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版本更新 · v2arXiv:2605.19256

Distribution Matching Distillation without Fake Score Network

Youngjoong Kim, Deokyeong Lee, Jaesik Park

原文摘要

Distribution Matching Distillation (DMD) provides an effective distribution-level correction for few-step generation, while relying on an auxiliary fake-score network to track the evolving generative distribution. Recent work combines DMD with a flow-map objective to exploit the benefits of both methods: mode-seeking and mode-covering behaviors. Since this fake-score network increases memory and update overhead, we study whether this explicit tracker can be avoided when the generator has a flow-map structure. In this work, we propose Fake-Score-network-Free DMD (FSF-DMD), a DMD-style correction for flow-map generators, replacing the auxiliary fake-score estimator with a generator-induced surrogate. We observe that this surrogate can be derived from the definition of the fake velocity under a certain perturbation assumption. Building on this insight, we derive a DMD-style objective without a fake-side network, extend it to backward simulation for flow maps, and to a self-teacher variant for training from scratch. In our ImageNet-1K $256\times 256$ experiments, FSF-DMD is competitive with the studied DMD baselines when initialized from pretrained networks and when trained from scratch.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.06157

Neural Stochastic Forecasting for Lateral Molecular Diffusion Simulations

Jacob Ede Levine, Mario Hidalgo-Soria, Chen Yun Wen, Yun Lyna Luo, Sai Chandra Kosaraju

原文摘要

Predicting the long-time diffusion of membrane proteins is challenging because molecular dynamics (MD) simulations are computationally expensive, while experimental single-particle tracking is often limited by finite observation times. Here, we introduce a neural stochastic (NS) model for forecasting the collective diffusion of membrane proteins from coarse-grained MD trajectories. The model combines a transformer-based representation of protein configurations, recurrent networks operating at multiple temporal scales, and a stochastic latent process with learned memory. A cross-attention decoder then generates correlated protein displacements while accounting for the instantaneous system geometry and periodic boundary conditions. We evaluate the model in two membrane systems: seven interacting PIEZO channels and a mixed system containing seven PIEZO and ten TREK channels. For the seven PIEZO system, the NS model reproduces the anomalous diffusion exponent measured in MD simulations $α\sim 1$, substantially improving on a previously developed variational autoregressive model that exhibits superdiffusive behavior. The model also generates trajectories extending to 40,000 frames and captures the distinct diffusion characteristics of PIEZO and TREK populations in the mixed system. Comparisons of time-averaged mean-square displacements, Van Hove displacement distributions, and non-Gaussian parameters show that the model preserves key statistical features of the simulated dynamics. These results establish neural stochastic modeling as a promising approach for generating long trajectories of multi-protein membrane diffusion and extending the statistical analysis of molecular dynamics simulations.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.03236

TACG: Trajectory-Aware Commit Gating for Diffusion Language Model Decoding

Chengcheng Wang, Tingzhang Luo, Wenhao Li, Jianyuan Guo, Chang Xu

原文摘要

Diffusion language models predict many masked positions at each denoising step, but their efficiency and output quality depend on which predictions enter the evolving context. Confidence is informative but incomplete for this decision: at matched confidence, proposals with different identity and support histories exhibit different one-step revision rates. We propose Trajectory-Aware Commit Gating (TACG), a training-free decoder that separates the current token proposal from the decision to commit it. TACG scores temporal support for the current proposal by contrasting its logits with an exponential moving average of earlier logits, requires the proposal identity to persist through a History Gate, and promotes a capped number of additional positions per step. The gate decides which positions to commit and when; every written token remains the contemporaneous base proposal. On complete four-task LLaDA evaluations under the stated single-seed protocol, measured task-specific operating points reach 51.02\% mean accuracy with 67.82 mean model evaluations, compared with 48.00\% and 76.59 for Native Confidence. Under a matched per-event commit-count replay, history-guided selection exceeds confidence ranking by 8.3 accuracy points at identical per-sample NFE. History-reference interventions alter commitment timing while preserving the base-proposal write rule. Experiments on Dream and LLaDA2-Mini characterize quality--cost behavior across backbones and generation lengths. The code is publicly available at https://github.com/Clarence-CV/TACG-DLLM.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.01844

OpenNWM: A Generalist Navigation World Model with Latent Action Pretraining

Dujun Nie, Ruiqi Song, Zixuan Wang, Hanqing Wang, Yifan Han, Baiyong Ding, Wenzhao Zheng, Hangbin Wu 等 9 位作者

原文摘要

Navigation world models predict future observations conditioned on navigation actions to support planning, but their generalization across real-world environments remains constrained by the limited coverage of action-labeled data. Action-free navigation videos provide diverse visual experience, yet lack the recorded actions required for action-conditioned training. We introduce OpenNWM, a generalist navigation world model with latent action pretraining. It learns universal latent actions from large-scale action-free videos through visual prediction pretraining, and further aligns them with physical motions via action-conditioned post-training. To support video pretraining, we curate NavAnywhere, a large-scale action-free navigation video dataset comprising 17.5 million visual observations from 15 heterogeneous sources. It captures navigation by ground robots, humans, and drones, with diverse viewpoints and motion patterns across five broad scene types: residential areas, public and commercial spaces, urban settings, parks, and natural landscapes. Experiments demonstrate improved visual prediction on in-domain and out-of-domain benchmarks, together with improved navigation performance. These results show that latent-action pretraining enables diverse, action-free videos to improve dynamics learning and generalization for open-world navigation.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.17204

