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新论文 · v1arXiv:2610.36628

The Batch Size Can Be One: Test-Time Adaptation from Classifier Geometry

Jaeho Hwang, Yujin Oh, Juhyeon Shin, Juhye Lee, Sungroh Yoon, Uiwon Hwang

原文摘要

Test-time adaptation updates a deployed model on an unlabeled test stream. In practice this stream often arrives one sample at a time, with the classes in no particular order. A single sample then provides limited information for estimating distribution-level statistics, and selecting samples by confidence can admit predictions that are wrong yet confident. A corruption, however, shifts the features while leaving the decision regions of the frozen classifier unchanged. We therefore propose Origin-recentered Test-Time Adaptation (OriTTA), which constructs fixed geometric targets from the source model and adapts selected features toward them. Seen from the origin of the feature space, the classes lean toward a common direction. We choose a new origin to bring class scores closer together while keeping it near the mean feature of one synthetic prototype per class. From this origin, prototype directions spread more evenly, and each class obtains an axis and an ideal point before any test data arrives. During adaptation, OriTTA aligns selected features with their predicted class axis and penalizes excessive radius, keeps one input per predicted class in memory to limit feature changes for classes absent from the stream, and resets the model when re-classifying this memory reveals collapse. Without tuning for each setting, OriTTA achieves the highest mean accuracy at batch size 1 on CIFAR-10-C, CIFAR-100-C and ImageNet-C in all sixteen combinations of four backbones, two protocols and two stream orders. On ImageNet-C fog, recent methods collapse in up to two thirds of one hundred runs, while OriTTA never does.

cs.LG

新论文 · v1arXiv:2610.36626

Measuring Users' Security and Privacy Concerns About Third-Party Community Bots on Discord

Kofi Ampomah, Tu Le

原文摘要

Third-party community-based bots are central to how social platforms such as Discord work. They moderate content, manage roles, play music, and support AI-assisted conversations across millions of servers. Yet when a bot is installed in a server, it can access messages, user profiles, and server metadata concerning members who did not participate in the installation decision, with no standardized way to communicate the associated security and privacy implications. In this paper, we analyze 23,102 third-party Discord bots and 183,142 user reviews spanning 49 detected languages and five years of feedback (2021-2026). We employ LLM-based knowledge distillation and fine-tune a DeBERTa-based classifier to identify candidate security and privacy (S&P)-relevant reviews. After manually validating the complete classifier-positive set, we retain 8,832 reviews identified as S&P-relevant, representing an observed pipeline yield of 4.82%, and map them to a 31-theme S&P taxonomy extending prior work. Our results show that S&P-related reviews focus heavily on Data Sharing (30.5%) and Data Collection (16.2%). Confession and anonymity bots have pipeline-identified SPRRs above 50%, more than ten times the ecosystem-wide pipeline yield of 4.82%. Star ratings may obscure the frequency and valence of S&P-related discussion, while conventional metadata features, such as permission count and administrator status, show only weak associations with user-reported S&P concerns. We then build BotLens, a proof-of-concept auditing framework that combines review-derived S&P signals with bot metadata to provide on-demand decision support for the community-based bot ecosystem. BotLens exposes six tools through a Model Context Protocol server, supporting bot-level checkups, server-wide comparison, and integration with AI agents.

cs.CR · cs.HC

新论文 · v1arXiv:2610.36625

Polarity--Time Interaction and Multi-Level Reliability for Event-Based Spacecraft Pose Estimation

Yonglong Zhang, Zongwu Xie, Yang Liu

原文摘要

Sparse event responses produce uneven keypoint errors whose effects on spacecraft pose depend on correspondence geometry and the reliability of successive observations. We present a reliability-aware framework connecting polarity--time localization, geometric recovery, event--CAD refinement, and trajectory optimization. A three-branch representation combines positive events, negative events, and recent-event timing through cross-branch attention and gating, followed by spatiotemporal aggregation. An ordered semantic-point head estimates relative correspondence precision for geometrically constrained pose recovery. Event-edge and CAD-projection agreement then guide local pose refinement under keypoint-geometry safeguards. At the sequence level, a ten-dimensional descriptor combines heatmap shape, reprojection consistency, and geometric conditioning to set time-aligned observation scales. On the official SPADES challenge test set, the complete system achieves a combined pose score of 0.0474, approximately 5.4\% below PASAN+IRIS. Validation ablations reduce the score from 0.0772 for base localization with uniform PnP to 0.0514 for the complete cascade; on identical single-frame observations, quality weighting reduces the score from 0.0549 with constant-weight optimization to 0.0514.

cs.AI · cs.RO

版本更新 · v2arXiv:2610.33367

Pinching Antenna and Relay Assisted Joint Indoor Outdoor NOMA Communications with SWIPT

Amit Agarwal, Susmita Sain, Keshav Singh, Sudip Biswas

原文摘要

This paper presents a unified downlink architec- ture for serving indoor and outdoor users from a shared multi-antenna rooftop base station (BS). To overcome severe building-penetration loss, the BS transfers information and radio- frequency (RF) energy to an indoor access point (AP) using simultaneous wireless information and power transfer (SWIPT). The AP harvests this energy and performs amplify-and-forward (AF) relaying, enabling self-sustained indoor communication. A movable waveguide-mounted pinching antenna (PA) further improves indoor coverage by adapting its position to the prop- agation environment. For outdoor transmission, zero-forcing (ZF) beamforming suppresses inter-group interference, while power-domain non-orthogonal multiple access (NOMA) supports multiple users within each group. We maximize the outdoor weighted sum rate (WSR) while satisfying stringent indoor and outdoor quality-of-service (QoS) requirements. The resulting nonconvex problem jointly optimizes the BS power fraction, SWIPT power-splitting ratio, PA position, and NOMA power allocation. To obtain an efficient solution, we develop a two-stage method based on alternating optimization (AO) and sequential quadratic programming (SQP). Numerical results show that the proposed architecture improves outdoor spectral efficiency while maintaining reliable, energy-sustainable indoor coverage. Increasing the BS array size further raises the indoor QoS- satisfaction probability toward unity, even under demanding rate targets.

