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版本更新 · v3arXiv:2604.09258

Nexus: Same Pretraining Loss, Better Downstream Generalization via Common Minima

Huanran Chen, Huaqing Zhang, Xiao Li, Yinpeng Dong, Ke Shen, Jun Zhu

原文摘要

The foundational capabilities of large language models are acquired during pretraining on internet-scale, highly heterogeneous data mixtures. In this work, we investigate an interesting geometric question regarding the converged state of pretraining: Does the model converge to a common minimizer across all data sources (e.g., Fig. 2b), or merely a minimizer of the summed loss (e.g., Fig. 2a)? We hypothesize that the geometric "closeness" of task-specific minima is intrinsically linked to downstream generalization. We reveal that standard optimizers (e.g., AdamW) often converge to points where task-specific minima are distant from each other. To address this, we propose the Nexus optimizer, which encourages the closeness of these minima by maximizing gradient similarity during optimization. Experiments across models ranging from 130M to 3B parameters, various data mixtures and hyperparameter schedules, show that Nexus significantly boosts downstream performance, despite achieving the same pretraining loss (see Fig. 1). Notably, on the 3B model, Nexus reduces the out-of-distribution loss by 0.012 and yields up to a 15.0% accuracy improvement on complex reasoning tasks (e.g., GSM8k). This finding challenges the reliance on pretraining loss as the sole proxy for model evaluation and demonstrates the importance of implicit biases in unlocking downstream generalization.

cs.LG

版本更新 · v2arXiv:2608.07525

Unified Hallucination Fuzzing for Multimodal Large Language Models

Pengfei Zhou, Jiajun Song, Zhiwei Tang, Yixing Ma, Donghui Si, Yuhang Xu, Huiqi Song, Yiyuan Miao 等 14 位作者

原文摘要

Hallucination remains a persistent challenge for Multimodal Large Language Models (MLLMs), severely limiting their reliability in high-stakes applications. Existing evaluations, predominantly based on static benchmarks, suffer from narrow taxonomical coverage and rapid performance saturation, failing to reflect model robustness in evolving real-world scenarios. To bridge this gap, we present a systematic evaluation framework integrating a comprehensive benchmark with self-evolving stress testing. First, we introduce UniHall, a fine-grained dataset grounded in a unified taxonomy spanning Object, Instruction, and Knowledge dimensions. Second, to address benchmark saturation, we propose Self-Adaptive Multimodal Fuzzing (SAMF), a self-adaptive framework that employs evolutionary mutation strategies to explore the boundaries of model hallucinations. Crucially, to ensure reliable assessment of dynamic inputs, SAMF incorporates a structured metric suite driven by an ensemble of multi-modal oracles. Our extensive experiments reveal that state-of-the-art MLLMs exhibit significant performance degradation under fuzzing compared to conventional settings, exposing a dissociation between reasoning capabilities and factual grounding. Furthermore, we identify a helpfulness-hallucination trade-off, where reinforcement learning alignment inadvertently exacerbates sycophancy in instruction-following tasks. The framework, code and benchmark are available at https://github.com/LanceZPF/EvalHall.

cs.CL · cs.AI

新论文 · v1arXiv:2611.07887

A Low Similarity Score Does Not Show Independence after Source-Conditioned Repository Rewriting

Micheline Bénédicte Moumoula, Serge Lionel Nikiema, Tailia Malloy, Abdoul Kader Kaboré, Jacques Klein, Tegawendé F. Bissyande

原文摘要

Maintainers sometimes cite a low token-similarity score as evidence that an LLM-assisted rewrite of a copyleft project is independent of the original. We test what such a score can support under \emph{source-conditioned} rewriting: a coding agent keeps the original in its working copy, rewrites the repository, and iterates until a fixed behavioural harness passes, with no human edit to the code. On 69 rewrites of six copyleft Python projects we find that: \ding{182}~Agent-only rewriting is inexpensive and often yields low scores. Every controlled rewrite passes the harness after repair, usually within half an hour for the initial rewrite. Under a ground-up rearchitecture prompt, most rewrites fall below 25\% JPlag similarity and still pass the harness. \ding{183}~A single low score is an unreliable witness. Identical project--agent--prompt configurations produce wide spreads in similarity; run-to-run variation dominates project and agent effects, and in more than a third of configurations the three repeats straddle the threshold. Rewrites retain more of the original's imports and fingerprint facts than unrelated projects do, yet hand-written independent implementations of the same task often retain as much, and neither signal separates the two groups better than chance. Thus a low score on one rewrite is weak evidence of independence: another run of the same agent may score high. Claims based on similarity should report repeated generations, and candidate provenance signals should be checked against same task independent implementations, not only against unrelated projects.

cs.SE

新论文 · v1arXiv:2611.07886

When, Where, How: Active In-Context Learning for Tabular Foundation Models

Christian M. M. Frey

原文摘要

Tabular Foundation Models (TFMs) adapt to a new task only through the labeled rows in their context. However, labels are expensive to acquire in real-world scenarios due to the need for highly specific domain knowledge to ensure high-quality data. Active in-context learning transfers classical acquisition rules to this setting, in which the model that guides acquisition changes with every label added. We ask how the value of diversity, predictive uncertainty and target-aware information gain changes as a frozen TFM acquires more context. For that, we study Target-Aware Nearest Neighbor (TANN) acquisition and the Expected Predictive Information Gain in Context (EPIC) and evaluate them against classical rules. Our study across twenty benchmarks with two well-established TFMs and classical GBDTs highlights three findings: (i) When: diversity-based acquisition is best during the first acquisition iterations; (ii) Where: labeling pool rows that serve the target inputs via a simple target-aware nearest-neighbor rule matters substantially; (iii) How: EPIC yields the best models at the label budget, retains on average 80--87% of the chance-corrected full-data performance with only 5-10% of the pool labeled on the eight benchmarks with the largest pools, and selects labels that also improve the predictive performance of gradient-boosted decision trees.

