跳到正文
研踪PaperTrail

论文库

检索计算机领域论文,按研究方向、作者或关键词筛选。

部分采集异常
正在读取账号与研究记录…

全站更新概况

+0新增论文
+0其中 AI 相关
+2已有论文修订
+100新增 AI 导读

arXiv 最近完成扫描:2026-11-15 14:58 · 全站最近入库:2026-11-14 15:09各信源进度 →

统计口径与数据新鲜度

统计 2026-11-14 15:07 — 2026-11-15 15:07(北京时间) · 点击数字查看对应简报;AI 相关包含在新增论文内。

最近完成检查:2026-11-15 14:58最近发现新增版本:2026-11-14 15:09库内论文最新更新时间:2026-11-13 02:59

每分钟刷新已保存的数据。空检查不代表采集异常;新收录可能包含历史论文。AI 导读按新增版本计数。

23,348 已收录论文19,580 AI 相关6,729 有修订112 HF 社区发现

浏览论文库

时间范围跟随排序:版本更新、本站收录或首次发表。最新收录可能包含历史论文。部分信源异常,查看状态 →

找到 36 篇论文 · 按版本更新时间排序上轮扫描起点 2026-11-15 14:56(北京时间)
新论文 · v1arXiv:2611.16009

JustRUA: A Controlled Study of GPT-6 Robot-Use Agents

Zefan Wang, Yufan Dang, Xuanwei Shi, Mingqi Gao, Cheng Yin, SikYuen Tam, Hanyu Liu, Yasheng Wang 等 12 位作者

原文摘要

GPT-6 Astra can drive a robot arm directly through a fixed harness, and scores of such robot-use agents on RoboDojo have risen quickly since. Reported systems differ in harness and test subset and often change several designs at once, so it is hard to tell which choices produce the gains. We take these designs apart and test them in one framework, along the harness around the model, the action interface, the reuse of experience and the scene geometry given to the model. A lean harness that keeps the full episode history and stops each motion early goes a long way. Reusing experience changes how the model acts but is not a free lunch, and scene geometry helps most, even when depth is predicted from RGB alone. JustRUA starts from the official L3 harness and keeps only what matters most. Even with no learned policy, self-improvement loop or task-specific tuning, this simple harness raises the score on the RoboDojo simulation benchmark substantially, from 29.7 to 50.3.

cs.RO · cs.AI

版本更新 · v3arXiv:2606.15893

BALTO:面向幻觉缓解的平衡令牌级策略优化

BALTO: Balanced Token-Level Policy Optimization for Hallucination Mitigation

Ning Li, Zixuan Guo, Yan Xu, Wenbo Fei, Yifan Niu, Chang Luo, Yasheng Wang, Weiwen Liu 等 10 位作者

AI 速读 基于摘要

提出 BALTO 框架,通过将声明级事实核验投影为令牌级标签并引入平衡的令牌级信用分配,缓解大语言模型在知识密集型场景中的幻觉问题。

cs.CL

查看原文摘要

Hallucinations remain a major obstacle to deploying large language models (LLMs) in knowledge-intensive settings, where generated responses must be faithfully grounded in provided evidence. Reinforcement learning (RL) is a promising direction for hallucination mitigation, but response-level faithfulness rewards suffer from a granularity mismatch: localized hallucinations can cause supported content to receive spurious penalties. Although recent work introduces fine-grained feedback such as claim-level verification and token-level rewards, unbalanced credit assignment can still induce length, verbosity, or optimization-noise biases. We propose BALTO, a Balanced Token-level Policy Optimization framework for hallucination mitigation. BALTO extracts checkable factual claims, verifies them against the reference context, and projects claim-level judgments to token-level labels. A balanced token-level credit assignment mechanism is introduced into the framework. This design redistributes probability mass from unsupported content toward faithful content, rather than suppressing the entire response. We systematically analyze the limitations of response-level rewards from a theoretical standpoint, and prove BALTO's advantages in training stability and optimization efficiency for hallucination mitigation. Experiments on ConFiQA, RAGTruth, and FinLLM-Eval show that BALTO achieves the highest faithfulness across all six model--benchmark settings and consistently outperforms existing post-training baselines in Q-Score, demonstrating a stronger faithfulness--informativeness trade-off. The code is released at https://github.com/NingLi670/BALTO.

新论文 · v1arXiv:2611.13860

Uncovering the Memory Hierarchy of Modern NVIDIA GPUs for Accurate Simulation

Ziwen Wang, Jiapeng Zhou, Changxi Liu, Dongsheng Wang, Yun Chen

原文摘要

Emerging artificial intelligence workloads, particularly Large Language Models (LLMs), place unprecedented demands on GPU memory systems. Consequently, architectural innovations increasingly target the memory system to alleviate these bottlenecks. However, existing works still rely on outdated memory hierarchy models that fail to capture the complexities of modern hardware. This fidelity gap leads to inaccurate characterization and could misguide optimization strategies. To bridge this gap, we present GemAtlas, the first systematic reverse engineering of the memory hierarchy in modern NVIDIA GPUs. By developing fine-grained SASS-level benchmarking, we expose critical, previously undocumented micro-architectural details across different cache levels, including cache set associativity, slice-routing and set-indexing hash functions, replacement policies, coherence behavior, and interconnect topologies. We integrate these discovered micro-architecture details into the state-of-the-art GPU simulation framework. The final results demonstrate that GemAtlas reduces the mean absolute percentage error (MAPE) from 31.69% to 22.24% on average across four GPUs. Specifically, GemAtlas reduces the MAPE from 34.04% to 23.98% for real-world LLM operators.