cs.IT

版本更新 · v3arXiv:2606.01621

Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation

Muyi Bao, Yuxin Cai, Hang Xu, Zongtai Li, Jinxi He, Jingfan Tang, Chen Lv, Ji Zhang 等 10 位作者

原文摘要

Vision-language models (VLMs) have become a common foundation for vision-and-language navigation in continuous environments (VLN-CE). Yet most VLM-based methods cast navigation as low-level action prediction, an interface that is ambiguous, tied to short-horizon motion primitives, and inefficient due to repeated VLM querying. We propose Goal2Pixel, a pure pixel-based paradigm that reformulates VLN-CE as navigable pixel grounding. Rather than predicting actions, Goal2Pixel uses the image plane as a unified spatial interface between VLM reasoning and robot motion: the model predicts a visible navigable pixel, which is back-projected into a 3D waypoint for forward navigation. Non-forward actions are encoded by auxiliary left/right/bottom regions for turning and stopping. To support long-horizon navigation, we propose ViKeyMem, a visibility-aware keyframe memory, achieving a favorable performance-efficiency trade-off while reducing training cost by over 50%. To adapt pretrained VLMs to navigable pixel grounding, we introduce semantic embeddings and coordinate-aware auxiliary losses. Among methods trained without external data, Goal2Pixel achieves competitive state-of-the-art performance on R2R-CE and RxR-CE. On R2R-CE Val-Unseen, it achieves 54.1% SR and 52.5% SPL with only 7.75 VLM calls per episode. Compared with direct action prediction, Goal2Pixel improves SR by 21.2 percentage points while requiring 6 times fewer VLM calls. Project Page: https://baobao0926.github.io/Goal2Pixel/.

cs.CV · cs.RO

新论文 · v1arXiv:2610.36623

God Does Not Play Dice: Enforcing Batch Invariance in Agentic Kernel Generation

Youwei Bao, Chengpeng Wang, Simin Chen

原文摘要

Large language model (LLM) serving systems dynamically batch user requests for GPU execution, so the same request may be processed alongside different requests across runs. If the GPU kernels lack batch invariance (BI), this changing batch context can alter the numerical output for an unchanged input, undermining reproducibility. Existing kernel generation agents focus on correctness and efficiency but \emph{overlook BI}. We find 19 confirmed BI violations among 83 batch-applicable released artifacts. To address this limitation, we propose \tool, which combines contract-guided static dependency analysis with dynamic validation of bitwise consistency across batch contexts. \tool is designed as a plug-in component for general kernel agents, allowing their original optimization capabilities to be reused while adding BI enforcement. We integrate it as successive acceptance gates in the optimization loop, rejecting structurally risky or dynamically non-invariant candidates before performance benchmarking and returning feedback to the agent. Experiments across three agent frameworks under baseline and BI-aware generation on real world LLM serving tasks show that \tool improves the BI pass rate from 67.6\% to 91.9\% while retaining 91.8\% of the baseline geometric mean speedup. These results demonstrate that \tool can be incorporated into kernel optimization by agents as an additional reliability objective alongside correctness and speed.

cs.AI · cs.LG · cs.SE

新论文 · v1arXiv:2610.36622

RadarCom: Unlocking Simultaneous Communication and Sensing on Commodity Automotive mmWave Radars

Yi Wei, Yue Zhang, Peijun Hou, Qiuyu Liao, Nan Cen

原文摘要

Vehicle-to-vehicle (V2V) communication can improve road safety and traffic efficiency, yet its deployment remains limited by the need for dedicated communication hardware and supporting infrastructure. Meanwhile, production vehicles are already widely equipped with millimeter-wave radars for sensing. To unlock their communication potential, this paper presents RadarCom, a software-defined system that enables direct radar-to-radar communication on unmodified commercial off-the-shelf (COTS) automotive mmWave radars while preserving their native sensing functionality. The key insight is that mutual inter-radar interference, traditionally viewed as harmful, can be repurposed as a communication carrier. Based on this insight, RadarCom introduces slope-mismatch-based discovery, adaptive chirp synchronization, differential coding on range-FFT, and sensing-aware interference suppression to enable simultaneous communication and sensing without hardware modification, waveform redesign, or infrastructure support. We implement RadarCom on TI AWR2243 automotive radars and evaluate it under static, dynamic, and challenging real-world conditions. Results show an average effective data rate of 5.55 kbps with symbol error rates below 1.5%, while maintaining sensing F1 scores of up to 80.5% during concurrent communication. These results demonstrate the feasibility of transforming commodity automotive radars into dual-purpose communication and sensing devices.

