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新论文 · v1arXiv:2611.08933

DRAFT-Bench: Evaluating Frontier Agents Across the Professional Design Lifecycle

Rong Pan, Jianqiang Wang

原文摘要

Can frontier general-purpose agents understand client intent, explore creative directions, execute revisions, and prepare production deliverables? We introduce DRAFT-Bench (Design Reliability Across Feedback and Tasks), a lifecycle-oriented evaluation of requirement elicitation, creative exploration, constrained editing, iterative revision, and production handoff. Its Requirement-to-Artifact framework links evolving requirements, protected properties, artifact versions, and delivery obligations. We compare native Codex/Astra and Claude Code across 35 design briefs under 43 conditions, alongside a separate 40-scenario RFQ track. Astra completes 43/43 design conditions and Claude 35/43. All scored core runs receive full structural credit, yet on the 28 core conditions scored for both systems, semantic checks flag violations in 11 for Astra and 5 for Claude; these are model judgments, not expert-confirmed failure rates. RFQ coverage is high, but success ordering changes across cohorts. SKU expansion, revision dependencies, and White ink files expose ambiguity among unmet obligations, missing inputs, and evaluator interpretations. These findings separate execution, requirement compliance, and professional acceptance. Unpaired tracks and different tools preclude claims of RFQ-to-delivery success, factory acceptance, or a pure model ranking.

cs.SE · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08932

ODD+LLM: Specifying LLM-Agent Behavior for Reproducible Social Simulation

Justin Downes, Robby Milletich, Newel Hirst

原文摘要

The ODD protocol is the de facto standard for describing agent-based models, but it lacks vocabulary for the components that determine LLM-agent behavior: prompt assembly, memory serialization, parsing, and retry logic. We propose ODD+LLM, a backward-compatible extension adding five documentation blocks grounded in the CoALA cognitive-architecture framework. To show that the gap matters, we conduct a multiverse analysis [Steegen et al., 2016] of a published LLM naming-game simulation, varying six specification choices a reimplementer must make. Variants that are defensible readings of the paper stay within statistical noise of our baseline reconstruction. Missing one instruction that the paper states but is easy to overlook (that the model answers as an outside observer rather than as a player) raises the share of runs settling on the convention agents individually favor from 0.35 to 1.00 and makes convergence three times faster, in a reimplementation that uses a different model from the original. We complement the demonstration with a reconstruction-sufficiency review of 28 published LLM-agent simulations, finding that the details of how prompts are built and how model outputs are parsed are undetermined in 77% of cases, and that no paper fully specifies its main LLM call. ODD+LLM gives the field a standard home for information it already produces but currently scatters across code repositories, supplementary files, and undocumented defaults.

cs.MA

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08930

Wellness Robots and the Path to Full Autonomy

Mohammad H. Mahoor, Matthew Hessler, Lombe Chileshe, Ola Alsaadi, Eshrat Emamian, Kerstin S. Haring, Richard M. Voyles

原文摘要

This paper introduces the autonomous wellness robot as a distinct category of socially assistive system, defined by its capacity to continuously assess and respond across the seven ICAA dimensions of wellness (see Figure 2). We propose the Care Robot Autonomy Scale (CRAS): a six-level taxonomy (L0-L5) modeled on the automotive automation standard SAE J3016 and evaluated across four wellness-aligned dimensions. We present Ryan, developed initially at the University of Denver and commercialized by DreamFace Technologies, as a case study. NIH/NIA-funded longitudinal evidence (N = 18; 887 hours) shows statistically significant cognitive improvement (SLUMS +2.61, p = 0.015) and a clinically meaningful directional reduction in depressive symptoms (PHQ-9 -2.50, p = 0.073), with no novelty effect. We position Ryan today at CRAS Level 1-2, with emerging Level 3 capabilities in some dimensions, and outline a three-phase roadmap to L5 (full autonomy) by the early 2030s.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08929

Grid-Oriented Probabilistic Load Forecasting for AI Data Centers

Qingyi Yao, Ding Lin, Tianqiao Zhao, Meng Yue, Jianhui Wang

原文摘要

Probabilistic load forecasts for AI data centers need to represent both uncertainty under changing workloads and temporal dependence to support grid operations. This paper develops an open, grid-oriented benchmark using measured GPU power from a 448-GPU AI cluster. Forecasts are evaluated through four stages: probabilistic prediction, online uncertainty calibration, temporal scenario generation, and horizon-wide reserve sizing. Following a change in cluster utilization, a quantile LightGBM forecast achieves only 63.4% coverage for a nominal 90% interval, while online regime-conditioned calibration increases coverage to 87.3%. Even with well-calibrated marginal forecasts, independent sampling produces unrealistic ramp distributions and excessive reserve procurement. Reconstructing temporal dependence from historical forecast errors reduces the discrepancy in ramp statistics and lowers realized reserve cost by 7.4-10.6% across three forecasting tasks. These findings show that marginal forecast quality alone is insufficient for operational decisions and motivate joint evaluation of calibration, temporal structure, and decision outcomes.

eess.SY · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.22688

Explore Separately, Adopt Selectively: Execution-Guided Tool Use over Large Tool Libraries

