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新论文 · v1arXiv:2611.06654

Compounding Physical RSI: Turning Execution Failure into Inherited Capability

Yixuan Yang, Qiang Chen, Run Shao, Shuwei Dong, Wenhao Li, Yunpeng Wang, Wenhan Fang, Haomiao Wu 等 34 位作者

原文摘要

Generalist robot policies are trained on static offline datasets, yet physical manipulation unfolds sequentially across stages. Because a weakness in a downstream stage remains unobservable until the policy passes earlier ones, each resolved bottleneck exposes the next hidden failure mode. This staged structure calls for Recursive Self-Improvement (RSI), in which a policy iteratively executes, diagnoses failures, and updates itself. Moreover, because task completion behaves like a product of stage-level pass rates, recursive gains can multiply across generations. In physical environments, three bottlenecks obstruct compounding: terminal execution feedback rarely localizes the stage that caused a failure, failed trajectories do not supply the corrective action, and updating shared parameters can degrade previously mastered skills. We propose Compounding Physical RSI, a self-evolving policy framework that turns execution failures into heritable capability. First, automated capability-gap assessment traces failed rollouts to the task stage where progression breaks down and formulates a structured improvement objective. Second, conditioned on this objective, our remedy stage curates validated, stage-relevant experience and refines the policy via behavior-regularized offline reinforcement learning, without requiring costly online rollouts at each optimization step. Third, to safeguard existing skills, our retention stage constructs weight-space candidates between the inherited reference policy and the refined policy, evaluates them across the task suite, and promotes the best candidate as the reference state for the next generation. Evaluated across all 42 tasks of the RoboDojo-Sim benchmark, CSU-AI-07 ranks first on the leaderboard with a three-seed mean Overall Score of 26.15 and Success Rate of 20.70%, outperforming the next-best entry by 5.92 points and 5.82 percentage points.

cs.RO

新论文 · v1arXiv:2611.06589

Competitive Equilibrium for Linear Chores is CLS-complete

Qian Liu, Shinuo Ma, Yixin Tao, Minji Yang, Weiqiang Zheng

原文摘要

The competitive equilibrium (CE) is a fundamental concept for markets, with applications to efficient and fair allocation of resources. We consider the fundamental question of computing a CE in the most basic Fisher market model where agents have linear preferences. While it is known that we can compute a CE in strongly polynomial time with linear goods, there is no known polynomial-time algorithm for CE with linear chores. Computing a CE for linear chores is known to be in CLS with no hardness results. In this paper, we prove that computing an exact CE in Fisher markets with divisible chores and linear disutilities is CLS-hard and thus CLS-complete. To the best of our knowledge, this is the first CLS-completeness result for a market equilibrium problem. On the technical side, we use the nonconvex dual Eisenberg-Gale (EG) program whose Karush-Kuhn-Tucker (KKT) points are CE [Chaudhury, Kroer, Mehta, and Nan, 2024], and the CLS-complete problem of computing a KKT point of a quadratic program [Fearnley, Goldberg, Hollender, and Savani, 2024]. We show that from any exact equilibrium of the constructed market, we can recover in polynomial time an $\varepsilon$-KKT point of the input quadratic program over the unit box.

cs.GT · cs.CC

版本更新 · v2arXiv:2611.02474

Gnomon4D: Learning Where and When to Focus for Geometric Motion-Grounded World-Action Modeling

Lingwei Dang, Yan Zhou, Juntong Li, Zhenhao Zhang, Yiteng Chen, Xiaoqiang Liu, Liang An, Hongwen Zhang 等 13 位作者

原文摘要

World-action models (WAMs) predict scene changes to guide robot actions, yet their RGB futures entangle state changes with appearance and lack 3D geometry. Recent WAMs add geometry as a training signal or a control interface, or build native 3D models, but decide what geometry to model rather than how the action should read it. Intuitively, control-relevant cues lie at embodiment--object interactions and their transitions, yet probing existing WAMs reveals that their action attention underweights these interactions in favor of the rest of the embodiment. To focus the action on these interactions, we present Gnomon4D, a WAM that jointly generates future video, robot actions, and GeoDelta, a video-aligned 4D geometric motion field recording the image-plane displacement and depth change of embodiment and object points. With the embodiment and objects in one field, their relative motion, which marks an interaction, can be read off. Guided by this motion and the task, Interaction-Salient Attention (InSAttn) selects where the action reads, and Transition-Anchored Aggregation (TransAgg) selects when, around grasp and release. As GeoDelta encodes surface motion rather than embodiment-specific controls, it serves as a human--robot quasi-action that links action-free pretraining on EgoManip-5000H, which we curate, to robot mid-training on Robot-30H. Gnomon4D leads on RoboTwin~2.0, VLABench, and RoboDojo, and outperforms real-robot baselines, especially under visual shifts. Project page: https://droliven.github.io/Gnomon4D.

cs.CV

新论文 · v1arXiv:2611.06475

Robocasa-Mem: Benchmarking Environment and Process Memory in Long-Horizon Mobile Manipulation

Sihang Chen, Chen Ye, Wei Chen, Xiaohan Lei, Zhipeng Tang, Sha Zhang, Yuan Zhang, Zixuan Chen 等 11 位作者

原文摘要

In the real world, mobile manipulation robots must perform complex object interactions and make multi-step decisions, often relying on task-relevant information that is no longer observable. However, existing benchmarks provide limited evaluation of such memory-dependent decision-making in mobile manipulation. To address this gap, we introduce RoboCasa-Mem, a new benchmark comprising nine mobile manipulation tasks that require agents to use interaction history at key decision points. Specifically, the tasks are grouped into two categories of memory: One is environment memory, which captures spatial locations, object attributes, and object relationships. The other is process memory, which captures single-task progress and multi-task scheduling. Particularly, we introduce Behavior-Conditioned Evaluation. For tasks with multiple valid execution paths, instead of fixing a single target or trajectory, the evaluator derives later task constraints from the robot's earlier actions. This allows us to evaluate whether later behavior is consistent with the robot's own interaction history while reducing shortcuts based on fixed target assignments. We provide 1,800 successful demonstrations for policy training. We also develop a baseline on our benchmark, namely Hierarchical Memory-Augmented Policy(HMAP). Its high-level planner uses structured entity and process memories to generate subtasks. Its low-level VLA controller uses subgoal-conditioned queries to incorporate VGGT-Omega geometry into action generation. Together, RoboCasa-Mem and HMAP baseline support systematic evaluation of memory-dependent behavior and the development of memory-aware mobile manipulation policies.

