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版本更新 · v2arXiv:2604.24146

EXACT: an explainable anomaly-aware vision foundation model for analysis of 3D chest CT

Xuguang Bai, Mingxuan Liu, Tongxi Song, Yifei Chen, Hongjia Yang, Kasidit Anmahapong, Zihan Li, Ying Zhou 等 9 位作者

原文摘要

Chest computed tomography (CT) is central to the detection and management of thoracic disease, yet the growing scale and complexity of volumetric imaging increasingly exceed what can be addressed by scan-level prediction alone. Clinically useful AI for CT must not only recognize disease across the whole volume, but also localize abnormalities and provide interpretable visual evidence. Existing vision-language foundation models typically compress scans and reports into global image-text representations, limiting their ability to preserve spatial evidence and support clinically meaningful interpretation. Here we developed EXACT, an explainable anomaly-aware foundation model for three-dimensional chest CT that learns spatially resolved representations from paired clinical scans and radiology reports. EXACT was pre-trained on 25,692 CT-reports pairs using anatomy-aware weak supervision, jointly learning organ segmentation and multi-instance anomaly localization without manual voxel-level annotations. The resulting organ-specific anomaly-aware maps assign each voxel a disease-specific anomaly score confined to its corresponding anatomy, jointly encoding lesion extent and organ-level context. In retrospective multinational and multi-center evaluations, EXACT showed broad and consistent improvements across clinically relevant CT tasks, spanning multi-disease diagnosis, zero-shot anomaly localization, downstream adaptation, and visually grounded report generation, outperforming existing three-dimensional medical foundation models. By transforming routine clinical CT scans and free-text reports into explainable voxel-level representations, EXACT establishes a scalable paradigm for trustworthy volumetric medical AI.

cs.CV

版本更新 · v3arXiv:2606.29494

VCS-SLAM: Visibility-Consistent Semantic Fusion for 3D Gaussian SLAM

Raman Jha, Shuaihang Yuan, Yi Fang

原文摘要

Semantic 3D Gaussian SLAM commonly fuses 2D semantic priors into a persistent 3D map using uniform optimization weights. However, such priors are not equally reliable in online mapping: occlusions, unsupported semantic boundaries, and ambiguous ray geometry introduce persistent semantic artifacts into the global Gaussian map. We propose VCS-SLAM, a visibility-consistent semantic fusion framework for RGB-D 3D Gaussian SLAM. Instead of treating all semantic priors as uniformly valid signals, VCS-SLAM evaluates their geometric reliability through visibility consistency, surface-supported boundary evidence, and ray-level conflict uncertainty. The resulting reliability-aware objective suppresses occluded semantic updates, reduces unsupported semantic bleeding, and delays premature label assignment in ambiguous regions. Experiments on Replica show improved semantic consistency, boundary preservation, and reconstruction quality, while ScanNet results confirm competitive tracking under real RGB-D input. Under structured corruption of the 2D priors, VCS-SLAM degrades at little more than half the rate of a comparable semantic Gaussian SLAM baseline and outperforms naive gating, smoothness, and entropy-weighting variants of its own modules, indicating that the gains follow from the specific formulation rather than from reweighting alone. Code is available at \textit{https://github.com/jhakrraman/VCS-SLAM}

cs.CV

新论文 · v1arXiv:2611.06682

SecureGARD: Dynamic Ontology-Guided Governance for Secure Tool-Using LLM Agents

Guoqin Xiong, Shengtao Wen, Xiang Chen, Xinyi Zeng, Zhaoxin Fan, Wei Ye, Xiaofeng Cao, Sheng-Jun Huang

原文摘要

Tool-using large language model (LLM) agents translate model outputs into consequential actions, turning indirect prompt injection into an execution-security problem. Existing defenses constrain tool calls, trajectories, or information flows, but often leave action semantics, state dependencies, and evidence relations implicit, limiting generalization across heterogeneous tools and complicating safe updates. We present \ours{}, a dynamic ontology-guided governance framework. \ours{} grounds heterogeneous calls in a shared semantic representation and combines an executable ontology with episode-level task state to derive deterministic ready, waiting, and forbidden decisions. A waiting decision identifies an unmet but recoverable obligation, enabling bounded replanning without expanding the agent's authorization boundary. \ours{} evolves its ontology offline from verified training executions. An offline LLM proposes instance-independent action--state axioms, which are accepted only if they address ontology errors exposed by training failures, preserve logical consistency and protected entailments, and pass held-out validation before the ontology is frozen. We evaluate \ours{} on AgentDojo, ASB, and AgentDyn under benign and indirect prompt-injection settings. \ours{} achieves a 0\% attack success rate (ASR) across all three benchmarks while improving task utility under attack compared with existing baselines. These results show that explicit semantic governance can strengthen execution security without indiscriminate blocking.

cs.LG

新论文 · v1arXiv:2611.06681

Do unlearning algorithms learn the right features?

