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版本更新 · v2arXiv:2606.05516

Dominant-Layer ZO: A Single Layer Dominates Zeroth-Order Fine-Tuning of LLMs

Wanhao Yu, Ziyan Wang, Zheng Wang, Abeer Matar Almalky, Yihang Zuo, Shuteng Niu, Sen Lin, Adnan Siraj Rakin 等 10 位作者

原文摘要

Zeroth-order (ZO) optimization enables memory-efficient fine-tuning of large language models (LLMs) using only forward passes, but it remains unclear how useful adaptation is distributed across layers. In this work, we reveal a surprising phenomenon: ZO fine-tuning is sharply dominated by a single decoding layer. Across multiple LLM families and downstream tasks, fine-tuning this dominant layer alone consistently matches or even exceeds full-model ZO fine-tuning. We further show that the dominant layer is task-agnostic but model-specific, and can be identified before training through a simple inference-only analysis of activation outliers. Specifically, the dominant layer consistently aligns with the first activation-outlier layer in the pre-trained model. To explain this phenomenon, we analyze how perturbation effects propagate under ZO optimization. We find that the dominant layer combines two key properties: high perturbation sensitivity and early placement in the residual stream, allowing perturbation-induced effects to propagate and accumulate through remaining subsequent decoding layers. As a result, this layer produces disproportionately strong and stable optimization signals under forward-only updates. Extensive experiments on LLaMA2-7B and Qwen3-8B across nine benchmarks show that dominant-layer ZO fine-tuning improves average performance over full-model MeZO and LoRA-based ZO fine-tuning while achieving up to 4.52$\times$ training speedup.

cs.LG

版本更新 · v5arXiv:2605.11651

Hide to See: Reasoning-prefix Masking for Visual-anchored Thinking in VLM Distillation

Seonghoon Yu, Dongjun Nam, Byung-Kwan Lee, Jeany Son

原文摘要

Recent think-answer approaches in VLMs, such as Qwen3-VL-Thinking, boost reasoning performance by leveraging intermediate thinking steps before the final answer, but their computational cost becomes substantial, especially for larger VLMs. To distill such capabilities into compact think-answer VLMs, a primary objective is to improve the student's ability to utilize visual evidence throughout its reasoning trace, as long think-answer traces suffer from visual forgetting issues. To this end, we introduce a novel think-answer distillation framework that encourages the student to anchor its thinking on visual information by masking the student's salient reasoning prefixes. To compensate for such masked textual cues, the student is encouraged to rely more on visual evidence as an alternative source of information during distillation. Our masking strategies include: 1) token-wise salient reasoning-prefix masking, which masks high-influence reasoning prefixes selectively for each next-token prediction, and 2) self-paced masking budget scheduling, which gradually increases the masking scale according to distillation difficulty, measured by the discrepancy between teacher--student distributions. In the distillation phase, the student is guided by our salient reasoning-prefix mask, which blocks both future tokens and salient reasoning cues, in place of the standard causal mask used for auto-regressive language modeling. Experimental results show that our approach outperforms recent open-source VLMs, VLM distillation, and self-distillation methods on multimodal reasoning benchmarks, while further analyzes confirm enhanced visual utilization along the student thinking process.

cs.CV · cs.AI · cs.CL

新论文 · v1arXiv:2611.09145

Augmentron: Scalable Multi-View Visual Augmentation for Robot Learning

Tanay Tandon, Aseem Doriwala, Jade Choghari, Catherine Weaver, Pragna Mannam

原文摘要

Robot policies trained on visually narrow demonstrations can become sensitive to environmental features that are unrelated to the task. Existing generative augmentation methods can introduce visual diversity, but processing every frame and camera view independently is computationally expensive and may produce inconsistent observations across cameras and timestamps. We introduce Augmentron, a geometry-aware pipeline that generates reusable scene representations and renders them through recorded camera poses. This produces temporally and multi-view consistent environ- ment and workspace variations while preserving the robot, task objects, actions, and annotations. Across three physical manipulation tasks, replacing half of the real world training dataset with Augmentron data improves model success across three tasks for both in out-of-distribution distractor objects, and out-of-distribution workspace variation evaluations. In a separate comparison against alternate augmentation techniques, Augmentron achieves the highest pooled success in all three conditions. The results show that introducing augmented data to a data training recipe can help policies generalize to dynamic real-world settings.

cs.LG · cs.RO

新论文 · v1arXiv:2611.09142

Learning Generative Dynamics for 3D Molecule Generation via Sequential Neuro-Symbolic Constraints

Zhuoran Li, Xu Sun, Chang Wen Chen, Wanyu Lin

原文摘要

Diffusion models have recently emerged as a powerful paradigm for generating 3D molecules. Despite showing remarkable promise, they learn atomic distributions implicitly from data, without explicitly encoding physicochemical rules into their generative dynamics. Consequently, generated samples can be statistically plausible yet chemically invalid. To address this problem, we propose Sequential Neuro-Symbolic Constrained Diffusion (SensDiff), a framework that integrates symbolic rules into generative modeling, enabling the model to internalize scientific priors during training. Central to SensDiff is the observation that the diffusion trajectory of 3D molecule generation exhibits a coarse-to-fine evolution: valid molecules arise by first mitigating macroscopic geometric conflicts and then refining structures toward microscopic chemical consistency through iterative denoising. Accordingly, SensDiff mirrors this dynamic by sequentially enforcing constraints with adaptive weighting during training, progressively steering generation toward valid molecular geometries. Moreover, SensDiff translates domain knowledge into interpretable generative controls, grounding opaque neural denoising in scientific principles. Experiments on molecular benchmarks and real-world constrained generation tasks confirm that SensDiff consistently improves chemical validity while adhering to physicochemical rules and user-specified targets. The code is publicly available at https://github.com/WanyuGroup/NeurIPS2026_SensDiff.

