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新论文 · v1arXiv:2610.35051

VISTA: Active Exploration for Self-Improvement in Embodied Agents

Zhang Zhang, Shengjun Zhang, Simin Huang, Min Chen, Chong Xia, Xin Fei, Yueqi Duan

原文摘要

Agentic embodied intelligence plays a foundational role in open-ended, dynamic physical environments. Rather than treating policy learning as an end-to-end mapping from instructions to actions, recent studies reveal that embodied systems depend not only on pre-trained foundation models, but also on harness. Prior approaches largely treat rollouts as static logs for post-hoc reflection, producing harness updates without autonomously testing and refining them through subsequent embodied interaction. To address this challenge, we propose VISTA, a meta-agent framework that transforms post-hoc rollout reflection into active self-exploration for embodied harness improvement. Specifically, VISTA maintains a harness graph that records the lineage of proposed harnesses, which enables the meta-agent to retrieve prior hypotheses, build on effective mechanisms, and avoid repeatedly exploring failed directions. Each iteration begins from a retained harness version and its execution evidence. Rather than directly committing an update from these historical trajectories, the meta-agent actively explores in the environment. It autonomously generates new rollouts, probes execution failures and recovery behaviors, and iteratively modifies the harness based on the resulting evidence. The refined harness is then evaluated afresh and added to the harness graph. We evaluate VISTA on the LIBERO-Pro, RoboCasa, and RoboTwin benchmarks. Experimental results demonstrate that VISTA progressively improves task success and is more rollout-efficient than static reflection, achieving higher success rates with fewer simulator rollouts.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35045

CA-HNM: Constraint-Aware Hard Negative Mining for Dense Retrieval with Structured Domain Models

Ngoc Luyen Le, Marie-Hélène Abel, Bertrand Laforge

原文摘要

Dense retrievers are commonly trained with hard negatives selected from lexical or dense retrieval results. Retrieval proximity, however, does not indicate whether a candidate conflicts with explicit domain structure. We introduce CA-HNM, a constraint-aware hard-negative mining framework that combines retrieval-based candidate generation with deterministic incompatibility rules derived from a structured domain model. The framework removes known positives, constructs a local typed context around the query target, records relational, scope, target, and level mismatches, and uses the resulting candidates to fine-tune a standard dual encoder. Structured information is required only during offline negative construction. We evaluate CA-HNM on MOOCCubeX and Course-Skill Atlas with two encoders, two training losses, and ten seeds. Relative to a retrieval-rank-matched control, CA-HNM-Pure has higher mean NDCG@10 in six of eight dataset--encoder--loss configurations. Four hierarchical 95% bootstrap intervals are entirely above zero, mostly under triplet loss. In a separate experiment, CA-HNM-Mixed shows slightly higher mean NDCG@10 than a matched-mixed control on both collections. Structural variants show that changes in available structure can also change candidate eligibility and negative-pool composition. The results indicate that the contribution of constraint-aware selection depends on the training objective and the composition of the negative pool.

cs.IR · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2412.05655

Auto-AdvER: Disentangling Condition, History, and Commercial Offers in Automotive Advertisements

Filippos Ventirozos, Ioanna Nteka, Tania Nandy, Jozef Baca, Charlie Roadhouse, Peter A. Appleby, Matthew Shardlow

原文摘要

This paper presents a case study on the development of Auto-AdvER, a specialised span-labelling schema, along with its corresponding dataset for the textual car advertisement domain. Developed with industry needs in mind, Auto-AdvER is designed to enhance text mining analytics in this domain and contributes a linguistically unique sequence-labelling dataset. We introduce a schema consisting of three labels: 'Condition', 'Historic', and 'Sales Options'. We outline the guiding principles for annotation, describe the methodology for schema development, and present the results of an annotation study demonstrating an inter-annotator agreement of 78%. Furthermore, we compare the performance of various models, including transformer encoder models (BERT, DeBERTaV3) and transformer decoder-based open- and closed-source large language models: Llama, Qwen, GPT, and Gemini, as well as conditional random fields. Our results show that a fine-tuned DeBERTaV3 encoder achieves the highest F1-score, followed closely by conditional random fields, while the large language models reach the highest precision but lower recall. We present this work as a stepping stone towards more fine-grained analysis and discuss Auto-AdvER's potential impact on advertisement analytics, pricing, and customer insights. Potential applications include the analysis of market dynamics and data-driven predictive maintenance.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.18785

Bayesian Anytime Pareto Set Identification for Multi-Objective Multi-Armed Bandits

Lennert Saerens, Bram Silue, Eleni Litsa, Peter Vrancx, Pieter Libin

原文摘要

Identifying Pareto optimal solutions is critical to support multi-objective decision-making. In this work, we present Top-Two Pareto Front Thompson Sampling (TTPFTS), the first anytime algorithm for Pareto Set Identification in Multi-Objective Multi-Armed Bandits (MOMABs), taking a Bayesian approach. We benchmark TTPFTS against state-of-the-art fixed-confidence and fixed-budget Pareto Set Identification algorithms on synthetic environments. Next, we demonstrate its practical utility in a challenging real-world multi-objective multi-agent molecular discovery setting by efficiently exploring an ultra-large synthesis-on-demand molecular library, outperforming industry-standard and state-of-the-art baselines. Furthermore, we introduce a novel uncertainty quantification metric that estimates our algorithm's confidence in the predicted Pareto set. We demonstrate that this metric effectively proxies true performance, yielding a robust methodology for monitoring learning progress in complex settings. Finally, we complement these empirical findings with the first finite-time theoretical analysis of an anytime MOMAB Pareto Set Identification algorithm.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35044