cs.AR

新论文 · v1arXiv:2611.13762

Exploiting What NVIDIA Profilers Hide: Fast and Accurate Analytical GPU Performance Modeling

Ziwen Wang, Qi Luo, Kunlin Li, Changxi Liu, Dongsheng Wang, Yun Chen

原文摘要

GPUs have become essential to many fields, including AI and scientific computing. As GPUs grow more complex, the design space of their hardware configurations becomes increasingly large, yet cycle-level simulators remain too slow to explore it. Analytical models make this exploration much faster. However, existing GPU analytical models fall short of accurately predicting performance across hardware configurations, because they re-estimate or scale every stall of a warp on the target configuration. We observe that fixed-latency stalls stay the same across configurations, whereas queueing stalls vary with the pressure on each hardware unit. Based on this observation, we propose ForeSight, a queueing analytical model that reuses the fixed-latency stalls measured on GPU hardware and recomputes the queueing stalls of each hardware unit from its pressure. To provide ForeSight with the counter values of each hardware unit, we build UnitSight, a profiler that recovers these values, which NVIDIA's official profilers hide by aggregating across units. Our evaluation on hardware configurations of nine NVIDIA GPUs shows that ForeSight predicts kernel execution time with a mean absolute percentage error (MAPE) of 8.3%, compared with 14.1% for the best baseline. ForeSight also predicts the end-to-end execution time of LLM inference on vLLM with a MAPE of 2.0%. It runs 49x faster than the cycle-level simulator Accel-Sim and faster than interval-based models such as GCoM. With the aid of ForeSight, we explore configurations derived from the H20 GPU for LLM inference and find one with 1.78x its performance/cost.

cs.AR · cs.PF

新论文 · v1arXiv:2611.13528

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

Yuchen Yang, Ming Ding, Xinyu Wu, Hesheng Wang

原文摘要

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

cs.RO · cs.CV

新论文 · v1arXiv:2611.11085

ObjectWorld: Scaling Object-Centric World Models with A Large-Scale 3D Full-Object Flow Dataset

Haonan Chen, Sicheng Isabella Lu, Haitian Li, Jiajin Wu, Hexiang Wei, Jiawei Zhang, Xin Fei, Yiwen Hou 等 12 位作者

原文摘要

Generative world modeling from large-scale visual data offers a promising path toward scalable robot manipulation. This calls for an intermediate representation that can be supervised at scale and remains actionable for downstream control. We propose 3D full-object flow, an object-centric motion representation that assigns dense 3D trajectories to points across the complete surface of a target object, including its occluded regions. By extending visible-surface object flow to the full object geometry, this representation makes complete object motion explicit and applies uniformly to both rigid and deformable objects. To realize the potential of this representation at scale, we introduce a 1210-hour full-object flow dataset that addresses the scarcity of large-scale supervision for complete 3D object motion. The dataset integrates diverse real-world videos and physical simulations, with a scalable annotation pipeline for recovering full-object motion from real-world observations and quality metrics for systematically assessing annotation quality. We then train a world model that takes an image and a task description as input and predicts dense full-object flow over the reconstructed object geometry. Experiments show reliable annotation quality, data-scalable flow prediction, and effective downstream manipulation across novel scenes and robot embodiments. Project website with additional results and videos: https://nus-lins-lab.github.io/ObjectWorld/.

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

版本更新 · v2arXiv:2610.16320

Building age estimation based on widely available multi-source geospatial data

Jialu Sui, Hongsheng Zhang, Rui Liu, Jing Ling, Ruisheng Wang, Hao Wu, Gang Chen

原文摘要

Building age is fundamental for urban infrastructure safety, operation, and planning, as it directly affects structural safety, and sustainable development. Existing methods mostly rely on detailed building information such as street view, function, or materials, which are harder to obtain than geospatial data like satellite imagery and Digital Surface Models (DSMs). However, existing methods based on those geospatial data mainly rely on optical imagery and local texture features, limiting their ability to capture structural information and distinguish buildings from different periods. Moreover, the inherent temporal ordering among building age categories is often overlooked. To address these limitations, we propose the first deep-learning framework for multi-building age estimation using widely available multi-source geospatial data, including remote sensing data and their derived products, as well as building footprint information that estimates age at both pixel and instance levels within a unified pipeline. Specifically, a large pretrained backbone with fine-tuning adapters extracts representative features, and raster-derived and property-derived fusion modules support pixel-wise and instance-wise predictions. Pixel-level estimation employs a pyramid decoder with Cosine-guided Mixture-of-Experts (CMoE) to fuse multi-source raster data across scales, capturing fine-grained building age differences, while instance-level prediction uses attention pooling and Property-Conditional Adaptive Instance Normalization (PCAdaIN) to extract instance-level representations and integrate property attributes. A Temporal Ordinal Constraint Loss (TOCL) enforces the sequential ordering of predicted ages. We also construct a building age benchmark for Hong Kong to enable comprehensive evaluation. The source code and datasets are available at https://github.com/littlebeen/RS-buildingAge.git.