Polina Dolgova, Amartya Sanyal, Sebastian U. Stich

原文摘要

Machine unlearning is commonly evaluated with standard post-deletion metrics that compare an unlearned model to one retrained on the remaining data. Such snapshot evaluations can conceal consequential differences in the features the two models encode. We prove that if an unlearned and a retrained model agree on their outputs but encode different features, a single gradient step on their prediction heads can break this agreement. We further show that deleting an arbitrarily small fraction of the data can cause retraining to select qualitatively different features, so matching retraining can require learning features that the full model never had. We then introduce a measure of feature recovery that separates missing from extraneous features. Across eight unlearning methods, models that perform well on standard metrics often fail to recover the retrained features. This mismatch predicts deviations from retraining under subsequent relearning and downstream adaptation, and directly correcting it systematically reduces these deviations.

cs.LG

版本更新 · v2arXiv:2303.04199

Diversity Embeddings and the Hypergraph Sparsest Cut

Adam D. Jozefiak, F. Bruce Shepherd

原文摘要

Good approximations have been attained for the sparsest cut problem by rounding solutions to convex relaxations via low-distortion metric embeddings. Recently, Bryant and Tupper showed that this approach extends to the hypergraph setting by formulating a linear program whose solutions are so-called diversities which are rounded via diversity embeddings into $\ell_1$. Diversities are a generalization of metric spaces in which the nonnegative function is defined on all subsets as opposed to only on pairs of elements. We show that this approach yields a polytime $O(\log{n})$-approximation when either the supply or demands are given by a graph. This result improves upon Plotkin et al.'s $O(\log{(kn)}\log{n})$-approximation, where $k$ is the number of demands, for the setting where the supply is given by a graph and the demands are given by a hypergraph. Additionally, we provide a polytime $O(\min{\{r_G,r_H\}}\log{r_H}\log{n})$-approximation for when the supply and demands are given by hypergraphs whose hyperedges are bounded in cardinality by $r_G$ and $r_H$ respectively. To establish these results we provide an $O(\log{n})$-distortion $\ell_1$ embedding for the class of diversities known as diameter diversities. This improves upon Bryant and Tupper's $O(\log\^2{n})$-distortion embedding. The smallest known distortion with which an arbitrary diversity can be embedded into $\ell_1$ is $O(n)$. We show that for any $ε> 0$ and any $p>0$, there is a family of diversities which cannot be embedded into $\ell_1$ in polynomial time with distortion smaller than $O(n^{1-ε})$ based on querying the diversities on sets of cardinality at most $O(\log^p{n})$, unless $P=NP$. This disproves (an algorithmic refinement of) Bryant and Tupper's conjecture that there exists an $O(\sqrt{n})$-distortion $\ell_1$ embedding based off a diversity's induced metric.

cs.DS

新论文 · v1arXiv:2611.06677

Self-Directed Apple Tasting

Tanmay Devale, Reed Phillips, Arvind Ramaswami

原文摘要

We study the classical apple-tasting setting, a partial feedback model in which the learner observes the true label only when it predicts $1$. A combinatorial characterization for the rates of this problem in the online adversarial setting has been studied by Raman et al. (2024). We study the self-directed setting, in which the learner can adaptively choose the order of the points it predicts on. In the realizable setting, we establish a tetrachotomy on the expected minimax number of mistakes made by any learner. Depending on the VC dimension, the $\emptyset$-centered star number, and the self-directed dimension, we show that the rates could possibly be $Θ(1)$, $O(\log n) \cap ω(1)$, $\tilde Θ(\sqrt{n})$, or $Θ(n)$. In the agnostic setting, the minimax regret is $\tilde Θ(\sqrt{n})$ or $Θ(n)$, depending on the VC dimension.

cs.LG

新论文 · v1arXiv:2611.06674

AgentTrustCI: Build-Time Policy, Grounding, and Trajectory Tests for Java LLM Agents

Sachin Gupta

原文摘要

Infrastructure security does not establish whether an LLM agent selected an allowed tool, grounded its answer in tool output, or followed a required workflow. AgentTrustCI is a Java/JUnit 5 framework that expresses these application-layer expectations as policy, grounding, and trajectory checks over recorded traces. A deterministic replay implementation supports repeatable build-time tests; a judge interface provides an extension point for optional semantic evaluation. On 55 synthetic cases spanning seven enterprise domains, the full pipeline correctly classifies all 30 injected faults and 25 passing controls, including ten non-trivial controls, and misses none of 12 designated critical cases. Each single-layer configuration correctly classifies 35 cases because the corpus deliberately isolates ten faults per layer. A grounded answer obtained through a disallowed sequence illustrates the additional coverage of trajectory checks. Repeated measurements quantify validator execution separately from process startup and reporting. These results establish coverage of the authored regression suite, not production accuracy. We describe a production-trace validation protocol, optional LLM-judge integration, and maintenance of expectations as workflows evolve. The contribution is a practical pattern for expressing behavioral contracts within an existing Java release pipeline.

cs.SE · cs.AI

新论文 · v1arXiv:2611.06670

Polynomial-Time Differentially Private Synthetic Graph Release with Nearly-Linear Additive Error

Marek Eliáš, Gautam Kamath, Janardhan Kulkarni, George Z. Li, Jingcheng Liu, Sepideh Mahabadi, Pan Peng, Jakub Tarnawski 等 10 位作者

