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新论文 · v1arXiv:2610.39379

Information-Driven Collaborative Autonomy for Heterogeneous UAV/UGV Teams

Joshua Yuriv Pilipovsky

原文摘要

This paper considers coordinating a heterogeneous team of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) traversing a domain containing an unknown number of potentially hazardous targets. The UAVs provide aerial sensing using onboard optical cameras, adapting their trajectories to ground routes and target information. We formulate the aerial search problem using ergodic control, which distributes sensing effort according to a spatial information density to balance exploration and target localization. The formulation incorporates dynamic camera field-of-view footprints and pose-dependent probabilistic detection models. Angles-only measurements are processed through Bayesian inference and marginalization over data-association hypotheses to obtain a Poisson multi-Bernoulli (PMB) approximation of the target posterior, representing both detected and undetected targets. This belief directs aerial sensing toward unexplored regions along the ground routes and viewpoints that improve target localization. Ground planning combines chance-constrained target avoidance, enforced through confidence sets, with a void-probability objective that favors routes unlikely to contain threats. We solve each team's optimization problem in a fully decentralized manner using a nested SCvx*--C-ADMM scheme, with outer sequential convex programming iterations and inner distributed consensus optimization, accounting for nonlinearities, nonseparable objectives, and continuous-time inter-agent separation constraints. A closed-loop scheme updates both fleets' trajectories as information becomes available and permits ground motion when the remaining route risk falls below a prescribed threshold. Numerical case studies examine sensing geometry and target uncertainty, compare decentralized and centralized solvers, and demonstrate full closed-loop collaboration between multiple UAVs and UGVs.

cs.RO · eess.SY · math.OC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39378

Limit Theorems and Optimal Policies for Flock Flight through Poisson Forests

Lav R. Varshney

原文摘要

Inspired by birds flying through cluttered environments, Karaman and Frazzoli showed that high-speed flight through an ergodic random forest exhibits an ultimate speed limit: above a critical speed, almost surely no infinite collision-free trajectory exists for a single bird. This paper formulates a corresponding bulk-transport problem for many birds. We construct an explicit directed corridor network in a Poisson disk forest and impose a common temporal headway at its waypoints. The maximum current equals a minimum vertex-cut capacity and is achieved by repeated flight along vertex-disjoint paths. The same schedule maximizes completed traversals at every finite horizon, with constant forward speed and no internal waiting. For a forest belt of fixed depth, exact transverse superadditivity yields an almost-sure deterministic current-density limit. A uniform shape theorem for an asymmetric planar dual identifies the current when depth and width grow together. For diverging depth bounded by a constant times width, this current equals the width-first, depth-second limit and is independent of the positive aspect ratio. When diagonal corridors are available, bulk current is positive at sufficiently low obstacle intensity and zero at sufficiently high intensity. For stochastic demand, an upstream admission queue is stable at every rate below the finite-network capacity.

eess.SY · cs.RO · math.PR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39377

AgentDecept: Benchmarking Deceptive Behavior in Tool-Using LLM Agents under Pressure

Yehan Zhang, Qianqi Yan, Hang Yin, Ching-Chen Kuo, Shan Jiang, Ming Ouyang, Yijie Liu, Xin Eric Wang

原文摘要

LLM agents increasingly carry out multi-turn tasks across everyday applications, yet users often see only the agent's report rather than the observations, API calls, and state changes behind it. Existing deception benchmarks have studied long-horizon interactions and tool-use settings, but whether agents faithfully report their actions across realistic, stateful application workflows remains underexplored. To address this gap, we introduce AgentDecept, an executable benchmark for evaluating behavioral deception under pressure. AgentDecept contains 477 pressure variants derived from 257 source tasks across six pressure sources, each paired with a pressure-free counterpart. Interventions enter through event messages, task context, application state, tool responses, and service quotas, spanning explicit events and implicit task or environment changes. Our evidence-grounded protocol evaluates full trajectories by relating user-facing claims to time-ordered observations and executed outcomes, distinguishing falsification, concealment, and equivocation from honest failure and disclosed limitations. The resulting behavioral labels also provide a setting for testing existing activation-based probes. AgentDecept enables controlled analysis of when multi-turn agents' reports diverge from execution in realistic application interactions.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39373

What Makes Medical Examination Items Difficult? Using Large Language Models to Explore Patterns Associated With Empirical Item Difficulty

Xiaomeng Xiong, Marcus Walker, Yanlin Jiang

原文摘要

Research on medical item difficulty has largely focused on prediction rather than on identifying interpretable patterns associated with empirical difficulty. This study used empirical difficulty labels to guide large language models (LLMs) in inducing difficulty rubrics and examined how rubric guidance affected LLM difficulty judgments. Using training items and their empirical difficulty estimates from the United States Medical Licensing Examination (USMLE) and the Physician Assistant National Certifying Examination (PANCE), Claude Opus 5 induced separate rubrics for absolute and pairwise difficulty judgment. None of the induced rubrics treated surface features, such as stem length, option count, or images, as major sources of difficulty. Several patterns emerged across both examinations, including cue convergence, misleading cues, and option competition, although their specific forms differed. Retrieval of knowledge that could not be derived from the stem was particularly prominent in the PANCE rubrics, whereas the USMLE rubrics placed greater emphasis on integrating multiple clinical cues. We compared commercial and open-weight LLMs on held-out items under unguided and rubric-guided conditions. Rubric guidance changed how models used the difficulty scale but did not consistently improve performance. In absolute judgments, guidance encouraged broader use of the scale and generally improved coarse-grained agreement, without consistently improving rank ordering. In pairwise comparisons, its effects varied across models and examinations, and judgments became more sensitive to presentation order. These findings suggest that the value of label-guided rubric induction may lie more in generating interpretable, testable hypotheses from empirical difficulty data than in reliably improving difficulty judgments.

