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新论文 · v1arXiv:2610.34694

Gangqinpu: A Multi-Genre, Multi-Task Piano Dataset with Aligned Audio, MIDI, and Musical Scores

Wei Zeng, Anvay Mathur, Ye Wang

原文摘要

Aligned audio, performance MIDI, and musical scores provide valuable supervision for music analysis and performance modeling, yet datasets that jointly align all three modalities remain scarce and limited in scale and genre diversity. We introduce Gangqinpu, a multi-genre piano dataset containing 18,786 score-performance pairs and 1,007.1 hours of source audio, with automatic note-level alignments and derived beat/downbeat annotations. It spans diverse genres, including pop, classical, jazz, folk/traditional, rock, and blues. Our automated pipeline transcribes piano audio, aligns the resulting MIDI with musical scores, assigns genre labels, and filters out non-expressive performances with a score-informed binary classifier. We further construct joint splits with ASAP using conservative score-similarity grouping to reduce data leakage. We evaluate Gangqinpu on performance MIDI-to-score transcription, expressive performance rendering, and beat tracking. Downstream experiments demonstrate the value of Gangqinpu as complementary training data, with cross-dataset gains in beat tracking and primarily in-domain benefits for transcription and expressive performance rendering. The code and dataset are publicly available at https://github.com/wei-zeng98/gangqinpu.

cs.SD · cs.AI · eess.AS

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2603.28963

AutoWorld: Learning Multi-Agent Traffic Simulation with Self-Supervised World Models

Mozhgan Pourkeshavarz, Tianran Liu, Nicholas Rhinehart

原文摘要

Simulation with realistic traffic agents is essential for validating autonomous driving systems. Existing data-driven simulators learn agent behavior from higher-level abstractions such as 3D bounding boxes and polylines, inferred by upstream perception pipelines. These lossy abstractions discard sensory context that directly shapes agent behavior, limiting the distributional realism that simulation aims to reproduce. To address this limitation, we propose AutoWorld, a traffic simulation framework that grounds agent behavior in raw sensor observations through a self-supervised world model trained on LiDAR occupancy data. Given world model samples, AutoWorld constructs a coarse-to-fine predictive scene context as input to a multi-agent motion generation model. Furthermore, we designed a motion-aware latent supervision objective that enriches AutoWorld's latent representation of scene dynamics. To better exploit this latent space during inference, AutoWorld employs a cascaded Determinantal Point Process framework to guide diversity-aware sampling across both the world model and motion model. Experiments on nuPlan and Waymo demonstrate that AutoWorld improves generation realism, with larger gains in partially observed scenarios where trajectory abstractions are most limited, reducing collision rates by 36%. AutoWorld also remains physically plausible under planner-controlled ego behavior and supports controllable, diverse safety-critical scenario generation.

cs.RO · cs.AI · cs.CV · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.03210

Differentiable FEM versus PINN for pavement layer inverse analysis: enforcing physics as hard or soft constraints

Yongjin Choi, Hyeonbin Moon, Seunghwa Ryu

原文摘要

Automatic-differentiation-based inverse analysis methods, including physics-informed neural networks (PINNs) and differentiable programming, have recently shown great promise due to their ability to compute accurate gradients and convergence efficiency. However, their applicability to falling weight deflectometer (FWD) backcalculation remains unexplored. This study critically evaluates PINN-based inverse analysis for a multilayer pavement system and investigates differentiable finite element method (DiffFEM) as an alternative based on a synthetic benchmark. The standard PINN does not recover layer moduli because of the sharp domain discontinuities inherent to layered pavement systems. Although we use an extended PINN with domain decomposition (XPINN), which shows better performance on discontinuous domains, its performance remains highly sensitive to loss weighting and network architecture, and degrades under measurement noise. By contrast, DiffFEM consistently achieves more accurate, stable, and computationally efficient inversion results. These results show and quantify the expected advantage of DiffFEM, which enforces the governing physics as a hard constraint in the solver, over PINN-based approaches, where the governing physics is imposed as a soft constraint through the loss function. More broadly, the findings suggest that the choice between PINN- and DiffFEM-based inverse analysis needs careful consideration, with DiffFEM offering practical advantages when an efficient and robust differentiable forward solver is available.

cs.CE · cs.LG · math.NA

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.22957

Query-adaptive Recurrent Tokenization

Bavesh Balaji, Pranav Gopinath, Pouya Sadeghi, Sirisha Rambhatla

原文摘要

Visual information worth extracting from an image and the token budget it warrants depend on the text query. Yet modern vision and vision-language models largely encode images independently of the query and allocate a fixed visual token budget to every input. We introduce the Query-Adaptive Recurrent Tokenizer (QART), a backbone-agnostic module that makes visual representations both query-steerable and budget-adaptive. QART steers the visual representation toward query-relevant evidence while adapting its token budget to the amount of information required. Its key principle is simple. Additional tokens are allocated until the visual features relevant to the query are represented with sufficient fidelity. Starting from frozen encoder features, QART recurrently constructs a compact representation and uses reconstruction quality over the query-relevant visual support to control token allocation. On Visual7W and VQAv2, QART achieves 81.96% and 76.37% accuracy using only about 29 visual tokens, reducing token counts by 20-25x relative to dense VLM inputs. It further reaches 92.0% P@1 on CORE and 36.3% PR-AUC on PODS, outperforming SteerViT on PODS by 8.4%. Together, these results show that visual representations need not be fixed in either content or capacity and can instead adapt to what each query requires.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2605.02487

