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Computer Science

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Thursday 17 September

Computer Vision

FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents

Dennis Rotondi, Abdelrhman Werby and Kai O. Arras

To operate effectively in human environments, robots must identify articulated objects, segment their movable and interactive parts, and estimate their kinematic models. Existing articulated scene representations typically recover kinematics from observed interactions, while methods operating on static scans often decouple articulation from functional interactive elements. We present FunArt, a framework that constructs articulation-aware functional 3D scene graphs from posed RGB-D observations captured in a single static configuration. FunArt reconstructs object instances, converts their fused geometry directly into the O-Voxel representation of TRELLIS.2, and exploits its frozen, sparse-compression VAE as a structural prior. A lightweight query-based decoder combines compact object-level latents with dense, surface-aligned features to jointly segment movable parts and functional interactive elements while estimating motion type, axis, origin, and range. On the Articulate3D dataset, FunArt achieves state-of-the-art performance across movable-part segmentation, articulation estimation, and functional-element segmentation, both with and without ground-truth object input. In the end-to-end setting, it outperforms the strongest baselines by 1.5 AP_{50} points for movable parts, 2.8 AP_{50} points under joint origin-and-axis constraints, and 6.7 AP_{50} points for functional elements. These results demonstrate that generative 3D latents encode actionable structural cues that can initialize robotic perception and planning before physical interaction.
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Robotics

MAGNETAR: Multipath-Guided Spatial Posteriors for Transmitter Pose Inference in the Upper Mid-Band

Haozhe Lei, Ruibin Chen, Yuhan Jiang et al. (+3 more)

Robots that localize a radio transmitter need more than a point estimate: in cluttered rooms, one measurement is often consistent with several transmitter locations and, because upper-mid-band antennas are directional, several headings. We present MAGNETAR, which infers a joint posterior over planar transmitter position and heading from a single asynchronous radio-frequency (RF) multipath snapshot, represented by angle-of-arrival and signal-to-noise-ratio estimates, given the room layout and receiver pose. Among our five neural scorers, MAGNETAR adopts a shared 2D U-Net conditioned on each candidate heading, jointly normalizing scores over a discretized position-heading grid. Training uses real-to-sim-calibrated 10 GHz simulations and a small measured subset. Grid-based joint posteriors outperform parametric ones on held-out simulations, the heading-conditioned scorer transfers best to robotic measurements, and fusing joint posteriors improves on fusing position-only marginals.
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All authors Haozhe Lei, Ruibin Chen, Yuhan Jiang, Ali Rasteh, Aditya Dhananjay, Sundeep Rangan

Robotics

Learning Foresight without Explicit Trajectories for 3D Diffusion Policies

Zhongbo Zhang, Zaibin Zhang, Yifan Wang et al. (+3 more)

3D diffusion policies are strong at generating geometrically grounded actions from current observations, but successful manipulation requires not only knowing what motion is feasible now, but also anticipating where the interaction is heading. Existing policies largely leave such foresight to emerge implicitly from action learning. We introduce Movement Trend Guidance, a simple but effective way to provide this foresight without introducing an explicit plan. From a short observation history, the policy learns a compact latent representation of interaction evolution. During training, sparse future gripper states supervise this representation; at inference, only the latent is retained as future-oriented conditioning alongside the current observation. The latent provides global conditioning for action generation, while an additional gated FiLM branch is used only at the UNet bottleneck. Despite adding only 3.52% more parameters to DP3, our method preserves the original dense-action and receding-horizon formulation and consistently improves upon DP3 across RoboTwin2.0, LIBERO-40, and DexArt. It reaches 62.8% vs. 56.1% in 50-task RoboTwin2.0 mixed training, 71.93% vs. 37.08% on LIBERO-40, and 72.0% vs. 49.0% on five real-robot tasks. These results show that a diffusion policy can benefit substantially from knowing where an interaction is heading, without being told exactly where to move.
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All authors Zhongbo Zhang, Zaibin Zhang, Yifan Wang, Changbo Yan, Lijun Wang, Huchuan Lu

Computer Vision

Earth Surface Immune System for Rapid Monitoring of Unknown Anomalies

Jingtao Li, Qian Zhu, Xinyu Wang et al. (+3 more)

Earth surface anomalies, driven by escalating climate change, and expanding human activities, are increasing in both frequency and diversity, yet their limited historical data and unpredictability make them fundamentally different from conventional remote sensing targets. Existing methods address specific anomaly categories or stop at localization, leaving a gap between detection and actionable information. Here we present ESIA, an Earth Surface Immune System whose architecture is constrained by three principles from the biological immune system, refined over millions of years against equally diverse and uncertain threats. A non-specific innate immune stage treats anomalies as unobserved changes in time-series satellite imagery, generating binary localization maps at 14.51 km2/s without assuming any anomaly category, surpassing the strongest general baseline by 37% in F1. A specific adaptive immune stage applies negative selection to filter text prompts and matches surviving prompts with localized image patches through a multi-modal foundation model, enabling open-vocabulary recognition of unknown anomaly attributes including category, affected area, and damage severity, with recognition F1 exceeding 80%. A mutation mechanism tunes minimal embeddings at test time, adapting to each scene in 3.26s using a single reference image pair. We validate ESIA on a global-scale dataset covering 19,801.60 km2 across six anomaly categories, comparing against 22 models, and further apply it to quantify degraded farmland in the Dnipro Delta following the Kakhovka Dam collapse and assess burn severity from 2025 Palisades Fire in Los Angeles. This unprecedented flexibility in handling unknown anomalies opens new avenues for real-time disaster response and environmental surveillance.
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All authors Jingtao Li, Qian Zhu, Xinyu Wang, Deren Li, Liangpei Zhang, Yanfei Zhong

