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版本更新 · v2arXiv:2610.37431

Segmentation Confidence for Arbitrary CNNs

Baris Oguz, Xing Yao, Claudia Tawil, Alison Pouch, Brett Byram, Gabriel Arenas, Nadav Schwartz, Ipek Oguz

原文摘要

Convolutional neural networks (CNN) are widely used for medical image segmentation. However, they lack an inherent measure of confidence. Existing methods for estimating prediction uncertainty often require a custom network architecture and/or dedicated training setups and need to be trained from scratch. In addition, the deduction of a single confidence score per input from the uncertainty maps is not always straightforward. In this study, we explore voxel-based uncertainty estimation methods that can be added to existing segmentation pipelines without training from scratch. We also propose a novel method to estimate a single confidence score from the uncertainty maps. Our evaluations on different ROIs and modalities suggest that our confidence score can predict segmentation performance in unseen data.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.03233

Axion 1.0: Open Agent Foundation Models, Simplified

Yuqi Jia, Yunjie Tian, Jiayu Zheng, Yijun Liang, Jingchen Sun, Mengyu Zhao, Di Fu

原文摘要

We introduce Axion 1.0, a fully open agent foundation model that combines strong and broad agentic capabilities with a remarkably simple training recipe. Axion 1.0 is trained in only three stages: two lightweight supervised fine-tuning stages followed by reinforcement learning, without dedicated mid-training, direct preference optimization (DPO), or on-policy distillation (OPD). The first SFT stage develops strong self-contained reasoning through model-aware data construction, where we synthesize challenging problems and adversarially strengthen them based on the base model's own successful solution strategies. The second stage extends these capabilities to tool-dependent reasoning through a scalable pipeline for constructing diverse and automatically verifiable tasks grounded in real-world data sources and deterministic computation. Finally, reinforcement learning further strengthens long-horizon reasoning and interaction with external tools and environments. Despite this compact training recipe, Axion 1.0 achieves strong performance across a broad suite of agentic benchmarks and is competitive with leading commercial models on several of them. Equally importantly, Axion 1.0 is open beyond model weights: we release the complete recipe, including data construction, generation, filtering, verification, prompts, and training code, enabling the entire development process to be reproduced and extended. Axion 1.0 demonstrates that strong agent foundation models can be both open and simple, offering a practical and reproducible path toward advancing open agentic intelligence.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.39688

Hardware-Aware Model Inversion in Memristive Spiking Neural Networks

Pablo Sorrentino, Fernando M. Quintana, Erika Covi, Fatih Turkmen

原文摘要

Hardware-accelerated spiking neural networks (SNNs) implemented on memristive crossbar arrays offer significant gains in energy efficiency, while device variability and analog noise are sometimes assumed to hinder information extraction. However, whether these hardware effects improve, preserve, or degrade privacy after deployment remains largely unexplored. Therefore, we ask whether model-inversion leakage characterized on an SNN remains representative after the same model is mapped to a non-ideal memristive substrate, and how hardware non-idealities and reliability faults affecting synapses, neuron thresholds, and spike processing reshape that leakage. To study this problem, we introduce Spiking Domain Model Inversion (SDMI), an inversion method that combines Expectation over Transformation (EOT) with surrogate gradients to optimize inputs through stochastic analog behavior and non-differentiable spiking dynamics. We use SDMI consistently across the SNN model, its memristive SNN, and the same memristive SNN under additional hardware perturbations. Across four datasets, reconstruction leakage does not vary monotonically with model accuracy or hardware variability. At comparable accuracy levels, neuron-threshold perturbations increase reconstruction fidelity, measured by SSIM, by up to 51.8%, whereas spike-level perturbations primarily degrade utility without consistently improving reconstruction. Weight noise, in contrast, reduces leakage under the same inversion procedure. These results show that hardware variability is not inherently privacy-preserving: model inversion leakage in memristive SNNs depends on the hardware state and cannot be inferred from model accuracy alone.

cs.CR · cs.ET · cs.NE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04666

Phase-DGS: Phase-guided Dynamic Gaussian Splatting from Unsynchronized Multi-view Video

Hosung Jeon, Jun Young Jeong, Sangwoon Kwak, Joonsoo Kim, Sangmin Kim, Jaesik Park, Won-Sik Cheong, Hyon-Gon Choo

原文摘要

Spatiotemporal scene reconstruction with Dynamic Gaussian Splatting (DGS) fundamentally depends on perfect temporal synchronization across all cameras, an assumption rarely achievable in practice. Industry-standard synchronization requires expensive specialized hardware and complex setup, while data-driven alternatives including audio-based alignment, geometry matching, and pose tracking remain limited by restrictive environmental or scene-specific assumptions. To overcome these limitations, we propose Phase-DGS, a framework that replaces conventional timestamps with a semantic phase representing each frame's inherent state within the underlying motion cycle. Frames capturing the same motion state share the same phase regardless of which camera records them or when, naturally establishing spatiotemporal correspondence across unsynchronized cameras. We validate Phase-DGS under temporal offsets, frame drops, and camera freezes, achieving up to +8.5 dB PSNR improvement over baselines while enabling seamless integration with existing DGS backbones including RealTime-4DGS and FreeTimeGS.

