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版本更新 · v3arXiv:2506.19391

Generate the Forest before the Trees - A Hierarchical Diffusion model for Climate Downscaling

Declan J. Curran, Sanaa Hobeichi, Hira Saleem, Hao Xue, Flora D. Salim

原文摘要

Downscaling is essential for generating the high-resolution climate data needed for local planning, but traditional methods remain computationally demanding. Recent years have seen impressive results from AI downscaling models, particularly diffusion models, which have attracted attention due to their ability to generate ensembles and overcome the smoothing problem common in other AI methods. However, these models typically remain computationally intensive. We introduce a Hierarchical Diffusion Downscaling (HDD) model, which introduces an easily-extensible hierarchical sampling process to the diffusion framework. A coarse-to-fine hierarchy is imposed via a simple downsampling scheme. HDD achieves competitive accuracy on ERA5 reanalysis datasets and CMIP6 models, significantly reducing computational load by running on up to half as many pixels with competitive results. Additionally, a single model trained at 0.25° resolution transfers seamlessly across multiple CMIP6 models with much coarser resolution. HDD thus offers a lightweight alternative for probabilistic climate downscaling, facilitating affordable large-ensemble high-resolution climate projections. See a full code implementation at: https://github.com/HDD-Hierarchical-Diffusion-Downscaling/HDD-Hierarchical-Diffusion-Downscaling.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2510.18989

Solver-Integrated Adversarial Attacking and Training of Neural Operators

Yifei Sun

原文摘要

Neural operators are widely used as fast surrogates for numerical PDE solvers, mapping input functions to solution functions. However, their generalizability and robustness are not yet clearly defined in the operator-learning setting, which differs from traditional adversarial robustness definitions. This paper studies the generalizability and robustness of a learned neural operator from a solver-integrated perspective, addressing the challenge that the output of a learned operator and a numerical solver tends to change in tandem under input perturbation. First, we formalize the definition of generalization and robustness through a model-solver error operator, identifying fixed-input model-solver loss as generalization metric, and norm-bounded adversarial attack loss increase and Jacobian-error function norm as robustness metric. Second, we identify the solver-integrated adversarial attack as appropriate for PDE operator learning and show why model-only or fixed-ground-truth attacks can be insufficient when the solver output also changes with the input. Third, we develop solver-integrated adversarial training methods for neural operators. Experiments on representative PDE benchmarks show that this solver-integrated adversarial training clearly improves both generalizability and robustness. Deeper solver integration yields more effective attacks, more informative samples, and more efficient training than less integrated alternatives. These results provide a general framework for robust operator training and automatic sample selection without heavy manual intervention. More broadly, the formulation applies to adversarial regression whenever a ground-truth oracle can evaluate, and ideally differentiate, the true input-output map; PDE operator learning is one such case.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39468

Soei: Structured Observability of Evidence and Intent for Multi-Agent AI Software Engineering

Mohammed Nayeem Khan, K S Sarun Kumar

原文摘要

AI coding agents now do long, multi-step and multi-session software work with little supervision. When a developer comes back to that work, the useful question is not what the model said but what was actually done, by whom, and whether it is finished. We study this in three parts. First, we verify Agenttrail, an open-source local observability tool for coding agents, against its source at commit e4ba2da: nine documented constants and mechanisms hold at file-and-line level, two event pipelines are never unified, and its Map service has an unauthenticated local mutation surface. Second, we run a prototype of our system on 45 real coding-agent sessions (102,233 records, 20,577 tool executions, 2,336 human-to-agent episodes). With a blind-audited classifier (precision 83.3% and 96.7%) we estimate that 23.4% (95% CI 17.1 to 35.7) of code-editing episodes end with no independent check after the last edit, and that 57.8% of to-dos the agent marked complete after editing had no proof in between. A 10-minute timing heuristic for session hand-offs recovers 6 of the 24 session pairs that content lineage links. 42% of sessions run longer than 24 hours, 48.1% of transcript bytes lie past a 2 MiB replay bound, and 1,326 records in 16 sessions contain credential-like strings. Third, we propose Soei (Structured Observability of Evidence and Intent): an acknowledgement-aware event schema, a hash-chained local ledger, a W3C PROV-aligned graph, calibrated inference for attribution and lineage, and a verification layer that keeps a claim of completion apart from proof. On the same corpus the ledger is 20% of raw size, holds no content or credentials, verifies at about 126k events/s, detects tampering and replays deterministically. We position the work against concurrent 2026 proposals and define autonomy levels with evidence gates and harness metrics baselined on our data.

cs.SE · cs.AI · cs.MA

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2503.06684

PixelPonder: Dynamic Patch Adaptation for Enhanced Multi-Conditional Text-to-Image Generation

Yanjie Pan, Qingdong He, Zhengkai Jiang, Pengcheng Xu, Chaoyi Wang, Jinlong Peng, Haoxuan Wang, Yun Cao 等 12 位作者

原文摘要

Recent advances in diffusion-based text-to-image generation have demonstrated promising results through visual condition control. However, existing ControlNet-like methods struggle with compositional visual conditioning - simultaneously preserving semantic fidelity across multiple heterogeneous control signals while maintaining high visual quality, where they employ separate control branches that often introduce conflicting guidance during the denoising process, leading to structural distortions and artifacts in generated images. To address this issue, we present PixelPonder, a novel unified control framework, which allows for effective control of multiple visual conditions under a single control structure. Specifically, we design a patch-level adaptive condition selection mechanism that dynamically prioritizes spatially relevant control signals at the sub-region level, enabling precise local guidance without global interference. Additionally, a time-aware control injection scheme is deployed to modulate condition influence according to denoising timesteps, progressively transitioning from structural preservation to texture refinement and fully utilizing the control information from different categories to promote more harmonious image generation. Extensive experiments demonstrate that PixelPonder surpasses previous methods across different benchmark datasets, showing superior improvement in spatial alignment accuracy while maintaining high textual semantic consistency.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39467

