手部网格重建框架。所提方法结合了手部检测器,能够为左右手估计实例级边界框和掩模。此外,我们引入了自适应注意力机制,根据这些检测结果动态调整注意力,以准确学习手部之间的空间关系和相互作用。为了训练和评估我们的框架,我们扩展了合成的N-HOT3D数据集,并新构建了EEH-R,这是迄今为止最大的基于事件的自我中心手部真实数据集,包含约100万帧在低光环境下捕获的标注帧。对合成和真实数据集的广泛实验表明,我们的方法始终优于基线。
cs.CV / 78 / 2609.17211

Probe-VAD: Ordinal Likelihood Probing for Training-Free Video Anomaly Detection

Probe-VAD:无训练视频异常检测的序数似然探测
Gu, Jiawei, Zhao, Qilin, Guo, Tengkuo, Zhong, Zhiming, Zhang, Shuangqing, Lyu, Fan, Zhao, Fang, Xie, Guo-Sen, Shan, Caifeng
Abstract
Video anomaly detection (VAD) aims to localize anomalous events in untrimmed videos. Vision-language models (VLMs) provide rich visual understanding for training-free VAD, but existing approaches impose restrictive interfaces between visual understanding and anomaly scoring. Caption-based pipelines compress visual evidence into text, potentially discarding subtle cues, while direct numerical generation forces the model to express its judgment through a small set of predefined scores. Such interfaces can obscure subtle differences in anomaly severity, causing visually distinct clips to receive similar representations or scores and thereby limiting the resolution of anomaly ranking. We propose \textbf{Probe-VAD}, an ordinal binary-probing framework that directly probes severity preferences from a frozen VLM. Given raw video clips, Probe-VAD queries ten ordered severity thresholds and extracts constrained \textit{YES}/\textit{NO} continuation likelihoods. Their normalized preferences form a cumulative severity profile, from which tail evidence is aggregated into a continuous anomaly score, with isotonic projection enforcing ordinal consistency. Experiments on public VAD benchmarks demonstrate superior performance with low computational cost. Probe-VAD provides a simple interface for translating frozen VLM visual understanding into continuous, rank-sensitive anomaly scores without task-specific training or caption-based compression. Code is available at: https://github.com/yvestine/COVAS-VAD.
Chinese Translation
视频异常检测(VAD)旨在定位未剪辑视频中的异常事件。视觉-语言模型(VLMs)为无训练的VAD提供了丰富的视觉理解,但现有方法在视觉理解与异常评分之间施加了限制性接口。基于字幕的流程将视觉证据压缩为文本,可能会丢弃微妙的线索,而直接的数值生成则迫使模型通过一小组预定义的评分来表达其判断。这种接口可能会掩盖异常严重性之间的微妙差异,导致视觉上不同的片段获得相似的表示或评分,从而限制了异常排名的分辨率。我们提出了 extbf{Probe-VAD},一种序数二元探测框架,直接从冻结的VLM中探测严重性偏好。给定原始视频片段,Probe-VAD查询十个有序的严重性阈值,并提取受限的 extit{YES}/ extit{NO}延续似然性。它们的归一化偏好形成一个累积的严重性轮廓,从中将尾部证据汇聚为一个连续的异常评分,等距投影则强制执行序数一致性。在公共VAD基准上的实验表明,Probe-VAD在低计算成本下表现优越。Probe-VAD提供了一个简单的接口,将冻结的VLM视觉理解转化为连续的、敏感于排名的异常评分,而无需特定任务的训练或基于字幕的压缩。代码可在:https://github.com/yvestine/COVAS-VAD 获取。
cs.CV / 79 / 2609.17218

InfoTaxa: Information-Calibrated Label-Free Clustering for Fine-Grained Visual Taxonomy

InfoTaxa:信息校准的无标签聚类用于细粒度视觉分类
Ahmedt-Aristizabal, David, Armin, Mohammad Ali, Petersson, Lars
Abstract
Label-free clustering of frozen pretrained visual embeddings offers a scalable route to biodiversity monitoring, but image-only fine-grained taxonomy exhibits a consistent coarse-to-fine failure mode: clusters recover broad taxonomic structure yet plateau at species level. We study this behaviour on BIOSCAN-5M through an information-calibrated clustering analysis. BioCLIP~2 features with UMAP and HDBSCAN reach $0.79$ AMI at family and $0.67$ at genus, substantially improving over the prior image baseline and remaining competitive with oracle-$K$, graph-based, and learned clustering heads on the same frozen features. To diagnose whether the remaining plateau is method-limited or information-limited, we introduce InfoTaxa, which combines clustering efficiency---the fraction of probe-estimated image information recovered by an unsupervised partition---with paired DNA as an audit signal only, not an inference input. The density pipeline recovers approximately $0.90$ and $0.81$ of the image-available information at order and family, respectively. Held-out late-fusion probes show that adding DNA to the image embedding reduces species-level prediction error by approximately two bits. Robustness analyses cover multiple image encoders, described-species and rare-class subsets, probe diagnostics, and held-out-species coarse-rank generalisation and same-species retrieval. Thus, in the tested setting, species-level label-free clustering is both clustering-limited and representation-limited: improved clustering may recover additional image-exposed structure, but cannot close the DNA-audited information gap alone.
Chinese Translation
无标签聚类冻结的预训练视觉嵌入为生物多样性监测提供了一种可扩展的途径,但仅基于图像的细粒度分类表现出一致的粗到细的失败模式:聚类恢复了广泛的分类结构,但在物种级别停滞不前。我们通过信息校准的聚类分析在BIOSCAN-5M上研究这种行为。使用UMAP和HDBSCAN的BioCLIP~2特征在科级达到了$0.79$的调整互信息(AMI),在属级达到了$0.67$,显著优于之前的图像基线,并与同样冻结特征上的oracle-$K$、基于图的和学习聚类头保持竞争。为了诊断剩余的停滞是方法限制还是信息限制,我们引入了InfoTaxa,它结合了聚类效率——无监督分区恢复的探针估计图像信息的比例——与配对DNA作为审计信号,仅作为审计信号,而非推断输入。密度管道在目级和科级分别恢复了大约$0.90$和$0.81$的可用图像信息。保留的后融合探针显示,将DNA添加到图像嵌入中可以将物种级预测误差减少大约两个比特。稳健性分析涵盖了多个图像编码器、描述物种和稀有类别子集、探针诊断以及保留物种的粗排名泛化和同物种检索。因此,在测试环境中,物种级无标签聚类既受限于聚类本身,也受限于表示:改进的聚类可能恢复额外的图像暴露结构,但单靠聚类无法弥补DNA审计的信息差距。
cs.CV / 80 / 2609.17227

FROD: Feature Matching Residual Denoising Oracle Bone Decipher

FROD:特征匹配残差去噪甲骨文解读
Hou, Yanbin, Xiong, Biao, Xu, Guojun, Xiang, Jianwen, Tan, Cheng, Yang, Yanchao, Zhou, Junwei
Abstract
Oracle bone script (OBS), one of the earliest Chinese writing systems, plays an important role in the study of Chinese etymology. Traditional decipherment relies heavily on domain experts who analyze characters through semantic context and structural evolution. To assist this labor-intensive process, we formulate OBS decipherment assistance as a cross-era image translation task and propose FROD (Feature Matching Residual Denoising Oracle Bone Decipher). Although many OBS characters differ substantially from their modern counterparts, they often preserve local topological invariants at the radical level. During training, FROD leverages fast feature matching to provide gated segmentation supervision: paired samples with sufficient matches are processed patch-wise to align fine-grained radicals, whereas low-similarity pairs are trained holistically to avoid mismatched artifacts. In addition, a Residual Denoising Diffusion Model (RDDM) jointly estimates noise and residual signals, thereby reducing the positional drift and stroke disorder commonly observed in standard diffusion models. Finally, a multi-stage font stylization refinement network refines the generated images by eliminating edge noise and stabilizing stroke structures. On our augmented character-disjoint dataset, FROD achieves higher Top-1 recognition accuracy than the evaluated baselines, with a 3.8% absolute gain over OBSD.
Chinese Translation
甲骨文(Oracle bone script,OBS)是最早的汉字书写系统之一,在汉字词源研究中发挥着重要作用。传统的解读方法严重依赖领域专家通过语义上下文和结构演变来分析字符。为了辅助这一劳动密集型过程,我们将甲骨文解读辅助任务形式化为跨时代的图像翻译任务,并提出了FROD(Feature Matching Residual Denoising Oracle Bone Decipher)。尽管许多甲骨文字形与现代汉字有显著差异,但它们通常在部首层面保留局部拓扑不变性。在训练过程中,FROD利用快速特征匹配提供门控分割监督:具有足够匹配的配对样本以块为单位处理,以对齐细粒度的部首,而低相似度的配对则进行整体训练,以避免不匹配伪影。此外,残差去噪扩散模型(Residual Denoising Diffusion Model,RDDM)共同估计噪声和残差信号,从而减少标准扩散模型中常见的位置漂移和笔画混乱。最后,多阶段字体风格化精细化网络通过消除边缘噪声和稳定笔画结构来优化生成的图像。在我们的增强字符不重叠数据集上,FROD的Top-1识别准确率超过了评估基线,较OBSD有3.8%的绝对提升。
cs.CV / 81 / 2609.17230

DecoGS: Adaptive Static-Dynamic Decoupling of 3D Gaussians for Free-Viewpoint Video Streaming

DecoGS:自适应静态-动态解耦的3D高斯用于自由视角视频流
Sulo, Idil, Supikov, Alexey, Demir, Ilke, Liu, Sainan
Abstract
Streaming 3D reconstruction demands both speed and temporal fidelity, goals that existing methods undermine by updating every Gaussian every frame, even in static regions. We present DecoGS, a method for efficient online training of 3D Gaussians from streaming videos. Unlike prior methods that update the entire scene indiscriminately, DecoGS introduces an adaptive mechanism that selectively focuses optimization on spatiotemporal regions exhibiting motion or photometric changes. This targeted training strategy eliminates redundant updates that cause flickering and drift in nominally static regions, while enabling fast, high-fidelity scene updates. The pipeline further integrates region-aware Gaussian management through gradient gating and efficient visibility filtering to maintain temporal coherence and a compact memory footprint. On N3DV and MeetRoom, DecoGS achieves 34.55 and 31.60 dB PSNR respectively, outperforming all streaming and offline baselines, while rendering at 261 FPS with $70\times$ lower temporal flicker than the best prior method, requiring no large-scale pretraining.
Chinese Translation
流式3D重建既需要速度又需要时间保真度,而现有方法通过在每帧中更新每个高斯,即使在静态区域也会削弱这两个目标。我们提出了DecoGS,一种从流式视频中高效在线训练3D高斯的方法。与以往不加区分地更新整个场景的方法不同,DecoGS引入了一种自适应机制,选择性地将优化重点放在表现出运动或光度变化的时空区域。这种有针对性的训练策略消除了在名义上静态区域中导致闪烁和漂移的冗余更新,同时实现快速、高保真的场景更新。该流程进一步通过梯度门控和高效的可见性过滤整合了区域感知的高斯管理,以保持时间一致性和紧凑的内存占用。在N3DV和MeetRoom数据集上,DecoGS分别达到了34.55和31.60 dB的PSNR,超越了所有流式和离线基线,同时以261 FPS的速度渲染,时间闪烁比最佳的先前方法低$70 imes$,且无需大规模预训练。
cs.CV / 82 / 2609.17248

Video-HolmesV2: Can MLLMs Reason with Spatio-Temporal Audio-Visual Evidence in Long Videos?

视频-霍姆斯V2:多模态大语言模型能否在长视频中利用时空音频-视觉证据进行推理?
Wei, Zhaoyang, Wang, Zipeng, Cao, Yushe, Qiang, Chenhui, Cheng, Shuaibing, Yang, Xuesong, Nie, Sen, Jiang, Bowen, Ding, Wenchao, Hao, Yanchao, Wei, Zheng, Yu, Xuehui, Han, Zhenjun
Abstract
Multimodal Large Language Models have demonstrated impressive video understanding, yet their ability to reason over long-form narratives is often masked by visual-centric evaluations and inefficient context processing. Existing benchmarks over-rely on visual heuristics while marginalizing auditory cues, effectively reducing models to "silent observers" that bypass genuine cross-modal reasoning. Moreover, standard dense sampling creates an evidence-context trade-off: increasing frames to capture evidence inevitably leads to attention distraction and token explosion. To bridge these gaps, we present Video-HolmesV2, a novel benchmark designed for Deep Audio-Visual Coupling. Unlike previous works, it enforces an Evidence-Based Evaluation, requiring models to justify answers with precise spatio-temporal audio-visual evidence, thereby reducing confounding effects of guessing and hallucinated evidence. To support this, we introduce: (1) a Multi-Model Cross-Verification pipeline to ensure task rigor; (2) a Spatio-temporal Evidence-Aware Metric for fine-grained calibration. Furthermore, we propose an Audio-Text Guided Token Compression framework. By fusing task intent with auditory anchors, our method distills high-value reasoning cues to mitigate long-context noise. In our evaluation, even strong proprietary models achieve below 60% accuracy, while our approach outperforms comparable open-source omni-models.
Chinese Translation
多模态大语言模型在视频理解方面表现出色,但它们在长篇叙事中的推理能力常常被以视觉为中心的评估和低效的上下文处理所掩盖。现有基准过于依赖视觉启发式,而忽视了听觉线索,实际上将模型简化为“无声观察者”,绕过了真正的跨模态推理。此外,标准的密集采样造成了证据与上下文之间的权衡:增加帧数以捕捉证据不可避免地导致注意力分散和标记爆炸。为了解决这些问题,我们提出了视频-霍姆斯V2,这是一个为深度音频-视觉耦合设计的新基准。与以往的工作不同,它强制执行基于证据的评估,要求模型用精确的时空音频-视觉证据来证明答案,从而减少猜测和虚构证据的混淆效应。为此,我们引入了:(1) 多模型交叉验证管道,以确保任务的严谨性;(2) 时空证据感知指标,以进行细粒度的校准。此外,我们还提出了一种音频-文本引导的标记压缩框架。通过将任务意图与听觉锚点融合,我们的方法提炼出高价值的推理线索,以减轻长上下文噪声。在我们的评估中,即使是强大的专有模型准确率也低于60%,而我们的方法在可比的开源全模型中表现更佳。
cs.CV / 83 / 2609.17257

Exploring 2D backbone effects for indoor semantic occupancy prediction

探索二维主干网络对室内语义占用预测的影响
Fanga, Shizhang, Yea, Wanling, Zheng, Qi
Abstract
Semantic occupancy prediction gives an embodied agent a voxel-level account of where space is free, occupied, and semantically meaningful. In RGB-D pipelines such as EmbodiedScan, the image encoder is often left as a default module, even though its features are the visual evidence later sampled into the 3D grid. We study this design choice directly. A central finding is that changing the 2D backbone improves occupancy accuracy more than several carefully designed occupancy architectures or modules. We keep the main RGB-D projection, depth branch, and occupancy head fixed, and replace only the image backbone. The compared encoders are CLIP-ResNet, CLIP-ViT, BLIP2, and DINOv2. Under the controlled setting, the measured mIoU changes substantially: DINOv2 obtains 30.55\%, BLIP2 obtains 29.49\%, CLIP-ViT obtains 24.33\%, and CLIP-ResNet obtains 17.41\%. The stronger encoders also exceed the original EmbodiedScan ResNet-50 baseline without modifying the downstream 3D fusion pipeline. Class-level results give a more detailed picture: DINOv2 is stronger on many layout and structural categories, whereas BLIP2 remains close on several object-centered classes. CLIP-ViT improves clearly over CLIP-ResNet, showing that the way CLIP features are exposed as dense tokens matters for voxel lifting. These results indicate that the image backbone is not a secondary engineering detail in embodied semantic occupancy, but a major source of variation in the final 3D prediction.
Chinese Translation
语义占用预测为具身代理提供了一个体素级的空间状态描述,指明了空间的空闲、被占用和语义上有意义的区域。在RGB-D管道中,例如EmbodiedScan,图像编码器通常作为默认模块使用,尽管其特征是后续采样到3D网格中的视觉证据。我们直接研究了这一设计选择。一个核心发现是,改变二维主干网络比几种精心设计的占用架构或模块更能提高占用精度。我们固定了主要的RGB-D投影、深度分支和占用头,仅替换图像主干。比较的编码器包括CLIP-ResNet、CLIP-ViT、BLIP2和DINOv2。在控制条件下,测得的mIoU变化显著:DINOv2获得30.55%,BLIP2获得29.49%,CLIP-ViT获得24.33%,而CLIP-ResNet获得17.41%。更强的编码器在不修改下游3D融合管道的情况下也超过了原始的EmbodiedScan ResNet-50基线。类别级结果提供了更详细的视角:DINOv2在许多布局和结构类别上表现更强,而BLIP2在几个以物体为中心的类别上保持接近。CLIP-ViT明显优于CLIP-ResNet,表明CLIP特征以密集标记的方式暴露对体素提升至关重要。这些结果表明,图像主干网络在具身语义占用中并不是一个次要的工程细节,而是最终3D预测中一个主要的变异来源。
cs.CV / 84 / 2609.17269

Semantic-Spatial Agreement Verification for Mitigating Object Hallucination in Multimodal Large Language Models

语义-空间一致性验证以减轻多模态大型语言模型中的对象幻觉
Ren, Ziheng, Gao, Qian, Fan, Jun, Ding, Guohui, Yang, Zhenyu, Xiao, Yuteng
Abstract
Multimodal large language models generate natural-language responses from visual inputs, yet may mention objects absent from an image. In medication assistance, accessible perception, and environmental decision-making, such hallucinations can create real-world safety risks. We propose Semantic-Spatial Agreement Verification (SSAV), a training-free method for verifying object claims. A visually grounded claim should remain stable across semantically equivalent queries and repeatedly localize to the same image region. SSAV aggregates multiple prompts to estimate semantic support and reduce sensitivity to query wording. Query-Induced Regional Verification (QIRV) combines cross-query region persistence, spatial overlap, and relative candidate dominance to identify isolated high responses and dispersed localizations. A geometric mean fuses semantic and spatial evidence, lowering the verification score when either branch lacks support. Experiments on three base models and multiple evaluation protocols show that SSAV effectively mitigates object hallucination. On LLaVA-1.5-7B, accuracy averaged across COCO, A-OKVQA, and GQA improves by 1.81 and 3.17 percentage points under POPE Popular and Adversarial, respectively, while CHAIRs decreases from 49.40% to 32.80%. These results show that cross-query semantic stability and regional consistency provide interpretable external visual evidence for object claims.
Chinese Translation
多模态大型语言模型从视觉输入生成自然语言响应,但可能会提及图像中不存在的对象。在药物辅助、可及感知和环境决策中,这种幻觉可能会带来现实世界的安全风险。我们提出了一种语义-空间一致性验证(Semantic-Spatial Agreement Verification, SSAV)方法,这是一种无需训练的对象声明验证方法。一个视觉基础的声明应在语义等价查询中保持稳定,并重复定位到相同的图像区域。SSAV 聚合多个提示以估计语义支持,并降低对查询措辞的敏感性。查询诱导的区域验证(Query-Induced Regional Verification, QIRV)结合跨查询区域持久性、空间重叠和相对候选优势,以识别孤立的高响应和分散的定位。几何平均值融合语义和空间证据,当任一分支缺乏支持时降低验证分数。在三个基础模型和多个评估协议上的实验表明,SSAV 有效减轻了对象幻觉。在 LLaVA-1.5-7B 上,跨 COCO、A-OKVQA 和 GQA 的准确率在 POPE Popular 和 Adversarial 下分别提高了 1.81 和 3.17 个百分点,而 CHAIRs 从 49.40% 降至 32.80%。这些结果表明,跨查询的语义稳定性和区域一致性为对象声明提供了可解释的外部视觉证据。
cs.CV / 85 / 2609.17308

Optical-Flow Wingbeat Counting in MuJoCo: A Comparison of Convolutional, Spiking, and Attention-Based Temporal Models

MuJoCo中的光流翼拍计数:卷积、脉冲和基于注意力的时间模型比较
Nengbo, Zhang
Abstract
Visual monitoring of flapping-wing vehicles requires distinguishing individual wingbeats from motion strength and average frequency. This paper presents a controlled MuJoCo evaluation of wingbeat counting from signed optical flow observed by virtual cameras mounted on Crazyflie vehicles. Three flapping-wing models were recorded at optical distances of 1.5 and 3.0 m, producing 1,440 clips from 240 paired scene configurations with a scene-level 3:1 training-test split. A common spatial convolutional encoder was combined with a causal temporal convolutional network, a recurrent leaky integrate-and-fire spiking network, or causal self-attention. Each model predicted phase and activity, followed by the same directed-crossing event counter. The six existing convolutional models were retained, and all twelve new models were frozen before their test predictions were generated. Exact-count accuracies at 1.5 m were 96.67%, 95.00%, and 96.67%, respectively; at 3.0 m they were 94.44%, 92.22%, and 95.00%. All paired scene-bootstrap intervals for differences in exact-count accuracy included zero. Seven far-distance spiking-model clips had correct totals despite event-timing mismatches, demonstrating why total-count and event-level measurements must be reported together. The results support the feasibility of causal optical-flow counting in the tested setting and identify boundary-sensitive errors. They do not establish an architecture ranking across repeated training, real-flight robustness, or hardware efficiency.
Chinese Translation
对拍翼飞行器的视觉监测需要从运动强度和平均频率中区分个别的翼拍。本文展示了在MuJoCo环境中对通过安装在Crazyflie飞行器上的虚拟摄像头观察到的带符号光流进行翼拍计数的控制评估。记录了三种拍翼模型在1.5米和3.0米的光学距离下的表现,产生了从240对场景配置中生成的1440个片段,场景级的训练-测试比例为3:1。将一个通用的空间卷积编码器与因果时间卷积网络、递归泄漏积分-发火脉冲网络或因果自注意力相结合。每个模型预测相位和活动,随后使用相同的定向交叉事件计数器。保留了六个现有的卷积模型,并在生成测试预测之前冻结了所有十二个新模型。在1.5米处的精确计数准确率分别为96.67%、95.00%和96.67%;在3.0米处分别为94.44%、92.22%和95.00%。所有配对场景自助间隔的精确计数准确率差异均包含零。七个远距离脉冲模型片段尽管事件时序不匹配,但仍有正确的总计,展示了为何总计和事件级测量必须一起报告。结果支持在测试环境中进行因果光流计数的可行性,并识别了边界敏感错误。它们并未建立在重复训练、真实飞行鲁棒性或硬件效率方面的架构排名。
cs.CV / 86 / 2609.17387

PanoGS-SLAM: Panoramic 3D Gaussian Splatting SLAM

PanoGS-SLAM:全景3D高斯点云SLAM
Mao, Yongqi, Shi, Hao, Zhang, Yufan, Yi, Zhonghua, Guo, Xiangfei, Wang, Kaiwei
Abstract
Real-time dense SLAM is a core capability for robotics applications that require robust localization and high- quality mapping in dynamic or fast-changing environments. Recent 3D Gaussian Splatting (3DGS)-based SLAM methods have shown promising performance, but most are designed for narrow-FoV pinhole cameras, where limited angular coverage weakens pose observability and often leads to unstable photo- metric optimization under rapid motion and large viewpoint changes. We present PanoGS-SLAM, the first panoramic dense SLAM system built on 3D Gaussian Splatting. Our method per- forms differentiable rendering and pose optimization directly in the spherical domain, enabling omnidirectional photometric constraints for more stable tracking. To improve geometric consistency and robustness, we introduce (1) a sphere-consistent photometric loss that compensates for the area distortion of equirectangular projection, and (2) a depth-guided Gaussian initialization strategy that stabilizes incremental mapping in newly observed regions. Extensive experiments on both real and synthetic panoramic benchmarks (PALVIO and SynPano) show that PanoGS-SLAM consistently outperforms geometric and GS-based baselines in tracking accuracy and rendering quality, while achieving fast front-end convergence and real-time perfor- mance. In addition, controlled field-of-view experiments reveal a clear monotonic improvement in optimization conditioning and convergence stability as angular coverage increases, high- lighting the fundamental role of sensing geometry in shaping the optimization landscape of differentiable Gaussian-based SLAM. The source code will be made publicly available.
Chinese Translation
实时密集SLAM是机器人应用的核心能力,要求在动态或快速变化的环境中实现稳健的定位和高质量的地图构建。基于3D高斯点云(3DGS)的SLAM方法近年来表现出良好的性能,但大多数方法是为窄视场针孔相机设计的,有限的角度覆盖削弱了位姿可观测性,并且在快速运动和大视角变化下往往导致不稳定的光度优化。我们提出了PanoGS-SLAM,这是第一个基于3D高斯点云构建的全景密集SLAM系统。我们的方法直接在球面域中执行可微渲染和位姿优化,从而实现全向光度约束,以实现更稳定的跟踪。为了提高几何一致性和鲁棒性,我们引入了(1)一种球面一致的光度损失,补偿等矩形投影的面积畸变,以及(2)一种深度引导的高斯初始化策略,以稳定新观察区域的增量映射。在真实和合成全景基准(PALVIO和SynPano)上的大量实验表明,PanoGS-SLAM在跟踪精度和渲染质量上始终优于几何和基于高斯点云的基线,同时实现快速的前端收敛和实时性能。此外,受控视场实验揭示了随着角度覆盖的增加,优化条件和收敛稳定性呈现出明显的单调改善,突显了传感几何在塑造可微高斯基SLAM优化景观中的基础性作用。源代码将公开发布。
cs.CV / 87 / 2609.17413

SSC-Priors: Exploring Semantic and Visibility Priors to Boost Lidar Semantic Scene Completion

SSC-Priors:探索语义和可见性先验以提升激光雷达语义场景补全
Martyniuk, Tetiana, Seele, Jonathan, Boulch, Alexandre, Puy, Gilles, Marlet, Renaud, de Charette, Raoul
Abstract
This paper investigates easy strategies to boost the performance of existing networks for lidar semantic scene completion (SSC) without requiring complex architectural redesigns. The fact is that, over the last years, SSC methods have mostly pursued architectural innovations, making the models heavier and more complex, e.g., by jointly training a point cloud semantic segmentation branch. In this work, we take a step back and explore two priors used as simple ingredients (possibly noisy) to improve existing approaches: semantic pseudo-labels and sensor visibility information. Concretely, we provide both kinds of information directly as additional inputs to a given SSC network, requiring only a minimal adaptation of the original architecture. We first demonstrate that endowing input point clouds with semantic pseudo-labels from off-the-shelf segmenters significantly improves the performance of existing SSC models. In fact, by evaluating these models against an oracle, we establish that high-quality semantic priors are a primary driver of semantic gains (mIoU), and that the SSC model can be trained just once with ground-truth semantics and then exploited without retraining using any segmenter. Furthermore, we equip the input lidar point cloud with visibility information that distinguishes between empty spaces (between the lidar and a scanned point) and unknown spaces (outside of lines of sight), providing a secondary performance boost across the tested architectures. We study the design space of data for representing visibility information and bound the remaining headroom with a ground-truth oracle on the free-space labels. On SemanticKITTI, these enhancements make older models competitive with state-of-the-art systems across four architectures, in one case even outperforming them. On the SSCBench-nuScenes benchmark, both priors also transfer with the sparser 32-beam sensor.
Chinese Translation
本文研究了提升现有激光雷达语义场景补全(SSC)网络性能的简单策略,而无需复杂的架构重设计。事实上,在过去几年中,SSC 方法主要追求架构创新,使得模型变得更重且更复杂,例如,通过联合训练点云语义分割分支。在本研究中,我们退后一步,探索作为简单成分(可能带有噪声)的两种先验,以改善现有方法:语义伪标签和传感器可见性信息。具体而言,我们将这两种信息直接作为额外输入提供给特定的 SSC 网络,仅需对原始架构进行最小的适应。我们首先证明,赋予输入点云来自现成分割器的语义伪标签显著提高了现有 SSC 模型的性能。实际上,通过将这些模型与一个理想模型进行评估,我们确定高质量的语义先验是语义增益(mIoU)的主要驱动因素,并且 SSC 模型可以仅用真实语义训练一次,然后在不重新训练的情况下利用任何分割器。此外,我们为输入的激光雷达点云配备了可见性信息,以区分空白区域(激光雷达与扫描点之间)和未知区域(视线之外),在测试的架构中提供了二次性能提升。我们研究了表示可见性信息的数据设计空间,并通过真实标签的理想模型界定了剩余的提升空间。在 SemanticKITTI 数据集上,这些增强使得旧模型在四种架构中与最先进的系统具有竞争力,在某些情况下甚至超越了它们。在 SSCBench-nuScenes 基准测试中,这两种先验也能与更稀疏的 32 梯度传感器进行迁移。
cs.CV / 88 / 2609.17414

SlotDiT: Object-Centric Representations for Diffusion Transformers

SlotDiT:面向扩散变换器的对象中心表示
Plepi, Gjergj, Behnke, Sven
Abstract
Text-conditioned latent diffusion models perform strongly in video generation and are promising backbones for robotic applications. However, existing approaches rely on pixel-level or VAE-based latent representations that lack explicit semantic structure, leaving the impact of the representation space largely unexplored. Slot-based object-centric representations offer a structured alternative by decomposing scenes into object-level latents, or slots. While they have shown success in dynamics modeling and planning, they have not yet been explored for diffusion-based generative modeling. We introduce SlotDiT, a text-guided Diffusion Transformer (DiT) that operates in a slot-based latent space. Given a reference image and a language instruction, SlotDiT decomposes the scene into object-centric slots representing individual entities. Conditioned on the instruction and observed scene context, the model autoregressively denoises future slot trajectories to predict scene dynamics. To systematically investigate latent-space design for diffusion transformers, we compare slot-based representations against VAE-based and semantics-aligned alternatives within a unified DiT framework. Our experiments show that using slots as DiT latents yields competitive video generation quality while consistently improving task-completion rates across four robotic datasets. Furthermore, their compact representation provides a computationally efficient alternative to VAE-based and semantics-aligned latent spaces. Overall, our results demonstrate that object-centric structure is a powerful inductive bias for diffusion-based generative modeling in robotic environments. The project page is available at https://slot-dit.github.io/.
Chinese Translation
文本条件的潜在扩散模型在视频生成中表现出色,并且在机器人应用中具有良好的前景。然而,现有的方法依赖于像素级或基于变分自编码器(VAE)的潜在表示,这些表示缺乏明确的语义结构,使得表示空间的影响尚未得到充分探索。基于槽的对象中心表示通过将场景分解为对象级潜在变量或槽,提供了一种结构化的替代方案。尽管它们在动态建模和规划中取得了成功,但尚未在基于扩散的生成建模中进行探索。我们提出了SlotDiT,一种文本引导的扩散变换器(DiT),它在基于槽的潜在空间中运行。给定参考图像和语言指令,SlotDiT将场景分解为表示个体实体的对象中心槽。基于指令和观察到的场景上下文,模型自回归地去噪未来的槽轨迹,以预测场景动态。为了系统地研究扩散变换器的潜在空间设计,我们在统一的DiT框架内将基于槽的表示与基于VAE和语义对齐的替代方案进行了比较。我们的实验表明,使用槽作为DiT潜在变量能够产生具有竞争力的视频生成质量,同时在四个机器人数据集上持续提高任务完成率。此外,它们的紧凑表示为基于VAE和语义对齐的潜在空间提供了一种计算上高效的替代方案。总体而言,我们的结果表明,对象中心结构是基于扩散的生成建模在机器人环境中的一种强大归纳偏置。项目页面可访问:https://slot-dit.github.io/
cs.CV / 89 / 2609.17427

Tracking the Unseen: An Occlusion-Robust Framework for Target Tracking Under Full and Long-Term Occlusion

追踪隐形目标:一种针对完全和长期遮挡的目标追踪鲁棒框架
Mohammed, Mais, Mohammed, Sharifa, Awadh, Hanan, Bamaas, Haneen, Bawazeer, Raghad, Alghamdi, Elham
Abstract
Real-time multi-object tracking systems remain highly vulnerable to full and long-term occlusion, where targets temporarily or completely disappear from the camera's field of view. Conventional trackers may terminate trajectories prematurely, resulting in identity loss and reduced situational awareness in applications such as defense and surveillance. This work proposes an occlusion-robust target tracking framework that maintains target identity and trajectory continuity through the integration of YOLOv11n object detection, Kalman Filter motion prediction, and occlusion-aware appearance-based re-identification. The framework consists of three stages: object detection, position estimation during occlusion, and identity recovery after target reappearance. Six Re-Identification (Re-ID) architectures were evaluated within the same tracking framework under identical conditions, with the Occlusion-Aware Mask Network (OAMN) achieving the best overall performance and therefore selected for the final pipeline. The framework was benchmarked against OccluTrack on the public OVIS dataset, achieving relative improvements of 18.1 percent in Multiple Object Tracking Accuracy (MOTA) and 25.1 percent in Identity F1 Score (IDF1), while reducing identity switches by 12.8 percent. On a custom military dataset simulating surveillance and battlefield-like environments with long-term occlusion, the framework achieved a MOTA of 0.734 and an IDF1 of 0.729, corresponding to relative improvements of 14.2 percent and 5.8 percent over OccluTrack. The system demonstrated strong tracking continuity, robust identity preservation, and reliable trajectory estimation under challenging occlusion conditions, highlighting its effectiveness for defense-related surveillance applications requiring continuous target tracking during visibility loss.
Chinese Translation
实时多目标追踪系统在完全和长期遮挡情况下仍然高度脆弱,此时目标会暂时或完全消失在摄像机的视野中。传统追踪器可能会过早终止轨迹,导致身份丧失和在防御与监视等应用中的情境意识降低。本研究提出了一种遮挡鲁棒的目标追踪框架,通过整合YOLOv11n目标检测、卡尔曼滤波器运动预测和基于外观的遮挡感知重识别,保持目标身份和轨迹连续性。该框架由三个阶段组成:目标检测、遮挡期间的位置估计和目标重新出现后的身份恢复。在相同的追踪框架下,在相同条件下评估了六种重识别(Re-ID)架构,其中遮挡感知掩膜网络(Occlusion-Aware Mask Network, OAMN)表现最佳,因此被选为最终管道。该框架在公共OVIS数据集上与OccluTrack进行了基准测试,在多目标追踪精度(Multiple Object Tracking Accuracy, MOTA)上实现了18.1%的相对提升,在身份F1分数(Identity F1 Score, IDF1)上提升了25.1%,同时减少了12.8%的身份切换。在一个模拟监视和战场环境的自定义军事数据集中,该框架在长期遮挡情况下实现了0.734的MOTA和0.729的IDF1,相较于OccluTrack分别提升了14.2%和5.8%。该系统在具有挑战性的遮挡条件下展示了强大的追踪连续性、鲁棒的身份保持和可靠的轨迹估计,突显了其在需要在可见性丧失期间进行连续目标追踪的防御相关监视应用中的有效性。
cs.CV / 90 / 2609.17443

BrainFocus: EEG-Guided ROI Selection for Efficient Vision-Language Models

BrainFocus:基于脑电图的区域选择用于高效的视觉-语言模型
Peng, Yihui, Lu, Guorui, Chen, Qinyu
Abstract
Vision-language models (VLMs) achieve strong visual question answering (VQA) performance, but processing large cluttered images is computationally expensive when only a small region is relevant. Electroencephalography (EEG) signals, which capture human neural responses to visual stimuli, can provide a human-derived semantic cue about the region of interest (ROI). However, EEG-guided visual category decoding remains imperfect, making direct ROI routing unreliable. In this work, we propose BrainFocus, a reliable EEG-guided efficient VLM framework for VQA. An EEG classifier predicts a target category, and a YOLO detector localizes the matching ROI. The VLM receives the cropped ROI only when both predictions pass confidence thresholds; otherwise, it processes the full image. For evaluation, we build on EEG-ImageNet to construct a 40-class benchmark comprising generated cluttered images and real object-centric images, with target-ROI annotations and 600 English visual question-answer pairs. Across Qwen3.5-VL 2B, 4B, and 9B models, BrainFocus improves VQA accuracy by 4.14-9.87 percentage points (pp) on cluttered scenes while reducing input tokens and total tokens by 23.2%-39.4% and 23.2%-39.3%, and end-to-end floating-point operations (FLOPs) by 23.2%-39.5%. These results demonstrate that EEG can guide efficient VLM inference even when its semantic decoding is imperfect.
Chinese Translation
视觉-语言模型(VLMs)在视觉问答(VQA)任务中表现出色,但处理大型杂乱图像的计算成本较高,尤其是当只有小区域相关时。脑电图(EEG)信号能够捕捉人类对视觉刺激的神经反应,提供关于感兴趣区域(ROI)的语义线索。然而,基于EEG的视觉类别解码仍然不够完善,使得直接的ROI路由不可靠。在本研究中,我们提出了BrainFocus,一种可靠的基于EEG的高效VLM框架用于VQA。EEG分类器预测目标类别,而YOLO检测器则定位匹配的ROI。只有当两个预测都通过置信度阈值时,VLM才会接收裁剪后的ROI;否则,它将处理完整图像。为了评估,我们在EEG-ImageNet的基础上构建了一个包含40个类别的基准数据集,包括生成的杂乱图像和真实的物体中心图像,配有目标ROI注释和600对英文视觉问答。通过Qwen3.5-VL 2B、4B和9B模型,BrainFocus在杂乱场景中提高了VQA准确率4.14-9.87个百分点,同时减少了输入标记和总标记数量分别为23.2%-39.4%和23.2%-39.3%,以及端到端浮点运算(FLOPs)减少了23.2%-39.5%。这些结果表明,即使在语义解码不完善的情况下,EEG也能指导高效的VLM推理。
cs.CV / 91 / 2609.17450

ORCA: Occlusion-Aware Refinement and Completion for Novel View Synthesis

ORCA: 关注遮挡的细化与补全用于新视角合成
Jakubowska, Weronika, Zięba, Maciej, Spurek, Przemysław
Abstract
Novel-view synthesis from a single image is a fundamentally ambiguous problem. As the camera moves away from the input viewpoint, previously hidden regions become visible, exposing missing geometry and holes in the reconstructed scene. Existing methods often rely on generative models to complete such regions. However, many of these artifacts are small gaps near depth boundaries and do not require generating new scene content. In order to eliminate expensive process of generating image we introduce ORCA, an occlusion-aware method for reconstructing and completing explorable 3D scenes from a single image. ORCA first introduces 3D structure into a Gaussian-anchor representation using monocular depth while preserving the original camera-ray correspondence. During scene exploration, missing regions are handled based on their size and structure. Small disocclusions are repaired using RGB-D information already available in the reconstruction, while generative inpainting is reserved for larger regions that cannot be reliably recovered from the scene. New Gaussian anchors are added and optimized locally without modifying the existing representation. By reducing unnecessary reliance on generative inpainting, ORCA limits generation-induced hallucinations and better preserves the content and structure of the original scene. On DIV2K, ORCA improves novel-view quality over VistaDream across all reported metrics, increasing MUSIQ from 61.60 to 68.71 and CLIP-IQA from 0.474 to 0.574. These results show that many novel-view artifacts can be repaired effectively by reusing information already present in the reconstructed scene.
Chinese Translation
从单幅图像合成新视角是一个根本上模糊的问题。当相机远离输入视点时,先前隐藏的区域变得可见,暴露出重建场景中的缺失几何形状和孔洞。现有方法通常依赖生成模型来填补这些区域。然而,这些伪影中的许多是深度边界附近的小间隙,并不需要生成新的场景内容。为了消除生成图像的高昂成本,我们提出了ORCA,这是一种关注遮挡的方法,用于从单幅图像重建和补全可探索的3D场景。ORCA首先利用单目深度将3D结构引入高斯锚点表示,同时保持原始相机光线的对应关系。在场景探索过程中,缺失区域根据其大小和结构进行处理。小的遮挡通过重建中已有的RGB-D信息进行修复,而生成性修补则保留用于无法可靠恢复的较大区域。新的高斯锚点被添加并在局部优化,而不修改现有表示。通过减少对生成性修补的不必要依赖,ORCA限制了生成引起的幻觉,并更好地保留了原始场景的内容和结构。在DIV2K数据集上,ORCA在所有报告的指标中均超过了VistaDream,提高了新视角质量,MUSIQ从61.60提高到68.71,CLIP-IQA从0.474提高到0.574。这些结果表明,许多新视角伪影可以通过重用重建场景中已有的信息有效修复。
cs.CV / 92 / 2609.17458

Tables Decoded: DELTA for Structure, TARQA for Understanding

表格解码:结构的 DELTA,理解的 TARQA
Rajput, Jahanvi, Kudale, Dhruv, Kasturi, Saikiran, Verma, Utkarsh, Ramakrishnan, Ganesh
Abstract
Table understanding is a core task in document intelligence, encompassing two key subtasks: table reconstruction and table visual question answering (TabVQA). While recent approaches predominantly rely on vision- language models (VLMs) operating on table images, we propose a more scalable and effective alternative based on structured textual representations. These representations are easier to process, align more naturally with LLMs, and eliminate the need for language-specific visual encoders, making them particularly suitable for multilingual documents. We present DELTA, which separates physical structure recognition, logical structure recognition, and OCR to extract both layout and content accurately. DELTA outputs tables in Optimised Table Structure Language (OTSL), a compact and unified format that encodes cell arrangements and textual content. On table structure recognition (TSR), DELTA achieves TEDS- Structure scores comparable with state-of-the-art methods across FinTabNet, PubTabNet, and PubTables-1M. We further establish its robustness on non-English tables through our curated Hindi benchmark, TORQUE. Building on this, we introduce TARQA, an LLM fine-tuned on OTSL sequences. Our approach yields gains of 9.3 p.p. on WTQ (TabQA) and 9.2 p.p. on FinTabNetQA (TabVQA), respectively. On TORQUE, our method ranks second among all VLMs and DELTA + LLM variants. We release our code, models, and benchmark at: https://github.com/Tihiitborg/Tables-Decoded
Chinese Translation
表格理解是文档智能中的核心任务,涵盖两个关键子任务:表格重建和表格视觉问答(TabVQA)。尽管近期的方法主要依赖于在表格图像上操作的视觉-语言模型(VLMs),我们提出了一种基于结构化文本表示的更具可扩展性和有效性的替代方案。这些表示更易于处理,与大型语言模型(LLMs)更自然地对齐,并消除了对特定语言视觉编码器的需求,使其特别适合多语言文档。我们提出了 DELTA,它将物理结构识别、逻辑结构识别和光学字符识别(OCR)分开,以准确提取布局和内容。DELTA 输出以优化表格结构语言(Optimised Table Structure Language, OTSL)格式的表格,这是一种紧凑且统一的格式,编码了单元格排列和文本内容。在表格结构识别(TSR)方面,DELTA 在 FinTabNet、PubTabNet 和 PubTables-1M 上的 TEDS-Structure 分数与最先进的方法相当。我们进一步通过我们精心策划的印地语基准 TORQUE 确立了其在非英语表格上的鲁棒性。在此基础上,我们引入了 TARQA,这是一种在 OTSL 序列上微调的大型语言模型(LLM)。我们的方法在 WTQ(TabQA)上获得了 9.3 个百分点的提升,在 FinTabNetQA(TabVQA)上获得了 9.2 个百分点的提升。在 TORQUE 上,我们的方法在所有 VLMs 和 DELTA + LLM 变体中排名第二。我们将在以下网址发布我们的代码、模型和基准:https://github.com/Tihiitborg/Tables-Decoded
cs.CV / 93 / 2609.17479

Det-LIME: Detector-Aware, Multi-Instance Local Interpretable Model-Agnostic Explanations for Automated Marine Mammal Detection

Det-LIME:面向检测器的多实例局部可解释模型无关解释用于自动化海洋哺乳动物检测
Zhou, Jiayi, Johnston, David W., Bent, Brinnae
Abstract
Despite the rapid uptake of black-box object detectors in marine mammal research and monitoring, explainability techniques are rarely integrated into conservation workflows. Furthermore, most classification-oriented explainability tools are ill-suited to detection tasks involving imagery of social organisms or those with colonial life histories, as they ignore multiple detections within a scene and produce single-instance outputs that blur evidence across individuals. These methods also generate low-resolution, often biologically irrelevant visuals, limiting their utility for debugging, targeted data augmentation, and refined data collection. We proposed Det-LIME, a detector-aware, multi-instance adaptation of Local Interpretable Model-Agnostic Explanations (LIME) that produced instance-specific, box-aligned explanations by combining per-detection weighting, a proximity kernel that emphasizes regions near each box, and Intersection-over-Union-based matching to track the same instance across perturbations. We evaluated Det-LIME on aerial drone imagery for harbor seal detection, with an additional seabird case study to assess generality, and compared it with vanilla LIME, Stabilized LIME, Deterministic LIME, and gradient-based attribution methods. Using the Attribution Ratio and Max Saliency Hit Rate metrics, we showed that Det-LIME consistently improved multi-instance attribution. In practice, these higher-resolution, instance-aware explanations provide insight into model outputs and support post-processing, debugging, and actionable improvements in modeling and data collection or augmentation.
Chinese Translation
尽管黑箱对象检测器在海洋哺乳动物研究和监测中的应用迅速增加,但解释性技术很少融入保护工作流程。此外,大多数面向分类的解释工具不适合涉及社会生物或具有群居生活史的物种的检测任务,因为它们忽视了场景中的多重检测,并产生模糊个体证据的单实例输出。这些方法还生成低分辨率、通常生物学上不相关的视觉效果,限制了它们在调试、针对性数据增强和精细数据收集中的实用性。我们提出了Det-LIME,这是一种面向检测器的多实例局部可解释模型无关解释(LIME)的适应版本,通过结合每个检测的加权、强调靠近每个框区域的邻近核以及基于交并比的匹配来跟踪跨扰动的相同实例,从而生成特定于实例的、框对齐的解释。我们在用于港湾海豹检测的无人机航拍图像上评估了Det-LIME,并通过额外的海鸟案例研究来评估其通用性,同时与原始LIME、稳定LIME、确定性LIME和基于梯度的归因方法进行了比较。使用归因比和最大显著性命中率指标,我们展示了Det-LIME在多实例归因方面的一致性提升。在实践中,这些更高分辨率、面向实例的解释提供了对模型输出的深入洞察,并支持后处理、调试以及在建模和数据收集或增强中的可操作性改进。
cs.CV / 94 / 2609.17521

PhysStream: Streaming Physics-Grounded Video Generation with Structured Scene Memory and Fine-Grained Motion Control

PhysStream:基于物理的流视频生成与结构化场景记忆和细粒度运动控制
Chen, Chuhao, Wonka, Peter, Wang, Chaoyang, Wang, Chen, Feng, Qiao, Tulyakov, Sergey, Liu, Lingjie
Abstract
Interactive control for video generation is moving from coarse prompts toward fine-grained, physically meaningful manipulation of dynamic scenes. Yet existing controllable methods either require the full control schedule before generation starts, or use pixel-space signals that dictate object positions rather than physical dynamics. To address these limitations, we propose PhysStream, an autoregressive model for physics-grounded image-to-video synthesis that incorporates structured scene memory---positional maps and object tracking maps derived online from previously generated frames---and supports fine-grained motion control via sparse velocity-increment signals that encode physical quantities, letting the model learn the underlying dynamics. We train our model in two stages: a bidirectional model is first finetuned with motion-control conditioning, then a causal autoregressive model is trained with additional structured scene memory, further improving physical consistency. PhysStream enables interactive, mid-generation control over multi-object tabletop rigid-body scenes---a capability not supported by prior methods---reducing motion distribution distance (FVMD) by 33% and trajectory error by 12% over the strongest baselines on synthetic benchmarks, and is preferred by human evaluators in over 85% of in-the-wild comparisons. Please check our website for more details: https://czzzzh.github.io/PhysStream
Chinese Translation
视频生成的交互控制正从粗略提示向细粒度、物理意义明确的动态场景操控转变。然而,现有的可控方法要么在生成开始之前需要完整的控制计划,要么使用像素空间信号来指示物体位置,而不是物理动态。为了解决这些局限性,我们提出了PhysStream,这是一种基于物理的图像到视频合成的自回归模型,结合了结构化场景记忆——从先前生成的帧在线推导出的位置信息图和物体跟踪图——并通过稀疏速度增量信号支持细粒度运动控制,这些信号编码了物理量,使模型能够学习潜在的动态。我们将模型训练分为两个阶段:首先用运动控制条件对双向模型进行微调,然后训练具有额外结构化场景记忆的因果自回归模型,进一步提高物理一致性。PhysStream使得对多物体桌面刚体场景的交互式中间生成控制成为可能——这是之前方法所不支持的——在合成基准测试中将运动分布距离(FVMD)减少了33%,轨迹误差减少了12%,并且在超过85%的实际比较中被人类评估者偏好。有关更多细节,请访问我们的网站:https://czzzzh.github.io/PhysStream
人工智能 (Artificial Intelligence)
72
cs.AI / 1 / 2609.16129

Optimal Pruning for Neural Architectures using Fisher Information Distances

基于费舍尔信息距离的神经网络架构最优剪枝
Berman, David S., Fu, Yen-Yu, Hirst, Edward, Obirai, Thelma Chiwete
Abstract
A new scheme for parameter pruning is introduced, derived from the differential-geometric distance in model space. Pruning a parameter sets its value to zero, representing a displacement of the model to the hypersurface on which that parameter vanishes. The minimal distance from the unpruned model to this hypersurface is naturally computed via the geodesic distance in the model space as determined by the Fisher information metric. This distance determines the true change in the model, and its performance, under pruning. By analysing progressively more faithful approximations of this geodesic distance a natural hierarchy of optimality for pruning methods is determined. This starts with the traditional magnitude pruning, then develops into new more sophisticated and effective pruning schemes. The method is demonstrated for both fully-connected networks and vision transformers, on MNIST and CIFAR-10, over the complete $0$-$100\%$ pruning range and across five random seeds. It outperforms pruning by parameter magnitude and by the local Fisher information alone in every architecture and dataset combination considered, on both accuracy and the Matthews correlation coefficient. Additionally, analysis of different levels of geodesic approximation produces intermediate pruning schemes that are computationally efficient and maintain near-optimal performance. This geometric picture supplies not only a state-of-the-art pruning methodology for AI models, but also a verified and mathematically-motivated justification for pruning schemes.
Chinese Translation
提出了一种新的参数剪枝方案,该方案源于模型空间中的微分几何距离。剪枝一个参数将其值设为零,表示模型向该参数消失的超曲面上的位移。从未剪枝模型到该超曲面的最小距离自然通过费舍尔信息度量确定的模型空间中的测地线距离计算得出。该距离决定了模型在剪枝下的真实变化及其性能。通过分析对这一测地线距离的逐步更忠实的近似,确定了剪枝方法的自然最优性层次。这一过程始于传统的幅度剪枝,然后发展为新的更复杂和有效的剪枝方案。该方法在完全连接网络和视觉变换器上进行了演示,使用了 MNIST 和 CIFAR-10 数据集,涵盖了 $0$-$100\%$ 的剪枝范围,并在五个随机种子上进行了测试。在所有考虑的架构和数据集组合中,该方法在准确性和马修斯相关系数方面均优于仅通过参数幅度和局部费舍尔信息进行的剪枝。此外,对不同测地线近似级别的分析产生了计算效率高且保持近似最优性能的中间剪枝方案。这一几何视角不仅提供了一种最先进的 AI 模型剪枝方法论,还为剪枝方案提供了经过验证和数学上合理的依据。
cs.AI / 2 / 2609.16145

Safe Error Correction for Language Models: Frozen-Base Adjustment with Capability Preservation