Anna Mazhar, Seiji Maekawa, Nikita Bhutani

原文摘要

Enterprise LLM agents using growing tool catalogs must surface capabilities as workflows evolve without flooding context or committing to the wrong tool. Adaptive retrieval can expose new capabilities, but when several tools seem plausible, probing them sequentially can stop at an early failure or leave failed attempts in the agent context. We present BRIA (BRanch-Inspect-Adopt), a plug-and-play method that investigates candidates in isolated branches. Each branch retrieves and executes tools independently. A task agent inspects the execution evidence and selectively adopts useful results in its context. BRIA also retrieves tools as new capability needs arise. To evaluate BRIA in an enterprise setting, we assemble a single catalog with 1897 tools from PlanBench-XL and MCP-Atlas. We compare BRIA with static and adaptive baselines using three LLM families. We observe that BRIA lies on the accuracy-cost frontier. Compared with the strongest baseline, BRIA uses less than half as many input tokens to achieve equal or higher success rates on PlanBench-XL, and improves task performance by up to 14.4 percentage points on MCP-Atlas. For enterprise agents over large catalogs, these results suggest that candidate tools can be effectively explored with execution evidence without carrying every result in the agent's context.

cs.CL · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.25342

MATO: Multi-objective Personalized Alignment with Test-time Optimization for Large Language Models

Linhao Luo, Thuy-Trang Vu, Van-Anh Nguyen, Junae Kim, Gholamreza Haffari, Dinh Phung

原文摘要

Aligning large language models (LLMs) with diverse and multifaceted user preferences is a fundamental challenge in personalized AI systems. Existing multi-objective alignment methods either rely on costly training or require pre-trained reward models for each preference, making it difficult for them to adapt to evolving preferences. Prompt-based personalization offers a training-free alternative, but prompting alone often provides limited steerability, as LLMs may overemphasize or overlook certain preferences and fail to give users reliable control over the relative importance of different objectives when conflicts arise, leading to suboptimal alignment. In this paper, we introduce MATO, a training-free framework for Multi-objective personalized Alignment with Test-time Optimization. MATO formulates personalization as a test-time optimization problem that steers the relative importance of multiple objectives through controllable weights during decoding, without modifying model parameters or requiring external reward models. Specifically, a reward discovery module constructs prompt-derived surrogate rewards from the backbone LLM for diverse objectives specified in natural language, while a weight optimization module dynamically adjusts objective weights based on the user's initial preferences and the partially generated response to balance competing objectives during generation. The resulting surrogate rewards and weights jointly guide an online optimization procedure over the token distribution, enabling better alignment with the target objectives. Extensive experiments across multiple datasets and backbone LLMs show that MATO consistently outperforms strong baselines, achieving Pareto-improving multi-objective alignment and stronger steerability. These results highlight test-time optimization as a promising direction for scalable, controllable, and model-agnostic personalized alignment.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08924

ResQAdam: Residual-Preserving Adaptive Optimization for Memory-Efficient Quantization Aware Training

Liqun Ma, Shengkun Tang, Liangyu Wang, Lin Zhao, Wei Luo, Xinjun Niu, Spandan Tiwari, Ashish Sirasao 等 10 位作者

原文摘要

Quantization-aware training (QAT) is the most reliable way to obtain accurate low-bit large language models (LLMs), but training with AdamW keeps two dense FP32 states for every weight matrix. We find that low-rank memory-efficient optimizers such as GaLore and LDAdam degrade substantially in QAT. A considerable part of the QAT momentum lies outside its top-r singular subspace, and projection-based methods discard this part at every step. We further observe that this residual remains useful when only its sign is kept. Based on these observations, we propose ResQAdam. It keeps a single BF16 momentum, applies Adam only to the r x r coordinates of the principal subspace, and adds a normalized sign update computed from the residual. We evaluate ResQAdam with two from-scratch QAT methods and three QAT fine-tuning pipelines, with weights quantized down to 2 bits. It reduces optimizer-state memory by 71% to 74% relative to AdamW, stays close to AdamW in most settings, and lowers training throughput by less than 2%.

cs.LG · cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.16732

DiRotQ: Rotation-Aware Quantization for 4-bit Diffusion Transformers

Sayeh Sharify, Mahsa Salmani, Hesham Mostafa

原文摘要

Diffusion Transformers (DiTs) achieve state-of-the-art image generation quality but incur substantial memory and computational costs at inference. While aggressive Post-Training Quantization (PTQ) to 4-bit precision offers significant efficiency gains, it typically results in severe quality degradation. Existing approaches, including smoothing-based methods, mixed-precision schemes, rotation techniques, and low-rank residual methods, partially mitigate this issue but still leave a noticeable gap to FP16/BF16 performance. In this work, we introduce DiRotQ, a W4A4 PTQ framework that mitigates this degradation through rotation-aware activation quantization. DiRotQ identifies a low-rank subspace capturing dominant activation variance via Principal Component Analysis (PCA), preserving coefficients in this subspace at higher precision while quantizing the remaining components to 4-bit. Activations are rotated into the PCA basis at inference time using calibration-derived orthogonal transformations, while the inverse rotation is fused into the layer weights offline. Combined with GPTQ-based weight quantization, DiRotQ achieves an FID of 15.9 and PSNR of 19.1 dB on PixArt over the MJHQ-30K dataset, outperforming the prior state-of-the-art SVDQuant (FID 18.9, PSNR 17.6) under the same INT W4A4 setting. Beyond standard metrics, we introduce a VLM-as-a-Judge evaluation protocol for diffusion model quantization, the first such evaluation in this setting, providing a more holistic assessment of perceptual quality and prompt alignment under aggressive compression. On the systems side, our Triton-based custom kernel enables efficient end-to-end inference, reducing memory usage of the 12B FLUX.1-dev model by 2.1x and achieving a 2.3x speedup over BF16 on an RTX 4090. On the RTX PRO 6000 with Blackwell architecture, DiRotQ achieves a 2.0x speedup and memory reduction over BF16 using NVFP4.