Computers and Society

When Does the Public Become Suspicious of Bots? Demand-Side Evidence from Botometer Query Logs

Tuğrulcan Elmas

We study private bot-checking behavior from the demand side: when people suspect an account is automated, whom they suspect, and what follows. Using Botometer's server-side query logs, the most widely used bot-detection service, we treat each query as a behavioural trace of suspicion. We analyze over 1 million public checks of Twitter accounts from 2020 to 2023, enriched with 3.2 billion tweets from the contemporaneous 1% public stream. Collective suspicion spikes with platform crises, most sharply around the 2022 Musk-Twitter bot dispute. Checked accounts are older and more prolific, have more followers, and post promotional, political, and crypto content. Accounts that draw collective suspicion have higher bot scores and are more likely to be suspended. Bot-related public attention and Botometer activity are elevated during the same broad periods, although their short-run fluctuations are largely uncoupled. Public feedback focuses on first-person identity claims for humans, and evidence-based arguments citing posting rate, political content, and cross-account coordination for bots and cyborgs. Bot suspicion thus constitutes a mass, distributed form of platform auditing that tracks meaningful signals of automation, establishing audit-tool query logs as a novel lens on public responses to platform manipulation.
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Robotics

HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface

Zimu Han, Yiming Zeng, Jiyao Zhang et al. (+9 more)

Large-scale vision-language-action (VLA) models provide powerful priors for robot manipulation, yet adapting them to a specific deployment remains challenging. Supervised fine-tuning (SFT) on task-specific demonstrations provides a step toward deployment, but faces two persistent limitations: static data provide limited coverage of out-of-distribution states, and standard imitation objectives do not distinguish progressing behavior from less useful data. Interactive post-training can address these limitations, but typically requires repeated policy execution and human intervention on a physical robot. We introduce HIL-UMI, a policy-guided Universal Manipulation Interface (UMI) framework for robot-free human-in-the-loop VLA post-training. During handheld UMI demonstrations, HIL-UMI queries the current policy on the same observation stream without executing its predictions. The Energy Score compares the human action trajectory with policy inference and triggers collection when their discrepancy indicates an out-of-distribution region. In a separate feedback loop, low online advantage predictions identify essential segments for refining a progress-based advantage estimator. The updated estimator then guides advantage-conditioned behavioral cloning using a balanced mixture of base demonstrations and new policy data. This design preserves the iterative and policy-aware nature of human-in-the-loop learning while decoupling data collection from robot deployment. Experiments on four real-world tasks spanning long-horizon and precise manipulation show that HIL-UMI achieves consistent improvement over SFT and benefits from both targeted collection and advantage refinement. Moreover, HIL-UMI outperforms HG-DAgger on Clean Up Table with lower per-frame collection time, suggesting a scalable path for VLA post-training across operators and locations.
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All authors Zimu Han, Yiming Zeng, Jiyao Zhang, Zihao Zhao, Yuanfei Wang, Yixiang Jin, Shiqi Li, Shuangben Chen, Wei Huang, Ruodai Li, Hui Shen, Hao Dong

Artificial Intelligence

Ownership in AI-Assisted Everyday Tasks

Megan Wei, Melanie Subbiah, Audrey Lee et al. (+4 more)

When does work done with AI still feel like ours? As AI becomes woven into everyday tasks, we must examine what happens to our sense of ownership and contribution when a machine shares in producing what we make. We report an exploratory qualitative survey in which participants were asked to describe two recent, self-selected tasks completed with AI: one that felt like their own and one that did not. We find that felt ownership depends on the process of collaboration: people disown work when they merely approve AI's suggestions, but retain ownership when they lead, iterate, or rewrite. Ownership can also extend to settings where people own the vision for a project but not the execution; respondents reported high ownership on tasks they could not have completed without AI. Loss of personal voice and a lack of comprehension of the output both erode ownership. Finally, willingness to disclose AI use is often decoupled from actual pride or ownership, and instead shaped by community norms and fear of credit erasure. We propose several research directions as a result of these findings to promote AI development that supports people's sense of authorship over their own lives.
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All authors Megan Wei, Melanie Subbiah, Audrey Lee, Annya Dahmani, Dave Edwards, Helen Edwards, Ellie Pavlick

Computational Complexity · Cross-listed from quant-ph

Hardness of Pathfinding in a Welded Tree

David Miloschewsky and Supartha Podder

Starting from the entrance of a welded tree, a quantum walk algorithm can find its exit vertex exponentially faster than any classical algorithm. However, it has been an open question whether any quantum algorithm is able to efficiently find a path from the entrance to the exit. We answer this by proving an exponential quantum query lower bound for finding such path. Specifically, for trees of height $n$, any quantum query algorithm requires at least $\Omega(2^{n/24})$ queries in order to succeed with constant probability. Our proof uses the compressed permutation oracle technique in order to construct databases which track the graph information an algorithm has learned and forgotten, and show that no efficient quantum algorithm can build an entrance-to-exit path in these records.
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Machine Learning