原文摘要

We give a polynomial-time $(\varepsilon, δ)$-edge-differentially private algorithm that releases a synthetic graph approximately preserving all cut values of a nonnegative weighted input graph $G$. Our algorithm outputs a nonnegative weighted graph $H$ such that, with probability at least $1-β$, simultaneously for all $S\subseteq V$, \[ \left|w_G(S,V\setminus S)-w_H(S,V\setminus S)\right| \leq γw_G(S,V\setminus S) + O\left(\frac{n}{γ\varepsilon} \log^7 \frac{n}{δβγ\varepsilon}\right). \] For fixed $γ, \varepsilon$ and $δ= β= n^{-10}$, the additive error is $n \operatorname{polylog} n$, improving upon the previous efficient bound of $n^{13/12 + o(1)}$. Furthermore, we establish an $Ω(n/γ\varepsilon)$ lower bound for the relevant parameter regime, showing that our result is tight up to polylogarithmic factors. Our algorithm uses a log-det-regularized SDP to generate fractional queries for multiplicative-weights updates and certify accuracy for all cuts. The privacy analysis charges privacy loss only fractionally per mechanism call, based on the amount of mass on edge coordinates retired from subsequent iterations. Our synthetic graph release yields improved error bounds for several downstream tasks in private graph analysis including correlation clustering, Max-Cut, Max-$k$-Cut, constrained cut problems and hierarchical clustering. Most notably, for unweighted complete-graph correlation clustering, we achieve the optimal $\widetilde O(n)$ additive error while reducing the best previously known approximation ratio for this additive error from several thousand to $1.387$. We also provide a formalization of our results in Lean.

cs.DS · math.ST

版本更新 · v2arXiv:2512.20270

Optimality-Informed Neural Networks for Solving Parametric Optimization Problems

Matthias K. Hoffmann, Amine Othmane, Kathrin Flaßkamp

原文摘要

Many engineering tasks require solving families of nonlinear constrained optimization problems, parametrized in setting-specific variables. This is computationally demanding, particularly if solutions have to be computed across strongly varying parameter values, e.g., in real-time control or for model-based design. Thus, we propose to learn the mapping from parameters to the primal optimal solutions and to their corresponding duals using neural networks, giving a dense estimation in contrast to gridded approaches. Our approach, Optimality-Informed Neural Networks (OptINNs), combines (i) a KKT-residual loss that penalizes violations of the first-order optimality conditions under standard constraint qualification assumptions, and (ii) problem-specific output activations that enforce simple inequality constraints (e.g., box-type/positivity) by construction. This design reduces data requirements, allows the prediction of dual variables, and improves feasibility and closeness to optimality compared to penalty-only training. Taking quadratic penalties as a baseline, as previously proposed for this problem class in the literature, our method simplifies hyperparameter tuning and attains tighter adherence to optimality conditions. We evaluate OptINNs on different nonlinear optimization problems ranging from low to high dimensions and compare them with equally sized neural networks trained using the quadratic-penalty method. On small problems, OptINNs match a quadratic-penalty baseline in primal accuracy while additionally predicting dual variables with low error. On larger problems, OptINNs achieve lower constraint violations, lower primal error, and lower errors in the predicted costs. These results suggest that embedding feasibility and optimality into the network architecture and loss can make learning-based surrogates more accurate, feasible, and data-efficient for parametric optimization.

math.OC · cs.LG

版本更新 · v3arXiv:2605.06395

Consistent Geometric Deep Learning via Hilbert Bundles and Cellular Sheaves

Kartik Tandon, Julian Gould, Tanishq Bhatia, Francesca Dominici, Alejandro Ribeiro, Claudio Battiloro

原文摘要

Modern deep learning architectures increasingly contend with sophisticated signals that are natively infinite-dimensional, such as time series, probability distributions, or operators, and are defined over irregular domains. Yet, a unified learning theory for these settings has been lacking. To start addressing this gap, we introduce a novel convolutional learning framework for possibly infinite-dimensional signals supported on a manifold. Namely, we use the connection Laplacian associated with a Hilbert bundle as a convolutional operator, and we derive filters and neural networks, dubbed as \textit{HilbNets}. We make HilbNets and, more generally, the convolution operation, implementable via a two-stage sampling procedure. First, we show that sampling the manifold induces a Hilbert Cellular Sheaf, a generalized graph structure with Hilbert feature spaces and edge-wise coupling rules, and we prove that its sheaf Laplacian converges in probability to the underlying connection Laplacian as the sampling density increases. Notably, this result is a generalization to the infinite-dimensional bundle setting of the Belkin \& Niyogi \cite{BELKIN20081289} convergence result for the graph Laplacian to the manifold Laplacian, a theoretical cornerstone of geometric learning methods. Second, we discretize the signals and prove that the discretized (implementable) HilbNets converge to the underlying continuous architectures and are transferable across different samplings of the same bundle, providing consistency for learning. Finally, we validate our framework on synthetic and real-world tasks. Overall, our results broaden the scope of geometric learning as a whole by lifting classical Laplacian-based frameworks to settings where the signal at each point lives in its own Hilbert space.

