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新论文 · v1arXiv:2610.39323

Class-aware Latent Attention Replay (CLAR): Class Incremental Hazard Diagnosis for Resilient AI in the Manufacturing Industrial Internet

Avranshu Mahanty, Ran Jin, Yingyan Zeng

原文摘要

Artificial Intelligence (AI) systems provide critical computation services in the Manufacturing Industrial Internet (MII), and their resilience depends on timely diagnosis of hazards across the data, AI pipeline, and cyber-physical layers. During operation, new hazard types keep emerging with only a few samples each, hazards co-occur, and the diagnosis model runs on memory-constrained computation nodes. Replay-based class-incremental learning (CIL) can learn new hazard classes while revisiting a small memory of past samples, but existing methods assume single-label, balanced streams, store high-dimensional raw samples, and select them independently of the classifier. We propose Class-aware Latent Attention Replay (CLAR), which combines a dual buffer that stores mostly compact latent representations with a few raw samples, an Attention Leverage Score (ALS) that upper-bounds the classifier logit and guides class-balanced reservoir sampling, and an exponential-moving-average teacher that slows latent-space drift. For an idealized buffer model, we prove that the buffer is class-balanced and follows an ALS-weighted class distribution, and that below a critical per-class capacity, ALS-guided replay has a lower replay-gradient error than class-balanced uniform replay. In the case study, On hazard diagnosis data from an MII testbed, CLAR achieves the highest mean average weighted F1 score among the evaluated replay methods with the same buffer size

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39322

MemoryFusion: Cross-Temporal Memory Learning for Multimodal Video Fusion

Meiqi Gong, Hao Zhang, Jiayi Ma

原文摘要

Multimodal videos contain rich temporal cues that can facilitate faithful fusion. However, existing video fusion methods mainly rely on short-range temporal interactions, leaving valuable long-term information underexplored. Moreover, inconsistent fusion representations can cause flickering artifacts, undermining temporal coherence. To address these coupled challenges, we propose MemoryFusion, a two-stage framework integrating cross-temporal memory learning with progressive temporal refinement. Considering the complementary roles of adjacent and distant frames, the first stage combines a Short-Term Memory Bank for local temporal guidance with a Long-Term Memory Bank that preserves reliable historical information through a fusion-oriented update strategy. To mitigate temporal fluctuations, a Temporal Smoothing Module leverages soft motion cues for coarse background stabilization. Building upon the resulting fusion prior, The second stage further employs a lightweight 3D residual Temporal Refinement Module to correct remaining temporal inconsistencies while enhancing structural details. Extensive experiments demonstrate that MemoryFusion achieves superior fusion quality and temporal consistency over existing frame-based and video-based fusion methods. The source code is publicly available at https://github.com/Meiqi-Gong/MemoryFusion.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39321

Satisficing Regret Minimization in Bandits with Knapsacks

Qing Feng, Tianyi Ma, Ruihao Zhu

原文摘要

We study satisficing regret minimization in bandits with knapsacks (BwK), where a learner sequentially selects randomized policies, i.e., distributions over arms, to obtain mean rewards above a satisficing threshold as frequently as possible while respecting finite resource budgets. The performance is measured by satisficing regret, the cumulative deficits of the selected policies' mean rewards below this threshold. Resource constraints introduce two difficulties: an algorithm can incur linear satisficing regret even with small standard regret as deficits to the threshold cannot be compensated, and random consumption can cause early resource depletion even when policies are feasible in expectation. To address these challenges, we propose SELECTwK, a general algorithmic template that uses a BwK learning oracle algorithm with sub-linear expected (standard) regret upper bound to search for and test candidate satisficing policies (i.e., policies whose mean rewards exceed satisficing threshold and whose expected resource consumption is feasible over the time horizon). Our regret analysis, supported by an LP-duality argument, establishes that SELECTwK attains constant expected satisficing regret when a satisficing policy exists. We further introduce a stronger regret condition that bounds the expected sum of positive reward deficits to the optimal one at each time step, under which SELECTwK achieves a sharper constant bound together with a sub-linear bound in the time horizon. As a complement, SELECTwK still preserves the oracle's sub-linear expected standard regret bound if the satisficing threshold is unattainable. Finally, we establish the oracle conditions and corresponding satisficing regret bound for existing finite-armed BwK and dynamic pricing algorithms, and conduct numerical experiments on dynamic pricing with limited inventory to demonstrate the empirical performance of SELECTwK.

stat.ML · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39320

BEVLight: Generalizable Traffic Signal Control from UAV Bird's-Eye Views

Maonan Wang, Yuxin Cai, Junming Liu, Zhengyan Huang, Yi Yu, Ding Wang, Yifeng Zhang, Yirong Chen

原文摘要

Learning-based traffic signal control (TSC) has achieved promising performance, but most methods rely on structured traffic states that must be estimated from sensor observations in real deployments. Visual TSC learns signal decisions directly from images, yet existing methods depend on fixed roadside cameras and remain tied to specific intersection configurations and visual domains. UAVs offer on-demand bird's-eye-view (BEV) observations that jointly capture intersection topology and traffic dynamics, making them a promising sensing platform for visual TSC. We present BEVLight, a generalizable TSC framework that directly maps BEV observations to signal actions. BEVLight grounds visual features onto individual lanes and composes them along the junction topology into movement and phase representations, allowing a shared policy to score candidate phases across heterogeneous intersection layouts and signal plans. To train the policy, we develop a web-based virtual teleoperation platform and collect over 5K human control decisions together with their underlying traffic states. Simulator-provided traffic states first supervise lane- and movement-level representations, after which human phase selections and rankings supervise the phase scorer. Re-rendering the recorded trajectories under diverse appearances preserves both forms of supervision and encourages robustness to visual changes. Closed-loop experiments demonstrate zero-shot generalization across traffic demands, signal plans, and intersections: BEVLight reduces average waiting time by 7--9\% relative to perception-to-control visual baselines and matches or outperforms structured-state RL controllers that receive ground-truth traffic states, achieving the lowest waiting time in 12 of 16 scenarios. An offline study further shows that BEVLight transfers to real UAV observations without target-domain adaptation.