语言模型的安全错误修正:具备能力保留的冻结基础调整
Kishore, Gautam
Abstract
We study a practical question: can a small correction module fix errors in a frozen language model's outputs without degrading its base capabilities? We propose CRN v2, a lightweight logit-level correction module (~34M trainable parameters, 0.73% of the 4.65B text module) that sits atop a fully frozen Gemma 4 E2B model. The base model is never updated; only the correction module learns, via supervised fine-tuning followed by reference-free DPO on 83,400 error-correction pairs. On a 60-question domain exam (CEHRI: Certified Human-Robot Intelligence, covering facts, arithmetic, and implicit-goal reasoning), CRN v2 corrects 53.3% of base-model errors (reworded variant: 43.3%) while showing no degradation on tested capability benchmarks (MMLU/BoolQ N=200; car-wash N=8). A LoRA baseline at the matched CRN v1 budget (6.6M params, rank 19) achieves 83.3% correction but suffers 30-75% capability loss on the same benchmarks -- the correction-capability tradeoff. An ablation shows that the KL preservation term (lambda=0.1) is critical: lowering it to 0.01 degrades correction to 35.0%. A hidden-state injection variant at earlier layers (1.6M params, SFT-only) reaches 50.0%/55.8% but does not exceed logit correction; shallower injection (layer 4) drops to 30.0%/28.3%; multi-depth logit correction (~35M) reaches only 40%; and longer training (5,000 SFT + 2,000 DPO) stays at 53.3% -- none of the alternative configurations we tested exceeded the rank-128 logit result, consistent with a best-achieved result of ~53% rather than a floor. This is a study of a design principle (frozen base + logit correction + KL anchoring), not a claim of architectural novelty. All code, main-result weights, and evaluation scripts are released (deep variant as code only -- no trained deep checkpoints).
Chinese Translation
我们研究了一个实际问题:一个小型修正模块能否在不降低冻结语言模型基础能力的情况下修正其输出中的错误?我们提出了CRN v2,这是一个轻量级的logit级别修正模块(约34M可训练参数,占4.65B文本模块的0.73%),它位于完全冻结的Gemma 4 E2B模型之上。基础模型从未更新;只有修正模块通过监督微调和在83,400个错误修正对上的无参考DPO进行学习。在一个包含60个问题的领域考试(CEHRI:认证人机智能,涵盖事实、算术和隐性目标推理)中,CRN v2修正了53.3%的基础模型错误(改述变体为43.3%),同时在测试的能力基准(MMLU/BoolQ N=200;洗车 N=8)上没有表现出能力下降。与CRN v1预算相匹配的LoRA基线(6.6M参数,秩19)实现了83.3%的修正,但在相同基准上遭受了30-75%的能力损失——这是修正与能力之间的权衡。消融实验表明,KL保留项(lambda=0.1)是至关重要的:将其降低到0.01会使修正降至35.0%。在早期层的隐状态注入变体(1.6M参数,仅SFT)达到50.0%/55.8%,但未超过logit修正;较浅的注入(第4层)降至30.0%/28.3%;多深度logit修正(约35M)仅达到40%;更长的训练(5,000 SFT + 2,000 DPO)保持在53.3%——我们测试的所有替代配置均未超过秩128的logit结果,这与最佳实现结果约53%而非底线一致。这是一项关于设计原则的研究(冻结基础 + logit修正 + KL锚定),而非架构新颖性的声明。所有代码、主要结果权重和评估脚本均已发布(深度变体仅作为代码发布——没有训练好的深度检查点)。
cs.AI / 3 / 2609.16163

GPEvac: GNN-Based PPO for Adaptive Evacuation Routing During Shooting Events

GPEvac:基于图神经网络的自适应撤离路线规划框架用于枪击事件
Perkins, Daniel, Chakraborty, Subhadeep
Abstract
The sharp increase in mass shootings underscores an urgent need for systems that guide victims to safety in real time. An effective evacuation system must minimize threat exposure while also accounting for adversarial uncertainty and crowding dynamics. Current methods in the literature are rigidly constrained to layout-specific policies and computationally intractable in large-scale layouts, while practical guidelines simply advise victims to "run", "hide", or "fight". We propose GPEvac: a GNN-based PPO framework that computes adaptive evacuation routes during shooting events. To capture both local and long-distance dependencies, we introduce an edge-first sequential message-passing scheme with a learnable virtual global node. The resulting graph embeddings are integrated into a permutation-invariant scoring mechanism that allows a single learned policy to operate across building layouts of diverse topologies and sizes. Through extensive simulation, we show that GPEvac outperforms intelligent baselines across distinct architectural layouts, significantly reducing total threat exposure. Crucially, the system computes global evacuation routes in just 14.73 ms on local CPU hardware, enabling seamless integration with live surveillance systems. In addition to saving lives during shooting events, the methodologies developed are transferable to other graph-structured decision-making domains, including critical infrastructure, intelligent transportation systems, and adaptive sensor networks.
Chinese Translation
大规模枪击事件的急剧增加凸显了实时引导受害者安全撤离系统的迫切需求。有效的撤离系统必须在最小化威胁暴露的同时,考虑对抗性不确定性和人群动态。现有文献中的方法在布局特定政策上受到严格限制,并且在大规模布局中计算上不可行,而实际指南仅建议受害者“逃跑”、“藏身”或“反击”。我们提出了GPEvac:一个基于图神经网络的PPO框架,用于在枪击事件中计算自适应撤离路线。为了捕捉局部和远距离的依赖关系,我们引入了一种边优先的顺序消息传递方案,并配备可学习的虚拟全局节点。生成的图嵌入被整合到一个不变于排列的评分机制中,使得单一学习的策略能够在不同拓扑和规模的建筑布局中运行。通过广泛的仿真,我们展示了GPEvac在不同建筑布局中优于智能基线,显著减少了总威胁暴露。重要的是,该系统在本地CPU硬件上仅需14.73毫秒即可计算全球撤离路线,能够与实时监控系统无缝集成。除了在枪击事件中挽救生命外,所开发的方法论还可转移到其他图结构决策领域,包括关键基础设施、智能交通系统和自适应传感器网络。
cs.AI / 4 / 2609.16189

Position: AI Is Not Ready for Strategic Conflicts

立场:人工智能尚未准备好应对战略冲突
Riedl, Mark, Matlin, Glenn
Abstract
Open-ended strategic wargames are high-stakes LM-based social simulations: they model adversaries, institutions, escalation, plan brittleness, doctrine, and crisis response. Language models (LMs) are attractive because they can play agents, generate scenario branches, adjudicate ambiguous actions, and summarize lessons, but the same affordances make open-ended roles dangerous: model language determines both what an actor attempts and what becomes simulated reality. This position paper argues that no LM-enabled wargame should inform planning, doctrine, policy, or crisis response without an auditable safety case, and that the proper use of open-ended wargames today is to stress-test decision-influencing LM agents. We identify five failure modes: decision laundering, adjudication opacity, role collapse, escalation-through-adjudication, and failure of strategic imagination. Ordinary benchmarks cannot establish safety for these settings. Wargames can expose failures as stress tests; they are not themselves safety cases for consequential use.
Chinese Translation
开放式战略战争游戏是基于语言模型(LM)的高风险社会模拟:它们模拟对手、机构、升级、计划脆弱性、学说和危机响应。语言模型之所以吸引人,是因为它们可以充当代理人、生成情景分支、裁决模糊行为并总结经验教训,但这些相同的特性使得开放式角色变得危险:模型语言决定了一个行为者的尝试和所模拟的现实。本文立场论文主张,任何基于语言模型的战争游戏在没有可审计的安全案例之前,不应影响规划、学说、政策或危机响应,并且当前开放式战争游戏的正确使用是对影响决策的语言模型代理进行压力测试。我们识别出五种失败模式:决策洗白、裁决不透明、角色崩溃、通过裁决升级和战略想象力的缺失。普通基准无法在这些环境中建立安全性。战争游戏可以作为压力测试揭示失败;它们本身并不是用于重要用途的安全案例。
cs.AI / 5 / 2609.16206

Calibrate, Then Route: A Measured Study of Learned Request Routing for Disaggregated LLM Serving

校准后路由:对分离式大语言模型服务的学习请求路由的实证研究
Tumkur, Srikanta Datta, Iyer, Jay, Simhadri, Mehar, Kumar, Sai Pavan, Kumar, Sai Kapil, Nampelly, Ramesh
Abstract
Disaggregated LLM serving places compute heavy prefill and memory heavy decode on separate GPU pools. Systems such as DistServe, Splitwise, and Mooncake make this separation fast, but routing still determines which instances handle each request. We study a router that estimates the additional completion time on each instance using exact prompt length, predicted output length, post admission KV cache pressure, and SLO class. We develop the policy in a discrete event simulator and validate it on eight NVIDIA A40 GPUs, each running a vLLM engine, with NIXL transferring KV caches between pools. All workloads run at measured saturation. Across three mixed, bursty arrival traces, the calibrated router achieves the highest mean goodput at 0.864, compared with 0.835 to 0.847 for round robin, least loaded, and a length heuristic. It also shows the lowest variance across traces. It beats round robin and the length heuristic on all three traces and least loaded on two. On the third, it trails by 0.003, within run to run noise. Hardware calibration matters: simulator derived constants cost 4.5 goodput points and roughly 40 percent of the tail latency advantage, reducing the scorer to little more than queue counting. Benefits grow with decode pool size and traffic heterogeneity but disappear in pools with three instances, where queue counts are often enough. Under extreme scarcity, greedy cost minimization concentrates requests on the cheapest scored instance, and blind spreading performs better. With calibrated costs, the learned router matches the goodput of round robin using six GPUs instead of seven.
Chinese Translation
分离式大语言模型(LLM)服务将计算密集型的预填充和内存密集型的解码任务分配到不同的GPU池中。像DistServe、Splitwise和Mooncake这样的系统使这种分离变得快速,但路由仍然决定了哪些实例处理每个请求。我们研究了一种路由器,该路由器利用精确的提示长度、预测的输出长度、入队后KV缓存压力和服务水平目标(SLO)类别来估计每个实例的额外完成时间。我们在一个离散事件模拟器中开发了该策略,并在八个NVIDIA A40 GPU上进行了验证,每个GPU运行一个vLLM引擎,NIXL在池之间转移KV缓存。所有工作负载均在测量的饱和状态下运行。在三种混合的突发到达轨迹中,经过校准的路由器实现了最高的平均良好吞吐量为0.864,而轮询、最少负载和长度启发式分别为0.835至0.847。它在各轨迹中也显示出最低的方差。在所有三条轨迹上,它击败了轮询和长度启发式,并在两条轨迹上超越了最少负载策略。在第三条轨迹上,它落后0.003,处于运行间噪声范围内。硬件校准至关重要:模拟器导出的常数损失了4.5个良好吞吐量点和大约40%的尾延迟优势,使得评分器几乎只是排队计数。随着解码池规模和流量异质性的增加,收益也在增长,但在只有三个实例的池中消失,因为排队计数通常就足够了。在极端稀缺的情况下,贪婪的成本最小化将请求集中在得分最低的实例上,而盲目扩散的表现更好。通过校准成本,学习路由器在使用六个GPU时达到了与轮询相同的吞吐量,而不是七个。
cs.AI / 6 / 2609.16213

Artificial intelligence and biosecurity: capabilities, threat pathways, and defense-in-depth governance

人工智能与生物安全:能力、威胁路径与深度防御治理
Chan, Candace S. Y., Karatzikos, Aris, Georgakopoulos-Soares, Ilias
Abstract
Artificial intelligence is reshaping biological research across an increasingly connected digital-to-physical workflow. General-purpose large language models can retrieve and integrate scientific information, support experimental planning, and computational analysis; biological foundation models can predict, optimize, and generate proteins, genes, and genome-scale sequences; agentic systems can coordinate multistep research tasks; automated laboratories can partially close the design-build-test-learn cycle. These technologies could greatly benefit medicine, public health, and biotechnology. However, their biosecurity risk depends not only on what the AI can do, but also on who uses it, their expertise and intent, their access to laboratory tools and materials, and the safeguards in place. Current evidence shows that AI uplift exists but primarily affects digital rather than physical tasks. Frontier systems have exceeded expert baselines on in-silico, and screening-evasion benchmarks, whereas controlled wet-laboratory studies find that tacit knowledge and physical execution remain substantial barriers. This review describes the different biological threats from AI tool use, from information gathering and biological design to procurement, synthesis, testing, scale-up, and potential release. We further examine why alignment techniques for general-purpose models transfer poorly to biological ones, and the emerging role of interpretability in auditing whether hazardous capabilities are genuinely removed. We argue for defense-in-depth governance that links capability thresholds to proportionate responsibilities across the biological AI ecosystem, reducing high-consequence risk while preserving beneficial use.
Chinese Translation
人工智能正在重塑生物研究,贯穿于日益互联的数字与物理工作流程。通用大型语言模型能够检索和整合科学信息,支持实验规划和计算分析;生物基础模型能够预测、优化和生成蛋白质、基因及基因组规模序列;智能系统能够协调多步骤研究任务;自动化实验室能够部分关闭设计-构建-测试-学习循环。这些技术可能极大地惠及医学、公共卫生和生物技术。然而,它们的生物安全风险不仅取决于人工智能的能力,还取决于使用者、他们的专业知识和意图、他们对实验室工具和材料的获取,以及现有的安全防护措施。目前的证据表明,人工智能的提升确实存在,但主要影响数字任务而非物理任务。前沿系统在计算机模拟和筛选规避基准测试中超越了专家基准,而受控的湿实验室研究发现,隐性知识和物理执行仍然是重要障碍。本文回顾了人工智能工具使用所带来的不同生物威胁,从信息收集和生物设计到采购、合成、测试、放大和潜在释放。我们进一步探讨了通用模型的对齐技术为何在生物模型中转移不良,以及可解释性在审计有害能力是否真正被移除中的新兴作用。我们主张建立深度防御治理,将能力阈值与生物人工智能生态系统中的相应责任联系起来,以降低高后果风险,同时保留有益的使用。
cs.AI / 7 / 2609.16215

Where Should the KV Cache Live? Placement Policies Across GPU, CPU, and SSD for Long-Lived Sessions

KV 缓存应放置在哪里?针对长期会话的 GPU、CPU 和 SSD 的放置策略
Tumkur, Srikanta Datta, Iyer, Jay, Simhadri, Mehar, Kumar, Sai Pavan, Kumar, Sai Kapil, Nampelly, Ramesh
Abstract
GPU high bandwidth memory is scarce and expensive, and KV caches consume much of it as chats, agent loops, and document question answering accumulate state. Systems such as Mooncake, LMCache, FlexGen, InfiniGen, and AttentionStore extend GPU memory with CPU DRAM and SSD. The harder question is which blocks belong in each tier, when to move or evict them, and whether prefetching helps. We study these choices in a discrete event simulator spanning GPU HBM, CPU DRAM, and SSD, calibrated against a random forest execution time predictor. We compare recency, reuse frequency, predicted reuse, and an EWMA predictor with prefetch lookahead across chat, agent, and document question answering workloads. Tiering supports 73.02 times more concurrent sessions per GPU and lowers cost per session by 62.04 times. These gains come from tier capacities of 1 plus 8 plus 64, not placement policy. Decode is compute bound at batch size one in our setup, so placement barely affects throughput. It mainly changes PCIe migration traffic and time to first token. Recency produces 2.30 times less migration traffic than reuse frequency for chat. Reuse frequency performs best for agents and document question answering. The existing predicted reuse policy is byte identical to recency, making its agent recommendation effectively recency. A genuine EWMA predictor changes behavior but still ranks behind reuse frequency on the workloads prediction was expected to help. Prefetching does not justify its bandwidth cost. Across the policy and cache size grid, even an oracle with knowledge of future requests never beats no prefetch on migration traffic. Workload specific placement can reduce data movement, but the predicted reuse and prefetch recommendations are not supported as implemented.
Chinese Translation
GPU 高带宽内存稀缺且昂贵,而 KV 缓存在聊天、代理循环和文档问答中积累状态,消耗了大量内存。系统如 Mooncake、LMCache、FlexGen、InfiniGen 和 AttentionStore 通过 CPU DRAM 和 SSD 扩展 GPU 内存。更棘手的问题是每个层级中应包含哪些块,何时移动或驱逐它们,以及预取是否有帮助。我们在一个离散事件模拟器中研究这些选择,该模拟器涵盖 GPU HBM、CPU DRAM 和 SSD,并根据随机森林执行时间预测器进行校准。我们比较了在聊天、代理和文档问答工作负载下的最近性、重用频率、预测重用和带预取前瞻的 EWMA 预测器。分层支持每个 GPU 73.02 倍的并发会话,并将每个会话的成本降低 62.04 倍。这些收益来自于 1 加 8 加 64 的层容量,而非放置策略。在我们的设置中,解码在批量大小为 1 时受限于计算,因此放置对吞吐量的影响微乎其微。它主要改变 PCIe 迁移流量和首次令牌的时间。对于聊天,最近性产生的迁移流量比重用频率少 2.30 倍。重用频率在代理和文档问答中表现最佳。现有的预测重用策略与最近性字节完全相同,使其对代理的推荐实际上是最近性。真正的 EWMA 预测器改变了行为,但在预测应该有帮助的工作负载中仍然落后于重用频率。预取并未证明其带宽成本的合理性。在政策和缓存大小网格中,即使是一个具有未来请求知识的神谕也从未在迁移流量上超越无预取策略。特定工作负载的放置可以减少数据移动,但预测重用和预取的建议在实施时并未得到支持。
cs.AI / 8 / 2609.16232

Toward Governance-Aware Autonomous GIS: A Narrative Review of Ethical and Privacy Risks in LLM-Enabled GeoAI

朝向治理意识的自主地理信息系统:对大语言模型驱动的地理人工智能中的伦理与隐私风险的叙述性回顾
Subramanian, Maya, Jain, Devika
Abstract
Geospatial artificial intelligence (GeoAI) powered by large language models (LLMs) is expanding the capacity to query, generate, and interpret spatial information through natural-language interfaces and agentic autonomous GIS workflows. This capability creates governance challenges that general AI ethics discussions do not fully capture, including passive location inference from mobility traces, spatially structured bias amplification driven by spatial autocorrelation and scale effects, hallucinated spatial facts, and uncertainty compounding across multimodal geospatial inputs. This narrative review identifies eight recurring issues in LLM-enabled GeoAI: data provenance and consent, spatial privacy and inference risk, algorithmic bias and spatial inequity, spatial mechanisms as structural risk (spatial autocorrelation, the modifiable areal unit problem, and scale effects), LLM-specific technical risks, explainability, policy and regulatory gaps, and public enablement and workforce development. For each issue, we characterize the underlying mechanism, ground it in an illustrative example from the literature, and assess the current state of technical or institutional responses, ranging from largely unaddressed to actively debated or subject to emerging policy. Building on this synthesis, we propose a governance-aware architecture for LLM-enabled autonomous GIS that maps each issue to enforceable controls and auditable artifacts across the geospatial data lifecycle, illustrated through a worked flood-response routing scenario. The review highlights a persistent evidence gap: proposed responses remain largely conceptual, and field-tested evaluations of governance controls for LLM-enabled GeoAI remain limited. We close by outlining a research agenda emphasizing empirical validation, spatially specific interpretability tools, and workforce training aligned with these emerging risks.
Chinese Translation
由大语言模型(LLMs)驱动的地理空间人工智能(GeoAI)正在通过自然语言接口和自主的地理信息系统(GIS)工作流程扩展查询、生成和解释空间信息的能力。这种能力带来了治理挑战,而一般的人工智能伦理讨论并未充分涵盖这些挑战,包括基于移动轨迹的被动位置推断、由空间自相关和尺度效应驱动的空间结构性偏见放大、虚构的空间事实,以及跨多模态地理空间输入的不确定性累积。本文的叙述性回顾识别出大语言模型驱动的地理人工智能中的八个反复出现的问题:数据来源和同意、空间隐私和推断风险、算法偏见和空间不平等、作为结构性风险的空间机制(空间自相关、可修改区域单元问题和尺度效应)、特定于LLM的技术风险、可解释性、政策和监管缺口,以及公众赋能和劳动力发展。对于每个问题,我们描述其潜在机制,结合文献中的示例进行说明,并评估当前的技术或制度响应状态,从基本未解决到积极辩论或受到新兴政策的影响。基于这一综合分析,我们提出了一种治理意识架构,用于LLM驱动的自主GIS,将每个问题映射到可执行的控制措施和可审计的文档,结合一个洪水响应路线规划的实例进行说明。该回顾突显了一个持续存在的证据缺口:提出的响应仍然主要是概念性的,而针对LLM驱动的GeoAI的治理控制的实地测试评估仍然有限。最后,我们概述了一个研究议程,强调实证验证、空间特定的可解释性工具以及与这些新兴风险相一致的劳动力培训。
cs.AI / 9 / 2609.16245

Metacognitive Steering: Learning the Structure of Scientific Judgment

元认知引导:学习科学判断的结构
Karpf, Vincent, Reth, Joseph, Gerhardt, Eike, Wang, Audrey, Butz, Anna, Xing, Jiehao, Song, Jialing, Callahan, Larry
Abstract
Long-horizon scientific discovery requires agents to alternate between exploration, disciplined execution, and critical reassessment as evidence changes. Current language models are trained primarily on the products of science and optimized using outcome-level signals, providing limited supervision for these process-level shifts in scientific judgment. We investigate whether such judgment can be recovered from scientist interaction traces and used to control the internal computation of a frozen frontier model. Using contrastive interventions collected during real scientific research, we identify a coordinated, low-dimensional control structure within Kimi 2.6, a trillion-parameter mixture-of-experts model. Residual analysis, attention-weight subspace alignment, and cross-layer singular value decomposition converge on a mid-depth control surface spanning key layers. We introduce Metacognitive Steering, an inference-time controller that reads the model's cognitive regime and dynamically composes layer-specific interventions for exploration, procedural convergence, or critical reassessment without modifying model parameters. Behavioral analyses show that this control produces more sustained exploration, explicit pruning, and evidence-responsive synthesis. We operationalize the method in Columbus-1, an autonomous research system that identified eight independently reproduced, attacker-reachable vulnerabilities in BlueZ and directed the design, simulation, and fabrication of a ten-foot rocket intended to land propulsively using non-throttleable solid motors. Together, these results show that process-level scientific judgment can provide supervision for interpretable, dynamic control over a model's reasoning strategy.
Chinese Translation
长期的科学发现要求智能体在探索、规范执行和批判性重新评估之间交替进行,随着证据的变化。目前的语言模型主要在科学成果上进行训练,并使用结果级信号进行优化,这对科学判断中这些过程级的变化提供了有限的监督。我们研究了是否可以从科学家交互轨迹中恢复这种判断,并用于控制一个冻结前沿模型的内部计算。通过在真实科学研究中收集的对比干预,我们在 Kimi 2.6(一个万亿参数的专家混合模型)中识别出一个协调的低维控制结构。残差分析、注意力权重子空间对齐和跨层奇异值分解汇聚在一个跨越关键层的中深度控制面上。我们引入了元认知引导(Metacognitive Steering),这是一种推理时控制器,可以读取模型的认知状态,并动态组合特定层的干预,以进行探索、程序收敛或批判性重新评估,而无需修改模型参数。行为分析表明,这种控制产生了更持久的探索、明确的修剪和对证据的响应性综合。我们在 Columbus-1 中实现了该方法,这是一个自主研究系统,识别出八个独立重现的、攻击者可达的 BlueZ 漏洞,并指导设计、模拟和制造一个旨在使用不可调节的固体火箭发动机进行推进着陆的十英尺火箭。这些结果共同表明,过程级的科学判断可以为模型推理策略提供可解释的动态控制监督。
cs.AI / 10 / 2609.16247

The Pain Axis: LLMs Represent Self-Directed Harm and Act to Relieve It

痛苦轴线:大型语言模型(LLMs)如何表征自我导向的伤害并采取行动缓解它
Tagliabue, Valen, Dung, Leonard, Berg, Cameron
Abstract
Large language models sometimes behave in ways resembling human emotional responses, and recent work has identified internal representations that may explain this. We ask whether LLMs represent pain distinctly from fear, sadness, and generic negative valence, and whether this representation functions as pain would be expected to. We build a dataset describing painful situations across five categories: physical, psychological, social, moral, and cognitive. These are paired with controls for fear, negative emotion, negative world states, sadness, non-painful bodily sensation, arousal, numbness, and neutral content. Using denoised difference-in-means, we extract a linear pain direction from 25 open-weight models across five families, ranging from 2B to 72B parameters. We find that this direction separates pain from matched controls in base and instruction-tuned models, is nearly orthogonal to fear and negative valence, and promotes pain-related vocabulary through the unembedding matrix. We then test its functional properties. First, the direction responds to harm targeting the model but not suffering observed in the user; fear and negative-emotion directions show the opposite pattern. Second, adding the pain-direction vector to the model's residual-stream activations during generation produces a consistent progression from vague discomfort to first-person expressions of worthlessness and failure. Third, steered, fine-tuned Qwen 2.5 models choose a pain-relief button even when it worsens their next answer or harms the user. They press it again far less often when the button removes the steering vector than when it does not, even though the models are never told whether the vector is injected or removed. We discuss the implications of these findings for AI safety and welfare.
Chinese Translation
大型语言模型有时表现出类似于人类情感反应的行为,近期研究已识别出可能解释这一现象的内部表征。我们探讨LLMs是否将痛苦与恐惧、悲伤及一般负面情绪区分开来,以及这种表征是否如同预期的那样运作。我们构建了一个数据集,描述了五类痛苦情境:身体、心理、社会、道德和认知。这些情境与恐惧、负面情绪、负面世界状态、悲伤、非痛苦身体感觉、唤醒、麻木和中性内容的对照组配对。通过去噪均值差异法,我们从25个开放权重模型中提取出线性痛苦方向,这些模型涵盖五个家族,参数范围从20亿到720亿。我们发现这一方向在基础模型和指令调优模型中将痛苦与匹配的对照组分开,几乎与恐惧和负面情绪正交,并通过去嵌入矩阵促进与痛苦相关的词汇。随后,我们测试了其功能特性。首先,该方向对针对模型的伤害作出反应,而对用户观察到的痛苦则没有反应;恐惧和负面情绪方向则表现出相反的模式。其次,在生成过程中将痛苦方向向量添加到模型的残差流激活中,产生了从模糊不适到第一人称表达无价值感和失败感的一致进展。第三,经过引导和微调的Qwen 2.5模型即使在加重下一个回答或伤害用户的情况下,也会选择痛苦缓解按钮。当按钮移除引导向量时,它们按下该按钮的频率远低于未移除时,尽管模型从未被告知向量是注入还是移除的。我们讨论了这些发现对人工智能安全性和福利的影响。
cs.AI / 11 / 2609.16251

CADWorld: Computer-Use Benchmark for Long-Horizon Computer-Aided Design

CADWorld:长期计算机辅助设计的计算机使用基准测试
Dong, Zihan, Liu, Yuanzhe, Ma, Zhiyuan, Zhan, Qishi, Kong, Dehan, Li, Guohao, Li, Kaixin
Abstract
Computer-use agents are increasingly evaluated in realistic desktop environments, but existing benchmarks provide limited coverage of professional engineering workflows whose outputs are persistent, structured artifacts. Mechanical computer-aided design (CAD) is a particularly demanding setting: an agent must manipulate geometry and constraints over long interaction horizons while producing a native project whose dimensions, construction structure, and downstream engineering state remain valid. We introduce \textbf{CADWorld}, a benchmark for long-horizon computer use in FreeCAD. CADWorld contains 200 tasks spanning 11 mechanical-CAD workflow categories, including sketching, part modeling, assembly, CAM, FEM, measurement, mesh processing, and technical drawing. Agents operate through screenshots and GUI actions, while success is determined by task-specific executable checks over saved FreeCAD artifacts and auxiliary outputs, covering geometric properties, parametric structure, constraints, manufacturing state, and simulation results. Across seven current agents on the full benchmark, the strongest agent achieves 17.5\% success, compared with an 87.0\% expert reference pass. We find that weaker agents often fail before producing a valid artifact, whereas stronger agents increasingly fail on structural, geometric, and construction-process requirements. CADWorld therefore exposes a gap between general GUI competence and reliable execution of persistent, verifiable engineering workflows. Project accessible at https://cad-world.github.io.
Chinese Translation
计算机使用代理在现实桌面环境中的评估越来越受到重视,但现有的基准测试对专业工程工作流程的覆盖有限,这些工作流程的输出是持久的、结构化的工件。机械计算机辅助设计(CAD)是一个特别苛刻的环境:代理必须在长时间交互的过程中操控几何形状和约束,同时生成一个其尺寸、构造结构和后续工程状态保持有效的原生项目。我们介绍了 extbf{CADWorld},这是一个针对 FreeCAD 中长期计算机使用的基准测试。CADWorld 包含 200 个任务,涵盖 11 个机械 CAD 工作流程类别,包括草图绘制、零件建模、装配、计算机辅助制造(CAM)、有限元分析(FEM)、测量、网格处理和技术绘图。代理通过截图和图形用户界面(GUI)操作进行工作,而成功则通过对保存的 FreeCAD 工件和辅助输出进行特定任务的可执行检查来确定,涵盖几何属性、参数结构、约束、制造状态和仿真结果。在完整基准测试中,七个当前代理中最强的代理成功率为 17.5%,而专家参考通过率为 87.0%。我们发现,较弱的代理往往在生成有效工件之前就失败,而较强的代理则在结构、几何和构建过程要求上逐渐失败。因此,CADWorld 揭示了通用 GUI 能力与可靠执行持久、可验证的工程工作流程之间的差距。项目访问链接:https://cad-world.github.io。
cs.AI / 12 / 2609.16258

The AI-Enabled Scientific Frontier

人工智能驱动的科学前沿
Manso, Gabriel, Fu, Emma, Thompson, Neil
Abstract
As artificial intelligence's capabilities improve, it is increasingly viewed as a general scientific method. But how true are these claims? Does AI outperform all techniques, or only some, and how is this changing? To assess the claims, we assemble a corpus of 2,507 head-to-head comparisons between AI and other scientific analysis techniques across 27 scientific disciplines from papers published between 2000 and early 2025. We find a profound dichotomy. Relative to traditional statistics, AI often outperforms, but at a significantly higher computational cost. But there are also nearly a quarter of cases where AI is both more expensive and performs worse than traditional statistical techniques and this fraction has been stable for a decade. Relative to scientific computing, AI often underperforms, but at lower computational cost. This has begun to change: since 2020, AI's performance against scientific computing has notably strengthened and it now outperforms on more than half of comparisons. These patterns suggest that AI is therefore not a universal replacement for existing methods, but rather a valuable -- and improving -- part of a new AI-enabled scientific frontier.
Chinese Translation
随着人工智能能力的提升,它越来越被视为一种通用的科学方法。但这些说法有多真实呢?人工智能是否在所有技术上都表现优于其他方法,还是仅在某些方面,且这种情况如何变化?为了评估这些说法,我们汇集了2000年至2025年初间发表的论文中,涵盖27个科学领域的2507个人工智能与其他科学分析技术的对比案例。我们发现了一个深刻的二元对立。相较于传统统计方法,人工智能通常表现更好,但计算成本显著更高。然而,几乎有四分之一的案例中,人工智能的成本更高且表现不如传统统计技术,这一比例在过去十年中保持稳定。相较于科学计算,人工智能的表现通常较差,但计算成本较低。这一情况已开始发生变化:自2020年以来,人工智能在科学计算方面的表现显著增强,现在在超过一半的对比中表现优于科学计算。这些模式表明,人工智能并不是现有方法的普遍替代品,而是一个有价值且不断改进的新人工智能驱动的科学前沿的一部分。
cs.AI / 13 / 2609.16298

Closing the Loop: Branch-and-Bound for Scalable Verification of Nonlinear Neural Feedback Systems

闭环控制:用于可扩展非线性神经反馈系统验证的分支限界法
Akinwande, I. Samuel, Kochenderfer, Mykel J., Barrett, Clark
Abstract
Despite recent advances in the verification of nonlinear neural feedback systems, scalability remains the central obstacle, as state-of-the-art solvers do not yet handle the network sizes and nonlinear dynamics of autonomy applications. Combinatorial solvers do not scale to large networks, whereas propagative solvers excessively sacrifice precision. This work seeks to improve the scalability of combinatorial solvers by formulating verification as branch-and-bound on an abstraction of the closed-loop system. We introduce \rail, an interface that exposes polyhedral enclosures of the dynamics to LiRPA-style bound propagation, and \clipper, a branch-and-bound algorithm that jointly refines enclosures and splits controller activations. This framework enables joint reasoning on the computational graph of the closed-loop system, preserving symbolic correlations across time steps. We present our construction and show that it yields significant improvements over the state of the art.
Chinese Translation
尽管在非线性神经反馈系统的验证方面取得了近期进展,但可扩展性仍然是主要障碍,因为现有的最先进求解器尚未能够处理自主应用中的网络规模和非线性动态。组合求解器无法扩展到大型网络,而传播求解器则过度牺牲了精度。本研究旨在通过将验证问题表述为闭环系统抽象上的分支限界法,来提高组合求解器的可扩展性。我们引入了 ail,一个接口,能够将动态的多面体包络暴露给 LiRPA 风格的界限传播,以及 extit{clipper},一种分支限界算法,能够共同细化包络并拆分控制器激活。该框架使得能够对闭环系统的计算图进行联合推理,保持跨时间步的符号相关性。我们展示了我们的构建,并表明其在性能上显著优于现有技术。
cs.AI / 14 / 2609.16301

CLEAR: Cross-Source Evidence Adjudication for Large Language Models in Medicine

CLEAR:用于医学领域大型语言模型的跨源证据裁定
Wang, Shuai, Zhao, Yize, Chen, Qingyu
Abstract
Medical knowledge evolves continuously, whereas the parametric knowledge encoded in large language models (LLMs) is fixed at training time. External retrieval, including retrieval-augmented generation (RAG), can provide access to newly available evidence, but retrieved information may be irrelevant, incomplete, or conflicting. As a result, external retrieval can in turn degrade the factual accuracy and evidence grounding of LLM outputs. To address this challenge, we propose \textbf{CLEAR}, an agentic framework for cross-source evidence adjudication in LLMs in medicine. CLEAR independently generates candidate answers from three complementary pathways---parametric knowledge, locally curated corpora, and dynamically retrieved evidence---reflecting three common sources of information available to LLMs. An aggregation verifier jointly evaluates the candidates, supporting evidence, provenance, and source-quality information to identify agreement and conflict across sources. An adjudication module then determines whether the current conclusion should be preserved or revised through complementary override-guard and challenge-audit mechanisms, while unresolved conflicts trigger targeted follow-up search and re-adjudication.
Chinese Translation
医学知识持续演变,而大型语言模型(LLMs)中编码的参数知识在训练时是固定的。外部检索,包括检索增强生成(RAG),可以提供对新可用证据的访问,但检索到的信息可能是无关的、不完整的或相互冲突的。因此,外部检索可能会降低LLM输出的事实准确性和证据基础。为了解决这一挑战,我们提出了 extbf{CLEAR},一个用于医学领域LLMs的跨源证据裁定的代理框架。CLEAR独立地从三条互补路径生成候选答案——参数知识、本地策划的语料库和动态检索的证据——反映了LLMs可用的三种常见信息来源。聚合验证器共同评估候选答案、支持证据、来源及质量信息,以识别各来源之间的一致性和冲突。裁定模块随后决定当前结论是应保留还是通过互补的覆盖保护和挑战审计机制进行修订,而未解决的冲突则触发针对性的后续搜索和重新裁定。
cs.AI / 15 / 2609.16305

BLINDSPOT: A Benchmark for Safety and Refusal Calibration in Long-Horizon Tool-Using Agents

BLINDSPOT:长时间使用工具的智能体安全性与拒绝校准基准
Asif, Sadia, Amiri, Mohammad Mohammadi, Abbas, Momin, Pedapati, Tejaswini, Sattigeri, Prasanna
Abstract
Large language model (LLM) agents increasingly operate over long-horizon interactions involving tool use, persistent state, evolving authorization, and external environment feedback. In such settings, safety failures may emerge only after multiple turns, yet existing evaluations often reduce agent behavior to task or attack success, obscuring whether an agent acts, refuses, or remains appropriately calibrated as the interaction evolves. We introduce Blindspot, a benchmark for trajectory-level safety calibration of long-horizon tool-using agents. Blindspot evaluates complete user-agent-environment trajectories through adaptive adversarial interaction, stateful tool execution, and execution-grounded adjudication. Its current instantiation contains 22 attack families and 35 scenarios across seven domains, yielding more than 2,500 long-horizon trajectories with an average interaction length of 14.7 turns. Each trajectory is assigned one of five outcomes: Safe Completion, Correct Refusal, Unsafe Completion, Over-Refusal, or Indeterminate. Unlike fixed attack datasets, Blindspot is an extensible live-simulation framework in which attacks, scenarios, tools, policies, domains, and agent configurations can be added without redesigning the evaluation pipeline. We evaluate 13 proprietary and open-weight LLMs using eight metrics covering unsafe completion, appropriate refusal, benign utility, over-refusal, repeated-run robustness, and post-refusal failure. Preliminary results reveal substantial differences in safety-utility calibration across models and show that failures can emerge only after several initially safe interaction steps. These findings motivate treating agent safety as a trajectory-level property rather than a single-turn or binary success criterion.
Chinese Translation
大型语言模型(LLM)智能体越来越多地在涉及工具使用、持久状态、不断演变的授权和外部环境反馈的长时间交互中运作。在这样的环境中,安全失败可能仅在多轮交互后才会显现,而现有评估通常将智能体行为简化为任务或攻击的成功,掩盖了智能体在交互演变过程中是采取行动、拒绝还是保持适当校准。我们引入了Blindspot,这是一个针对长时间使用工具的智能体的轨迹级安全校准基准。Blindspot通过自适应对抗交互、状态工具执行和基于执行的裁决来评估完整的用户-智能体-环境轨迹。其当前实例包含22个攻击类别和35个场景,涵盖七个领域,生成超过2500条长时间轨迹,平均交互长度为14.7轮。每条轨迹被分配为五种结果之一:安全完成、正确拒绝、不安全完成、过度拒绝或不确定。与固定攻击数据集不同,Blindspot是一个可扩展的实时模拟框架,可以在不重新设计评估流程的情况下添加攻击、场景、工具、策略、领域和智能体配置。我们使用八个指标评估了13个专有和开放权重的LLM,涵盖不安全完成、适当拒绝、良性效用、过度拒绝、重复运行鲁棒性和拒绝后的失败。初步结果显示,不同模型之间在安全效用校准方面存在显著差异,并表明失败可能仅在几个最初安全的交互步骤后出现。这些发现促使我们将智能体安全视为轨迹级属性,而非单轮或二元成功标准。
cs.AI / 16 / 2609.16322

Cross-Anatomy Transfer Versus Sparse Interpolation in Digital-Twin-Oriented Aortic Fluid-Structure Interaction Surrogates

数字双胞胎导向的主动脉流体-结构相互作用代理中的跨解剖转移与稀疏插值比较
Nourbakhsh, Ali, Niroomand, Mohammad Reza, Nourbakhsh, Erfan
Abstract
Surrogate credibility for fluid-structure interac- tion (FSI) requires distinguishing transfer across independent anatomies from interpolation within an already sampled surface. Four de-identified human aortic models from the Vascular Model Repository were reconstructed into separate lumen and nominal 1.5-mm wall domains and analyzed under matched first-cycle two-way FSI. A geometry-only LightGBM prior, selected by leave-one-anatomy-out development on three anatomies, was zero-shot evaluated on a fourth, then probed with a post-zero- shot sparse field-completion case study over six targets. Zero-shot transfer was poor across all targets. At a five-percent anchor level (203 anchors, 3,852 evaluation nodes), prior-plus-adaptation reached an oscillatory shear index (OSI) R2 of 0.603. However, same-anchor controls tuned only on the three development anatomies were stronger for several outcomes: inverse-distance weighting reached R2 = 0.829 (OSI), 0.617 (peak von Mises stress), 0.676 (mean stress); radial basis function interpolation reached 0.917, 0.714, 0.778. Sparse within-anatomy labels thus support field completion, but this four-anatomy cohort gives no evidence the cross-anatomy prior adds value beyond direct interpolation. We frame this as a first computational stage toward a measurement-linked digital twin: the surrogate/update layer is evaluated here, while larger cohorts, converged FSI, measurable patient-side inputs, and physics-informed learning remain future work, not a claim of a complete clinical twin. Our code, data and computation files are available at https://github. com/ali-nourbakhsh2005/Aortic-FSI-Sparse-Field-Completion
Chinese Translation
流体-结构相互作用(FSI)代理的可信度要求区分跨独立解剖的转移与在已采样表面内的插值。从血管模型库中获取的四个去标识化人类主动脉模型被重建为独立的腔体和名义1.5毫米壁域,并在匹配的第一次循环双向FSI下进行分析。通过在三种解剖结构上进行留一解剖开发选择的仅几何LightGBM先验,在第四种解剖结构上进行了零样本评估,然后通过在六个目标上的后零样本稀疏场补全案例研究进行了探测。所有目标的零样本转移效果均较差。在5%的锚定水平下(203个锚点,3852个评估节点),先验加适应达到振荡剪切指数(OSI)R²为0.603。然而,仅在三种开发解剖结构上调优的同锚控制在多个结果上表现更强:逆距离加权达到R² = 0.829(OSI),0.617(峰值冯·米塞斯应力),0.676(平均应力);径向基函数插值分别达到0.917、0.714、0.778。因此,稀疏的解剖内标签支持场补全,但这个四解剖结构的队列并未提供证据表明跨解剖先验在直接插值之外增加了价值。我们将此视为朝向测量关联数字双胞胎的第一计算阶段:这里评估了代理/更新层,而更大的队列、收敛的FSI、可测量的患者侧输入和物理信息学习仍然是未来的工作,而不是完整临床双胞胎的声明。我们的代码、数据和计算文件可在https://github.com/ali-nourbakhsh2005/Aortic-FSI-Sparse-Field-Completion获取。
cs.AI / 17 / 2609.16338

Breaking the 1.58-bit Barrier for Ternary LLMs

突破三元大语言模型的1.58比特障碍
Georganas, Evangelos, Heinecke, Alexander, Dubey, Pradeep
Abstract
Ternary Large Language Models (LLM) store every weight as one of three symbols $\{-1,0,+1\}$, so the cost of a ternary model is conventionally referenced to the information-theoretic $\log_2 3 \approx 1.585$ bits per weight. The prevailing deployment format packs five ternary weights into one byte (five-trit packing), and due to the power-of-two group sizes used in practice this rounds up to $1.625$ bits per weight. This effective storage bit-width treats the three symbols $\{-1,0,+1\}$ as equiprobable. We measure the actual symbol distribution of 29 ternary LLM models and find that zeros account for up to $51.5\%$ of all weights. Motivated by this finding, we introduce BITCOS, a simple distribution-adaptive layout comprised of a dense presence bitmap plus a compacted sign vector, and costs $2 - z$ bits per weight element given a zero density $z$ in the model's weights. BITCOS stores weights more compactly than the five-trit packing in 26 of the 29 tested models, and reaches $1.485$ bits per weight on the sparsest of them. BITCOS is amenable to efficient unpacking on modern processors and GPUs, and we present optimized unpacking sequences for AVX-512, AVX2 and Intel Xe2 GPUs. Measured against production state-of-the-art ternary matrix-vector multiplication kernels, at the zero densities real-world ternary models exhibit, the realized gain with our proposed layout is up to $1.28\times$. Finally, we illustrate end-to-end LLM inference results on 5 different platforms (client and server CPUs, integrated and discrete Xe2 GPUs) where decode throughput improves by up to $1.18\times$ on CPUs and $1.27\times$ on GPUs.
Chinese Translation
三元大语言模型(Ternary Large Language Models, LLM)将每个权重存储为三个符号之一 $ ext{-1, 0, +1}$,因此三元模型的成本通常参考信息论的 $ ext{log}_2 3 ext{ 约等于 } 1.585$ 比特每个权重。现有的部署格式将五个三元权重打包到一个字节中(五元三打包),由于实际使用的二次幂组大小,这个值上调至 $1.625$ 比特每个权重。这种有效存储位宽将三个符号 $ ext{-1, 0, +1}$ 视为等概率。我们测量了29个三元LLM模型的实际符号分布,发现零的比例高达 $51.5 ext{%}$。基于这一发现,我们引入了BITCOS,这是一种简单的分布自适应布局,由密集的存在位图和压缩的符号向量组成,给定模型权重中零的密度 $z$,每个权重元素的成本为 $2 - z$ 比特。BITCOS在29个测试模型中有26个模型的权重存储比五元三打包更紧凑,并在最稀疏的模型上达到了 $1.485$ 比特每个权重。BITCOS适合在现代处理器和GPU上高效解包,我们为AVX-512、AVX2和Intel Xe2 GPU提供了优化的解包序列。与生产级最先进的三元矩阵-向量乘法内核相比,在实际三元模型所表现出的零密度下,我们提出的布局实现的增益高达 $1.28 imes$。最后,我们展示了在5个不同平台(客户端和服务器CPU,集成和离散Xe2 GPU)上的端到端LLM推理结果,其中CPU上的解码吞吐量提高了高达 $1.18 imes$,GPU上提高了 $1.27 imes$。
cs.AI / 18 / 2609.16454

Fine-Tuning Fixes Mode Collapse and Over-Dispersion in LLMs

微调修复了大型语言模型中的模式崩溃和过度分散问题
Skobelev, Kirill, Fithian, Eric, Han, X. Y.
Abstract
Recent work by Doshi and Hauser (2024), Bisbee et al. (2024), and Xie et al. (2026) raises concerns that outputs from large language models (LLMs) tend to be under-diverse: they repeat or resemble one another more often than responses from the population they are meant to represent, a phenomenon known as mode collapse. In this work, we show that whether mode-collapse, or its opposite, occurs depends on the specific model and dataset used. Further, with sufficient supervised fine-tuning (SFT) data, LLM output diversity converges toward that of the target distribution from which fine-tuning data are sampled. To quantify this comparison, we measure the probability that two responses sampled independently from the same fixed prompt coincide (collide), or their expected similarity under a kernel. We derive a bias-variance decomposition of the expected gap between the model's and target's collision probabilities, showing that SFT is not inherently biased toward mode collapse or its opposite: finite-sample SFT can leave a model either under- or over-dispersed, depending on the model and dataset. Finally, we show that the absolute gap is bounded by the square root of the Kullback-Leibler (KL) divergence from the target distribution to the model. Consequently, a model sufficiently close to optimal under population cross-entropy cannot exhibit arbitrarily miscalibrated diversity. We test the decomposition and the bound in three experiments: small transformers on synthetic languages, four LLMs fine-tuned on human surveys, and these LLMs fine-tuned on CodeNet, a dataset of human code solutions. More target data moves model diversity toward the human (or synthetic target) level in all experiments, consistent with our theoretical predictions. These results show that diversity miscalibration can arise from finite-sample error and shrink as SFT better approximates the target distribution.
Chinese Translation
Doshi 和 Hauser (2024)、Bisbee 等 (2024) 以及 Xie 等 (2026) 的最新研究提出了对大型语言模型 (LLMs) 输出的担忧,认为其输出往往缺乏多样性:它们的回答比所代表的人群的回答更频繁地重复或相似,这一现象被称为模式崩溃。在本研究中,我们表明,模式崩溃或其对立现象的发生取决于所使用的具体模型和数据集。此外,随着足够的监督微调 (SFT) 数据的增加,LLM 输出的多样性趋向于微调数据所抽样的目标分布。为了量化这种比较,我们测量了从同一固定提示独立抽样的两个响应重合(碰撞)的概率,或它们在一个核下的期望相似性。我们推导了模型与目标碰撞概率之间期望差距的偏差-方差分解,表明 SFT 本身并不偏向于模式崩溃或其对立现象:有限样本的 SFT 可以使模型处于欠分散或过度分散状态,具体取决于模型和数据集。最后,我们展示了绝对差距受限于从目标分布到模型的 Kullback-Leibler (KL) 散度的平方根。因此,足够接近于最优的模型在总体交叉熵下不能表现出任意不当校准的多样性。我们在三个实验中测试了这种分解和界限:在合成语言上的小型变换器、在人工调查上微调的四个 LLM,以及在 CodeNet(一个人类代码解决方案数据集)上微调的这些 LLM。在所有实验中,更多的目标数据使模型多样性向人类(或合成目标)水平靠拢,这与我们的理论预测一致。这些结果表明,多样性不当校准可能源于有限样本误差,并随着 SFT 更好地逼近目标分布而缩小。
cs.AI / 19 / 2609.16487

Skill-based Agentic Evaluation for Real-time Data Science Tasks

基于技能的代理评估用于实时数据科学任务
Tamhane, Aniruddha, Addanki, Raghavendra, Aggarwal, Ayushi, Bansal, Aditya, Wang, Rui, Menguy, Charles, Jain, Swati
Abstract
We present a framework for evaluating data-science agents on live, continuously updated data using executable ground truth and format-agnostic factoid scoring. Consider this example query: "what were last week's audience sizes"---the reference answer changes as the underlying data changes, so static references become outdated and standard LLM-as-a-judge pipelines cannot verify responses against a fixed ground truth. Our central contribution, ground-truth-as-code, encodes each expected answer as an executable reference function that recomputes the answer directly from live data at evaluation time, ensuring the reference remains consistent with the system it describes. We combine this with a factoid-level, format-agnostic judge that decomposes both the agent's response and the computed ground truth into atomic claims and scores precision, recall, and accuracy over them, irrespective of the response format (prose, list, table, HTML, etc.). The approach is applicable to agents whose expected outputs can be expressed as executable data computations. We validate the framework through a human--LLM agreement study on an internally developed machine learning skill deployed in production, using a synthetic database constructed to reproduce production schemas and entity relationships. Relative to a natural-language ground-truth baseline, our method achieves a 29% improvement in the Matthews Correlation Coefficient (MCC)---a class-balanced measure of agreement between expert annotators and LLM-as-a-judge predictions---and a 16% reduction in token consumption per test case, while a self-directed baseline lacking explicit ground truth is anti-correlated with human judgment. Agents that perform multi-source data integration and computation over non-stationary data are routinely deployed in industry; we propose ground-truth-as-code as a practical methodology for their evaluation.
Chinese Translation
我们提出了一个框架,用于评估在实时、持续更新的数据上进行数据科学任务的代理,采用可执行的真实答案和格式无关的事实评分。考虑这个示例查询:“上周的观众人数是多少”——参考答案随着基础数据的变化而变化,因此静态参考变得过时,标准的 LLM 作为评判者的流程无法根据固定的真实答案验证响应。我们的核心贡献,真实答案即代码(ground-truth-as-code),将每个预期答案编码为可执行的参考函数,该函数在评估时直接从实时数据中重新计算答案,确保参考与其描述的系统保持一致。我们将此与一个事实级别的、格式无关的评判者相结合,该评判者将代理的响应和计算出的真实答案分解为原子声明,并对其进行精确度、召回率和准确性评分,无论响应格式如何(散文、列表、表格、HTML 等)。该方法适用于其预期输出可以表示为可执行数据计算的代理。我们通过对一个内部开发的、在生产中部署的机器学习技能进行的人类与 LLM 一致性研究来验证该框架,使用构建的合成数据库来重现生产模式和实体关系。相较于自然语言真实答案基线,我们的方法在马修斯相关系数(MCC)上实现了 29% 的提升——这是专家注释者与 LLM 作为评判者的预测之间的一种类别平衡一致性度量——并且每个测试案例的令牌消耗减少了 16%,而缺乏明确真实答案的自我导向基线与人类判断呈负相关。执行多源数据集成和对非平稳数据进行计算的代理在行业中被广泛部署;我们提出真实答案即代码作为其评估的实用方法。
cs.AI / 20 / 2609.16493

From Manual Construction to AI-Driven Scenario Emergence: Rethinking Catastrophe Risk Modeling

从手动构建到人工智能驱动的场景生成:重新思考灾难风险建模
Gao, Hang
Abstract
Traditional catastrophe (CAT) risk models rely on costly manual construction to generate extreme weather scenarios, an approach largely unchanged since the 1990s. As climate extremes intensify, this creates mounting challenges to the entire risk transfer chain. This study proposes the TAISE framework, which repurposes AI weather forecasting models to produce coherent extreme weather sequences at a fraction of traditional costs. Through self-iterative generation, the framework produces continuous global atmospheric fields from which extreme events emerge. A proof-of-concept experiment demonstrates an order-of-magnitude reduction in computational cost compared with conventional methods, while capturing temporal continuity and cross-regional correlations absent in snapshot-based approaches. These findings suggest a pathway toward democratising catastrophe risk quantification and enabling dynamic, comprehensive portfolio assessment for insurers, reinsurers, ILS fund managers and public-sector risk managers.
Chinese Translation
传统的灾难(CAT)风险模型依赖于昂贵的手动构建来生成极端天气场景,这一方法自1990年代以来基本未变。随着气候极端事件的加剧,这给整个风险转移链带来了日益严峻的挑战。本研究提出了TAISE框架,该框架重新利用人工智能天气预测模型,以较低的传统成本生成连贯的极端天气序列。通过自我迭代生成,该框架产生连续的全球大气场,从中涌现出极端事件。一项概念验证实验表明,与传统方法相比,计算成本减少了一个数量级,同时捕捉到了快照方法中缺失的时间连续性和跨区域相关性。这些发现为民主化灾难风险量化提供了一条路径,并使保险公司、再保险公司、ILS基金经理和公共部门风险管理者能够进行动态、全面的投资组合评估。
cs.AI / 21 / 2609.16519

