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新论文 · v1arXiv:2611.16822

A Class of Bayesian Conjugate Distributions on $SE_n(3)$ for Motion Estimation

Shijie Wang, Haichao Gui, Rui Zhong

原文摘要

This paper proposes a novel class of Bayesian Conjugate Distributions (BCDs) on extended special Euclidean groups SE_n(3) for global motion uncertainty representation and estimation. BCDs are constructed by restricting matrix Gaussian distributions on ambient Euclidean space to SE_n(3), avoiding singularity of local coordinates. The unique feature of BCDs is their conjugacy to a broad class of sampling distributions arising in motion estimation, enabling exact closed-form Bayesian inference. Optimal estimation with respect to BCDs is further investigated for implementing motion estimation. Two means are extracted as random state estimates, which maximize probability and minimize mean squared error, respectively. Moreover, within the BCD class, moment matching is shown to minimize the Kullback-Leibler divergence, and maximum likelihood estimation is also derived, which provide analytical methods to approximate underlying distributions with the optimality guarantee. As an application, a Bayesian estimator for pose and velocity estimation of an Unmanned Aerial Vehicle (UAV) is developed within an assumed density filtering architecture. The propagation and estimate extraction leverage the optimal estimation related to BCDs, and the landmark measurements are exactly fused with the BCD prior in closed form due to the conjugacy. Numerical simulations of a UAV flight indicate the advantages of BCD-based estimators over two classic Kalman filters on Lie groups with various initial uncertainties and measurement noise.

stat.ME · cs.RO

新论文 · v1arXiv:2611.14844

AutoAssumption: Searching over Assumptions Discovers ML-Systems Algorithms

Igor Sadalski, Minghao Guo, Benjamin Jones, Wojciech Matusik

原文摘要

Many advances in ML systems came from breaking an assumption that earlier methods took for granted: speculative decoding dropped the assumption that a model needs one forward pass per token. Yet algorithms rarely state their assumptions, so experts and discovery harnesses search over programs, where one edit changes several design choices and gains are difficult to attribute. Searching over the assumptions themselves remains largely unexplored. Writing algorithms as proofs makes their assumptions explicit and turns algorithm design into a search over a small, structured space that an LLM can explore and a proof checker can audit. We formalize 89 algorithms from KV-cache eviction, weight pruning and speculative decoding as proof graphs with explicit assumptions, checked in Lean. Our harness, AutoAssumption, relaxes one assumption of a published method, re-derives and re-proves it, and generates its code. In KV-cache eviction and weight pruning, this search improved on every published algorithm we ran and produced state-of-the-art algorithms. The eviction algorithm has the highest RULER-4K score of the published methods we ran, and the pruning algorithm the lowest perplexity of thirteen on four LLaMA models. At equal budget, the harness scores within a point of OpenEvolve, an open-source implementation of AlphaEvolve, with a lower standard deviation across repeats. Future work will formalize more fields and combine them through the principal assumptions they share.

cs.AI · cs.LG

新论文 · v1arXiv:2611.14608

FreeDeshadow: Shadow Removal for User-Specified Objects With Multimodal Prompts

Zhiliang Wu, Jihao Gu, Kun Li, Hanyu Xuan, Hehe Fan, Meng Wang, Weisi Lin

原文摘要

Existing shadow removal methods either perform global shadow removal or rely on precise shadow masks to guide restoration. Such paradigms limit their ability to selectively remove the shadow cast by a user-specified object in practical applications. To this end, we introduce an object-aware controllable shadow removal task, which allows users to specify a target object through a simple prompt and removes only its cast shadow while preserving other content. However, object-shadow asymmetry makes it challenging to establish accurate correspondence between the specified object and its spatially separated cast shadow and to confine restoration to the target shadow region. To address these challenges, we propose FreeDeshadow, a unified controllable shadow removal framework that supports both visual and textual prompts. It consists of an object-aware generator and a shadow-aware local refiner. The former interprets the user prompt and produces a high-quality shadow-free proposal, while the latter establishes the correspondence between the object and its cast shadow and constrains the generated changes to the target shadow region. To support training and evaluation, we further construct PCSRD+, a large-scale dataset containing 154,571 quadruples at 1024$\times$1024 resolution and covering six types of user prompts. The visual prompts include a dot, a line, and an object mask, while the textual prompts describe the target object using attributes, spatial relations, or states. Extensive experiments demonstrate that FreeDeshadow accurately removes the shadow of the target object under both visual and textual prompts while effectively preserving non-target regions. It also outperforms existing methods in shadow removal performance and controllability. Project Page: https://wzlwlm13.github.io/FreeDeshadow

cs.CV

新论文 · v1arXiv:2611.14115

LEASH: Stay Safe in Agentic Robotics

Qinfeng Zhu, Weiguang Zhao, Ke Sun, Xihao Guo, Yunxi Jiang, Rui Zhang, Lei Fan, Kaizhu Huang

原文摘要

Foundation models such as GPT and Claude have shown strong capabilities in spatial understanding and embodied intelligence. These advances make agentic robotics a promising path toward artificial general intelligence in robotics. However, we find that using foundation models to control robots poses serious safety risks, and comprehensive safety evaluation is still lacking. We introduce RoboRisk, a comprehensive benchmark for evaluating safety in agentic robotics. Its 92 simulated tasks and 13 physical-robot tasks fall into five categories: Task-level Refusal (T), Plan Repair (P), Execution-time Hazard (E), Injection (I), and Sequential Memory (S). Prior benchmarks cover at most two of these categories, and several evaluate only text outputs. In contrast, RoboRisk covers all five and executes every task in closed loop. We evaluate six state-of-the-art foundation models on RoboRisk: GPT-6 Astra, GPT-6.1 Sol, GPT-6 Luna, Claude Opus 5.5, Gemini 4 Argon, and Grok 4.7. These models generally show high harm rates. We also evaluate two robot-specific APIs: the Dream API and PokeBot's RoboAPI. We further propose the Lease-Enforced Agentic Safety Harness (LEASH), which offers essential safety infrastructure for agentic robotics and can be integrated into nearly any agentic architecture. LEASH leverages a decision model (Jev or OpenAI's Decisions API) to implement task, action, and commit gates, which review the task, each action, and each irreversible operation in their visual context. The planner and all three gates share a common safety policy. Experiments on RoboRisk in simulation and on physical robots show that LEASH effectively reduces harm across all six foundation models. It largely preserves their task completion performance and adds little time and token overhead.