Calibrating Attention-Based Token Pruning for Efficient Multi-Image Synthesis in UMMs

Zimeng Wu, Qijian Tian, Penghui Du, Changqian Yu, Jiaxin Chen, Yunhong Wang

原文摘要

Unified Multimodal Models (UMMs) enable powerful multi-image synthesis but incur substantial computation from long visual contexts. While token pruning offers a direct route to accelerating inference, existing methods are primarily adapted from understanding tasks, suffering from insufficient reference image exploration, confused conditional guidance, and pooling-induced ambiguity that degrades generation quality. To address these issues, we propose CATP, the first training-free context-compression method tailored to UMM generation, which \textbf{C}alibrates the discrepancies of general \textbf{A}ttention-based \textbf{T}oken \textbf{P}runing for better quality-efficiency trade-off. Concretely, building on independent layer-wise pruning during denoising, we introduce Guidance-Consistent Pruning (GCP) to synchronize pruning decisions across conditioning branches, and a Taylor-Calibrated Attention Metric (TCAM) that derives a theoretically grounded second-order correction for pooling-induced bias. In addition, a Fast Scoring Operator (FSO) fuses the calibration into tiled online Softmax to reduce pruning cost. Extensive experiments across representative UMMs and benchmarks demonstrate that CATP consistently outperforms state-of-the-art token-reduction methods, achieving up to 2.09$\times$ attention-core speedup.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39466

CBE: A Complexity-adaptive Boundary-aware Ensemble Method for Imbalanced Data

Xun Wei

原文摘要

In many real-world classification tasks, datasets exhibit class imbalance, which can degrade the generalization performance of conventional learning algorithms. Data complexity has recently been recognized as a more objective indicator of learning difficulty than the imbalance ratio alone, because class overlap and complex decision boundaries often impair classifiers more severely than imbalance itself. Samples near the decision boundary are inherently difficult to classify, which has motivated many researchers to focus on such instances to improve classifier performance. However, most under-sampling approaches fail to differentiate their sampling of boundary samples across datasets of varying complexity. To overcome this limitation, we propose a complexity-adaptive boundary-aware ensemble (CBE) framework that links the sampling weight distribution to data complexity and dynamically adjusts the boundary preference of under-sampling accordingly. We also introduce an overall complexity measure that combines metrics at multiple levels and use it to divide imbalanced datasets into three categories. Extensive experiments on 24 benchmark datasets from UCI and KEEL show that the proposed method outperforms many existing methods in terms of F-measure and G-mean on Easy and Median datasets, without degrading performance on hard cases.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39464

Integrating Heterogeneous Echocardiography AI Outputs in Language Space: Learnable Late Fusion with a Supervised LLM

Ryo Takizawa, Tempei Kabayama, Chiemi Yamazaki, Shun Kitamura, Ryo Matsuoka, Yuta Ando, Satoshi Kodera, Norihiko Takeda

原文摘要

View- and target-specific echocardiography AI models capture useful but complementary information and may not achieve sufficient predictive performance in isolation. A learned ensemble is a natural way to combine these outputs, but heterogeneous models typically require each output to be converted into a binary decision, probability, confidence score, or fixed-length feature vector. We developed a supervised large language model (LLM)-based late-fusion module that directly aggregates view-specific predicted finding statements and predicted measurements in language space and learns a case-level fusion function. In patient-level three-fold cross-validation of 859 examinations from 646 patients, the proposed method integrated heterogeneous outputs within a single framework, performed comparably to the best-performing reference strategy evaluated, and outperformed a general-purpose LLM without task-specific training. These results suggest that a supervised LLM can combine multiple upstream models without model-specific output conversion or feature engineering that requires medical knowledge.

cs.CL · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39457

Achieving Minimax-Optimal First-Order and Best-of-Both-Worlds Regret Simultaneously in Multi-Armed Bandits

Mengxiao Zhang

原文摘要

We study first-order and best-of-both-worlds regret guarantees in multi-armed bandits. Pogodin and Lattimore (2019) proposed an algorithm that combines minimax-optimal worst-case regret with a first-order guarantee whose loss-dependent term is $\mathcal{O}(\sqrt{K L^\star}\log T)$, where $T$ denotes the horizon, $L^\star$ denotes the smallest expected cumulative loss among fixed arms, and $K$ denotes the number of arms. However, a logarithmic gap remains between this loss-dependent term and the optimal first-order scale. In this paper, we remove this logarithmic factor by proposing an efficient and parameter-free algorithm that achieves the minimax optimal first-order regret guarantee $\mathcal{O}(\sqrt{K L^\star})$. Technically, our algorithm is built upon FTRL with a Tsallis entropy regularizer (Zimmert and Seldin,2021), with a learning rate adapted to the learner's cumulative loss and a sampling distribution determined by a scalar fixed point. This construction controls the combined estimation and stability cost in terms of the learner's loss. Moreover, we show that the same algorithm achieves a best-of-both-worlds guarantee, with $\mathcal{O}(\sum_{i\ne i^\star}\frac{\log T}{Δ_i})$ regret for i.i.d. losses with a unique best arm $i^\star$, where $Δ_i$ denotes the suboptimality gap of arm $i$.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39455