Visibility-Aware Mobile Grasping in Dynamic Environments

Tianrun Hu, Anxing Xiao, David Hsu, Hanbo Zhang

原文摘要

We consider mobile grasping in unknown and dynamic environments, where a robot must approach and grasp a target object using a camera with a limited field of view. This setting introduces two visibility constraints. Incomplete environmental observations can create collision risks along the whole-body trajectory, while occlusions can hinder object pose refinement during grasping. Previous systems often assume known or static environments and decouple perception from motion, leaving safety unresolved around unobserved obstacles. We present a unified system that enforces both visibility constraints at runtime through three core components. A velocity-aware gaze policy directs perception toward fast-moving regions of the planned swept volume, a hierarchical subgoal policy samples grasp and intermediate configurations that maintain target visibility, and a real-time whole-body planner replans over a receding horizon as the map updates. Across 400 randomized simulation scenarios and real-world trials on a Fetch mobile manipulator, our system achieves success rates of 70.4% in unknown static environments and 57.9% in dynamic environments, outperforming the decoupled navigation- and-manipulation strategy by 16.3 and 9.3 percentage points, respectively, while significantly reducing collisions.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34690

IsoAct: Geometry-Aware Post-hoc Debiasing via Isometric Actions

Sumin Park, Taero Kim, Minhyeong Cho, Subeen Park, Jong Hwan Lee, Kyungwoo Song

原文摘要

Learning representations that are robust to nuisance factors is essential for reliable deployment, but remains challenging when the representations lie on non-Euclidean manifolds. Existing debiasing methods typically assume Euclidean representations or apply linear interventions, which can distort the geometry of structured latent spaces. We propose IsoAct, a post-hoc framework that accounts for geometry in both nuisance identification and representation editing. It identifies nuisance-predictive directions using Fisher discriminant analysis (FDA) in tangent coordinates and applies corrections through manifold-native actions that preserve manifold membership. Controlled and real-world experiments on hyperspherical, hyperbolic, and $\mathrm{SE}(3)$ representations evaluate nuisance reduction, utility preservation, and manifold validity jointly. IsoAct reduces nuisance recoverability while retaining competitive utility. Its clearest joint result is on KLIFS, combining reduced kinase-group recoverability, strong structural prediction, and valid rigid poses.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34689

RSKD: Grounding Semantic Consistency in Driving VLMs via Distillation

Chuchu Xie, Yang Zhong, Kangan Qian, Hao Ye, Kun Jiang, Diange Yang

原文摘要

Knowledge distillation can transfer large multimodal models to compact models for autonomous driving, but uniform token-level matching can dilute planning-relevant semantics and amplify teacher errors. We propose RSKD, a semantic-consistency-guided distillation framework that routes supervision according to both the task importance of an answer phrase and its semantic consistency with the teacher prediction. Task-critical semantic phrases are localized in the ground-truth answer, and a phrase-level consistency score controls the balance between Jensen--Shannon divergence (JSD) distillation and ground-truth supervision. Teacher information is emphasized only where it is semantically consistent, while semantically inconsistent phrases receive stronger ground-truth supervision. We evaluate RSKD on DrivingVQA, LingoQA, and MapLMv2. RSKD improves over the compared student-based baselines on DrivingVQA and LingoQA and remains competitive on MapLMv2.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34688

From Speech Tokens to Stolen Voices: Attacker-Chosen-Text Speaker Impersonation via Representation Inversion

Ye Lu, Shen Wang, Runze Liu, Zhitao Ou, Haonan Huang, Yihan Yan, Fanghui Sun, Zhaoyang Zhang

原文摘要

Speech interaction systems have gradually evolved from traditional cascaded systems that use text as intermediate information to end-to-end speech language models that directly process speech representations. In some applications, the speech frontend runs on the user's device and sends speech representations to a remote server for inference, while the original audio remains local. However, these representations may still contain speaker identity information. If an attacker obtains them, it may use this information to imitate the user's voice, threatening their voice privacy. To investigate this risk, we propose \stia, a Speech Token Inversion Attack that generates speech with attacker-specified text in a victim's voice using a single short leaked representation, without access to the original audio or its transcript. Specifically, \stia converts discrete, continuous, or mixed speech representations into conditioning sequences and trains a conditional flow-matching speech generation model using pairs of different utterances from the same speaker in public speech datasets. The model combines speaker characteristics contained in the leaked representation with the specified text to generate speech in the victim's voice. Experiments show that, with a Moshi representation leak corresponding to 3 seconds of speech, \stia achieves an average CAM++ speaker cosine similarity of 0.78 and a target-text word error rate of 3.80\%. These results show that speech frontend representations reveal reusable speaker identity information and highlight the need to consider privacy risks when designing speech frontend representation methods.