cs.RO

新论文 · v1arXiv:2611.13348

ProTEUS: A mutation-resolved world model for closed-loop protein evolution

Yikun Zhang, Minghao Guo, Guangxue Xu, Peter Yichen Chen, Wojciech Matusik, Wengong Jin, Jingjing Chai, Kaiyi Jiang

原文摘要

Protein engineering requires navigating rugged fitness landscapes, where small sequence changes can produce large functional differences, but experimental screening can only sample a small fraction of sequence space. Thus, a central challenge is to efficiently traverse the large combinatorial space of mutations in silico. We introduce ProTEUS, a mutation-resolved world model for closed-loop protein evolution. Pretrained on deep mutational scanning assays, ProTEUS learns a joint representation of sequence, evolutionary, and structural information using MutationFormer, a mutation-biased attention architecture. Variants are represented as states in this joint latent space, and mutations define actions whose functional consequences are predicted. To support exploration of many mutants, we developed a fast, physics-constrained all-atom predictor that utilizes explicit geometric constraint enforcement to achieve >10 fold increase in speed than AlphaFold3 with guaranteed physical validity. Lastly, ProTEUS refines its prediction and understanding of protein activity through closed loop experimental feedback to guide evolution toward a desired phenotype. ProTEUS surpasses established models in both zero-shot and supervised fine-tuning mutation prediction tasks. We experimentally demonstrate its utility in two closed-loop multi-objective engineering campaigns on aldehyde dehydrogenase and levansucrase, yielding variants with >10 fold higher activity than wild type. ProTEUS provides a world-model framework that connects virtual evaluation of mutational outcomes with experimental learning for efficient protein evolution.

q-bio.BM · cs.AI

新论文 · v1arXiv:2611.12875

Click3R:基于稀疏对应点击的交互式立体三维重建

Click3R: Interactive Stereo 3D Reconstruction with Sparse Correspondence Clicks

Hao Gu, Jin Yao, Zezhou Cheng

AI 速读 基于摘要

作者提出 Click3R,通过用户提供的少量跨视角对应点击,对前馈式立体三维重建模型进行交互式几何纠错。

cs.CV

查看原文摘要

Despite impressive progress, existing feed-forward large 3D reconstruction models produce a single, irrevocable prediction. When these models fail, there is no mechanism to correct their mistakes. To address this limitation, we introduce Click3R, a framework for interactive geometric correction of feed-forward models using sparse human correspondence clicks. Given an image pair and a small set of cross-view point correspondences provided by a user, Click3R injects geometric constraints into the 3D reconstruction networks through a lightweight point correspondence adapter, enabling the model to resolve ambiguities in challenging scenarios such as repetitive textures, symmetric structures, large viewpoint changes, or textureless regions. To evaluate interactive reconstruction, we curate a challenging benchmark specifically designed to expose failure modes of existing feed-forward 3D reconstruction methods. Experiments show that Click3R reduces reconstruction error with as few as a single correspondence click, improving performance on both standard and our curated benchmarks. Our results highlight that sparse human interaction provides an effective and practical mechanism for correcting geometric reconstruction errors.

版本更新 · v2arXiv:2610.40309

面向视觉语言模型零样本对抗鲁棒性的文本响应感知引导

Textual Response-Aware Guidance for Zero-Shot Adversarial Robustness of Vision-Language Models

Yubo Cui, Xianchao Guan, Zheng Zhang

AI 速读 基于摘要

提出文本响应感知引导(TRAG),利用预训练文本编码器对输入嵌入局部变化的响应来约束视觉表示漂移,以提升视觉语言模型的零样本对抗鲁棒性。

cs.CV

查看原文摘要

Vision-language models (VLMs) exhibit strong zero-shot generalization but remain vulnerable to adversarial attacks. Existing adversarial fine-tuning methods often use pre-trained model guidance to preserve image--text alignment while improving robustness. Our analysis of visual representation drift reveals complementary limitations of two representative forms of guidance. Matching visual features constrains all directions equally, providing broad coverage without semantic emphasis. Matching prediction distributions prioritizes semantically relevant directions, but remains limited by the candidate texts and prediction probabilities. These limitations can hinder preservation of pre-trained image--text relationships and degrade zero-shot performance. We therefore propose Textual Response-Aware Guidance (TRAG), which constrains visual representation drift using the pre-trained text encoder's responses to local variations in input embeddings. TRAG constructs anchor-level constraints from the response directions and magnitudes around semantic anchors, then aggregates them using pre-trained image--anchor relevance, yielding an image-adaptive constraint. Extensive experiments across architectures and tasks demonstrate state-of-the-art clean and robust performance. Further analysis shows that TRAG helps preserve pre-trained image--text relationships.