cs.CV · cs.GR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.08453

Sink vs. diagonal patterns as mechanisms for attention switch and oversmoothing prevention

Peter Súkeník, Cristina López Amado, Christoph H. Lampert, Marco Mondelli

原文摘要

This paper studies the role of sinks and diagonal patterns as attention switch and anti-oversmoothing mechanisms. We analyze geometric conditions under which sinks can be represented, showing a necessary alignment between the embedding of the sink and all other embeddings. Next, we refine the current understanding of the role of sinks in oversmoothing prevention: we specify the conditions under which dense attention is expected to smooth more than sparse attention, and empirically verify that such conditions are often satisfied in practice. We further prove an equivalence between sinks and hard attention switch, in which the output of the attention is identically 0. Finally, we relax the hard attention switch by allowing token self-communication: we provide a quantitative comparison of the costs of representing sinks vs.\ diagonal patterns, showing why sinks are favored in pretrained transformers. The introduction and analysis of diagonal patterns and the generalization of the attention switch close the gap between what oversmoothing prevention requires and what sinks provide, while also establishing when and why attention layers act like MLPs if token communication is not necessary.

cs.LG · cs.AI · stat.ML

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04664

Feature-Based and Deep Learning Methods for Astronomical Light Curve Classification

V. Baymakanov, Kh. Khamitov, A. Raimova, A. Isaeva, R. Taran, M. Zedan, M. Kornilov, M. Demianenko 等 10 位作者

原文摘要

We compare feature-based machine learning and end-to-end deep learning for variable star classification using the Zwicky Transient Facility (ZTF) StarEmbed dataset, which contains about 40,000 objects across seven imbalanced classes. Classical models trained on physically motivated features consistently outperform deep networks trained directly on raw light curves. We find that limited labeled data contributes to the performance gap, while the multivariate, irregularly sampled, and morphologically diverse nature of light curves poses additional challenges for deep learning models. While deep learning holds promise for learning representations directly from observations, our results indicate that current models fail to generalize with the available training set size. These findings motivate further investigation of the benefits of scaling labeled datasets and self-supervised pretraining on large unlabeled surveys. This work establishes a quantitative baseline for future research and highlights the need for further innovations to unlock the potential of deep learning in astronomical time series analysis.

cs.LG · astro-ph.IM

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04663

Best-of-Depth: Learning Exploratory Dynamics in Looped Transformers

Shota Takashiro, Takeshi Kojima, Masanori Koyama, Kohei Hayashi, Yusuke Iwasawa

原文摘要

Looped Transformers extend inference-time computation through repeated latent-state updates, but final-depth training does not directly encourage useful intermediate alternatives. We introduce Best-of-Depth (BoD), which trains a recurrent trajectory as a candidate set by minimizing prediction loss across depths. Different valid targets can be matched at different depths without architectural changes or depth-specific labels. An exact-match analysis connects this objective to solution coverage. On N-Queens completion and graph coloring, BoD improves coverage over final-depth and intermediate-supervision objectives. N-Queens coverage reaches 91.03%, versus 45.75% for final-depth training. Further experiments show discovery beyond the training depth and recovery of solutions withheld from teacher pools on familiar inputs. Fine-tuning a pretrained looped language model with BoD yields higher pooled code-generation success than final-depth training when programs are generated separately at evaluated fixed depths. These results support training recurrent computation for solution discovery along its trajectory.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04662

SPADE: Spatiotemporal Preference Alignment and Diversity Enhancement for Local Search

Chenxu Wang, Wenxuan Yang, Yueqi Mou, Shuxian Bi, Biao Tang, Peng Yan

原文摘要

Proactive query recommendation aims to suggest relevant search queries to users on the homepage of local service apps. Unlike conventional recommendation over a fixed item set, this requires open-set generation from a vocabulary of millions, where outputs must simultaneously align with user preference, match fine-grained spatiotemporal context, cover long-tail intents, and provide diverse alternatives within a few candidate slots. Existing approaches address these axes in isolation: standard tokenization suppresses long-tail queries, coarse location encoding misses fine-grained geographic demand, generic preference optimization fails to align with production impression-click distributions, and standard beam search collapses to near-duplicate outputs. We present SPADE (Spatiotemporal Preference Alignment and Diversity Enhancement), an end-to-end generative framework that jointly optimizes the generation space, contextual representation, preference distribution, and output slate quality through four components: Objective-Aligned BPE (OA-BPE) aligns subword merging with business value signals to boost long-tail query generation probability; Spatio-Temporal Adaptive Representation (STAR) replaces coarse location tokens with continuous multi-scale encodings and soft gating for precise spatiotemporal grounding; MARS-DPO (Multi-dimensional Adaptive Reward Sampling DPO) combines cross-domain pre-training with preference alignment on production impression-click data via composite rewards and adaptive hard negative sampling; and Sigmoid Diversity Beam Search (SDBS) improves intent coverage without sacrificing recall. Offline experiments on large-scale production data show that SPADE outperforms the strongest generative baseline by +5.6% HR@5, -40.3% GeoC@5, and +1.9% Exec@5. A one-week online A/B test confirms production impact: +1.88% Module CTR, +0.177% Search Volume, and +0.105% Search DAU.