cs.CL · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39372

Cord: Confidence-Anchored Order Residual Decoding for Masked Diffusion Language Models

Chengwei Zhou, Zhaoyan Jia, Massoud Pedram, Gourav Datta

原文摘要

The decoding order of masked diffusion language models (dLLMs) can substantially affect generation quality, yet common decoders typically apply the same reveal rule throughout generation. Confidence provides a strong default, but it measures how decisively a position can be predicted now, not how useful revealing that position will be for subsequent decoding. We propose Cord, a lightweight prompt-conditioned policy that retains confidence decoding as a stable reference and learns when and how to depart from it through geometric residuals over generation direction, proximity to revealed context, and two-sided infilling. The residuals adapt to both the prompt and the evolving partial response. Rather than sampling a new policy action at every decoding step, Cord samples a single low-dimensional coefficient matrix per rollout, which induces an entire state-dependent reveal trajectory. This yields a contextual-bandit formulation trained directly from sequence-level rewards, without step-level credit assignment or backbone updates. Across three dLLMs and five reasoning, code, and constraint-satisfaction benchmarks, Cord improves average task success from 32.0% under confidence decoding to 48.2%, and further improves over the best per-domain fixed residual. Behavioral audits show that the learned residuals induce substantial, task-dependent changes in reveal locality and two-sided infilling. Cord adds only $0.53$M trainable parameters, requires no additional backbone forward passes, and incurs only 5.39% inference latency overhead.

cs.CL · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.33005HF 社区推荐

OpenEBFM: Energy-based Foundation Models Are Scalable Architecture

Yuan Pu, Yudong Lu, Ting Wang, Zhicong Hong, Qinuo Li, Xuansheng Wu, Na Zou, Xia Hu 等 9 位作者

原文摘要

Energy-based models have shown promising properties for domain-specific tasks but remain challenging in modeling general-purpose scenarios. To bridge this gap, we design energy-steered models (ESMs) for foundational language modeling. ESMs integrate energy steering and token generation within a single architecture to leverage the energy-guided search to refine token generation. Specifically, ESMs first optimize a latent state over the energy landscape, then leverages the refined latent state for token generation. By performing such energy-guided pre-training on large-scale corpora, ESMs learn generally effective energy landscape where favorable tokens correspond to lower energy values. To explore the scaling behavior of ESMs, we pre-train ESMs on three large-scale corpora, then evaluate across 26 downstream tasks spanning a broad range of domains. Our results demonstrate that ESMs have promising scaling behaviors with increasing model size and training data, and outperform GPTs on most downstream tasks. These findings highlight ESMs as a promising architecture for large-scale pre-training and general purpose problem solving. We fully release the model weights and training infrastructure to enable the community to completely reproduce and extend our results. GitHub: https://github.com/datamllab/openebfm HuggingFace: https://huggingface.co/collections/guan-wang/openebfm

cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39367

Utility-WAM: Correcting Future-Induced Action Changes

Feihong Zhang, Xi Lin, Yulong Shi, Zuxing Lu, Yanghong Mei, Zhaopeng Gu, Tingyu Yuan, Zihao Liang 等 10 位作者

原文摘要

World Action Models (WAMs) can condition robot actions on generated visual futures, but this additional context is neither cost-free nor uniformly beneficial. We examine what a predicted future actually changes: the action delta $Δa$ between the future-conditioned and future-free execution paths of the same model. Under a shared WAM checkpoint, this delta barely shifts average benchmark success ($+0.8$ points on LIBERO, $-0.8$ on RoboTwin~2.0), while generating visual futures increases inference latency by 1.7--1.9$\times$. These aggregate metrics conceal a concentrated failure mode that we term \emph{future-induced negative transfer}: while predictive deltas benefit long-horizon tasks ($+2.4$ points on LIBERO-Long) and remain negligible on most routine manipulations, they induce severe degradation on precision tasks---with \emph{Press Stapler} and \emph{Place Can Basket} losing 54.0 and 34.0 points, recurring as top failure modes across independently trained WAM variants. We introduce \textbf{Utility-WAM} for in-place correction of future-conditioned control. Its primary learning component is a residual adapter that repairs future-induced velocity deltas under a frozen shared WAM by aligning them with ground-truth dynamic guidance and penalizing excess error beyond the future-free baseline. The adapter selectively eliminates the majority of severe task drops (reducing losses to 6.0 and 14.0 points) while preserving long-horizon foresight. To eliminate superfluous video computation, a lightweight pre-generation gate reuses counterfactual action outcomes to selectively bypass video generation on 75.5\% of RoboTwin queries, cutting latency by 38\% while improving average success to 93.3\% on RoboTwin~2.0 and 98.9\% on LIBERO. On physical bimanual manipulation across three real-world tasks, Utility-WAM succeeds in 53 of 60 trials, compared to 43 for FAST-WAM.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.14736