cs.RO

新论文 · v1arXiv:2611.06444

EvoGuard: Mitigating Degradation in Online Skill Evolution

Yanli Wang, Zichen Bai, Tianyue Jiang, Kunming Shao, Junhao Shi, Xueqin Liu, Jinguo Sun, Muye Li 等 15 位作者

原文摘要

Skills let language agents reuse experience across tasks as natural-language documents. Recent work evolves skills from interaction, but existing methods have limitations when skills evolve online. Prior methods update a skill offline from a batch of trajectories collected over many tasks. Some then adopt the new skill without any check, which can degrade the skill over time. Others keep it only if it improves performance on a held-out validation set, which is too slow and costly to run after every update. We introduce EvoGuard, a pairwise skill selector that mitigates skill degradation at low latency and cost. We first run the agent iteratively to build pools of skills and score each skill on a private test set to obtain utility labels. We pair the skills and use rejection sampling to keep only pairs with a clear utility gap. The selector is trained on the logits of two label tokens to pick the better skill. At deployment it decides in a single forward pass, which is significantly faster than evaluation on the private test set. Compared with adopting every new skill, EvoGuard improves success by 11.0% on ALFWorld, 5.9% on ScienceWorld, and 2.7% on LiveCodeBench.

cs.CL

版本更新 · v2arXiv:2608.14207

MMUSV-Sim: A Maritime Simulation Platform for Multi-USV Cooperative Perception

Ziao Li, Jianxiong Ye, Biao Tang, Leping Zhang, Kun Zuo, Siyu Huang, Mengtang Li, Deyu Meng 等 9 位作者

原文摘要

Perception from a single unmanned surface vehicle (USV) is limited by sensing range, field of view, and occlusions caused by islands, port infrastructure, and nearby vessels. Multi-USV cooperative perception can alleviate these limitations by integrating complementary observations from distributed viewpoints. However, progress is constrained by the high cost of coordinated sea trials, the scarcity of multi-USV datasets, and the lack of integrated maritime simulation and evaluation tools. We present MMUSV-Sim, a perception-oriented maritime simulation and data-generation platform built on Unreal Engine 5 and Project AirSim. It supports configurable maritime scenarios, synchronized multimodal acquisition across multiple USVs, and consistent 3D annotations in a shared world frame. Using MMUSV-Sim, we construct MarU2U-200m, a synchronized multi-USV RGB--LiDAR dataset with 341 sequences and 14,385 scene frames. We establish a cooperative bird's-eye-view (BEV) vessel detection benchmark with LiDAR and RGB--LiDAR inputs. Experimental results show that Early Fusion improves LiDAR detection AP@0.5 from 64.26 to 81.46 compared with the single-USV baseline. RGB features further improve intermediate fusion, increasing AP@0.5 by up to 4.55 percentage points. LiDAR and RGB transfer experiments also show the value of the generated data as a pretraining source for real maritime detection. The project are available at https://github.com/lizaowo/MMUSV-Sim

cs.RO · cs.CV

版本更新 · v3arXiv:2604.24033

Event-based SLAM Benchmark for High-Speed Maneuvers

Sheng Zhong, Junkai Niu, Guillermo Gallego, Kaizhen Sun, Yang Yi, Zhiqiang Miao, Dewen Hu, Yaonan Wang 等 10 位作者

原文摘要

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in high-speed maneuvering scenarios. Existing event-based approaches, although successful in mitigating motion blur caused by high-speed maneuvers, suffer from many limitations. Some of them highlight a success of pose tracking for a fronto-parallel fast shaking camera closed to the structure, while others assume pure (optionally aggressive) three-degree-of-freedom rotations. The former requires persistent local map visibility within the field of view (FOV), whereas the latter fails to generalize to six-degree-of-freedom (6-DoF) motions where both linear and angular velocities may be large. Consequently, current successes do not fully demonstrate that event-based state estimation under arbitrary aggressive maneuvers is a fully solved problem. To quantitatively assess the extent to which the potential of event cameras has been unlocked, we conduct a thorough analysis of state-of-the-art (SOTA) event-based visual odometry (VO)/visual-inertial odometry (VIO) methods and report shortcomings in current public datasets. Furthermore, we introduce a benchmarking framework for event-based state estimation, called EvSLAM, characterized by sufficient variation in data collection platforms, diverse extreme lighting scenarios, and a wide scope of challenging motion patterns under a clear and rigorous definition of high-speed maneuvers for mobile robots, along with a novel evaluation metric designed to fairly assess the operational limits of event-based solutions. This framework benchmarks state-of-the-art methods, yielding insights into optimal architectures and persistent challenges.

cs.RO

新论文 · v1arXiv:2611.06358

Keeping Fuzzers on Duty: Repairing Fuzzing Build Breakages in Continuous Open-Source Fuzzing