Sparse Fine-Tuning for Parameter-Efficient Adversarial Training

Zhaoxin Wang, Zihang Ding, Handing Wang

原文摘要

Deep neural networks achieve strong performance across many tasks but remain vulnerable to adversarial perturbations. Adversarial training (AT) is one of the most effective defenses, yet it suffers from high memory cost on large models and the persistent clean-robust accuracy trade-off. Recent work introduces parameter-efficient fine-tuning, such as LoRA, into AT, but this constraint induces a notable robustness gap relative to full-parameter AT. In this work, we revisit parameter-efficient adversarial fine-tuning from a parameter space perspective. Through gradient analysis, we find that adversarial optimization is highly concentrated on a small subset of parameters, which we call Robustness-Critical Parameters (RCPs), suggesting that robustness is encoded in a sparse subspace. Building on this observation, we propose Sparse Adversarial Fine-Tuning (SAFT), which identifies RCPs via adversarial gradient saliency and performs AT by updating only these parameters while freezing the rest. Across architectures and datasets, SAFT outperforms LoRA-based methods in both clean and robust accuracy with fewer trainable parameters, and approaches or surpasses full parameter AT in robustness while updating only about 5\% of parameters.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.35309

Shared Context, Separate Engines: Stateful Streaming Inference for Multimodal LLMs on Edge SoCs

Yilong Li, Chengpo Yan, Yijing Zeng, Hanlei Wu, Mingjun Song, Suman Banerjee

原文摘要

Edge SoCs combine CPUs, GPUs, and NPUs, yet runtimes for multimodal large language models (MLLMs) keep generation on one engine and leave others idle. Streaming workloads allow ingestion and answering to overlap, but backend-local KV state binds queries to the engine that built their history. Stage performance and co-running interference vary, so no single placement wins across SoCs and workloads. \name separates logical history from engine-specific KV state so any language engine can continue a stream. Stateful Streaming Generation overlaps ingestion and answering, while Concurrent Sequence Generation serves ready queries in parallel. Phase-level state continuation lets one engine prefill a query and another decode the answer, freeing the first to resume ingestion. State-Driven Execution Planning (SDEP) chooses paths by predicted completion time and sets each engine's share of queries using arrival rates and measured service times. Across M4 Max, RK3588, and QCS6490, \name beats the strongest single-engine baselines, even when they reuse context. On M4 Max, SDEP cuts live-stream p95 time to first token by $76\%$, with every first token within one second, and raises throughput under backlog by up to $35\%$ over Metal-only execution with context reuse. On two RK3588 streams, SDEP delivers $19.6\%$ higher request throughput than the best single engine with context reuse and $27.2\%$ more than parallel engines without shared state. Stateful Streaming Generation reaches up to $2.48\times$ serial throughput on the same engines. Every answer matches its serial reference.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2205.12583

MUG: Multi-human Graph Network for 3D Mesh Reconstruction from 2D Pose

Chenyan Wu, Yandong Li, Xianfeng Tang, Zhe Huang, James Wang

原文摘要

Reconstructing multi-human body meshes from a single monocular image is a challenging problem, requiring both individual body meshes and relative 3D positions to produce a coherent scene representation. We introduce MUG (Multi-hUman Graph network), which uses a single graph neural network to construct coherent multi-human meshes from only 2D poses. Our approach demonstrates that pose-based methods can jointly perform depth reasoning and multi-human mesh generation. Existing image-based methods often rely on lab-collected datasets with accurate 3D labels, introducing domain gaps when applied to in-the-wild or art images due to differences in appearance and context. In contrast, MUG leverages the geometric consistency of 2D poses across diverse datasets to mitigate such discrepancies. MUG operates in three phases. First, it constructs a novel heterogeneous graph from multi-human 2D poses, connecting nodes across people and within individuals to capture inter-human interactions and body geometry, including skeletal and mesh structures. Second, a dual-branch graph neural network predicts inter-human depth relations and root-joint-relative mesh coordinates. Finally, these outputs are combined to construct complete multi-human 3D meshes. Despite using only 2D poses and a streamlined architecture, MUG outperforms existing multi-human mesh estimation methods across datasets from diverse domains, including RH, MuPoTS-3D, and 3DPW. Qualitative results show that MUG can handle art images, through-wall scenarios, and poor lighting conditions when paired with advanced 2D pose networks. Both qualitative and quantitative evaluations highlight its generalization ability in open-world scenarios.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2604.01993

SAFE: An LLM-as-Verifier Framework for Evidence-Grounded Multi-Hop Reasoning

Daeyong Kwon, Soyoung Yoon, Seung-won Hwang

原文摘要

Multi-hop QA benchmarks often reward Large Language Models (LLMs) for spurious correctness, where models reach correct answers through invalid intermediate reasoning. We propose SAFE, an LLM-as-verifier framework for evidence-grounded multi-hop QA. Rather than judging only the final answer after generation, SAFE verifies reasoning during generation by checking intermediate steps against the provided passages and previous reasoning trajectory. To make this process checkable, SAFE decomposes reasoning into atomic, evidence-grounded units represented with Knowledge Graph (KG) triples. At train-time, SAFE verifies benchmark supervision under KG-grounded constraints and constructs reliable verifier training data. At inference-time, an external verifier checks each generated step, identifies invalid reasoning, and provides correction feedback before errors propagate. Across three multi-hop QA benchmarks, SAFE improves accuracy by 8.8 pp on average. These results show that evidence-grounded multi-hop QA benefits from shifting LLM-based evaluation from post-hoc answer judgment to stepwise reasoning verification.

