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新论文 · v1arXiv:2611.09888

Scenario Orchestration for Closed-loop Policy Evaluation of Autonomous Driving

Frieda Rong, Zhaoyue Wang, Veer Kapadia, Vishaka Rajani, Aren A. Babikian, Xujie Si, Mahsa Golchoubian, Raquel Urtasun 等 9 位作者

原文摘要

Scenario-based simulation is central to evaluating autonomous-driving policies, but a scenario scripted before execution (i.e., with predetermined, fixed actor routes and speeds) may not preserve its intended interaction once the tested ego policy responds in closed loop. Scripted scenarios cannot adapt to unanticipated ego behavior, while learned traffic actors may remain reactive without reliably realizing a particular scenario intent. We introduce a scenario orchestrator that continuously monitors the joint traffic state and adapts non-ego actors through re-timing, re-routing, and role reassignment for creating a specific scenario intent. At each step, the orchestrator solves a constrained optimization problem that preserves the intended interaction while limiting interventions and maintaining traffic feasibility. We further distinguish scenario realization from policy failure, allowing a test to first be judged based on whether the intended interaction occurred and then by how the ego policy responded. Experiments in the CARLA simulator across multiple scenario families and driving policies show that orchestration realizes targeted interactions more reliably than scripted and learned actor-level baselines, particularly under variations in initial conditions and ego behavior. These results support closed-loop scenario orchestration as a tool for controlled and reproducible policy evaluation.

cs.RO

新论文 · v1arXiv:2611.09770

ROSE: Risk-Aware Orthogonal Subspace Navigation for Lifelong Knowledge Editing in Multimodal Large Language Models

Lingyun Song, Ziyao Chen, Kang Pan, Xiaolin Han, Yifei Zhang, Xiaoqi Wang, Yudai Pan, Xuequn Shang

原文摘要

Multimodal Large Language Models (MLLMs) require continuous factual updates to stay current, yet lifelong knowledge editing remains a daunting challenge. The primary obstacle is the severe Locality Erosion and Catastrophic Forgetting, where sequential edits inevitably interfere with pre-trained capabilities and prior updates. In this paper, we propose \textbf{ROSE}, a \textbf{R}isk-aware \textbf{O}rthogonal \textbf{S}ubspace navigation framework for lifelong knowledge \textbf{E}diting. ROSE addresses forgetting by aiming to restrict parameter updates to the orthogonal complement of previously edited subspaces. Crucially, it introduces a risk-guided mechanism that utilizes a dynamically computed risk mask to safeguard specific factual parameter subspaces essential for model stability. During inference, ROSE employs a multi-granularity knowledge integration strategy, featuring prototype-anchored semantic gating and perturbation-driven subspace fusion to precisely activate edited knowledge for relevant queries while limiting interference on unrelated inputs. Comprehensive experiments on two prominent multimodal benchmarks show that ROSE is competitive with state-of-the-art approaches across five key metrics, while maintaining outstanding stability over $1,000$ sequential updates. Our code is available at https://github.com/sunlitsong/ROSE.

cs.CL · cs.AI · cs.CV

新论文 · v1arXiv:2611.09664

Dual Architecture Fusion Vehicle Lidar 3D Target Detection

Muyun Li, Weizheng Jin, Yuan Sun

原文摘要

In this paper, a 3D backbone network (SpconvTransformer) based on the fusion of convolutional architecture branch and Transformer architecture branch is proposed. The convolution branch uses 3D sparse convolution and submanifold convolution to learn local voxel features and semantic information, and the Transformer branch uses the self-attention mechanism to model the remote relationship between voxels, uses the broad receptive field to capture rich context information, and complementing the advantages of the two architectures by fusing the local features extracted from the two branches and the global features solves the problem of limited receptive fields of 3D convolutional neural networks. The experimental results show that the average accuracy of SpconvTransformer in 3D object detection and bird's-eye view detection tasks reaches 81.45% and 88.09%, respectively, and the average directional similarity reaches 91.10%, which is significantly better than other existing algorithms.

cs.CV

版本更新 · v2arXiv:2608.29463

Benchmark Contamination: A Taxonomy Organized by Defeated Mitigation

Johanna Angulo, Víctor Yeste, Hector Espinos-Morato

原文摘要

A benchmark score is a joint property of the model, the evaluation harness, the elicitation budget, the sampled population, and contamination status. Leaderboards publish the model and the score, so capability and leakage stay observationally equivalent. Existing taxonomies classify contamination for automated detection, not the question a reporter faces at publication: given the mitigations already applied, which validity threats remain open? We introduce a taxonomy organized by the mitigation each type defeats -- direct, derivative, temporal, distributional, and acquired -- spanning training-time and evaluation-time leakage. Holding out a private test set closes the first alone. The fifth is acquired during the evaluation itself; because it is a property of one run, it must be recorded with the reported score rather than with the benchmark release. We operationalize it as a four-field disclosure protocol in which "unknown" is a valid entry, released under CC BY 4.0 with a JSON Schema, a validator, and worked examples. Two coders external to the design team applied a pre-registered instrument to 41 documents. Per-variable linear-weighted $κ$ runs from 0.00 to 0.35 (median 0.21) over 29 main-pass documents against a single-coder test-retest ceiling of 0.84, collapsing under the class skew the registration anticipated; pooling raises it to 0.46 through chance correction rather than better agreement. Two variables fall below the prevalence-robust threshold registered in advance: strata reporting and the acquired type introduced here. Disagreement concentrates on when a variable applies rather than on what a document states. Elicitation budgets are reported in 13% of documents, and no document addresses all five types. The contribution is the taxonomy, the score-side artifact that follows from it, and a pre-registered measurement of instrument reliability and current disclosure.