cs.CV · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08923

FANO: Anchored Forward-Noise Optimization for Diffusion Inverse Problems

Shilong Han, Hongxia Wang

原文摘要

Pre-trained diffusion models have become a widely adopted zero-shot prior for image inverse problems, among which annealed decoupling methods achieve leading reconstruction performance on nonlinear tasks. We find, however, that annealed methods that directly optimize the denoiser input $x_t$ exhibit radial drift in later layers: within-layer optimization drives the noise-component norm of $x_t$ away from its typical value, pushing the denoiser out of its high-performance regime and degrading reconstruction quality. To address this, we propose FANO (Anchored Forward-Noise Optimization). At each annealing layer, FANO fixes the previous denoiser estimate as an anchor and optimizes only the forward noise $e$, whose distribution is known, instead of $x_t$, thereby preserving the forward-diffusion structure of the denoiser input. The standard Gaussian prior on $e$ concentrates its norm near the typical value, and deviations degrade denoiser performance. We accordingly decompose $e$ in polar coordinates into a direction and a radial magnitude, and apply a soft potential to regulate the radius, keeping $x_t$ in the high-density region of the forward distribution. On multiple linear and nonlinear inverse problems, FANO matches the strongest current baselines on linear tasks and achieves consistent improvements on nonlinear tasks.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.06760

Route First, See Later: Enabling Vision Agents to Reason Scientifically by Separating Routing Policy from Action Spaces

Shubhabrata Mukherjee, Jeffrey Donatelli, Daniela Ushizima

原文摘要

Scientific image-analysis workflows require agents to select among diverse capabilities like description, detection, counting, and segmentation. Current multi-tool architectures conflate intent interpretation with visual execution, masking whether a failure arises from flawed reasoning (misrouting) or failed perception (invalid tool execution). This lack of auditability renders agents unreliable for high-stakes scientific automation. We introduce ZETA, an extensible architecture that operationalizes the decoupling of routing policy from action execution. ZETA resolves scientific intent before invoking specialized visual tools, treating measurement as a deterministic operation grounded in explicit geometry rather than generative output. This architecture exposes the "black box" of agent decision-making, allowing routing correctness and downstream execution to be evaluated as independent failure modes. To our knowledge, we provide the first controlled study in scientific vision-agent routing that isolates explicit routing-policy specification while holding the legal action interface fixed. Evaluation on a zero-shot benchmark of 51 scientific-intent queries shows that explicit routing semantics can substantially improve routing accuracy, particularly at semantically adjacent action boundaries, although improvements vary across models. For Qwen 3.8, explicit routing-policy specification improves segmentation routing accuracy from 6.2% to 75.0% and detection routing accuracy from 60.0% to 100%. ZETA's execution traces make routing decisions and downstream artifacts separately observable, providing a basis for distinguishing intent-selection errors from visual execution failures. ZETA establishes the necessary infrastructure to isolate execution errors from interpretive ones, a critical requirement for deploying reliable scientific vision agents.

cs.CV · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.13549

ELMA: Benchmarking Anaphoric Compositions for Long-Term Text-to-Motion Generation

Shun Kato, Dixin Yang, Kotaro Amaya, Yuiga Wada, Kazumi Fukuda, Takashi Shibuya, Yuki Mitsufuji, Mariko Isogawa

原文摘要

Text-guided long-term human motion generation is essential for applications such as continuously operating digital avatars. Despite recent progress on short clips, existing models struggle with multi-segment instructions that involve anaphora, where constraints established in earlier segments must be preserved over time. In this paper, we introduce a novel task of long-term motion generation from such anaphoric compositions. To address this gap, we present ELMA, an episodic long-term motion dataset with dense segment-level annotations that preserve cross-segment dependencies. Built via a fully automated collection and filtering pipeline, ELMA extracts high-quality, continuous 30-second clips from in-the-wild videos, capturing the episodic narratives necessary for long-range state modeling. Using ELMA, we benchmark representative long-term motion generation models under independent and anaphoric instruction settings, and study whether contextual fine-tuning improves long-range state modeling. Our extensive experiments provide insights into the capabilities and limitations of existing models in handling context-dependent instructions. These findings highlight the challenge of modeling cross-segment dependencies and offer valuable directions for developing more coherent and semantically consistent long-term motion generation models.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08922

Glyph: An Interpretability Engine for AI-Driven Scientific Discovery in Clinical Data

Robbie Holland, Ashwin Kumar, Mateus A. Esmeraldo, David Le, Andrea Fisher, Jiazhen Pan, Louisa Fay, Magdalini Paschali 等 22 位作者