cs.LG · cs.AI

版本更新 · v5arXiv:2511.21638

Iterative Policy Optimization: Batch-Online Multi-Turn RL via Single-Turn RL

Daniel R. Jiang, Ankur Samanta, Yukai Yang, Jalaj Bhandari, Rémi Munos, Tyler Lu

原文摘要

Practical LLM agents often operate over multi-turn conversations where success is determined only after the full interaction ends. Most multi-turn RL methods train via on-policy rollouts, but unlike in single-turn RL, the policy cannot produce a trajectory alone, since an external environment must respond after each agent turn. For conversational agents, this environment is a user, but real users are generally unavailable inside the training loop and simulated users are difficult to build faithfully. Separately, real-world deployment is rarely fully online or fully offline. The common production pattern is called batch online, where the current policy is deployed to collect a batch of interaction data, then retrained on that batch and redeployed. We show that this batch-online setting creates an opportunity for applying the classical approximate policy iteration algorithm. Our central observation is that running standard token-level, single-turn GRPO with a learned turn-level $Q$-function as the reward model is a policy improvement step for the multi-turn problem. Building on this, we present Iterative Policy Optimization (IterPO), which alternates between fitting $Q^π$ from logged Monte Carlo returns via standard reward modeling (policy evaluation) and running single-turn GRPO against $Q^π$ (policy improvement). During policy improvement, the learned $Q^π$ scores candidate responses by their expected downstream return, avoiding the need for simulator rollouts of the remaining conversation. Overall, this allows us to do principled multi-turn RL using only single-turn RL methods without an interactive environment or user simulator inside the training loop. We demonstrate the effectiveness of IterPO on six multi-turn negotiation environments.

cs.LG

版本更新 · v3arXiv:2605.00020

AirFM-DDA: Air-Interface Foundation Model in the Delay-Doppler-Angle Domain for AI-Native 6G

Kejia Bian, Meixia Tao, Jianhua Mo, Zhiyong Chen, Leyan Chen

原文摘要

The success of large foundation models is catalyzing a new paradigm for AI-native 6G network design: wireless foundation models for physical-layer design. However, existing models often operate on channel state information (CSI) in the spatial-temporal-frequency (STF) domain, where multipath components are superimposed and structurally entangled. This hinders the learning of a universal channel representation. Their reliance on global attention also incurs prohibitive overhead. In this paper, we propose AirFM-DDA, an Air-interface Foundation Model in the Delay-Doppler-Angle (DDA) domain. AirFM-DDA reparameterizes CSI into the DDA domain to resolve multipath components along physically meaningful axes and employs window-based attention with frame-structure-aware positional encoding. Extensive experiments demonstrate transferability across scenarios, tasks, datasets, and antenna configurations. For channel prediction and estimation, AirFM-DDA generalizes zero-shot to unseen cities, achieving average normalized mean-square error (NMSE) gains of 4.9-8.5 dB over the strongest baselines. With only 10% labeled data, it achieves average gains of 12.0 percentage points in Top-1 accuracy for beam prediction and 3.4 percentage points in F1 score for line-of-sight (LoS) identification. It further transfers across simulated datasets and adapts to measured data and different antenna arrays. Compared with global attention, window-based attention reduces training and inference costs by nearly an order of magnitude.

cs.LG · cs.AI · cs.IT · eess.SP

新论文 · v1arXiv:2611.10062

REFORM-3D: A Representation-Centric Evaluation Framework for 3D Medical Vision Foundation Models

Maregu Assefa, Muzammal Naseer, Divya Velayudhan, Gedamu Alemu Kumie, Naoufel Werghi

原文摘要

Evaluation of 3D medical foundation models is typically dominated by downstream task scores, which entangle representation quality with adaptation choices. This is especially critical in volumetric imaging, where spacing and anisotropy can substantially alter image statistics while the anatomy itself remains unchanged. We therefore introduce \textbf{REFORM-3D}, a \textbf{R}epresentation-centric \textbf{E}valuation \textbf{F}ramew\textbf{OR}k for benchmarking frozen 3D medical vision foundation \textbf{M}odels across three questions: Acquisition Robustness, asking whether features remain stable when spacing varies while anatomy is fixed; Cross-Modal Anatomical Alignment, asking whether labeled anatomical structures remain recoverable across modalities under balanced bidirectional retrieval; and Anatomical Transfer, asking whether organ identity remains recoverable from limited labeled support under case-disjoint evaluation. These are also pretraining questions, because what a 3D encoder learns depends on how volumes are geometrically presented during self-supervised pretraining. We further introduce Med3DINO encoder family, pretrained on $62.6$K unlabeled MR, CT, PET, CTA, and CBCT volumes under three explicit geometric assumptions: isotropic normalization, voxel-relative sampling, and spacing-aware resampling. Across Med3DINO and heterogeneous external encoders, REFORM-3D reveals module-specific strengths rather than a single model ordering. Within the controlled Med3DINO comparison, voxel-relative sampling yields lower embedding drift, whereas spacing-aware resampling favors anatomical transfer; semantic-transfer advantages depend on the dataset and feature type. Project link: \href{https://endarzboy.github.io/reform3d-website/}{\highlightLR{REFORM-3D}}.