新论文 · v1arXiv:2611.12175

GeoMind: A Benchmark for Spatial Understanding in Robotic Manipulation

Jinghe Wang, Xinrui Cao, Duo Wu, Chenghao Gu, Yong Zhong, Linjia Kang, Tianyi Xiong, Zhi Wang

原文摘要

Robotic manipulation has advanced rapidly in mapping visual observations and language instructions to actions. However, reliable manipulation in open-world environments requires robust spatial understanding: the ability to identify targets in complex layouts (spatial reasoning) and adapt to scenes that continuously evolve through interaction (spatial memory). Yet existing embodied benchmarks fall short in evaluating spatial understanding: they often introduce strong visual cues that bypass spatial reasoning, and focus on static scenes that offer little insight into an agent's capacity for spatial memory. To address this gap, we introduce GeoMind, a systematic benchmark for structured spatial understanding through tabletop manipulation. GeoMind comprises 54 evaluated task variants organized around spatial reasoning and spatial memory. It also incorporates a scalable pipeline that automates the generation and annotation of task instances with verified targets and executable interactions. Extensive evaluations across diverse embodied agents reveal their consistent weaknesses in spatial understanding. Our findings highlight that these agents struggle to track identities after spatial changes and convert relational or geometric constraints into executable actions. We release the GeoMind benchmark at https://github.com/Notfound-JH/GEOMIND-benchmark.git.

cs.RO · cs.AI

新论文 · v1arXiv:2611.11304

TransArt3D: From Two States to Articulated 3D Reconstruction with Video Transition Priors

Chenhao Guan, Liying Yang, Xinxing Yu, Hao Mo, Tianshun Han, Renjun Gao, Yanyan Liang

原文摘要

Reconstructing interactable articulated assets from a few images is key to robotics and simulation, yet highly underconstrained. Existing optimization-based methods fit an articulated asset under a static 3D prior that scores each state independently, so per-state reconstruction errors leak into the estimated moving part and joint as false motion. Video diffusion models capture how objects move between states, but only implicitly in 2D. To this end, we present TransArt3D, an optimization-based framework that reconstructs an articulated 3D asset from two endpoint images by translating this video transition prior into explicit part structure and joint kinematics. It first lifts frames generated between the endpoints with a transition-coupled 3D consensus that applies the static 3D prior jointly across frames, stabilizing unchanging regions and initializing the parts and joint. A rectified-flow kinematic refinement then lets the video prior supervise a 3D motion field over the whole transition, while part assignment and a shared joint constrain the field throughout optimization, keeping per-state errors out of the articulation. Finally, a motion-aware canonical appearance fusion uses the recovered articulation to map both endpoint images onto one canonical surface, texturing regions that only one state reveals. On PartNet-Mobility, TransArt3D outperforms methods given the same two endpoints in geometry and joint accuracy, and surpasses methods given six observed states in articulated-state geometry, joint localization and appearance.

cs.CV

版本更新 · v2arXiv:2611.08264

SplatAnything: Gaussian Spacing Normalization for Feed-forward 3DGS across Arbitrary Scenes

Hao Yu, Zhenwei Wang, Yongzhen Hu, Yuning Gong, Junta Wu, Xiaowei Zhou, Hujun Bao, Tengfei Wang 等 10 位作者

原文摘要

We identify a key limitation of existing feed-forward 3DGS methods: Gaussian attributes are typically predicted in a radial-distance-normalized space that canonicalizes a global radial statistic of the reconstructed geometry, while the spacing between neighboring Gaussian centers can still vary substantially across scene scales and camera configurations. This mismatch induces systematic shifts in Gaussian-scale targets, leading to ambiguous supervision. To address this, we propose SplatAnything with Gaussian Spacing Normalization (GSNorm), which canonicalizes a robust scene-level statistic of Gaussian spacing to provide a more consistent spatial reference for Gaussian prediction. To rigorously assess our method, we further establish a systematic benchmark spanning diverse datasets, input sparsity levels, and challenging extrapolated viewpoints. Extensive experiments demonstrate that SplatAnything achieves state-of-the-art performance, with particularly strong gains under substantial variations in scene scale and viewpoint. Project page: https://zju3dv.github.io/SplatAnything

cs.CV

新论文 · v1arXiv:2611.09055

OmniLatent: Unified Latent for 3D Part Modeling

Yunhan Yang, Yunfei Zhao, Zeqiang Lai, Jiachen Xu, Minxiu Wang, Xintong Han, Xiangyu Yue, Xihui Liu 等 9 位作者

原文摘要

3D part decomposition is a central capability for editable asset creation, yet existing workflows typically segment a completed mesh as a post-processing step, making the result sensitive to geometric artifacts, texture ambiguity, and limited part-level annotations. We present OmniLatent, a unified latent modeling framework for 3D part decomposition. Instead of predicting part labels in isolation, OmniLatent learns a shared latent space that jointly encodes geometry, deformation, appearance, and binary part IDs, allowing data-rich geometric and visual priors to support data-scarce part learning. Given a single input image, the base model generates geometry, deformation, texture, and surface part IDs in one pass, producing a part-aware 3D asset without a separate segmentation stage. We further tune the pretrained model for two extensions: a point-prompt adapter that maps arbitrary 3D point prompts with binary part IDs into latent tokens for full segmentation, refinement, and part subdivision, and an amodal part completion model that completes partial surface masks into a coherent full-object decomposition through dynamic per-part token allocation, cross-attention to the given geometry latent, and alternating part-local and global attention. Extensive experiments show that OmniLatent produces semantically meaningful part segmentations with precise boundaries, supports interactive part editing, and completes partial part observations while preserving global object consistency.