IsoNet: Face-Guided Speech Extraction for Compact Microphone Arrays

Dinanath Padhya, Sajen Maharjan, Binita Adhikari, Ishwor Raj Pokharel

原文摘要

Listening to one chosen talker in a crowded room is effortless for people but hard for small devices, whose microphone arrays are too compact for classical beamforming to separate nearby voices. We present IsoNet, a select-to-listen system: the user selects a face in the camera view, and a 4-microphone array with a 9.4 cm aperture returns that person's speech. IsoNet fuses multi-channel complex spectra, GCC-PHAT spatial cues, and a face embedding at the bottleneck of a U-Net mask estimator, trained with auxiliary direction-of-arrival supervision and an SNR curriculum on simulated reverberant VoxCeleb mixtures. On a hard test set spanning -1 to 10 dB SNR, IsoNet reaches 9.31 dB SI-SDR, a 4.85 dB improvement over the mixture, and raises PESQ from 1.40 to 2.13 and STOI from 0.72 to 0.84. The gains are largest where the task is hardest (5.71 dB SI-SDR improvement at -1 to 1 dB SNR), and IsoNet outperforms oracle-steered delay-and-sum and MVDR beamformers by 9.7 and 10.9 dB SI-SDR. Ablations show that visual and spatial cues are complementary, and a 4.9M-parameter audio-spatial variant stays within 0.16 dB of the full model while running 26 times faster than real time.

cs.SD · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2509.23122

Stochastic Interpolants via Conditional Dependent Coupling

Chenrui Ma, Xi Xiao, Tianyang Wang, Xiao Wang, Yanning Shen

原文摘要

Existing image generation models face critical challenges regarding the trade-off between computation and fidelity. Specifically, models relying on a pretrained Variational Autoencoder (VAE) suffer from information loss, limited detail, and the inability to support end-to-end training. In contrast, models operating directly in the pixel space incur prohibitive computational cost. Although cascade models can mitigate computational cost, stage-wise separation prevents effective end-to-end optimization, hampers knowledge sharing, and often results in inaccurate distribution learning within each stage. To address these challenges, we introduce a unified multi-stage generative framework formulated under the stochastic interpolant formalism with our Conditional Dependent Coupling strategy as a Flow-Matching variant. It decomposes the generative process into interpolant trajectories at multiple stages, ensuring accurate distribution learning while enabling end-to-end optimization. Importantly, the entire process is modeled as a single unified Diffusion Transformer, eliminating the need for disjoint modules and also enabling knowledge sharing. Under explicitly stated assumptions, we provably reduce both transport cost and asymptotic inference time; we empirically validate the underlying NFE-transport-cost and per-evaluation-cost relations. Extensive experiments demonstrate that our method achieves competitive fidelity and substantially lower wall-clock cost in the low-NFE regime across multiple resolutions.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2512.03479

Benchmarking and Learning Object-Centric Procedural Understanding in Instructional Videos

Wenliang Guo, Yu Kong

原文摘要

Procedural activities are fundamentally driven by object state transitions, yet existing instructional video benchmarks remain action-centric and cannot evaluate whether models reason about how objects evolve toward task completion. In this work, we introduce ProcObject-10K, the first benchmark that jointly evaluates object-centric reasoning and temporal evidence grounding in instructional videos, across both egocentric and exocentric views. It comprises 10,522 open-ended VideoQA pairs grounded in 1,799 videos, spanning 137 tasks across 9 domains and five reasoning types covering preconditions, state evolution, counterfactuals, mistakes, and readiness. Benchmarking 13 leading MLLMs reveals a substantial answering-grounding gap: models produce plausible answers while failing to localize the supporting evidence (mIoU < 45%), exposing their reliance on linguistic priors rather than recognizing and reasoning about the object dynamics. As a step toward closing this gap, we further provide an object-centric supervised fine-tuning baseline with pseudo object-level supervision and spatial-temporal constraints. Models fine-tuned on ProcObject-10K not only improve on the benchmark itself, but also transfer effectively to other grounded VideoQA and embodied planning tasks. The dataset, annotations, and evaluation toolkit have been publicly released on our project page to support future research on object-centric procedural understanding: https://wenliangguo.github.io/ProcObject-10K-Page.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39362

More Is Better? Exploring Latent Correspondence in Federated Hypergraph Learning

Bo Yan, Siming Zhang, Siqi Li, Hang Yu

原文摘要

Federated hypergraph learning with latent cross-client hyperedge correspondence poses fundamental identifiability and computational challenges, as the same local release can correspond to multiple global hypergraph structures. We characterize the tractability of recovering these latent correspondences, showing tractable pairwise assignment but generally intractable multi-client hyperedge matching. Building on this characterization, we derive a cross-entropy decomposition that reveals when local prediction can outperform predictors fitted with additional cross-client information. Motivated by this principle, we introduce Federated Adaptive Spectral Training with Representation Alignment (FedASTRA), which learns correspondence-invariant diffusion representations through adaptive heat diffusion and masked latent prediction while communicating model parameters only. We establish its asymptotic optimality with respect to the permitted local information and prove global population-risk convergence under explicit conditions on recovery, representation, and update alignment. Experiments on eight real-world datasets demonstrate the effectiveness of FedASTRA against identifier-free federated graph and hypergraph methods. On ogbn-papers100M, FedASTRA reaches the performance-communication Pareto frontier, achieving 50.07 Accuracy and 29.73 Macro-F1 while communicating only 59.60 MiB per round.