cs.SD · cs.AI · cs.CR · cs.CV · cs.MM

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.02423

Investigating and Alleviating Harm Amplification in LLM Interactions

Ruohao Guo, Wei Xu, Alan Ritter

原文摘要

Large language models (LLMs) can serve as helpful assistants, yet they can equally function as harm amplifiers that enable malicious users to achieve harmful outcomes beyond their capabilities through extended interactions. This risk manifests along two axes, i.e., democratizing domain expertise that allows novices to produce specialized harmful content, and scaling harmful operations at volumes that manual effort cannot match. Existing works, however, often overlook how LLMs compound harm across multi-turn conversations. We introduce HarmAmp, a new benchmark for multi-turn harm amplification scenarios spanning twelve risk categories. Each scenario is grounded in real-world threats and satisfies rigorous criteria, i.e., substantive amplification, operational specificity, and multi-turn necessity. We further propose TrajSafe, a proactive monitor that anticipates harmful trajectories and intervenes through actions such as probing users' genuine intents and steering the models towards safer completion. Our extensive experiments demonstrate that TrajSafe significantly reduces the harmfulness incurred in multi-turn interactions while preserving a low over-refusal rate and the target model's general capabilities. Our work offers a promising paradigm to alleviate the nuanced safety risks in LLM interactions.

cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34687

Machine Learning Applications in the Solar Interior and Atmosphere

Vishal Upendran, Carlos J. Díaz Baso

原文摘要

The solar interior and atmosphere constitute a strongly coupled, multiscale dynamical system defined by continuous temporal evolution. Predicting the state of this system requires modeling physical interactions that span disparate spatial and temporal scales, constrained by heterogeneous and sparse data. This chapter formalizes the Sun within the mathematical framework of dynamical systems theory, defining a global state vector ($\vec{S}$) governed by thermodynamical, kinetic, and magnetic properties. Because solar observations represent projected, multi-modal, and partially observable measurements ($\vec{O}[\vec{S}]$) of this hidden state, pure physics-based deduction is fundamentally constrained. We present a unifying thesis: the primary role of machine learning in heliophysics is to act as a structured family of mathematical operators---specifically Inference ($\mathcal{I}$), Emulation ($\mathcal{E}$), Propagation ($\mathcal{P}$), and Control ($\mathcal{C}$)---that reconstruct, simulate, and couple this global state vector across disparate physical layers. By framing the vast, multi-disciplinary literature within this unified state-space taxonomy, we demonstrate how data-driven techniques bridge observational gaps to resolve hidden multiscale couplings and dramatically accelerate the simulation of non-linear processes, establishing a rigorous pathway to predict the global evolution of the Sun.

astro-ph.SR · astro-ph.IM · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34685

Good Rankings, Poor Choices? Rethinking Language-Only Vision-Language Model Selection

Hyuk Kwon, Jaebyeong Jeon, Hyeonseo Jang, Kibok Lee

原文摘要

Language-Only Vision-Language Model Selection (LOVM) aims to identify the Vision-Language Model (VLM) with the highest zero-shot accuracy on a target task using only textual information. We revisit the existing LOVM evaluation protocol and argue that ranking metrics, such as top-5 recall and Kendall's rank correlation, do not directly assess the performance of the selected model. We therefore adopt simple regret (SR), defined as the performance gap between the best and selected models, and introduce Outlier-Robust Normalized Regret (ORNR) to account for the varying performance ranges across tasks while reducing sensitivity to outliers. Building on this revised evaluation protocol, we propose Target-Conditioned Expected Source Regret (TC-ESR), a training-free method that selects the model with the lowest similarity-weighted mean regret across source tasks. Across 22 target tasks and 43 VLMs, TC-ESR achieves the lowest mean SR and ORNR among all compared methods. Separately, we identify two sources of target performance leakage in the prior ranking-based evaluation protocol and provide corrections that remove both.

cs.CV · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34684

Knowing When the Evidence Is Enough: Requirement-Directed Search with Horn-Closure Certificates