cs.NI

新论文 · v1arXiv:2610.36621

Noise Shapes the Surplus: Strategic Play Against No-Regret Learners

Yiheng Su, Emmanouil-Vasileios Vlatakis-Gkaragkounis

原文摘要

Recent work has shown that, in zero-sum games, an optimizer can extract $Ω(\sqrt{T})$ strategic surplus---cumulative payoff above the minimax benchmark---against noiseless no-regret learners with a constant step size. However, in practice, learners often act on perturbed payoff scores and use decaying learning rates $η_t$. Since existing extraction mechanisms rely on exact scores, a natural question is whether noise shields the learner from exploitation and eliminates surplus altogether. We address this question for the widely used class of Follow-the-Regularized-Leader (FTRL) algorithms. Under standard regularity conditions, we establish three results, none of which assumes independence of the noise. First, under summability conditions, passive play of a strategy fixed independently of the horizon earns at most constant surplus. Second, we design a new mechanism that exploits the learner's noise-dependent response: a clairvoyant optimizer who knows the update rule and the limiting mean response secures $Ω(1/η_T)$ surplus whenever that mean is profitable. Third, even when that mean is not profitable, active alternating play extracts $Ω(\sum_{t<T}η_t)$ surplus by exploiting the learner's movement rather than its location, under suitable responsiveness and stability conditions. Finally, at the canonical learning rate $η_t\propto t^{-1/2}$, we recover the noiseless $Ω(\sqrt{T})$ rate for mean-zero, finite-variance perturbations---whether fresh with arbitrary temporal dependence or accumulated from i.i.d. increments---provided the limiting mean response is profitable.

cs.GT

版本更新 · v4arXiv:2609.30302

Hull Games of Induced Path Convexities in Graphs

Eurinardo Costa, Leon Almeida, Rudini Sampaio

原文摘要

In 1984, Frank Harary introduced the first convexity games in graphs, all of them based on the geodesic convexity, which is the graph convexity related to shortest paths. In 2024, Araújo et al. obtained the first PSPACE-hardness proofs on some of these geodesic games and generalized them to any graph convexity. In this paper, we investigate convexity games on several known induced path convexities: the monophonic $\mathrm{m}$-convexity and the $\ell_k$-convexities, based on induced paths and on induced paths of size at most $k$. We prove that the hull games $\mathrm{CHG}_{\mathrm{m}}$, $\mathrm{CHG}_{\ell_k}$ and their misère variants are PSPACE-complete for every $k\ge2$ even in graphs with diameter at most 3. We also use the Sprague-Grundy Theory to obtain a polynomial time algorithm to decide the winner of the games $\mathrm{CHG}_{\mathrm{m}}$ and $\mathrm{CHG}_{\ell_k}$ for any $k\ge2$ in disjoint unions of paths and cycles. For $k\ge3$ odd, we prove that Alice (1st player) wins $\mathrm{CHG}_{\ell_k}$ in the path $P_n$ if and only if $n$ is odd and she wins in the cycle $C_n$ if and only if $n=3$ or $n=α\cdot (k+1)-1$ with $α\ge2$. For $k\ge2$ even, the only periodic nimber sequences of $\mathrm{CHG}_{\ell_k}$ obtained through extensive computational testing occurred for $k=2^h-4$ with $h\ge3$, e.g, $k\in\{4,12,28,60,\ldots\}$. In this case ($k=2^h-4$ with $h\ge3$), we prove that the nimber sequences of $\mathrm{CHG}_{\ell_k}$ in $P_n$ and in $C_n$ are periodic and Alice loses (resp. wins) in $P_n$ (resp. $C_n$) with $n>k$ only when $n=3k+4$ (resp. $n\in\{2k+1,5k+3\}$). Finally, we show that, for $k=2$, the game $\mathrm{CHG}_{\ell_2}$ in paths $P_n$ is closely related to the classical game \emph{Couples-are-Forever} of J. H. Conway: it is still an open problem if the nimber sequence is periodic or not and Alice loses only for 12 values of $n$ up to $150$ million.

cs.DM · math.CO

版本更新 · v3arXiv:2602.10528

A swap-adversarial framework for domain generalization in pre- and post-stimulation Parkinsonian state classification

Seongwon Jin, Hanseul Choi, Sunggu Yang, Sungho Park, Jibum Kim

原文摘要

We propose a novel swap-adversarial framework that mitigates high inter-subject variability and the high-dimensional low-sample-size problem in electrocorticography (ECoG) data. It achieves robust domain generalization across ECoG and electroencephalography (EEG)-based brain-computer interface datasets. Our framework integrates (1) robust preprocessing, (2) inter-subject balanced channel swap (ISBCS) for cross-subject augmentation, and (3) domain-adversarial learning (DAL) to suppress subject-specific bias. The ISBCS method is a bio-inspired channel swapping strategy that exchanges only functionally corresponding channels across subjects, guided by a brain map, to mitigate inter-subject distribution differences. The DAL strategy encourages the model to learn task-relevant shared features. In addition, we introduce a new ECoG dataset, the first reproducible benchmark, which is constructed from long-term ECoG recordings of 6-hydroxydopamine-induced rat models and annotated with neural responses measured before and after electrical stimulation. We validate the effectiveness of this framework through extensive experiments under cross-subject, cross-session, and cross-dataset settings. Our results show that the proposed framework exhibits the best and robust generalization performance both for our newly constructed ECoG and public EEG datasets.

cs.LG · cs.AI

版本更新 · v3arXiv:2608.29249

Validating FKG.in: Soundness Assessment in LLM-Augmented Indian Food Knowledge

Saransh Kumar Gupta, Armaan Shah, Lipika Dey, Partha Pratim Das, Ramesh Jain

原文摘要

The online culinary ecosystem is increasingly populated by recipe content generated, modified, or summarized by LLMs. Although often convincing, such outputs may contain hallucinated ingredients, misrepresented quantities, or culturally implausible combinations, limiting their suitability for downstream applications and knowledge graph construction. In this paper, we present a semi-automated soundness assessment workflow for validating structured recipe data extracted from informal culinary sources and augmented by LLMs. Developed as part of FKG(.in), a knowledge graph of Indian food, the pipeline identifies and addresses common failure modes, including structural inconsistencies, semantic and logical incoherence, and deviations from the source text, through a multi-stage process combining formal grammars, vocabulary-based checks, statistical heuristics, Set Transformer-based coherence modeling, and retrieval-based verification. Although evaluated on Indian recipes, the proposed methods are applicable to broader multilingual and multicultural culinary domains. We provide a practical, auditable, and application-agnostic approach to improving the reliability of machine-readable food knowledge infrastructures in the era of LLM-generated content.