cs.LG · cs.AI

新论文 · v1arXiv:2611.07883

InnerLogic-Surg: An Open Surgical Foundation Model via Continual Pretraining

Kun Yuan, Hao Ding, Yiqing Shen, Gasper Podobnik, Benjamin Killeen, Tito Porras, Axel Krieger, Mathias Unberath

原文摘要

Vision foundation models are the backbone of modern surgical image analysis, yet most surgical systems still rely on encoders pretrained on natural images or on specialist models trained from scratch on comparatively small datasets. Pretraining encoders on large amounts of surgery-specific data has the potential to generally enhance the performance of surgical image analysis methods simply by providing stronger backbones. Here we present InnerLogic-Surg, an open family of surgical vision encoders (21M--300M parameters) obtained by continually pretraining a transformer-based image encoder on millions of surgical images curated from 11,965 internet-sourced surgical videos spanning ~2,900 hours and more than fifteen procedure types. Our training recipe inherits DINOv3's pretraining stage to preserve representation ability after surgical adaptation, and additionally applies a learned feature-upsampling module for high-resolution dense prediction at low token cost. Across a benchmark covering workflow, instrument and anatomy recognition, segmentation, detection, and monocular depth, under the same architecture, the largest InnerLogic-Surg model achieves the best linear-probe performance in all 20 surgical tasks. We demonstrate that surgical continual pretraining yields transferable representations that generalize across procedures, anatomical regions, and task types, showing our surgical image encoders as a promising and scalable alternative to the procedure-specific representation learning approaches that have traditionally dominated surgical computer vision.

cs.CV · cs.AI

新论文 · v1arXiv:2611.07882

Compositional Loop Invariant Inference for Multiphase Programs via Structured Neurosymbolic Reasoning

Mingxiu Wang, Jiawei Wang, Shuangxiang Kan, Angela Huo, Yuekang Li, Xi Zheng, Xiao Cheng

原文摘要

Loop invariants are essential for deductive program verification, yet automatically inferring them for {multiphase programs}, whose loops contain conditional branches that induce multiple execution phases with distinct behaviors, remains an open problem. Existing LLM-based methods either reason about loops as a whole or use explicit branch information to generate atomic assertions jointly across branches, without maintaining complete candidate sub-invariants for independent generation and targeted repair. We present CLOVER, a structured neurosymbolic reasoning framework for multiphase invariant inference built on two interlinked mechanisms. First, compositional inference: CLOVER statically decomposes a loop into symbolic {loop branch sequences}, conjunctions of the loop guard and branch conditions that characterize distinct execution scenarios, and guides the LLM to generate candidate sub-invariants for each one independently, so that each LLM query focuses on a single execution scenario rather than the entire loop. Second, counterexample-guided localized refinement: when SMT verification rejects a composed disjunctive invariant, CLOVER traces the counterexample back through the branch structure to identify which specific loop branch sequence caused the failure and repairs only that sub-invariant, preserving all correct components. Both mechanisms are unified by a shared symbolic structure derived from the loop's branch semantics, which guides what the LLM generates, how candidates are composed, and where refinement is directed. We evaluate CLOVER on 316 linear arithmetic, 50 nonlinear arithmetic, and 54 multiphase benchmarks. CLOVER solves 35 of 54 multiphase benchmarks, outperforming the best LLM-based baseline (29) by 20.7\% and the best traditional method (22) by 59.1\%. On linear/nonlinear benchmarks, CLOVER remains competitive, solving 355 of 366 programs overall.

cs.SE

新论文 · v1arXiv:2611.07881

TactileLab: Sim-to-Real Dexterous Robot Manipulation with Efficient Shear-Sensitive Tactile Simulation

Yijiong Lin, Wenhao He, Toby Jack, Max Yang, Haoran Li, Nathan F. Lepora

原文摘要

Robotic simulators that represent shear within tactile sensing are becoming increasingly important for contact-rich manipulation. However, simulating contact shear with high-fidelity deformable or soft-body simulation is computationally demanding, limiting scalability to large-scale reinforcement learning. Here we introduce \textit{TactileLab}, a scalable multimodal tactile simulation framework built on IsaacLab, with a particular focus on a new optical-flow-based tactile representation termed \textit{simulated tactile flow}. Instead of relying on soft-body physics to model shear deformation, TactileLab uses rigid-body simulation to efficiently estimate dense tangential motion at the contact interface, producing tactile flow fields that encode shear-relevant contact dynamics. This flow field complements geometric features from a contact depth field. We further introduce a novel policy architecture for jointly processing long-horizon proprioceptive signals and rich tactile observations. Across multiple contact-rich tasks, policies trained using simulated tactile flow learn efficiently at scale and exhibit emergent contact-aware behaviours. To facilitate sim-to-real policy deployment, we then propose a novel real-to-sim tactile translation method that maps real tactile image streams to simulated tactile flow and depth fields, together with a new tactile data collection method, and validate it across diverse tactile sensor designs. Using this pipeline, we demonstrate real-world deployment on tasks encompassing dual-arm and dexterous in-hand manipulation. Overall, TactileLab provides an end-to-end sim-to-real framework for scalable tactile policy learning, enabling diverse shear-sensitive manipulation across heterogeneous tactile robotic systems.

cs.RO

新论文 · v1arXiv:2611.07879

Network Effect Decomposition for Causal Effect Estimation under Network Interference