Xinyu Zhang, Weiwei Sun

原文摘要

After each Web search, a search-augmented model must decide whether its evidence suffices: answer, search again, or abstain. Prevailing systems leave this to holistic model judgement, which can accept a context naming every entity yet lacking one required fact. We instead make sufficiency structural: a per-query requirement hypergraph states which facts jointly yield another fact. This raises two challenges: deriving requirements from the question alone, and linking each requirement to passages about the right entity. Certify therefore decomposes the question, searches per requirement, and accepts links only after entity checks. Horn closure over the links yields a certificate, the minimal sufficient passages and their derivation, or an abstention naming open requirements. Given correct retrieval, requirements and links, the decision is sound, and complete up to the entity check. Pooled over three corpora with unanswerable twins, Certify decides significantly more accurately than search agents, graph retrieval and sufficiency judges in default configurations. On the same evidence, it matches a proprietary model's sufficiency label without an additional model call. Over 21M Wikipedia passages, entity checks add 4 to 13 points of decision accuracy where gold evidence exists. Finally, answers from its certificate are 80% correct, against 57% from all retrieved passages.

cs.IR · cs.AI · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34683

Topic-Level Fairness in Retrieval-Augmented Generation

Jaeyoung Park, Hantian Zhang, Kexin Rong, Steven Euijong Whang

原文摘要

Group fairness in retrieval-augmented generation (RAG) systems is typically evaluated using metrics aggregated across queries. However, such metrics can conceal topic-level disparities: a system may favor women on questions about human rights and men on questions about actors and filmmakers, appearing nearly neutral overall even though neither topic is fair. We therefore study topic-level fairness, which requires group fairness to hold within each topic rather than only in aggregate. To reduce the topic-level disparity, we adapt the reranker separately for each topic with a Bradley-Terry objective under direct supervision from the generated output: preference pairs built from the generator's own output carry the direction that topic requires. With preference pairs built from RoMQA alone, the adaptation reduces the mean absolute per-topic disparity by 51% on RoMQA and by 40% on TREC Fair Ranking while retaining accuracy. No baseline reaches the reduction, even when modified to treat each topic separately rather than apply one correction to every topic. Neither does our method with one reranker for all topics, which follows the direction that most topics require.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34681

Pro-Active Inference

Skyler Wu, Yash Nair, Antoine Maechler, Emmanuel J. Candès

原文摘要

Estimating a population mean is fundamental across scientific applications, but observing every outcome can be prohibitively expensive. Often, covariates and machine learning (ML) predictions are available for the full population, even when only a small subset of outcomes can be observed. How can we leverage this information to proactively select observations to label, update ML predictions as labels arrive, and construct statistically valid confidence intervals? We develop a general, without-replacement formulation of Pro-Active Inference (PAI), extending our earlier with-replacement approach and building on Active Statistical Inference. Rather than making fixed-order label-skip decisions, PAI proactively selects which observation to label next from the remaining covariate pool while accommodating online ML updates. We establish PAI's finite-sample unbiasedness and asymptotic validity, develop an improved finite-sample variance estimator, and extend PAI to superpopulation inference without Bonferroni corrections or $α$-splitting. We characterize PAI's potential efficiency gains over Batch Active Inference in a quasi-oracle setting, highlighting the role of prediction-residual imbalance. Across eight diverse datasets, PAI achieves greater sampling efficiency than Sequential Active Inference in the vast majority of tested settings with near-nominal statistical coverage, using the same ML predictor and uncertainty score. However, comparisons with simpler baselines such as Prediction-Powered Inference and uniform sampling, as well as the closely related Prediction-Powered Active Testing, reveal when additional adaptivity helps or hurts statistical efficiency. Through interpretable, theory-motivated diagnostics and frozen-ML ablations, we investigate when and why PAI gains or loses efficiency, highlighting the initial residual-estimation problem and subsequent online learning dynamics.

stat.ME · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34679

AT-AT: Automatic Tool Optimization from Agent Traces

Maya Ravichandran, Pragya Tripathi, Dharamendra Kumar, Adith Swaminathan, Nathan Kallus

原文摘要

Efforts to improve LLM-based agents typically focus on modifying the agent itself, yet success also depends on the environment in which an agent acts. Tools mediate this interaction: a tool's description shapes how an agent calls it, and its implementation determines the results and errors the agent receives afterwards. Many tools, such as APIs and MCP servers, are shared by many agents and maintained by providers who cannot change those agents. We introduce AT-AT (Automatic Tool Optimization from Agent Traces), an agentic tool optimizer that improves a shared toolset offline from historical agent executions while holding the agents fixed. A lightweight coding agent reads agent trajectories and their evaluation results, and selectively edits tool descriptions and, when permitted, implementations. On $τ^2$-bench-verified, AT-AT achieves the highest task completion rates in the Airline and Telecom domains at lower cost than strong prompt- and tool-optimizer baselines, and its Telecom gain is statistically significant under paired permutation tests. Optimizing the tools within a coding agent harness also improves held-out performance on TerminalBench-2 and TBLite. When applied to three production MCP servers at a large enterprise, AT-AT lowered cost or tool error rates on every server and increased held-out task passes on one. By turning accumulated execution traces into updates to shared tool environments, AT-AT provides a path toward continual improvement of agent systems through environment-side learning.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34678

Exploring perceptual straightness in learned visual representations

Anne Harrington, Vasha DuTell, Ayush Tewari, Mark Hamilton, Simon Stent, Ruth Rosenholtz, William T. Freeman