Event-Grounded Sparse Autoencoders for Vision-Language-Action Policies

Xinchen Jin, Aditya Chatterjee, Pranav Kumar, Rohan Paleja

原文摘要

Vision-Language-Action (VLA) policies translate language and visual inputs into robot actions, where their hidden representations directly shape closed-loop behavior. However, mechanistic interpretability tools from language and vision-language models do not transfer cleanly to VLAs: outputs are robot actions rather than human-readable tokens, and validating internal changes requires expensive closed-loop rollouts. We propose an event-grounded interpretability pipeline that anchors SAE feature analysis to behavioral events rather than text contexts. We extract keyframes from end-effector trajectories and cluster them within each task using visual, robot-state, and temporal cues. The resulting events guide SAE feature ranking, with optional VLM annotations providing descriptions of the events. To our knowledge, our pipeline is among the first to ground SAE-based VLA analysis in closed-loop behavioral events. Across two simulation architectures and a real-robot study, event-grounded ranking yields the strongest causal effects on OpenVLA and transfers to the continuous action chunks of $π_{0.5}$. SAE is a sparse but imperfect intervention basis: usability varies with architecture and intervention site, and aggressive intervention reveals safety and interpretability limits. Overall, event-grounded SAE analysis emerges as a practical starting point for behavior-anchored VLA interpretability, motivating future work on SAE analysis beyond end-effector motion, finer-grained closed-loop evaluation, and safe interventions for high-stakes VLA deployments.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.05793

ZipDrift: Generating Multimodal Short-Horizon MPC Costs with One-Step Drifting Models

Ke Zhang

原文摘要

Short-horizon model predictive control (MPC) is fast but myopic. ZipMPC compensates by learning a context-dependent correction of the short-horizon cost that imitates a long-horizon expert. We observe that the optimal correction is often multimodal: when a slower opponent can be passed on either side, good corrections of opposite sign coexist, and the expert's choice between them hinges on tiny cost differences. Deterministic regression then averages modes or inherits inconsistent expert tie-breaking. We propose ZipDrift, which trains a one-step drifting generator over MPC cost corrections, tilted toward low closed-loop cost and learned only from cost evaluations of candidate corrections, without differentiating through the optimiser. A few generated candidates are ranked by a learned critic, and the model-based MPC then enforces dynamics and constraints. In a kinematic overtaking benchmark derived from ZipMPC, more than half of the contexts are bimodal and the manual short-horizon MPC crashes in 28% of them. With an eight-dimensional stagewise correction, evaluated on 1000 fresh contexts and five training seeds, ZipDrift with eight candidates crashes in 0.74% of episodes, compared with 3.4% for an idealised ZipMPC-style regressor and 2.1% for critic-ranked random candidates with the same budget. A mixture density network (MDN) with the same selection is equally good (0.76%). The benefit of drifting lies in sample quality: in a pre-specified test on further unseen contexts, a single drifting sample crashes in 8.7% of episodes against 13.2% for the MDN, and ZipDrift needs four candidates instead of eight to fall below 1%. With many candidates, all methods degrade as selection exploits errors of the critic.

cs.RO · cs.LG · eess.SY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07444

Two-stage residual learning for calibrated uncertainty in solar irradiance forecasts

RR Flanagan, E Kasha, PW Talbot, AS Epiny, MR Deinert

原文摘要

Accurate forecasting of renewable generation requires not only point predictions but also reliable estimates of the uncertainty attached to them, particularly at extended horizons. Machine learning models are increasingly used to predict solar output, but they typically report a single value and capture the associated uncertainty poorly. The standard remedy is to train a model to predict the parameters of an assumed probability distribution directly. Here we develop an alternative two-stage method, motivated by synthetic solar signal generation, in which the forecast error is modeled separately from the expected irradiance. A first long short-term memory (LSTM) network predicts the expected global horizontal irradiance, and a second network models the distribution of the forecast error, which is added back to the mean to give both the forecast and its uncertainty. Using historical weather data from the National Solar Radiation Database and a probability integral transform evaluation, we show that explicitly modeling the error brings the predicted standard deviation markedly closer to the historical value, reducing the deviation between the two by 34.6 percent for a standalone LSTM and by 56.5 percent when the LSTM is coupled to Gaussian process regression, the most reliable of the configurations tested. Because the method models the total forecast error directly, it captures the full predictive uncertainty that matters for decisions, rather than only the model contribution that dropout-based approaches estimate.

