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arXiv 最近完成扫描:2026-11-16 01:34 · 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

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新论文 · v1arXiv:2611.12852

是什么扼杀了 v-prediction?像素空间流匹配的逐块 PCA 视角

What kills $v$-prediction? A Patch-wise PCA Perspective on Pixel-Space Flow Matching

Tianze Luo, Haofeng Huang, Yuan Yao

AI 速读 基于摘要

作者从逐块 PCA 的带宽瓶颈视角解释像素空间流匹配中 v-prediction 的训练困难,并提出 Raw-injected Transformer(RiT)以恢复有效的 v-prediction。

cs.CV · cs.LG

查看原文摘要

Latent Diffusion Models dominate generative modeling but face two-stage training complexity and the inherent reconstruction limits of pre-trained autoencoders. Pixel-space Flow Matching offers a simplified end-to-end alternative yet often encounters training difficulties when using the standard $v$-prediction objective. Recent research attributes this difficulty to the off-manifold nature of noised targets, motivating a shift toward $x$-prediction. In this paper, we investigate this explanation through patch-wise Principal Component Analysis (PCA) and identify a bandwidth bottleneck. The velocity in minor components is largely determined by the raw noisy input, requiring deep backbones to preserve information that competes with principal-component modeling. Through controlled experiments and representation analysis, we further examine why $x$-prediction remains effective: its parameterization provides a raw-input bypass, while its learned input representation can spontaneously concentrate on principal directions. Under low-rank observations, our analysis of the induced flow characterizes $x$-prediction as an implicit conditional-mean decoder, reconstructing discarded components from the retained information. These observations motivate the Raw-injected Transformer (RiT), which combines a lightweight raw-conditioned decoder with an output-side shortcut to separate semantic modeling from raw-state propagation. Our method restores effective $v$-prediction and achieves competitive performance on ImageNet $256\times256$, providing a perspective on the interaction between prediction objectives and architectural bandwidth.

版本更新 · v2arXiv:2611.04371

Embodied AI for Scientific Discovery: From Physical Action to Scientific Evidence

Wenhao Xu, Changwei Wang, Shunpeng Chen, Yukun Song, Sifan Zhou, Kaize Luo, Shibiao Xu, Yuehua Zhao 等 9 位作者

原文摘要

Scientific experiments are increasingly selected, executed and interpreted by learned systems that act through physical interfaces. Robot learning builds physical competence, whereas AI for science chooses which experiment to run, each reporting different endpoints. This review treats their interface as one problem, embodied AI for science, where the experiment itself is partially observed: specimen state, apparatus state and measurement processes are latent, actions are costly and irreversible, and missingness depends on execution and outcome. We organize the literature by three closures operating at distinct levels: operational closure (the experiment realized is the one intended), epistemic closure (the result updates beliefs or selects subsequent experiments) and evidential closure (the record supports a claim). We analyze workflows through a record-linked evidence cycle - Record, Diagnose, Calibrate, Confirm - as analytic functions with feedback. A taxonomy crosses these closures with six delegated decisions and five embodiment classes. Our formulation separates commanded, realized and observed conditions and models diagnosis with explicit resource, risk and sample-change costs. We compare experiment-selection methods by terminal decision, review perception, protocol compilation, visuomotor policies, world models, recovery and transfer by evidence emission requirements, and compare chemistry, materials, biology, microscopy and field workflows by what their records establish. An appendix provides an evidence map of 28 workflows (26 physical, two software-boundary), characterizing validation pathways and claim confirmation requirements. We propose evaluation that separates actions, valid experiments, campaigns and confirmed claims, framing open challenges as controlled comparisons with measurable failure conditions.

cs.AI

版本更新 · v2arXiv:2609.08818

超越步态:跨日常活动的毫米波点云人员识别

Beyond Gait: Person Identification from Millimeter-Wave Point Clouds Across Activities of Daily Living

Xilai Wang, Zixiong Han, Saad Rhanmouni, Chenzhe Zhao, Yunze Lu, Miodrag Bolic

AI 速读 基于摘要

作者在自建 mm-ADL 数据集上评估基于稀疏毫米波点云的非步态日常活动人员识别可行性,并提出 DS-SDPNet 架构与三种活动-身份学习范式基准。

cs.CV

查看原文摘要

Person identification from millimeter-wave (mmWave) radar point clouds has primarily focused on gait. However, since indoor walking is typically brief and fragmented, gait-based identification is largely constrained to designated passages that support continuous walking. Meanwhile, non-gait activities of daily living (ADLs) are pervasive and also encode discriminative personal signatures. In this study, we evaluate the feasibility of ADL-based identification from sparse mmWave point clouds using mm-ADL, a dataset comprising seven core ADLs collected from 11 subjects under controlled protocols. Moving beyond uniform gait introduces significant activity-dependent variations that confound identity representations. To address this challenge, we systematically benchmark three activity-identity learning paradigms: monolithic learning, joint multi-task learning, and two-stage activity-conditioned routing, under both closed-set identification (ID) and subject-disjoint re-identification (ReID) biometric settings. In parallel, we propose Dual-Stream Static-Dynamic PointNet (DS-SDPNet), an architecture tailored to radar point clouds that captures complementary spatial morphology and motion dynamics. Across seven ADLs, DS-SDPNet achieves 70.2% mean closed-set identification accuracy and outperforms existing baselines on both mm-ADL and mmGait. Moreover, benchmarking the three paradigms without ground-truth activity labels during inference yields up to 68.0% closed-set accuracy and 75.4% ReID mAP, providing a systematic baseline and confirming the feasibility of point-cloud-based biometric identification across diverse daily activities.