cs.CR · cs.AI · cs.CL · cs.LG

版本更新 · v2arXiv:2605.31061

STEP: Learning STructured Embeddings for Progressive Time Series

Lucas Thil, Jesse Read, Rim Kaddah, Guillaume Doquet

原文摘要

We present a novel method for learning interpretable representations of progressive time series, that is, data capturing irreversible state transitions such as degradation or task completion. Our approach uses a self-supervised contrastive objective to learn a low-dimensional latent space whose geometry is itself the interpretation: each observation becomes a point on a manifold anchored between two fixed orthogonal prototype vectors, and a trajectory becomes a path across that manifold. From this structure we read a latent compass, the polar coordinates (θ, r) of the latent vector, in which θ tracks the progression of the underlying state (e.g., from healthy to failed) and r identifies the active mode (e.g., the operating condition), without any proxy labels. We evaluate the approach against the state of the art on diverse domains, including industrial degradation, robotic tasks, and neural activity, validating three key capabilities: (1) end-state prediction, (2) multi-step forecasting, and (3) interpretable phase separation. Our method matches or improves over black-box counterparts on all of these while providing transparency about the underlying mechanisms. A simple linear regressor on top of the latent compass coordinates is competitive with deep architectures, direct quantitative evidence that the underlying state is encoded in a geometrically accessible form.

cs.LG · cs.AI

新论文 · v1arXiv:2611.09233

Cross-Layer TopK: Dynamically Allocating Sparsity Across Layers in Transcoders

Anyuan Zhuo, Shaohua Zhang, Tianle Li, Yuan Lin, Diandian Gu, Jun Wang, Pinyan Lu

原文摘要

Cross-Layer Transcoders (CLTs) decompose the activations of large language models into human-interpretable features and trace how these features interact across layers to form circuits, making them a key tool for mechanistic interpretability. However, training CLTs effectively and efficiently is hard. Beyond the usual trade-off between sparsity and reconstruction quality, a CLT has to model all layers at once, which adds a further challenge. The common JumpReLU recipe controls sparsity only indirectly through a penalty, while the direct extension of TopK selects a fixed number of latents in every layer. Yet reconstruction difficulty differs widely across layers, and intermediate layers are much harder than others, so giving every layer the same budget is suboptimal. We propose Cross-Layer TopK, which sets a single L0 budget for the whole model and dynamically allocates it across layers during training. In a comparison with JumpReLU and other TopK variants on Qwen3-8B-Base, this gives lower FVU while using 20% fewer active latents than JumpReLU. The better reconstruction carries over to circuit tracing, yielding more complete circuits with higher replacement and completeness scores. The fixed per-token budget of Cross-Layer TopK also makes it easy to pair with sparse decoding, which cuts both computation and communication and gives a 2.9x speedup per training step. We further show that Cross-Layer TopK follows scaling laws in both latent size and sparsity. We have open-sourced the weights of our CLT at https://huggingface.co/ByteDance-Seed/Cross-Layer-TopK-CLT.

cs.LG

新论文 · v1arXiv:2611.09156

Evaluation of a Multi-Link Machine Learning Approach for Rainfall Detection Using Satellite Microwave Links

Mostafa Ftouni, Margherita Spalla, Matteo Colli, Andrea Randazzo, Christian Gianoglio

原文摘要

The impacts of climate change have increased the need for reliable real-time rainfall monitoring systems. This study investigates rainfall detection using a network of opportunistic sensors based on satellite microwave links (SMLs) combined with machine learning (ML) classifiers. Two models, a random forest (RF) and a convolutional neural network (CNN), were trained on aggregated SML data, including information from neighboring links. The results demonstrate that leveraging information from multiple links substantially enhances the detection of both wet and dry periods compared to single-link approaches. Moreover, the RF model consistently provides a more stable and reliable trade-off than CNN, improving rainfall detection and reducing misclassifications overall, with particularly strong performance during harsh weather conditions. The study spanned up to 32 rainy days between 2021 and 2024.

cs.AI · cs.LG · eess.SP

新论文 · v1arXiv:2611.09138

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

Wei Huang, Youjin Deng

原文摘要

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

cs.LG · cond-mat.stat-mech

新论文 · v1arXiv:2611.09017

Frontier3DBench: Benchmarking Coding Agents for 3D Creation across Objects, Scenes, and Interactive Open Worlds

Xinjie Lin, Qingle Liu, Wenyi Li, John Lam, Xiaoqiu Wang, Deyao Hong, Mingju Gao, Zheng Jiang 等 13 位作者