原文摘要

Humans have been shown to use a "straightened" encoding to represent the natural visual world as it evolves in time (Hénaff et al. 2019). In the context of discrete video sequences, "straightened" means that changes between frames follow a more linear path in representation space at progressively deeper levels of processing. While deep convolutional networks are often proposed as models of human visual processing, many do not straighten natural videos. In this paper, we explore the relationship between network architecture, differing types of robustness, biologically-inspired filtering mechanisms, and representational straightness in response to time-varying input; we identify strengths and limitations of straightness as a useful way of evaluating neural network representations. We find that (1) adversarial training leads to straighter representations in both CNN and transformer-based architectures but (2) this effect is task-dependent, not generalizing to tasks such as segmentation and frame-prediction, where straight representations are not favorable for predictions; and nor to other types of robustness. In addition, (3) straighter representations impart temporal stability to class predictions, even for out-of-distribution data. Finally, (4) biologically-inspired elements increase straightness in the early stages of a network, but do not guarantee increased straightness in downstream layers of CNNs. We show that straightness is an easily computed measure of representational robustness and stability, as well as a hallmark of human representations with benefits for computer vision models.

cs.LG · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34677

Curriculum-Guided Acquisition of Hierarchical Task Knowledge from LLM-Generated Experience

Yuesheng Xu, Hector Munoz-Avila

原文摘要

Hierarchical task knowledge enables efficient problem solving by allowing previously acquired skills to be reused across tasks and problem instances. In this paper, we investigate curriculum-guided acquisition of hierarchical task knowledge in an HTN learning framework. We compare three approaches: online learning during problem solving, human-designed curricula, and an automated curriculum generation procedure that derives learning experiences from verified LLM-generated solution traces. The proposed procedure solves small training problems with an LLM, extracts task accomplishment information, and transforms it into ordered sequences of state-task learning problems for HTN method acquisition. We evaluate the three approaches across multiple planning domains. The results demonstrate that automatically generated curricula recover much of the benefit of expert-designed curricula while substantially reducing the token cost of online hierarchical knowledge acquisition.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34675

From Representations to Computational Trajectories: Intrinsic Fingerprinting for Large Language Model Provenance Verification

Haiyong Tang, Hanzhou Wu, Xinpeng Zhang, Athanasios V. Vasilakos

原文摘要

Large language models (LLMs) are valuable digital assets, yet their weights can be easily modified after unauthorized acquisition, making model provenance difficult to verify. Model fingerprinting provides a promising solution for model ownership protection without modifying the model or embedding ownership information. However, parameter-based fingerprints can be sensitive to model transformations, limiting their robustness, while representation-based fingerprints may assign high similarity to unrelated models, limiting their uniqueness. To address these limitations, we propose TrFP, an intrinsic fingerprinting method based on computational trajectories. Instead of comparing model parameters or representations, TrFP captures how representations evolve across network depth and constructs compact fingerprints using permutation-invariant trajectory descriptors. Experiments across multiple LLM families show that TrFP reliably distinguishes related and unrelated models. It also remains robust under fine-tuning, pruning, quantization, model merging, parameter permutation, and adaptive attacks, while requiring less than 0.3 MiB of fingerprint storage. Overall, TrFP provides stronger provenance discrimination than several existing state-of-the-art methods, demonstrating the effectiveness of computational trajectories for reliable LLM provenance verification.

cs.CR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.07763

SateBeam: Beam-Aware Radio Map Estimation With Physics-Consistent Parametric Modeling for Unknown Multiple Satellites

Xiucheng Wang, Nan Cheng, Zhisheng Yin, Conghao Zhou, Ruijin Sun

原文摘要

Dense low-Earth-orbit (LEO) networks increasingly reuse spectrum across moving satellites and overlapping beams, making a spatial radio map essential for interference diagnosis and coordination. Constructing such a map from sparse ground power measurements is difficult because the active satellite subset and its cardinality are unknown, candidate footprints can be highly coherent, and beam pointing, width, effective power, Doppler, and background must be inferred jointly. Known ephemerides do more than enumerate visible candidates. Propagated positions determine candidate-specific ranges, viewing geometry, and spatial footprints, while radial velocities induce distinct time-frequency signatures. Their joint spatial--Doppler structure rejects candidates whose geometry or time--frequency signature conflicts with the observations before continuous beam inference. SateBeam therefore screens all candidates through Doppler-resolved nonnegative fitting. GPU-accelerated grid correlations initialize continuous off-grid refinement; a Gamma-likelihood Bayesian information criterion (BIC) selects model cardinality, and backward deletion and exchange repair greedy support errors. Across paired real-ephemeris scenarios, SateBeam recovers the exact support in every case and reduces independent-query RMSE from $0.655$ to $0.050$ dB relative to orthogonal matching pursuit, with consistent advantages under model mismatch and larger candidate sets. The code is available at https://github.com/UNIC-Lab/SateBeam.