cs.LG · cs.AI · eess.SP

新论文 · v1arXiv:2611.06665

To lift or not to lift: Operator inference for nonlinear PDEs with boundary control

Zhuoyuan Wang, Yorie Nakahira, Wael H. Ali, Saviz Mowlavi

原文摘要

Operator inference (OpInf) provides a nonintrusive framework for learning projection-based reduced-order models directly from data, but its standard formulations do not explicitly account for the fact that boundary actuation changes the admissible solution space of a PDE. This paper develops and evaluates a boundary-consistent, lifting-based OpInf formulation for nonlinear PDEs with time-varying inhomogeneous boundary conditions. The proposed approach decomposes the state into a known lifting component that satisfies the prescribed boundary conditions and a homogeneous component represented in a POD basis. Substituting this decomposition into the governing dynamics reveals a boundary-consistent reduced model structure in which the learned dynamics includes bilinear state-input and quadratic input-input interactions for quadratically nonlinear PDEs. The resulting operators are inferred from data, preserving the nonintrusive character of OpInf while guaranteeing boundary condition satisfaction by construction. Numerical experiments on boundary-actuated heat, Burgers, and lid-driven cavity problems show that the lifted formulation improves boundary compliance and can enhance prediction accuracy, solver stability, and computational efficiency, although these gains vary across problems and reduced model dimensions. Overall, this study establishes lifting as a principled extension of OpInf for boundary-actuated PDEs, clarifies when and how this formulation improves performance, and indicates that standard OpInf can remain an effective alternative in certain regimes.

math.NA · cs.CE · eess.SY

新论文 · v1arXiv:2611.06664

CardioDrift: Automatic Cardiac Motion Tracking on a 3D Atlas Mesh via Shape-aware Coherent Point Drift with Slice Shift Correction

Reza Akbari Movahed, Abuzar Rezaee, Shatha Alamri, Edmond S. L. Ho, Fani Deligianni, Ali Gooya

原文摘要

Automatic cardiac motion tracking from cine cardiac magnetic resonance (CMR) imaging is essential for quantifying myocardial motion abnormalities associated with cardiovascular disease. Existing methods fall into two groups: those that represent motion without anatomical correspondence across subjects and therefore limit inter-subject motion assessment; and those that represent motion with globally corresponding points, which typically require a time-consuming and error-prone semi-automatic step to fit a cardiac atlas to the subject space. To address these limitations, this study proposes CardioDrift, a fully automatic, atlas-based probabilistic framework that represents subject-specific cardiac motion on a 3D atlas mesh with globally corresponding points. The Coherent Point Drift (CPD) formulation is generalised to jointly register the atlas surfaces of multiple cardiac regions to the anatomically corresponding contours extracted from cine CMR segmentation maps throughout the cardiac cycle. Slice-shift correction is embedded in the same probabilistic model, estimating slice-wise translations that suppress the misalignment artefact limiting atlas-fitting accuracy. Evaluation on 1301 randomly selected UK Biobank subjects and the M&M dataset, CardioDrift attains Dice similarity coefficients (DSCs) of $92.23\pm8.70\%$, $82.11\pm7.56\%$, and $88.69\pm4.13\%$ for the left ventricle (LV), myocardium (Myo), and right ventricle (RV), exceeding the strongest baseline on every distance and overlap metric of both datasets.

cs.CV

版本更新 · v2arXiv:2512.14189

SUPER - Sensitivity-based Uncertainty-aware Performance and Risk Assessment in Visual Inertial Odometry

Johannes A. Gaus, Daniel Häufle, Woo-Jeong Baek

原文摘要

This paper presents SUPER (Sensitivity-based Uncertainty-aware PErformance and Risk assessment), a bounded controller that adapts visual measurement information in visual-inertial odometry at runtime. Building on multi-view landmark dispersion from stereo observations, SUPER projects track consistency into pixel space and combines it with the reprojection residual to gate a temporally smoothed, bounded information update. Because the controller operates inside nondeterministic optimizers, we additionally propose an action-verification protocol based on factor-level logs, inactive-instrumented controls, and same-linearization replay. We evaluate SUPER in Ceres and g2o backends on EuRoC, TUM-VI, UMA-VI, and TartanAir under controlled visual corruptions, with a frozen policy and prospective confirmation. SUPER is computationally efficient and selectively active, but does not establish a general accuracy improvement: all 13 split-level confidence intervals cross zero, and effects are heterogeneous across corruption families. The action-verification protocol reliably distinguishes controller-induced state changes from solver variability.

cs.RO

版本更新 · v2arXiv:2609.00489

A hybrid quantum-classical neural network for learning to route

Marcus Rolf Peter Ritt, Alexsandro Santos da Rosa Júnior, Marcos Vinicius Reballo, Cesar Augusto do Amaral, Fernando Augusto Caletti de Barros