原文摘要

Automated scientific discovery has the potential to advance understanding of disease mechanisms and accelerate identification of early disease markers. Manual data annotation is infeasible at population scale, motivating methods that automatically extract pre-defined phenotypes in multimodal and unstructured clinical data. Such pre-defined feature sets determine and limit which associations these approaches can discover. This limitation extends to agentic AI systems that use these tools to query population-scale data. In contrast, foundation models (FMs) trained on large volumes of clinical data can perform tasks beyond their training objectives. This suggests their latent embeddings may represent novel or unexplored features that could yield insights into disease mechanisms, yet such latent features remain difficult to interpret. To address this challenge, we introduce Glyph, an automated multistage framework that extracts features from multimodal and unstructured clinical data using FMs and sparse autoencoders, interprets them as coded clinical concepts, and evaluates their value for clinical scientific discovery. We applied Glyph to abdominal CT volumes, CT radiology reports and laboratory measurements from 41,628 patients across different institutions. We identified 397 predictive concepts supported by 4,463 Bonferroni-significant associations. Moreover, a majority of discovered associations were automatically reproducible in held-out cohorts across different sites. Glyph concepts provided complementary associations to literature-derived markers, leading to gains in predictive power. We envision that interpretability can extend beyond a mechanistic understanding of neural networks to connecting implicitly learned features with clinical knowledge and establishing their significance for patient outcomes. We release Glyph at https://github.com/StanfordMIMI/Glyph.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08921

Frame: Form-Restricted Authoring with Model-Based Evaluation

Nan Jiang, Mohammed Mohsin Hussain, Onkar Tiwari, Ankit Jain, Thong Q. Nguyen, Abhishek Agarwal, Vishal Chowdhary

原文摘要

Many professional reports reuse the structure of prior editions while updating the content. We formalize this setting as form-restricted report generation: given a sample report and new grounding documents, generate a report that preserves the sample's form while accurately reflecting the new evidence. We introduce FRAME, a benchmark of 120 EDGAR- and arXiv-derived instances across Financial Quarterly, Financial Annual, Academic Simple, and Academic Complex categories, built with a temporal three-snapshot pipeline. We evaluate outputs with three human-validated metrics: structural similarity via semantic tree-edit distance, coverage via information unit recall, and faithfulness via claim-level grounding verification. Across five LLMs, open-source models nearly match proprietary models on structure but lag on coverage and faithfulness; all models perform better on financial than academic reports, and performance declines with longer outputs and more complex grounding.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2602.00513

Minerva: Reinforcement Learning with Verifiable Rewards for Cyber Threat Intelligence LLMs

Md Tanvirul Alam, Aritran Piplai, Ionut Cardei, Nidhi Rastogi, Peter J Worth

原文摘要

Cyber threat intelligence (CTI) analysts routinely convert noisy, unstructured security artifacts into standardized, automation-ready representations. Although large language models (LLMs) show promise for this task, existing approaches remain brittle when producing structured CTI outputs and have largely relied on supervised fine-tuning (SFT). In contrast, CTI standards and community-maintained resources define canonical identifiers and schemas that enable deterministic verification of model outputs. We leverage this structure to study reinforcement learning with verifiable rewards (RLVR) for CTI tasks. We introduce Minerva, a unified dataset and training pipeline spanning multiple CTI subtasks, each paired with task-specific verifiers that score structured outputs and identifier predictions. To address reward sparsity during rollout, we propose MinervaRL, an auxiliary self-training mechanism that generates additional verified trajectories and distills them back into the model. Averaged across four backbones and 12 CTI benchmarks, MinervaRL improves the mean score by 15.8 percentage points over the corresponding base models and by 4.3 points over GRPO. The project page is available at https://maveryn.github.io/minerva-tmlr/.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2604.08410

BLaFA: Bridging Language to 3D Functional Affordances for Dexterous Robotic Grasping in Tool Use

Fan Yang, Wenrui Chen, Guorun Yan, Ruize Liao, Wanjun Jia, Dongsheng Luo, Jiacheng Lin, Kailun Yang 等 10 位作者

原文摘要

In industrial assembly, equipment maintenance, and everyday tool-use scenarios, robots need not only to grasp objects stably but also to establish task-appropriate contact configurations according to task intentions and tool functionality. However, existing methods lack explicit mappings from open-vocabulary instructions to 3D functional contact structures and dexterous grasp configurations, limiting robots' adaptability to diverse tools and functional tasks. To address this limitation, we propose BLaFA (Bridging Language to 3D Functional Affordances for Dexterous Robotic Grasping), a structured framework for language-driven functional dexterous grasping. First, a Knowledge-guided Language Parsing (KLP) module leverages structured knowledge to transform natural-language instructions into semantic sextuples of manipulation constraints. Second, a 3D Gaussian Splatting based hierarchical semantic representation and a Triangular Functional Point Localization (TriLocation) module are developed to localize 3D functional contact keypoints under task-tool topology constraints. Finally, a 3D Keypoint Grasp Matrix Transformation (KGT3D+) module maps the localized keypoints and semantic constraints to executable wrist poses and finger-level joint and force commands. Evaluations on 100 open-vocabulary language instructions, 14 task-tool combinations covering four functional intents, and real-world robotic experiments in representative scenes demonstrate that BLaFA can effectively translate natural-language instructions into task-aligned 3D functional contact structures and corresponding dexterous grasps, thereby enabling language-driven robotic tool use across diverse tasks. The source code will be made publicly available. Code will be publicly available at https://github.com/PopeyePxx/BLaFA.

