# Research Papers — 2026-03 · bundle page 100 of 243 > Full-text markdown of papers #4951–5000 of 12123 published in 2026-03, newest first. AI-readable mirrors of the full 12123-paper 2026-03 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-03/page/100 [← Previous bundle](https://aipod.dev/papers/archive/2026-03/page/99.md) [Next bundle →](https://aipod.dev/papers/archive/2026-03/page/101.md) ### EgoAdapt: Enhancing Robustness in Egocentric Interactive Speaker Detection Under Missing Modalities Authors: Xinyuan Qian, Xinjia Zhu, Alessio Brutti, Dong Liang Published: 2026-03-18 Categories: cs.MM, cs.CV, cs.SD arXiv: https://arxiv.org/abs/2603.18082v1 TTM (Talking to Me) task is a pivotal component in understanding human social interactions, aiming to determine who is engaged in conversation with the camera-wearer. Traditional models often face challenges in real-world scenarios due to missing visual data, neglecting the role of head orientation, and background noise. This study addresses these limitations by introducing EgoAdapt, an adaptive framework designed for robust egocentric "Talking to Me" speaker detection under missing modalities. Specifically, EgoAdapt incorporates three key modules: (1) a Visual Speaker Target Recognition (VSTR) module that captures head orientation as a non-verbal cue and lip movement as a verbal cue, allowing a comprehensive interpretation of both verbal and non-verbal signals to address TTM, setting it apart from tasks focused solely on detecting speaking status; (2) a Parallel Shared-weight Audio (PSA) encoder for enhanced audio feature extraction in noisy environments; and (3) a Visual Modality Missing Awareness (VMMA) module that estimates the presence or absence of each modality at each frame to adjust the system response dynamically.Comprehensive evaluations on the TTM benchmark of the Ego4D dataset demonstrate that EgoAdapt achieves a mean Average Precision (mAP) of 67.39% and an Accuracy (Acc) of 62.01%, significantly outperforming the state-of-the-art method by 4.96% in Accuracy and 1.56% in mAP. --- ### SLEA-RL: Step-Level Experience Augmented Reinforcement Learning for Multi-Turn Agentic Training Authors: Prince Zizhuang Wang, Shuli Jiang Published: 2026-03-18 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2603.18079v1 Large Language Model (LLM) agents have shown strong results on multi-turn tool-use tasks, yet they operate in isolation during training, failing to leverage experiences accumulated across episodes. Existing experience-augmented methods address this by organizing trajectories into retrievable libraries, but they retrieve experiences only once based on the initial task description and hold them constant throughout the episode. In multi-turn settings where observations change at every step, this static retrieval becomes increasingly mismatched as episodes progress. We propose SLEA-RL (Step-Level Experience-Augmented Reinforcement Learning), a framework that retrieves relevant experiences at each decision step conditioned on the current observation. SLEA-RL operates through three components: (i) step-level observation clustering that groups structurally equivalent environmental states for efficient cluster-indexed retrieval; (ii) a self-evolving experience library that distills successful strategies and failure patterns through score-based admission and rate-limited extraction; and (iii) policy optimization with step-level credit assignment for fine-grained advantage estimation across multi-turn episodes. The experience library evolves alongside the policy through semantic analysis rather than gradient updates. Experiments on long-horizon multi-turn agent benchmarks demonstrate that SLEA-RL achieves superior performance compared to various reinforcement learning baselines. --- ### Variational Phasor Circuits for Phase-Native Brain-Computer Interface Classification Authors: Dibakar Sigdel Published: 2026-03-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.18078v2 We present the Variational Phasor Circuit (VPC), a deterministic classical learning architecture on the continuous $S^1$ unit-circle manifold. Inspired by variational quantum circuits, VPC replaces dense weight matrices with trainable phase shifts, local unitary mixing, and structured interference in the ambient complex space, giving a unified method for binary and multi-class classification of spatially distributed