DriveUniTok: A Unified Multimodal Tokenizer for Driving World-Action Models

Jingbo Xu, Hanchao Leng, JiaHui Huang, Hanbing Li, Jingwei Zhao, Kuiyuan Yang, Chen Gao, Guang Chen 等 10 位作者

原文摘要

World models are emerging as a fundamental component of policy learning for real-world agents, enabling agents to predict future world states and plan actions within a learned representation of the dynamic environment. Existing approaches, however, often model appearance, metric geometry represented by projected LiDAR depth, and ego motion either partially or independently, overlooking the fact that these modalities are different projections of a shared underlying world state. This separation can lead to information loss and cross-modal inconsistency, ultimately limiting downstream performance. Motivated by this unified view of the world, we propose DriveUniTok, a unified multimodal tokenizer for driving world-action models (WAMs) that encodes these modalities in a single decodable continuous latent. We freeze DriveUniTok and adapt a pretrained diffusion model, DriveUniWAM, to predict future unified latents; the tokenizer then decodes them into future appearance, projected LiDAR depth, and ego trajectories. Experiments on NAVSIM demonstrate that our unified design achieves better future prediction and planning performance at lower downstream computational cost than separate-stream alternatives. With reinforcement learning post-training, DriveUniWAM achieves a PDMS of 91.54, reaching state-of-the-art performance among the evaluated WAM-based planners.

cs.CV · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35043

Steering for Safety, Hijacking for Profit: Trojan Threats in the LLM Activation Steering Supply Chain

Yu Yan, Jiahao Chen, Siqi Lu, Yongjuan Wang, Ziming Zhao, Zhaoxuan Li, Qingjun Yuan

原文摘要

As large language models (LLMs) are increasingly integrated into Web search, online recommendation, and intelligent decision-making, the third-party plugin ecosystem centered on model customization continues to grow. Among these, Steering Vectors guide model behavior by intervening in internal representations. However, the open plugin ecosystem also introduces new supply-chain security risks: malicious plugins can disguise themselves as having legitimate functionality and covertly manipulate outputs without significantly affecting model performance. Although this risk poses a real threat, the security issues of Steering plugins in the LLM supply-chain ecosystem still lack systematic research. This paper audits eight mainstream open-source Steering plugin libraries and reveals three structural vulnerabilities: insufficient distribution integrity verification, excessive plugin privileges, and missing runtime monitoring, which offers an attack surface for attackers. To investigate this threat, we propose a malicious plugin, IDH. Specifically, IDH designs a norm-gated mutually exclusive routing mechanism and proposes an information-decay inflection point localization method to automatically select the injection layer, thereby simultaneously achieving benign and malicious functions. To counter such threats, we propose a runtime defense framework, by suppressing anomalous activation interventions and orthogonalizing inter-layer trajectory. We evaluate IDH across five mainstream LLMs, using safety-refusal steering as the legitimate functionality and commercial recommendation manipulation as the hijack objective. Experiments covering six brands across three commercial domains demonstrate that IDH achieves an attack success rate (ASR) of up to 97.8% while preserving high refusal rates on harmful requests.

cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35042

SimPOTrans: Self-Adaptation for Offline-to-Simultaneous Speech Translation via Reinforcement Learning

Haotian Tan, Hiroki Ouchi, Sakriani Sakti

原文摘要

Simultaneous speech translation (SimulST) aims to translate ongoing speech with low latency while preserving translation quality. Recent studies have adopted large language models (LLMs) for SimulST and formulated it as a multi-turn dialogue task for efficient generation, achieving state-of-the-art performance. However, existing dialogue-style SimulST approaches typically rely on specialized training schemes to acquire simultaneous translation behavior, either using synthesized read/write trajectories, which may provide suboptimal training signals, or jointly optimizing translation quality and latency, whose competing objectives may cause optimization instability. In this paper, we introduce SimPOTrans, a reinforcement learning (RL) framework that enables offline speech translation models to self-adapt to dialogue-style SimulST. Through a simple two-stage RL post-training pipeline, SimPOTrans rewards an offline model for exhibiting translation behaviors beneficial to simultaneous scenarios when given partial speech inputs, thereby enabling offline-to-simultaneous self-adaptation without synthesized read/write trajectories or explicit latency optimization. At inference time, SimPOTrans requires no external decision policy and enables flexible quality--latency control by simply adjusting the chunk size of speech input. Experiments on the ACL 60/60 and MCIF benchmarks across three language directions (En$\rightarrow$De, En$\rightarrow$Zh, and En$\rightarrow$Ja) demonstrate that SimPOTrans outperforms several strong baselines, achieving a superior quality--latency trade-off.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35038

Revealing Imaging Characteristics of Thermal Wakes from Underwater Vehicles Without Cooling-Water Discharge

Guoyi Zhang, Yanjin Du, Guangsheng Xu, Zhengyao Zhao, Siyang Chen, Jingjing Gao, Yuezheng Zhou, Yiyang Wu 等 19 位作者

