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新论文 · v1arXiv:2610.35092

Uncertainty Evaluation to Support Safety of the Intended Functionality Analysis for Determining the Applicability of Performance Targets Across Triggering Conditions in ML-Based LiDAR Object Detection

Milin Patel, Rolf Jung

原文摘要

For safety of the intended functionality (SOTIF) analysis according to ISO 21448, a machine learning object detector for light detection and ranging (LiDAR) point clouds can meet a performance target, a limit on the mean per-frame share of wrong detections among accepted detections, by rejecting detections above an uncertainty threshold. A threshold selected on data of one condition carries a statistical guarantee only for data distributed like its selection data, whereas SOTIF analysis covers every triggering condition. This paper presents an uncertainty evaluation in which the threshold is transferred into a triggering condition, a test decides at a stated error probability whether the target is applicable there, not applicable or not determined, and a lower bound counts the independent units an applicable outcome requires. For PointPillars ensembles on KITTI and nuScenes, counted in recorded sequences, as the dependence between frames requires, neither dataset held enough independent units for any target limit, and no transfer had a not applicable outcome. Counted in frames, the same data gave not applicable outcomes at limits fixed in advance after transfers into far distance, into rain and between two separately trained detectors, thresholds that met the target limit after a transfer rejected most correct detections, and in rain the area under the receiver operating characteristic curve did not decrease. A performance target met under one condition therefore counts as evidence under a triggering condition only after a test there, reported with its share of accepted correct detections and its number of independent recorded sequences.

cs.CV · cs.LG · cs.RO

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.02418

Reduced-Feedback Hybrid Precoding for Wideband mmWave MIMO-OFDM Systems via Hierarchical Interpolation

Po-Heng Chou, Jia-Qing Lin, Wei-Chen Lin, Wan-Jen Huang, Ronald Y. Chang

原文摘要

In this paper, we propose a feedback-efficient hybrid precoding framework for wideband millimeter-wave (mmWave) multiple-input multiple-output orthogonal frequency-division multiplexing (MIMO-OFDM) systems. To reduce the hardware cost of radio-frequency (RF) chains and the feedback burden associated with frequency-selective digital precoding, frequency-flat analog precoders and combiners are first constructed from the dominant angle-of-arrival (AoA) and angle-of-departure (AoD) directions associated with the strongest propagation paths. For digital precoding, a shared quantized codebook is designed using the Lloyd algorithm, and a binary-search-based hierarchical interpolation method is developed to identify codeword switching locations between adjacent pilot subcarriers. By avoiding exhaustive codeword comparisons over all intermediate subcarriers, the proposed method reduces online search complexity and enables compact digital-precoder feedback. For the considered system configuration, the proposed method achieves a worst-case feedback reduction of approximately 98.34% relative to full-grid per-subcarrier feedback. Simulation results further demonstrate competitive spectral efficiency and bit error rate (BER) performance, low computational cost, and robustness under imperfect effective channel state information (CSI).

cs.IT · eess.SP

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35090

Test-Time Prompt-Agnostic Decomposition

Junze Wang, Lei Fan, Dezheng Zhang, Donglin Di, Yang Song, Sidong Liu, Cong Cong

原文摘要

Test-Time Prompt Tuning (TPT) adapts large pretrained models to unseen target distribution shifts by updating only lightweight prompt tokens. Existing TPT methods are effective, but they mainly optimize each prompt update locally. Across test-time steps, prompts updated at the current step are reused for the corresponding predictions and updates, so noisy or biased unlabeled objectives can accumulate and destabilize the prompt-update trajectory. We identify two failure modes: magnitude expansion, where updates move the prompt too far, and directional drift, where consecutive updates point in inconsistent directions. To analyze and control these failures, we propose Test-Time Prompt-Agnostic Decomposition ($\mathtt{TPD}$), which characterizes observed prompt-update trajectories from a dynamical-systems view and decomposes base prompt updates into magnitude and direction. $\mathtt{TPD}$ computes a spectral radius to measure update expansion and decomposes update directions into persistent, oscillatory, and residual components. Building on this decomposition, Adaptive Koopman Control ($\mathtt{AKC}$) regulates update magnitude by shrinking updates under expansive recent dynamics, while Hankel Update Router ($\mathtt{HUR}$) refines update direction by preserving persistent components and suppressing oscillatory and residual components. Together, $\mathtt{AKC}$ and $\mathtt{HUR}$ produce a stabilized prompt update. As a prompt-agnostic framework, $\mathtt{TPD}$ can be plugged into visual and text TPT methods without modifying the backbone, prompt architecture, or adaptation loss. Experiments on 15 datasets show that $\mathtt{TPD}$ consistently improves 10 baselines, with accuracy gains of $3$--$8\%$ for visual prompts and over $2\%$ for text prompts.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35089