signals. We evaluate VPC on real motor-imagery electroencephalography (EEG) from the PhysioNet Motor Movement/Imagery database (10 subjects, Common Spatial Pattern features, subject-wise cross-validation), where it attains a mean decoding accuracy of $0.60$ -- the highest among standard brain--computer-interface baselines (linear discriminant analysis, logistic regression, RBF-SVM, and a multilayer perceptron) -- using an order of magnitude fewer parameters and the lowest cross-subject variance. We also characterize capacity honestly: with phase-only shifts and unitary mixing, VPC realizes a linear decision function in a fixed cosine/sine feature lifting, well matched to the largely separable band-power structure of EEG but unable to represent parity-type functions, a ceiling that depth does not raise. These results position unit-circle phase interference as a parameter-efficient alternative to dense neural computation for signal classification, and motivate VPC both as a standalone classifier and a front-end for hybrid phasor-quantum systems. --- ### Generative Replica-Exchange: A Flow-based Framework for Accelerating Replica Exchange Simulations Authors: Shengjie Huang, Sijie Yang, Jianqiao Yi, Rui Zheng, Haocong Liao, Muzammal Hussain, Yaoquan Tu, Xiaoyun Lu, Yang Zhou Published: 2026-03-18 Categories: q-bio.BM, cs.LG, physics.comp-ph arXiv: https://arxiv.org/abs/2603.18076v1 Replica exchange (REX) is one of the most widely used enhanced sampling methodologies, yet its efficiency is limited by the requirement for a large number of intermediate temperature replicas. Here we present Generative Replica Exchange (GREX), which integrates deep generative models into the REX framework to eliminate this temperature ladder. Drawing inspiration from reservoir replica exchange (res-REX), GREX utilizes trained normalizing flows to generate high-temperature configurations on demand and map them directly to the target distribution using the potential energy as a constraint, without requiring target-temperature training data. This approach reduces production simulations to a single replica at the target temperature while maintaining thermodynamic rigor through Metropolis exchange acceptance. We validate GREX on three benchmark systems of increasing complexity, highlighting its superior efficiency and practical applicability for molecular simulations. --- ### Adapting Technical-Service LLM Agents with Latent Logic Augmentation, Robust Noise Reduction, and Hybrid Reward Modeling Authors: Junzhuo Ma, Chenghuang Shen, Yi Yu, Xingyan Liu, Jing Gu, Hangyi Sun, Guangquan Hu, Jianfeng Liu, Weiting Liu, Pu Mingyue, Wang Yu, Zhengdong Xiao et al. Published: 2026-03-18 Categories: cs.LG, cs.AI, cs.IR, stat.AP arXiv: https://arxiv.org/abs/2603.18074v2 Technical-service LLM agents are entering production workflows, where value depends on whether engineers adopt generated replies. Service tickets hide decision logic, contain noisy single-reference responses, and make reward evaluation costly, making standard post-training brittle. Existing post-training and LLM-as-a-Judge approaches improve grounding or feedback, but do not jointly model latent decision logic, response diversity, and reward cost. We address this gap by coupling latent logic augmentation, robust noise reduction, and hybrid reward modeling. The framework augments supervised fine-tuning data with Planning-Aware Trajectory Modeling and Reasoning Augmentation, builds dual-filtered Multiple Ground Truths, and trains the policy with a hybrid reward that combines a Reranker with an LLM-as-a-Judge. On real Cloud technical-service tasks, the adapted Qwen3-4B achieves the highest Multi-ECS (0.441), lower reward cost, and the highest production adoption rate (46.63%). --- ### Lightweight Adaptation for LLM-based Technical Service Agent: Latent Logic Augmentation and Robust Noise Reduction Authors: Yi Yu, Junzhuo Ma, Chenghuang Shen, Xingyan Liu, Jing Gu, Hangyi Sun, Guangquan Hu, Jianfeng Liu, Weiting Liu, Mingyue Pu, Yu Wang, Zhengdong Xiao et al. Published: 2026-03-18 Categories: cs.LG, cs.AI, cs.IR, stat.AP arXiv: https://arxiv.org/abs/2603.18074v1 Adapting Large Language Models in complex technical service domains is constrained by the absence of explicit cognitive chains in human demonstrations and the inherent ambiguity arising from the diversity of valid responses. These limitations severely hinder agents from