cs.CV

版本更新 · v2arXiv:2609.30967

MoMHa: Multi-Objective Optimization of LLM Harnesses over Accuracy, Safety, and Tokens

Subhojyoti Mukherjee, Md Mehrab Tanjim

原文摘要

Most work on improving large language models treats accuracy as the sole objective. We argue that the harness, the Python code surrounding the model that constructs prompts, routes calls, and parses outputs, is a first-class design surface whose quality is inherently multi-objective: an accurate harness that refuses no unsafe request, or that consumes an order of magnitude more tokens, is not a good harness. We present Meta-Harness, a system that casts harness design as search over three per-domain objectives (accuracy, behavioural safety, and token cost) solved by an agentic proposer (Claude Code) with full filesystem access to prior harness source, execution traces, and scoring artifacts. Our central finding is that a singlephase joint-reward proposer (MoMHa) outperforms every alternative, including a two-phase "accuracy then tokens" ablation, scalar-only feedback, and an accuracy-only baseline. We evaluate on seventeen domains: seven synthetic capability suites, seven real-world public benchmarks (HumanEval, MBPP, Spider, FEVER, MMLU-Pro, LawBench, NuminaMath), and three U-SafeBench-derived user-specific safety domains, using a 12-model fleet spanning four families. On the synthetic track MoMHa achieves a joint mean of 0.482 versus 0.198-0.422 for ten baselines, winning $7 / 10$ per-domain columns; on the real-world track it scores 0.461 versus 0.377 for the strongest baseline (DSPy), winning 5/7 columns, demonstrating that harness strategies transfer to unseen benchmarks without retraining on 8 of 12 target models. MoMHa attains the highest measured behavioral safety composite (U-SafeBench, 0.781) and uses 95 fewer tokens per example than the two-phase alternative. We will release all harness code, evaluation infrastructure, and crossmodel logs.

cs.AI

新论文 · v1arXiv:2611.09140

SPDMX: Large-Scale Open Stem Audio From Symbolic Music

Phillip Long, Eduardo Escoto, Julian McAuley, Zachary Novack

原文摘要

Large public datasets have driven recent progress in machine learning, from text and vision to speech and general audio. Music remains an outlier, as copyright blocks redistribution of training audio, while many modern tasks need individual stems rather than mixtures. Existing multitrack resources trade off realism, scale, and licensing, while synthetic alternatives rely on proprietary VSTs or naive open rendering that yields weak stems. We introduce SPDMX, a listening-guided rendering of public-domain PDMX scores into an openly-licensed stem corpus with aligned scores and an open render pipeline: $253{,}982$ songs, $490{,}159$ mono stems, and $5{,}469$ song-hours at $44.1$ kHz under CC BY 4.0, with paired MIDI and identifiers linking to PDMX metadata. $88{,}403$ songs ($34.8\%$; $2{,}734$ song-hours) provide multitrack supervision. To our knowledge, this is the largest openly-licensed synthetic multitrack subset by song-hours, enabling source separation, stem-conditioned synthesis, MIDI-to-audio, transcription, and joint symbolic-audio modeling. We release the corpus, metadata, and open pipeline for reuse on other symbolic collections. Demos and experimental notes are on the project page.

cs.SD · cs.AI · cs.LG · cs.MM · eess.AS

新论文 · v1arXiv:2611.09139

CARGO: Causal Attribution and Responsibility-Guided Preventive Safe Multi-Agent Reinforcement Learning for Cooperative Driving

Jingjia Teng, Yang Li, Wenjie Huang

原文摘要

This study presents Causal Attribution and Responsibility-Guided Optimization (CARGO), a multi-agent reinforcement learning framework for cooperative on-ramp merging in mixed traffic. A shared latent-context posterior and an action-conditioned response model estimate directed behavioral influence, with posterior uncertainty propagated into interaction-edge selection. Complementary attribution mechanisms couple signed influence with marginal team utility for cooperative reward shaping and assign responsibility from positive excess tail risk relative to a safe reference policy. Conditional diffusion generates future responses for action-dependent risk estimation. Responsibility-guided preventive optimization calibrates agent-specific risk-reduction requirements to local capacity within a policy trust region, using reserved safety margins, adaptive requirement scaling, and joint feasibility verification. Theoretical analysis establishes risk monotonicity and sufficient local conditions for non-decreasing environmental return under explicit assumptions. Experiments in highway-env across three traffic densities, together with controlled graph-recovery and attribution studies, support the effectiveness of the framework. Under high-density traffic, CARGO increases the success rate by 66.04\% and reduces the crash rate by 56.23\% relative to the best evaluated baseline for each metric.

cs.AI

新论文 · v1arXiv:2611.09138

Deep Learning Theory through the Lens of Statistical Physics: A Topical Review

Wei Huang, Youjin Deng

原文摘要

The recent success of foundation models and deep learning has far outpaced our theoretical understanding of how large-scale neural networks learn and generalize. Statistical physics provides a natural language for describing such high-dimensional, nonlinear, and strongly coupled systems, offering concepts such as mean-field theory, phase transitions, energy landscapes, and stochastic dynamics. In this topical review, we adopt a statistical-physics way of thinking -- from concepts including phases and criticality, and free-energy viewpoints, to methods such as kernel and Gaussian-process limits, mean-field and dynamical mean-field theories, random-matrix tools, and Fokker-Planck formalisms, and to a mindset emphasizing universality, scaling, and tractable limits with explicit validity regimes. We survey recent progress on understanding modern deep learning through this lens, including mean-field analyses of wide networks, spectral and geometric perspectives on loss landscapes, stochastic-gradient-based training viewed as a dynamical process, and phase-transition analogies that organize phenomena such as overparameterization, generalization, and representation change. Our goal is to synthesize these threads into a coherent framework that clarifies what each approximation explains, when it is expected to hold, and how apparently competing narratives relate or diverge. Together, these perspectives form a unified physical framework that views representation learning as a collective phenomenon in high-dimensional systems, bridging deterministic and stochastic regimes of gradient-based optimization.