原文摘要

Coding agents combine visual understanding with program execution, offering a new route to automated 3D creation. By translating images and instructions into editable programs, they bring reconstruction, generation, and editing into a shared workflow. Yet existing benchmarks fragment evaluation across task scopes and protocols, leaving their capabilities across construction levels unclear. We propose Frontier3DBench, a unified benchmark of 145 tasks across 9 categories spanning object, scene, and interactive open-world creation, with joint evaluation of appearance, structure, and behavior. Experiments with 11 model-harness configurations reveal strengths that vary by level: GPT-6.1-sol leads the object and scene levels and achieves the highest overall score of 66.02/100, whereas GPT-6-astra leads interactive world construction. However, all configurations score lower on reference reconstruction than on text-driven generation in object and scene tasks. Producing plausible content thus remains easier than reproducing specified geometry, layouts, and visual details. Moreover, generated worlds average 83.08/100 on local mechanisms but only 20.82 on motion clearance and 30.26 on stateful workflows: individual mechanisms often function, whereas complete activities that require coordinated actions and persistent state remain difficult. These results identify reference fidelity and coordinated activity completion as central bottlenecks for coding agents in 3D creation.

cs.CV

版本更新 · v2arXiv:2610.15359

Adversarial Detection for Pre-trained Classifiers via Lipschitz-Margin Analysis with Certification

Rui Zhang, Youwen Zhu, Xinle Cao, Huazhen Yu, Jian Liu

原文摘要

Deep classifiers deployed in safety-critical services like autonomous-driving perception remain vulnerable to small adversarial perturbations. Certified $\ell_2$ defenses today face a costly trade-off: randomized smoothing (RS) requires hundreds of noisy queries per input, while Lipschitz networks (LN) constrain the architecture and sacrifice clean accuracy. We take a detection-oriented approach instead: rather than certifying that predictions are invariant inside an $\ell_2$ ball, we certify that adversarial inputs within an $\ell_2$ ball are \emph{detected} --- a guarantee aligned with security-critical deployments where missing an attack is costlier than flagging a clean input. To realize this, we prove a Lipschitz-margin reduction from certified $\ell_2$ robustness to certified detection, which reduces the problem to handling a single Lipschitz constant $L$. We introduce two detector families: $\mathbb{D}_{Adv}$, which estimates $L$ from a single defender-side perturbed pair, and $\mathbb{D}_{lc}$, which augments that pair with a local margin centroid to keep the estimate above what the certificate requires. Both deploy on any pretrained classifier without retraining. With a valid global bound, the detector is fully certified at that radius; with a local estimate $L'$, certification is sample-wise and applies only when our certified condition holds. Across MNIST, CIFAR-10, and ImageNet-1k on four backbones (LeNet-5, VGG16, ResNet-50, ViT-B/16), our detectors match or outperform five baselines (CTT, SortNet, CRM, ContraNet, A$^2$D). For CIFAR-10 with 1-Lipschitz SortNet, our reduction delivers $100\%$ certified detection at the lowest FPR among compared certified detectors; on the standard CIFAR-10 VGG16, our detectors reject all evaluated in-budget adversarial examples, with 62-82\% both rejected and formally certified.

cs.LG · cs.AI

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

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

新论文 · v1arXiv:2611.08892

Richness Is Not Evenness: Ordered Renyi Crossings under Self-Training

Pranjal Srivastava

原文摘要

Recursive self-training of language models, a setting studied in model collapse, can reduce vocabulary while making frequent words, mostly function words, less dominant. We fine-tune English GPT-2 on its own output for nine generations, vary the training-data sampling temperature, and measure every model with one fixed sampler. As training temperature rises, Renyi entropy changes turn from loss to gain at distinct temperatures: min-entropy first, then collision entropy, Shannon entropy and observed richness. Between the outer crossings, word types fall while the most-common word becomes less dominant. Untruncated training at T = 1 lies in this interval: at 13,000 words, generation 9 has 24% fewer types than generation 0 yet collision entropy is 0.91 bits higher. The ordering persists with a finer grid, different measurement samplers, a fixed word budget and five fresh training seeds. Min-entropy again crosses before richness in four further settings (in Hindi only at interpolated roots) and in 12 of 13 distinct measurements under eight text representations. Next-token identities and a categorical simulation isolate decoding and sampling effects; the crossing order remains empirical. Fine-tuning on human text can produce the same split while likelihood improves, and no single order's sign reliably identifies worse likelihood across the tested settings. We recommend reporting entropy profiles at stated budgets with an independent quality measure.