cs.IR

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2602.00716

Emergence of Distortions in High-Dimensional Guided Diffusion Models

Enrico Ventura, Beatrice Achilli, Luca Ambrogioni, Carlo Lucibello

原文摘要

Classifier-free guidance (CFG) is the de facto standard for conditional sampling in diffusion models, yet it often reduces sample diversity. Using tools from statistical physics, we analyze the emergence of generative distortions induced by CFG, namely the mismatch between the CFG sampling distribution and the true conditional distribution. We study this phenomenon in analytically tractable settings with exact score functions, characterizing its dependence on data dimensionality and the number of classes. For high-dimensional Gaussian mixtures, we use dynamic mean-field theory to show that distortions persist when the number of classes scales exponentially with the data dimension, whereas they vanish in the sub-exponential regime due to a dynamical phase transition. Moreover we found that, in the infinite-class limit, distortions remain unavoidable regardless of dimensionality because of the increasing density of classes. Finally, we show that standard CFG schedules cannot prevent variance shrinkage, and we propose a theoretically grounded guidance schedule incorporating a negative-guidance window that improves both class separability and sample diversity in real-world latent diffusion models.

stat.ML · cond-mat.dis-nn · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04660

Leakage-free evaluation of residual graph convolutional networks for network intrusion detection

Zahid Iqbal

原文摘要

Graph neural networks are increasingly proposed for network intrusion detection, yet many reported results come from protocols in which test flows shape the graph used for training, duplicated flows sit on both sides of the split, or a single split is reported. This study measures what a residual graph convolutional network gains over simpler models once these sources of optimism are removed. CICIDS2017 and NF-UNSW-NB15-v2 were cleaned with label-aware removal of exact duplicates, removing 69% of NF-UNSW-NB15-v2 flows. Flows were linked in a nearest-neighbour graph built from training flows only, and validation and test flows were attached to their nearest training flows at prediction time. A two-layer residual network was compared with eight models under the same settings, including a nearest-neighbour vote over the same graph, gradient-boosted trees and a random forest, over three seeds that each draw a new split, with ablations, leave-one-family-out and feature-noise tests. On CICIDS2017 the residual network reached a binary F1 of 98.11% (SD 0.18) and on NF-UNSW-NB15-v2 90.57% (0.38), indistinguishable from a multilayer perceptron without the graph and from other graph networks. Tree ensembles were 1.48 to 1.57 F1 points higher on CICIDS2017 and led on the area under the precision-recall curve on both datasets; their CICIDS2017 multiclass macro-F1 reached 93.08% against 64.51%, a gap mainly from benign flows the residual network assigned to small attack classes. No ablation, including transductive graph construction, changed F1 beyond seed variation. Under Gaussian feature noise (SD 0.5), the residual network kept an F1 of 96.16%, while XGBoost fell to 0.67%. Under a leakage-controlled protocol, message passing over flow graphs adds no measurable accuracy over a perceptron, and tree ensembles remain stronger on both; the advantage of graph models lies in robustness to feature noise.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.22068

COCOTree: A Dataset and Benchmark for Open Tree-Structured Visual Decomposition

Junhyub Lee, Seunghun Chae, Hyosu Kim

原文摘要

We formalize and enable the task of open tree decomposition, which segments an image into hierarchical trees of visual components with unconstrained granularity and flexibility. Specifically, we provide the foundation benchmark for this new paradigm with the following three key contributions. First, we overcome the prohibitively high cognitive and physical bottlenecks of manual annotation by developing a fully automated generation pipeline that synergizes the semantic reasoning of Large Vision-Language Models (LVLMs) with the precise geometric grounding of SAM 3. Second, leveraging this pipeline, we construct COCOTree, a massive-scale benchmark featuring over 21K images and 1.8M structural nodes. By embracing an open-vocabulary space of over 3.5K unique labels, it successfully captures the long-tail distribution of complex physical assemblies. Notably, rigorous human evaluation confirms our generated annotations demonstrate strong alignment with human structural judgment. Third, we establish a standardized evaluation protocol by proposing the Open Tree Quality (OTQ) metric, which jointly assesses mask precision, label accuracy, and structural consistency. We release our dataset and benchmark code at https://github.com/melonkick3090/COCOTree.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04657

Exploiting Biases in Attention for Transformers

Charles Herr, Gabriele Spadaro, Enzo Tartaglione

原文摘要

Attention is known to be sparse in vision transformers. In particular, we analyze the unequal relevance of attention-matrix columns to the final computation and show that this phenomenon becomes increasingly pronounced with network depth. This can be interpreted as saying that tokens have an absolute importance for the attention process, independently of queries. Inspired by this, we propose a reformulation of the attention formula that makes this phenomenon explicit by adding an input-dependent bias to the query-key dot product. We show that this new term gives each token a scalar value indicating its anticipated influence on other tokens during the attention process, and can thus serve as a proxy for pruning attention maps. Across multiple transformer model sizes, this allows us to substantially reduce the computational cost of attention, in terms of both FLOPs and inference latency, while retaining most of the original classification accuracy. We publicly released the code and models at https://github.com/EIDOSLAB/AttentionWithBias.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04654

