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版本更新 · v2arXiv:2601.09606

GRCF:面向多模态情感分析的组级排序与校准框架

GRCF: Group-wise Ranking and Calibration Framework for Multimodal Sentiment Analysis

Manning Gao, Leheng Zhang, Shiqin Han, Haifeng Hu, Yuncheng Jiang, Sijie Mai

AI 速读 基于摘要

提出组级排序与校准框架GRCF,通过自适应误差加权与动态边距改进成对序数学习,兼顾相对序数结构与绝对分数校准。

cs.CV

查看原文摘要

Most multimodal sentiment analysis algorithms focus on point-wise regression. While straightforward, it uses absolute values to represent subjective sentiment and overlooks the ordinal nature of sentiment, resulting in unstable predictions and poor correlation. Inspired by the way humans perceive sentiment, pair-wise ordinal learning frameworks emerged to address this gap, capturing relative order by learning from comparisons. However, they have two limitations: First, they assign uniform importance to all pairs, failing to adaptively focus on hard-to-rank samples. Second, they employ static ranking margins, which fail to reflect the varying semantic distances between sentiment groups. To address this, we propose a Group-wise Ranking and Calibration Framework (GRCF) that introduces the Adaptive Error-weighting and Dynamic Margin mechanism, which resolves these limitations by simultaneously preserving the relative ordinal structure and ensuring absolute score calibration. Specifically, Stage 1 introduces a Group-aware Ranking Loss to build a fine-grained ordinal structure by assigning higher optimization priority to confusable pairs. Stage 2 then employs an MAE-driven objective to align the prediction magnitudes. To validate its generalizability, we extend GRCF to classification tasks, including Multimodal Humor and Sarcasm Detection. It achieves state-of-the-art performance on regression datasets while also showing strong generalizability in classification tasks.

版本更新 · v2arXiv:2607.07195

DiffCVE:基于扩散模型的压缩视频增强

DiffCVE: Diffusion-based Compressed Video Enhancement

Wenqiang Xiao, Wenzhuo Ma, Junxi Zhang, Zhenzhong Chen

AI 速读 基于摘要

提出基于扩散模型的压缩视频感知质量增强方法 DiffCVE,利用编码先验与压缩程度提示缓解严重压缩下的伪影与结构不一致幻觉。

cs.CV

查看原文摘要

Perceptual quality enhancement of severely compressed videos remains challenging due to complex artifact patterns and substantial information loss. Recent diffusion models have demonstrated strong generative capability for visual restoration, but directly applying them to compressed video often ignores compression degradation characteristics and may introduce structure-inconsistent hallucinations. To address this issue, this paper presents a diffusion-based compressed video enhancement method, named DiffCVE. Coding Prior-enhanced Dual Conditioning (CPDC) branches are designed to jointly model compressed video and coding prior conditions, where coding priors including residuals and motion vectors provide complementary structural and motion guidance during the diffusion denoising process. To make the diffusion process aware of compression severity, a Compression Degradation Semantic Prompting (CDSP) mechanism is introduced to leverage QP-conditioned textual prompts together with LoRA fine-tuning. In addition, a Coding Prior-guided Weighted Fusion (CPWF) module is incorporated into the VAE decoder to fuse VAE encoder and coding prior encoder features with QP-predicted weights. Extensive experiments demonstrate the effectiveness of the proposed method in improving perceptual quality, especially under severe compression settings. The project page and code are available at https://wqmaker.github.io/projects/DiffCVE/.

新论文 · v1arXiv:2611.16789

ScrewSense: Mapping the Invisible - Anomaly Detection and Error Classification in Screwdriving Processes

Tobias Lettner, Tatyana Ivanovska, Anwar Al Assadi, Christian Bergler

原文摘要

The growing volume of process data generated by screwdriving systems, combined with advancements in computing power, data storage, and algorithms, is facilitating the application of artificial intelligence in this field. Accurately detecting and classifying screwdriving errors is crucial for ensuring product quality, avoiding costly rework in manufacturing, and supporting sustainability by facilitating the maintenance, reuse, and recycling of screw-connected products. In this context, machine learning approaches offer a promising alternative to traditional monitoring techniques, such as window-based methods or envelope curves. This study examines the use of deep learning techniques for anomaly detection and error classification in screwdriving processes. The data corpus consists of multivariate time series capturing process parameters, such as torque and rotation angle. For anomaly detection, the embedding space of a vector quantized variational autoencoder was analyzed. In terms of error classification, four different model architectures were evaluated. The results demonstrate the effectiveness of anomaly detection and confirm that deep learning models can distinguish between multiple error categories beyond traditional binary classification. This extends the capabilities of conventional monitoring approaches, achieving accuracies of up to 100%. Additionally, real-world data material was examined in order to further demonstrate model robustness. Overall the results indicate strong generalization capability and highlight the practical potential of the developed models for use in industrial screwdriving processes, eliminating the need for expert knowledge in error identification and significantly reducing manual effort and analysis time.

