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新论文 · v1arXiv:2610.35647

TRON: Transferring Naturally Evolved Network Architectures into Neuroevolution

Konstantinos Zacharopoulos, Alexandra Bekou, Jose M Serradell, Foteini Paraskevopoulou, Apostolos Fournaris, Ioannis Arapakis, Oscar Lao

原文摘要

Neural architecture search (NAS) is challenging because of the vast, non-linear space of artificial neural network (ANN) topologies. Evolutionary methods can generate architectures, but their effectiveness is limited by difficulties in preserving functional organization during mutation and recombination. Naturally evolved biological networks may provide organizational principles that support adaptation and evolvability. Here, we introduce TRON (TRansfer Of Natural networks), a neuroevolution framework that uses experimentally characterized protein-protein interaction (PPI) networks as architectural priors. Instead of starting from random topologies, TRON reuses biological interaction patterns as structural building blocks. It combines classical evolutionary operators with neuroevolution-inspired mechanisms, including speciation, and introduces species quarantine to protect newly generated architectures during early maturation. We evaluated TRON against established evolutionary and neuroevolutionary methods on three classification benchmarks (CORA, CITESEER, and PUBMED) and three regression benchmarks (DIABETES, FRIEDMAN, and CALIFORNIA). TRON achieved the highest predictive performance among the evaluated methods on all classification datasets and most regression tasks. It showed substantially lower variability across independent runs, indicating greater robustness and convergence stability, at increased computational cost. These findings support the use of PPI networks as effective architectural priors and suggest that biologically derived interaction networks provide more favorable substrates for neuroevolution than random topologies. More broadly, TRON demonstrates the feasibility of transferring naturally evolved network architectures into artificial intelligence systems, offering a direction for improving evolvability in NAS through the reuse of biological organizational principles.

cs.NE · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35645

Proofs of strong forms of the Bovdi--Geche universality conjecture and a complex analogue

Victor Bovdi, Ambrus Pal

原文摘要

We prove two universality theorems for neural networks consisting of a single neuron. First we prove a strong form of the Bovdi--Geche universality conjecture on neurons over finite fields, where the activation function is a certain modification of the discrete logarithm, using the Weil bound on multiplicative character sums over finite fields. Then we show a generalisation of Aizenberg's universality theorem for complex binary neurons with a weight vector independent of the target function, positively answering another question in the literature. The proof of the latter uses an equidistribution theorem for the dilates of certain maps into tori.

cs.LG · math.NT · math.RA

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.07279

Mem3R: Streaming 3D Reconstruction with Hybrid Memory

Changkun Liu, Jiezhi Yang, Zeman Li, Yuan Deng, Jiancong Guo, Binbin Xu, Luca Ballan

原文摘要

Streaming 3D perception is well suited to robotics and augmented reality, where long visual streams must be processed efficiently and consistently. Recent recurrent models offer a promising solution by maintaining fixed-size states and enabling linear-time inference, but they often suffer from temporal forgetting over long sequences due to the limited capacity of compressed memories. We propose Mem3R, a streaming 3D reconstruction model with a hybrid memory design that decouples camera tracking from geometric mapping to improve temporal consistency over long sequences. For camera tracking, Mem3R employs an implicit fast-weight memory implemented as a lightweight Multi-Layer Perceptron updated via Test-Time Training. For geometric mapping, Mem3R maintains an explicit token-based fixed-size state. Compared with CUT3R, this design not only significantly improves long-sequence performance but also reduces the model size from 793M to 644M parameters. Mem3R supports existing improved plug-and-play state update strategies developed for CUT3R. Specifically, Mem3R combined with TTT3R reduces absolute trajectory error by up to 39% relative to CUT3R combined with TTT3R on 500- to 1000-frame sequences from the TUM Dynamics dataset. The resulting improvements also extend to other downstream tasks, including video depth estimation and 3D reconstruction. Project page: https://lck666666.github.io/Mem3R/.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.26645

Reasoning-Aware Multicalibrated Reliability Predictors for Language Models

Ekaterina Fedorova, Alessandro Morosini, Chara Podimata

原文摘要

As people increasingly rely on large language models (LLMs) for information, model providers need to communicate meaningful estimates of whether individual responses are correct or, more generally, reliable. In the context of hallucinations, existing work uses multicalibration to make such reliability predictions meaningful across application-relevant groups, such as prompt topics. Topic groups alone, however, can conceal systematic errors: within the same topic and confidence level, responses with different chain-of-thought (CoT) properties may exhibit opposing errors that cancel on average. In this work, we introduce reasoning-aware multicalibration, a framework that supplements application-relevant topic groups with groups derived from observable properties of CoT traces. We highlight that, theoretically, groupings based on CoT are "internally important", i.e., groupings for which the multicalibration guarantee is not societally crucial as it is for high-risk topics, but whose inclusion in the multicalibration procedure could easily and significantly improve predictive accuracy of the final reliability predictor. Empirically, we apply our framework to hallucination prediction and unsafe-response detection across a variety of benchmarks, and find that adding CoT groups to topic-based calibration reduces Brier score in both tasks. Interestingly, we find that multicalibrating with respect to CoT groups alone (without any topic information) already improves calibration across topics, suggesting that the predictor's errors depend on how the model reasoned, rather than what it was asked about in the prompt.