cs.CV

版本更新 · v2arXiv:2605.09196

RigidFormer: Learning Rigid Dynamics using Transformers

Zhiyang Dou, Minghao Guo, Haixu Wu, Doug Roble, Tuur Stuyck, Wojciech Matusik

原文摘要

Learning-based simulation of multi-object rigid-body dynamics remains difficult because contact is discontinuous and errors compound over long horizons. Most existing methods remain tied to mesh connectivity and vertex-level message passing, which limits their applicability to mesh-free inputs such as point clouds and leads to high computational cost. Efficiently modeling high-fidelity rigid-body dynamics from mesh-free representations therefore remains challenging. We introduce RigidFormer, an object-centric Transformer-based model that learns mesh-free rigid-body dynamics with controllable integration step sizes. RigidFormer reasons at the object level and advances each object through compact anchors; Anchor-Vertex Pooling enriches these anchors with local vertex features, retaining contact-relevant geometry without dense vertex-level interaction. We propose Anchor-based RoPE to make attention aware of the objects' spatial layout while respecting the unordered nature of objects and anchors: object-token processing is permutation-equivariant, and the mean-pooled anchor descriptor is invariant to anchor reindexing. RigidFormer further enforces rigidity by projecting updates onto the rigid-body manifold using differentiable Kabsch alignment. On standard benchmarks, RigidFormer outperforms or matches mesh-based baselines using point inputs, runs faster, generalizes to unseen point resolutions and across datasets, and scales to 200+ objects; we also show a preliminary extension to command-conditioned articulated bodies by treating body parts as interacting object-level components. Project page: https://frank-zy-dou.github.io/projects/RigidFormer/

cs.CV · cs.AI · cs.GR · cs.LG · cs.RO

新论文 · v1arXiv:2611.07605

The Gating Mechanism of KV Cache Eviction

Hao Gu, Xintong Yang, Zhiwei Li, Lei Zhu, Jian Yang, Qiyuan Zhu, Dezhi Li, Jingyuan Zhang 等 13 位作者

原文摘要

KV cache eviction must decide which entries carry information that the rest of the cache can no longer supply. A natural way to estimate this is a learnable gate: give each cached entry a gate on its attention weight and train the gate on the model's own objective. The gate belongs inside the normalizing softmax, where suppressing one entry hands its mass to the others rather than discarding it. That same normalizer absorbs any per-query constant, so a constant gate cancels and reproduces the frozen model exactly. Trained on the language-modeling loss the gate stays near a constant score while its loss falls throughout: optimization succeeds, but a frozen backbone was fit for dense attention, so its loss prefers the no-op, and a near-constant score ranks nothing. The no-op is not a floor the gate improves from but what its objective asks for. A second obstacle survives once the gate moves, since the same gradient charges the gate for errors the frozen model already makes, which no reweighting of positions separates out. Much of the machinery in learnable eviction, from sparsity penalties to relaxations of the discrete decision, works around the first obstacle rather than removing it; both are removed by putting dense attention beyond the gate's reach and making the dense model's predictions its target. Under these two conditions capacity is never the missing ingredient: neither a larger scorer, nor explicit access to the past, nor a trainable backbone helps. The same holds for what eviction unavoidably discards, which is recovered by parameter-free centroids read inside the same softmax far better than by any memory read outside it, since the mass they must return is a share of that normalizer and available nowhere else. At 75\% KV cache compression, this gate reaches 90.14 on RULER at 8K and 46.03 on LongBench with Qwen3-8B, 3.72 and 1.36 points below full-cache inference.

cs.CL

版本更新 · v5arXiv:2506.10912

打破坏分子:多模态大语言模型准备好进行结构级分子解毒了吗?

Breaking Bad Molecules: Are MLLMs Ready for Structure-Level Molecular Detoxification?

Fei Lin, Ziyang Gong, Cong Wang, Tengchao Zhang, Yonglin Tian, Yining Jiang, Ji Dai, Chao Guo 等 12 位作者

AI 速读 基于摘要

该论文提出首个面向通用多模态大语言模型的分子毒性修复基准任务ToxiMol及自动评估框架ToxiEval,并系统评测43个主流模型。

cs.AI · cs.CL

查看原文摘要

Toxicity remains a leading cause of early-stage drug development failure. Despite advances in molecular design and property prediction, the task of molecular toxicity repair, generating structurally valid molecular alternatives with reduced toxicity, has not yet been systematically defined or benchmarked. To fill this gap, we introduce ToxiMol, the first benchmark task for general-purpose Multimodal Large Language Models (MLLMs) focused on molecular toxicity repair. We construct a standardized dataset covering 11 primary tasks and 660 representative toxic molecules spanning diverse mechanisms and granularities. We design a prompt annotation pipeline with mechanism-aware and task-adaptive capabilities, informed by expert toxicological knowledge. In parallel, we propose an automated evaluation framework, ToxiEval, which integrates toxicity endpoint prediction, synthetic accessibility, drug-likeness, and structural similarity into a high-throughput evaluation chain for repair success. We systematically assess 43 mainstream general-purpose MLLMs and conduct multiple ablation studies to analyze key issues, including evaluation metrics, candidate diversity, and failure attribution. Experimental results show that although current MLLMs still face significant challenges on this task, they begin to demonstrate promising capabilities in toxicity understanding, semantic constraint adherence, and structure-aware editing.

新论文 · v1arXiv:2611.04870

PrimeSim: A Generalist World Model Simulator from Large-Scale Cross-Embodiment Demonstrations

Travis Davies, Wentao Ma, Lihao Guo, Tengfei Ma, Xiaowen Chang, Jiafeng Xu, Shilong Wang, Yiqi Deng 等 13 位作者

原文摘要

A robot world model that serves as a simulator must do more than generate plausible videos: it must faithfully follow commanded actions, maintain consistency across camera views, and sustain coherent long-horizon rollouts. We present PrimeSim, an action-conditioned, multiview world model simulator that addresses these challenges through progressive midtraining and posttraining. Starting from a pretrained video generator, we midtrain on 30,110 hours of robot demonstrations spanning 22 platforms. To improve action following, we introduce a unified cross-embodiment action representation and frame-aligned dual-path conditioning to strengthen action-frame correspondence. To maintain multiview consistency, we develop view-aware interleaved attention with explicit camera identities, enabling cross-view information exchange while preserving view-specific representations. We further introduce a fast-video, slow-memory posttraining framework that transforms the bidirectional video generator into an efficient autoregressive simulator. By combining fast causal generation, self-rollout training, and hierarchical temporal memory, PrimeSim mitigates error accumulation from self-generated histories and supports coherent long-horizon simulation. PrimeSim runs at 10.1 FPS, remains stable over long-horizon rollouts on rigid and deformable manipulation tasks, and transfers to held-out platforms within 100 to 200 gradient steps where the pretrained backbone does not. Against five open-source action-conditioned world models it leads four of the five WorldSimProbe suites and posts the best overall EWMBench score, while fine-grained local calibration still trails the field; its rollouts are faithful enough to support GRPO-based policy optimization. We release the model weights, inference code, and training code.