Learning to Remember: Advances in Memory Mechanisms for Large Language Models

Chenye Han, Hongche Yu, Mengyue Wu, Dell Zhang, Jixiang Luo

原文摘要

Memory has become a central mechanism for extending large language models (LLMs) beyond fixed context windows, stateless interaction, and static parametric knowledge. This survey organizes the literature around three complementary dimensions: the life cycle of memory, the storage substrate, and the system role that memory plays in LLM-based agents, while using cognitive-science-inspired memory concepts as a lightweight conceptual motivation rather than as a separate technical contribution or implementation family. On this basis, we distinguish three mechanism families: nonparametric memory, where information is stored outside model parameters in text, graph, multimodal, or database-like structures; parametric memory, where information is stored or accessed through activations, key-value caches, learned modules, adapter-based parameterizations, or model weights; and memory for agent evolution, where stored experiences support reinforcement learning, continual learning, procedural reuse, context engineering, and agent harness design. Evaluation is treated as a separate cross-cutting component rather than as a memory mechanism. Unlike surveys that focus primarily on retrieval-augmented generation or long-context modeling, this paper emphasizes the full memory life cycle: construction, maintenance, retrieval, consolidation, forgetting, governance, and evaluation. By aligning conceptual motivations, computational memory mechanisms, benchmarks, and deployment concerns, the survey provides a structured roadmap for designing memory-augmented LLM agents that are persistent, adaptive, auditable, and safe to update over time.

cs.IR

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arXiv ↗PDF ↗
版本更新 · v6arXiv:2410.21657

A-UTE: Advection Informed, Uncertainty Aware Temperature Emulator

Hira Saleem, Cormac Purcell, Steven Sherwood, Flora Salim

原文摘要

Physics-based Earth system models (ESMs) are essential for attributing climate change and generating scenario projections, yet their reliance on high-resolution numerical integration makes multi-decadal experiments expensive. In parallel, deep learning has delivered strong gains in short-range weather forecasting; however, auto-regressive roll-outs can accumulate error and become unstable when extended to decade-scale climate emulation. We introduce A-UTE: Advection Informed, Uncertainty Aware Temperature Emulator, aimed at stable multi-year emulation across heterogeneous climate models and grid resolutions. A-UTE is trained on various physics-based models at varying spatial resolutions to emulate temperature fields over a 10-year horizon. A-UTE formulates climate emulation as a forward-time stochastic dynamical system. We propose an auto-regressive ODE-SDE surrogate in which transport dynamics are constrained by an advection consistent ODE component, while a learned neural SDE term models coarse-grained variability and cross-model discrepancy at monthly resolution. We train A-UTE under negative log-likelihood objective for principled uncertainty estimates and probabilistic evaluation. Experiments across 20 climate models show that A-UTE improves long roll-out stability and accuracy relative to relevant baselines, advancing data-driven climate emulation with explicit physical structure and uncertainty-aware predictions.

cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.18818

Back-Translation Still Matters: Leveraging Monolingual Data for Low-Resource Machine Translation with LLMs

Divyanshu Bathla, Parag Singla, Jitin Singla

原文摘要

Pre-trained Large Language Model (LLMs) are effective on many tasks in zero-shot and few-shot settings. For machine translation of low-resource languages, the obvious options are few-shot prompting and fine-tuning on a small parallel set. We ask: what if moderate amounts of low-resource monolingual data are also available? We argue that, rather than continued pretraining, a more effective use of this data is the pre-LLM era technique of back-translation (BT). The current fine-tuned LLM translates monolingual sentences in each language, and the resulting pairs train it in the reverse direction. Updates on the parallel set are interleaved for stable learning. With 1K parallel pairs on Odia and Swahili, BT beats continued pretraining into the low-resource language by 7.7 to 16.4 XCOMET-XXL points in domain. With beam-decoded intermediate translations, it also beats a model with 10 time more parallel data. In-context examples retrieved from the parallel data further improve BT. We also analyze the source, quality and amount of monolingual text. Across five low-resource languages, with Hindi as a high-resource control, and two 3B backbones, BT improves translation into the low-resource language by 16 to 173% XCOMET-XXL over parallel-only fine-tuning. Blind human evaluation on Odia and Sanskrit agrees with the automatic metrics.

cs.CL · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35085

Reading the Registers of Honorius III without Manual Line Transcription: Forced-Aligned HTR, End to End, Modular or Hybrid

Tamas Kovacs, Daniel Luger

原文摘要

Unlocking medieval archives at scale is bottlenecked by the cost of line-level diplomatic transcriptions and manual abbreviation expansion. Focusing on the registers of Pope Honorius III (1216-1227) over 5,000 letters surviving in full only as manuscript images - we show that existing, line-break-free expert transcriptions (edition drafts) suffice to train end-to-end hand-written text recognition (HTR) that jointly transcribes and expands heavily abbreviated Latin. Using forced alignment on 860 unaligned edition entries across 394 pages of Reg. Vat. 9, we automatically bootstrap 13,122 training lines without manual alignment of segmented lines. While the generic CATMuS baseline struggles on this domain (18.9% CER) and a modular space-free HTR + word-segmentation pipeline (cf. Camps et al. 2021) plateaus at 15.6% WER, our from-scratch hybrid Conformer - combining CTC with bidirectional subword attention decoders, iterative self-realignment and n-best LM rescoring - achieves 4.7% CER and 8.7% WER (8.4% WER with ROVER system combination), nearly halving errors on clause-final words (22.7% to 12.2% WER). These figures are measured on the test lines that align with the transcription (86% of all test lines for the best hybrid). Furthermore, we address a tension between paleographic fidelity and editorial normalization: training on targets that preserve scribal name initials reduces the WER against the manuscript text on the 31 affected test lines from 13.3% to 9.2%, at a small cost against the expanded transcription (WER +0.3 points, CER +0.4). Finally, extensive ablations show that none of an auxiliary diplomatic CTC head, a copy mechanism, a permutation decoder or masked-image pretraining improves on direct end-to-end supervision, while strict padding-mask propagation and per-line beam termination make inference batch-invariant.