BhopalMLS: A LiDAR Dataset for Semantic Scene Understanding in Heterogeneous Urban Environments

Pyare Lal Chauhan, Vaibhav Kumar, Bharat Lohani

原文摘要

We introduce BhopalMLS, a large-scale Mobile Laser Scanning (MLS) dataset from a dense, heterogeneous urban environment in Bhopal, India, with mixed traffic, informal structures, and narrow unplanned streets. It spans approximately 10 km of road corridors with over 1.2 billion points and 19,518 annotated instances across 62 fine-grained static categories, grouped into 12-class and 21-class benchmark taxonomies; 6 optional moving-class subclasses support dynamic-object analysis. Existing 3D datasets, collected in well-planned cities, are structurally more uniform than such unplanned settings, and lack their subtype diversity. On semantic and instance segmentation at both granularities, fine-tuned foundation models surpass supervised baselines: Utonia(L) reaches 71.28% mIoU (vs. PTv3's 68.04% from scratch) and 44.07% mAP50 on the 12-class benchmark. Cross-region experiments against four established datasets (Ke-MLS, Toronto-3D, Paris-Lille-3D, SemanticKITTI) reveal a consistent asymmetric transferability: models trained on BhopalMLS transfer better than the reverse on every pair, for both Utonia(L) and Concerto(L) (mean 21.5, up to 36 mIoU points), holding even when the target is denser. Factor-controlled retraining at a fixed label budget, repeated on both models, attributes this to the coverage of BhopalMLS's subtype inventory rather than to dataset size or corridor geometry: collapsing each class to a single subtype costs 13.0 and 13.3 mIoU points for Utonia(L) and Concerto(L). BhopalMLS therefore offers a testbed for 3D perception beyond well-planned cities. Data and an interactive viewer are at https://geoai4cities.github.io/bhopalmls.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2609.36755

Drag as Evidence: Motion-Grounded Latent Recomposition for Drag-Based Editing

Xinyu Pu, Hongsong Wang, Jie Gui, Pan Zhou

原文摘要

Modern image editors excel at semantic manipulation and visual synthesis, yet remain limited in precise spatial control, motivating the development of drag-based editing. However, existing drag-based methods often struggle to balance drag accuracy with natural, plausible, and intent-aligned generation. We propose MoRe-Drag, a motion-grounded drag-based editing method. Our key insight is to treat pixel-space warping as coarse motion evidence, and to inject this evidence into the generative sampling trajectory. Specifically, MoRe-Drag performs region-aware latent recomposition over refinement, inpainting, and preservation regions, coupled with stage-adaptive conditioning that progressively shifts from motion-grounded structure formation to semantic refinement. We further support a no-manual-instruction interface by adapting the MLLM-based text encoder for drag-aware instruction inference. Experiments on DragBench-SR and DragBench-DR show that MoRe-Drag substantially improves drag precision over strong base editors and achieves superior drag accuracy among SOTA drag-based methods, while delivering strong semantic consistency and visually realistic results. Project page: https://xinyu-pu.github.io/projects/more-drag/.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.00843

Running a 20B Video Diffusion Transformer on Consumer Hardware: A Deployment and Measurement Report for MiniMax H3 on Apple Silicon

Zhenzhou, Shi, Yizhe, Shi

原文摘要

We report the end-to-end deployment and measurement of MiniMax H3, a 20.38-billion-parameter video diffusion transformer (DiT) - the count measured from the safetensors headers of the Q8 checkpoint as deployed locally (Section 3.2) - running entirely on consumer Apple Silicon hardware: an Apple Mac mini with M5 Pro chip and 64 GiB of unified memory. Using the official bf16-to-Q8 (8-bit, group size 64) quantization path executed locally on the machine, we produced a working text-to-video pipeline with no cloud dependency. We document the full deployment procedure, including two non-trivial blockers and their fixes, and report measured figures for build time, peak memory, and per-clip render latency across four resolution tiers (Draft 384x640 through Native 768x1344). A 15.08-second 576x1024 clip rendered in 4838.49 seconds with a measured MLX peak of 27.467 GiB. We further operated the system as an unattended production pipeline, completing 17 clips in 26.49 hours with zero render failures. A blind human review of the 17 production clips (generation prompts withheld) averaged 3.12, 3.18, and 2.94 out of 5 for structural integrity, temporal consistency, and visible artifacts. All figures in this report are our own measurements except where explicitly labeled as third-party data. This is a systems/empirical report; we make no claim of model innovation.

cs.CV · cs.DC

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.09411

Shared Geometry As A Rosetta Stone: Cross-Modal Alignment Without Paired Data

Dominik Schnaus, Thomas Dagès, Daniel Cremers, Xi Wang, Phillip Isola

原文摘要

Multimodal representations enable zero-shot classification and retrieval, but aligning independently trained models usually requires large amounts of paired data. Yet, the Platonic Representation Hypothesis suggests that models trained on different modalities may converge spontaneously toward a shared representation geometry. But then, do we even need paired examples for cross-modal alignment? Remarkably, we show that paired examples are unnecessary for coarse cross-modal alignment. Our simple Wasserstein Procrustes method with a coarse geometric initialization (GeoWarP) aligns two disjoint embedding sets by estimating a single orthogonal map without seeing any pairs. Across datasets, modalities, and unimodal models, we show that we can consistently align independently trained representations without pairs, and standard geometric alignment metrics accurately predict when this is possible. Nevertheless, we can naturally benefit from paired examples. In the very few-pair regime, our method substantially outperforms existing ones, while staying competitive with pair-based methods with more added examples. Finally, we demonstrate that the resulting alignments can enable text-to-image generation without paired examples. These results show that independently trained models often share enough geometry to establish cross-modal correspondence with little or no paired data.