cs.AI · cs.CL · cs.IR · cs.LG

新论文 · v1arXiv:2610.36618

Dream-COP: Guiding Algorithm Discovery for Combinatorial Optimization Problems in an Experience World

Kuan Xu, Jianming Wang, Ni Zhang, Yaoxin Wu, Yong Wang, Zhiguang Cao

原文摘要

Large language models (LLMs) enable algorithm discovery for combinatorial optimization problems (COPs) through iterative program generation and evaluation. A central challenge is how to organize search to discover better algorithms within a limited budget. Our key insight is that past search trajectories and their recorded outcomes form an experience world, which can be used to facilitate the COP solving through replay. We introduce Dream-COP, in which a \emph{policy agent} learns executable policies through \emph{dreaming} in this experience world to guide a \emph{discovery agent} in generating and refining COP programs. Specifically, policy replay provides feedback on the quality of the programs revealed and the search steps used, to guide policy selection more effectively. Across five COPs, \textsc{Dream} discovers better algorithms than fixed exploration in both heuristic component design and complete solver generation. Particularly, it matches the optimal values on KP and reduces the gap on OBPP from 2.112\% to 1.199\% while using 42.5\% fewer search requests. Moreover, the learned exploration policies transfer effectively across different COPs with the assitance of the experience world.

cs.LG · cs.AI

新论文 · v1arXiv:2610.36617

Balanced State Subspaces for Mamba-2 State Compression

Shang Tingyu, Cao Wenfei

原文摘要

Mamba-2 compresses all context into a fixed-size recurrent state that dominates decoding memory and bandwidth. Existing compressors quantize state values or prune state coordinates, scoring each channel independently in the native basis. We examine trained Mamba-2 states and find that energy is almost rank-one, but the output does not read the energetic directions: energy concentrates in a bias-like direction accumulated by the recurrence, while the content the output reads lives in a low-dimensional subspace that is not aligned with the state's coordinates. Even output-aware scores are computed coordinate by coordinate, so they miss the directions that determine the input--output map. Compression should therefore target the write--read subspace rather than individual coordinates. We propose \method{}, a post-training transform that instantiates balanced truncation with full controllability and observability Gramians and applies the rotation exactly via Mamba-2's scalar-identity transition. Because the useful rank varies widely across layers, we further introduce HARP, which allocates ranks per layer from the Hankel spectrum and protects retrieval-sensitive layers, improving both perplexity and retrieval over uniform budgets. Calibration takes a single forward pass, an order of magnitude faster than GHOST's released protocol, with lower peak memory. With HARP, \method{} halves the state dimension at an average WikiText-2 perplexity increase of $0.3$ points ($1.8\%$) across 130M--2.7B, versus $1.6$ ($9.3\%$) for GHOST, and the gap widens at 25\% retention.

cs.LG · cs.AI · cs.CL · stat.AP · stat.ME

新论文 · v1arXiv:2610.36616

Normalized Cuts and Data Clustering via Matrix Fractional Programming

Yannan Chen, Beichen Huang, Licheng Zhao, Chris Ding, Kaiming Shen

原文摘要

The normalized cut (NCut) problem is a fundamental one in the area of data clustering. Despite its fractional structure, the NCut problem is seldom considered from a fractional programming (FP) perspective in the existing literature. The main reason is that the conventional FP method is inadequate for this problem case: the classical Dinkelbach's transform can only handle a single ratio and hence is limited to the two-class clustering, whereas the multi-class clustering involves multiple ratio terms. This work proposes a novel so-called multidimensional quadratic transform that is capable of dealing with the multi-ratio case; it recasts the NCut problem into a bipartite matching problem---which can be immediately solved by linear search. Furthermore, we explore the connection between the proposed FP method and the minorization-maximization (MM) theory, and in turn characterize the convergence behavior of our algorithm. Finally, we conduct experiments to numerically demonstrate the advantages of the proposed FP-based algorithm in a variety of data clustering and image segmentation tasks.

cs.LG · eess.SP

版本更新 · v2arXiv:2610.16914

FOCUS: A Subspecialty Foundation Model for Intraoperative Central Nervous System Pathology

Xing Liu, Yifan Guo, Hongtai Lv, Lei Lou, Yuyi Tan, Jiang Du, Xijia Zhang, Ming Zhang 等 21 位作者

原文摘要

Intraoperative frozen-section diagnosis of central nervous system (CNS) lesions guides surgical decisions but is challenged by artefacts, diagnostic complexity and time constraints. Most pathology foundation models have limited exposure to CNS frozen tissue. Here we present FOCUS, a subspecialty foundation model pretrained on 27,930 frozen-section whole-slide images enriched for CNS tissue. FOCUS ranked first across all 11 diagnostic and 12 biomarker-prediction tasks in the internal test cohort, achieving mean AUCs of 0.969 and 0.877, respectively. This advantage was retained in the temporal and external test cohorts. We further organized a WHO-aligned diagnostic hierarchy, where FOCUS also outperformed comparator models. In a reader study, FOCUS assistance enabled junior readers to approach or exceed unassisted senior readers in hierarchical diagnostic accuracy and granularity. More importantly, FOCUS assistance enabled readers to correctly identify a mean of 63.0% of initially missed lymphoma cases (73.2% among junior readers), potentially avoiding unnecessary extensive resection. These findings highlight the potential of FOCUS to provide clinically actionable support for intraoperative CNS pathology and inform surgical decisions.

cs.CV

版本更新 · v2arXiv:2610.33178

AOS-Bench: Can LLM Agents Manage Dynamic Workloads?

