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新论文 · v1arXiv:2611.02564

Central pivot point control of a body-attached spring-mass runner: periodic gaits, stabilization, template embedding and approximate analytic return maps

İzel Sever, O. Kaan Karagöz, M. Mert Ankaralı

原文摘要

The spring-loaded inverted pendulum (SLIP) describes the center-of-mass (COM) motion of runners but has no trunk. In trunk models, the hip torque couples posture and COM motion and destroys the central-force structure on which SLIP analysis relies. As a result, trunk models have been studied almost only numerically. We show that this structure can be restored. The central pivot point (CPP), a hip-torque law that directs the ground reaction force through the COM, decouples pitch exactly and reduces stance to a planar central-force problem. At upright posture, time-reversal symmetry produces one-parameter families of periodic gaits. A stance-phase pitch law and a stride-level regulator stabilize all computed gaits, also with bounded hip torque and friction. Under CPP, any radial force law in virtual-leg coordinates can be embedded independently of posture. For a linear radial template, the stance radius and the constant-momentum sweep have exact closed forms. With a new gravity correction, the resulting analytic return map, to our knowledge the first for a trunk model, predicts liftoff velocity and apex position with mean errors of 1.6% and 0.9%. The natural gaits of the embedded runner are symmetric and need no force step at touchdown. A near-reversibility argument explains their unit multiplier, and a scalar equation predicts them within 0.8%. A deadbeat stride controller based on the analytic map tracks changes of speed, height and posture. CPP thus makes trunk models accessible to the analytic tools developed for SLIP.

cs.RO · eess.SY · math.DS · physics.bio-ph

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.11213

AliO: Output Alignment Matters in Long-Term Time Series Forecasing

Kwangryeol Park, Jaeho Kim, Seulki Lee

原文摘要

Long-term Time Series Forecasting (LTSF) tasks, which leverage the current data sequence as input to predict the future sequence, have become increasingly crucial in real-world applications such as weather forecasting and planning of electricity consumption. However, state-of-the-art LTSF models often fail to achieve prediction output alignment for the same timestamps across lagged input sequences. Instead, these models exhibit low output alignment, resulting in fluctuation in prediction outputs for the same timestamps, undermining the model's reliability. To address this, we propose AliO (Align Outputs), a novel approach designed to improve the output alignment of LTSF models by reducing the discrepancies between prediction outputs for the same timestamps in both the time and frequency domains. To measure output alignment, we introduce a new metric, TAM (Time Alignment Metric), which quantifies the alignment between prediction outputs, whereas existing metrics such as MSE only capture the distance between prediction outputs and ground truths. Experimental results show that AliO effectively improves the output alignment, i.e., up to 58.2% in TAM, while maintaining or enhancing the forecasting performance (up to 27.5%). This improved output alignment increases the reliability of the LTSF models, making them more applicable in real-world scenarios.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2512.17262

SHARP-QoS: Sparsely-gated Hierarchical Adaptive Routing for Joint Prediction of QoS

Suraj Kumar, Arvind Kumar, Soumi Chattopadhyay

原文摘要

Dependable service-oriented computing relies on multiple Quality-of-Service (QoS) parameters to assess service performance. However, real-world QoS data are often sparse, noisy, and shaped by hierarchical dependencies arising from QoS interactions, geographical constraints, and network-level factors, making accurate prediction challenging. Existing deep learning-based methods often predict each QoS parameter separately, requiring multiple similar models, which increases computational overhead and limits their suitability for applications requiring joint decisions across multiple QoS parameters. Although recent joint QoS prediction studies employ shared architectures, differences in numerical ranges across QoS parameters can lead to task imbalance and negative transfer, while inadequate representation learning and suboptimal joint optimization can degrade prediction accuracy. We present SHARP-QoS, a joint QoS prediction framework with three components. First, hyperbolic graph and hypergraph convolutions in the Poincaré ball extract hierarchical features from QoS invocation and contextual graphs. Second, sparsely gated sub-network routing selectively shares contextual and cross-QoS features, and a gated fusion module combines them with the structural features. Third, an EMA-based loss-balancing strategy smooths short-term fluctuations in task losses to provide less fluctuating task weights. Experiments on three multi-QoS datasets covering two, three, and four QoS parameters show that SHARP-QoS achieves lower prediction errors than existing joint QoS prediction methods. Because its contextual branch relies only on public region and AS attributes, it supports prediction for new users and services. Ablation, hyperparameter, outlier, and scalability analyses further assess its performance, highlighting the trade-off between prediction accuracy and computational cost.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02561