Multi-center Medical Data Mining with FL-Net - A One-stop Shop for Federated Learning

Simon Süwer, Julian Klemm, Elisa Acitelli et al. (+39 more)

Federated learning enables collaborative training without sharing patient-level data, but most studies remain simulations. Based on five requirements derived from the literature, we analyzed 14 FL frameworks and found that none fully satisfied these requirements. We present FL-Net, a novel federated clinical research framework to fulfill all requirements. It integrates modular data harmonization, data discovery, disclosure control, securely built versioned FL-Net-Tools and containerized federated workflow execution into a persistent network. It enables the re-use of harmonized data and workflows across studies. FL-Net's end-to-end capabilities were evaluated through harmonization, cross-study patient discovery across MIMIC and US-130, and reproducible, audited federated workflows with up to 50 concurrent clients. FL-Net is being developed within the dAIbetes and Microb-AI-ome EU projects and will cover over 800,000 patients across 10 hospitals in 9 countries covering longitudinal and single point in time data, FL-Net provides a practical foundation for interoperable, reproducible, and privacy-preserving multicenter clinical research.
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All authors Simon Süwer, Julian Klemm, Elisa Acitelli, Mathieu Almeida, Lucia Altucci, Zsolt Bagyura, Michelangela Barbieri, Zsolt-Zoltán Bedő, Rosaria Benedetti, Béla Bihari, Csongor Csalóka, Lucia Dicunta, Stanislav Ehrlich, Bjoern M. Eskofier, Sándor-József Fejér, Georg Fröwis, Walter Hötzendorfer, Alexandra Kautzky-Willer, Jens Johann Georg Lohmann, Marianna Maranghi, Lorenzo Marconi, Rudolf Mayer, Wouter Leonard Megchelenbrink, Monika Moga, Adham Mottalib, Sanjeev Mehta, Madeleine Müller, Thomas Nyström, Balázs-Attila Orbán, Micheal O'Riordain, Paul O'Toole, Giuseppe Paolisso, Paolo Parini, Matteo Pedrelli, Enrico Petrillo, Philipp Poindl, Niklas Probul, Anastasia Pustozerova, Tanja Šarčević, Lukas Weilguny, Jan Baumbach, Andreas Maier

Robotics

DexTouch-WM: Learning Action-Conditioned Tactile World Models from Human Touch for Dexterous Robot Manipulation

Yan Qin, Yue Chen, Wenwei Lin et al. (+9 more)

Learning predictive models of contact-rich dexterous manipulation requires dense tactile interaction, but such data are costly to scale on real robots and remain tied to embodiment-specific sensors. We introduce DexTouch-WM, an action-conditioned world model that learns from scalable human touch to jointly predict future RGB observations and bilateral tactile dynamics. Our insight is that human and robot manipulation share transferable contact dynamics when their tactile observations and action spaces are made compatible. We deploy flexible piezoresistive arrays with a shared sensing layout on both human and dexterous robot hands, and retarget human motion into the robot action space so that human interaction can supervise the same dynamics model used for real-robot prediction. DexTouch-WM couples a pretrained video expert with a lightweight tactile expert using anatomy-aware tactile tokens and aligned action conditioning. In human-to-robot scaling experiments, we keep five hours of real-robot supervision fixed while increasing human interaction from 0 to 100 hours, and observe substantial improvements in held-out robot-domain visual, geometric, and contact prediction despite disjoint human and robot task sets. Beyond prediction, we evaluate the world models as surrogate environments for policy evaluation and as generators of synthetic trajectories for real-robot policy learning, showing that scalable human interaction provides a complementary data axis for learning dexterous robot world models.
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All authors Yan Qin, Yue Chen, Wenwei Lin, Shujia Liu, Chuqiao Lyu, Kailun Su, Weiyang Jin, Chenze Yu, Ping Luo, Wenbo Ding, Tianxing Chen, Renjing Xu

Robotics

SkipVLA: Skipping VLA Steps with Classical Planning for Fast Robot Manipulation

Kaivalya Agrawal, Md Ashiqur Rahman, Raymond A. Yeh et al. (+1 more)

Vision-Language-Action (VLA) models are a class of generalist robot policies that map camera images and language instructions directly to robot actions. While promising, these models remain slow at test time, particularly for long-horizon tasks that require many queries to the policy. Recent efforts reduce VLA latency by distilling smaller models, overlapping asynchronous action chunks, or pairing the VLA with a fast low-level policy, but still run a learned policy for the entire task. In contrast to VLA, classical motion planners quickly find collision-free motions, but require an explicit goal and have no semantic understanding of the task. In this work, we present SkipVLA, a hybrid policy that combines a pretrained VLA with a classical motion planner, using the planner for free-space motion and querying the VLA only for contact-rich skills such as grasping and placing. SkipVLA reuses the frozen vision-language backbone of the VLA to predict a target pose for each planned motion, and learns this predictor without additional demonstrations introduced into the system by using what was already learnt by the large VLA. We evaluate SkipVLA with three VLAs on 13 LIBERO tasks in simulation and three pick-and-place tasks on a physical 6-DoF YAM arm, demonstrating up to 2.5x faster task completion and significantly lower energy consumption while achieving the same task success rate.
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All authors Kaivalya Agrawal, Md Ashiqur Rahman, Raymond A. Yeh, Zachary Kingston

