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新论文 · v1arXiv:2611.13528

GEMOR-GS: Global Extrinsic-calibration-refined Mapping and Online Relocalization for 3D Gaussian-Splatting SLAM

Yuchen Yang, Ming Ding, Xinyu Wu, Hesheng Wang

原文摘要

Photorealistic and metrically consistent world representations are a primary requirement for LiDAR--inertial--visual SLAM systems that serve robots over continuous operation. 3D Gaussian splatting makes such representations attainable by supplying an explicit, renderable, and queryable scene model. We present GEMOR-GS (Global Extrinsic-calibration-refined Mapping and Online Relocalization for 3D Gaussian-Splatting SLAM) to make the Gaussian map geometrically accurate, globally refined, and re-enterable, providing a better appearance for robot perception and decision-making. To improve the 3DGS map, the LiDAR--camera extrinsic is first estimated offline by direct-method alignment over dedicated calibration segments and reused by all following online and offline processes. Under the calibrated geometry, keyframe poses and Gaussian parameters are refined alternately under a gated differentiable-rendering and LiDAR--projection objective. The final global reconstruction is then rebuilt from the refined keyframe schema with all online constraints lifted. For the robot SLAM lifecycle, the method recovers the pose from the 3DGS map after tracking loss through an XFeat bypass map, RANSAC-PnP coarse localization, and Gaussian RGB-D warp refinement. Experiments on one self-collected and five public sequences quantify each element: the offline reconstruction wins all paired keyframes against the online map by 14.3--19.9 dB, improves PSNR by approximately 9 dB over Gaussian-LIC2, and achieves 86--100% held-out relocalization success tied to extrinsic quality. The results show that GEMOR-GS improves the geometric accuracy, appearance fidelity, and re-enterability of the 3DGS map, serving as a dependable robot world model for SLAM and downstream tasks.

cs.RO · cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.12673

MindVLM: Neural-Grounded Visual Captioning via Subject-Aware Semantic Evidence Selection

Zixiang Yin, Yu-Ping Wang, Zhengming Ding

原文摘要

Translating visual brain activity into natural language offers a powerful window into human cognition and neural semantic representation. Most prior brain-captioning approaches project fMRI signals into language space using paired supervision. However, the widely used Natural Scenes Dataset (NSD) was built based only on image-fMRI pairs, while existing methods rely on MS-COCO captions as indirect textual supervision. Critically, during fMRI acquisition, participants observe only cropped image regions, whereas the associated MS-COCO captions describe full scenes. This mismatch creates a fundamental gap between neural representations and textual supervision, introducing an inherent semantic loss in NSD-based brain captioning. To mitigate this limitation, we reformulate brain captioning as Neural-Grounded Visual Captioning, where language is generated directly from visually grounded neural evidence rather than text supervision. We propose MindVLM, a framework that maps fMRI signals into subject-aware visual tokens and leverages a frozen vision-language model (VLM) to produce interpretable and personalized descriptions. Instead of point-wise regression, MindVLM focuses on extracting semantically relevant visual cues from neural activity, naturally accommodating partial observability and inter-subject variability. Extensive experiments on NSD show that MindVLM maintains, and often improves, caption quality across multiple VLM backbones, including LLaVA-v1.5, Qwen2.5-VL, and Gemma3, beyond intrinsic model priors. Despite requiring neither text supervision nor an LLM during training and operating under an image-grounded inference paradigm distinct from conventional captioning methods, MindVLM remains competitive with supervised approaches, suggesting that subject-specific neural grounding provides an efficient, scalable, and interpretable path toward faithful brain-to-language generation.

cs.CE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.13022

Understanding-First AI Engineering: Purposes, Reference Architecture, and Architectural Patterns for Human Understanding

Liming Zhu, Qinghua Lu, Ming Ding

原文摘要

AI systems can produce reliable results without developing human understanding. However, human understanding remains valuable for shaping subsequent AI-supported work, forming preferences, governing collective choices and satisfying curiosity, even when human participation is unnecessary for correcting errors. We propose understanding-first AI engineering, which treats purpose-specific human understanding as a first-class design principle guiding requirements, design and operation. The purposes of understanding are organised into four complementary rationales: reflective agency, effective action, collective governance and epistemic value. A reference architecture connects production, verification, use, and learning and exploration through shared records, supporting understanding through explanation and participation. Five candidate architectural patterns guide choices about parallel learning, explanatory models, goal exploration, audience-specific views and distributed expertise. Qualitative scenario analysis of two hypothetical use cases demonstrates how the purpose classification, reference architecture and selected patterns guide investigation, participation and decision processes while retaining operational controls. The cases illustrate design consequences and limitations rather than establish empirical effectiveness. The approach makes human understanding an explicit engineering commitment whose justification need not depend on improving the original AI task.