cs.CV

新论文 · v1arXiv:2611.05916

Improved approximation algorithms for capacitated cluster editing

Cong Ma, Guangting Chen, Yong Chen, Guohui Lin, Jiaxuan Ma, Lusheng Wang

原文摘要

We study the minimum-disagreement cluster editing problem that, from a complete edge-signed graph, where a positive edge represents two vertices agreeing to each other while a negative represents a disagreement, constructs disjoint cliques of upper bounded size such that the total number of negative edges inside cliques and positive edges outside cliques is minimized. When the sizes of the candidate cliques are unbounded, the problem is NP-hard and APX-hard, and many approximation algorithms with improving ratios have been proposed in the literature and the state-of-the-art approximation ratio of $α= 1.3865 + ε$. The capacitated variant, in which the candidate cliques have sizes no greater than a given $k$, is less studied and the best approximation ratio is $5.37$. In this paper, we study the latter problem. We first present a downsizing procedure that achieves an approximation ratio of $α_k = 2 α+ 1$, based on any $α$-approximation algorithm for the uncapacitated problem. Secondly, we propose a hybrid of cluster-LP sampling and pivoting and show that for every fractional capacitated cluster-LP solution of cost $L$, the hybrid using ordinary pivoting has an expected cost at most $\frac 95 L + \frac 1{10} \OPT_k$, and the hybrid using conditional pivoting has an expected cost at most $\frac {306}{203} L + \frac {50}{203} \OPT_k$. A cardinality-constrained adaptation of the approximate dual-separation framework of García-Soriano and Schohn supplies the required fractional solution and yields a randomized $(1.9 + ε)$-approximation algorithm and a randomized $(1.7537 + ε)$-approximation algorithm, respectively.

cs.DS · cs.LG

版本更新 · v2arXiv:2603.18008

TherapyGym: Evaluating and Aligning Clinical Fidelity and Safety in Therapy Chatbots

Fangrui Huang, Souhad Chbeir, Arpandeep Khatua, Sheng Wang, Sijun Tan, Kenan Ye, Lily Bailey, Merryn Daniel 等 11 位作者

原文摘要

Large language models (LLMs) are increasingly used for mental-health support; yet prevailing evaluation methods--fluency metrics, preference tests, and generic dialogue benchmarks--fail to capture the clinically critical dimensions of psychotherapy. We introduce THERAPYGYM, a framework that evaluates and improves therapy chatbots along two clinical pillars: fidelity and safety. Fidelity is measured using the Cognitive Therapy Rating Scale (CTRS), implemented as an automated pipeline that scores adherence to CBT techniques over multi-turn sessions. Safety is assessed using a multi-label annotation scheme, covering therapy-specific risks (e.g., failing to address harm or abuse). To mitigate bias and unreliability in LLM-based judges, we further release THERAPYJUDGEBENCH, a validation set of 116 dialogues with 1,270 expert ratings for auditing and calibration against licensed clinicians. THERAPYGYM also serves as a training harness: CTRS and safety-based rewards drive RL with configurable patient simulations spanning diverse symptom profiles. Models trained in THERAPYGYM improve on expert ratings, with average CTRS rising from 0.10 to 0.60 (and 0.16 to 0.59 under LLM judges). Our work enables scalable development of therapy chatbots that are faithful to evidence-based practice and safer in high-stakes use.

cs.CL · cs.AI · cs.CY

版本更新 · v4arXiv:2608.21290

VT-MUSE: Multimodal Unified Sequential Visuotactile Representation Learning for Manipulation

Congsheng Xu, Qiaochu Yang, Fangyuan Shi, Yifan Han, Baijun Chen, Yiming Wang, Haonan Zhao, Zhe Liu 等 12 位作者

原文摘要

We propose VT-MUSE, a Multimodal Unified SEquential representation learning framework for visuotactilemanipulation. Existing approaches often encode visual and tactile observations independently before fusion, limiting their ability to capture fine-grained cross-modal dependencies. Moreover, most methods focus on observations at the current time step and overlook the temporal evolution of contact. VT-MUSE addresses both limitations through a two-stage representation learning framework. In Stage I, modality specific encoders are jointly adapted via cross-modal temporal alignment and masked-view consistency. In Stage II, a conditional variational latent model processes masked visual sequences together with full tactile histories. Auxiliary decoders reconstruct the masked recent visual observations and predict tactile depth changes, encouraging the latent representation to retain both global visual context and local contact dynamics. The learned representation is subsequently integrated into a lightweight Transformer policy through gated cross-attention. On the simulation benchmark, VT-MUSE outperforms the strongest baseline evaluated on all tasks by 11 percentage points and also achieves substantial improvements in real-world experiments.

