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版本更新 · v3arXiv:2605.07388

A Marine Debris Detection Framework for Ocean Robots via Self-Attention Enhancement and Feature Interaction Optimization

Yuyang Li, Jiashu Han, Yinyi Lai, Wenbin Kang, Zenghui Liu

原文摘要

Marine debris detection for ocean robot is crucial for ecological protection, yet performance is often degraded by low-quality images with blur, complex backgrounds, and small targets. To address these challenges, we propose YOLO-MD, an enhanced YOLO-based detection framework. A Dual-Branch Convolutional Enhanced Self-Attention (DB-CASA) module is designed to strengthen spatial-channel interactions, improving feature representation in degraded images. Additionally, a lightweight shift-based operation is introduced to enhance fine-grained feature extraction for objects of varying scales while maintaining parameter efficiency. We further propose SFG-Loss to mitigate class imbalance and optimization instability via dynamic sample reweighting. Experiments on the UODM dataset demonstrate that YOLO-MD achieves 0.875 precision, 0.822 F1-score, and 0.849 mAP50, outperforming the latest state-of-the-art methods. The effectiveness of this method has also been verified through real-world robotic edge deployment experiments.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.16451

HIFC-IQA: Train-Free Cross-Domain Image Quality Assessment via Dual-Process Cognition

Yu Li, Zhengran Shen, Puchao Zhou, Yukang Ding, Yachun Mi, Boyuan Yang, Xi Zhai, Shaohui Liu

原文摘要

The gap between controlled synthetic distortions and complex real-world degradations introduces a critical domain shift challenge for No-Reference Image Quality Assessment. Although Unsupervised Domain Adaptation (UDA) approaches attempt to address this issue, they remain constrained by substantial retraining overhead and cumulative error propagation inherent in iterative pseudo-labeling. Inspired by the dual-process theory of human cognition for remarkable generalization ability, we propose Hierarchical Intuitive and Fuzzy Consensus (HIFC), a completely train-free Cross-Domain IQA framework. HIFC employs asymmetric perceptual decomposition to disentangle semantic content from distortion-sensitive representations. The final quality score is fused through the synergy of two complementary branches: a memory consensus branch that retrieves a stable Fuzzy Quality Centroid from a synthetic reference gallery, and an intuitive branch that captures aesthetic polarization via zero-shot vision-language alignment. Extensive experiments show that HIFC achieves state-of-the-art performance across multiple benchmarks, attaining the highest average SRCC and PLCC among competing UDA methods. Most notably, in the challenging synthetic-to-authentic cross-domain setting, HIFC achieves a substantial performance margin over competing methods, demonstrating remarkable robustness and generalization.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.16310

Selective Generative Restoration for Video Deraining via Uncertainty-Aware Diffusion

Yi'ang Chen, Han Li, Laibin Chang, Hui Liu, Kui Jiang, Junjun Jiang

原文摘要

Video deraining is challenging due to rain streaks, occlusions, and atmospheric effects. Existing methods mainly follow a deterministic restoration paradigm, assuming that clean scenes can be uniquely recovered from rainy observations. However, rain degradation is spatially heterogeneous. Reliable regions require faithful reconstruction, whereas severely occluded regions contain ambiguous content that require stronger prior-driven inference. Therefore, conventional deterministic restoration often produces over-smoothed results, while global generative restoration may introduce unnecessary hallucinations. We introduce a Selective Generative Restoration paradigm for video deraining, where generative priors are adaptively activated according to restoration uncertainty. Based on this principle, we propose Selective Generative Video Deraining (SGVD), an uncertainty-aware diffusion framework that enables adaptive fidelity preservation and generative recovery. Specifically, SGVD exploits stochastic diversity between dual one-step diffusion predictions to estimate region-level restoration uncertainty, which determines where observation fidelity should be preserved and where generative inference should be activated. Furthermore, an anchor-guided trajectory consistency mechanism is proposed to regularize stochastic diffusion evolution across frames, reducing temporal generation drift and improving video coherence. To achieve practical efficiency, SGVD adopts one-step diffusion inference while maintaining uncertainty-aware generative capability. Extensive experiments demonstrate that SGVD achieves superior restoration performance, perceptual quality, and temporal consistency compared with state-of-the-art video deraining methods.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2505.13339

OPA-Pack: Object-Property-Aware Robotic Bin Packing

Jia-Hui Pan, Yeok Tatt Cheah, Zhengzhe Liu, Ka-Hei Hui, Xiaojie Gao, Pheng-Ann Heng, Yun-Hui Liu, Chi-Wing Fu

原文摘要

Robotic bin packing is a fundamental manipulation problem with broad applications in e-commerce and warehouse automation. However, existing methods primarily focus on object geometry to optimize packing compactness without explicitly modeling object properties such as fragility, edibility, and chemical compatibility that humans typically consider during packing. This paper presents OPA-Pack (Object-Property-Aware Packing), a framework that incorporates object-property information into robotic bin-packing planning. The framework includes an object property recognition scheme based on retrieval-augmented generation and chain-of-thought reasoning to establish a dataset with object property annotations for 1,032 everyday objects. The framework further incorporates OPA-Net, which encodes candidate-object properties via a property embedding layer and represents the container state using fragility and avoidance heightmaps. We design a reward function and adopt a deep Q-learning scheme to train OPA-Net. Experimental results show that OPA-Pack improves avoidance accuracy from 52.3% to 95.0%, reduces load on fragile objects by 29.4%, and achieves a packing compactness of 0.413, compared with 0.420 for the baseline. In addition, we evaluate OPA-Pack on a physical platform using 70 packing sequences sampled from 100 scanned real-world objects. Results show that OPA-Pack outperforms the baseline and other packing heuristics in reducing the number of closely packed incompatible object pairs and the number of compressed fragile objects while preserving packing compactness.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2602.10564