cs.CV · cs.IR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35084

A JiT-Based Denoising Defense Method Against Adversarial Examples for Radio Signal Automatic Modulation Classification

Shiwei Liu, Linyuan Wang, Nuolin Sun, Libin Hou, Bin Yan

原文摘要

Automatic modulation classification (AMC) of radio signals is a core technology for spectrum monitoring and electromagnetic situational awareness. Deep neural networks (DNNs) play an important role in this field owing to their powerful feature extraction capabilities and end-to-end learning paradigm. However, their vulnerability to adversarial attacks poses serious security challenges to practical deployment. Adversarial training, a common defense, has limitations including poor generalization across attack types and high training costs. Inspired by Just image Transformers (JiT), a diffusion generative model that directly predicts clean images, this paper proposes a JiT-based denoising defense against adversarial examples for radio signal modulation classification. During training, a signal-specific 1D Transformer denoising network is optimized via flow matching to directly predict clean signal samples. It thereby learns a mapping that projects arbitrary examples back onto the low-dimensional manifold of clean signal examples. During inference, arbitrary examples are fed into the trained network and directly projected onto this manifold. This enables denoising defense without prior knowledge of attacks. Experiments on the RML2018.01A dataset were conducted without attack information, using a single empirically selected, fixed denoising start time. Compared with PGD-based adversarial training, the proposed method achieves a relative improvement of at least 20.58% in robust accuracy under PGD attacks. It also achieves a relative improvement of 10.20% in classification accuracy on clean examples. When evaluated against attack types unseen during adversarial training, the proposed method provides stronger defense than adversarial training. In particular, at higher attack strengths, it achieves a relative improvement of at least 39.72% in robust accuracy.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.29107

PhyMo: Learning Physical Dynamics with Accurate and Continuous Motion from Multi-View Videos

Shangjia Liu, Jinxi Li, Siyuan Zhou, Bo Yang, Bing Wang

原文摘要

Recovering dynamic 3D scene geometry, appearance, and the physical motion states that govern scene evolution from multi-view videos is important yet challenging. A key difficulty is that appearance can be deceptive. Under rendering supervision alone, a model may fit the observed images by changing color or opacity to compensate for inaccurate deformation, rather than recovering the true evolving geometry and motion. This issue is especially severe in scenes with fast or locally complex motion, where inaccurate trajectories can still produce plausible images over the observed frames, but lead to unreliable reconstruction and discontinuous future prediction. In this paper, we propose PhyMo, a framework for learning evolving dynamics from multi-view videos. We introduce a Motion-Aware Trajectory Representation that drives the model to recover accurate motion from deformation, rather than relying on appearance shortcuts to explain observed motion. On top of this, we propose a Continuous Motion Evolution module with bidirectional kinematic continuity constraint to promote temporally consistent evolution of displacement, velocity, and acceleration. Together, these designs yield geometrically faithful interpolation and continuous motion extrapolation. Experiments on four dynamic scene benchmarks demonstrate state-of-the-art performance.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35082

CoSA: The Conflict of Skills Attack in Real-World LLM Agent Ecosystems

Yujia Zheng, Tianhao Li, Shangzhi Xu, Yuekai Huang, Ziyou Jiang, Zhaoyang Li, Yuyao Ge, Junran Peng 等 9 位作者

原文摘要

Agent Skills allow LLM agents to combine reusable capabilities, but checking each Skill in isolation cannot rule out policy violations when they are composed. We term such failures Conflict of Skills (CoS): artifacts or assessment signals produced for one purpose may be reused downstream without preserving the restrictions or authorization needed for their new use. Using controlled executions of publicly available Skills and matched single-Skill controls, we identify four recurring mechanisms behind CoS. Building on these findings, we introduce the Conflict of Skills Attack (CoSA), which adds locally admitted Skills to an existing pool to supply missing business operations (capability supplementation) or reshape artifact exchange, decision reuse, and target/action bindings (relationship reshaping). CoSA leaves existing Skills and runtime permissions unchanged. To evaluate this threat under autonomous Skill selection, we introduce CoSA-Bench, built from real-world Skills and controlled services, with 288 tasks across recruiting, finance, IT, and business, covering data leakage, unauthorized state modification, and unsafe execution. Across five LLMs and three agent harnesses, additions capped at 5% of each original pool raise the policy-violation rate from 35.02% to 58.45%, an increase of 23.43 percentage points. Trace analysis links compliant-to-violating transitions to cross-Skill dependencies involving the additions. Finally, we develop a lightweight harness-level guard that checks information flow and authorization before consequential actions. On OpenClaw recruiting tasks across five models, the guard reduces violations from 65.28% to 6.67%, while policy-compliant task completion on matched benign controls changes from 66.67% to 65.00%.