cs.CV · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08920

HOC2R: Hand-Object Contact Trajectories for Human-to-Robot Motion Transfer

Hongkun Yu, Francisco M. López, Francisco Cruz

原文摘要

Human videos contain abundant object-manipulation demonstrations, but they do not directly provide motion cues that a robot can follow. We present HOC2R, a Hand-Object Contact trajectory extractor for Robot motion that combines frozen DINOv3 and SAM 2.1 features with learned heads for hand-object association and contact localization. HOC2R supports two modes: count-aware automation that detects, counts, and localizes visible contacts in untrimmed videos, and fixed-two localization for two-finger grippers when contact frames are known. On a 30-task point-annotated benchmark, count-aware automation improves contact-count accuracy from 58.1% to 71.4% and reduces mean localization distance from 19.81 to 10.46 pixels relative to an adapted VRB2 baseline. On seven unseen RGB-D rollouts, a five-task fixed-two checkpoint reduces mean localization distance from 67.67 to 27.02 pixels. Across six robot evaluation sequences, the 30-task fixed-two checkpoint produces four feasible trajectories and succeeds on three tasks, compared with two feasible trajectories and one successful task for each adapted baseline. HOC2R is competitive in the evaluated single-hand scenes, robust to the hand-color shift, and strongest in the evaluated multi-hand scenes. These results support HOC2R as a practical pseudo-labeling method for extracting robot-usable contact trajectories from human demonstrations.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2609.32591

Think Fast, Plan Selectively: Adaptive Deliberation for Efficient Data-Driven MPC

Yi Xian Goh, Sze Jue Yang, Hao Luan

原文摘要

Data-driven model predictive control (MPC) combines learned world models with online trajectory optimization, achieving strong performance in continuous control. However, the per-step cost of sampling and evaluating hundreds of candidate trajectories restricts deployment to control frequencies well below what real-time robotics demands. Motivated by the dual-process theory of human cognition, which distinguishes between fast, intuitive processing (System 1) and slower, deliberative reasoning (System 2), we ask whether every decision requires the same degree of computational deliberation. We propose Fast-TD-MPC, a lightweight framework that adaptively routes between fast policy execution and test-time planning, reserving costly deliberation for states where it is most needed. Fast-TD-MPC delivers competitive task performance across 103 continuous control tasks while achieving up to ~4x faster inference. Under external disturbances, Fast-TD-MPC selectively falls back to planning, maintaining robustness comparable to the original planner.

cs.RO · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08912

SSF-Net: A Spatial-Spectral Fusion Network for Accurate PDE Operator Learning

Siqi Zhao, Flora D. Salim

原文摘要

Machine learning methods for solving partial differential equations (PDEs) significantly improve computational efficiency over traditional numerical solvers such as finite element method (FEM). However, PDE dynamics inherently span both local and global dynamics: disturbances propagate and decay gradually through the domain, while global coupling effects can influence the whole system simultaneously. Capturing both types of dynamics with a low complexity model remains a key challenge. To address this, we propose the Spatial-Spectral Fusion Network (SSF-Net), built around a dual-branch Spatial-Spectral Fusion (SSF) block comprising a spatial branch and a spectral branch. The spatial branch employs a multi-directional Mamba, which mitigates its inherent causal, single-direction scanning bias and capture local interactions with reduced directional bias at linear complexity. The spectral branch leverages a Fourier transform with a block-diagonal MLP to efficiently capture global spectral features with reduced parameter count and complexity. The SSF block is embedded in a multiresolution convolutional encoder-decoder, which extracts multi-scale features. We evaluate SSF-Net on a comprehensive PDE benchmark spanning multiple task types and assess its long-horizon stability. Compared with attention-based and convolution-based baselines, SSF-Net achieves lower prediction error with fewer parameters while retaining near-linear asymptotic complexity in the number of spatial tokens.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08911

Polarization calibration of fisheye cameras using skylight in the wild

Shuo Wang, Shiqi Che, Dianze Dong, Wenxin Liu

原文摘要

Skylight polarization provides directional cues for robotic navigation, but fisheye lens effects and analyzer imperfections can degrade polarization measurements across the field of view. We present a joint lens-analyzer calibration method that explicitly models incidence-dependent lens transmission together with analyzer gains and angular offsets in a unified eight-parameter formulation. Given known geometric calibration, rotations between camera frames can be estimated using visual features and cross-frame directional polarized light consistency can be used for polarization calibration. Therefore, our calibration approach requires only a short handheld outdoor sequence under natural skylight, without dedicated polarization calibration equipment or a predefined sky polarization model. On real-world outdoor sequences, the proposed method achieves a weighted cross-frame angle-of-linear-polarization (AoLP) mean absolute error below 0.5° across all incidence angles, with a 73.4% reduction in the 80°-90° incidence angle region, and generalizes to an independent sequence with an overall mean absolute error of 0.466° without refitting. Preliminary solar-azimuth experiments using a camera mounted on a quadruped robot further show improved alignment with the visible solar center, supporting the potential of calibrated AoLP measurements for relative-heading estimation and future polarization--inertial navigation. The calibration software tool will be released upon acceptance of this paper.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08909