cs.LG · eess.SY

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.34915

Muon Sublates the Edge of Stability in LLM Pretraining

Yanzhe Chen, Qifang Zhao, Xiaoxiao Xu, Fanghui Liu

原文摘要

Muon is increasingly used for language-model pretraining, yet its large-step dynamics are not captured by the classical edge-of-stability (EoS) picture of gradient descent (GD). In GD, loss neutrality, equal-magnitude update reversal, and marginal stability meet at a single learning-rate-dependent edge. We show that Muon breaks this coupling. For stochastic no-momentum Muon, we derive a coherence-corrected conditional loss-neutral boundary $2ρ_b/η$, while temporal alignment follows a separate geometry. Controlled experiments show that loss balance and temporal alignment respond differently to learning rate and batch size. Across our language model experiments, the 130M Llama-like LLM runs exhibit loss-boundary tracking with weak negative alignment, whereas the studied 1B LLM configuration shows stronger partial cancellation; in both settings, directions remain far from coherent reversal while training continues to improve. These results support a split EoS picture for Muon: a stochastic loss-neutral edge survives, but it is not accompanied by a universal temporal-direction signature. The source code for reproducing the experiments can be found in https://github.com/cyzebra/Muon-Sublates-the-Edge-of-Stability-in-LLM-Pretraining

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07443

VIPA: View-Invariant Projector-Based Adversarial Attack

Jiyu Han, Qingyue Deng, Bingyao Huang

原文摘要

Projector-based adversarial attack aims to physically manipulate real-world scenes by projecting adversarial patterns, thereby causing deep image classifiers to produce incorrect predictions. However, existing stealthy projector-based adversarial attack methods model the project-and-capture process in a single and static view, limiting their view-invariant capability and practical applicability in dynamic environments. In this paper, we introduce View-Invariant Projector-Based Adversarial Attack (VIPA), a novel method designed to overcome these limitations by achieving both view-invariant and classifier-agnostic adversarial attacks in the physical world. We first leverage a view-invariant projector-camera system simulation method to model the physical interactions between projected patterns and real-world surfaces. To ensure robustness and stealthiness of the attack across different views, VIPA optimizes adversarial projections by aggregating simulated attack losses from multiple views. This joint optimization across diverse views helps maintain robustness regardless of the viewpoints. Finally, the optimized patterns are physically projected into real-world scenes, where they successfully fool various classifiers from different viewpoints, thereby enabling robust and practical view-invariant adversarial attacks. Our experiments in both targeted and untargeted attacks demonstrate that VIPA consistently achieves higher attack success rates than existing methods, while also enhancing stealthiness and ensuring minimal perceptual degradation across all tested views.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2508.03829

Majority Bit-Aware Watermarking For Large Language Models

Jiahao Xu, Rui Hu, Zikai Zhang, Olivera Kotevska

原文摘要

The growing deployment of Large Language Models (LLMs) has raised concerns about their misuse in generating harmful or deceptive content. To address this issue, watermarking methods have been proposed to embed identifiable multi-bit messages into generated text for misuse tracing. However, existing methods often suffer from a fundamental trade-off between text quality and decoding accuracy. In particular, they have to restrict the size of the preferred token set (i.e., green list) during encoding to maintain a detectable watermark signal for decoding, which inevitably degrades generation quality. To improve this trade-off, we propose a novel message encoding paradigm called \textit{majority bit-aware encoding}, which relaxes the watermark signal strength from the green list size. This strategy allows for a strong watermark signal to be preserved in generated texts even when using a large green list. We introduce two instantiations of this paradigm: MajorMark and MajorMark$^{+}$, where the latter is specifically optimized for long messages. Extensive experiments on state-of-the-art LLMs demonstrate that our methods achieve higher decoding accuracy and superior text quality compared to prior baselines. The code is at https://github.com/JiiahaoXU/MajorMark.

cs.CL · cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07441

Closed-Loop Physics-Based Manipulation Evaluation at a Commodity Price: What 4.4 L4 GPU hours at $3.50 Buys You

Rohun Kshirsagar, Diana Rypkema

原文摘要

Running evaluations of contact-rich robotic manipulation at statistical scale has largely been possible only at well-resourced labs, highlighting the need for affordable and efficient options for broader audiences. We present a reproducible evaluation harness wrapper based on a previous study at 200-rollout scale on serverless commodity GPUs, at a cost of approximately $3.50 USD and 38 minutes of wall-clock per replication (4.4 L4-GPU-hours across eight parallel shards). Using the harness, we report a partially controlled negative result on action chunking with sparse data: three independently trained chunked checkpoints produce zero genuine successes across 780 rollouts, while three single-step checkpoints range from 2.6% to 11.8% success rate. A per-step-replanning control partially isolates chunk prediction, rather than open-loop chunk execution as the mechanism, with the failure localized to the training formulation and multi-step prediction. This work further democratizes physics-based policy development and evaluation through our reusable harness.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2603.15221

Preference-Guided Adversarial Policy Optimization for Long-Tail Robust Driving

Tong Nie, Yihong Tang, Junlin He, Yuewen Mei, Jie Sun, Lijun Sun, Wei Ma, Jian Sun

原文摘要

Deploying autonomous driving systems requires robustness against long-tail scenarios that are rare but safety-critical. While adversarial training offers a promising solution, existing methods typically decouple scenario generation from policy optimization and rely on heuristic surrogates. This leads to objective misalignment and fails to capture the shifting failure modes of evolving policies. This paper presents ADV-0, a closed-loop min-max optimization framework that treats the interaction between driving policy (defender) and adversarial agent (attacker) as a zero-sum Markov game. By aligning the attacker's utility directly with the defender's objective, we reveal the optimal adversary distribution. To make this tractable, we cast dynamic adversary evolution as iterative preference learning, efficiently approximating this optimum and offering an algorithm-agnostic solution to the game. Theoretically, ADV-0 converges to a Nash Equilibrium and maximizes a certified lower bound on real-world performance. Experiments indicate that it effectively exposes diverse safety-critical failures and greatly enhances the generalizability of both learned policies and motion planners against unseen long-tail risks.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07437