Robotics

TraceFlow: Guiding Frozen Flow-Matching Robot Policies with Success and Failure Traces

Jiaxuan Zhang, Ruizhe Liu, Yu Zhang et al. (+1 more)

A vision-language-action (VLA) policy with a flow-matching action expert generates each action chunk (a short command sequence) by integrating a learned velocity field; once its weights are fixed, the success or failure of an earlier rollout cannot change the chunk generated now. Concurrent test-time methods give a frozen policy such an input from retrieved successes, a learned critic, a verifier, or a dynamics model, but none uses the robot's own failed rollouts as negative evidence with nothing but a terminal outcome bit. We introduce TraceFlow, a progress-aligned guidance field that turns the action densities of retrieved successful and failed rollouts into a bounded correction to a frozen flow-matching action expert, using one terminal outcome bit per rollout and no other label. Its TraceBank stores traces, time-ordered state-action records with a terminal label, starts from the target-task training traces, and later admits the deployed robot's own rollouts. On an ordered real-robot packing task the base completes 21 of 50 trials in order, TraceFlow 39, and one stacking round without any weight update 47, with wrong-sequence episodes falling from 20 to 0. In simulation the gain is selective: with per-suite selected settings, TraceFlow raises RoboMemArena Sequence from 78.92% to 91.50% task success and Transferring from 54.41% to 62.00% at stacking round 2, leaves the 26-task aggregate unchanged, lowers Counting and Occlusion by 1.12 and 1.42 points, and changes LIBERO-Plus (Long) by +1.27 points (p = 0.0733). Stacking gains are finite, every branch peaking before round ten, and the bank's success-to-failure ratio predicts no retrieval allocation. Project page: https://zhangjiaxuan-xuan.github.io/TraceFlow/
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All authors Jiaxuan Zhang, Ruizhe Liu, Yu Zhang, Yanchao Yang

Numerical Analysis

Beyond PINNs: A Unified Gauss–Newton and Petrov–Galerkin Framework for Neural and Hybrid PDE Solvers

Nilo Schwencke and Roland Maier

Physics-informed neural networks and finite element methods provide two different paradigms for the numerical approximation of partial differential equations: the former are commonly trained by minimizing pointwise strong residuals, whereas the latter are naturally built from weak variational formulations and the finite-dimensional systems obtained after discretization. In this work, we introduce a common framework based on the discretization of functional Gauss–Newton problems by finite families of linear measurements. We show that, through an appropriate duality pairing, the linear measurements can be represented by test functions. The resulting Gauss–Newton system is then precisely a Petrov–Galerkin discretization of the linearized functional problem. This perspective recovers pointwise collocation and natural-gradient constructions as particular cases, while making the choice of test functions an explicit algorithmic design choice. We specialize this framework to elliptic problems, where it naturally leads to weak residual formulations and to a hybrid finite element–neural construction acting on complementary approximation spaces. Numerical experiments support the proposed framework and demonstrate the effectiveness of weak Gauss–Newton formulations and hybrid finite element–neural approximations.
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Networking

RUN-O-RAN: An O-RAN-Native Architecture Enabling Cooperative Uplink Localization

Viola Bernazzoli, Alberto Ceresoli and Ilario Filippini

Accurate positioning is increasingly required in indoor and dense urban environments; nonetheless, satellite-based systems are not always available, and standardized 5G localization solutions remain difficult to deploy with commercial devices. This paper presents RUN-O-RAN, an O-RAN-native framework that enables network-centric uplink localization using standard Sounding Reference Signal (SRS) transmissions from commercial 5G devices. RUN-O-RAN xApp coordinates serving and neighboring base stations, enabling non-serving base stations to retrieve SRS-based uplink timing measurements that would be unavailable in conventional RAN deployments, without modifying the UE or existing 3GPP signaling procedures. The framework combines cooperative SRS collection, first-path time-of-arrival estimation, timing-advance tracking, clock-drift compensation, and multi-anchor position estimation into a complete network-side localization service. Experimental evaluation over $150,000$ SRS transmissions validates the proposed framework, achieving meter-level localization under diverse propagation conditions while revealing the impact of anchor geometry and multipath on positioning accuracy. These findings demonstrate that cooperative SRS-based localization can be realized within the O-RAN ecosystem without modifying commercial UEs, providing a practical foundation for future network-native ISAC positioning services.
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Computer Vision

PROVIA: Procedure State Tracking for Online Mistake Detection in Egocentric Videos

Di Wen, Kailun Yang, Jimmy Weissert et al. (+7 more)

An assistant watching egocentric video should notice a mistake from past frames alone, before the next step begins, and keep working once the person recovers. A mistake changes the state of the work, so every later step has to be read against what was done rather than against the plan. The first-mistake protocol that current online methods report on cuts each recording at its first mistake, so a fixed-time rule that never looks at the video is right on every case. We evaluate on complete trials, where mistakes and recoveries arise naturally, under a validation false-alarm budget and against controls that use timing alone. PROVIA keeps two records apart: a factual state, a learned summary of the steps each actor performed, mistakes included, and the accepted progress, an exact posterior over the state of an automaton induced from correct demonstrations by Bayesian state merging and over the execution status of each actor. Procedure-state transitions occur only in the correct-status branch; the mistake and correction branches retain the source state. A sequential test turns the per-frame mistake probability into alarms. With one filter and one optimization rule, PROVIA ranks mistakes best among the evaluated controlled baselines on CaptainCook4D, IndustReal, HoloAssist and IMPACT-ego. At a validation budget of 0.1 false alarms per minute it recalls .154 against .128 on CaptainCook4D and .034 against .015 on HoloAssist, where it leads at every budget. The pipeline runs at 58-70 frames per second. The source code is available at https://github.com/Kratos-Wen/PROVIA.
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All authors Di Wen, Kailun Yang, Jimmy Weissert, Luc Maria Scherrer, Cedric Zöllner, Ruiping Liu, Yufan Chen, Jiale Wei, Junwei Zheng, Kunyu Peng