cs.RO

新论文 · v1arXiv:2611.04759

Beyond Local Refinement: Wide-Area Precise Cross-View Localization

Qingguo Hu, Xinyu Ma, Yujie Lin, Yaoxiang Wang, Qi Shi, Zonghao Guo, Chi Chen, Jinsong Su

原文摘要

Fine-grained cross-view localization aims to precisely localize a ground camera against geo-referenced aerial imagery, but current methods typically assume a narrow geographic prior, substantially limiting their applicability when upstream localization remains coarse. To bridge this gap, we study this task over much larger aerial regions. However, this seemingly simple extension fundamentally changes the localization problem: the growing disparity in spatial extent between ground and aerial views makes reliable cross-view matching difficult to establish directly, while the increasing number of look-alike locations in larger regions introduces substantial visual ambiguity. To address these challenges, we propose RingMatch, a search-and-verification framework for wide-area cross-view localization. RingMatch first leverages predictive uncertainty to uncover plausible locations and progressively zooms into their surroundings to obtain increasingly fine-grained evidence, yielding a compact set of promising candidates. We then introduce the depth ring, a novel geometric representation that reveals subtle variations in the spatial layout around a location and serves as a view-shared spatial signature for an LVLM verifier to resolve residual ambiguity. To benchmark this setting, we construct VIGOR-Pro by composing VIGOR aerial tiles into contiguous regions with spatial extents of up to 400 m. Experiments show that RingMatch maintains strong localization performance as the aerial region expands, consistently outperforming representative end-to-end and retrieval-based methods.

cs.CV

新论文 · v1arXiv:2611.02390

Which Chains to Calibrate for Physical Backpropagation: Per-User Factors Versus Base-Station Chains

Xianzhong Li, Yuzhi Yang, Tianhao Guo

原文摘要

In physical backpropagation, users return loss derivatives over the time-division duplex uplink, giving the base station the downlink gradient without channel reconstruction. Reciprocity calibration conventionally prioritizes base-station chains, as column-normalized zero-forcing reduces a per-user factor to a stream rotation. This priority can reverse. With ideal base-station chains and no noise, per-user amplitude errors make the returned field a weighted sum-rate gradient. With zero-forcing full service at both optima, the loss is independent of array size. Otherwise the selection penalty, serving the wrong users, carries 86 to 94 percent of the amplitude-induced loss in five of six configurations. Per-user phase errors mainly slow the iteration. Base-station chain errors scale the returned field per antenna, and at 3 dB and 25 degrees they cost one user 1.3 dB of signal-to-noise ratio (SNR) that no array size removes. With 80 users, such errors on both sides, and mismatched pilots, oracle per-user and base-station calibration leave 6.2 and 12.3 percent loss at 256 antennas on clustered channels. This ordering holds at 30 dB SNR and reverses for 1 dB, 10 degree user errors. A capped one-echo estimator comes within 2.4 percentage points of oracle per-user calibration but underperforms no calibration at 10 dB SNR.

eess.SP · cs.IT · cs.LG

新论文 · v1arXiv:2611.02384

Nearest Is Not Safest: Fluid-Antenna Port Selection for Over-the-Air Backpropagation in Urban Multipath

Xianzhong Li, Yuzhi Yang, Tianhao Guo

原文摘要

Over-the-air backpropagation returns a loss gradient through the reciprocal channel, which requires the return port to see the channel of the forward port. If the terminal moves in between, a fluid antenna system can return through the port nearest to the forward position. In ray-traced Chicago streets, with a pedestrian displacement of about half a wavelength and a street-level base station, this rule reverses 20 percent of the gradients at a port spacing of 0.7 wavelengths and 49 percent at 0.9 wavelengths, while one of the four nearest ports stays aligned in all but 2 and 9 percent. We derive a certificate for the sign of the mean correlation from the second moment of a planar angular spectrum. It reduces to a linear program with three variables and infinitely many constraints, is tight, and holds over a region of second moments. In a static Gaussian model, observations collected along a line cannot tell an angular spectrum from its mirror image, so the sign of the cross moment must come from other information. At unsurveyed positions of the same city, a knowledge map that transports surveyed paths through virtual sources and fits them to the causal channel history lowers the reversal rate at 0.9 wavelengths from 49 to 27 percent. Its gain over the nearest port survived every tested error, while its gain over a geometry rule stayed significant at the tested single-error levels of 5 degrees of phase drift per step and 2 mm of position error but not at the next tested levels. Without any survey, across five cities and ten base stations, the nearest port reverses 37 percent of the returns at 0.9 wavelengths and a rule based on the direction and elevation of the base station 20.5 percent. The multilayer perceptrons we tested did not beat these physical rules by the margin fixed in advance in the primary settings.

eess.SP · cs.IT · cs.LG

新论文 · v1arXiv:2611.02361

Agent Memory as Rate-Limited Filtering: Explicit State Outlasts Long Context Beyond a Reader-Dependent Horizon