cs.IT · eess.SY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34674HF 社区推荐

Benchmarking Obstacle-Conditioned Safety in Household Robot Navigation

Hyunwoong Bae, Jisu Han, Jiyeon Choi, Dohoon Kim, Taesup Moon

原文摘要

Safe household navigation requires robots to regulate clearance and speed according to what an obstacle is and how close it is, without unnecessary conservatism. Yet existing evaluations do not test whether semantic safety distinctions are reflected in continuous motion. To that end, we introduce OSMA-Bench, an Obstacle-Conditioned Safe Motion Adaptation Benchmark built on spatially matched scenario sets that differ only in obstacle type. We also propose the \emph{Semantic Sensitivity Index} (SSI), which measures whether clearance and distance-dependent speed and smoothness follow the caution ordering of obstacles. Evaluating VLM-based and vision-language-action (VLA) policies on the benchmark, we find that neither consistently adapts its motion to obstacle safety, even with explicit safety prompts. Our analysis shows that the policies can correctly distinguish obstacles by safety relevance but fail to reflect this distinction in the motion parameters or actions they produce. For VLM-based policies, which recognize the obstacle and then generate a navigation program, adding an explicit parameter-inference step between these two stages improves adaptation. These findings expose a gap in \emph{semantic-to-motion grounding}, highlighting the need to translate semantic caution into appropriately safe motion.

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34673

Agent Memory as Recommendation: Recommender-System Design for Long-Term Memory of LLM Agents

Xinyu Zhang, Weiwei Sun

原文摘要

Large language model (LLM) agents that serve users across many sessions must choose, for every request, the few stored memories that enter a limited context window. This choice largely decides whether the agent answers correctly, and it runs on every request at Web scale. This selection faces three challenges: a large and growing store, a per-request cost budget, and multi-session questions that need all of their evidence. Many memory systems build notes or graphs with hundreds to thousands of LLM calls per history, and each is designed on its own, so it is unclear which component yields the accuracy. These challenges mirror the properties of recommendation, so we formalize agent memory as budgeted slate recommendation, with the request as the user, stored memories as items and the context window as a slate. The formalization places memory systems in one design space of recommender cascades and factorizes accuracy into the completeness that each stage controls. Guided by it, we propose AgentMemRec, which adapts candidate generation, learning to rank and slate construction from recommender systems and selects memories without any LLM call. On multi-session questions of LongMemEval, AgentMemRec outperforms memory and context-selection methods, including A-Mem, HippoRAG 2, DynamicRAG and T-Mem, by 10 to 31 points of accuracy. It matches an LLM reranker that makes 64 calls per query at 3.2 times lower serving cost, and on LoCoMo it outperforms Mem0 and Zep without any LLM call at write time. The factorization attributes the gains to slates that more often hold all of the evidence, so recommender-system design offers an effective and efficient foundation for the long-term memory of LLM agents.

cs.IR · cs.AI · cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.29205

Reconstruction differences rival individual differences in the fly compass connectome and break trained circuit models

Md Ali Ashraf Yad, Nazifa Tabassum Nabila

原文摘要

Neural network models are increasingly constructed from synapse-resolution connectomes, and the same circuit is now available in reconstructions from other animals and pipelines. We do not know whether such models are dependent on the reconstruction they are built from, and whether connectome differences are biological or measurement errors. We studied the Drosophila head-direction circuit in nine versions: four flies (male CNS, hemibrain, FlyWire, BANC) and five variants of the same fly varying only by thresholds, proofreading or synapse detection. Using wiring-based correspondences validated by anatomical labels, we place all differences on one scale. A change of synapse detection within one fly changed the circuit more than halfway to the smallest between-fly difference on four distance measures; proofreading differences were smaller but depended on the metric, and left and right halves of one fly differed no more than random halves. Networks trained on each wiring to hold a cued heading developed near-perfect ring attractors, but their error increased from below 1 degree to 10-28 degrees when all weights changed by 1%. Training on each wiring did not transfer to any other connectome, including other versions of the same fly; refitting thirty cell-type gains, we repaired filtering-level differences but remaining error depended on wiring distance. Training with noise lowered precision and gave only partial transfer. In imaging data, the fly compass drifted gradually in darkness. Connectome-constrained models should report the reconstruction they were built on and be tested for robustness across reconstructions.

cs.NE · cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.21433

ManiFusion: Unlocking the High-Throughput Generation via Superposition in Manifold Space