cs.LG · cs.RO · eess.SP

版本更新 · v3arXiv:2509.03244

FoMEMO: Towards Foundation Models for Expensive Multi-objective Optimization

Yiming Yao, Fei Liu, Liang Zhao, Xi Lin, Yilu Liu, Qingfu Zhang

原文摘要

Expensive multi-objective optimization is a prevalent and crucial concern in many real-world scenarios, where sample-efficiency is vital due to the limited evaluations to recover the true Pareto front for decision making. Existing works either involve repeatedly fitting Gaussian process surrogates from scratch for each newly encountered problem, or rely on computationally demanding hypervolume-oriented policy learning for amortized optimization, making it challenging to achieve scalable pre-training and efficient yet robust adaptation for diverse emerging real-world applications. To address these challenges, we propose FoMEMO (Foundation Models for Expensive Multi-objective Optimization), which adopts a decomposition-based training paradigm that converts multi-objective optimization into preference-wise aggregated posterior learning tasks, enabling scalable pre-training on hundreds of millions of diverse synthetic datasets without relying on extensive real-world domain experiments. At test time, given observed trajectories from unseen problems and user preferences, the foundation model performs in-context posterior prediction and optimizes the derived acquisition functions for efficient candidate generation, achieving strong generalization and optimization performance without any subsequent model training or updates.

cs.LG · cs.AI

新论文 · v1arXiv:2611.16224

Disentangled Embedding Optimization for Diffusion-Based Dataset Distillation

Hongcheng Li, Yucan Zhou, Yibin Wang, Xiaoyan Gu, Bo Li, Weiping Wang

原文摘要

Dataset distillation aims to compress large-scale datasets into compact synthetic subsets that enable efficient model training with comparable performance to the original data. Recent advances show that diffusion models are highly effective for this task due to their strong generative capability. Existing diffusion-based approaches typically perform class-wise clustering and use the obtained cluster prototypes as diffusion inputs to generate distilled samples. However, the uniformly distributed original samples in a category inevitably lead to entanglement near cluster boundaries, pulling the cluster prototypes closer and reducing the inter-cluster separation. Consequently, the diffusion model receives overly similar latent inputs, resulting in synthetic data with limited diversity. To address this issue, we propose Disentangled Embedding Optimization (DEO), a simple yet effective framework that replaces static clustering with trainable embeddings. These embeddings are optimized to match the Gaussian statistics (i.e., mean and covariance) of the original data distribution, while a diversity regularizer is designed to encourage separation among these embeddings to improve the intra-class variability. Extensive experiments demonstrate that our proposed DEO can generate more diversified and representative distilled data than existing cluster-based diffusion methods, achieving state-of-the-art performance and superior generalization across multiple datasets.

cs.CV

新论文 · v1arXiv:2611.15700

AskALCF: A Self-Improving Agentic System for Intelligent HPC User Support

Jingyan Jiang, Akhilesh Bondapalli, Krishna Rauniyar, Murat Keceli, Yasaman Ghadar, Haritha Siddabathuni Som, Venkatram Vishwanath, Michael E. Papka 等 10 位作者

原文摘要

AI-based question-answering systems are increasingly used for user support, including at high-performance computing (HPC) facilities. However, existing systems lack a systematic, deployment-oriented approach for evaluating final-answer quality and attributing failures to specific components. They also remain largely static after deployment, apart from periodic knowledge-base updates. We present AskALCF, an agentic log-analysis and improvement pipeline for HPC user support. AskALCF evaluates production interactions at a fine-grained level, identifies whether failures arise from missing knowledge, retrieval, prompting, model behavior, or tool execution, and routes each failure to an actionable repair. Its diagnostic core combines answer-quality assessment with a two-scope sufficiency test that distinguishes information missing from the documentation corpus from information present but not retrieved. We further introduce a controlled harness-training process that uses expert references, null edits, and explicit ship, revert, or decline decisions to improve the diagnostic pipeline reliably. Across 2,174 support turns, AskALCF reduced unattributable failures from 41.4% to 14.2%, while harness training improved expert agreement from 108/150 to 123/150 turns. These results demonstrate a governed form of self-evolution in which production evidence drives targeted system improvements. By turning production interactions into fine-grained diagnoses and actionable repairs, AskALCF provides a systematic foundation for continuously improving deployed AI support systems beyond knowledge-base updates alone.

cs.SE · cs.AI

新论文 · v1arXiv:2611.13849

Satellite Pretraining Is Not One Thing: A Matched-Pair Study of Generic and Earth-Observation Foundation Models for Scene Classification

Sandarbh Agrawal, Rakshith Sathish, Ashwathi Nambiar

原文摘要

Geospatial foundation models are pretrained on satellite and aerial imagery, but whether such an encoder beats a strong generic one for few-label land-use/land-cover mapping remains unclear, as prior comparisons rarely isolate the pretraining data. We study five matched pairs of Earth-observation (EO) and generic encoders sharing objective and architecture (DINO/SatDINO, DINOv3/DINOv3-SAT, MAE/SatMAE, MAE/Scale-MAE, CLIP/RemoteCLIP) within a benchmark of 14 frozen encoders on five RGB scene-classification datasets (0.06-30 m GSD). With native preprocessing, we evaluate k-NN, linear and attentive probes and image retrieval over six low-label splits, using paired per-image significance tests. EO pretraining is not uniformly helpful: on most datasets and metrics, it significantly improves three pairs (SatDINO, Scale-MAE, RemoteCLIP, the latter evaluated only on unseen datasets) and significantly hurts two (linear probe: DINOv3-SAT by up to 22.5 points, SatMAE by up to 8.8), with opposite outcomes even for two MAEs pretrained on the same fMoW-RGB imagery. These effects are robust to patch-token pooling and attentive probing, concentrate on small man-made objects, and are largest with 1-5% labels. Across encoders, the silhouette score of frozen embeddings predicts k-NN accuracy and retrieval mAP almost perfectly (Spearman $ρ\geq 0.96$ on four of five datasets). Pretraining on satellite imagery is thus not a reliable selection criterion; candidate checkpoints must be validated on target data.