cs.CY · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35642

VPR-Space: A Benchmark for Visual Place Recognition in Space Analog Domains

Richard Fechner, Peer Neubert

原文摘要

Visual Place Recognition (VPR) is an important means for loop closure detection in visual Simultaneous Localization and Mapping (SLAM). While state-of-the-art VPR and SLAM approaches excel in urban and feature-rich natural environments, the vast and feature-poor environments of extraterrestrial surfaces like on the Moon or Mars pose severe challenges for existing approaches. This paper presents a novel benchmark, VPR-Space, to evaluate VPR capabilities on extraterrestrial surfaces. There are three contributions: (1) We collected sixteen VPR database-query datasets based on existing data from Space Analog Domains (SAD), terrestrial environments that resemble properties of the Moon or Mars. The collection includes a range of challenges regarding environment, viewpoint change, and illumination conditions. (2) To address the ill-posed nature of VPR, we propose a novel approach to generate the ground-truth information in VPR benchmarks. Instead of defining that a query and datbase image show the same place if and only if their camera poses are within fixed position and viewing direction thresholds, we propose to make the decision dependent on whether the match would be valuable in the downstream SLAM task. To avoid the overhead and restrictions of evaluating VPR in-the-loop within SLAM systems, we provide VPR ground-truth (GT) matrices based on the performance of an ensemble of state-of-the-art Relative Pose Estimators (RPE). Under this GT we require a VPR method to identify exactly those image pairs for which a subsequently applied RPE is expected to provide a valuable pose estimate in a SLAM context. (3) We evaluated nine state-of-the-art VPR approaches. The results show considerable room for improvement and indicate directions for future research. We provide a pre-release version of the dataset on github: $\texttt{https://github.com/rfechner/VPR-Space}$

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35641

Dolphin broadband transient vocalization detection in impulsive ambient noise

Hari Vishnu, Jin Xinhui, Mandar Chitre, Simen Hexeberg, Koay Teong Beng

原文摘要

Passive acoustic monitoring in tropical waters such as those in Southeast Asia is hampered by the persistent, high-level impulsive noise of snapping shrimp. This is a particularly daunting challenge for detecting broadband transient vocalizations of dolphins - clicks, buzzes and burst-pulses. These vocalizations, unlike frequency-modulated whistles, share the broadband, impulsive character of the shrimp snaps and cannot be easily separated from them by frequency-localized or energy-based means. We develop TRIDENT, a lightweight waveform-based detector for these vocalizations, and apply it to 54.2 recorder-months of data from ten island sites around Singapore. We show that the training-data pipeline and the architecture are both important: controlled signal-to-noise-ratio based mixing to generate training data, appropriate normalization and hard negative mining, together steer the detector toward learning transient temporal structure rather than energy shortcuts. A single joint detector handles all three signal types better than specialized models for each, and outperforms established baselines. Applied to long-term recordings, it reveals tightly clustered, predominantly daytime activity, motivating days-with-detections as a robust indicator of cetacean presence.

cs.SD · eess.AS · eess.SP

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2606.24817

High-Fidelity Synthetic Transmission Electron Microscopy Image Generation Using Diffusion Probabilistic Models for Data-Limited Semiconductor Metrology

Johannes Boehm, Bappaditya Dey

原文摘要

Advanced semiconductor nodes drastically increased demand for Transmission Electron Microscopy (TEM), yet destructive sample preparation, slow imaging and high costs severely limit the availability of diverse datasets needed for downstream machine learning (ML). Synthetic data generation is becoming essential, but current generative models often miss TEM-specific noise, structural detail, and stochastic variability crucial for evaluation. We present a Denoising Diffusion Probabilistic Model (DDPM) framework for synthetic TEM image generation under extreme data scarcity. A progressive patch-based training strategy scales from low-resolution patches to full images, enabling from-scratch training with only 15 samples. We integrate a custom TrivialAugment adaptation, cross-process domain transfer, classifier guidance, and RePaint-style inpainting, culminating in full-image generation that preserves the global structural and spatial relationships relevant to FAB metrology. Beyond synthesis, we repurpose DDPM feature representations for segmentation, partitioning encoder feature maps to obtain coherent region masks. On the closest 1% of nearest-neighbor pairs, our synthetic DEVICE-TEM images reach MS-SSIM $0.985 \pm 0.002$ (full-set mean $0.587$), and a blinded qualitative expert assessment is consistent with the structural similarity results. The synthetic images are intended as training data for downstream ML in defect detection, segmentation, and metrology.