internalizing latent decision dynamics and generalizing effectively. Moreover, practical adaptation is often impeded by the prohibitive resource and time costs associated with standard training paradigms. To overcome these challenges and guarantee computational efficiency, we propose a lightweight adaptation framework comprising three key contributions. (1) Latent Logic Augmentation: We introduce Planning-Aware Trajectory Modeling and Decision Reasoning Augmentation to bridge the gap between surface-level supervision and latent decision logic. These approaches strengthen the stability of Supervised Fine-Tuning alignment. (2) Robust Noise Reduction: We construct a Multiple Ground Truths dataset through a dual-filtering method to reduce the noise by validating diverse responses, thereby capturing the semantic diversity. (3) Lightweight Adaptation: We design a Hybrid Reward mechanism that fuses an LLM-based judge with a lightweight relevance-based Reranker to distill high-fidelity reward signals while reducing the computational cost compared to standard LLM-as-a-Judge reinforcement learning. Empirical evaluations on real-world Cloud service tasks, conducted across semantically diverse settings, demonstrate that our framework achieves stability and performance gains through Latent Logic Augmentation and Robust Noise Reduction. Concurrently, our Hybrid Reward mechanism achieves alignment comparable to standard LLM-as-a-judge methods with reduced training time, underscoring the practical value for deploying technical service agents. --- ### Continually self-improving AI Authors: Zitong Yang Published: 2026-03-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2603.18073v1 Modern language model-based AI systems are remarkably powerful, yet their capabilities remain fundamentally capped by their human creators in three key ways. First, although a model's weights can be updated via fine-tuning, acquiring new knowledge from small, specialized corpora after pretraining remains highly data-inefficient. Second, the training of these systems relies heavily on finite, human-generated data from across history. Third, the pipelines used to train AI models are confined by the algorithms that human researchers can discover and explore. This thesis takes a small step toward overcoming these inherent limitations, presenting three chapters aimed at breaking these dependencies to create continually self-improving AI. First, to overcome this data-efficiency barrier in knowledge acquisition, we propose a synthetic data approach that diversifies and amplifies small corpora into rich knowledge representations, enabling a model to effectively update its parameters from limited source material. Second, to reduce reliance on human data, we show that given a fixed amount of such data, the model can self-generate synthetic data to bootstrap its fundamental pretraining capabilities without distillation from any off-the-shelf, instruction-tuned LM. Finally, to transcend human-engineered training paradigms, we demonstrate that by scaling search during test time over the space of algorithms, AI can search over a larger space of learning algorithm configurations than human researchers can explore manually. --- ### DarkDriving: A Real-World Day and Night Aligned Dataset for Autonomous Driving in the Dark Environment Authors: Wuqi Wang, Haochen Yang, Baolu Li, Jiaqi Sun, Xiangmo Zhao, Zhigang Xu, Qing Guo, Haigen Min, Tianyun Zhang, Hongkai Yu Published: 2026-03-18 Categories: cs.CV, cs.DB arXiv: https://arxiv.org/abs/2603.18067v2 The low-light conditions are challenging to the vision-centric perception systems for autonomous driving in the dark environment. In this paper, we propose a new benchmark dataset (named DarkDriving) to investigate the low-light enhancement for autonomous driving. The existing real-world low-light enhancement benchmark datasets can be collected by controlling various exposures only in small-ranges and static scenes. The dark images of the current nighttime driving datasets do not have the precisely aligned daytime counterparts. The extreme difficulty to collect a real-world day and night aligned dataset in the dynamic driving scenes significantly limited the research in this area. With a proposed automatic day-night Trajectory Tracking based Pose Matching (TTPM) method in a large real-world closed driving test field (area: 69 acres), we collected the first