eess.SY · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39319

ProLoop: Progress-Aware Closed-Loop Framework via Structured State Relations for Long-Horizon Robotic Task Planning

Runxin Zou, Qingmiao Liang, Jiatao Zhang, Xinyan Lv, Liangyu Qie, Meiyi Bu, Wei Song, Shiqiang Zhu

原文摘要

Long-horizon robotic tasks are commonly decomposed into semantic subgoals to simplify planning. However, subgoal progress in LLM-based planning is typically inferred implicitly from interaction histories. Inaccurate estimates can misguide execution and allow local errors to propagate. To address this, we propose ProLoop, a Progress-Aware Closed-Loop framework that derives explicit subgoal progress from structured relations between desired and execution states. A learned State-Relation Monitor assesses these relations, which are then aggregated into subgoal progress as ongoing, deviated, or completed. The resulting progress guides execution adaptation, enabling reliable progress-aware control throughout execution. Experiments on AgentBoard ALFWorld and a real-world robotic platform show that ProLoop improves success rate by 12.94% overall and by 15.46% on Hard tasks, while reducing environment interactions by 32.3%.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.36633

Deep Bayesian Filtering for Nonlinear Structural System Identification: A Tutorial on Structural and Physical Inductive Biases

Wei Liu, Konstantinos Vlachas, Eleni Chatzi

原文摘要

Nonlinear structural system identification remains challenging when governing physics is only partially known and measurements are sparse. Deep Bayesian filtering addresses these challenges by combining learnable dynamical representations with probabilistic state-space models, physical inductive biases, and uncertainty-aware inference. This paper presents, for the first time, a unified tutorial treatment of deep Bayesian filtering for nonlinear structural system identification, connecting model formulation, learning, posterior inference, and evaluation. Amortized variational inference and differentiable Kalman filtering are introduced as complementary strategies within this broader framework. The Deep Markov Model (DMM) provides a data-driven reference, while the Physics-guided Deep Markov Model (PgDMM) and Neural Extended Kalman Filter (Neural EKF) serve as illustrative instances through which methodological choices and their implications are examined. Dynamic state estimation and joint state and parameter estimation are demonstrated on a three-dimensional shear-frame benchmark with hysteretic Bouc-Wen connections and sparse acceleration measurements. The comparative analysis yields new observations concerning the relationships among reconstruction accuracy, predictive fidelity, physical interpretability, and estimation robustness. Physical structure improves latent-state interpretability without necessarily ensuring faithful predictive dynamics, while comparable typical reconstruction accuracy can conceal substantial differences in estimation robustness. These findings motivate practical guidelines for model construction, training, and evaluation that distinguish reconstruction, forecasting, state recovery, and parameter identification. The tutorial concludes by outlining challenges in uncertainty calibration, identifiability, and validation on real structures.

cs.LG · cs.CE · stat.ML

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39316

TaxoMFM: A Taxonomy-Aware Foundation Model for the Human Gut Microbiome

Haochen Xue, Anastasia Godneva, Yulong Li, Qi Cao, Zhaodong Wu, Kaiyu Liang, Jionglong Su, Eran Segal 等 9 位作者

原文摘要

Existing gut microbiome foundation models typically use flat taxon representations, limiting their ability to exploit known taxonomic hierarchies. We introduce TaxoMFM, a microbiome foundation model that integrates taxonomic structure into self-supervised learning. TaxoMFM jointly learns abundance patterns across taxonomic ranks and relative proportions within groups through taxonomy-aware encoding and hierarchical compositional reconstruction. We further construct TaxoGut-HPP, comprising 100,806 gut microbiome profiles from 231 source cohorts and covering 40 classification and 8 regression tasks. TaxoMFM achieves competitive performance across disease, gut health, host trait, and liver ultrasound phenotype prediction. In cross-cohort zero-shot transfer, where target cohorts are excluded from both pretraining and downstream adaptation, TaxoMFM achieves AUROCs of 0.838, 0.736, and 0.722 for colorectal cancer, type 2 diabetes, and inflammatory bowel disease, respectively. Further analyses show that TaxoMFM recovers community changes across taxonomic scales, while preserving community information and producing consistent representations under database updates and species-vocabulary shifts. Our code is available at https://anonymous.4open.science/r/TaxoMFM-F16D/.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39314

Language-Grounded Force/Torque Pretraining for Extrinsic Contact Perception

Kazuki Takahashi, Hiroaki Murakami, Ryota Sakuma, Mitsuhiro Kamezaki, Matthew Ishige, Yoshihiro Kawahara