cs.CV · eess.IV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35637

SeeRF: Learning to See Beyond Fields of View via Generative Image Registration and Fusion

Xunpeng Yi, Yibing Zhang, Qinglong Yan, Yifan Lu, Han Xu, Jiayi Ma

原文摘要

Due to the inherent discrepancies in imaging viewpoints and field-of-view mismatches among multi-modal sensors, existing fusion methods have long struggled to achieve complete scene-level information integration beyond the limitation in sensor fields of view. Consequently, the generated fusion results often contain modality-specific regions and fusion artifacts, limiting the comprehensive representation of scene structures and semantic information. To address this challenge, we propose a generative registration-fusion framework, termed SeeRF. Specifically, it first introduces a deformation generation strategy based on the diffeomorphic stationary velocity field, combined with visual foundation model-guided feature extraction and a coarse-to-fine progressive multi-modal image registration module, to achieve accurate cross-modal flow estimation and generate valid field-of-view masks. Subsequently, the registration module is tightly coupled with the generative diffusion module for multi-modal completion and fusion, where the cross-modal control encoding module and the control residual feature encoder-decoder mechanism provide effective guidance. By leveraging the powerful prior modeling capability of generative diffusion models, the proposed framework overcomes the limitations imposed by shared fields of view and enables effective completion and natural fusion of non-overlapping field-of-view regions. Extensive experiments on multiple public datasets and real-world scenarios demonstrate that the proposed method achieves superior performance, validating its effectiveness, superiority, and robustness. The code will be available at https://github.com/XunpengYi/SeeRF.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35636

Adapt for Planning, Not just Prediction: Optimistic Test-Time World Model Adaptation

Akshay Mete, Dileep Kalathil, P. R. Kumar

原文摘要

Latent world models are typically pre-trained offline and kept frozen at test time, so planning with them can degrade under distribution shift. Test-time adaptation (TTA) can mitigate this degradation by updating the model during deployment. Unlike pre-training on fixed data, TTA for planning is closed-loop: the planner uses model rollouts to select actions, and the resulting transitions drive the next update. This raises the question: which objective should guide TTA for planning? Under a prediction-only objective, the model is fit only to the outcomes of its own actions, so it can remain wrong about the actions that would reach the goal, and low prediction error need not translate into better planning. Inspired by reward-biased maximum likelihood from adaptive control, we introduce Optimistic Test-Time Adaptation (OpTTA). Its objective has two terms, the prediction loss on observed transitions and the planner's goal-reaching cost on its candidate rollouts, both minimized over the model parameters. The planning term biases adaptation toward models that are optimistic about reaching the goal, without any additional environment interaction. Across visual and environment shifts on manipulation, reaching and navigation tasks, OpTTA raises final planning success over the frozen model by 13.5 percentage points on average, compared with 6.9 for the prediction-only objective (AdaJEPA), when only the predictor is adapted. When the encoder is adapted as well, the gains are 13.5 and 7.5 points. These experiments span three JEPA world models with different encoders and training objectives and, for temporal straightening, both CEM and gradient-based planners. Our results suggest that test-time adaptation of world models for planning benefits from an optimistic, task-aware term in addition to the prediction loss.

cs.LG · cs.AI · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35635

Offline Language-Based Support System for Tactical Decision-Making in Air Combat Operations

Joao P. A. Dantas

原文摘要

An offline language-based support tool is presented to assist pilot training and tactical decision-making in air combat operations. The system, named MATE (Mission Assistant for Training and Evaluation), applies retrieval-augmented generation (RAG) to answer natural language questions using content extracted from doctrinal and tactical manuals. Built entirely with open-source components, it performs text preprocessing, embedding generation, semantic search, and language generation locally, ensuring full offline functionality. The tool was evaluated by three Brazilian Air Force fighter pilots, who rated the answers produced with three open-weight language models (Llama 3.1 8B, Qwen 2.5 14B, and Mistral NeMo 12B) to five tactical questions derived from a publicly available air combat manual. Average ratings ranged from 4.00 to 4.40 on a five-point scale, with Mistral NeMo 12B obtaining the highest score, and the pilots rated the response time of the tool as fully adequate compared to manual search. The relevance of the retrieved content was identified as the main point for improvement. Potential applications are discussed in onboard mission systems, flight simulators, and training environments.

cs.CL · cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35633

Cheap AI-Assisted Reverse Engineering and What It Will Do

Ilan Mandel, Madiha Zahrah Choksi, Joey Castillo, Sebastian Benthall, James Grimmelmann