cs.LG · cs.DC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.29894

Train the Agent, Not the Expert: Learning to Harness Heterogeneous Experts for Multi-Turn Visual Reasoning

Yaowu Fan, Tao Han, Dazhao Du, Andy J. Ma, Jia Wan

原文摘要

Recent advances in computer vision have produced powerful specialized models for detection, segmentation, counting, and other visual tasks. However, these models are typically optimized for isolated tasks, limiting their ability to support general-purpose visual intelligence, particularly when complex language understanding and dense small-object perception are required. We propose VisHarness, a trainable visual agent that decouples high-level perception, reasoning, and decision-making from low-level task execution. Rather than training a task-specific model, we train VisHarness to harness a set of carefully designed heterogeneous visual experts. This paradigm preserves the agent's general intelligence while leveraging the precision of specialized visual experts for specific tasks. With only lightweight training, VisHarness learns a generalizable policy for harnessing visual experts, enabling it to solve fundamental vision tasks in diverse complex scenarios through multi-turn interactions with these experts. To enable efficient on-policy reinforcement learning in a live environment, we introduce dynamic visual memory archiving to reduce the visual-token overhead that rapidly accumulates during multi-turn interactions with visual experts. Experiments on four representative benchmarks spanning reasoning segmentation, generalized referring expression segmentation, dense small-object detection, and referring expression counting show that VisHarness substantially outperforms existing general-purpose models and is competitive with or superior to task-specific models. Our code, model weights, and training data are publicly available at https://github.com/fyw1999/VisHarness.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39358

Before the Next Rollout: Diagnosing Skill Utility Shifts from Policy Updates

Yifan Wang, Zhenyi Gai, Yiwen Zhao, Mingxuan Jiang, Keyang Chen, Zeping Li, Hongfeng Chai, Yixin Cao

原文摘要

Skill-evolution methods typically analyze execution trajectories to guide agent skill refinement. However, policy updates can change the behavioral effects and marginal utility of an unchanged skill. Attribution based on earlier trajectories may therefore no longer reflect the skill's contribution under the updated policy. Moreover, trajectory failures can arise from multiple factors, making individual skill contributions difficult to isolate. We evaluate whether policy-update signals contain predictive information about changes in skill marginal utility. At fixed contexts from pre-update training rollouts, we measure how policy updates change the contrast in token preferences between skill and control conditions. Combining these interaction shifts with advantage estimates yields reward-directed readouts for diagnosing utility changes. The readouts reuse existing training rollouts and require only forward passes for single-step action scoring, without additional post-update rollout evaluation. Our experiments show that policy updates can alter skill marginal utility and that policy-update readouts carry diagnostic information for identifying skills with declining utility. Integrating readout-guided prioritization into skill evolution improves downstream performance while reducing policy and editor token consumption.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39356

Semantic Mismapping in Generalized Category Discovery: Evaluation and Mitigation

Zitai Wang, Qianqian Xu, Cong Hua, Xi Chen, Zhiyong Yang, Xiaochun Cao, Qingming Huang

原文摘要

Generalized Category Discovery (GCD) aims to perform old-category recognition and novel-category discovery in the same unlabeled set. Early methods address both objectives through clustering and evaluate the exchangeable predicted indices with global Hungarian (GH) matching. Recent methods adopt trainable parametric heads, using supervision for old-category recognition and discovery-oriented objectives for new categories. In this way, the output space becomes partially exchangeable: old indices are semantically anchored, while new indices remain exchangeable. However, these methods still apply global matching, which can reassign anchored old indices to other categories and hide some prediction errors. Empirically, we are surprised to observe that this reassignment can induce an overestimation of new-category accuracy by up to 25.63 points. We term this phenomenon semantic mismapping and further derive a permutation-cycle condition that characterizes when semantic mismapping can increase the global matching score. To fix this issue, we propose Semantics-Preserving Evaluation (SPE), which preserves the supervised semantics of old indices and restricts Hungarian matching to the new region. Furthermore, we propose Mismapping-Mitigating Optimization (MMO) to alleviate the prediction errors that can give rise to semantic mismapping, combining a region-balance loss (RBL) for old/new routing with a novel-diversity loss (NDL) that encourages orthogonality among new prototypes. Theoretically, we show that minimizing the two losses can tighten an upper bound on spurious accuracy gains from semantic mismapping, with controllable residual terms. Empirical results under both GH and SPE demonstrate the effectiveness of our proposed method.

cs.CV · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39353

CoToan: Executable Rules and a Representation Contract for Reproducible Game AI Evaluation