cs.CL · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39454

Kairos: Semantics-Aware Orchestration of Planning Engines across Classical, Numeric, Temporal and Hybrid PDDL

Francisco Martín Rico, Esther Aguado González, Francisco Miguel Moreno Olivo, Rodrigo Pérez Rodríguez, José Miguel Guerrero Hernández, Francisco J. Rodríguez Lera

原文摘要

Planning at run time, as in robots that re-plan while they act, needs a planner that reads the PDDL its users write (durative actions, numeric resources, time windows, continuous change), answers quickly, and delivers only validated plans. Specialised planners are strong on individual fragments of PDDL, but they differ in coverage, latency and in what their failures mean. We study whether selecting heterogeneous engines from the semantics of each task can give broad coverage of PDDL, from STRIPS to PDDL+, while remaining competitive with specialised planners and making explicit what each answer guarantees. Kairos profiles each task to decide which of five engines apply (ground heuristic search, compressed and snap-action temporal search, time steps for hybrid dynamics, lifted search) and schedules them under one budget of time and memory. Every candidate plan is checked by a validator independent of the planner's transformations, and "unsolvable" is reported only when a search whose exhaustion is a proof exhausts its space. On 1,756 tasks from nine comparative suites, Kairos solves more tasks at the full limits than the strongest evaluated planner of each suite, with the largest differences on numeric, temporal, PDDL3 and PDDL+ planning, and it also solves the most tasks at 100 ms and 1 s. Resampling over domains, the gain is above zero in six of the nine suites, while on classical planning against LAMA it is within the noise. A further 450 feature-oriented tasks and 26 one-feature probes show that Kairos handles all seventeen features probed, where no other planner evaluated handles more than eight. Ablations identify compressed temporal search and the novelty fallback as major contributors, and a comparison with VAL traces every disagreement to a PDDL+ convention or to a documented VAL defect. Planner and benchmark are open source.

cs.AI · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39451

Smooth Action Chunking Via Movement-Primitive Representations for Imitation Learning

Shota Nomura, Takayuki Osa, Yasuhiro Kato, Kazuki Ota, Naoki Shitanda, Tatsuya Harada

原文摘要

Imitation learning has become a widely adopted approach for vision-based robot policies, owing to its conceptual simplicity, scalability, and ability to leverage large-scale datasets. As these policies have grown more capable, action chunking has become their standard interface. At each decision step the policy outputs several future actions at once. Backbones from diffusion policies to large vision-language-action models all share it. Whatever backbone produces the chunk, its temporal structure is learned only implicitly. The commanded trajectory is therefore jerky both within a chunk and between successive chunks. On real hardware this appears as visible vibration and as repeated saturation of the follower's velocity limit. We address this issue by incorporating a movement-primitive-based trajectory representation into action chunking. Specifically, a trajectory segment is represented as a linear combination of smooth basis functions, yielding smooth trajectories by construction while leaving the policy architecture, training objective, and inference procedure unchanged. The same representation also yields a closed-form, inference-time correction for the second source of jerk. We condition the predicted coefficients so that the new chunk passes through a via-point at the previous chunk's last commanded action. This correction needs no retraining and, unlike asynchronous Real-Time Chunking, applies to policies queried in one shot. We instantiate it on a one-shot (ACT) and an iterative (DiT) backbone and evaluate in simulation and on a real bimanual ALOHA platform. The representation lowers within-chunk jerk by an order of magnitude on the one-shot backbone and by 2.4 times on the iterative one, with task success statistically non-inferior. The conditioning then removes 73-84% of the boundary discontinuity, at negligible per-step cost.

cs.LG · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.11105

TKCAM: Text and Keyframe to Camera Trajectory Generation

Haozhe Yang, Zhiyang Dou, Zekai Gu, Cheng Lin, Wenping Wang, Yuan Liu, Taku Komura

原文摘要

Generating high-quality and controllable camera motion is essential for AI-assisted cinematography, video synthesis, and 3D scene understanding. We introduce TKCAM, a Text- and Keyframe-conditioned CAMera-motion synthesis framework based on generative masked modeling. We represent camera dynamics using a 12-dimensional kinematic feature comprising position, velocity, and a continuous rotation representation and discretize them into hierarchical motion tokens via a Residual Vector Quantizer (RVQ). A two-stage masked transformer architecture then learns to reconstruct and refine these tokens, utilizing explicit self- and cross-attention modules for multimodal conditioning. A central feature of our framework is sparse visual keyframe conditioning: users can provide free-form text prompts together with RGB observations at selected timestamps, which provide temporally localized visual guidance for generating coherent in-between trajectories. Furthermore, to advance evaluation standards, we curate RealEstate10K-Cap, a large-scale text-camera dataset, and establish a cross-domain benchmark with a Universal CLaTr Evaluator. Extensive experiments demonstrate that TKCAM surpasses recent state-of-the-art baselines on Fréchet distance (FID), text-motion matching scores, and retrieval metrics (R@K), while additional analyses evaluate temporal smoothness and cross-domain generalization. Code and RealEstate10K-Cap dataset are available at https://github.com/linearalgebrayhz/TKCAM.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.13688