Erle Zhu, Genrui Zhang, Keyang Hu, Mingyu Su, Hongning Wang

原文摘要

Coding agents are moving from handling one request at a time to serving as persistent assistants to which users hand a stream of work: a build, a data-processing job and a bug fix may all be pending on the same machine at once. Such an agent must decide when to take on new tasks, how to delegate and overlap them, and how to stay within the machine's CPU and memory. Existing benchmarks cannot measure this, because they evaluate each task in isolation. We introduce AOS-Bench, which evaluates an agent system as a workload manager: verified tasks arrive over time and must be delivered under shared CPU and memory limits, and the same tasks run one at a time serve as a per-system reference. Across five model--harness pairs, isolated task success does not carry over evenly. On heavy workloads every system loses 13 to 23 points. On medium workloads, systems span 11 points in isolated success but 26 points in stream success, and two systems 0.6 points apart in isolation deliver 54\% and 68\% of the same tasks. Execution-policy interventions trace much of this gap to task intake: serial dispatch leaves 73\% of heavy-workload tasks unclaimed. Yet more elaborate management does not necessarily help. A fixed concurrency of two comes within four points of the best agent-managed policy on both medium and heavy workloads, and under every policy median CPU use stays below 30\% of the provisioned cores while tasks wait. These results identify workload management as a distinct capability for agents, and AOS-Bench as a way to measure it.

cs.AI

新论文 · v1arXiv:2610.36613

Optimality and Impossibility in Multidimensional Strategyproof Facility Location

Jianan Lin

原文摘要

We study facility location in multidimensional normed spaces with the objective of minimizing social cost, the sum of agents' distances to their nearest facility. A deterministic mechanism selects $k$ facility locations based on the reports of $n$ agents and is strategyproof (SP) if no agent can reduce her distance by misreporting her location. We establish optimal approximation ratios and impossibility results. For a single facility in the Euclidean plane, we prove that the optimal approximation ratios among deterministic SP mechanisms are exactly those obtained by Goel and Hann-Caruthers [SCW 2023] for the coordinate-wise median (CM): $\frac{\sqrt{2(n^2+1)}}{n+1}$ for odd $n\ge3$ and $\sqrt{2}$ for even $n\ge4$. We remove the anonymity assumption from their optimality result. However, CM is not always optimal in non-Euclidean spaces: we give an SP mechanism that minimizes social cost exactly in $\ell_\infty^d$, whereas CM has a tight uniform approximation ratio of $2$ already in the plane. We then consider two facilities in $\ell_p$ spaces with $1<p<\infty$ and prove two impossibility results for every $n>2$. In the plane, no deterministic SP mechanism has a finite approximation ratio. In higher dimensions, the same impossibility holds for anonymous deterministic SP mechanisms. Finally, a reduction using distant agents and a limiting argument extends both impossibility results to every $k>2$ with $n>k$.

cs.GT

新论文 · v1arXiv:2610.36612

Silent Blindness: Fault Vulnerability of Hardware Malware Detectors

Alireza Abolhasani Zeraatkar, Parnian Shabani Kamran, Parsa Mirfasihi, Saleh Khalaj Monfared, Hussain Al-Asaad

原文摘要

Hardware malware detectors (HMDs) classify hardware performance-counter measurements to identify malicious execution. Faults in their decision logic or parameters can weaken detection and allow malware to be classified as benign. We investigate this vulnerability through structural fault injection across a design space comprising 18 classifiers, four counter budgets, and AdaBoost and Bagging ensembles. The simulation evaluates 453,174 decision stuck-at and selected parameter bit-flip events on a 7,400-instance. Primary comparisons use 128 completed configurations. These completed-subset results are distinguished from the simulation summaries covering 140 configurations with enumerable fault sites. Fault outcomes are classified by their security consequences, including evasion, false-alarm increases, and metric silence. A fault is critical when malware recall decreases by at least five percentage points. Tree-based models exhibit a lower mean critical-fault fraction than function-based models, 5.3% versus 14.3%; exhaustive-only analysis preserves this ordering. Moreover, 72.3% of evaluated tree faults are metric-silent, changing both recall and false-positive rate by less than 0.1 percentage points without necessarily preserving individual predictions. Among the 27 completed matched comparisons, Bagging reduces criticality in 26, whereas AdaBoost increases it in two. Finally, an exact minimax selection method identifies protection candidates under additive unit costs and ideal correction. For a representative J48 detector, protecting 16 of 115 structural units reduces predicted maximum recall loss from 60.1 to 3.3 percentage points. These results characterize structural-model sensitivity and potential protection benefits; faulted RTL correspondence and physical hardening overhead remain unvalidated.

cs.CR · cs.AR

新论文 · v1arXiv:2610.36610

4D Reconstruction with Events & RGB

Dulanga Weerakoon, Darshana Rathnayake, Van Minh Do, Hemanth Sabbella, Kaichen Zhou, Fangneng Zhan, Alok Prakash, Sanjay E. Sarma 等 10 位作者