SplitCom: Communication-efficient Split Federated Fine-tuning of LLMs via Temporal Compression

Tao Li, Yulin Tang, Yiyang Song, Cong Wu, Xihui Liu, Pan Li, Xianhao Chen

原文摘要

Federated fine-tuning of on-device large language models (LLMs) mitigates privacy concerns by preventing raw data sharing. However, the intensive computational and memory demands pose significant challenges for resource-constrained edge devices. To overcome these limitations, split federated learning (SFL) emerges as a promising solution that partitions the model into lightweight client-side and compute-intensive server-side sub-models, thus offloading the primary training workload to a powerful server. Nevertheless, the high-dimensional activation exchanges in SFL lead to excessive communication overhead. To overcome this, we propose SplitCom, a communication-efficient SFL framework for LLMs that exploits temporal redundancy in activations across consecutive training epochs. Inspired by video compression, the core innovation of our framework lies in selective activation uploading only when a noticeable deviation from previous epochs occurs. To balance communication efficiency and learning performance, we introduce two adaptive threshold control schemes based on 1) bang-bang control or 2) deep deterministic policy gradient (DDPG)-based reinforcement learning. Moreover, we implement dimensionality reduction techniques to alleviate client-side memory requirements. Furthermore, we extend SplitCom to the U-shape architecture, ensuring the server never accesses clients' labels. Extensive simulations and laboratory experiments demonstrate that SplitCom reduces uplink communication costs by up to 98.8\,\% in its standard configuration and total communication costs by up to 95.8\,\% in its U-shape variant without noticeably compromising model performance.

cs.NI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2605.17558

Firefly: Illuminating Large-Scale Verified Tool-Call Data Generation from Real APIs

Yuxuan Lu, Ziyi Wang, Yingzhou Lu, Yisi Sang, Jiri Gesi, Xianfeng Tang, Yimeng Zhang, Zhenwei Dai 等 15 位作者

原文摘要

Training tool-calling agents requires large-scale trajectory data with verifiable labels, yet existing approaches either synthesize environments that diverge from real API behavior or generate tasks without ground-truth outcomes for verification. We present FireFly, a pipeline for generating verified tool-call data from real-world MCP servers. Our key insight is to invert the standard synthesis pipeline: rather than generating tasks and hoping they are solvable, we first let a strong LLM explore real APIs along graph-guided DAG structures, then synthesize tasks backward from observed outcomes, guaranteeing label correctness by construction. To handle the scale of real-world tool spaces (${\sim}$1,000 tools), we build a pairwise tool graph and sample sub-DAGs to focus exploration on semantically coherent workflows. To address environment drift in live APIs, we construct a retrieval-augmented simulator that caches all exploration results and replays them during training and evaluation, enabling fully offline and reproducible RL. Applying this pipeline yields 5,144 verified tasks spanning 240 servers and 993 tools. A 4B-parameter model trained with GRPO on FireFly matches Claude Sonnet 4.6 on our held-out test set and shows improvements on multiple tool-calling benchmarks including Tau2-Bench, MCPMark, and MCP-Atlas.

cs.SE · cs.CL

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2602.09843

Kelix Technical Report

Boyang Ding, Chenglong Chu, Dunju Zang, Han Li, Jiangxia Cao, Kun Gai, Muhao Wei, Ruiming Tang 等 31 位作者

原文摘要

Autoregressive large language models (LLMs) scale well by expressing diverse tasks as sequences of discrete natural-language tokens and training with next-token prediction, which unifies comprehension and generation under self-supervision. Extending this paradigm to multimodal data requires a shared, discrete representation across modalities. However, most vision-language models (VLMs) still rely on a hybrid interface: discrete text tokens paired with continuous Vision Transformer (ViT) features. Because supervision is largely text-driven, these models are often biased toward understanding and cannot fully leverage large-scale self-supervised learning on non-text data. Recent work has explored discrete visual tokenization to enable fully autoregressive multimodal modeling, showing promising progress toward unified understanding and generation. Yet existing discrete vision tokens frequently lose information due to limited code capacity, resulting in noticeably weaker understanding than continuous-feature VLMs. We present Kelix, a fully discrete autoregressive unified model that closes the understanding gap between discrete and continuous visual representations.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11697

SurgTAP-3D: A Large-Scale Cross-Surgery Video Dataset with Contact-Aware 3D Motion Tracking

Jiaxin Guo, Wenzhen Dong, Taoyu Wu, Haomin Kuang, Mengya Xu, Kejian Shi, Ziyi Wang, Tongfan Guan 等 12 位作者