IMUDINO: Self-distilled Foundation Model for Inertial Sensing

Zhoutong Ye, Chengwen Zhang, Zixuan Wang, Xufeng Jian, Zhe He, Qingyang Wan, Xutong Wang, Jiaqi Liu 等 12 位作者

原文摘要

We present IMUDINO, the first foundation model (FM) for inertial sensing to achieve competitive performance across diverse sensing tasks including human activity recognition (HAR), health, motion capture, and odometry. Prior inertial FMs often focus on one subfield of inertial sensing and sometimes underperform state-of-the-art supervised methods (e.g., in HAR), making their scope considerably narrower than FMs for vision and natural language. Moreover, they often require fixed input length and sampling rate, and generalize poorly to unseen sensor locations. To build a general-purpose foundation model for inertial sensing, we adapt the DINO self-supervised learning (SSL) paradigm to inertial data through a set of semantics-preserving motion transformations that simulate variations in motion pattern and sensor setup. For model architecture, we use a plain transformer encoder with frequency-aware positional encoding that natively supports varying input length and sampling rate. This simple setup proved remarkably effective for learning global and dense features generalizable across users, sensor setups, tasks, and, in the case of robot odometry, embodiments. We hope IMUDINO can serve as a backbone for inertial sensing and kickstart the development of general-purpose inertial FMs.

cs.LG · cs.AI · cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.10630

World Models as Adversaries: Multi-Agent Self-Play Fine-Tuning for Robust Motion Planning

Tong Nie, Yuewen Mei, Junlin He, Yihong Tang, Jian Sun, Wei Ma

原文摘要

Robust motion planning in dense traffic requires autonomous vehicles to interact in rare and safety-critical scenarios that are underrepresented in naturalistic driving data. Although adversarial training offers a feasible solution, existing methods often rely on external scenario generators, heuristic perturbations, or simulator-heavy rollouts, which makes them difficult to integrate with modern autoregressive planners. Here, we cast adversarially robust planner learning as a constrained min-max game and propose Adversarial World Modeling (AWM), a theoretically grounded multi-agent self-play fine-tuning framework. Since solving the exact game is intractable, AWM introduces a principled decoupled solver. In the inner minimization, the planner's predictive world model is converted into a role-conditioned adversary that learns sparse, scene-adaptive attack coalitions via counterfactual credit assignment. In the outer maximization, the ego planner optimizes a regret-aware robust best response against the frozen AWM, utilizing tail-risk weighting and reference-anchored trust regions to improve hard-case recovery while preserving nominal driving behavior. Experiments on the nuPlan and InterPlan benchmarks demonstrate that our method generates transferable adversarial interactions and yields a robust planner that achieves competitive closed-loop performance in both nominal and highly interactive long-tail scenarios. Theoretical analysis justifies the decoupled solver and the main optimization components.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.28602

Integrating Triaxial IMU Sensors and Ensemble Learning for Effective Parkinson Disease Severity Classification

Rehan Khan, Muhammad Ashraf, Sikandar Ali, Asad Ali Khan, Muhammad Junaid Asif, Nabeel Ahmad

原文摘要

Parkinson disease PD is a progressive neurodegenerative disease that can have a significant impact on motor performance resulting in the appearance of symptoms such as tremors rigidity postural instabilities and bradykinesia. Timely clinical treatment disease management and quality life of the patients are closely linked to early and appropriate identification of PD. Over the past few years the growth of wearable sensor technology and artificial intelligence AI have made it possible to create noninvasive and data driven disease detection methods. This paper proposes a comparative system using artificial intelligence to detect Parkinsons disease by analyzing the motion and tremor data captured by an inertial measurement unit IMU. The data comprises the signals of the acceleration and gyroscope sensors measuring movement in three directions X Y and Z. The signs and symptoms provide helpful information about subtle motor deficits associated with PD. Several classification models like Support Vector Machine SVM Logistic Regression LR KNearest Neighbors KNN Decision Tree DT Extreme Gradient Boosting XGBoost and Light Gradient Boosting Machine LightGBM were used to compare their effectiveness. The Logistic Regression model had a performance around 75 percent in all evaluation metrics and KNearest Neighbours KNN around 90 percent. The support vector machine SVM performed almost 94 percent whereas the performance of classifiers such as Decision Tree and XGBoost was close to 96 percent and overall classification efficacy respectively. LightGBM model performs consistently at the best rank among all of the evaluated methods having Accuracy, Precision, Recall and F1score of around 97 percent. The results show that the proposed machine learning approach offers an accurate and effective predictive capability in the classification of PD severity.