原文摘要

This work studies hybrid quantum-classical neural networks for learning routing heuristics. Specifically, this paper asks whether small quantum neural networks can replace parameter-heavy modules inside a competitive attention-based routing model while maintaining solution quality. For the capacitated vehicle routing problem, encoder feed-forward replacement emerges as the most promising design: it reduces the number of model parameters by 56.6% while keeping the hybrid model close to the classical neural baseline at small and medium instance sizes, although the gap grows for larger instances. This work also compares to classical routing algorithms, which remain highly competitive and often superior on the fixed Euclidean test sets. Our results therefore do not indicate quantum advantage or solver dominance, but identify encoder feed-forward replacement as a viable hybrid-module compression strategy for neural combinatorial optimization.

cs.LG · quant-ph

新论文 · v1arXiv:2611.06662

Where Search Agents Go Off the Rails: Graph-Grounded Step-Level Verification

Hyeseo Jeon, Seonho Yoo, Jay-Yoon Lee

原文摘要

Search-augmented reasoning systems can reach correct answers while making errors in intermediate steps. Reliable auditing must check whether evidence $D$ covers the question $Q$, reasoning $T$ addresses $Q$, and $T$ is grounded in $D$. We introduce GraphRail, which represents requirements, evidence, and reasoning as structured claims and compares them without a generative judge or gold answer. Across three multi-hop QA benchmarks and three reasoning frameworks, GraphRail improves error recall over generative verifiers while remaining stable under stochastic extraction. Its diagnoses can also guide online reasoning, providing a traceable way to detect and correct intermediate errors.

cs.AI

新论文 · v1arXiv:2611.06661

Fingerprinting the Dispatchers behind Distributed Model Extraction

Snigdha Chandan Khilar

原文摘要

API distillation campaigns try to hide model-stealing traffic by splitting requests across thousands of load-balanced accounts, which standard content classifiers often miss. However, request timestamps, specifically arrival time and stream completion time, reveal the underlying dispatching strategy, such as round-robin counters or key-shuffling pools. Using a 20 percent seed set, this timing analysis can forensically rank the remaining accounts of a campaign with 0.92 to 1.00 AUC within 20 minutes, even across thousands of real production accounts. While adaptive attackers struggle to hide rotating dispatchers using jitter, pinning keys successfully evades detection, though it can severely throttle throughput when quotas bind. Ultimately, timing exposes shared infrastructure patterns even when content filters fail.

cs.LG

新论文 · v1arXiv:2611.06660

Perceived Trust and Transparency in AI-Altered vs. Human-Written LinkedIn Posts

Thomas Christian Joos, Azza Bouleimen, Anikó Hannák, Nicolò Pagan

原文摘要

People increasingly draft a social media post themselves and then let an AI model refine it (AI-altered), a common but understudied middle case between fully human-written and fully AI-generated content. We ask whether this changes how trustworthy and transparent readers perceive the post to be, and whether they can even tell. We first analyze real ChatGPT conversations (WildChat) to find how people actually alter social media posts, which we use to design realistic alteration prompts. We then run a pre-registered, within-subjects online experiment (n=214) in which participants rate unlabeled human-written and AI-altered LinkedIn-style posts for perceived trustworthiness and transparency, and separately judge whether each post was AI-altered. We find that AI-alteration itself has no detectable effect on either perceived trustworthiness or transparency (both estimates near zero, not significant). At the same time, readers did not reliably detect AI-alteration (49\% accuracy, near chance) and defaulted to assuming human authorship when unsure. However, our analysis shows significant differences in transparency and trustworthiness ratings across the specific post, the AI model, as well as the prompt used to alter it. For instance, more detailed prompts raise both perceived trustworthiness and transparency but also make the alteration more detectable. Surprisingly, the prompt that shifted ratings most also asked the model to add one new idea absent from the original post: readers nonetheless rated this AI-invented, unverifiable content as more trustworthy and transparent.

cs.HC

新论文 · v1arXiv:2611.06658

The determinantal complexity of the 4*4 permanent is 15

Karthik Sheshadri

原文摘要

The best known lower bound on the determinantal complexity of the 4x4 permanent is 10. In this short note, I prove that this value is exactly 15: the 4x4 permanent is the determinant of a 15x15 matrix of affine linear forms, and cannot be that of any smaller matrix. To do so, I must establish both a lower and upper bound. To establish the upper bound, I use Grenet's construction of size 2^n-1. Hence that construction is optimal at n=4 (and n=3). This now constitutes the first knwon exact value of the determinantal complexity of the permanent at n=4. Only the value at n=3 was exactly known, prior to this note. The general quadratic bound only gives 8 for n=4. To establish the lower bound, I work from a normal form at a zero of the permanent. In the first row (and column) of the normal form, the linear forms vanish on a linear space inside the singular locus of the permanent. A hessian inequality bounds the size of the matrix in terms of that space. Then, a matrix of sie 14 foces the space into any of nine corordinate types. The forcing is either up to symmetry, or else into a family that degenerates to one of them. I then rule out every case. All involved computations are exact. In respect of the claim, I have made all certificates public.

cs.CC

版本更新 · v3arXiv:2602.04093

Federated Concept-Based Models: Interpretable models with distributed supervision

Dario Fenoglio, Arianna Casanova, Francesco De Santis, Gabriele Dominici, Johannes Schneider, Pietro Barbiero, Giovanni De Felice, Marc Langheinrich 等 9 位作者