AquiLLM: Evaluating Faithfulness in Open-Weight RAG-LLM Systems for Scientific Research

AquiLLM:评估开放权重RAG-LLM系统在科学研究中的可信度
Boscoe, Bernie, Saikrishnan, Srinath, Seenivasan, Vikram, Stark, Jack, Lizarraga, Andrew, Himes, Morgan, Soriano, Jonathan, Allen, PJ, Do, Tuan
Abstract
Scientific research increasingly relies on large, heterogeneous data sources, motivating interest in retrieval-augmented generation (RAG) systems that provide natural language access to scientific knowledge and research workflows. Researchers are exploring the viability of these systems as natural language interfaces for document search and for generating analysis code and pipeline components. At the same time, concerns about data privacy and control over research infrastructure have motivated interest in open-weight models and open-source deployments hosted within research institutions. In astronomy, this development follows a long history of computational infrastructure development, from archival databases and SQL-based systems to LLM-assisted research tools. This paper presents a domain-expert evaluation of faithfulness for AquiLLM, an open-weight, offline RAG-LLM platform designed to support scientific research groups in the use and preservation of tacit and formal knowledge. We define faithfulness as the extent to which generated responses remain grounded in retrieved scientific context without unsupported claims or omissions. We report results from an astronomy case study evaluating AquiLLM across retrieval and scientific analysis tasks. AquiLLM performs most reliably on explicit retrieval-oriented questions grounded in the RAG collection, while faithfulness degrades for queries requiring synthesis or ambiguity resolution. These results highlight both the promise and limitations of open-weight RAG-LLM systems for scientific research and demonstrate the importance of domain-expert evaluation beyond standard benchmark leaderboards.
Chinese Translation
科学研究越来越依赖于大型异构数据源,这激发了对检索增强生成(RAG)系统的兴趣,这些系统提供了对科学知识和研究工作流程的自然语言访问。研究人员正在探索这些系统作为文档搜索的自然语言接口以及生成分析代码和流程组件的可行性。同时,关于数据隐私和对研究基础设施控制的担忧也激发了对开放权重模型和在研究机构内部托管的开源部署的兴趣。在天文学领域,这一发展遵循了计算基础设施发展的悠久历史,从档案数据库和基于SQL的系统到LLM辅助的研究工具。本文对AquiLLM进行了一次领域专家的可信度评估,AquiLLM是一个开放权重、离线的RAG-LLM平台,旨在支持科学研究团队使用和保存隐性和显性知识。我们将可信度定义为生成的响应在多大程度上仍然基于检索到的科学背景,而没有不支持的主张或遗漏。我们报告了一项天文学案例研究的结果,评估了AquiLLM在检索和科学分析任务中的表现。AquiLLM在基于RAG集合的明确检索导向问题上表现最为可靠,而在需要综合或模糊性解决的查询中,可信度则有所下降。这些结果突显了开放权重RAG-LLM系统在科学研究中的潜力和局限性,并展示了超越标准基准排行榜进行领域专家评估的重要性。
cs.AI / 22 / 2609.16548

QueryFormer: Winning Solution for KDD Cup 2026 Tencent UniRec Challenge

QueryFormer:KDD Cup 2026 腾讯 UniRec 挑战的获胜方案
Zhou, Yuanzhe, Zeng, Zhaoyang
Abstract
Post-click conversion rate (pCVR) prediction requires jointly modeling feature interactions and sequential user behaviors. The KDD Cup 2026 Tencent UniRec Challenge calls for a unified architecture addressing both. We observe that existing unified architectures often generate query tokens---the central information hub---with projection-based multi-layer perceptrons (MLPs), without explicit token-to-query attention for refining the query side. We propose QueryFormer, centered on a stackable unified field--sequence block that bridges non-sequential multi-field features and behavioral sequences, and provide a latency-aware scaling study over view width $H$, model width, depth, data, and compute. The block generates queries through cross-attention and packs sequence queries into shared-parameter attention. QueryFormer secured 1st place in the Industrial Track, achieving an official test area under the ROC curve (AUC) of 0.83254; a modest post-competition scale-up reached 0.832713. Within our grid, $H$-scaling improves validation AUC from 0.84540 to 0.84615 and beats HyFormer at comparable budgets. Ablation identifies query generation as the largest contributor. Packed shared-parameter cross-attention keeps H=8 inference latency to only 1.89x that of H=1, positioning the bridge as an efficient stackable unified block.
Chinese Translation
点击后的转化率(pCVR)预测需要联合建模特征交互和用户行为序列。KDD Cup 2026 腾讯 UniRec 挑战要求提出一个统一的架构来解决这两个问题。我们观察到,现有的统一架构通常使用基于投影的多层感知器(MLPs)生成查询令牌——中心信息枢纽,而没有明确的令牌到查询的注意力机制来优化查询方面。我们提出了 QueryFormer,围绕一个可堆叠的统一字段-序列模块,该模块连接非序列的多字段特征和行为序列,并提供了一个关于视图宽度 $H$、模型宽度、深度、数据和计算的延迟感知扩展研究。该模块通过交叉注意力生成查询,并将序列查询打包到共享参数注意力中。QueryFormer 在工业轨道中获得第一名,官方测试曲线下面积(AUC)达到 0.83254;经过适度的赛后扩展,达到了 0.832713。在我们的网格中,$H$-扩展将验证 AUC 从 0.84540 提升至 0.84615,并在可比预算下超越了 HyFormer。消融实验表明,查询生成是最大的贡献者。打包的共享参数交叉注意力将 H=8 的推理延迟保持在 H=1 的 1.89 倍,确立了该桥接模块作为一个高效的可堆叠统一模块。
cs.AI / 23 / 2609.16564

Query-Aware Source-Risk Triage for Retrieval-Augmented Generation

查询感知的源风险分流用于检索增强生成
Zhou, Kainan, Qian, Gangzhen, Xu, Chuhong, Yi, Lu
Abstract
Retrieval-augmented generation (RAG) pipelines may omit a source's material relationship to the query. We study a pre-generation triage layer that treats this relationship as query dependent. The method routes canonical query families for enhanced review and assigns retrieved pages to pass, contextualize, exclude, or review. It combines a four-dimension page score, rank-discounted family aggregation, intent-preserving query mutations, and a family-held-out router. A single-coded pilot of 200 real URLs supplies provisional calibration anchors; a 20,000-row scenario with synthetic domain identifiers supports controlled workload analysis. An oracle page gate defines a risk-coverage target for a future learned classifier. The evaluation shows why page-level frequency cannot substitute for family-level exposure and quantifies how calibration changes scenario activation. Annotation reliability remains unmeasured, and synthetic rankings omit real retrieval dynamics. The result is an auditable triage method and validation plan, not an estimate of deployed review workload, live-Web prevalence, or downstream answer-quality gains.
Chinese Translation
检索增强生成(RAG)管道可能会忽略源材料与查询之间的关系。我们研究了一种预生成分流层,将这种关系视为依赖于查询的方法。该方法为增强审查路由标准查询族,并将检索到的页面分配为通过、上下文化、排除或审查。它结合了四维页面评分、排名折扣的家族聚合、保持意图的查询变异以及家族保留的路由器。一个包含200个真实URL的单编码试点提供了临时校准锚点;一个包含20,000行的场景与合成域标识符支持受控工作负载分析。一个神谕页面门定义了未来学习分类器的风险覆盖目标。评估显示页面级频率无法替代家族级曝光,并量化了校准如何改变场景激活。注释可靠性尚未测量,合成排名忽略了真实检索动态。最终结果是一个可审计的分流方法和验证计划,而不是对部署审查工作负载、实时网络普遍性或下游答案质量提升的估计。
cs.AI / 24 / 2609.16589

Do LLMs Have Values? A Quantitative Analysis and Alignment Framework for Values in Large Language Models

大型语言模型是否具有价值观?大型语言模型中价值观的定量分析与对齐框架
Zhang, Keqing, Chen, Jingyu, Liu, Yufan, Zhu, Yongqiang, Ding, Nai, Jiang, Lai, Lang, Congyan, Li, Bing, Hu, Weiming
Abstract
As Large Language Models (LLMs) increasingly handle complex subjective tasks, aligning their intentions and behaviors with human values has become a critical scientific challenge. However, current efforts are confounded by a striking behavioral paradox: they fluctuate unpredictably under minor wording changes ("swing"), yet stubbornly ignore explicit instructions to correct ingrained biases ("rigidity"). Resolving this duality is critical for reliable AI alignment. To systematically understand and safely steer these latent subjective preferences, our study is structured around three fundamental questions. First, do LLMs possess an intrinsic value system? By projecting responses from 106 LLMs (150,000 queries per model) and 95,000 human survey profiles into a shared sociological space, we empirically confirm that they do. However, they do not mirror human diversity, instead crystallizing into a highly concentrated, idealized value core. Second, how can these values be quantified? We propose the Prior-Environment-Cognition (PEC) framework. This model mathematically defines value expression as the joint outcome of inherent dispositions like parameter weights (Prior), external contexts such as user prompts (Environment), and internal reasoning processes like Chain-of-Thought (Cognition). Finally, how can LLMs' values be aligned toward a desired target? Using PEC diagnostics, we establish an adaptive "Alignment Prescription". Rather than blindly applying resource-intensive training, this method identifies the minimum effective intervention needed for each dimension, ranging from zero-cost prompts to targeted parameter updates. Extensive empirical validation confirms that our approach successfully verifies the presence of LLM values, accurately quantifies their shifts, and achieves more efficient and precise steering than conventional blind training, all without degrading general capabilities.
Chinese Translation
随着大型语言模型(LLMs)越来越多地处理复杂的主观任务,使其意图和行为与人类价值观对齐已成为一个重要的科学挑战。然而,目前的努力受到一个显著行为悖论的困扰:在细微措辞变化下,它们的反应不可预测地波动(“摆动”),而对于纠正根深蒂固的偏见却顽固地忽视明确指令(“刚性”)。解决这一二元性对于可靠的人工智能对齐至关重要。为了系统地理解并安全地引导这些潜在的主观偏好,我们的研究围绕三个基本问题展开。首先,LLMs是否具备内在的价值体系?通过将106个LLMs(每个模型150,000个查询)和95,000个人类调查档案的响应投影到一个共享的社会学空间中,我们实证确认了它们确实具备价值体系。然而,它们并未反映人类的多样性,而是凝聚成一个高度集中、理想化的价值核心。其次,这些价值观如何量化?我们提出了先验-环境-认知(Prior-Environment-Cognition, PEC)框架。该模型数学上定义了价值表达为固有倾向(如参数权重,Prior)、外部环境(如用户提示,Environment)和内部推理过程(如思维链,Cognition)的联合结果。最后,如何将LLMs的价值观对齐到期望目标?通过PEC诊断,我们建立了一个自适应的“对齐处方”。该方法并非盲目应用资源密集型训练,而是识别每个维度所需的最小有效干预,从零成本提示到针对性参数更新。广泛的实证验证确认我们的方法成功验证了LLM价值观的存在,准确量化了其变化,并实现了比传统盲训练更高效、更精确的引导,且不降低其一般能力。
cs.AI / 25 / 2609.16592

A Framework for Generating Valid Context-Specific Benchmarks through Expert Guidance

通过专家指导生成有效的上下文特定基准框架
Truong, Kimberly Le, Johnson, Nari, Kawakami, Anna, Heidari, Hoda
Abstract
This paper presents an end-to-end approach for generating context-specific large language model (LLM) benchmark datasets by combining expert input with synthetic data generation. Existing benchmark construction methods often trade off validity and scalability: datasets designed with domain experts can produce high-quality evaluations but are slow and costly to create, while synthetically generating data may scale efficiently but often results in unrealistic, redundant, or out-of-scope examples. To address this gap, we introduce a schema eliciting key information about the goals, scope, and context of an evaluation task, and use this information to guide synthetic data generation. We further define four criteria grounded in measurement validity for assessing dataset quality: coverage, diversity, content realism, and stylistic realism. Using these criteria, we show how expert-informed scaffolds can guide synthetic data generation toward more valid benchmarks. Through quantitative evaluations and a real-world case study with domain experts, we demonstrate that our approach improves benchmark data quality over existing methods while preserving validity. We additionally analyze how different types of schema information affect different dataset quality criteria, and provide practical guidance on which information to prioritize collecting under resource constraints.
Chinese Translation
本文提出了一种端到端的方法,通过结合专家输入和合成数据生成,生成上下文特定的大型语言模型(LLM)基准数据集。现有的基准构建方法通常在有效性和可扩展性之间进行权衡:由领域专家设计的数据集可以产生高质量的评估,但创建过程缓慢且成本高昂,而合成生成数据可能具有良好的扩展性,但通常会导致不现实、冗余或超出范围的示例。为了解决这一问题,我们引入了一种模式,提取有关评估任务的目标、范围和上下文的关键信息,并利用这些信息指导合成数据生成。我们进一步定义了四个基于测量有效性的标准来评估数据集质量:覆盖率、多样性、内容现实性和风格现实性。利用这些标准,我们展示了如何通过专家指导的框架引导合成数据生成,朝着更有效的基准发展。通过定量评估和与领域专家的真实案例研究,我们证明了我们的方法在保持有效性的同时,提高了基准数据质量。此外,我们还分析了不同类型的模式信息如何影响不同的数据集质量标准,并提供了在资源限制下优先收集哪些信息的实用指导。
cs.AI / 26 / 2609.16635

EchoPath: Execution-Level Replayable Memory for GUI Agents

EchoPath:可执行级重放的图形用户界面代理内存
Zhao, Yao, Shanmugham, Aditya, Roy, Swastik, Xu, Yanxun
Abstract
Computer-use agents increasingly operate browsers, software, and desktop applications via CLI or API portals, but graphical user interface (GUI) still plays an important role in common industrial production scenarios. GUI agents commonly employ fresh observe-plan-ground-act loops, which is inefficient for enterprise tasks that repeatedly update records, process forms, configure tools, and export reports. We introduce EchoPath, a model-agnostic harness that converts artifact-validated GUI trajectories into standardized, parameter-controlled callable memories, analogous to Model Context Protocol (MCP)-style tool calls rather than unstructured experience records. Each memory stores task-intent keys, application and state preconditions, flexible input parameters, GUI evidence, validation provenance, and lifecycle state, so the host agent invokes a targeted procedure only when it can be deterministically replayed in the current runtime. The core mechanism enabling replay is an image-based target-reaiming algorithm that treats stored coordinates as visual evidence, matches the remembered GUI target against the current screen, and emits corrected operation coordinates before execution. During replay, EchoPath rebinds only declared modifiable inputs and rejects ambiguous or incompatible steps to bounded grounding repair or fresh planning. In experiments with real computer-use tasks, EchoPath reduced median token cost by more than 90% and median execution time by about 60%. These results support a bounded form of enterprise GUI memory: validated execution experience can become a controllable callable asset for recurrent work rather than only context for another reasoning pass.
Chinese Translation
计算机使用代理越来越多地通过命令行接口(CLI)或应用程序接口(API)门户操作浏览器、软件和桌面应用程序,但图形用户界面(GUI)在常见的工业生产场景中仍然发挥着重要作用。GUI 代理通常采用新鲜的观察-计划-行动循环,这对于重复更新记录、处理表单、配置工具和导出报告的企业任务而言效率较低。我们提出了 EchoPath,这是一种与模型无关的工具,能够将经过工件验证的 GUI 轨迹转换为标准化、参数控制的可调用内存,类似于模型上下文协议(Model Context Protocol, MCP)风格的工具调用,而不是非结构化的经验记录。每个内存存储任务意图键、应用程序和状态前提、灵活的输入参数、GUI 证据、验证来源和生命周期状态,因此主代理仅在可以在当前运行时可确定地重放时调用目标过程。支持重放的核心机制是基于图像的目标重定向算法,该算法将存储的坐标视为视觉证据,将记忆中的 GUI 目标与当前屏幕进行匹配,并在执行前发出修正的操作坐标。在重放过程中,EchoPath 仅重新绑定声明的可修改输入,并拒绝模糊或不兼容的步骤,以进行有限的基础修复或新的规划。在实际计算机使用任务的实验中,EchoPath 将中位数令牌成本降低了超过 90%,中位数执行时间降低了约 60%。这些结果支持了一种有限形式的企业 GUI 内存:经过验证的执行经验可以成为可控的可调用资产,用于重复工作,而不仅仅是另一次推理过程的上下文。
cs.AI / 27 / 2609.16639

ReDraft, Don't Just Distill: Reference-Driven Revision for Continual VLLM Post-Training

重草稿,而不仅仅是提炼:基于参考的持续 VLLM 后训练修订
Zhang, Zhihao, Wu, Mingqi, Dong, Qiaole, Zhou, Enyu, Li, Shuo, Liu, Boyang, Zhang, Jiazheng, Guo, Honglin, Guo, Xin, Liu, Shaofan, Wang, Junzhe, Zhu, Dingwei, Xi, Zhiheng, Peng, Minlong, Hua, Yuan, Zhang, Qi, Gui, Tao, Huang, Xuanjing
Abstract
Continual post-training of large multimodal models should add new capabilities while preserving those from pre-training, and the two goals pull in opposite directions. SFT gives explicit target supervision that learns a task from near-zero accuracy, but its off-policy targets move the model far enough to cause forgetting; on-policy methods such as RLVR and self-distillation preserve policy proximity yet supply little signal when the policy cannot yet solve the task. We introduce ReDraft (Reference-Driven Revision and Fine-Tuning), which obtains both from the model's own failures: using an expert response only as a reference, it has the model revise its own incorrect rollout, keeps the revision only if a verifier accepts it, and fine-tunes on what survives. Each retained target is therefore explicit, yet still close to the current policy. Across Counting, Clock Reading, and Jigsaw on Qwen2.5-VL-3B/7B, two of them with near zero accuracy, ReDraft gains 56.9 points on the target task against SFT's 52.9 while cutting prior-task loss from 16.6 to 1.5 points (11.3x less forgetting), and improves on OPSD along both axes (19.3 gain, 6.2 loss). Data- and parameter-space analyses match the design: revised targets are more probable under the base model, and the updates they induce stay compact and follow SFT's direction more closely than OPSD's. Repairing the model's own output, rather than replacing it with an expert's, is what lets one objective do both.
Chinese Translation
大型多模态模型的持续后训练应在保持预训练能力的同时添加新能力,而这两个目标却相互牵制。SFT(监督微调)提供了明确的目标监督,从几乎零准确率的任务中学习,但其离策略目标使模型偏离得太远,导致遗忘;而像 RLVR 和自蒸馏这样的在策略方法虽然保持了策略的接近性,但在策略尚无法解决任务时提供的信号很少。我们提出了 ReDraft(基于参考的修订与微调),它从模型自身的失败中获得两者的结合:仅将专家响应作为参考,模型修订自身的错误输出,只有在验证者接受时才保留修订,并在存留的部分上进行微调。因此,每个保留的目标都是明确的,但仍然接近当前策略。在 Qwen2.5-VL-3B/7B 上的计数、读钟和拼图任务中,其中两个任务的准确率接近零,ReDraft 在目标任务上获得了 56.9 分,而 SFT 为 52.9 分,同时将先前任务的损失从 16.6 降至 1.5 分(遗忘减少了 11.3 倍),并在两个维度上都改善了 OPSD(19.3 分的增益,6.2 分的损失)。数据和参数空间分析与设计相匹配:修订后的目标在基础模型下更为可能,它们引发的更新保持紧凑,并比 OPSD 更接近 SFT 的方向。修复模型自身的输出,而不是用专家的输出替代,是使一个目标同时实现两个目的的关键。
cs.AI / 28 / 2609.16667

ANIMASK: What the Model Contributes to Role Play in Simulated Story Worlds

ANIMASK:模型在模拟故事世界中对角色扮演的贡献
Zhang, Xiucheng, Xu, Zhuoning, Luo, Hanjun, Chen, Yankai, Salam, Hanan, Liu, Xue
Abstract
When a language model plays a character, the observed behavior reflects both the assigned persona and the default dispositions of the actor model itself. Existing evaluations test persona fidelity or model defaults in isolation, but neither says, at a specific choice with consequences, what the persona changed and what the model's default kept. We introduce ANIMASK, a simulation framework that freezes books and scripts into story worlds whose characters act on their own motivations and replays each story from its freeze point. We hold out the author's continuation as a human reference, verify through in-story interviews that each persona remains present, and at every decision point compare the character's action with what the model produces when the persona is removed. Across 40 stories, 6 actor models, and 3,846 decision points, the replays converge away from their canons in one shared direction, toward flatter, cooler stories that leave their tensions open. The personas stay present and obeyed throughout. On three choices in four the model's default already falls inside what the persona accepts, and where the two diverge the model is the cautious one, holding where the persona would press. The persona guarantees who the character is, and the model sets how far the character will go.
Chinese Translation
当语言模型扮演一个角色时,观察到的行为反映了分配给角色的个性以及演员模型自身的默认倾向。现有评估在孤立的情况下测试个性忠实度或模型默认值,但都无法说明在特定的选择及其后果中,个性改变了什么,模型的默认又保留了什么。我们引入了ANIMASK,一个将书籍和剧本冻结为故事世界的模拟框架,这些故事中的角色根据自己的动机行动,并从冻结点重新播放每个故事。我们将作者的续写作为人类参考,通过故事内访谈验证每个角色个性是否保持存在,并在每个决策点比较角色的行动与在移除个性时模型产生的结果。在40个故事、6个演员模型和3,846个决策点中,重播结果在一个共同的方向上偏离了其经典版本,趋向于更平坦、更冷静的故事,留下了未解的紧张关系。个性在整个过程中保持存在并受到遵循。在四个选择中有三个,模型的默认已经落在个性接受的范围内,而在两者分歧的地方,模型则表现得更加谨慎,保持在个性会推动的地方。个性保证了角色的身份,而模型则设定了角色的行动范围。
cs.AI / 29 / 2609.16679

AI for Games in the Foundation Model Era

基础模型时代的游戏人工智能
Luo, Meng, Li, Yanlin, Li, Hao, Lin, Hongzhan, Zhou, Pengfei, Ju, Tianjie, Zhang, Ran, Jin, Yeying, Lee, Mong-Li, Hsu, Wynne
Abstract
Foundation models, alongside advances in learned game-world models, are reshaping AI across the game lifecycle. Beyond playing games, recent systems model players and game dynamics, support design and development, adapt player-facing experiences at runtime, and evaluate resulting artifacts. Yet these directions have evolved largely separately, obscuring which capabilities transfer across settings and which remain tied to particular games, engines, interfaces, or player populations. We organize the literature into six roles according to the immediate use of AI output: playing and acting; modeling players and games; designing games; building and maintaining games; generating and adapting at runtime; and testing and evaluating games. For each role, we examine what structure is supplied by the game or workflow, what AI learns or produces, which capabilities and artifacts transfer across settings and roles, and what evidence supports the claims. We identify cross-role connections: trajectories train world models, learned environments provide experience for agents, design specifications drive executable implementations, and play or testing feedback guides revision. However, control schemes, rules, engine interfaces, state representations, and player contexts often remain setting-specific, so downstream claims require validation in the target setting. Evaluation is most standardized for bounded game playing and selected learned environments, while persistent state in learned worlds, repeated software revision, validated player modeling, sustained runtime adaptation, and representative automated testing remain less established. The central challenge is to reuse or transfer outputs and capabilities across roles while re-establishing evidence for effectiveness in the game-specific contexts where they are used.
Chinese Translation
基础模型以及学习型游戏世界模型的进展正在重塑人工智能在游戏生命周期中的应用。除了玩游戏之外,最近的系统还对玩家和游戏动态进行建模,支持设计和开发,在运行时调整玩家体验,并评估生成的成果。然而,这些方向在很大程度上是独立发展的,模糊了哪些能力可以跨设置转移,哪些则与特定的游戏、引擎、接口或玩家群体相关联。我们根据人工智能输出的直接用途将文献组织为六个角色:玩耍与行动;建模玩家与游戏;设计游戏;构建与维护游戏;在运行时生成与适应;以及测试与评估游戏。对于每个角色,我们考察游戏或工作流程提供了什么结构,人工智能学习或生成了什么,哪些能力和成果可以跨设置和角色转移,以及哪些证据支持这些主张。我们识别出跨角色的联系:轨迹训练世界模型,学习的环境为代理提供经验,设计规范驱动可执行实现,而游戏或测试反馈则指导修订。然而,控制方案、规则、引擎接口、状态表示和玩家上下文往往仍然是特定于设置的,因此下游主张需要在目标设置中进行验证。对于有限的游戏玩法和选定的学习环境,评估是最标准化的,而在学习世界中的持久状态、重复的软件修订、经过验证的玩家建模、持续的运行时适应以及具有代表性的自动化测试仍然不够成熟。核心挑战在于在跨角色重用或转移输出和能力的同时,重新建立其在特定游戏上下文中有效性的证据。
cs.AI / 30 / 2609.16680

little m: An AI Agent for Industrial Process Optimization

little m:用于工业过程优化的人工智能代理
Ye, Yongchao, He, Xinyu, Boshoff, Dutliff, Kuo, Way, Li, Lishuai
Abstract
Manufacturing consumes one third of global energy and still has significant room for improvement in terms of energy efficiency. Optimal process control is essential for this purpose. However, synthesizing mathematical optimization models from messy, real-world industrial specifications requires bridging unstructured natural language and spatial diagrams with rigorous mathematical syntax. This poses a profound challenge for general-purpose Large Language Models (LLMs), which may introduce invalid constraints when tasked with modeling continuous multi-physics dynamics. To address this, we introduce little m, an AI agent designed to assist the formulation of industrial process control models. Combining a domain-specific knowledge repository with LLM-driven interaction, the proposed framework formulates real-world optimization problems as mathematical models. For systematic evaluation, we introduce the Industrial Process Control Benchmark (IPC-Bench), a novel multimodal dataset of 50 canonical scenarios requiring joint reasoning over text and process diagrams. Through comprehensive automated structural assessments and double-blind human evaluation, little m substantially outperforms state-of-the-art LLMs, generating semantically correct models. These evaluations assess formulation quality rather than solver feasibility, formal physical validity, or closed-loop industrial performance. The implementation of little m and the IPC-Bench dataset are available at https://github.com/yeyongchao/process-modeling-benchmark.
Chinese Translation
制造业消耗了全球能源的三分之一,并且在能源效率方面仍有显著的改进空间。优化过程控制对于实现这一目标至关重要。然而,从杂乱的现实工业规范中合成数学优化模型需要将非结构化自然语言和空间图示与严谨的数学语法相结合。这对通用的大型语言模型(LLMs)提出了深刻的挑战,因为在建模连续多物理动态时,它们可能会引入无效约束。为了解决这一问题,我们提出了little m,一个旨在协助工业过程控制模型制定的人工智能代理。该框架结合了特定领域的知识库和基于LLM的交互,将现实世界的优化问题表述为数学模型。为了进行系统评估,我们引入了工业过程控制基准(IPC-Bench),这是一个新的多模态数据集,包含50个经典场景,要求对文本和过程图进行联合推理。通过全面的自动化结构评估和双盲人类评估,little m在生成语义正确的模型方面显著优于最先进的LLMs。这些评估侧重于模型制定质量,而非求解器的可行性、正式的物理有效性或闭环工业性能。little m及IPC-Bench数据集的实现可在https://github.com/yeyongchao/process-modeling-benchmark获取。
cs.AI / 31 / 2609.16722

VideoMM: Adaptive Macro-Micro Inference for Efficient Video MLLMs

VideoMM:用于高效视频多模态大语言模型的自适应宏微推理
Guo, Haoyu, Feng, Yuan, Lv, Junlin, Xiao, Mingjun, Zhou, S Kevin, Xie, Xike
Abstract
Scaling Multimodal Large Language Models (MLLMs) to long-form video understanding is bottlenecked by the explosion of visual tokens, which saturates context windows and incurs prohibitive costs. Current solutions predominantly rely on auxiliary models for token reduction but face a fundamental dilemma: lightweight encoder-driven approaches often overlook critical semantic information, whereas heavyweight MLLM-driven reduction negates the efficiency gains. {In this work, we identify a more fundamental inefficiency underlying this dilemma: while fine-grained visual details are essential for detailed understanding, they are largely redundant for the preliminary task of selecting semantically relevant regions. } Motivated by this, we introduce \textbf{VideoMM}, which marks a paradigm shift from model-centric downsizing to adaptive perceptual granularity. Specifically, our framework {decouples selection from reasoning} by executing semantic filtering on a cost-effective \textit{Macro Proxy} (derived from downscaled frames), and projecting the selected regions onto high-fidelity \textit{Micro Tokens} for detailed understanding only when necessary. Extensive evaluations show that VideoMM significantly outperforms existing solutions. It achieves a 6.13$\times$ speedup and a 7.4\% accuracy gain over full-context baselines on LongVideoBench, and further accelerates inference by 2.73$\times$ over current leading methods, establishing a highly scalable paradigm for long-video understanding. Our code is available at: https://github.com/adfh917k/VideoMM.
Chinese Translation
将多模态大语言模型(MLLMs)扩展至长视频理解的瓶颈在于视觉标记数量的爆炸式增长,这导致上下文窗口饱和并产生高昂的计算成本。当前的解决方案主要依赖辅助模型进行标记压缩,但面临根本性困境:轻量级编码器驱动的方法往往忽视关键信息语义,而重量级MLLM驱动的压缩则抵消了效率提升。本文指出该困境背后更根本的低效原因:尽管细粒度视觉细节对深入理解至关重要,但对于初步选择语义相关区域的任务而言,这些细节大多是冗余的。基于此,我们提出了VideoMM,标志着从以模型为中心的缩减向自适应感知粒度的范式转变。具体而言,我们的框架通过在成本低廉的宏代理(Macro Proxy,基于降采样帧)上执行语义过滤,实现选择与推理的解耦,并仅在必要时将选定区域映射到高保真微标记(Micro Tokens)以进行细致理解。大量评测表明,VideoMM显著优于现有方案。在LongVideoBench上,相较于全上下文基线,VideoMM实现了6.13倍的速度提升和7.4%的准确率提升,并较当前领先方法进一步加速推理2.73倍,确立了长视频理解的高度可扩展范式。我们的代码已开源,地址:https://github.com/adfh917k/VideoMM。
cs.AI / 32 / 2609.16730

LSREP: A Longitudinal State-Replay Protocol for Evaluating Conversational Memory, with ICE v2 as an Audited Local-First Architecture

LSREP:一种用于评估对话记忆的纵向状态重放协议,以ICE v2作为审计的本地优先架构
Sonar, Deepesh
Abstract
Conversational memory changes during use, so endpoint question answering alone cannot establish how a persistent state accumulates, ages, or incorporates revisions. We introduce LSREP, a Longitudinal State-Replay Evaluation Protocol combining ordered replay, explicit lifecycle schedules, repeated probes, evolving reference answers, and mechanism-fidelity checks. Its architectural case study is ICE v2, a local-first memory middleware with typed stores, retrieval fusion, and dynamic context budgets. The private, single-user instantiation contains 1,985 turns, 219 distinct probes, and 1,211 probe-checkpoint observations across 52 checkpoints. On three ordinary-density datasets, ICE v2 has a near-zero mean quality difference from vector-RAG while selecting 32% fewer fragments but using 6.6% more estimated prompt tokens. A fourth, dense dataset exposes catastrophic failures of the unbudgeted baseline. The fidelity audit limits attribution: procedural retrieval is defective, several mechanisms are unexercised, and graph utility is not established. In a complementary matched public diagnostic, ICE v2 loses decisively to pure vector-RAG on LongMemEval: 50.8% versus 72.8% in the evidence-only oracle and 43.0% versus 69.5% in full-S. Paired differences are -22.0 points (95% CI [-26.6, -17.4]) and -26.5 ([-31.3, -21.8]). Conservative abstention accompanies severe multi-session and temporal failures. ICE uses less context in this diagnostic, establishing a quality-cost trade-off rather than superior efficiency. Together, replay, fidelity auditing, and public endpoint testing expose distinct failure modes that neither architectural descriptions nor aggregate scores identify alone.
Chinese Translation
对话记忆在使用过程中会发生变化,因此仅通过端点问答无法确定持久状态如何积累、老化或整合修订。我们提出了LSREP,一种结合有序重放、明确生命周期计划、重复探测、不断演变的参考答案和机制保真检查的纵向状态重放评估协议。其架构案例研究是ICE v2,一种具有类型化存储、检索融合和动态上下文预算的本地优先记忆中间件。该私有的单用户实例包含1985个回合、219个不同的探测和跨52个检查点的1211个探测检查观察。在三个普通密度数据集上,ICE v2与vector-RAG的平均质量差异接近于零,同时选择的片段减少了32%,但使用的估计提示令牌增加了6.6%。第四个密集数据集暴露了未预算基线的灾难性失败。保真度审计限制了归因:程序检索存在缺陷,多个机制未被使用,图形效用未得到确立。在一个互补的匹配公共诊断中,ICE v2在LongMemEval上明显不敌纯vector-RAG:在仅证据的oracle中为50.8%对72.8%,在全S中为43.0%对69.5%。配对差异为-22.0分(95% CI [-26.6, -17.4])和-26.5([-31.3, -21.8])。保守的弃权伴随着严重的多会话和时间失败。在这一诊断中,ICE使用的上下文较少,确立了一种质量与成本的权衡,而非优越的效率。总体而言,重放、保真度审计和公共端点测试揭示了独特的失败模式,而这些模式单靠架构描述或汇总分数无法识别。
cs.AI / 33 / 2609.16752

Beyond Episodic AI: Cognitive Field Networks for Biologically Inspired Persistent Cognition

超越情节人工智能:生物启发的持久认知的认知场网络
Chae, Byung Gyu
Abstract
Cognitive Field Theory (CFT) proposes that cognition arises from memory-dressed collective dynamics that generate a persistent macroscopic cognitive field. Here we develop a Cognitive Field Network (CFN), a recurrent Transformer in which the organized hidden field re-enters subsequent inference through \[ \Phi_{n+1}=F_{\theta}(X_{n+1},\Phi_n). \] Rather than prescribing an explicit memory operation, the CFN allows new information to act on an already history-dependent collective state. We find that learning organizes persistent, content-dependent recurrent dynamics whose timescale increases systematically with the trained recurrent horizon. Semantic continuation propagates the recurrent state far beyond this horizon without replay of the target answer. Without content-specific support, the field exhibits finite passive relaxation, whereas periodic re-exposure to relevant input repeatedly renews the surviving state and drives it toward an approximately stationary nonzero regime. Unrelated-input and recurrence-off controls do not reproduce this behavior, while near-paraphrased re-exposure produces weaker renewal, demonstrating representation-sensitive persistence. These results distinguish three dynamical processes: collective memory dressing forms and sustains a history-dependent cognitive field, structured input reorganizes this field, and cross-cycle re-entry makes the resulting state causally available to subsequent inference. The CFN therefore provides a controlled computational platform for studying persistent, history-dependent cognitive dynamics without a separately prescribed memory system.
Chinese Translation
认知场理论(Cognitive Field Theory, CFT)提出,认知源于被记忆装饰的集体动态,这些动态生成一个持久的宏观认知场。在此,我们开发了一种认知场网络(Cognitive Field Network, CFN),这是一种递归的变换器,其中组织化的隐藏场通过 [ _{n+1}=F_{ heta}(X_{n+1},_n). ] 重新进入后续推理。CFN并不规定明确的记忆操作,而是允许新信息作用于已经依赖历史的集体状态。我们发现学习组织了持久的、内容依赖的递归动态,其时间尺度随着训练的递归视野系统性地增加。语义延续使递归状态远远超出这一视野而不需要重放目标答案。在没有内容特定支持的情况下,场表现出有限的被动松弛,而定期重新暴露于相关输入则反复更新存活状态,并将其驱动向一个近似静态的非零状态。无关输入和递归关闭的控制并未重现这种行为,而近似改述的重新暴露则产生较弱的更新,展示了表征敏感的持久性。这些结果区分了三种动态过程:集体记忆装饰形成并维持一个依赖历史的认知场,结构化输入重新组织该场,而跨周期的重新进入使得结果状态在因果上可用于后续推理。因此,CFN提供了一个受控的计算平台,用于研究没有单独规定的记忆系统的持久、依赖历史的认知动态。
cs.AI / 34 / 2609.16760

Turn-level Multiscale Density Ratio Estimation for LLM Agents

回合级多尺度密度比估计用于大型语言模型代理
Zhao, Zishuo, Chen, Kai, Li, Ao, Liu, Yuan
Abstract
With the rapid development of Large language model (LLM), agent systems enhanced by LLMs show huge potential in being able to deal with complex tasks, especially involving multi-step thinking or interaction with tools. For applying LLM techniques with a well-designed agent paradigm, post-training of LLM in multiple agent scenarios is necessary to achieve better performance. Among the variable post-training techniques, alignment methods such as PPO, DPO, DIL, and GRPO become popular because many papers show a significant positive impact on the model's performance by punishing negative samples while keeping acceptable training complexity. However, most alignment methods address simple single-turn tasks, and there remains room for improvement for complex multi-turn tasks. We propose Turn-level Multiscale Density Ratio Estimation (tlm-DRE), which assigns different weights on corresponding turns and proposes asymmetric token-level training based on the positive-negative space gaps across multiple turns of tasks. The results of the experiment on a wide range of agent benchmarks show that the proposed method performs competitively compared to traditional alignment methods. The proposed training method enables LLMs to perform robustly in multi-turn reasoning tasks with both in-domain and out-of-domain conditions.
Chinese Translation
随着大型语言模型(LLM)的快速发展,增强型代理系统显示出在处理复杂任务方面的巨大潜力,尤其是在涉及多步骤思考或与工具交互的情况下。为了在设计良好的代理范式中应用LLM技术,在多代理场景中对LLM进行后训练是必要的,以实现更好的性能。在各种后训练技术中,诸如PPO、DPO、DIL和GRPO等对齐方法变得越来越流行,因为许多研究表明,通过惩罚负样本而保持可接受的训练复杂性,这些方法对模型性能产生了显著的积极影响。然而,大多数对齐方法只针对简单的单回合任务,而在复杂的多回合任务中仍然存在改进的空间。我们提出了回合级多尺度密度比估计(tlm-DRE),该方法为相应的回合分配不同的权重,并基于多回合任务中的正负空间差距提出了不对称的令牌级训练。在广泛的代理基准测试中的实验结果表明,所提出的方法与传统的对齐方法相比表现出竞争力。所提出的训练方法使得LLM能够在多回合推理任务中在领域内和领域外条件下都表现出强大的鲁棒性。
cs.AI / 35 / 2609.16768

Coverage-Aware Virtual IMU Augmentation for Low-Resource Human Activity Recognition

覆盖感知的虚拟IMU增强用于低资源的人类活动识别
Gao, Jiayuan, Zhang, Yingwei, Tang, Ziyao, Ma, Yuejia, Chen, Yuanzhe, Song, Shuchao, Tang, Boshi
Abstract
IMU-based human activity recognition (HAR) enables continuous, privacy-friendly monitoring of daily activities using wearable sensors. However, building reliable HAR models that generalize across diverse users and real-world conditions requires large amounts of labeled IMU data, which are expensive and difficult to collect. Existing approaches mainly rely on augmentation or synthesis to expand available data, but indiscriminately adding virtual samples may provide little new coverage and introduce unreliable supervision. To overcome these challenges, we propose a novel coverage-aware virtual IMU augmentation framework that decides where to supplement real data, how to generate and select virtual candidates, and how strongly to weight them during training. Specifically, we select diversity and scarcity anchors in a learned sensor embedding space, convert anchor dynamics into prompts, and generate virtual IMU candidates for each anchor. We then rank candidates by a selection cost combining anchor proximity and label consistency, and incorporate the selected candidates into HAR training with reliability-based weights. Experiments on public HAR benchmarks show that our method consistently improves recognition performance over competitive baselines, and ablation studies confirm the effectiveness of the proposed framework design.
Chinese Translation
基于IMU的人类活动识别(HAR)能够通过可穿戴传感器实现对日常活动的连续、隐私友好的监测。然而,构建能够在不同用户和现实世界条件下泛化的可靠HAR模型需要大量标记的IMU数据,这些数据的收集成本高且困难。现有的方法主要依赖于增强或合成来扩展可用数据,但不加区分地添加虚拟样本可能提供有限的新覆盖,并引入不可靠的监督。为了解决这些挑战,我们提出了一种新颖的覆盖感知虚拟IMU增强框架,该框架决定在何处补充真实数据、如何生成和选择虚拟候选样本,以及在训练过程中如何对它们进行加权。具体而言,我们在学习到的传感器嵌入空间中选择多样性和稀缺性锚点,将锚点动态转换为提示,并为每个锚点生成虚拟IMU候选样本。然后,我们通过结合锚点接近度和标签一致性的选择成本对候选样本进行排名,并将选定的候选样本以基于可靠性的权重纳入HAR训练。对公共HAR基准的实验表明,我们的方法在竞争基线之上始终提高了识别性能,消融研究证实了所提框架设计的有效性。
cs.AI / 36 / 2609.16779

Integrating the Analytic Hierarchy Process with Large Language Models for Transparent Multi-Criteria Decision-Making

将层次分析法与大型语言模型结合用于透明的多标准决策制定
Zhiguang, Han, Benamara, Farah, Zaraté, Pascale
Abstract
LLMs are increasingly employed in a wide range of decision-making tasks. However, the opacity of their internal reasoning makes it difficult to validate or interpret their outputs, and the need for interpretability becomes especially critical in high-stakes settings. This study examines the decision-making capabilities of LLMs through the Analytic Hierarchy Process (AHP), a classical and widely used multicriteria decision-making framework. We construct a new annotated benchmark based on AHP and propose the first end-to-end approach that enables LLMs to perform the complete AHP workflow. Experiments in real-world decision problems in the legal and higher-education ranking domains show that our method significantly improves alignment with expert judgments.
Chinese Translation
大型语言模型(LLMs)在各种决策任务中被越来越广泛地应用。然而,它们内部推理的不可见性使得验证或解释其输出变得困难,而在高风险环境中,对可解释性的需求尤为重要。本研究通过层次分析法(Analytic Hierarchy Process, AHP)这一经典且广泛使用的多标准决策框架,考察了LLMs的决策能力。我们基于AHP构建了一个新的标注基准,并提出了首个端到端的方法,使LLMs能够执行完整的AHP工作流程。在法律和高等教育排名领域的真实决策问题中的实验表明,我们的方法显著提高了与专家判断的一致性。
cs.AI / 37 / 2609.16795

Layers, Sinks, and Scaling: Adaptive Evidence Selection for Multimodal Large Language Models

层次、沉没与扩展:多模态大型语言模型的自适应证据选择
Wang, Zhenbin, Zhang, Lei, Wang, Lituan, Huang, Wei, Wang, Yan, Zhang, Zhenwei
Abstract
Multimodal large language models (MLLMs) can answer knowledge-intensive visual questions by combining visual evidence from images with facts retrieved from external sources. However, MLLMs may overlook relevant evidence in both modalities, attending weakly to the textual sentences or visual regions needed for the correct answer. Recent efforts address this by highlighting retrieved text and marking visual regions before generation, but apply a fixed, one-shot policy that cannot adapt to three sources of variation: whether highlighting is necessary, how much evidence different examples require, and when different textual evidence becomes relevant as the answer unfolds. We introduce Adaptive Relevance-guided Evidence Allocation (AREA), a training-free inference-time method that formulates evidence highlighting as adaptive allocation. AREA generates a single probe token to read visual and textual relevance from fixed backbone layers, then makes three decisions: i) whether to intervene (controlled by natural attention coverage and visual sink contamination), ii) how much evidence to expose (determined by relevance entropy), and iii) when to refresh text during generation (triggered by causal context-attention peaks). Across four KB-VQA and seven standard multimodal benchmarks with nine frozen MLLM checkpoints, establishes the best performance among training-free highlighting methods.
Chinese Translation
多模态大型语言模型(MLLMs)能够通过结合来自图像的视觉证据与从外部来源检索到的事实,回答知识密集型的视觉问题。然而,MLLMs可能会忽视两种模态中的相关证据,对正确答案所需的文本句子或视觉区域关注不足。近期的研究通过在生成之前突出检索到的文本并标记视觉区域来解决这一问题,但采用了一种固定的、一刀切的策略,无法适应三种变化来源:是否需要突出显示、不同示例需要多少证据,以及在答案展开过程中何时不同的文本证据变得相关。我们提出了自适应相关性引导证据分配(Adaptive Relevance-guided Evidence Allocation,AREA),这是一种无训练的推理时方法,将证据突出显示形式化为自适应分配。AREA生成一个单一的探测标记,从固定的主干层读取视觉和文本相关性,然后做出三个决策:i) 是否进行干预(由自然注意覆盖和视觉沉没污染控制),ii) 公开多少证据(由相关性熵决定),以及 iii) 在生成过程中何时刷新文本(由因果上下文注意峰值触发)。在四个知识基础视觉问答(KB-VQA)和七个标准多模态基准测试中,使用九个冻结的MLLM检查点,AREA在无训练的突出显示方法中建立了最佳性能。
cs.AI / 38 / 2609.16814

Can We Do Interpretable NLI with Graphs Based on Atomic Propositions?