原文摘要

Generative AI is putting the law of reverse engineering (RE) under severe strain. Existing IP and technology laws assume that RE is expensive and time-consuming, and that it requires specialized expertise. They generally allow it, but they rely on its difficulty as a filter to separate (permissible) RE from (impermissible) copying and theft. Generative AI is changing this equation by making \RE much faster, cheaper, and easier. AI systems can identify hardware components, extract firmware, decompile object code, and clone entire apps. The resulting struggle between technology vendors and reverse engineers will challenge a wide range of laws, including trade secret, copyright, anti-circumvention, computer misuse, and contract. In this article, we describe the ways in which AI is changing \RE, map these new practices onto existing laws, and sketch ways that the legal system could respond and their associated trade-offs.

cs.CY · cs.CR

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arXiv ↗PDF ↗
版本更新 · v8arXiv:2305.01425

Adding Reconfiguration to Zielonka's Asynchronous Automata

Mathieu Lehaut, Nir Piterman

原文摘要

We study an extension of Zielonka's (fixed) asynchronous automata called reconfigurable asynchronous automata where processes can dynamically change who they communicate with. We show that reconfigurable asynchronous automata are not more expressive than fixed asynchronous automata by giving translations from one to the other. However, going from reconfigurable to fixed comes at the cost of disseminating communication (and knowledge) to all processes in the system. We then show that this is unavoidable by describing a language accepted by a reconfigurable automaton such that in every equivalent fixed automaton, every process must either be aware of all communication or be irrelevant.

cs.FL

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2606.00295

Adaptive Order Policies for Masked Diffusion

Jama Hussein Mohamud, Mohsin Hasan, Mirco Ravanelli, Yoshua Bengio

原文摘要

Masked diffusion models have seen great success in capturing data distributions over discrete sequences in domains such as text and proteins. These models generate data by iteratively unmasking tokens starting from a fully masked sequence, with the unmasking order typically chosen at random or using a heuristic based on denoiser probabilities. In this work, we propose a scheme for learning the unmasking order using an additional lightweight policy network on top of a diffusion model. Our proposed loss reweights terms in the masked diffusion loss according to policy probabilities, and results in a policy that prefers positions where the denoiser is more likely to be correct. We study this loss in two settings: (i) training solely the policy while using a frozen pre-trained denoiser, and (ii) training the policy and denoiser jointly with the weighted loss to allow for mutual adaptation. We demonstrate that our approach outperforms common heuristics on problems that are sensitive to token ordering, such as combinatorial problems, proteins as well as various coding and language tasks.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2607.20321

Label-Free Finite-Volume-Residual Training of Attention Graph Neural Networks for Coupled Thermo-Fluid Fields

Tianyu Li, Zhiwei Cao, Qingang Zhang, Ruihang Wang, Binyang Song, Yonggang Wen

原文摘要

Neural surrogates are widely used in scientific machine learning for fast prediction of three-dimensional (3D) thermo-fluid fields. However, generating training data using conventional numerical solvers often incurs substantial computational and storage costs. We propose to train an attention graph neural network by minimizing the finite-volume method (FVM) residuals of the governing equations. These residuals are evaluated directly on the mesh, requiring no labeled data. We evaluate the trained surrogates against computational fluid dynamics (CFD) references and a data-supervised baseline across four scenarios. On the two steady-state benchmarks, each solved on the same mesh as its CFD reference, the FVM-loss model reproduces the reference flow and temperature fields with mean field-averaged normalized root-mean-square errors (nRMSEs) near 3%, including the buoyancy-energy coupling. On the two parametric transient cases, the FVM-loss model attains lower rollout errors than the supervised baseline in almost every field, while avoiding the data-generation cost entirely. These results indicate that the FVM loss can provide a practical training signal for neural surrogates and reduce the model development cost.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.02022

Old Ideas, Novel Problems: The Instability of LLM-Based Novelty Evaluation

Noy Sternlicht, Simra Shahid, Peter Jansen, Daniel S. Weld, Pao Siangliulue, Tom Hope

原文摘要

AI-based ideation systems are often evaluated on the novelty of their ideas, and that judgment is increasingly delegated to large language models. Such judges are typically built ad hoc and validated, if at all, on human-authored papers rather than on the generated ideas they are meant to score. So, how do novelty judges perform? Not well. We present a systematic controlled study of novelty evaluation design choices. We build an evaluation set automatically, mining OpenReview for passages where reviewers explicitly affirm or dispute a paper's originality and keeping only submissions with unanimous agreement at the extremes of their research area; we pair these with ideas from a vanilla LLM generator. Across six judges, we find that seemingly small prompt design choices have large consequences; e.g., simply telling the judge that reviewers found one idea novel and the other not can change its verdict on more than half of the identical idea pairs it is shown, shifting pairwise accuracy by over 50 points and occasionally pushing it below chance. The same change helps one judge and hurts another. Retrieval and larger reasoning budgets help little, and two purpose-built novelty evaluators are outperformed by our cheapest prompted baseline. These results raise questions about reported novelty gains of automated ideation systems, and call for robust novelty evaluation methods.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2502.02727