原文摘要

Understanding 3D scene dynamics in minimally invasive surgery (MIS) is a fundamental step toward physically intelligent and autonomous surgical systems. However, existing public datasets offer limited scalability and diversity in real-world clinical scenarios. Moreover, annotations typically focus on either tissue or instruments alone, overlooking tool-tissue interactions. This gap limits applications such as augmented reality guidance and autonomous surgery driven by vision-language-action (VLA) models or world models, which demand large-scale, high-quality 3D supervision. In this work, we construct SurgTAP-3D, a large-scale in-vivo pseudo-3D surgical motion tracking dataset and benchmark, comprising 520K frames, 4,549 action clips, and 1.4M 2D/3D point trajectories from diverse robotic and manual procedures under unified action categories. To make annotation scalable, we design a unified framework for surgical 3D point tracking that converts uncalibrated monocular surgical videos into structured 4D annotations through contact-region prompting, active-tool segmentation, dynamic bundle adjustment, and global 4D refinement. This pipeline adapts foundation priors to surgical videos and produces temporally consistent trajectories, pseudo-scale geometry, camera poses, and instrument masks. The dataset captures realistic challenges inherent to surgical environments, including occlusions, smoke, bleeding, and rapid instrument motion. We establish a comprehensive benchmark on SurgPose, SurgT, and STIR, covering both instrument and tissue tracking. We demonstrate instrument displacement estimation, deformable surface reconstruction, and foundation-model fine-tuning. Extensive experiments and analysis demonstrate the effectiveness of our dataset and annotation framework for 3D surgical point tracking, reconstruction, and surgical action understanding. Homepage: https://wrld.github.io/surgtap-3d/

cs.CV · cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.16262

Compute-Optimal Pretrain--Fine-tune in Ridge Gradient Descent

Alex Buna, Fanghui Liu, Patrick Rebeschini

原文摘要

Pretraining followed by fine-tuning introduces a compute-allocation problem: under a fixed training budget, compute spent improving the upstream objective reduces the compute available for downstream adaptation. Despite its practical importance, this trade-off is not yet well understood theoretically, even in simple models. In this paper, we cast this allocation as a compute-split problem under a two-stage pretrain--fine-tune procedure with fixed total optimisation budget, using regularised least squares trained by gradient descent as a tractable setting. We characterise the optimal split under data-dependent evaluation geometries induced by the fine-tuning problem. Our results show that the allocation depends on how pretraining directions affect fine-tuning predictions and how fine-tuning shifts are seen through downstream data geometry. In particular, the relevant quantities are determined by prediction-relevant spectral components of the pretraining and fine-tuning empirical covariances. Technically, the analysis relies on a basis-invariant, eigenspace-level spectral decomposition, together with perturbative control of the non-commuting pretraining and fine-tuning dynamics.

stat.ML · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.10601

AI in the Clinical Documentation Loop: Effects of LLM-Induced Note Bloat and Diagnostic Overcall on Downstream LLMs

Jinghui Liu, Anthony Nguyen, Taylan Gurgenci

原文摘要

Large language models (LLMs) are increasingly used to process medical records for healthcare tasks such as clinical documentation. Because these tools also generate documentation, the relationship is now bidirectional: models both read from and write to the record. Understanding how LLMs behave when reading records that already contain LLM-authored content is therefore critical for their safe deployment. In this study, we examine how LLM-authored content in the medical record affects downstream LLMs that read the same record. We consider two types of LLM-induced artifacts: bloat, in which LLM-generated summaries accumulate in the record and change the length and provenance of its content over time; and distortion, in which LLMs subtly alter clinical findings rather than fabricating facts outright. As a case of distortion, we study diagnostic overcall (documenting an unconfirmed differential diagnosis in the record) and test whether it propagates to the reader LLM's output. Across seven reader models from four families, we find evidence of both effects. First, LLM-generated summary notes modestly but consistently degraded downstream hospital-course generation compared with copy-forward and templated text of matched length. Second, injected overcalls reappeared in downstream outputs at rates that varied by reader model, without detectable changes in standard quality metrics. These findings show the need to monitor AI-generated content in medical records and to account for it when those records are later processed by AI.

cs.CL · cs.AI

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2502.11371

RAG vs. GraphRAG: A Systematic Evaluation and Key Insights

Haoyu Han, Li Ma, Yu Wang, Harry Shomer, Yongjia Lei, Zhisheng Qi, Kai Guo, Zhigang Hua 等 12 位作者

原文摘要

Retrieval-Augmented Generation (RAG) improves large language models (LLMs) by retrieving relevant information from external sources and has been widely adopted for text-based tasks. For structured data, such as knowledge graphs, Graph Retrieval-Augmented Generation (GraphRAG) retrieves and aggregates information along graph structures. More recently, GraphRAG has been extended to general text settings by organizing unstructured text into graph representations, showing promise for reasoning and grounding. Despite these advances, existing GraphRAG systems for text data are often tailored to specific tasks, datasets, and system designs, resulting in heterogeneous evaluation protocols. Consequently, a systematic understanding of the relative strengths, limitations, and trade-offs between RAG and GraphRAG on widely used text benchmarks remains limited. In this paper, we present a comprehensive benchmark study comparing RAG and GraphRAG on established text-based tasks, including question answering and query-based summarization. We introduce a unified evaluation protocol that standardizes data preprocessing, retrieval configurations, and generation settings, enabling fair and reproducible comparisons. Our results highlight the distinct strengths of RAG and GraphRAG across different tasks and evaluation perspectives. Building on these findings, we explore selection and integration strategies that combine the strengths of both paradigms, leading to consistent performance improvements. We further analyze failure modes, efficiency trade-offs, and evaluation biases, and highlight key considerations for designing and evaluating retrieval-augmented generation systems.