cs.LG · cond-mat.stat-mech

新论文 · v1arXiv:2611.09133

DINO-Nucleus: Multi-Level Self-Supervised Features for Nucleus Instance Segmentation

Mohammad Sarhangzadeh, Elyar Esmaeilzadeh, Doruk Oner

原文摘要

Nucleus instance segmentation and counting are essential for quantitative microscopy, enabling reliable analysis of cell populations, tissue organization, and disease-related changes. However, accurately separating touching nuclei remains difficult, and many existing approaches rely on complex models or sensitive post-processing procedures. We present DINO-Nucleus, a parameter-efficient framework that leverages multi-level self-supervised DINOv2 representations for nucleus instance segmentation and counting. The model jointly predicts nucleus regions, pixel-wise instance flows, and explicit nucleus centers, while a consistency objective encourages the predicted flows to converge toward their corresponding centers. Multi-level transformer features provide complementary spatial and semantic information, and the pretrained backbone is adapted using lightweight LoRA modules to reduce fine-tuning cost. Experimental results show that DINO-Nucleus achieves strong segmentation and counting performance with parameter-efficient backbone adaptation. These findings demonstrate that parameter-efficient adaptation of multi-level self-supervised features can provide an effective solution for nucleus instance segmentation in microscopy images.

cs.CV

新论文 · v1arXiv:2611.09130

Auditing Grasp Feasibility Predictors with Planner-Verified Counterfactuals

Sajid Ansari, Antony Thomas, Girish Varma

原文摘要

Grasp-feasibility predictors report near-perfect accuracy on Task and Motion Planning benchmarks, but high accuracy on these benchmarks does not verify that a predictor uses the collision geometry that the motion planner checks. We propose a planner-verified counterfactual (CF) test: holding the grasp pose fixed, we insert a solid obstacle into the approach corridor, add its points to the model input, and let a planner re-derive the label, which flips from feasible to infeasible. Across eight predictors spanning point clouds, voxels, depth, and object tokens, CF-pair AUROC falls from high natural AUROC (0.920-0.996) to chance (0.470-0.504), and the flip holds across four planners, two arms, and a real-object obstacle. Predictors fail at different resolutions, from a bounding box to a 12.5 cm voxel. In the point-cloud models we dissect, the obstacle either moves the representation in a direction unrelated to whether it blocks the grasp or is not registered at all. A clearance-aware read of the corridor points, trained on the unmodified benchmark with no counterfactual scenes, reaches 0.983 CF-pair AUROC, but it remains bound to its trained obstacle placements; a placement-invariant clearance representation is still open. We release the counterfactual labels, metrics, datasheet, and relabeling pipeline at https://github.com/codewithsajid/graspfc-cf.

cs.RO

新论文 · v1arXiv:2611.09126

PAGSL: Path-Augmenting Graph Structure Learning for explainable scholar recommendation

Jiale Xu, Mingshu Ai, Junjie Huang, Tao Jia

原文摘要

Explainable scholar recommendation aims to identify potential scholars of interest and provide reasonable explanations for the recommendations. However, existing frameworks struggle with optimization-induced noise and "hub node bias", yielding trivial explanations that lack hierarchical depth and personalization. To this end, we propose a novel explainable scholar recommendation model, Path-Augmenting Graph Structure Learning (named PAGSL). PAGSL combines representation learning and semantic path knowledge to ensure recommendation performance while providing interpretable results from two perspectives. Specifically, it activates latent academic paths among entities through graph augmentation and employs a path-based neural network to encode these paths for recommendation. A masking mechanism with path score optimization is designed to generate concise and informative explanations. We evaluate PAGSL on three academic datasets (Scholat, AMiner, and ResearchGate), comprising approximately 49,000 authors and over 330,000 interaction records. Experimental evaluations validate that PAGSL outperforms state-of-the-art baselines, achieving significant improvements of 6.31\% in F1-score, 6.29\% in Accuracy and 5.95\% in AUC for recommendation. Crucially, in terms of explainability, we provide quantitative results and visualization effects. Furthermore, ablation studies validate the effectiveness of our heterogeneous convolution and path representation learning. PAGSL achieves strong performance in both recommendation accuracy and explainability.

cs.IR · cs.SI

版本更新 · v2arXiv:2611.03285

Mesh-Agnostic Refinement Models for Latent Space Encoding of 3D Human Body Shapes

Chaima Zouaoui, Jonathan Cerqueira, Sylvain Arguillere, Martin Bauer, Nicolas Charon, Mohamed Daoudi, Emmanuel Hartman