Correcting Before Adapting: Gradient Correction for Federated Adaptive Optimization

Evan Chen, Shiqiang Wang, Dong-Jun Han, Shahryar Zehtabi, Christopher Brinton

原文摘要

Client-drift compensation methods mitigate the impact of data heterogeneity in federated learning (FL). While drift correction is well studied for stochastic gradient descent (SGD)-based FL, its interaction with adaptive client optimizers remains less understood. Adaptive optimizers such as Adam build each update from running averages of past gradients, so correcting only the final update direction leaves those averages, and the drift they contain, unchanged. We propose Federated Adaptive Gradient Correction ({\tt FA-GC}), which corrects each gradient before it enters these running averages, and compare it with Federated Adaptive Naive Tracking ({\tt FA-NT}), which adds the correction to the final direction. We show that, in an idealized setting without gradient noise, the direction FA-GC follows vanishes only at stationary points of the global objective, whereas the direction FA-NT follows can vanish elsewhere when the optimizer is nonlinear. We also prove convergence of FA-GC for Adam-family methods, gradient normalization, and Muon, which orthogonalizes matrix updates. Unlike our bound for FA-NT, these bounds contain no term for client heterogeneity. On seven image and language tasks, FA-GC with Adam needs the fewest rounds on average to reach the target accuracy, and on the three image tasks it also uses less total communication than uncorrected local Adam and FA-NT. On the QNLI question-entailment task with SOAP, which applies Adam in a rotated basis, and Muon under strong heterogeneity, FA-GC gives the highest accuracy, while FA-NT falls below the uncorrected optimizers.

cs.LG · cs.AI · cs.DC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35630

Revisiting Direct Control: A Field Evaluation of Sensor Fusion Efficacy in Teleoperating Full-Scale Autonomous Vehicles via Bird's Eye View

Stanisław Kuczma, Sławomir K. Tadeja, Michał R. Nowicki

原文摘要

In autonomous driving, robot teleoperation serves as a critical safety fallback mechanism, requiring operators to assume direct control in the event of system failure. While recent research has pivoted toward high-level supervisory control or simulation-based studies, these approaches often fail to capture the physical dynamics and sensory demands of driving a full-scale vehicle. To address this gap, we evaluated the impact of spatial data representation on operator performance using a real car-sized vehicle in a field experiment with $N = 18$ participants. We compared three visualization interfaces: (i) a standard camera feed baseline, with two bird's-eye views (BEV) from (ii) a raw LiDAR point cloud, and (iii) a sensor fusion of LiDAR and camera data streams. Contrary to prior passive observation studies suggesting that sensor-fusion BEV may hinder awareness, our active-control results demonstrate that such representation significantly outperforms the standard LiDAR BEV in perceived usability ($p \leq 0.0001$) and cognitive task load ($p = 0.01$, NASA-TLX score: 34.58/100) while also being significantly better than the Camera-only view ($p = 0.043$). The fused interface also led to statistically significant reductions in task completion time ($p = 0.0461$) and superior usability (SUS: 77.9/100) compared to those of the Camera-only and LiDAR-only views. By synthesizing objective performance data with comprehensive subjective assessments, we demonstrate that BEV fusion maximizes safety margins while minimizing the operator's mental demand. These findings challenge existing teleoperation conventions and provide an empirically validated approach for designing robust remote piloting systems.

cs.RO · cs.HC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.03248

Unbiased Alignment for Large Language Models with Noisy Preferences

Jialiang Wang, Xianming Liu, Xiong Zhou, Hui Liu, Haoliang Li

原文摘要

The alignment of large language models with human preferences is commonly achieved through Reinforcement Learning from Human Feedback or Direct Preference Optimization. However, these methods are vulnerable to the significant noise prevalent in real-world preference datasets. To address this critical issue, we present a theoretical framework for unbiased alignment, introducing the Unbiased Reward Model (URM) loss and the Unbiased Direct Preference Optimization (UDPO) loss. By mathematically correcting the distortion induced by preference noise, our novel objectives enable unbiased model training directly from noisy datasets, without requiring clean ground-truth supervision. We provide rigorous theoretical analyses demonstrating that our methods are noise-tolerant, parameter downward compatible, and classification-calibrated. Comprehensive experiments across diverse datasets demonstrate that our approaches outperform state-of-the-art baselines. Code available at: https://github.com/cswjl/unbiased-alignment.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35629

From Language to Drives: A Multimodal Framework for Aligning Autonomous Robots with Human Purposes