cs.IR

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.07125

An Embarrassingly Simple Graph Heuristic Reveals Shortcut-Solvable Benchmarks for Sequential Recommendation

Haoyu Han, Li Ma, Hanbing Wang, Bingheng Li, Daochen Zha, Chun How Tan, Huiji Gao, Xin Liu 等 12 位作者

原文摘要

Sequential recommendation has increasingly shifted toward generative recommenders that combine sequential patterns with semantic item information. Yet these methods are often evaluated on a small set of widely used benchmarks, raising a key question: do these benchmarks actually require the advanced modeling capabilities that modern generative recommenders claim to provide? We conduct a benchmark audit with an intentionally simple graph heuristic. Starting from only the last one or two interacted items, it retrieves candidates from a few-hop item-transition graph and ranks them by item-feature similarity. Despite using no sequence encoder, generative objective, or training, this heuristic matches or outperforms many modern baselines, with relative NDCG@10 improvements of 38.10% and 44.18% over the best competing baseline on Amazon Review Sports and CDs. We show that this behavior reflects shortcut solvability rather than an artifact of one heuristic. We identify three shortcut structures that can make next-item prediction easier than expected: low-branching local transitions, feature-smooth transitions, and limited dependence on long user histories. These shortcuts need not appear together; even one or two strong signals can make simple local retrieval highly competitive, while weakening them makes the benefits of more sophisticated models clearer. Across 14 datasets, model rankings vary substantially with dataset properties, yet the heuristic remains competitive on 10 of them. Our findings suggest that strong performance on standard benchmarks does not always demonstrate advanced sequential, semantic, or generative modeling ability. We call for more careful dataset selection and dataset-level diagnostic analysis when using benchmarks to support claims about new recommendation models.

cs.IR · cs.AI

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2510.16822

ReefNet: A Large-Scale Dataset and Benchmark for Fine-Grained Coral Reef Recognition

Abdulwahab Felemban, Yahia Battach, Faizan Farooq Khan, Yuqian Fu, Xuhui Liu, Yesmeen M. Khattab, Yousef A. Radwan, Xiang Li 等 22 位作者

原文摘要

Coral reef monitoring requires scalable recognition of visually similar taxa across heterogeneous underwater surveys. We introduce ReefNet, a public dataset that aligns approximately 925K hard-coral point annotations from 76 CoralNet sources and an independently collected Al-Wajh dataset with the World Register of Marine Species taxonomy. A stratified expert audit of 8,962 patches guides filtering to a 479,027-annotation benchmark with 39 labels: 38 genera and the family Fungiidae. Expert agreement is 92% on the retained audit subset, rather than an exhaustive accuracy estimate. We evaluate pretrained models through zero-shot recognition, few-shot adaptation, and full fine-tuning, each on within-source ReefNet and held-out-source Al-Wajh tests. Biological vision-language pretraining provides the strongest zero-shot results; supervised adaptation substantially improves recognition, with DINOv2 reaching 65.79% macro recall on Al-Wajh. Matched text-description experiments improve all four evaluated MLLMs on Al-Wajh, while a GPT-5.4 reasoning ablation does not improve over direct classification. Long-tail recognition, label uncertainty, and geographic imbalance remain challenges. ReefNet provides a taxonomically grounded resource for studying these challenges; the Al-Wajh test is a regional stress test rather than evidence of global robustness. Public data and resource links are documented in the supplement.

cs.CV · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.09055

OmniLatent: Unified Latent for 3D Part Modeling

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

原文摘要

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

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.34915

Muon Sublates the Edge of Stability in LLM Pretraining

Yanzhe Chen, Qifang Zhao, Xiaoxiao Xu, Fanghui Liu

原文摘要

Muon is increasingly used for language-model pretraining, yet its large-step dynamics are not captured by the classical edge-of-stability (EoS) picture of gradient descent (GD). In GD, loss neutrality, equal-magnitude update reversal, and marginal stability meet at a single learning-rate-dependent edge. We show that Muon breaks this coupling. For stochastic no-momentum Muon, we derive a coherence-corrected conditional loss-neutral boundary $2ρ_b/η$, while temporal alignment follows a separate geometry. Controlled experiments show that loss balance and temporal alignment respond differently to learning rate and batch size. Across our language model experiments, the 130M Llama-like LLM runs exhibit loss-boundary tracking with weak negative alignment, whereas the studied 1B LLM configuration shows stronger partial cancellation; in both settings, directions remain far from coherent reversal while training continues to improve. These results support a split EoS picture for Muon: a stochastic loss-neutral edge survives, but it is not accompanied by a universal temporal-direction signature. The source code for reproducing the experiments can be found in https://github.com/cyzebra/Muon-Sublates-the-Edge-of-Stability-in-LLM-Pretraining

cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2602.00359

Position: Agentic Evolution is the Path to Evolving LLMs

Minhua Lin, Hanqing Lu, Zhan Shi, Bing He, Rui Mao, Zhiwei Zhang, Zongyu Wu, Xianfeng Tang 等 15 位作者