Zhuang Zhao, Jiongchi Yu, Yao Zhang, Dongge Liu, Qiang Hu, Xiaohong Li, Yang Liu

原文摘要

Continuous fuzzing platforms such as OSS-Fuzz provide sustained security testing for open-source projects, but long-term build breakages reduce security coverage and waste infrastructure resources. In OSS-Fuzz, around 20% of integrated projects remain in build-failure states, leaving their fuzzers off duty. These failures expose a maintenance gap between platform maintainers, who lack project-specific context, and project maintainers, who often lack fuzzing and infrastructure expertise. Existing program-repair techniques cannot be directly applied because fuzz build breakages span evolving project and infrastructure artifacts and require repeated infrastructure-aware diagnosis. We present FuzzMedic, an automated agent for fuzz build repair. FuzzMedic performs evidence-guided diagnosis across project and fuzzing-infrastructure artifacts. It explores repairs over a repair-state graph (RSG) that records the evolving workspace and build feedback. Branching and rollback enable FuzzMedic to recover from unproductive repair paths during long-horizon debugging. Candidate patches are validated to restore executable fuzz targets rather than merely suppress build failures. We evaluate FuzzMedic on 128 reproducible OSS-Fuzz build failures extracted from 1,820 real-world failures. FuzzMedic achieves a 48.44% repair rate and outperforms three representative program-repair baselines. In real-world use, it produces 29 patches merged into upstream or OSS-Fuzz main branches, including repairs for three failures that had remained unresolved for more than one year and two cases that had never built successfully.

cs.SE

新论文 · v1arXiv:2611.06151

CARM: Conformal Adaptive Risk Masking for Reliable Scientific Super-Resolution

Guangtao Zhang, Haonan Wu, Junxuan Gao, Zhengyang Liu, Zhaoxi Zeng, Zhihao Li, Jianguo Huang, Zhiqiang Liu

原文摘要

Deep learning-based super-resolution (SR) can reconstruct fine-scale Earth-observation fields from coarse observations, but reconstruction accuracy alone does not provide a calibrated rule for identifying reliable spatial regions. Conformal Mask Calibration (CMC), built on conformal risk control, converts a spatial uncertainty score into a trust mask and controls the expected worst-case local distortion under exchangeability. However, its fixed threshold can become miscalibrated in Earth-observation streams affected by seasonality and episodic events. We propose $\textit{CARM}$ (Conformal Adaptive Risk Masking), a statistical framework for adaptive spatial risk control under temporal distribution shift. CARM maintains experts with heterogeneous update rates and aggregates their threshold proposals online using an asymmetric surrogate loss, balancing rapid adaptation to distribution changes against stability during relatively stationary periods. All updates are causal and use only mature feedback available after a fixed delay, allowing CARM to operate with any SR model that provides a spatial uncertainty score. We prove that the time-averaged mask-conditioned risk converges to at most $α$ at an $O(1/T)$ rate, without distributional assumptions and for any choice of aggregation weights across experts. On a daily South China Sea chlorophyll-$\textit{a}$ SR stream, CARM reduces the empirical violation rate from $43.49\%$ to $9.38\%$ and the moving-average exceedance frequency from $47.29\%$ to $1.22\%$ at $α=0.10$, while retaining a non-trivial trusted region. Experiments on ERA5 wind and OSTIA sea-surface temperature further show consistent relative improvements across multiple SR backbones.

cs.AI · cs.LG · math.PR

新论文 · v1arXiv:2611.06105

XuanJian-DINOSAR: A SAR Foundation Model Based on Global and Local Semantic Consistency

Chunxiao Wu, Huixin Huang, Jialei Pan, Qiang Liang, Tao Wu, Cheng Wu, Long Huang, Yuanji Li 等 12 位作者

原文摘要

Self-supervised pre-training on synthetic aperture radar (SAR) imagery enables transferable representations, but the optical-SAR domain gap and speckle perturbations limit representation stability. Most SAR foundation models use masked image modeling (MIM) through pixel reconstruction or structural feature prediction, which is sensitive to speckle or relies on predefined operators. Joint modeling of cross-view semantics and perturbation stability at corresponding spatial locations remains underexplored. We propose XuanJian-DINOSAR, a SAR foundation model based on global and local semantic consistency. We curate over 360K publicly available SAR target chips, detection images, and scene images spanning diverse targets, scenes, and sensors, and adapt an optically pre-trained DINOv2 model to SAR through self-supervised learning. The framework combines DINO global semantic self-distillation, iBOT local masked modeling, and KoLeo feature-distribution regularization to learn globally discriminative and locally structure-aware representations. We introduce a local semantic consistency branch tailored to SAR intensity statistics and coherent imaging characteristics. Shared geometric transformations produce spatially aligned teacher weak views and student strong views. Intensity transformations and Gamma multiplicative speckle perturbations are applied to student views, while a cosine consistency loss aligns patch tokens at corresponding locations, promoting stability under radiometric perturbations. This objective complements the cross-region and cross-scale semantic consistency of DINOv2 multi-crop training, jointly enforcing global and local semantic consistency. Experiments on multiple downstream classification and detection datasets demonstrate state-of-the-art performance on most evaluation metrics, validating the generality and transferability of the learned representations.

cs.CV

新论文 · v1arXiv:2611.06083

SleuthVLM: Do We Really Need Audio-in-Video for Omni Video Understanding?

Peiran Wu, Fangfei Gou, Zhaoxi Mu, Changhao Zhang, Jian Liu, Weiqiang Wang, Yuntao Wang, Yuanchun Shi 等 9 位作者

原文摘要

Omni models answer questions about videos by jointly processing sampled frames and audio in one turn, with progress driven largely by scaling model size and omni training data. We ask whether a model needs to hear the audio directly at all, and present SleuthVLM, an agent harness built on a VLM that never hears the audio directly: speech will be transcribed into text, and the VLM will sleuth the video on its own without any predefined workflow. On four omni benchmarks with videos up to 90 minutes, SleuthVLM achieves the best average accuracy: \textbf{75.0%}, 2.6 points above Gemini 3.8 Flash, and it also tops the Video-MME-v2 leaderboard with \textbf{77.8%}; with an open-source 27B VLM, it beats all open-source omni models. We draw three findings: SleuthVLM beats a model that glances; hearing is not the bottleneck, agentic ability is; omni understanding needs better agentic ability, not just more omni data for modality alignment. So we provide a simple but effective starting point for doing omni video understanding. Omni understanding needs better agents, not just bigger models that hear.