原文摘要

Reconstructing dynamic 3D scenes over time (4D reconstruction) from a single moving camera is central to robotics and AR/VR applications, yet state-of the-art feed-forward methods rely solely on RGB frames and therefore inherit the failure modes of conventional cameras, including motion blur and temporal aliasing under fast or non-uniform camera and object motion. Event cameras report per-pixel brightness changes asynchronously at microsecond resolution, offering a complementary signal that is largely immune to these artifacts, but whether this modality can be incorporated into existing RGB based 4D reconstruction pipelines without a full architectural redesign remains an open question. In this preliminary study, we investigate a minimal extension: we augment Monst3R, an existing RGB-only 4D reconstruction model, with an additional event-camera input branch, leaving the rest of the architecture unchanged. Across 3 benchmark datasets, this simple RGB-event fusion reduces Abs Rel by 3.4% on average relative to the RGB-only Monst3R baseline, and a sensitivity analysis shows that the improvement grows with the magnitude of camera and object motion, with the largest gains observed under high object motion conditions where RGB-only reconstruction degrades most. These early results suggest that even a lightweight, non-invasive fusion of event data can meaningfully improve 4D reconstruction robustness, motivating a more thorough architectural investigation in future work.

cs.CV

新论文 · v1arXiv:2610.36603

A Fine-Grained Empirical Study of Upstream Security Events and Downstream Mitigation in Maven

Kazi Amit Hasan, Enrong Pan, Yuan Tian, Mariam Guizani, Steven H. H. Ding

原文摘要

Open-source vulnerability mitigation spans upstream libraries and the downstream projects that depend on them. Upstream, a vulnerability progresses through a public report when one exists, a fix, a fixed release, and NVD disclosure. Downstream, a project mitigates it by adopting the fixed release, and the timeliness of this adoption is measured relative to these events. Prior work studies the two sides separately, so it is unclear whether downstream exposure stems from delayed upstream release, delayed downstream adoption, or both. We address this gap by following 832 CVEs in the Maven ecosystem from the upstream fix to its adoption by each exposed downstream project. We classify upstream fixes as \textit{silent} or \textit{transparent}, recover the order of report, fix, release, and NVD disclosure, and link vulnerable artifacts to their downstream dependents. We then compare this order with downstream adoption and dependabot usage. We find that delay arises on both sides. Upstream, the fixed release comes before NVD disclosure for about 82\% of CVEs, for both silent and transparent fixes. For the other 17.9\%, downstream projects have no fix to adopt for days to more than four months after disclosure. Downstream, exposure is concentrated, with the top 10\% of CVEs accounting for 72.1\% of it. Of 1,677 observed adoptions, 85.3\% happen after NVD disclosure, rising to 88.3\% for silent fixes released before disclosure. Most adoptions come through routine dependency updates. Adoptions with dependabot version updates have a median release-to-adoption delay of 10.4 days, compared with 110.6 days without dependabot. Yet version updates were configured at adoption time for only 8.5\% of total adoptions. We translate these findings into implications for upstream maintainers, downstream developers, and dependency-automation tools.

cs.SE

新论文 · v1arXiv:2610.36602

Martingale-Based Resource Partitioning Bounds for URLLC and eMBB Network Slicing in 5G

Hanbing Li, Yantong Wang

原文摘要

Network slicing is a key enabler for the coexistence of ultra-reliable low-latency communications (URLLC) and enhanced mobile broadband (eMBB) in 5G networks. However, allocating limited radio resources to heterogeneous slices while satisfying stringent quality-of-service (QoS) requirements remains challenging, particularly in the ultra-reliable regime where conventional effective-capacity-based approaches may lead to excessive resource allocation. To address this issue, this paper proposes a martingale-based resource block (RB) allocation framework for coexisting URLLC and eMBB slices. By constructing exponential martingale processes using the moment generating functions (MGFs) of the arrival and service processes and applying Doob's maximal inequality, explicit non-asymptotic upper bounds are derived for the URLLC delay violation probability and the eMBB backlog violation probability. Based on the resulting theoretical stability conditions, a low-complexity bisection algorithm is developed to determine the optimal martingale parameters, followed by a deterministic search algorithm to obtain the minimum RB requirements for both slices. Numerical results show that the analytical bounds effectively upper-bound the Monte Carlo simulation results. At a target violation probability of $10^{-6}$ for each slice, the proposed framework requires 44 RBs in total, satisfying the system capacity constraint of 50 RBs. Compared with the conventional effective-capacity baseline requiring 64 RBs, the proposed framework reduces total RB consumption by approximately 31.2% relative to the conventional effective-capacity baseline.

cs.NI

版本更新 · v2arXiv:2605.07755

Rethinking State Tracking in Recurrent Models Through Error Control Dynamics

Jiwan Chung, Heechan Choi, Seon Joo Kim

原文摘要

The theory of state tracking in recurrent architectures has predominantly focused on expressive capacity: whether a fixed architecture can theoretically realize a set of symbolic transition rules. We argue that equally important is error control, the dynamics governing hidden-state drift along the directions that distinguish symbolic states. We prove that affine recurrent networks, a class of models encompassing State-Space Models and Linear Attention, cannot correct errors along state-separating subspaces once they preserve state representations. Consequently, practical affine trackers do not learn robust state tracking; rather, they learn finite-horizon solutions governed by accumulated state-relevant error. We characterize the mechanics of this failure, showing that tracking remains readable only while the accumulating within-class spread remains small relative to the between-class separation. We demonstrate empirically on group state-tracking tasks that this breakdown is predictable: tracking collapses when the distinguishability ratio crosses the readability threshold. Across trained models, the point of this crossing predicts the horizon at which downstream accuracy fails. These results establish that robust state tracking is determined not only by an architecture's theoretical expressivity but crucially by its error control.