原文摘要

As Large Language Models (LLMs) move from curated training sets into open-ended real-world environments, a fundamental limitation emerges: static training cannot keep pace with continual deployment environment change. Scaling training-time and inference-time compute improves static capability but does not close this train-deploy gap. We argue that addressing this limitation requires a new scaling axis-evolution. Existing deployment-time adaptation methods, whether parametric fine-tuning or heuristic memory accumulation, lack the strategic agency needed to diagnose failures and produce durable improvements. Our position is that agentic evolution represents the inevitable future of LLM adaptation, elevating evolution itself from a fixed pipeline to an autonomous evolver agent. We instantiate this vision in a general framework, A-Evolve, which treats deployment-time improvement as a deliberate, goal-directed optimization process over persistent system state. We further propose the evolution-scaling hypothesis: the capacity for adaptation scales with the compute allocated to evolution, positioning agentic evolution as a scalable path toward sustained, open-ended adaptation in the real world. Our code is publicly available at https://github.com/A-EVO-Lab/a-evolve.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.27616

EchoNav: Evidential BEV Completion from Historical Observations for Visual Navigation

Diwen Liu, Yiyang Shao, Borui Wang, Chi Zhang, Jizhuo Chen, Jiaming Wang, Benyun Zhao, Zhongyu Li 等 9 位作者

原文摘要

Visual navigation in cluttered environments requires robots to recover previously observed structure and infer obstacles and free space that remain occluded. We present a framework that combines temporal aggregation and occupancy completion in an evidential bird's-eye-view (BEV) representation predicted from short RGB sequences. A decoder adapts frozen VGGT-Omega features and combines historical residual proposals using cellwise weights and a learned no-update option. The BEV predictor produces a local map in the latest ego frame without depth or camera-pose inputs or explicit geometric warping. The evidential model treats observed free space separately and predicts occupancy with associated confidence across the remaining supported region. We train the predictor on simulated RGB sequences paired with complete and visibility-masked occupancy annotations. Our experiments evaluate navigation in simulation and on a wheeled robot, with additional demonstrations on quadruped and humanoid robots. In simulated sequential two-goal navigation, our system achieves 86.3% success, outperforming the strongest evaluated baseline by 32.2 percentage points. Across 60 wheeled-robot trials in 20 scenes, it achieves 73.3% success, compared with 33.3% for the strongest evaluated baseline.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.05953

Graph-Mediated Large Language Model Systems in the Agentic Era: Reasoning, Knowledge, Retrieval, Execution, and Coordination

Haihui Liu, Yang Chen, Zice Qiu, Yun Zhang, Jialun Zhong, Wenhua Wang, Yanzeng Li, Tian Wang

原文摘要

Graphs play an increasingly important role in large language model (LLM) systems, supporting structural reasoning, knowledge grounding, retrieval, and memory. As these systems evolve toward the agentic era, graphs also organize execution dependencies and multi-agent communication, linking intermediate observations and retained information to subsequent decisions. However, understanding their contribution requires distinguishing the function of each graph operation, the component responsible for its computation, and the subsequent use of its output. This survey introduces an operation-level role--locus taxonomy for reasoning, knowledge and evidence, retrieval and memory, execution, and coordination. We compare how graph observations and external computations guide decisions, how memory representations and updates support later tasks, and how dependencies constrain execution and information delivery. These comparisons distinguish improvements in local metrics from downstream task performance while retaining the conditions under which results were reported. We then organize benchmarks, comparison designs, process diagnostics, and system costs into an evaluation framework. Finally, we identify open challenges in adaptive computation and stopping, memory maintenance, and dependency-aware recovery. The survey provides a basis for assessing when graph mechanisms are useful and for evaluating their effects across components and stages.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2609.22377

Forecasting Brain Tracer Distribution from Pre-Contrast MRI: A Comparison of Direct Regression and Flow Matching

Qinghui Liu, Jon André Ottesen, Thu Nguyen, Geir Ringstad, Ingrid Mossige, Siri Fløgstad Svensson, Sissel Riis Kalstad, Atle Bjørnerud 等 10 位作者

原文摘要

The brain fluid clearance system can be studied with intrathecal contrast-enhanced magnetic resonance imaging (MRI). By injecting a tracer into the spinal canal and performing MRI over 24--48\,h, one can measure how a tracer injected into the cerebrospinal fluid spreads through the brain. As this is an invasive procedure requiring several MRI scans, we ask how much of the later tracer distribution can be predicted from the pre-contrast scan and elapsed time alone. Using 104 training patients (878 MRI volumes), we compared a direct image-to-image regression model with a more complex generative model based on conditional flow matching, and tested both on 23 held-out patients and on 51 patients from a separate cohort with idiopathic normal pressure hydrocephalus (iNPH). Relative to simply copying the pre-contrast scan, the direct model reduced the mean absolute error (intensities normalized to $[0,1]$) from 0.089 to 0.036, about 60\%, in held-out patients and from 0.075 to 0.056, about 25\%, in the iNPH cohort. The reduction held in every sampled elapsed-time interval and brain compartment, and errors remained largest at 20--30\,h and in the ventricles, where enhancement is strongest. Its predicted change maps agreed with the observed tracer enhancement rather than only reproducing anatomy. The generative model was less accurate in both cohorts. A substantial part of the later tracer distribution is therefore predictable from the patient's brain anatomy as seen on pre-contrast MRI, and the added model complexity gave no benefit at this data scale. Whether this accuracy suffices for a given clinical use remains to be established; with prospective validation, such forecasts could help simplify the MRI protocol used to assess brain clearance.