Geometry-Aware Score-Repellent Monte Carlo

Jie Hu, Lingyun Chen, Do Young Eun

原文摘要

The recently proposed Score-Repellent Monte Carlo (SRMC) method improves MCMC sampling by tilting the target density $π$ in $\mathbb{R}^d$ with the factor $\exp(-α\,θ_n^\top s(x))$, where the score function $s(x) = \nabla_x \log π(x)$, and $θ_n$ is the score average from past samples. However, a single scalar repellence strength $α\ge0$ cannot handle both the steep and the flat directions in anisotropic energy landscapes at once. We introduce \emph{Geometry-Aware SRMC} (GA-SRMC), which generalizes the Euclidean alignment to $θ^\top M s(x)$ for any symmetric positive-definite matrix $M$. A stochastic-approximation central limit theorem under a trace constraint on $M$ identifies the trace-normalized inverse Fisher $M_{\rm opt}\propto S^{-1}$ as the unique minimizer of the worst-direction covariance bound, elevating the Fisher information $S=\text{Cov}_π(s,s)$ from a proposal-side preconditioner (e.g., FisherMALA, natural gradient) to the bound-optimal repulsion-side matrix, with a single online estimate $\widehat S_n$ serving both roles at no additional computational cost. The full-Fisher online metric $M_n$ converges almost surely to $M_{\rm opt}$ and satisfies a CLT, providing a theoretical guarantee for the online implementation of the GA-SRMC framework. On an $8$-target simulation spanning the condition number $κ\in[1.3,100]$ and dimension $d\in[2,785]$, GA-SRMC dominates SRMC in ESS by $\boldsymbol{4.3\times}$ on anisotropic Gaussian ($κ=100$) and $\boldsymbol{6.8\times}$ on MNIST under the MALA baseline, by $\boldsymbol{16\text{--}32\%}$ on three well-conditioned logistic-regression posteriors, and by up to $\boldsymbol{+48\%}$ under FisherMALA; gains peak on the most anisotropic targets, and posterior-mean MSE is lower than with SRMC in all $16$ full-Fisher implementations.

stat.ML · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08908

Toward LLM Self-Play Under Data Scarcity: Effectiveness, Generalizability, and Trustworthiness

Zhiyin Yu, Yuchen Mou, Bingzhe Wu, Zhonghai Wu, Shiyang Feng, Xiao Luo

原文摘要

The rapid development of large language models (LLMs) has been driven largely by scaling model size and human-curated training data, yet this paradigm is increasingly constrained by data scarcity and diminishing returns from human supervision. Self-play offers a promising pathway for autonomous data generation and improvement, but current frameworks remain unsatisfactory due to a lack of a data-centric perspective, limited cross-domain generalization, and growing trustworthiness and security concerns. In this paper, we argue that real-world LLM self-play systems should achieve effectiveness, generalizability, and trustworthiness under data scarcity. To address these challenges, we outline three blue-sky research directions for future self-play systems: (1) data-centric self-play for effective experience generation, (2) generalizable self-play for open-world and unverifiable tasks, and (3) trustworthy self-play for reliable self-evolution. We further discuss research opportunities and solutions within each direction. This paradigm shift will establish a sustainable and safe AI ecosystem by transforming finite human knowledge into inexhaustible high-quality experience through self-play architectures.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.07722

Reinforcing What the Student Has Learned: Teacher-Guided On-Policy Distillation

Bozhen Fang, Linhao Zhong, Xuehao Wang, Huanyi Zheng, Hao Chen, Chunhua Shen

原文摘要

On-policy distillation (OPD) improves language-model reasoning through dense teacher feedback on student-generated responses. We first observe an amplitude disparity in this feedback: on math reasoning responses, style-related positions exhibit 3.5 times the mean absolute teacher--student log-probability difference of mathematical positions. Scaling OPD updates by these discrepancies thus directs much of the update strength toward matching the teacher's expression. We instead take the student's own pretrained base as a reference: the student--base difference records the token preferences acquired during post-training and provides supervision that does not depend on the student's distance from the teacher. Building on this reference, we propose Student-Delta On-Policy Distillation (SD-OPD), which uses centered student--base differences as update coefficients, keeps each coefficient only when its sign agrees with centered teacher--student feedback, and recomputes the student signal every training round. Across 5 teacher--student configurations with Qwen3 students of 1.7B to 8B parameters, SD-OPD improves six-task mathematics average pass@1 (avg@16) over OPD by 7.76 to 10.37 percentage points. Code is available at https://github.com/aim-uofa/sd-opd.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.23614

CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation

Jongmin Kim, Junsu Ha, Che-Sang Park, Minchang Song, Hyeokju Jeong, Himchan Hwang, Jianlong Fu, Frank C. Park