cs.CL

版本更新 · v2arXiv:2608.21729

Guidance for Prior Change via Density Ratio Estimation

Yichen Zang, Jiun-Yi Lin, Song Liu

原文摘要

Simulation-Based Inference (SBI) serves as a vital framework for parameter inference in scientific fields where simulators involve intractable likelihoods, yet while amortized generative models offer rapid posterior estimation, they are often restricted by the specific priors used during training, thereby limiting their flexibility as prior knowledge evolves. To address this prior dependency, PriorGuide was introduced as an inference-time guidance method, but due to its intractable formulation, it relies on Gaussian approximations of the reverse transition kernel and Gaussian mixture model fitting for the prior ratio, both of which introduce systematic bias. Motivated by these limitations, we propose an unbiased test-time guidance framework that leverages Density Ratio Estimation (DRE) to learn a score guidance term, effectively decoupling the inference process from the prior training. Moreover, our framework remains agnostic to the specific density ratio estimators, making it a general and flexible framework for handling prior changes. Experimental results across multiple tasks demonstrate that our method matches or outperforms PriorGuide on C2ST and MMD in most tasks while maintaining robustness even under limited overlap between the training and target priors. Furthermore, we apply our method to Bayesian updating for parameter inference from planetary light-curve data, where it also demonstrates strong effectiveness and robustness. Code is available at https://github.com/a-chenchen/dre-based-prior-guidance .

stat.ML · cs.LG · stat.ME

版本更新 · v2arXiv:2505.15417

Robust Multimodal Learning via Entropy-Gated Contrastive Fusion

Leon Chlon, Maggie Chlon, MarcAntonio M. Awada

原文摘要

Real-world multimodal systems routinely face missing-input scenarios, and in reality, robots lose audio in a factory or a clinical record omits lab tests at inference time. Standard fusion layers either preserve robustness or calibration but never both. We introduce Adaptive Entropy-Gated Contrastive Fusion (AECF), a single light-weight layer that (i) adapts its entropy coefficient per instance, (ii) enforces monotone calibration across all modality subsets, and (iii) drives a curriculum mask directly from training-time entropy. On AV-MNIST and MS-COCO, AECF improves masked-input mAP by +18 pp at a 50% drop rate while reducing ECE by up to 200%, yet adds 1% run-time. All back-bones remain frozen, making AECF an easy drop-in layer for robust, calibrated multimodal inference.

stat.ML · cs.LG

版本更新 · v2arXiv:2609.30137

先模拟再上线:面向1.4亿规模生产客户体验AI智能体的仿真筛选

Screen Before You Serve: Simulation for Production Customer Experience AI Agents at 140M Scale

Edesio Alcobaça, Kevin Rossell, Aman Gupta, Shao Tang, Jiwoo Hong, Pabel Carrillo-Mendoza, Wanderson Conceição Ferreira, Alvaro Tedeschi 等 16 位作者

AI 速读 基于摘要

提出一种假设驱动的仿真工作流,在部署前用合成客户与模拟工具输出筛选客服AI智能体,并在Nubank真实业务中验证其与生产表现的相关性。

cs.AI · cs.CL

查看原文摘要

Customer experience (CX) agents use tools and large language models to address customer requests and guide conversational interactions with an organization's products. Improving these agents, especially in regulated industries, is difficult: they must detect intent, follow complex operational policies and use tools reliably. Manual end-to-end testing offers limited coverage, while live experiments expose customers to failures that can erode trust. We present a hypothesis-driven simulation workflow for screening candidate CX agents before deployment. Synthetic customers react to agent responses and simulated tool outputs enable multi-step agentic workflows without invoking production backends. We use the Snowglobe simulator on Nubank's Card Delivery agent and its expanded successor, Card Management - Nubank's highest-volume chat-support agent in Brazil. Across 4 deployed versions, simulated and production version-level binary evaluator scores show high correlation. Simulation-guided iteration increased transactional net promoter score (tNPS) by 36.69 points in a live A/B test. We also screened open-weight configurations in over 16,000 simulated conversations. In a subsequent live A/B test, the selected model increased self-service rate (SSR) by 8.82 percentage points to the highest level observed at Nubank, with no statistically significant change in tNPS. Simulation made broad exploration of models, reasoning settings, and prompts feasible without customer exposure, enabling production improvements that would have been impractical to pursue through live experimentation alone.

新论文 · v1arXiv:2611.08433

MedGraph:用图记忆维护长期医疗对话中的患者状态

MedGraph: Maintaining Patient State with Graph Memory for Long-Term Medical Dialogue

Donghua Zhang, Zizheng Wang, Ze Dong, Yiding Feng, Siyu Qian

AI 速读 基于摘要

作者提出面向长期医疗对话的图记忆系统 MedGraph,针对检索证据过时、混入他人健康事实、缺少安全事实三类错误,并在自建基准 MedMemoryBench 上报告了优于五个基线的总体准确率。

cs.CL · cs.AI

查看原文摘要

LLM-based medical assistants that follow a patient across visits need a memory that keeps the patient's clinical state correct as it changes. We examine the errors of five memory systems on longitudinal medical dialogue and find three recurring causes: the retrieved evidence gives an outdated state, includes another person's health facts, or lacks a safety fact the answer depends on. We present MedGraph, a graph memory built for these three cases. Construction extracts dated facts from each session, attributes each fact to the person it describes, and links medication, diagnosis, and measurement records into chains that keep earlier states. Retrieval ranks the patient's chains as units, reads each chain at the time the question asks about, and adds the original dialogue text; a patient profile lists every recorded safety fact with every question. On MedMemoryBench, MedGraph has the highest overall accuracy with both a GPT and a Qwen backbone, 10.5 and 10.4 points above the strongest of five baselines, with efficient memory construction and answering in the GPT setting.