原文摘要

Fine manipulation requires robots to recognize when a grasped object makes or changes contact with its environment, yet such extrinsic contact is not always directly observable from vision or local contact geometry. Force and torque signals carry this information, but also vary with object weight, grasp configuration, and robot motion, leaving it unclear whether they can provide a reusable representation of physical state. Here we show that bilateral six-axis force/torque histories can be pretrained as a semantically structured physical representation by aligning them with a frozen language space using supervision generated from simulated pick-and-place interactions. On unseen objects in simulation, the learned representation supports text-prototype readout of robot action, object weight, and grasp interaction. In real-world placement, unlabeled calibration enables contact and support-state recognition without updating the encoder, outperforming a vertical-force sign-reversal rule baseline. For connector insertion, an event absent from pretraining, low-rank adaptation improves data-efficient learning over training from scratch. These results show that force/torque histories can support both direct readout of known physical states and efficient adaptation to new extrinsic-contact events.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.33775

The Hitchhiker's Guide to System 1 Models: Fast Decision-Making Beyond LLMS

Haggai Roitman

原文摘要

Large Language Models excel at reasoning and generation but their autoregressive, token-by-token inference makes them unnecessarily slow, expensive, and poorly calibrated for the many routine decisions (routing, gating, scoring, classification) that modern AI systems require at sub-second latency. A growing class of models addresses this gap: System 1 decision models, architectures that map an input directly to a typed, structured decision in a single forward pass. This guide provides a comprehensive, practitioner-oriented treatment of the field. We propose a five-family taxonomy covering encoder-based classifiers, reward models, non-autoregressive decision engines, contrastive decision models, and extraction models, and we provide in-depth coverage of each family's architecture, training methodology, and deployment trade-offs. A central theme is calibration: we develop the theory of proper scoring rules, analyze Reinforcement Learning for Calibrated Decisions (RLCD), and examine recently discovered phenomena including IIA violations, ordinal-scale bias, and few-shot recalibration under distribution shift. On the integration side, we describe how System 1 models serve as decision infrastructure within agentic workflows and System 1 + System 2 cascades that route between fast and slow models based on calibrated confidence. The guide covers 18 application domains, maps the rapidly growing open-source ecosystem (over 70 model reproductions in weeks), provides runnable code throughout, and includes a practitioner's checklist, an open-source model zoo, and 22 self-assessment questions with detailed answers. Spanning 190 references, it is intended as a unified entry point for researchers and engineers working at the intersection of fast decision-making, calibration, and production AI systems.

cs.AI · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39308

Unlimited OCR Works 2

Shu Wei, Jingjing Wu, Qunyi Xie, Lingshu Zhang, Xiangcheng Du, Yannian Fu, Mengjie Wang, Zuyi Wang 等 12 位作者

原文摘要

Unlimited OCR ushers the era of long-horizon parsing, substantially mitigating the growth of working memory as document lengthens. However, as document length scales to hundreds of pages, the visual context grows substantially, sharply increasing the computational cost of each decoding step and limiting the scalability of ultra-long document parsing. Inspired by human book transcription via localized focus without re-scanning preceding pages, we introduce Unlimited OCR 2, a document parsing model that looks only at what it transcribes. Building on Unlimited OCR, we upgrade all the decoder attention modules to Sparse Reference Sliding Window Attention (SR-SWA), bounding active reference tokens to a fixed capacity and thus sustaining constant computational costs across arbitrarily long documents. By combining SR-SWA with Unlimited-Horizon Decoding Paradigm, Unlimited OCR 2 enables document parsing over virtually unlimited lengths without prohibitive memory overhead. At the hundred-page scale, Unlimited OCR 2 achieves 7.0$\times$ and 5.6$\times$ per-step speedups over Full Attention and R-SWA, respectively. Furthermore, it delivers state-of-the-art end-to-end performance on both MPDocBench and MarathonDocBench, our newly proposed benchmark targeting hundred-page document parsing. Ultimately, the capacity for uninterrupted, one-shot document parsing signifies a fundamental paradigm shift into the OCR 3.0 era.

cs.CL · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39306

CAD-WAM: Anticipating Geometry for Text-to-CAD Generation

Zhengyang Li, Weijie Zheng, Yuxin Cui, Sijie Wang, Wenjie Feng, Qiyu Kang

原文摘要

Generating editable computer-aided design (CAD) models from text requires selecting operations that produce the intended changes to the geometry constructed so far. An incorrect operation can compromise subsequent steps, making reliable multi-step generation challenging. Existing methods based on large language models (LLMs) primarily learn to predict commands, without explicit supervision of the geometric states those commands should produce. Inspired by world-action models, we introduce CAD-WAM, which couples geometry-conditioned action generation with next-state prediction. We define complete modeling operations as actions in a CAD domain-specific language (DSL) and encode surface point clouds of intermediate solids into compact latent states using a pretrained variational autoencoder. An LLM backbone generates the next action from the target description and current geometric state, while an auxiliary head on the same backbone predicts the next state to provide geometric supervision during training. We construct step-wise training trajectories from parametric CAD models in the DeepCAD dataset, pairing each trajectory with an expert-level textual description. At inference, each generated action is executed by a CAD kernel, and the resulting solid is re-encoded to inform the next decision. On the DeepCAD test set, CAD-WAM outperforms the task-specific baselines in geometric accuracy and output validity, with larger gains on models requiring more operations, and produces more accurate geometry than general-purpose LLMs prompted with the same DSL. Ablations further show that next-state supervision reduces mean Chamfer distance by 13.2\% relative to an otherwise identical model trained only to predict actions. Code is available at https://github.com/Lzy-1037/CAD-WAM.