Zhirong Huang, Wenzhen Zhang, Guangquan Lu, Boyan Chen, Debo Cheng, Shichao Zhang

原文摘要

Estimating causal effects from observational network data requires accounting for both individual treatment and neighborhood exposure. Existing outcome models commonly incorporate these intervention variables into a joint predictor and estimate causal effects through prediction contrasts, leaving the corresponding response components implicit. We propose the $\underline{N}$etwork $\underline{E}$ffect $\underline{D}$ecomposition $\underline{Net}$work (NEDNet), which parameterizes the conditional outcome response as a query-invariant pre-treatment baseline plus separate treatment- and exposure-response pathways. Path-specific neighborhood contextualization supplies local pre-treatment information to the two pathways. We characterize the fitted response through a unique reference-normalized decomposition, which is equivalent to a zero mixed treatment--exposure contrast. Experiments on semi-synthetic benchmarks derived from BlogCatalog and Flickr show that NEDNet achieves the lowest PEHE among the compared methods for individual, peer, and total effects across homogeneous and covariate-heterogeneous response settings.

stat.ML · cs.AI

版本更新 · v3arXiv:2602.13977

WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL

Zhennan Jiang, Shangqing Zhou, Yutong Jiang, Zefang Huang, Mingjie Wei, Yuhui Chen, Tianxing Zhou, Zhen Guo 等 14 位作者

原文摘要

Reinforcement learning (RL) promises to unlock capabilities beyond imitation learning for Vision--Language--Action (VLA) models, but its requirement for massive real-world interaction prevents direct deployment on physical robots. Recent work attempts to use learned world models as simulators for policy optimization, yet closed-loop imagined rollouts inevitably suffer from hallucination and long-horizon error accumulation. Such errors not only degrade visual fidelity, but also mislead policy optimization by providing unreliable learning signals. We propose WoVR, a reliable world-model-based RL framework for post-training VLA policies. Instead of assuming a faithful world model, WoVR explicitly regulates how RL interacts with imperfect imagined dynamics. It improves rollout stability through a controllable action-conditioned video world model, reshapes imagined interaction to reduce effective error depth via Keyframe-Initialized Rollouts, and maintains policy--simulator alignment through World Model-Policy co-evolution. Extensive experiments demonstrate that WoVR enables stable long-horizon imagined rollouts and effective policy optimization, achieving superior LIBERO performance and consistent real-world gains across multiple robotic platforms. These results show that world models can serve as practical simulators for RL when hallucination is explicitly controlled. Additional visualization results are available at https://wovr-rlinf.github.io.

cs.RO · cs.AI

新论文 · v1arXiv:2611.07873

PVDepth: Panoramic Video Depth Estimation via Geometry-Aware Spatiotemporal Adaptation

Chuanxin Song, Peixi Peng

原文摘要

Panoramic video depth estimation is pivotal for applications such as Virtual Reality and World Models. However, advancements in this field are impeded by two primary obstacles: the scarcity of large-scale training data and the unique spatiotemporal challenges of Equirectangular Projection (ERP), which hinder the direct transfer of perspective models. In this paper, we first present PanoCARLA, a large-scale synthetic RGB-D panoramic video dataset, featuring natural motion trajectories and drone-like roaming perspectives. Building on this foundation, we propose PVDepth, an end-to-end framework adapted from perspective video depth models. To tackle ERP-specific geometric distortions and consequent non-linear temporal dynamics, we introduce two core mechanisms: (1) A Progressive Sphere-aware Noise Initialization strategy that anneals the noise distribution from planar to spherical, guiding the model to adapt to non-uniform information density; and (2) A Cube-rectified Temporal Modeling module that incorporates an auxiliary cubemap temporal branch to rectify non-linear temporal dynamics in the ERP domain. Extensive experiments demonstrate that PVDepth achieves superior performance, generating geometrically accurate and temporally consistent depth sequences. Code and data will be released at https:// github.com/ChuanxinSong/PVDepth.

cs.CV

新论文 · v1arXiv:2611.07872

A Projection-Coupled 2.5D THB-GIFT and Quadtree-SBIGA Formulation for Moving-Load Analysis in Semi-Infinite Media

Hao Hong, Yanhui Zhong, Bei Zhang, Shuo Xu, Minchuan Tan, Quansheng Zang, Hussein Rappel, Stéphane P. A. Bordas

原文摘要

Moving loads in semi-infinite media generate extended wave fields while complex local structures require fine geometric and spatial resolution. This paper develops a projection-coupled two-and-a-half-dimensional (2.5D) THB-GIFT and quadtree-SBIGA computational formulation that assigns independent discretizations to these regions. The near-field THB-GIFT representation separates the geometry and analysis spaces and permits hierarchical local refinement, while the bounded propagation domain is discretized by quadtree-SBIGA with unified Bézier trace extraction and connected to the homogeneous unbounded exterior through a scaled-boundary impedance. On a common physical integration partition, an $L^2$ projection maps the nonmatching traces; Hermitian-adjoint force transfer then gives a virtual-work-consistent interface reduction. The regional dynamic operators and moving-load response reconstruction follow a single Fourier convention. Homogeneous half-space comparisons and a cylindrical-cavity analytical solution verify the components and the complete coupled system. In the cavity study, hierarchical THB refinement reduces the displacement error in the target inner band by a factor of approximately $41$. At a specified frequency--wavenumber point in the cavity benchmark, a comparison with matched outer-boundary discretization gives approximately $15\%$ lower sampled full-domain error for the coupled model, using $34\%$ fewer system degrees of freedom and $48\%$ fewer S-elements; the warm per-sample times are similar. A layered pavement with a buried conduit and twin modified-D tunnels demonstrate open, closed and multiple disconnected nonmatching interfaces and the analysis of local structural demand and dynamic interaction under moving loads.