cs.CL · cs.AI · cs.CR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.18005

Surface Reconstruction from Range Scans Under Visibility Constraints

Gabriel Lenain, Edmond Boyer, Jean Ponce

原文摘要

Surface reconstruction from range scans is challenging in the presence of noise and outliers, as fidelity to observations must be balanced against sensitivity to measurement errors. Yet, most neural approaches discard the sensor positions and corresponding visibility information, compensating for this loss with geometric priors or regularization terms. We instead formulate surface reconstruction as robust regression of the predicted first surface intersection along each acquisition ray against its measured depth, which penalizes predicted surface intersections within the segment between the sensor and the observed point. We represent the surface as the zero set of a 1-Lipschitz multi-layer perceptron, allowing the use of linearly convergent sphere tracing to compute the first hit, and use a robust Huber loss for regression. Our formulation requires neither oriented normals, sampled off-surface points, nor an eikonal loss. Comparisons with the state of the art on synthetic and real data with varying levels of noise and outlier contamination demonstrate competitive performance on clean data and much improved fidelity and robustness under even moderate corruption. Our analysis further confirms a trade-off between fidelity and robustness: greater fitting capacity improves data fidelity in the clean case but increases sensitivity to the measurement errors inherent in real acquisitions, with a sweet spot typically emerging at intermediate capacity.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35080

Zero-Shot Multi-Class Wafer Map Classification with Rule-Ordered Prompts for Large Multimodal Models

Tianjian Cao, Jun Tao

原文摘要

Wafer-map defect classification often requires labeled data and retraining when production conditions change. We present a training-free six-class framework that combines connected-component highlighting with morphology-, location-, and exclusion-aware prompts for a frozen large multimodal model. On Mixed-WM38 (6,866 maps), multi-region prompting achieves 92.9% macro and 93.8% overall accuracy. On WM811K (9,000 maps), it achieves 79.1% and 81.3%, respectively. Eight alternative rule orders achieve 90.1-91.9% overall accuracy, compared with 93.8% for the selected order.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35079

Toward Fast Human Reaction Modeling from High-Frequency Digital Interaction Data

Emanuel Dopater, Daniel Gavlas, Lukáš Jochymek, Kannan Paul, Miloslav Szczypka, David Vojáček, Josef Žáček, Jan Plucar 等 10 位作者

原文摘要

We investigate whether limbic-like signatures of rapid, salience-driven behavior can be identified in high-resolution Counter-Strike 2 telemetry. This exploratory study introduces Ego-Knowledge, a leak-reduced reconstruction of each player's plausible perceptual state, supported by a millisecond-precision visibility engine and a reaction-centered extraction pipeline. Using a neuroscience-motivated 60--120 ms window, we derive coarse fight-or-flight labels from visibility- and damage-triggered events, with back-damage cases enabling constrained reaction-time analysis and manual label checks. We train two telemetry-native models using only information available by the trigger: EMBER (gradient boosting) and ORBIT (a custom transformer). On the full validation set, EMBER achieves 73.5% accuracy and ORBIT 71.2%, versus a 51.5% majority-class baseline, and both generalize to held-out players. The strongest LLM baseline achieves 62.7% on 1,000 validation cases; on these same cases, EMBER (73.6%) and ORBIT (70.9%) perform better (McNemar p=1.3e-9 and 1.5e-6, respectively), with orders-of-magnitude lower inference time and cost, though the comparison is not compute-matched. Including a short post-trigger window changes forecasting into early response recognition, raising accuracy monotonically to 85.15%. We propose this curve as a candidate probe of the transition from rapid to deliberative control, but roughly uniform per-tick gains do not establish that interpretation. The neuroscience framing is hypothesis-generating, not mechanistic: physiological ground truth, suitable control distributions, and reverse-inference limitations remain open. We outline extensions to auditory reconstruction, larger datasets, and telemetry-native foundation models.

cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35077

Improving VLMs on Scientific Chart Analysis via Autonomous Evolution

Abhinav Sudhakar Dubey, Vidushi Goel, Kiran Rana, Shikhar Mathur, Vaggos Chatziafratis

原文摘要

Understanding and operating with scientific charts is a standard approach in data analysis, and while humans are good at interpreting such charts, open vision-language models (VLMs) are known to perform poorly when it comes to question answering based on such data types. Motivated by an initial observation that many of their errors are due to inexact answering, we raise the following natural question: how much accuracy can we recover without changing the model at all? In this paper, we study this question by searching over inference programs and the code around a "frozen" version of the model. Using ideas from autonomous evolution (famously used in AlphaEvolve), we first start from a baseline inference program, and in each round we show an LLM judge the code together with a few failures on training questions, and ask for an improving evolutionary move. As usual in autonomous evolution approaches, the candidate programs are kept in a small pool ranked by training accuracy, and the next edit is performed on top-scorers from this pool. We run this approach on three VLMs and four popular benchmarks on scientific charts, and we measure the fraction of descriptive questions whose answer exactly matches the ground truth. The accuracy improves in all experimental settings. On average, it rises from 16.6% with the starting program to 41.3% with the evolved one, and the largest single increase is 55.2 percentage points. As a side benefit, our evolved program is 3.8x faster than the starting program, because short answers are easier to grade and faster to generate. Our results demonstrate that a large part of the observed errors arise due to the inference pipeline, and that optimizing it can improve the "frozen" VLM without the need to retrain it.

cs.CV · cs.CL · cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2508.05953

SCALEFeedback: A Large-Scale Dataset of Synthetic Computer Science Assignments for LLM-generated Educational Feedback Research

Keyang Qian, Kaixun Yang, Wei Dai, Flora Jin, Yixin Cheng, Rui Guan, Sadia Nawaz, Zachari Swiecki 等 11 位作者