EEFA: A Framework for the Ethical Evaluation of AI Agents

Swathi Pallikala, Yashas Hariprasad

原文摘要

The rapid deployment of autonomous AI agents across consequential domains including healthcare, legal services, nancial management, and enterprise workows has created an urgent governance challenge. While the eld of AI evaluation has produced sophisticated benchmarks for measuring agent capability, these frameworks measure exclusively what agents can do rather than how they do it. The ethical dimensions most critical to responsible agent deployment, in- cluding respect for human autonomy, harm avoidance, transparency and non-deception, privacy compliance, and accountability, are systematically absent from current evaluation practice. This paper addresses that gap through three contributions. First, a structured literature review of twelve leading AI agent benchmarks characterizes the ethical dimensions those bench- marks do and do not measure. Second, the Ethical Evaluation Framework for AI Agents (EEFA) is introduced as a comprehensive, operationalizable instrument for ethical agent evaluation, grounded in established AI ethics principles and designed for use by developers, auditors, and regulators. Third, a reproducible validation protocol is specied for applying the EEFA to deployed agent systems, with illustrative test scenarios across all ve framework dimensions. The EEFA is organized across ve primary dimensions: Autonomy Preservation, Harm Avoid- ance, Transparency and Non-Deception, Privacy Compliance, and Accountability and Traceabil- ity. The framework maps directly onto the requirements of the EU AI Act and the NIST AI Risk Management Framework, positioning it as a practical compliance assessment instrument for high-risk AI applications. Empirical application of the framework across diverse benchmarks and agent systems is identied as a priority direction for future work.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02560

Circuit Lower Bounds for Extended Gate Bases from Subexponential Counting

Mengyang Wu, Minghao Wang

原文摘要

We study circuit lower bounds for extended gate bases using exact CNF counting and an extension-ring form of the contraction theorem of OpenAI. The deterministic counting theorem of Claude (Anthropic) yields an $\mathsf{E}^{\mathsf{NP}}$ language requiring $Ω(m\sqrt{\log m}/\log\log m)$ gates over unbounded AND/OR with binary XOR, infinitely often. Using that contraction theorem, a bounded binary base with a linear budget of arbitrary XOR and symmetric gates requires $Ω(m\sqrt{\log m})$ gates infinitely often. These results extend the binary-gate lower bound of OpenAI. Signed long-clause selectors reduce the first counting problem to the difference of two ordinary 3-CNF counts. Affine characters and unit-separated interpolation give the second counting interface, with logarithmic cost per symmetric-gate arity. A quantitative local-reduction transfer accounts for auxiliary variables, branch counts, and integer recovery.

cs.DS · cs.CC

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2607.15659

Harnessing Plastic Deformation for Continuous Passive Stability in Soft Grippers

Junlong Xiao, Yaoqiang Pan, Xuan Zhang, Michael Yu Wang, Chao Chen

原文摘要

Soft robots offer compliance and adaptability for interacting with complex environments, but their low structural stiffness can compromise stability under dynamic disturbances. Here, we present a continuously stable structure through plastic deformation (CSSPD), a hybrid metal-elastomer architecture that enables passive shape retention without continuous energy input. By deliberately exploiting plastic deformation in a kirigami-patterned metal layer, CSSPD establishes new equilibrium configurations while increasing structural stiffness and resistance to dynamic disturbances. A theoretical model is developed to characterize the deformation and stability of the hybrid structure and guide the geometric design of the metal layer. We further introduce a bioinspired paw pad that provides top-side support for enhanced grasp stability and serves as an integrated sensing interface for rapid object acquisition. A telescopic soft pressing mechanism (TSPM) mechanically couples paw-pad motion with tendon actuation. Experiments demonstrate passive holding forces of up to 16 N without continuous energy input, comparable to pneumatic actuation at 0.3 MPa, and stable grasping under pulsed accelerations of up to 400 m/s^2 when combined with pneumatic actuation. Energy-free perching on tree branches further demonstrates the potential of the proposed composite architecture for stable and energy-efficient manipulation.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.31028

Multimodal Progress-Residual Fusion for Anticipating Navigation Retreat in Robotic Flexible Endoscopy

Chi Kit Ng, Tianchun Wu, Jiachen Sun, Yuming Sun, Jianru Zhang, Hongliang Ren

原文摘要

Flexible robotic endoscopes provide access through tortuous anatomy, where friction, deformation, and wall interaction separate commanded insertion from useful distal progress. Operators interpret this mismatch and retreat to recover a navigable configuration. Recognizing the approach to that decision requires relating motor intent to distal response and the local visual scene. We introduce Multimodal Progress-Residual Fusion (MPRF), a causal model that anticipates operator retreat from commands, electromagnetic (EM) tracking, and endoscopic video. A nominal-progress model predicts the response expected in normal or successful navigation; a temporal predictor combines its EM residual with all three observed modalities. In a 150-episode colon-phantom collection, MPRF achieves 0.580 +/- 0.007 AUPRC across three seeds, compared with 0.511 for the strongest reduced-modality control. Complete multimodal histories provide the principal ranking advantage, while the residual adds an explicit intent-response representation with a small, uncertain increment over raw fusion. Analysis of frozen alarms relates warning timing to the behavioral label and explains the increase in event recall under a longer matching window. These results establish a basis for behavioral assistance during operator-controlled navigation.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02556