cs.CE

新论文 · v1arXiv:2611.07867

PlayGen2: Learning Real-Time Playable Worlds with Explicit 3D State

Jihai Zhang, Yuhan Zhou, Junyou Li, Deheng Ye, Qi Dou, Yu Cheng

原文摘要

Building a playable world requires more than generating plausible video: it demands responsive control, persistent spatial structure, and coherent interactions with dynamic entities. Using generated frames as the sole recurrent world representation ties these requirements to view-dependent appearance synthesis, making it difficult to maintain long-term spatial and temporal consistency in generation and interaction. We present PlayGen2, a real-time interactive world model that separates learned 3D state evolution from neural rendering. PlayGen2 maintains a persistent world memory comprising static geometry represented by a volumetric occupancy grid and identity-indexed 3D states for the player and other entities. Within a fixed-size local region, its world-state model jointly learns action-conditioned entity dynamics, geometry completion, and entity discovery, committing updates to a persistent world memory. A separate neural renderer synthesizes first-person observations from depth and semantic projections of the world state, without feeding generated images back into state prediction. Using Doom as a testbed, we demonstrate that the model successfully learns world dynamics including geometry-aware player motion and player--NPC interactions. The framework is computationally efficient, enabling the complete simulation and rendering pipeline to achieve approximately 160ms backend latency on a MacBook Pro with an M4 Pro chip. Beyond single-player interaction, we demonstrate zero-shot deployment on unseen Doom maps, multiplayer interaction through the composition of single-player models, and programmable gameplay through rule-based state interventions. These capabilities demonstrate the transferability and extensibility of the learned game-world model. Code and pretrained model weights are publicly available.

cs.CV · cs.LG

新论文 · v1arXiv:2611.07866

Do Recommenders Need to Think in Words? Latent Reasoning for Efficient LLM-Based Recommendation

Hongyang Su, Beibei Kong, Lei Cheng, Chengxiang Zhuo, Zang Li

原文摘要

LLM-based recommender systems increasingly generate chain-of-thought (CoT) text before each item prediction to activate the LLM's reasoning capacity, costing tens to hundreds of extra tokens per recommendation at inference. We ask whether inference-time reasoning artifacts (textual or latent) can be replaced by training-time supervision alone, without loss of accuracy. We propose LatentRec, a framework for LLM-based generative recommendation that replaces inference-time reasoning artifacts with training-time per-step head supervision. LatentRec has three components. A 2.5M-parameter Continuous Thought Module iterates K latent reasoning steps over the LLM's hidden state during training. Soft Token Selection bridges the ~14x norm gap between hidden states and input embeddings. A Per-step Reasoning Loss (PRL) supervises every intermediate state through the LLM's prediction head against the first token of the target Semantic ID. The trained LLM retains this accuracy without the module at inference, so the module can be discarded at deployment. On three Amazon benchmarks, LatentRec improves HR@10 by 4.0-5.0% (relative) over a CoT-distilled baseline at 18.3x lower latency (batch=1). Per-step training supervision consistently improves accuracy across three datasets, paid once at training rather than at every recommendation.

cs.CL

新论文 · v1arXiv:2611.07865

OcTreeMamba: Topology-Aware Mamba for 3D Medical Segmentation via Octree Sparsification

Kaixiang Mai, Jiaqi Yu, Yuzhu Ji, Yiqun Zhang, Zhijie Wang, Haijun Zhang, Yiu-ming Cheung

原文摘要

Accurate segmentation of 3D anatomical structures is crucial to medical image analysis. Recently, Mamba-based approaches have achieved promising segmentation performance in capturing long-range dependencies with linear-time computational complexity. However, heuristic selective scanning strategies inherently disrupt the intrinsic spatial hierarchy and increase computational redundancy, ignoring the inherent sparsity of 3D anatomical structures. To this end, we propose OcTreeMamba, a hierarchical framework that incorporates Octree structures into SSM, achieving 3D topology-aware long-range context feature propagation and integration. Specifically, a Structure Learner performs anatomy-adaptive structured sparsification through hierarchical gating and Gumbel-Softmax sampling, enabling differentiable selection of anatomical regions. The selected regions are subsequently organized by a Dynamic Octree Builder into a multi-level topology that preserves their hierarchical connectivity. Based on the constructed Octree, a bidirectional Tree-SSM propagates and integrates contextual features along connectivity-aware leaf--parent--root and root--parent--leaf trajectories. Extensive experiments on four benchmark datasets show that our proposed OcTreeMamba achieves competitive performance \wrt topological continuity and computational efficiency, particularly for recovering the complex structure on vascular datasets. The code is available at https://github.com/MikeMak123/OcTreeMamba.

cs.CV

版本更新 · v2arXiv:2611.06079

TauLang: A Language and Compiler for Space-Time Programming on Statically Scheduled Accelerators

Xuxiao Yang, Junchi Wu, Yuqi Peng, Feiyang Wu, Zhuoran Li, Wei Kong, Shuo Tao, Dongyi Fan 等 13 位作者