cs.AI · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07432

Typed Knowledge over Constructive Institutions

Hans-Martin Will

原文摘要

Type theories designed for mathematics or program verification need only that a proposition holds; proof irrelevance in conversion erases, at the kernel level, how a claim was established. A persistent knowledge store, by contrast, must retain that record: who established a claim, by which derivation or external tool, and under which assumptions. This volume presents the theory of Eigenius---a store of typed knowledge over constructive institutions---and develops its metatheory from that requirement. The kernel theory is a dependent type theory with cumulative universes, an impredicative universe of propositions, inductive families, and an intensional identity type. Proof irrelevance is an axiom with an explicit witness rather than a conversion rule, so proofs of a proposition are provably equal yet remain distinct terms. Definitional equality is joinability under an orthogonal rewriting system---confluent, injective on type formers, and decidable by a type-free test---while a separate subsumption judgment covers universe cumulativity, codomain-covariant function types, and declared class inclusions. We prove consistency via a set-theoretic model; develop a justification logic over the kernel's propositions to track evidence and support; organize environments as an institution so that store extensions are signature morphisms and external verdicts enter via comorphisms; formulate a typed knowledge-graph theory with records, classes, and refinements; and prove the correctness of conversion, normalization by evaluation, and bidirectional type checking relative to termination. A Lean 4 formalization accompanies the volume.

cs.LO · cs.AI · cs.DB

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.06748

EvoWorld: Towards Out-of-Sight World Evolution in Generative Video Models

Yequan Bie, Dengyang Jiang, Zhixuan Chen, Xiaozhuan Liang, Haoxuan Che, Quande Liu, Xi Chen, Hao Chen

原文摘要

Generative video models are increasingly used as visual world simulators, yet their primary strength lies in rendering plausible pixels rather than reasoning about how a world should evolve. Coherent world evolution requires more than visual fidelity: when an event occurs, a model must infer its consequences for the entities in the world and then render the resulting state. For example, after a wild beast appears, the model should not only depict the wild beast, but also infer whether a nearby person should flee, take cover, or fight back based on the realized scene. Existing diffusion-based video models lack an explicit mechanism for maintaining world state and reasoning over such event-conditioned consequences, often producing visually plausible but behaviorally static or causally inconsistent outputs. To make this reasoning gap concrete and measurable, we propose a new problem, Out-of-Sight Causal Evolution, which requires a model to render an event, reason about its consequences for the evolving world state, and reveal a causally plausible outcome as the world continues to evolve, even out of sight. As a baseline reference solution, we introduce EvoWorld, a brain-renderer collaboration framework in which a vision-language model serves as the world brain: it observes generated segments, maintains an evolving account of the world, and reasons about plausible state transitions, while a segment-autoregressive video renderer realizes them visually. We further introduce EvoWorld-Data and EvoWorld-Bench for training and evaluating event realization, causal reactions, and revisit consistency. Experiments show that EvoWorld substantially improves event-conditioned causal evolution over recent models while preserving visual quality and consistency, establishing a reference point for reasoning-guided, autonomous world evolution beyond the current field of view.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07431

TRiST: Topology-Reinforced Swin Transformer for Medical Image Analysis

Pengfei Gu, Huimin Li, Guangyu Meng, Hao Zheng, Haoteng Tang, Bin Fu, Danny Z. Chen

原文摘要

Medical images contain topological patterns, such as connected components and loops, at scales ranging from small lesions to organ boundaries. Although hierarchical Vision Transformers have advanced medical image analysis, they do not explicitly incorporate topology throughout their multiscale representations. We propose Topology-Reinforced Swin Transformer (TRiST), a framework that integrates topological information into feature construction, refinement, and attention. First, a Hierarchical Multi-Scale Topology Representation algorithm computes 2D persistent homology (H0 and H1) independently at four native Swin stages, producing descriptors aligned with each stage's token grid rather than downsampling fine-scale topology. Second, a Band-Aware H0/H1 Residual Refinement module uses gated residual networks to process short-, medium-, and long-persistence information separately. Third, a Persistence-Band Progressive Attention Bias converts stage-specific descriptors into learned key-saliency scores that directly modify shifted-window attention logits. We instantiate TRiST as Topo-SwinV2-B for classification and Topo-Swin-UNet for segmentation, preserving the underlying Swin-based backbones. Experiments on five medical image datasets show consistent improvements over Swin-based baselines and competitive performance relative to existing topology-augmented methods.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07425

BRIDGE: Bridging the Semantic Quantization Gap for Generative Recommendation

Yatong Xiao, Mingjie Sun, Peng Wang, Wenjin Wu, Peng Jiang

原文摘要

Generative recommendation retrieves items by autoregressively generating Semantic IDs(SIDs), where an RQ-VAE quantizes each item into a hierarchical SID sequence that the decoder generates level by level. We identify an overlooked bottleneck in this paradigm: the Semantic Quantization Gap(SQG). Quantization derives SIDs from rich continuous signals, including codebook centroids, local neighborhood geometry, and level-wise entropy. However, the decoder receives only discrete identifiers and loses the semantic structure that shaped them. This mismatch manifests in three ways: a grounding gap, where the decoder lacks semantic anchors when target-side information is limited; a neighborhood gap, where token-level supervision discards inter-item similarity and exacerbates exposure bias; and a difficulty gap, where computation is allocated uniformly despite generation difficulty diminishing with depth. To bridge the SQG, we propose BRIDGE. Codebook-grounded latent reasoning injects frozen quantizer centroids as semantic anchors before SID generation. Privileged EMA self-distillation transfers neighborhood-aware knowledge from a teacher to an on-policy student, preserving inter-item geometry while mitigating exposure bias. Effort-aware recurrence allocates more computation to the challenging early levels and progressively reduces it with depth. Across three Amazon benchmarks, BRIDGE improves Recall@10 and NDCG@10 by 10.9% and 9.7% on average over the strongest baseline (up to 12.6% and 10.7%). In a one-week online A/B experiment on a large-scale e-commerce advertising platform with 5% traffic, BRIDGE improves eCPM by 0.65%.