cs.CV · cs.AI

版本更新 · v2arXiv:2604.14560

DVFace: Spatio-Temporal Dual-Prior Diffusion for Video Face Restoration

Zheng Chen, Bowen Chai, Rongjun Gao, Mingtao Nie, Xi Li, Bingnan Duan, Jianping Fang, Xiaohong Liu 等 10 位作者

原文摘要

Video face restoration aims to enhance degraded face videos into high-quality results with realistic facial details, stable identity, and temporal coherence. Recent diffusion-based methods have brought strong generative priors to restoration and enabled more realistic detail synthesis. However, existing approaches for face videos still rely heavily on generic diffusion priors and multi-step sampling, which limit both facial adaptation and inference efficiency. These limitations motivate the use of one-step diffusion for video face restoration, yet achieving faithful facial recovery alongside temporally stable outputs remains challenging. In this paper, we propose, DVFace, a one-step diffusion framework for real-world video face restoration. Specifically, we introduce a spatio-temporal dual-codebook design to extract complementary spatial and temporal facial priors from degraded videos. We further propose an asymmetric spatio-temporal fusion module to inject these priors into the diffusion backbone according to their distinct roles. Evaluation on various benchmarks shows that DVFace delivers superior restoration quality, temporal consistency, and identity preservation compared to recent methods. Code: https://github.com/zhengchen1999/DVFace.

cs.CV

新论文 · v1arXiv:2611.13649

Predicting Single-Cell Spatial Gene Expression from H&E using Pathology Foundation Models

Ashley P. Tsang, Evan Liu, Conrad Foo, Bob Chen, Hassaan Maan, Donny Chan, Elisa Penna, Veronica Ibarra Lopez 等 13 位作者

原文摘要

Predicting gene expression directly from hematoxylin and eosin (H&E) images offers a scalable and cost-effective approach to deriving spatial molecular insights from routine histology. Pathology foundation models, typically pretrained using tile-level objectives, may not adequately capture the fine-grained cellular features required for single-cell molecular prediction. In this work, we systematically evaluate and establish domain-informed and task-specific strategies for adapting pathology foundation models to single-cell spatial gene expression prediction. Using paired H&E and Xenium 5K data, our approach improves mean gene-wise Pearson correlation by 2.67x over the standard zero-shot baseline and achieves state-of-the-art performance on this task. We demonstrate strong gene-detection performance across the full gene panel (AUROC = 0.800) and importantly identify that predictive performance varies substantially across biological contexts, with our model achieving its highest Pearson correlation for spatially variable genes (r = 0.643). Our findings demonstrate that, despite the challenges of sparse single-cell measurements, H&E-derived representations can recover biologically meaningful spatial expression patterns, highlighting both the opportunities and limitations of morphology-based molecular inference at cellular resolution.

cs.CV

版本更新 · v2arXiv:2601.06666

InFi-Check: Interpretable and Fine-Grained Fact-Checking of LLMs

Yuzhuo Bai, Shuzheng Si, Kangyang Luo, Qingyi Wang, Wenhao Li, Gang Chen, Fanchao Qi, Maosong Sun

原文摘要

Large language models (LLMs) often hallucinate, yet most existing fact-checking methods treat factuality evaluation as a binary classification problem, offering limited interpretability and failing to capture fine-grained error types. In this paper, we introduce InFi-Check, a framework for interpretable and fine-grained fact-checking of LLM outputs. Specifically, we first propose a controlled data synthesis pipeline that generates high-quality data featuring explicit evidence, fine-grained error type labels, justifications, and corrections. Based on this, we further construct large-scale training data and a manually verified benchmark InFi-Check-FG for fine-grained fact-checking of LLM outputs. Building on these high-quality training data, we further propose InFi-Checker, which can jointly provide supporting evidence, classify fine-grained error types, and produce justifications along with corrections. Experiments show that InFi-Checker achieves state-of-the-art performance on InFi-Check-FG and strong generalization across various downstream tasks, significantly improving the utility and trustworthiness of factuality evaluation.

cs.CL · cs.AI

新论文 · v1arXiv:2611.13030

APS-VLA: Action-Guided and Future-Aware Token Pruning for Efficient Vision-Language-Action Models

Xiaoyang Xing, Chun-Mei Feng, Anthony Cohn, Xiaoliang Gong, Asoke Nandi

原文摘要

Vision-language-action (VLA) policies have demonstrated strong generalization in robotic manipulation, yet processing dense visual tokens often incurs high inference latency. Visual token pruning offers a practical way to reduce this cost, but identifying a compact set of tokens that preserves reliable action generation remains challenging. Existing methods largely rely on static or immediate heuristic cues to estimate token importance. We introduce APS-VLA, a framework that learns visual token selection from robot demonstrations while keeping the pretrained VLA backbone frozen. A lightweight Decision Influence Estimator scores tokens conditioned on current visual observations, language instructions, and robot proprioception. Its training combines two complementary signals: action supervision matches both the full-input policy predictions and demonstrated actions, while an auxiliary visual transition objective uses demonstrated actions to predict subsequent visual features from the selected representation. At deployment, the estimator performs a single hard selection and packing step before the policy's native action-generation procedure; the auxiliary predictor is removed. Experiments with OpenVLA-OFT on LIBERO and with $π_{0.5}$ and XR-1 on RoboCasa365 demonstrate inference acceleration with modest changes in task success. Across five real-world tasks on two dual-arm platforms, APS-VLA reduces mean policy inference latency from 137.25 to 93.25 ms, achieving a $1.47\times$ speedup with an average success rate of 61%, compared with 60% for the unpruned baseline. Together, these results support APS-VLA as a modular, plug-in framework for efficient robotic control across VLA architectures, preserving the underlying policy parameters and native action-generation procedure.