MedCore: Boundary-Preserving Medical Core Pruning for MedSAM

Cenwei Zhang, Suncheng Xiang, Lei You

原文摘要

Medical segmentation foundation models such as SAM and MedSAM provide strong prompt-driven segmentation, but their image encoders are still too large for many clinical settings. Compression is also risky in medicine because a model can keep high Dice while losing boundary fidelity. We propose MedCore, a structured pruning framework for MedSAM. The main idea is to preserve two kinds of structures: structures that became important during SAM-to-MedSAM adaptation, and structures that have high boundary leverage. We identify the first type by a dual-intervention score comparing zeroing a group with resetting it to its original SAM weights. We identify the second type by boundary-aware Fisher estimation. We also introduce a boundary leverage principle, which relates first-order boundary displacement to boundary logit perturbation divided by the spatial gradient norm. This principle explains why boundary metrics can degrade even when Dice remains high. On polyp segmentation benchmarks, MedCore reduces parameters by 60.0% and FLOPs by 58.4% while achieving Dice 0.9549, Boundary F1 0.6388, and HD95 5.14 after post-pruning fine-tuning. It also reaches 86.6% parameter reduction and 90.4G FLOPs, retaining Dice and HD95 near the fine-tuned MedSAM reference, with lower BF1. Our analysis shows that MedSAM lies in a head-fragile boundary regime: the median 95th-percentile boundary leverage is 2.887 times as high for head-pruning as for MLP-pruning steps, consistent with BF1 and HD95 degradation. Our code is available at https://github.com/cenweizhang/MedCore.

cs.CV · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39446

Ask to Evolve: A Unified Harness for Lifelong Embodied Navigation with Hybrid Action Space and Persistent Memory

Kai Sheng, Liuyi Wang, Jinlong Li, Haojie Dai, Chengju Liu, Qijun Chen

原文摘要

Giving embodied agents the freedom to act autonomously, initiate interactions, and understand their surroundings through experience is a step toward bringing them to life in the physical world. Realizing this vision requires action, interaction, and memory to work together, so that each encounter can inform current decisions and contribute experience for future tasks. We present EvoLife, a unified navigation harness that enables a multimodal embodied agent to choose how to move, when to ask, and what experience to carry forward. Its hybrid action space supports waypoint navigation, local discrete adjustments, pixel-based navigation, and object-directed navigation. Active interaction allows the agent to seek clarification or assistance when it encounters ambiguity or difficulty, while persistent spatial memory binds observations and dialogue to places, retaining useful experience to guide subsequent visits. We evaluate eight benchmarks across four task families: vision-language navigation, object navigation, interactive instance navigation, and continuous multi-task navigation. With an average of only 1.87 active interactions per episode, our method achieves a first-visit success rate (SR) of 100% across four 100-episode sets spanning vision-language navigation and object navigation. Complete-sequence SR reaches 98% on 50 LHPR-VLN sequences and 94% on 50 GOAT-Bench sequences. In the R2R revisit setting, success weighted by path length (SPL) increases from 82.23% to 93.31% with retained experience. Multi-day physical navigation further demonstrates exploration, proactive help-seeking, and revisiting remembered places. Together, these results advance the vision of bringing embodied agents to life through autonomous action, proactive interaction, and the accumulation and reuse of experience.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2505.13553

Towards Functional Correctness of Code Models with Selective Generation

Jaewoo Jeong, Taesoo Kim, Sangdon Park

原文摘要

The hallucination of code generation models hinders their applicability to systems requiring higher safety standards. One critical bottleneck in addressing code hallucination is the difficulty of identifying the functional correctness of generated code, due to its unnatural form. We address this core bottleneck by automatically generating unit tests using dynamic code analysis tools, leveraging the \emph{executable nature} of code. Accordingly, we propose a \emph{selective code generator} that abstains from uncertain generations -- based on the functional correctness evaluated by generated unit tests -- to theoretically control the correctness among non-abstained answers, \ie the false discovery rate. Finally, we propose to use generated unit tests in evaluation as well as in learning for precise code evaluation, calling this paradigm \emph{FuzzEval}. We demonstrate the efficacy of our method along with the controllability of code hallucination and reasonable selection efficiency.

cs.SE · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39444

End-to-End Guarantees for Masked Diffusion Models under Conditional Mixing

Fareed Sheriff

原文摘要

Masked diffusion models train a denoiser on masked cross-entropy and generate by unmasking many positions in parallel. Existing MDM sampling bounds assume an exact denoiser or leave its error uncontrolled while training bounds cover only the masking distribution on which the model was trained. We present an end-to-end guarantee for a learned denoiser under conditional mixing (CM): stationary sources (e.g. floored order-$r$ Markov and two-sided-Doeblin hidden-Markov sources) for which revealing distant visible tokens moves a masked token's posterior on average exponentially little in the distance with correlation length $τ_c$. We show the empirical risk minimizer trained under any masking distribution attains per-token excess $\varepsilon'$ on that distribution from $\varepsilon'^{-\mathcal{O}(τ_c\log|\mathcal{V}|)}$ training sequences, independent of sequence length $N$ -- one sample budget serves every decoding schedule when each schedule's denoiser is trained under its own weighting. We further show that the exponent's order $Θ(τ_c\log|\mathcal{V}|)$ is minimax-optimal up to constants; more efficient rates require added structure. With this, we bound the end-to-end KL as $\mathrm{KL}(π\Vert p_{\mathrm{alg}})\leq \varepsilon+N\varepsilon'$ under a dilated schedule of $T=\mathcal{O}(τ_c\log(N|\mathcal{V}|/\varepsilon))$ denoising steps versus $Ω(N)$ steps for a fixed random order on an explicit CM source. Finally, we show that block-autoregressive samplers chain across blocks with no added error and that a $Λ$-looped order-$r$ message-passing class on order-$r$ sources achieves polynomial sample complexity, with approximation error improving per loop until saturation at $Λr\approx τ_c\log(1/\varepsilon')$. Experiments on released and retrained models support our results' qualitative predictions.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39442