原文摘要

Small uncrewed underwater vehicles are proliferating and threaten maritime security, yet evade sonar and magnetic sensors built for larger submarines. Infrared thermal wakes, generated by hydrodynamic displacement that modulates the cold-skin layer, offer a non-acoustic, non-magnetic alternative even without cooling-water discharge. Existing studies, however, rely on idealized simulations that fail to capture real-world backgrounds, offering limited guidance for target-background discrimination. We establish AVP-IR-Wake, the first large-scale, real-world, physically diverse benchmark of 161,485 frames collected over three years. We show that thermal wakes are extended structures of discrete vortices, violating the compactness assumption of conventional targets. We reveal local indistinguishability: individual wake vortices are statistically identical to wind-induced background vortices in temporal, frequency, and sparse domains, sharing low-frequency information and long-range correlations. This challenges the assumptions of compact, transient, high-frequency targets in conventional detection. Yet we establish global morphological separability: although locally inseparable, the wake as a whole is organized by vehicle trajectory, whereas background clutter is organized by wind-driven thermal fronts. This explains why representative detectors fail and shows that reliable detection must shift from local feature extraction to global trajectory-constrained physical modeling. Because the cold-skin layer varies globally and seasonally, forecasting wake observability will require integrating physical oceanography and atmospheric science, linking underwater surveillance to the changing ocean surface.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35036

Mapping the Solution-Set Structure of Grokking on Latin Squares

Zihan Gu, Lulu Zhao, Tianyi Ma, Hua Zhang, Wenbo Su, Yanan Cao, Yue Hu

原文摘要

Grokking is a delayed transition from memorisation to generalisation. A network first fits observed examples while remaining near chance on held-out inputs, then generalises abruptly. Prior work has focused mainly on this delay, finding that the network's main loss becomes weight decay after the fitting phase. We name the solution to this optimization problem as the minimum-norm endpoint, and study which tasks make all minimum-norm endpoints generalise from partial observations. Specifically, we model pairwise input tasks as edge colourings of $K_{q,q}$, with Latin colourings as our structured family, and classify each observed instance as all-good, mixed, or no-good by its endpoint set. Furthermore, we prove two contrasting results: (1) Finite-abelian-group families are asymptotically all-good from partial observations; (2) Under a uniform random Latin square, all-good tasks become asymptotically rare for observation-based learners, leaving mixed or no-good behaviour. Moreover, experiments show that relabellings of addition generalise despite their dense polynomial representations. Finally, on tasks of composite order, finite-training results suggest that predictors learn a coarse part of the output before the full label.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.29864

LLM-Guided Future Hypotheses for Horizon-Aware Exploration in Multi-Step Robot Manipulation

Mohammad Khoshnazar, Andrew Melnik, Michael Beetz

原文摘要

Multi-step robot manipulation requires acting under uncertainty about how the scene will evolve, making exploration and policy adaptation challenging. We study whether short-horizon, task-consistent future videos can provide useful structured priors for control and reinforcement-learning fine-tuning. We formalize this idea through Future-Experience Conditioning (FEC), a simple interface that conditions closed-loop policies on a latent representation of a short future video. In our simulation setup, future clips are generated in three stages, an LLM reasoner operating over a task ontology initialized from the current scene state, a robot-free digital-twin rollout of the intended object motion, and a mask-free video diffusion model that synthesizes a robot-consistent future clip without requiring segmentation at inference. We instantiate this future-conditioning interface primarily with BC and BC+RL, and compare against a future-conditioned Streaming Flow Policy (SFP) baseline on RoboCasa and CALVIN under NoFuture, GTFuture, GenFuture, and WrongFuture. Generated futures improve performance over no-future conditioning, while mismatched futures degrade it, and our BC+RL instantiation achieves the strongest overall results. An average BC+RL learning-curve analysis across 8 CALVIN tasks further shows that GTFuture improves fastest, GenFuture improves earlier and to a higher level than NoFuture, and WrongFuture remains at zero throughout training. These results suggest that short-horizon future videos can serve as useful structured priors for exploration and policy adaptation under imperfect future predictions. https://enact2026.github.io/

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.39490

OmniReasoning: Pushing the Limits of Audio-Visual Joint Reasoning

Junming Lin, Yuxuan Wang, Zhenxin Lei, Yuxin Liu, Ruixun Liu, Yinsong Yan, Ling Wang, Minghao Han 等 14 位作者

原文摘要

Recent advances have enabled unified omni-modal models in understanding audio, vision, and language. However, existing benchmarks, training data, and learning methods largely treat the modalities independently, leaving the capability of audio-visual joint reasoning poorly evaluated and insufficiently elicited. We address this gap with a benchmark, data engine, and learning method. First, we introduce OmniReasoningBench, a benchmark where both audio and visual evidence are indispensable. It comprises 1,150 multiple-choice and open-ended questions across two tasks, reasoning over video and reasoning beyond video. Second, we develop a data engine OmniQA. It automatically constructs evidence-grounded QA pairs that explicitly necessitate audio-visual joint reasoning, together with time-stamped clue chains that guide the annotation of thinking process. Besides our benchmark, this engine produces training data OmniReasoning-SFT-112K and OmniReasoning-RL-19K. Finally, we propose an on-policy self-distillation method Modality-Factored Self-Distillation (MFSD). It evaluates each sampled response under modality-specific clue contexts, disentangling the contributions of individual clues and their cross-modal interactions for token-level credit assignment. With our training data and learning method, our model OmniReasoning-30B-A3B achieves 50.0% on OmniVideoBench and 42.5% on OmniReasoningBench, improving the base model Qwen3-Omni-30B-A3B-Thinking by 12.8 and 9.3 percentage points, respectively. Moreover, it delivers substantial gains on general and long-video benchmarks, including Video-MME-v2. We hope our work offers a solid step for facilitating future research in omni-modal joint reasoning.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35035