cs.AI

新论文 · v1arXiv:2611.12102

SPARK: Simple Post-training for Adapting pRetrained Knowledge to Robot Control

Taekyung Kim, Jeongeun Park, Byeongho Heo, Sungjoon Choi, Sangdoo Yun, Dongyoon Han

原文摘要

Large-scale representation learning has produced public foundation models that provide strong general-purpose visual features. However, their pretraining objectives are not designed for robot representation learning, so the resulting embeddings tend to emphasize global semantics rather than the temporally sensitive representations required for robot control. Training robot models from scratch is also undesirable due to the limited scale and high collection cost of robotics data, as well as the substantial computational burden of pre-training. In this paper, we propose SPARK (Simple Post-training for Adapting pRetrained Knowledge), a post-training method that adapts foundation models to robot control. SPARK is built on two principles: temporal abstraction, which encourages the encoder to derive compact features that preserve information essential for understanding temporal changes and action-relevant scene structure, and knowledge preservation, which aligns patch-level representations with those of the original foundation model to retain useful pretrained semantics. These objectives yield compact visual state representations that remain semantically meaningful while preserving useful prior knowledge. Experiments across multiple robotics benchmarks show that SPARK consistently improves success rates and generalization over vanilla foundation models, and further demonstrate that these gains transfer to real-world robot manipulation.

cs.RO · cs.CV

新论文 · v1arXiv:2611.12023

TIRAD: Text-guided Image Residual Learning for Generalist Anomaly Detection

Seongsu Lee, Seunghyun Oh, Seungjae Moon, Youngmin Ro

原文摘要

Recent anomaly detection studies have shown that residual features, which model the discrepancy between normal and abnormal patterns, provide strong generalization to anomalies unseen during training. However, existing residual-based approaches mainly rely on visual discrepancies derived from image representations, while semantic discrepancies that can be explicitly expressed through language remain largely underexplored. To address this problem, we propose TIRAD, Text-guided Image Residual Learning for Generalist Anomaly Detection, a multimodal residual learning framework that defines the discrepancy between textual representations of normal and abnormal states as a Text Residual Feature and uses it to guide the Image Residual Feature. Specifically, a Text Fusion Module converts patch-level text residuals into a gate that modulates the image residual of each patch. The gate retains the visual discrepancies that the text residual identifies as defect-related and attenuates the others, leading to more discriminative anomaly representations. Extensive experiments on industrial benchmarks and industrial-to-medical transfer demonstrate that the proposed method outperforms existing image-centric residual learning methods.

cs.CV

新论文 · v1arXiv:2611.11964

3R-Adapter: Retrieval, Rewiring, and Refinement for Efficient Adaptation of 3D Reconstruction Model

Zixiang Ai, Zhenyu Cui, Xu Zou, Jiahuan Zhou

原文摘要

Feed-forward 3D reconstruction models have demonstrated strong generalization under large-scale pre-training, yet they struggle in long-tail scenarios such as low-light reconstruction, joint human-scene reconstruction, and test-time adaptation. We observe relational attention structure collapse, manifested as the failure of cross-view correspondences, as a primary cause of these limitations. While adaptation offers a practical way to bridge this gap, existing parameter-efficient fine-tuning (PEFT) approaches mainly perform channel-wise feature adjustment and lack mechanisms to explicitly adapt relational structures, leaving correspondence failures unresolved. In this work, we formulate adaptation of 3D reconstruction models as a problem of correspondence recovery under domain shift and propose 3R-Adapter, a PEFT paradigm for long-tail 3D reconstruction scenarios. Our method consists of three components: Deformable Retrieval for task-adaptive relation candidate retrieval, Relational Rewiring for reconstructing cross-view relational structures, and Consistency Refinement for injecting the rewired relations into stable predictions. Extensive experiments on low-light reconstruction, joint human-scene reconstruction, and test-time adaptation demonstrate that our approach significantly improves robustness over existing PEFT methods while maintaining efficient lightweight adaptation. Our code is released at https://github.com/PKU-OV3-LAB/3R-Adapter.

cs.CV

新论文 · v1arXiv:2611.11678

SurfScaff3D: Bridging Geometric and Semantic Representations for LLM-based 3D Object Generation

Anay Loya, Rishi Gupta, Arnav Samal, Anirban Chakraborty

原文摘要

Creating high-quality 3D content has traditionally required specialist expertise and experience with complex tools. The growing ecosystem of AI-assisted creativity demands accessible and intuitive 3D generation systems. Recent advances in Large Language Models (LLMs) offer promising directions, yet extending their generative capabilities to 3D remains fundamentally challenging because existing 3D representations are not naturally compatible with language-based reasoning. Current approaches either depend on expensive fine-tuning or impose restrictive structural priors that sacrifice expressiveness and exclude organic shapes. We argue that the mismatch between LLM-native reasoning and conventional 3D parameterizations is a core bottleneck of LLM-driven 3D generation. To address this, we introduce the Hierarchical Patch Scaffold (HPS), a representation designed around semantically meaningful, interpretable part-level abstractions that are naturally understood by both humans and LLMs, enabling expressive, editable, and open-domain 3D generation without imposing restrictive geometric priors or expensive fine-tuning. Building upon HPS, we introduce SurfScaff3D, an interactive framework for text and image-to-3D generation. HPS inherits the flexibility of B-spline patches, while exposing an interface that leverages open-world capabilities of foundation models to reliably generate 3D. Its hierarchical part-level semantic labels enable targeted, natural-language edits at any level of granularity without re-running generation. Further, HPS offers explicit per-patch control over surface detail, enabling more expressive geometry capable of representing arbitrary objects. Extensive experiments against state-of-the-art LLM-based 3D generation methods demonstrate strong geometric fidelity, semantic alignment, and flexible editing across diverse object categories.