Softmax Routing Dynamics in Mixture-of-Experts Models: Collapse and Recovery

Shengze Xu, Maolin Deng, Tieyong Zeng

原文摘要

Softmax routing in mixture-of-experts models can concentrate probability on a subset of experts, suppressing access to the others. We study how this concentration forms, why it persists, and how suppressed probabilities recover. For fixed experts, a stationary-loss barrier identifies the face supporting the optimal routed output. In a common-target square-loss model with freely trainable expert outputs, slow adaptation tracks fixed-expert dynamics on finite horizons, while every fixed positive adaptation rate yields an interior routing limit. An exact normal-velocity decomposition separates complementary-expert covariance from relative gradient advantage. Under positive two-sided power bounds along recovery paths, uniform over initial masses, the resulting coefficient's order of vanishing gives logarithmic or power-law recovery times. Integrations of constructed fields reproduce these orders. An exact discrete log-odds identity relates neural updates to threshold crossing. In paired Transformer-MoE training, removing a class-conditional router-gradient contrast delays confirmed recovery and reduces accumulated log-odds on fixed tokens, both with and without capacity constraints.

cs.LG

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新论文 · v1arXiv:2610.39441

PathCowork: Learning from real-world pathology practice to build AI copilots

Sheng Wang, Jialu Yao, Maria V. Rossi, Shunsuke Koga, Esther Baranov, MacLean P. Nasrallah, Songhao Li, Jonathan Xu 等 25 位作者

原文摘要

Medical AI learns from the answers doctors record, but rarely from how they interpret the evidence to reach them. Here we introduce PathCowork, a framework that turns pathologists' narrated examinations into supervision for visual grounding and procedures that guide diagnostic AI agents. Synchronized gaze, narration and navigation link visual findings to the process of interpreting them. Across 48 sessions from 16 pathologists, the platform captured 1,028 minutes of slide review. Using these data, we trained PathCowork-1T for server deployment and PathCowork-27B for local deployment, with improved visual grounding. Across five organ-specific evaluations, agents combining this grounding with recorded diagnostic procedures achieved primary task scores averaging 17.9 and 24.1 percentage points higher than Claude Code and Codex, respectively, with shorter processing times and lower inference costs. Compared to the state-of-the-art multiple-instance learning AIs, the PathCowork agent-proposed regions achieved higher prostate-grading scores with limited slide labels. PathCowork can also help construct pathology AI benchmarks where questions derived from the recordings identified difficulties in recognizing viewing context and rejecting inapplicable premises. In summary, PathCowork proposes a new paradigm to scale up the data collection and train pathology AI through transparent reasoning from diagnostic sessions, opening a path towards systems that learn directly from routine clinical practice.

cs.CV

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新论文 · v1arXiv:2610.39439

Timbre: Reliability-aware harmonic consensus for label-free multimodal test-time rexinforcement learning

Haotian Lyu, Haoyu Wang, Ru Wang, Feng Ji, Ziwen Li, Jiaxian Guo, Mingming Gong

原文摘要

Label-free test-time reinforcement learning adapts vision--language models using rewards derived from their own predictions. However, misinterpreted visual evidence and sensitivity to textual formulation can produce a consistent but incorrect consensus that majority voting reinforces. Cross-view aggregation can expose such errors, but image and text transformations may themselves degrade task-relevant evidence to different extents. We introduce \method, a reliability-aware harmonic consensus framework for multimodal test-time reinforcement learning. \method constructs a $2\times2$ grid combining original and perturbed images with direct-solving and reframing modes, selects pseudo-labels through weighted harmonic aggregation, and adapts modality-level weights using batch-averaged, temporally smoothed shifts in pseudo-label confidence as a heuristic reliability signal. We formulate consensus as a weighted $χ^2$-barycenter problem whose unique minimizer is the normalized weighted harmonic aggregate, without requiring correct-answer invariance. An exact support--dispersion decomposition characterizes when harmonic aggregation preserves or corrects arithmetic rankings, while a sensitivity analysis establishes how modality reweighting changes pairwise ranking margins, informing interpretation of the heuristic updates. Across six benchmarks and three Qwen3-VL model scales, \method outperforms TTRV in 16 of 18 benchmark--model settings on adaptation instances and 17 of 18 settings on held-out instances under matched estimation and optimization rollout counts. These results demonstrate improved target-task adaptation and transfer to unseen instances without further updates.

cs.AI

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新论文 · v1arXiv:2610.39438

ATLAS-Bench: An Agentic Tool-Use Benchmark for Local Area Search

Keyun Zhang, Dapeng Yin, Fanfu Wang, Shuang Lang, Zhenyu Zhu, Yulin Huang, Chong Yang, Pengjie Wang