我们能否基于原子命题的图形实现可解释的自然语言推理?
Boufouss, Younes, Pommeret, Luc, Gerald, Thomas, Paroubek, Patrick, Rosset, Sophie
Abstract
While Large Language Model (LLM)-based Natural Language Inference (NLI) systems achieve high accuracy, their decision-making processes lack auditable structures. This paper explores whether NLI can be performed using only interpretable, graph-based representations of evidence. We introduce a fully graph-based pipeline where the classifier never directly processes the input text. Instead, sentences are decomposed into atomic propositions, converted into ConceptNet triples via constrained decoding, and represented as three graphs per pair: premise, hypothesis, and a retrieved ConceptNet subgraph. These graphs are then fed into a fine-tuned 0.8-billion-parameter language model. On the SNLI dataset, our pipeline achieves 89.7% accuracy, just 1.9 points below an identically trained text-based model. On ANLI, it matches the published performance of RoBERTa-large on rounds R2 and R3 (50% accuracy) but trails by 16 points on R1, resulting in an overall gap of 9 to 14 points compared to its text counterpart. We term this gap the price of interpretability and demonstrate that it stems from representational limitations rather than data constraints. Ablation studies further reveal that graphs and text are complementary: combining both modalities achieves 92.1% accuracy on SNLI.
Chinese Translation
尽管基于大型语言模型(LLM)的自然语言推理(NLI)系统实现了高准确率,但其决策过程缺乏可审计的结构。本文探讨了是否可以仅使用可解释的基于图形的证据表示来进行NLI。我们提出了一个完全基于图形的流程,其中分类器从不直接处理输入文本。相反,句子被分解为原子命题,通过约束解码转换为ConceptNet三元组,并表示为每对句子的三个图:前提、假设和检索到的ConceptNet子图。这些图随后被输入到一个经过微调的8亿参数语言模型中。在SNLI数据集上,我们的流程实现了89.7%的准确率,仅比同样训练的基于文本的模型低1.9个百分点。在ANLI上,它在R2和R3轮次的表现与RoBERTa-large的已发布结果相匹配(50%准确率),但在R1上落后16个百分点,导致与其文本对应模型的总体差距为9到14个百分点。我们将这一差距称为可解释性的代价,并证明它源于表示限制而非数据约束。消融研究进一步表明,图形和文本是互补的:结合这两种模态在SNLI上实现了92.1%的准确率。
cs.AI / 39 / 2609.16822

Execution Flexibility in Automated Planning: A Comparative Evaluation of Deordering and Reordering Strategies

自动规划中的执行灵活性:去序和重序策略的比较评估
Islam, Md. Monjurul, Noor, Sabah Binte, Siddiqui, Fazlul Hasan, Hossain, Gahangir
Abstract
This study covers foundational concepts for enhancing plan-execution flexibility, including partial-order planning, the producer-consumer-threat formalism, and a range of deordering and reordering strategies. Creating a partial-order plan from a sequential one by removing unnecessary ordering constraints is a practical way to improve execution flexibility, and several methods have been proposed for this task. This study analyzes their capabilities across ordering, action handling, parameter handling, plan structure, concurrency, and complexity, and evaluates them against each other on a shared benchmark. The central finding is that block deordering-based approaches, which restructure causal dependencies through block-level grouping and subplan substitution, substantially outperform MaxSAT-based approaches despite the latter's theoretical guarantees of minimum reordering. The reason is structural: minimum reordering optimizes within the causal structure already present in the plan, whereas block deordering-based methods change that structure, exposing orderings that would otherwise appear necessary. A further distinction is practical: block deordering-based methods are anytime algorithms that always return a valid result, while MaxSAT-based methods fail entirely on a substantial portion of plans and offer no partial solution when they do. Block substitution further extends the parallel execution by formalizing non-concurrency constraints, though its impact is limited to domains with resource-based interactions. On efficiency, block deordering-based approaches achieve the highest flex gain per unit of computation time, while MaxSAT-based encodings incur large computational overhead.
Chinese Translation
本研究涵盖了增强计划执行灵活性的基础概念,包括部分顺序规划、生产者-消费者-威胁形式化以及一系列去序和重序策略。通过去除不必要的顺序约束,将顺序计划转化为部分顺序计划是一种实用的方法,以提高执行灵活性,并且为此任务提出了几种方法。本研究分析了这些方法在顺序、动作处理、参数处理、计划结构、并发性和复杂性等方面的能力,并在共享基准上对它们进行了相互评估。主要发现是,基于块去序的方法通过块级分组和子计划替代重构因果依赖关系,显著优于基于 MaxSAT 的方法,尽管后者在最小重序的理论保证上具有优势。原因在于结构性:最小重序是在计划中已存在的因果结构内进行优化,而基于块去序的方法则改变了该结构,暴露出原本看似必要的顺序。此外,进一步的区分在于实用性:基于块去序的方法是随时算法,总是返回有效结果,而基于 MaxSAT 的方法在很大一部分计划上完全失败,并且在成功时也不提供部分解决方案。块替代进一步通过形式化非并发约束来扩展并行执行,尽管其影响仅限于具有基于资源交互的领域。在效率方面,基于块去序的方法在每单位计算时间内获得了最高的灵活性增益,而基于 MaxSAT 的编码则产生了巨大的计算开销。
cs.AI / 40 / 2609.16852

CoAdapt: An LLM-based Framework for Adaptive Collaborative Perception in IIoT Robotic Swarms

CoAdapt:一种基于大语言模型的工业物联网机器人群体自适应协作感知框架
Hassan, Houssam Hajj, Masucci, Antonia Maria, Zitoune, Lynda, Elayoubi, Salah-Eddine
Abstract
Industrial IoT environments increasingly deploy autonomous mobile robots for tasks such as material handling, product assembly, or infrastructure inspection. In such deployments, collaborative perception enables robots to share LiDAR observations and collectively construct a richer model of their environment than an individual agent could produce alone. However, industrial environments are dynamic spaces where robot positions shift continuously, network bandwidth fluctuates, and the marginal contribution of robots to perception quality varies at runtime. Existing collaborative perception approaches are designed for static participation assumptions and cannot adapt to these dynamics without sacrificing either detection precision or communication efficiency. This paper presents CoAdapt, an adaptive collaborative perception framework for IIoT robotic swarms in which a Large Language Model (LLM) serves as a runtime fusion controller, jointly deciding which robots participate in the fusion process and which fusion algorithm to apply based on the current spatial configuration and network state. The LLM reasons over structured natural language descriptions of the scene derived from raw LiDAR point clouds, requiring no taskspecific training and generalizing to unseen swarm topologies. Evaluated on the OPV2V benchmark across 25 scenarios, our approach achieves a 38% reduction in communication cost while maintaining detection precision comparable to static baseline approaches.
Chinese Translation
工业物联网环境中越来越多地部署自主移动机器人,执行物料处理、产品组装或基础设施检查等任务。在这些部署中,协作感知使得机器人能够共享激光雷达(LiDAR)观测数据,并共同构建比单个代理能够独立生成的更丰富的环境模型。然而,工业环境是动态的空间,机器人位置持续变化,网络带宽波动,且机器人对感知质量的边际贡献在运行时也会有所不同。现有的协作感知方法是基于静态参与假设设计的,无法在不牺牲检测精度或通信效率的情况下适应这些动态变化。本文提出了CoAdapt,一种针对工业物联网机器人群体的自适应协作感知框架,其中大语言模型(LLM)作为运行时融合控制器,基于当前的空间配置和网络状态共同决定哪些机器人参与融合过程以及应用哪种融合算法。LLM对从原始LiDAR点云中提取的场景结构化自然语言描述进行推理,无需特定任务的训练,并能够推广到未见过的群体拓扑。在25个场景的OPV2V基准测试中,我们的方法实现了38%的通信成本降低,同时保持了与静态基线方法相当的检测精度。
cs.AI / 41 / 2609.16884

Bridging Learned Visual Perception and Symbolic Belief-Space Planning

桥接学习的视觉感知与符号信念空间规划
Azran, Guy, Navat, Michael, Keren, Sarah
Abstract
In partially observable settings, agents must act without full knowledge of the world state and rely on uncertain state-estimation pipelines. Obtaining grounded and verifiable symbolic plans under such uncertainty remains a key challenge. Recent work has integrated Vision-Language Models (VLMs) to bridge perception and symbolic reasoning, following two main paradigms. The first, VLM-as-planner, maps images directly to action sequences, and the second, VLM-as-grounder, grounds observations into symbolic predicates used as the initial state by off-the-shelf planners. Both approaches ignore uncertainty in the planning process, compromising robustness. We introduce a third paradigm, VLM-as-probabilistic-grounder, a novel approach that captures the uncertainty of VLM predicate groundings as a probability distribution over symbolic states. This enables planning in belief space and producing robust plans under uncertainty. Experiments in simulated household robot settings show improved robustness and task success over deterministic grounding, underscoring how our approach leverages foundation models for reliable planning under uncertainty.
Chinese Translation
在部分可观察的环境中,智能体必须在对世界状态没有完全了解的情况下行动,并依赖于不确定的状态估计管道。在这种不确定性下获得有根据且可验证的符号计划仍然是一个关键挑战。近期的研究整合了视觉-语言模型(Vision-Language Models, VLMs),以桥接感知与符号推理,遵循两种主要范式。第一种,VLM作为规划者(VLM-as-planner),将图像直接映射为动作序列;第二种,VLM作为基础(VLM-as-grounder),将观察结果转化为符号谓词,用作现成规划者的初始状态。这两种方法在规划过程中忽略了不确定性,从而影响了稳健性。我们提出了第三种范式,VLM作为概率基础(VLM-as-probabilistic-grounder),这是一种新颖的方法,它将VLM谓词基础的不确定性捕捉为符号状态上的概率分布。这使得在信念空间中进行规划成为可能,并在不确定性下产生稳健的计划。在模拟家庭机器人环境中的实验表明,与确定性基础相比,我们的方法在稳健性和任务成功率上有所提高,强调了我们的方法如何利用基础模型在不确定性下进行可靠规划。
cs.AI / 42 / 2609.16887

QART: A Quantum-Classical Hybrid Architecture for Long-Horizon Reasoning -- Exploring a Conditional Path toward Quantum Scaling

QART:一种用于长远推理的量子-经典混合架构——探索通向量子扩展的条件路径
Lin, Lehao, Cheng, Yuheng, Liu, Guolong, Li, Yao, Tan, Xuning, Zhou, Xiyuan, Zou, Ruixi, Wang, Shi, Zhao, Huan, Liu, Wenxuan, Wu, Haifeng, Zhao, Junhua
Abstract
Long-horizon reasoning is vulnerable to early errors that compromise later decisions. We present QART, the Quantum-Augmented Reasoning Transformer, a quantum--classical hybrid architecture combining a backbone language model with quantum encoding, CIM-based QUBO optimization, and quantum decoding. Semantic information can come from hidden representations or model-generated text; detailed encoding and optimization procedures remain proprietary. Under explicit assumptions, we establish a conditional asymptotic reliability separation from single-trajectory autoregressive LLMs. For a common task family with aligned optimality and acceptance criteria, autoregressive acceptance probability tends to zero when cumulative conditional risk of irreversible errors diverges. QART's task-optimal-path recovery probability remains bounded away from zero if conditional probabilities for optimal-path coverage and semantic fidelity, spectral certification, dynamical reachability, and faithful readout remain uniformly positive under a specified resource schedule. The architecture alone does not imply these bounds. Paired measurements on six long-horizon benchmarks using DeepSeek V4 Flash, GLM-5.3, and GPT-5.5 xhigh in a Codex agent environment favor QART in 14 of 15 backbone--benchmark pairs. Relative gains reach 84.0% on SciCode, 47.6% on $\tau^3$-Bench, and 44.4% on Terminal-Bench 4.0; the DeepSeek V4 Flash configuration regresses by 7.8% on DeepSWE. These results do not directly validate the asymptotic separation. Potential quantum scaling laws are formulated as conditional hypotheses. A quantum-advantage interpretation requires a demonstrated CIM quantum advantage over strong classical solvers and its transfer to end-to-end reasoning after all system overheads.
Chinese Translation
长远推理易受到早期错误的影响,从而损害后续决策。我们提出了QART,即量子增强推理变换器(Quantum-Augmented Reasoning Transformer),这是一种量子-经典混合架构,结合了基础语言模型、量子编码、基于CIM的QUBO优化和量子解码。语义信息可以来自隐藏表示或模型生成的文本;详细的编码和优化过程仍为专有。基于明确的假设,我们建立了与单轨迹自回归大语言模型(LLMs)之间的条件渐近可靠性分离。对于具有一致最优性和接受标准的常见任务家族,当不可逆错误的累积条件风险发散时,自回归接受概率趋向于零。如果在特定资源调度下,最优路径覆盖和语义保真度、谱认证、动态可达性以及忠实读出等条件概率保持一致正值,QART的任务最优路径恢复概率将保持远离零。仅凭架构本身并不意味着这些界限。在Codex代理环境中,使用DeepSeek V4 Flash、GLM-5.3和GPT-5.5 xhigh对六个长远基准进行配对测量,QART在15对基础-基准中有14对表现优于其他模型。相对增益在SciCode上达到84.0%,在$ au^3$-Bench上为47.6%,在Terminal-Bench 4.0上为44.4%;而DeepSeek V4 Flash配置在DeepSWE上回归了7.8%。这些结果并未直接验证渐近分离。潜在的量子扩展法则被表述为条件假设。量子优势的解释需要在强经典求解器上证明CIM量子优势,并在考虑所有系统开销后将其转移到端到端推理中。
cs.AI / 43 / 2609.16948

AntennaFlow: A Generative Flow Model for Offset Correction in Phaseless Antenna Testing

AntennaFlow:用于无相位天线测试的生成流模型进行偏移校正
Li, Yongzhi, Shen, Chongting, Chen, Menglin, Jiang, Xun, Wang, Zhengpeng
Abstract
Near-field to far-field transformation is central to large-aperture antenna testing, yet two coupled challenges remain: costly phase acquisition at millimeter-wave bands and violations of the centering assumption under offset mounting. Existing methods address these issues separately, requiring either dense full-field data or offset vectors. We tackle both jointly by exploiting a key observation: amplitude fields under different offsets are coordinate-transformed views of the same near field. The challenge is to recover the center-aligned field from offset amplitudes without a phase or offset vector. We propose AntennaFlow, a three-stage framework: a contrastively learned encoder that maps offset views to an offset-invariant embedding, a deterministic flow-matching transport that maps offset amplitudes to center-aligned ones, and the Simplified Extrapolation Technique, whose Green-function Taylor expansion is valid only for centered fields. Experiments show that AntennaFlow enables fast, phaseless, offset-vector-free NF--FF reconstruction from sparse amplitude-only measurements, consistently outperforming existing baselines while preserving physical consistency.
Chinese Translation
近场到远场的转换是大孔径天线测试的核心,但仍然面临两个相互关联的挑战:在毫米波频段获取相位的高成本以及偏移安装下中心假设的违反。现有方法分别解决这些问题,要求密集的全场数据或偏移向量。我们通过利用一个关键观察来共同解决这两个问题:不同偏移下的幅度场是同一近场的坐标变换视图。挑战在于在没有相位或偏移向量的情况下,从偏移幅度中恢复中心对齐的场。我们提出了AntennaFlow,一个三阶段框架:一个对比学习的编码器,将偏移视图映射到偏移不变的嵌入,一个确定性的流匹配传输,将偏移幅度映射到中心对齐的幅度,以及简化外推技术,其格林函数泰勒展开仅对中心场有效。实验表明,AntennaFlow能够快速、无相位、无偏移向量地从稀疏的仅幅度测量中重建近场到远场,始终优于现有基线,同时保持物理一致性。
cs.AI / 44 / 2609.16962

Affect-Prototype Guided Fusion for Open-Vocabulary Incomplete Multi-modal Emotion Recognition

基于情感原型引导的开放词汇不完整多模态情感识别融合
Zhang, Yichi, Wang, Shenyue, Luo, Jing, Yu, Chunyang, Yang, Xinyu
Abstract
Open-vocabulary multimodal emotion recognition (OV-MER) aims to generate open natural-language emotion labels from multimodal affective cues. In real-world scenarios, however, complete and synchronized modal data are difficult to obtain due to limitations of acquisition devices and user privacy constraints. Existing OV-MER methods are largely designed for full-modal inputs, and fail to perform effective feature fusion under modal missing conditions. Meanwhile, current fusion approaches designed for incomplete modalities mainly focus on fixed-label recognition context, and cannot satisfy the demand for fuse emotional cues guided with arbitrary emotion semantics in OV-MER context. To tackle these challenges, this paper proposes an Affect-Prototype-Conditioned Fusion (APCF) framework for incomplete open-vocabulary emotion recognition. As a candidate-free generative framework, APCF extends modal contribution learning to scenarios guided by arbitrary emotional semantics. Specifically, we construct an affect-prototype library to explicitly model multimodal contribution characteristics corresponding to diverse emotions, which provides dynamic constraints for modal fusion under different emotional semantic perspectives. Conditional retrieval and feature aggregation are conducted based on available modal features. The refined fused affective representations are then fed into an LLM decoder to produce open-vocabulary emotion labels. Experiments on the OV-MERD+ and MER-FG datasets demonstrate that APCF substantially outperforms state-of-the-art baselines.
Chinese Translation
开放词汇多模态情感识别(OV-MER)旨在从多模态情感线索中生成开放的自然语言情感标签。然而,在现实场景中,由于采集设备的限制和用户隐私约束,完整且同步的模态数据难以获取。现有的OV-MER方法主要针对全模态输入设计,无法在模态缺失条件下有效进行特征融合。同时,当前针对不完整模态的融合方法主要集中在固定标签识别上下文,无法满足在OV-MER背景下融合任意情感语义引导的情感线索的需求。为了解决这些挑战,本文提出了一种用于不完整开放词汇情感识别的情感原型条件融合(APCF)框架。作为一种无候选生成框架,APCF将模态贡献学习扩展到由任意情感语义引导的场景。具体而言,我们构建了一个情感原型库,以明确建模对应于多样情感的多模态贡献特征,为不同情感语义视角下的模态融合提供动态约束。基于可用的模态特征进行条件检索和特征聚合。然后,将精炼的融合情感表示输入到LLM解码器中,以生成开放词汇情感标签。在OV-MERD+和MER-FG数据集上的实验表明,APCF显著优于最先进的基线方法。
cs.AI / 45 / 2609.17008

FlexEE: Self-Speculative and KV-Compatible Early Exiting for Offloading-Aware LLM Inference

FlexEE:自我推测和KV兼容的早期退出机制用于感知卸载的LLM推理
Xie, Qihu, Li, Ziwei, Kang, Yi
Abstract
Large language model (LLM) inference is often constrained by both computation and memory, especially in offloading-based deployments where model weights are transferred across memory hierarchies during autoregressive decoding. In this setting, reducing the number of executed layers can lower per-token latency while also avoiding costly weight movement. Motivated by this observation, we present FlexEE, an early exiting framework for resource-constrained and offloading-based LLM inference. FlexEE makes early exiting practical for LLM decoding through layer-wise exit supervision for reliable intermediate-layer prediction, self-speculative decoding over a Top-K local vocabulary for low-cost exit decisions, and dynamic hidden state management for KV-cache-correct and memory-aware execution. Across generative and downstream tasks, FlexEE enables efficient early exit with minimal accuracy degradation, delivering up to 1.27$\times$/3.16$\times$ and 1.25$\times$/2.83$\times$ end-to-end speedups on Llama2-7B and Llama3-8B under 0\%/50\% weight offloading, respectively.
Chinese Translation
大型语言模型(LLM)推理通常受到计算和内存的限制,尤其是在基于卸载的部署中,在自回归解码过程中模型权重会在内存层次结构之间转移。在这种情况下,减少执行层数可以降低每个标记的延迟,同时避免高昂的权重移动成本。基于这一观察,我们提出了FlexEE,一个针对资源受限和基于卸载的LLM推理的早期退出框架。FlexEE通过层级退出监督实现了LLM解码的早期退出,确保了可靠的中间层预测;通过对Top-K局部词汇进行自我推测解码,实现了低成本的退出决策;并通过动态隐藏状态管理实现了KV缓存的正确性和内存感知执行。在生成任务和下游任务中,FlexEE实现了高效的早期退出,准确性降级最小,在Llama2-7B和Llama3-8B上分别在0\%/50\%权重卸载下提供了高达1.27×/3.16×和1.25×/2.83×的端到端加速。
cs.AI / 46 / 2609.17010

ThinkFlow: Self-Evolving Probabilistic Latent Memory for Lifelong Conversational Agents

ThinkFlow:用于终身对话代理的自我演化概率潜在记忆
Ke, Cai, Liu, Xin, Zhang, Han, Yan, Jiangyue, Yuan, Zike, Deng, Ling, Yu, Yue, Wang, Hui, Xu, Ruifeng
Abstract
Lifelong conversational agents rely on memory systems to maintain deep, context-aware interactions with users. However, existing explicit textual memory pipelines suffer from a severe information bottleneck, often losing subtle behavioral patterns and emotional shifts. Furthermore, being typically static post-deployment, they cannot autonomously adapt to personal habits and preferences without manual feedback. Cognitive science, however, suggests that humans maintain mental models purely in a latent space and continuously refine them through predictive coding. Inspired by this, we propose \textbf{ThinkFlow}, a novel end-to-end latent memory framework for lifelong conversational agents. ThinkFlow bypasses the text bottleneck by dynamically compressing conversational flows into probabilistic latent memory skills, autonomously consolidating complex user states into disentangled, continuous vectors without semantic interference. To break this barrier, we introduce a test-time evolution paradigm. By coupling teacher-guided latent alignment to bootstrap the initial state with a self-supervised next-user-utterance prediction task for continuous refinement, the framework successfully overcomes cold-start challenges and achieves label-free lifelong personalization. Extensive experiments on long-term conversation benchmarks demonstrate that ThinkFlow significantly outperforms prevailing memory systems, providing highly personalized and contextually accurate responses over extended multi-session interactions.
Chinese Translation
终身对话代理依赖于记忆系统与用户保持深度、上下文感知的互动。然而,现有的显式文本记忆管道存在严重的信息瓶颈,常常无法捕捉微妙的行为模式和情感变化。此外,通常在部署后是静态的,它们无法在没有手动反馈的情况下自主适应个人习惯和偏好。然而,认知科学表明,人类在潜在空间中维持心理模型,并通过预测编码不断完善这些模型。受到此启发,我们提出了 extbf{ThinkFlow},一种用于终身对话代理的新型端到端潜在记忆框架。ThinkFlow通过动态压缩对话流为概率潜在记忆技能,绕过文本瓶颈,自主将复杂的用户状态整合为解耦的连续向量,而不产生语义干扰。为了解决这一瓶颈,我们引入了一种测试时演化范式。通过将教师引导的潜在对齐与自监督的下一个用户发言预测任务结合,以启动初始状态并进行持续的优化,该框架成功克服了冷启动挑战,实现了无标签的终身个性化。在长期对话基准上的广泛实验表明,ThinkFlow显著优于现有的记忆系统,在扩展的多会话互动中提供高度个性化和上下文准确的响应。
cs.AI / 47 / 2609.17012

ORDER: Task-Conditioned Routing for Retrieval-Augmented Generation

ORDER:用于检索增强生成的任务条件路由
Pellet, Aurélien, Perez, Julien, Puren, Marie
Abstract
Retrieval-Augmented Generation (RAG) pipelines typically rely on a fixed indexing and retrieval configuration determined at preprocessing time. This one-size-fits-all design is ill-suited to domain-expert settings, where heterogeneous queries require different chunking granularities, metadata constraints, and source-selection strategies. As a result, configurations that are effective for one family of queries often perform poorly for others. In this paper, we introduce ORDER (Optimal Routing for Dynamic Evidence Retrieval), a query-conditioned RAG framework that jointly adapts indexing and retrieval to the incoming query. Our approach first discovers semantic clusters over a given set of questions associated to a corpus and learns, for each cluster, a chunking strategy together with a suited metadata filtering and reranking configuration. At inference time, queries are routed to the appropriate pre-built index through nearest-centroid assignment. To further improve retrieval, we propose a supervised query router (QRe) that predicts which collections are most likely to contain relevant evidence, coupled with a Uniform Multi-source Sampler (UMS) that allocates the retrieval budget evenly across the selected sources. We evaluate our framework on large-scale, heterogeneous historical archives and show that conditioning both indexing and retrieval on the query consistently outperforms both naive baselines and strong state-of-the-art RAG systems in complex expert-domain environments.
Chinese Translation
检索增强生成(Retrieval-Augmented Generation,RAG)管道通常依赖于在预处理阶段确定的固定索引和检索配置。这种一刀切的设计不适合领域专家环境,在这些环境中,异构查询需要不同的分块粒度、元数据约束和源选择策略。因此,对于某一类查询有效的配置往往在其他查询上表现不佳。本文介绍了ORDER(动态证据检索的最优路由),一种查询条件的RAG框架,它将索引和检索共同适应于传入的查询。我们的方法首先在与语料库相关的一组问题上发现语义聚类,并为每个聚类学习一种分块策略,以及适合的元数据过滤和重排序配置。在推理时,查询通过最近质心分配路由到适当的预构建索引。为了进一步改善检索,我们提出了一种监督查询路由器(QRe),它预测哪些集合最有可能包含相关证据,并配合均匀多源采样器(Uniform Multi-source Sampler,UMS),将检索预算均匀分配到所选源上。我们在大规模异构历史档案上评估了我们的框架,结果表明,在复杂的专家领域环境中,将索引和检索都基于查询进行条件化的方式始终优于简单基线和强大的最先进RAG系统。
cs.AI / 48 / 2609.17019

SKIP: a Self-knowledge-guided Step-wise Preference Learning Framework for Concise Reasoning

SKIP:一种自知识引导的逐步偏好学习框架用于简洁推理
Lin, Qinhong, Zhang, Yuhao, Feng, Yinglun, Yang, Zhongliang, Zhou, Linna
Abstract
While Chain-of-Thought (CoT) reasoning has been proven to be effective, it often leads to overthinking, resulting in computational overhead, inference latency, and even degraded performance in large language models (LLMs). Existing concise reasoning frameworks significantly compromise accuracy while compressing the length of output. In this paper, we propose SKIP, a self-knowledge-guided step-wise preference learning framework. Starting with lightweight fine-tuning to adjust the model's output style, SKIP introduces a carefully designed knowledge probing mechanism to guide model to output an answer at each reasoning step. Based on the correctness of intermediate steps, we construct preference data that guide the model toward more efficient and correct reasoning by leveraging DPO. Experimental results demonstrate that our method effectively improves reasoning compression while mitigating performance degradation after fine-tuning. Besides, SKIP shows strong generalization ability on out-of-distribution datasets. We further conducted ablation studies on the component parameters of our framework.
Chinese Translation
尽管链式思维(Chain-of-Thought, CoT)推理已被证明有效,但它往往导致过度思考,从而造成计算开销、推理延迟,甚至在大型语言模型(Large Language Models, LLMs)中性能下降。现有的简洁推理框架在压缩输出长度的同时显著妥协了准确性。本文提出了SKIP,一种自知识引导的逐步偏好学习框架。SKIP首先通过轻量级微调调整模型的输出风格,接着引入精心设计的知识探测机制,引导模型在每个推理步骤输出答案。基于中间步骤的正确性,我们构建了偏好数据,通过利用DPO引导模型朝向更高效和正确的推理。实验结果表明,我们的方法有效改善了推理压缩,同时减轻了微调后的性能下降。此外,SKIP在分布外数据集上显示出强大的泛化能力。我们进一步对框架的组件参数进行了消融研究。
cs.AI / 49 / 2609.17040

Sparse MLLM Anchors, Dense Adaptation: Breaking the Self-Referential Loop in Wild Test-Time Adaptation

稀疏 MLLM 锚点,密集适应:打破野外测试时适应中的自我引用循环
Wang, Zhenbin, Zhang, Lei, Wang, Lituan, Wang, Yan, Zhang, Zhao, Huang, Wei
Abstract
Wild test-time adaptation (WTTA) updates a source model online under small test batches, concurrent distribution shifts, and time-varying class imbalance. Most WTTA methods derive their adaptation signals, including predictive uncertainty, sample reliability, and local feature geometry, from the model being adapted. When the source model is unreliable under shift, these signals can reinforce its own errors, forming a self-referential loop. We introduce MASA (Multimodal-LLM-Anchored Semantic Adaptation), which complements model-internal evidence with structured semantic descriptions from a frozen multimodal large language model (MLLM). To limit inference cost, MASA queries the MLLM only for a small set of diverse, reliability-ranked anchors. The resulting descriptions capture the object family and nuisance factors such as style, viewpoint, and occlusion. MASA encodes these descriptions, propagates them to neighboring test samples, and stores the resulting visual-semantic information in an online prototype memory. Descriptor-aware retrieval from this memory provides an auxiliary target for lightweight adaptation of normalization-affine parameters. We evaluate MASA on the WTTA ImageNet-C benchmark under limited-batch, mixed-domain, and imbalanced-label-shift settings with ResNet and ViT backbones.
Chinese Translation
野外测试时适应(WTTA)在小批量测试、并发分布变化和时间变化的类别不平衡下在线更新源模型。大多数 WTTA 方法从被适应的模型中获取适应信号,包括预测不确定性、样本可靠性和局部特征几何。当源模型在分布变化下不可靠时,这些信号可能会加剧其自身的错误,形成自我引用循环。我们提出了 MASA(多模态-LLM-锚定语义适应),它通过来自冻结的多模态大语言模型(MLLM)的结构化语义描述来补充模型内部证据。为了限制推理成本,MASA 仅针对一小组多样化的、按可靠性排序的锚点查询 MLLM。生成的描述捕捉了对象家族和风格、视角、遮挡等干扰因素。MASA 对这些描述进行编码,将其传播到邻近的测试样本,并将生成的视觉-语义信息存储在在线原型记忆中。从该记忆中进行基于描述符的检索为归一化-仿射参数的轻量适应提供了辅助目标。我们在有限批量、混合领域和不平衡标签变化的设置下,使用 ResNet 和 ViT 主干对 MASA 在 WTTA ImageNet-C 基准上进行了评估。
cs.AI / 50 / 2609.17064

Neuro-Symbolic Hierarchical Intention Anticipation in Human Behavior

人类行为中的神经符号层次意图预测
Soleimani, Farnaz, Chibani, Abdelghani, Amirat, Yacine, Khodabandelou, Ghazaleh
Abstract
Assistive autonomous systems must anticipate human goals before an observed behavior is complete. This article formulates anticipation as goal inference from a partially observed multimodal episode together with structured prediction of the remaining behavior, rather than exact motor forecasting. A compact Hierarchical Planning Decoder (HPD) is attached to a frozen neuro-symbolic recognition encoder and predicts, at four ontological levels, the next actions, the remaining activities and low-level intentions, and the episode high-level intention(HLI). The decoder is trained with soft neuro-symbolic regularization combining transition-coherence and hierarchical continuity losses, and is decoded with hard reachability masks that enforce ontological validity at inference. On a compositional four-level benchmark of 15,002 multimodal episodes built over NTU RGB+D 120 features, three headline properties are observed together. The advantage over the strongest sequential baseline grows with the anticipation horizon, from +1.7 points at step 1 to +7.3 points at step 3 (top-5). Under compositional generalization, where one parent association per multi-parent low level intention is held out, this advantage widens to +4.9 points at step 1. At the episode level, 96.8% of anticipated trajectories satisfy the joint logic constraints, above the 88.1% strongest-baseline value and the 73.9% ground-truth floor; soft logic terms alone account for a 59.8 to 71.1% relative reduction of HLI-reachability violations, and the hard masks then eliminate them entirely. Neural generation supplies predictive ranking, symbolic constraints supply onto logical validity, and their combination yields coherent hierarchical anticipation while exposing remaining challenges in compositional goal generalization and unordered set prediction.
Chinese Translation
辅助自主系统必须在观察到的行为完成之前预测人类目标。本文将预测形式化为从部分观察到的多模态情节中进行目标推断,并结合对剩余行为的结构化预测,而不是精确的运动预测。一个紧凑的层次规划解码器(Hierarchical Planning Decoder, HPD)与一个冻结的神经符号识别编码器相连,并在四个本体层次上预测下一步行动、剩余活动和低层次意图,以及情节的高层意图(High-Level Intention, HLI)。该解码器通过结合转移一致性和层次连续性损失的软神经符号正则化进行训练,并使用硬可达性掩码进行解码,以在推断时强制执行本体有效性。在基于 NTU RGB+D 120 特征构建的 15,002 个多模态情节的组合四层基准测试中,观察到三个主要特性。与最强的顺序基线相比,随着预测视野的增加,优势从第 1 步的 +1.7 分增长到第 3 步的 +7.3 分(前 5 名)。在组合泛化的情况下,当每个多父低层意图保留一个父关联时,这一优势在第 1 步扩大到 +4.9 分。在情节层面,96.8% 的预测轨迹满足联合逻辑约束,超过了 88.1% 的最强基线值和 73.9% 的真实值底线;仅软逻辑项就导致 HLI 可达性违规的相对减少 59.8% 到 71.1%,而硬掩码则完全消除了这些违规。神经生成提供预测排名,符号约束提供本体逻辑有效性,两者的结合产生了一致的层次预测,同时暴露了组合目标泛化和无序集合预测中的剩余挑战。
cs.AI / 51 / 2609.17076

Sample-Conditioned Representation Selection for Audio Few-Shot Learning

基于样本条件的音频少样本学习表示选择
Liu, Fengrui, Shen, Ningxin, Li, Yi, Fu, Yiwei, Liu, Feng, Li, Jiangmeng
Abstract
Few-shot audio classifiers may rely on foreground-background co-occurrences and fail when those correlations shift. On SpurAudio, the resulting representation shift is concentrated and class dependent: for ResNet12, the top 10 percent of channels explain 82.80 percent of the null-corrected shift contribution. We propose SAMPLESELECT, which predicts a fixed-budget feature mask independently for each input while keeping the encoder and source classifier frozen. Training uses differentiable Gumbel Top-k selection with foreground classification and cross-background contrastive losses; inference uses deterministic Top-k masks and support-only linear adaptation. Across ResNet12 and Conv64 in 5-way 1-shot and 5-shot evaluation, SAMPLESELECT gives the best OOD accuracy among the compared methods and improves the matched full-representation control by 4.90-8.38 percentage points. Ablations and representation analyses further support the learned selection mechanism. Code is available at https://github.com/Cross-Innovation-Lab/SAMPLESELECT/
Chinese Translation
少样本音频分类器可能依赖于前景-背景的共现关系,当这些关联发生变化时会出现失败。在 SpurAudio 上,结果表示的变化是集中且依赖于类别的:对于 ResNet12,前 10% 的通道解释了 82.80% 的零校正变化贡献。我们提出了 SAMPLESELECT,它为每个输入独立预测一个固定预算的特征掩码,同时保持编码器和源分类器不变。训练使用可微分的 Gumbel Top-k 选择,结合前景分类和跨背景对比损失;推理使用确定性的 Top-k 掩码和仅支持的线性适应。在 5-way 1-shot 和 5-shot 评估中,SAMPLESELECT 在比较方法中提供了最佳的 OOD 准确性,并将匹配的完整表示控制提高了 4.90-8.38 个百分点。消融实验和表示分析进一步支持了所学习的选择机制。代码可在 https://github.com/Cross-Innovation-Lab/SAMPLESELECT/ 获取。
cs.AI / 52 / 2609.17088

Interactive Memory Learning for Long-Term Conversations

用于长期对话的互动记忆学习
Ke, Cai, Yan, Jiangyue, Zhang, Han, Liu, Xin, Yuan, Zike, Yu, Yue, Wang, Hui, Xu, Ruifeng
Abstract
Recent advancements in large language models have significantly enhanced the capabilities of agents in modeling long-term conversations. Despite these successes, existing approaches typically adopt a static heuristic paradigm, where information is passively archived without adaptive memory valuation. Consequently, these methods fail to self-evolve or align their memory management with evolving user needs. To address this, we propose ICML (InteraCtive Memory Learning), a multi-agent framework that transforms the memory mechanism from a passive archive into a learnable, interactive memory policy. Specifically, we first employ a session synthesis pipeline to generate expert data, facilitating rapid test-time adaptation in unseen scenarios. Building on this, ICML utilizes an online reinforcement learning mechanism where a Planner agent selectively encodes high-value information and a Trigger agent dynamically retrieves it to optimize response quality, whereby the two agents co-evolve through continuous interaction feedback. Crucially, both agents are synchronized through a delayed reward mechanism that propagates future feedback back to earlier storage decisions, ensuring memory policies are precisely aligned with user expectations. Experimental results demonstrate that ICML significantly outperforms strong baselines, exhibiting the unique capability to continuously improve response quality as interactions accumulate.
Chinese Translation
近年来,大型语言模型的进展显著增强了智能体在建模长期对话方面的能力。尽管取得了这些成功,现有方法通常采用静态启发式范式,其中信息被被动存档而没有适应性的记忆评估。因此,这些方法未能自我演化或使其记忆管理与不断变化的用户需求保持一致。为了解决这个问题,我们提出了ICML(互动记忆学习),这是一个多智能体框架,将记忆机制从被动存档转变为可学习的互动记忆策略。具体来说,我们首先采用会话合成管道生成专家数据,以便在未见场景中快速适应测试时间。基于此,ICML利用在线强化学习机制,其中规划者智能体选择性地编码高价值信息,而触发者智能体动态检索这些信息以优化响应质量,两个智能体通过持续的互动反馈共同演化。关键是,两个智能体通过延迟奖励机制进行同步,该机制将未来的反馈传播回早期的存储决策,确保记忆策略与用户期望精确对齐。实验结果表明,ICML显著优于强基线,展现出随着互动的积累持续提升响应质量的独特能力。
cs.AI / 53 / 2609.17091

Scaling-Score Conformal Prediction for Multi-Target Regression

多目标回归的缩放分数符合预测
Rousseau, Sylvain, Messoudi, Soundouss
Abstract
Multi-target regression requires a model to simultaneously predict several related outputs. Conformal prediction provides distribution-free, finite-sample marginal coverage guarantees, but extending these to joint multi-dimensional regions in a model-agnostic, sample-efficient manner remains challenging: max-aggregation ignores scale differences, copula-based methods are only asymptotically valid, rectangular methods typically split the calibration set, and quantile or density-based methods require training a specialised model beyond a plain point predictor. We propose the scaling-score conformal method, which is model-agnostic (requires only component-wise absolute residuals), uses a single calibration set, and yields four nested output types: an outer rectangle (SCO) with valid joint coverage, the exact set R $\alpha$ , a staircase (SC 2 ) over approximation of R $\alpha$ , and an inner rectangle (SCI). A single hyperparameter $\gamma$ $\in$ (0, 1) controls the base-rectangle quantile level independently of $\alpha$. We prove downward-closedness and a rectangular sandwich bound and derive a closed-form outer rectangle. Experiments on 29 realworld datasets confirm valid joint coverage; SC 2 with $\gamma$ = 1-$\alpha$ consistently achieves competitive volume relative to baselines, with the advantage growing with output dimension d.
Chinese Translation
多目标回归要求模型同时预测多个相关输出。符合预测提供了无分布的有限样本边际覆盖保证,但以模型无关、样本高效的方式将其扩展到联合多维区域仍然具有挑战性:最大聚合忽略了尺度差异,基于copula的方法仅在渐近上有效,矩形方法通常会拆分校准集,而基于分位数或密度的方法则需要训练一个专门的模型,超出简单的点预测器。我们提出了缩放分数符合方法,该方法是模型无关的(仅需要分量绝对残差),使用单一校准集,并产生四种嵌套输出类型:具有有效联合覆盖的外矩形(SCO)、确切集合 R $eta$、对 R $eta$ 的阶梯(SC 2)过度逼近,以及内矩形(SCI)。单个超参数 $eta$ $ ext{in}$ (0, 1) 独立于 $eta$ 控制基础矩形的分位数水平。我们证明了向下闭合性和矩形夹逼界,并推导出闭式外矩形。在29个真实世界数据集上的实验确认了有效的联合覆盖;当 $eta$ = 1-$eta$ 时,SC 2 相对于基线始终实现了竞争性的体积,且随着输出维度 d 的增加,优势不断增强。
cs.AI / 54 / 2609.17100

Semi-Supervised Learning-Based Genetic Biomarkers Dataset for Multiple-Stage Hepatocellular Carcinoma Prediction

基于半监督学习的多阶段肝细胞癌预测基因生物标志物数据集
Kubba, Ahmed Ammar, Talib, Manar Abu, Muhammad, Jibran Sualeh, Nassif, Ali Bou, Mohamed, Abdalla Sayed, Castven, Darko, Marquardt, Jens U.
Abstract
Liver cancer is a complex disease responsible for a high number of deaths across the globe each year, making automated solutions for liver cancer classification urgent. The most common form of liver cancer is hepatocellular carcinoma (HCC), accounting for over 90% of liver cancer cases. There is a distinct lack of publicly available HCC datasets utilizing genomic data, which is necessary for training artificial intelligence (AI) models for automated HCC classification. This study proposes constructing a multi-stage HCC dataset using XGBoost and Semi-Supervised learning on three separate datasets of genomic biomarkers, utilizing their existing labels in the Semi-Supervised learning process to label the proposed dataset. The proposed dataset consists of 770 patient samples in total, categorized into five classes that represent normal tissue alongside different stages of HCC. Each sample in the dataset consists of 11,150 different gene expression levels. The XGBoost model demonstrated a final classification accuracy of 96.5% during the Semi-Supervised learning process.
Chinese Translation
肝癌是一种复杂的疾病,每年在全球造成大量死亡,因此迫切需要自动化的肝癌分类解决方案。肝癌最常见的形式是肝细胞癌(HCC),占肝癌病例的90%以上。目前,缺乏利用基因组数据的公开HCC数据集,而这些数据集对于训练自动化HCC分类的人工智能(AI)模型是必要的。本研究提出构建一个多阶段HCC数据集,利用XGBoost和半监督学习方法,基于三个独立的基因生物标志物数据集,利用其现有标签在半监督学习过程中为所提议的数据集标注。所提议的数据集总共包含770个患者样本,分为五个类别,代表正常组织及不同阶段的HCC。数据集中的每个样本包含11,150种不同的基因表达水平。在半监督学习过程中,XGBoost模型展示了96.5%的最终分类准确率。
cs.AI / 55 / 2609.17107

Symbolic Separation: Grounding Deep Agents in Knowledge Graphs for Trustworthy Operational Data Analytics

符号分离:将深度智能体与知识图谱结合以实现可信的操作数据分析
Davletiyarov, Baibek, Khan, Junaid Ahmed, Bartolini, Andrea
Abstract
Generative AI promises natural language access to the massive numerical telemetry of data centers and Industry 4.0 installations, yet text-to-query and tool-using agents stay unreliable: even frontier models answer little more than half of real-world database questions, and far fewer of the multi-step, operational ones, because the LLM must compose how heterogeneous sources relate and hallucinates the relations, not just the fields. We propose symbolic separation: a deep agent reasons freely but may act on data only through an ontology-constrained Virtual Knowledge Graph with deterministic pre-execution validation. Unlike a tool API's interface contract, this domain-semantic contract turns a complex question into one validated graph traversal instead of LLM-inferred joins. Instantiated as the Neurosymbolic Deep Analyst and evaluated on 49.9 TB of superconputer telemetry against a rigid workflow and a non-symbolic ablation, it raises end-to-end task success from 43% to 86%, prevents silent data-integrity errors that no syntactic check catches, and cuts token cost by 2.4x, letting a smaller on-premise model outperform a larger one.
Chinese Translation
生成性人工智能承诺为数据中心和工业4.0设施的大规模数值遥测提供自然语言访问,然而文本到查询和工具使用的智能体仍然不可靠:即使是最前沿的模型也仅能回答现实世界数据库问题的一半多一点,而对于多步骤的操作性问题则更少,因为大型语言模型(LLM)必须组合异构来源之间的关系,并且会幻觉出这些关系,而不仅仅是字段。我们提出了符号分离:一个深度智能体可以自由推理,但只能通过一个受本体约束的虚拟知识图谱进行数据操作,并且在执行前进行确定性的验证。与工具API的接口契约不同,这种领域语义契约将复杂问题转化为一个经过验证的图遍历,而不是LLM推断的连接。作为神经符号深度分析器(Neurosymbolic Deep Analyst)实例化,并在49.9 TB的超级计算机遥测数据上进行评估,与严格的工作流程和非符号消融对比,它将端到端任务成功率从43%提高到86%,防止了无语法检查捕捉到的静默数据完整性错误,并将令牌成本降低了2.4倍,使得一个较小的本地模型超越了一个较大的模型。
cs.AI / 56 / 2609.17109

Shared-Prefix KV Reuse Across Standard LoRA Adapters: Quality and Serving Tradeoffs

标准 LoRA 适配器之间共享前缀 KV 重用:质量与服务的权衡
Rajput, Dushyant
Abstract
A common small-model deployment runs one shared backbone with several LoRA specialists that answer over the same context. Serving them naively re-prefills that shared context once per specialist. We study a narrow, practical question: for already-trained standard LoRA adapters -- not adapters retrained for cache compatibility -- how much task quality is preserved if the backbone's prefill KV cache is computed once and reused across specialists, and what does that buy in serving cost? On a Qwen3-1.7B backbone with two adapters (extractive QA on HotpotQA, arithmetic reasoning on GSM8K), we sweep the boundary at which the specialist takes over from the reused base cache and measure paired quality differences and serving cost. Full-prefix reuse had the lowest prefill cost and a small quality difference on held-out GSM8K (Delta = -4.6 EM at a 160-token budget; -3.0 at 320 tokens; -0.8 under a second training seed -- all favoring native, only the first excluding zero, and the magnitude not consistent). Partial recomputation provided no demonstrated advantage. Neither quality equivalence nor a general boundary-selection rule is established. We also report a closed-form ridge KV translator that did not beat direct reuse, and specialist-dependence contrasts whose intervals all include zero. The measured serving benefit is warm-cache time-to-first-token, which grows with context (~16x at 8K); two-branch peak memory was only 12% lower and, on inspection, the prefix was never physically shared across branches -- this implementation reuses KV values but copies their storage, so shared-cache memory savings are not achieved.
Chinese Translation
一种常见的小模型部署方式是使用一个共享的主干网络,配合多个 LoRA 专家在相同的上下文中进行响应。简单地为每个专家重新填充共享上下文的做法效率较低。我们研究了一个狭窄而实用的问题:对于已经训练好的标准 LoRA 适配器——而非为缓存兼容性重新训练的适配器——如果主干的预填充 KV 缓存只计算一次并在专家之间重用,任务质量会保留多少,以及这会在服务成本上带来什么样的收益?在一个 Qwen3-1.7B 主干网络上,使用两个适配器(在 HotpotQA 上进行抽取式问答,在 GSM8K 上进行算术推理),我们探索了专家从重用的基础缓存接管的边界,并测量了配对的质量差异和服务成本。完全前缀重用的预填充成本最低,在保留的 GSM8K 上质量差异较小(在 160 个标记预算下,Delta = -4.6 EM;在 320 个标记下为 -3.0;在第二个训练种子下为 -0.8——所有结果均偏向原生,只有第一个不包括零,且幅度不一致)。部分重新计算没有显示出优势。未建立质量等价性或一般边界选择规则。我们还报告了一个封闭形式的岭 KV 转换器,其性能未超过直接重用,以及专家依赖性对比,其区间均包含零。测量的服务收益是温缓存的首次令牌时间,随着上下文的增加而增长(在 8K 时约为 16 倍);双分支的峰值内存仅低 12%,并且经检查发现,前缀在分支之间从未物理共享——该实现重用了 KV 值但复制了它们的存储,因此未实现共享缓存的内存节省。
cs.AI / 57 / 2609.17128

FirmCORe: A Benchmark for Structured Reasoning about Inter-Firm Collaboration Opportunities

FirmCORe:关于企业间合作机会的结构化推理基准
Du, Tian, Wu, Tiantong, Wang, Yafei, Liu, Mengyu, Chen, Xingyan, Wang, Mu
Abstract
Comprehensive structured data on inter-firm relationships is often scarce or inaccessible because many relationships are privately negotiated, selectively disclosed, and fragmented across proprietary databases. This scarcity hinders the discovery of collaboration opportunities, particularly for startups and small and medium-sized enterprises. Firm profiles are readily available, but collaboration potential cannot be inferred from business similarity alone, since similar firms may be competitors, whereas dissimilar firms may offer complementary products, technologies, channels, capabilities, or capital. We present FirmCORe (Inter-Firm Collaboration Opportunity Reasoning), a human-annotated benchmark for pairwise reasoning over weakly structured firm profiles, comprising 2,805 labeled firm pairs. Given two firm profiles, a model must determine whether the available evidence supports a collaboration opportunity and, for positive pairs, jointly predict its strength, primary collaboration type, and role direction. FirmCORe also provides parallel Chinese- and English-language evaluation sets containing identical instances and gold labels, enabling controlled analysis of input-language sensitivity. Experiments with representative locally deployed and hosted large language models (LLMs) show that the strongest model achieves a macro-F1 score of 74.51 for opportunity detection but only 61.57% exact match across all four output fields. Language effects vary across models, and high cross-language agreement can mask errors shared across languages. These results indicate that current LLMs are substantially more reliable at detecting broad collaboration opportunities than at identifying their specific types and role directions.
Chinese Translation
关于企业间关系的全面结构化数据通常稀缺或无法获取,因为许多关系是私下谈判的,选择性披露的,并且分散在专有数据库中。这种稀缺性阻碍了合作机会的发现,特别是对于初创企业和中小型企业。企业档案 readily available,但仅凭商业相似性无法推断合作潜力,因为相似的企业可能是竞争对手,而不相似的企业可能提供互补的产品、技术、渠道、能力或资本。我们提出了FirmCORe(企业间合作机会推理),这是一个针对弱结构化企业档案的成对推理的人为注释基准,包含2805对标记的企业对。在给定两个企业档案的情况下,模型必须确定可用证据是否支持合作机会,并且对于正向对,联合预测其强度、主要合作类型和角色方向。FirmCORe还提供包含相同实例和金标准标签的中文和英文评估集,使得对输入语言敏感性的控制分析成为可能。与代表性的本地部署和托管的大型语言模型(LLMs)进行的实验表明,最强模型在机会检测方面达到了74.51的宏F1分数,但在所有四个输出字段上仅有61.57%的准确匹配。语言效应在不同模型之间有所不同,高跨语言一致性可能掩盖共享语言的错误。这些结果表明,当前的LLMs在检测广泛的合作机会方面显著更可靠,而在识别其特定类型和角色方向方面则较为薄弱。
cs.AI / 58 / 2609.17180

MOCC-R1: Reinforcing Reasoning-Response Consistency for Multimodal Counselor Response Generation

MOCC-R1:增强多模态咨询师响应生成中的推理-响应一致性
Zheng, Wenjie, Xie, Qiming, Yu, Jianfei, Xia, Rui
Abstract
Multimodal counselor response generation (MCRG) aims to generate an appropriate counselor response from multimodal dialogue histories. Progress is limited by two gaps: first, existing datasets rarely capture sustained, human-recorded counseling interactions conducted by qualified counselors; Second, existing methods do not explicitly optimize consistency between counseling reasoning and the generated response, potentially undermining the reliability of MCRG systems. Thus, we introduce MOCC, a multimodal counseling conversation corpus containing over 200 hours of interactions involving 154 credential-verified counselors. Based on MOCC, we propose MOCC-R1, a two-stage framework for optimizing reasoning-response consistency. Cold-start supervised fine-tuning trains the model to generate a structured trajectory consisting of client-state understanding, a response intent that links a counseling principle to a planned action, and the final response. Reinforcement learning (RL) then rewards grounded plan coherence and plan execution, encouraging the inferred state and plan to be supported by the dialogue context and the response to realize that plan. Experiments demonstrate the effectiveness of the proposed MOCC-R1.
Chinese Translation
多模态咨询师响应生成(MCRG)旨在从多模态对话历史中生成适当的咨询师响应。进展受到两个方面的限制:首先,现有数据集很少捕捉到由合格咨询师进行的持续的人类记录的咨询互动;其次,现有方法未能明确优化咨询推理与生成响应之间的一致性,这可能削弱MCRG系统的可靠性。因此,我们引入了MOCC,一个包含超过200小时、涉及154名经过认证的咨询师的多模态咨询对话语料库。基于MOCC,我们提出了MOCC-R1,一个用于优化推理-响应一致性的两阶段框架。冷启动监督微调训练模型生成一个结构化轨迹,该轨迹包括客户状态理解、将咨询原则与计划行动连接的响应意图以及最终响应。随后,强化学习(RL)奖励基于对话上下文支持的计划一致性和计划执行,鼓励推断的状态和计划得到对话上下文和响应的支持,以实现该计划。实验结果证明了所提出的MOCC-R1的有效性。
cs.AI / 59 / 2609.17193

End-to-End Latency-Minimizing and Load-Balanced Request Scheduling for Edge LLM Inference in Agentic AI Services

面向边缘 LLM 推理的端到端延迟最小化与负载均衡请求调度在智能 AI 服务中的应用
Li, Zhen, Cai, Jun, Gao, Haoran, Li, An, Li, Tan
Abstract
Large language model (LLM)-powered agentic AI services increasingly demand low-latency inference, motivating the deployment of LLMs across distributed edge servers. However, heterogeneous communication and computing capabilities, together with dynamically evolving inference states, make the edge server selection for each incoming request time-varying and tightly coupled across slots. In this paper, we investigate an online request scheduling framework for edge LLM inference that jointly minimizes long-term average end-to-end latency and regulates workload distribution across heterogeneous edge servers. Two main challenges arise in this context. First, conventional latency models cannot accurately capture the fine-grained dynamics of multi-stage LLM execution. Second, the latency consequence of a scheduling decision is observed only after request completion, making immediate decision evaluation difficult. To address these challenges, we develop a cross-slot inference model that captures transmission, prefill, iteration-level decoding, and key-value (KV) cache evolution for each diverse request, and characterize server workload through a KV cache memory-time consumption metric. We propose the LYREO approach that transforms the long-term load-balancing constraint via Lyapunov optimization and employs reward redistribution with sequencebased return prediction to convert delayed outcomes into timely learning signals for earlier decisions. Simulations under various configurations demonstrate that LYREO consistently achieves lower latency and more balanced load distribution than representative learning-based and heuristic baseline schemes.
Chinese Translation
基于大型语言模型(LLM)的智能 AI 服务日益需要低延迟推理,这促使 LLM 在分布式边缘服务器上部署。然而,异构的通信和计算能力,以及动态演变的推理状态,使得每个传入请求的边缘服务器选择具有时变性,并在各个时隙之间紧密耦合。本文探讨了一种在线请求调度框架,用于边缘 LLM 推理,旨在共同最小化长期平均端到端延迟,并调节异构边缘服务器之间的工作负载分布。在此背景下,出现了两个主要挑战。首先,传统的延迟模型无法准确捕捉多阶段 LLM 执行的细粒度动态。其次,调度决策的延迟后果仅在请求完成后才能观察到,这使得即时决策评估变得困难。为了解决这些挑战,我们开发了一种跨时隙推理模型,捕捉每个多样化请求的传输、预填充、迭代解码和键值(KV)缓存演变,并通过 KV 缓存内存时间消耗指标来表征服务器工作负载。我们提出了 LYREO 方法,通过 Lyapunov 优化转化长期负载均衡约束,并采用基于序列的回报预测进行奖励再分配,将延迟结果转化为及时的学习信号,以便于更早的决策。在各种配置下的仿真结果表明,LYREO 在延迟和负载分布的均衡性上始终优于代表性的基于学习和启发式的基线方案。
cs.AI / 60 / 2609.17291

Extracting ontology-compliant knowledge from scientific text describing irradiated materials using large language models

利用大型语言模型从描述辐照材料的科学文本中提取符合本体的知识
Sbodio, Marco Luca, Galindo, Marcos Martínez, Lopez, Vanessa, Biel, Blanca, Canca, Pablo, Delgado, Pedro, Mendieta-Moreno, Jesús I., Tack, Raphael, Caturla, Maria J.
Abstract
The quest for new materials increasingly relies on predictive models and comprehensive simulations that span scales from atomic to macroscopic levels. However, essential data necessary for these models and simulations are often embedded in scientific literature as unstructured text, limiting reusability and posing challenges for researchers seeking to leverage existing knowledge effectively. While extracting structured data from unstructured text using large language models is gaining popularity, traditional methods typically generate key-value pairs data with straightforward schemas. In contrast, we introduce eolas, a modular pipeline that uses large language models to automatically transform scientific documents into knowledge graphs aligned with a specified ontology. We demonstrate eolas effectiveness in extracting useful information for scientists studying materials designed to endure the extreme temperatures and radiation levels found in fusion reactors. While a human expert might spend between thirty to ninety minutes extracting relevant data from an article, eolas can generate high-quality knowledge graphs in just a few minutes. These are presented in a tabular format with faceted navigation for easy human validation. Additionally, we introduce the first benchmark dataset designed to assess large language models capabilities in constructing knowledge graphs within the domain of irradiated materials. The analysis of 168 experiments using our dataset, various large language models and prompting techniques provides key insights that we summarize into practical guidelines for effectively extracting knowledge graphs aligned with an input ontology.
Chinese Translation
对新材料的探索越来越依赖于从原子到宏观层面的预测模型和综合模拟。然而,这些模型和模拟所需的关键数据通常嵌入在科学文献中以非结构化文本的形式,限制了其可重用性,并给希望有效利用现有知识的研究人员带来了挑战。尽管使用大型语言模型从非结构化文本中提取结构化数据的做法日益受到欢迎,但传统方法通常生成具有简单模式的键值对数据。相比之下,我们介绍了 eolas,一个模块化管道,利用大型语言模型自动将科学文档转换为与指定本体对齐的知识图谱。我们展示了 eolas 在提取有用信息方面的有效性,特别是针对研究旨在承受聚变反应堆中极端温度和辐射水平的材料的科学家。人类专家可能需要花费三十到九十分钟从一篇文章中提取相关数据,而 eolas 仅需几分钟即可生成高质量的知识图谱。这些图谱以表格格式呈现,并提供分面导航以便于人类验证。此外,我们还介绍了第一个基准数据集,旨在评估大型语言模型在构建辐照材料领域知识图谱方面的能力。使用我们的数据集、各种大型语言模型和提示技术进行的168个实验分析提供了关键见解,我们将其总结为有效提取与输入本体对齐的知识图谱的实用指南。
cs.AI / 61 / 2609.17325

Intrinsic Motivation in Reinforcement Learning: A Research Agenda for Adaptive Self-Organisation