eess.IV · cs.AI · cs.CV · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04493

Physical Diffusion Policy via MPM-Guided 3D Gaussian Simulation

Can Wang, Qiyuan Qiao, Lei Liu, Ge Yuan, Xinhui Liu, Dong Xu

原文摘要

Learning robust manipulation policies for diverse everyday objects remains challenging because objects with different materials exhibit distinct deformation and contact dynamics. While diffusion policies provide a powerful framework for modeling multimodal manipulation behaviors, they typically lack explicit physical reasoning and may produce averaged actions when facing heterogeneous objects. We present a physics-aware diffusion policy that augments visual imitation learning with object physical understanding. Our framework recovers material properties from visual demonstrations by coupling 3D Gaussian Splatting with differentiable Material Point Method simulation, where video guidance and particle-level constraints enable accurate physical parameter estimation. The estimated physics conditions are further integrated into a material-aware Mixture-of-Experts diffusion policy, allowing adaptive behavior generation across different physical regimes. For practical deployment, we introduce a physics memory bank that provides efficient physical retrieval without requiring online simulation optimization. Experiments on a wide range of simulated and real-world objects demonstrate improved manipulation success and generalization over existing diffusion-based approaches. These results show that incorporating physical knowledge is critical for scalable robot manipulation in diverse environments.

cs.RO

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新论文 · v1arXiv:2611.02721

IssueLighter: An Issue Type-Aware LLM Agent for Issue Report Validity Assessment

Jiawei Ran, Yuxia Zhang, Ziyang Zhao, Hui Liu

原文摘要

Invalid issue reports are prevalent in open source software (OSS) projects, imposing substantial burdens on maintainers who already face a high risk of burnout. Prior research has primarily focused on identifying invalid reports for specific issue categories (e.g., bug and wontfix), leaving the broader landscape of OSS issue types largely unexplored and limiting the generalizability of existing approaches. Moreover, existing methods provide little support for explaining or validating their predictions, reducing their practical usefulness for maintainers. With the rise of LLM-based agents, it remains unclear whether a comprehensive understanding of the causes of invalidity across all issue types can improve validity assessment performance while producing well-grounded rationales. To this end, we first manually annotated the validity status of 520 issue reports from three OSS projects, i.e., pandas, scikit-learn, and mypy, resulting in 257 invalid reports and 263 valid ones. Then, we conducted a thematic analysis on these invalid reports and identified 13 causes of invalidity that are closely specific to issue types. Based on these insights, we propose IssueLighter, an agent-based framework with a type-aware validity assessment strategy that dynamically executes commands. Experimental results show that IssueLighter consistently and substantially outperforms all baseline methods, with an average F1 improvement of over 20 percentage points. Ablation studies confirm that both the type-aware strategy and the taxonomy of causes of invalidity contribute to the performance gains. Qualitative analysis further demonstrates that IssueLighter generates rationales grounded in accurately identified causes of invalidity and supported by evidence. Moreover, leveraging these rationales, we challenged maintainers' original decisions in four disputed cases, and all received approval.

cs.SE · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.01645

UA-Depth: Uncertainty-Aware Depth Restoration for Material-Agnostic Object Manipulation

Rui Cao, Jia-Hui Pan, Yin Zhang, Qiwei Meng, Jiapeng Li, Gang Wang, Runsong Zhu, Wei Chen 等 11 位作者

原文摘要

Robotic manipulation requires accurate metric depth, yet commodity RGB-D cameras often fail on non-Lambertian objects such as transparent, reflective, and translucent materials, producing holes, structured noise, and biased depth. Most restoration methods produce only a single depth map, treating noisy and reliable regions uniformly for downstream tasks while ignoring regional uncertainty. We present UA-Depth, an uncertainty-aware depth restoration framework that iteratively co-refines depth and pixel-wise uncertainty, and uses uncertainty-gated features to suppress unreliable cues for stable updates. To strengthen zero-shot behavior, UA-Depth leverages a frozen depth foundation model as a prior to initialize missing or unreliable depth, and applies two-stage MAD-weighted log-depth scale normalization to reduce outlier bias in relative-to-metric alignment. We introduce an eight-dataset zero-shot benchmark across diverse scenes, materials, and sensors. Across these benchmarks, UA-Depth achieves the best mean rank among representative baselines, with particularly strong gains on datasets dominated by transparent and reflective objects. Beyond depth metrics, we demonstrate downstream improvements in category-level 6D pose estimation and 6D grasp synthesis by exploiting the predicted uncertainty. \emph{Code, models, and data for training and evaluation will be released upon publication.}

cs.CV · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.38315

LLM-PowerTrace: A Dataset of Time-Resolved GPU Power Traces for AI Compute

Jiansheng Wang, Jaskeerat Singh, Haochen Xu, Xinyi Li, Mingyuan Yan, Shaohui Liu, Yuzhuo Li, Yize Chen 等 9 位作者