Minkyu Kim, Baekseung Kim, Junhoo Lee, Jangho Kim, Nojun Kwak

原文摘要

Diffusion models achieve high-quality image generation but remain computationally expensive due to iterative denoising across many timesteps. Existing acceleration methods mainly reduce per-sample latency, but gains along this axis are becoming saturated. We instead explore an orthogonal throughput-oriented direction by processing multiple samples within a single denoising evaluation. To this end, we propose ManiFusion, a backbone-agnostic framework for multi-sample generation through fused-space computation. ManiFusion jointly processes multiple samples by fusing them before the denoising backbone and separating them afterward through unfusion. We provide a geometric perspective on how multiple samples can share a fused representation while retaining the information needed to guide their individual generation trajectories. To better align fusion allocation with denoising stages, ManiFusion uses Trajectory-Fusion Scheduling (TFS), which dynamically adjusts fusion factors throughout sampling. ManiFusion generalizes across diffusion families, including both U-Net and transformer backbones in pixel and latent spaces. We further show that ManiFusion composes with existing acceleration methods and reaches throughput regimes unattainable by prior approaches with minimal quality degradation.

cs.CV · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34670

Compound Environmental Operating Stress and Cyber-Induced Pump Disruption in Water Distribution Networks: Matched Hydraulic Impacts, Service Continuity, and Sustained Recovery

Halil Dursunoglu, Fatma Dursunoglu

原文摘要

Digitally controlled water distribution systems must maintain service during disruptions, yet restoring water delivery does not necessarily ensure hydraulic recovery. This study evaluates cyber-induced pump outages under hypothetical environmental operating stress using two EPANET benchmark networks (Net1 and Net3) simulated with the Water Network Tool for Resilience. The experimental design comprises 288 simulation records (240 distinct configurations), including 192 verified attack scenarios, with four- and twelve-hour outages, six hydraulic configurations, and four mitigation strategies. All attack scenarios satisfied pump-shutdown verification and pre-attack hydraulic-equivalence criteria. Twelve-hour outages produced an average of 404.96 m$^3$ of unmet demand in Net1, while Net3 maintained full modeled demand delivery despite pressure deviations. Sustained pressure recovery occurred in 103 of 192 scenarios, with 65 exhibiting subsequent relapse, whereas all scenarios satisfied the post-outage water-service recovery criterion. Combined mitigation eliminated unmet demand in evaluated Net1 scenarios, while outage shortening achieved the highest sustained-pressure-recovery count. These findings highlight network-dependent resilience and the distinction between service restoration and hydraulic recovery. Environmental stress scenarios represent sensitivity assumptions rather than empirically calibrated climate impacts.

cs.CR · eess.SY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34668

Hierarchical Task Network planning in the Goal Lifecycle

Paola Rizzo, Hector Munoz-Avila, David W. Aha

原文摘要

Goal reasoning (GR) is the process by which intelligent agents continually reason about the goals they are pursuing, which may lead to goal change, for instance when opportunities arise, or when events cause discrepancies among expected and actual outcomes of actions planned to achieve goals. In this paper we investigate whether Hierarchical Task Network (HTN) planning can provide a uniform implementation of the Goal Lifecycle, a flexible process model for goal reasoning in dynamic environments. The Goal Lifecycle progressively refines goals by adding constraints to them through a series of strategies (e.g., {\it formulate, select, expand}) and uses other strategies (e.g., {\it defer, re-expand, repair}) to resolve the current goal when an event impacts it. We present a novel GR agent architecture that employs HTN planning in this Goal Lifecycle. In addition to using HTN planning for the \textit{expand} and \textit{re-expand} strategies, as is frequently done in GR and planning research, we also use it in the \textit{formulate} strategy, to obtain a uniform planning approach that provides several benefits (e.g., the possibility to formulate new goals in view of achieving higher level overarching goals). We also explain how we use an enhanced HTN action representation to process discrepancies among expected and actual action outcomes that can trigger the transition from one goal to another. Finally, we empirically demonstrate that our GR architecture enables simulated autonomous vehicles to adaptively conduct missions in dynamic environments.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34663

Video World Models Need Predictable Latents

Mattia Scardecchia, Sherry Yang

原文摘要

Video world models trained on large-scale robot data promise a safe and scalable approach for learning and evaluating policies that act in the physical world. However, they still struggle with long-horizon rollouts and out-of-distribution generalization, and they remain computationally demanding at inference time. Typically, video world models make predictions in the latent space of a reconstruction-trained autoencoder, which however is not directly optimized for dynamics modeling. On the other hand, world models designed for latent planning usually optimize latents to be predictable, but they forgo accurate prediction of observations in pixel space. In this paper, we show that it is possible to achieve the best of both worlds: a latent geometry optimized to make future prediction as simple as possible without sacrificing accurate prediction of future observations. More precisely, we find that temporal objectives for representation learning, paired with a past-conditioned decoder architecture, lead to consistent improvements in generative video world models at the same training budget. The gains include up to 5x cheaper inference, over 7x faster training, and 15-24% lower pixel and perceptual errors out of distribution and over long horizons. Our world models also agree more closely with real-world policy evaluation when using a vision-language model to judge task success from their pixel-space predictions. Overall, our study indicates that temporal predictability is an important design criterion for the latent space of video world models, and provides concrete guidance on how to incorporate it into the training of autoencoders.