Diana Cerdas-Vargas, Alejandro Romero, Richard J. Duro

原文摘要

This work explores a multimodal approach to the alignment of the behavior of open-ended learning autonomous robots with human purposes through the use of large language models as cultural enablers. While autonomous robots can generate their own skills and goals through interaction with the environment, they often lack mechanisms to ensure that these remain relevant and aligned to those of human users. The proposed approach makes use of the general and cultural knowledge contained in LLMs and VLMs to establish a multimodal interactive alignment process in which human purposes, expressed in natural language, are transformed into motivational components of a robot architecture in the form of robot missions and drives that guide the behavior of the robot. The system is structured into three layers for semantic alignment, mission generation, and drive modeling. This design enables a bidirectional interaction loop: human inputs define high-level purposes, robots expand them into executable missions making use of multimodal information relayed by LLMs and VLMs, and feedback maintains alignment with human intent. Experiments in simulation and with a physical robot demonstrate that the process produces valid missions and behaviors, supporting effective human-agent alignment in interactive scenarios with autonomous robots.

cs.RO · cs.AI · cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35628

Investigating Forecasting Capabilities of Narrative Networks on Emerging Stories

Ravi Teja Karumuri, Steven Corman, Huan Liu, Joshua Garland

原文摘要

Networks have been used to model the interactions among the elements that underlie a narrative. In this paper, we investigate whether the structure of these networks can predict which links will emerge as a storyline evolves. We construct these networks from news articles using a Semantic Edge Parser (SEP) built on a Large Language Model (LLM), and evaluate the networks on three disparate real-world storylines, the 2022 Canadian Freedom Convoy, Hurricane Melissa (2025), and the 2025-26 Iranian protests. To test the narrative network's predictive capability, we construct a rolling window of the narrative and predict the emergent links between existing narrative elements on the day following the rolling window period. We identify candidate links with seven standard link predictors, including the Adamic-Adar index, Common Neighbors, and Preferential Attachment. Forecasting next-day links across the three storylines, we find Preferential Attachment to be the strongest standard link predictor, achieving a mean ROC-AUC of 0.76-0.79. It exceeds EdgeBank, a memorization baseline, by 11.3-14.5 points on every event. To summarize, narrative-network structure ranks next-day emergent relations above chance, though this advantage is concentrated among the most frequently mentioned, highly connected entities.

cs.SI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35626

Robot-Aligned 3D Gaussian Splatting for Precise Reaching with Wrist-Camera VLA Policies

Zuoxu Wang, Xiao Liang

原文摘要

Efficient robotic data collection remains a major bottleneck for vision-language-action (VLA) policy learning, especially for tasks requiring accurate end-effector positioning and camera-action alignment. This challenge is particularly severe in electronic-waste disassembly, where robots operate in cluttered assemblies of densely packed, visually similar components. Full digital-twin simulation is difficult because many parts are thin, reflective, or mechanically complex, making accurate object-level meshes and contact models difficult to obtain. In this work, we focus on pre-contact reaching and propose a 3D Gaussian Splatting (3DGS)-based data generation pipeline for wrist-camera VLA adaptation. Our method reconstructs the real workspace with 3DGS and renders diverse wrist-camera observations from robot-aligned poses. These observations are paired with smooth, structured reaching trajectories to provide robot-aligned visual-action supervision for VLA fine-tuning. We further augment the VLA policy with an instruction-conditioned reach verifier that estimates target proximity and provides reliable termination before physical interaction. Experiments in motherboard disassembly demonstrate precise VLA-based reaching using wrist-camera observations alone, without an external side-view camera. With $π$0.5, 1,500 generated trajectories achieve 80.0\% precise-reaching success across three targets, compared with 58.7\% using 150 teleoperated demonstrations, while requiring less than 10 minutes of active human capture. Project website: https://001-wang.github.io/PrecisionReach-GS/

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35624

Adversary Brains: Hypothesis-Based Logical Signatures for Threat Actor Detection with LLMs

Gadi Evron

原文摘要

An adversary brain is an LLM-based model of a threat actor's behavior, held as an evolving logical signature: a hypothesis with enough structure that data can test it continuously, without a person re-interpreting it each time. Rather than any single observation, such as an IoC (Indicator of Compromise), it is the arrangement that becomes a detection, or intelligence, mechanism. Where YARA matches a file and Sigma matches a log line, an adversary brain matches the activity pattern of a campaign or threat actor. This is based on an intelligence analysis technique called Analysis of Competing Hypotheses (ACH), which the design lifts from the limitation of a few hypotheses at a time, to thousands, and then also operationalizes it for continuous detection purposes. Language models make the concept, and scale, practical: they turn prose reports into brains, judge matches, and drive the loop that keeps brains current. A partial pattern in a brain can also match a new value, such as a fresh C2 (command and control) domain name, assisting with the discovery of new indicators, and turning unknown unknowns into known unknowns, and potentially into knowns. The author would like to thank Ryan Moon for the collaboration, and Sounil Yu, Chris Inglis, Thomas Roccia, Marius Benthin, Israel Grimberg, Michal Kamensky, Justin Borland, Brandon Levene, John Hultquist, and John Bambenek for their feedback and assistance.