cs.LG · cs.AI · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04645

Therapy-FIS: A Dataset for Assessing Facilitative Interpersonal Skills in Psychotherapeutic Setting

Qijian Zheng, Wanqing Lin, Yuanfang Wang, Yijun Ge, Jordan Bate, Katie Aafjes-van Doorn, Feng Liu

原文摘要

Facilitative Interpersonal Skills (FIS) is a performance-based assessment method that provides a structured framework for evaluating the interpersonal competencies of mental health professionals. However, existing FIS assessment relies heavily on human observer ratings, making the evaluation process labor-intensive, costly, and difficult to scale. Progress toward automated FIS assessment has also been constrained by the lack of publicly available professional data in psychotherapy settings. To address this limitation, we introduce Therapy-FIS, a dataset for automated FIS assessment in standardized psychotherapy tasks. To our knowledge, Therapy-FIS is the first publicly available dataset in this domain. It contains facial, acoustic, and textual signals derived from standardized therapist responses to standardized mock patient stimulus clips, based on 890 therapist video recordings and 8 patient videos, and is rated with eight FIS subscale ratings and an overall FIS score. Built on Therapy-FIS, we further establish a benchmark with two downstream tasks: Therapist Performance Rating and Joint Therapist--mock-Patient Performance Rating. We also introduce a competitive baseline, DyadicFIS, with gated fusion and routed readout under therapist-only and dyadic settings. DyadicFIS obtains the best macro CCC(Concordance Correlation Coefficient) scores on both tasks (0.2807 and 0.3299). Therapy-FIS offers a reproducible resource for data-driven automated assessment of therapeutic interpersonal skills in mental health.

cs.CV · cs.AI · cs.CY

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.09001

Deposon: An Auditable, Conservation-Guaranteed, Game-Theoretically Tested Scattering Layer over LLM Reasoning Paths

Qihao Yuan

原文摘要

Multi-step LLM reasoning lacks a machine-recheckable ledger: discarded reasoning paths leave no auditable record. We propose the Deposon scattering layer, which binds each node of an LLM-generated concept-decomposition graph to a two-parameter Deposon state; paths undergo three-channel scattering -- transmission, reflection, irreversible dissipation -- obeying T+R+A=1 for arbitrary parameters, with a maximum per-path energy-audit deviation of 2.2E-16 (machine epsilon). We report all three evidence tiers honestly. On synthetic trap benchmarks the path-filtering gain is closed (pre-registered): unified reaches 100% versus a decoy-capture baseline at 7%/10%. On real benchmarks the layer is indistinguishable from a trivial six-keyword rule filter (GSM8K 0.87 >= 0.85, McNemar p=0.5; StrategyQA 0.899 = 0.899); no difference is detected here, so we sharpen the claim to "the differential value lies solely in machine verifiability." Fusion yields a second negative result: convex combinations with a semantic prior never improve (physics 0.484 -> 0.452), and the apparent lambda=2 gain is an anti-field artifact; any fusion gain must be nonlinear. Modeling the reverse dynamics as a potential game on the graph, we evidence an auditable scalar's monotonicity and near-gradientness and quantify the empirical coordination ratio (ECR). The three formalized dynamical-equivalence propositions (P1a/P1b/T-P1c) are falsified under the pre-registered kill protocol, and the potential-game claim is downgraded to approximate (cyclic-graph median residual 0.669): only consistency-level evidence survives at the dynamical level. Code: github.com/zeroandcat/Deposon.

cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.36924

Track-and-Complete: Learning Humanoid Skills from a Single Failed Human Video

Sarmad Idrees, Jongeun Choi

原文摘要

Learning humanoid skills from videos typically requires a successful human demonstration, which often demands custom data collection. Although failures have traditionally been treated only as negative examples in robot learning, they can still reveal a usable trajectory prefix before the task fails, as well as the intended outcome. To leverage this information from a failed-attempt video, we propose TRACC, a pipeline that imitates the useful portion of the motion trajectory and then completes the task based on the inferred task outcome. The usable motion prefix serves as prior knowledge until the failure occurs, after which the task-completion reward guides the policy to learn the intended task goal without requiring a successful task trajectory. We evaluate our method on six in-the-wild failed human tasks from the Oops! dataset. Our experimental results demonstrate the effectiveness of the proposed approach for learning from failed attempts when no successful demonstration is available. Thus, these findings establish failed human videos as a viable source of supervision for humanoid skill learning.

cs.RO · cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.01609

MagPillar: A Soft Magnetopillar Array Tactile Sensor for Robotic Surface Perception