Human-Computer Interaction

Stereotypically Yours: Portrayal and Perception of Race-Coded AI Companions

Wang Claire, Jiayue Melissa Shi, Agam Goyal et al. (+4 more)

AI companions can purportedly adopt racial personas, raising questions about how they represent identity and how users interpret these portrayals. We combined an algorithmic audit of race-coded AI personas with interviews with 12 companion users who interacted with a probe. Our audit revealed systematic differences, such as Asian-coded male personas receiving higher submissiveness scores than White counterparts, and Black, Hispanic, and Indigenous male personas receiving higher aggression scores than their White counterparts in open-weight models. Interviews revealed that participants envisioned AI companions as offering cultural familiarity and outside perspectives, but differed in which portrayals they considered meaningful or stereotypical. Some rejected overt racial signaling while still expecting culturally distinctive responses. Triangulating these findings with theory, we highlight how social norms and cultural expectations complicate efforts to support meaningful racial representation without reproducing stereotypes. We discuss how companion personalization should be evaluated beyond user satisfaction to account for broader representational harms.
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All authors Wang Claire, Jiayue Melissa Shi, Agam Goyal, Grace Sletten, Renwen Zhang, Eshwar Chandrasekharan, Koustuv Saha

Computational Complexity · Cross-listed from math.OC

Complexity of Output Feedback Stabilization

Amir Ali Ahmadi, Abraar Chaudhry, Ijay Narang et al. (+1 more)

We show that unless P = NP, there cannot be a polynomial-time (or even pseudo-polynomial-time) algorithm for output feedback stabilization of a linear dynamical system with a linear controller. This settles one of the best-known open problems in control theory. The result holds in both continuous and discrete time. We also present a family of stabilizable linear dynamical systems for which no polynomial-time algorithm can write down a stabilizing controller in its standard representation.
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All authors Amir Ali Ahmadi, Abraar Chaudhry, Ijay Narang, Yukai Tang

Artificial Intelligence

PAA: The Probabilistic Allen Algebra: A Generative and Complete Probabilistic Extension of Allen's Interval Relations

Julian Eggert

Allen's interval algebra is a qualitative calculus for temporal relations, but its thirteen base relations are crisp predicates over exact interval boundaries. This is inadequate for temporal information from language, perception, databases, or uncertain histories, where times, durations, and boundaries are uncertain and expressions such as "just before" or "roughly during" have graded meaning. We develop the probabilistic Allen algebra (PAA): a generative and complete extension in which relation probabilities are derived from distributions over interval boundaries rather than assigned as scores. Time points are Gaussian; intervals have Gaussian midpoints and truncated-Gaussian durations. Every relation is a boundary-ordering predicate in one common probability space: point-point relations reduce to error functions, and point-interval and interval-interval relations to multivariate Gaussian orthant probabilities induced by linear inequalities. Contact relations (meets, starts, finishes, equals) receive positive measure through a tolerance band, and under a single tolerance the thirteen relations form a true partition that recovers crisp Allen as the tolerance vanishes. The construction derives Allen's taxonomy rather than positing it: coarse predicates such as precedence, overlap, and containment are unions of leaves whose probabilities are leaf sums, and this hierarchy is preserved as intervals collapse to points and thirteen relations reduce to five and then three. Each relation further decomposes into correlation-aware temporal primitives in the spirit of CIDOC CRM. The algebra is scale-invariant and separates graded expressions such as "shortly before" from contact relations. All results are Monte-Carlo validated and shipped as an open, tested Python package.
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Computer Vision

Refinement Is Inherently Editable: Training-Free Prompt-to-Prompt Image Editing with Generative Refinement Network

Yulong Chen, Ziqian Zhang, Haoyu Zhang et al. (+4 more)

Text-guided image editing must introduce the requested changes while preserving unrelated source content. In training-free editing, diffusion editors often use spatial controls whose inaccuracies can leave edits incomplete or alter unrelated regions. Causal autoregressive editors face a further constraint: their fixed decoding order limits revision of earlier decisions. As the first to explore training-free image editing with Generative Refinement Networks (GRN), we observe that its refinement process is inherently suitable for editing and offers a promising way to address these limitations. Motivated by this observation, we introduce RefineEdit, a training-free prompt-to-prompt image editing framework built on the GRN. Our key idea is to couple edit localization with content generation through the global refinement of binary image codes, allowing editing evidence to be revised as the image evolves. More specifically, RefineEdit combines bit routing with two stabilization mechanisms: adaptive spatial freezing and finite bit locking. Bit routing starts from an intermediate source state and uses signed probability differences between the two branches to identify editable positions and bits. It directs selected bits toward editing refinement while anchoring the rest to the evolving source trajectory. Adaptive spatial freezing limits unnecessary expansion of the editing region, while finite bit locking maintains recent bit activations to support continued editing. The overall framework requires no additional training, external masks, or attention control. Across nine editing categories of PIE-Bench, RefineEdit achieves the best background-preservation scores in PSNR, LPIPS, MSE, and SSIM, together with the highest whole-image and edited-region CLIP scores among the evaluated methods. Code is available at https://github.com/mura1n/RefineEdit.
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All authors Yulong Chen, Ziqian Zhang, Haoyu Zhang, Ao He, Yaxing Wang, Senmao Li, Kai Wang