OctEx: Billion-Scale Vector Search by Precomputed Lattice Neighbor Lists on GPUs

Dongfang Zhao

原文摘要

Approximate nearest-neighbor search on GPUs serves retrieval-augmented generation, recommendation, and deduplication over datasets of up to billions of vectors. The fastest GPU indexes at high recall, such as CAGRA, walk proximity graphs in chained rounds, each of which waits for the distances of the previous one. High recall therefore costs many dependent rounds per query. Our insight is to spend the HBM of the GPUs on precomputed neighbor lists, so that a query reads its candidates in one parallel step instead of a chain of rounds. This paper turns the above insight into a GPU vector search system, namely OctEx, which holds hundreds of randomly projected copies of the dataset in GPU memory. Every copy rounds its vectors to the nearest points of a regular grid whose cells are nearly round and stores for every populated cell the list of vectors nearest to its center. A query reads the lists of its cells in all copies at once and then, in a fixed number of waves, the precomputed neighbor lists of its best hits. OctEx ranks the union of all hits by an int8 sketch before one exact rerank. OctEx runs the whole search of a batch as CUDA graphs over all GPUs of a server and places every part of its index in HBM or host memory by its access frequency. On four H100 GPUs at recall 0.95 to 0.995, OctEx outperforms CAGRA by 2.0x to 46.4x on seven datasets of up to one hundred million vectors, and by 1.46x to 2.05x on the one billion vectors of Deep1B and SIFT1B, whose indexes it builds in 44 to 47 minutes. OctEx also outperforms GGNN, PathWeaver, FlowANN, and the cuVS inverted file indexes IVF-PQ and IVF-RaBitQ by 5.4x to 343x.

cs.DC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02555

Sequential Recovery Updates for Learned Controllers under Successful-Trajectory Preservation

Zongtan Li, Tianming Liu, Ye Zhao

原文摘要

A competent learned controller already recovers from many disturbances. Improving it means learning a correction, and learning when not to apply it. Freezing a skill's parameters does not settle the second half. In a controller that routes among frozen skills, a new entry rule can redirect the states an old skill succeeded on. We therefore constrain entry instead of parameters. Each update searches for a feedback skill at a measured failure. It fits an entry rule that reads observations and rejects every state on an accumulated successful trajectory. The skill is admitted only if the composed controller reproduces the new recovery on its own and replays every protected trajectory exactly. A finite-trajectory condition states when this preserves the previous controller. One mechanism runs on four streams: two motions on each of two humanoid systems. Two updates per stream add 62 recoveries over 192 withheld perturbations, and lose none of the base controller's successes. We then price that guarantee. Removing the constraint recovers 33 more conditions but stops eight protected ones from completing at all, and excluding only what admission proves necessary recovers none of that cost.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.06258

The Weight Gram Matrix Captures Sequential Feature Linearization in Deep Networks

Taehun Cha, Daniel Beaglehole, Adityanarayanan Radhakrishnan, Donghun Lee

原文摘要

Understanding how deep neural networks learn representations remains a central challenge in machine learning theory. In this work, we propose a feature-centric framework for analyzing neural network training by relating weight updates to feature evolution. We introduce a simple identity, the Feature Learning Equation, which identifies the weight Gram matrix as the key object capturing feature dynamics. This enables us to interpret gradient descent as implicitly inducing a hypothetical evolution of features, whose covariance structure, termed the Virtual Covariance, characterizes how representations evolve during training. Building on this perspective, we introduce Target Linearity, a measure quantifying the linear alignment between features and targets. By analyzing the training and layer-wise dynamics, we show that deep networks learn to sequentially transform representations toward target-linear structure. This linearization perspective provides a unified interpretation of several empirical phenomena, including Neural Collapse and linear interpolation in generative models.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.21041

Conditioning Gaussian Processes on Almost Anything

Henry Moss, Lachlan Astfalck, Thomas Cowperthwaite, Colin Doumont, Sam Willis, Philipp Hennig, Christopher Nemeth, Andrew Zammit-Mangion

原文摘要

Gaussian processes (GPs) offer a principled probabilistic model over functions, but exact inference is restricted to the linear-Gaussian regime. We establish an explicit equivalence between GPs and a class of linear diffusion models, recasting predictive sampling as an ODE with closed-form Gaussian dynamics and a likelihood-dependent guidance term that admits a simple Monte Carlo approximation. In the linear-Gaussian setting, we recover standard GP conditioning exactly; beyond conjugacy, the same machinery handles any conditioning statement admitting point-wise likelihood evaluation - including non-linear physics, and, for the first time, natural language via large language models. Whitening isolates the irreducible non-Gaussian dynamics, minimising Wasserstein-2 transport cost and eliminating numerical stiffness. The result is a general-purpose GP inference scheme requiring no bespoke derivations. Together, these results provide a general mechanism for incorporating the full richness of real-world knowledge as conditioning information, opening a new frontier for the probabilistic modelling of real-world problems.

stat.ML · cs.LG · stat.ME

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02551

Flat Features, Detailed Images? Simple Detail Control for Diffusion Transformers

Qingtao Yu, Zhen Wang, Jiyang Zheng, Minghao Sun, Hongdong Li, Dylan Campbell

原文摘要

Prompt engineering is commonly used to encourage text-to-image models to generate more detailed images. However, it does not provide reliable, continuous, or disentangled control. We analyze feature tokens produced with and without detail-enhancing prompts across six diffusion transformers and observe a common pattern: these prompts tend to increase the entropy of each token's energy distribution while largely preserving its ordering. That is, flattening the distribution increases the level of detail. Motivated by this counter-intuitive finding, we introduce a simple training-free approach that continuously adjusts the level of detail according to a scalar. Specifically, it shifts the squared channel magnitudes of each token toward a higher entropy distribution with a time-aware scheduler to concentrate the intervention at intermediate sampling steps. Across extensive experiments on different types of diffusion transformers, we show that our approach provides continuous control over detail metrics while largely preserving image quality and semantic structure. It requires only a few lines of code and adds negligible inference time overhead.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2509.14594