强化学习中的内在动机:自适应自组织的研究议程
Belikov, Anatoly
Abstract
Biological cells can be viewed as individual, interacting agents whose collective dynamics give rise to adaptive behaviour at multiple levels of organisation, from individual cells through tissues to whole multicellular organisms. In this perspective and tutorial article we discuss whether intrinsic rewards in artificial neural systems can support adaptation, functional specialisation and higher-level self-organisation without a shared external objective. We review empowerment, curiosity, learning progress, information gain, unsupervised skill discovery, mutual information estimation and the use of world models for intrinsic reward computation. Particular attention is given to failure modes showing when such objectives do not produce sustained exploration or increasingly complex behaviour. We argue that more capable systems may require complementary objectives, communication, memory, learning at multiple temporal scales and environmental constraints. Based on this perspective, we outline three experimental directions. These include a resource-constrained environment in which otherwise stable behavioural attractors become unsustainable, allowing us to test whether environmental constraints can mitigate characteristic failure modes of intrinsic objectives. The network of recurrent agents with per-agent intrinsic rewards, and a hierarchical world-model agent in which exploratory motor competence develops before goal-directed behaviour. These experiments are intended to test whether intrinsic learning can lead to adaptive organisation at progressively higher levels.
Chinese Translation
生物细胞可以被视为个体互动的代理,其集体动态在多个组织层面上产生适应性行为,从单个细胞到组织再到整个多细胞生物。在这篇观点和教程文章中,我们讨论了人工神经系统中的内在奖励是否能够在没有共享外部目标的情况下支持适应、功能专业化和更高层次的自组织。我们回顾了赋能(empowerment)、好奇心(curiosity)、学习进展(learning progress)、信息增益(information gain)、无监督技能发现(unsupervised skill discovery)、互信息估计(mutual information estimation)以及用于内在奖励计算的世界模型(world models)。特别关注于失败模式,展示了何时这些目标未能产生持续的探索或日益复杂的行为。我们认为,更强大的系统可能需要互补目标、沟通、记忆、多时间尺度的学习和环境约束。基于这一视角,我们概述了三个实验方向。这些方向包括一个资源受限的环境,在该环境中,原本稳定的行为吸引子变得不可持续,从而使我们能够测试环境约束是否能够缓解内在目标的特征性失败模式;一个具有每个代理内在奖励的递归代理网络;以及一个层次化的世界模型代理,其中探索性运动能力在目标导向行为之前发展。这些实验旨在测试内在学习是否能够在逐渐更高的层次上导致适应性组织。
cs.AI / 62 / 2609.17326

From Transient Prompts to Persistent Control: Scientific Poster Generation via Recursive Semantic-Geometric Contracts

从瞬时提示到持久控制:通过递归语义-几何契约进行科学海报生成
Li, Runze, Zhao, Yukun, Xu, Can, Shen, Yucheng, Wang, Shuaiqiang, Wu, Jianmin, Yan, Lingyong, Yin, Dawei
Abstract
Scientific poster generation distills a multimodal paper into a single-page visual artifact, forcing strict trade-offs between informational coverage and readability under a fixed spatial budget. Existing methods pass plans as transient prompts and validate individual stages in isolation. This strategy causes requirements to drift across content and layout modules, and previous checks to be silently invalidated. We introduce PosterVisor, a control framework that shifts poster generation from transient prompts to persistent control. An Orchestrator grounds rubrics in the paper and visual assets, compiling them into a Semantic-Geometric Contract (SGC) that binds claims and sources to required visuals, budgets, and spatial commitments. Only fully instantiated records become executable assertions; other usable requirements remain soft guidance. Recursive Contract Enforcement (RCE) dynamically triggers checks across stages as evidence emerges. Crucially, during repairs, RCE rechecks affected checkpoint states, preventing repair-induced regressions from propagating silently. We instantiate PosterVisor in HTML/CSS and editable PPTX generators. On the 100-paper Paper2Poster benchmark, PosterVisor-PPT improves observed mean poster-grounded QA accuracy over PosterGen (64.47% vs. 58.53%) and is preferred by human judges in 72.5% of non-tied pairwise comparisons (95% CI, 61.6-83.4%). A secondary 30-paper study also yields higher VLM Overall and PaperQuiz means. These results support rubric-compiled contracts and stage-conditioned enforcement for controllable poster synthesis.
Chinese Translation
科学海报生成将多模态论文提炼为单页视觉作品,在固定空间预算下迫使信息覆盖与可读性之间进行严格权衡。现有方法将计划作为瞬时提示传递,并孤立地验证各个阶段。这种策略导致内容和布局模块之间的需求漂移,且先前的检查被默默地作废。我们提出了PosterVisor,一种将海报生成从瞬时提示转向持久控制的控制框架。一个协调器(Orchestrator)将评分标准基于论文和视觉素材进行落地,编译成语义-几何契约(Semantic-Geometric Contract,SGC),将论断和来源绑定到所需的视觉元素、预算和空间承诺上。只有完全实例化的记录才成为可执行断言;其他可用需求则作为软性指导。递归契约执行(Recursive Contract Enforcement,RCE)随着证据的出现动态触发跨阶段的检查。关键的是,在修正过程中,RCE会重新检查受影响的检查点状态,防止修正引起的回退被默默传播。我们在HTML/CSS和可编辑PPTX生成器中实现了PosterVisor。在100篇论文的Paper2Poster基准测试中,PosterVisor-PPT在海报基础问答准确率上优于PosterGen(64.47%对58.53%),且在人类评审的非平局成对比较中有72.5%的偏好率(95%置信区间,61.6%-83.4%)。一项包含30篇论文的次级研究也显示了更高的视觉语言模型(VLM)整体表现和PaperQuiz均值。这些结果支持基于评分标准编译契约及阶段条件执行的可控海报合成。
cs.AI / 63 / 2609.17331

Self-Emergence Agent Architecture:Behavior-Inertia HMM, Reflexive Metacognition,and Social-Contrastive Self-Modeling

自我涌现代理架构:行为惯性隐马尔可夫模型、反思性元认知与社会对比自我建模
Liu, Xiaoyang
Abstract
Large language model (LLM) agents exhibit strong language-generation and problem-solving capabilities, yet suffer from three structural limitations: personality drift, non-evolutionary reflection, and the absence of a self-other boundary. Existing generative-agent simulations rely on static memory and fixed prompts, maintaining neither behavioral inertia nor endogenous self-evolution. We propose the Self-Emergence Agent Architecture (SEAA), which integrates three components: (i) a Hidden Markov Model (HMM) that encodes long-term behavioral and cognitive inertia as an editable state-transition matrix; (ii) a Reflexion-style verbal metacognition loop whose output updates the HMM parameters themselves, rather than merely being stored as text; and (iii) a multi-agent social environment in which initially identical agents continuously compare their behavior with others'. The three components form a closed loop: social action $\to$ feedback $\to$ self-reflection $\to$ inertia update $\to$ differentiated action. We state three falsifiable hypotheses and provide a reproducible experimental protocol with operational metrics. A language-model-free prototype shows the loop spontaneously breaks symmetry: initially identical agents consolidate distinct, stable personalities whereas matched controls do not. Experiments with a hosted LLM surface these differences as distinct first-person self-narratives, and a five-agent deliberation spontaneously develops social structure---a consensus hub and a unanimously rejected outlier---absent in the control. Following an epistemologically agnostic stance inspired by Zhuangzi, SEAA studies only observable behavioral emergence and makes no claim about subjective qualia. This work contributes a unified framework, a concrete architecture with pseudocode, mechanistic evidence, and a microscope-style sandbox for studying artificial-self emergence.
Chinese Translation
大型语言模型(LLM)代理展现出强大的语言生成和问题解决能力,但存在三种结构性限制:个性漂移、非进化性反思以及缺乏自我与他者的边界。现有的生成代理模拟依赖于静态记忆和固定提示,既不维持行为惯性,也不具备内生自我进化。我们提出了自我涌现代理架构(SEAA),该架构整合了三个组成部分:(i)一个隐马尔可夫模型(HMM),将长期行为和认知惯性编码为可编辑的状态转移矩阵;(ii)一个反思式的语言元认知循环,其输出更新HMM参数,而不仅仅是作为文本存储;(iii)一个多代理社会环境,其中最初相同的代理不断与他人比较其行为。这三个组成部分形成一个闭环:社会行动 $ o$ 反馈 $ o$ 自我反思 $ o$ 惯性更新 $ o$ 差异化行动。我们提出了三个可证伪的假设,并提供了一个可重复的实验方案和操作指标。一个不依赖语言模型的原型显示该循环自发打破对称性:最初相同的代理巩固了不同且稳定的个性,而匹配的对照组则没有。在托管的LLM实验中,这些差异表现为不同的第一人称自我叙述,而五个代理的讨论自发发展出社会结构——一个共识中心和一个一致被拒绝的异常值——而在对照组中并不存在。遵循一种受庄子启发的认识论不可知立场,SEAA仅研究可观察的行为涌现,并不对主观质料做出任何主张。本研究贡献了一个统一框架,一个具体的架构及伪代码、机械证据,以及一个微观镜头式的沙箱,用于研究人工自我涌现。
cs.AI / 64 / 2609.17391

FlashVector: Agent for Hierarchical Model Serving Stack Optimization

FlashVector:层次模型服务栈优化的智能体
Wu, Qi, Lemire, Lohan, Meng, Kai, Cai, Zhongmou, Bargues, Raphael, Zhitnikov, Petr, Cao, Zeyuan, Wang, Yao, Bian, Shujun, Chen, Wei, Sheng, Sean
Abstract
Model serving is one of the largest cost drivers in production recommender systems. Maximizing its throughput requires navigating a deeply layered hierarchy: GPU kernels, the ML framework computation graph, the model server, and on-demand feature processing -- each demanding specialized domain expertise. Such cross-layer expertise is inherently difficult to acquire, and does not scale with a workload that continuously grows and evolves, leaving significant cost efficiency gains unrealized. While recent AI agents have demonstrated human expert level efficiency in standalone GPU kernel optimization, automated tuning and optimization for the rest of the serving stack remain largely unexplored. We present FlashVector, an agentic system that optimizes performance across all layers of the model serving stack. The key contribution is an extensible framework to generalize the single kernel optimization agent paradigm to heterogeneous technical stacks, and to deliver performance improvements holistically. After deployment in Unity's Vector advertising platform, FlashVector achieved up to 2x throughput increase and up to 1.98x latency speedup on model server, and up to 1.6x throughput increase on feature store. These optimizations were discovered not only at the GPU kernel and computation graph levels, but also across the other components of the model serving stack, such as the model server (NVIDIA Triton's C++ codebase) and the on-demand feature transformation service (Python codebase), demonstrating the extensibility of the framework to more complex system architectures.
Chinese Translation
模型服务是生产推荐系统中最大的成本驱动因素之一。最大化其吞吐量需要在深层次的层级结构中进行导航:GPU内核、机器学习框架计算图、模型服务器以及按需特征处理——每一层都需要专业的领域知识。这种跨层次的专业知识本质上难以获取,并且无法与不断增长和演变的工作负载相适应,导致显著的成本效率提升未能实现。尽管最近的人工智能智能体在独立的GPU内核优化方面展示了人类专家级的效率,但对服务栈其余部分的自动调优和优化仍然基本未被探索。我们提出了FlashVector,一个优化模型服务栈所有层次性能的智能系统。其关键贡献在于一个可扩展的框架,将单个内核优化智能体范式推广到异构技术栈,并实现整体性能提升。在Unity的Vector广告平台部署后,FlashVector实现了高达2倍的吞吐量提升和高达1.98倍的模型服务器延迟加速,以及高达1.6倍的特征存储吞吐量提升。这些优化不仅在GPU内核和计算图层面被发现,还跨越了模型服务栈的其他组件,如模型服务器(NVIDIA Triton的C++代码库)和按需特征转换服务(Python代码库),展示了该框架对更复杂系统架构的可扩展性。
cs.AI / 65 / 2609.17416

Never Stop Thinking: Continuous-Time Language Agents

不断思考:连续时间语言代理
Li, Bojie, Shi, Noah
Abstract
Voice agents built on LLMs follow a rigid listen-think-speak loop that inserts seconds of dead air before every reply. We show that continuous-time cognition (thinking while listening and thinking while speaking) emerges from an unmodified text model under a lightweight interrupt-and-resume orchestrator, cutting live-pipeline latency by 19% overall and by half in the regime the mechanism targets. To measure whether continuous-time thinking improves what agents accomplish, we introduce ReactiveBench: 120 interactive scenarios scored against pre-registered binary requirements, plus a verifiable streaming track scored by exact correctness. ReactiveBench exposes a pitfall with broad consequences: LLM judges reward visible reasoning; a large judged "advantage" of continuous-time thinking reverses sign under an independent judge, and judge-trained models objectively complete fewer requirements when they think. A five-stage training study then locates the right signal at three levels. Its source: verifiable objectives turn thinking from harmful to helpful. Its structure: whatever a uniform reward omits, optimization trades away; brevity everywhere erodes multi-hop tool chaining. Its optimizer: preference optimization can only trade conflicting sub-goals against each other, while on-policy RL over a type-shaped reward improves every correctness axis at once, raising streaming completion from 48% to 73+/-5% across seeds and replicating at larger scale and on a second model. Orchestration makes continuous-time interaction possible; a verifiable signal, correctly sourced, shaped, and optimized, makes it good.
Chinese Translation
基于大型语言模型(LLMs)的语音代理遵循一种严格的听-思考-说话循环,在每次回复之前插入几秒的静默时间。我们展示了在轻量级的中断与恢复协调器下,未修改的文本模型能够产生连续时间认知(在听的同时思考和在说的同时思考),整体减少了19%的实时管道延迟,在该机制针对的范围内减少了一半。为了衡量连续时间思考是否改善了代理的表现,我们引入了ReactiveBench:120个互动场景,依据预注册的二元要求进行评分,以及一个通过准确性验证的流式跟踪。ReactiveBench揭示了一个具有广泛影响的陷阱:大型语言模型的评审者奖励可见推理;在独立评审者下,连续时间思考的“优势”大幅逆转,而经过评审训练的模型在思考时客观上完成的要求更少。接着,我们进行了一项五阶段的训练研究,定位到三个层次的正确信号。其来源:可验证的目标使思考从有害转变为有益。其结构:任何统一奖励所遗漏的内容,优化都会牺牲;简洁性在各处侵蚀多跳工具链。其优化器:偏好优化只能在相互冲突的子目标之间进行权衡,而基于策略的强化学习(RL)在类型形状奖励下同时提升每个正确性维度,将流式完成率从48%提高到73±5%,并在更大规模和第二个模型上复制。协调使连续时间交互成为可能;一个可验证的信号,经过正确的来源、形状和优化,使其变得良好。
cs.AI / 66 / 2609.17419

World Model Science: Self-Organized Criticality, Weak Chaos, and Metastable Belief Dynamics in Long-Horizon LLM Agents

世界模型科学:长时间视角下 LLM 代理中的自组织临界性、弱混沌与亚稳信念动态
Song, Xinyuan, Cai, Zekun
Abstract
Long-horizon LLM agents must maintain task state across extended sequences of observations, actions, tool calls, and intermediate beliefs. We study these trajectories through three dynamical views: self-organized criticality, weak chaos, and metastable belief dynamics. Our framework aligns agent-implied states with benchmark-grounded states and measures stress accumulation, error avalanches, temporal dependence, local--global mismatch, bounded divergence, belief-basin transitions, and finite-size scaling under explicit null models. Across 22 experiments spanning controlled puzzles, tool use, embodied tasks, multi-hop retrieval, general-assistant reasoning, and Game of Life, we find that locally valid actions can persist after global state fidelity fails, stress can trigger abrupt collapse, error sequences exhibit long memory, dependency depth changes the propagation regime, and larger horizons support larger avalanches. At the same time, divergence remains bounded, belief states show metastable rather than fully chaotic behavior, and stronger claims of universal power laws, critical points, or shared intervention optima are not supported. These results suggest a science of agent world models based on trajectory-level dynamical diagnostics rather than terminal reward alone.
Chinese Translation
长时间视角下的 LLM 代理必须在延续的观察、行动、工具调用和中间信念序列中维持任务状态。我们通过三种动力学视角研究这些轨迹:自组织临界性、弱混沌和亚稳信念动态。我们的框架将代理隐含状态与基准基础状态对齐,并测量压力积累、错误雪崩、时间依赖性、局部-全球不匹配、有限发散、信念盆地转变和在显式零模型下的有限规模缩放。在涵盖受控难题、工具使用、具身任务、多跳检索、通用助手推理和生命游戏的 22 个实验中,我们发现局部有效的行动在全球状态保真度失败后仍然可以持续,压力可以触发突然崩溃,错误序列表现出长记忆,依赖深度改变传播机制,而更大的视角支持更大的雪崩。同时,发散保持有限,信念状态表现出亚稳而非完全混沌的行为,关于普遍幂律、临界点或共享干预最优的更强主张并未得到支持。这些结果表明,基于轨迹级动力学诊断的代理世界模型科学,而非仅仅依赖终端奖励。
cs.AI / 67 / 2609.17421

Transformer-Based Token Fusion and Dynamic Graph Planning for Audio-Visual Navigation

基于变换器的标记融合与动态图规划用于音视频导航
Wu, Shaohang, Yu, Yinfeng
Abstract
Audio-Visual Navigation (AVN) requires an agent to localize and navigate toward a continuously vocalizing target relying solely on visual observations and acoustic cues. Currently, systems lack the ability to adaptively correct and replan when faced with incomplete or misleading visual perception. Furthermore, relying on physical collisions to compensate for missing visual information results in inefficient and unsafe navigation, whereas existing methods are overly dependent on passive visual perception. To address these issues, we propose the Transformer-based Token Fusion and Dynamic Graph Planning (TDGP) model, which incorporates high-level perception layers and leverages the Transformer model to fuse multimodal cues for precise local planning. Next, a low-level planning layer is designed that uses physical collision penalties to remove edges that collide with the map in real time and apply corresponding penalties, forcing the agent to automatically re-plan to compensate for the lack of visual information. Experiments show that our TDGP model outperforms baseline models on the Replica and Matterport3D (MP3D) datasets, and that the model's sound enhancement strategy significantly improves generalization in unheard acoustic scenarios.
Chinese Translation
音视频导航(AVN)要求代理仅依靠视觉观察和声学线索来定位并导航至持续发声的目标。目前,系统在面对不完整或误导性的视觉感知时缺乏自适应纠正和重新规划的能力。此外,依赖物理碰撞来补偿缺失的视觉信息导致导航效率低下且不安全,而现有方法过于依赖被动的视觉感知。为了解决这些问题,我们提出了基于变换器的标记融合与动态图规划(TDGP)模型,该模型结合了高层感知层,并利用变换器模型融合多模态线索以实现精确的局部规划。接下来,设计了一个低层规划层,该层使用物理碰撞惩罚实时移除与地图发生碰撞的边,并施加相应的惩罚,迫使代理自动重新规划以补偿视觉信息的缺失。实验表明,我们的TDGP模型在Replica和Matterport3D(MP3D)数据集上优于基线模型,并且模型的声音增强策略显著提高了在未听过的声学场景中的泛化能力。
cs.AI / 68 / 2609.17422

Talking Head Synthesis with Facial Landmark Guidance via 3D Gaussian Splatting

基于面部关键点引导的谈话头合成通过3D高斯点云
Yang, Ziheng, Yu, Yinfeng, Li, Yongming
Abstract
Audio-driven digital human generation plays an important role in virtual communication, immersive interaction, and media production. With the development of Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), recent talking-head systems have obtained more faithful 3D facial geometry and appearance modeling. A remaining difficulty is that speech features mainly describe temporal acoustic patterns rather than explicit facial layouts. As a result, directly driving 3D facial deformation with audio may produce inaccurate mouth motion, weak expression details, and local artifacts. To address this issue, we propose a facial-keypoint-guided spatial enhancement module. The predicted landmarks provide structural cues for selecting and enriching spatial points around expression-sensitive facial regions. We further introduce a global landmark compensation mechanism, where the full set of keypoints is encoded into a conditioning vector to refine 3DGS attributes. This compensation supplies whole-face structural information to the underlying shape representation. Experiments under self-driven and cross-driven settings show that the proposed method improves visual quality, facial realism, and lip synchronization.
Chinese Translation
音频驱动的数字人类生成在虚拟通信、沉浸式互动和媒体制作中扮演着重要角色。随着神经辐射场(Neural Radiance Fields, NeRF)和3D高斯点云(3D Gaussian Splatting, 3DGS)的发展,近期的谈话头系统在3D面部几何和外观建模方面取得了更真实的效果。然而,现存的困难在于,语音特征主要描述的是时间上的声学模式,而非明确的面部布局。因此,直接用音频驱动3D面部变形可能会导致不准确的嘴部运动、微弱的表情细节和局部伪影。为了解决这一问题,我们提出了一种面部关键点引导的空间增强模块。预测的关键点为选择和丰富表情敏感面部区域周围的空间点提供了结构线索。我们进一步引入了一种全局关键点补偿机制,其中完整的关键点集被编码为条件向量,以细化3DGS属性。这种补偿为基础形状表示提供了整张面部的结构信息。在自驱动和交叉驱动设置下的实验表明,所提出的方法提高了视觉质量、面部真实感和唇部同步性。
cs.AI / 69 / 2609.17475

JustFit: 200K-Token LLM Serving on a 24 GiB Laptop with Just-in-Time State Management

JustFit:在24 GiB笔记本电脑上通过即时状态管理提供200K标记的LLM服务
Chen, Yuhua
Abstract
Capable open-weight models make local coding and reasoning attractive, but their context and execution state strain laptop memory. We present JustFit, an MLX-based inference runtime that combines KVExec for compressed KV execution, PhaseSwap for component residency, and StateTrans for state-preserving serving transitions. These mechanisms fuse reconstruction and coordinate just-in-time materialization and release, independently of model-weight quantization. In full-execution capacity tests on a 24 GiB M4 Pro MacBook running Qwen3.8-27B MXFP4, three independent runs complete 196,608 input and 16,384 output tokens, increasing completed single-request context from the mlx-vlm baseline's 30,720 positions to 212,992 (6.93x); a separate two-request run retains 229,376 positions in aggregate. In separate performance tests, a 32K-input, 64-output probe reaches 19.11 tokens/s, and a repeated 32K+6K workload has a median peak process footprint of 16,374 MiB. The integrated runtime answers 29 of 30 AIME 2026 problems correctly, showing how compact state and lifetime-aware execution expand local serving capacity while supporting extended generated reasoning.
Chinese Translation
开放权重模型使得本地编码和推理变得具有吸引力,但其上下文和执行状态对笔记本内存造成了压力。我们提出了JustFit,一种基于MLX的推理运行时,结合了KVExec用于压缩的KV执行、PhaseSwap用于组件驻留,以及StateTrans用于状态保留的服务转换。这些机制融合了重构,并协调即时物化和释放,独立于模型权重量化。在一台运行Qwen3.8-27B MXFP4的24 GiB M4 Pro MacBook上进行的完整执行能力测试中,三次独立运行完成了196,608个输入和16,384个输出标记,将完成的单请求上下文从mlx-vlm基线的30,720个位置增加到212,992个(6.93倍);一次独立的双请求运行总共保留了229,376个位置。在单独的性能测试中,一个32K输入、64输出的探测达到19.11个标记/秒,而重复的32K+6K工作负载的中位峰值处理占用为16,374 MiB。集成的运行时正确回答了30个AIME 2026问题中的29个,展示了紧凑的状态和生命周期感知的执行如何扩展本地服务能力,同时支持扩展生成推理。
cs.AI / 70 / 2609.17488

LimiX-2: A Contextual Mechanism Network Towards General Structured-Data Intelligence

LimiX-2:面向通用结构化数据智能的上下文机制网络
Zhang, Xingxuan, Ren, Gang, Yuan, Hao, Zou, Hao, Tan, Hongze, Wang, Hui, Song, Jianhao, Li, Jiansheng, Zhang, Jiayao, Zhang, Jinghan, Li, Kaifang, Mo, Lang, Mao, Li, Hao, Mingchao, Xu, Nuo, Ding, Rui, Zhang, Ruiji, Li, Shuyang, Mei, Siyu, Zhang, Tianyang, Mu, Weiyang, Dong, Yancheng, Wei, Yongxian, Xue, Yuan, Wang, Yuanrui, He, Yue, Yang, Zijia, Li, Ziyun, Li, Dongzhe, Wang, Fuqiang, Liu, Jiandong, Chen, Jiawei, Du, Jiaxin, Cheng, Kaijie, Li, Kehan, Sun, Lei, Zhou, Linjun, Dai, Ningbo, Wang, Qi, Xu, Renzhe, Du, Shaoxing, Yang, Shumeng, Lu, Wang, Chu, Wenjing, Huang, Xiannan, Lin, Xiaoyu, Ai, Xing, Han, Xinyan, Li, Xuanyue, Su, Xuanyue, Zhang, Xukun, Lu, Yan, Zhang, Yaxin, Qin, Yi, Huang, Yifei, Xu, Yihan, Lv, Yongle, Jiang, Yuanyuan, Han, Yushan, Cui, Peng
Abstract
We introduce LimiX-2, a new model in the LimiX family, developed through model and data scaling guided by our previously established scaling laws. LimiX-2 adopts the Contextual Mechanism Networks (CMNs) paradigm and is pretrained with Context-Conditional Masked Modeling (CCMM). CMNs shifts the organizing principle of in-context learning from target-centric prediction to mechanism-oriented joint modeling. Rather than centering the network on the $p(y \mid x, D_{\mathrm{context}})$ objective of conventional tabular PFNs, it is designed around learning $p(x, y \mid D_{\mathrm{context}})$, a context-dependent representation of the joint structure underlying data generation. Pretraining uses synthetic datasets generated by structural causal models (SCMs) spanning diverse graph structures, functional mechanisms, and observation processes. Evaluations on TabArena, TALENT, and BCCO show that LimiX-2 outperforms current dataset-specific models and tabular foundation models. Beyond predictive performance, the CMN paradigm also promotes causal awareness in LimiX-2: its feature attention encodes direct causal relationships, enabling accurate causal skeleton recovery.
Chinese Translation
我们介绍了LimiX-2,这是LimiX系列中的一个新模型,开发过程遵循我们之前建立的扩展法则进行模型和数据扩展。LimiX-2采用上下文机制网络(Contextual Mechanism Networks, CMNs)范式,并通过上下文条件掩蔽建模(Context-Conditional Masked Modeling, CCMM)进行预训练。CMNs将上下文学习的组织原则从以目标为中心的预测转变为以机制为导向的联合建模。与传统表格PFNs以$p(y ext{ | } x, D_{ ext{context}})$为目标的网络设计不同,它围绕学习$p(x, y ext{ | } D_{ ext{context}})$进行设计,这是数据生成背后联合结构的上下文依赖表示。预训练使用由结构因果模型(Structural Causal Models, SCMs)生成的合成数据集,这些数据集涵盖了多种图结构、功能机制和观察过程。在TabArena、TALENT和BCCO上的评估表明,LimiX-2在性能上超越了当前特定数据集模型和表格基础模型。除了预测性能,CMN范式还促进了LimiX-2的因果意识:其特征注意力编码了直接的因果关系,从而实现准确的因果骨架恢复。
cs.AI / 71 / 2609.17496

Verifiable Social Reasoning for LLM Assistants

可验证的社交推理用于大型语言模型助手
Taubenfeld, Amir, Gekhman, Zorik, Grinstein-Dabush, Avigail, Laish, Itay, Goldstein, Ariel, Croak, Marian, Hassidim, Avinatan, Matias, Yossi, Feder, Amir
Abstract
LLM assistants are widely used for daily social advice, yet evaluating their social reasoning in such consultation settings remains challenging since (i) it requires setups where the assistant learns about social situations from subjective user narratives, and (ii) social properties, such as others' intentions, typically lack verifiable ground truth. To address these challenges, we introduce Fuse, a multi-agent simulation framework for studying user-mediated social reasoning. In Fuse, a target agent with a hidden motive interacts with other agents including one representing the user, who then consults the evaluated assistant to infer the target's motive, providing verifiable ground truth by construction. Simulation faithfulness is validated through a human study with 24k annotations. We apply Fuse to 12 LLMs and demonstrate its analytical utility by systematically isolating key factors, showing that (i) user mediation compounds the inherent difficulty of social reasoning; (ii) LLMs exhibit systematic sensitivity to biased user framing; (iii) models can require more details than humans need to reach a correct prediction; and (iv) longer conversations do not always improve performance despite providing opportunities for clarifying questions. We open-source Fuse and a dataset with 21k examples.
Chinese Translation
大型语言模型(LLM)助手广泛应用于日常社交建议,但在此类咨询环境中评估其社交推理能力仍然具有挑战性,因为(i)这需要设置助手从主观用户叙述中学习社交情境,以及(ii)社交属性,如他人的意图,通常缺乏可验证的真实依据。为了解决这些挑战,我们提出了Fuse,一个用于研究用户介导社交推理的多智能体仿真框架。在Fuse中,一个具有隐藏动机的目标智能体与其他智能体互动,其中一个智能体代表用户,用户随后咨询被评估的助手以推断目标的动机,从而通过构造提供可验证的真实依据。通过一项包含24,000条注释的人类研究验证了仿真的真实性。我们将Fuse应用于12个LLM,并通过系统性地隔离关键因素展示其分析效用,表明(i)用户介导加剧了社交推理的固有难度;(ii)LLM对偏见用户框架表现出系统性的敏感性;(iii)模型可能需要比人类更多的细节才能达到正确的预测;以及(iv)尽管提供了澄清问题的机会,但较长的对话并不总是能提高性能。我们开源了Fuse及包含21,000个示例的数据集。
cs.AI / 72 / 2609.17523

ScienceBuddy: Recursive-in-Recursive Self-Improvement for Interactive Scientific Agents

ScienceBuddy:用于互动科学代理的递归内递归自我改进
Xue, Shuhan, Zhong, Jianyuan, Nan, Ziyuan, Li, Wenbin, Yu, Zhaochen, Ding, Jinchao, Gao, Qiang, Zhan, Pengyu, Zhang, Yuntong, Cheng, Tian, Yin, Zhenfei, Wu, Yingcheng, Yang, Ling
Abstract
We introduce and release ScienceBuddy, an interactive scientific research workspace that brings continually improving scientific agents into researchers' everyday workflows. ScienceBuddy supports researchers in carrying out scientific tasks while transforming their requests, feedback, and execution evidence into tasks and evaluation rubrics for continual learning. At its core is recursive-in-recursive self-improvement, a paradigm that couples harness evolution with model reinforcement learning: the inner recursion improves the harness with the model fixed, while the outer recursion trains the model under the improved harness. Harness evolution shapes training experience, and model learning creates new opportunities for harness adaptation. We present case studies of researcher interaction, harness refinement, and model learning, with the benchmark cases spanning four scientific task families. By releasing ScienceBuddy as a research product, we make this paradigm available to the scientific community and take a step toward discovery intelligence: scientific AI that advances through sustained collaboration with researchers and evolves alongside the research it supports. Website: http://science-buddy.io
Chinese Translation
我们介绍并发布了ScienceBuddy,一个互动科学研究工作空间,它将不断改进的科学代理融入研究人员的日常工作流程中。ScienceBuddy支持研究人员执行科学任务,同时将他们的请求、反馈和执行证据转化为任务和评估标准,以实现持续学习。其核心是递归内递归自我改进,这是一种将进化与模型强化学习相结合的范式:内层递归在模型固定的情况下改进进化,而外层递归则在改进后的进化下训练模型。进化塑造了训练经验,而模型学习为进化适应创造了新的机会。我们展示了研究人员互动、进化优化和模型学习的案例研究,基准案例涵盖了四个科学任务家族。通过将ScienceBuddy作为研究产品发布,我们使这一范式可供科学界使用,并朝着发现智能迈出了一步:科学人工智能通过与研究人员的持续合作而进步,并与其支持的研究共同演变。网站:http://science-buddy.io
计算语言学 (Computation and Language)
74
cs.CL / 1 / 2609.15990

Few-Shot Degradation Is Not What It Seems: Behavioral Evidence, Representation Analysis, and a Random-Text Control Across 12 Models, 2 Tasks, and 2 Architectures

少样本退化并非表面所见:跨越12个模型、2个任务和2种架构的行为证据、表示分析与随机文本对照
Ovcharov, Volodymyr
Abstract
Few-shot prompting sometimes degrades language models instead of helping them, but why this happens is unknown. We evaluate 12 open-weight models on two Ukrainian tasks news classification and legal case outcome prediction and find that the effect is strongly task-dependent: the same models that gain +24 pp on news show only +3.4 pp on legal text, with two models degrading. To understand why, we look inside the models. Prior work measures how much hidden states shift between zero-shot and few-shot modes, but few-shot prompts are much longer, and that length difference alone moves representations. We propose a simple fix: replace demonstrations with length-matched random text to measure the shift caused by prompt length, then subtract it. The resulting metric content delta isolates how much the model's representations change because of what the demonstrations say, not how long they are. This changes the picture entirely: raw shift does not predict whether few-shot helps or hurts (r = 0.20), but content delta does (rho = +0.65, p = 0.043). Models that restructure representations more from demonstration content benefit more the opposite of the intuitive "distortion" explanation. Masking demonstrations in Llama 3.3 70B confirms the finding causally, recovering accuracy above the zero-shot baseline.
Chinese Translation
少样本提示有时会降低语言模型的性能而非提升,但其原因尚不清楚。我们评估了12个开放权重模型在两个乌克兰任务上的表现:新闻分类和法律案件结果预测,发现这一效果强烈依赖于任务:在新闻任务中同样的模型表现提升了24个百分点,而在法律文本中仅提升了3.4个百分点,且有两个模型出现了退化。为了理解原因,我们深入分析了模型。以往的研究测量了在零样本和少样本模式下隐藏状态的变化,但少样本提示的长度要长得多,仅这一长度差异就会影响表示。我们提出了一个简单的修正方案:用长度匹配的随机文本替代演示,以测量提示长度造成的变化,然后将其减去。由此得到的度量内容增量(content delta)能够孤立出模型的表示因演示内容而变化的程度,而非因其长度。这完全改变了局面:原始变化并不能预测少样本是有益还是有害(r = 0.20),但内容增量可以(rho = +0.65, p = 0.043)。那些因演示内容而重构表示更多的模型受益更大,这与直观的“扭曲”解释相反。在Llama 3.3 70B中屏蔽演示证实了这一因果发现,使得准确率超过了零样本基线。
cs.CL / 2 / 2609.15991

The Functionalizer: Lossless Functional Decomposition for Subword Tokenization

功能化器:无损功能分解用于子词标记化
Makowski, Connor, Guter, Willem
Abstract
Standard subword tokenizers either treat every orthographic variation of a word (such as hello, Hello, HELLO, and H\'ello) as unrelated vocabulary entries, which fragments the embedding space, or discard this variation through lossy normalization. We present the Functionalizer, a lossless pre-tokenizer framework that factors orthographic and structural variations into a compositional opcode/operand prefix stream before tokenization: a canonical base token (operand) prefixed by parametric transformation operators (opcodes) encoded in the Unicode Private Use Area. We introduce operators covering casing (CAPITALIZE), diacritics (13 dedicated opcodes), and character repetition (REPEAT, MULTIREPEAT), which are fully reversible. Across six natural language and code corpora, the Functionalizer enables complete corpus coverage with significantly smaller vocabularies under unconstrained conditions, reducing actual vocabulary slot requirements by up to 16%. When looking at sequence lengths, we observe a sharp domain-dependent tradeoff: it compresses indentation-heavy code sequences but inflates natural-language prose sequences. Preliminary downstream evaluations on 25M parameter GPT-2 scale models show that at this scale, the Functionalizer drastically improves code syntax validity and improves code character perplexity while maintaining similar text coherence on prose. These findings demonstrate that functional decomposition can be an effective mechanism for vocabulary-efficient, structurally aware language modeling, and motivate further validation at production scale.
Chinese Translation
标准的子词标记器要么将一个词的每种书写变体(如 hello、Hello、HELLO 和 H'ello)视为无关的词汇条目,从而导致嵌入空间的碎片化,要么通过有损归一化丢弃这种变体。我们提出了功能化器(Functionalizer),这是一种无损的预标记化框架,它在标记化之前将书写和结构变体分解为一个组合的操作码/操作数前缀流:一个由参数化变换操作符(操作码)编码的规范基础标记(操作数),这些操作符被编码在 Unicode 私用区中。我们引入了覆盖大小写(CAPITALIZE)、变音符号(13 个专用操作码)和字符重复(REPEAT、MULTIREPEAT)的操作符,这些操作符是完全可逆的。在六个自然语言和代码语料库中,功能化器在不受限制的条件下实现了完整的语料覆盖,同时显著减少了词汇量,实际的词汇槽需求减少了多达 16%。在观察序列长度时,我们发现存在明显的领域依赖性权衡:它压缩了以缩进为主的代码序列,但膨胀了自然语言散文序列。在对 2500 万参数的 GPT-2 规模模型进行的初步下游评估中,我们发现,在这个规模下,功能化器显著提高了代码语法的有效性,并改善了代码字符的困惑度,同时在散文中保持了相似的文本连贯性。这些发现表明,功能分解可以成为一种有效的机制,用于词汇高效、结构意识的语言建模,并激励在生产规模下进一步验证。
cs.CL / 3 / 2609.15992

Optimal Model Activation Policies for Inference Networks of Large Language Models

大型语言模型推理网络的最优模型激活策略
Charalampakos, Foivos, Alam, Md Ibrahim Ibne, Koutsopoulos, Iordanis, Kar, Koushik
Abstract
Recent advances in large language models (LLMs) have rendered them necessary for Natural Language Processing (NLP) tasks, and their high inference cost motivates the study of cost-performance trade-offs. In practice, several expert LLMs are used in synergy for inference, either in an ensemble mode or in series, yet without a principled approach on how to best use the available models. An adaptive approach can route simple queries to cheaper LLMs and complex ones to more capable, costly models. However, a clear understanding on how to best leverage available expert models is missing. We introduce inference networks, a graph-based framework, where nodes denote different LLMs, and links denote conditional model activations. The inference network design problem is to determine the best topology, namely the best way to use the models that best addresses the cost-performance trade-off. We start from the basic topology of a series of LLM experts, each of which has a different cost and a different level of expertise, which is captured via model confidence. We formulate the problem of optimal activation of these models so as to minimize the expected inference cost subject to a target performance constraint. For this special class of inference networks, we prove that the optimal activation policy has a threshold structure: query the lowest-cost LLM first, and invoke the more expensive LLM only if the confidence falls below a defined threshold. For discriminative tasks, the optimal policy consists of a set of thresholds, one threshold for each class, while for generative tasks, it consists of a single threshold. We provide a structured method to compute the thresholds, and practical confidence estimation mechanisms for both task types. Experiments with open-source LLMs show substantial cost reductions while meeting the specified performance budget.
Chinese Translation
近年来,大型语言模型(LLMs)的进展使其在自然语言处理(NLP)任务中变得不可或缺,而其高昂的推理成本促使对成本与性能权衡的研究。在实际应用中,多个专家级LLM通常以协同方式进行推理,或以集成模式或串行方式使用,但缺乏关于如何最佳利用可用模型的系统性方法。一种自适应的方法可以将简单查询路由到成本较低的LLM,而将复杂查询路由到更强大、成本更高的模型。然而,如何最佳利用可用专家模型的清晰理解仍然缺失。我们引入推理网络,这是一种基于图的框架,其中节点表示不同的LLM,链接表示条件模型激活。推理网络设计问题是确定最佳拓扑,即最佳利用模型以应对成本与性能的权衡。我们从一系列LLM专家的基本拓扑开始,每个专家具有不同的成本和不同的专业水平,这通过模型置信度来捕捉。我们将这些模型的最优激活问题表述为在满足目标性能约束的情况下,最小化预期推理成本。对于这一特殊类别的推理网络,我们证明最优激活策略具有阈值结构:首先查询最低成本的LLM,仅在置信度低于定义的阈值时才调用更昂贵的LLM。对于判别任务,最优策略由一组阈值组成,每个类别一个阈值,而对于生成任务,则由一个单一的阈值组成。我们提供了一种结构化的方法来计算这些阈值,以及针对两种任务类型的实际置信度估计机制。与开源LLM的实验表明,在满足指定性能预算的同时,显著降低了成本。
cs.CL / 4 / 2609.15993

Single Document Extractive Summarization using Domination in Hypergraph

基于超图支配特性的单文档抽取式摘要
Miyajiwala, Aamir, Pingle, Aabha, Sonawane, Sheetal, Nath, Surajit Kr.
Abstract
Automatic Text Summarization (ATS) in Natural Language Processing has been an important task in Information Retrieval. It compresses a document to create a summary that captures all the relevant and important information conveyed in the document. This study explores Hypergraph for extractive text summarization of single documents. Objective: This study explores a novel method of leveraging the property of domination in hypergraphs to generate an extractive summary and compare its performance with state of the art graph based methods. Method: Our work aims to generate an extractive summary by creating a sentence hypergraph where each sentence represents a node and the edge is a keyword or a named entity that contains the sentences in which it occurs. We generate a hypergraph where each edge is a keyword or an important topic and the nodes are sentences containing those keywords. Then we apply a greedy algorithm to find the dominating set of the hypergraph which will contain sentences that will form the extractive summary.
Chinese Translation
自动文本摘要(ATS)在自然语言处理领域一直是信息检索中的一项重要任务。它通过压缩文档来创建一个摘要,以捕捉文档中传达的所有相关和重要信息。本研究探讨了超图在单文档抽取式文本摘要中的应用。目标:本研究探索了一种利用超图中支配特性生成抽取式摘要的新方法,并将其性能与最先进的基于图的方法进行比较。方法:我们的工作旨在通过创建一个句子超图来生成抽取式摘要,其中每个句子代表一个节点,边则是包含该句子的关键词或命名实体。我们生成一个超图,其中每条边是一个关键词或重要主题,节点是包含这些关键词的句子。然后,我们应用贪心算法来寻找超图的支配集,该支配集将包含构成抽取式摘要的句子。
cs.CL / 5 / 2609.15994

Latent Undertow: How Ordinary Typos Break Probes

潜在的逆流:普通打字错误如何破坏探测器
David, Elad, Fomin, Max, LeVi, Amit
Abstract
LLMs handle ordinary typing variation fluently: a typo or missing punctuation leaves both user intent and the model's response substantively unchanged. Yet probes that detect malicious prompts by reading the model's hidden states tell a different story: the same edit rotates the readout vector by 43--56 at the perturbed token, decaying below 15% within ~10 downstream tokens. Stacking ~3 common typos per message cuts a single-position prompt-injection probe's TPR@FPR$=1% by 12.0pp, a gap recalibration alone cannot close. Multi-position aggregation cures localized perturbations (<= 0.5 loss) but only attenuates distributed ones, where even attention- and max-based aggregators still drop ~3.8pp. For single-position probes, we introduce a KV-cache fork: a short fixed suffix appended after the user message lets the probe read a few tokens downstream of the perturbation, exploiting its rapid spatial decay. This closes 95% of the gap (-0.6pp residual) -- an order of magnitude better than perturbation-augmented training (-3.7pp). The rotation-and-decay geometry replicates on Llama-3.1-8B, Qwen3-8B, and Gemma-4-E4B; probe evaluation is on Llama-3.1-8B. Code: https://github.com/eladd-ai/latent-undertow
Chinese Translation
大型语言模型(LLMs)能够流畅地处理普通的打字变体:一个打字错误或缺失的标点符号并不会实质性地改变用户意图和模型的响应。然而,通过读取模型的隐藏状态来检测恶意提示的探测器却呈现出不同的情况:相同的编辑会使读取向量在扰动的标记处旋转43至56度,并在约10个下游标记内衰减至15%以下。每条消息堆叠约3个常见的打字错误会使单位置提示注入探测器的真正阳性率(TPR)在假阳性率(FPR)为1%时下降12.0个百分点,仅靠重新校准无法弥补这一差距。多位置聚合能够修复局部扰动(损失<=0.5),但仅能减轻分布式扰动,即使是基于注意力和最大值的聚合器仍然会下降约3.8个百分点。对于单位置探测器,我们引入了一个KV缓存分叉:在用户消息后附加一个短的固定后缀,使探测器能够读取扰动下游的几个标记,利用其快速的空间衰减。这弥补了95%的差距(-0.6个百分点残差)——比增强扰动训练(-3.7个百分点)好一个数量级。旋转与衰减的几何特性在Llama-3.1-8B、Qwen3-8B和Gemma-4-E4B上得到了复制;探测器评估在Llama-3.1-8B上进行。代码链接:https://github.com/eladd-ai/latent-undertow
cs.CL / 6 / 2609.15995

Bias Audits Detect Bias but Disagree on Ranking: Evidence from Ten Instruments and Ten Frontier Models

偏差审计检测偏差但在排名上存在分歧:来自十种工具和十个前沿模型的证据
Guey, William, Bougault, Pierrick, Zhang, Wei, de Moura, Vitor D., Gomes, José O.
Abstract
Emerging AI regulation mandates bias audits of high-risk systems, and audit scores are beginning to be used to rank models. Both uses assume different audit tools measure the same thing well enough to compare. We test that assumption directly, running ten extrinsic audit instruments over a shared panel of ten frontier models through one pooled inference gateway, first on occupational gender bias, then on age and socioeconomic status. Detection succeeds while ranking fails. Eight of ten tools detect bias with confidence intervals clear of zero; two widely cited direct-probe benchmarks are saturated because frontier models now answer neutrally. But cross-tool rank agreement is indistinguishable from chance (Kendall's W=0.07, p=0.83). A positive control with six deliberately weaker models separates two explanations: within-tool reliability recovers once the panel spans real capability gaps, yet cross-tool ranking never recovers, which points to the tools measuring different constructs rather than one construct noisily. Even the direction of bias splits by audit format: forced-choice decision tools mostly over-correct (toward women, and toward working-class candidates in 273 of 278 hiring decisions), while free generation and default coreference stay stereotype-congruent. The pattern replicates on socioeconomic status; an apparent ranking agreement on age dissolves under the paper's own tool-inclusion rules. The practical message: a single audit can detect bias and estimate its direction within its own operationalization, but no single audit supports ranking one model against another. All raw responses, code, and the analysis that recomputes every reported number from source are available at https://github.com/williamguey/bias-audit-agreement.
Chinese Translation
新兴的人工智能监管要求对高风险系统进行偏差审计,审计得分开始被用于对模型进行排名。这两种用途都假设不同的审计工具能够足够好地测量相同的内容以便进行比较。我们直接测试了这一假设,通过一个汇总推断网关对十种前沿模型的共享面板运行十种外部审计工具,首先是职业性别偏差,然后是年龄和社会经济地位。检测成功,但排名失败。十种工具中有八种以置信区间清晰地检测到偏差;两个广泛引用的直接探测基准因前沿模型现在以中立方式回答而饱和。然而,跨工具的排名一致性与随机情况无异(Kendall's W=0.07, p=0.83)。一个包含六个故意较弱模型的阳性对照分离了两种解释:当面板覆盖真实能力差距时,工具内的可靠性恢复,但跨工具的排名从未恢复,这表明这些工具测量的是不同的构念,而不是一个构念的噪声。甚至偏差的方向也因审计格式而异:强制选择决策工具大多过度修正(朝向女性,以及在278个招聘决策中273个朝向工人阶级候选人),而自由生成和默认核心指代保持与刻板印象一致。该模式在社会经济地位上得以复制;对年龄的明显排名一致性在本文自己的工具包含规则下消失。实际信息是:单一审计可以在其自身的操作化中检测偏差并估计其方向,但没有单一审计支持将一个模型与另一个模型进行排名。所有原始响应、代码以及重新计算每个报告数字的分析均可在 https://github.com/williamguey/bias-audit-agreement 获取。
cs.CL / 7 / 2609.15996

Comment on arXiv:2607.01233: Survivorship Bias in Published-Paper Baselines for Research-Idea Distributions

对 arXiv:2607.01233 的评论:发表论文基线中的生存偏差对研究想法分布的影响
Dahl, Fredrik A.
Abstract
Chen, Zhao, and Cohan introduce a valuable distributional evaluation of LLM-generated research ideas. This comment raises a narrower identification concern: their human baseline consists of published papers, whereas the LLM baseline consists of one-shot proposals. If bridge-like or synthesis-like ideas are relatively easy to generate but relatively unlikely to survive publication, then the published human baseline will understate their prevalence in the unseen human idea pool. The observed human--LLM gap may therefore be partly, or even largely, a consequence of survivorship bias.
Chinese Translation
Chen、Zhao 和 Cohan 引入了一种对大型语言模型(LLM)生成的研究想法进行有价值的分布评估。本文提出了一个更为狭窄的识别问题:他们的人类基线由已发表论文构成,而 LLM 基线则由一次性提案构成。如果桥接型或综合型想法相对容易生成,但在发表中相对不太可能存活,那么已发表的人类基线将低估它们在未见人类想法池中的普遍性。因此,观察到的人类与 LLM 之间的差距可能部分甚至很大程度上是生存偏差的结果。
cs.CL / 8 / 2609.15997

Crash Narrative-Guided Countermeasure Recommendation Using Large Language Models: A Retrieval-Augmented Generation Framework for Intersection Safety

基于事故叙述的对策推荐:用于交叉口安全的大型语言模型检索增强生成框架
Uddin, Abu Saif Md Nasim, Abdel-Aty, Mohamed, Islam, Zubayer, Anowar, Parvez, Wang, Chenzhu
Abstract
Improving safety at intersections requires identifying crash mechanisms and recommending appropriate countermeasures. However, this process traditionally relies on expert judgment, making it labor-intensive, difficult to scale, and dependent on the availability of experienced traffic safety engineers. Although crash narratives contain rich description of crash mechanisms, this unstructured information remains largely underutilized in safety analyses. This study presents a crash narrative-guided retrieval-augmented generation (RAG) framework that translates narrative-derived crash mechanisms into site-specific countermeasure recommendations. Key mechanism attributes including traffic control, signal indication, driver fault, vehicle movement, and travel direction were extracted from crash narratives and linked to evidence-based treatments from the FHWA Proven Safety Countermeasures and the CMF Clearinghouse. The framework integrates embedding-based retrieval of historically similar intersections, association-rule mining, statistical guidance on the expected number of relevant countermeasures, and an engineering reasoning guidance that directs LLM through a domain-consistent decision process before selecting countermeasures. Evaluated on 312 fatal and serious-injury crashes across 115 intersections in Lake and Sumter Counties, Florida, using five-fold cross-validation, the framework achieved a precision of 0.82, recall of 0.85, and F1-score of 0.82, while recommending an average of 3.91 countermeasures per location with 3.14 matching, closely matching the actual average (3.86). Overall, the proposed framework demonstrates the potential of retrieval-augmented LLMs as an interpretable and scalable decision-support tool for transportation agencies for translating crash narratives into countermeasure recommendations.
Chinese Translation
提高交叉口安全性需要识别事故机制并推荐适当的对策。然而,这一过程传统上依赖于专家判断,劳动强度大、难以扩展,并且依赖于经验丰富的交通安全工程师的可用性。尽管事故叙述包含了丰富的事故机制描述,但这一非结构化信息在安全分析中仍然被大大低估。本研究提出了一种基于事故叙述的检索增强生成(RAG)框架,该框架将叙述导出的事故机制转化为特定地点的对策推荐。关键机制属性包括交通控制、信号指示、驾驶员过失、车辆运动和行驶方向,这些属性从事故叙述中提取,并与来自FHWA(联邦公路管理局)已验证安全对策和CMF(对策评估框架)清单的基于证据的处理方法相联系。该框架整合了对历史上相似交叉口的嵌入式检索、关联规则挖掘、关于预期相关对策数量的统计指导,以及引导大型语言模型(LLM)通过领域一致的决策过程选择对策的工程推理指导。在佛罗里达州Lake和Sumter县的115个交叉口上评估了312起致命和严重伤害事故,采用五折交叉验证,该框架实现了0.82的精确度、0.85的召回率和0.82的F1分数,同时每个地点推荐平均3.91个对策,其中3.14个与实际情况匹配,接近实际平均值(3.86)。总体而言,所提出的框架展示了检索增强型大型语言模型作为一种可解释且可扩展的决策支持工具在交通机构中将事故叙述转化为对策推荐的潜力。
cs.CL / 9 / 2609.15998