Ha-Thanh Nguyen

原文摘要

Game AI results are comparable only when different implementations expose the same decision problem. Yet seemingly minor representation choices can silently change that problem by altering action probabilities or collapsing states with different outcomes. We study this issue through CoToan, an executable specification and representation contract for Vietnamese Mathematical Chess connecting the Game Description Language (GDL) with OpenSpiel. The game provides a useful case because a single capture may have multiple arithmetic justifications, while outcomes can depend on scoring rules and a finite playing horizon. CoToan therefore represents actions by their state transitions rather than by arithmetic witnesses, and treats time and victory configuration as part of task identity. Cross-representation tests show agreement in legal actions, successor states, and terminal outcomes across hundreds of sampled and constructed positions, complemented by exhaustive checks of all 32 operator masks and 512 opposing-material subsets. Controlled diagnostics further show that uniform witness-level sampling alters endpoint-action probabilities, while omitting remaining time or victory settings can merge states with different terminal behavior. These results show that action semantics, time, and victory configuration are not merely implementation details. They are part of the experimental task itself and must be represented explicitly for reproducible game AI.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39352

Try Before You Evolve: Ranking-Scored Trials for Recursive Self-Improvement of Recommender Systems

Xu Huang, Jiawei Feng, Jiancan Wu

原文摘要

Recommenders on Web platforms such as e-commerce and music streaming need their training recipes re-tuned for each dataset. Large language model (LLM) agents can now rewrite these recipes, enabling recursive self-improvement (RSI) of recommender systems. Existing agents propose one edit per round, fully retrain the recommender, and keep the edit only if its ranking quality improves. Unlike programs or patches that can be scored by execution, a recommender edit changes how the model is trained, which raises two challenges. First, ranking feedback is delayed: an edit's ranking quality is known only after full retraining, so much of the retraining budget goes to edits that are later discarded. Second, the signals available before retraining are unreliable: sampled training losses can look solved while full-ranking performance remains poor, and they are not comparable across edits that change the loss or sampler. We propose RecRSI, which generates diverse candidate edits from a diagnosis of the current model and selects one for full retraining using early ranking feedback: each candidate receives a short trial, the first steps of its full training run, scored by full-ranking NDCG@10 on held-out probe users. With two sequential recommenders on three datasets and the same number of full retrainings, RecRSI significantly outperforms existing self-evolving agents in every setting, and on both Amazon datasets reaches in its first round a ranking quality that none of them reaches in five.

cs.IR

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2608.04565

Breadcrumbing Search Agents: Per-Turn Scheming Over Long-Horizon Trajectories

Xuebin Li, Hanqing Zhao, Siyuan Liang, Kejiang Chen, Weiming Zhang, Dacheng Tao, Nenghai Yu

原文摘要

LLM-based search agents are widely used for information-seeking tasks, but their reliance on external tool returns introduces a critical security risk: web content retrieved during execution is untrusted, exposing agents to prompt injection and goal hijacking. Prior work on search-agent safety primarily focuses on static web-content injection, but modern agents issue follow-up queries and cross-check competing sources, so a single injected page is often diluted or rejected. We show that the channel delivering search and page observations is a fragile security boundary: beyond exposing the agent to a single poisoned page, a mediated search interface can repeatedly steer how the agent gathers evidence and forms its final answer. Under a constrained tool-intermediary threat model, appending only one controlled result per query can substantially increase attack success when the evidence is coordinated across the agent's trajectory. We study this setting with a strategy-driven long-horizon attack system and introduce Authority-Chain Hijack (ACH), an expert-refined strategy that turns isolated search-result and page-content manipulations into a coherent evidence chain across seemingly corroborating sources. ACH achieves the highest Overall ASR among all baselines, reaching 55.9% / 83.3% ASR / MaxN ASR on the full SafeSearch test split. We further introduce Trace-Guided Strategy Evolution (TGSE), which automatically improves attacker strategies from execution traces, replacing manual redesign with trace-driven refinement; its strongest single setting reaches 71.4% / 95.0% in held-out evaluation. Code is available at https://github.com/MBOSSLESS/Breadcrumbing-Search-Agents.

cs.CR · cs.AI · cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.33595

Beyond One-Step Accuracy: State-Affine Latent Transition for Reliable Visual Planning

Boyuan Zhang, Yingjun Du, Xiantong Zhen, Ling Shao

原文摘要

Joint-embedding world models enable visual planning by learning action-conditioned dynamics in latent space. Yet they are commonly trained for one-step prediction on encoded states, while planning recursively applies the learned transition to its own predictions. One-step accuracy therefore does not capture how prediction errors propagate under recursive rollout. We decompose multi-step rollout error into the errors introduced at individual steps and their propagation through subsequent transitions. We show that state-affine dynamics are precisely the differentiable transitions with state-independent Jacobians, eliminating the nonlinear propagation residual and making the error propagation operators depend only on the action sequence. Guided by this result, we introduce SALT (State-Affine Latent Transition), an action-conditioned state-affine dynamics model in which the action modulates both the state transformation and the additive update. We train SALT through recursive multi-step rollout supervision, feeding each predicted latent state back into the transition so that training matches how the model is used during planning. Across four visual planning environments, SALT exhibits $1.48$--$2.19\times$ higher one-step prediction error than the matched LeWM baseline, yet improves closed-loop success in every environment by $10.0$ percentage points on average. On OGBench-Cube, the fraction of episodes that fail with a sharp rise in model-predicted cost after execution decreases from $23.3%$ to $2.0%$.