SynBench: A Benchmark for Differentially Private Text Generation

Yidan Sun, Viktor Schlegel, Srinivasan Nandakumar, Iqra Zahid, Yuping Wu, Yulong Wu, Hao Li, Jie Zhang 等 12 位作者

原文摘要

Synthetic text generation with Differential Privacy (DP) guarantees emerges as a principled approach that can enable the sharing of sensitive datasets across institutional and regulatory boundaries, while bounding the risks of re-identification and membership inference. LLM-based methods deliver promising results; however, comparisons are exacerbated by differing evaluation setups and "private" datasets, potential pre-training contamination is not considered and guarantees are not verified with DP audits. To advance this field, we introduce a unified evaluation framework with standardised utility and fidelity metrics and privacy audits, encompassing nine curated datasets that capture domain-specific complexities such as technical jargon, long-context dependencies, and specialised document structures. In a large-scale empirical study, we benchmark LLM-based state-of-the-art DP text generators of varying sizes (between 1--8B). Our results indicate that DP synthetic text generation remains an unsolved challenge, with quality deteriorating more as the private datasets deviate further from the generators' pre-training corpora. Our analyses suggest that synthetic data quality may be overestimated when LLMs have been pre-trained---without DP---on portions of the "private" data to be generated, and our membership inference (MIA) auditing setup for synthetic text reveals measurable membership signals even under tight privacy budgets. Finally, we note that under the "public pre-training, private generation" paradigm, the nominal $(\varepsilon,δ)$ guarantee does not account for exposure during pre-training, motivating contamination-aware evaluation of DP synthetic text generation. Code and data splits: https://github.com/ImperialGlobalSingapore/synbench

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02550

Re$^3$Rank: Listwise Reranking with Reasoning-Conditioned Retrieval Heads

Ruiyi Yan, Zhuoyuan Mao, Yugo Murawaki, Yiwen Guo

原文摘要

Attention-based rerankers score each candidate by the attention mass that retrieval heads route to it from the question, but the question, serving as a fixed query, carries limited information for locating relevant evidence. We propose Re$^3$Rank, a listwise reranker built on reasoning-conditioned retrieval heads (RRHeads). A generator first writes a reasoning trace over the question and the candidates, and a scorer then uses the trace tokens as the attention query of a few selected RRHeads, reading relevance as continuous scores. We present a straight-through estimator to propagate the ranking loss through the discrete trace, so that the generator and the scorer can be trained jointly for ranking. Averaged over 9 benchmarks, Re$^3$Rank outperforms 11 baseline rerankers: our 4B variant exceeds the strongest baseline by 3.11 NDCG@10 points on average, and even our 0.6B variant surpasses rerankers with up to 32B parameters.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02548

Counting Feedback Vertex Sets of All Sizes in Subexponential Time, Conditionally

Mengyang Wu, Minghao Wang

原文摘要

Assuming a Boolean tensor contraction hypothesis (Theorem D.1 of OpenAI's recent preprint refuting the Exponential Time Hypothesis), we study exact feedback vertex set counting in general graphs. For an $n$-vertex, $m$-edge simple graph, we compute the complete size distribution deterministically in $\mathrm{poly}(n+m)\,2^{O(n(\log\log n)^2/\sqrt{\log n})}$ time and polynomial working space. The algorithm combines a whole-edge forest identity, subset-index scalar networks, sparse parity filtering, and disjoint high-degree branching. A binomial inversion recovers the multiplicities introduced by exceptional-set guesses. The counting interface supports fixed vertices, minimum solutions, and unranking. Component markers yield induced-tree and induced-path counts within the same bound. Sparse Hamilton, forest, and Steiner edge-tree counting follow from the scalar encoding.

cs.DS

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02546

Energy-Based Policy Orchestration

Weirui Ye, Yen-Jen Wang, Elvis Hsieh, Zhiyang Dou, Shibo Zhao, Pieter Abbeel, Yilun Du, Leslie Pack Kaelbling 等 9 位作者