cs.LG · cs.CL

新论文 · v1arXiv:2610.36599

Camera-to-Quadruped Robot Pose Estimation from Sequential Images

Seobin Hwang, Ji-Seong Beom, Yeong-Jun Cho

原文摘要

Quadruped robots are increasingly deployed in hazardous environments such as disaster response and facility inspection, where external-camera monitoring is essential for safe operation. This setting is challenging because quadrupeds are articulated systems with time-varying leg joints, leg symmetry, and frequent self-occlusions, which make keypoint correspondence ambiguous. Moreover, no public benchmark exists, making quantitative comparison difficult. To address these challenges, we propose QuadPose, which estimates the full-body 18-DoF pose (6-DoF base pose + 12-DoF joint angles) from monocular video sequences, and introduce QuadSyn, the first camera-to-quadruped robot pose benchmark. On QuadSyn, QuadPose achieves 92.18% PCK@2.5px, 95.54% PCK-AUC, 85.94% ADD@20cm, 66.98% ADD-AUC, and 3.65 degree mean joint-angle error at approximately 33 FPS.

cs.RO · cs.CV

新论文 · v1arXiv:2610.36598

OpenJaws: An Open Hardware UMI Framework with Stereo Localization for Generalist Manipulation

Adithyavairavan Murali, Yash Oza, Karanbir Chahal, Neel Jawale, Silas De Vries, Hesam Rabeti, Erwin Coumans, Balakumar Sundaralingam 等 9 位作者

原文摘要

Handheld data-collection interfaces such as the Universal Manipulation Interface (UMI) allow manipulation demonstrations to be gathered in the wild without a robot in the loop, but the quality of the resulting action labels is bounded by the accuracy of vision-based localization. Existing systems recover end-effector pose from monocular visual-inertial odometry, which is subject to scale ambiguity and drift, or delegate tracking to closed-source modules and external infrastructure that reintroduce cost and setup burden. We present OpenJaws, a fully open hardware and software framework for sensorized UMI that improves localization and simplifies deployment across robot platforms. OpenJaws pairs a modular, 3D-printed gripper exposing a standardized ISO adapter with a low-cost stereo camera to recover metric camera trajectories. We further introduce UMI-Loc-Bench-v1, a benchmark quantifying real-world localization accuracy for handheld data-collection devices, and show that stereo localization substantially outperforms monocular alternatives. Finally, we demonstrate that policies trained on data collected with OpenJaws can be deployed on a real robot across multiple tasks. Hardware, software, and data are released under a commercially permissive license. Code, data, and videos are available at https://open-jaws.github.io/

cs.RO

版本更新 · v2arXiv:2610.34056

INTRA: Interleaved Non-contiguous Token spaRse Attention

Yuxuan Xia, Wenbo Lu, Shaoyi Zheng, Shengjie Wang

原文摘要

Transformers achieve strong performance across modalities but are bottlenecked by the quadratic cost of attention. Sparse attention can reduce this cost, but effective sparsity must preserve useful long-range communication and map well to GPU hardware. We introduce INTRA--Interleaved Non-contiguous Token spaRse Attention--a hardware-aware static sparse attention design based on a relay-communication view under Computational Query Set (CQS) constraints. Rather than directly covering all token-to-token interactions within each sparse layer, INTRA uses complementary sparse groups to provide short mediated communication paths across layers. Scatter forms relay groups that sample broadly across local neighborhoods, while Gather reconnects these groups in subsequent layers. Under a partition model, this structure guides CQS-compatible sparse patterns with global reachability. Our CQS-aware FlashAttention-style kernel computes structured indices at runtime, loads selected non-contiguous tokens, and packs them densely for computation. On an A100, INTRA achieves a $1.53\times$ speedup in $2K$ FLUX.1-dev generation, with better measured image quality than evaluated CLEAR configurations after LoRA self-distillation. On LLaMA-3.1-8B, it improves long-context prefill efficiency with strong teacher-forced retrieval performance under matched LoRA adaptation. Attention-only benchmarks further show up to $8.4\times$ and $10.4\times$ speedups over MoBA and density-constrained NSA, respectively. Code is available at https://github.com/NovTi/INTRA.

cs.LG

新论文 · v1arXiv:2610.36595

Learning to Formalize: Bridging Open-Ended Workloads and Fast Decision Models

Chengxuan Pei, Ziyao Wang, Teng Mei, Zhe Li

原文摘要

Decision models offer fast choices over sup- plied alternatives, while general-purpose large language models interpret open-ended tasks through flexible generation and reasoning at the cost of sequential decoding. Many work- loads expect a generative backend to determine what can be done and therefore provide no well-defined candidate list. We bridge this in- terface gap with a small candidate formalizer trained on offline teacher-generated lists. The formalizer constructs explicit, validated alter- natives from task context, and a frozen deci- sion model selects an entry. A motivating com- parison with official TypeSafe Jev-1.13.0 on 200 CALVIN-D test episodes reports 11% suc- cess with generic motions versus 46.5% with DeepSeek V4 Flash pose candidates. Sepa- rately, a six-arm privileged-state evaluation on 1,011 CALVIN-D validation annotations finds that a locally deployed decision model can achieve at most 52.6% task success rate with the fine-tuned formalizer, compared with 11.8% without it, and the end-to-end latency is kept to 2.09 s, whereas Qwen3.5-27B is 3.67 s with the exact experiment setting.

cs.AI

新论文 · v1arXiv:2610.36593

WithinVAE: Compact Visual Autoencoding with Self-Distilled Semantics

Yuzhou Ji, Jiepeng Wang, Tianyu Jin, Lizhuang Ma, Haibin Huang, Chi Zhang, Xuelong Li