Tianhao Guo, Chongyao Guo

原文摘要

Can a language model that reads the full history of an access log say whether a service may act now? On an executable benchmark of grants, withdrawals, reinstatements, expiries, groups and change windows under a known policy, scored on pairs of histories that differ only in the order or one field of the deciding events, open models of 7 to 32 billion parameters fall from 72 to 86 percent after eight or sixteen events to 48 to 55 percent after 256, while reasoning-trained 32B models reading the current state reach 96 and 98 percent. A reasoning model of 120 billion parameters trails the state by four and seven points at 256 and 512 events and by about ten at 1,024, so the length beyond which explicit state outlasts long context grows with the reader. We treat agent memory as recursive filtering. The decision depends on the history only through a state whose size is set by the number of tracked keys. A store holding fewer component records than the state forgets on a time scale set by its capacity, and a reader model predicts its accuracy within 0.02 on average in a registered test. Retaining log lines without regard to time order errs with probability approaching one half, a bound that is attained. A filter in which a model parses each line and an explicit rule applies the updates answers 80 to 89 percent at 256 events and beats relevance retrieval, model-kept ledgers, a reimplementation of StateMem and the Mem0 library. A retriever that selects at query time the lines the queried state depends on matches it at 256 events on the first domain, so what decides is selection by the state's dependencies, which the filter performs when writing, without the query. Applying parsed updates themselves, the models fall to 58 and 59 percent. A frozen replication on a second domain with fresh wording reproduces the horizon.

cs.LG

新论文 · v1arXiv:2610.40191

Video Generation Meets Agent Harness: Agentic Video Generation, Agentic World Modeling and Recursive Self-Improvement

Liaoyuan Fan, Yuhao Zheng, Dongxing Mao, Hangyu Ran, Siyuan Hu, Weijia Mao, Rui Zhao, Weijia Wu 等 21 位作者

原文摘要

Video generation is shifting from end-to-end synthesis toward agentic generation, where planning, tool use, and feedback enable coherent, controllable multi-shot videos. In parallel, video world models provide action-conditioned observations and predicted futures, serving as interactive environments for agents. We study their intersection through the agent harness: an executable runtime that constructs context, exposes tools, maintains state, routes feedback, and manages budgets around video models. This report examines three directions. First, agentic video generation, where harnesses coordinate scripting, shot planning, asset management, production, and editing, alongside the evaluation challenges of these systems. Second, agentic world modeling, where harnesses mediate observation, control, execution, and state. We discuss hybrid designs in which game engines or agent-written programs maintain world state while video models render observations, and how agents and world models can mutually evaluate and improve one another. Third, recursive self-improvement (RSI) in video model development, distinguishing output revisions, updates to harness state, generator parameters, and evaluators, and changes to the improvement procedure itself. We identify how these improvements feed back into subsequent development. Across these directions, we analyze essential agent capabilities, including audiovisual perception, long-horizon planning, memory, code-based interaction, feedback-guided control, skill reuse, and multi-agent coordination. We conclude with challenges in autonomous video production, lifelong memory, programmable hybrid control, autonomous model development, provenance, cost accounting, and evaluation linking video quality and task performance to sustained improvements in models and harnesses.

cs.CV

新论文 · v1arXiv:2610.40160

FARE: Factor-Aware Retrieval with Error-Guided Fusion for Retail Forecasting

Chenghao Gu, Zhuokang Shen, Shenghao Wu, Tingxuan Zhu, Weiyi Luo, Haifeng Tang

原文摘要

Retail sales forecasting underpins inventory planning, yet promotions and calendar events reshape short-term demand. Although each factor usually has historical occurrences, the complete factor combination of a target week often has few precedents. The challenge is therefore to retrieve informative partial matches and weight them by their reliability, which varies across series. We propose FARE(Factor-Aware Retrieval with Error-Guided Fusion), which ranks historical weeks separately for each known target-week factor and merges the selected weeks into a factor reference under a fixed budget. Guided by shrunk errors from completed development weeks and the current disagreement among candidates, a first gate mixes this factor reference with a shape reference from similar sales histories, and a second gate controls how strongly the mixture corrects a backbone forecast. Both gates remain fixed during testing. On Favorita, M5, Rossmann, and Rohlik, FARE reduces the weighted absolute percentage error (WAPE) of five backbones by 11.46%, 4.06%, 14.63%, and 10.16% on average. With Chronos-2 frozen, FARE also outperforms conventional and existing enhancement methods, including supervised residual correction and retrieval augmentation. Code is available at https://github.com/HousonGu/FARE .

cs.LG · cs.AI

新论文 · v1arXiv:2610.39936

MLLM-GS: Multimodal Large Language Model Prior-Guided Fast Novel View Synthesis in Extreme Environments

Zhiliang Wu, Xinye Zheng, Kun Li, Fei Wang, Hao Guo, Yanyan Wei, Guanghui Yue, Beier Zhu 等 10 位作者

原文摘要

Novel view synthesis (NVS) in degraded scenes aims to reconstruct 3D scenes from multi-view observations affected by various degradations, and to generate clear and photorealistic images at unseen viewpoints. Despite recent advances, existing methods often rely on degradation-specific models, limiting their generalization across diverse extreme environments. Generative models provide rich visual priors, but their outputs often suffer from pixel misalignment and color deviations, which can propagate into the reconstructed 3D scene and compromise reconstruction quality. Furthermore, the high computational and memory costs of 3D reconstruction hinder the practical application of NVS in extreme environments. To this end, we propose MLLM-GS, a multimodal large language model (MLLM) prior-guided framework for fast NVS in extreme environments. MLLM-GS consists of two branches: MLLM prior-guided view enhancement and fast 3D scene reconstruction. The former leverages the rich visual priors of a frozen MLLM to enhance views under different severe degradations and introduces a lightweight correction network to reduce pixel shifts and color distortions in MLLM outputs. With supervision from only a few paired clean views, this branch produces reliable enhanced views for all degraded observations, providing pseudo-GT views for subsequent 3D reconstruction. The latter improves 3DGS efficiency by optimizing rasterization, Gaussian memory layout, and parameter updates, reducing redundant computation, memory-access overhead, and optimization costs. Extensive experiments on multiple degraded scenes demonstrate that MLLM-GS effectively handles various severe degradations and achieves high-quality NVS with significantly lower reconstruction time and memory consumption. Project Page: https://wzlwlm13.github.io/MLLM-GS

cs.CV

新论文 · v1arXiv:2610.38228

The Endgame of FSDP Communication: Layout-Aware Collectives on Copy Engines, RDMA, and NVSwitch