原文摘要

Hierarchical control scales robot behavior by separating task-level planning from low-level control. In dynamic, high-dimensional tasks, however, a fixed planner-to-policy interface can fail when contacts, balance, or disturbances evolve faster than high-level policy updates. Execution therefore requires choosing not only which low-level policy to run, but also which policy-specific goal should be given to it. We formulate this problem as policy orchestration: runtime selection of a policy-goal pair that is likely to remain feasible while tracking the planner target. We develop EPO, an energy-based policy orchestrator for modular goal-conditioned policy families. For each policy, EPO learns a composite energy over low-level goals, where lower energy corresponds to higher feasibility and more accurate target realization. At runtime, EPO refines each policy's goal and executes the lowest-energy policy-goal pair. Because energies are policy-specific, new policies can be incorporated by learning their own energy models, without retraining the existing policies or a centralized scheduler. In simulation, EPO improves the empirical precision-robustness trade-off by refining policy-specific goals before selectively switching among policies based on energy scores. We further demonstrate sim-to-real deployment of the same frozen policies and energy models on real humanoid loco-manipulation tasks. Project website: https://yewr.github.io/epo

cs.RO · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02543

When Cache Pressure Becomes a Trap: Metastability in Agent Serving

Chengzhi Lu, Boxi Zhou, Yanying Lin, Dmitrii Ustiugov

原文摘要

LLM agents repeatedly send a growing conversation to a model, making prefix reuse central to efficient serving. We show that a brief surge can disrupt this reuse and trigger metastable failure in prefill--decode (PD) disaggregated engines: service remains degraded after arrivals return to a load the engine previously sustained. On SGLang, a ten-minute surge reduced goodput by about 88% over the following hour. Removing the residual burst sessions restored service within minutes. The sustaining mechanism is population-cache feedback. Slower calls prolong sessions and enlarge their aggregate context, or working set; the resulting cache misses increase recomputation and further delay departures. A fluid model identifies the resource conditions for this feedback and explains how cache capacity, tool time and base load affect vulnerability. Across 36 simulated deployments, it flags all 17 cache-first cases. Controlled simulations hold the post-surge state fixed and show that changing subsequent arrivals alone reverses the recovery outcome. Once the cache collapses, low-reuse departure capacity sets the scale of the load reduction needed for recovery. Guided by these dynamics, we build Basin, which gives each session a fixed priority, reserves their predicted peak contexts against an adaptive admission budget, extends the cache with idle decode memory, and sheds excess demand. On real H200 1P3D deployments under surges, including long-context SWE-bench Pro sessions, an arrival-time prototype achieves 1.20--1.70x the goodput of Continuum and 2.35--3.59x that of HiCache alone. In simulation, the predictor-driven policy delivers 1.20--2.05x the strongest baseline's goodput across six surge scenarios.

cs.DC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.11302

iCATS: Fast Video Generation via Interaction-Aware Sparse Attention and Timestep-Adaptive Sparsity

Chengfeng Han, Ang Wang, Baole Ai, Xianlu Bian, Jie Yao, Zilong Huang, Dandan Ding

原文摘要

Training-free sparse attention offers a practical acceleration solution to Diffusion Transformers (DiTs) via reducing computations without fine-tuning. It typically involves estimating the importance of query-key regions and deriving sparse masks to compute only the important candidates, which inevitably introduces approximation errors that may degrade generation quality. To better balance the efficiency-quality trade-off, we propose iCATS, integrating improved importance estimation and sparse mask construction with an efficient hardware execution strategy. Specifically, for importance estimation, unlike previous works that perform independent clustering over query and key tokens based on feature similarity to estimate attention scores, iCATS demonstrates that clustering based on query-key dot-product interactions is more accurate and further reformulates this objective as a simple quadratic form for low-cost computation. For sparse mask construction, instead of using a fixed top-p rule, we observe that tolerance to sparse approximation errors varies across denoising timesteps and therefore introduce an SNR-guided sparsity schedule to adjust sparsity dynamically, leading to higher accuracy. Finally, for hardware execution, we devise a tail-merging strategy to reduce padding overhead caused by irregular cluster sizes, improving GPU kernel utilization. Extensive experiments show that iCATS achieves $2.03\times$ acceleration with 31.017 dB PSNR on HunyuanVideo-T2V-13B and $1.55\times$ acceleration with 29.301 dB PSNR on Wan2.1-T2V-14B, delivering a state-of-the-art efficiency-quality trade-off.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02540

PixelBench: Can LLMs Understand and Generate Images Pixel by Pixel?

Haoquan Zhang, Feiyang Liu, Juanxi Tian, Wanhua Li, Haodong Duan, Weiyang Liu

原文摘要

Large language models (LLMs) can generate visual assets through text-based formats such as SVG and CAD, but these symbolic representations describe images using high-level primitives rather than explicit raster values. We ask whether LLMs can instead generate pixel images directly through their existing vocabulary, without a learned image tokenizer or decoder. We introduce PixelBench, a benchmark for text-to-pixel (T2P) and image-to-pixel (I2P) generation across multiple resolutions, together with a complementary pixel-understanding evaluation. Models generate an RGB color palette followed by a grid of indices specifying the palette color of each output pixel. In T2P, the strongest models produce recognizable images directly from text. In I2P, the strongest models outperform palette-matched downsampling and specialized pixelization algorithms at low resolutions. Pixel-understanding performance correlates strongly with generation performance. A resolution-scaling study shows that pixel-generation performance often improves initially before declining at high resolutions. Finally, we introduce Pixel Reconstruction Tuning (PRT), which augments visual instruction tuning with caption-palette-grid trajectories. We post-train Molmo2-4B from its pretraining checkpoint by mixing general instruction data with our curated PRT data, improving performance across 16 visual-centric benchmarks, indicating that explicit pixel reconstruction can provide useful auxiliary supervision.