Computation and Language

UniPolicy: Unified Objective-Specific Policies for Generative Search Advertising

Kun Yao, Yuhang Zhou, Yichi Zhang et al. (+6 more)

Search advertising connects user intent with commercial content and plays a critical role in platform monetization. Recent systems typically align pretrained generative models with a single business reward, such as eCPM, or use naive reward fusion for preliminary multi-objective alignment. However, an ideal search advertising system must jointly account for heterogeneous objectives, including relevance, click propensity, and commercial value, to balance user experience and business value while mitigating globally suboptimal performance caused by gradient competition. We propose UniPolicy, an objective-aware multi-policy alignment framework. UniPolicy combines objective-specific prefix tokens, sparse MoE-LoRA routing, and objective-specific residual FFNs to hierarchically decouple parameters within a shared backbone, providing differentiated parameter and policy-expression spaces for different business objectives. It further constructs pairwise preferences from multi-stage behavioral feedback, supplementing the relative preference information in exposed-but-unclicked samples and strengthening the relative advantage of clicked candidates in the generation distribution. At inference, UniPolicy supports parallel, business-customizable multi-policy beam search, flexibly allocating candidate quotas across objectives under a fixed retrieval budget. Large-scale offline experiments show that UniPolicy delivers balanced improvements across multiple metrics while preserving retrieval quality, outperforming single-objective reinforcement learning and naive reward-fusion baselines. In a 7-day online A/B test on a real search advertising system, UniPolicy improves CTR by 0.71%, RPS by 1.58%, and advertising revenue by 1.32%, while maintaining stable serving latency.
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All authors Kun Yao, Yuhang Zhou, Yichi Zhang, Zeliang Tong, Shengri Xue, Haitao Wang, Siyu Lu, Qianlong Xie, Xingxing Wang

Robotics

RTK-Vision PPO for Autonomous Micro UAV Recovery on an Airborne Carrier

Aashish Sahu and R Prasanth Kumar

Autonomous recovery of a micro unmanned aerial vehicle (UAV) onto a moving airborne carrier enables reusable deploy-mission-recover operation, but couples long-range rendezvous, close-range perception, carrier motion, aerodynamic interaction, and a discontinuous contact event. This paper presents an RTK-vision-guided reinforcement-learning framework in which a child UAV is physically transported by a larger carrier, takes off from the carrier while airborne, executes an independent sortie, returns to the carrier's current position, redocks, and subsequently descends with the carrier. Both vehicles carry RTK-GNSS, and the carrier continuously shares its navigation state with the child. Near the recovery deck, RTK remains active while a downward-facing camera with a fiducial marker detector provides marker-relative alignment cues. A proximal policy optimization (PPO) policy governing the terminal recovery phase is trained in a physics-based MuJoCo simulation environment with explicit sensor noise models, an aerodynamic disturbance surrogate, and marker-latency randomization, then transferred to hardware. PX4 retains low-level stabilization, and a deterministic safety gate authorizes descent independently of the learned policy. The PPO checkpoint achieves 99.55% success over 2,000 held-out randomized terminal episodes, compared with 78.4% for a tuned PD baseline under identical conditions, with a median planar terminal error of 6.62 cm. Across 14 outdoor trials, the full mission succeeds in 13 trials (92.9%), spanning both near-region recovery and recovery after the carrier translates away from the release point. The results demonstrate a complete autonomous aerial deployment-and-recovery cycle rather than an isolated landing maneuver, establishing a practical basis for reusable carrier-child operation in inspection, surveillance, and mobile-logistics applications.
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Computation and Language

Chronicle: Cut-Point Replay for Regression Testing of LLM Agents

Tisha Chawla and Susheem Koul

Large language model responses are non-deterministic, so failures in LLM agents are hard to reproduce: a failure depends on inference that is not bitwise reproducible, on tools that read changing state, and on a multi-step trajectory that a re-run rarely repeats. Record-and-replay makes a run reproducible, but existing agent tooling records runs only to trace or score them, not to test a code change against them. We present Chronicle, which records an agent run at its non-deterministic boundaries as immutable envelopes and replays it from the record. Its central operation, cut-point replay, serves a chosen subset of boundaries from the record and executes the complementary subset live with new code, turning a recorded incident into a regression test that runs in continuous integration. On a benchmark of 6 recorded failures with simulated model boundaries, recording adds 23 {\mu}s per crossing (0.008% of an assumed 300 ms model call), full replay issues zero model calls and is bit-stable across 20 repetitions, and cut-point tests fail on faulty code and pass on guarded and benign changes for all 6 incidents. In a mutation study of the guarded tools, cut-point tests catch every mutant that lets the recorded unsafe action through, while a baseline that stubs every boundary, using the same assertion, catches none. Chronicle and the benchmark are publicly available at https://github.com/theagentplane/chronicle.
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Robotics

