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新论文 · v1arXiv:2611.10046

Topological Deep Learning Challenge 2026: Bridging the Gap

Guillermo Bernárdez, Lev Telyatnikov, Mathilde Papillon, Marco Montagna, Louisa Cornelis, Louis Van Langendonck, Antonio Purificato, Bruno Neri 等 71 位作者

原文摘要

This paper describes the 2026 edition of the Topological Deep Learning Challenge: Bridging the Gap, hosted at the second Topology, Algebra, and Geometry in Data Science (TAG-DS) Conference. Where previous editions grew the modelling and data ecosystem of Topological Deep Learning (TDL), this edition set out to place Graph Neural Networks (GNNs) and Topological Neural Networks (TNNs) side by side under a single evaluation pipeline. Participants implemented recent state-of-the-art architectures in TopoBench, with Track 1 covering GNNs and Track 2 covering TNNs. They evaluated these implementations on shared synthetic benchmarks generated with GraphUniverse, which independently controls homophily, average degree and degree-distribution heaviness. The challenge yielded 68 qualifying submissions from 34 teams, spanning the graph, simplicial, cellular, hypergraph and combinatorial domains. For the first time, submissions were also tracked on a public leaderboard, which we summarize and analyze here. Our analysis finds that the differences between the submitted tracks are strongly task-dependent: the mean accuracy gap is modest on community detection, while on triangle counting the Track 1 mean error is 1.85 times the Track 2 mean. Several structurally informed GNNs also outperform the Track 2 mean on triangle counting.

cs.LG · cs.AI

版本更新 · v3arXiv:2610.39076

Tactus: Tactile & Pose Sensing Glove for Natural Dexterity Data Collection

Li Guan, Rachael Granberry, Sahar Aseeri, Sahar Rostami, Taylor Niehues, Sai Dhanoosh Marri, Mia Huang, Dingtian Zhang 等 104 位作者

原文摘要

Collecting naturalistic human manipulation demonstrations with accurate contact force and hand pose is essential for robot dexterous manipulation policy and foundational world model learning - yet no existing wearable platform provides both calibrated fingertip force sensing and occlusion-resilient hand tracking in a form factor that preserves natural manipulation behavior. We present Tactus, a textile-integrated sensing glove that co-optimizes three design pillars: (1) a thin, conformal 3D-knit form factor (1.5 mm fingertip stackup) designed to minimize interference with natural manipulation, (2) strategically placed capacitive tactile sensors at manipulation-relevant regions informed by empirical contact studies, and (3) IMU-fused pose tracking that maintains accuracy through the hand-object occlusions where manipulation data is most valuable. Tactus includes a documented calibration pipeline for cross-glove consistency and per-session calibration for subject-dependent correction. To enable objective comparison, we introduce standardized benchmarking protocols for tactile force regression and hand pose estimation, and apply them to Tactus and two commercially available tactile gloves - to our knowledge the first quantitative cross-platform evaluation of this kind. Tactus resolves a minimum detectable force of 0.59 N at 95% confidence, 1.6 - 2.7x lower than the commercial baselines, and with 0.87 cross-participant consistency, while our pose tracking sustains 11.0 mm fingertip keypoint relative error during manipulation, when occlusion is heaviest. We show that these combined signals support object property estimation, slip detection, and representative recording of hand-object interaction - yielding demonstration data with the fidelity required for contact-aware manipulation policies and world models.

cs.RO · cs.AI · cs.AR · cs.LG