cs.CV · cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02539

Scientific Liquidity Agents: An Agent-Based Model of Knowledge Arbitrage in Scientific Communities

Koutian Wu, You Liu, Yue Liu, Zhiping Li, Ergan Shang

原文摘要

Scientific knowledge gains new uses when ideas, methods, and results move between research contexts. Understanding this process requires a model of both specialized knowledge production and the intermediary activities that connect it. We introduce Scientific Liquidity Agents (SLA), an agent-based model of knowledge arbitrage in scientific communities. SLA represents domain specialists and epistemic arbitrageurs within a shared environment of research problems, researcher interactions, and scientific artifacts. Individual decisions connect to collective state through a belief-desire-intention architecture, a prerequisite-based problem graph, a dynamic interaction network, and a persistent publication registry. The framework makes researcher roles and knowledge-transfer frictions explicit, providing a process-oriented account of scientific production and exchange. Two exploratory simulations with 10 and 18 agents produce 68 and 274 registered papers. In the smaller run, arbitrageurs take part in 16 of the 26 contact pairs that join this community into one connected component, while topical similarity alone splits it into seven. The same run yields three similarity edges, 26 contact pairs, and two coauthorship pairs, so measured community structure depends on what counts as a link. Paper production is abundant, but no recorded replication succeeds, which places the bottleneck in verification rather than production. Solved-problem sets correspond to the prerequisite reachability of the disciplines represented in each community. SLA makes knowledge liquidity, the movement and reuse of artifacts across domains, a quantity that agentic science can simulate and measure.

cs.MA · cs.AI · cs.SI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02537

Interactive 3D Cutaway Visualization for Subsurface Target Localization in Robot-Assisted Surgery

Yuxin Chen, Wenxuan Wang, Wanwen Chen, Qi Zeng, Septimiu E. Salcudean

原文摘要

Purpose: Blended augmented reality (AR) overlays can provide ambiguous depth cues in which subsurface anatomy floats above the tissue surface. We investigate whether an interactive 3D cutaway visualization can improve robot-assisted target localization. Methods: We propose Virtual Box, an interactive 3D cutaway interface that allows users to independently manipulate the viewing perspective to inspect subsurface targets. In a controlled, counterbalanced within-subject tissue phantom study, 15 engineering students used Virtual Box and a depth-enhanced blended AR overlay to position a da Vinci instrument at virtual targets in a water tank. We used registered 3D transrectal ultrasound to measure 3D localization error and depth error. We also collected completion time and subjective ratings. Results: Virtual Box reduced mean 3D error from 12.92 to 4.96 mm (61.6% reduction) and depth error from 9.48 to 2.07 mm (78.2% reduction; both p < 0.001). Spatial understanding, depth perception, and confidence ratings were higher (all unadjusted p < 0.001), but completion time increased from 21.64 to 32.58 s (p = 0.008). Overall workload did not differ significantly. Conclusion: Virtual Box improved localization accuracy and perceived spatial understanding in this controlled task, with additional completion time, supporting further evaluation for surgical navigation.

cs.RO

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新论文 · v1arXiv:2611.02536

FORGE: Fault-Oriented Rework Code Generation for Executable Interlocking Assembly

Fuqiang Wang, Jiahao Fu, Ren Hefeng, Yining Qian, Chuanting Zhang, Cheng Tan, Yuwen Liu, Jingxuan Wei

原文摘要

Large language models have demonstrated strong capabilities in structured reasoning and code generation, yet identifying an assembly fault does not guarantee the ability to generate executable rework programs. In interlocking assemblies, a locally plausible repair program may violate blocking dependencies, omit required recovery operations, or terminate in an incorrect configuration. We identify this challenge as fault-conditioned executable rework generation, where models must jointly reason about structural failures and generate programs that restore constrained assembly states. To benchmark this capability, we introduce FORGE-Bench, containing 4,000 tasks across 26 interlocking assemblies with five assemblies held out for evaluating generalization to unseen structures. We further propose FORGE (Fault-Oriented Rework Code Generation for Executable Interlocking Assembly), a structured state-to-program framework that decomposes rework generation into Rework Structuring and Action Grounding. Rework Structuring captures fault-induced recovery dependencies, while Action Grounding maps these dependencies into state-conditioned executable actions. Experiments show that locally reasonable repair code is insufficient for reliable assembly recovery, and that connecting structural recovery reasoning with executable action realization is essential for verified target restoration.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02530

AMLBench: A Real-Incident Benchmark for Agentic Blockchain Anti-Money Laundering

Qishuang Fu, Hang Zheng, Yuchen Lei, Yuexin Xiang, Qin Wang, Yuanzhe Zhang, Shiping Chen, Andreas Deppeler 等 11 位作者