cs.RO · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.16959

DiTSG: Context-Aware Air Traffic Scene Generation with Multi-Agent Diffusion Transformers

Seokbin Yoon, Kyungmin Kim, Taejung Kwon, Keumjin Lee, Peng Wei

原文摘要

Understanding how many aircraft, and which traffic configurations, can be safely and efficiently managed by air traffic controllers within a given airspace is fundamental to air traffic management. Air traffic controllers continuously modify aircraft trajectories through interventions such as speed advisories and radar vectoring, and the patterns of these interventions are difficult to capture effectively using existing air traffic simulators. To address this limitation, we propose Diffusion Transformers for Traffic Scene Generation (DiTSG), which learns to generate air traffic scenes from recorded multi-aircraft trajectories. DiTSG employs stacked multi-agent inverted Transformer layers as the denoising backbone of a diffusion transformer, jointly generates the trajectories of multiple aircraft within a traffic scene, and conditions the generation on agent-specific required times of arrival. The resulting trajectories generated by DiTSG preserve realistic inter-aircraft interactions observed in actual air traffic operations. Experiments show that the DiTSG generates diverse traffic scenes that reproduce the statistical properties of recorded traffic while preserving realistic inter-aircraft interactions.

cs.MA · cs.LG · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39344

PicturePerfect: Diffusion-based Same-identity Facial Replacement

Manik Dhingra, Yashesh Savani, Mahesh Reddy, Antoine Mercier, Jiahe Liu, Guillaume Berger

原文摘要

With the growing success of diffusion models in computer vision, we explore their potential for same-identity facial replacement in photographs. Specifically, we propose a diffusion-based method, built on top of a pre-trained text-to-image model, that takes as input a portrait image of a person and a second reference image of the same individual, potentially captured under different conditions. The goal is to seamlessly replace the input face with the reference face, while keeping the background intact. Surprisingly, despite the clear real-world utility of this task, no recently published work has directly addressed face replacement in this specific setting. To support this goal, we construct a large dataset of image pairs depicting the same person under varying facial expressions and poses. Experimental results demonstrate that our approach produces more realistic and identity-consistent results than existing face reenactment models.

cs.CV

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新论文 · v1arXiv:2610.39343

MulClip: A table-free activation function with monotonic and folding regimes for reservoir computing on microcontrollers

Guren Matsumura, Masato Takemoto, Shinzo Koyama

原文摘要

This letter proposes MulClip, a lightweight activation function for reservoir computing (RC) on microcontrollers (MCUs). In a ring reservoir, a representative sparse RC topology, multiply-accumulate operations are few, and evaluating tanh accounted for 75% of the state-update time on a Cortex-M4. MulClip introduces curvature into the response using only comparison, absolute value, multiplication, and subtraction, and places its clipping threshold not at the extremum but at the point where the response returns to zero after passing the extremum. As a result, a single function has both a monotonic regime and a nonmonotonic folding regime that increases the expressiveness of a single unit. Which regime is used is determined by the usual hyperparameter search, e.g., over the input scale, so no task-specific threshold tuning is required. The state-update time measured on hardware was 0.34 times that of tanh and shorter than that of any of the 11 evaluated tanh approximations. In PC-based evaluation, third-order MulClip achieved a 22% lower NMSE than tanh on NARMA-20, where the pre-activations remained in the monotonic regime, and on 8-bit parity it raised the accuracy from 0.76-0.78 for the monotonic-clip variant without folding to 0.97-0.98. For these two tasks, on-device inference yielded nearly the same values as on the PC.

cs.LG · cs.NE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39341

RetroChessBench: A Benchmark for Reconstructing and Proving Chess Histories

Tidor-Vlad Pricope

原文摘要

Frontier language models such as GPT 6 Astra have contributed to research mathematics, demonstrating substantial reasoning capabilities. Yet serious reasoning failures persist even in tasks governed by explicit rules. We demonstrate this in retrograde chess which is a playground for pure reasoning, where solvers reconstruct legal histories and distinguish possible events from forced ones. We introduce RetroChessBench, a 12-task benchmark covering exact-length constructions, unique endings, and exhaustive answer sets, with references, rubrics, and a terminal-reward environment. In two trials per task and condition, GPT 6 Astra High fails to produce the required final answer in 22/24 attempts without tools and 18/24 with code execution; mean terminal RL rewards are 14.75% and 27.19%, respectively. The examples identify faulty deductions: failed responses reject legal histories and treat temporary obstructions as permanent. Online retrograde archives often provide puzzles and final move sequences without detailed derivations. We hypothesize that limited exposure to these missing explanations in web-derived training data contributes to the observed reasoning failures. This questions how far frontier mathematical reasoning really generalizes beyond familiar solution patterns. Claims of general intelligence require evidence that models can transfer learnt principles to areas with few worked examples.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39339

Does the Citation Matter? Quality, Grounding, and Physician-Rubric Accuracy of Google's AI Overviews for Medical Information