新论文 · v1arXiv:2611.08306

GINGER:为基于图的向量搜索增添风味

GINGER: Spicing Up Graph-Based Vector Search

Daniel Salwasser, Lars Gottesbüren, Laxman Dhulipala, Jakub Łącki, Guy Blelloch, Rajesh Jayaram, Tobias Rubel, Kshiteej Sheth 等 10 位作者

AI 速读 基于摘要

GINGER 是 Google 开发的开源 C++ 图近似最近邻搜索库,结合 PiPNN 图构建、Nested TurboQuant 量化与 AdaptiveGap 图压缩,作者报告在 95% 召回率下显著提升查询吞吐与索引速度。

cs.IR · cs.DC

查看原文摘要

We present \textsc{Ginger}, a state-of-the-art open-source C++ library for graph-based approximate nearest neighbor search (ANNS). We developed \textsc{Ginger} at Google to push the speed and memory efficiency of graph search on large and high-dimensional embedding datasets. \textsc{Ginger} surpasses existing ANNS libraries with regards to query throughput and indexing time while matching the memory footprint of the most space-efficient competitors. \textsc{Ginger} builds upon recent advances in proximity graph construction (PiPNN) and vector quantization (TurboQuant). We introduce Nested TurboQuant (NTQ), a two-level quantizer which supports low precision graph navigation and high precision reranking in a single code. This representation achieves near floating point precision with $2.6\times$ less memory. We also compress the size of our proximity graphs by up to $2.5\times$ without impacting query throughput. We combine graph reordering with a new lossless compression codec called AdaptiveGap, which builds upon StreamVByte. At $95\%$ recall, \textsc{Ginger} speeds up query throughput by an average of $1.8\times$ over each dataset's fastest competitor and by at least $2.3\times$ over any single library. This lead grows to $2.9\times$ over compact libraries on high-dimensional embeddings.

新论文 · v1arXiv:2611.08303

Mamba 动力学中的首 token 吸引现象

First-Token Attraction in Mamba Dynamics

Trinh T. Nguyen, Minh-Khoi Nguyen-Nhat, Duy-Tung Pham, Hoang-Son Do, Tan Minh Nguyen, Thieu N. Vo

AI 速读 基于摘要

作者提出基于高维不变盒与尖锐退出时间的新分析框架,研究深度 Mamba 模型中首 token 的吸引作用及其导致的 token 聚类与 attention-sink 现象。

cs.AI

查看原文摘要

We study token dynamics in deep Mamba models, with a particular focus on the attracting role of the first token. Unlike attention mechanisms, where token interactions are governed by positive scalar coefficients, Mamba dynamics involve full matrix-valued interaction coefficients with no positivity or definiteness guarantees. This structural difference makes Mamba dynamics substantially harder to analyze and prevents the direct application of existing techniques for attention-based models. To overcome this challenge, we introduce a new analytical framework based on a high-dimensional invariant box and a sharp exit-time argument, which together recover an effective form of sign-definiteness. Using this framework, we characterize the possible limit points of token trajectories and prove explicit exponential convergence rates. Our analysis reveals that the first token has privileged dynamics: its limiting direction attracts subsequent tokens, inducing token clustering and attention-sink phenomena in deep Mamba models. We further show that this attraction mechanism extends to broader sequence dynamics, including state-space models, causal attention, and classical time-series models. Experiments on Falcon-Mamba-7B validate our predictions, showing that concentration on the first token increases with depth and dominates in later layers.

新论文 · v1arXiv:2611.08302

带记忆的动态乐观约束在线凸优化:基于延迟等价

Dynamic Optimistic Constrained OCO with Memory via Delay Equivalence

Mohammed Abdullah, George Iosifidis, Salah Eddine Elayoubi, Tijani Chahed

AI 速读 基于摘要

作者提出一种乐观在线凸优化算法,通过将记忆归约为延迟,同时控制动态遗憾与累积约束违反。

cs.LG · math.OC

查看原文摘要

Online Convex Optimization with memory and time-varying constraints (COCO-M) is a recently-introduced framework that captures the dynamics of stateful online learning and non-stochastic control with budget constraints. Despite its expressive power, COCO-M remains largely understudied. In this work, we tackle this problem in its full scale, providing an optimistic algorithm that incorporates untrusted predictions to tame universal dynamic regret and cumulative constraint violation. Our analysis leverages a potent reduction from memory to delay and treats state-dependent gradients as delayed feedback. We establish the first bounds that adapt to both environment non-stationarity (path length $P_T$) and prediction accuracy, while lifting previous restrictive assumptions such as functional separability. En route to these results, we derive findings of independent interest for the memory-to-delay reduction, and for delayed OCO with time-varying constraints. The proposed framework ensures sublinear worst-case guarantees that improve with prediction accuracy, reaching $\mathcal O(1)$ regret under perfect predictions, with cumulative constraint violation (CCV) $\mathcal O(\sqrt{T})$ for unknown $P_T$ and $\mathcal O(\log T)$ for known or online observable $P_T$ , while recovering the optimal COCO rates when memory disappears.