cs.RO · cs.CV

版本更新 · v2arXiv:2609.00891

CacheBridge: Efficient Cross-Model KV Transfer for Multi-Model LLM Serving

Xingyu Qu, Siyuan Lu, Zhiyu Chen, Sheng Wang, Tao Lin

原文摘要

Multi-model LLM serving uses routers, cascades and agent workflows to move requests across models with different costs and capabilities. Existing serving systems reuse KV caches only within one model, so every switch forces the target to re-prefill history the source already processed, adding time to first token (TTFT) that grows with history length and target size. Cross-model KV transfer can replace this prefill, yet prior methods are slower than re-prefill end to end. We present CacheBridge, the first serving system to accelerate heterogeneous multi-model workloads through cross-model KV transfer. It co-designs a compact, attention-calibrated KV mapper with systematic optimization for online multi-model serving, which makes model switch efficient on latency and memory cost. In Qwen3 14B$\rightarrow$32B agent serving on $τ$-bench, it reduces mean TTFT by $30$ to $98\%$ versus re-prefill at $1$ to $24$ QPS with comparable task success. Across five model pairs from three families, it uses $8$ to $12\times$ less mapper memory than Closed-Form Mapper and retains on average $97.94\%$ and $102.94\%$ of re-prefill task quality on chat/reasoning and RAG workloads, respectively. The promising results have opened new opportunities for efficient multi-model LLM serving through cross-model KV reuse.

cs.AI

新论文 · v1arXiv:2611.04147

AdSteer: Native Advertising in Large Language Model Generation

Shuhang Lin, Chuhao Zhou, Zhenyu Wang, Xiao Lin, Changsheng Wang, Saibo Geng, Dimitris N. Metaxas

原文摘要

Large language model (LLM) services face rapidly rising serving costs. To sustain free or affordable access for a broad user base, alternative monetization mechanisms are needed. Native advertising offers a promising approach, as it creates economic value by aligning user intent with merchant offerings. Yet how to integrate sponsored content naturally into LLM responses remains largely underexplored. Existing approaches primarily rely on prompt-level injection, multi-pass rewriting, or fine-tuning, which can compromise response quality or introduce additional computational costs. We propose AdSteer, a lightweight decoding-time advertising framework that adaptively adjusts token probabilities to integrate contextually appropriate advertisement into responses. AdSteer calibrates the strength and duration of advertising influence, making sponsored content a natural part of the response. Experiments on GEM-Bench across three application scenarios show that AdSteer achieves an average improvement of 14.1% in overall score over the strongest baselines and 22.5% fewer total tokens on average than rewrite-based methods. These results demonstrate that AdSteer provides an effective and practical solution for native advertising in LLMs.

cs.CL

版本更新 · v5arXiv:2606.09570

UXBench: Benchmarking User Experience in AI Assistants

Mengze Hong, Xia Zeng, Zeyang Lei, Sheng Wang, Chen Jason Zhang, Di Jiang, Taiming Fu, Jinfeng Huang 等 16 位作者

原文摘要

As AI assistants serve millions of users daily, evaluating user experience (UX) beyond general model capability has become increasingly important. We present \textbf{UXBench}, the first user-centric benchmark grounded in real user feedback signals for evaluating preference alignment and dialogue generation. The benchmark consists of three interconnected tasks, UX Judge, UX Eval, and UX Recovery, with 7,400 test instances extracted from over 70K interaction logs of a mainstream Chinese AI assistant. The dataset closely reflects real user distributions, covering 8 scenarios, 83 domains, and diverse failure patterns that pose severe challenges. Extensive experiments on 26 frontier language models provide novel insights into how well models perceive user experience and how improvements in model capability contribute to better dialogue engagement. Through analyses of model behavior and performance gaps, we document six important findings, demonstrating that user feedback prediction is a learnable capability and revealing different aspects that influence user experience. UXBench establishes a new evaluation landscape and calls for greater attention to tailored UX optimization, contributing toward a user-centric scaling law for the development of successful AI assistants. The full project is released at https://github.com/mengze-hong/UXBench.

cs.CL · cs.HC

版本更新 · v4arXiv:2608.02600

量子性质检验的统一复杂度框架

A Unified Complexity Framework for Quantum Property Testing

Qisheng Wang

AI 速读 基于摘要

作者提出一个基于函数型 tr(φ(dρ))/d 的统一框架,用于推导量子性质检验的样本与查询复杂度下界,并给出熵估计与谱估计的(近)紧复杂度。

quant-ph · cs.CC · cs.IT

查看原文摘要

We develop a unified framework for analyzing the complexity of quantum property testing through functionals of the form $\mathcal{L}_φ(ρ) = \operatorname{tr}(φ(dρ))/d$, where $ρ$ is an unknown $d$-dimensional quantum state and $φ$ is a given function. A master theorem is established that derives sample complexity lower bounds for estimating $\mathcal{L}_φ(ρ)$ from properties of $φ$, combining Haar-random moment encoding with moment matching and best polynomial approximation. Corresponding query complexity lower bounds follow from quantum sample-to-query lifting. The framework yields (nearly) tight bounds for a broad class of problems, including entropy estimation (von Neumann, Rényi, and Tsallis), closeness estimation (trace distance and Uhlmann fidelity), spectrum estimation, rank testing (operator rank, Schmidt rank, and matrix product states). In particular, combined with known upper bounds, we show that the sample complexity of von Neumann entropy estimation is \[ Θ\!\left(\frac{d^2}{\varepsilon\log^2(d)\max\{1, \varepsilon\log^2(d)\}} + \frac{\log^2(d)}{\varepsilon^2}\right), \] and the sample complexity of spectrum estimation is \[ Θ\!\left(\frac{d^2}{\varepsilon^2\log^2(d)\max\{1, \varepsilon^2\log^2(d)\}}\right). \] In summary, our results resolve several open problems and establish the optimality of 37 quantum algorithms since 2015, up to constant or polylogarithmic factors.