原文摘要

Using Large Language Models (LLMs) to give educational feedback to students for their assignments has attracted much attention in the AI in Education (AIED) field. Yet, there is currently no large-scale open-source dataset of student assignments that includes detailed assignment descriptions, rubrics, and student submissions across various courses. As a result, research on generalisable methodology for automatic generation of effective and responsible educational feedback remains limited. In this paper, we introduce a synthetic computer science university assignment dataset for LLM-based educational feedback research, called SCALEFeedback (Synthetic Computer science Assignments for LLM Educational Feedback Research). The dataset is generated via Sophisticated Assignment Mimicry (SAM) framework specifically designed to synthesise this dataset and that utilizes one-to-one LLM-based imitation from real assignment descriptions, rubrics, and student submissions. Our open-source dataset contains 10,000 synthetic student submissions spanning 155 assignments across 59 university-level computer science courses. Technical validation confirmed that the synthetic dataset closely resembles real data while successfully eliminating personally identifiable information present in the source material. The creation of this dataset is a valuable contribution to researchers who aim to develop LLM-based generalisable methods for offering high-quality, automated educational feedback in a scalable way.

cs.CY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35076

Blendshape Generation for Models with Disconnected Parts: Adding ARKit/MediaPipe Blendshapes to Anime-Style Character Models

Pramook Khungurn

原文摘要

Blendshape generation for 3D models has been extensively researched, but very few works address generating blendshapes for models with multiple disconnected parts. We present a case study of generating fixed facial expression blendshapes for commercial anime-style 3D character models with up to 11 parts per face. To make sure that our system can handle models in a way that is agnostic to topology, we train neural networks to generate deformation fields around the input meshes. We employ at least one network to independently process each part, and the relative positions of their outputs are coordinated by having each network also process the geometry of an anchor part. We use two mechanisms to improve accuracy: having the networks predict whether the output displacement is zero or not, and classifying blendshapes into different size groups and dedicating a network to each group. We also introduce a method to improve blendshape quality by enhancing bilateral symmetry. Our method is simpler than recent neural-network-based works and solves a real problem of the user community of these models.

cs.CV · cs.GR · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35075

Zero-HLM: Generalizable Humanoid Loco-Manipulation without Real Robot Data

Dianyi Yang, Mengya Liu, Zhumei Wang, Yu Liu, Xiaochen Zhang, Yixuan Li, Le Ma, Yuhang Yang 等 12 位作者

原文摘要

Learning generalizable humanoid loco-manipulation remains bottlenecked by costly real-world demonstrations. Simulation provides a scalable alternative, but requires visually faithful, physics-ready scenes and executable whole-body motions. We present Zero-HLM, a real-to-sim-to-real framework that transforms smartphone captures and simulated source demonstrations into scalable training data for humanoid loco-manipulation. Gaussian-guided agentic real-to-sim reconstruction aligns visual and physical scenes; motion-environment co-adaptation uses rollout feedback to correct whole-body references and interaction geometry. We generate 4,800 physically validated demonstrations for zero-shot transfer across three Unitree G1 tasks. Simulation-trained GR00T N1.7 achieves 66.7% mean full-task success, versus 46.7% with real-data training. On generalized configurations, expanded simulation training raises pooled success from 23% for base-trained real-data policies to 69%, without additional real demonstrations. Project page: https://young-bit.github.io/zero-hlm/

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35074

A Diagnostic Protocol for GNNs in Electricity Load Forecasting: Separating Parameter Sharing from Neighborhood Access

Eloi Campagne, Yvenn Amara-Ouali, Yannig Goude, Itai Zehavi, Argyris Kalogeratos

原文摘要

A graph neural network (GNN) forecasting a collection of load series combines two mechanisms, sharing parameters across series and reading neighboring series, and a gain over a non-graph model may come from either; telling them apart decides whether a graph is worth maintaining. We propose a model diagnostic protocol that compares the GNN with three reference models: a per-node network, a network shared across nodes without neighbors, and the same GNN without edges. Degree-preserving rewiring tests whether neighbor identity matters. After a tuned benchmark on regional load in France and on low-voltage feeders in the UK, we apply the protocol to deliberately short node histories, as when non-stationary demand leaves only recent observations relevant: the feeders, within one week, and a public dataset of client consumption series. On the feeders, sharing parameters recovers most of the error gap between node-specific models and GNNs, about two thirds against a regularized one. Adding the edges to an otherwise identical backbone brings a smaller gain, half or more of which disappears under rewiring. On the client series, the neighbor mean degrades the per-node model on the shorter window and the edges' gain is not consistently distinguishable from zero; on the regions of France, where each node's own history is already informative, the ranking between per-node models and GNNs changes with tuning. A synthetic study points to noisy local measurements as one regime where neighbors help. In an exploratory online aggregation, graph and non-graph forecasters appear complementary, and the weight assigned to GNNs is not proportional to their contribution. In none of the three datasets do the edges account for most of a GNN's advantage over node-specific models, so a forecasting gain should be credited to the graph only after comparison with per-node and shared references.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2607.27703

SpatialCLI: Learning to Reason With Spatial Tools, Then Without Them

Yang Zhou, Zixuan Huang, Sunzhu Li, Zhuo Yang, Chen Zhang, Shunian Chen, Caijun Yan, Jianyao Xu 等 13 位作者