原文摘要

Parametric human body models such as the Skinned Multi-Person Linear (SMPL) model provide compact representations of human shape and pose, but their reconstructions remain affected by both errors in estimated latent parameters and limitations in the decoder's expressive capacity. We propose a framework for refining these reconstructions by exploiting the geometric discrepancy between an initial decoded surface and a target mesh, without requiring vertex correspondences between them. The framework comprises three complementary approaches. Latent-VaRefine uses varifold distance gradients to correct the estimated latent code while preserving the original parametric representation. Vertex-VaRefine processes multiscale varifold-gradient features with a DiffusionNet backbone to predict vertex displacements in a canonical pose, yielding an approximately pose-equivariant refinement pipeline. ElaOpt directly optimizes surface deformations under elastic regularization and normal direction constraints. On AMASS, Vertex-VaRefine reduces the mean vertex-to-vertex error of OmniFit reconstructions from 1.181 to 0.342 cm, a 71.0 percent reduction, while combining Latent-VaRefine with ElaOpt reduces the asymmetric Chamfer distance of ArtEq reconstructions from 1.681 to 0.717 cm, a 57.3 percent reduction. Evaluations with SMPL-H and SMPL-X demonstrate the framework's adaptability to different body models, while additional experiments on remeshed targets and raw scans assess its robustness to changes in discretization and geometry beyond the parametric model. These results highlight the complementary strengths of latent space correction, learned vertex refinement, and elastic optimization, offering different trade-offs between preserving the model parameterization and improving geometric fidelity.

cs.CV

新论文 · v1arXiv:2611.09124

Toward the Era of Agentic Embodied Intelligence

Chao Liang, Ke Chen, Fengxiaoxiao Li, Shibo Huang, Yufeng Sun, Zhaokai Yin, Jianhuan Lai, Haozhe Feng 等 10 位作者

原文摘要

Foundation models increasingly guide robot actions, yet sustained autonomy requires efficient control and failure recovery. We introduce A2-MEAS, an embodied multi-agent framework built around code as a scaling interface. Learned correction codes combine corrective language, spatial evidence, execution history, and action proposals. MetaBrain provides training supervision and runtime guidance. A correction encoder and adapter absorb this knowledge into policy weights during training, while fresh codes adapt behavior with frozen weights at deployment. The action model, A2-WLA, adds motion-aware history and a latent world model to a vision-language-action policy. Surprisingly, this simple design with action pretraining and task specialization reaches 0.5755 Q-score on the 50-task BEHAVIOR 2026 public subset before online correction, 2.21x the 2025 winner's reported 0.2605 across different benchmark editions and training configurations. On all 100 BEHAVIOR 2026 public tasks, A2-MEAS achieves 0.6411 Q-score and 45.40% task success. On RoboTwin 2.0, A2-WLA achieves 93.98% average success, rising to 95.05% with the complete system. Across 12 real-robot tasks in five household settings, A2-WLA achieves 57.92% average success versus 26.67% for pi0.5. In long-horizon pour-over coffee preparation, a history-conditioned adapter raises post-failure completion at two filter-handling steps from 14% to 94% and from 8% to 82%, compared with A2-WLA retries. Our training infrastructure delivers 427.1 samples per second, 4.03x the throughput of a pi0.5 reference implementation on matched hardware. We will release the system, models, training scripts, and infrastructure to support efficient embodied learning.

cs.RO

版本更新 · v2arXiv:2610.25045

SteadyThought: Mitigating LLM Under-Thinking via Thought-Level Preference Optimization

Zhenyue Peng, Lin Yang, Jie Wang, Xiaoqi Ni, Hanzhu Chen, Xize Liang, Yanjun Wu, Rujing Wang 等 10 位作者

原文摘要

Flexible switching between reasoning trajectories (i.e., thought switching) has significantly enhanced the reasoning capabilities of Large Reasoning Models (LRMs). However, existing models often switch excessively yet fail to sustain promising reasoning thoughts, a phenomenon termed "under-thinking". While recent efforts suppress switching to mitigate this, such over-correction may discard valuable trajectories. To address this challenge, we propose Steady Thought (ST), a novel thought-level preference optimization framework. ST formalizes under-thinking as a preference issue at switching points, forcing single-path continuations from identified points to yield high-quality reasoning. Then, ST performs thought-level preference optimization by treating the newly generated response as preferred and the original one as dis-preferred. Experiments across multiple models and datasets show that ST effectively reduces token consumption, achieving reductions of up to 63.8%, while maintaining strong reasoning accuracy. Further analysis suggests that ST helps models acquire a generalizable ability to reduce redundant switching across domains and languages. Code is available at https://github.com/MIRALab-USTC/SteadyThought.

cs.AI

新论文 · v1arXiv:2611.09122

Improving Large Audio-Language Model Embedding Baselines for Instruction-Aware Speech Retrieval

Chen-An Li, Cheng-Han Chiang, Hung-yi Lee

原文摘要

Speech retrieval finds relevant spoken documents given a spoken query. The spoken query alone may not reveal the retrieval goal, such as finding an answer or matching speaker identity. Instruction-aware speech retrieval expresses this goal through a natural-language text instruction. Large audio-language models (LALMs) effectively process speech and text, and our analysis shows that different retrieval requirements favor hidden states from different audio-encoder layers. We introduce IRIS-Embed, which adapts LALMs into embedding models through contrastive training and instruction-aware audio layer weighting. We construct about 900K training samples from real data and synthetic data, with instructions expressing requirements for one or more speech attributes. On INSPIRE, an instruction-aware speech retrieval benchmark, IRIS-Embed consistently outperforms the corresponding LALM baselines. The best model achieves 62.92% macro-average Recall@50, surpassing the strongest baseline at 45.15%. Controlled comparisons demonstrate instruction awareness and the benefits of audio layer weighting. On MAEB, a massive audio embedding benchmark, macro-average gains of 9.4-19.8 points over the corresponding baselines show generalization beyond speech retrieval.