cs.CR · cs.LG

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版本更新 · v2arXiv:2608.10424

Recovering Wasted Compute in Autoresearch Agents

Au Kwok Chun, Abhigyan Acherjee, Amrutha Rao, Zaiqian Chen, Kazem Meidani, C. Bayan Bruss, Micah Goldblum

原文摘要

A slew of recent works develop agents for solving research problems end-to-end, a paradigm increasingly referred to as autoresearch. Such agents have inspired large industry investment, motivated by their potential to automate time-consuming human labor and customize machine learning solutions for specialized applications. In this paper, we study the modeling pipeline at the core of these autoresearch systems and identify common failure modes when they are applied to tabular datasets: (1) they waste compute resolving the same bugs over and over again; (2) they often fail to tune hyperparameters even when they have a large remaining compute budget; (3) the tree-search algorithms that power them do not explore; and (4) they perform data analysis, mimicking the humans whose data they are trained on, but do not use that analysis to make downstream decisions. We explore targeted interventions and find that a global debug consultant that shares discovered runtime constraints across all branches of the search tree, prompt- and control-level enhancements, and refined tree-search algorithms successfully recover wasted compute. Our results show that large gains in autoresearch agent performance are achievable through agentic design alone, holding the underlying language model fixed.

cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2511.20251

Diversifying Long Prompt Image Generation through Structured Prompt Embedding Space Sampling

Bo-Kai Ruan, Teng-Fang Hsiao, Ling Lo, Yi-Lun Wu, Hong-Han Shuai

原文摘要

Modern text-to-image models produce impressive visual results from richly specified prompts, yet their behavior under long prompts remains insufficiently understood. In this paper, we study a practical failure mode in which accumulated semantic constraints progressively suppress output variation, causing diversity to collapse even when many visual factors remain unspecified. We show that this phenomenon appears consistently across recent generation models as prompt length increases, and provide a theoretical motivation that connects long-prompt conditioning with reduced sampling entropy in the prompt embedding space. Based on this observation, we introduce PromptMoG, a training-free approach that samples prompt embeddings from a Mixture-of-Gaussians distribution to restore generative flexibility while maintaining semantic fidelity. To support systematic evaluation, we further present LPD-Bench, a structured benchmark of long and semantically dense prompts for measuring both fidelity and diversity under compositional text conditioning. Extensive experiments on four large-scale diffusion models, including SD3.5-Large, Flux.1-Krea-Dev, CogView4, and Qwen-Image, show that PromptMoG consistently improves diversity for long-prompt image generation. The code is publicly available at https://github.com/basiclab/PromptMoG.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35621

Synthetic Deformable Tubular Benchmark: A mechanically annotated dataset for evaluating deformable 3D reconstruction

Íñigo Cirauqui-Viloria

原文摘要

Evaluating deformable 3D reconstruction requires ground truth linking camera motion, surface deformation, material correspondence and image appearance. We introduce the Synthetic Deformable Tubular Benchmark, generated with LumenMorph, an open-source toolkit for creating, annotating and evaluating tubular scenes. The release contains 5,580 RGB images. Its baseline crosses three surface-motion conditions with moving and stationary cameras in six scene families; matched appearance variants cover only moving-camera finite-element actions in four families. Documented public and evaluation interfaces expose camera poses, geometry, depth, deformation fields, persistent material correspondences and discrete finite-element records. Persistent triangle identities and material weights let users track the same surface location across frames and query its three-dimensional trajectory. Separately implemented geometric and mechanical checks assess annotation consistency with the generating models. Structure-from-motion, optical-flow and supplied-geometry displacement-interpolation studies demonstrate how the resource distinguishes registration coverage from geometric accuracy, exposes camera- and surface-motion effects, and tests the benefits and mismatch of mechanical priors. Public readers, evaluation contracts and the configurable generator support reuse and extension. Data integrity, fixed-environment repeatability and retained-prediction score replay have distinct verification scopes. The benchmark provides a controlled synthetic reference without claiming anatomical or clinical realism.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.20600

A characterization of the reversibility of linear cellular automata

Alonso Castillo-Ramirez

原文摘要

Let $G$ be a group, let $\mathbb{K}$ be a field, and let $V$ be a $\mathbb{K}$-vector space. We prove that there exists a bijective linear cellular automaton $V^G\to V^G$ whose inverse is not a cellular automaton if and only if $G$ is not locally finite and $\dim_{\mathbb{K}}V \geq |\mathbb{K}|^{\aleph_0}$. In particular, $|\mathbb{K}|^{\aleph_0}$ is the exact dimension threshold for non-reversibility. This answers an open problem proposed by T. Ceccherini-Silberstein and M. Coornaert.

math.GR · cs.FL · math.DS

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新论文 · v1arXiv:2610.35617

Distilling neural networks into equations to predict planetary instability

Simon Alford, Edward Gu, Omar Costilla-Reyes, Dan Tamayo, Miles Cranmer, Kevin Ellis