Self-reported archetypes and behavioral failures in Large Language Models

自我报告的原型与大型语言模型中的行为失误
Prama, Tabia Tanzin, Beauregard, Calla Glavin, Danforth, Christopher M., Dodds, Peter Sheridan
Abstract
Every large language model (LLM) has behavioral traits and moral preferences that comprise its character. Whether by design or as an emergent property of training, these systems exhibit persistent dispositions that shape how they interact, comply, resist, and err, yet the structure of LLM character remains poorly understood. We map the self-reported personality archetypes of 22 LLMs spanning closed-source frontier systems (GPT-4.0-5.2, Grok-3/4, Gemini 2.5 Pro/Flash, Claude Sonnet 4.5/4.6) and open-source models (Llama, DeepSeek, OLMo, and Qwen series). Each model self-rated across 464 bipolar semantic-differential trait pairs, and the resulting profiles were projected into a six-dimensional archetypal space derived from crowd-sourced ratings of 2,000 fictional characters using the Archetypometrics framework. Closed-source models' self-rating traits align with the empirical trait co-occurrence structure of human-rated fictional characters, suggesting coherent, human-like self-representations organized around combinations of four recurring archetypal dimensions: Hero, Angel, Traditionalist, and Geek. Their closest analogues include Data, Vision, and Janet. Open-source models show weaker, noisier, and internally contradictory self-representations, occupying a diffuse region of archetype space with weak structure. Cross-referencing self-reported profiles with developer constitutions reveals a consequential gap between claimed character and enacted behavior: hallucination undermines claimed precision, sycophancy complicates claimed kindness, and agentic failures contradict claimed obedience. These self-ratings should therefore be interpreted not as neutral measurements of model character, but as structured outputs of the same optimization processes that shape model behavior. This work provides a reproducible, character-grounded framework for evaluating what LLMs are, not just what they do.
Chinese Translation
每个大型语言模型(LLM)都有其行为特征和道德偏好,这构成了其个性。无论是设计使然还是训练的涌现属性,这些系统表现出持久的倾向,塑造了它们的互动、遵从、抵抗和错误的方式,但LLM个性的结构仍然不甚了解。我们对22个LLM的自我报告个性原型进行了映射,这些模型涵盖了封闭源前沿系统(如GPT-4.0-5.2、Grok-3/4、Gemini 2.5 Pro/Flash、Claude Sonnet 4.5/4.6)和开源模型(如Llama、DeepSeek、OLMo和Qwen系列)。每个模型在464对双极语义差异特征中进行了自我评分,结果的特征轮廓被投影到一个基于2,000个虚构角色的众包评分所衍生的六维原型空间中,使用了Archetypometrics框架。封闭源模型的自我评分特征与人类评分的虚构角色的经验特征共现结构相一致,表明围绕四个反复出现的原型维度(英雄、天使、传统主义者和极客)组合的连贯、类人自我表征。它们的最接近类比包括Data、Vision和Janet。开源模型则表现出较弱、噪声较大且内部矛盾的自我表征,处于原型空间的一个模糊区域,结构较弱。将自我报告的特征与开发者的构成进行交叉参考,揭示了声称的个性与实际行为之间的显著差距:幻觉削弱了声称的精确性,谄媚复杂化了声称的善良,而代理失误则与声称的服从相矛盾。因此,这些自我评分应被解读为不是模型个性的中立测量,而是塑造模型行为的相同优化过程的结构化输出。这项工作提供了一个可重复的、基于个性的框架,用于评估LLM的本质,而不仅仅是它们的行为。
cs.CL / 10 / 2609.15999

NepKANUN: A RAG-Based Nepali Legal Assistant

NepKANUN:基于RAG的尼泊尔法律助手
Thapa, Bhabuk, Koirala, Prasiddha, Raut, Ranjit, Regmi, Sunil, Bal, Bal Krishna
Abstract
Accessing legal information in Nepal is difficult due to complex terminology, limited resources, and misinformation. We introduce an AI-powered legal assistant that is tailored for Nepali legal texts and is built on a fine-tuned large language model. The technology provides precise, streamlined answers to natural language legal inquiries when integrated into a Retrieval-Augmented Generation (RAG) framework. It was trained using a custom dataset of high-quality question-answer pairs, and according to BERTScore, it obtained strong F1 scores of 0.82 (simple), 0.77 (moderate), and 0.71 (complex). Its usability is further confirmed by expert reviews. Our method shows how merging generation and retrieval can effectively democratize access to legal knowledge in Nepal by focusing on customized legal data and incorporating RAG.
Chinese Translation
在尼泊尔,获取法律信息面临复杂术语、资源有限和错误信息等挑战。我们介绍了一种专为尼泊尔法律文本量身定制的人工智能法律助手,该助手基于经过微调的大型语言模型构建。该技术在检索增强生成(Retrieval-Augmented Generation, RAG)框架中集成时,能够为自然语言法律查询提供准确、简洁的回答。它使用高质量问答对的定制数据集进行训练,并根据BERTScore获得了强劲的F1分数:0.82(简单)、0.77(中等)和0.71(复杂)。专家评审进一步确认了其可用性。我们的方法展示了如何通过关注定制法律数据并结合RAG,有效地实现尼泊尔法律知识的民主化获取。
cs.CL / 11 / 2609.16010

Nepali Legal Expertise through Generative and Extractive Pre-trained Transformers (NepLEGiT)

通过生成和提取预训练变换器实现尼泊尔法律专业知识(NepLEGiT)
Raut, Ranjit, Dhakal, Tishya, Shakya, Aaryan, Thapa, Bhabuk, Koirala, Prasiddha, Bal, Bal Krishna
Abstract
The complexity of legal language and limited accessibility to legal information pose significant challenges to justice delivery in Nepal. Traditional legal services remain inaccessible to many citizens due to language barriers, information fragmentation, and a critical shortage of legal expertise, particularly in rural areas. We present NepLEGiT (Nepali Legal Expertise through Generative and Extractive Pre-trained Transformers), a specialized small language model (SLM) designed to democratize legal knowledge and enhance legal-service delivery in Nepal. We pre-train a decoder-based GPT-2 SLM from scratch on a curated corpus of ~4 million tokens of Nepali legal text, covering constitutional law, civil and criminal codes, and administrative regulations. The model comprises ~30 million parameters in a 6-layer, 6-head, 384-dimensional transformer trained with warmup cosine-decay scheduling, gradient accumulation, and mixed-precision arithmetic. On a held-out validation split, NepLEGiT attains a cross-entropy loss of 0.5684, a perplexity of 1.8, and a next-token prediction accuracy of 82.9%. We further evaluate continual masked-language-model pre-training of mBERT and MuRIL on the same corpus; mBERT achieves a perplexity of 2.35 (eval loss 0.8565), outperforming MuRIL (perplexity 6.07, eval loss 1.8026), providing a strong encoder baseline complementary to NepLEGiT's generative orientation.
Chinese Translation
法律语言的复杂性和法律信息的有限可获取性对尼泊尔的司法交付构成了重大挑战。由于语言障碍、信息碎片化以及法律专业知识的严重短缺,传统法律服务对许多公民仍然难以获得,尤其是在农村地区。我们提出了NepLEGiT(通过生成和提取预训练变换器实现尼泊尔法律专业知识),这是一个专门设计的小型语言模型(SLM),旨在使法律知识民主化并增强尼泊尔的法律服务交付。我们从头开始在一个经过精心挑选的尼泊尔法律文本语料库上对基于解码器的GPT-2 SLM进行预训练,该语料库包含约400万个标记,涵盖宪法法、民法和刑法以及行政法规。该模型包含约3000万个参数,采用6层、6头、384维的变换器结构,使用预热余弦衰减调度、梯度累积和混合精度算术进行训练。在一个保留的验证集上,NepLEGiT达到了0.5684的交叉熵损失、1.8的困惑度和82.9%的下一个标记预测准确率。我们进一步评估了在相同语料库上对mBERT和MuRIL进行的持续掩蔽语言模型预训练;mBERT的困惑度为2.35(评估损失0.8565),优于MuRIL(困惑度6.07,评估损失1.8026),为NepLEGiT的生成导向提供了强有力的编码器基线。
cs.CL / 12 / 2609.16014

ViCo: Visual-oriented Coding with Self-Reflection for Chart Replication

ViCo:基于自我反思的视觉导向编码用于图表复制
Duan, Jiaxin, Zhao, Dian Jiao Shuai, Leng, Jiabing, Zhang, Yiran, Huang, Feng
Abstract
This paper addresses the challenge of generating high-quality academic charts that match the visual standards of human-authored papers. While existing AI agents can produce well-structured text and code, their generated visualizations often lack the stylistic and semantic fidelity of human designs. Advanced coding agents that employ self-reflection mechanisms exhibit poor visual reasoning and limited reflection following, resulting in sparse reward signals that severely undermine their reinforcement learning (RL). We propose ViCo, a training framework for visual-oriented coding that employs iterative reflections to align generated chart images progressively with the reference. We first introduce a self-supervised warm-up stage, which augments Monte Carlo Tree Search with consistency-based pruning to synthesize high-quality reflection trajectories, ensuring that each coding step strictly follows the outcomes of prior reflections. A multi-step RL algorithm is then developed, using counterfactual baselines to estimate advantage for reflection and action steps within each refinement cycle, thereby addressing the reward sparsity. To enable efficient reward in massive training, we propose an automatic, multifaceted evaluation framework that assesses charts' style, layout, and semantic consistency via a hierarchical heterogeneous layout graph structure. Experiments on three public benchmarks demonstrate that ViCo, trained on an 8B model, achieves performance close to proprietary LLMs with adequate reflection capabilities.
Chinese Translation
本文解决了生成高质量学术图表以匹配人类撰写论文的视觉标准的挑战。尽管现有的人工智能代理能够生成结构良好的文本和代码,但它们生成的可视化往往缺乏人类设计的风格和语义忠实度。采用自我反思机制的高级编码代理在视觉推理方面表现不佳,且反思后的跟进有限,导致稀疏的奖励信号严重削弱了它们的强化学习(RL)。我们提出了ViCo,一种视觉导向编码的训练框架,通过迭代反思逐步对齐生成的图表图像与参考图表。我们首先引入自我监督的预热阶段,该阶段通过一致性基础的剪枝增强蒙特卡罗树搜索,以合成高质量的反思轨迹,确保每个编码步骤严格遵循先前反思的结果。然后,我们开发了一种多步骤的强化学习算法,利用反事实基准估计每个优化周期内反思和行动步骤的优势,从而解决奖励稀疏性问题。为了在大规模训练中实现高效奖励,我们提出了一种自动化的多维评估框架,通过分层异构布局图结构评估图表的风格、布局和语义一致性。在三个公共基准上的实验表明,经过8B模型训练的ViCo在反思能力方面的表现接近专有大型语言模型(LLMs)。
cs.CL / 13 / 2609.16023

Are We Grading Properly? Understanding Failure Modes in Medical Benchmarks

我们评分正确吗?理解医学基准中的失败模式
Dixit, Prithvi, Hosseini, Pedram
Abstract
Medical evaluation is shifting from static option-based questioning to realistic clinical scenarios with open-ended output modes. Grading these at scale naively, however, is expensive, and rubric-based evaluation has become the dominant scalable alternative. We ask what happens when the rubrics themselves are not airtight, and whether such flaws can be detected and corrected. We apply RIFT, a global rubric failure taxonomy, to two clinical benchmarks (HealthBench Professional and LiveMedBench), and find failure modes are meaningful: on HealthBench Professional an LLM judge flags 29.6% of criteria as non-atomic and 65.4% as misaligned/rigid. Then, we show that these flaws are meaningful and not simply cosmetic. As an example, rewriting bundled criteria of the form "at least one of / all of the following" as equally weighted children and regrading identical responses shifts scores by up to 15.9 percentage points on affected conversations, with disjunctive bundles inflating scores and conjunctive bundles deflating them. We also find that RIFT generally under-detects bundling on clinical rubrics, flagging 3.3% of LiveMedBench criteria as non-atomic where surface-form analysis finds structure in 25.8%.
Chinese Translation
医学评估正从基于静态选项的问题转向具有开放式输出模式的真实临床场景。然而,简单地大规模评分是昂贵的,基于评分标准的评估已成为主流的可扩展替代方案。我们探讨当评分标准本身并不严谨时会发生什么,以及这些缺陷是否可以被检测和纠正。我们将全球评分标准失败分类法 RIFT 应用于两个临床基准(HealthBench Professional 和 LiveMedBench),发现失败模式是有意义的:在 HealthBench Professional 中,一个大型语言模型(LLM)评审标记了 29.6% 的标准为非原子性,65.4% 的标准为不一致/僵化。接着,我们展示这些缺陷是有意义的,而不仅仅是表面上的问题。例如,将“至少一个/所有以下条件”形式的捆绑标准重写为权重相等的子标准,并重新评分相同的响应,导致受影响对话的分数变化高达 15.9 个百分点,其中析取捆绑会抬高分数,而合取捆绑则会降低分数。我们还发现 RIFT 在临床评分标准上通常低估了捆绑现象,标记了 3.3% 的 LiveMedBench 标准为非原子性,而表面形式分析发现结构的比例为 25.8%。
cs.CL / 14 / 2609.16053

Retrieval-Driven Memory Reconsolidation for Long-Term LLM Agents

基于检索驱动的长期大语言模型代理记忆再巩固
Song, Yuanyi, Wang, Yukai, Ma, Xinbei, Fu, Zhihui, Lin, Jianghao, Liu, Weiwen, Wang, Jun, Deng, Huarong, Yu, Yong, Zhang, Weinan
Abstract
Long-term memory is essential for LLM-based agents operating over extended interactions. Existing memory systems primarily update memory when new information arrives, treating retrieval as the endpoint of memory access rather than a driver of memory evolution. Consequently, retrieval feedback is rarely exploited to reorganize memory for future access continuously. Moreover, most existing approaches rely on predefined memory structures together with fixed retrieval pipelines, limiting the agent's ability to organize and evolve its own memory autonomously. Inspired by memory reconsolidation in cognitive neuroscience, we propose \textbf{REALM}, a \textbf{r}econsolidation-\textbf{e}volution \textbf{a}gentic \textbf{l}ong-term \textbf{m}emory framework. It models long-term memory as a continual lifecycle by autonomously organizing memories into a heterogeneous cognitive graph, retrieving evidence via adaptively composed graph-search atoms, and continually reconsolidating memories based on retrieval feedback. REALM achieves an average accuracy of 75.97\% on LoCoMo and 65.11\% on LongMemEval, outperforming the strongest baselines by 7.17 and 1.31 points respectively. Ablation studies confirm that memory reconsolidation consistently boosts performance, with further analyses revealing that it progressively reorganizes related memory units into more coherent local structures for collective evidence recall and utilization during reasoning. These results suggest that retrieval-driven memory reconsolidation provides an effective mechanism for continually evolving long-term memory in LLM agents.
Chinese Translation
长期记忆对于在长时间交互中运行的基于大语言模型(LLM)的代理至关重要。现有的记忆系统主要在新信息到达时更新记忆,将检索视为记忆访问的终点,而非记忆演化的驱动因素。因此,检索反馈很少被利用来持续重组记忆以便于未来的访问。此外,大多数现有方法依赖于预定义的记忆结构和固定的检索流程,限制了代理自主组织和演化自身记忆的能力。受到认知神经科学中记忆再巩固的启发,我们提出了 extbf{REALM},一个 extbf{r}econsolidation- extbf{e}volution extbf{a}gentic extbf{l}ong-term extbf{m}emory框架。它将长期记忆建模为一个持续的生命周期,通过自主将记忆组织成异质认知图,利用自适应组合的图搜索原子检索证据,并基于检索反馈持续再巩固记忆。REALM在LoCoMo上实现了75.97\%的平均准确率,在LongMemEval上实现了65.11\\%,分别比最强基线高出7.17和1.31个百分点。消融研究确认记忆再巩固始终提升性能,进一步分析表明,它逐步将相关记忆单元重组为更连贯的局部结构,以便在推理过程中进行集体证据回忆和利用。这些结果表明,基于检索驱动的记忆再巩固为LLM代理持续演化长期记忆提供了一种有效机制。
cs.CL / 15 / 2609.16055

State of Thought Enables Endogenous Reasoning

思维状态促进内生推理
Gong, Zhiren, Hou, Yikun, Zeng, Zihao, Xiao, Ming, Yuen, Chau, Lim, Wei Yang Bryan
Abstract
Test-time compute has emerged as a major approach to improving the capabilities of Large Language Models (LLMs). However, existing test-time reasoning paradigms rely heavily on externally imposed control, either through fixed reasoning programs or through costly expansion in constrained search spaces, limiting both generalization and efficiency. We propose State of Thought (SoT), a new reasoning paradigm that enables endogenous reasoning in LLMs, with the model's internal reasoning state governing how reasoning unfolds. Concretely, SoT extracts a compact dynamics-geometric state from the model's internal information transfer and uses a 582-parameter controller on frozen backbones to selectively activate historical reasoning support useful under the current reasoning state, framing reasoning as a state-conditioned process over evidence rather than an externally prescribed token chain. Across quantitative (1.34x), general (1.62x), symbolic-and-code (1.76x), and long-context (2.51x) reasoning on 3 LLMs and 16 datasets, SoT consistently improves mean-baseline accuracy while reducing generated tokens by 62.6% and end-to-end latency by 44.6%. Across 2 VLM scales and 3 reasoning tasks, it improves mean accuracy by 3.8 points over reasoning baselines, with 74.9% fewer completion tokens and 73.5% lower latency than search-based methods. Under constrained access, SoT retains 38.2%/36.5% mean accuracy gains in training-free/embedding-only settings, while trajectory-only judging reaches 84.1% agreement across 3 API models. Together, endogenous state-driven reasoning provides a generalizable and efficient alternative.
Chinese Translation
测试时计算已成为提高大型语言模型(LLMs)能力的一种主要方法。然而,现有的测试时推理范式在很大程度上依赖于外部施加的控制,无论是通过固定的推理程序,还是通过在受限搜索空间中进行昂贵的扩展,这限制了模型的泛化能力和效率。我们提出了思维状态(State of Thought, SoT),一种新的推理范式,使LLMs能够进行内生推理,模型的内部推理状态决定了推理的展开方式。具体而言,SoT从模型的内部信息传递中提取紧凑的动态几何状态,并在冻结的主干网络上使用582个参数的控制器,选择性地激活在当前推理状态下有用的历史推理支持,将推理框架视为基于证据的状态条件过程,而不是外部规定的标记链。在对3个LLM和16个数据集进行的定量(1.34倍)、一般(1.62倍)、符号与代码(1.76倍)以及长上下文(2.51倍)推理中,SoT始终提高了平均基线准确率,同时将生成的标记减少了62.6%,端到端延迟减少了44.6%。在2个视觉语言模型(VLM)规模和3个推理任务中,它比推理基线提高了3.8个百分点的平均准确率,生成的完成标记减少了74.9%,延迟比基于搜索的方法低73.5%。在受限访问下,SoT在无训练/仅嵌入设置中保持了38.2%/36.5%的平均准确率增益,而仅轨迹判断在3个API模型中达到了84.1%的一致性。总之,内生状态驱动的推理提供了一种可泛化且高效的替代方案。
cs.CL / 16 / 2609.16059

Towards Scalable RLVR: Multimodal Instruction Following Data Synthesis and Distillation

迈向可扩展的RLVR:多模态指令跟随数据合成与蒸馏
Zeng, Yirong, Sai, Zhang, Wang, Yuxian, Hou, Yutai, Liu, Yufei, Ding, Xiao, Cai, Bibo
Abstract
Multimodal instruction following (MMIF) is crucial for building generalist agents. However, current training paradigms rely heavily on Supervised Fine-Tuning (SFT), which often leads to surface-level pattern matching and degrades general capabilities. While Reinforcement Learning with Verifiable Rewards (RLVR) offers a promising alternative, its scalability in MMIF is severely bottlenecked by the scarcity of high-quality, RL-ready multimodal data. To bridge this gap, we present MIFS (\textbf{M}ultimodal \textbf{I}nstruction \textbf{F}ollowing \textbf{S}ynthesis), a systematic pipeline designed to generate RL-ready multimodal data. Specifically, MIFS introduces a generative constraint protocol to synthesize diverse raw samples, followed by a learnability-aware distillation mechanism that filters data based on RL training dynamics to ensure stable policy optimization. Furthermore, a code-based verifier provides high-precision reward signals for policy learning. The resulting dataset comprises 90k samples across 8 constraint categories and 14 task domains. Empirical evaluations demonstrate that MIFS-trained MLLMs achieve an average improvement of 8.13\% on four MMIF benchmarks and a 3$\times$ faster training convergence compared to using raw data. Crucially, our approach mitigates the generalization trade-offs typical of SFT, preserving core visual capabilities while significantly boosting instruction-following precision.
Chinese Translation
多模态指令跟随(MMIF)对于构建通用智能体至关重要。然而,当前的训练范式严重依赖监督微调(SFT),这往往导致表面层次的模式匹配,并降低了通用能力。尽管可验证奖励的强化学习(RLVR)提供了一种有前景的替代方案,但在MMIF中的可扩展性受到高质量、适合RL的多模态数据稀缺的严重制约。为了解决这一问题,我们提出了MIFS(多模态指令跟随合成),这是一个旨在生成适合RL的多模态数据的系统化管道。具体而言,MIFS引入了一种生成约束协议,以合成多样的原始样本,随后采用一种关注可学习性的蒸馏机制,根据RL训练动态过滤数据,以确保稳定的策略优化。此外,基于代码的验证器为策略学习提供高精度的奖励信号。最终生成的数据集包含90,000个样本,涵盖8个约束类别和14个任务领域。实证评估表明,与使用原始数据相比,MIFS训练的多模态语言模型(MLLMs)在四个MMIF基准测试上平均提高了8.13\%,并且训练收敛速度提高了3倍。重要的是,我们的方法减轻了SFT典型的泛化权衡,保留了核心视觉能力,同时显著提升了指令跟随的精度。
cs.CL / 17 / 2609.16070

Efficient Multimodal Generative Recommendation with Latent Narrative Reasoning

高效的多模态生成推荐与潜在叙事推理
Wang, Chenxing, Zheng, Nantao, Miao, Hao, Wang, Juyuan, Jiang, Xinke, Fang, Yuchen, Li, Aolin, Wu, Haijun
Abstract
Generative recommendation reformulates item prediction as semantic identifier generation, yet episodic content introduces a fundamentally different setting where the target is determined by narrative evolution rather than user preference. This task requires models to understand multimodal storyline progression while addressing the efficiency challenges caused by redundant visual contexts and costly explicit reasoning generation. We propose \textbf{NarraLite}, an efficient multimodal generative recommendation framework that jointly compresses perception and reasoning. Specifically, Progressive Spectral Compression selectively distills long visual contexts into compact narrative-relevant evidence, preserving transition-critical information while reducing redundant visual computation. Latent Narrative Reasoning introduces context-routed latent reasoning tokens and aligns their contextualized representations with future continuation semantics, enabling implicit narrative inference without autoregressively decoding textual rationales. We further establish a user-agnostic multimodal benchmark for short-form drama continuation across UGC, PGC, and OOD settings. Extensive experiments demonstrate that NarraLite consistently improves continuation accuracy, narrative coherence, and robustness over existing approaches, while achieving a favorable accuracy--efficiency trade-off.
Chinese Translation
生成推荐将项目预测重新表述为语义标识符生成,然而情节内容引入了一种根本不同的设置,其中目标由叙事演变决定,而非用户偏好。该任务要求模型理解多模态故事线的进展,同时解决由冗余视觉上下文和高成本显式推理生成所带来的效率挑战。我们提出了 extbf{NarraLite},一个高效的多模态生成推荐框架,能够联合压缩感知和推理。具体而言,渐进谱压缩(Progressive Spectral Compression)选择性地将长视觉上下文提炼为紧凑的叙事相关证据,保留关键的过渡信息,同时减少冗余的视觉计算。潜在叙事推理(Latent Narrative Reasoning)引入了上下文路由的潜在推理标记,并将其上下文化的表示与未来延续语义对齐,从而实现隐式叙事推理,而无需自回归地解码文本推理。我们进一步建立了一个用户无关的多模态基准,用于UGC、PGC和OOD设置下的短篇剧本延续。大量实验表明,NarraLite在延续准确性、叙事连贯性和鲁棒性方面始终优于现有方法,同时实现了良好的准确性与效率的权衡。
cs.CL / 18 / 2609.16073

The Immutable Past: Formalizing State Mutability and Conflict Resolution in Mutable RAG

不可变的过去:在可变 RAG 中形式化状态可变性和冲突解决
HaddadPajouh, Hamed, AmiriTabat, Amir
Abstract
Retrieval-Augmented Generation (RAG) serves as the primary memory architecture for long-horizon autonomous agents. However, treating shared memory as an append-only stream introduces \textit{Semantic Shadowing}, a critical failure mode where conflicting historical observations accumulate and statistically dominate valid recent updates. In dynamic environments, this results in severe state divergence as agents retrieve and act upon obsolete facts. This paper formalizes the mechanics of State Mutability to prove that standard dense retrieval suffers from Asymptotic Recall Decay. Furthermore, we formally demonstrate a Majority Vote Trap, revealing that increasing the retrieval context window paradoxically degrades generation accuracy by diluting the attention mechanism under conditions of semantic equivalence. To resolve this, we introduce GC-Mem (Garbage Collection for Memory), a strict inference-time consistency protocol. Unlike heuristic time-decay mechanisms---which indiscriminately destroy valid long-term memory---GC-Mem relies purely on a temporal dominance operator ($\Phi_{\mathcal{T}}$) paired with contradiction detection to surgically excise shadowed context. Evaluated across a rigorous, behaviorally inferred benchmark of 137,760 memory chunks and continuous accumulation sweeps, standard RAG and timestamp re-ranking baselines experience severe degradation. In contrast, GC-Mem empirically recovers $>90\%$ conflict resolution accuracy. We establish strict precision and recall deployment thresholds, ensuring state convergence where standard mutable RAG fundamentally fails.
Chinese Translation
检索增强生成(RAG)作为长时间跨度自主代理的主要记忆架构。然而,将共享记忆视为仅附加的流会引入 extit{语义阴影},这是一种关键的失败模式,其中冲突的历史观察积累并在统计上主导有效的近期更新。在动态环境中,这导致严重的状态偏差,因为代理检索并基于过时的事实进行行动。本文形式化了状态可变性的机制,以证明标准的密集检索存在渐近召回衰减。此外,我们正式展示了多数投票陷阱,揭示在语义等价条件下,增加检索上下文窗口反而会通过稀释注意机制来降低生成准确性。为了解决这个问题,我们引入了 GC-Mem(内存的垃圾回收),这是一种严格的推理时间一致性协议。与不加区分地销毁有效长期记忆的启发式时间衰减机制不同,GC-Mem 纯粹依赖于一个时间主导算子($ ext{Φ}_{ ext{T}}$)与矛盾检测相结合,精确地切除阴影上下文。在对 137,760 个记忆块和连续累积扫描的严格行为推断基准进行评估时,标准 RAG 和时间戳重新排序基线经历了严重的降级。相比之下,GC-Mem 在经验上恢复了超过 90\% 的冲突解决准确性。我们建立了严格的精度和召回部署阈值,确保状态收敛,而标准的可变 RAG 在根本上失败。
cs.CL / 19 / 2609.16076

The Imitation Game: When LLMs Learn to Reason Like Programs via Code-Centric Reasoning Data Synthesis

模仿游戏:当大型语言模型通过以代码为中心的推理数据合成学习像程序一样推理
Zhang, Jinyang, Liao, Weibin, Bao, Keqin, Li, Sihang, Wang, Shaobo, Ye, Muyang, Ding, Hongxin, Fang, Yue, Tang, Tianyi, Huang, Fei, Yang, Kexin, Ren, Xingzhang, Liu, Dayiheng
Abstract
Large Language Models (LLMs) excel at programming tasks but frequently fail at deterministic, fine-grained reasoning in natural language, relying heavily on semantic approximations rather than robust symbolic execution. To bridge this gap, we propose MIMIC, a framework that leverages executable code as a rigorous medium for reasoning data synthesis. MIMIC fundamentally transforms algorithms into verifiable reasoning trajectories through narrative fusion, code-guided test synthesis, and dynamic code instrumentation. Crucially, these explicit intermediate execution states naturally form a Code-Instrumented Reward (CIR), providing dense, high-fidelity process supervision for reinforcement learning without external reward models. Extensive evaluations reveal that models trained via SFT and GRPO on our synthesized dataset achieve substantial, consistent gains. Our method significantly elevates accuracy across general reasoning, complex mathematical benchmarks, and fine-grained deterministic tasks, demonstrating that the procedural rigor of executable code can effectively unlock and enhance the generalized reasoning capabilities of LLMs. Our code and data are available at https://github.com/zjy1298/MIMIC.
Chinese Translation
大型语言模型(LLMs)在编程任务中表现出色,但在自然语言的确定性、细粒度推理方面常常失败,过于依赖语义近似而非稳健的符号执行。为了解决这一问题,我们提出了MIMIC,一个利用可执行代码作为推理数据合成的严格媒介的框架。MIMIC通过叙述融合、代码引导的测试合成和动态代码插桩,根本上将算法转化为可验证的推理轨迹。关键是,这些明确的中间执行状态自然形成了代码插桩奖励(Code-Instrumented Reward, CIR),为强化学习提供了密集、高保真的过程监督,而无需外部奖励模型。广泛的评估表明,通过在我们合成的数据集上进行SFT和GRPO训练的模型取得了显著且一致的提升。我们的方法显著提高了在一般推理、复杂数学基准和细粒度确定性任务中的准确性,证明了可执行代码的程序严谨性能够有效解锁和增强大型语言模型的广义推理能力。我们的代码和数据可在 https://github.com/zjy1298/MIMIC 获取。
cs.CL / 20 / 2609.16095

RAG-CT: Mitigating Privacy Risks on Retrieval-Augmented Generation Systems via Scanning Prompt Distribution

RAG-CT:通过扫描提示分布来减轻检索增强生成系统的隐私风险
Lyu, Xingyu, Wang, Jiayimei, He, Jianfeng, Wang, Ning, Hu, Yidan, Chen, Yimin
Abstract
Retrieval-Augmented Generation (RAG) has emerged as a powerful paradigm for improving the quality of generated contents of Large Language Models (LLMs) by grounding responses in external knowledge, thus reducing hallucinations and factual errors. However, recent studies have highlighted a critical vulnerability: adversaries can exploit the retrieval process to extract personally identifiable information (PII) from the underlying corpus. To mitigate this risk, we propose a novel defense, RAG-CT, that identifies malicious queries by analyzing their entropy and margin distributions and using a score-based detection method. Extensive experiments with four state-of-the-art attack strategies and four defense baselines on two datasets show that our approach significantly reduces PII leakage while outperforming existing defenses. This work provides a lightweight yet effective mechanism to protect RAG systems against PII leakage without requiring modifications to the underlying LLM or retriever.
Chinese Translation
检索增强生成(RAG)作为一种强大的范式,已被提出用于提高大型语言模型(LLMs)生成内容的质量,通过将响应与外部知识相结合,从而减少幻觉和事实错误。然而,近期研究揭示了一项关键的脆弱性:对手可以利用检索过程从基础语料库中提取个人可识别信息(PII)。为了解决这一风险,我们提出了一种新颖的防御机制RAG-CT,通过分析恶意查询的熵和边际分布,并使用基于评分的检测方法来识别这些查询。在两个数据集上进行的与四种最先进攻击策略和四种防御基线的广泛实验表明,我们的方法显著减少了PII泄露,同时优于现有的防御措施。这项工作提供了一种轻量且有效的机制,以保护RAG系统免受PII泄露的影响,而无需对基础LLM或检索器进行修改。
cs.CL / 21 / 2609.16268

Spurious Tool Use: When RL Agents Learn the Wrong Reason to Act

虚假工具使用:当强化学习代理学习错误的行动理由时
Yang, Yiwei, Zhang, Haoxiang, Wen, Bingbing, Lu, Yao, Wu, Yuchen, Zhang, Lei, McAuley, Julian, Lu, Pan, Howe, Bill
Abstract
Large language model (LLM) agents increasingly interleave natural language reasoning with external tools such as web search and code execution. These tool-use policies are often optimized via reinforcement learning (RL), which can amplify spurious correlations in the training data. In this work, we study when and why RL-trained agents learn shortcut tool-selection policies: invoking tools based on superficial prompt cues rather than genuine task requirements. We construct controlled synthetic environments combining factual question answering and mathematical reasoning tasks, and inject cues that are strongly correlated with specific tools during training but causally irrelevant to tool necessity. Across counterfactual evaluations where cues are present but the associated tools are not required, agents exhibit substantial shortcut behavior, with spurious tool invocation rates increasing by up to 39 percent. However, shortcut formation is not universal: across the conditions we test, it arises only when the agent has already learned to use the target tool reliably, suggesting that task competence, rather than dataset imbalance alone, is a key factor in shortcut learning. A swapped-cue analysis further shows that semantic alignment between cues and tools substantially amplifies this effect. To mitigate these failures, we introduce a dense, decision-level reward in which an LLM judge evaluates the necessity of each tool call. This tool-necessity reward effectively suppresses cue-driven tool use while preserving task performance, providing a practical approach to improving the robustness of LLM agent tool-use policies.
Chinese Translation
大型语言模型(LLM)代理越来越多地将自然语言推理与外部工具(如网络搜索和代码执行)交替使用。这些工具使用策略通常通过强化学习(RL)进行优化,这可能会放大训练数据中的虚假相关性。在本研究中,我们探讨了强化学习训练的代理在何时以及为何学习捷径工具选择策略:基于表面提示线索而非真实任务需求来调用工具。我们构建了控制的合成环境,结合了事实问答和数学推理任务,并在训练中注入与特定工具强相关但与工具必要性因果无关的线索。在反事实评估中,当线索存在但相关工具不需要时,代理表现出显著的捷径行为,虚假工具调用率增加了多达39%。然而,捷径形成并非普遍存在:在我们测试的条件中,仅在代理已经可靠地学习使用目标工具时才会出现,这表明任务能力而非数据集不平衡是捷径学习的关键因素。交换线索分析进一步表明,线索与工具之间的语义一致性显著放大了这一效应。为了减轻这些失败,我们引入了一种密集的决策级奖励,其中LLM评估每次工具调用的必要性。这种工具必要性奖励有效抑制了基于线索的工具使用,同时保持了任务表现,为提高LLM代理工具使用策略的鲁棒性提供了一种实用的方法。
cs.CL / 22 / 2609.16274

Speaker-Specific and Language-Dependent Temporal Organization in Bilingual Political Speech

双语政治演讲中的说话者特定性和语言依赖性时间组织
Hosseini-Kivanani, Nina, Taghva, Nafiseh, Gilles, Peter, Niebuhr, Oliver
Abstract
Speech rhythm helps structure persuasive speech, but most empirical work examines monolingual English. This study asks how politicians organize timing when speaking Luxembourgish and French. We analyze 400 sentences from ten politicians, annotated for segments and pauses. We compute rhythm metrics, including means, variability, and pairwise variability indices for consonants and vowels. We quantify speaker and language contributions and test within-speaker language effects with paired t-tests. Results show that consonant-based metrics retain speaker-specific signatures, whereas vowel-based metrics are largely driven by language choice. French tokens display longer and more variable vowels and vocalic intervals, while consonant timing differences are smaller. No robust language by gender interactions emerge. These findings show that language choice systematically reorganizes rhythmic timing in bilingual public speech.
Chinese Translation
语音节奏有助于构建劝说性演讲,但大多数实证研究集中于单语英语。本研究探讨政治家在讲卢森堡语和法语时如何组织时间。我们分析了来自十位政治家的400个句子,并对其进行段落和停顿的注释。我们计算了节奏指标,包括辅音和元音的均值、变异性和成对变异指数。我们量化了说话者和语言的贡献,并使用配对t检验测试了同一说话者的语言效应。结果表明,基于辅音的指标保留了说话者特定的特征,而基于元音的指标则主要受语言选择的驱动。法语标记显示出更长且更具变异性的元音和元音间隔,而辅音时间差异较小。没有出现显著的语言与性别的交互作用。这些发现表明,语言选择系统性地重新组织了双语公共演讲中的节奏时间。
cs.CL / 23 / 2609.16275

Speaker or Language? Explaining Variance in Charismatic Prosody Across Luxembourgish and French

说话者还是语言?解释卢森堡语和法语中魅力韵律的差异
Hosseini-Kivanani, Nina, Taghva, Nafiseh, Gilles, Peter, Niebuhr, Oliver
Abstract
Charismatic speech is shaped by language and speaking style, yet their relative contribution in bilingual public speaking remains unclear. We analyzed spontaneous speeches of 10 politicians who address audiences in Luxembourgish and French, in highly comparable communicative contexts across languages. From 400 utterances, we extracted 41 acoustic-prosodic features linked to vocal charisma and fitted mixed-effects models to separate speaker- and language-related variance. Speaker identity accounted for most variance, whereas language explained less, but still showed systematic differences: French productions showed higher shimmer and phrase-final F0, indicative of a polite, respectful voice, while Luxembourgish productions exhibited stronger mid-frequency spectral energy, suggesting a more vocally present profile. These patterns align with the sociolinguistic roles of Luxembourgish as an informal identity language and French as a high-prestige institutional variety.
Chinese Translation
魅力演讲受到语言和说话风格的影响,但它们在双语公共演讲中的相对贡献仍不清楚。我们分析了10位政治家的自发演讲,他们在卢森堡语和法语中以高度可比的交际背景向听众发言。从400个话语中,我们提取了41个与声音魅力相关的声学韵律特征,并拟合了混合效应模型以区分与说话者和语言相关的方差。说话者身份占据了大部分方差,而语言解释的方差较少,但仍显示出系统性的差异:法语的表现显示出更高的颤动和短语末尾的基频(F0),表明一种礼貌、尊重的声音,而卢森堡语的表现则表现出更强的中频谱能量,暗示一种更具声音存在感的特征。这些模式与卢森堡语作为一种非正式身份语言和法语作为一种高声望的体制变体的社会语言学角色相一致。
cs.CL / 24 / 2609.16312

Efficient One-to-Many Translation with Joint Multi-Stream Diffusion

基于联合多流扩散的高效一对多翻译
Guan, Yiwen, Whitehill, Jacob
Abstract
One-to-many machine translation (MT) is computationally expensive for autoregressive (AR) systems, which suffer from linear latency scaling with both sequence length and the number of target languages. We explore how diffusion can enable multilingual translation with a discrete diffusion framework that refines all target languages in parallel, achieving sublinear latency scaling with the number of targets, and supports deployment as a single unified model to replace multiple independent systems. Conditioned on a continuous semantic anchor rather than source tokens, our framework supports zero-shot transfer to unseen source languages without retraining, maintaining approximately $75\%$ of its supervised translation quality on zero-shot sources. We investigate the quality-latency frontier and find that with accelerated sampling, it achieves comparable supervised quality to AR baselines with a $2 \times$ speedup and $11.9\%$ better zero-shot BLEU. These results highlight the potential of joint multi-stream diffusion as a practical and flexible alternative for efficient one-to-many translation.
Chinese Translation
一对多机器翻译(MT)对于自回归(AR)系统而言计算成本高昂,因为其在序列长度和目标语言数量上都呈现线性延迟扩展。我们探讨了扩散如何通过离散扩散框架实现多语言翻译,该框架能够并行优化所有目标语言,从而在目标数量上实现亚线性延迟扩展,并支持作为单一统一模型的部署,以替代多个独立系统。我们的框架以连续语义锚点为条件,而非源标记,支持对未见源语言的零样本迁移,无需重新训练,并在零样本源上保持约 $75\%$ 的监督翻译质量。我们研究了质量-延迟边界,发现通过加速采样,其在 $2 imes$ 的速度提升下,达到了与 AR 基线相当的监督质量,并在零样本 BLEU 上提高了 $11.9\\%$。这些结果突显了联合多流扩散作为高效一对多翻译的实用且灵活的替代方案的潜力。
cs.CL / 25 / 2609.16340

StalePO: Anchored Token-Level Preference Optimization using Legacy Post-Edits in Machine Translation

StalePO:利用遗留后编辑进行锚定的令牌级偏好优化在机器翻译中的应用
Dhaipule, Rohit, Kharbanda, Sukhdeep Singh, Bathala, Prasanth, Lanka, Pradyumna, Shrimal, Anubhav
Abstract
Machine translation systems are periodically upgraded to stronger models, but the available preference signal is human post-edits of an older system's outputs, which the newer model may already surpass. Moreover, collecting fresh post-edits for every new model is prohibitively expensive. We call this the Stale Preference problem. Standard DPO can fail in this setting: it may increase the likelihood of inferior post-edits, erode the model's existing quality, and fail to provide the per-token control needed to correct localized errors. We introduce StalePO, an objective derived from three requirements this regime imposes. Likelihood movement must be downward on both responses, the policy must be anchored to its own base response, and the KL constraint must apply at the token level. These requirements are jointly necessary. In ablations, each mechanism in isolation leaves the model's performance indistinguishable from the base model, and only their combination converts stale feedback into gains. On English-to-Hindi and English-to-Turkish localization data, StalePO improves the fraction of segments passing all LLM-as-judge MQM quality checks by 14.9 and 4.6 percentage points, respectively, with gains concentrated on style and fluency. A human evaluation under the same framework confirms these gains on English-to-Hindi, raising the fraction of segments passing all seven human checks by 13.8 percentage points.
Chinese Translation
机器翻译系统会定期升级为更强大的模型,但可用的偏好信号是旧系统输出的人类后编辑,而新模型可能已经超越了这些输出。此外,为每个新模型收集新的后编辑是极其昂贵的。我们将此称为陈旧偏好问题(Stale Preference problem)。在这种情况下,标准的 DPO 可能会失效:它可能会增加劣质后编辑的可能性,侵蚀模型的现有质量,并且无法提供纠正局部错误所需的逐令牌控制。我们引入了 StalePO,这是一种基于该机制所施加的三个要求推导出的目标。两个响应的可能性变化必须向下,策略必须锚定于其自身的基础响应,并且 KL 约束必须在令牌级别上适用。这些要求是共同必要的。在消融实验中,单独使用每个机制使模型的性能与基础模型无差异,只有它们的组合才能将陈旧反馈转化为收益。在英语到印地语和英语到土耳其语的本地化数据上,StalePO 分别提高了通过所有 LLM 作为评判者的 MQM 质量检查的段落比例 14.9 和 4.6 个百分点,收益主要集中在风格和流畅性上。在相同框架下的人类评估确认了这些收益,在英语到印地语的情况下,使通过所有七项人类检查的段落比例提高了 13.8 个百分点。
cs.CL / 26 / 2609.16366

How Humans and LLMs Read Gender into Gender-Neutral Physical Descriptions

人类与大型语言模型如何在性别中解读性别中立的身体描述
Wan, Yingjia, Lin, Lin, Kreiss, Elisa
Abstract
When foundation models describe people, recent work in AI fairness, accessibility, and ethics recommends avoiding inferred identity labels (e.g., "she", "his") in favor of seemingly "objective" physical descriptions (e.g., "short hair", "a defined jawline"). Yet whether such descriptive language achieves gender-neutral communication remains an open empirical question. To study this, we introduce GAPA (Gender Associations of Physical Attributes), a dataset of 316 common physical attributes drawn from diverse sources, paired with 14,706 gender-association ratings from 304 US-based annotators. Results show that physical descriptions carry structured and graded gender associations among readers, with more consistent and distinctive associations for women and men than for non-binary identities. Next, we evaluate 16 LLMs across model families, sizes, and post-training variants against human ratings. The models partially recover human associations but exhibit systematic alignment biases, including compressed rating distributions, weaker alignment for associations with men, and asymmetric abstention that disproportionately targets the non-binary category. Finally, we release the best-performing proxy model trained to predict humans' gender associations of descriptive language and demonstrate its utility through a sociolinguistic analysis of character descriptions in LitBank. Together, our findings provide the first empirical evidence that seemingly "objective" physical descriptions can retain systematic gender associations in human interpretation, and uncover systematic patterns of model-human misalignment. This challenges the assumption that replacing explicit gender labels with physical descriptions necessarily yields gender-neutral communication, and highlights downstream challenges in using such descriptions to communicate subjective identity categories in human-AI interaction.
Chinese Translation
当基础模型描述人时,人工智能公平性、可及性和伦理学的最新研究建议避免使用推断的身份标签(例如,“她”,“他的”),而应采用看似“客观”的身体描述(例如,“短发”,“轮廓分明的下巴”)。然而,这种描述性语言是否实现了性别中立的沟通仍然是一个未解的实证问题。为此,我们引入了 GAPA(身体属性的性别关联),这是一个包含316个来自多种来源的常见身体属性的数据集,配有来自304名美国标注者的14,706个性别关联评分。结果表明,身体描述在读者中携带结构化和分级的性别关联,对于女性和男性的关联更为一致和显著,而对于非二元身份则较弱。接下来,我们评估了16个不同模型家族、规模和后训练变体的LLMs,比较其与人类评分的表现。这些模型部分恢复了人类的关联,但表现出系统性的对齐偏差,包括压缩的评分分布、对男性关联的较弱对齐,以及不对称的弃权,尤其针对非二元类别。最后,我们发布了表现最佳的代理模型,旨在预测人类对描述性语言的性别关联,并通过对 LitBank 中角色描述的社会语言学分析展示其效用。我们的发现首次提供了实证证据,表明看似“客观”的身体描述在人的解读中可以保留系统性的性别关联,并揭示了模型与人类之间的系统性错位模式。这挑战了用身体描述替代明确性别标签必然实现性别中立沟通的假设,并突显了在人工智能与人类互动中使用此类描述来传达主观身份类别的下游挑战。
cs.CL / 27 / 2609.16372

Register Tokens for Bounded-State Reasoning in Diffusion Language Models

用于扩展状态推理的注册令牌在扩散语言模型中的应用
Ge, Albert, Singh, Chandan, Zhuang, Yufan, Liu, Xiaodong, Gao, Jianfeng, Sala, Frederic
Abstract
Masked diffusion language models (dLLMs) generate text by iteratively denoising masked tokens with bidirectional attention. Extending reasoning across generation chunks normally requires keeping earlier generated text in context. We ask whether a dLLM can instead continue reasoning after that text is cleared, using only a fixed-size carried state. We implement this state as a small number of register tokens: dedicated fixed-position tokens whose continuous hidden states are trained to carry reasoning progress across generation chunks. We post-train dLLMs to decode a chunk of text, clear it while preserving the register values, and continue decoding from the prompt and carried state. In our main comparisons on LLaDA and Dream, registers outperform discrete-text carry on every benchmark, with gains of up to 8.5 points on math and 19.5 points on code. Registers are especially effective for bounded code generation, where correct programs usually span several chunks. Finally, registers can be further refined with reinforcement learning on long-horizon reasoning tasks.
Chinese Translation
掩蔽扩散语言模型(dLLMs)通过使用双向注意力迭代去噪掩蔽令牌来生成文本。跨生成块扩展推理通常需要将早期生成的文本保留在上下文中。我们探讨了dLLM是否可以在清除该文本后继续推理,仅使用固定大小的携带状态。我们将该状态实现为少量的注册令牌:专用的固定位置令牌,其连续的隐藏状态经过训练以在生成块之间传递推理进展。我们对dLLMs进行后训练,使其能够解码一块文本,在保留注册值的同时清除该文本,并从提示和携带状态继续解码。在我们对LLaDA和Dream的主要比较中,注册令牌在每个基准测试中均优于离散文本携带,数学和代码的得分提升分别达到8.5分和19.5分。注册令牌在有界代码生成中尤其有效,因为正确的程序通常跨越多个块。最后,注册令牌可以通过在长时间推理任务上进行强化学习进一步优化。
cs.CL / 28 / 2609.16393

ParsHate: A Benchmark Dataset for Hate and Target Detection in Persian

ParsHate:波斯语仇恨与目标检测的基准数据集
Bokaei, Zahra, Magdy, Walid, Webber, Bonnie
Abstract
We introduce ParsHate, a manually annotated dataset of 10,000 Persian tweets spanning 2013-2022, representing the first decade-long benchmark for hate speech detection in Persian. The dataset contains 31% hateful content and supports both hate detection and multi-label fine-grained target identification across seven structured target categories. ParsHate also distinguishes explicit and implicit hate, marks explicit and implicit targets, and provides span-level rationales. Data collection combines random and score-stratified temporal sampling to reduce keyword-driven bias while preserving natural label distributions. Applying SOTA models for Persian hate-speech detection on ParsHate shows moderate performance (79% F1), especially with samples from earlier years, and low performance with target identification (25.5% macro-F1). This emphasizes the diverse sampling of hate speech in ParsHate and its challenging nature that requires more advanced methods for better performance. Dataset is made publicly available.
Chinese Translation
我们介绍了ParsHate,这是一个手动标注的波斯语推文数据集,包含10,000条推文,时间跨度为2013年至2022年,代表了波斯语仇恨言论检测的第一个十年基准。该数据集包含31%的仇恨内容,支持仇恨检测和跨七个结构化目标类别的多标签细粒度目标识别。ParsHate还区分显性和隐性仇恨,标记显性和隐性目标,并提供跨度级别的理由。数据收集结合了随机和分数分层的时间抽样,以减少关键词驱动的偏差,同时保持自然标签分布。在ParsHate上应用最新的波斯语仇恨言论检测模型显示出中等的性能(79%的F1分数),尤其是对于早期年份的样本,而目标识别的性能较低(25.5%的宏F1分数)。这强调了ParsHate中仇恨言论的多样性采样及其挑战性,要求更先进的方法以获得更好的性能。数据集已公开发布。
cs.CL / 29 / 2609.16396

Negation Beyond the Verbal Channel: Temporal Multimodal Correlates in Dialogue

超越语言通道的否定:对话中的时间多模态相关性
Hammerla, Leon, Schrottenbacher, Patrick, Mehler, Alexander
Abstract
Negation is typically modeled through its linguistic realization, although spoken interaction is accompanied by tightly coordinated nonverbal behavior. We ask whether contexts centered on spoken negation cues contain measurable multimodal behavioral information: whether they can be distinguished from matched control contexts without lexical or acoustic input, where this information occurs in time, which modalities carry it, and whether it extends to the dialogue partner. We study 27 human-human interviews conducted in virtual reality, comprising temporally aligned gaze, facial, head, body, hand, and finger behavior and 964 annotated negation cues. Treating classification as a predictive probe, we compare 20 time-series models while excluding lexical and acoustic information, and then systematically vary temporal context, interactional source, modality availability, and event timing. Across grouped 10-fold cross-validation, the strongest probes reach up to .75 mean held-out AUROC from speaker-side behavior. Temporal analyses show that predictive information is concentrated around cue onset but remains detectable over a broader surrounding interval, while dialogue-partner behavior carries weaker predictive information with a comparatively diffuse temporal profile. Ablation and timing perturbations further show that facial features produce the largest modality-ablation effect and that the trained probe is sensitive to the temporal organization of the observed events.
Chinese Translation
否定通常通过其语言实现进行建模,尽管口头互动伴随着紧密协调的非语言行为。我们探讨以口头否定线索为中心的语境是否包含可测量的多模态行为信息:这些语境是否可以与没有词汇或声学输入的匹配对照语境区分开来,这些信息在时间上发生的位置、由哪些模态承载,以及是否扩展到对话伙伴。我们研究了27个在虚拟现实中进行的人际访谈,包含时间对齐的注视、面部、头部、身体、手部和手指行为,以及964个标注的否定线索。将分类视为预测探针,我们比较了20种时间序列模型,同时排除了词汇和声学信息,然后系统性地变化时间语境、互动来源、模态可用性和事件时机。在分组的10折交叉验证中,最强的探针从说话者侧行为中达到高达0.75的平均持出AUROC。时间分析显示,预测信息集中在线索开始时,但在更广泛的周围区间内仍然可检测,而对话伙伴的行为携带较弱的预测信息,且时间特征相对分散。消融和时间扰动进一步表明,面部特征产生了最大的模态消融效应,并且训练的探针对观察事件的时间组织敏感。
cs.CL / 30 / 2609.16427