cs.CV

新论文 · v1arXiv:2611.06070

RouTex: Multi-reference 3D Texture Generation by Reprogramming Rotary Position Encoding

Chengyang Li, Yang Liu, Jiale Zhang, Qiang Rao, Wei Zhang, Taicheng Huang

原文摘要

While single-image 3D texture generation has advanced significantly, conditioning texture synthesis on multi-view reference images remains largely under-explored, despite its necessity for resolving surface ambiguity in unobserved regions. In this paper, we propose RouTex, a novel multi-reference 3D texture generation framework based on in-context Diffusion Transformers (DiT). Our key insight is that native 3D Rotary Position Encoding (RoPE) inherently possesses spatial addressing capabilities. We introduce Positional Routing (PR) to reprogram 3D RoPE along spatial and semantic dimensions, establishing explicit reference-to-view correspondence without introducing additional parameters. To execute this routing efficiently, Dual-Granularity Attention (DGA) combines per-view local attention for fine texture fidelity with global joint attention over deduplicated references for cross-view consistency. Extensive experiments demonstrate that RouTex achieves new state-of-the-art performance in multi-reference 3D texture generation.

cs.CV

新论文 · v1arXiv:2611.06040

USI-Brain: Enhancing Underwater Spatial Intelligence via Spatial Data-Driven Vision-Language Modeling

Zhiliang Zhu, Zhiqiang Zhao, Xie'an Jiang, Yingxin Lai, Kangye Zheng, Dawei Zhao

原文摘要

Underwater spatial reasoning depends on object boundaries and geometric cues that are obscured by scattering, color distortion, and low visibility. Existing underwater resources capture these cues through images, annotations, and depth maps, but provide fragmented supervision for vision-language models. We present a spatial data engine that connects visual appearance with object-level geometry through enhancement, 2D and geometry-assisted question generation, and expert filtering. It produces 4.27M QA pairs across five capability groups. We use this corpus to train USI-Brain and introduce an Underwater Prior-guided Rectifier (UPR) that applies gated corrections to visual features. USI-Bench evaluates the resulting capabilities with 6,525 held-out QA pairs. On its 15 task metrics, USI-Brain and USI-Brain + UPR improve over Qwen3-VL-8B-Instruct by 5.76 and 7.63 points on average, respectively, using signed differences on 100-point scales. Ablations show that geometry-assisted supervision improves depth and ordering by 4.8 and 6.1 points with UPR disabled, while UPR adds 18.0 points in scene description under matched training data. Both variants use raw images at evaluation. Across NautData, UWBench, and MarineEval, USI-Brain achieves the best or joint-best score on 28 of 32 metrics. Model weights and USI-Bench will be released at https://github.com/SKY-Zhu-91/USI-Brain.

cs.CV

新论文 · v1arXiv:2611.05988

LiveFoley: Dynamic Real-Time Video-to-Audio Generation for Immersive Interactive Worlds

Yusheng Dai, Vladimir Iashin, Kangdi Wang, Yuxuan Jiang, Ilpo Viertola, Weiqiang Wang, Qiuhong Ke, Min Zhao 等 9 位作者

原文摘要

Streaming video-to-audio (V2A) generation is essential for immersive interactive applications. However, real-time constraints leave existing streaming V2A methods far behind offline models: (1) visual frontends shrink their receptive fields to cut look-ahead latency, severely degrading audio-visual alignment; (2) causal autoregressive diffusion backends denoise each audio patch in isolation, impairing audio quality. To this end, we present LiveFoley, a streaming causal autoregressive diffusion architecture that addresses both bottlenecks with imperceptible latency. For the visual frontend, we introduce a Trailing Sliding Window that converts non-causal segment-level encoders into streaming modules without retraining. By simply realigning the window, it preserves precise audio-visual alignment, while a configurable hop size reduces the frontend look-ahead well below the human perceptual threshold. Building on this tunable hop size, we propose the Unified Varhop Framework to accommodate scenarios with diverse latency and computation budgets. For the audio backend, we explore widening the denoising window of the local diffusion transformer (LocDiT) head in two temporal directions. History LocDiT adds past context to improve quality at no latency cost and serves as our default. Alternatively, Future-Warmup LocDiT breaks the autoregressive deadlock with an approximate future condition, further improving generation quality at the cost of an acceptable backend look-ahead. Extensive experiments demonstrate that LiveFoley matches offline models in temporal alignment and leads streaming systems in generation quality. Project page: https://dalision.github.io/livefoley-page/

cs.SD · cs.MM

新论文 · v1arXiv:2611.05917

DecoupAttn: Decoupled Sparse Attention for Training-Free Acceleration of Video Diffusion

Yanjin Li, Bingbing Qiu, Qiang Huang, Rui Qian, Yanfeng Li, Jian Wang, Xiaoying Tang, Mingda Zhang

原文摘要

Sparse attention accelerates few-step video diffusion transformers by computing a few key blocks exactly and compensating for the rest. However, existing sparse attention still faces key challenges, including identification overhead from finding critical blocks at every denoising step, suboptimal budget allocation that sets sparsity budgets uniformly or by local metrics, and cross-step error accumulation as reused masks or clusters go stale. Observing that the errors left on skipped blocks cancel each other once every key is compensated, we propose DecoupAttn, a new paradigm of decoupled sparse attention: semantic clusters compensate every key, and exact attention corrects their error on a few blocks fixed once offline by position. To support this paradigm, we introduce Distortion Budget, a rate-distortion objective for budget allocation that places exact computation across timesteps, layers, and heads where it removes the most distortion that compensation leaves in the final latent. Built on this budget, we further propose Reassign Cache, in which each step reassigns the drifting keys to cached centroids and refreshes compensation while the budgeted blocks stay fixed. Moreover, DecoupAttn is training-free: a few calibration clips compile one plan offline, and inference runs standard block-sparse kernels with one fused compensation kernel. Our code will be released after submission.