Haotian Guo, Yu Feng, Hao Wu, Jiazhi Tang, Ningbin Zhang, Jianshu Zhou

原文摘要

Robotic surface exploration benefits from tactile interfaces that accommodate contact and capture variations in surface characteristics. Herein, we report MagPillar, a tactile sensor inspired by spider tactile hairs that combines a magnetic pillar array with three-axis Hall sensing. A full-array mechanical and magnetic-field model characterizes how pillar deformation affects the superposed fields measured across the array, providing a physical basis for interpreting its contact responses. The compliant pillar architecture translates contact with surface textures and geometric features into distinct magnetic response patterns. Then, in robotic surface perception experiments, spectral features and logistic regression distinguish six material surfaces with an offline accuracy of 99.34% under within-session temporally blocked cross-validation. Continuous scans over periodic protrusions produce amplitude and peak-spacing variations consistent with changes in surface geometry. These findings connect compliant contact mechanics with distributed magnetic sensing, paving a new path for material recognition and qualitative surface-profile perception.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04641

Does LinUCB Need Valid Confidence Sets?

Ahmed Ben Yahmed, Marc Abeille, David Janz, Clément Calauzènes

原文摘要

We show that replacing LinUCB's usual confidence width $β$ by any fixed $α>0$ preserves sublinear regret when the action set is $M$-smooth and $m$-strongly convex. Our high-probability regret bound for this generalisation, $α$-LinUCB, establishes that valid confidence sets are not necessary for the success of LinUCB. We identify the mechanism behind this result: action-set curvature drives $α$-LinUCB to explore every direction, even when optimism is not guaranteed. To analyse this mechanism, we introduce a logarithmically capped spectral potential that, unlike the standard log-determinant potential, caps contributions from well-explored directions. This yields lower bounds on the smallest eigenvalue of the design matrix. At the standard confidence width $α=β\asymp\sqrt{d\log T}$, our $T$-round regret bound in $d$ dimensions is $O\bigl(\frac{M}{m}d\sqrt{T\log T}\bigr)$, up to iterated-logarithmic factors, improving the horizon dependence of the classical LinUCB guarantee by a factor of $\sqrt{\log T}$.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.29607

No Frames, Just Frequencies: Bandwidth-Efficient Deployment-Time Adaptation for Smart Glasses

Francesco Corti, Moritz Becker, Olga Saukh

原文摘要

Deep neural networks deployed on smart glasses must adapt to changes in the distribution of incoming data while adhering to strict privacy and device constraints. We present No Frames, Just Frequencies, a bandwidth-efficient source-assisted adaptation framework that characterizes distribution shifts using compact frequency descriptors computed on-device. Rather than transmitting camera frames, the glasses compute and send frequency descriptors to a host device that contains a replica of the model. The host device maps the received frequency descriptor to a distribution shift operator that synthesizes out-of-distribution data and adapts a model replica using a pre-defined adaptation protocol. We evaluate the framework on mixtures of ImageNet-C corruptions using convolution-based (ConvNeXtV2-Femto), self-attention-based (DeiT-Tiny), and hybrid (TinyViT-5M) vision models, on person classification (Visual Wake Words), and on object detection (MS-COCO). Our results reveal that adaptation driven solely by the transmitted descriptors recovers $93-95\%$ of the supervised oracle adaptation gain on all three architectures, $82\%$ on Visual Wake Words and $94$--$98\%$ on MS-COCO. Notably, adaptation quality degrades gracefully as the descriptor resolution decreases from $224 $ to $28$ pixels, consistently across architectures, enabling bandwidth reductions from $213\times$ to $784\times$ across the frequency descriptors.

cs.CV · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.08974

CLAP: Direct VLM-to-VLA Adaptation via Language-Action Grounding

Yuri Ishitoya, Jeremy Siburian, Masashi Hamaya, Haruto Suzuki, Kuniaki Saito, Toshihiko Fukushima, Cristian C. Beltran-Hernandez, Mai Nishimura

原文摘要

Vision-language-action models (VLAs) inherit semantic capabilities from pretrained VLMs, yet large-scale post-training on robot data and architectural modifications can reshape the backbone so extensively that it becomes difficult to isolate what the VLM contributes to control. Directly converting pretrained VLMs into VLAs with minimal architectural change offers a more transparent path to understanding how VLM capabilities transfer across model scales. The core obstacle is output-distribution mismatch: predicting actions as bare numeric token sequences moves generation away from the VLM's pretrained language distribution, degrading the capabilities we seek to preserve. To address this, we propose CLAP (Causal Language-Action Prediction), which prepends each numeric action sequence with a natural-language action description, causally conditioning precise action-token prediction on a language-action plan without modifying the backbone architecture. With only 4-5 hours of training, 2B CLAP achieves 90.8% on LIBERO (+14.9 pt over VLA-0) and improves robustness on LIBERO-PRO under language, object, and spatial perturbations. Ablations attribute the gains to action-grounded language semantics, and on a real UR5e robot 2B CLAP reaches 60% success against 15% for matched VLA-0. We release CLAP at 0.8B, 2B, and 4B as an open-weight, multi-scale compact VLA family from a single VLM lineage, enabling controlled analysis of VLM-to-VLA capability transfer.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.03851