cs.IR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.01164

Explicit 3D Gaussian Models for Fast, Mesh-Free Compression of Structured and Unstructured Volumes

Landon Dyken, Sharmistha Chakrabarti, Nathan Debardeleben, Steve Petruzza, Qi Wu, Will Usher, Sidharth Kumar

原文摘要

Recent work has shown that implicit neural representations (INRs) can be trained to effectively compress structured and unstructured volume data, allowing for direct data querying with a reduced memory footprint. However, as existing INRs for unstructured volumes do not encode geometry, they require partial mesh storage for later sampling, limiting achievable compression. At the same time, novel view synthesis methods have shown that explicit collections of 3D Gaussians can be used to accurately visualize volume data. In this work, we introduce an explicit model for volume data compression based on 3D Gaussian primitives. We reinterpret collections of 3D Gaussians as an explicit representation of a volume's scalar field and use a sampling strategy that reconstructs scalar values at spatial locations through weighted aggregation of intersecting Gaussians. We develop optimized CUDA-accelerated pipelines for structured and unstructured model sampling, loss functions that encourage accurate domain coverage of our models, and a novel sampling-error based densification strategy. Our explicit formulation naturally encodes domain geometry, eliminating the need for mesh storage in unstructured volumes and introducing significantly higher compression opportunities. Compared to existing INRs, we demonstrate that our explicit model achieves significant training speed and reconstruction quality improvements on both structured and unstructured volumes, while enabling compression ratios much higher than previous work for unstructured volumes.

cs.LG

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版本更新 · v3arXiv:2511.00908

Formalizing Heterogeneous Interaction Modeling for Multi-Agent Debate in Visual Geo-Localization

Zijie Zhou, Dandan Zhu, Heng Zhang, Yanming Yang, Xu Liu, Huishen Jiao

原文摘要

Visual geo-localization requires complex reasoning to infer image locations without GPS metadata. Traditional retrieval methods are limited by database quality while Large Vision Language Models often struggle with diverse scenes. Although existing multi-agent systems improve collaboration, they treat interactions uniformly and lack effective conflict resolution. We propose GraphGeo, a multi-agent debate framework based on heterogeneous graph neural networks for visual geo-localization. The framework models diverse debate relationships through typed edges and separates supportive collaboration, competitive argumentation and knowledge transfer. We introduce a dual-level debate mechanism combining node-level refinement and edge-level argumentation modeling. A cross-level topology refinement strategy enables co-evolution between graph structure and agent representations. Experiments on multiple benchmarks demonstrate GraphGeo outperforms single model and multi-agent baselines. The framework converts cognitive conflicts between agents into higher geo-localization accuracy through structured debate.

cs.CV · cs.GR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07417

MessyNav: Zero-Shot Navigation via Manipulation in Messy Environments

Kenneth Llontop, Cherie Ho, Dylan Zhou, Anuva Banwasi, Priya Sundaresan, Carlota Parés-Morlans, Jeannette Bohg

原文摘要

Real-world environments are messy, with paths often blocked by everyday objects like chairs and toys, requiring robots to perform interactive navigation by manipulating obstacles to clear a path. Existing methods rely on extensive simulation-based learning or per-scene instructions specifying which objects to avoid or manipulate. They struggle to generalize across novel objects, diverse environments, and varied contexts such as a cart of fragile glassware that should be avoided while an empty one can be pushed. We formalize this problem as open-world interactive navigation and present MessyNav, a zero-shot framework based on vision-language models (VLMs). At its core, MessyNav performs explicit VLM-based affordance reasoning before task planning to decide whether to swipe, pick up, or avoid an object and produce a high-level plan. Evaluated on a mobile manipulator across real-world indoor and outdoor environments, MessyNav improves success rate by 27 percentage points (pp) over the strongest baseline in real-robot trials and achieves statistically significant gains in a larger-scale offline evaluation, without task-specific training.

cs.RO · cs.CV

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新论文 · v1arXiv:2611.07415

Truncated backpropagation through time induces a two-sided gradient turnpike property

Julian D. Schiller, Matthias A. Müller

原文摘要

Truncated backpropagation through time reduces the computational burden of training recurrent models by restricting gradient computations to shorter temporal contexts. This induces two distinct boundary effects: missing past information perturbs the forward state evolution, while truncating the backward recursion omits future information. This motivates decoupling the interval over which gradient contributions are averaged for the parameter update from the surrounding temporal context over which they are computed. Under exponential decay of the state-transition Jacobians and mild regularity conditions, this leads to a two-sided gradient turnpike property: the error between truncated- and full-context gradient contributions decays exponentially with the distance from both context boundaries. We derive bounds for the averaged update gradient, yielding guarantees on gradient alignment and approximate full-context stationarity; under unbiased interval sampling and a Polyak-Lojasiewicz condition, these further imply a bound on the resulting optimality gap. Numerical experiments on the Wiener-Hammerstein benchmark illustrate the role of past and future context and the trade-off between predictive performance and computational cost.