cs.CV · cs.GR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.11234

NovGauge: A Fine-Grained Benchmark for Diagnosing LLMs' Capability in Paper Novelty Assessment

Guoqiang Zhang, Kexin Tan, Ming Zhang, Li Ju, Wenqing Jing, Zhonghan Yue, Jiayi Chen, Shiqiang Wu 等 15 位作者

原文摘要

Large language models (LLMs) are increasingly used in peer review at major AI conferences, yet novelty remains a persistent weak point. Existing benchmarks assess novelty as a single holistic score, making it difficult to diagnose which dimension a model misjudges or whether its evidence is faithful. We present NovGauge, a human-anchored benchmark for fine-grained novelty assessment diagnosis. The benchmark contains 619 paper pairs and 50 multi-paper sets, drawn from two expert sources: ICLR reviewer overlap claims and survey co-citations. Instances are independently labeled along three dimensions: task, problem, and method, capturing application goals, technical challenges, and solution approaches. We propose a cascading diagnostic pipeline that verifies per-dimension correctness, evidence grounding, and logical support. Evaluation of 18 LLMs shows hallucination rates ranging from 0% to 39% across dimensions, and among non-hallucinated correct-positive judgments, over 70% cite evidence fails to logically support the stated reason. The best-performing model, GPT-5.5, achieves 43-72% Verified F1 across dimensions, while most models retain less than half of their raw F1 after faithfulness verification. These results suggest that current LLMs remain far from reliable scientific novelty assessment, particularly when correctness is conditioned on faithful evidence grounding.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39305

Learning to Bound: Monotonic, Calibrated Neural Upper Bounds for MPE Inference

Akshay Vyas, Hailiang Dong, Shivvrat Arya, Brij Malhotra, Tahrima Rahman, Vibhav Gogate, Nicholas Ruozzi

原文摘要

Probabilistic graphical models (PGMs) compactly encode structured joint distributions, but Most Probable Explanation (MPE), which finds the highest-probability assignment to unobserved variables, remains computationally intractable in large, densely structured models. Anytime systematic search, such as branch-and-bound (B&B), is a popular approach, but its efficiency depends on tight admissible upper bounds that are often prohibitively expensive to compute using classical methods like Mini-Bucket Elimination (MBE). We introduce Learning to Bound (L2B), a data-driven framework that amortizes bound computation cost by training a neural predictor. L2B targets two key properties required for effective search bounds: admissibility, which is achieved via statistical calibration techniques, and progressive tightening as evidence accumulates, which is enforced through structural architectural constraints that ensure monotonicity by construction. Across challenging benchmarks, L2B delivers tighter, monotonic bounds at orders-of-magnitude lower cost on every PGM family, and yields measurable improvements when integrated with branch-and-bound on high-treewidth instances.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39302HF 社区推荐

Proving and Improving the Platonic Representation Hypothesis with JEPAs

Randall Balestriero, Yann LeCun

原文摘要

Whether models trained on different modalities converge to the same representation of the world is central to AI. The Platonic Representation Hypothesis (PRH) conjectures that they do as they scale, but without a proof it offers neither a guarantee nor a recipe. We turn the hypothesis into a theorem. First, we prove a \emph{Platonic Representation Theorem}: Joint-Embedding Predictive Architectures (JEPAs) trained separately on any number of modalities learn the same representation up to one rotation whenever their positive pairs are two observations of one scene--\emph{good views}--and their misalignment is bounded otherwise. Second, we show that next-token prediction is a JEPA with \emph{bad views}, parts of a single document, which explains why language models align with vision only through scale. Third, we validate the theory from 145k captions to the texts of 940M web images, and uncover a scaling law of alignment that predicts unseen runs within seed noise. Good views need 42 times fewer training samples than next-token prediction on the same corpus to reach the same alignment, and a 109M-parameter text JEPA aligns with DINOv2 and CLIP's image encoders better than every language model we evaluated, up to 72B parameters, and than CLIP's text encoder: next-token prediction is a remarkably inefficient route to platonic representations. As a showcase, one rotation turns separately trained encoders into an image captioner (CIDEr .838 on COCO). Even that rotation needs no pair: on the latest pair-free benchmark, our text JEPA beats every zero-shot accuracy reported with language models up to 8B parameters, e.g., 64\% against at most 56\% top-5 on ImageNet-100. Positive views, and not scale alone, are thus the lever to build platonic representations.

cs.AI · cs.CV · stat.ML

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39301HF 社区推荐

Youtu-Parsing-Omni: One Encoder, One Schema, All Modalities

Yunhang Shen, Zhangquan Chen, Xiaotian Li, Zhongpeng Cai, Qing Zhou, Zekai Zhang, Kun Zhang, Zezhong Wu 等 30 位作者