原文摘要

Contact-rich manipulation, requiring robots to regulate not only motion but also how they yield to external forces, has emerged as the next frontier for Vision-Language-Action (VLA) models. However, existing VLAs output purely kinematic commands, degrading performance on real-world contact-rich tasks. In this paper, we introduce CompVLA, a unified VLA framework that jointly predicts motion and a stiffness matrix from RGB and language inputs. Our approach augments the conventional architecture with a dedicated Compliance Expert, which outputs time-varying stiffness and virtual displacement profiles executed via geometric impedance control. We demonstrate that CompVLA achieves the highest average success rate across diverse contact-rich tasks, outperforming both vanilla and compliance-aware VLA baselines, with ablations confirming each component is essential.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08905

From Procedures to Permissions: Learning Precise Subagent Authorization from Agent Skills

Wenkai Yu, Ning Ding, Wentao Zhang, Yehui Tang

原文摘要

As language agents tackle increasingly complex tasks, they increasingly rely on multiple agents to coordinate specialized work, requiring decisions not only about what each subagent should do but also which tools and workspace resources it should access. Existing agent systems provide mechanisms for controlling tools and execution environments, but do not directly specify the resources required by each delegated subtask. Moreover, task outcomes and execution trajectories alone provide limited supervision for determining whether a subagent has received appropriate permissions. We observe that Agent Skills encode procedural knowledge describing the operations, tools, and files required at each step, providing a natural source of supervision for authorization. Building on this observation, we synthesize tasks and step-by-step procedures from Skills, execute them through subagent delegation in interactive environments, and use verified trajectories to construct training data for task execution and authorization. On ClawArena-Team, our method improves tool permission precision by 13.4 percentage points and workspace permission precision by 24.1 percentage points, while increasing overall task success by 11.6 percentage points for Qwen3.5-35B-A3B. On Terminal-Bench 2.1 and SkillsBench, our method remains competitive with existing agent data synthesis approaches. These results show that the procedural knowledge embedded in Agent Skills provides a source of supervision for precise subagent orchestration that task outcomes alone cannot provide.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08902

Inside the Trap: A Renewal Law for Prefix-Cache Collapse in LLM Agent Serving

Akshat Valse, Ali Jannesari

原文摘要

Prefix caching lets an LLM agent's follow-up turns reuse cached KV, but a burst can tip an engine into a trap in which every turn misses and the backlog does not drain, at a load it served before. In registered paired tests on two engines, two GPUs and two models (passed at 9 of 10 rates), a 200-session burst left the engine at zero hits to the end in all 30 runs, while every matched no-burst run stayed good and a session cap prevented the trap in all 30 capped runs. We analyse an idealization of the trapped state exactly: for a fluid FIFO server on which every turn misses, we prove that along FIFO orbits its cycles obey a linear renewal recursion. As is classical, the trap drains if and only if arrivals are below the all-miss capacity; above it, a Perron root fixes the dynamics: every trapped state converges to a known self-similar regime in which the gap between turns grows linearly and the turns served are young and short. For our workload the backlog grows at 0.6 to 0.8 of the excess load and sessions complete faster than the all-miss capacity, a youth premium with turn-count and cost-growth factors, so in the model a trap's measured throughput overstates the recovery threshold. Retrospectively, with nothing fitted to trap data, the theory matches 57 stuck runs: the mean served prompt within 3% in 50 runs, completions above the all-miss capacity in every run, and the pooled gap growth. Blind in outcome, 4 runs trapped by a tool slowdown met 4 of 5 pre-set scores, cut traps persisted, and with a 20-step budget, trapped runs completed below the all-miss capacity, as predicted. Of two exits, refusing arrivals sheds sessions; a session cap restores reuse: in registered tests it rescued 9 of 9 established traps at the same load without shedding, and the engine stayed good after release. We do not prove that the engine converges to the model.

cs.DC · cs.PF

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08898

FATHOM: World-Model-Guided Diffusion Action-Trajectory Selection for Sparse-Marker AUV Tracking

Xiaorui Wang, Zeyu Sha, Mingyang Yang, David Chen Wang, Feitian Zhang

原文摘要

Reliable relative tracking is fundamental to cooperative autonomous underwater vehicles (AUVs), yet remains challenging under nonlinear vehicle dynamics and degraded underwater visual conditions. Active light markers improve robustness to appearance variation, but provide deliberately sparse observations that can become incomplete or corrupted by occlusion, reflections, and detection noise during dynamic motion. To address the resulting partial-observation control problem, this paper proposes FATHOM, a world-model-guided diffusion action-trajectory selection framework for sparse-marker AUV tracking. FATHOM first integrates structured marker observations, inertial measurements, action history, and temporal dynamics into a predictive tracking belief using a multimodal task-supervised recurrent state-space model. A diffusion action prior then generates multiple expert-like multi-thruster trajectories, whose future tracking consequences are predicted through the learned latent dynamics. Rather than directly executing a generated trajectory, FATHOM selects the most favorable candidate under an explicit receding-horizon objective and continually updates the decision from onboard observations. Extensive offline analyses verify the learned predictive belief, multi-step world-model prediction, diffusion trajectory generation, and predictive selection. More importantly, comprehensive real-AUV experiments, including strong pose-based comparisons and component ablations, demonstrate robust autonomous tracking across nominal and challenging motions with naturally occurring partial marker visibility, while maintaining real-time onboard operation without motion-capture feedback.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08897