cs.AI · cs.SE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.29027

Beyond Tokens: NumAnchor for Address-Grounded Numeric Operand Representation in Assembly Language Models

Kun Liu, Keith Mitchell, Xin Hu, Jiangcheng Yu, Chenke Luo, Zhengming Ding, Haotian Zhang, Jiang Ming

原文摘要

Assembly language models (ALMs) are becoming important for automated binary analysis, yet their token-level interfaces often obscure numeric-like operands. In two corpora, such operands account for 45.7% and 40.9% of operand occurrences and may denote branch targets, global data, stack slots, constants, or unresolved pointer-derived values. Existing normalization strategies often lose their identities and structural relationships. We present NumAnchor, an input-boundary adapter that represents recoverable numeric-like operands as typed, canonicalized program entities. NumAnchor encodes code, data, and stack context in compact structural side descriptors, preserving entity identity and locality without increasing the host sequence length. These descriptors are fused into input embeddings before the first Transformer layer, while the host architecture, pretraining objectives, and downstream protocols remain unchanged. Probing frozen instruction-level embeddings yields 98.7% hierarchical-location accuracy and AUROC scores of 0.932 and 0.907 for jump and call target alignment, respectively, showing that the encoded structural information remains recoverable. Across multiple ALM families, NumAnchor achieves relative improvements of up to 35.0% in Recall@1 and 31.7% in MRR on 10k-candidate function retrieval, and improves execution-aware type recovery by up to 5.2 F1 points. Ablations show complementary gains from code, data, and stack descriptors with modest overhead.

cs.CR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.02057

Optimizing Effective Training Time for Large-Scale Recommendation Systems

Mingming Ding, Ruilin Chen, Yuzhen Huang, Hang Qi, Menglu Yu, San Tan, Damian Reeves, Boris Sarana 等 32 位作者

原文摘要

Lifecycle overhead silently consumes accelerator capacity across large-scale recommendation training fleets. Our largest recommendation workloads process tens of billions train- ing examples per day on thousands of GPUs. Before this work, only 50-60% of their end-to-end wall time advanced training on new data. We present a fleet-scale study of this lifecycle overhead and a set of optimizations spanning the full training stack. We use Effective Training Time (ETT%) as an operational framework to instrument lost time, localize it to independently owned infrastructure components, and expose work repeated across job restarts. This analysis guides optimizations like communication elimination and pipeline overlap during trainer initialization; dynamic-shape handling, autotuning pruning, and reusable Py- Torch 2 compilation caches; asynchronous checkpointing; stan- dalone model publishing; and reductions in recovery cost. We evaluate the optimizations on representative models and measure their impacts in our training fleet. ETT% improves on every benchmark, by 15.5% on average, and reaches 85% on our largest workload. Fleet-wide ETT% rose from about 80% to above 90% after deployment.

cs.IR

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arXiv ↗PDF ↗
首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.269ACL Anthology · ACL 2026

OctoBench: Benchmarking Scaffold-Aware Instruction Following in Repository-Grounded Agentic Coding

Deming Ding Large Language Model Algorithm Engineer, Shichun Liu, Enhui Yang, Jiahang Lin, Ziying Chen, Shihan Dou, Honglin Guo Fudan University, Weiyu Cheng Minimax Ai 等 15 位作者

原文摘要

Modern coding scaffolds turn LLMs into capable software agents, but their ability to follow scaffold-specified instructions remains under-examined, especially when constraints are heterogeneous and persist across interactions. To fill this gap, we introduce OctoBench, which benchmarks scaffold-aware instruction following in repository-grounded agentic coding. OctoBench includes 34 environments and 217 tasks instantiated under three scaffold types, and is paired with 7,098 objective checklist items. To disentangle solving the task from following the rules, we provide an automated observation-and-scoring toolkit that captures full trajectories and performs fine-grained checks. Experiments on eight representative models reveal a systematic gap between task-solving and scaffold-aware compliance, underscoring the need for training and evaluation that explicitly targets heterogeneous instruction following. We will release the benchmark to support reproducible benchmarking and to accelerate the development of more scaffold-aware coding agents.

cs.CL · cs.AI

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