原文摘要

We present Youtu-Parsing-Omni, an omni-modal parser that converts documents, images, audio, and video into structured records grounded in space and time, providing a perception layer for agents that read, locate, and cite evidence across modalities. Its design rests on one encoder for every modality and one schema for every task. Youtu-Omni-Encoder, initialized from a pre-trained language model to strengthen text reading, encodes all modalities with shared weights in a unified space-time coordinate system, and a few fusion layers let video frames attend to concurrent audio, bringing cross-modal fusion and temporal alignment into perception itself. OmniSchema unifies the outputs of all ten parsing tasks, allowing a single self-evolving post-training procedure, OmniSchema-Aware On-Policy Distillation (OSAD), to provide a shared token-role-based objective across tasks. In each round, the model is trained on its own rollouts against token-level targets from a reference-conditioned copy of itself, which is then refreshed with the trained weights, so that the parser and its supervision co-evolve. With a single 5 B-parameter checkpoint, Youtu-Parsing-Omni achieves state-of-the-art performance on OmniDocBench v1.6 (96.96 Overall) and leads all open-weight models on OmniParsingBench (75.08 Avg.), with its advantage concentrated on audio and video. It also achieves the best overall chart-parsing score (95.02) and the highest exact chemical-fingerprint agreement among compared systems, and matches a dedicated optical-music model in character-level transcription of typeset sheet music while staying far ahead of general-purpose systems. Code and model weights are publicly available.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39300

Multi-Solution Inverse Design of Pixelated Patch Antennas Using an Autoregressive Transformer

Young-Mok Yun, Seung-Won Shin, Jaeyong Chung, Kyung-Sik Choi

原文摘要

Deep-learning-based inverse design has emerged as a promising framework for pixelated patch antenna synthesis by enabling broader exploration of discrete geometry spaces and reducing design time compared with conventional template-based methods. Existing methods, including surrogate-assisted metaheuristic optimization, tandem inverse networks, and diffusion models, have advanced the field but still face practical limitations. Metaheuristic methods such as binary particle swarm optimization (BPSO) are sensitive to initialization and search hyperparameters and are often time-consuming, tandem networks have difficulty capturing the one-to-many nature of inverse antenna design, and diffusion models may require excessive complexity and data for moderate-scale binary layout synthesis. In this paper, an autoregressive (AR) transformer is presented for the inverse design of 10 x 10 pixelated patch antennas. Its sequential discrete generation process enables the synthesis of multiple feasible structures for a given target response. The pretrained model is further fine-tuned for dual-band design using step-shaped target responses with sharp spectral transitions, allowing intuitive band specification without manually constructing detailed S11 curves. Compared with BPSO, our proposed method generates valid and diverse antenna candidates more efficiently. Fabricated and measured examples confirm that distinct pixelated layouts can realize the desired antenna responses, thereby demonstrating the multi-solution capability of the proposed framework.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2607.06540

Hierarchical Acoustic-Semantic Modeling: Modality Separation and Semantic Coherence for Full-Duplex SLMs

Zhenyu Liu, Xuanyu Zhang, Yunxin Li, Qixun Teng, Shenyuan Jiang, Haolan Chen, Minjun Zhao, Fanbo Meng 等 13 位作者

原文摘要

Developing seamless, high-performance, native intelligent full-duplex Spoken Language Models (SLMs) remains a critical challenge and long-standing goal for the speech and NLP community. Despite notable progress, recent endeavors are fundamentally constrained by severe modality interference, which causes substantial knowledge degradation and compromises semantic integrity -- ultimately making full-duplex SLMs feel unnatural and unintelligent. In this paper, through an exhaustive fine-grained analysis of model optimization dynamics, we uncover the root cause of such performance degradation, revealing that modality interference arises from inherent gradient conflicts between acoustic and semantic modeling when the two modalities are forced to share a deep parameter space. Guided by this key insight, we introduce Lychee-FD, a native end-to-end full-duplex framework designed to mitigate modality interference. Importantly, we propose a hierarchical parameter separation strategy that decouples conflicting modalities in deep layers while preserving cross-modality coherence via a dedicated semantic alignment channel. Extensive experiments on multiple full-duplex benchmarks demonstrate that our method significantly advances the state of the art, yielding substantial improvements in both speech intelligence (+7.4% on Spoken QA) and full-duplex interaction fluidity (+28.5% on FullDuplexBench 1.5) without compromising inference efficiency. To the best of our knowledge, this work is the first to achieve two key advances: 1) uncovering and elucidating the root cause of modality interference in full-duplex SLMs, and 2) designing an elegant hierarchical model together with a practical solution for seamless, high-performance, native intelligent full-duplex SLMs.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.29532

GUITestScape: Towards Open-set Evaluation on Exploratory GUI Testing

Xiaoyi Chen, Yifei Gao, Yang Xu, Zhenlong Wang, Jian Yan, Jiming An, Xingxing Song, Liqun Deng 等 12 位作者

原文摘要

Exploratory GUI testing is a particularly demanding setting for MLLM agents: without predefined test scripts, an agent must autonomously navigate an application and discover defects through its own interaction. However, current evaluation falls short on two fronts. First, existing benchmarks focus almost exclusively on interaction defects, leaving display defects outside the evaluation frame. Second, evaluation protocols are bound to predefined defect annotations, collapsing the testing process into a single end-state judgment that conflates qualitatively distinct failure modes. To address these challenges, we present GUITestScape, an interactive benchmark covering 61 real-world Android applications and 508 preset defects spanning interaction and display types, and introduce GUIJudge, an open-set evaluator that decomposes an agent's testing trajectory into independently diagnosable capabilities. Experimental results demonstrate that GUIJudge achieves reliable process-aware evaluation beyond predefined annotations, substantially outperforming all baselines. Benchmarking on GUITestScape further reveals that detection remains the critical bottleneck for existing models across both defect types, and that integrating GUIJudge's verifiers into existing agents significantly boosts their detection performance without retraining.