cs.CV

新论文 · v1arXiv:2611.05874

Feature Puzzles: Single-Image Supervision for Multi-View 3D-Aware Segmentation

Jiahao Ma, Qiang Zhang, Miaomiao Liu, David Ahmedt-Aristizabal, Chuong Nguyen

原文摘要

Humans can easily recognize the same objects across different viewpoints of a 3D scene, whereas teaching models such multi-view-consistent perception typically requires videos or calibrated multi-view captures, which are considerably more expensive and less diverse than large-scale monocular data.~In this paper, we introduce Feature Puzzles, a novel framework for learning multi-view-consistent segmentation using only single-image semantic segmentation supervision. Specifically, we propose a simple yet effective pipeline that constructs multi-view-consistent segmentation pseudo-labels through image cropping and geometric transformations. We further introduce a lightweight, plug-and-play network that leverages the multi-view-consistent image features learned by existing pretrained 3D foundation models and the generated pseudo-labels to perform multi-view-consistent segmentation. Importantly, our flexible framework supports various types of prompts provided from one or multiple views and can be readily extended to open-vocabulary 3D segmentation. Under this single-image supervision, our feed-forward model achieves the best mIoU on NVOS, remains competitive on SPIn-NeRF and ScanNet++ against baselines using per-scene optimization or in-domain multi-view training, and demonstrates zero-shot transfer to open-vocabulary 3D segmentation. Visual comparisons are available on our project page: https://featurepuzzles.github.io/

cs.CV

新论文 · v1arXiv:2611.05828

Autonomy and Coordination in Intelligent Manufacturing: A Recursive Autonomous Agent Framework

Yuning Chen, Hongda Zhang, Linqiang Hu, Ziqing Zhou, Yi Liu, Zhao Huang, Ding Zhou, Haining Xu

原文摘要

Intelligent production requires systems to make decisions and organize work according to production goals and operating conditions. It also requires continuous adjustment through feedback. This paper analyzes intelligence in human production organizations from a complex adaptive systems (CAS) perspective. The analysis identifies two coupled mechanisms: individual autonomy and collective coordination. Individual autonomy enables actors to form local decisions using available information. Collective coordination aligns these decisions with shared goals and joint constraints. Learning and adaptation improve both mechanisms over time. A production-system model formalizes how local decision rules and coordination jointly form system decisions. On this basis, we propose the Recursive Autonomous Agent (RAA) framework, which combines goal-driven autonomous agents with a recursive organizational structure. Goal contracts define local objectives and operating boundaries, while capability contracts support the selection and composition of production units. Common interfaces allow coordinated groups to participate as units in larger organizations, connecting equipment, production lines, and factories. RAA thus provides an engineering approach to next-generation intelligent manufacturing, translating the requirements of intelligence, openness, and system-wide integration into mechanisms for autonomous and coordinated production.

cs.AI · cs.LG

新论文 · v1arXiv:2611.05319

HARP:面向LLM推荐的无训练双画像智能体通信

HARP: Training-Free Dual-Profile Agentic Communication for LLM-Based Recommendation

Zhen Tao, Xun Zhou, Xuhui Chen, Ziyue Qiao, Qingqiang Sun

AI 速读 基于摘要

将LLM推荐重构为四阶段智能体通信过程,并用免训练的三算子方法HARP补齐物品画像、检索端画像同质性与画像反思更新三个缺失环节。

cs.IR · cs.AI

查看原文摘要

In LLM-based recommendation, memory acts as a user-level agent in a memory-augmented backbone. Yet users and items remain asymmetric: only the user is given a structured profile; it enters a bandwidth-limited reranker prompt; and it is frozen after warmup. We recast LLM-based recommendation as an agentic-communication process in four stages: BUILD a self-description, TRANSMIT it along the collaborative graph, UNDERSTAND the other side, and SYNC it from the next interaction. This formulation reveals three unresolved communication challenges: the item side never produces a comparable self-description (one-sided BUILD); profile-level signals enter only the bandwidth-limited reranker prompt rather than retrieval, where they would not compete for context tokens (prompt-trapped UNDERSTAND); and the user's description is frozen after warmup with no principled update rule (absent SYNC). We instantiate the missing stages as HARP (Homophily-aware Agentic Recommendation via dual Profiles), a training-free, three-operator addition to a frozen LLM backbone: a rule-extracted symmetric item profile (zero extra LLM calls), a channel-decomposable profile-level homophily H(phi_u, phi_i) consumed at retrieval time rather than inside the reranker prompt, and a single-pass reflective update realising in-context profile evolution without any gradient step. On four public benchmarks (Yelp, Books, MovieTV, Goodreads), HARP lifts Hit@1 over the strongest published baseline by 6.9%-24.0%, with family-wise Holm-corrected p < 1e-9 on every dataset. Ablations and a per-case attribution study show that the operators contribute complementary gains, with the retrieval-side gate as the main source; we also report the trade-off introduced by the reflective pass. We formulate agentic communication and provide a training-free instantiation. Code is available at https://github.com/Jove-Zhen/HARP.