cs.SD

新论文 · v1arXiv:2611.09121

CoMET: Tracking the Shared Pose Error of Roadside Messages for Asynchronous Vehicle-Infrastructure Cooperative 3D Detection

Shuwei Sun, Jian Huang, Hui Cao

原文摘要

A roadside sensor can detect vehicles hidden from the ego vehicle, but a pose error shifts every detection in the same message. We study asynchronous vehicle-infrastructure cooperative 3D detection on V2X-Seq using only information available at decision time, without ground truth, future frames, or per-pair calibration offsets at inference. Objects seen by both sensors reveal the shared translation, but even at zero added delay, 38% of validation messages have no matched pair. We propose CoMET (Common-Mode Error Tracking), which estimates this translation over time. At each message arrival, CoMET matches vehicle and roadside detections, estimates the offset from mutually nearest pairs, and updates a Kalman filter for that sender. When no pair matches, the filter carries its estimate forward. The correction applies to all roadside boxes, including those unseen by the ego vehicle. The estimator has no learned parameters; a separate frozen head ranks the merged detections. Across four delays from 0 to 400 ms on 21 validation sequences, CoMET averages 66.63 bird's-eye-view AP at IoU 0.7, compared with 63.18 for the same late fusion using uncorrected online poses and 62.96 for the best intermediate-fusion baseline. Across five detectors from three architectures, CoMET gains 2.2 to 3.5 AP points over online poses and 0.3 to 0.6 over estimating the offset from the current message alone. We find that the benchmark uses a zero offset as a placeholder in 28% of validation messages and that its offset search reaches the boundary in 45% of the rest. These offsets affect the labels for objects seen only from the roadside. Under two alternative label references, CoMET improves on uncorrected online poses in every evaluated population. Retraining intermediate fusion with CoMET poses and corrected labels improves detection on all three architectures tested, with statistically significant gains on two.

cs.CV

新论文 · v1arXiv:2611.09118

Semantic Extraction Framework for Goal-Oriented V2X Communication Supporting Safe Intersection Passage

Haoran Yang, Shan Lu, Takaya Yamazato

原文摘要

This paper proposes a transmitter-side semantic extraction framework for goal-oriented Vehicle-to-Everything (V2X) communication supporting safe intersection passage. Instead of transmitting raw sensory data, roadside infrastructure extracts task-relevant semantic information from video and traffic-signal sequences and organizes them into compact semantic packets for low-latency driving-decision assistance. The intersection-passing problem is formulated as a set of traffic tasks under Japanese traffic regulations, and the proposed pipeline generates perception and intent semantics through object detection, object tracking, region-of-interest (ROI)-based semantic extraction, and recommended-action generation. The framework is implemented and evaluated on a self-constructed, CARLA-based single-vehicle dataset collected under clear weather conditions. Experimental results show high recommended-action accuracy within the tested task set, while the mean processing latency remains below the frame interval of the 15~fps input video.

eess.IV · cs.CV

版本更新 · v3arXiv:2610.23170

Chinese Decision: A Family of Language Models for Single-Pass Probabilistic Decision-Making

Qiang Yan

原文摘要

Many applications need either a probability distribution over a few decisions or a set of typed spans from a text, and both are usually obtained by generating text. We present Chinese Decision, a family of Chinese models that answers both with a single forward pass and no generated token: candidate-letter logits give probabilities for Boolean, categorical, and ordinal decisions, and a small span head reading an echoed copy of the input gives typed character spans. Both readouts share one backbone and one merged LoRA, so a unified model is one weight file. We release decision-only and unified models at 0.8B, 2B, and 4B (Qwen3.5), trained for one epoch on 13.05 million decisions and, for the unified models, on CJ-IE, a 1.2-million-row Chinese extraction mixture. On the full 307,900-decision CJ-Bench, the unified 4B model reaches 86.86% accuracy, above every reported baseline and the decision-only 4B model (85.97%), and extracts spans on CJ-IE with micro F1 of 68.9. Retention has a price: against a 0.8B model continued on CJ-IE alone, which reaches 73.9 F1 but forgets CJ-Bench (71.02%), keeping decision ability costs 5.0 to 10.7 F1 points, shrinking with size. Gains of the unified models over decision-only ones are small, and all comparisons rest on single training runs with paired clustered bootstrap intervals.

cs.CL

版本更新 · v2arXiv:2605.05024

Hypergraph Generation via Structured Stochastic Diffusion

Christopher Nemeth

原文摘要

Hypergraphs model higher-order interactions, but realistic hypergraph generation remains difficult because incidence, hyperedge-size heterogeneity, and overlap structure are not faithfully captured by pairwise reductions. We propose \HEDGE, a generative model defined directly on relaxed incidence matrices via a structured stochastic diffusion. The forward process combines a hypergraph-specific two-sided heat operator with an Ornstein--Uhlenbeck component, preserving structure-aware noising near the data while yielding an explicit Gaussian terminal law. Conditional on an observed hypergraph, this forward process is linear-Gaussian, so conditional means, covariances, scores, and reverse-drift targets are available in closed form. We therefore learn a permutation-equivariant state-only reverse-drift field in incidence space by regressing onto exact conditional targets, and generate samples by simulating a learned reverse-time SDE from the Gaussian base law. We establish exactness in the ideal state-only setting together with finite-horizon stability guarantees, and empirically show improved hypergraph generation quality relative to strong baselines.