cs.CV

新论文 · v1arXiv:2611.11346

IntentLens: Grounding Underspecified Multimodal Queries for Recommendation via Tool-Augmented Reasoning

Xiao Chen, Dong Fang, Haitao Li, Qing Li

原文摘要

As intelligent personal assistants are increasingly deployed in real-world scenarios, recommendation paradigms are shifting from passive preference matching to inferring user intent from underspecified multimodal inputs. In practical interactions, users typically issue a reference image paired with a vague natural language query, keeping key visual attributes, personalized preferences, and item-side constraints implicit. Existing recommendation methods either leverage historical user interactions augmented with multimodal item features or assume fully articulated textual queries; both paradigms struggle to resolve underspecified multimodal queries for accurate item matching. To address this limitation, we propose IntentLens, a tool-augmented recommendation framework that grounds ambiguous multimodal queries into query-relevant evidence prior to user-item matching. IntentLens follows a ground-then-rank pipeline: a shared multimodal LLM leverages visual tools, user memory modules, and item attribute retrieval tools to (i) infer latent user intent from image-text inputs and (ii) augment each candidate item with fine-grained, query-conditioned evidence. Subsequently, a lightweight ranker scores candidates based on the grounded representations. To facilitate research in this novel setting, we construct two benchmarks with underspecified multimodal queries, namely \textsc{GoogleReview-MMTool} and \textsc{Yelp-MMTool}. Extensive experiments on these benchmarks demonstrate that IntentLens outperforms competitive MLLM and retrieval baselines, and exhibits strong generalization to unseen categories and datasets.

cs.IR

新论文 · v1arXiv:2611.11169

Map2SLAM: From Streaming Map Prediction to Real-Time SLAM

Jian Gao, Lin-Zhuo Chen, Yihang Chen, Jiagang Chen, Jiacheng Dong, Xun Cao, Nan Xue, Yinghao Xu 等 9 位作者

原文摘要

Streaming 3D foundation models (3DFMs) estimate camera poses and dense geometry online, but they fall short of SLAM: their predictions are fixed once emitted, so loop closures cannot correct accumulated drift. With such models already providing strong geometric capability, a central question for SLAM becomes how to schedule their inference and how to keep its results as revisable state. We present Map2SLAM, which keeps LingBot-Map frozen, trains only a lightweight retrieval head, and builds SLAM on the model's inference interface, turning its predictions into observations of an external persistent SLAM state. The front-end tracks every incoming frame with the model's causal streaming inference and decides which frames are written to the persistent state as keyframes. The back-end asynchronously decides when and which past frames to re-observe, re-running the model's joint inference over them with fresh context; verified loop observations correct the trajectory online, and segment observations refine dense geometry after the sequence. All invocations share a single frame encoder pass per image, whose cached features also drive loop retrieval, so frequent re-invocation incurs no additional encoding cost. Map2SLAM achieves state-of-the-art performance on KITTI, VBR, and Oxford Spires, reducing mean ATE by over 40% compared with the best uncalibrated baselines, while maintaining real-time tracking at over 28 FPS at a resolution of $518\times154$ on an NVIDIA RTX 5090D GPU. Please visit our project page at https://robbyant-research.github.io/Map2SLAM/.

cs.CV

版本更新 · v2arXiv:2611.07130

Teaching Agents the "Principle", Not the "Reward": Prescriptive Policy Learning

Shan Yang

原文摘要

Reinforcement learning has achieved strong performance in many tasks by letting agents learn from nothing more than a reward signal. However, in more complex tasks, agents still struggle to learn good, generalizable policies, even with carefully designed rewards and abundant samples. We argue that this difficulty stems from the reward decoding burden: designers encode their knowledge of the desired behavior into rewards and penalties, and agents must infer this knowledge from long sequences of noisy scalars. To address this burden, we propose prescriptive policy learning (PPL), which directly teaches agents higher-level knowledge about the tasks, termed principles of behavior, such as how to maintain balance, how to accumulate energy, and how to land smoothly. Through appropriately selected key quantities and references, PPL can directly indicate at every step whether the agent follows the principles and to what extent. Our experiments show that agents can learn good, generalizable policies without any reward. Taught only simple heuristic principles, PPL agents outperform reward-based methods with far fewer samples. Their policies also transfer directly to harder settings and keep performing well, demonstrating their strong generalization ability. In summary, PPL provides a new approach in which rough knowledge of the desired behavior is enough for agents to learn good, generalizable policies, even when the system dynamics cannot be accurately modeled.

cs.LG

版本更新 · v3arXiv:2602.14344

Zero-Shot Instruction Following in RL via Structured LTL Representations

Mathias Jackermeier, Mattia Giuri, Jacques Cloete, Alessandro Abate

原文摘要

We study instruction following in multi-task reinforcement learning, where an agent must zero-shot execute novel tasks not seen during training. In this setting, linear temporal logic (LTL) has recently been adopted as a powerful framework for specifying structured, temporally extended tasks. While existing approaches successfully train generalist policies, they often struggle to effectively capture the rich logical and temporal structure inherent in LTL specifications. In this work, we address these concerns with a novel approach to learn structured task representations that facilitate training and generalisation. Our method conditions the policy on sequences of Boolean formulae constructed from a finite automaton of the task. We propose a hierarchical neural architecture to encode the logical structure of these formulae, and introduce an attention mechanism that enables the policy to reason about future subgoals. Experiments in a variety of complex environments demonstrate the strong generalisation capabilities and superior performance of our approach.