原文摘要

Statically scheduled accelerators such as Groq's Tensor Streaming Processor (TSP) achieve low-latency large language model inference by stripping dynamic synchronization hardware from the chip. With no caches, arbiters, or hardware schedulers, the compiler must fix the exact slice and issue cycle of every operation, so when an operation runs is a condition for correctness. Existing kernel languages cannot target such machines because they rely on hardware to resolve cycle timing and instead encode schedules implicitly in code structure. We present TauLang, a kernel language and compiler that makes time a first-class citizen of the program. The programmer schedules operations, loops, and composed kernels with parameterized explicit times, so exploring schedules means changing parameter values rather than rewriting code. TauLang validates explicit times algebraically in TauIR, its timed intermediate representation. It then solves tensor placement and cycle scheduling jointly in an integer linear program, using explicit times to group connected operations into timing clusters that prune the search space. On a cycleaccurate model of a TSP-like machine, joint search achieves a $1.40\times$ latency speedup across ten kernels over a space-first flow. A few explicit time pins keep latency within one cycle of the untimed schedules and scale joint search to 1,636 GEMM blocks, whereas untimed search finds no schedule at 32.

cs.PL · cs.AR

新论文 · v1arXiv:2611.07853

CANMentor: A Large-Small Model Collaboration Framework for CAN Bus Intrusion Detection

Zhiquan Liu, Haolin Gao, Bo Wu, Jingjing Guo, Heng Sun, Jianfeng Ma

原文摘要

The Controller Area Network (CAN) bus lacks built-in security mechanisms, making real-time intrusion detection necessary. However, resource and latency constraints limit vehicle-side intrusion detection systems (IDSs) to lightweight models, whose detection performance and generalization can degrade under non-independent and identically distributed (non-IID) data. Meanwhile, uploading original CAN messages to the cloud for more powerful model inference risks exposing sensitive vehicle information. We propose CANMentor, a large-small model collaboration framework in which a cloud-side large language model (LLM) teacher supervises vehicle-side lightweight IDS models for CAN bus intrusion detection. Each vehicle first performs local inference, and a privacy-aware generator then produces proxies from the original CAN messages for cloud-side teacher inference to protect data privacy. The vehicle uses the teacher prediction only when the response arrives within a prescribed latency bound and otherwise retains the local prediction; all returned teacher logits are converted into soft targets for periodic knowledge distillation. On non-IID partitions of the ROAD dataset and the HCRL Car-Hacking dataset, knowledge distillation yields maximum relative Macro F1 improvements of 25.01% and 20.79%, respectively. Teacher predictions also improve detection accuracy for CAN messages near the local decision boundary by 38.71-42.00 percentage points.

cs.CR

新论文 · v1arXiv:2611.07850

Learning Robotic World Models with Semantic and Visual Feedback

Hao Wu, Yuqi Li, Yizhou Zhao, Kun Wang, Xiao Luo, Yu Cheng, Bo An, Yingli Tian 等 10 位作者

原文摘要

Robot world models predict action-conditioned future visual states to support robotic planning and decision making. However, visual reconstruction does not fully capture task progress, semantic evaluation alone provides limited constraints on fine-grained visual errors, and homogeneous predictions limit comparative feedback. We present RoboImagine, a framework for post-training autoregressive robotic world models through candidate-future comparisons with semantic and visual feedback. Diverse search promotes diversity among candidate trajectories under shared visual observations, action sequences, and task instructions. A frozen multimodal evaluator provides task-relevant semantic preferences through pairwise video comparisons in both presentation orders, complemented by pixel- and perceptual-level visual consistency feedback that constrains local structural and appearance errors. These signals drive policy optimization through group-relative advantages. Fixed initial context and branch-specific rolling histories support long-sequence generation with bounded context and consistent conditioning between candidate generation and policy optimization. Experiments with separately trained models on RT-1, BridgeV2, and RoboCasa cover real-world and simulated manipulation. On RT-1, under matched initialization, update counts, and evaluation protocols, RoboImagine improves PSNR by 1.26 dB and reduces LPIPS by 11.93% relative to continued supervised fine-tuning. Ablations show that diverse search improves prediction quality and that combined semantic and visual feedback yields higher external multimodal evaluation scores than visual feedback alone while maintaining comparable visual fidelity. Rolling histories further improve long-horizon prediction. These results support improving visual fidelity, task relevance, and long-horizon prediction through candidate comparison and complementary feedback.

cs.RO · cs.CV

版本更新 · v2arXiv:2609.08219

Speed limits for information acquisition in stochastic learning dynamics

Shuta Kobayashi, Andreas Dechant

原文摘要

Neural networks acquire internal representations through learning. In this work, we formulate stochastic gradient descent (SGD) as a Markovian stochastic process and derive a Fisher-information flow speed limit that bounds the rate at which trainable parameters can acquire information about data-generating parameters. The resulting inequality decomposes the upper bound on the information flow into drift and noise contributions, thereby quantifying the roles of deterministic learning forces and SGD-induced fluctuations from an information-theoretic perspective. We verify the bound in analytically tractable basis-function linear regression, where the information budget predicted by the bound reproduces the ordering and characteristic time scales with which different data-generating parameters are encoded in the learned parameters. These results establish Fisher-information speed limits as a quantitative framework for understanding which properties of the data-generating process are acquired, in what order, and how rapidly they can be encoded in the trainable parameters.

cond-mat.stat-mech · cs.LG · stat.ML

新论文 · v1arXiv:2611.07847

Computation, not weight access: large language models as auditors of clinical prediction networks