新论文 · v1arXiv:2611.07411

Kinematic Hypothesis Context: Embodiment-Conditioned Learned Video Coding for Bandwidth-Limited Robot Policy Uplinks

Yuze Lu

原文摘要

Robots increasingly run large vision-language-action policies on remote servers, making the camera uplink the bottleneck. Existing video codecs spend bits on content the receiver could predict: the robot's own motion. We introduce the kinematic hypothesis context, a zero-rate conditioning signal that both ends build from joint states, the robot model and the camera calibration. Ego-motion homographies, per-link robot reprojections, an end-effector plane and a background memory warp the previous reconstruction into hypotheses that condition a learned video codec. We prove that history-only and global-pose conditioning with a limited receptive field cannot access this information under large motion, and that coding gains become task gains at the policy's success cliff. On LIBERO, the context saves 23.9% bit rate over a capacity-matched history-conditioned codec and 40-56% over x264, x265 and SVT-AV1, and needs 23.2% fewer bits than DCVC-RT at equal policy action deviation; trained to lower rates, it matches DCVC-RT in PSNR. In closed loop at equal rate, OpenVLA-OFT success nearly doubles from 22.8% to 43.1% at 6 kbps (72.6% with lower-rate training, 23.6 points above DCVC-RT), pi_0.5 success rises from 55.5% to 77.4%, and the gain grows under packet loss. The context transfers across three codec hosts and to real robot data.

cs.RO · cs.CV

版本更新 · v2arXiv:2610.32106

PersonaScienceBench: Evaluating Scientific Agents with Diverse Simulated Researchers

Siyang Wu, Weizhi Zhang, Chen Yang, Esther Xu Fei, Jorin Overwiening, Xu Pan, Jing Tang, Yixuan He 等 37 位作者

原文摘要

Scientific agents collaborate with researchers whose expertise and preferences differ, but benchmarks usually hold the collaborator fixed. We introduce PersonaScienceBench: 200 tasks from five benchmarks across four scientific domains. Simulated researchers provide context and feedback according to persona profiles, while task objectives and grading remain fixed. Agents encounter researcher preferences only through conversation. Across eighteen modelconfigurations, task performance, fact recovery, and self-repetition reveal different strengths. Detailed GPT 6 Astra analyses show distinct agent responses across researcher profiles; interaction traces illustrate targeted clar ification and workflow revision. These behaviors can differ even when final scores match. PersonaScienceBench therefore evaluates how agents collaborate with diverse researchers alongside whether they complete the task.

cs.AI

新论文 · v1arXiv:2610.38266

Recursive Self-Improvement in Physical AI: Mechanisms, Evidence, and Evaluation

Xiaofeng Han, Kaize Luo, Zenghuang Fu, Zichong Zhu, Zhe Feng, Changwei Wang, Rongtao Xu, Weiliang Meng 等 9 位作者

原文摘要

Embodied systems can update policies, world models, skills, and executable programs from deployment experience, allowing one interaction to benefit later tasks. When a system also revises and reuses its data-acquisition, feedback, or learning procedures, experience changes the process that produces capability, introducing recursive self-improvement. This paper surveys research in physical AI through the connection between persistent capability and its improvement process. We first explain the functional distinction between learner updates and improvers, then compare policy learning, imagined experience, memory and skill accumulation, and executable harnesses. These approaches connect to revisions of curricula, rewards, and research programs in different ways. Contact validity, recovery, retention, and resource costs determine whether the resulting gains accumulate during continued deployment. An L0-L3 rubric distinguishes task-local adaptation, persistent capability gain, inherited process revision, and verified improver gain. Representative benchmarks and within-study contrasts relate these distinctions to existing results. We further propose common-data and interactive comparisons that evaluate reference and revised improvers from shared learner starts, separating the use of experience from its acquisition. This perspective connects the diverse methods, physical operating conditions, and evaluation evidence, underpinning embodied RSI. A comprehensive list of studies in this survey is available at https://github.com/nkd-lkz/physical-ai-rsi-survey.

cs.RO

版本更新 · v2arXiv:2410.21024

Breccia and basalt classification of thin sections of Apollo rocks with deep learning

Freja Thoresen, Aidan Cowley, Romeo Haak, Jonas Lewe, Clara Moriceau, Piotr Knapczyk, Victoria S. Engelschiøn