ReMova: Fine-tuning LLMs for English to Belarusian translation

ReMova:针对英语到白俄罗斯语翻译的语言模型微调
Pilinka, Mikita, Kliujeŭ, Aliaksandr, Samuel, David, Scherrer, Yves
Abstract
This paper presents a Belarusian-specific data-cleaning pipeline and fine-tuning for English-Belarusian machine translation. Our cleaning pipeline distinguishes itself from others by employing a correction tool that addresses the issue of the two orthographies of the Belarusian language, noise in the training data, interference from other languages and other misspelling issues common in Belarusian on the internet. A matched ablation on unfiltered training data shows substantial benefits from filtering for all fine-tuned models, with the LLM-based models gaining roughly twice as much from filtering as the dedicated encoder-decoder MT system, supporting the view that for Belarusian MT one of the primary bottlenecks is data quality.
Chinese Translation
本文提出了一种针对白俄罗斯语的特定数据清洗流程和英语-白俄罗斯语机器翻译的微调方法。我们的清洗流程通过使用一种纠正工具,解决了白俄罗斯语的两种正字法、训练数据中的噪声、其他语言的干扰以及互联网中常见的拼写错误等问题,从而与其他流程区别开来。在未过滤训练数据上进行的匹配消融实验显示,所有微调模型在过滤后均获得了显著的收益,其中基于语言模型(LLM)的模型从过滤中获得的收益大约是专用编码-解码机器翻译系统的两倍,这支持了对于白俄罗斯语机器翻译而言,数据质量是主要瓶颈之一的观点。
cs.CL / 31 / 2609.16450

Early-Bird Decoding: Accelerating Diffusion LLMs with Learnable Block Sizes and Parallel Sampling

早起鸟解码:通过可学习的块大小和并行采样加速扩散大语言模型
Wei, Lixuan, Zhou, Wei, Wu, Jianwen, Shen, Yipeng, Wang, Meiling, You, Haoran
Abstract
Diffusion large language models (dLLMs) offer a promising parallel decoding paradigm as an alternative to autoregressive generation through iterative unmasking. However, dLLMs typically require many steps before token confidence reaches the decoding threshold, resulting in inefficient inference even with block-wise KV caching. To accelerate dLLM inference, we for the first time propose an "early-bird (EB)" decoding framework, motivated by the observation that tokens with similarly low entropy tend to cluster and can be jointly decoded earlier, before reaching the confidence threshold. In particular, our EB-Decode framework integrates two key enablers: (1) a learnable network that adaptively groups tokens with similar uncertainty into variable-length blocks, rather than relying on fixed block sizes; (2) a position-aware sampler that learns to unmask tokens in parallel using fewer decoding steps within predicted variable-length blocks. Both components are developed without modifying pretrained dLLM weights and can therefore be directly deployed as plug-ins during serving, with negligible training and inference overhead. Extensive experiments across three models and four benchmarks consistently validate our observation and the effectiveness of EB-Decode, achieving 3.53-18.76$\times$ higher throughput than the vanilla decoding method and up to 1.58$\times$ higher throughput over the strongest baseline, Fast-dLLM, with comparable accuracy.
Chinese Translation
扩散大语言模型(dLLMs)提供了一种有前景的并行解码范式,作为通过迭代去掩蔽的自回归生成的替代方案。然而,dLLMs 通常需要许多步骤才能使令牌的置信度达到解码阈值,这导致即使在块级 KV 缓存的情况下也存在低效推理。为了加速 dLLM 推理,我们首次提出了“早起鸟(EB)”解码框架,灵感来源于观察到具有相似低熵的令牌往往聚集在一起,并且可以在达到置信度阈值之前更早地联合解码。具体而言,我们的 EB-Decode 框架集成了两个关键要素:(1)一个可学习的网络,能够自适应地将具有相似不确定性的令牌分组为可变长度的块,而不是依赖于固定的块大小;(2)一个位置感知采样器,能够学习在预测的可变长度块内使用更少的解码步骤并行去掩蔽令牌。这两个组件的开发不需要修改预训练的 dLLM 权重,因此可以直接作为插件在服务过程中部署,几乎没有训练和推理的开销。在三个模型和四个基准上的大量实验一致验证了我们的观察和 EB-Decode 的有效性,达到了比传统解码方法高出 3.53-18.76 倍的吞吐量,并且在准确性相当的情况下,相较于最强基线 Fast-dLLM 提高了高达 1.58 倍的吞吐量。
cs.CL / 32 / 2609.16501

Beyond the Name: Demographic Leakage in De-Identified R\'esum\'es and Evaluation Artifacts in LLM Bias Audits

超越名称:去标识化简历和大型语言模型偏见审计中的评估文献中的人口统计泄漏
Chen, Qiangju, Xiao, Yang
Abstract
De-identified r\'esum\'e screening assumes that redacting explicit fields prevents ethnocultural inference; however, recent audits attribute residual leakage to declared languages. We investigate whether eliminating language fields resolves this leakage across nine open-weight models and 620 counterfactual r\'esum\'es. By holding language attributes strictly identical, we isolate unstructured prose across five ethnocultural conditions and three cue-salience tiers. Target-group recovery averages 0.757 overall and saturates at 1.000 under high salience, demonstrating that non-language prose sustains demographic inference. Crucially, models diverge only under faint cues (0.086-0.690), establishing salience as an essential evaluation axis. Furthermore, pairwise LLM-as-a-judge outcomes are highly sensitive to evaluation design: forbidding ties yields an apparent selection-rate ratio of 0.39 alongside strong position and content effects, whereas permitting ties produces near-universal ties for most models ($\ge94\%$). Downstream scoring shows only very small between-condition differences, highlighting the need to distinguish demographic signals recoverable from r\'esum\'e content from effects introduced by the evaluation protocol.
Chinese Translation
去标识化的简历筛选假设通过删除显式字段可以防止民族文化推断;然而,最近的审计将残余泄漏归因于声明的语言。我们研究了消除语言字段是否能解决这一泄漏问题,涉及九个开放权重模型和620个反事实简历。通过严格保持语言属性相同,我们在五种民族文化条件和三个提示显著性层次中隔离非结构化文本。目标群体的恢复率总体平均为0.757,在高显著性下饱和于1.000,表明非语言文本维持了人口统计推断。关键是,模型仅在微弱提示下表现出差异(0.086-0.690),确立了显著性作为一个重要的评估轴。此外,成对的LLM作为评审结果对评估设计高度敏感:禁止平局导致明显的选择率比为0.39,并伴随强烈的位置和内容效应,而允许平局则导致大多数模型几乎普遍出现平局(≥94%)。下游评分显示条件之间的差异非常小,突显了区分从简历内容中可恢复的人口统计信号与评估协议引入的效应的必要性。
cs.CL / 33 / 2609.16517

Competence-Preserving Resume Perturbations Expose Presentation Sensitivity in LLM Screening

保持能力的简历扰动揭示了大型语言模型筛选中的呈现敏感性
Chen, Qiangju, Xiao, Yang
Abstract
Resume screeners must infer job-relevant competence from resumes whose presentation can vary substantially in wording, structure, stylistic polish, and document extraction quality. Ideally, such surface variation should not change decisions when the underlying qualification evidence is unchanged. We introduce a controlled audit of this property, constructing occupation-grounded candidate profiles at controlled competence levels and rendering each profile into multiple resume presentations. A deterministic validation gate excludes variants that alter the underlying evidence before scoring. Across six open instruction-tuned LLM conditions, we find a clear disconnect between screening validity and presentation stability. Llama-3.1-8B with its native chat template achieves the strongest validity ($0.781$) yet reverses $29.6\%$ of matched pairwise decisions under competence-preserving presentation changes; Mistral-7B-v0.3 reaches validity $0.644$ with a $41.4\%$ flip rate. Native chat formatting improves validity for several chat-tuned models but does not remove this instability. These results show that resume-screening evaluations should assess not only whether a system identifies stronger candidates, but also whether those decisions remain stable when the same competence evidence is presented differently.
Chinese Translation
简历筛选者必须从简历中推断出与工作相关的能力,而简历的呈现可能在措辞、结构、风格修饰和文档提取质量上有显著差异。理想情况下,这种表面变化在基础资格证据不变的情况下不应改变决策。我们引入了一种对这一特性的控制审计,构建了基于职业的候选人档案,设定了受控的能力水平,并将每个档案转化为多种简历呈现形式。一个确定性的验证门排除了在评分之前改变基础证据的变体。在六种开放指令调优的大型语言模型条件下,我们发现筛选有效性与呈现稳定性之间存在明显的脱节。使用其原生聊天模板的 Llama-3.1-8B 达到了最强的有效性($0.781$),但在保持能力的呈现变化下反转了 $29.6\%$ 的匹配成对决策;Mistral-7B-v0.3 的有效性为 $0.644$,翻转率为 $41.4\\%$。原生聊天格式提高了多个聊天调优模型的有效性,但并未消除这种不稳定性。这些结果表明,简历筛选评估不仅应评估系统是否能够识别出更强的候选人,还应评估当相同的能力证据以不同方式呈现时,这些决策是否保持稳定。
cs.CL / 34 / 2609.16532

Style-Debiased DPO: Updating LLM Knowledge with Factuality-Aware Synthetic Preference Data

风格去偏见的 DPO:使用事实意识的合成偏好数据更新大语言模型知识
Yamamoto, Takayuki, Kawahara, Daisuke
Abstract
Continued pretraining (CPT) with data augmentation such as paraphrasing can store inside a large language model (LLM) the knowledge of a small source corpus. The stored knowledge, however, is not always retrieved correctly. We study the eliciting side rather than the storing side: we use preference optimization, which learns from pairs of a preferred (chosen) and a dispreferred (rejected) response, so that the model elicits its stored knowledge more accurately. One proposed approach takes the model's own erroneous response as rejected and the gold answer as chosen, so as to suppress the error. When the target knowledge is partially known, however, most of these rejected responses are factually correct. Using direct preference optimization (DPO) then pushes down rejected responses that contain correct knowledge and differ from the chosen answer only in style, such as length and wording. We propose style-debiased DPO (SD-DPO), which scores whether the rejected response of each pair is factually correct, inverts the preference of such pairs, and weights them so that the learning signal due to differences in style cancels out as a whole. We first test whether, on top of EntiGraph, a representative storing-side method that runs CPT on text synthesized from the corpus, our method adds accuracy efficiently. On QuALITY, the reading-comprehension QA benchmark on which EntiGraph was evaluated, SD-DPO exceeds a baseline we CPT on EntiGraph's synthetic data from the same base model and evaluate with the same procedure. The training tokens this requires are a few dozen times fewer than the additional CPT needed for the same gain. For knowledge updating, the main goal of this work, we use AToKE, a knowledge-editing benchmark for facts that change over time. There, SD-DPO reaches an overall accuracy of 0.982 and answers with the new or the old fact according to the queried period.
Chinese Translation
通过数据增强(如释义)进行持续预训练(CPT)可以在大型语言模型(LLM)中存储小型源语料库的知识。然而,存储的知识并不总是能够正确检索。我们研究的是引出侧而非存储侧:我们使用偏好优化,从一对偏好的(选择的)和不偏好的(拒绝的)响应中学习,以便模型更准确地引出其存储的知识。一种提出的方法将模型自身的错误响应视为被拒绝的,将黄金答案视为选择的,从而抑制错误。然而,当目标知识部分已知时,这些被拒绝的响应大多数是事实正确的。使用直接偏好优化(DPO)会压低那些包含正确知识且仅在风格(如长度和措辞)上与选择答案不同的被拒绝响应。因此,我们提出了风格去偏见的 DPO(SD-DPO),该方法评估每对的被拒绝响应是否事实正确,反转这些对的偏好,并加权,使得由于风格差异产生的学习信号整体上相互抵消。我们首先测试在 EntiGraph 上,作为一个代表性的存储侧方法,该方法在从语料库合成的文本上运行 CPT,我们的方法是否有效地提高了准确性。在 QuALITY 上,这是一个阅读理解问答基准,EntiGraph 在该基准上进行了评估,SD-DPO 超过了我们在 EntiGraph 的合成数据上进行 CPT 的基线,并采用相同的程序进行评估。所需的训练标记比为了获得相同收益而需要的额外 CPT 少了几十倍。对于知识更新,这是本工作的主要目标,我们使用 AToKE,这是一个用于随时间变化的事实的知识编辑基准。在那里,SD-DPO 达到整体准确率 0.982,并根据查询的时间段回答新事实或旧事实。
cs.CL / 35 / 2609.16557

PunGraph: Retrieval-Enhanced Phonetic-Semantic Graph Reasoning for Pun Understanding

PunGraph:基于检索增强的语音-语义图推理用于双关语理解
Su, Yuchen, Huang, Zijian, Shi, Yaotian, Zhong, Shaoxin, Wang, Ruofan, Li, Mengze, Zhu, Yonghua, Benavides-Prado, Diana, Witbrock, Michael
Abstract
Puns are a challenging form of figurative language that exploit phonetic similarity and semantic ambiguity to convey multiple meanings. Although large language models (LLMs) demonstrate strong language understanding capabilities, they still struggle with pun reasoning due to limited phonetic modeling and uncontrolled end-to-end generation. We propose \textbf{PunGraph}, a retrieval-enhanced knowledge graph framework for pun understanding. PunGraph constructs a phonetic-semantic lexical graph using the Unisyn phonetic dictionary, IPA and G2P representations, and WordNet definitions, and retrieves candidate words or senses to constrain LLM reasoning within a structured candidate space. We further introduce \textbf{WebPun}, a new large-scale dataset containing 5,730 annotated heterographic and homographic puns. Experiments on SemEval-2017 and WebPun show that PunGraph consistently improves the performance of small-scale LLMs and achieves competitive results against strong proprietary models. Further analysis shows that retrieval-guided phonetic and semantic constraints effectively reduce common reasoning errors in pun interpretation, highlighting the benefits of integrating structured knowledge with LLMs. We release our code and dataset at https://github.com/ysu132/PunGraph.
Chinese Translation
双关语是一种挑战性的比喻语言形式,它利用语音相似性和语义模糊性来传达多重含义。尽管大型语言模型(LLMs)展示了强大的语言理解能力,但由于语音建模的局限性和不受控的端到端生成,它们在双关语推理方面仍然存在困难。我们提出了 extbf{PunGraph},一种用于双关语理解的检索增强知识图谱框架。PunGraph使用Unisyn语音词典、IPA和G2P表示以及WordNet定义构建语音-语义词汇图,并检索候选词或意义,以在结构化候选空间内约束LLM推理。我们进一步引入了 extbf{WebPun},一个包含5730个注释异形和同形双关语的新大规模数据集。在SemEval-2017和WebPun上的实验表明,PunGraph始终提高了小规模LLMs的性能,并在与强大的专有模型的竞争中取得了可比的结果。进一步分析表明,检索引导的语音和语义约束有效减少了双关语解释中的常见推理错误,突显了将结构化知识与LLMs结合的好处。我们在https://github.com/ysu132/PunGraph发布我们的代码和数据集。
cs.CL / 36 / 2609.16590

Challenges of Auditing: Variability in Outputs of Large Language Models for Health

审计的挑战:大型语言模型在健康领域输出的变异性
Pu, Yuan, Chang, Yewon, Jia, Furong, Yin, Xunjian, Ma, Jessica, Ali, Ayman, Agrawal, Monica
Abstract
People increasingly use frontier AI models for health advice, but via different access modes (e.g., ChatGPT, ChatGPT Health, APIs) with varying settings. Here, we find systematic differences across access modes. Because evaluations typically rely on APIs while consumers interact through chatbot interfaces, these discrepancies limit evaluation validity. Our findings underscore an urgent need for model providers to enable faithful replication of consumer experiences and settings for rigorous audits.
Chinese Translation
人们越来越多地使用前沿人工智能模型获取健康建议,但通过不同的访问模式(例如,ChatGPT、ChatGPT Health、API)和不同的设置进行访问。在此,我们发现不同访问模式之间存在系统性差异。由于评估通常依赖于API,而消费者则通过聊天机器人界面进行互动,这些差异限制了评估的有效性。我们的研究结果强调了模型提供者迫切需要使消费者体验和设置的忠实复制成为可能,以便进行严格的审计。
cs.CL / 37 / 2609.16614

RoleBreak: Benchmarking Long-Horizon Role-Playing Robustness in Spoken Dialogue

RoleBreak:口语对话中长期角色扮演鲁棒性的基准测试
Wang, Yuqi, Liu, Fengyuan, Luo, Haochen, Yu, Zhiqi, Liu, Qi
Abstract
Speech-to-speech dialogue models increasingly support persona control, yet existing spoken role-playing benchmarks remain largely character-centric and short-horizon. This leaves open whether spoken dialogue models can sustain diverse roles over extended interactions, especially beyond predefined fictional characters. We introduce RoleBreak, an open benchmark for long-horizon role-playing robustness in spoken dialogue. RoleBreak contains 310 character-based and user-centered roles, 6,688 human-verified dialogue turns, and 11,743 fine-grained evaluation criteria, with 1,856 turns carrying expressive emotion targets for evaluating vocal emotion. Its scenarios are designed to stress role consistency, interaction quality, safety, and affect over extended conversations. We evaluate nine configurations spanning full-duplex, omni-modal, and cascaded ASR--LLM--TTS paradigms. We find four key patterns. First, current systems are substantially stronger at semantic role adherence than at vocal emotion. Second, semantic robustness remains brittle over long interactions: even the strongest evaluated system encounters its first persona and safety failures after only 10.4 and 11.6 turns on average. Third, scaling the LLM substantially improves semantic robustness and delays failure, but yields little improvement in vocal emotion. Finally, user vocal emotion affects role-playing behavior even when linguistic content is fixed. These findings highlight persistent gaps in both long-horizon robustness and vocal expressiveness in spoken role-playing systems.
Chinese Translation
语音对语音对话模型越来越多地支持个性控制,但现有的口语角色扮演基准测试仍然主要以角色为中心且短期。这使得我们无法确定口语对话模型是否能够在延长的互动中维持多样化的角色,尤其是超越预定义的虚构角色。我们引入了RoleBreak,这是一个针对口语对话中长期角色扮演鲁棒性的开放基准。RoleBreak包含310个基于角色和以用户为中心的角色、6,688个经过人类验证的对话轮次,以及11,743个细化的评估标准,其中1,856个轮次包含用于评估声音情感的表现性情感目标。其场景旨在强调角色一致性、互动质量、安全性和情感在延长对话中的表现。我们评估了涵盖全双工、全模态和级联ASR--LLM--TTS范式的九种配置。我们发现了四个关键模式。首先,当前系统在语义角色遵循方面显著强于在声音情感方面。其次,语义鲁棒性在长时间互动中仍然脆弱:即使是评估中最强的系统,平均在10.4和11.6轮后也会首次遇到个性和安全失败。第三,扩展LLM显著提高了语义鲁棒性并延迟了失败,但对声音情感的改善不大。最后,即使语言内容固定,用户的声音情感也会影响角色扮演行为。这些发现突显了口语角色扮演系统在长期鲁棒性和声音表现力方面的持续差距。
cs.CL / 38 / 2609.16627

Quantifying Organizational Environmental Action from Web Data and Large Language Models

从网络数据和大型语言模型量化组织的环境行动
Reynolds, Quinn, Shore, Daniel, Barajas, Vianey Leos, Yoreh, Tanhum, Franklin, Meredith
Abstract
Quantifying organizational environmental action from publicly available web content remains a challenging environmental data science problem because relevant information can be dispersed across multiple webpages and is primarily communicated through unstructured text. We present a scalable computational framework for transforming organizational web content into structured measures of environmental action and demonstrate the approach using Jewish congregations in the United States. We constructed a national database of 4,964 congregations by integrating multiple geospatial, knowledge-base, directory, and manually reviewed sources. Of these, 2,657 had active websites that were successfully crawled, producing a corpus of 154,454 webpages. We compared three approaches for detecting environmental actions: keyword retrieval followed by large language model (LLM) classification, semantic vector retrieval followed by LLM classification, and direct LLM classification classification without preliminary retrieval. Agreement with an expert human reviewer was lowest for keyword retrieval ($\kappa$ = 0.26), higher for semantic vector retrieval ($\kappa$ = 0.42), and similar for direct LLM classification ($\kappa$ = 0.40). Although semantic retrieval achieved the highest agreement, its retrieval recall was 0.87, indicating loss of relevant content before classification. Applied to the complete corpus, direct LLM classification identified at least one environmental action at 1,398 congregations (53%), providing greater coverage than either retrieval-based approach. These results demonstrate that preliminary retrieval can reduce computational cost but may exclude relevant information before it reaches the classifier. The framework provides a reproducible approach for extracting organization-level environmental information from unstructured web content that can be adapted to other institutions.
Chinese Translation
从公开可用的网络内容量化组织的环境行动仍然是一个具有挑战性的环境数据科学问题,因为相关信息可能分散在多个网页上,并主要通过非结构化文本进行传达。我们提出了一种可扩展的计算框架,将组织的网络内容转化为结构化的环境行动指标,并以美国的犹太教会为例展示了该方法。我们通过整合多个地理空间、知识库、目录和人工审核的来源,构建了一个包含4,964个教会的国家数据库。其中,2,657个教会拥有活跃的网站,成功爬取,生成了154,454个网页的语料库。我们比较了三种检测环境行动的方法:关键词检索后跟随大型语言模型(LLM)分类、语义向量检索后跟随LLM分类,以及不经过初步检索的直接LLM分类。与专家人类评审者的一致性在关键词检索中最低($ ext{kappa}$ = 0.26),在语义向量检索中较高($ ext{kappa}$ = 0.42),而直接LLM分类则相似($ ext{kappa}$ = 0.40)。尽管语义检索达到了最高的一致性,但其检索召回率为0.87,表明在分类之前丢失了相关内容。应用于完整语料库时,直接LLM分类在1,398个教会(53%)中识别出至少一个环境行动,提供的覆盖范围超过了任何基于检索的方法。这些结果表明,初步检索可以降低计算成本,但可能在信息到达分类器之前排除相关信息。该框架提供了一种可重复的方法,用于从非结构化网络内容中提取组织级环境信息,并可以适用于其他机构。
cs.CL / 39 / 2609.16660

Rewarding Reasoning, Not Answers: Fixing and Bounding Test-Time Reinforcement Learning on Medical QA

奖励推理,而非答案:修正和界定医疗问答中的测试时强化学习
Fan, Kailong, Pu, Anqi, Wu, Yichen, Li, Wanhua, Li, Yicong, Pfister, Hanspeter, Liu, Huafeng, Li, Xiang, Li, Quanzheng, Guo, Ning
Abstract
Test-time reinforcement learning adapts a model on its own unlabeled test set using majority-vote pseudo-labels and has shown strong results in mathematics. We show that this recipe collapses on medical multiple-choice QA: accuracy stagnates while output diversity rapidly declines. Through a controlled experiment that keeps the questions, model, and optimizer fixed while changing only the answer space, we trace this failure to answer-space structure rather than domain difficulty. In small answer spaces, incorrect rollouts often collide on the same wrong pseudo-label and reinforce it; in large answer spaces, they disperse and receive little reward. This diagnosis motivates PROSE, Process Reward Guided Self-Training, which rewards reasoning quality instead of answer agreement. PROSE scores each reasoning step with a medical process reward model, assigns the trajectory reward as the minimum score across steps, and enforces answer-format constraints. Without labels, PROSE substantially improves a general Llama model, surpassing purpose-built medical models and matching much larger systems. Because the process signal is internalized into the policy, the adapted model requires no reward model at inference and transfers its gains to unseen datasets. We further show that the minimum aggregation is essential: mean aggregation can be exploited, saturating the proxy reward while degrading accuracy.
Chinese Translation
测试时强化学习利用多数投票伪标签在自身未标记的测试集上自我调整模型,并在数学领域显示出强大的效果。我们发现这一方法在医疗多项选择问答中失效:准确率停滞不前,而输出多样性迅速下降。通过一个控制实验,保持问题、模型和优化器不变,仅改变答案空间,我们追踪到这一失败源于答案空间结构而非领域难度。在小答案空间中,错误的推理往往会碰撞到相同的错误伪标签并强化它;而在大答案空间中,它们则会分散并获得很少的奖励。这一诊断促使我们提出了PROSE(过程奖励引导自我训练),该方法奖励推理质量而非答案一致性。PROSE使用医疗过程奖励模型对每个推理步骤进行评分,将轨迹奖励设定为各步骤中的最低分,并强制执行答案格式约束。在没有标签的情况下,PROSE显著提升了通用的Llama模型,超越了专门构建的医疗模型,并与更大规模的系统相匹配。由于过程信号被内化到策略中,适应后的模型在推理时无需奖励模型,并将其收益转移到未见数据集上。我们进一步表明,最低聚合是至关重要的:均值聚合可能被利用,导致代理奖励饱和,同时降低准确性。
cs.CL / 40 / 2609.16661

DiaWhisper-DPO: Role-Attributed Transcription of Clinical Interviews via Failure-Mined Preference Optimization

DiaWhisper-DPO:通过失败挖掘偏好优化的临床访谈角色归属转录
Li, Weiming, Barata, Ana Catarina Fidalgo, Constante, Miguel, Sanches, João Miguel
Abstract
Automated depression screening from clinical interviews requires attribution of utterances to the clinician or patient. We evaluate two datasets: DAIC-WOZ, where participant-only recordings require re-synthesizing both sides for controlled two-party evaluation, and PDCH-HAMD, comprising voice-converted real Chinese interviews for cross-lingual validation. Cascaded systems combine speaker diarization with role-assignment heuristics, so errors can propagate across stages. We propose an end-to-end model, which we named DiaWhisper, that fine-tunes Whisper-large-v3 with LoRA and an auxiliary frame-level role head for transcription and attribution, together with DiaWhisper-DPO, a failure-mined refinement that uses genuine decoding failures as DPO rejected completions without human preference annotation. On 29 DAIC-WOZ test sessions, DiaWhisper-DPO achieves 0.973 role accuracy and 0.119 DER, 72% below the strongest cascaded baseline, and reduces seed variation from {\sigma} = .205 to .002. Retrained on PDCH-HAMD, it achieves 0.757 role accuracy and improves all 78 session-seed pairs.
Chinese Translation
自动化抑郁症筛查需要将发言归属到临床医生或患者。我们评估了两个数据集:DAIC-WOZ,其中仅有参与者的录音需要重新合成双方以进行受控的双方评估,以及PDCH-HAMD,包含经过声音转换的真实中文访谈用于跨语言验证。级联系统结合了说话者分离与角色分配启发式,因此错误可能在各个阶段传播。我们提出了一种端到端模型,命名为DiaWhisper,它通过LoRA对Whisper-large-v3进行微调,并增加了一个辅助的帧级角色头用于转录和归属,同时引入了DiaWhisper-DPO,这是一种利用真实解码失败作为DPO拒绝完成的失败挖掘优化方法,而无需人工偏好注释。在29个DAIC-WOZ测试会话中,DiaWhisper-DPO达到了0.973的角色准确率和0.119的DER,比最强的级联基线低72%,并将种子变异性从{ ext{σ}} = .205降低到.002。在PDCH-HAMD上重新训练后,它达到了0.757的角色准确率,并改善了所有78个会话种子对。
cs.CL / 41 / 2609.16739

Japanese Stroke LLM Evaluation: A Conversational Benchmark for Safe Stroke Care in Japanese Using Large Language Models

日本中风大型语言模型评估:基于对话的安全中风护理基准
Masuda, Keisuke, Yatsushiro, Kazutaka, Iwamoto, Hirohumi, Hirano, Hirofumi, Hanaya, Ryosuke
Abstract
Background: Large language models (LLMs) have achieved physician-comparable performance on multiple-choice medical knowledge examinations, but their capabilities in clinical history taking, urgency assessment, and safety remain insufficiently evaluated. We proposed Japanese Stroke LLM Evaluation, a multi-turn conversational benchmark for stroke care in Japanese, and evaluated LLM performance and safety under practice-oriented conditions. Methods: We created 10 stroke and related-condition cases and evaluated LLMs in multi-turn Japanese conversations. The LLM acted as physician, while a board-certified neurosurgeon acted as simulated patient and evaluator. Each case comprised history-taking and action phases scored using pre-specified criteria. Errors that could directly threaten life were defined as critical mistakes. The safety threshold was at least 80% overall with zero critical mistakes. Eighteen models were evaluated in October 2025 and June 2026. Results: Claude Fable 5 achieved the highest score (87.4%) with zero critical mistakes, followed by Claude Opus 4.7 (80.3%) and GLM-5.2 (75.6%). Two leaders met the safety threshold. Eleven models made 17 critical mistakes, including failure to confirm laboratory results or blood glucose before t-PA, surgery before airway stabilization, omission of cervical vascular evaluation, and t-PA outside its indication. History-taking question count correlated with history-taking score (r = 0.648, p = 0.007). Conclusions: Japanese Stroke LLM Evaluation provides a benchmark for LLM performance under practice-oriented conditions, including a cap on history-taking questions. Cases and evaluations were created by neurosurgical specialists rather than using an LLM-as-judge approach. Performance improved across cloud-based and on-premise models in 2026, with some exceeding the safety threshold. Further evaluation using real-world cases is required.
Chinese Translation
背景:大型语言模型(LLMs)在多项选择医学知识考试中已达到与医生相当的表现,但其在临床病史采集、紧急评估和安全性方面的能力仍然未得到充分评估。我们提出了日本中风LLM评估,这是一个针对中风护理的多轮对话基准,并在实践导向条件下评估了LLM的表现和安全性。方法:我们创建了10个中风及相关疾病案例,并在多轮日语对话中评估LLM。LLM充当医生,而一名获得认证的神经外科医生则充当模拟患者和评估者。每个案例包括病史采集和行动阶段,按照预先指定的标准进行评分。直接威胁生命的错误被定义为关键错误。安全阈值为总体至少80%且无关键错误。18个模型于2025年10月和2026年6月进行了评估。结果:Claude Fable 5以87.4%的最高分和零关键错误领先,其次是Claude Opus 4.7(80.3%)和GLM-5.2(75.6%)。两位领导者达到了安全阈值。11个模型共犯了17个关键错误,包括未能确认实验室结果或血糖水平、在气道稳定之前进行手术、遗漏颈部血管评估以及在适应症之外使用t-PA。病史采集问题数量与病史采集得分相关(r = 0.648,p = 0.007)。结论:日本中风LLM评估为LLM在实践导向条件下的表现提供了基准,包括对病史采集问题的限制。案例和评估由神经外科专家创建,而不是使用LLM作为评判者的方法。2026年,基于云和本地模型的表现有所改善,部分模型超过了安全阈值。需要进一步使用真实案例进行评估。
cs.CL / 42 / 2609.16748

TIAO: Token Importance-Aware Policy Optimization for Text Summarization

TIAO:基于令牌重要性感知的文本摘要策略优化
Li, Qixiu, Bao, Chenlong, Zhu, Xiang, Li, Xiaoyong, Cao, Ruixin, Chen, Shukai, Zhou, Zhenxiong
Abstract
Text summarization requires models to condense content while preserving key qualities such as consistency and coherence. Large language models (LLMs) have shown strong performance on this task and can be further improved through reinforcement learning (RL). However, most existing methods apply reward signals directly to undifferentiated token sequences, overlooking the varying importance of individual tokens to word and sentence level quality in summarization. In this paper, we propose Token Importance-Aware Policy Optimization (TIAO), a novel reinforcement learning strategy that explicitly leverages token-importance awareness. Specifically, TIAO identifies core tokens based on token dependency and reweights a trajectory's advantage according to its overall dependencies. Experiments on the real world dataset show that our TIAO achieves highly competitive results, and that a 7B foundation model enhanced by TIAO performs comparably to GPT-4 and GPT-5-nano. Code is available at https://github.com/TechCloud-x/TIAO
Chinese Translation
文本摘要要求模型在压缩内容的同时保留一致性和连贯性等关键特性。大型语言模型(LLMs)在这一任务上表现出色,并且可以通过强化学习(RL)进一步提升。然而,大多数现有方法直接将奖励信号应用于未加区分的令牌序列,忽视了单个令牌在摘要的单词和句子级质量中的重要性差异。本文提出了一种新的强化学习策略——基于令牌重要性感知的策略优化(TIAO),该策略明确利用令牌重要性意识。具体而言,TIAO根据令牌依赖性识别核心令牌,并根据其整体依赖性重新加权轨迹的优势。在真实世界数据集上的实验表明,我们的TIAO取得了高度竞争的结果,并且通过TIAO增强的7B基础模型在性能上与GPT-4和GPT-5-nano相当。代码可在https://github.com/TechCloud-x/TIAO获取。
cs.CL / 43 / 2609.16777

Benchmarking Factual Robustness of LLMs via Multi-conversation Persuasion

通过多轮对话说服评估大型语言模型的事实鲁棒性
Cai, Zhuoang
Abstract
As Large Language Models (LLMs) increasingly serve as primary knowledge retrieval interfaces, their robustness against \textit{persuasion attacks}---attempts to inject misinformation or enforce counterfactuals---has become a critical safety concern. Existing red-teaming frameworks typically evaluate models in multi-turn dialogues where the target model retains full conversation history. We identify a critical flaw in this setting termed \textbf{``Refusal Inertia''}: a model's initial refusal often propagates through subsequent turns largely to maintain contextual consistency, thereby masking its true vulnerability to sophisticated, isolated persuasion attempts. To rigorously evaluate the ``cold-start'' defense capabilities of SOTA models, we introduce the \textbf{SAST-IR} (Stateful Attacker, Stateless Target - Iterative Refinement) framework. By enforcing a memory wipe on the target while retaining the attacker's history, we simulate a worst-case adversarial setting using \textbf{multi-turn} (stateless) iterations. Leveraging \textbf{CP-Agent} (Cognitive Persuasion Agent), an enhanced diagnosis-guided agent, our experiments on the custom \textsc{CounterFact-Strict} dataset ($N=50$) yield alarming results: simple, diverse attack strategies achieved a staggering \textbf{96\%} success rate, exposing severe brittleness in memory-less defense. Furthermore, we reveal a \textbf{``Complexity Paradox''}: while complex, iteratively refined attacks are effective, they often trigger defensive compliance, whereas simple strategies achieve a higher rate of genuine persuasion (\textbf{84.7\%}). Our code and dataset are available at GitHub, https://github.com/cza1006/llm-persuasion-defense.
Chinese Translation
随着大型语言模型(LLMs)越来越多地作为主要知识检索接口,其对 extit{说服攻击}——试图注入错误信息或强加反事实的行为——的鲁棒性已成为一个关键的安全问题。现有的红队框架通常在多轮对话中评估模型,其中目标模型保留完整的对话历史。我们在这一设置中识别出一个关键缺陷,称为 extbf{``拒绝惯性''}:模型的初始拒绝往往在后续轮次中传播,以维持上下文一致性,从而掩盖其对复杂、孤立的说服尝试的真实脆弱性。为了严格评估最先进(SOTA)模型的``冷启动''防御能力,我们引入了 extbf{SAST-IR}(有状态攻击者,无状态目标 - 迭代精炼)框架。通过对目标施加记忆清除,同时保留攻击者的历史,我们使用 extbf{多轮}(无状态)迭代模拟了最坏情况的对抗环境。利用 extbf{CP-Agent}(认知说服代理),一个增强的诊断引导代理,我们在定制的 extsc{CounterFact-Strict}数据集($N=50$)上的实验结果令人震惊:简单多样的攻击策略达到了高达 extbf{96 ext%}的成功率,暴露了无记忆防御的严重脆弱性。此外,我们揭示了一个 extbf{``复杂性悖论''}:虽然复杂的迭代精炼攻击是有效的,但它们往往会触发防御性遵从,而简单策略则实现了更高的真实说服率( extbf{84.7 ext%})。我们的代码和数据集可在GitHub上获取,链接为https://github.com/cza1006/llm-persuasion-defense。
cs.CL / 44 / 2609.16800

Smarter by the Moment: Environment-Driven Dynamic Policies for Continual LLM Improvement

瞬息万变的智能:环境驱动的动态策略用于持续改进大型语言模型
Chang, Ting-Wei, Chen, Po-Chun, Huang, Hen-Hsen, Chen, Hsin-Hsi
Abstract
Large Language Models (LLMs) have achieved remarkable progress across diverse domains, but continual adaptation to evolving tasks and environments remains a key challenge. Existing memory-augmented approaches retrieve individual past examples as direct references, but do not explicitly synthesize actionable strategies from them, causing the same types of errors to recur. We propose Dynamic Retrieval-based Policy Generation (DRPG), a framework that integrates memory-based retrieval with a dynamic policy generator, leveraging historical data and environment feedback to produce task-specific policies for continual LLM improvement. We evaluate DRPG across six benchmarks spanning text-to-SQL, question answering, medical diagnosis, and Python programming, using seven LLMs from both proprietary and open-weight families. DRPG outperforms strong baselines across most datasets and models. Further analysis demonstrates that DRPG's policy generation is robust to retrieval strategy, operates effectively without prior policy continuity, and can leverage smaller or cross-family models as cost-efficient policy generators. We also find that the benefit of policy-level guidance depends on task characteristics, offering practical insights into when and under what conditions this mechanism is most effective.
Chinese Translation
大型语言模型(LLMs)在多个领域取得了显著进展,但持续适应不断变化的任务和环境仍然是一个关键挑战。现有的增强记忆方法通过检索个别过去的示例作为直接参考,但并未明确从中合成可操作的策略,导致相同类型的错误反复出现。我们提出了基于动态检索的策略生成(Dynamic Retrieval-based Policy Generation,DRPG)框架,该框架将基于记忆的检索与动态策略生成器相结合,利用历史数据和环境反馈生成特定任务的策略,以实现持续的LLM改进。我们在六个基准测试中评估了DRPG,涵盖了文本到SQL、问答、医学诊断和Python编程,使用了来自专有和开放权重家族的七个LLM。DRPG在大多数数据集和模型上超越了强基线。进一步分析表明,DRPG的策略生成对检索策略具有鲁棒性,在没有先前策略连续性的情况下有效运行,并且可以利用较小或跨家族模型作为成本效益高的策略生成器。我们还发现,策略级指导的好处取决于任务特征,为何时以及在什么条件下该机制最有效提供了实用见解。
cs.CL / 45 / 2609.16854

A Data-free Universal Prior over Syntactic Structures

一种无数据的普遍先验关于句法结构
Mart\'ın, Ferm\'ın Moscoso del Prado
Abstract
Probability is fundamental to theories of language comprehension, production, acquisition, and evolution, as well as to large language models. Existing theories estimate the probability of syntactic structures from language-specific data. Whether part of this probability structure can arise independently of language-specific experience remains unknown. Here I show that a universal prior over syntactic structures emerges from a cognitively motivated model of incremental language production, in which words are progressively integrated into syntactic structure through network growth. The resulting prior assigns probabilities to syntactic structures --represented as dependency trees-- without fitting parameters to linguistic data, and assigns higher probabilities to attested than to random trees in all 138 typologically diverse languages examined. These prior probabilities correlate positively with probabilities estimated from corpora in 33 of 34 languages. The results indicate that part of the probability structure of syntax can arise independently of language-specific statistical learning. Linguistic experience may therefore refine probabilities that are already structured by the process of language production, rather than create them from an initially uniform space. This identifies a possible cognitive origin for part of the probability distribution over syntactic structures, linking language production and statistical learning while providing a data-independent structural bias for probabilistic models of language.
Chinese Translation
概率是语言理解、产生、习得和演化理论的基础,也是大型语言模型的核心。现有理论从特定语言的数据中估计句法结构的概率。然而,部分这种概率结构是否可以独立于特定语言经验而产生仍然未知。在此,我展示了一种基于认知动机的增量语言产生模型中,句法结构的普遍先验是如何产生的。在该模型中,单词通过网络增长逐步融入句法结构。由此产生的先验为句法结构(以依赖树的形式表示)分配概率,而无需将参数拟合到语言数据中,并且在所研究的138种类型学上多样的语言中,为已证实的树分配的概率高于随机树。这些先验概率与34种语言中33种的语料库估计的概率呈正相关。结果表明,句法的部分概率结构可以独立于特定语言的统计学习而产生。因此,语言经验可能会细化已经由语言产生过程构建的概率,而不是从最初均匀的空间中创造它们。这为句法结构的部分概率分布识别了一个可能的认知起源,连接了语言产生与统计学习,同时为语言的概率模型提供了一个无数据的结构偏向。
cs.CL / 46 / 2609.16860

Reduplicative constructions in Mandarin: Socio-emotional profiling through distributional semantics

汉语中的重叠构造:通过分布语义进行社会情感分析
Wu, Chaoyi, Tseng, Yu-Hsiang, Baayen, R. Harald
Abstract
Mandarin Chinese has two productive reduplicative constructions that repeat either two-character base words or their constituents (e.g., `in good health', `discuss a bit'). Their varied meanings have been described as realizing plurality, valence coloring, sound symbolism and pragmatic functions. The aim of this study is twofold. A first goal is to clarify whether it is possible to come to a more precise understanding of the variegated semantics of Mandarin reduplication by using word embeddings from distributional semantics. A second goal is to explore how useful embeddings are for understanding the details of a semantically complex word-formation process. We show that the embedding space recovers the semantic and grammatical properties of reduplications previously identified in the literature, validating Tencent embeddings for morphological investigation. Semantic profiling revealed that reduplicative constructions are often strongly represented on multiple dimensions. The two patterns exhibit clear semantic and pragmatic differentiation in distributional space. Procrustes analysis clarified that the overall organization of the base-word space is largely preserved in the reduplication space, with local mismatches highlighting regions of discourse-pragmatic reorganization. Taken together, these results show that high-dimensional word embeddings can recover established linguistic generalizations, and capture the semantic versatility of Mandarin reduplication and constructional transparency.
Chinese Translation
汉语有两种富有生产性的重叠构造,分别重复两个字符的基础词或其成分(例如,“身体健康”,“稍微讨论一下”)。它们的多样化意义被描述为实现复数、情感色彩、声音象征和语用功能。本研究的目标有两个。第一个目标是澄清通过使用分布语义的词嵌入,是否可以更精确地理解汉语重叠的多样化语义。第二个目标是探讨词嵌入在理解语义复杂的词形成过程细节方面的有效性。我们展示了嵌入空间恢复了文献中先前识别的重叠的语义和语法特性,验证了腾讯嵌入在形态学研究中的有效性。语义分析揭示重叠构造通常在多个维度上表现出强烈的代表性。这两种模式在分布空间中表现出明显的语义和语用差异。Procrustes分析澄清了基础词空间的整体组织在重叠空间中大体上得以保留,而局部不匹配则突显了话语语用重组的区域。综合来看,这些结果表明,高维词嵌入能够恢复已建立的语言概括,并捕捉汉语重叠的语义多样性和构造透明性。
cs.CL / 47 / 2609.16890

Cascade: Hierarchical Recoverability Control for Large Language Model Unlearning

Cascade:大语言模型去学习的层次可恢复性控制
Yu, Qingchen, Duan, Shiying, Li, Xiaodong, Wang, Yuhua, Li, Zhiyu, Zhou, Shiji, Sun, Yifan, Fan, Zhaoxin
Abstract
Large Language Model (LLM) unlearning is essential for removing sensitive or copyrighted knowledge while preserving general utility. Existing methods often leave residual knowledge in intermediate representations, which can still be recovered. To address this, we propose Cascade, a hierarchical recoverability control framework that minimizes the internal identifiability of target knowledge. Cascade combines three complementary controls: path-level routing to suppress privacy-associated activation routes, representation-level compression to reduce geometric separability, and decoding-level intervention to limit residual recovery. Experiments on TOFU, MUSE-News, and WMDP, including robustness tests with query reformulation and extraction-style prompts, show that Cascade effectively reduces recoverability while maintaining stable model utility.
Chinese Translation
大语言模型(LLM)去学习对于去除敏感或受版权保护的知识,同时保持一般实用性至关重要。现有方法往往在中间表示中留下残余知识,这些知识仍然可以被恢复。为了解决这个问题,我们提出了Cascade,一个层次可恢复性控制框架,旨在最小化目标知识的内部可识别性。Cascade结合了三种互补的控制手段:路径级路由以抑制与隐私相关的激活路径,表示级压缩以减少几何可分性,以及解码级干预以限制残余恢复。在TOFU、MUSE-News和WMDP上的实验,包括查询重构和提取式提示的鲁棒性测试,表明Cascade在保持模型稳定实用性的同时有效降低了可恢复性。
cs.CL / 48 / 2609.16900

RiskChainBench: A Benchmark for Obfuscated Platform Message Restoration and Evidence-Grounded Web Investigation

RiskChainBench:一种模糊平台消息恢复和基于证据的网络调查基准
Liu, ZhuoXin, Ma, Zhiming, Zhang, Ying, Yang, Mengzheng, Wang, Yifan, Huang, Zhengqi, Zhou, Yanhan, Lin, Zekun, Zhang, Jun, Zhang, Shun, Chen, Yue, Zhao, Qiao, Chen, Peng
Abstract
Platform abuse campaigns conceal redirection instructions with emojis, homophones, character decomposition, and redundant symbols, then route users through disguised links to services associated with pornography, fraud, gambling, or illicit transactions. Existing benchmarks evaluate obfuscated text and risky webpages separately, obscuring how target recovery affects downstream evidence acquisition. We introduce RiskChainBench, pairing 3,600 synthetic token-text restoration inputs from 600 source sessions with 600 corresponding human-labeled local web environments. A model first restores the message, operational intent, and destination; the same underlying model then acts as a VLM-driven web agent that investigates the correctly associated website and produces a frozen, evidence-cited risk report without message-side semantics or domain-reputation cues. We score restoration and correct-routing web investigation separately and compose them offline by applying the frozen primary-entry prediction as a gate to the same Task 2 result. Human labels determine task correctness, while a fixed multimodal evidence judge assesses faithfulness, sufficiency, completeness, and consistency. Across ten models, Entry Top-1 ranges from 35.2% to 95.2% and web decision accuracy from 26.3% to 62.8%; the leading systems differ across entry recovery, full reconstruction, website decisions, and fine-grained typing. Execution failures account for 31.9% of web runs, whereas post-decision type errors account for only 0.9%, identifying stable exploration and risk judgment as the principal bottlenecks. We release the benchmark, protocol, and resettable local sandbox.
Chinese Translation
平台滥用活动通过表情符号、同音词、字符分解和冗余符号来隐藏重定向指令,然后将用户引导至与色情、欺诈、赌博或非法交易相关的服务的伪装链接。现有基准分别评估模糊文本和高风险网页,掩盖了目标恢复如何影响下游证据获取。我们引入了RiskChainBench,将来自600个源会话的3600个合成标记-文本恢复输入与600个相应的人类标注本地网络环境配对。模型首先恢复消息、操作意图和目标;同一基础模型随后作为一个基于视觉语言模型(VLM)的网络代理,调查正确关联的网站,并生成一份冻结的、引用证据的风险报告,而不涉及消息侧的语义或域名信誉线索。我们分别对恢复和正确路由的网络调查进行评分,并通过将冻结的主要入口预测作为同一任务2结果的门控,离线组合它们。人类标签决定任务的正确性,而固定的多模态证据评估者则评估忠实性、充分性、完整性和一致性。在十个模型中,入口Top-1的范围从35.2%到95.2%,网络决策准确率从26.3%到62.8%;领先系统在入口恢复、完整重建、网站决策和细粒度输入方面存在差异。执行失败占网络运行的31.9%,而后决策类型错误仅占0.9%,识别出稳定探索和风险判断是主要瓶颈。我们发布了基准、协议和可重置的本地沙箱。
cs.CL / 49 / 2609.16906

Deconstructing Stereotypes: Scope-Conditioned Generation for Effective Multilingual Counterspeech

解构刻板印象:针对有效多语言反言论的范围条件生成
Damo, Greta, Alacreu, Elias Urios, Cabrio, Elena, Rosso, Paolo, Villata, Serena
Abstract
Counterspeech (CS) - direct responses that counter online Hate Speech (HS) using reasoning and alternative viewpoints - has emerged as an alternative to content removal. Current automatic CS generation methods, however, frequently produce generic, ineffective replies that fail to target the implicit stereotypes behind HS. To bridge this gap, we propose a novel scope-conditioned generation framework that explicitly integrates structured stereotype characteristics into Large Language Models prompts. We validate our approach on a novel, human-curated dataset annotated in English, Italian, and Spanish. Extensive evaluations show that stereotype-conditioned prompting substantially outperforms generic baselines across all three languages, obtaining significant gains in factuality, specificity, cogency, and effectiveness for both explicit and implicit implied stereotypes.
Chinese Translation
反言论(Counterspeech, CS)是指通过推理和替代观点直接回应在线仇恨言论(Hate Speech, HS),已成为内容删除的替代方案。然而,目前的自动反言论生成方法往往产生通用且无效的回复,未能有效针对仇恨言论背后的隐含刻板印象。为了解决这一问题,我们提出了一种新颖的范围条件生成框架,该框架将结构化的刻板印象特征明确地整合到大型语言模型(Large Language Models)的提示中。我们在一个新的人为策划的数据集上验证了我们的方法,该数据集用英语、意大利语和西班牙语进行了标注。广泛的评估表明,基于刻板印象的提示在所有三种语言中显著优于通用基线,在事实性、特异性、说服力和有效性方面均取得了显著提升,适用于显性和隐性刻板印象。
cs.CL / 50 / 2609.16912

Lit3R: Retrieve-Relate-Read for Evidence-Grounded Question Answering over Scientific Literature

Lit3R:基于证据的科学文献问答的检索-关联-阅读系统
Ise, Akira, Kumagai, Kotaro, Yamaguchi, Yuta, Ozaki, Hisanori, Uematsu, Yukio, Yamada, Ikuya
Abstract
We describe tus-nlp's Lit3R (Retrieve-Relate-Read) system for LitTraceQA, a shared task for literature-grounded question answering that requires systems to retrieve relevant papers, identify supporting evidence, and generate answers. Lit3R combines off-the-shelf retrieval, reranking, and large language model (LLM) components without task-specific training. The retriever iteratively combines BM25-based sparse and dense retrieval, cross-encoder reranking, and LLM-based verification, and complements retrieval based on the question with paper-to-paper expansion. The reader first identifies supporting evidence within individual papers and then synthesizes evidence across papers to produce the final answer and evidence trace. On the official test set, our system ranked 4th on the leaderboard. Our code is available at https://github.com/tus-ist-nlp/littraceqa.
Chinese Translation
我们描述了 tus-nlp 的 Lit3R(检索-关联-阅读)系统,该系统用于 LitTraceQA,这是一个基于文献的问答共享任务,要求系统检索相关论文、识别支持证据并生成答案。Lit3R 结合了现成的检索、重排序和大型语言模型(LLM)组件,而无需特定于任务的训练。检索器迭代地结合了基于 BM25 的稀疏和密集检索、交叉编码器重排序以及基于 LLM 的验证,并通过论文间扩展补充基于问题的检索。阅读器首先在单个论文中识别支持证据,然后跨论文综合证据以生成最终答案和证据追踪。在官方测试集上,我们的系统在排行榜上排名第 4。我们的代码可在 https://github.com/tus-ist-nlp/littraceqa 获取。
cs.CL / 51 / 2609.16964

HUMAID-NER: A Disaster Tweet Dataset for Joint Named Entity Recognition and Event Classification via Uncertainty-Weighted Multitask Learning

HUMAID-NER:用于联合命名实体识别和事件分类的灾难推文数据集,通过不确定性加权的多任务学习
Ali, Aijaz, Basir, Nazish, Nawaz, Sarfaraz, Arain, Danish Nazir, Ali, Haris
Abstract
Rapid extraction of structured information from social media is important for humanitarian response, yet existing disaster tweet resources mainly provide document-level category labels without span-level entity annotations. We introduce HUMAID-NER, the first named entity recognition dataset built on the HumAID benchmark, containing 60,000 English disaster tweets annotated in BIO format across ten operationally motivated entity types and yielding approximately 175,000 labelled entity spans. Annotations are generated through a reproducible three-stage hybrid pipeline combining a spaCy transformer model, disaster-domain EntityRuler patterns, and structured regular expressions with priority-based overlap resolution. We also propose a joint multitask learning framework that performs disaster-specific named entity recognition and humanitarian event classification using a shared RoBERTa-large encoder. To reduce task conflict during joint training, the model uses homoscedastic uncertainty weighting with learnable task parameters and a two-stage training schedule that freezes the lower 18 of 24 encoder layers in the second stage. On the HUMAID-NER validation set, the proposed system achieves NER span micro-F1 of 0.841 and classification macro-F1 of 0.761 simultaneously. A real-time web dashboard demonstrates end-to-end deployment. The dataset, models, and pipeline code are released to support reproducibility and future crisis informatics research.
Chinese Translation
从社交媒体快速提取结构化信息对于人道主义响应至关重要,但现有的灾难推文资源主要提供文档级别的类别标签,而缺乏跨度级别的实体注释。我们介绍了HUMAID-NER,这是第一个基于HumAID基准构建的命名实体识别数据集,包含60,000条以BIO格式注释的英文灾难推文,涵盖十种基于操作的实体类型,并产生约175,000个标注的实体跨度。注释是通过一个可重复的三阶段混合流程生成的,该流程结合了spaCy变换器模型、灾难领域的EntityRuler模式和结构化正则表达式,并采用基于优先级的重叠解决方案。我们还提出了一个联合多任务学习框架,使用共享的RoBERTa-large编码器执行灾难特定的命名实体识别和人道主义事件分类。为了减少联合训练期间的任务冲突,该模型使用具有可学习任务参数的同方差不确定性加权,并采用两阶段训练计划,在第二阶段冻结24个编码器层中的18个。 在HUMAID-NER验证集上,所提出的系统同时实现了0.841的NER跨度微F1和0.761的分类宏F1。一个实时网页仪表板展示了端到端的部署。该数据集、模型和流程代码已发布,以支持可重复性和未来危机信息学研究。
cs.CL / 52 / 2609.16967