Zhiyu Liu, Xinyu Yang

原文摘要

Frontier large language models (LLMs) have been reported to read, edit and write the weights of small neural networks, raising the prospect of auditing clinical prediction models from their files alone. Public demonstrations, however, mixed reading raw weights with running code. We separated these conditions in internally pre-specified simulation experiments. Tanh networks of 105 to 38,401 weights were trained on simulated cohorts of patients with subarachnoid haemorrhage, each with a planted relationship or none, and one network was trained on labels that under-recorded deaths in a subgroup. GPT-6 Astra and four other GPT models answered single prompts under a default or an explicit system instruction, either with the weights in the prompt and no tools, or with a calculation-only tool that exposed the weights (white box) or only the network's predictions (black box). Without tools, Astra recovered planted relationships in 353-weight networks but became unreliable at 3,457 weights, and under the default instruction it declined 11 of 12 audit and repair tasks as unidentifiable; the explicit instruction removed these refusals. With the tool, it recovered the planted relationship in all 29 runs on networks of up to 38,401 weights, raised no false alarm in 15 runs on null networks, and found the biased subgroup in 6 of 6 runs. Black-box access performed as well as white-box access, and other GPT-6 models read as accurately. A well-designed script matched the comparator models on the audit and the best LLM repair. For auditing these networks, what mattered was computation and elicitation, not access to the weights.

cs.LG · cs.AI

版本更新 · v3arXiv:2406.19581

HarmonICA: Quasi-Time-Invariant ICA for Motor Unit Decomposition during Dynamic Contractions

Alexander Kenneth Clarke, Dimitrios Halatsis, Agnese Grison, Irene Mendez Guerra, Noura Ezaz-Nikpay, Pranav Mamidanna, Shihan Ma, Silvia Muceli 等 9 位作者

原文摘要

Decomposing surface electromyography (EMG) into the spike trains of individual motor neurons is a long-standing inverse problem and a key step toward motor-neuron-driven neural interfaces such as prosthetics and exoskeletons. The standard approach, independent component analysis (ICA) of the multichannel signal, assumes that the mixing from neurons to electrodes is stationary in time. This assumption fails during movement, when volume-conductor deformation makes the mixing time-varying, and current decomposition algorithms are correspondingly restricted to isometric contractions. We introduce HarmonICA, a quasi-time-invariant ICA formulation in which a static linear separator is preceded by a learned, low-rank, time-varying invertible transformation. The separator is trained with an independence loss on the uncompensated projection, and the transformation with a stationarity loss on the recovered source. Gradients are not shared between the two, so source extraction remains a classical linear-ICA problem while non-stationary distortion is absorbed by the transformation. The closed-form inverse of the transformation enables per-spike subtraction with a time-varying template during sequential peel-off. On a public simulated benchmark of dynamic high-density EMG with ground-truth spike trains, the method outperforms five adaptive ICA baselines at every recall threshold, recovering more units at a higher accuracy.

cs.HC · cs.LG

新论文 · v1arXiv:2611.07836

THG-Omni: Traceable Human-Centric Graph Supervision for Video Reasoning

Jisheng Dang, Kai Wei, Ronghao Lin, Bimei Wang, Hong Peng, Wei-Shi Zheng, Bin Hu, Qi Tian 等 9 位作者

原文摘要

Omni-modal models can answer questions about video, but their predictions rarely show which participant, event, or interval supports an answer. Moreover, answer-level supervision alone does not teach a model to interpret structured video evidence. To systematically mitigate this issue, we present THG-Omni, a human-centric graph-supervision framework that links Segment Anything Model~3 participant tracks with temporally grounded Qwen3-VL annotations. Candidate semantic claims are checked against the source video and available audio before they are used to construct training questions, while track geometry provides explicit spatial and temporal supervision. The resulting questions teach an omni-modal reasoning model to interpret participant attributes, actions, affect, interactions, and their timing from a structured graph. At inference, THG-Omni uses a predicted graph constructed from the evaluation video. Experiments on IntentBench show consistent improvements over the unadapted backbone across social reasoning, emotion understanding, and deception perception. On NExT-QA, THG-Omni achieves 89.54\% accuracy with the matched graph, compared with 85.10\% without graph input. Further validation experiments show that compact graph input achieves 78.22\% accuracy, compared with 78.02\% using the full graph and 77.58\% without graph input. A complementary diagnostic demonstrates that the predicted graph preserves evidence useful for answering questions even without the source video and audio. Together, these findings show that THG-Omni improves human-centric video reasoning while grounding its evidence in identifiable participants and events. Our codes are available at https://anonymous.4open.science/r/review-n94hhfcwp5666/

cs.CV · cs.AI

新论文 · v1arXiv:2611.07828

STAG-Net: Structure-Aware Attention over Landmark Groups for Lightweight Head Pose Estimation

Asiri Gawesha Lindamulage, Sanka Mohottala, Dharshana Kasthurirathna, Nuwan Kodagoda

原文摘要

Head pose estimation is important for human computer interaction and driver monitoring, but many image based methods remain too costly for resource constrained deployment. We propose STAG-Net, a structure-aware attention over landmark groups for lightweight head Pose estimation that estimates head pose from facial landmarks using movement aware selection, spatial clustering, compact DeepSet encoders, self attention, and a global geometry descriptor. We develop variants using FaceMesh and Face Alignment Network landmarks and evaluate them under cross dataset and subject independent protocols on 300W-LP, AFLW2000, and BIWI. STAG-Net achieves the lowest mean absolute error among all compared landmark based methods in every evaluated setting. On BIWI frames with valid detections, the FAN variant also records the lowest overall error among all compared methods, reaching $3.51^\circ$ under cross dataset evaluation and $2.39^\circ$ under subject independent evaluation. The regressors use only 0.012 to 0.043 million parameters and 24.1 to 83.6 thousand FLOPs, about three orders of magnitude fewer FLOPs than FSA-Net. Despite including landmark extraction and regression, the FaceMesh pipeline reaches 322.9 frames per second on a Tesla T4 GPU, nearly twice the 164.5 frames per second of the fastest measured image based baseline, and 111.0 frames per second on CPU. After normalization by dataset size, STAG-Net processes training samples seven to eight times faster than FSA-Net and more than one hundred times faster than HopeNet and TokenHPE, while complete training finishes within 28 minutes. These results show that STAG-Net combines leading landmark based accuracy with substantially lower training and inference cost.