stat.ML · cs.LG · stat.CO · stat.ME

版本更新 · v2arXiv:2610.30320

Self-Distilling Future Video Representations for World Action Models

Huiwon Jang, Suhyeok Jang, Hyeonmo Kang, Seungku Kim, Jinwoo Shin, Sihyun Yu

原文摘要

World Action Models (WAMs) have emerged as a promising approach to learning generalist robot policies using rich spatiotemporal priors from pre-trained video diffusion models. A recent line of WAMs improves inference efficiency by conditioning a separate action decoder on intermediate future video representations extracted from a single denoising step, avoiding costly iterative denoising required for video generation. This design makes action prediction depend directly on the quality of these future representations. In this paper, we introduce Future REpresentation learning via self-Distillation with temporal context (FRED), a framework that trains WAMs to improve the quality of future video representations from noise in a single denoising step. Specifically, FRED uses self-distillation to predict future representations from noise, using representations extracted from ground-truth future observations as targets. We further condition the video model on historical observations, providing temporal context for predicting future representations better. Across diverse real-world manipulation scenarios, FRED consistently outperforms competing WAMs. It achieves particularly large gains on long-horizon and out-of-domain tasks under zero-shot environment generalization, and substantially improves human-to-robot skill transfer, reaching 50.0% task success on tasks absent from robot training data and demonstrated only in human videos, compared with 19.4% for the best competing WAM.

cs.RO · cs.CV

版本更新 · v3arXiv:2411.02197

Matroid products via submodular coupling

Kristóf Bérczi, Boglárka Gehér, András Imolay, László Lovász, Balázs Maga, Tamás Schwarcz

原文摘要

The study of matroid products traces back to the 1970s, when Lovász and Mason studied the existence of various types of matroid products with different strengths. Among these, the tensor product is arguably the most important, which can be considered as an extension of the tensor product from linear algebra. However, Las Vergnas showed that the tensor product of two matroids does not always exist. Over the following four decades, matroid products remained surprisingly underexplored, regaining attention only in recent years due to applications in tropical geometry and the limit theory of matroids. In this paper, inspired by the concept of coupling in probability theory, we introduce the notion of coupling for matroids -- or, more generally, for submodular set functions. This operation can be viewed as a relaxation of the tensor product. Unlike the tensor product, however, we prove that a coupling always exists for any two submodular functions and can be chosen to be increasing if the original functions are increasing. As a corollary, we show that two matroids always admit a matroid coupling, leading to a novel operation on matroids. Our construction is algorithmic, providing an oracle for the coupling matroid through a polynomial number of oracle calls to the original matroids. We apply this construction to derive new necessary conditions for matroid representability and establish connection between tensor products and Ingleton's inequality. Additionally, we verify the existence of set functions that are universal with respect to a given property, meaning any set function over a finite domain with that property can be obtained as a quotient.

math.CO · cs.DM

版本更新 · v2arXiv:2605.20235

Provably Learning Diffusion Models under the Manifold Hypothesis: Collapse and Refine

Wei Huang, Andi Han, Mingyuan Bai, Huanjian Zhou, Qixin Zhang, Taiji Suzuki, Kenji Fukumizu

原文摘要

Diffusion models generate high-dimensional data with remarkable quality, yet how training discovers and exploits low-dimensional manifold structure remains incompletely understood. We analyze a two-stage collapse-and-refine procedure motivated by the small-noise score: its singular normal component identifies manifold projection as the leading denoising target, while the remaining correction encodes density and geometry. Under suitable assumptions, we prove that annealed mean-field training asymptotically recovers the population denoiser and quantify the resulting geometric alignment error. With the learned representation fixed, residual score learning reduces to convex random-feature regression. We establish generalization bounds that separate residual learning error, propagated projection error, and geometric approximation bias, with statistical exponents governed by the intrinsic dimension. Under additional structural assumptions, we further derive an end-to-end sampling guarantee. Motivated by this analysis, we develop Score-induced Latent Diffusion (SiLD), a practical two-stage framework combining low-noise denoising representation learning with latent diffusion, without requiring KL regularization of the latent representation. Experiments on Stacked MNIST and molecular generation benchmarks demonstrate competitive generation quality relative to architecture-matched VAE-based latent diffusion baselines.

cs.LG · cs.AI

版本更新 · v2arXiv:2611.06219

A Definition of Catastrophic Performance

Henrik Marklund, Alex Infanger, Benjamin Van Roy

原文摘要

A central challenge in AI is specifying objectives that align with human preferences. While existing theoretical results elucidate how misspecification impacts performance, they typically do not distinguish between merely suboptimal and catastrophic outcomes. To enable rigorous analysis of catastrophic risk from AI misalignment, we introduce a formal definition of catastrophic performance. Our definition is based on two reference values. The first, baseline value, captures the value attained if no agent is deployed. The second, orthogonal value, captures the value of a trajectory that is unrelated to human preferences, in a sense we describe. Orthogonal value is typically far worse than baseline value. We interpret these reference values through examples in which past human activity has altered the state of the environment to human benefit. Starting at the resulting state, an AI agent is deployed with the goal of accelerating further progress. Catastrophic performance represents this agent's undoing of benefits afforded by human activity.

cs.AI · cs.LG

新论文 · v1arXiv:2611.10061

UniLatent: Cross-Embodiment Transfer via Latent Observation Alignment

Yufei Ding, Yi Du, Weiduo Yuan, Hao Jiang, Dylan Goetting, Lawrence Yunliang Chen, Daniel Seita, Yue Wang