原文摘要

Human exploration of the moon is expected to resume in the next decade, following the last such activities in the Apollo programme time. One of the major objectives of returning to the Moon is to continue retrieving geological samples, with a focus on collecting high-quality specimens to maximize scientific return. Tools that assist astronauts in making informed decisions about sample collection activities can maximize the scientific value of future lunar missions. A lunar rock classifier is a tool that can potentially provide the necessary information for astronauts to analyze lunar rock samples, allowing them to augment in-situ value identification of samples. Towards demonstrating the value of such a tool, in this paper, we introduce a framework for classifying rock types in thin sections of lunar rocks. We leverage the vast collection of petrographic thin-section images from the Apollo missions, captured under plane-polarized light (PPL), cross-polarised light (XPL), and reflected light at varying magnifications. Advanced machine learning methods, including contrastive learning, are applied to analyze these images and extract meaningful features. The contrastive learning approach fine-tunes a pre-trained Inception-Resnet-v2 network with the SimCLR loss function. The fine-tuned Inception-Resnet-v2 network can then extract essential features effectively from the thin-section images of Apollo rocks. A simple binary classifier is trained using transfer learning from the fine-tuned Inception-ResNet-v2 to 98.44\% ($\pm$1.47) accuracy in separating breccias from basalts.

astro-ph.EP · astro-ph.IM · cs.LG

新论文 · v1arXiv:2610.34759

From Belief Inference to Task Action: A Multi-Level Evaluation of Theory of Mind on Verifiable Tasks

Zhenshuai Yin, Yongxin Guo, Mingda Zhang, Zhongze Luo, Haoyue Liu, Lianmin Zhang, Xiaoying Tang

原文摘要

Effective collaboration requires language models to understand what others know and believe, and to act accordingly. Models that assume others share their information may omit necessary communication and undermine coordination. Many theory-of-mind (ToM) benchmarks assess mental-state inference through story questions, but correct answers do not establish that models can use these judgments in subsequent tasks. We introduce a multi-level evaluation built on existing, verifiable tasks. We extend household collaboration and calendar scheduling with asymmetric information while retaining their original constraints and validators. Independent interfaces assess world understanding, information access, beliefs, decisions, and execution. Controls supply personal evidence or correct beliefs to distinguish state recovery from state use. Across six model configurations, these abilities diverge. On matched scheduling cases, Claude recovers all agent beliefs correctly but produces subjectively optimal plans in only 67.9% of cases. In household collaboration, supplying beliefs raises Qwen-27B success from 55.0% to 75.0%, yet Qwen-4B answers every fixed supplied-belief source question correctly while completing only 20.0% of the corresponding continuation condition. These results show why ToM evaluation must connect perspective inference to independently verified decisions and task consequences.

cs.CL

新论文 · v1arXiv:2610.34737

LADDER: Diagnosing Domain-Level Self-Assessment Under Noisy Feedback

Zhenshuai Yin, Jianshu Liang, Xuyue Xiong, Yongxin Guo, Mingda Zhang, Zhongze Luo, Haoyue Liu, Lianmin Zhang 等 9 位作者

原文摘要

Knowing when they are reliable is essential for language models to support human-AI collaboration. Yet interaction feedback is not always complete or correct, and may mislead models' understanding of their own capabilities. We introduce LADDER to study how language models assess themselves under unreliable feedback. Our findings show that models can accurately report supplied performance information while still struggling to form trustworthy self-assessments from interaction experience. Apparently accurate assessments can obscure capability differences and do not necessarily predict future task performance. These findings suggest that trustworthy self-assessment should be evaluated against observed task performance and its predictive value. Our study provides empirical evidence of the limits of model self-knowledge and a basis for evaluating capability awareness in reliable human-AI collaboration.

cs.CL

首次观测 · 记录 #1ACL Anthology · ACL 2026:acl:2026.acl-long.263ACL Anthology · ACL 2026

FlexGuard: Continuous Risk Scoring for Strictness-Adaptive LLM Content Moderation

Zhihao Ding, Jinming Li, Ze Lu, Jieming Shi The Hong Kong Polytechnic University

原文摘要

Ensuring the safety of LLM-generated content is essential for real-world deployment. Most existing guardrail models formulate moderation as a fixed binary classification task, implicitly assuming a fixed definition of harmfulness. In practice, enforcement strictness—how conservatively harmfulness is defined and enforced—varies across platforms and evolves over time, making binary moderators brittle under shifting requirements. In this paper, we introduce FlexBench, a strictness-adaptive LLM moderation benchmark that enables controlled evaluation under multiple strictness regimes. Experiments on FlexBench reveal substantial cross-strictness inconsistency in existing moderators: models that perform well under one regime can degrade substantially under others, limiting their practical usability. To address this, we propose FlexGuard, an LLM-based moderator that outputs a calibrated continuous risk score reflecting risk severity and supports strictness-specific decisions via thresholding. We train FlexGuard via risk-alignment optimization to improve score–severity consistency and provide practical threshold selection strategies to adapt to target strictness at deployment. Experiments on FlexBench and public benchmarks demonstrate that FlexGuard achieves higher moderation accuracy and substantially improved robustness under varying strictness.

cs.CL

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