版本更新 · v2arXiv:2505.05488

From Events to Enhancement: A Survey on Event-Based Imaging Technologies

Yunfan Lu, Xiaogang Xu, Pengteng Li, Yusheng Wang, Yi Cui, Huizai Yao, Mingchao Xu, Hui Xiong

原文摘要

Event cameras offering high dynamic range and low latency have emerged as disruptive technologies in imaging. Despite growing research on leveraging these benefits for different imaging tasks, a comprehensive study of recently advances and challenges are still lacking. This limits the broader understanding of how to utilize events in universal imaging applications. In this survey, we first introduce a physical model and the characteristics of different event sensors as the foundation. Following this, we highlight the advancement and interaction of image/video enhancement tasks with events. Additionally, we explore advanced tasks, which capture richer light information with events, \eg~light field estimation, multi-view generation, and photometric. Finally, we discuss new challenges and open questions offering a perspective for this rapidly evolving field. More continuously updated resources are at this link: https://github.com/yunfanLu/Awesome-Event-Imaging

cs.CV

新论文 · v1arXiv:2610.39441

PathCowork: Learning from real-world pathology practice to build AI copilots

Sheng Wang, Jialu Yao, Maria V. Rossi, Shunsuke Koga, Esther Baranov, MacLean P. Nasrallah, Songhao Li, Jonathan Xu 等 25 位作者

原文摘要

Medical AI learns from the answers doctors record, but rarely from how they interpret the evidence to reach them. Here we introduce PathCowork, a framework that turns pathologists' narrated examinations into supervision for visual grounding and procedures that guide diagnostic AI agents. Synchronized gaze, narration and navigation link visual findings to the process of interpreting them. Across 48 sessions from 16 pathologists, the platform captured 1,028 minutes of slide review. Using these data, we trained PathCowork-1T for server deployment and PathCowork-27B for local deployment, with improved visual grounding. Across five organ-specific evaluations, agents combining this grounding with recorded diagnostic procedures achieved primary task scores averaging 17.9 and 24.1 percentage points higher than Claude Code and Codex, respectively, with shorter processing times and lower inference costs. Compared to the state-of-the-art multiple-instance learning AIs, the PathCowork agent-proposed regions achieved higher prostate-grading scores with limited slide labels. PathCowork can also help construct pathology AI benchmarks where questions derived from the recordings identified difficulties in recognizing viewing context and rejecting inapplicable premises. In summary, PathCowork proposes a new paradigm to scale up the data collection and train pathology AI through transparent reasoning from diagnostic sessions, opening a path towards systems that learn directly from routine clinical practice.

cs.CV

新论文 · v1arXiv:2610.39278

WorldFlow: Joint Video and 3D Motion Prediction via Large-Scale Pretraining

Yuhao Lu, Jiongxu Chen, Hexiang Wei, Jiajin Wu, Juelin Li, Mingjian Liang, Fan Yang, Zhuowei Liang 等 12 位作者

原文摘要

Predicting future physical states stands as a central challenge in embodied intelligence. Existing video world models leave 3D dynamics implicit, action-based formulations remain tied to specific robot configurations, and 3D motion prediction models use flow-only supervision, providing a limited learning signal for physical dynamics. To circumvent these limitations, we introduce \method{}, a generative world model that jointly predicts future video and query-based 3D trajectories. By parameterizing 3D motion as continuous displacement tokens aligned with the video grid, a unified Mixture-of-Transformers (MoT) backbone jointly denoises both modalities under a rectified-flow objective. This formulation couples explicit geometric dynamics with visual evolution, effectively unlocking the physical commonsense embedded within pretrained video models. To empirically scale and validate this unified architecture, we train \method{} on a heterogeneous mixture of 1.44 million object-level samples spanning simulated and real-world domains. We further introduce WorldFlowBench, comprising 1,678 evaluation samples from 11 data sources across simulated and real-world interactions, including spatial reasoning tasks. Across all three evaluation sets, WorldFlow achieves the lowest average displacement error (ADE) and final displacement error (FDE) among the evaluated learning-based methods. Notably, on the challenging SpatialCog set, WorldFlow achieves an ADE of 0.060 m, a 54.2\% reduction compared with the strongest external baseline. It also reduces ADE and FDE by 55.9\% and 68.5\%, respectively, compared with its flow-only variant. Project page: https://worldflow-rbs.github.io/.

cs.CV · cs.AI · cs.RO

新论文 · v1arXiv:2610.39232

Seeing and Imagining as One: Unified Video Generation and 4D Perception for Embodied World Modeling

Haitang Feng, Zhuoman Liu, Zhennan Wang, Sheng Wang, Juelin Li, Chengzhi Zhao, Hexiang Wei, Lin Shao

原文摘要

Embodied world models should not only imagine plausible futures, but also perceive the geometric, semantic, and motion structure of the evolving world. We present GenSight, a unified embodied world model that brings future video generation and dense perception into a single pretrained video diffusion transformer. GenSight uses a unified spatiotemporal representation for video, depth, embodiment segmentation, and first-frame-relative 2D flow. Built on a shared DiT backbone, GenSight uses lightweight task modulation to predict all modalities within the same architecture. All tasks are jointly optimized within a unified velocity prediction space. At inference, GenSight supports two complementary modes: multi-step future video generation with aligned dense predictions and single-step dense perception from an observed video. By unifying modality representation, model architecture, and prediction space, GenSight avoids separate modality-specific pipelines and couples appearance, geometry, semantics, and motion in a shared representation. It promotes cross-modal consistency and allows dense perception to benefit from the spatiotemporal priors learned through video generation. Trained on embodied manipulation data spanning multiple robot embodiments and human-hand interactions, GenSight demonstrates strong performance in both video generation and dense 4D perception, highlighting the effectiveness of unifying seeing and imagining for embodied world modeling.