原文摘要

Concept-based Models (CMs) enhance interpretability in deep learning by grounding predictions in human-understandable concepts. However, concept annotations are costly and rarely available at scale within a single data source. Federated Learning (FL) could alleviate this limitation by enabling cross-institutional training over concept annotations distributed across multiple data owners. Yet, FL lacks interpretable modeling paradigms. Integrating CMs with FL is non-trivial: although FL supports heterogeneous and non-stationary client participation, it typically assumes a fixed shared architecture, whereas CMs may require architectural adaptation as the available concept set evolves. We propose Federated Concept-based Models (F-CMs), a new methodology for deploying CMs in evolving FL settings. F-CMs aggregate concept-level information across institutions and efficiently adapt the model architecture to changes in concept supervision while preserving privacy. Empirically, F-CMs maintain accuracy and intervention effectiveness comparable to training settings with full concept supervision, while outperforming on average non-adaptive federated baselines. Notably, F-CMs enable interpretable inference on concepts unavailable to a given institution, a key novelty over existing approaches.

cs.LG

新论文 · v1arXiv:2611.06657

Approximating #BIS in $\exp(\widetilde O(n^{1/3}))$ Time

Jingcheng Liu, Yitong Yin

原文摘要

We give randomized algorithms for approximately counting and nearly uniformly sampling independent sets in arbitrary bipartite graphs (#BIS). At fixed accuracy, both algorithms run in $\exp(O(n^{1/3}\log^{4/3}n))$ time on $n$-vertex graphs. More generally, the same running-time dependence on the number of variables holds for approximate counting and sampling with efficiently evaluable positive log-supermodular weights on Boolean variables. A weighted Sinclair-Jerrum walk on the self-reduction tree reduces these tasks to coarse lower estimates of residual log-partition functions. We obtain these estimates by optimizing a concave relaxation of an exact variational principle on the tree; threshold smoothing certifies that the low-degree search suffices.

cs.DS

版本更新 · v2arXiv:2610.40902

FlapSim: A Composable MuJoCo Simulation Platform and Reduced-Order Aerodynamic Model Hierarchy for Flapping-Wing Robotics

Mingshan He

原文摘要

Flapping-wing simulation need to reconcile high-frequency wingbeat aerodynamics with the slower dynamics relevant to flight control and reinforcement learning. We present FlapSim, a modular open-source MuJoCo simulation platform that combines robot descriptions, wing geometry, and composable aerodynamic models in a deterministic simulation pipeline. Across $48$ held-out scenarios spanning frequency, gimbal, wind, frequency-step, gust, and cross-robot flat-plate regimes, we compare five reduced-order configurations operating at $1\,\text{ms}$ with a $50\,μ\text{s}$ quasi-steady blade-element reference. The built-in hover cycle-averaged baseline achieves a $67.51\times$ CPU speedup but only $0.6593$ mean wrench fidelity. Combining multirate $21$-substep clock synchronization, three-dimensional linear/quadratic inflow and gust coupling, analytical blade-element geometry scaling, and phase-locked $1f\text{--}6f$ harmonics raises mean fidelity to $0.9646$ at a $65.19\times$ speedup in a five-block model. A streamlined four-block model without explicit step-transient lag states achieves $0.9662$ fidelity at a $67.98\times$ speedup. Controlled ablations show that stroke harmonics are particularly important during frequency transitions, improving held-out frequency-step fidelity by $+0.3176$. Transfer-function analysis explains this effect: fixed-window cycle averaging retains harmonic contributions when the wingbeat frequency changes, so within-cycle reconstruction also improves the filtered wrench. These results characterize the accuracy--computation tradeoff of the aerodynamic hierarchy and identify timing, inflow, geometry, and harmonic representation as central considerations for reduced-order flapping-wing simulation. The source code are available at: https://mingshanhe.github.io/FlapSim/\href{https://mingshanhe.github.io/FlapSim/}.

cs.RO

版本更新 · v2arXiv:2609.26617

MMAP: Multimodal Missing-Aware Pretraining for Longitudinal Alzheimer's Prediction

Fiona Kekwick, Matthew Baugh, Bernhard Kainz, Paul M. Matthews, Wenjia Bai

原文摘要

Clinical decision making heavily relies on predicting the disease progression trajectory by seeking to understand patient's health status which is characterised by multimodal medical data. AI holds great potential for learning useful representations from multimodal medical data to predict disease progression and aid clinical decision making. However, development of predictive AI models is constrained by missing modalities and incomplete tabular data frequently occurring in medical datasets. In addition, disease labels alone may only provide limited supervisory signals for learning representations from high-dimensional multimodal data. Here, we present MMAP, a novel Multimodal Missing-aware Alignment Pretraining method for learning image-tabular representations from incomplete data. An image encoder is pretrained with efficient sigmoid contrastive learning combined with generative reconstruction. A tabular encoder is built upon a tabular foundation model. A missing token generator enables the two encoders to take incomplete data as input, enabling the model to be robust against missing modalities, either with missing images or missing tabular data. We evaluate the clinical usefulness of the learnt multimodal representations on two challenging longitudinal clinical tasks for Alzheimer's disease: predicting disease stage conversion and predicting amyloid status. The proposed method outperforms strong multimodal and unimodal baselines.