原文摘要

Reliable local search is essential for LLM agents to support everyday decisions and longer plans by finding places that meet users' needs at given times and locations. Yet existing benchmarks provide limited coverage of whether search results satisfy mandatory requirements, account for preferences, and ground factual and experiential judgments in place attributes and reviews. We introduce ATLAS-Bench, a benchmark of 1,200 queries across three regions, expanded from real search events using place attributes, reviews, and existing user profiles from the platform. Each query distinguishes mandatory requirements from preferences and factual conditions from subjective judgments, with supporting evidence and criteria for checking each requirement. Queries are validated through iterative assertion checks and cross-model review. We also introduce ATLASBox, a standardized evaluation environment with search tools and a fixed point-of-interest (POI) knowledge base. Given a query, timestamp, and location, an agent searches place attributes and reviews to recommend evidence-supported options or report that no place meets all mandatory requirements. We evaluate answer quality, trajectory quality, and execution cost. Across 14 configurations of 11 models, GPT-6-Luna achieves the highest constraint satisfaction rate among returned recommendations (71.5%) and factual accuracy (95.6%). However, it returns at least one acceptable recommendation for fewer satisfiable queries than GLM-5.3 (67.3% versus 85.3%). These results highlight the challenge of satisfying individual requirements while providing usable recommendations across queries.

cs.AI

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新论文 · v1arXiv:2610.39435

Verifiable LLM-Guided Focal SMT Solving for Quantified Arrays

Kunhang Lv, Rui Han, Fuqi Jia, Yuhang Dong, Feifei Ma, Jian Zhang

原文摘要

Large language models can often identify useful semantic structure in formal artifacts, but their outputs cannot be trusted as proofs or solver decisions. We study whether LLMs can instead guide formal reasoning systems through a narrow, solver-verifiable interface. We instantiate this idea in quantified array SMT solving, where modern instantiation-based techniques can fail when key ground terms and equalities are hidden by auxiliary variables, axiom guards, and nested array terms. We observe that many instances are largely driven by a small set of focal ground terms or constraints, similar to the backdoor sets in SAT solving. Building on this, we present LinguaArray, a framework where an LLM proposes a small Semantic Focus Set (ground terms/constraints), while a conventional SMT solver remains the sole proof engine and certifies all results. LinguaArray uses these LLM-suggested, solver-validated finite sets to significantly enhance solver capability, solving additional satisfiable and unsatisfiable instances that the backend alone fails to solve. It interacts within a finite time and then falls back to the backend solver to mitigate potential regressions. Evaluation on 1015 SMT-LIB instances across five logics under 1200s timeout (including LLM latency) shows that LinguaArray solves up to 69.1% of instances and increases solved-instance counts by 105%--397% over the corresponding backends.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2603.28767

Gen-Searcher: Reinforcing Agentic Search for Image Generation

Kaituo Feng, Manyuan Zhang, Shuang Chen, Yunlong Lin, Kaixuan Fan, Yilei Jiang, Hongyu Li, Dian Zheng 等 10 位作者

原文摘要

Recent image generation models have shown strong capabilities in generating high-fidelity and photorealistic images. However, they are fundamentally constrained by frozen internal knowledge, thus often failing on real-world scenarios that are knowledge-intensive or require up-to-date information. In this paper, we present Gen-Searcher, as the first attempt to train a search-augmented image generation agent, which performs multi-hop reasoning and search to collect the textual knowledge and reference images needed for grounded generation. To achieve this, we construct a tailored data pipeline and curate two high-quality datasets, Gen-Searcher-SFT-10k and Gen-Searcher-RL-6k, containing diverse search-intensive prompts and corresponding ground-truth synthesis images. We further introduce KnowGen, a comprehensive benchmark that explicitly requires search-grounded external knowledge for image generation and evaluates models from multiple dimensions. Based on these resources, we train Gen-Searcher with SFT followed by agentic reinforcement learning with dual reward feedback, which combines text-based and image-based rewards to provide more stable and informative learning signals for GRPO training. Experiments show that Gen-Searcher brings substantial gains, improving Qwen-Image by around 16 points on KnowGen and 15 points on WISE. We hope this work can serve as an open foundation for search agents in image generation, and we fully open-source our data, models, and code.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2412.07768

Test-time Correction: An Online 3D Detection System via Visual Prompting

Hanxue Zhang, Zetong Yang, Yanan Sun, Li Chen, Fatma Güney, Hongyang Li

原文摘要

This paper introduces Test-time Correction (TTC), an online 3D detection system designed to rectify test-time errors using various auxiliary feedback, aiming to enhance the safety of deployed autonomous driving systems. Unlike conventional offline 3D detectors that remain fixed during inference, TTC enables immediate online error correction without retraining, allowing autonomous vehicles to adapt to new scenarios and reduce deployment risks. To achieve this, we equip existing 3D detectors with an Online Adapter (OA) module -- a prompt-driven query generator for real-time correction. At the core of OA module are visual prompts: image-based descriptions of objects of interest derived from auxiliary feedback such as mismatches with 2D detections, road descriptions, or user clicks. These visual prompts, collected from risky objects during inference, are maintained in a visual prompt buffer to enable continuous correction in future frames. By leveraging this mechanism, TTC consistently detects risky objects, achieving reliable, adaptive, and versatile driving autonomy. Extensive experiments show that TTC significantly improves instant error rectification over frozen 3D detectors, even under limited labels, zero-shot settings, and adverse conditions. We hope this work inspires future research on post-deployment online rectification systems for autonomous driving.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39433