eess.SY · cs.LG · math.OC

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2608.19540

Continuous Adversarial MeanFlow for Few-Step Generative Adaptation from Any Parameterization

Yara Bahram, Zahra Dehghani, Mélodie Desbos, Eric Granger, Pablo Piantanida, Mohammadhadi Shateri

原文摘要

Training fast generators on new domains with limited data remains challenging for two reasons. First, adapting a pretrained diffusion or flow model leaves its costly multi-step sampling intact, and existing acceleration methods are tied to the source parameterization (x, epsilon, v, or u), so heterogeneous pretrained models share no common acceleration target. Second, while adversarial post-training sharpens generation quality, existing criteria each cover only one end of the step range. Discrete criteria compare jump endpoints and lose their signal as the jump shrinks, while continuous criteria score the instantaneous velocity and misjudge the large jumps of few-step sampling. Neither fits MeanFlow (MF) models, which predict average velocities over intervals of any length. We propose MeanFlow-Transfer (MF-T), which adapts a source domain model of any parameterization and compresses it into a few-step MF generator through a common velocity map. We then introduce Continuous Adversarial MeanFlow (CAMF), which scores the change of a learned potential along each predicted interval jump of MF. CAMF needs no gradient penalty or Jacobian-vector product (JVP). We also prove it stays well-conditioned for every interval length and recovers the instantaneous criterion as the interval vanishes. Adapting four ImageNet-based source models (DiT, SiT, JiT, iMF) to five target domains, MF-T + CAMF approaches or exceeds the fine-tuned many-step teacher in FID and FDD at up to 125x fewer Neural Function Evaluations (NFEs). Further, CAMF improves MF-T's few-step FID by about 30% on average, outperforming prior adversarial post-training on iMF at every NFE.

cs.LG · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07411

Kinematic Hypothesis Context: Embodiment-Conditioned Learned Video Coding for Bandwidth-Limited Robot Policy Uplinks

Yuze Lu

原文摘要

Robots increasingly run large vision-language-action policies on remote servers, making the camera uplink the bottleneck. Existing video codecs spend bits on content the receiver could predict: the robot's own motion. We introduce the kinematic hypothesis context, a zero-rate conditioning signal that both ends build from joint states, the robot model and the camera calibration. Ego-motion homographies, per-link robot reprojections, an end-effector plane and a background memory warp the previous reconstruction into hypotheses that condition a learned video codec. We prove that history-only and global-pose conditioning with a limited receptive field cannot access this information under large motion, and that coding gains become task gains at the policy's success cliff. On LIBERO, the context saves 23.9% bit rate over a capacity-matched history-conditioned codec and 40-56% over x264, x265 and SVT-AV1, and needs 23.2% fewer bits than DCVC-RT at equal policy action deviation; trained to lower rates, it matches DCVC-RT in PSNR. In closed loop at equal rate, OpenVLA-OFT success nearly doubles from 22.8% to 43.1% at 6 kbps (72.6% with lower-rate training, 23.6 points above DCVC-RT), pi_0.5 success rises from 55.5% to 77.4%, and the gain grows under packet loss. The context transfers across three codec hosts and to real robot data.

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07410

Spectral symmetry fingerprints in equivariant representations

Jiacheng Cen, Anyi Li, Ning Lin, Zihe Wang, Ji-Rong Wen, Wenbing Huang

原文摘要

Symmetry governs the organization of physical structures, while symmetry breaking reveals their transformations. In geometric deep learning, symmetry imposes rank constraints on equivariant representations, limiting the expressive capacity of equivariant graph neural networks (GNNs). Here we show that these constraints can instead be exploited: the singular-value spectra of equivariant representations provide a unified fingerprint of structural symmetry. We introduce spectral symmetry fingerprints (SymFP), which enable discrete point-group identification through rank-template matching and continuous symmetry analysis by quantifying spectral energy beyond target rank constraints. SymFP is orientation invariant and architecture agnostic, enabling a parameter-free GNN implementation. Its spectra can be reused across multiple target groups, and the resulting leakage scores satisfy subgroup monotonicity. Across synthetic structures, molecules, coordination complexes and large biological assemblies, SymFP accurately identifies point groups, tracks controlled symmetry breaking and reveals local and degree-resolved symmetry changes that can be obscured by global geometric measures. These results establish the spectral structure of equivariant representations as a general framework for characterizing symmetry across physical systems.

cs.LG · cond-mat.mtrl-sci · math-ph · physics.chem-ph

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.07408

PSGAgent: Enhancing MLLMs' Dynamic Visual Perception for Panoptic Scene Graph Generation via Agentic Reasoning

Qingyun Liu, Yuankun Liu, Jiaye Feng, Jie Huang, Zonghong Dai, Haochen Li, Jingkun Wang, Weiping Li 等 9 位作者