新论文 · v1arXiv:2611.05308

随机预言机模型中的 TFNP

TFNP in the Random Oracle Model

Noah Fleming, Mika Göös, Ziyi Guan, Oliver Korten, Daniel Mitropolsky, Toniann Pitassi, Artur Riazanov, Dmitry Sokolov 等 10 位作者

AI 速读 基于摘要

作者在随机预言机模型(Romantica)中刻画了主要 TFNP 类的平均情形困难性,并给出 PPAD 困难、EoPL 与 UEoPL 可解性分离等结果。

cs.CC

查看原文摘要

We determine which major $\TFNP$ classes are hard in the random oracle model (ROM). Prior work establishes average-case hardness of highly structured subclasses of $\TFNP$ from strong cryptographic assumptions such as LWE and indistinguishability obfuscation. It is not known whether weaker assumptions such as one-way functions imply hardness of any of the standard $\TFNP$ subclasses, even in the worst case. The ROM, where all parties have query access to a random function, lies, morally, between these two regimes: a random function is one-way, but public-key cryptography cannot be built from it in a black-box way. We refer to this setting as \emph{Romantica}. Our first result settles a long-standing open problem: $\PPAD$, the class of total search problems reducible to finding a Nash equilibrium, is hard on average in Romantica. Combined with the known hardness of PLS (local search), this gives average-case hardness of $\EoPL = \PPAD \cap \PLS$. In contrast, we show that $\UEoPL$ can be solved in Romantica with polynomially many oracle queries by a computationally unbounded solver, a sharp distinction between $\EoPL$ and $\UEoPL$. This resolves the black-box hardness landscape of all major $\TFNP$ classes in Romantica. Finally, we initiate the study of separations between $\TFNP$ subclasses in Romantica: $\PWPP$ and $\PPA$ do not reduce to $\PLS$ under \emph{public-coin} reductions.

新论文 · v1arXiv:2611.05066

VIGOR: Visual Gain Ordering for Hallucination Mitigation in Multimodal Discrete Diffusion Language Models

Junzhe Chen, Tian Qin, Eugenie Shi, Tianshu Zhang, Qiang Ju, Lijie Wen

原文摘要

Multimodal discrete diffusion language models (dLLMs) generate responses through iterative mask prediction and offer a promising alternative to autoregressive large vision-language models. However, they still suffer from hallucination, producing outputs that are plausible under language priors but insufficiently grounded in the image. We argue that hallucination in multimodal dLLMs is not only a token prediction problem, but also a premature commitment problem: during iterative denoising, some masked positions are unmasked too early because their confidence is driven more by language priors than by visual evidence, and these early commitments can bias later generation. To address this issue, we propose Visual Gain Ordering (VIGOR), a training-free and plug-and-play inference strategy that reorders masked positions according to counterfactual visual evidence. At each denoising step, VIGOR compares the confidence of each candidate token under the original image-conditioned pass and an additional visual-ablation pass, and prioritizes positions whose predictions are more strongly supported by the image. Experiments on LLaDA-V and Lumina-DiMOO show that VIGOR consistently reduces hallucination and improves multimodal reasoning performance across benchmarks. Code is available at https://github.com/THU-BPM/Vigor.

cs.CV · cs.AI

新论文 · v1arXiv:2611.04940

HTNN-MSC: Multi-view Subspace Clustering with a Hyperbolic Tangent Tensor Low-Rank Surrogate

Yiwen Dou, Yiqiang Ding

原文摘要

High-order dependencies among views can be modeled by tensor singular value decomposition (t-SVD) in multi-view subspace clustering. However, the tensor nuclear norm often used with this framework assigns the same asymptotic marginal penalty to singular values of different magnitudes, which may excessively shrink dominant components that encode cluster structure. We propose HTNN-MSC, which replaces this norm with a bounded hyperbolic tangent tensor rank surrogate. The surrogate is strictly concave on the positive half-axis and has a Lipschitz continuous derivative. Its marginal penalty decreases as singular values grow. We develop an alternating direction method of multipliers solver in which the tensor subproblem decomposes into scalar frequency-domain shrinkage problems. Safeguarded multi-start Newton iterations and candidate-objective comparison implement the resulting hyperbolic tangent thresholding operator. The shape parameter is scaled by the input spectrum. We also establish o-minimal definability of the augmented objective. Under explicit boundedness, descent, relative-error, and exact-block conditions, the Kurdyka-Lojasiewicz framework guarantees convergence of the full sequence to a KKT point. On 23 datasets, HTNN-MSC achieves a mean clustering accuracy of 0.8404 and an average accuracy rank of 2.78 against nine representative methods. Friedman tests and Holm-adjusted Wilcoxon comparisons reveal significant overall differences, although several pairwise differences remain nonsignificant. HTNN-MSC records 19 wins, one tie, and three losses against the convex t-SVD-MSC skeleton. A same-skeleton ablation also shows that the proposed surrogate does not uniformly outperform alternative nonconvex penalties.

cs.CV

版本更新 · v2arXiv:2611.02476

GigaSpeech 3: Scaling Multi-Dialect Arabic Speech Recognition with Weakly Labeled Data

Junzhe Liu, Yujie Tu, Yifan Yang, Peng Wang, Haoran Wang, Guodong Lin, Leyan Liao, Chengquan Zhang 等 16 位作者

原文摘要

Dialectal Arabic speech recognition remains constrained by the scarcity of dialect-resolved transcribed speech despite the abundance of web audio. We introduce GigaSpeech 3, a corpus of 39,000 hours and 10 million weakly transcribed speech segments covering Algerian, Egyptian, Iraqi, Saudi, and Syrian Arabic. Starting from 60 hours of manual transcription per dialect, we train labeling models using speech-recognition-biased self-supervised learning and apply them to dialect-matched web audio. Data selection and four rounds of noisy-student refinement for Saudi and Syrian Arabic yield the final corpus. We validate its utility through dialect-specific and multi-dialect speech recognition training and cross-domain evaluation. On GigaSpeechBench, the final dialect-specific models outperform their labeling models across all five dialects and achieve a macro-average word error rate of 23.86%, a 16.6% relative reduction from the strongest third-party system covering all five dialects, while outperforming the best third-party result on three dialects. A multi-dialect model using self-predicted dialect identities achieves a macro-average word error rate of 25.51% while also supporting Modern Standard Arabic. Across eight conditions from three external corpora, a GigaSpeech 3-trained Zipformer achieves the lowest word error rate among six evaluated models in every condition, while adapting the Qwen3 speech recognizer on GigaSpeech 3 improves performance across all eight conditions. We release the corpus and recipes as a foundation for dialect-aware Arabic speech processing.