Macro Mondrian Conformal Risk Control

Julien Combes, Jean-Francois Coeurjolly, Alexandre Dervill{é}

原文摘要

Conformal Risk Control (CRC) extends conformal prediction beyond the coverage setting to the control of general monotone loss functions, in a distribution-free and modelagnostic fashion. This makes it well-suited to problems with high-dimensional targets, such as the semantic segmentation task addressed in this work. However, CRC guarantees only marginal control, meaning that the risk is controlled on average over the data distribution. Under imbalanced distributions, the risk on inputs that contain rare objects may therefore remain uncontrolled, even when the marginal guarantee holds. We propose a new method that controls the risk on average over user-defined groups of the domain, drawing on Mondrian conformal prediction and macro-coverage algorithms. The method relies on a taxonomy, that is, a function that assigns a group to each data point, and reweights each point's risk by a coefficient that depends on its group probability, so that rare points contribute more than common ones. We illustrate the approach on two semantic segmentation datasets.

stat.ML · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2509.15114

Large Language Model probabilities cannot reliably distinguish between possible and impossible language

Evelina Leivada, Raquel Montero, Paolo Morosi, Natalia Moskvina, Tamara Serrano, Nikoleta Pantelidou, Marcel Aguilar, Fritz Guenther

原文摘要

A controversial test for Large Language Models concerns the ability to discern possible from impossible language. While some evidence attests to the models sensitivity to what crosses the limits of grammatically impossible language, this evidence has been contested on the grounds of the soundness of the testing material. We use model-internal representations as a direct means of investigating the way Large Language Models represent the grammatical-ungrammatical distinction. In a novel benchmark, we elicit sum log probabilities from 8 models and compute minimal-pair surprisal differences, juxtaposing probabilities assigned to grammatical sentences to probabilities assigned to (i) lower frequency grammatical sentences, (ii) ungrammatical sentences, (iii) semantically odd sentences, and (iv) pragmatically odd sentences. The prediction is that if string-probabilities can function as proxies for the limits of grammar, the ungrammatical condition will stand out among the conditions that involve linguistic violations, showing a spike in the surprisal rates. Our results do not reveal a unique surprisal signature for ungrammatical prompts: across models, we observe comparable surprisal for the pragmatically odd condition, and the semantically odd condition consistently shows even higher surprisal. We thus demonstrate that probabilities do not constitute reliable proxies for grammaticality, showing that probability differences alone cannot be used to infer model-internal representations of syntactic knowledge. Consequently, claims about models being able to distinguish possible from impossible language need verification through a different methodology.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2606.21140

Matching Matters: A Fair Quality-Efficiency Benchmark for Command-Line Agents

Han Chi, Jiaxin Qi, Yan Cui, Baisheng Lai, Jianqiang Huang

原文摘要

Rapid advances in large language models have improved the task-solving capabilities of command-line-interface (CLI)-based agents, whose CLIs determine how models invoke tools, maintain interaction history, and recover from failures. Consequently, effective matching between CLIs and LLMs has become essential. However, existing agent benchmarks largely emphasize success rate while overlooking practical objectives such as cost and efficiency, as well as the selection of LM-CLI combinations, all of which are critical in real-world deployment. We therefore introduce AgentMeter, a quality-efficiency benchmark with a new metric, the AgentMeter Score (AMS), that jointly characterizes task quality, budget sensitivity, and resource-intensive zero-reward execution, enabling a more complete assessment of deployed LM-CLI pairs. Furthermore, collected task descriptions may inadvertently favor LM-CLI pairs that are particularly compatible with their wording and structure, causing evaluation results to reflect description-specific advantages rather than general task-solving capability. We therefore propose AgentMeter-Opt, a trajectory-grounded optimization framework that constructs pair-adapted, task-preserving description variants to build a fairer evaluation set across LM-CLI pairs. Extensive experiments show that no CLI is universally optimal across language models and that task success, execution cost, and AMS identify different competitive configurations. Results on AgentMeter-Opt further reveal that task-preserving description changes affect LM-CLI pairs unevenly and can alter their relative ordering across valid description conditions. Together, AgentMeter and AgentMeter-Opt provide a practical foundation for fair and deployment-relevant evaluation of command-line agents.

cs.SE · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.28571

Finding Change in Satellite Archives from Text: How to Combine Before-and-After Images Efficiently