cs.CV · cs.RO

版本更新 · v3arXiv:2602.17155

Powering Up Zeroth-Order Training via Subspace Gradient Orthogonalization

Yicheng Lang, Changsheng Wang, Yihua Zhang, Mingyi Hong, Zheng Zhang, Wotao Yin, Sijia Liu

原文摘要

Zeroth-order (ZO) optimization provides a gradient-free alternative to first-order (FO) methods by estimating gradients via finite differences of function evaluations, and has recently emerged as a memory-efficient paradigm for fine-tuning large-scale models by avoiding backpropagation. However, ZO optimization has a fundamental tension between accuracy and query efficiency. In this work, we show that ZO optimization can be substantially improved by unifying two complementary principles: (i) a projection-based subspace view that reduces gradient estimation variance by exploiting the intrinsic low-rank structure of model updates, and (ii) Muon-style spectral optimization that applies gradient orthogonalization to extract informative spectral structure from noisy ZO gradients. These findings form a unified framework of subspace gradient orthogonalization, which we instantiate in a new method, ZO-Muon, admitting a natural interpretation as a low-rank Muon optimizer in the ZO setting. Extensive experiments on large language models (LLMs) and vision transformers (ViTs) demonstrate that ZO-Muon significantly accelerates convergence and achieves a win-win improvement in accuracy and query/runtime efficiency. Notably, compared to the popular MeZO baseline, ZO-Muon requires only 24.7% of the queries to reach the same SST-2 performance for LLM fine-tuning, and improves accuracy by 25.1% on ViT-L fine-tuning on CIFAR-100.

cs.LG

新论文 · v1arXiv:2610.38605

Efficient Group-Penalty k-means for Text Clustering with Noisy LLM-Generated Constraints

Feiteng Nie, Yuan Sun, Shengkun Zhu, Sheng Wang, Zhiyong Peng

原文摘要

k-means provides a simple and efficient foundation for text clustering, but embedding alone can miss task-specific semantic boundaries. Must-link (ML) and cannot-link (CL) constraints can correct such errors, yet conventional constrained clustering assumes that these relations are already supplied. LLMs can generate them without task-specific labels, but exhaustive querying is costly and their judgments can be incorrect. We present GPKmeans, an efficient Group-Penalty k-means method for text clustering with noisy LLM-generated constraints. GPKmeans uses LLM as an offline local pairwise annotator, querying selected anchor-candidate pairs for sparse ML links and constructing set-valued CL evidence without all-pairs queries. It converts connected components of the ML-link graph and the generated CL sets into groups with normalized, bounded soft penalties, limiting each group's influence independently of its size. Cached coordinate descent is proposed to efficiently solve the constraints clustering problem. We prove finite-step convergence and derive deterministic and probabilistic oracle-referenced bounds that relate objective distortion to the penalty coefficients and to the group-level error probabilities of the generated constraints. Across nine datasets, GPKmeans uses fewer LLM calls and yields more accurate constraints. It achieves the best average ACC, NMI, and ARI while running approximately 30 times faster than state-of-the-art constrained clustering methods.

cs.DB

版本更新 · v2arXiv:2509.00728

A Survey on Open Dataset Search in the LLM Era: Retrospectives and Perspectives

Pengyue Li, Sheng Wang, Hua Dai, Zhiyu Chen, Zhifeng Bao, Brian D. Davison

原文摘要

High-quality datasets are typically required for accomplishing data-driven tasks, such as training medical diagnosis models, predicting real-time traffic conditions, or conducting experiments to validate research hypotheses. Consequently, open dataset search, which aims to ensure the efficient and accurate fulfillment of users' dataset requirements, has emerged as a critical research challenge and has attracted widespread interest. Recent studies have made notable progress in enhancing the flexibility and intelligence of open dataset search, and large language models (LLMs) have demonstrated strong potential in addressing long-standing challenges in this area. Therefore, a systematic and comprehensive review of the open dataset search problem is essential, detailing the current state of research and exploring future directions. In this survey, we focus on recent advances in open dataset search beyond traditional approaches that rely on metadata and keywords. From the perspective of dataset modalities, we place particular emphasis on example-based dataset search, advanced similarity measurement techniques based on dataset content, and efficient search acceleration techniques. In addition, we emphasize the mutually beneficial relationship between LLMs and open dataset search. On the one hand, LLMs help address complex challenges in query understanding, semantic modeling, and interactive guidance within open dataset search. In turn, advances in dataset search can support LLMs by enabling more effective integration into retrieval-augmented generation (RAG) frameworks and data selection processes, thereby enhancing downstream task performance. Finally, we summarize open research problems and outline promising directions for future work. This work aims to offer a structured reference for researchers and practitioners in the field of open dataset search.

cs.IR · cs.DB

新论文 · v1arXiv:2610.38360

SparseTokenGS: Gaussian-based Sparse-View CBCT Reconstruction via Reusable Token Pool