cs.SE · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.39295

There Is No Free Lunch in RLVR: Every pass@1 Gain Has a pass@k Price

Yinuo Liu

原文摘要

Reinforcement learning with verifiable rewards (RLVR) makes a language model solve more problems on the first try and fewer when given many tries: it raises pass@1 while the base model overtakes it at large sampling budget k. Is this a failure of RL to add reasoning, or a transient that more training removes? We settle the question with a theorem. The reversal is a price, and we compute its exact rate. Modeling RLVR as an exponential tilt of a base policy over strategies shared across prompts, we prove that under exclusive specialization every update that raises pass@1 strictly lowers the success of some prompt; a strictly positive price on prompts (Stiemke duality) is the exact condition, and being merely the best strategy on a prompt is provably not enough. When the loss reaches the hardest prompts, it forces a pass@k crossover, and the number of crossings is at most the sign variation of the shift in per-prompt success, a totally positive bound that is tight and that recovers the known single-crossover result as its order-preserving case. The crossover is not a bug to patch: a constrained update traces the exact pass@1 versus pass@k frontier, and removing the crossover entirely costs the entire pass@1 gain. The same tilt identity yields entropy collapse and the entropy-performance law with an identifiable exponent, unifying two literatures under one mechanism. Reinforcement cannot widen the reasoning frontier; it can only move along it, at a price we make measurable by a diagnostic that reads the bound, the order-preserving test, and the price from any evaluation log. There is no free lunch, only a price.

cs.LG · cs.AI · math.OC · stat.ML

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新论文 · v1arXiv:2610.39293HF 社区推荐

Unlocking Any-Order Generation in Pretrained Autoregressive Image Models

Rishav Pramanik, Marco Pedersoli, Zhaozheng Yin

原文摘要

Autoregressive (AR) image generators are powerful in principle but inflexible in practice: training with a fixed raster-scan order hardcodes a single factorization of the image distribution into the model, leaving it unable to inpaint, outpaint, or edit at inference time. Existing solutions, including the modern discrete-diffusion family, train from scratch on a mixture of token orderings, paying roughly 3x the compute of standard raster-scan training; discrete diffusion further sacrifices compatibility with the AR inference ecosystem (KV caching, vLLM) by construction. We argue that this cost is unnecessary. A pretrained raster-scan AR model has already learned the joint distribution over image tokens; what it lacks is not knowledge but the ability to express that knowledge through non-sequential conditional pathways. We propose a recipe for adapting pretrained raster-scan models into any-order generators using two components: future-aware positional embeddings that resolve a target-position identifiability problem at negligible overhead, and an ordering curriculum that traces a stable optimization path from the pretrained solution to a good any-order basin. Applied to four base models across two architectures and two scales (LlamaGen-L/XL, RAR-L/XL), the recipe substantially outperforms MaskGIT on ImageNet inpainting (FID 6.21 vs. 10.44) and outpainting, is competitive with MAR-L, trades a 1.2-1.9 increase in class-conditional FID for this flexibility, and costs 13-33% additional compute beyond pretraining, while leaving the standard AR inference stack untouched. Inpainting, outpainting, and editing, our results suggest, need not be added to autoregressive image models. They can be unlocked from the ones that exist. Code is available at https://github.com/Ordered-AR/unlockedadaptation.

cs.CV · cs.LG

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新论文 · v1arXiv:2610.39292

Strongly Adaptive Online Learning Achieves Uniform Discounted Regret

Sifan Yang, Wenhao Yang, Lijun Zhang

原文摘要

Discounted regret measures the performance of an online learner by assigning exponentially decaying weights to past losses, reflecting the greater importance of recent losses in non-stationary online learning. While previous work obtains uniform discounted regret bounds over a continuous range of discount factors using a specialized meta-algorithm, its results are limited to convex functions. In this paper, we demonstrate that strongly adaptive regret bounds can directly imply uniform discounted regret guarantees for convex, strongly convex, and exp-concave loss functions. Our key observation is that discounted regret against a fixed comparator admits an exact decomposition into a convex combination of interval regrets. For convex functions, this reduction yields an $O(\sqrt{\log T/(1-λ)})$ discounted regret bound for all discount factors $λ\in(0,1)$, matching the previous rate over a broader range of discount factors. For strongly convex and exp-concave functions, we provide regret bounds of $O\left(\log T\left(1+\log\frac{1}{1-λ}\right)\right)$.

cs.LG

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新论文 · v1arXiv:2610.39289

Federated Recommender Agents

Jaehyung Lim, Woojoo Kim, Junyoung Kim, Dongha Kim, Wonbin Kweon, Hwanjo Yu

原文摘要

LLM-powered recommender agents use reasoning and memory for personalization, but centralized access to user information raises privacy concerns, while isolated agents cannot learn from others' experiences. We formulate Federated Recommender Agents, a setting where local agents collaborate through natural-language knowledge while keeping interaction histories and personal memories local. We propose FedRecAgent, which enables this collaboration without updating LLM parameters. Its central challenge is determining which reasoning to integrate, since similar behavioral contexts can lead to different choices. FedRecAgent represents local experiences as Condition-Transition-Reasoning (C-T-R) units and hierarchically integrates reasoning by condition and transition. Within this structure, it consolidates related explanations and discriminates reasoning across alternative transitions. Each client maintains semantic and decision memories to capture preferences and conditional choice tendencies, guiding the retrieval and selection of shared reasoning for recommendation. Experiments across three domains under dense and sparse settings demonstrate improved recommendation performance over federated and LLM-based baselines, while ablations support the contributions of personalized memories and structured reasoning integration.