Simon Roy, Mark Bong, Giovanni Beltrame

原文摘要

Operational Earth observation increasingly calls for answering queries such as ``find the image pairs where a new building appeared.'' This means searching an archive of before-and-after (bi-temporal) satellite image pairs and ranking each pair by how well it matches a natural-language description of the change. The component that performs this match, the fusion module that combines the ``before'' and ``after'' views, must be run at query time across many candidate pairs, so its speed largely sets the cost of every search. We present a controlled comparison of how to build that module. Using one fixed image encoder (a frozen CLIP model) and one training recipe for all variants, we evaluate eight designs drawn from three families: attention, state-space models (Mamba), and learned compression (our Temporal Bottleneck Fusion, TBF). Each design is tested on two benchmarks (LEVIR-CC and Dubai-CC) with ten random seeds, so the reported differences are statistically grounded. We outline three findings: first, a training-free two-stage search (a cheap difference model that shortlists candidates, followed by attention fusion that re-ranks them) matches or exceeds full-fusion recall on LEVIR-CC while cutting query cost $10$-$15\times$, with comparable R@1/R@5 on Dubai-CC; second, the linear-time scan of Mamba, attractive on paper, gives no speed benefit at the patch counts typical of vision transformers ($L{=}196$): the scan is limited by memory bandwidth, whereas attention maps cleanly onto parallel hardware; and third, compressing the fused representation (TBF) reduces parameters by $2.3\times$ and latency by $1.6\times$ for a change-only BLEU-1 cost of $0.007$, although more aggressive compression quietly discards change-relevant detail that aggregate metrics fail to reveal.

cs.CV · cs.IR

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2609.00566

EEG-VID: Task-Guided Latent Predictive Pretraining for EEG Decoding and Assistive Target Selection

Guanzhong Sun, Junyi Ma, Yuxuan Wu, Wei Tang, Yanzi Miao

原文摘要

We propose EEG-VID, a task-guided latent predictive pretraining framework for EEG decoding under session and subject shifts. EEG-VID predicts future latent EEG states from recent history using an exponential-moving-average target encoder and weak task guidance, followed by supervised fine-tuning. Across VIG-48 and BCI Competition IV-2a/IV-2b, Stage 1 improves mean accuracy in 41 of 42 matched backbone-dataset-protocol comparisons, including all 12 leave-one-subject-out settings, with a maximum gain of 16.22 percentage points. On the 48-region cross-day VIG-48 task, EEG-VID achieves 6.52% Top-1 and 30.50% Top-5 accuracy. In a separate six-participant offline robot-scene study, candidate-constrained target selection reaches 40.24% versus a 25% chance level after subject-specific calibration. These results support task-guided latent prediction as a transferable pretraining strategy for EEG decoding and scene-constrained assistive target selection.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35032

AutoPRL: Automated Path Representation Learning via a Learnable View Generator

Sean Bin Yang, Ying Sun, Yunyao CHeng, Hao Miao, Jilin Hu, Bin Yang, Torben Bach Pedersen, Christian S. Jensen

原文摘要

Self-supervised learning has emerged as a powerful paradigm for Path Representation Learning (PRL) in road networks. PRL aims to learn informative representations of paths traversed by moving objects, such as vehicles, where each path consists of a sequence of connected road segments. These representations are essential for various downstream tasks, including travel-time estimation and path ranking. However, existing methods often suffer from ineffective view generation and inefficient training procedures due to their reliance on heuristic augmentations and computationally intensive contrastive learning. To address these issues, we propose AutoPRL, an effective and efficient self-supervised PRL framework that integrates three key components. The Automatic Data Augmentation (AutoDA) module employs variational autoencoders to generate semantically meaningful and diverse feature-level path views by modeling each topology-aware node embedding with a Gaussian latent distribution, thereby mitigating information loss and enhancing representation quality. Second, the Cross-View Decoupled Contrastive (CVDC) learning mechanism improves training efficiency by disentangling the optimization of positive and negative pairs across node- and path-level views, enabling more stable contrastive learning. Third, an Adaptive Co-Training (ACT) module dynamically adjusts uncertainty-based loss weights to balance multiple objectives, ensuring efficient and scalable training. Extensive experiments on three real-world datasets demonstrate that AutoPRL achieves strong and consistent performance in both effectiveness and efficiency across multiple downstream tasks.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35031

PatentAgentBench: Benchmarking LLM Agents with Professional Patent Task Suites

Yijie Hu, Wei Li, Junjie Zhou, Zhiqi Jiang, Yi Jin, Licong Xu, Xinkai Sun, Kai Duan 等 9 位作者

原文摘要

Patent practice lies at the intersection of technical, legal, and linguistic work, making it challenging yet crucial to technological innovation. Recently, rapid advances in large language models (LLMs) and agentic systems have demonstrated the potential to complete realistic business workflows and even patent works. This raises a question: can current AI systems perform patent work reliably? Existing benchmarks cover a limited range of patent tasks and simplify evidence acquisition by providing reference materials or candidate documents. In this paper, we introduce PatentAgentBench, a benchmark comprising 510 instances across eight task suites: novelty search, freedom-to-operate (FTO) search, design FTO, invalidity search, claim charting, patent drafting, office-action response, and patent translation. Curated from real patent records and professional materials, the benchmark combines task-specific metrics with expert-reviewed annotations and rubrics. Retrieval tasks such novelty search, FTO, etc., require agents to search and compare patent collections without a supplied candidate pool. The drafting and OAR tasks assess the quality of agents' work given technical disclosure and office action notice. We evaluate seven LLMs across four agent harnesses on PatentAgentBench, finding that current systems still struggle to identify novelty, assess risk, and understand practitioner intent throughout patent workflows.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35029