原文摘要

Tracing illicit funds on public blockchains remains largely manual. As funds move across accounts and undergo asset conversions, they become mixed with other inflows, requiring repeated queries and expert judgment to trace. Large language model (LLM) agents offer a way to automate this process, but their ability to reconstruct case-related transfer networks from limited clues remains unclear. To bridge this gap, we present AMLBench, an anti-money laundering (AML) benchmark built from 24 real-world cases and 5.05 million Ethereum transfer records. For each case, agents start from limited clues and explore these transfer records through composable transaction-query and fund-flow analysis tools, deciding which accounts and branches to pursue. The final tracing results are evaluated against case annotations, while tool interaction logs reveal how agents discover and select relevant transfers and at what resource cost. We also develop AMLAgent, which integrates fund-tracing guidance and query feedback to dynamically guide investigative decisions. With GPT-6 Astra, AMLAgent achieves macro averages of 80.82% transfer-level precision and 84.73% query coverage across 24 real-world cases. Further analysis of the large-scale Bybit case reveals substantial differences in transfer retention and token usage across models, even with similar submission precision. AMLBench establishes a reproducible benchmark for evaluating both tracing outcomes and investigative processes, laying the groundwork for more reliable and efficient autonomous AML investigations.

cs.CE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.19431

$S^3$-Nav: Structured Spatial-Semantic Decision Making for Language-Guided Robot Navigation

Chaemin Lee, Hae Min Cho

原文摘要

Language-guided robot navigation under partial observability requires robots to reason over spatial-semantic evidence accumulated across observations, particularly when goals involve spatial relations between objects. This paper presents $S^3$-Nav, a structured spatial-semantic decision-making framework that integrates online mapping, persistent object--relation memory, and goal-conditioned navigation. Using RGB-D observations and SLAM, $S^3$-Nav maintains a persistent object--relation memory containing object records and confirmed relation records alongside an evolving navigation context containing exploration frontiers, without requiring a pre-existing map. A goal-conditioned evidence interface selects task-relevant evidence from this structured state and constructs a capacity-controlled decision view as part of the high-level policy input for exploration, target approach, and stopping decisions. The persistent memory remains available for subsequent reasoning and verification even when some of its records are excluded from the decision view. To ensure grounded execution, provisional policy decisions are independently validated against persistent object--relation memory and current geometric evidence before physical execution or task termination. Evaluations across multiple environments and object- and relation-goal tasks show improved closed-loop navigation reliability and reduced language-model token consumption with capacity-controlled evidence exposure under the evaluated inference configuration.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02529

Tune the Baseline First: Most of Muon's Scaled Weight Decay Gain Is a Tuning Gap, but Its Small Real Advantage Grows With Model Size

Esther Xin

原文摘要

Scaled weight decay for Muon (Muon-SW) has been reported to train language models more efficiently than constant decoupled weight decay, but such comparisons usually reuse one learning-rate (LR) and weight-decay (WD) setting for both methods. We re-run the comparison under the MAI-Base-2 protocol: LR and WD are tuned jointly through their product for each method, on a source-scaled mixture-of-experts (MoE) scaling ladder (1.9M to 15M active parameters) that holds tokens per active parameter and data repetition fixed across sizes. We find: (1) Most of the gain is a tuning gap. At the shared setting Muon-SW wins by 0.035 bits per byte (BPB), a 1.52x compute saving; after both methods are tuned, the gap is 0.0026 BPB (95% CI [0.0018, 0.0034]), a 1.03x saving, so about 90% of the advantage disappears. (2) The small advantage that remains is real: at the smallest size, all four paired seeds favour Muon-SW at the tuned settings. (3) That advantage grows with model size: across an 8x range of active parameters, the tuned gap rises from 0.0036 to 0.0051 BPB while the untuned gap shrinks from 0.035 to 0.024, so the surviving share rises from about 10% to 21%. (4) The best weight decay moves with scale: the optimal LRWD product grows for both methods, faster for Muon-SW (ratio 1.40 to 1.91), and a law fitted on the two smallest sizes overshoots the third by 1.3-1.5x, costing up to 0.002 BPB. The whole study runs on one NVIDIA T4 GPU; we release the code and all run results.

cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02527

When Neither Side Confirms: Destructive Tool Approval Across MCP Servers and Hosts

Junwei Yao, Zike Yang, Zhijun Wang, Yongxi Zhou, Wenbo Ye

原文摘要

LLM agents call tools that delete data or move money through the Model Context Protocol (MCP). The specification asks for a human who can deny tool calls but splits the mechanism between the server, which can annotate a tool or ask the user through the host (elicitation), and the host application, which decides whether to prompt. We measure both sides from source code. In a 1,000-repository sample of the official MCP registry, an estimated 90% of destructive tools (95% CI 82-95) have no server-side confirmation, and most servers that elicit proceed, or fall back to a flag the model can set, when the host cannot relay the question. Of 41 popular open-source hosts and agent SDKs, 32 have no approval step by default, including 16 of 25 applications. Pairing sampled destructive tools flagged by a rule-based extractor with these applications, 60.7% of pairs have no enforced human approval by default. Through four agent SDKs, four of five low-cost models executed an injected deletion in 479 of 960 runs. If hosts prompted for every tool not annotated read-only or non-destructive, the unapproved share of these pairs would fall to 5.4%; universal elicitation support would leave 56.7%. Applications should therefore configure approval.