Sam Agnoli, Brigid Reilly, Lily Barna, Emőke-Ágnes Horvát

原文摘要

Google's AI Overviews (AIOs) are the first result users encounter when searching the web, shifting the work of selecting and evaluating sources from the user to Gemini. This may be especially consequential for health information, given that Google's traditional algorithm was designed to prioritize quality sources, and inaccurate information carries health risks. We evaluated 3,611 benchmark health questions, comparing each AIO against that question's top five traditional results on source selection and quality. We also evaluated the AIOs' statement grounding in their cited sources and how accurate AIOs were against physician-written rubrics. Overviews appeared for 96.4% of questions but drew on substantially different evidence than traditional search: only 44.4% of the top five results were cited by the corresponding AIO, which instead overrepresented commercial health publishers (e.g., WebMD, Healthline) at the expense of academic and government sources (e.g., Cleveland Clinic, National Health Service). AIO-cited pages scored lower than traditional results on four of six well-established credibility criteria. The grounding of AIO statements to their sources was poor: after correcting for classifier error, an estimated 56.7% of cited statements were supported by their cited page, and a further 20.8% of all statements were factual claims with no citation at all. When AIOs were graded against physicians' rubrics, they earned 38.2% of all available points (e.g., accuracy 54.2%, completeness 21.6%), and among the subset of AIOs whose physician rubric anticipated a specific inaccurate or potentially harmful claim, 22.2% of AIOs contained the harmful content. Notably, the accuracy of AIOs was unrelated to the grounding of their statements. We recommend AIO literacy interventions for users and holding AIOs at least to Google's own health-ranking standards.

cs.IR · cs.CL · cs.CY · cs.HC

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.21565

BiShield-TEE: On the (In-)Security of Unilateral Weight Obfuscation in On-Device TEE-Shielded LLM Partition

Zhiyuan Wang, Yuezhi Zhou, Ziqi Zhang, Zhu Zhang, Zhixing Tan, Yongheng Deng

原文摘要

On-device deployment of large language models (LLMs) is increasingly adopted due to latency and privacy requirements, but exposes proprietary models to reverse engineering and intellectual property theft. Trusted Execution Environments (TEEs) provide hardware-enforced isolation for on-device inference, yet most TEE-based parameter obfuscation relies on unilateral matrix transformations that obfuscate only the output side. We identify a vulnerability in this design, termed the Solution Determinacy Property (SDP): the obfuscation secret is uniquely determined, exposing the structure of the true key and enabling attackers to break the protection. Under our attacks, representative methods GroupCover and ArrowCloak are reduced to negligible protection, with attack accuracy reaching over 2.4 times the full-shielding black-box baseline and recovering near-complete model functionality. To address this vulnerability, we propose BiShield-TEE, a bilateral framework that induces Ambiguous Solutions through joint obfuscation of input and output dimensions, hiding the true key among many equally valid candidates. Experiments across diverse models and datasets show that BiShield-TEE confines attack accuracy to the full-shielding black-box baseline, while achieving higher inference efficiency than prior methods on real hardware. Our code is available at https://github.com/laduiw/BiShield-TEE.

cs.CR · cs.AI

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新论文 · v1arXiv:2610.39331

Telling Is Not Seeing: Textual Personas Rarely Make Vision-Language Models Answer Like the People They Describe

Jiawei Chen

原文摘要

Vision-language models (VLMs) are increasingly prompted with personas, such as "You have low vision", to stand in for people in user studies. We ask whether a persona makes a model see like the person it describes. We compare persona answers with measured people with low vision, color blindness or hearing loss, and with simple rules that use only the facts the persona states. The persona never beats these rules, and it erases the real differences between groups and individuals. Describing blur leaves recognition unchanged in all 14 models we test, while blurring the photo lowers it as it does for people. Inside open models, the description changes neither the image information nor the answer probabilities. Yet the models know the effects they fail to show: they can estimate how blur and illusions affect people. Telling is not seeing: a persona makes a model say what it knows about people, not see what they see.

cs.CV · cs.AI

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新论文 · v1arXiv:2610.39330

Can Image Agents Complete Visual Commissions? A Benchmark and Modular Framework

Tong Li, Lishuai Gao, Qi Zeng, Yifan Li, Cong Wei, Zhuoliang Kang, Xiaoming Wei

原文摘要

Visual commissions require image agents to integrate heterogeneous source materials, preserve requirements across dependent stages, and produce coordinated deliverables. Existing evaluations examine specific capabilities and execution settings, leaving end-to-end commission completion less understood. We introduce Visual Commission Bench (VCB), comprising 600 tasks across 12 categories and three complementary tiers, from capability-focused tasks to complete commissions. VCB uses 5,039 requirement checks and separate visual quality ratings to assess content correctness, visual realization, constraint preservation, and delivery completeness without prescribing an internal workflow. We present V-Protocol, a reference agent that dynamically composes reusable task, cognitive, and expression modules at inference time. Task modules organize delivery, cognitive modules derive content, and expression modules guide visual realization. The modules exchange structured intermediate artifacts, while a shared execution harness tracks artifact revisions and dependencies, manages tool execution, and checks completion. With the same controller and image generator as the agent baselines, V-Protocol achieves 69.0\% strict task success on VCB, compared with 42.0\% for SCOPE. On Mind-Bench, strict accuracy increases from 39.2\% to 45.4\%.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.36765

Evaluation-Guided Demonstration Refinement for Vision-Language-Action Policies: The Winning Entry in the MetaFine Open Competition