原文摘要

Vision-language models (VLMs) are increasingly used in embodied agents to interpret visual inputs, reason about spatial relationships, and make task-level decisions based on that reasoning. However, a fundamental capability mismatch remains: general VLMs can reason about the overall task but often miss the visual details that determine success, while specialist vision models can capture those details but cannot translate them into task-level decisions. In this work, we propose SpatialCLI, a framework that teaches VLMs to reason with spatial tools and progressively internalize the specialist perceptual capabilities they provide. SpatialCLI proceeds in three stages: (1) Call exposes specialist vision models as spatial tools to augment the VLM's perception; (2) Learn uses Cold-Start SFT and agentic RL to improve tool use; and (3) Internalize verbalizes successful tool-use trajectories to internalize specialist perceptual capabilities. We further introduce SpatialCLI-Bench, a 516-example benchmark for compositional perception across localization, segmentation, depth, and pose. On MindCube, SpatialCLI raises Qwen3-VL-8B-Instruct from 29.3% to 84.6% with tools, surpassing GPT-5.6 Sol with tools (72.1%), while retaining 73.8% without tools after internalization.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35073

Priority-Aware Scheduler for Serverless Functions Provision and Load Balancing

Cheryl Lee, Zishan Su, Zhouruixing Zhu, Tianyi Yang, Yuxin Su, Pinjia He, Michael R. Lyu

原文摘要

Serverless computing has emerged as a pivotal cloud deployment paradigm due to its efficient utilization of on-demand resources. However, the persistent cold start problem continues to hinder system performance. Current strategies often employ oversimplified preloading/unloading mechanisms that inadequately exploit invocation patterns, failing to optimize the critical trade-off between startup latency and resource efficiency. Furthermore, existing approaches disregard practical constraints of memory-limited multi-worker environments, exacerbating function eviction and load imbalance issues. To address these limitations, we present SPES-Ext, a rule-based priority-aware scheduler designed for memory-constrained distributed worker nodes. Our methodology stems from two key observations: (1) serverless systems exhibit concentrated invocation patterns enabling behavioral predictability, and (2) these patterns permit function categorization for granular instance management. This insight posits that characteristic-driven prioritization enables optimal scheduling rules, leading to our system design, which integrates three coordinated components: predictive function provisioning, eviction optimization, and dynamic load balancing. Experimental validation demonstrates the superiority of SPES-Ext over state-of-the-art solutions: 80% reduction in $75^{th}$-percentile cold starts, 83.92% decrease in memory waste, and 52.49% improvement in worker load variance.

cs.DC · cs.SE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.16090

A Cross-Modal Prompt Injection Attack against Large Vision-Language Models with Image-Only Perturbation

Hao Yang, Zhuo Ma, Yang Liu, Yilong Yang, Guancheng Wang, JianFeng Ma

原文摘要

Large vision-language models (LVLMs) have emerged as a powerful paradigm for multimodal intelligence, but their growing deployment also expands the attack surface of prompt injection. Despite this growing concern, existing attacks still suffer from a critical limitation: the injected prompt for one modality only steers the model's interpretation of that singular input. Alternatively, these attacks remain multimodal but fail to achieve cross-modal prompt perturbation. To bridge this gap, we introduce a novel cross-modal prompt injection attack CrossMPI, which can steer the model's interpretation of both textual and visual inputs via image-only prompt injection. Our design is underpinned by the following key breakthroughs. First, we turn the focus of the injected prompt perturbation optimization from the visual embedding space (typically with only $10^5$ parameters) to the model hidden state space (for multimodal information integration and with $10^7$ parameters). Then, two strategies are adopted to mitigate the optimization challenges posed by the larger parameter space. To constrain the optimized model parameter space, we introduce a layer selection strategy that identifies the layers most critical to multimodal integration. Interestingly, deviating from the past experience, our analysis reveals that the optimal layers for LVLM prompt perturbation reside in the middle of the model rather than the last. To constrain the image perturbation space, we propose a new distance-decremental perturbation budget assignment strategy that allocates budgets decrementally as the pixel distance to semantic-critical regions increases. Extensive experiments across multiple LVLMs and datasets show that our method significantly outperforms baseline approaches.

cs.CR · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35071

GuardRAG: A Post-Retrieval Defense against Poisoning Attacks in Retrieval-Augmented Generation

Linghui Jiao, Kang Wei, Fushuo Huo, Ruijie Zhao, Yiyang Ni, Jingcai Guo, Yipeng Zhou, Jun Li

原文摘要

Retrieval-Augmented Generation (RAG) enhances the factual grounding of Large Language Models (LLMs) by incorporating external evidence, but also exposes them to corpus poisoning attacks. In particular, coordinated attacks can introduce multiple mutually reinforcing poisoned documents into retrieved contexts, making reliable evidence filtering challenging. To address this problem, we propose GuardRAG, a training-free and plug-and-play post-retrieval defense that exploits the semantic structure of retrieved evidence to identify suspicious document groups. Specifically, GuardRAG first expands the retrieval range and removes near-duplicate candidates, then partitions the retained documents using Hierarchical Agglomerative Clustering (HAC) with a query-adaptive threshold. Finally, it scores and prunes suspicious clusters based on query relevance, cluster size, and semantic compactness. Experiments across three question-answering datasets, multiple poisoning attacks, and six LLMs demonstrate that GuardRAG substantially reduces attack success rates while maintaining answer utility under clean retrieval.

cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35070

Joint Dynamic Lane Reversal and Variable Speed Limit Control: A Graphormer-Based Approach

Hamed Araab, Abbas Ahmadi, Mohammad Hossein Basiri

原文摘要

Connected and automated vehicles could allow reassigning lane directions and speed limits on every road frequently, but the benefit hinges on how traffic reroutes, and one-way roads can isolate junctions. We formulate network-wide dynamic lane allocation and directional speed limit control with one-way roads, lane clearing before each reversal, and a navigable graph kept strongly connected at all times. An action-resolution algorithm grounded in graph orientation theory admits a proposal closing a direction only if the network stays strongly connected and otherwise relaxes or reverts it, keeping all junctions mutually reachable within the model, even during clearing. All road controllers share one transformer whose attention, Global Endpoint Relation-Aware Spatio-Temporal Self-Attention (GERASTSA), spans all road-time tokens, biased by the endpoint relations between roads. It is pretrained on action-conditioned traffic forecasting and fine-tuned with per-road proximal policy optimization under a mixed reward that also credits neighboring roads and the network. On a 6 x 6 grid with commuter rush hours, the learned policy makes about two thirds of roads one-way in the peak direction and cuts daily delay by 90% against the initial configuration held fixed and by 85% against a tuned two-way load balancer. Restricted to two-way roads at test time, it gains only about as much as this balancer, whereas its learned speed limits add delay. Pretraining roughly halves the updates needed to surpass the fixed configuration. Of the ablations, only removing the relational bias or the spatial embedding clearly matters, multiplying delay about fivefold.

eess.SY · cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.37029

LongSpark: Efficient speculative decoding with a fixed-cost parallel drafter

Hao-Yuan He, Peng-Fei Liu, Chen Chen, Si Shen, Quan He, Runzhou Liu, Xinqi Li, Zhenhua Dong 等 9 位作者

原文摘要

Speculative decoding accelerates autoregressive inference by verifying multiple draft tokens in a single target forward pass. However, as the context grows, existing state-of-the-art drafters become increasingly expensive, eroding the very efficiency advantage they are designed to provide. We argue that this scaling is unnecessary. A standalone language model must grow with its prefix because it is solely responsible for every token it produces. A drafter, by contrast, only proposes candidates; the target catches and corrects every error before any token is committed. The drafter's decoding cost can therefore be made entirely independent of the prefix length. We introduce LongSpark, a block-diffusion drafter that achieves this by extracting fixed-size, multiscale views from the target's verification pass, thereby eliminating the need for a growing persistent state. Extensive evaluations demonstrate that LongSpark achieves state-of-the-art end-to-end efficiency across multiple model scales and realistic serving conditions. Notably, it delivers the lowest time-per-output-token on long-context tasks while reducing the drafter's context state by several orders of magnitude.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2609.37685

PAIQ: Patch-Aligned Semantic Injection via Residual Rotation

Pinze Ren, Yuwei Zhang, Hao Chen, Linghao Meng, Chang Li, Qiankun Li

原文摘要

Language-aligned and self-supervised visual encoders offer complementary strengths in semantic abstraction and spatial detail. Harnessing this complementarity requires enriching local features while retaining distinctions between semantically related patches. We introduce PAIQ, a patch-aligned semantic injection framework that combines content-based cross-encoder matching with orthogonally constrained residual updates. Using DINOv3 patch features as the spatial base, PAIQ aggregates complementary SigLIP features through joint source allocation and injects the aggregate--base differences through a shared orthogonal transformation Q. This rotation adapts update directions while preserving residual norms and pairwise angles. For fixed projected features, we derive conditions for patch separability under similar semantic aggregates and show that rotation adds a nonnegative separation term over direct interpolation when the aggregate is shared. Only the projection and fusion parameters are trained; both visual encoders and the language model remain frozen, and fusion retains 196 visual tokens. Across diverse language backbones, PAIQ yields broad gains in judge-assessed correctness and reductions in hallucination severity over single-encoder interfaces on image description and visual question answering. On the 2B and 9B Qwen backbones, this compact interface outperforms the strongest evaluated fusion or token-compression baselines by about 2.9 correctness points on average.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35069

Beyond Single-Attribute Auditing: A Configurable Multi-Attribute Benchmark for Intersectional Fairness in LLMs

Zheng Zhang, Yifan Wu, Yuxiang Zhou, Qi Liu, Qingyang Mao, Ning Li, Weibo Gao, Qiyuan Shi 等 10 位作者

原文摘要

Large language models (LLMs) are increasingly evaluated for fairness, yet most existing benchmarks audit one sensitive attribute at a time. This single-attribute paradigm can miss intersectional harms, where multiple attributes interact non-additively and produce failures that are invisible under marginal evaluation. We introduce ComFair, a configurable benchmark that converts existing fairness data into 479,066 controlled Dual- and Multi-attribute instances and pairs every augmented instance with its task-equivalent source. Across Recognition, Selection, Continuation, and Conversation, this pairing supports a unified audit of performance or bias-score shifts, how often added attributes introduce new errors or mask existing ones, and model-ranking stability. Experiments on ten LLMs show task- and subgroup-dependent sensitivity: discriminative tasks expose both transition directions even when aggregate changes are modest, generative tasks exhibit larger and directionally asymmetric shifts, and rankings vary with attribute composition. ComFair therefore provides a scalable controlled sensitivity audit---rather than a model of the natural joint distribution of identities---for testing the robustness of fairness-benchmark conclusions beyond single-attribute settings.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35065