新论文 · v1arXiv:2611.07926

AraEngage: Interpretable Linguistic Correlates of Engagement in Arabic Facebook News

Shimaa Ibrahim, Nour Elhouda Dalloua, Md. Rafiul Biswas, Wajdi Zaghouani

原文摘要

Engagement features developed for English are routinely applied to Arabic, but unvocalized Arabic changes what a lexical feature measures. We introduce AraEngage, a query-defined sample of 10,000 public Arabic Facebook news posts from 2,451 pages in 57 countries (2023-2024) that pairs engagement counts with interpretable linguistic features. We use it to examine which interpretable Arabic indicators are associated with follower-normalized engagement, and how far those associations can be trusted given publisher context, the definition of engagement, and lexical ambiguity. Religious expressions, message length, sentence length, and lexical density are the leading correlates in a Random Forest model ($R^2$ = 0.38 on a post-level split) interpreted with SHAP. Unlike English news, positive sentiment is associated with higher engagement in this Arabic news sample. Message length shows a length paradox: unadjusted raw engagement is highest for long posts, whereas the model's attributions for follower-normalized engagement favor short posts. A linguistic audit identifies why standard lexicon features are fragile in unvocalized Arabic: imperative lists contain homographs such as the form read as "express!" that is also the frequent preposition "via", hedge lists conflate the possibility marker qad + imperfect ("may") with the emphatic qad + perfect ("has indeed"), and religious lists mix devotional formulas with place names in political news. These are plausible sources of measurement error that may attenuate the near-zero associations of imperatives and hedges. All findings are observational associations with operationalized indicators. We release the derived linguistic features, engagement counts, refined lexicons, and analysis code; raw posts are not redistributed, in line with CrowdTangle terms.

cs.CL · cs.CY · cs.SI

新论文 · v1arXiv:2611.07683

ReferClaw: Disambiguating User Intent for Egocentric Assistance

Hangyu Qin, Junbin Xiao, Angela Yao

原文摘要

Users of egocentric AI assistants often ask short, ambiguous questions whose intended referents cannot be uniquely resolved from video and dialogue history. For example, "Where did I leave it?" may refer to several previously handled objects. Existing VideoQA systems typically commit to a single interpretation, risking plausible but intention-misaligned answers. We introduce ReferClaw, an agentic framework that formulates egocentric streaming QA as an interactive process: the assistant asks clarifying questions to resolve user intent before answering. Three cooperating agents identify candidate interpretations, request clarification, and generate answers grounded in the resolved intent and visual evidence. A bounded, cost-aware policy balances expected information gain against user effort while limiting clarification turns and question complexity. Referclaw learns from interaction through intent-specific skill updates and process-reward-guided policy optimization with agent-level credit assignment. Evaluations on augmented egocentric QA benchmarks demonstrate improved answer accuracy and joint answer-and-grounding performance over existing baselines, alongside zero-shot transfer across datasets. These findings support interactive clarification as a practical approach to resolving online user intent in egocentric streaming assistance.

cs.CV · cs.AI · cs.MA

新论文 · v1arXiv:2611.07463

FREE-LIVO: Physically Decoupled Yet Tightly Coupled LiDAR-Inertial-Visual Odometry

Reon Tabata, Kenji Koide, Shuji Oishi, Taku Okawara, Mizuho Aoki, Aoki Takanose, Masashi Yokozuka, Jun Miura

原文摘要

LiDAR-Inertial-Visual Odometry (LIVO) integrates complementary LiDAR, camera, and IMU measurements to achieve robust state estimation. However, most existing methods assume a fixed relative pose and accurate time synchronization between sensors. Toward modular and heterogeneous robotic systems, this paper presents FREE-LIVO, a tightly coupled odometry method that requires neither a rigid LiDAR-camera rig nor LiDAR-camera time synchronization. The proposed method uses a pretrained image feature matcher to establish correspondences between a camera image and a dense LiDAR intensity image generated from a single LiDAR scan using a generative model. From the resulting 3D point-to-pixel correspondences, we construct reprojection factors that directly constrain LiDAR and camera poses at different acquisition times. These factors are jointly optimized in a single factor graph together with constraints from point cloud registration, visual feature tracking, and the IMU measurements associated with each sensor. On six sequences from the public M3DGR dataset, FREE-LIVO achieves an average absolute trajectory error (ATE) RMSE of 0.45 m without provided LiDAR-camera extrinsic parameters and exhibits minimal accuracy degradation under time synchronization errors of up to 0.5 s. Furthermore, experiments with the LiDAR and camera mounted on separate robots demonstrate that the method can jointly estimate the trajectories of independently moving sensors.

cs.RO · cs.CV

版本更新 · v3arXiv:2502.21012

FedDyMem: Efficient Federated Learning with Dynamic Memory and Memory-Reduce for Unsupervised Image Anomaly Detection