cs.LG · cs.AI

版本更新 · v2arXiv:2602.15400

One Agent to Guide Them All: Empowering MLLMs for Vision-and-Language Navigation via Explicit World Representation

Zerui Li, Hongpei Zheng, Fangguo Zhao, Yanyan Shao, Jian Zhou, Sihao Lin, Shijie Li, Qi Wu

原文摘要

A navigation agent must understand high-level semantic instructions and reason about precise spatial structure. Multimodal Large Language Models (MLLMs), with their strong generalization, are a promising foundation for such agents. We propose GTA, a decoupled design that separates low-level spatial state estimation from high-level semantic planning. We introduce an explicit metric world representation that combines accumulated geometry with navigation history and exposes this information to the MLLM through a multimodal interface for decision-making. We further introduce counterfactual branch reasoning that checks anticipated outcomes against subsequent observations and revises navigation decisions when they disagree. The world representation grounds waypoint selection in reconstructed metric geometry. GTA achieves 48.8% Success Rate (SR) on the full R2R-CE val-unseen split and 46.2% on a 260-episode English RxR-CE val-unseen subset. Additional comparisons on shared R2R-CE episodes and mechanism ablations support the framework's effectiveness. We also demonstrate transfer to wheeled, quadrupedal, and aerial robots. Project page: https://zeruili22.github.io/GTA/

cs.RO

新论文 · v1arXiv:2611.10262

Domain Generalization for Style-Debiased Object Detection via Label-Consistent Training across Multiple Styles

Chaoran Zhang, Shirshak Bhusal, Zhilin Gao, Qiang Xue, Haoting Shen

原文摘要

Domain generalization (DG) for object detection aims to improve model performance on unseen target domains. Existing detectors, however, suffer substantial degradation on visually distinct unseen domains, as models confined to limited training styles tend to overfit superficial statistical cues rather than object-level semantics. Motivated by human perception, which attends primarily to semantically relevant features while ignoring irrelevant style cues, we propose Origin-Anchored Multi-Style Consistency (OAMSC), a source-only framework that couples multi-style data synthesis with cross-style consistency learning to suppress style-sensitive shortcut learning. For data preparation, we leverage off-the-shelf diffusion models to expand the source datasets into 20 distinct styles, with all generated images manually verified to ensure that object instances and annotations remain consistent across style variants. During training, we impose Origin-anchored consistency constraints at scene and object levels to reinforce the learning of domain-stable features while suppressing the influence of style-sensitive cues. Extensive experiments and ablation studies on multiple challenging DG benchmarks demonstrate the consistent effectiveness and strong generalization performance of OAMSC across diverse domain shifts. Notably, our approach applies to both one-stage and two-stage detectors, while its data-centric design is complementary in principle to other DG methods. The training code and two style-transfer datasets constructed for the experiments, comprising approximately 180K images in total, are publicly available on GitHub.

cs.CV

版本更新 · v2arXiv:2602.23903

SegMate: Asymmetric Attention-Based Lightweight Architecture for Efficient Multi-Organ Segmentation

Andrei-Alexandru Bunea, Dan-Matei Popovici, Radu Tudor Ionescu

原文摘要

State-of-the-art models for medical image segmentation achieve excellent accuracy, but require substantial computational resources, limiting deployment in typical resource-constrained clinical settings. We present SegMate, an efficient 2.5D framework that achieves state-of-the-art accuracy, while considerably reducing computational requirements. Our efficient design is the result of meticulously integrating asymmetric architectures, attention mechanisms, multi-scale feature fusion, slice-based positional conditioning, and multi-task optimization. We demonstrate the efficiency-accuracy trade-off of our framework across three modern backbones (EfficientNetV2-M, MambaOut-Tiny, FastViT-T12). We perform experiments on three datasets: TotalSegmentator, SegTHOR and AMOS22. Compared with the vanilla models, SegMate reduces computation (GFLOPs) by up to 2.5x and memory footprint (VRAM) by up to 2.1x, while generally registering performance gains of around 1%. On TotalSegmentator, we achieve a Dice score of 93.51% with only 295 MB peak GPU memory. Zero-shot cross-dataset evaluations on SegTHOR and AMOS22 demonstrate strong generalization, with Dice scores of up to 86.85% and 89.35%, respectively. SegMate variants in this study empower single GPU setups to process up to 10,000 volumes per hour with just 74 J per volume using batch inference, enabling population-scale CT processing on commodity hardware. We release our open-source code at https://github.com/andreibunea99/SegMate.

cs.CV · cs.LG

新论文 · v1arXiv:2611.09003

FoundaRF: A Physics-Informed Foundation Model Framework for Radio-Frequency Passive Components

Houbo He, Chris Han, Hyunsu Chae, Lei Xia, Qiang Zhou, Lawrence Liu, Sensen Li, David Z. Pan 等 9 位作者