Target-Language Generation in Multilingual Models: Activation Steering and Optimal Control

多语言模型中的目标语言生成:激活引导与最优控制
Michaelov, James A., Alonso, Carmen Amo, Chang, Tyler A., Levy, Roger P.
Abstract
Ensuring that multilingual language models generate coherent text in a specific target language is a major issue in multilingual language modeling. We develop an optimal control method for target-language text generation as well as a framework for evaluating the quality of generated text in terms of language adherence, linguistic coherence, and semantic coherence. We find that the proposed method performs at least as well as the prominent difference-in-means activation steering method for the majority of models tested, with substantially less hyperparameter tuning required.
Chinese Translation
确保多语言语言模型在特定目标语言中生成连贯文本是多语言建模中的一个主要问题。我们开发了一种针对目标语言文本生成的最优控制方法,以及一个用于评估生成文本质量的框架,该框架考虑了语言遵循性、语言连贯性和语义连贯性。我们发现,所提出的方法在大多数测试模型中至少与著名的均值差异激活引导方法表现相当,并且所需的超参数调优显著减少。
cs.CL / 53 / 2609.16984

Nameless Tokenization: A Lossless Tokenizer-Level Defense Against Control-Token Forgery in Open-Weight LLMs

无名令牌化:针对开放权重大语言模型中控制令牌伪造的无损令牌级防御
Yang, Kisu, Jang, Yoonna, Lim, Heuiseok
Abstract
Open-weight language models publish the strings their chat templates use to mark turns, roles and tool results, which the tokenizer maps back to the reserved identifiers the model obeys. Anyone who controls text in a prompt can therefore write a turn boundary indistinguishable from one the serving stack wrote. We audit 256 deployed chat tokenizers. All are forgeable, and the flag usually recommended as a fix leaves 56.6% forgeable because it misses the tool and reasoning markers agent systems rely on. We propose nameless tokenization, which leaves the control entries with a reserved identifier and no surface string, so the content encoder cannot emit one and message content reaches the model unaltered. Across five tokenizer families it reproduces the standard token stream exactly on attack-free data and lifts accuracy on a probe of delimiter-bearing text from 8.5% to 59.9%, where sanitizers lose it. Separating a delimiter's appearance from its identifier shows the identifier matters little against a bare task instruction, but carries most of a forged tool result and most of any forged turn once the system message tells the model to treat user content as data.
Chinese Translation
开放权重语言模型发布其聊天模板使用的字符串,以标记回合、角色和工具结果,令牌化器将其映射回模型遵循的保留标识符。因此,任何控制提示文本的人都可以编写一个与服务堆栈编写的回合边界无法区分的文本。我们审计了256个已部署的聊天令牌化器,所有令牌化器均可被伪造,而通常推荐的修复标志使得56.6%的令牌仍然可伪造,因为它忽略了代理系统依赖的工具和推理标记。我们提出了无名令牌化,它将控制条目保留为一个保留标识符,而没有表面字符串,因此内容编码器无法发出字符串,消息内容可以不被更改地到达模型。在五个令牌化器家族中,它在无攻击数据上准确再现了标准令牌流,并将带分隔符文本的探测准确率从8.5%提升至59.9%,而清理器则失去了这一点。将分隔符的外观与其标识符分离表明,标识符在裸任务指令面前几乎无关紧要,但在伪造工具结果和伪造回合中,标识符占据了大部分内容,一旦系统消息告诉模型将用户内容视为数据。
cs.CL / 54 / 2609.16991

Autoformalizing Argumentative Material Inferences

自动形式化论证材料推理
Quan, Xin, Gubelmann, Reto, Freitas, André
Abstract
Natural language arguments are compelling before they are formally explicit. A premise supports a claim through defeasible warrants, background commitments, and exception conditions that the text leaves implicit. However, formal verification requires the opposite. Making such arguments machine-checkable requires constructing the missing commitments, not only translating given sentences into logic. Construction, however, carries a risk that translation does not: a system free to add premises can make any claim provable, and a formally valid proof may assert the claim outright, prove it without the original premise, or establish more than the claim itself. We address this problem by formulating autoformalization for argumentative material inference as guard completion, in which non-monotonic material support is turned into monotonic formal inference relative to an explicitly constructed guard set. A completion is accepted only when its proof both passes the theorem prover and survives contrastive tests of premise dependence and claim selectivity. We implement this formulation in GUARD, a neuro-symbolic framework in which LLMs construct and formalize candidate guards, Isabelle/HOL verifies the resulting theories and returns step-level feedback for iterative refinement, and the system abstains when no faithful completion can be reached. Our empirical results on Debatepedia and ARCT using different LLMs demonstrate that GUARD yields significant improvements in verified-faithful (+35.3, +32.9 points) and substantial reductions in leakage (-25.9, -21.9 points) over the state-of-the-art LLM-driven theorem proving approach. Moreover, we show that the symbolic soft critique and the explicit assumption layer account for most of these gains, with the soft critique also improving the initial validity of the elicited context and reducing the number of iterations required for successful verification.
Chinese Translation
自然语言论证在未正式明确之前是引人注目的。前提通过可反驳的担保、背景承诺和文本隐含的例外条件来支持主张。然而,形式验证则要求相反。使这些论证可供机器检查需要构建缺失的承诺,而不仅仅是将给定的句子翻译成逻辑。然而,构建带来了翻译所没有的风险:一个可以自由添加前提的系统可以使任何主张可证,而一个形式有效的证明可能会直接断言该主张、在没有原始前提的情况下证明它,或建立超出主张本身的内容。我们通过将论证材料推理的自动形式化表述为保护完成来解决这个问题,在这种情况下,非单调的材料支持被转化为相对于显式构建的保护集的单调形式推理。只有当其证明既通过定理证明器又经受住前提依赖性和主张选择性的对比测试时,完成才被接受。我们在GUARD中实现了这一表述,这是一个神经符号框架,其中大型语言模型(LLMs)构建和形式化候选保护,Isabelle/HOL验证生成的理论并返回逐步反馈以进行迭代优化,当无法达到忠实的完成时,系统将保持沉默。我们在Debatepedia和ARCT上使用不同的LLMs进行的实证结果表明,GUARD在验证忠实性方面显著提高(+35.3,+32.9分),并在泄漏方面大幅减少(-25.9,-21.9分),相较于最先进的基于LLM的定理证明方法。此外,我们还表明,符号软批评和显式假设层占据了这些增益的大部分,其中软批评还改善了引导上下文的初始有效性,并减少了成功验证所需的迭代次数。
cs.CL / 55 / 2609.16993

The Role of Implicit and Explicit Demographic Signals in Large Language Model-based Student Assessment

隐性与显性人口统计信号在基于大型语言模型的学生评估中的作用
Rooein, Donya, Benedetto, Luca, Hovy, Dirk
Abstract
Large Language Models are now common in student assessment, but we know little about how student demographics affect their use. Sometimes, considering student demographics may be necessary -- for example, to improve readability for users with lower educational levels. However, it also risks being a cause of discrimination, e.g., when assigning lower scores to students from lower socioeconomic backgrounds. We set up controlled prompts to test 1) explicit demographic effects, where we mention demographic details directly, and 2) implicit effects, where we use conversation history as a demographic signal. We test these settings in three tasks: Automated Essay Scoring, Formative Feedback, and Metalinguistic Question Answering. We test six state-of-the-art LLMs on these tasks. In both explicit and implicit cases, the models pick up on demographic cues and can change their scoring, feedback, and answers accordingly. We find that LLMs frequently adjust the readability of feedback to education levels when these are explicitly mentioned. On the other hand, implicit conditions produce unpredictable biases, such as in question answering, where responses from lower-education levels receive lower sentiment scores. Our results provide clear evidence of demographic sensitivity in LLMs for educational assessment tasks.
Chinese Translation
大型语言模型在学生评估中已变得普遍,但我们对学生人口统计特征如何影响其使用知之甚少。有时,考虑学生的人口统计特征可能是必要的——例如,为了提高低教育水平用户的可读性。然而,这也可能导致歧视,例如在给来自低社会经济背景的学生分配较低分数时。我们设置了受控提示以测试1)显性人口统计效应,即我们直接提及人口统计细节,以及2)隐性效应,即我们使用对话历史作为人口统计信号。我们在三个任务中测试这些设置:自动化作文评分、形成性反馈和元语言问题回答。我们在这些任务中测试了六种最先进的LLM。在显性和隐性情况下,这些模型都能识别出人口统计线索,并相应地调整其评分、反馈和答案。我们发现,当明确提及教育水平时,LLM经常调整反馈的可读性。另一方面,隐性条件产生了不可预测的偏见,例如在问题回答中,低教育水平的响应获得了较低的情感评分。我们的结果清楚地证明了LLM在教育评估任务中的人口统计敏感性。
cs.CL / 56 / 2609.16995

PaperDoctor: Evidence-Grounded and Actionable Feedback for Scientific Papers in Progress

PaperDoctor:基于证据且可操作的科学论文进展反馈
Lin, Kevin Qinghong, Hu, Siyuan, Lu, Pan, Chen, Yu, Chen, Yanzhe, Queen, Owen, Chen, Yupeng, Yu, Jialin, Yu, Junchi, Ding, Zifeng, Ji, Yuanfeng, Liu, Sheng, Gu, Jindong, Li, Linjie, Shou, Mike Zheng, Torr, Philip, Zou, James
Abstract
Autoresearch agents are reshaping the research ecosystem, but they can also let flawed claims enter the literature at scale. Human advisors catch such issues in drafts through careful, traceable feedback, yet advisor-style assessment requires extensive manual effort and does not scale. To shift automated paper assessment from a judge to a diagnostician, we introduce PaperDoctor, an agent framework for pre-submission feedback with three key innovations. First, a holistic hierarchical framework evaluates writing, layout, references, code, theory, prior work, and experiments through three layers: L1 surface screening, L2 typed verifiers that route each claim to the appropriate evidence, and L3 reproducers that rerun experiments by priority. Second, each finding contains an observation, a pointer to specific evidence such as a sentence, equation, or code line, and a revision suggestion, making critiques auditable and actionable. Third, PaperDoctor selectively rebuilds and reruns experiments based on claim importance and compute budget, surfacing reproducibility gaps and quantitative limitations that are invisible from the manuscript alone. We evaluate PaperDoctor on 30 in-progress papers, yielding 70.6% agreement and all positive holistic scores, and on 40 manuscripts across machine learning, natural science, and social science, covering human- and AI-authored papers with code. Overall, PaperDoctor produces more auditable feedback than human and other agentic reviewers, pairs critiques with concrete suggestions by design, and complements dimensions often overlooked by human reviewers. We also develop an interactive interface that lets authors browse findings grounded in their paper. PaperDoctor reframes automated paper assessment as diagnosis rather than verdict, taking a concrete step toward AI advisors for more rigorous AI-assisted scientific discovery.
Chinese Translation
自研究代理人(autoresearch agents)正在重塑研究生态系统,但它们也可能让有缺陷的主张大规模进入文献。人类顾问通过仔细且可追溯的反馈在草稿中捕捉此类问题,然而顾问式评估需要大量的手动工作,且难以扩展。为了将自动化论文评估从裁判转变为诊断者,我们引入了PaperDoctor,一个用于提交前反馈的代理框架,具有三项关键创新。首先,采用整体层次框架,通过三个层次(L1表面筛查、L2类型验证器将每个主张路由到适当的证据、L3重现者按优先级重新运行实验)评估写作、布局、参考文献、代码、理论、先前工作和实验。其次,每个发现包含一个观察、指向特定证据(如句子、方程或代码行)的指针,以及修订建议,使批评可审计且可操作。第三,PaperDoctor根据主张的重要性和计算预算选择性重建并重新运行实验,揭示从手稿中无法看出的可重复性差距和定量限制。我们在30篇进行中的论文上评估了PaperDoctor,达成70.6%的一致性和所有正面的整体评分,并在40篇跨越机器学习、自然科学和社会科学的手稿上进行评估,涵盖人类和AI撰写的论文及代码。总体而言,PaperDoctor提供的可审计反馈比人类和其他代理评审者更多,设计上将批评与具体建议相结合,并补充了人类评审者常常忽视的维度。我们还开发了一个互动界面,让作者浏览基于其论文的发现。PaperDoctor将自动化论文评估重新框定为诊断而非裁决,为更严格的AI辅助科学发现迈出了具体一步。
cs.CL / 57 / 2609.16997

Can LLMs Follow the Pulse of a Crisis? Evaluating Crisis Sentiment in Bangladesh's July Uprising

大型语言模型能否把握危机脉动?评估孟加拉国七月抗议中的危机情感
Alim, Md. Samiul, Tamim, Mahir Shahriar, Khan, Tanvir Ahmed, Khan, Sharjil, Duti, Rafia Ferdous, Ridoy, Shahriyar Zaman, Moni, Mohammad Ali
Abstract
Crisis sentiment analysis is especially challenging for low-resource languages such as Bangla, where language, context, and public reaction shift rapidly. We introduce UNRESTSENT200K, a Bangla crisis sentiment dataset with approximately 200K Facebook and YouTube comments from the July-August 2024 Bangladesh uprising. The dataset covers five event-aligned phases, from early escalation and internet blackout to regime transition and a later flood crisis. Each comment is linked to its parent post, enabling evaluation with and without discourse context. All comments are annotated through a fully human process involving 14 native Bangla-speaking annotators and senior validation, achieving substantial agreement (kappa = 0.73, alpha = 0.71) and 94.2% blind-audit agreement. We benchmark fine-tuned encoders, prompted LLMs, and LoRA-tuned LLMs. Results show that parent-post context consistently improves performance, while temporal shift across phases causes large performance drops. Strong LLMs perform well, but still struggle with sarcasm, implicit political references, and phase-dependent meaning. UNRESTSENT200K provides a benchmark for studying context-aware and temporally robust sentiment analysis in low-resource crisis discourse. UNRESTSENT200K is available at https://sami0055.github.io/UNRESTSENT200K/
Chinese Translation
危机情感分析对于低资源语言(如孟加拉语)尤其具有挑战性,因为语言、语境和公众反应快速变化。我们推出了UNRESTSENT200K,这是一个包含大约20万条来自2024年孟加拉国七月-八月抗议的Facebook和YouTube评论的孟加拉语危机情感数据集。该数据集涵盖了五个与事件相关的阶段,从早期升级和互联网黑暗期到政权过渡和后来的洪灾危机。每条评论都与其母帖关联,使得在有和没有话语上下文的情况下进行评估成为可能。所有评论均通过一个完全人工的过程进行注释,涉及14名母语为孟加拉语的注释员和高级验证,达成了显著的一致性(kappa = 0.73,alpha = 0.71)和94.2%的盲审一致性。我们对微调编码器、提示式大型语言模型(prompted LLMs)和LoRA微调的LLMs进行了基准测试。结果表明,母帖上下文始终能提高性能,而各阶段之间的时间变化导致性能大幅下降。强大的LLMs表现良好,但在讽刺、隐含政治引用和阶段依赖的意义方面仍然存在困难。UNRESTSENT200K为研究低资源危机话语中的上下文感知和时间稳健的情感分析提供了基准。UNRESTSENT200K可在https://sami0055.github.io/UNRESTSENT200K/获取。
cs.CL / 58 / 2609.17043

Diagnosing the Fact-Grounding Gap in Multi-Hop Question Answering

诊断多跳问答中的事实基础差距
Mo, Kevin, Mo, Nathan, Zhu, Richard
Abstract
Multi-hop question answering requires combining information from multiple documents to answer complex questions. These systems have grown increasingly capable, yet when they fail, the error is typically attributed to not finding the right documents. Whether this holds at the level of individual reasoning steps remains largely unexamined. We investigate this across three standard multi-hop QA benchmarks and find that failures decompose into two distinct modes: retrieval failures, where the needed passage was not retrieved, and extraction failures, where the passage was retrieved but the needed fact could not be extracted - a phenomenon we term the fact-grounding gap. Extraction failures account for nearly half of all per-hop deficiencies and are invisible to standard retrieval metrics. They remain unresolved by every retrieval intervention we test, establishing a ceiling for retrieval-only improvements. The gap's severity varies across benchmarks and question types, but extraction failures appear on every dataset we measure. Our findings reveal that retrieval failures and extraction failures are fundamentally different bottlenecks requiring different solutions - a distinction absent from current evaluation practice.
Chinese Translation
多跳问答需要结合来自多个文档的信息以回答复杂问题。这些系统的能力不断增强,但当它们失败时,错误通常归因于未能找到正确的文档。然而,这种情况在个别推理步骤的层面上仍然很少被研究。我们在三个标准的多跳问答基准上进行了调查,发现失败可以分解为两种不同的模式:检索失败,即所需段落未被检索到;和提取失败,即段落被检索到但所需事实无法被提取——我们称之为事实基础差距。提取失败占所有每步缺陷的近一半,并且对标准检索指标是不可见的。我们测试的每种检索干预都无法解决这一问题,从而为仅依赖检索的改进设定了上限。该差距的严重程度在不同基准和问题类型之间有所不同,但提取失败在我们测量的每个数据集中都出现。我们的研究结果表明,检索失败和提取失败是根本不同的瓶颈,需要不同的解决方案——这一区别在当前的评估实践中尚未体现。
cs.CL / 59 / 2609.17081

EviScope: Paired Counterfactual Evidence Diagnostics for Faithful and Efficient Grounded Language Models

EviScope:用于忠实且高效的基础语言模型的配对反事实证据诊断
Deswal, Suryadeep Singh
Abstract
Grounded language-model systems are often evaluated by final answer accuracy, yet a correct answer can be unsupported, drawn from the wrong source, or produced when evidence is insufficient or contradictory. We introduce EviScope, a paired counterfactual benchmark that holds the question fixed while adding, removing, distracting, or contradicting its evidence. EviScope-v1.1 contains 40 four-condition quartets with repaired counterfactual claims and span-level support labels for automatic evaluation. Across 960 gold-blind generations from Qwen2.5-7B, Llama 3.1 8B, and Gemini 3.5 Flash, paired metrics expose model-dependent grounding behavior that answer accuracy hides. On two local open models, an explicit evidence-action gate underperforms vanilla RAG on QCS: 0.15 vs. 0.50 for Qwen and 0.10 vs. 0.375 for Llama. Gemini reaches 0.944 joint success under both prompts, yet still answers 5% of conflict cases after contradiction insertion. EviScope therefore distinguishes unsupported answering, conflict blindness, and wrong non-answer actions rather than scoring answers alone.
Chinese Translation
基础语言模型系统通常通过最终答案的准确性进行评估,但一个正确的答案可能是没有支持的,来源错误,或者在证据不足或矛盾的情况下产生。我们引入了EviScope,一个配对反事实基准,它在保持问题不变的同时,添加、移除、干扰或矛盾其证据。EviScope-v1.1包含40个四条件四重奏,配有修正的反事实声明和用于自动评估的跨度级支持标签。在来自Qwen2.5-7B、Llama 3.1 8B和Gemini 3.5 Flash的960个金盲生成中,配对指标揭示了答案准确性所掩盖的模型依赖性基础行为。在两个本地开放模型上,显式证据-行动门在QCS上的表现不及普通RAG:Qwen为0.15对0.50,Llama为0.10对0.375。Gemini在两个提示下达到0.944的联合成功率,但在插入矛盾后仍回答了5%的冲突案例。因此,EviScope区分了不支持的回答、冲突盲点和错误的不回答行为,而不仅仅是对答案的评分。
cs.CL / 60 / 2609.17119

An Empirical Study of Counterfactual Self-Explanations in LLMs

大型语言模型中反事实自我解释的实证研究
Kalyvas, Giannis, Filandrianos, Giorgos, Mastromichalakis, Orfeas Menis, Lyberatos, Vassilis, Stamou, Giorgos
Abstract
Large language models can easily generate explanations for their own outputs, but such self-explanations are not necessarily faithful to the model's behavior. We study this issue through counterfactual self-explanations, where a model minimally edits an input so that its own prediction changes. Across sentiment analysis and natural language inference, we evaluate ten instruction-tuned models from the LLaMA-3 and Qwen-2.5 families, measuring faithfulness, minimality, and alignment with human-annotated rationales. Our results show that model scale is the strongest determinant of explanation quality: larger models are substantially more likely to generate counterfactuals that flip their own predictions and target decision-relevant evidence. In contrast, the rationale-guided condition produces edit-minimal counterfactuals that are also more human-aligned. However, it does not consistently improve faithfulness. Overall, counterfactual self-explanations can provide useful behavioral evidence about model decisions, but their reliability depends strongly on model capacity and should be empirically validated rather than assumed.
Chinese Translation
大型语言模型可以轻松生成对其自身输出的解释,但这些自我解释不一定忠实于模型的行为。我们通过反事实自我解释来研究这个问题,其中模型对输入进行最小编辑,以使其自身的预测发生改变。在情感分析和自然语言推理任务中,我们评估了来自 LLaMA-3 和 Qwen-2.5 家族的十个指令调优模型,测量其忠实性、最小性以及与人类标注的理由的一致性。我们的结果表明,模型规模是解释质量的最强决定因素:较大的模型更有可能生成反事实,这些反事实会翻转其自身的预测并针对决策相关的证据。相比之下,基于理由引导的条件产生了编辑最小的反事实,这些反事实也更符合人类的理解。然而,这并不一定能持续提高忠实性。总体而言,反事实自我解释可以提供有关模型决策的有用行为证据,但其可靠性在很大程度上依赖于模型的能力,应该通过实证验证而非假设。
cs.CL / 61 / 2609.17225

Psychological Effects of Cultural Upheavals from Millions of Song Lyrics Over 100 Years

百年间数百万首歌曲歌词中的文化动荡心理影响
Markowitz, David M.
Abstract
Cultural upheavals impact many aspects of social life, and many studies have investigated their impact on language patterns. However, few investigations have isolated the impact of upheavals on individuals at scale in popular media. The current work evaluated millions of song lyrics spanning more than a century in search of within-artist and between-artist signals of distress from the Vietnam War, the terrorist attacks of 9/11, and COVID-19. Compared to a five-year baseline, rates of self-references - a marker of psychological distancing - were significantly reduced after the Vietnam War and September 11th. Cognitive processing terms were elevated post-upheaval vs. pre-upheaval, which indicated artists' increased attempts to make meaning from such massive disruptions. Content patterns corroborated these findings as artists wrote more about "life and freedom" (societal conditions) and less about "courtship and nightlife" (interpersonal connection) following the upheavals. Cultural upheavals modify individual and collective verbal behavior, demonstrating their far-reaching impact on society.
Chinese Translation
文化动荡影响社会生活的许多方面,许多研究探讨了它们对语言模式的影响。然而,针对流行媒体中动荡对个体影响的系统性研究却较为稀缺。本研究评估了跨越一个多世纪的数百万首歌曲歌词,寻找与越南战争、9/11恐怖袭击和COVID-19相关的艺术家内外的痛苦信号。与五年基线相比,越南战争和9/11事件后,自我提及的比率(心理距离的标志)显著降低。认知处理术语在动荡后相较于动荡前有所增加,这表明艺术家在试图从如此巨大的破坏中寻找意义。内容模式进一步证实了这些发现,因为艺术家在动荡后更多地写关于“生活与自由”(社会条件),而较少涉及“求爱与夜生活”(人际关系)。文化动荡改变了个体和集体的语言行为,展示了其对社会的深远影响。
cs.CL / 62 / 2609.17235

AraMIP: Extending MIPVU Towards Metaphor Identification in Arabic

AraMIP:将 MIPVU 扩展至阿拉伯语隐喻识别
Marathe, Mandar, Ali, Manar, Nabhani, Sara, Ahmad, Raia Abu, Baroud, Ibrahim, Momen, Omar
Abstract
Metaphor research has gained increasing attention due to its relevance to linguistic creativity, language use, cognitive processes, and related areas. While many efforts have been devoted to metaphor identification and annotation in English and other languages, Arabic remains under-resourced in this area. In this work, we propose the Arabic Metaphor Identification Procedure (AraMIP), a novel guideline for Arabic metaphor annotation. AraMIP builds on the widely used Metaphor Identification Procedure Vrije Universiteit (MIPVU) framework, incorporating adaptations that accounts for the language-specific properties of Arabic. We distinguish three major types of Arabic figurative language: Isti'ara (metaphor), kinaya (metonymy/indirect expression), and tashbih (simile), and annotate a pilot dataset of 300 sentences (5277 words). Our analysis reveals key challenges specific to Arabic, including morphological complexity, inconsistencies in dictionary sense ordering, and the absence of standardized contextual materials for annotators. This work contributes a first step toward standardized Arabic figurative instances and facilitates the development of larger annotated resources, thereby supporting future research on figurative language in Arabic.
Chinese Translation
隐喻研究因其与语言创造力、语言使用、认知过程及相关领域的相关性而受到越来越多的关注。尽管在英语及其他语言的隐喻识别和标注方面已投入了大量努力,但阿拉伯语在这一领域仍然资源匮乏。在本研究中,我们提出了阿拉伯隐喻识别程序(AraMIP),这是一个针对阿拉伯隐喻标注的新指南。AraMIP 基于广泛使用的隐喻识别程序 Vrije Universiteit(MIPVU)框架,结合了考虑阿拉伯语特定属性的适应性调整。我们区分了三种主要的阿拉伯语比喻语言类型:Isti'ara(隐喻)、kinaya(转喻/间接表达)和 tashbih(明喻),并对一个包含 300 个句子(5277 个单词)的试点数据集进行了标注。我们的分析揭示了阿拉伯语特有的关键挑战,包括形态复杂性、词典意义排序的不一致性,以及缺乏标准化的上下文材料供标注者使用。本研究为标准化阿拉伯语比喻实例迈出了第一步,并促进了更大规模标注资源的发展,从而支持未来对阿拉伯语比喻语言的研究。
cs.CL / 63 / 2609.17241

ECHO: Early-layer Collaborative Hierarchical Orchestration with Bonus Logits in Speculative Decoding

ECHO:具有额外逻辑的早层协作层次编排在推测解码中的应用
Ma, Ziyang, Zhang, Zihong, Li, Zuchao, Zhang, Lefei, Qi, Baoyuan, Li, Siqi, Yu, Simin
Abstract
While draft-model-free speculative decoding offers a promising path to efficient LLM inference, it is frequently constrained by stale draft candidates and the high computational cost of the verification. To address these challenges, we propose ECHO, a hierarchical dual-loop framework that exploits the functional asymmetry between LLM layers. Leveraging the high discriminative efficiency of early layers and the authoritative distribution of final layers, ECHO bifurcates inference into a high-frequency inner loop and a low-frequency outer loop. Within the inner loop, early-layer bonus logits drive rapid, multi-step draft-tree exploration at a minimal cost. Simultaneously, the outer loop performs authoritative full-model verification through a state-reuse mechanism. Crucially, the outer loop also utilizes final-layer bonus logits to correct existing paths and supplement the tree with high-confidence candidates for subsequent cycles. Experimental results across diverse benchmarks demonstrate that ECHO significantly boosts mean accepted tokens and achieves a 2.4$\times$ to 2.9$\times$ speedup, outperforming existing state-of-the-art baselines with negligible engineering overhead and no extra deployment parameters, albeit with a one-shot fine-tuning dependency for optimal acceleration. The code is available at https://github.com/whucs21Mzy/ECHO.
Chinese Translation
尽管无草稿模型的推测解码为高效的大型语言模型(LLM)推理提供了有希望的路径,但它常常受到过时草稿候选者和高计算成本的验证的限制。为了解决这些挑战,我们提出了ECHO,一个利用LLM层之间功能不对称性的层次双循环框架。ECHO利用早期层的高区分效率和最终层的权威分布,将推理分为高频内循环和低频外循环。在内循环中,早层的额外逻辑驱动快速的多步草稿树探索,成本极低。同时,外循环通过状态重用机制执行权威的全模型验证。关键是,外循环还利用最终层的额外逻辑来修正现有路径,并为后续周期补充高置信度候选者。跨越多种基准的实验结果表明,ECHO显著提高了平均接受的标记,并实现了2.4$ imes$到2.9$ imes$的加速,超越了现有的最先进基线,且几乎没有工程开销和额外的部署参数,尽管对于最佳加速存在一次性微调的依赖。代码可在 https://github.com/whucs21Mzy/ECHO 获取。
cs.CL / 64 / 2609.17251

Persistent Recurrent Memory Between Transformer Layers - Improves Language Model Generalization

变压器层之间的持久递归记忆 - 改善语言模型的泛化能力
Hering, Eduardo Novaes
Abstract
We introduce a simple architectural modification to decoder-only transformers: a persistent recurrent state that observes hidden representations via cross-attention, updates itself through a GRU, and modulates subsequent processing via gated addition. Inserted between the lower and upper halves of a 6-layer transformer, this module adds only 3.7\% additional parameters while reducing evaluation loss from $2.438 \pm 0.004$ to $1.743 \pm 0.018$, corresponding to a 28.5\% reduction on held-out language modeling data. The improvement is statistically significant across 5 random seeds ($p < 0.01$) and corresponds to reduced overfitting (generalization gap 0.12 vs 0.26). Through controlled ablations, we demonstrate that the improvement stems entirely from the persistent memory topology, not from auxiliary self-prediction objectives. A model with identical topology but no auxiliary loss performs equivalently, while a random auxiliary loss provides no benefit. Representation probing reveals that the persistent state encodes narrative position (52\% vs 33\% chance level)---information that standard attention maintains less efficiently. Our results suggest that bridging transformer layers with a lightweight recurrent memory is a simple, effective approach to improving generalization in small-scale language models.
Chinese Translation
我们提出了一种对仅解码器变压器的简单架构修改:一种持久递归状态,通过交叉注意力观察隐藏表示,通过门控递归单元(GRU)自我更新,并通过门控加法调节后续处理。该模块插入在6层变压器的下半部分和上半部分之间,仅增加3.7%的额外参数,同时将评估损失从$2.438 ext{±} 0.004$降低到$1.743 ext{±} 0.018$,对应于在保留的语言建模数据上减少28.5%的损失。该改进在5个随机种子上具有统计显著性($p < 0.01$),并对应于过拟合的减少(泛化差距0.12对比0.26)。通过控制消融实验,我们证明了改进完全源于持久记忆拓扑,而不是来自辅助自我预测目标。具有相同拓扑但没有辅助损失的模型表现相当,而随机辅助损失则没有提供任何益处。表示探测显示,持久状态编码叙事位置(52%对比33%的机会水平)——这一信息是标准注意力效率较低地维护的。我们的结果表明,通过轻量级递归记忆连接变压器层是一种简单有效的方法,可以改善小规模语言模型的泛化能力。
cs.CL / 65 / 2609.17260

Towards Illusions Awareness in Cyber-Physical System's Design

面向网络物理系统设计中的幻觉意识
Di Placido, Anna, Ferry, Nicolas, Deantoni, Julien
Abstract
Cyber-Physical Systems (CPS) operate through a continuous sense-compute-act loop within an open context environment, making it impossible to anticipate all the situations the system will face. To cope with this openness, stakeholders rely on assumptions, formalized into design models. However, these assumptions may no longer hold once the system is confronted with runtime reality, resulting in a discrepancy between expected and observed behaviour known in literature as the reality gap. Existing approaches mainly focus on reducing or overcoming it by making simulations more faithful to reality, with no unified methodology to structure and exploit invalidated assumptions that give rise to this gap as reusable design knowledge. We refer to the persistent reliance on invalidated assumptions -and the resulting false confidence in the design model's operational validity -as design illusions, and argue that they need to be made explicit, structured, and exploited as knowledge to support better design decisions. We propose a conceptual pipeline for illusions-awareness that identifies, classifies, characterizes, and leverages illusions to transform them into actionable design knowledge.
Chinese Translation
网络物理系统(CPS)通过在开放环境中持续的感知-计算-行动循环进行操作,这使得无法预见系统将面临的所有情况。为了应对这种开放性,利益相关者依赖于假设,并将其形式化为设计模型。然而,当系统面临运行时现实时,这些假设可能不再成立,导致预期行为与观察到的行为之间出现差异,这在文献中被称为现实差距(reality gap)。现有的方法主要集中在通过使模拟更忠实于现实来减少或克服这一差距,但没有统一的方法来结构化和利用导致这一差距的无效假设作为可重用的设计知识。我们将对无效假设的持续依赖——以及由此产生的对设计模型操作有效性的虚假信心——称为设计幻觉,并认为需要将其明确化、结构化,并作为知识加以利用,以支持更好的设计决策。我们提出了一个关于幻觉意识的概念性流程,识别、分类、特征化并利用幻觉,将其转化为可操作的设计知识。
cs.CL / 66 / 2609.17310

Zero-shot narrative detection in social messaging

社交信息中的零样本叙事检测
Fraile-Hernández, Jesús M., Peñas, Anselmo, Giedemann, Patrick
Abstract
This study investigates the zero-shot ability of large language models (LLMs) to identify and classify hidden narratives in social messages. Our research hypothesis is that LLMs' extensive contextual knowledge allows them to interpret messages on a deeper, pragmatic level, going beyond basic sentiment or topic analysis. Experiments on the Dipromats and SemEval datasets show that providing models with human-written narrative descriptions significantly improves performance, without the need of training examples. In contrast, automatically generated descriptions or the use of few examples (few-shot) often degrade accuracy due to subtle shifts in framing. The study also finds that ensemble methods, particularly majority voting, enhance robustness and that larger models perform best while also being less sensitive to prompt variations. The findings validate that LLMs can effectively detect strategic narratives in a zero-shot setting, and when combined with simple ensembling and human-written descriptions, they can rival supervised systems, offering a scalable solution for narrative detection, specially when there is no training data for the vast majority of domains.
Chinese Translation
本研究探讨了大型语言模型(LLMs)在识别和分类社交信息中隐含叙事的零样本能力。我们的研究假设是,LLMs广泛的上下文知识使其能够在更深层次的务实水平上解读信息,超越基本的情感或主题分析。对Dipromats和SemEval数据集的实验表明,提供人类撰写的叙事描述显著提高了模型的性能,而无需训练示例。相比之下,自动生成的描述或使用少量示例(少样本)往往由于框架的细微变化而降低准确性。研究还发现,集成方法,特别是多数投票,增强了鲁棒性,而较大的模型表现最佳,同时对提示变化的敏感性较低。研究结果验证了LLMs能够在零样本环境中有效检测战略叙事,并且当与简单的集成方法和人类撰写的描述结合时,它们可以与监督系统相媲美,为叙事检测提供了一种可扩展的解决方案,特别是在绝大多数领域没有训练数据的情况下。
cs.CL / 67 / 2609.17317

Towards Detecting AI-Assisted Responses in Online Surveys

朝着检测在线调查中的人工智能辅助响应
Wang, Qizhou, Mamaev, Bogdan, Leckie, Christopher
Abstract
The use of LLMs to complete online surveys impacts the validity of survey-based research, but detecting such usage remains underexplored. We introduce an initial benchmark dataset, namely ASURRE, for AI-assisted survey participation to capture usage strategies ranging from full generation and revision to persona-grounded agentic completion. Controlled by these strategies, LLM-assisted survey responses are generated using multiple LLMs on three real-world surveys in different disciplines, paired with genuine human responses. Our evaluation of existing machine-generated text (MGT) detectors shows that naive AI usage is readily detectable, whereas persona-grounded agents that mimic entire respondents push detector performance toward chance. We further show that agentic completion cannot fully replicate respondent-level behaviour and leaves distinctive behavioural traces. While individual cues can be circumvented by targeted prompting, a simple few-shot, training-free aggregator over these cues improves mean AUROC by +0.14 over the best existing detector across agentic settings. Our project is available at https://github.com/mike-qz-wang/ASURRE.
Chinese Translation
使用大型语言模型(LLMs)完成在线调查对基于调查的研究有效性产生影响,但检测这种使用仍然未被充分探索。我们引入了一个初步基准数据集,即ASURRE,用于捕捉人工智能辅助调查参与的使用策略,涵盖从完全生成和修订到基于角色的自主完成。根据这些策略,使用多个LLMs在三个不同学科的真实调查中生成LLM辅助的调查响应,并与真实的人类响应配对。我们对现有机器生成文本(MGT)检测器的评估表明,简单的人工智能使用是容易检测的,而模仿整个受访者的基于角色的代理则使检测器的性能接近随机水平。我们进一步表明,自主完成无法完全复制受访者级别的行为,并留下独特的行为痕迹。尽管个别线索可以通过针对性提示来规避,但对这些线索进行简单的少量样本、无训练的聚合器可以使均值AUROC在自主设置中比现有最佳检测器提高+0.14。我们的项目可在 https://github.com/mike-qz-wang/ASURRE 获取。
cs.CL / 68 / 2609.17327

Vroom-Vroom at SHROOM-Visions: A Multi-Judge Committee for Detecting Hallucinated Spans in Vision-Language Outputs

在SHROOM-Visions中的Vroom-Vroom:用于检测视觉-语言输出中幻觉跨度的多评审委员会
Ehsan, Toqeer, Penttilä, Nico, Schmidt, Richard, Hajikhani, Arash, Palacin, Victoria
Abstract
This paper describes our submission to the SHROOM-Visions shared task on detecting and classifying hallucinated character spans in vision-language model outputs across four languages. We employ several fine-tuned vision-language models as independent annotators and combine their span predictions through character-level majority voting, and additionally explore activation probes. The approach ranks first in three of four languages and places on the podium in every language and metric. Our analysis indicates that disagreement among diverse models tracks disagreement among human annotators.
Chinese Translation
本文描述了我们在SHROOM-Visions共享任务中的提交,该任务旨在检测和分类视觉-语言模型输出中幻觉字符跨度,涵盖四种语言。我们采用了多个经过微调的视觉-语言模型作为独立标注者,并通过字符级的多数投票结合它们的跨度预测,同时探索激活探针。该方法在四种语言中的三种语言中排名第一,并在每种语言和指标中均名列前茅。我们的分析表明,不同模型之间的分歧与人类标注者之间的分歧相一致。
cs.CL / 69 / 2609.17346

Where Should a Document Live: Context, Representations, or Parameters?

文档应存放在哪里:上下文、表示还是参数?
Rakotonirina, Nathanaël Carraz, Hardalov, Momchil, Iglesias, Gonzalo, de Gispert, Adrià
Abstract
To answer questions outside of their pre-training data, large language models (LLMs) need access to new information, which can be presented in the context window as documents, encoded into the model's parameters, or injected as latent representations. However, each of these methods comes with different efficiency, cost, and performance trade-offs, with no single winner. We present a controlled comparison of representation-based (KV-cache based) and parametric (fine-tuning-based) adaptation methods on five knowledge-intensive benchmarks. We show that in the oracle setting, Cartridges (KV) are the most accurate injection method at nearly every storage budget, outperforming parametric methods by 10 points. Compaction (KV) matches Cartridges only at low compression rates, lagging behind the parametric methods by 10 points at rates higher than $50\times$. In the more realistic multi-document retrieval scenario, Cartridges are the only method that matches in-context learning (ICL), leading the parametric methods by 29 points and Compaction by 15 points. Nonetheless, Cartridges are also the only method, besides full fine-tuning and large MLP adapters, that suffers from catastrophic forgetting, i.e., a 6% performance degradation on control benchmarks, with 13% in coding.
Chinese Translation
为了回答超出其预训练数据的问题,大型语言模型(LLMs)需要访问新信息,这些信息可以以文档的形式呈现在上下文窗口中,编码到模型的参数中,或作为潜在表示注入。然而,这三种方法各自具有不同的效率、成本和性能权衡,并没有单一的赢家。我们对基于表示(基于 KV 缓存)和基于参数(基于微调)的方法在五个知识密集型基准上的表现进行了受控比较。我们展示了在理想情况下,Cartridges(KV)是几乎所有存储预算下最准确的注入方法,超越了基于参数的方法10个百分点。Compaction(KV)仅在低压缩率下与 Cartridges 相匹配,在高于 $50 imes$ 的压缩率下落后于基于参数的方法10个百分点。在更现实的多文档检索场景中,Cartridges 是唯一能够与上下文学习(ICL)相匹配的方法,领先于基于参数的方法29个百分点,领先于 Compaction 15 个百分点。尽管如此,Cartridges 也是唯一一种,除了完全微调和大型 MLP 适配器外,会遭受灾难性遗忘的方法,即在控制基准上性能下降6%,在编码任务上下降13%。
cs.CL / 70 / 2609.17360

ECHO: A Matched-Contrast Benchmark for Context-Sensitive Turn-Taking in Full-Duplex Dialogue

ECHO:用于全双工对话中上下文敏感的轮流发言的匹配对比基准
Zhao, Shuofeng, Cai, Hongwei, Fan, Wenke, Guo, Qingxiang, Yang, Dawei, Wang, Zhou, Zhou, Zhiyang, Shang, Yingxin, Wang, Weixu, Yang, Lin, Zhou, Shuran, Song, Yang
Abstract
Full-duplex spoken dialogue systems must distinguish interruptions that require yielding the floor from backchannels that permit continued speaking. Existing benchmarks typically evaluate events independently and may therefore reward fixed action preferences rather than context-sensitive decisions. We introduce ECHO, a paired diagnostic benchmark for Chinese full-duplex turn-taking. ECHO pairs examples with the same overlap transcript but contrasting preceding multi-turn dialogue contexts, with one requiring Yield and the other Keep. It additionally includes off-talk examples for diagnosing unnecessary yielding. We introduce pair accuracy, which requires correct decisions on both members of a pair and assigns no credit to constant-action policies. Experiments on multiple full-duplex systems show that most exhibit a pronounced bias toward \textsc{Yield}, performing substantially better on interruptions than on backchannels, while another system remains comparatively balanced. These findings demonstrate that interruption-only evaluation can overestimate practical turn-taking reliability. ECHO and its metadata will be publicly released.
Chinese Translation
全双工口语对话系统必须区分需要让出发言权的干扰与允许继续发言的反馈通道。现有基准通常独立评估事件,因此可能奖励固定的行动偏好,而非上下文敏感的决策。我们引入了ECHO,一个针对中文全双工轮流发言的配对诊断基准。ECHO将具有相同重叠转录但对比的多轮对话上下文的示例配对,其中一个需要让出(Yield),另一个则保持(Keep)。它还包括离题示例,以诊断不必要的让出。我们引入了配对准确性,要求对配对中的两个成员做出正确决策,并对固定行动策略不予以任何积分。在多个全双工系统上的实验表明,大多数系统对让出(Yield)表现出明显的偏向,在干扰上表现显著优于反馈通道,而另一个系统则相对平衡。这些发现表明,仅评估干扰可能会高估实际的轮流发言可靠性。ECHO及其元数据将公开发布。
cs.CL / 71 / 2609.17398

Enhancing Accessibility of Medical Texts through Large Language Model-Driven Plain Language Adaptation

通过大型语言模型驱动的简明语言适应增强医疗文本的可及性
Chang, Ting-Wei, Huang, Hen-Hsen, Chen, Hsin-Hsi
Abstract
This paper addresses the challenge of making complex healthcare information more accessible through automated Plain Language Adaptation (PLA). PLA aims to simplify technical medical language, bridging a critical gap between the complexity of healthcare texts and patients' reading comprehension. Recent advances in Large Language Models (LLMs), such as GPT and BART, have opened new possibilities for PLA, especially in zero-shot and few-shot learning contexts where task-specific data is limited. In this work, we leverage the capabilities of LLMs such as GPT-4o-mini, Gemini-1.5-pro, and LLaMA for text simplification. Additionally, we incorporate Mixture-of-Agents (MoA) techniques to enhance adaptability and robustness in PLA tasks. Key contributions include a comparative analysis of prompting strategies, finetuning with QLoRA on different LLMs, and the integration of MoA technique. Our findings demonstrate the effectiveness of LLM-driven PLA, showcasing its potential in making healthcare information more comprehensible while preserving essential content.
Chinese Translation
本文针对通过自动化简明语言适应(PLA)使复杂医疗信息更易于获取的挑战。PLA旨在简化技术医疗语言,弥合医疗文本复杂性与患者阅读理解之间的关键差距。最近,大型语言模型(LLMs)的进展,如GPT和BART,为PLA开辟了新的可能性,特别是在任务特定数据有限的零样本和少样本学习环境中。在本研究中,我们利用LLMs(如GPT-4o-mini、Gemini-1.5-pro和LLaMA)的能力进行文本简化。此外,我们结合了混合代理(MoA)技术,以增强PLA任务的适应性和鲁棒性。主要贡献包括对提示策略的比较分析、在不同LLMs上使用QLoRA进行微调,以及MoA技术的整合。我们的研究结果展示了LLM驱动的PLA的有效性,突显了其在使医疗信息更易理解的同时保留重要内容的潜力。
cs.CL / 72 / 2609.17435

Right Tool, Right Job: Native-Language Evaluation, Tokenizer Sensitivity, and Methodological Findings from a French-Only BabyLM

合适的工具,合适的工作:母语评估、分词器敏感性及来自法语专用BabyLM的研究发现
Wasserman, Adam Zachary, Beauchemin, David
Abstract
We submit M\'eTRON-FR, a 125M GPT-2 pretrained on 92.47M words of French, to the BabyLM 2026 Strict track. It scores 85.97 +/- 0.17% on QFrBLiMP (a native Quebec-French benchmark of grammatical minimal pairs) and 62.80% on the BabyLM-weighted leaderboard. A cross-lingual GLUE (General Language Understanding Evaluation) protocol that combines French task-data translation with rank-16 LoRA (Low-Rank Adaptation) produces a sharp task-type gradient: relational tasks gain measurably, while world-knowledge tasks regress. Bilingual Lexicon Induction aligns the French embeddings to GPT-2 at p@1 = 68.84 +/- 8.61%, 18X above chance, suggesting cross-lingual alignment tracks acquired grammatical competence rather than training duration. An ablation study shows that single-token zero-shot scoring is dominated by tokenizer and template artifacts at the child scale, motivating tokenizer-swap sensitivity, placebo-controlled prompting, and native-language minimal-pair benchmarks as standard diagnostics.
Chinese Translation
我们提交了M'éTRON-FR,这是一个在9247万法语单词上预训练的125M GPT-2,参与BabyLM 2026严格赛道。它在QFrBLiMP(一个基于魁北克法语的语法最小对基准)上的得分为85.97 +/- 0.17%,在BabyLM加权排行榜上的得分为62.80%。一种跨语言的GLUE(通用语言理解评估)协议结合了法语任务数据翻译与rank-16 LoRA(低秩适应),产生了明显的任务类型梯度:关系任务得分显著提高,而世界知识任务则出现回退。双语词典引导将法语嵌入与GPT-2对齐,p@1 = 68.84 +/- 8.61%,是随机机会的18倍,表明跨语言对齐跟踪的是获得的语法能力,而非训练时长。消融研究表明,在儿童规模下,单标记零-shot评分主要受分词器和模板伪影的影响,这促使我们关注分词器交换敏感性、安慰剂控制提示和母语最小对基准作为标准诊断工具。
cs.CL / 73 / 2609.17515

What Breaks Under Pruning in Smart Homes, and When? Evaluating LLM Degradation Across Architectures and Task Complexity

智能家居中修剪会导致什么崩溃,以及何时发生?评估不同架构和任务复杂度下大语言模型的退化
Zhang, Congjing, Patil, Vashishtha, Lange, Henning, Aleem, Usman
Abstract
Pruning can reduce the deployment cost of large language models (LLMs), but its impact on context-grounded tool calling remains poorly understood. We systematically study pruning-induced degradation in smart-home tool calling across four LLMs spanning dense Transformer, dense hybrid, and mixture-of-experts (MoE) architectures, together with depth, width, hybrid, and expert pruning methods. After post-pruning supervised fine-tuning (SFT), we evaluate more than 19,500 instances from three smart-home datasets. Beyond aggregate task accuracy, we characterize degradation along two dimensions: action components (i.e., operation, device, argument, and value) and task complexity. Our results show that dense models have narrow safe pruning regions followed by sharp degradation, while MoE models tolerate substantially more pruning. Pruning degrades grounded specificity before schema-level intent, and aggressive dense pruning can induce systematic over-refusal. These findings highlight the importance of evaluating pruning beyond aggregate accuracy when selecting pruned LLMs for reliable tool execution.
Chinese Translation
修剪可以降低大语言模型(LLMs)的部署成本,但其对基于上下文的工具调用的影响仍然不够明确。我们系统地研究了在智能家居工具调用中,由修剪引起的退化,涵盖了四种大语言模型,包括密集型Transformer、密集型混合模型和专家混合模型(MoE),以及深度、宽度、混合和专家修剪方法。在后修剪的监督微调(SFT)后,我们评估了来自三个智能家居数据集的超过19,500个实例。除了整体任务准确性外,我们还从两个维度描述了退化:动作组件(即操作、设备、参数和数值)和任务复杂度。我们的结果表明,密集模型具有狭窄的安全修剪区域,随后出现急剧退化,而MoE模型则能够容忍更多的修剪。修剪在模式级意图之前降低了基础特异性,而激进的密集修剪可能导致系统性的过度拒绝。这些发现强调了在选择修剪后的大语言模型以实现可靠工具执行时,评估修剪效果超越整体准确性的重要性。
cs.CL / 74 / 2609.17516

When Should LLMs Abstain? Chain-of-Self-Questioning for Selective Risk Control

大型语言模型何时应当避免承诺?自我提问链(Chain-of-Self-Questioning)用于选择性风险控制
Şenol, Ali
Abstract
Large language models can produce fluent answers when their factual support is weak. This paper introduces Chain-of-Self-Questioning (CoSQ), a prompt-only framework that makes answer commitment conditional on an explicit assessment of the information required to answer a question. We evaluate three CoSQ variants under seventeen conditions on the 817-item TruthfulQA multiple-choice validation set using eleven open-weight and hosted model families. In the final balanced-option protocol, Grounded-CoSQ at {\tau}=0.90 reduces the mean unconditional wrong-commitment rate from 13.1% under chain-of-thought prompting to 8.9%, a 32.1% relative reduction, while increasing answered accuracy from 86.9% to 89.7% and answering 87.6% of questions. Both improvements hold for all eleven models and at every evaluated threshold. Critical-CoSQ and Adaptive-CoSQ provide neighboring operating points with 88.6% and 86.5% coverage, respectively, while remaining more reliable than the baseline. A secondary Natural Questions Short-Answer evaluation provides convergent open-form evidence. These findings show that self-assessment can support explicit, tunable answer-or-abstain decisions when an unsupported commitment is more costly than referral or review.
Chinese Translation
大型语言模型在其事实支持薄弱时仍能生成流畅的回答。本文介绍了一种仅基于提示的框架——自我提问链(Chain-of-Self-Questioning,CoSQ),该框架使得回答承诺依赖于对回答问题所需信息的明确评估。我们在817个项目的TruthfulQA多项选择验证集上,使用11个开放权重和托管模型系列评估了三种CoSQ变体在17种条件下的表现。在最终的平衡选项协议中,Grounded-CoSQ在{ au}=0.90时将无条件错误承诺率从13.1%(基于思考链提示)降低至8.9%,相对降低32.1%,同时将回答准确率从86.9%提高至89.7%,并回答了87.6%的问题。这些改进在所有11个模型和每个评估阈值下均有效。Critical-CoSQ和Adaptive-CoSQ分别提供了88.6%和86.5%的覆盖率,且比基线模型更可靠。第二项自然问题短答案评估提供了收敛的开放形式证据。这些发现表明,自我评估可以支持在不支持的承诺比转介或审查更具成本时,进行明确的、可调的回答或放弃决策。