cs.LG · cs.AI · cs.CV · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34659

AdaTutor: Adaptive Tutoring through Pedagogical Strategy Selection

Rajeev Bhatt Ambati, Shashank Srivastava, Snigdha Chaturvedi

原文摘要

Effective tutoring requires determining not only what information to provide, but also which form of assistance to deliver. A tutor may address the same student error using various pedagogical strategies, adapting its approach as the interaction progresses. We introduce Comparative Pedagogical Supervision (CPS), a training framework to learn to select the optimal strategy and feedback for student learning. We evaluate CPS on math and science reasoning datasets. After five tutoring turns, CPS outperforms the strongest fixed-strategy baselines. The learned tutor transfers across datasets, and its strategy selection can also inform a separate API-based tutor.

cs.AI · cs.CL · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34658

Live Adaptation of Dataflow Stream Processing for Hybrid Edge-Cloud Analytics

Yuanli Wang, Prateek Jain, Lei Huang, Le Xu, Vasiliki Kalavri

原文摘要

Dataflow streaming systems, like Apache Flink and Spark Streaming, are integral to modern business analytics, providing real-time insights across industries. However, for emerging hybrid edge-cloud analytics pipelines, neither processing everything in the cloud nor static edge offloading can reliably sustain the target rate under dynamic WAN conditions and limited edge resources. In this paper, we explore how these datacenter-centric platforms can be extended to support such hybrid analytics pipelines. Our goal is to maintain full transparency for user applications, while retaining built-in fault tolerance, out-of-order processing, and existing ecosystem integrations. Achieving this is challenging because existing dataflow engines assume homogeneous resources, rely on static task placement, and do not support adaptation under dynamic network and edge conditions. We introduce Sluice, an adaptive data stream processing system for hybrid clouds, compatible with dataflow streaming engines. Sluice's key contributions are: (i) an automatic query rewriter that decomposes applications into independent, fault-tolerant segments, and (ii) a live routing mechanism that shifts computations between edge and cloud without pausing execution while preserving event-time semantics. We implement Sluice on Apache Flink and evaluate it on a physical testbed with Raspberry Pi devices, as well as on a large simulated testbed of 100 VMs. Across five real-world applications, our results show that Sluice seamlessly shifts computations between edge and cloud, while consistently achieving higher throughput than baseline systems.

cs.DC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.08884

SHRIMP: Iterative Refinement of Robot Task Plans

Mya Schroder, Yuna Hwang, Callie Y. Kim, Leqian Cheng, Jeffrey Li-cheng Liu, Chenchen Zheng, Xinning He, Bilge Mutlu

原文摘要

As collaborative robots have entered domains such as manufacturing, agriculture, and healthcare, programming or adapting robot behavior typically requires robotic expertise that most end users lack. Natural language lowers this barrier. Recent advancements in large language models (LLMs) have made it feasible to translate natural language into robot task plans. However, language-based task specification suffers from semantic ambiguity, and generative models lack transparency for how language instructions become robot actions, making it difficult for users to validate the plan before execution. To address these issues, we introduce SHRIMP, a system that allows users to automatically generate a hierarchical robot primitive plan using natural language and iteratively revise their plan through re-prompting and explicit correction. At each revision, SHRIMP allows users to validate their plan in simulation, and once satisfied, execute it on the physical robot. Through a user study involving participants planning tabletop kitchen tasks (n=35), we validate that SHRIMP improves perceived control and enhances robot transparency. System videos and source code are available at https://wisc-hci.github.io/SHRIMP.

cs.RO · cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34656

Coordinating Boundaries: Improved Approximation Algorithms for Unweighted Non-Preemptive Throughput Maximization

Weitian Tong, Yao Xu

原文摘要

We study unweighted nonpreemptive throughput maximization: given jobs with processing times, release times, and deadlines, schedule a maximum-cardinality subset on identical machines. For every fixed $\varepsilon>0$, we give randomized algorithms with expected approximation ratios $17/13+\varepsilon$ in polynomial time and $21/17+\varepsilon$ in pseudopolynomial time. These improve the respective $4/3+\varepsilon$ and $5/4+\varepsilon$ guarantees of Armbruster, Grandoni, Tinguely, and Wiese [STOC'26]. Both results hold for an arbitrary number of identical machines. Our algorithms build on their configuration-LP and matching framework, which partitions time into blocks. For a job whose window meets multiple blocks, its boundary blocks are the first and last such blocks. Crossing boundary pairs, whose endpoints strictly interleave, permit additional assignments to sampled execution slots, while a noncrossing family can be coordinated using consistent joint distributions on at most three blocks. The exchange analysis accounts for fractional job assignments that must be erased before inserting an additional job. For the pseudopolynomial implementation, we project configurations onto selected job identities and use separate configuration distributions with common placement marginals. This retains efficient pricing while enforcing the correlations needed for coordination.

cs.DS

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arXiv ↗PDF ↗