原文摘要

Visual autoencoders must balance reconstruction fidelity, compactness, and semantic structure. Existing semantic tokenizers typically inherit semantics from pretrained recognition encoders, whose invariances can discard the appearance detail required for inversion. We show that this inheritance is unnecessary: semantic structure can be learned inside an autoencoder's own reconstructive representation. We introduce WithinVAE, a compact variational visual autoencoder with a sequential bottleneck, DINO/iBOT-style self-distillation from an exponential-moving-average copy of the autoencoder itself, and position-dependent token masking to achieve a 4-fold compression ratio, which is free of pretrained representation encoder or external semantic target. On ImageNet-1K at $256\times256$, WithinVAE improves all four reported reconstruction metrics over RPiAE including PSNR by 1.36 dB, while using half its latent scalar capacity. Under frozen evaluation, the same latents improve linear probing by 6.5 points over RPiAE and 5.1 points over our reconstruction-only baseline, attributing the semantic gains to self-distillation rather than architecture or external supervision. An auxiliary latent-to-latent model reproduces the ordered-compression trend, and a pixel-to-latent model transfers the objective to a pretrained generative space. These results separate the origin of semantic supervision from its use: a compact visual autoencoder can organize semantic structure without borrowing a recognition representation.

cs.CV

版本更新 · v2arXiv:2605.17000

BoLT: A Benchmark to Democratize Black-box Optimization Research for Expensive LLM Tasks

Ruth Wan Theng Chew, Zhiliang Chen, Apivich Hemachandra, Bryan Kian Hsiang Low

原文摘要

Optimization of LLM training and inference configurations, such as hyperparameters, data mixtures, and prompts, is critical to performance, but it is often approached heuristically in practice, leading to potentially suboptimal outcomes. By framing them as noisy, expensive, and derivative-free optimization problems, Bayesian optimization (BO) and other black-box optimization (BBO) methods offer a promising yet underexplored direction for principled, sample-efficient methods. However, LLM training and inference costs are prohibitively high for most of the BBO research community, and new methods are often only evaluated on synthetic test functions and small-scale datasets that fail to capture the challenges of modern LLM optimization problems. This impedes the development of BBO methods and makes it difficult to assess their effectiveness on modern LLM tasks. We introduce BoLT, the first LLM-centric benchmark that democratizes LLM research for the BBO community. BoLT is released at https://github.com/chewwt/bolt. BoLT covers broad and well-motivated LLM optimization problems, involving multi-fidelity, multi-objective, heteroscedastic noise, and high-dimensional search spaces. Each problem in BoLT is grounded in real experimental data and made fully reproducible and accessible through lightweight surrogate models fitted to the results of thousands of real LLM experiments. We benchmark BoLT against an extensive range of BO and BBO methods, showing that selected BO methods consistently outperform others across tasks and highlighting gaps in existing BBO methods on LLM tasks, underscoring the need to modernize benchmarks for the BBO community.

cs.LG · cs.AI

新论文 · v1arXiv:2610.36592

LabWorld: Learning Interactive 4D Worlds for Scientific Experimentation

Suozhi Huang, Kelsey Fu, Binxu Li, Luna Lyu, Kaize Wu, Wenbo Lu, David Smerkous, Jiahan Li 等 15 位作者

原文摘要

Autonomous scientific agents must not only reason about experiments but also interact with the physical environments in which they are executed. Existing laboratory simulators typically rely on manually constructed assets and predefined procedures, while laboratory videos capture real equipment, layouts, and interactions but leave this information implicit in pixels. We introduce LabWorld, an agent-driven Real2Sim framework for reconstructing interactive 4D laboratory worlds from monocular RGB video. LabWorld recovers reusable 3D assets, a metric scene, time-varying object states, and procedure events. Multi-frame observations provide complementary evidence for asset and scene reconstruction, while motion reconstruction combines visual and geometric observations with event constraints encoding the spatial and temporal requirements of laboratory interactions. We evaluate LabWorld on real pipetting and vortexing videos collected in our laboratory against general-purpose agentic and dedicated reconstruction baselines. For pipetting, LabWorld achieves a mean Mask IoU of 0.501, exceeding the strongest baseline by 0.033. For vortexing, it achieves a mean Tube-Length-Normalized PCK-AUC of 0.638, exceeding the strongest baseline by 0.035. On five pipetting videos, event-conditioned reconstruction increases the fraction of modeled physical constraints satisfied from 14.3% (5/35) to 100% (35/35). The resulting worlds expose geometry, motion, articulation, and events as explicit, editable state for replay, inspection, and future embodied scientific systems.

cs.CV

版本更新 · v2arXiv:2610.35066

MemVLN: Streaming Episodic Memory for Vision-Language Navigation

Yan Wang, Jiangyong Huang, Siyuan Huang, Baoxiong Jia

原文摘要

Vision-language navigation (VLN) requires an embodied agent to follow language instructions through 3D environments. Maintaining persistent episodic memory remains a challenge for VLM-based streaming agents in long-horizon navigation. We present MEMVLN, a streaming episodic memory framework that maintains a bounded bank of compressed perceptual features annotated with timesteps and action-derived relative poses, and produces compact memory tokens via cross-attention. We pair the proposed memory with a frozen pretrained geometry encoder. To learn the memory module, we design a masking-based trajectory summarization task with multi-granularity sub-trajectory decomposition, encouraging route reconstruction exclusively from episodic memory. Under navigation training restricted to the official R2R/RxR trajectories, MEMVLN achieves state-of-the-art performance on most reported metrics on standard VLN-CE benchmarks. Long-horizon analyses further characterize when episodic memory is useful. For physical evaluation, we collect 30 instruction-conditioned episodes in one physical scene, use 24 as demonstrations for post-training, and hold out six for testing. On the held-out episodes, MEMVLN improves success over the VLM baseline from 17% to 40%, and post-training further raises it to 47%.

cs.CV