cs.IR

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版本更新 · v2arXiv:2610.35488

Benchmarking Coding Agents under Evolving Requirements

Jia Feng, Alyssa Wu, Cuiyun Gao, Yunlong Wang, Songyuanyi Lu, Zhichao Hu

原文摘要

Software development with coding agents often begins with a rough request that users refine after trying the implementation. Final correctness alone does not capture the repeated guidance this process requires. We introduce FeatureLoop, a benchmark of 61 human-reviewed tasks from 34 repositories across five primary programming languages and seven software forms. Each task follows one development goal in a persistent workspace through evolution feedback, which adds or clarifies requirements, and completion feedback, which reports failures of stated requirements. Cumulative executable checks track new behavior, repair, and preservation of earlier functionality. We evaluate 12 frontier models and find that the strongest completes 72.1% of tasks with both feedback types. Across models, however, only 15.4% of observed failed stages recover within two corrective revisions. Further analysis reveals incomplete repairs, regressions, and model-specific differences in feedback use and token efficiency, identifying obstacles to reliable, low-intervention development.

cs.SE · cs.LG

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新论文 · v1arXiv:2610.39287HF 社区推荐

OpenFlyV2: An onboard vision-language-action model for aerial perception and navigation

Junli Liu, Zhongrui You, Chenhui Li, Zhen Li, Yuyang Tian, Qizhen Chen, Delin Qu, Haoming Song 等 12 位作者

原文摘要

Human cognition flexibly draws on a shared perceptual foundation to understand environments, attend to referenced entities, reason about spatial relationships, and act. Endowing aerial robots with an analogous functional organization remains challenging, as existing systems are often specialized for individual capabilities, dependent on offboard computation, or unable to sustain closed-loop operation on resource-constrained platforms. We present OpenFlyV2, a unified onboard vision-language-action architecture that uses a shared vision-language representation to support semantic understanding, language-grounded perception, spatial reasoning, and continuous aerial control within a single model. A compact action expert converts the shared multimodal context into short-horizon flight waypoints, while motion-aware temporal memory and action priors reduce the computational cost of closed-loop execution. We construct \dataset{}, a simulation-based dataset comprising approximately 70,000 navigation trajectories and 60,000 vision-language instruction--response pairs. OpenFlyV2 generates action chunks, each comprising 12 waypoints, entirely onboard at 10 Hz using an NVIDIA Jetson Orin NX. It transfers zero-shot from simulation to physical quadrotor flight, achieving a 48\% navigation success rate across four real-world environments without real-world aerial training data. Extensive results demonstrate that broad vision-language competence and continuous closed-loop flight can coexist within a single model on a resource-constrained aerial platform. Code will be made publicly available at https://github.com/Ideal-ljl/AeroBrain.

cs.RO

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版本更新 · v2arXiv:2610.11194

OmniDex: Scaling Dexterous Hand Grasping to Diverse Cluttered Scenes

Naiyu Fang, Zhongjin Luo, Yuxin Mo, Siyuan Huang, Jianbo Liu, Yufei Liu, Zheyuan Zhou, Chenkai Jin 等 10 位作者

原文摘要

Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become the mainstream paradigm. Yet, while cluttered scenes best reflect real-world applications, learning to grasp within them is bottlenecked by a critical scarcity of large-scale data. To resolve this, we curate high-quality 3D objects and supporting bases, proposing a scalable seed-and-filter strategy that bypasses sluggish scene-level optimization. This yields an unprecedented benchmark comprising over 2.6 million scenes and 0.4B scene-specific grasp ground truths, featuring diverse realistic layouts paired with rich semantic and geometric observations. Furthermore, we introduce the OmniDex model to overcome the grasp multimodality and last-millimeter precision errors plaguing current generative models. By coupling Soft Winner-Takes-All learning with human-inspired physical constraints during training, and utilizing physics-driven ranking, our approach achieves robust dexterous grasping without the latency of post-optimization. Experimental results show that OmniDex model achieves state-of-the-art performance and strong generalization across diverse scenes, views, and unseen objects.

cs.RO · cs.CV

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新论文 · v1arXiv:2610.39283

PriorMaskMap: Robust Online Vectorized Map Construction with Biased Priors

Haoming Xu, Wei Li, Yu Hu

原文摘要

Online vectorized map construction provides autonomous vehicles with essential, real-time semantic and geometric scene understanding. While leveraging prior maps presents an opportunity to improve accuracy, they are often biased due to outdated information or temporary road changes. Existing methods, which typically treat priors as fully reliable or only consider limited noise patterns, suffer severe performance degradation when these priors are imperfect. To address this, we propose PriorMaskMap, a robust framework for prior-guided vectorized map construction. Its first innovation is a Prior-Aware Confidence Estimator (PACE) that evaluates the input rasterized map against current visual observations. It assigns confidence scores to regions classified as reliable, erroneous, or blank, creating a foundational mask that guides two subsequent branches. In one branch, the Dual-Prior Query Generator (DPQG) selectively filters and embeds both rasterized and vectorized priors to initialize informative queries from trustworthy map structures. In the other, the Confidence-Guided Prior Fusion (CGPF) module spatially propagates and refines the mask, using the refined version to govern the fusion of BEV features with the prior map, thereby providing rich contextual representations for the map decoder. Evaluation on the nuScenes dataset shows that PriorMaskMap achieves superior mapping precision over existing approaches and exhibits marked robustness when provided with priors containing apparent errors. Our code is released at https://github.com/healenrens/PriorMaskMap.