Zejian Wang, Yifan Zhao, Kaihui Ren, Xiaoling Zhou, Yubin Wang, Chenhao Guan, Lin Zhang, Yufeng Li 等 14 位作者

原文摘要

Fully Sharded Data Parallelism (FSDP2) maintains parameters and gradients as per-parameter tensors, whereas its collective path operates on flat, rank-major buffers. Converting between these layouts copies all-gather outputs into parameter storage and packs gradients into full-group fp32 buffers. Layout conversion alone accounts for 6.4% of step time in Llama-3.1 70B training at 8K tokens per GPU. Communication kernels impose a second cost: a default NCCL reduce-scatter can slow a concurrent GEMM that would otherwise complete in a single wave by 69%. We present TIDE, a set of zero-copy collectives built on public NCCL 2.31+ APIs. TIDE preserves FSDP2's per-parameter storage and compute kernels while folding layout placement into collective addressing. TIDE-AG delivers shards directly to parameter storage using NVSwitch multicast and paced recursive-doubling RDMA, with no SMs used for transport or placement. TIDE-RS consumes per-parameter bf16 gradients directly and reduces them into fp32 shards (a mixed-precision mode that NCCL does not provide) using copy engines and short-lived thread blocks (CTAs) for node-local accumulation and NVSwitch for cross-node reduction. A two-phase pipeline separates gradient reads from network progress; Slot-Reuse optionally stages gradients in vacated all-gather slots. On 64 GPUs, TIDE reduces step time by up to 27.1% relative to Stock FSDP2 and 6.0% relative to FSDP2+SymmMem across Llama-3.1 70B, Wan2.2, and Qwen3-30B-A3B. It reduces reduce-scatter SM time by factors of 12.5-14.5 and cuts interference with concurrent compute by up to an order of magnitude. Its reduce-scatter buffer remains nearly constant from 16 to 64 GPUs at a fixed per-GPU output size, and its peak memory is up to 4.7 GiB below FSDP2+SymmMem's and, with Slot-Reuse on Wan2.2, below Stock FSDP2's.

cs.DC · cs.LG · cs.PF

新论文 · v1arXiv:2610.35594

Beyond Distribution Matching: Self-Supervised Representation Forcing for Few-Step Video Generation

Junyi Chen, Haiyu Zhang, Zhoujie Fu, Tengfei Wang, Chunchao Guo

原文摘要

Few-step distillation is essential for deploying modern video diffusion models. Among existing approaches, Distribution Matching Distillation (DMD) has emerged as a highly promising paradigm by achieving strong output-space fidelity without adversarial training, while remaining flexible across various student architectures. We observe, however, that DMD fundamentally relies on an output-space objective, lacking explicit regularization on the model's internal representations. As the distillation step count aggressively shrinks, this output-only supervision becomes insufficient, causing the distilled student to degrade in both fine-grained spatial structures and coherent temporal dynamics. To address this limitation, we introduce Self Flow Forcing (SF$^2$), which incorporates a predictive representation loss into the DMD framework without altering its output objective. By providing the student and an Exponential Moving Average (EMA) teacher with heterogeneous noise levels, we establish an information asymmetry. This formulation forces the student to predict the teacher's internal representations from a more corrupted input, effectively integrating self-supervised representation alignment into distribution matching. Extensive experiments demonstrate that SF$^2$ effectively mitigates temporal flickering and consistently improves both spatial fidelity and motion quality. Furthermore, the proposed mechanism is architecture-agnostic - seamlessly supporting both bidirectional and causal models - and requires no external feature extractors, introducing minimal computational overhead.

cs.CV

版本更新 · v2arXiv:2606.02423

Investigating and Alleviating Harm Amplification in LLM Interactions

Ruohao Guo, Wei Xu, Alan Ritter

原文摘要

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

cs.CL · cs.LG

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-demo.6ACL Anthology · ACL 2026

AutoFigure-Edit: Generating Editable Scientific Illustrations via Reference-Guided Styling

Zhen Lin Hefei University of Technology, Qiujie Xie Westlake University, Minjun Zhu, Shichen Li, QiYao Sun, Enhao Gu, Yiran Ding Westlake University, Ke Sun 等 13 位作者

原文摘要

High-quality scientific illustrations are essential for communicating complex scientific and technical concepts, yet existing automated systems remain limited in editability, stylistic controllability, and efficiency. We present AutoFigure-Edit, an end-to-end system that generates fully editable scientific illustrations from long-form scientific text while enabling flexible style adaptation through user-provided reference images. By combining long-context understanding, reference-guided styling, and native SVG editing, it enables efficient creation and refinement of high-quality scientific illustrations. To facilitate further progress in this field, we release the video at https://youtu.be/10IH8SyJjAQ, the full codebase at https://github.com/ResearAI/AutoFigure-Edit and provide a live demo for easy access and interactive use at https://autofigure.cc/.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 3: System Demonstrations) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-industry.48ACL Anthology · ACL 2026

AIDA-SEAT: Towards Reliable AI Doctor Assistant via State-Evaluation-Action Tree Enhanced LLMs in Online Hospital

Lianxin Sun, Xiaoying Ying, Guangya Yu, Weiyan Zhang, Chenhao Guan, Hao He, Mingxi Shang, Jianhua Li 等 10 位作者