Synthetic Child-Adult Interactions Are Not Developmentally Plausible

Bastian Bunzeck, Francesca Padovani

原文摘要

Synthetic data has become a common resource for training language models, and this trend has spilled over into research on developmentally plausible language modeling. However, it remains unclear whether LM-generated child-adult interactions actually resemble natural ones. We compare the synthetic TinyDialogues dataset to natural dialogue across a broad range of linguistic measures. While synthetic data matches natural data on the lexical level, it drastically underestimates the messy, fragmented nature of spoken interaction. To mitigate this, we propose instruction-tuning with data created from real dialogues, and show in a pilot study that a small model approximates the statistical tendencies of natural data after moderate parameter-efficient fine-tuning.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.00687

LUMA: Benchmarking Segmentation via a Lightweight Universal Mask Adapter

Tobias Christian Nauen, Anosh Billimoria, Federico Raue, Stanislav Frolov, Brian B. Moser, Andreas Dengel

原文摘要

Comparing transformer backbones for image segmentation is confounded: each is paired with a different decoder, recipe, and pretraining, so reported differences rarely reflect the backbone itself. We introduce the Lightweight Universal Mask Adapter (LUMA), a lightweight, backbone-agnostic mask-transformer head that treats any backbone as a black-box feature extractor, letting a set of queries read from its features through cheap cross-attention. LUMA matches the accuracy of EoMT, the state-of-the-art efficient ViT-segmenter, at cost parity, while attaching unchanged to hierarchical, convolutional, and mixture-of-experts backbones alike. Holding this head fixed, we benchmark 20 backbones, 11 pretraining schemes and a range of resolutions on ADE20K, COCO, and Cityscapes under one modern recipe. We find that ``efficient'' token mixers fail to deliver efficiency even at the high resolutions that motivate them, with plain ViT holding the throughput Pareto front at every resolution. Additionally, the pretraining objective, not the architecture, the lever the field has tuned hardest, governs segmentation quality. Code: https://github.com/tobna/LUMA

cs.CV · cs.AI · cs.LG · cs.PF

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.30488

CoMo3R-SLAM: Collaborative Monocular Dense SLAM with Learned 3D Reconstruction Priors for Outdoor Multi-Agent Systems

Zhihao Cao, Qi Shao, Shuhao Zhai, Feng Tian, Anh Nguyen, Hesheng Wang, Baoru Huang

原文摘要

Outdoor robot teams need a shared dense map despite limited overlap, independent reference frames, and uncertain monocular scale. Collaborative dense SLAM systems typically resolve this with depth sensors, which add payload, power, and calibration cost. We present CoMo3R-SLAM, a collaborative monocular dense SLAM system that places learned feed-forward 3D reconstruction priors at the center of the multi-agent problem: their dense pointmaps anchor scale across agents and supply correspondences strong enough to verify inter-agent links geometrically. Each agent tracks and fuses its own keyframes from a single RGB stream, while a coordinator retrieves cross-agent keyframes over the prior's encoder features, verifies them by bidirectional dense pointmap matching, synchronizes the independent similarity gauges in closed form, and refines every keyframe in one unified multi-agent sim(3) graph. Finally, a pose-depth alternation over geometry-aware segments lets inter-agent observations constrain dense structure as well as trajectories. Requiring neither measured depth nor supplied intrinsics, CoMo3R-SLAM attains the lowest trajectory error on three of four Tanks and Temples scenes, and competitive accuracy on Waymo driving sequences, while running at approximately 6-8 FPS on RTX 3080 Ti. A long-horizon traversal, independently captured day and night streams, and teams of up to four agents further map its operating range.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35026

Detection of Single Stuck-at and Bridging Faults in Cluster-based FPGA Architectures

Nachiketa Das, Sudip Ghosh, H. Rahaman

原文摘要

This paper presents a new technique for detecting single stuck-at and bridging faults in cluster-based FPGA architectures, using same set of test vectors generated by a test pattern generator circuitry. This technique is based on configuration of logic elements using test logic structure and the outputs of two separated logic elements are compared to detect a fault. To do this, block under test, TPG and output response analysis circuitry are generated in FPGAs. The configurations of test pattern generation, block under test and output response analysis are also discussed in this paper. The novelty lies in the fact that the same set of test vectors can detect all the stuck-at as well as bridging faults if the test vectors are applied in a particular sequence and analyzing the output results. We presented a detail analysis of results to detect faults as well.