原文摘要

Panoptic Scene Graph generation (PSG) requires holistic yet fine-grained reasoning over complex relations among objects. However, current Multimodal Large Language Models (MLLMs) applied to PSG suffer from a perception bottleneck: they function as static observers limited by fixed-resolution views. As a result, models often overlook critical relations involving small or peripheral objects and struggle to differentiate ambiguous predicates in complex scenes. To address these limitations, we propose PSGAgent, an agentic framework that enhances visual perception for PSG through a think-act-observe loop. PSGAgent allows MLLMs to dynamically refine their visual perception using two tools: a Region Zoom-In Tool for local exploration of small or boundary relations and a Visual Highlight Tool for relation-focused segmentation that filters out irrelevant contextual noise. To optimize decision-making, we construct a two-stage training pipeline. First, we create a high-quality, error-aware Multimodal Chain-of-Thought (M-CoT) dataset that provides robust supervision for cold-start learning. Then, we design a novel hierarchical reward mechanism integrated with Group Sequence Policy Optimization (GSPO) to enable strategic and adaptive tool usage. Extensive experiments on the PSG benchmark show that PSGAgent achieves SOTA performance, demonstrating strong capability in both holistic and fine-grained scene understanding.

cs.CV · cs.AI

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新论文 · v1arXiv:2611.07403

Dynamic Watermarking and Action-Conditioned Latent Dynamics for Secure Vision-Based Controllers

Aditya Parameshwaran, Navid Aftabi, Abhishek Hanchate, Satish T. S. Bukkapatnam, Dan Li, Yue Wang

原文摘要

Replay attacks are difficult to detect in vision-based control systems because previously recorded observations can remain plausible while the physical system follows a different trajectory. This paper develops an adaptive dynamic-watermarking framework for detecting replay attacks against vision-based controllers. A private Gaussian watermark is added to the nominal control input, and a control input-conditioned latent dynamics network (LDN) predicts the corresponding evolution in a compact latent space learned from image observations. Attack evidence is obtained from the discrepancy between the predicted latent response and the latent representation of the received image observation. A reinforcement learning policy adjusts the watermark covariance using the latent state and detector confidence, thereby balancing attack detectability, watermark energy, and control distortion. A Lagrangian penalty on task-specific safety costs is included during training to limit the adverse effect of the excitation. The framework is evaluated on a vision-guided UR5 manipulation task in which the robot reaches a target while avoiding a moving human arm under nominal and replay-attacked observations.

cs.RO · cs.CR · eess.SY

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.07642

Do VLMs See What Sensors Feel? A Scalable Expert-Guided Design for Wheelchair Accessibility Assessment from Street View

Dongdong Wang, Alina Hagen, Isabelle Gatmaitan, Hao Zhou, Yiwen Dong, Shabboo Valipoor, Vivian W. H. Wong, Lingyao Li

原文摘要

Assessing built-environment interaction, such as wheelchair accessibility, is challenging because real-world mobility is shaped by context-dependent and temporary barriers that are difficult to capture at scale. This paper examines whether vision-language models (VLMs) can identify potential accessibility barriers from Google Street View (GSV) imagery. We propose an expert-guided retrieval-augmented framework that combines GSV imagery, ADA-informed guidance, and expert-derived rubrics to evaluate multiple accessibility dimensions. We collect a campus-scale dataset at the University of Florida, linking 407 unique GSV locations with GPS-derived wheelchair dwell behavior as a proxy for potential mobility friction. Results show that VLM ratings are negatively correlated with dwell time and exhibit distributional similarity, with the expert-guided configuration strengthening the correlation from $r=-0.40$ to $r=-0.54$ for the strongest model. Visual cue analysis further shows that features such as curb ramps and crosswalks are associated with higher VLM accessibility scores, while correspondence remains limited for subtle surface conditions, transient obstructions, and viewpoint-dependent barriers. Overall, our findings demonstrate the potential of expert-guided VLMs for scalable preliminary accessibility screening and prioritizing locations for further investigation.

cs.CV · cs.CY

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.21569

Decoupled Safety Control: A Safety-Control Algorithm for Training-Free Safety Guidance

Huilin Zhou, Ruoxi Cheng, Yuhang Wang, Yuming Liu, Minghao Sun, Ruolong Ma, Lan Zhang

原文摘要

Diffusion models achieve strong performance in text-to-image generation, but they can still produce unsafe content. Training-free safety guidance offers a practical inference-time alternative that intervenes during sampling without modifying model weights. However, many existing safeguards still rely on a coupled safety-control chain. In this chain, the same unsafe condition simultaneously specifies what should be avoided, indicates the current unsafe signal, constructs the intervention, and determines when that intervention remains active. This coupling can work when unsafe factors are explicit, but becomes less reliable once harmful and benign semantics are entangled in the current generation state, often leaving residual unsafe content or unnecessarily degrading benign-generation quality or prompt fidelity. We address this problem with Decoupled Safety Control (DSC), a plug-in safety-control algorithm for training-free safety guidance. DSC reformulates training-free safety guidance as an explicit state-dependent control process, so the executed intervention is determined from the current generation state rather than inherited directly from a single unsafe condition. Experiments on standard safety benchmarks show that DSC improves representative latent- and text-space safeguards, achieving stronger unsafe-content suppression while preserving benign-generation quality and maintaining efficient inference.

cs.CV

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arXiv ↗PDF ↗