cs.CV · cs.RO

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新论文 · v1arXiv:2610.39282

What Does "Now" Mean to Your Computer-Use Agent? Stale Screenshots, Page Loads, and Which Check to Run Before a Click

Vasundra Srinivasan

原文摘要

Computer-use agents plan on a screenshot for several seconds and then click at a position on the screen; if the page has changed in the meantime, the click lands on an unintended element. Prior work treats the planning interval as the source of this risk. Measuring planned clicks on 31 public web pages, we find that the risk lies in page loading: 0.4% of clicks planned on fully loaded pages became stale within 30 seconds, against 17% of clicks planned in the first second after a page opened. On these pages, waiting about one second for network activity to stop removes most of this risk, yet the wait rules of eight of ten widely used open-source agents leave more than 1% of clicks stale. Commercial pages keep loading for longer: in the HTTP Archive's public crawl, 15% of 65 desktop booking and buying home pages went 500 ms without network requests within 3 seconds of their HTML being parsed, against 63% of 3,028 .gov pages, and 52% shifted their layout within 6.5 seconds of a network-idle wait capped at 3 seconds, against 8% (61% against 26% among pages recorded in full). Where a check before the click is needed, as before irreversible actions and on pages that are still loading, a pixel comparison verifies the target's position as accurately as a frontier vision-language model at one eighth of the latency, and a 4B model matches the frontier model in verifying whether the previous action succeeded. We release a benchmark generator, a break-even formula for when a check pays, and three rules for agent developers: https://github.com/multimodal-ai-engineering/preflight-bench

cs.AI

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版本更新 · v2arXiv:2609.36816

Towards Better Training Signal: Advantage Clipped Policy Optimization

Ruichuan Huang, Jinghan Liu, Congliang Chen

原文摘要

Reinforcement learning (RL) has become a cornerstone for improving the reasoning capabilities of large language models (LLMs), but the need for on-policy data substantially limits training efficiency. Reusing off-policy data through importance sampling (IS) can improve efficiency but introduce considerable instability. Hence, algorithms such as PPO and GRPO widely adopt IS-ratio clipping to stabilize training. However, training stability and gradient estimate are mainly determined by the product of IS ratio and advantage. To further stabilize training, we propose ACPO, which clips the product of the IS ratio and the advantage, leading to more stable gradient estimates. We also establish a connection between ACPO and gradient clipping in policy mirror descent (PMD), which is a standard technique to stabilize optimization process, and prove the convergence of clipped-PMD under the standard RL setting. Experiments on widely used mathematical reasoning benchmarks show that ACPO consistently outperforms PPO and GRPO in both accuracy and training efficiency, delivering 4-6 percentage points gains on standard math benchmarks, with Qwen3-8B+PPO. Hence, ACPO is a practical and effective alternative to conventional IS-ratio clipping for RL post-training of LLMs.

cs.LG

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版本更新 · v2arXiv:2602.22488

Explainability-Aware Evaluation of Transfer Learning Models for IoT DDoS Detection Under Resource Constraints

Nelly Elsayed

原文摘要

Distributed denial of service (DDoS) attacks threaten the availability of Internet of Things (IoT) infrastructures, particularly under resource-constrained deployment conditions. Although transfer learning models have shown promising detection accuracy, their reliability, computational feasibility, and interpretability in operational environments remain insufficiently explored. This study presents an explainability aware empirical evaluation of seven pre-trained convolutional neural network architectures for multi-class IoT DDoS detection using the CICDDoS2019 dataset and an image-based traffic representation. The analysis integrates performance metrics, reliability-oriented statistics (MCC, Youden Index, confidence intervals), latency and training cost assessment, and interpretability evaluation using Grad-CAM and SHAP. Results indicate that DenseNet and MobileNet based architectures achieve strong detection performance while demonstrating superior reliability and compact, class-consistent attribution patterns. DenseNet169 offers the strongest reliability and interpretability alignment, whereas MobileNetV3 provides an effective latency-accuracy trade-off for fog-level deployment. The findings emphasize the importance of combining performance, reliability, and explainability criteria when selecting deep learning models for IoT DDoS detection.

cs.CR · cs.AI

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新论文 · v1arXiv:2610.39280

Cross-Controller Transfer via In-Context Behavior Adaptation

Jonathan Yang, Chelsea Finn, Dorsa Sadigh

原文摘要

Generalist robot policies increasingly learn from data collected across diverse tasks and embodiments, yet typically assume a single controller for each robot. This assumption limits transfer because different controllers can assign different physical meanings to the same action and may require different strategies to complete a task. We study how to transfer robot data across both embodiments and controllers without allowing conflicting action interpretations to interfere with learning. Our setting spans six controller types as well as variations in controller gains and compliance. We propose a framework that encodes behavioral interaction under a controller through examples of commanded actions and the resulting robot motions. A transformer context encoder summarizes these interactions, allowing a single policy to adapt in context. Across real-world experiments, our method improves average success by 33 percentage points over naive data pooling, achieves 50\% success on unseen controller modes and 52\% on unseen controller gains, and transfers to tasks with limited controller-specific data. On contact-rich tasks such as USB insertion and surface wiping, behavioral interaction context enables the policy to adapt not only its actions but also its strategy. Our results provide a path toward generalist robot policies that can leverage data collected across diverse action interpretations. For more information, visit \href{https://controller-transfer.github.io}{https://controller-transfer.github.io}.

cs.RO

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