cs.CL

版本更新 · v2arXiv:2607.20827

Auditing Provenance Sensitivity in LLM Agent Action Selection

Junchi Liao, Qiang Huang, Rui Qian, Xutao Mao, Juntao Cheng, Kangning Cui, Yu Li, Jingyu Sun 等 9 位作者

原文摘要

LLM agents choose tools and arguments from context that mixes user requests, tool outputs, retrieved records, memory, and untrusted text. Evidence can be relevant without being authorized to determine a decision, so a correct action need not be grounded only in permitted evidence. We introduce a target-specific authorization audit that labels context factors separately for each tool and argument target. Its primary test holds the task, proposition, position, and policy fixed while changing only the proposition's source authority. We then test behavior when valid evidence is weakened and use context-subset interactions as a secondary localization diagnostic. Across 450 controlled next-action tasks and multiple open-weight LLM families, trusted and untrusted variants produce different actions in 5.4 percent of competing cases versus 1.7 percent of supporting cases. Under controlled degradation, unauthorized competition is retained in a full-correct, mixed-error, clean-correct pattern in 2.4 percent of comparisons, with a 95 percent confidence interval from 2.1 to 3.0 percent. These are controlled stress-set rates, not deployment prevalence. The models respond to textual source-authority cues, but this does not prevent untrusted evidence from influencing their actions.

cs.AI

版本更新 · v3arXiv:2610.05066

Salvation Lies Within: Eliciting Inherent Style Transfer in Step-Distilled Diffusion Models

Shengyin Sun, Yiming Li, Yingzhao Lian, Xing Li, Xingzhi Zhou, Anxin Tian, Zhili Wang, Haoyang Li 等 10 位作者

原文摘要

Adapting step-distilled text-to-image (T2I) models through post-training incurs additional computational costs and affects native few-step generation behavior. This motivates a complementary route beyond style-specific adaptation: drawing on the visual knowledge already encoded in step-distilled T2I models to elicit stylistic capabilities through language. Pursuing this direction requires textual guidance that captures how visual attributes jointly define a style and remain applicable as the depicted content changes. To explore this approach, we introduce StyleForge, a fully automatic, training-free framework that expresses reference styles as reusable rendering instructions. By integrating overall rendering characteristics with local color and lighting behavior, StyleForge organizes visual evidence from reference images into a coherent specification of how the target style should be expressed. The specification is then compiled into textual guidance that can be reused across content prompts, enabling frozen step-distilled T2I models to render different subjects and scenes in the reference style while retaining native few-step generation. Extensive experiments show relative gains of up to 29.47\% in generation quality scores over the strongest baseline, while Pareto analysis indicates that improved stylization is accompanied by strong adherence to the requested content. Code is available at https://github.com/sunshy-1/StyleForge.

cs.CV

版本更新 · v4arXiv:2609.09940

NVV-Locator: From Transcript Tags to Acoustic Boundaries for Fine-Grained Nonverbal Vocalization Grounding

Yuang Cao, Bingshen Mu, Zhennan Lin, Guojian Li, Haoyue Zhan, Jie Liu, Chuan Xie, Qiang Zhang 等 10 位作者

原文摘要

Human speech includes nonverbal vocalizations (NVVs), such as laughter, sighs, breaths, and coughs, which convey affective and interactional information. Existing approaches typically represent NVVs as transcript-level tags, providing limited supervision for their waveform-time boundaries. We present NVV-Locator for fine-grained NVV temporal grounding. We first unify 26 NVV categories across public resources and construct large-scale timestamp-supervised training data through dual-LLM verification, transcript-guided forced alignment, and energy-based boundary refinement. We further introduce NVV-TimeBench, an expert-refined benchmark with 667 utterances and 1,094 events. NVV-Locator uses a non-autoregressive slot-filling architecture to jointly predict lexical timestamps, NVV categories, and event boundaries. On NVV-TimeBench, it achieves 71.0% Micro F1, 70.2% Macro F1, 80.4% Macro mIoU, and 59.6 ms Macro mMAE, outperforming the evaluated large audio model counterparts. Evaluation on an external corpus further demonstrates the cross-corpus generalization of NVV-Locator.

eess.AS · cs.SD

版本更新 · v2arXiv:2605.28048

SAFEVPR: Patch-Based Verification with Empirical FDR Control for Cross-Condition Sequence Visual Place Recognition

Ha Sier, Jiaqiang Zhang, Zhuo Zou, Xianjia Yu, Tomi Westerlund

原文摘要

Sequence-based visual place recognition (VPR) for loop closure and robot relocalization must decide whether the retrieved top-1 candidate should be accepted. Conformal calibration can set this accept/reject threshold, but its finite-sample guarantees require exchangeability between calibration and deployment, a requirement that cross-condition deployment violates. We therefore claim no formal guarantee under condition shift: this paper instead asks which verification score and calibration design keep a target false-discovery rate (FDR) empirically satisfied across realistic appearance change. We present SAFEVPR, a non-trainable pipeline that replaces the backbone cosine similarity with a mutual-nearest-neighbour (MNN) patch score from frozen DINOv2 features, and flat Learn-Then-Test (LTT) calibration with per-bin Clopper-Pearson thresholds. Across 23 cross-condition ground-vehicle setups (Oxford RobotCar, NCLT, St Lucia; three frozen backbones), SAFEVPR meets the FDR target on 23/23 setups at alpha = 0.10 (mean accepted FDR 0.014, mean TPR 0.75) and on 22/23 at alpha = 0.05 with 22 retaining non-trivial coverage (best cosine variant, cosine+LTT: 22/23 valid but 17 non-trivial); under leave-one-dataset-out calibration, validity drops to 20/23 with 14 retaining useful coverage (strongest cosine baseline: 16/23 and 10), and on texture-poor scenery (Nordland) the verifier is uninformative and the system abstains entirely, as it does everywhere at alpha = 0.01; we report these as limitations. In a pose-graph relocalization study, gating loop-closure constraints reduces erroneous constraints by 29.6x and cuts the median trajectory error from 95.5 m to 9.7 m. Code is available at https://github.com/TIERS/SafeVPR.