cs.CV · cs.AI · cs.HC

新论文 · v1arXiv:2611.07825

Generate-then-Rank: Learning Symbolic Goal Interpretation for Embodied Agents

Jisen Lei, Huizhi Liang

原文摘要

Goal interpretation is to translate a natural language instruction into a formal symbolic goal that a planner can execute. It is critical for embodied agents because any error here propagates to every downstream planning and action step. Doing it well requires both generating suitable candidates and reliably selecting among them. We present a two-stage generate-then-rank approach to Goal Interpretation in the Embodied Agent Interface (EAI). First, supervised fine-tuning adapts a Large Language Model (LLM) to EAI's output convention. Second, Candidate-Output Ranking from Errors (CORE) learns preferences over complete outputs from the model's own generated alternatives. We conducted experiments on the household scenes of the Embodied Agent Interface Benchmark. Multiple open source LLMs including DeepSeek-V3 chat, DeepSeek-Reasoner, and Qwen2.5-7B and Qwen2.5-72B were evaluated. The proposed method outperformed the baseline models including LLMs with simple prompting, chain-of-thought, and knowledge graph based approaches.

cs.AI · cs.CL · cs.RO

新论文 · v1arXiv:2611.07820

Axis-LoRA: Probing and Adapting Embedding Models for Personal-Memory Retrieval

Dohoon Kim, Junho Park, Hyunwoong Bae, Seyoon Kim, Taesup Moon

原文摘要

As LLMs are increasingly asked questions about a user's personal experiences, retrieval must distinguish memories by time, place, person, and event. Current personal-memory pipelines rely on frozen dense embedding models to embed memories for retrieval, but we find that these models do not capture the four axes well. Swapping a memory's date or place barely shifts its embedding, and a trained projection on top of the frozen embedding does not recover the missing signal. The problem lives inside the model, where each axis is encoded by a distinct attention-head pattern. Guided by these findings, we propose Axis-LoRA, a per-axis adapter that places four LoRA branches inside the embedding model and combines them via a per-query gate. Across three standard embedding models evaluated on LongMemEval, ATM-Bench, and LoCoMo, Axis-LoRA improves 4-benchmark mean R@10 by $+1.28$ to $+1.56$~pp while training only a small fraction of the base parameters on a small axis-counterfactual training set. Code is available at https://github.com/dohoonkim-ai/axis-lora.

cs.CL · cs.AI

版本更新 · v2arXiv:2509.14039

On the Rate of Gaussian Approximation for Online Linear Regression Problems

Marina Sheshukova, Alain Durmus, Marat Khusainov, Sergey Samsonov

原文摘要

In this paper, we consider the problem of Gaussian approximation for the online linear regression task. We derive the corresponding rates for the setting of a constant stepsize and study the explicit dependence of the convergence rate on the problem dimension $d$ and quantities related to the design matrix. When the number of iterations $n$ is known in advance, our results yield a normal approximation rate of order $\sqrt{\log{n}/n}$, provided that the sample size $n$ is large enough.

stat.ML · cs.LG · math.OC

版本更新 · v2arXiv:2611.00771

Sampling Design and Confidence Tubes for Integral Curves on Riemannian Manifolds

Xiaotian Chang, Qirui Hu, Cyrus Mostajeran

原文摘要

We estimate the integral curve of an unknown vector field from noisy tangent vector field on a known compact Riemannian manifold. We consider two sampling settings: independent observations at random locations that have already been collected, and a fixed response budget that allows subsequent locations to be chosen using pilot information. Under suitable regularity assumptions, the passive kernel estimator has curve error of order $n^{-2/(d+3)}$ in probability, with sample size $n$ and manifold dimension $d$. Its functional central limit theorem has a limit characterized by a linear stochastic differential equation. For active sampling, an independent pilot directs one new batch of measurements to neighborhoods of the target curve. Under localization, smoothness and design conditions, this concentration yields expected maximum curve error of order $N^{-1/2}$, including the pilot in the total response budget $N$. Both methods provide simultaneous geodesic confidence tubes with asymptotically exact coverage under mild conditions. Simulations show narrower active tubes in most reported settings, with improved small-sample coverage in some three-dimensional examples. Ocean-drifter observations illustrate mean-flow reconstruction on the sphere, and a canopy-flow LDA application uses retrospective active sampling to quantify lateral and vertical departures of local mean streamlines.

stat.ML · cs.LG

新论文 · v1arXiv:2611.07815

Newton Steps are Faster for Linear Complementarity Problems

Haoyuan Ma, László A. Végh, Adrian Vladu

原文摘要

Linear Complementarity Problems (LCPs) with sufficient matrices form a well-studied class of problems, dating back from the foundational works of Cottle and Dantzig (1968). LCPs capture convex quadratic programs, and admit reductions from problems such as discounted stochastic games or mean-payoff games. While the original approach for solving these problems was based on pivoting methods, in their 1991 book, Kojima, Megiddo, Noma, and Yoshise introduced an interior point method (IPM) with running time that is polynomial in the input size, but which depends linearly on a certain parameter called the handicap number of the matrix. Despite the ensuing rich literature on sufficient LCP IPMs, the linear dependence on the handicap number has not been improved since then. We present an IPM whose running time depends on the square root of the handicap number. The algorithm can decrease the duality gap by a constant factor in $O\left(\min\left\{\sqrt{n} (1+κ),n^{9/8}\sqrt{1+κ}\right\}\right)$ iterations. Curiously, this can already be achieved using standard Newton updates. We analyze the IPM in a norm defined by a local weighting, where centralizing Newton steps quadratically converge to the central path, without any dependence on the handicap number. The weights arise from a characterization by Rump (Linear Algebra and Its Applications, 1997, 1998, 2003) of the sign-real spectral radius and its relation to sufficiency; another ingredient of our proof is a new operator norm characterization of the handicap number. Moreover, the connection to Rump's work also enables us to show coNP-completeness of testing sufficiency, and approximation hardness of the handicap number.