cs.SE · cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02526

INTERACT: Learning Interaction-Aware World Dynamics from Driving Videos for Autonomous Driving

Zhan Chen, Songyan Zhang, Wenhui Huang, Zirui Li, Zhidong Wang, Qihang Huang, Shiyu Fang, Chen Lv

原文摘要

Safe autonomous driving requires more than recognizing the current scene: the ego vehicle must anticipate how surrounding traffic participants will evolve under its own motion. However, existing end-to-end driving models typically encode scenes into dense visual or BEV features, leaving object-level interactions implicit. We propose (INTERACT INTERaction-aware Action-Conditioned Trajectory learning), a three-stage framework that learns a slot-based object-centric world model from unlabeled driving videos and transfers it to trajectory planning. INTERACT first learns recurrent slots that group dense visual features into temporally structured scene-entity representations without object annotations. It then infers latent ego actions from slot context and video transitions, and uses them to condition future slot prediction, capturing how ego motion and surrounding entities co-evolve. Finally, the learned slots, latent actions, and future slot predictions are distilled into a trajectory planner to guide trajectory generation and selection. Extensive experiments on NAVSIM and nuScenes validate the effectiveness of INTERACT. In particular, it achieves state-of-the-art performance on NAVSIM, with improvements in safety-critical collision metrics.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02525

Touching Projected Agents through the DAT Screen -System Design and Questions of Interaction Boundaries-

Takaya Tamamoto, Tomoko Yonezawa

原文摘要

Touching a virtual agent involves more than detecting a finger on a display: the contact surface can deform and resist the user's push, and the agent can respond to that action. We describe the Desktop Amid Touch (DAT) screen, which combines spatial projection onto a semi-transparent, deformable mesh with touch sensing and motorized control of resistance to indentation. An initial prototype detected a single touch and estimated its position and depth from tension changes around a flexible projection screen. A subsequent prototype added motorized tension control to vary the screen's resistance to indentation. We describe the tension-controlled DAT implementation and its demonstrations, distinguishing what has been observed from what remains an open design question. These capabilities raise a design question: should touchable virtual agents respond as though they had preferences or boundaries, and under what conditions should such behavior be implemented on systems like DAT. The present paper describes a system and frames this question; it does not establish how users interpret an agent's refusal or consent.

cs.HC · cs.AR · cs.RO · eess.SY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02522

Ranked but Not Stopped: Detecting Prompt-Injection Hijacks from Typed Decision Models' Output Probabilities

Junwei Yao, Jianan Liu, Yongxi Zhou, Zike Yang

原文摘要

Programs that use a language model as a classifier act on its most probable label. Text injected into the input can move that label to one the attacker chooses, a hijack. A monitor that does not know the attacker's label can read the model's own confidence and raise an alarm when the top probability is low. We test this monitor on AG News topic classification with five systems, three of them served through a provider's API. Pooled over five families of injected text, low confidence ranks hijacked answers above clean ones on four of the five systems (AUROC 0.86-0.90). Ranking them does not stop many of them. A threshold set so that at most 5% of clean answers to separate calibration articles alarm falls among the least confident clean answers, and every more confident hijack passes. In our main gate run on the three API-served systems, the monitor misses 51-70% of the hijacks caused by a plain injected note (per-system point estimates). When the note adds one handwritten sentence that calls the target certain and asks for full probability, the monitor misses 99-100% of the hijacks, although low confidence still ranks them at AUROC 0.70-0.79. Confidence monitors should be tested at their operating alarm rate, against attackers who claim certainty.

cs.CL · cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.02521

On the Convergence of Alternating Regret Matching Algorithms

Anh Duc Nguyen, Ioannis Anagnostides, Brian Hu Zhang, Tuomas Sandholm

原文摘要

Alternating updates, that is, where each player is updated in turn, tend to typically perform better in regret matching algorithms than simultaneous updates. Alternation within the regret matching family has long been a central ingredient of practical solvers for zero-sum games. Yet our theoretical understanding is lagging behind. In this paper, we address this gap by developing a systematic way of analyzing such algorithms. Our framework centers on an alternating analog of the RVU property that we introduce, which we use to obtain the optimal $T^{-1}$ average-iterate convergence within this family. In particular, we establish this for two simple variants of predictive regret matching$^+$: i) increasing-regret predictive regret matching$^+$ and ii) half-prediction regret matching$^+$. Interestingly, we find that half prediction is the unique prediction multiplier that satisfies our alternating RVU property, giving it a strong theoretical justification. Going beyond average-iterate convergence, we refine our framework to obtain $T^{-1/2}$ best-iterate convergence and further establish convergence of their strategy profiles to a single Nash equilibrium, without assuming equilibrium uniqueness. We go on to establish separations between alternating and simultaneous updates, including a game in which half-prediction regret matching$^+$ converges under alternating updates but fails to converge in terms of the last iterate under simultaneous updates. This provides theoretical support for the empirical observation that alternation can stabilize learning dynamics. Finally, experiments on 15 game benchmarks demonstrate that the strong theoretical properties of the half-prediction mechanism translate to strong practical performance, being on par with state-of-the-art solvers.

cs.GT · cs.LG

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