原文摘要

Designing RF/mmWave passive components is a time-consuming process that relies heavily on expert knowledge and iterative EM simulations. Although recent ML surrogate models have shown great promise in accelerating passive design, they remain task-specific and lack generalization. This paper presents FoundaRF, a foundation model framework that unifies passive layout modeling across diverse layout structures and technologies. It combines a self-supervised encoder with adaptive layout processing and physics-aware decoders to enable few-shot transfer. Experiments across four semiconductor technologies show strong generalization to unseen structures, outperforming baselines with up to a 3.3x reduction in prediction error, reducing labeled-data requirements by up to fourfold, and substantially shortening design turnaround. FoundaRF establishes a scalable and data-efficient solution for RF/mmWave passive design automation.

eess.SP · cs.AI

版本更新 · v2arXiv:2610.02801

VIGOR: Zero-Shot Visual Generalization via Latent-Space Consistency in Model-Based Reinforcement Learning

Mingyu Park, Samyeul Noh, Hyun Myung, Donghwan Lee

原文摘要

Model-based reinforcement learning (MBRL) achieves strong sample efficiency by planning in learned latent dynamics but degrades substantially under unseen visual distractions such as background, lighting, or camera changes. Unlike model-free RL, where encoder perturbations affect only single-step predictions, MBRL suffers from a two-level vulnerability: distractions push encoder outputs out of distribution, and these errors compound through recursive latent rollouts. We propose visual generalization via latent-space consistency in model-based RL (VIGOR), which enables zero-shot generalization to unseen distractions while retaining its backbone's sample efficiency. VIGOR comprises three interdependent components: (i) asymmetric weak-to-strong augmentation, which pairs weak-only and weak-to-strong latent views within a batch; (ii) dynamics-level consistency, which enforces augmentation-invariant transition predictions via direct latent regression; and (iii) encoder-level stabilization, which prevents encoder drift under the cross-augmentation supervision of (ii). On the DeepMind Control Suite (DMC) and Robosuite, VIGOR instantiated on TD-MPC2 outperforms state-of-the-art model-free and model-based baselines in zero-shot generalization, surpassing the second-best baseline by 3.4% on DMC and 43.6% on Robosuite, with sample efficiency comparable to its backbone and fewer environment interactions than the other baselines. Ablations show that VIGOR is augmentation-agnostic: augmentations from distinct perturbation families preserve strong generalization, confirming that latent-space consistency, not the augmentation choice, drives robustness. A second instantiation on DreamerV3, a structurally distinct recurrent state-space model, also improves zero-shot generalization on both benchmarks, indicating backbone-agnostic benefits. Code and videos: https://vigor-gen.github.io/.

cs.AI · cs.LG · cs.RO

版本更新 · v2arXiv:2610.09502

RT-DETR-World: Transferring Rich LLM Semantics to Real-Time Open-Vocabulary Detection

Yupeng Zhang, Ziyi Zhao, Juntao Cheng, Sheng Wang, Ningnan Guo, Ruize Han, Liang Wan

原文摘要

Open-vocabulary detection (OVD) recognizes categories unseen during training through textual category queries, yet achieving strong generalization with real-time efficiency remains challenging. Beyond vocabulary scaling, zero-shot generalization may benefit from reusable visual--semantic cues learned from seen data, including attributes, actions, states, and contextual relations. Existing real-time OVD methods primarily emphasize vocabulary coverage and efficient region/query--text matching; under strict efficiency constraints, compact detectors may struggle to absorb rich instance semantics and scene context. We propose RT-DETR-World, a compact DETR-style detector that transfers the rich semantics conveyed by descriptions during training while retaining lightweight query--text matching at inference. We construct GroundingCapv2 with three levels of supervision: category names for standard OVD, object descriptions conveying instance-level semantics, and image descriptions conveying object relations and scene context. These descriptions serve only as training-time semantic supervision. To help the compact detector absorb these semantics, we propose Dual-Path Description Alignment (DDA), combining a deployment-consistent MiniLM pathway with a training-only LLM teacher. MiniLM provides query--category supervision and object-description alignment, while offline teacher features supervise matched queries and global visual representations at the object and image levels, respectively. All teacher features are precomputed, and the teacher-side modules are removed after training. We further propose Relation-Aware Negative Relaxation (RNR), which uses teacher-derived semantic similarities to relax related negatives while preserving exact positives. Experiments demonstrate competitive zero-shot accuracy and a favorable accuracy--efficiency trade-off. The code will be released.

cs.CV

新论文 · v1arXiv:2611.07922

StitchEdit: Stitching Depth Priors into Image Editors via Per-Layer Gradient Probing

Qin Guo, Dan Xu

原文摘要

Text-guided image editing with diffusion models struggles with spatial edits (e.g. manipulating objects, changing viewpoints, manipulating occlusions) that depend on the 3D structure understanding of a scene. Marigold and follow-up work demonstrate that a pretrained diffusion backbone already harbors strong geometric priors that can be activated for depth estimation, yet how to redirect these priors toward editing remains unresolved. Through per-layer gradient probing, we discover that the editing and depth objectives are compatible in early transformer layers but actively conflict in late layers, explaining why naive depth-conditioned editing either ignores geometry or degrades visual quality. We present StitchEdit, which first activates the backbone's geometric capability via a lightweight depth-denoising adapter, then selectively fine-tunes this adapter for editing using a probe-guided per-layer learning rate schedule that preserves depth knowledge where it helps and prunes it where it conflicts. On the proposed StitchEditBench, a benchmark of 150 geometry-dependent edits spanning spatial transformation, occlusion manipulation, and viewpoint change, StitchEdit consistently surpasses both instruction-based and depth-conditioned baselines on perceptual quality and geometric fidelity.