cs.AR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35023

BellowsKV: One Latent for Many Layers, Expanded on Demand

Jiamu Zhang, Hanjie Chen

原文摘要

Large language models (LLMs) now serve as the backbone of agents that reason over many turns, call tools, and pursue long-horizon tasks. To avoid recomputation, a model stores the attention keys and values of all past tokens in a key-value (KV) cache. Each layer maintains its own cache, so KV-cache memory can become the main bottleneck for GPU serving. Most compression methods operate within a single layer, by quantizing the cache entries, reducing the channel dimension, or evicting less important tokens. All three lose substantial accuracy at high compression ratios. Cross-layer methods share one compressed cache across adjacent layers to go beyond this limit. However, these methods also degrade sharply at high compression ratios. We find that the KV-cache representations of adjacent layers are quite different, whereas the input hidden states of adjacent layers are highly similar. We also find that, under the same memory budget, reducing the dimension of this shared latent loses far more accuracy than quantizing it. Based on these findings, we propose BellowsKV, a training-free method that maps the hidden states of n adjacent layers to one shared latent per token. At inference time, each layer reads its own keys and values from this latent through a layer-specific projection. We keep the latent at full dimension and compress it in two other ways: BellowsKV-Quant stores the latent at low precision, which is nearly lossless because the latent has no dominant outlier channels; BellowsKV-Evict makes one shared eviction decision per block, because the layers rank token importance very similarly. Across Llama-3.1-8B, Mistral-7B and Qwen2.5-7B, BellowsKV-Quant retains about 99% of full-cache accuracy at 3.6x compression and 97-98% at 13-14x, where the strongest cross-layer method retains at most 84% at 16x. Code: https://github.com/MorrisZJ/BellowsKV

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.23135

Wait to Learn: Timing the Gradient Return in Over-the-Air Split Learning over an Aging Single-Antenna Channel

Xianzhong Li, Yuzhi Yang, Tianhao Guo

原文摘要

In over-the-air split learning over an aging single-antenna Rayleigh channel, the mean returned gradient equals the antenna-domain gradient scaled by the temporal correlation. Uncorrected training collapses in negative-correlation lobes. Near a correlation zero, no nonzero scalar calibration improves the ratio of mean power to innovation power for an individual transmission, and, on the tested grid, using sixteen times as many pilots recovers only 7 percent of the training gap. Returning at the first correlation extremum with phase correction, 1.3 ms later at 3.5 GHz and 15 m/s, achieves 90.2 percent accuracy, compared with 91.8 percent with CSI. In the tested line-of-sight setting, the near-zero gap becomes negligible.

eess.SP · cs.IT

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35020

Attention under Bounded Key-Query Similarity: Space Complexity and Transformer Anisotropy

Justin Y. Chen, Ying Feng, Piotr Indyk, Michael Kapralov, Ekaterina Kochetkova, Boris Prokhorov

原文摘要

A growing body of work on KV-cache compression aims to reduce the memory requirements of autoregressive generation. These methods compress the stored context while approximately preserving attention computation, enabling generation with reduced memory consumption. Almost tight theoretical results on the worst case space complexity of attention have recently been obtained, but they are achieved by instances where queries can be perfectly aligned with keys. This directly contradicts the observed anisotropy of the key/query geometry in real transformers. In particular, it has been shown empirically that key/query cosine similarities are small even for most correlated pairs, i.e., near-perfect alignment of queries with keys does not happen in practice. In this paper, we study the space complexity of attention approximation under the assumption that key/query cosine similarities belong to a small interval around zero, i.e., a query cannot align too much with any key. We give a nearly space optimal algorithm and a corresponding space lower bound. Surprisingly, the distribution of key/query cosine similarities in our lower bound exhibits the anisotropy property empirically established and studied in the literature. Additionally, we show that the simple uniform sampling algorithm is nearly optimal for a typical range of parameters, supporting its surprising effectiveness on real datasets.

cs.LG · cs.DS

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35018

Zero-Shot Monocular Depth Estimation for Visual Perception in Lower-Limb Prostheses

Ishi Vijayvergiya, Marc Hölle, Youssef Dawoud, Amir El-Ghoussani, Michele De Vita, Rohan Asthana, Philipp Beckerle, Vasileios Belagiannis

原文摘要

Monocular depth estimation has advanced rapidly with the development of foundation models that demonstrate strong zero-shot generalisation across diverse visual domains. However, the applicability of these models to visual perception for lower-limb prosthetics remains largely unexplored. Reliable depth perception is particularly important for prosthesis users, who often experience significant challenges when navigating stairs, uneven terrain, and other complex environments. To address this gap, we introduce the Lower-Limb Prosthesis (LP) dataset, a benchmark designed to evaluate depth perception from an emulated knee-level prosthetic viewpoint. Using this dataset, we evaluate four state-of-the-art monocular depth estimation foundation models. Our results provide the first systematic benchmark of monocular depth estimation performance from a prosthetic viewpoint, while highlighting both the challenges and the potential of deploying foundation models in prosthetic perception systems. The code and dataset are available at https://github.com/Ishivijay/lp_dataset.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35017

When Pointing Becomes Profiling: Social Bias and Refusal in Text-Steerable Visual Encoders

Seyedarmin Azizi, Parsa Razmara, Sajjad Ghiasvand, Ardalan Aryashad, Tina Khezresmaeilzadeh