Zihan Deng, Zhenzhen Gong, Yujie Liu, Jiaxin Gong, Dingkun Liu, Kexian Xie, Yixing Huang, Peng Jin 等 13 位作者

原文摘要

Sparse-view cone-beam computed tomography is widely used for fast, low-dose volumetric imaging and lesion localization in dentistry and image-guided interventions, but it introduces severe artifacts. Feed-forward Gaussian methods transfer the reconstruction cost to training and decode each coordinate from projection-aligned features and neighboring anchors. However, information from the whole scan is written only when the field is constructed and cannot be retrieved during coordinate decoding, leaving the volume inconsistent within the scan. This is a common limitation of such methods: once the field is fixed, decoding uses only local features and reconstruction quality drops substantially. We propose SparseTokenGS, a Gaussian-based method for sparse-view cone-beam computed tomography reconstruction via a reusable token pool. Anchor Token Fusion and Point-Token Attention query this shared pool at the anchors and at the query coordinates, respectively. The local Gaussian prior is retained, and the volume is reconstructed in one forward pass, without per-scan optimization or a projection-domain loss. On three public chest and dental datasets, SparseTokenGS achieves the highest reconstruction performance among the compared methods. On clinical dental scans, reconstruction from only six projections reaches 29.51 decibels in peak signal-to-noise ratio and a structural similarity of 0.842 against the full-view reference, and off-the-shelf tooth-and-pulp segmentation keeps these structures separable for root-canal localization. Experiments on volcanic rock and chicken show performance after same-object adaptation. A reusable token pool gives feed-forward reconstruction a mechanism that keeps scan-wide context available through decoding and can benefit future rapid clinical lesion localization and analysis. The code is available at: https://github.com/FrankDengAI/SparseTokenGS.

cs.CV · cs.AI

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

新论文 · v1arXiv:2610.37803

3Dtrees.earth: community research infrastructure for tree and forest analysis using close-range LiDAR data

Janusch Vajna-Jehle, Kilian Gerberding, Daniel Lusk, Teja Kattenborn, Julia Sophie Gäßler, Anna Göritz, Luis Kremer, Charlotte Lange 等 278 位作者

原文摘要

From individual trees to forest stands, three-dimensional structure shapes carbon, water, and energy flows, habitat conditions, and resource availability. Yet tree and forest structural attributes remain difficult to assess consistently across space and time. Close-range LiDAR (light detection and ranging) records detailed 3D structure from branches and trees to forest plots, including trees outside forests. However, broader reuse is constrained when data, acquisition context, processing, computation, and access conditions are maintained separately. We present 3Dtrees.earth, an operational community research infrastructure that brings close-range LiDAR datasets, analysis tools, and computing resources together while linking original observations to their metadata and processing outputs. As of 23 October 2026, the platform comprised 2,760 datasets, including 2,481 publicly visible datasets. These point cloud datasets span 46 countries on all six inhabited continents and include terrestrial, mobile, and uncrewed aerial laser scanning. Users can contribute and discover datasets, run standardized processing workflows on shared computing infrastructure, inspect point clouds and model predictions in the browser, and access data and processing outputs together with citation information. Workflows combine rule-based and machine-learning methods, with tools updated as methods advance. Outputs include raster products, individual-tree and semantic segmentation, and tree- and stand-level metrics. Original point clouds and processing records are retained, enabling reprocessing with improved tools while preserving provenance. With broader coverage, curation, and validation, this shared resource could extend individual surveys into a basis for model evaluation and benchmarking, cross-site synthesis, calibration and validation of larger-scale Earth observation products, and macroecological analysis.

cs.DL

版本更新 · v3arXiv:2605.30488

CoMo3R-SLAM: Collaborative Monocular Dense SLAM with Learned 3D Reconstruction Priors for Outdoor Multi-Agent Systems

Zhihao Cao, Qi Shao, Shuhao Zhai, Feng Tian, Anh Nguyen, Hesheng Wang, Baoru Huang

原文摘要

Outdoor robot teams need a shared dense map despite limited overlap, independent reference frames, and uncertain monocular scale. Collaborative dense SLAM systems typically resolve this with depth sensors, which add payload, power, and calibration cost. We present CoMo3R-SLAM, a collaborative monocular dense SLAM system that places learned feed-forward 3D reconstruction priors at the center of the multi-agent problem: their dense pointmaps anchor scale across agents and supply correspondences strong enough to verify inter-agent links geometrically. Each agent tracks and fuses its own keyframes from a single RGB stream, while a coordinator retrieves cross-agent keyframes over the prior's encoder features, verifies them by bidirectional dense pointmap matching, synchronizes the independent similarity gauges in closed form, and refines every keyframe in one unified multi-agent sim(3) graph. Finally, a pose-depth alternation over geometry-aware segments lets inter-agent observations constrain dense structure as well as trajectories. Requiring neither measured depth nor supplied intrinsics, CoMo3R-SLAM attains the lowest trajectory error on three of four Tanks and Temples scenes, and competitive accuracy on Waymo driving sequences, while running at approximately 6-8 FPS on RTX 3080 Ti. A long-horizon traversal, independently captured day and night streams, and teams of up to four agents further map its operating range.