The Price of Partial Information with Switching Costs: A Complete Characterization for Feedback Graphs

Nicolò Cesa-Bianchi, Tommaso Cesari, Roberto Colomboni, Emmanuel Esposito, Federico Fusco, Tomer Koren

原文摘要

We study how switching costs affect minimax regret under partial feedback. Which features of the feedback preserve the $\sqrt T$ rate, and which force the $T^{2/3}$ rate? We address this question in the framework of feedback graphs, which interpolate between full information and bandits: playing an action reveals the losses of its out-neighbors in a known directed graph. Prior work on feedback graphs with switching costs gave algorithms with regret of order $T^{2/3}$, but matching lower bounds only for restricted classes of graphs, leaving the question open. We establish a complete characterization of the minimax regret with switching costs for all feedback graphs: $\widetildeΘ(\sqrt T)$ if the graph is strongly revealing, meaning that every pair of distinct actions has an endpoint that observes the losses of both; $\widetildeΘ(γ^{1/3}T^{2/3})$ for every other observable graph, where $γ$ is the domination number; and linear otherwise. In particular, tournaments, in which every action observes its own loss and each pair of actions is joined by one directed edge, sit at the phase transition: they behave like full information, but deleting the edge of any pair forces the rate $T^{2/3}$. Hence an action that observes all losses is neither necessary nor sufficient for the rate $\sqrt T$. Our algorithm TournamentSteering for the strongly revealing case rests on a new principle: each observed comparison of two actions serves both to estimate losses and to steer play, and the loss reduction from steering pays for the variance of the estimates. For every strongly revealing graph, distributing the comparisons among observing actions keeps this variance, and hence the regret, polylogarithmic in the number of actions, by an argument similar to the greedy construction of logarithmic dominating sets in tournaments.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04637

SAT Encoding for Set of At-Most-K Cardinality Constraints with Ladder Shape

Hieu Truong Xuan, Tuyen Kieu Van, Khanh To Van

原文摘要

This paper presents a novel SAT encoding designed to represent a sequence of At-Most-K cardinality constraints arranged in a ladder-like structure, referred to as the Ladder AMK constraint. These AMK constraints feature a ladder-like arrangement, with shared common variables in the center and two variables differing at the beginning and the end. The proposed encoding first decomposes the sequence of AMK constraints into separated blocks, then encodes each block as a whole rather than encoding each AMK constraint individually. This approach improves the efficiency of constraint solving in SAT solvers by significantly reducing the size of the encoding, precisely the number of variables, and the generated clauses required. To achieve this, the encoding employs Sequential Counter to encode each block and constructs clauses that link adjacent blocks, ensuring equivalence with the input constraints. Compared to the previously proposed encoding that uses BDD for Ladder AMO constraint, our encoding requires fewer variables and clauses. Our study is the first study that develops SAT encoding for Ladder AMK constraints with k>1. Experimental results on single Ladder AMO and Ladder AMK constraints indicate that our encoding significantly enhances both the size of the encoding and the efficiency of solving time compared to existing encodings. Furthermore, by evaluating on the two real-world combinatorial problems, namely Anti-bandwidth Problem and Nurse Rostering Problem, we found that the proposed encoding surpasses alternative encodings, as well as more advanced Constraint Programming and Mixed Integer Programming solvers. In summary, the SAT encoding technique presented in this paper provides a more efficient method for encoding sequence constraint, specifically Ladder AMK constraint, which could enhance the effectiveness of SAT solving for various problems involving this type of constraint.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04633

ReXMo: End-to-End Video Character Replacement with Expression and Motion Preservation

Hualiang Wei, Wenhui Li

原文摘要

Video character replacement aims to replace actors while preserving facial expressions, motions, and scene dynamics. Existing methods typically rely on masked generation with pose guidance, limiting fine-grained expression and motion preservation in complex scenes. We propose ReXMo, an end-to-end framework that supports single-, multi-, and selective character replacement scenarios. ReXMo introduces paired triplet supervision, where synthesized driving videos and original videos share identical performances but different identities, enabling scalable training through synthetic data generation. An In-Context Diffusion Transformer learns identity transformation by jointly conditioning on driving videos, reference identities, and text prompts, while an Expression Enhancement Adapter improves facial expression preservation in multi-person scenes. Extensive experiments demonstrate that ReXMo outperforms existing methods in identity fidelity, motion consistency, expression preservation, and visual quality. Our dataset and code will be publicly released.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04632

Self-Privileged Fine-Tuning

Yangrong Hu, Xueyu Zhou, Yue Wu, Jian Huang

原文摘要

Supervised fine-tuning (SFT) is a key component of language model post-training, enabling effective task adaptation and serving as an important foundation for subsequent reinforcement learning. Recent methods seek to improve SFT by introducing token-level weights into the training objective, where these weights are typically derived from a model's output distribution at each token position. To better understand how such weighting schemes affect SFT, we analyze their optimization objectives and theoretically characterize the target distributions they induce. Our analysis shows that dynamic weighting methods, such as Dynamic Fine-Tuning (DFT), induce a heavily sharpened distribution, whereas static weighting methods fit a target distribution proportional to the product of the data distribution and a frozen prior. These findings suggest that static weighting provides a more stable training target, while its effectiveness critically depends on the quality of the prior distribution. Building on this observation, we propose Self-Privileged Fine-Tuning (SPFT), which uses a frozen copy of the initial model conditioned on privileged information (such as ground truth for mathematical questions) as a prior to provide guidance for token-level weighting during fine-tuning. Through a Bayesian decomposition, we further show that SPFT reweights the standard static prior according to how informative each target token is for predicting the ground-truth outcome, thereby assigning larger weights to more predictive tokens. Experiments on mathematical reasoning and code generation show that SPFT improves over standard SFT and other baselines across the main settings.