cs.CV · cs.LG

新论文 · v1arXiv:2611.06654

Compounding Physical RSI: Turning Execution Failure into Inherited Capability

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

原文摘要

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

cs.RO

新论文 · v1arXiv:2611.06653

Detecting Silent Action-Interface Mismatch with Calibrated Relational World Models

Rui Zhu, Xurui Li, Haixu Tang

原文摘要

A robot action can satisfy shape and range constraints yet carry the wrong semantics: axes may be permuted, signs inverted, rotations rescaled, or gripper polarity reversed. We study learned state-action-effect relations as offline contracts for detecting these mismatches and ranking their likely fields. Clean held-out transitions calibrate alarms; a fixed inverse vocabulary supports closed-set localization. On ten LIBERO Spatial tasks comprising 432 source episodes, a capacity-controlled comparison at 2.5% empirical clean false-positive rate gives 46.1% recall for a ridge forward residual, 61.0% for a four-component joint Gaussian mixture, and 65.7% for the exact conditional of that same mixture. The joint score retains a 14.9 percentage-point advantage over ridge, while conditioning improves recall by a further 4.7 points. Joint scoring instead has higher localization: 95.8% versus 94.6%. These matched-rate comparisons are retrospective diagnostics, not deployment calibration guarantees. Earlier Object/Goal results broaden tasks within the LIBERO convention; DROID, all three HYDRA tasks, short temporal faults, small offsets, exact repair, and simulated mitigation fail their respective gates, while xArm contributes one task only. The evidence supports a bounded offline diagnostic and a detection-localization tradeoff, rather than joint-density superiority or cross-robot safety.

cs.RO · cs.LG

新论文 · v1arXiv:2611.06652

Dynamical State-Space Diffusion for Spatiotemporal Prediction

Woojun Lee, Hankyeol Kim, Pilsung Kang

原文摘要

Diffusion models for temporal prediction typically corrupt each future frame with independent noise, leaving temporal dependence entirely to the denoiser. We propose Dynamical State-Space Diffusion (DSSD), which learns the temporal structure of the corruption process itself. DSSD builds a temporal kernel from the damped oscillatory modes of a stable diagonal state-space model, whose learned decay rates and frequencies let the corruption capture multiple timescales and oscillatory correlations, while the denoiser architecture remains unchanged. Running this model on a finite clip, however, requires the state before the first frame, which is unobserved; starting from a zero state leaves the early frames with less noise than the diffusion schedule prescribes. We avoid this by using the Cholesky factor of the model's stationary covariance as the temporal operator. We prove that this operator is causal, exactly invertible, keeps each frame's noise variance equal to that of standard diffusion, and reduces to the identity at the clean end of the process, and that it is exactly the Kalman innovations form of the state-space model. The denoiser is trained to predict the temporally correlated noise, and sampling removes and reapplies the temporal mixing at each step. On scientific-field and robot-video datasets, DSSD outperforms diffusion baselines that share its denoiser, and the evolution of its learned modes during training shows that the temporal operator adapts to each dataset.

cs.CV

新论文 · v1arXiv:2611.06649

SCRUB: Contact-Based Surface-Frame Estimation for Force-Motion Control with an Armless Quadruped

Sourav Selvaraj, Juan Pablo Espinosa Chessal, Mahdi Agheli

原文摘要

Wiping, sanding, and inspection robots press a sliding tool on a surface with controlled force. Controlling that force needs the surface normal, which is unknown on real-world, unmapped surfaces. Surface-normal estimators can help estimate the surface normal, but they either need a friction model or assume that the instantaneous tool velocity lies along the surface; however, walking violates this assumption. We propose SCRUB, a contact-based surface-frame estimator, which lets an armless quadruped slide a body-mounted tool along near-vertical surfaces in the absence of known, axis-aligned, or vision-predicted normals. SCRUB's predictive controller presses and slides the tool using a Kalman-filter estimate of the normal from two cues: 1) A force cue measures the estimate's tilt across the motion. If friction directly opposes the motion, the cue is zero exactly when that tilt is zero, for any friction coefficient. However, if the cue's sliding direction is wrong, friction appears as a false tilt. 2) A velocity cue measures tilt along the motion. Walking and pressing move the tool in and out. SCRUB therefore subtracts the commanded press rate from the tool velocity, averages the result over each gait cycle, and treats this mean as lying along the surface. On Unitree Go1 hardware at nominal speed and load, SCRUB completed every wall traverse and column orbit. No orbit completed with either cue removed, without gait averaging, or with a fixed normal.