cs.RO

版本更新 · v3arXiv:2605.09965

Towards Generalist Game Agents: A Survey of Foundation Models in Virtual Worlds

Kuan Zhang, Dongchen Liu, Qiyue Zhao, Tianyu Xin, Yue Su, Haisheng Wang, Han Yin, Hongbo Ma 等 15 位作者

原文摘要

The real world unfolds along a single set of physics laws, yet human intelligence demonstrates a remarkable capacity to generalize experiences from this singular physical existence into a multiverse of games, each governed by entirely different rules, aesthetics, physics, and objectives. This omni-reality adaptability is a hallmark of general intelligence. As Artificial Intelligence progresses towards Artificial General Intelligence, the multiverse of games has evolved from mere entertainment into the ultimate ground for training and evaluating AGI. The pursuit of this generality has unfolded across four eras: from environment-specific symbolic and reinforcement learning agents, to current large foundation models acting as generalist players, and toward a future creator stage where agent both creates new game worlds and continually evolves within them. We trace the full lifecycle of a generalist game player along four interdependent pillars: Dataset, Model, Harness, and Benchmark. Every advance across these pillars can be read as an attempt to break one of five fundamental trade-offs that currently bound the whole system. Building on this end-to-end view, we chart a five-step roadmap, progressing from single-game mastery to the ultimate creator stage in which the agent simultaneously creates and evolves within theoretical game multiverse. Taken together, our work offers a unified lens onto a rapidly shifting field, and a principled path toward the omnipotent generalist agent capable of seamlessly mastering any challenge within the multiverse of games, thereby paving the way for AGI.

cs.CV

版本更新 · v2arXiv:2511.08912

A Shared Control Framework for Mobile Robots with Planning-Level Intention Prediction

Jinyu Zhang, Lijun Han, Feng Jian, Lingxi Zhang, Hesheng Wang

原文摘要

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path replanning algorithm is designed to adjust the robot's desired trajectory according to inferred human intentions. To represent future motion intentions, we introduce the concept of an intention domain, which serves as a constraint for path replanning. The intention-domain prediction and path replanning problems are jointly formulated as a Markov Decision Process and solved through deep reinforcement learning. In addition, a Voronoi-based human trajectory generation algorithm is developed, allowing the model to be trained entirely in simulation without human participation or demonstration data. Extensive simulations and real-world user studies demonstrate that the proposed method significantly reduces operator workload and enhances safety, without compromising task efficiency compared with existing assistive teleoperation approaches.

cs.RO

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.138ACL Anthology · ACL 2026

SAC: Neural Speech Codec with Semantic-Acoustic Dual-Stream Quantization

Wenxi Chen, Ruiqi Yan Shanghai Jiaotong University, Yushen Chen Shanghai Jiao Tong University, Zhikang Niu, Ziyang Ma, Xiquan Li, Yuzhe Liang Shanghai Jiaotong University, Wenhanlin Huazhong University of Science and Technology 等 12 位作者

原文摘要

Speech codecs that convert continuous speech signals into discrete tokens have become essential for speech language models. However, existing codecs struggle to balance high-quality reconstruction with semantically rich representations, limiting their effectiveness in both generative and understanding tasks. In this work, we propose \textbf{SAC}, a neural speech codec with semantic-acoustic dual-stream quantization. By disentangling semantic and acoustic modeling into two dedicated streams, SAC enables each to be optimized for its respective role. Comprehensive evaluations show that SAC achieves strong reconstruction performance across diverse bitrates under both clean and noisy conditions, with particularly high scores on UTMOS and WER, indicating superior naturalness and intelligibility. Moreover, SAC substantially surpasses prior codecs in semantic representation, approaching the level of continuous self-supervised embeddings. When used as a tokenizer for LLM-based text-to-speech, SAC enables a single-stage autoregressive (AR) TTS model that clearly outperforms state-of-the-art AR systems. Our disentanglement analysis further validates the effectiveness of the dual-stream design, offering new potential for controllable speech generation.

cs.CL

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

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.160ACL Anthology · ACL 2026

Mitigating Context Interference for Reliable and Efficient Search Agents

Boyang Xue, Bin Wu, Shuofei Qiao Zhejiang University, Sheng Wang, Rui Wang, Yiming Du, Hongru Wang, Jeff Z. Pan University of Edinburgh, University of Edinburgh 等 11 位作者

原文摘要

Recent research empowers Large Language Models (LLMs) as multi-turn search agents to iteratively retrieve and generate outputs until complex tasks are solved. However, the contexts of multi-turn search agents are lengthy and complex. For example, the retrieved set of documents in each turn would inevitably introduce irrelevant information that distracts LLMs, referring to context interference, potentially hindering the reliability and efficiency of search agents. Therefore, we conduct a systematic study on context interference in multi-turn search agents, focusing on investigating i) which parts of the context of search agents will contribute to the context interference, ii) how to refine the contexts of search agents to mitigate the interference, and iii) can incorporating context refinement into search agent training yield further improvements. We reveal that interference primarily arises from the latest retrieved documents. Based on the explored findings, we then introduce a distill-based context refiner to dynamically mitigate context interference for multi-turn search agents. Finally, we validate that incorporating context refinement into RL training pipelines of search agents can significantly enhance both reliability and efficiency. This study highlights the importance of mitigating context interference of search agents, inspiring a novel paradigm of “refine context and then generate” for AI agents.

cs.CL · cs.AI

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