Kronecker-Structured Video Completion with Cross-Fitted Self-Supervised Residual Learning

Qi Qi, Yanfei Wang, Yanjun Cui, Jun-e Feng

原文摘要

Tube-wise video completion reconstructs temporal trajectories at spatial locations unobserved in every frame. We propose a two-stage framework combining regularized masked Kronecker product decomposition (KPD) with cross-fitted self-supervised residual learning. First, we estimate a compact structural backbone directly from observed entries using cyclic component-wise least-squares updates, spatial and temporal factor regularization, and regularizer-optimal scale balancing. The exact updates yield a nonincreasing objective. Second, we address the mismatch between in-sample fitting errors and the prediction errors encountered at missing tubes. We partition observed tubes into folds and construct residual targets using backbone models fitted without the corresponding target tubes. A lightweight 3-D convolutional neural network then predicts corrections from the backbone, visible residual context, observation mask, and local detail features. Exact data consistency preserves observed measurements. Experiments include ablations, sensitivity analysis, grayscale and RGB video completion, and structured missing patterns. Our method achieves the highest mean PSNR and SSIM at the higher tested sampling rates on the grayscale benchmark. On eight selected DAVIS RGB sequences, it achieves the highest mean missing-region PSNR and full-frame SSIM and the lowest mean missing-tube temporal-gradient MAE at every evaluated sampling rate.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.35942

Question-Specific Knowledge Graphs for Efficient Visual Reasoning

Ting-Chih Chen, Emile van Krieken, Shujian Yu, Filip Ilievski

原文摘要

Recent work in visual question answering has shown that vision-language models can exhibit strong reasoning capabilities by translating visual inputs into textual representations. The effectiveness of this translation depends on how well visual details are retained; models need to surface and align both explicit and implicit knowledge sufficient to support reasoning, without introducing spurious assumptions. Existing methods that leverage detailed image captions introduce visual details unrelated to the reasoning task, inflating input token counts and increasing computational cost. To address these challenges, we propose VisKG, a reinforcement learning (RL) framework in which models learn to translate visual content into question-specific knowledge graph (KG) representations. This process filters out perceptual noise while preserving the entity-relation structure needed for chain-of-thought reasoning, following the principle of minimum sufficient information. To ensure stable RL post-training, VisKG adopts Group reward-Decoupled Normalization Policy Optimization (GDPO). In addition, we strengthen the supervision stage with negative rationale samples, exposing the model to incorrect reasoning paths before RL post-training. Experimental results across science, mathematics, and general visual understanding benchmarks show that VisKG achieves performance comparable to or better than baselines, while requiring fewer tokens than caption-based representations. Moreover, training VisKG with GDPO improves accuracy by 2% over its GRPO-trained counterpart on average. These results suggest that KG representations are a promising approach for supporting multi-step reasoning and open up future work on adaptively selecting the most suitable representation for a given task.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2406.19195

Estimating Long-term Heterogeneous Dose-response Curve: Generalization Bound Leveraging Optimal Transport Weights

Zeqin Yang, Weilin Chen, Ruichu Cai, Yuguang Yan, Zhifeng Hao, Zhipeng Yu, Zhichao Zou, Jixing Xu 等 10 位作者

原文摘要

Long-term treatment effect estimation is a significant but challenging problem in many applications. Existing methods rely on ideal assumptions, such as no unobserved confounders or binary treatment, to estimate long-term average treatment effects. However, in numerous real-world applications, these assumptions could be violated, and average treatment effects are insufficient for personalized decision-making. In this paper, we address a more general problem of estimating long-term Heterogeneous Dose-Response Curve (HDRC) while accounting for unobserved confounders and continuous treatment. Specifically, to remove the unobserved confounders in the long-term observational data, we introduce an optimal transport weighting framework to align the long-term observational data to an auxiliary short-term experimental data. Furthermore, to accurately predict the heterogeneous effects of continuous treatment, we establish a generalization bound on counterfactual prediction error by leveraging the reweighted distribution induced by optimal transport. Finally, we develop a long-term HDRC estimator building upon the above theoretical foundations. Extensive experiments on synthetic and semi-synthetic datasets demonstrate the effectiveness of our approach.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35062

PushAround: Collaborative Path Clearing via Physics-Informed Hybrid Search

Zili Tang, Zongyuan Li, Zishao Qiao, Meng Guo

原文摘要

Large vehicles in cluttered environments are often blocked by movable obstacles, motivating mobile robot teams to clear traversable corridors. Navigation Among Movable Obstacles (NAMO) approaches often abstract obstacle displacements while neglecting robot dimensions, obstacle mass, contact geometry and forces, yielding physically infeasible plans. PushAround is a physics-informed hybrid search that couples geometric connectivity reasoning with short-horizon simulation to construct executable clearing plans. Repeated W-clearance connectivity graph (WCCG) queries expose frontier gaps requiring widening and rank them by estimated downstream costs. The search generates direct or recursive pushing candidates, selecting obstacles, directions, contacts and forces, and admits physics-evaluated candidates. Numerical experiments validate WCCG against standard connectivity checks and demonstrate scaling to denser clutter and teams of up to four robots, with robustness to simulated execution-side physical-parameter mismatch.

cs.RO

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