Silin Chen, Andy Liu, Kangjian Di, Yichu Xu, Han-Jia Ye, Wenhan Luo, Ningmu Zou

原文摘要

Unsupervised image anomaly detection (UAD) has become a critical process in industrial and medical applications, where models are trained on normal samples without requiring labeled anomalies. However, even normal images may contain sensitive product designs, manufacturing information, or institution-specific population characteristics, making centralized data collection difficult in practical deployments. Federated UAD provides a promising decentralized solution, but it remains challenging because clients use only normal training samples, their feature distributions remain highly heterogeneous within the same task, and communication should be efficient while limiting the exposure of sensitive client information. To address these challenges, we propose FedDyMem, an efficient federated learning method with dynamic memory and memory-reduce for unsupervised image anomaly detection. Instead of exchanging full model parameters, FedDyMem facilitates knowledge sharing between the clients and server through reduced dynamic memory banks. In the local clients, a memory generator and a metric loss are employed to improve the consistency of the feature distribution for normal samples, leveraging the local model to update the memory bank dynamically. For efficient communication and data privacy, a memory-reduce method based on weighted averages is proposed to significantly decrease the scale of memory banks. This representation reduces communication overhead and empirically lowers reconstruction fidelity under inversion attacks. On the server, global memory is constructed and distributed to individual clients through k-means aggregation. Experiments on six federated UAD tasks constructed from eleven public industrial and medical datasets show that FedDyMem consistently improves anomaly detection and localization while reducing communication cost.

cs.DC · cs.CV

版本更新 · v4arXiv:2502.10259

MITO: A Millimeter-Wave Dataset and Simulator for Non-Line-of-Sight Perception

Tara Boroushaki, Laura Dodds, Cusuh Ham, Fadel Adib

原文摘要

The ability to observe the world is fundamental to reasoning and making informed decisions on how to interact with the environment. However, optical perception can often be disrupted due to common occurrences like occlusions, which can pose challenges to existing vision systems. We present MITO, the first millimeter-wave (mmWave) dataset of diverse, everyday objects, collected using a UR5 robotic arm with two mmWave radars operating at different frequencies and an RGB-D camera. Unlike visible light, mmWave signals can penetrate common occlusions (e.g., cardboard boxes, fabric, plastic). MITO captures over 24 million mmWave frames and uses them to generate 550 high-resolution mmWave images in line-of-sight and non-light-of-sight (NLOS), as well as RGB-D images, segmentation masks, and raw mmWave signals, taken from 76 different objects. We develop an open-source simulation tool that can be used to generate synthetic mmWave images for any 3D triangle mesh. Finally, we establish benchmarks for NLOS segmentation and classification to demonstrate the utility of our dataset and simulator for enabling broader NLOS perception.

cs.CV

新论文 · v1arXiv:2611.07283

Encoding and Propagation of Grammatical Number in Large Language Models

Jacob Solinsky, Serguei Pakhomov

原文摘要

Sparse autoencoders (SAEs) have become an increasingly popular means of translating Large Language Model (LLM) hidden state vectors into a human-comprehensible list of features or symbols. As such, SAEs may provide insight into an LLM's knowledge representation and internal ``mental'' grammar - topics of pragmatic interest for mechanistic interpretation of AI behavior and of theoretical interest for the study of in silico representations of human language. Language models with fewer than 100M parameters, trained on small corpora, nonetheless exhibit strong grammatical competence and discourse coherence, despite producing content of limited reliability. We use SAEs that we trained on one such model (Pythia-70M) to conduct an in-depth examination of how a single grammatical phenomenon, number agreement, is represented and processed in an LLM. We demonstrate the mechanism and the methodology by which SAEs can be used to find and propagate ``plural noun'', ``plural matrix subject'', and ``generate a plural verb'' features which cause the LLM to produce plural verb forms such as ``are'', ``do'', or ``have'' instead of ``is'', ``does'', and ``has'' in response to prompts such as ``the men in the park''. We show that intervening to remove these features from the hidden states of plural subject noun tokens causes the model to produce singular verbs instead, and vice versa. We also show that corresponding ``singular noun'' and ``generate a singular verb'' features are not as effective for this task. This asymmetry suggests that Pythia-70m makes use of a privative representation of grammatical number in English. These findings replicated with larger LLMs Gemma-2-2b and Llama-3.1-8b yielded similar results. Our main contribution is a novel approach to the use of SAEs to understanding how LLMs encode human language that addresses a number of technical and methodological challenges.

cs.CL · cs.AI

新论文 · v1arXiv:2611.07261

An Empirical Study of Reinforcement Learning for Keypoint Positioning of Deformable Linear Objects