cs.CV

版本更新 · v3arXiv:2610.05108

Best-of-$N$ Guidance for Test-time Diffusion Alignment

Richard Lee Kim, Yeongmin Kim, Gyuwon Sim, Taekyu Kim, Minsang Park, Il-chul Moon

原文摘要

Diffusion models achieve strong generative performance but often struggle to align generated samples with human preferences measured by a reward model. A simple yet effective algorithm for test-time alignment is Best-of-$N$ (BoN) sampling, which draws $N$ i.i.d. samples from a pre-trained diffusion model and outputs the single highest-reward sample. Despite its empirical success, BoN makes limited use of reward information, as it is incorporated only at the final selection stage without influencing the reverse diffusion trajectory during sampling. Consequently, BoN sampling does not improve the average alignment of generated samples and is primarily suited to single-output settings. We propose Best-of-$N$ Guidance (BoNG), a novel method that integrates the principle of BoN sampling directly into the reverse diffusion process. BoNG performs online BoN selection over denoising particles and adjusts the reverse diffusion process to steer the particle population toward higher-reward regions during generation. Specifically, by introducing an asymmetric guidance interaction among denoising particles, BoNG uses the current BoN particle as a guidance signal to the rest of the particle population. This particle-level interaction reshapes the sampling process toward higher-reward regions, enabling BoNG to improve not only the final best sample beyond Vanilla BoN sampling, but also the average quality of generated samples. Over 36 empirical comparisons, BoNG achieves the best performance in 29 cases, ranking first in 80.56% of the comparisons against SMC and Vanilla BoN sampling. BoNG also supports multi-output capability, achieving 1.3$\times$ ImageReward score of the latest sample-based guidance method with a 1.6$\times$ speedup. We release the code at https://github.com/aailab-kaist/BoNG.

cs.LG · cs.AI

新论文 · v1arXiv:2611.06635

Uncertainty-Driven Efficient Communication for UAV-Based Collaborative Perception

Jiuwu Hao, Yuting Wan, Liguo Sun, Zao Zhang, Yueyang Wu, Pin Lv

原文摘要

Unmanned aerial vehicle (UAV)-based collaborative perception enables multiple agents to share complementary perceptual information, overcoming limitations such as occlusion and limited sensing range. Communication efficiency is a critical bottleneck, as UAVs operate under stringent bandwidth and computational constraints. However, existing spatial selection methods focus predominantly on foreground regions to reduce missed detections, neglecting perceptually ambiguous regions and leaving false detections unresolved. We propose UCP, an uncertainty-driven framework that characterizes collaborative value through observational uncertainty, identifying sensor-limited regions, and discriminative uncertainty, capturing model-level ambiguity near the decision boundary. These estimates drive spatial request and supply maps for efficient inter-agent communication, and the received messages are aggregated via U-Fusion, an uncertainty-guided cross-attention module. Experiments on three benchmarks across 3D object detection and trajectory prediction demonstrate a superior performance-bandwidth trade-off with high interpretability and strong generalizability.

cs.CV

新论文 · v1arXiv:2611.06093

Drift-adaptive Representation Preservation for Domain-Incremental Learning

Hyunmin Kong, Gyutae Oh, Jitae Shin

原文摘要

Pretrained vision models provide strong general-purpose representations, but in Domain-Incremental Learning (DIL), where the input distribution changes sequentially, adapting to new domains often degrades performance on previously learned ones. We observe that forgetting is not uniform across domains and classes and is not explained by training order alone. This motivates us to track each past domain-class concept individually. We use representation drift, defined as the deviation of a past concept's current representation from a fixed anchor, as a measurable surrogate for forgetting risk. The measured drift then serves two complementary roles. A consolidation loss assigns stronger preservation to high-drift pairs, while prototype construction down-weights highly drifted domains to reduce their influence on the class reference. Preservation is thus allocated by measured drift rather than assumed importance. To obtain this signal during training without storing past raw data, we repurpose a Joint-Embedding Predictive Architecture (JEPA). For each domain-class pair, we store only a compact context summary in the backbone feature space and rerun it through the learned context-to-target relation to measure its drift from the fixed anchor. Across DomainNet, Office-Home, CORe50, and CDDB-Hard, our method sustains a strong accuracy-forgetting balance on every benchmark, using substantially less training memory than accuracy-competitive methods and the smallest storage among compared methods.

cs.CV · cs.AI

版本更新 · v2arXiv:2606.14084

Test-Time Improvement of VLA Policies via Selected Diffusion Noise for Spurious-Robust Action Smoothing

Duc Minh Nguyen, Bao-Ngoc Dao, Tung M. Luu, Binh Gia Nguyen, Vinh Tong, Anji Liu, Vu N. Duong, Dung D. Le 等 18 位作者

原文摘要

Diffusion-based Vision-Language-Action (VLA) policies have demonstrated strong generalization in robot manipulation, but their deployment can remain unreliable due to spurious visual reliance and stochastic action generation, leading to grounding failures and kinematically unstable behaviors. We introduce Selected Diffusion Noise (SDN), a training-free method that treats diffusion noise as a controllable degree of freedom for improving test-time reliability. SDN samples multiple candidate action chunks and applies two-stage selection: it first filters candidates based on task-relevant visual grounding using a counterfactual negative set, then selects the kinematically most stable chunk based on JerkRMS. Experiments on three VLA policies across both simulation and real-world environments show improvements of 8-10% and 18.33%, respectively, demonstrating SDN's effectiveness for test-time improvement.

cs.RO