cs.RO

版本更新 · v2arXiv:2610.20590

Feed-Forward Multi-View Feature Coding for 3D Gaussian Splatting

Seungmi Choi, Ji-Hyoun Choi, Suhyun Jo, Tae-Gwon Park, Hui Yong Kim

原文摘要

Feed-forward 3D Gaussian Splatting (3DGS) methods enable efficient reconstruction of 3D scenes from sparse multi-view images in a single forward pass, without scene-specific optimization. However, existing feed-forward scene-coding pipelines follow a "generate-then-compress" framework, first generating a Gaussian representation and then encoding its geometry and appearance through separate coding paths, complicating codec design and limiting the exploitation of cross-attribute redundancy. We propose multi-view feature coding for Gaussian splatting (MFGS), an end-to-end feed-forward framework for scene coding. Instead of compressing an explicit Gaussian representation, MFGS extracts multi-view features from the input images and encodes them into a compact bitstream. Through end-to-end rate-distortion training, MFGS learns a compact latent representation of multi-view features that jointly represents geometry and appearance, enabling the receiver to predict Gaussian attributes from the decoded features. We further introduce importance-guided Gaussian selection to accommodate different rendering budgets, allowing the receiver to adjust the number of Gaussians used for rendering from the same bitstream. Across RE10K, ACID, and DL3DV, MFGS achieves 99.76-99.86% bitrate savings over the generate-then-compress pipeline, as measured by BD-rate, while reducing total GMACs by 52-55% and providing an approximately 12 times end-to-end speedup.

cs.CV

版本更新 · v2arXiv:2510.27428

Learning Soft Robotic Dynamics with Active Exploration

Hehui Zheng, Bhavya Sukhija, Chenhao Li, Klemens Iten, Andreas Krause, Robert K. Katzschmann

原文摘要

Soft robots offer adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control difficult. Existing data-driven approaches often fail to generalize, constrained by narrowly focused task demonstrations or inefficient random exploration. We introduce an uncertainty-aware active exploration framework that autonomously learns task-agnostic and generalizable dynamics models of soft robotic systems. We evaluate this framework on three simulated platforms---a continuum arm, an articulated fish in fluid, and a musculoskeletal leg---and on a real-world pneumatically actuated continuum arm. Compared with random exploration and task-specific baseline, our method achieves higher modeling accuracy by actively collecting informative data. This improved model quality yields higher returns in zero-shot control on unseen tasks and robust performance under sensing noise, actuation delays, and material nonlinearities. These results demonstrate that uncertainty-driven active exploration enables data-efficient dynamics learning across soft robotic morphologies, supporting autonomous and adaptable control for compliant robots.

cs.RO · cs.AI

版本更新 · v4arXiv:2508.19008

Computational Phenomenology of Borderline Personality Disorder: A Comparative Evaluation of LLM-Simulated Expert Personas and Human Clinical Experts

Marcin Moskalewicz, Anna Sterna, Karolina Drożdż, Kacper Dudzic, Marek Pokropski, Paula Flores

原文摘要

Building on a human-led thematic analysis of clinical life-story interviews (> 150,000 words) with inpatients with Borderline Personality Disorder, this study examines the capacity of large language models (OpenAI's GPT, Google's Gemini, and Anthropic's Claude) to support qualitative clinical analysis. The models' interpretative potential was evaluated using a mixed-methods approach. Study A involved blinded and non-blinded judges in phenomenology and clinical psychology. The experts assessed the validity of AI-generated content using semantic congruence, Jaccard coefficients, and multidimensional validity ratings, including credibility, coherence, the substantiveness of results, and grounding in qualitative data. In Study B, neural methods were used to embed human- and model-generated theme descriptions in a multidimensional vector space. This approach provided an objectified computational measure of the difference between human and model semantics and linguistic style. In Study C, complementary non-expert evaluations were conducted (N=115) to examine the influence of thematic verbosity on the perception of human authorship and content validity. Overall, the results of AI analysis showed a highly variable overlap (0-58%) with the human interpretation, while all models identified themes originally omitted by human researchers, proving their capacity to mitigate human bias. At the thematic level, external evaluators were unable to reliably distinguish human-authored themes from those generated by AI. In terms of content validity assessed against raw data by high-level experts in the blinded mode, the performance of Gemini 2.5 Pro was indistinguishable from that of humans. The comparison of semantic vector embeddings showed that its style was also the closest to humans.

cs.AI · cs.CL

新论文 · v1arXiv:2611.06642

Tight bounds for fractional and randomized truthful scheduling

Georgios Anastasiadis, George Christodoulou, Elias Koutsoupias, Annamaria Kovacs, Conrad Schecker

原文摘要

We resolve one of the longest-standing open problems in algorithmic mechanism design by showing that randomization cannot yield a sublinear approximation for truthful scheduling on unrelated machines, even when truthfulness is required only in expectation. Our main technical result concerns fractional scheduling, where tasks may be split among machines. We prove that every deterministic truthful fractional mechanism on $n$ unrelated machines has worst-case approximation ratio at least $(n+1)/2$, even against the optimal integral makespan. This matches the known upper bound exactly and settles the optimal approximation ratio of truthful fractional scheduling. Since the expected allocations and payments of a truthful-in-expectation mechanism define a truthful fractional mechanism, the same lower bound applies to all truthful-in-expectation mechanisms and, in particular, to all universally truthful mechanisms. On the positive side, we give a universally truthful mechanism with approximation ratio $n/2+o(n)$. Together, these results establish the optimal leading constant $1/2$ for randomized truthful scheduling. Thus, randomization improves on the optimal deterministic approximation ratio by an asymptotic factor of two, and no more.

cs.GT