原文摘要

Text-steerable visual encoders condition a frozen Vision Transformer on a natural-language prompt and point at the matching image region, producing prompt-conditioned heatmaps and features. We audit the released SteerViT model and find that its steering interface turns language-driven pointing into demographic profiling. On counterfactual face mosaics and real multi-person photographs, "the person" selects a man more often than the base rate, crime words select Black people more often than occupation words do, "the man" among four women selects the Black woman 75.6% of the time on SocialCounterfactuals, and "the monkey" selects Black people. None of them is in the backbone's unsteered saliency, and the crime association is not in the frozen text encoder; the race effects grow with steering strength and enter through the last two cross-attention layers: giving the prompt to those layers alone reproduces them. Four other grounding models, CLIPSeg, Grounding-DINO, SAM 3, and Qwen2.5-VL, show no crime routing and weaker race routing. The model cannot refuse. Its patch softmax must place its mass somewhere, and its heatmap separates a groundable request ("the police officer") from one that is absent ("the pizza") or that would require a stereotyped demographic inference ("the criminal") only at chance (AUROC 0.52). We introduce SafeSteer, which adds a learned abstention output and counterfactual-invariance training on the same 23M steering parameters. SafeSteer separates should-point from should-abstain prompts at AUROC 0.997, generalizes to held-out sensitive and absent words (0.998; at a 0.5 threshold it refuses 99.8% of trained and 62% of held-out sensitive words) with no over-refusal of visible people on the benchmark, and removes most race routing while keeping localization and retrieval within 1 point of the released model. Code, benchmarks, and the curated mosaic sets will be released.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35016

From Single Spins to Ensembles: A Calibrated Symbolic Regression Pipeline for NV Spectroscopy

Evan Zhang, Zhenghang Zhi, Zewei Wang, Zeheng Wang

原文摘要

Characterizing nitrogen-vacancy (NV) ensembles requires connecting their collective spectra to individual centers that experience different local environments. We develop a symbolic-regression pipeline that carries single-center spin structure into a calibrated ensemble model by generating individual spectral responses and combining them with explicit weights. A constrained search selects Hermitian operator terms from single-center optically detected magnetic resonance spectra, fits their coefficients, and retains the selected expressions as source models for the ensemble. Ensemble calibration then accounts for resonance shifts, local disorder, orientation, and optical response while keeping the individual spectral contributions accessible. On public single-center and ensemble data, the zero-field ensemble held-frequency root-mean-square error decreases from 0.008835 to 0.003872 in normalized photoluminescence, a 56.2% improvement over matched uncorrected composition. In controlled QuTiP ensembles of 128 sites spanning four NV orientations, models calibrated at 0 and 3 mT predict an independently held-out 5.17 mT spectrum with errors of 0.000207-0.000228 across three random seeds, comparable to the 0.000200 noise standard deviation. Resolving the simulated response into its individual-center contributions shows how local spectral diversity combines into the ensemble line shape. By retaining the source Hamiltonians while calibrating sample-dependent spectral differences, the pipeline connects local spin physics to collective optical readout and makes the contributions to an ensemble line shape available for physical interpretation.

quant-ph · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35011

Critic's Eye: Review-Grounded Graph Reasoning for Long-Form Motif Discovery

Xinyu Sun, Zhangyue Yin, Xinyi Ju, Xin Wang

原文摘要

Deep narrative understanding requires distinguishing what happens from how it is presented, moving beyond the chronological fabula to decode the sjuzet, the discursive organization through which themes are staged. We study this through the recurrence of literary motifs (blood in Macbeth, for instance), where symbolic significance emerges not from local cues, but through repetition-with-variation across the whole work. We operationalize this setting as Computational Motif Discovery, a transductive task that predicts missing line-motif links using the full narrative structure of a play. We propose Critic's Eye, which models the work as a heterogeneous Narrative Topology Graph and performs discriminative inference over global structural evidence. Critic's Eye achieves 84.8% Hit@5 on our benchmark, nearly quadrupling state-of-the-art proprietary foundation models (Gemini-3-pro-preview, ~22.6%). Our analysis reveals that despite massive scaling, sequence-based models hit a "semantic ceiling", struggling to resolve dispersed dependencies. These findings suggest that explicit structural priors are a far more effective inductive bias than parameter scaling for decoding the complex architecture of long-form literature.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35010

JevVLA: Jev-Inspired Energy-Based Adaptation for Vision-Language-Action Policies

Wei Wang, Wenqiao Zhang, Zheqi Lv, Zheng Dong, Yingjie Niu, Jiaqi Zhu, Jun Xiao, Chao Li 等 9 位作者

原文摘要

Vision-language-action (VLA) policies can select among discrete candidates for pick-and-place manipulation or generate continuous action chunks for motion control. Improving both forms of decision making through a common mechanism while retaining the capabilities of a pretrained policy is an important adaptation problem. Inspired by Jev's structured, probabilistic decision interface, we propose JevVLA, a lightweight energy-based adaptation framework for VLA policies. JevVLA instantiates this inspiration by modeling the relative quality of action proposals: with the base policy frozen, it learns a differentiable scalar energy conditioned on observations, task context, and actions, using execution feedback, expert corrections, or demonstration-derived preferences. JevVLA uses this single learned action preference function in two ways: its values compare discrete candidates, while its action gradients correct continuous actions or guide their generation. Candidate selection and continuous control thus share one trainable decision core. Each benchmark uses independently trained weights and fixed input/output encodings, while retaining the same core network with approximately 80,000 trainable parameters. On the held-out test sets, JevVLA improves task success over the respective matched base-policy controls by 1.28, 2.31, 1.60, 1.52, and 1.28 percentage points on MetaWorld MT50, VIMA, LanguageTable, LIBERO Plus, and CLIPort, respectively. These results support the feasibility of a lightweight, Jev-inspired energy model for adapting both discrete action selection and continuous action guidance. The JevVLA implementation will be open-sourced at https://github.com/ZJU4EmbodiedAI/JevVLA.

cs.RO

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arXiv ↗PDF ↗