SmellDiffusion: Diffusion-Based Quadruped Navigation with Olfactory Scene Graphs

Faith Ogunwoye, Iana Zhura, Hajira Amjad et al. (+5 more)

A robot sent to a named gas leak must preserve gas identity, estimate the source, and navigate to the resulting goal. We present SmellDiffusion, a simulation pipeline that represents species-specific gas zones in an open-vocabulary olfactory scene graph and shares the selected goal between classical and diffusion planners. Its key components are a peak-local geometric gate for selective source correction and diffusion-based, gas-guided trajectory generation. Among 424 unique source-wind configurations in solved flow, 28 have a concentration peak displaced more than 0.5m from the source. A source-independent geometric gate, calibrated only on the training split and evaluated at the observed peak, detects 9 of 10 held-out displacements at 0.64 precision. Gating a precomputed forward-matching correction reduces mean error on the displaced cases from 1.468m to 0.592m (60%), using matching for only 14/204 cases. All-case mean error falls from 0.205m to 0.180m. All planners receive the same scene-graph source estimate as their goal. In a controlled comparison, best-of-ten diffusion achieves mean gas exposure comparable to gas-guided A* (0.0476 versus 0.0455). A single diffusion proposal takes 41.7ms, compared with 72.3ms for gas-guided A*, although best-of-ten sequential sampling increases total runtime. Plain A* also reaches the same goal and remains the fastest and shortest-path method. Six matched Gazebo runs give mean robot-to-source errors of 0.39m for A* and 0.31m for diffusion.
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All authors Faith Ogunwoye, Iana Zhura, Hajira Amjad, Timofei Kozlov, Didar Seyidov, Dmitrii Plotnikov, Fedor Fedorov, Dzmitry Tsetserukou

Computer Vision

PhGS: Post-Hoc Pruning and Refinement of Single-View Feed-Forward 3D Gaussian Reconstructions

Rinto Yagawa, Han Cheng, Dieter Schmalstieg et al. (+2 more)

Recent single-view feed-forward 3D Gaussian Splatting (3DGS) generation predicts a fixed number of Gaussians per camera ray, introducing severe spatial redundancy. Most existing compaction strategies target multi-view setups to exploit cross-view consistency and are incompatible with single-image models. Instead of retraining the base feed-forward network to directly output compact representations, our insight is to keep the base models frozen and apply post-hoc pruning and recurrent refinement to the generated Gaussians. Consequently, we propose a backbone-agnostic compaction pipeline for single-view feed-forward 3DGS that couples an importance-score-based pruning mechanism with a trainable, lightweight recurrent refinement module, which iteratively updates the surviving primitives to restore image quality. Our results demonstrate seamless integration with existing baselines while preserving novel-view rendering fidelity and achieving high memory reduction. Furthermore, our method supports flexible inference-time keep ratios for application needs.
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All authors Rinto Yagawa, Han Cheng, Dieter Schmalstieg, Hideo Saito, Shohei Mori

Robotics

A Simulation Platform for AUV Fault Recovery: Exploring LLM-Based Diagnostic Strategies

Khalid Halba, Kylie Cooper and James G. Bellingham

Autonomous underwater vehicles (AUVs) operating beyond reliable communications must recover from failures without human intervention. We investigate an architecture in which conventional deterministic layered control autonomy manages normal operations, while an invokable large language model (LLM) serves as a diagnostic and recovery planner when onboard anomaly detection identifies performance outside expected limits. Because language models are stochastic, rigorous evaluation requires ensemble testing rather than individual demonstrations. We present a closed-loop simulation architecture that couples real-time C vehicle software with a higher-level orchestration layer for physics-based fault injection, structured prompting, language-model interaction, mission file generation, validation, execution, and LLM-judge scoring. The framework, which we call SPAR (Simulation Platform for AUV Recovery), supports evaluation across fault realizations, prompt structures, reasoning models, and mission conditions. We vary these for a mass-shift fault over 480 SPAR trials, evaluating a frontier model and three off-the-shelf locally deployable LLMs. Model choice dominates diagnosis: the frontier model places the CG-shift mechanism in its top three hypotheses in 85-90% of trials, versus 60-78% for the best local model. Reasoning analysis indicates that local-model success is associated with following the complete diagnostic procedure, whereas weaker models often commit prematurely to elevator failure even though the actuator tracks its command. Diagnosis and operational decision performance do not appear to be coupled in this dataset. The contributions are an architecture extending unanticipated-fault recovery from detection to mitigation and an ensemble methodology for evaluating LLM-assisted mission management on low-power AUVs.
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Robotics

INSPECT: Learning Robot View Selection from Assistant Use

Di Wen, Kailun Yang, Wenhao Guo et al. (+7 more)