math.OC · cs.DS

新论文 · v1arXiv:2611.07814

CMDiff: Left Atrial Scar Segmentation from 3D LGE MRI Using Conditional Mask Diffusion Model: A Feasibility Study

Jing Zhang, Bastien Bergere, Jonas Leite, Emilie Bollache, Mikaël Laredo, Alban Redheuil, Nadjia Kachenoura

原文摘要

Late gadolinium enhancement (LGE) cardiac MRI enables non-invasive assessment of left atrial (LA) scar, an imaging marker associated with atrial fibrillation ablation outcome. However, automatic scar segmentation is hindered by low contrast, the thin atrial wall, scarce labels, and extreme class imbalance. Conditional diffusion offers iterative mask generation, but its suitability for sparse 3D LA scar segmentation remains unclear. To address this gap, we propose Conditional Mask Diffusion (CMDiff), which predicts clean masks using a dynamic-encoder-conditioned 3D sinusoidal UNet. We compared CMDiff with a deterministic baseline on identical cases in five-fold cross-validation of 60 scar-labelled public LASCARQS subjects, with 48 training and 12 held-out cases per fold. CMDiff achieved a scar DSC of 0.47 $\pm$ 0.08, HD95 of 12.89 $\pm$ 6.39 mm, and ASD of 1.91 $\pm$ 0.96 mm, compared with deterministic baseline values of 0.51 $\pm$ 0.08, 10.86 $\pm$ 5.39 mm, and 1.58 $\pm$ 1.03 mm, respectively. Under the same implementation, clean-mask prediction performed substantially better than the noise-prediction configuration evaluated in this study. Thus, CMDiff was technically feasible but did not improve segmentation performance: DSC was lower, and both HD95 and ASD were higher. Direct mask diffusion therefore provides an analytical alternative, but not a competitive performance advance for this task. The source code is publicly available at https://github.com/jizhang02/CMDiff.

cs.CV

版本更新 · v3arXiv:2607.00516

When A Beats B Needs Evidence: CLAIMSTAB-QC for Auditing Comparative Claims in Quantum Software

Boshuai Ye, Peng Liang, Maryam Tavassoli Sabzevari, Arif Ali Khan

原文摘要

Empirical quantum-software papers often claim that one compiler produces smaller circuits, one optimizer is more reliable, or one ansatz achieves better solution quality. Such comparisons depend on benchmark scope, circuit construction, compilation, sampling, backends, noise models, optimizer choices, and resource budgets. Existing testing, benchmarking, and reproducibility methods help assess programs and experiments but do not directly audit whether the reported comparison is supported by the evidence available in the paper and artifact. We present CLAIMSTAB-QC, a source-bounded framework that records baselines, metric, relation, and admissible evidence; locks the audit design before outcomes are computed; and reports a scoped relation outcome or an explicit evidence boundary. Strict scalar-directional comparisons are classified as Sustained, Unresolved, or Not preserved within the locked audit scope. We examine 455 comparative claims from 119 quantum-software papers. A materialization gap emerges: 175 claims can be represented for audit planning, 79 become scalar-directional planning records, and 53 yield lockable audit or diagnostic designs, but only 8 expose enough matched evidence to audit the original comparison without proxy reconstruction. Among these 8, 2 are Sustained, 4 Unresolved, and 2 Not preserved. Controlled diagnostics over 24 benchmark-relevant quantum-workload comparisons further show that simpler checks can preserve apparent directions despite weaker support under locked designs. These results indicate that performance orderings should be reported with matched evidence sufficient to audit their stated scope.

cs.SE

版本更新 · v3arXiv:2610.13373

PartiGen: Part-Aware Representations for Language-Conditioned Humanoid Motion Generation

Chuxuan Huang, Zhanxiang Cao, Tianyue Zhan, Haoyang Li, Yang Zhang, Liyun Yan, Chenlin Ming, Keqi Zhu 等 17 位作者

原文摘要

Translating language into humanoid motion requires coordinating body parts, determining motion duration, and producing references suitable for robot execution. We introduce PartiGen, a part-aware latent diffusion framework that incorporates anatomical structure into a shared whole-body motion representation. Part-specific attention processes anatomically masked frame features, and its outputs are fused to combine local limb information with whole-body context. Conditioned on text and motion history, the model generates motion primitives autoregressively. Forward-kinematics supervision encourages kinematic consistency, while a learned end-of-sequence predictor selects a frame-level endpoint after generation. On HumanML3D retargeted to the Unitree G1, PartiGen achieves a segment-level FID of 3.165, a 16.8% reduction over TextOp, and improves R@1 by 1.4 percentage points. In the duration study with 16-frame primitives, endpoint prediction reduces mean absolute duration error from 12.471 to 3.080 frames compared with a fixed-length cutoff. We further evaluate robot execution using a pretrained, frozen GRIT tracker: 409 of 500 generated references (81.8%) pass the posture-based stability screen in MuJoCo. Following simulation screening and manual selection, 26 of 27 attempted motions are judged successful on the real G1.

cs.RO