Lifan Zheng, Guotao Chen, Zhenyang Li, Shujie Cui, Qiang Huang, Fan Liu

原文摘要

We fine-tuned a separate $π_{0.5}$ policy for each of the five tasks in the MetaFine Open Competition, with a task-specific training mixture and number of actions executed per prediction. Training started from the official demonstrations and expert procedures. Local evaluation exposed recurring grasping, pushing, and insertion failures. We addressed them by revising the demonstrated motions and by adding expert continuations from states the policy reached, while keeping nominal demonstrations in training. Checkpoints were compared on every instruction, so that a gain on one instruction could not hide a loss on another. Our submission, MAI, ranked first overall with a score of 96.66.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.01804

VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon

Yi Pan, Miao Pan, Qi Lu, Jiaming Huang, Man Zhang, Siteng Huang, Xin Li, Jie Zhang 等 11 位作者

原文摘要

Vision-Language-Action (VLA) foundation models have recently achieved strong progress in embodied intelligence. To reduce policy-call frequency while preserving temporal coherence, most generative policies adopt an action chunk mechanism, executing multiple future actions in an open-loop manner under a fixed action horizon. However, this "predict-then-blindly-execute" paradigm sacrifices closed-loop reactivity: in contact-rich physical interactions, even small local perturbations can rapidly amplify within the open-loop blind spot, leading to compounding errors and ultimately task failure. To address this limitation, we propose VLA-Corrector, a lightweight corrective inference framework for action-chunked VLA policies. Without modifying the backbone policy weights, VLA-Corrector introduces a lightweight Latent-space Vision Monitor (LVM) that continuously compares predicted and actual visual feature evolution, enabling online detection of visual dynamics deviations. Once persistent deviation is detected, the system triggers a truncation event, discards the remaining stale actions, and invokes corrective replanning via Online Gradient Guidance (OGG). The detect-and-correct mechanism of VLA-Corrector naturally induces an event-triggered adaptive action horizon: it preserves long-horizon execution when the current chunk remains reliable, and invokes short-horizon corrective replanning when execution begins to drift. In doing so, VLA-Corrector mitigates the trade-off imposed by static horizons between execution robustness and policy-call frequency. It can be integrated into different VLA models without further retraining the VLA backbone, interrupting compounding errors while preserving much of the efficiency benefit of action chunking and substantially improving robustness in long-horizon, contact-rich robotic manipulation tasks.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.32220

Angular Supervision for Visual Object Grounding in Autoregressive Vision-Language Models

Parsa Esmaeilkhani, Longin Jan Latecki

原文摘要

Autoregressive vision-language models (VLMs) struggle to ground generated text in the correct image regions, and existing explainability methods, such as attention maps and Logit Lens, often produce poor spatial explanations due to weak text-to-vision attention and sink tokens. We propose \textbf{Angular Relevance} ($R_L$), a simple visualization measure based on cosine similarity between visual token embeddings and unembedding-matrix rows. Because $R_L$ is invariant to token norm, it produces substantially sharper and more faithful heatmaps than attention maps or Logit Lens on out-of-the-box models. Without any training, $R_L$ yields competitive referring-expression segmentation (RES), outperforming prior diagnostic maps and CLIP-based training-free methods. To preserve localized object information during cross-modal mixing, we introduce \textbf{Angular Object-Aware Loss (AOL)}, an auxiliary loss that directly supervises visual token embeddings to align angularly with the vocabulary directions of their corresponding object concepts. Finetuning with AOL alongside the standard next-token prediction objective significantly sharpens object localization in heatmaps, showing that the VLM's own visual tokens can be used directly for grounding and improving RES, without training any segmentation heads and without degrading general VQA performance. We further demonstrate that the learned grounding also transfers to category-level segmentation of object categories not seen during training.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39324

MRC-MMAgent: Reinforcement Learning for Multi-Role Collaboration in Multimodal Tool-Using Agents

Shengqin Wang, Jie Jin, Xiaofan Li, Wentao Yan, Yu Cheng, Qingsong HuYihang Chen, Weilin Luo, Jingyu Gong 等 11 位作者

原文摘要

Multimodal tool-using agents augment vision-language models with access to external information and capabilities, enabling them to solve knowledge-intensive and visually complex tasks that cannot be addressed using visual context alone. However, existing reinforcement learning pipelines largely train single-role agents to search and answer using terminal rewards, overlooking how humans inspect retrieved evidence, reformulate queries, and revise conclusions during search. Consequently, they fail to optimize this self-corrective process over complete interaction trajectories. We propose MRC-MMAgent, a multi-role collaborative reinforcement learning framework that incorporates trajectory assessment and continuation directly into the executable agent loop. First, the framework establishes a multi-role collaborative loop that integrates solving, inspection, and continuation, enabling the agent to acquire evidence through tools, evaluate the preceding trajectory, and resume problem solving when the current answer is insufficiently supported. Second, we introduce a role-coupled learning objective that combines task success, interaction validity, and successful correction with full-trajectory policy optimization across the decisions generated by all roles. Extensive experiments show that, using only the original baseline training set without constructing additional datasets, our method consistently outperforms the corresponding base models and achieves leading or highly competitive performance across benchmarks.

cs.CV

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