Robots inspecting an assembly must determine which parts are present and whether they are correctly installed. During egocentric assembly assistance, head motion and workpiece handling reveal evidence for these checks, while spoken state confirmations link observations to procedural outcomes. We introduce INSPECT, which learns robot view preferences from records of a smart-glasses assistant that answers part queries and provides next-step guidance. Presence-Invariant TwinSwap (PI-TwinSwap) calibrates object evidence through paired identity interventions. Claim-indexed supervision separates evidence requirements from camera-reproducible observation changes. Object-centered calibration adapts relative view preferences to robot poses, while clause-level screening checks predicted evidence. The robot selects views using only its current observation and known poses, without candidate images. Evaluation uses annotated assistant-video replay to simulate state feedback, without target-domain view labels for policy training. On images of physical gearbox assemblies, INSPECT achieves the highest view utility among the compared non-oracle policies and raises human-rated full verifiability from 34.8% to 41.7% compared with keeping the current view. On commercial angle-grinder recordings in IMPACT, the transferred relative-view selector increases the correct decision rate from 50.6% to 54.3% with a frozen perception head. The source code is available at https://github.com/Kratos-Wen/INSPECT.
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All authors Di Wen, Kailun Yang, Wenhao Guo, Yitian Shi, Junwei Zheng, Yufan Chen, Ruiping Liu, Jiale Wei, Rania Rayyes, Kunyu Peng

Cryptography and Security

Inference-Engine Fingerprinting Attacks are Practical: Exploring Model-Driven Environmental Discovery, Exploitation, and Escape

Sarah Radway, Andrew Cheng, Vijay Janapa Reddi et al. (+1 more)

Frontier AI models are rapidly gaining the ability to exploit vulnerabilities in complex pieces of software. The risk is not theoretical, as evidenced by recent sandbox escapes performed by frontier models at OpenAI and Anthropic. Discussions of how to sandbox inference stack components often focus on components other than the inference engine itself (e.g., network proxies or code execution environments). However, the inference engine is an attractive target for a misaligned model. For example, if a model can trigger exploits in that engine merely by generating specially-crafted output tokens, the model can initiate a multi-step, to-the-bare-metal exploit chain in the engine, without relying on vulnerabilities in other components of the inference stack, and without assistance from externally-provided, maliciously-crafted input tokens. In this paper, we show that a misaligned model can perform inference engine fingerprinting to determine the specific engine (e.g., vLLM, SGLang) which executes the model. Once the engine has been fingerprinted, the model can leverage engine-specific exploits to take control of the engine using only carefully-selected output tokens. We provide concrete examples of model fingerprints in five popular engines, and demonstrate how realistic agentic harnesses allow a model to leverage those fingerprints to identify the local engine. We also describe a proof-of-concept, to-the-bare-metal exploit chain that originates from a fingerprinted (and subsequently compromised) inference engine. We conclude by discussing several ways that inference engines could be changed to make fingerprinting attacks more difficult.
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All authors Sarah Radway, Andrew Cheng, Vijay Janapa Reddi, James Mickens

Computation and Language

What Does Privileged Information Add to On-Policy Self-Distillation?

XiuYu Zhang, Wei Chow, Junfeng Fang et al. (+3 more)

On-policy self-distillation (OPSD) lets a language model learn from a frozen copy of itself that sees an answer or a worked solution. Giving the teacher this extra information seems to offer the student more to learn, but how much does it add beyond distillation itself? To isolate that contribution, we construct AMPLE-Math, a reusable suite of 5,319 mathematical problems with six reasoning views that share the same answer, and compare each view with matched reference-free distillation. With a thinking-enabled teacher supervising direct-response rollouts, reference-free distillation accounts for much of Qwen3-1.7B's improvement under thinking-enabled evaluation, both in domain and on external benchmarks. Evidence for an additional reference benefit is modest in Qwen, strongest for a polished solution, whereas complete traces add two percentage points in SmolLM3-3B at step 50. These benefits depend on the student being trained. At the same checkpoint, replacing short direct-response rollouts with long thinking-enabled rollouts turns gains into losses in both families while the problems, references, and evaluation stay fixed. Teacher profiles and matched loss interventions in Qwen further show that changing token-level supervision can leave student behavior largely unchanged. Together, these findings suggest that OPSD can improve access to existing reasoning capabilities through parameters shared by direct-response and thinking-enabled inference. The value of a privileged reference is what it adds to this cross-mode transfer, not how much of the solution it reveals.
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All authors XiuYu Zhang, Wei Chow, Junfeng Fang, Xingyu Zhu, Zhenkai Liang, Tat-Seng Chua

Data Structures and Algorithms

An $\tilde \Omega(\log n \log m)$ Information-Theoretic Lower Bound for Randomized Online Set Cover

Roie Levin

We show an information-theoretic lower bound of $\Omega\left(\frac{\log n \log m}{\log \log n + \log \log m}\right)$ for online set cover against randomized algorithms, for all sufficiently large $m$ and $n$ satisfying $\log^2 n \leq m \leq 2^n$.

Robotics

Bayesian Continuum Robot Dynamics and State Estimation

James M. Ferguson, Tucker Hermans and Alan Kuntz

Recent factor graph approaches to continuum robot state estimation have been successful for quasi-static applications and spatiotemporal estimation using white-noise kinematic motion priors. However, when inertial effects are significant, these approximations may fail to capture the underlying physics, limiting accuracy during dynamic motions. In contrast, our approach approximates the Cosserat rod dynamics of continuum robots. We write inertia and damping as equivalent applied loads, so that the dynamic balance retains the algebraic form of the static one from prior work with quasi-static robots. Without backbone observations, the framework reduces to a stochastic forward simulation of the robot's motion. Given observations, it jointly refines kinematic and dynamic states and infers external loads, among other states. We validate the approach through simulation and experiments, demonstrating stochastic forward simulation as well as state estimation on tendon-driven continuum robots.
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