cs.LG · cs.CL

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2603.07604

EmbedTalk: Talking Head Synthesis using Gaussian Embeddings

Arpita Saggar, Jonathan C. Darling, Duygu Sarikaya, David C. Hogg

原文摘要

Deformable 3D Gaussian Splatting (3DGS) has emerged as a popular method for real-time talking head synthesis, offering high-quality renderings at low latency. Tri-planes are a common choice for encoding Gaussians prior to deformation since they provide a compact and continuous representation. However, tri-plane encodings are limited by grid resolution and approximation errors introduced by projecting 3D volumetric fields onto 2D subspaces. Recent work has demonstrated the effectiveness of per-Gaussian embeddings for driving temporal deformations in 4D scene reconstruction. We introduce EmbedTalk, which leverages these embeddings to model speech-driven facial deformations for talking head synthesis. Comprehensive experiments show that EmbedTalk improves rendering quality, lip synchronisation, and motion consistency over previous 3DGS-based methods, while remaining competitive with state-of-the-art generative models. Replacing tri-plane features with embeddings also yields significantly more compact models that achieve 60+ FPS on a laptop GPU (RTX 2060 6 GB). Code and further details are available at https://arpita2512.github.io/EmbedTalk/

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2608.12231

An Efficient Minimax-Optimal Algorithm for Adversarial $m$-Set Bandits

Francesco Bacchiocchi, Tommaso Cesari, Roberto Colomboni

原文摘要

We study adversarial combinatorial bandits with $m$-set actions, where at each round the learner selects $m$ out of $d$ items and observes only the aggregate loss of the selected items. The resulting action set contains $K=\binom{d}{m}$ elements and can therefore be exponentially large. We propose a computationally efficient algorithm that exploits this structure without explicitly enumerating the action set. Against adaptive non-anticipating adversaries, it guarantees, with probability at least $1-δ$, regret against the best action in hindsight of $R_T =O(\sqrt{dT\log(K/δ)}). $ This matches the high-probability regret bound of the finite-action EXP3 with Kiefer-Wolfowitz exploration algorithm of Zimmert and Lattimore, whose direct implementation may require exponential space. Our algorithm instead represents each sampling distribution with $d$ parameters and runs in polynomial time without enumerating the action set. This resolves an open problem posed by Maiti et al. We complement this upper bound with a matching high-probability lower bound. For all sufficiently small $δ$ and all sufficiently large horizons, every randomized algorithm admits an adaptive non-anticipating adversary for which, with probability at least $δ$, $R_T=Ω( \sqrt{dT\log(K/δ)}). $ Thus, the rate is minimax optimal up to universal constants in this regime. In particular, setting $m=1$ shows that the $\log K$ factor in the high-probability regret bound for ordinary $K$-armed bandits against adaptive non-anticipating adversaries is unavoidable. This strengthens the lower bound of Gerchinovitz and Lattimore, closing the remaining $\sqrt{\log K}$ gap between high-probability upper and lower regret bounds.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.08698

Supersampling Stable Diffusion and Beyond: Training-Free Neural Network Scaling via Signal Interpolation

Md Abu Obaida Zishan, Jannatun Noor, Annajiat Alim Rasel

原文摘要

This work presents a training-free approach for interpolating neural networks using signal interpolation methods (i.e., linear, bilinear, bicubic). We discovered this phenomenon while attempting to interpolate the convolution layers of Stable-Diffusion-1.5 for beyond-training-resolution (BTR) image generation. As we know, for generating BTR images using DDPMs (Denoising Diffusion Probabilistic Models), there are mainly two approaches, namely, 1) patch-wise diffusion and 2) convolution-kernel dilation. Patch-wise diffusion cannot solve the object-duplication problem efficiently, while the kernel dilation approach may be harder to fine-tune later. Thus, we proposed convolution-kernel interpolation of the Stable Diffusion 1.5 model for $4\times$ BTR image generation. We discover and show mathematically that signal interpolation methods can correctly scale convolution kernels when multiplied by a flat-attenuation factor, while achieving competitive performance against the state of the art. We then applied the same methodology to non-DDPM deep neural network architectures, adapting them for BTR image classification, achieving a worst-case performance drop of $\sim 7\%$ on the ImageNet-1k validation set. Again, we subsample the penultimate fully connected layer of VGG-16 using our method, reducing up to $\sim 9\%$ parameters with $\sim 5\%$ loss in performance. Finally, we also discuss how we can reduce the memory footprint of training neural networks to $4\times$ or greater.

cs.CV · cs.LG

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