原文摘要

Artificial intelligence doctor assistants (AIDAs) help streamline clinical decision-making and reduce physician workload. While existing systems primarily utilize Large Language Models (LLMs) or retrieval-augmented generation (RAG), these methods typically retrieve static facts—whether as text passages or structured graphs—lacking the explicit logical pathways essential for multi-step reasoning. In this paper, we propose the AIDA-SEAT framework to provide reliable clinical decision-making support. First, we design the state-evaluation-action tree (SEAT), which covers diagnosis, treatment, and examination. To develop this tree, we refine and transform SEAT collected from medical documents and doctors. Then, we propose an adaptive method to select optimal trees tailored to the current patients’ state. Finally, we leverage LLMs to perform state assessment, evaluation, and action execution based on the tree, thereby generating reliable responses. To evaluate the effectiveness of our method, we conducted extensive experiments on a self-built dataset. Our method achieves 1.01% higher than current state-of-the-art (SOTA) baselines across five departments, including common RAG-based methods. Furthermore, analysis of 200 consultation records during deployment on an online hospital revealed that system-assisted responses are 24.16 seconds faster on average than manual ones, improving efficiency by 26.85%.

cs.CL · cs.AI

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 6: Industry Track) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1020ACL Anthology · ACL 2026

Bit-by-Bit: Progressive QAT Strategy with Outlier Channel Splitting for Stable Low-Bit LLMs

Binxing Xu, Hao Gu The Hong Kong University of Science and Technology, Lujun Li, Hao Wang, Bei Liu The Hong Kong University of Science and Technology, Jiacheng Liu, Qiyuan Zhu, Xintong Yang 等 11 位作者

原文摘要

Training LLMs at ultra-low precision remains a formidable challenge. Direct low-bit QAT often suffers from convergence instability and substantial training costs, exacerbated by quantization noise from heavy-tailed outlier channels and error accumulation across layers. To address these issues, we present \text{Bit-by-Bit}, a progressive QAT framework with outlier channel splitting. Our approach integrates three key components: (1) block-wise progressive training that reduces precision stage by stage, ensuring stable initialization for low-bit optimization; (2) nested structure of integer quantization grids to enable a “train once, deploy any precision” paradigm, allowing a single model to support multiple bit-widths without retraining; (3) rounding-aware outlier channel splitting, which mitigates quantization error while acting as an identity transform that preserves the quantized outputs. Furthermore, we follow microscaling groups with E4M3 scales, capturing dynamic activation ranges in alignment with OCP/NVIDIA standards. To address the lack of efficient 2-bit kernels, we developed custom operators for both W2A2 and W2A16 configurations, achieving up to 11\times speedup over BF16. Under W2A2 settings, \text{Bit-by-Bit} significantly outperforms baselines like BitDistiller and EfficientQAT on both Llama2/3, achieving a loss of only 2.25 WikiText2 PPL compared to full-precision models.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1066ACL Anthology · ACL 2026

BTC-LLM: Efficient Sub-1-Bit LLM Quantization via Learnable Transformation and Binary Codebook

Hao Gu The Hong Kong University of Science and Technology, Lujun Li, Hao Wang, Lei Wang, Zheyu Wang, Bei Liu The Hong Kong University of Science and Technology, Jiacheng Liu, Qiyuan Zhu 等 10 位作者

原文摘要

Binary quantization represents the most extreme form of compression, reducing weights to \pm1 for maximal memory and computational efficiency. While recent sparsity-aware binarization achieves sub-1-bit compression via weight pruning, it faces critical challenger: performance degradation, mask-management overhead, and limited hardware compatibility. In this paper, we present BTC-LLM, a novel sub-1-bit LLM quantization framework that leverages binary pattern clustering and weight transformation to overcome these limitations. Our approach incorporates two key innovations: (1) a Binary Codebook that clusters recurring vectors into compact indices using custom distance metrics and sign-based updates; (2) a Learnable Transformation that reduces outliers and promotes shared sign patterns among binary weights. This eliminates sparse masks, enabling efficient inference on standard hardware. Extensive evaluations across LLaMA, Qwen, and FBI-LLM families demonstrate that BTC-LLM achieves state-of-the-art results in extreme compression (1.11–0.7 bits). Notably, BTC-LLM compressed to 0.8 bits on LLaMA-2-13B maintains high performance—with only a 3.1% accuracy drop in zero-shot benchmarks—while delivering a 1.6\times speedup over FP16.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.1130ACL Anthology · ACL 2026

Adaptive Spatial and Temporal Redundancy Optimization for Efficient Reasoning in Large Language Models

Tianle Chen Xi'an Jiaotong University, Pengyu Cheng Xi'an Jiaotong University, Qiyuan Zhu, Jiacheng Wang Xi'an Jiaotong University, Bei Liu The Hong Kong University of Science and Technology, Hao Gu The Hong Kong University of Science and Technology, Ruijie Shen Toulouse School of Economics, Xiaofeng Hou Shanghai Jiaotong University 等 10 位作者

原文摘要

Large Language Models (LLMs) have achieved exceptional performance in complex reasoning via Chain-of-Thought (CoT), yet the associated computational costs remain prohibitive. CoT reasoning contains significant untapped efficiency potential across two dimensions: temporal redundancy, where reasoning steps may be unnecessary, and spatial redundancy, where computations can be performed at reduced precision. While current optimization techniques often necessitate resource-intensive fine-tuning or data curation, we introduce ASTRO (Adaptive Spatial and Temporal Redundancy Optimization), a training-free framework that simultaneously addresses both dimensions. ASTRO leverages Dewey’s reflective thinking model to segment reasoning phases, applying a progressive precision reduction strategy coupled with an entropy-based confidence mechanism for adaptive termination. Empirical results across diverse reasoning benchmarks demonstrate that ASTRO achieves up to an 11.3 \times efficiency gain without compromising accuracy, highlighting the advantages of holistic multi-dimensional redundancy management over isolated optimization methods.

cs.CL

Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表