ARBITRA: Robust Document-Level ATT&CK Extraction via Multi-Expert Argumentation

Youngjin Jin, Seungwon Shin

原文摘要

Cyber threat intelligence (CTI) reports describe adversary behavior in natural language, but converting them into structured MITRE ATT&CK mappings remains difficult: existing methods decompose reports to sentence-level granularity for extraction, while modern LLMs can work with full reports in a single pass but with noticeable performance degradation. We present ARBITRA, which orchestrates multiple role-specialized LLM experts that propose candidate ATT&CK entities from the full report, which are then verified through a per-candidate quantitative bipolar argumentation framework (QBAF) grounded in document evidence and rationales. We additionally construct reasoning-specialized corpora for fine-tuning so experts can act as effective participants during this verification process. Across ATT&CK extraction benchmarks, ARBITRA reaches a stronger precision-oriented operating point than sentence-level pipelines, recent LLM-based extraction systems, and frontier models including GPT-5.5. Under adversarial perturbations simulating conflicting TTP statements, cross-report contamination, and semantic poisoning, ARBITRA limits mean precision degradation to roughly half that of frontier-model baselines for a more robust extraction.

cs.CL · cs.CR

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.29488

AnyMo: Scaling Any-Modality Conditional Motion Generation with Masked Modeling

Yiheng Li, Zhuo Li, Ruibing Hou, Yingjie Chen, Hong Chang, Hao Liu, Shiguang Shan

原文摘要

Conditional human motion generation remains a fundamental challenge in computer vision and robotics. Despite significant progress, current methods are often constrained by fixed modality configurations and task-specific architectures, leaving cross-modal interactions and the scaling laws of multimodal-conditioned synthesis largely underexplored. A key bottleneck is the scarcity of large-scale modality-aligned motion data, limiting generalization across diverse control signals. In this work, we introduce OmniHuMo, a large-scale, high-quality dataset comprising over 5,000 hours of motion and 3.2 million sequences with precisely aligned multimodal annotations (e.g., text, speech, music, and trajectory). Leveraging OmniHuMo, we propose AnyMo, a unified multimodal framework combining a Residual FSQ-based motion tokenizer with a scalable masked modeling transformer, enabling high-quality motion synthesis under arbitrary modality combinations. Extensive experiments show that AnyMo achieves high-fidelity synthesis while offering flexible control over both spatial and stylistic attributes.

cs.CV · cs.AI

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新论文 · v1arXiv:2610.39429

ScheduleGen: Demonstration Generation via Skill Scheduling for Multi-Arm Imitation Learning

Neel Jawale, Stephan Pleines, Soha Pouya, Yuke Zhu, Ajay Mandlekar, Caelan Garrett

原文摘要

Multi-arm robot platforms, including bimanual and humanoid robots, have the capability to complete tasks with lower cycle times than single-arm systems, but they are more difficult to safely control due to the presence of multi-arm constraints. The paradigm of training generalist robot policies from massive datasets is a promising approach to address general-purpose multi-arm manipulation, but the acquisition of large multi-arm manipulation datasets remains a bottleneck. Automated demonstration generation can alleviate this burden by synthesizing new demonstrations from a handful of source demonstrations, but existing algorithms ignore multi-arm constraints and as a result often induce unsafe and unsuccessful behaviors. We address this limitation by introducing ScheduleGen, an integrated planning & scheduling algorithm for multi-arm demonstration generation. We evaluate ScheduleGen on 28 simulation task variants, including seven externally authored RoboDojo tasks and settings inaccessible to prior systems; it achieves 79.6% mean data-generation success and trains policies with 65.5% mean success. ScheduleGen policies outperform those trained on a state-of-the-art data generation baseline, and achieve 50-80% success across eight real-world variants through zero-shot sim-to-real and real-to-sim-to-real transfer. Videos and more at: https://schedulegen.github.io/

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39426

UGR: Unified Generative Ranking for Heterogeneous E-commerce Recommendation

Zonghe Shao, Huabin Chen, Sitong Lu, Fangmei Zhu, Yingcai Ma, Ge Fan, Jinguo Gao, Wei Shi 等 10 位作者

原文摘要

List-wise ranking in e-commerce recommendation must balance user utility and commercial value across organic content, ads, and candidates from other businesses, while modeling candidate interactions and sequential dependencies. Existing generative ranking methods typically learn from logged exposure sequences and operate on truncated candidate sets from a single business. Exposure-sequence learning may not fully exploit post-exposure feedback signals. Meanwhile, generative ranking over heterogeneous, multi-business candidates remains less explored, particularly when recommendation scores and advertising value must be jointly modeled under generalized second-price (GSP) auctions. We propose Unified Generative Ranking (UGR), which performs generative ranking over the full request-level multi-business heterogeneous candidate set, typically comprising around a thousand candidates in production, and directly generates multi-business ranking lists through candidate-aware autoregressive decoding. To go beyond exposure-sequence imitation, UGR introduces complementary feedback supervision through weighted supervised fine-tuning and permutation preference optimization, which respectively leverage observed post-exposure feedback and feedback-derived preferences among permutations. UGR uses a training-time advertising debiasing tower to model historical ad exposure effects and incorporates current ad value during serving while preserving the existing allocation and GSP pricing rules. Multi-value sequence retrieval produces candidate ranking lists, and the existing downstream evaluator selects the final list for exposure. Offline experiments demonstrate consistent gains in ranking quality, while online A/B tests on Taobao's Guess You Like recommendation service yield improvements of 1.76% in Core IPV, 3.29% in Transaction Volume, and 2.10% in GMV over the production baseline.

cs.IR

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