Vinay Rodrigues, Sara Zeynalpour, Gokhan Solak, Sebastian Hjorth, Arash Ajoudani

原文摘要

Deformable linear object (DLO) manipulation is challenging because high-dimensional configurations, nonlinear contact dynamics, and diverse material and geometric properties produce a broad range of object responses that are both difficult to model and data-intensive to learn. This work studies reinforcement learning for planar manipulation of a one-end-grasped DLO, focusing on training efficiency, observation design, robustness, and zero-shot sim-to-real transfer. We compare three Proximal Policy Optimization training stacks and find that the GPU-parallel MuJoCo Playground stack enables faster convergence and more consistent performance than CPU-based alternatives under the same wall-clock budget. Relative keypoint observations and an asymmetric actor-critic formulation further improve learning efficiency. Policies trained with observation noise, delay, domain randomization, and disturbances achieve simulation success rates of 96.4% for single-point tracking, 98.0% for disturbance recovery, and 88.8% for two-point tracking. Using markerless RGB-D keypoint estimation, the policies transfer without real-world fine-tuning, succeeding in 9/10, 10/10, and 8/10 physical trials, respectively.

cs.RO

新论文 · v1arXiv:2611.07212

Canonical Correlation Neural Networks

Andrea Cavallo, Sundeep Prabhakar Chepuri, Charilaos Kanatsoulis, Elvin Isufi

原文摘要

Relational inductive biases such as grids or graphs allow neural networks with fewer trainable parameters and improved generalization, but require a known structure beforehand. When no structure is available, the covariance matrix provides a principled substitute, and coVariance Neural Networks (VNNs) have shown that using it yields models that are theoretically grounded in Principal Component Analysis, stable to finite-sample estimation errors and parameter-efficient. This framework, however, is limited to single-view data, whereas many applications observe the same phenomenon through multiple views, each with its own in-view covariance and a cross-view covariance linking them. To incorporate these matrices as inductive biases in a principled way, we introduce CAnonical correlation NEural networks (CANEs), architectures that use in-view and cross-view covariances as distinct relational biases to solve downstream tasks. Via spectral analysis, CANEs draw analogies with Canonical Correlation Analysis (CCA), a classical technique to project two-view data onto a correlated subspace. However, while CCA's objective is to compute shared view representations, CANEs are trained to solve a downstream task directly. We bound their output error under finite-sample covariance perturbations and show that it depends on controllable Lipschitz constants of the learned filters in place of the singular-value gap that governs the stability of CCA, thus guaranteeing better robustness. Experiments on seven datasets from brain imaging and motion sensing show that CANEs match or outperform single-view, two-view and CCA-based baselines, often with fewer parameters, and retain their performance when covariances are re-estimated from fewer samples.

cs.LG

版本更新 · v2arXiv:2606.14373

Machine-learned particle flow as a foundation model for collider physics

Farouk Mokhtar, Joosep Pata, Michael Kagan, Javier Duarte

原文摘要

The workflow from particle collision to physics analysis passes through a series of reconstruction steps that are traditionally modular and disconnected, with no shared representation linking low-level detector data to high-level analysis tasks. We show that casting event reconstruction as a machine learning problem naturally produces such a shared representation. We repurpose a machine learning model trained for particle-flow reconstruction (MLPF) to perform three distinct analysis tasks: jet flavor identification, jet energy regression, and missing momentum regression. By appending the per-particle latent representations learned during reconstruction as additional input features, we substantially improve over baselines that use conventional particle-level features alone. We further demonstrate that a single linear layer trained using only the latent representations achieves competitive performance against state-of-the-art baseline architectures, and outperforms the baseline for missing momentum regression with approximately 35 times fewer parameters. These results demonstrate that the latent representations learned during reconstruction encode essential physics information needed for downstream analysis, establishing MLPF as a foundation model and offering a concrete step toward an end-to-end pipeline from detector data to physics analysis.

hep-ex · cs.LG · hep-ph · physics.data-an · physics.ins-det

版本更新 · v2arXiv:2610.06598

SimForcing: Distilling Simulation Motion Priors into Real-Domain Robot World Models

Xiaodong Wang, Tianle Li, Chuanxin Song, Junliang Xie, Zhanmi Zhong, Suiying Wu, Peixi Peng

原文摘要

Action-conditioned robot world models must respond precisely to robot trajectories while preserving realistic visual dynamics, yet learning both from heterogeneous robot videos remains challenging. Simulation offers structured motion supervision, but appearance differences hinder direct transfer, and inaccurate simulation predictions can misguide real-video generation. We present SimForcing, a simulation-guided framework that uses simulation both as a source of transferable motion knowledge and as a controllable reference for prediction. First, we transfer motion knowledge from a simulation teacher through latent-motion distillation, aligning temporal changes in latent space to internalize motion priors while mitigating the influence of appearance differences. Second, we introduce multi-block simulation conditioning with condition dropout to exploit predicted simulation trajectories without relying excessively on their accuracy. Our simulation-conditioning classifier-free guidance scheme unifies these two ideas by balancing predictions based on internalized motion knowledge with those additionally guided by simulation latents. The jointly trained student generates both simulation conditions and real-domain videos, requiring no additional world model at inference. On Bridge, SimForcing achieves the best PSNR, SSIM, LPIPS, and FVD among the compared methods without external embodied pretraining. Evaluation on InternData-A1 further supports its applicability across robot datasets. Moreover, using our trained world model to initialize a vision-language-action model improves LIBERO success, suggesting its utility for downstream policy learning. https://github.com/Wang-Xiaodong1899/SimForcing

cs.RO · cs.AI · cs.CV