原文摘要

Robot datasets are costly to collect and are usually tied to a specific embodiment, making it difficult to reuse demonstrations across robots with different geometry, appearance, and kinematics. We introduce UniLatent, a cross-embodiment transfer framework that reduces the embodiment-induced observation gap in a shared latent space. UniLatent renders paired source-target robot observations in simulation and aligns a source visual encoder to a frozen target encoder. A policy trained on encoded source demonstrations can then run directly on target observations, with no pixel-level image translation. Across three simulation tasks and two target robot arms, UniLatent reaches up to 93% zero-shot success, exceeding the strongest pixel-translation baseline by over 30 points on average. In real-world xArm-to-Franka transfer, fine-tuning with only 10 target demonstrations per task yields 27/30 successful rollouts. Code, videos and data are available at https://selina2023.github.io/unilatent/.

cs.RO · cs.CV

新论文 · v1arXiv:2611.09102

COMBIO: Automated Discovery of a Compact Composite Biomarker from Routine Laboratory Panels

Tomer D. Meirman, Lior S. Rokach, Bracha Shapira, Seffi Cohen, Noa Dagan

原文摘要

Machine-learning models based on routine laboratory panels can predict outcomes but can be difficult to interpret and operationalize. We present COMBIO, an automated pipeline that distils such a model into a compact closed-form biomarker. The composite is a product of laboratory measurements raised to integer powers from minus two to two. The sign of each exponent indicates whether higher values of the corresponding measurement increase or decrease the composite. Shapley additive explanation values from the gradient-boosted reference model rank five candidate measurements and guide eligible exponent signs. An exhaustive search over small integer exponents selects the formula on an inner validation set, before evaluation on the reserved test set. We evaluated COMBIO across six tasks: three National Health and Nutrition Examination Survey outcomes, liver-disease classification in the Indian Liver Patient Dataset, and Medical Information Mart for Intensive Care IV in-hospital mortality and sepsis case-finding, with external evaluation in the eICU Collaborative Research Database for the two hospital tasks. Across the six test sets, COMBIO's area under the receiver operating characteristic curve differed by at most 0.03 from logistic regression using the five candidate laboratory measurements. The hospital mortality composite had an area under the curve of 0.698 in the external database. A version restricted to widely available measurements in the source hospital database achieved an area under the curve of 0.786 in a cohort covering 92% of admissions. The multiplicative representation provides compactness rather than additional accuracy, and local validation and recalibration are required before clinical use.

cs.LG

版本更新 · v2arXiv:2610.08220

VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation

Yutian Zhang, Xingrui Xiong, Siyuan Ma, Donghao Wang, Yang Li, Jiawen Wen, Jiaqi Zhai, Liwen Yang 等 16 位作者

原文摘要

Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB observations remains challenging. Existing approaches often rely on teleoperation or specialized devices equipped with additional sensing hardware, while directly using estimated visual odometry (VO) trajectories can introduce inconsistencies due to accumulated drift and imperfect motion supervision. We present the Visual-Odometry-Conditioned Mobile Manipulation Interface (VOMMI), a portable demonstration collection and learning framework that connects portable RGB demonstrations to vision-language-action (VLA) post-training through offline trajectory reconstruction and online visual-motion conditioning. VOMMI synchronizes body and hand views to capture navigation context and local object interactions without requiring human-robot kinematic correspondence calibration. R2-VO refines offline demonstration trajectories using sparse geometric anchors and produces causal local-motion tokens over multiple prediction horizons for online policy conditioning. An action-group residual adapter incorporates these tokens only into the base branch. Experiments use a 500-trajectory portable for each task, with 75 trajectories held out for RGB-VO evaluation, and 200 robot demonstrations as references. Our policy, post-trained only on portable demonstrations, achieves 18.2% lower base-velocity error than a policy trained with robot-collected demonstrations, while maintaining comparable end-effector translation accuracy. Offline reconstruction reduces absolute trajectory errors for the body and hand streams by 24.6% on average relative to the best evaluated baseline for each stream. The complete system improves the mean success rate by 8.3 percentage points over OpenPI 0.5 across three real-robot tasks.

cs.RO · cs.AI

新论文 · v1arXiv:2611.09100

BayesCrop: Real-Time Probabilistic Multi-Crop Video Reframing

Cheng-Han Lee, Rajesh Sureddi, Neil Birkbeck, Yilin Wang, Balu Adsumilli, Alan Bovik

原文摘要

Automatic video reframing is increasingly important for adapting landscape content to heterogeneous display formats. Existing methods typically predict a single deterministic crop, despite the subjective nature of reframing and the presence of multiple plausible regions of interest. We present \textbf{BayesCrop}, a real-time probabilistic framework for multi-crop video reframing. BayesCrop represents crop preferences using a two-component spatially isotropic Gaussian mixture over crop position and scale. Each component defines a representative reframing mode together with its local uncertainty, enabling both dual-view prediction and sampling of additional plausible crop candidates. For efficient video processing, we introduce an anchor-and-propagate strategy that performs neural prediction only on sparse anchor frames and propagates crop trajectories using motion vectors available from the compressed video bitstream. The resulting trajectories can be combined into a single output using a lightweight periodic view-switching strategy. Experiments on LIVE-YT-MC, LIVE-YT-VC++, and a multi-target long-video benchmark demonstrate competitive single-output localization, high multi-crop reference coverage, diverse yet coherent crop hypotheses, and stable perceptual quality. BayesCrop achieves real-time throughput of 112 FPS at the default operating point, while sampling from the learned distributions further improves reference coverage beyond the two representative crop means.

cs.CV