原文摘要

AI compute is becoming large and fast-changing electrical loads. Its impacts on data center infrastructure and power grids depend not only on total energy consumption, but also on how their power draw moves over sub-second to minute timescales, including peaks, ramps, and synchronized fluctuations across accelerators. Existing energy benchmarks for large language models (LLMs) report aggregate quantities such as joules per token and rarely release the underlying time-series measurements, leaving these power dynamics poorly characterized and difficult to model. We introduce LLM-PowerTrace, an open dataset of time-resolved, per-GPU power traces for LLM fine-tuning and inference, sampled every 100\,ms on varying NVIDIA platforms paired with complete workload and system metadata. For fine-tuning, LLM-PowerTrace profiles open model families spanning a wide range of model sizes and fine-tuning methods, together with controlled sweeps over batch size, sequence length, precision, parallelism, and checkpointing. For inference, it covers variations in concurrency, GPU frequency, KV-cache and weight quantization, prompt and output lengths, and request-arrival patterns. LLM-PowerTrace profiles a set of open model families across a wide range of model sizes, and controlled sweeps over batch size, sequence length, precision, parallelism, and checkpointing for fine-tuning, and it sweeps concurrency, GPU frequency, KV cache and weight quantization, prompt and output lengths, and request arrival patterns for inference. Built upon power traces, we define power-grid-facing metrics as well as AI-compute power\&energy scaling law for extrapolating beyond the measured settings. Together, LLM-PowerTrace provides a dataset foundation for modeling, forecasting, and managing the fast-changing electrical behavior of AI compute.

eess.SY · cs.AI · cs.OS

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.37563

Pneuma: A Large-Scale Real-World Time Series Benchmark for Commercial Aircraft Predictive Maintenance

Jiafeng Lin, Yutian Zhang, Huan Zhang, Yuxuan Wang, Jinyan Feng, Yuhui Liu, Zhongyi Pei, Jianmin Wang

原文摘要

Predictive maintenance is vital for commercial aviation, yet progress remains hindered by the lack of public, large-scale real-world datasets. As a result, most methods are developed and evaluated on proprietary data, limiting reproducibility. We introduce Pneuma, the first publicly available large-scale benchmark for predictive maintenance using onboard time series from in-service commercial aircraft. Built around bleed air systems, Pneuma contains over 920 million multivariate time steps across four aircraft types and 9 verified fault scenarios, directly aligned with real maintenance logs. The dataset exhibits key real-world challenges, including substantial class imbalance, subtle fault evolution patterns, and significant variance across aircraft configurations. We structure the benchmark around three tasks: multivariate forecasting, supervised fault classification, and unsupervised anomaly detection, with labels derived from actual maintenance records. Under unified settings, we evaluate over 25 models from four methodological families on 9 carefully curated subsets. The results reveal that even strong contemporary models struggle with subtle fault signatures. Further analyses show consistent gains from additional in-context examples and multivariate inference, while forecasting quality is strongly associated with anomaly detection performance. Together, these findings provide practical insights into effectively modeling complex real-world aviation time series. We hope Pneuma will serve as a rigorous and reproducible foundation for advancing data-driven predictive maintenance toward real-world deployment in commercial aviation.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.17912

WorldArena 2.0: Extending Embodied World Model Benchmarking on Modality, Functionality and Platform

Zhuohang Li, Yiding Ma, Yu Shang, Lei Jin, Shengyuan Wang, Jianjie Fang, Zhaolu Wang, Xvyuan Liu 等 29 位作者

原文摘要

World models have emerged as a central paradigm for embodied intelligence, enabling agents to predict action-conditioned future and reason about environmental dynamics. However, existing embodied world model benchmarks are still largely confined to vision-only prediction, offline embodied applications, and simulator-based evaluation, making them insufficient for assessing increasingly comprehensive world models. In this work, we introduce WorldArena 2.0, an expanded benchmark that systematically broadens embodied world model evaluation along three dimensions: modality, functionality, and platform. Along the modality dimension, WorldArena 2.0 extends evaluation from vision-only to visuotactile modalities, enabling assessment of multimodal perception and prediction. Along the functionality dimension, it extends beyond policy evaluation and planning to assess world models as interactive RL environments for policy optimization. Along the platform dimension, it moves beyond simulator-only evaluation to a diverse suite of simulated and real-world robotic settings across multiple embodiments. Under a standardized protocol, WorldArena 2.0 comprehensively evaluates perceptual quality, interactive utility, and cross-platform performance, providing a comprehensive testbed for tracking progress toward embodied world models. The project page including codes and demos is available at: https://world-arena.ai/.

cs.RO · cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.03248

Unbiased Alignment for Large Language Models with Noisy Preferences

Jialiang Wang, Xianming Liu, Xiong Zhou, Hui Liu, Haoliang Li

原文摘要

The alignment of large language models with human preferences is commonly achieved through Reinforcement Learning from Human Feedback or Direct Preference Optimization. However, these methods are vulnerable to the significant noise prevalent in real-world preference datasets. To address this critical issue, we present a theoretical framework for unbiased alignment, introducing the Unbiased Reward Model (URM) loss and the Unbiased Direct Preference Optimization (UDPO) loss. By mathematically correcting the distortion induced by preference noise, our novel objectives enable unbiased model training directly from noisy datasets, without requiring clean ground-truth supervision. We provide rigorous theoretical analyses demonstrating that our methods are noise-tolerant, parameter downward compatible, and classification-calibrated. Comprehensive experiments across diverse datasets demonstrate that our approaches outperform state-of-the-art baselines. Code available at: https://github.com/cswjl/unbiased-alignment.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35531