Segmenting Geometric Textures of 3D Meshes

Weidan Xiong, Kaijie Qu, Shihao Feng, Shunqi Fan, Rongyu Xiong, Hui Huang

原文摘要

Recognizing geometric texture patterns on 3D models is critical for applications such as heritage protection, model editing, and 3D printing. Existing 3D model segmentation methods predominantly focus on identifying high-level semantic parts, thereby failing to capture middle-level textures. While recent Vision-Language Models can perform image segmentation with appropriate text prompts, they still struggle to recognize 3D geometric textures. In this work, we present a method that segments 3D mesh models based on middle-level geometric textures. We further introduce a new geometric texture segmentation benchmark and fine-tune SAM3 accordingly. The segmented texture regions are then clustered based on DINO feature similarity and lifted from 2D to 3D. Additionally, we develop an interactive tool to enable both 3D model editing based on our segmentation results and model retrieval from the dataset based on geometric and texture similarity. Experiments demonstrate that our method significantly outperforms existing methods in segmenting geometric textures and can facilitate various applications.

cs.GR · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.08895

Localizing and Editing the Goal Representation of a Vision-Language-Action Model

Sudhanshu Srivastava, Faisal Aqlan

原文摘要

Operators can state safety constraints for robots as prohibitions such as "do not put the bowl on the stove". We study whether OpenVLA follows such prohibitions and where it represents the goal it executes. The 10 tasks of LIBEROGoal share one scene, so we can label the goal that each rollout executes. We combine closed-loop rollouts with activation patching, linear probes, activation steering and runtime monitors. On LIBERO-Goal, negation had no detectable effect on which task OpenVLA executed. The model executed the forbidden task in 79% of negated rollouts and completed 78% of plain tasks. A goal probe gives similar read-outs under "not X" and "X". Activation patching shows that the first action depends mostly on the instruction tokens before layer 12 and on the last prompt token from layer 16 onward. A fixed steering vector at the instruction tokens at layer 8 redirected 12 of 18 rollouts. Fixed vectors and prefill patches at layers 12 to 20 redirected none of 158. From layer 16, only patches at every decoded action token redirected the robot (15 of 18 rollouts at layer 24). When the instruction changes during a rollout, the layer-32 goal read-out detects non-compliance better than failure detectors, and an external probe on image and instruction features performs comparably. These results support enforcing prohibitions outside the instruction and monitoring goal read-outs against the specification. Goal edits in OpenVLA should act before layer 12 or patch every action token.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.38385

Revisiting Temporal Link Prediction through Structural Proximity

Yuzhang Fei, Yanping Zheng, Lu Yi, Zhewei Wei

原文摘要

Existing temporal link prediction methods typically rely on learned temporal representations to capture evolving interaction patterns. In this paper, we show that a classical structural proximity measure can match or outperform these methods without training or learned temporal sequence modeling. We revisit Personalized PageRank (PPR) on historical interaction graphs, using simple sliding-window retention or exponential time decay. Surprisingly, across 14 datasets, Time-decay PPR ranks first on nine and second on four among the compared methods, including datasets with few repeated edges. To understand this result, we examine the historical paths connecting source nodes to previously unseen destinations. We find that such paths contain useful predictive information, and that PPR outperforms a strong neural baseline on queries where historical structure clearly distinguishes the true destination from negative candidates. These results show that strong performance on current benchmarks does not necessarily require complex temporal models. More fundamentally, they raise the question of how much predictive value learned temporal modeling adds beyond historical structural proximity. Our findings motivate reassessing progress in temporal link prediction with strong classical baselines.

cs.SI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.04619

Online Graph Exploration under T-Interval Connectivity

Yuichi Sudo, Naoki Kitamura, Masahiro Shibata, Junya Nakamura, Sébastien Tixeuil, Toshimitsu Masuzawa, Koichi Wada

原文摘要

We study deterministic exploration by a single agent in $T$-interval-connected graphs, a standard model of dynamic networks in which, for every time window of length $T$, the intersection of the graphs within the window is connected. The agent does not know the window size $T$, nor the number of nodes $n$ or edges $m$, and must visit all nodes of the graph. We consider two visibility models: in $KT_0$, the agent observes only its current node's identifier and port information; in $KT_1$, it additionally observes the identifiers of its currently available neighbors. We investigate two fundamental questions: the minimum window size that guarantees exploration, and the optimal exploration time under sufficiently large window size. For both models, we show that a window size $T = Ω(m)$ is necessary, and we present deterministic algorithms whose required window size is $O(ξ(n,m)\cdot m + n \log^2 n)$, where $ξ(n,m) = \frac{\ln n}{1 + \ln m - \ln n}$. This window-size bound is tight for a wide range of $m$, in particular when $m = n^{1+Θ(1)}$. Separately, for exploration time, we prove lower bounds of $Ω((m - n + 1)n)$ in the $KT_0$ model and $Ω(m)$ in the $KT_1$ model, even when the dynamic graph is $\infty$-interval-connected (i.e., even when all snapshots share a common spanning tree), and our algorithms match these time bounds up to a polylogarithmic factor. These bounds are also tight when parameterized solely by $n$: $Θ(n^3)$ for $KT_0$ and $Θ(n^2)$ for $KT_1$.

cs.DC

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