cs.RO

新论文 · v1arXiv:2611.04715

ZeroGR: Filtering-First Constrained Decoding for Generative Recommendation

Xiangrui Yang, Jiawei Yang, Liang Zeng, Daqian Ding, Ziqian Liu, Bing Tian, Cheng Peng, Yunfeng Zhao 等 12 位作者

原文摘要

Generative recommendation is gaining traction in production, retrieving items by generating their identifiers one token at a time. The generated sequences must identify relevant catalog items, so constrained decoding couples relevance scoring with validity filtering. Because most possible sequences are invalid, scoring before filtering wastes computation on candidates that will be discarded. Our evaluation shows that filtering first can avoid this work with negligible impact on recommendation quality. We present ZeroGR, a filtering-first constrained decoding system for generative recommendation. ZeroGR uses a step-sliced filtering index to reduce GPU memory use by tailoring data representations to each decoding step. Its execution engine adopts shared-slot execution to accelerate data exchange across stages and hybrid projection to adapt computation to workload patterns, thereby reducing execution overhead. During index refreshes, ZeroGR applies layout-guided streaming construction to speed up updates and limit serving interference. Extensive evaluation shows that ZeroGR accelerates the filtering and scoring pipeline by up to $9.9\times$ over representative baselines while reducing GPU index memory use and accelerating index reconstruction.

cs.DB · cs.IR

新论文 · v1arXiv:2611.04687

CardioVascBench:Prioritized Diagnosis Generation from Real-World Chinese Cardiovascular Records

Minghao Kong, Muyao Chen, Jianhao Wu, Yuqiang Zhang, Xiangbin Meng, Zirong Liu, Ting Cao, Kaida Ning 等 10 位作者

原文摘要

Identifying the primary diagnosis alone does not fully characterize a model's diagnosis-generation performance. We introduce CardioVascBench, a retrospective benchmark for prioritized diagnosis generation from real-world Chinese cardiovascular inpatient records. It contains 3,262 de-identified cases, with 2,174 for training and 1,088 for evaluation, linking clinical narratives and textual ECG reports to expert-verified, ordered discharge diagnoses standardized to ICD-10. An English translation of the evaluation set supports aligned cross-lingual comparison. Our evaluation protocol combines terminology normalization and rank-aware scoring to separately assess primary-diagnosis identification, reference-diagnosis coverage, and list precision. Evaluation across 36 systems shows that higher primary-diagnosis accuracy does not necessarily imply higher list precision against discharge references. We also provide CardioKG-Agent, a knowledge-enhanced baseline combining entity normalization, constrained graph retrieval, and guideline evidence. In a staged comparison of three baseline models, supervised fine-tuning plus the agent achieves a 73.5% higher mean composite score than fine-tuning alone, representing a system-level gain. These results measure retrospective agreement with recorded diagnoses; agreement between metric rankings and physician judgments remains to be validated. CardioVascBench supports research on diagnosis prioritization and knowledge-enhanced generation.

cs.CL

新论文 · v1arXiv:2611.04671

LeanSparse: Memory-Efficient Serving for Native Sparse-Attention LLMs

Zaifeng Pan, Chris Wu, Xinwei Qiang, Zhengding Hu, Zhongkai Yu, Yufei Ding

原文摘要

Sparse attention limits the history read by each query, but serving long contexts still requires substantial GPU memory. Existing KV offloading systems retain the full history of indexer keys on GPU, limiting decode concurrency. Prefill's temporary memory demand can further delay admission even when enough memory remains for the same request's subsequent decode. We present LeanSparse, a serving system that reduces both decode's persistent memory use and prefill's temporary memory demand. Our design exploits two observations: prefill consumes historical data one layer at a time, and decode can identify promising candidates before comparing their original indexer scores. During prefill, LeanSparse streams layer histories through two reusable GPU buffers, overlapping next-layer loading with ongoing model computation. During decode, coarse-to-fine indexing searches compact representations and retrieves original indexer keys only for candidate refinement. Separate indexer key and KV caches reuse data across generation steps. We implement LeanSparse in SGLang and evaluate it on DeepSeek-V4-Flash. At 950K context length, LeanSparse supports 2.95$\times$ as many concurrent requests and achieves 2.14$\times$ decode throughput over HiSparse. On multi-turn Open-SWE traces, it reduces median time to first token from 21.6 to 0.6s and median session completion time by 17.7% relative to ECHO.

cs.DC

版本更新 · v2arXiv:2611.00240

Constant Approximation of Fréchet Distance in Near-Linear Time

Haoqiang Huang, Zihe Wang, Shuo Zhang

原文摘要

We give the first constant-factor approximation for the Fréchet distance in near-linear time. Given two polygonal curves in $\mathbb{R}^d$ with $n$ and $m$ vertices, respectively, where $m\le n$, our deterministic algorithm runs in $O(n^{1+\varepsilon})$ time for every fixed $\varepsilon>0$ and $d$, with an approximation factor depending only on $\varepsilon$ and $d$. The same result holds for the discrete Fréchet distance. Our result extends the line of work initiated by Cheng, Huang, and Zhang (STOC 2025) from strongly subquadratic to near-linear time. Our algorithm recursively balances preprocessing and query time. An index for comparing subcurves of a single curve supports faster queries between different curves. We obtain this speedup by replacing one curve with surrogates assembled from indexed subcurves of the other and shared across starting points of matchings. Faster queries then reduce the cost of building the next index. Compact boundary reachability summaries allow the answers to be reused in later recursive calls. After a number of rounds depending only on $\varepsilon$, both preprocessing and query time are near-linear.

cs.CG