One Loss Resolves Signed Rank-One Gradient Fibers: Exact Decoding on Cycle and Theta Blocks

Junwen Lou, Shuo Tian, Penghui Liu

原文摘要

For masked rank-one least squares with unrestricted signs, gradients reveal weighted margins and the loss reveals the target's squared norm. We prove that this one scalar resolves the gradient ambiguity on bipartite cycle and length-three parallel-path blocks: every target fixed before sampling and nonzero on cycle edges is identified almost surely by one legal positive query drawn from an absolutely continuous law. On six-cycle flowers, open target and query sets retain $3^r$ bounded gradient candidates. A common algebraic witness excludes cross-block energy cancellation. Cactus masks admit explicit exception certificates and target-uniform finite-grid bounds; theta blocks admit an existence guarantee. For nondegenerate cactus reductions, an exact decoder returns complete actual real lists, with bit cost polynomial in input length, the cycle-degree product $D$ and the optional budget parameter $2^κ$. Energy-coordinate propagation certifies singletons without a product join. The product $D$ can grow exponentially in cycle count. Exponential certificate-degree and output bounds, and weak NP-hardness at a fixed uniform query, characterize distinct costs of exact decoding.

cs.SC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34893

MMGNet: Multi-Modal 6-DoF Grasp Synthesis for Cluttered Scenes

Rui Cao, Jia-Hui Pan, Yichuan Li, Yunfan Yu, Chi-Wing Fu, Jiangliu Wang, Yun-Hui Liu

原文摘要

Grasping is a foundational capability in robotic manipulation. Scene-level 6-DoF grasp synthesis relies on point clouds for metric geometry, yet real-world point observations are often noisy, incomplete, and over-smoothed. RGB images provide object-region, boundary, and appearance cues, yet two bottlenecks limit their effective use in scene representation and local grasp reasoning. We present MMGNet, a Multi-Modal Grasp Synthesis Network that addresses these bottlenecks through hierarchical image-to-3D feature injection and rotational graspness modeling. Hierarchical injection integrates multi-scale image features throughout 3D representation formation, while the rotational graspness jointly predicts the grasp approach direction and in-plane rotation before organizing local image-informed features through grasp-shaded grouping. Ablation studies show that these two modules provide complementary gains. MMGNet achieves a mean AP of 60.34 on GraspNet-1Billion with RealSense, surpassing all compared methods. In real-world experiments with adversarial grasp objects, MMGNet improves the grasp success rate over AnyGrasp by 8.46 percentage points. \emph{Code, models, and data will be released upon publication.}

cs.RO · cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2512.06869

Role-aware Heuristic Episodic Attention for Conversational LLMs

Wanyang Hong, Zhaoning Zhang, Yi Chen, Libo Zhang, Baihui Liu, Linbo Qiao, Zhiliang Tian, Dongsheng Li

原文摘要

Large language models often lose track of persistent instructions and relevant information as multi-turn conversations grow. We study this cumulative contextual decay through three related failure modes: attention pollution, dilution, and drift. We propose REA(Role-aware Heuristic Episodic Attention), a context-management framework that assigns different persistence and representation policies to instructions and episodic interactions. Instructional Memory retains identified global constraints in a dedicated prefix. Episodic Memory preserves user inputs and compresses model replies, while heuristic retrieval selects raw text, compressed representations, or omission for each historical turn. On Long-MT-Bench+, REA improves the judge score from 6.32 to 7.36 on a 10-point scale, a 16.5% relative gain over the Vanilla baseline, and reduces average latency by 2.91x. Additional evaluations show aggregate gains on three backbones spanning 1.7B-7B parameters and on Chinese and English role-playing tasks. These results support role-aware context management as a practical approach to maintaining conversational continuity and instruction adherence.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.26030HF 社区推荐

Truncate or Not? A Scaling Study of Looped Transformers with Truncated Backpropagation

Xuyuan Xiong, Siyu Chen, Zihan Shao, Yue Su, Weiyang Jin, Ping Luo, Zhuoran Yang, Xihui Liu

原文摘要

Looped transformers reuse a shared block of layers to increase computational depth without increasing the number of trainable parameters. They are trained with backpropagation through time (BPTT). To save training compute, BPTT is often truncated to the last few loops, but truncation yields biased gradients that may weaken the benefit of looping. In this work, we study the value of truncation in looped transformer training in a systematic way: we jointly vary model size, training tokens, and forward and backward loop counts across nearly 600 training runs and fit a unified scaling law that captures the effects of looping and truncation through effective parameters. Despite the training-compute savings of truncation, our fitted law favors full BPTT when forward and backward loop counts are jointly optimized. In matched-compute runs, full BPTT through fewer loops consistently outperforms truncated settings of the same compute. The law further shows that at fixed model size, the compute-optimal loop count and training-token budget both grow with compute. When model size is also free, the law identifies two fully trained loops as the best looped setting. Experimentally, this setting achieves lower validation loss than the compute-optimal non-looped model with about 27% fewer non-embedding parameters and only 8% more training compute.

cs.LG · stat.ML

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