原文摘要

The problem of predicting when a multi-planet system will become dynamically unstable has defied analytical progress over the past three hundred years. Recent machine learning advances achieve high predictive performance of instability dynamics, but as black-box systems cannot be interpreted to connect to existing scientific understanding. Here we show analytic equations that predict when a multi-planet system will undergo instability. We discover these equations by first training a neural network on a dataset of N-body simulations, and then distilling its latent knowledge into closed-form algebraic expressions. Our two-stage pipeline first learns an interpretable variable basis, then searches for equations using symbolic regression. The resulting equations outperform existing analytic estimates of instability and apply across wide ranges of mass ratios, spacing, and orbital eccentricities. They capture structure in the prediction landscape with a small number of variables amenable to dynamical interpretation. These results demonstrate how symbolic learning can be combined with neural networks to extract scientific insight from complex dynamical systems.

cs.LG · astro-ph.EP

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2601.15006

DWPP: Dynamic Window Pure Pursuit Considering Velocity and Acceleration Constraints

Fumiya Ohnishi, Masaki Takahashi

原文摘要

Pure pursuit and its variants are widely used for mobile robot path tracking owing to their simplicity and computational efficiency. However, many conventional approaches do not explicitly account for velocity and acceleration constraints, resulting in discrepancies between commanded and actual velocities that result in overshoot and degraded tracking performance. To address this problem, this paper proposes dynamic window pure pursuit (DWPP), which fundamentally reformulates the command velocity computation process to explicitly incorporate velocity and acceleration constraints. Specifically, DWPP formulates command velocity computation in the velocity space (the $v$-$ω$ plane) and selects the command velocity as the point within the dynamic window that is closest to the line $ω= κv$. Experimental results demonstrate that DWPP avoids constraint-violating commands and achieves superior path-tracking accuracy compared with conventional pure pursuit methods. The proposed method has been integrated into the official Nav2 repository and is publicly available (https://github.com/ros-navigation/navigation2).

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35616

Hierarchical Skill Evolution for Coding Agent

Jun Gao, Yun Peng, Changhai Zhou, Yuhan Zhu, Xiangyu Zeng, Shiyang Zhang Yuhua Zhou, Luozheng Qin, Qian Qiao 等 13 位作者

原文摘要

Skills provide agents with reusable experience to guide future decisions without modifying the underlying model. However, coding trajectories are often entangled with task- and repository-specific contexts, making it challenging to distill procedural skills that generalize across diverse coding environments. To address this challenge, we present Hierarchical Skill Evolution (HSE), which progressively distills procedural knowledge from coding trajectories through hierarchical evidence aggregation. HSE first extracts task-level evidence from individual trajectories, then aggregates recurring evidence within the same repository to form repository-specific skill candidates, and finally consolidates consistent patterns across repositories into transferable skills across repositories. The evolution is driven by an external writer-evaluator loop that generates and assesses skills while keeping the underlying coding model frozen. The loop externally updates the writer and evaluator policies to improve subsequent skill generation and assessment. This hierarchy progressively filters task-specific details while preserving procedures that generalize across diverse coding environments. Successful trajectories yield reusable guidance for future tasks, while failed trajectories reveal recurring failure modes that guide avoidance and recovery. We evaluate HSE on SWE-bench Verified and DeepSWE, using GLM-5.2 across Pi and Claude Code harnesses and GPT-5.5 and Opus 4.8 with Pi. Across both benchmarks, 10 skills evolved solely from SWE-Gym improve coding performance across all evaluated settings, demonstrating transfer across benchmarks, coding models, and agent harnesses. We further evolve the skill library from target-benchmark trajectories without verifier feedback, relying solely on the learned evaluator for candidate assessment and achieving additional gains through benchmark-tailored skills.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35615

Context-Aware Generation and Modulation of Expressive Motion Behavior using Multimodal Foundation Models

Till Hielscher, Fabio Scaparro, Kai O. Arras

原文摘要

Expressive robot motion positively impacts human-robot interaction by improving user engagement, likability, or task performance. We present a novel approach to automatically generate and modulate complex, expressive full-body gesture sequences from a multimodal (text, audio, video) context description. Based on a unified mathematical implementation of the Principles of Animation using Dynamic Movement Primitives, we use multimodal foundation models to generate such sequences along with parametric motion variations that are highly context-aware. This method extends the state of the art in terms of flexibility and generality by being interpretable, composable, and working across different robot morphologies. Moreover, we integrate the system into a continuous control framework and leverage knowledge distillation to learn a much smaller model, significantly improving token efficiency and system latency. Results from a user study with a human-like platform indicate that participants judged our system's motions to be better aligned with the interaction context than motions produced under a non-modulated or API-level condition. We also demonstrate how the system generates expressive motion for robots with different kinematics, showcasing its versatility. Paper webpage: https://gen-mod-expressive-motion-behavior.github.io/.

cs.RO

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