real-world day and night aligned dataset for autonomous driving in the dark environment. The DarkDriving dataset has 9,538 day and night image pairs precisely aligned in location and spatial contents, whose alignment error is in just several centimeters. For each pair, we also manually label the object 2D bounding boxes. DarkDriving introduces four perception related tasks, including low-light enhancement, generalized low-light enhancement, and low-light enhancement for 2D detection and 3D detection of autonomous driving in the dark environment. The experimental results show that our DarkDriving dataset provides a comprehensive benchmark for evaluating low-light enhancement for autonomous driving and it can also be generalized to enhance dark images and promote detection in some other low-light driving environment, such as nuScenes.The code and dataset will be publicly available at https://github.com/DriveMindLab/DarkDriving-ICRA-2026. --- ### A Synthesizable RTL Implementation of Predictive Coding Networks Authors: Timothy Oh Published: 2026-03-18 Categories: cs.NE, cs.AI, cs.AR, cs.LG arXiv: https://arxiv.org/abs/2603.18066v2 Backpropagation has enabled modern deep learning but is difficult to realize as an online, fully distributed hardware learning system due to global error propagation, phase separation, and heavy reliance on centralized memory. Predictive coding offers an alternative in which inference and learning arise from local prediction-error dynamics between adjacent layers. This paper presents a digital architecture that implements a discrete-time predictive coding update directly in hardware. Each neural core maintains its own activity, prediction error, and synaptic weights, and communicates only with adjacent layers through hardwired connections. Supervised learning and inference are supported via a uniform per-neuron clamping primitive that enforces boundary conditions while leaving the internal update schedule unchanged. The design is a deterministic, synthesizable RTL substrate built around a sequential MAC datapath and a fixed finite-state schedule. Rather than executing a task-specific instruction sequence inside the learning substrate, the system evolves under fixed local update rules, with task structure imposed through connectivity, parameters, and boundary conditions. The contribution of this work is not a new learning rule, but a complete synthesizable digital substrate that executes predictive-coding learning dynamics directly in hardware. --- ### MCP-38: A Comprehensive Threat Taxonomy for Model Context Protocol Systems (v1.0) Authors: Yi Ting Shen, Kentaroh Toyoda, Alex Leung Published: 2026-03-18 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2603.18063v1 The Model Context Protocol (MCP) introduces a structurally distinct attack surface that existing threat frameworks, designed for traditional software systems or generic LLM deployments, do not adequately cover. This paper presents MCP-38, a protocol-specific threat taxonomy consisting of 38 threat categories (MCP-01 through MCP-38). The taxonomy was derived through a systematic four-phase methodology: protocol decomposition, multi-framework cross-mapping, real-world incident synthesis, and remediation-surface categorization. Each category is mapped to STRIDE, OWASP Top 10 for LLM Applications (2025, LLM01--LLM10), and the OWASP Top 10 for Agentic Applications (2026, ASI01--ASI10). MCP-38 addresses critical threats arising from MCP's semantic attack surface (tool description poisoning, indirect prompt injection, parasitic tool chaining, and dynamic trust violations), none of which are adequately captured by prior work. MCP-38 provides the definitional and empirical foundation for automated threat intelligence platforms. --- ### S3T-Former: A Purely Spike-Driven State-Space Topology Transformer for Skeleton Action Recognition Authors: Naichuan Zheng, Hailun Xia, Zepeng Sun, Weiyi Li, Yujia Wang Published: 2026-03-18 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.18062v2 Skeleton-based action recognition is crucial for multimedia applications but heavily relies on power-hungry Artificial Neural Networks (ANNs), limiting their deployment on resource-constrained edge devices. Spiking Neural Networks (SNNs) provide an energy-efficient alternative; however, existing spiking models for skeleton data often compromise the intrinsic sparsity of SNNs by resorting to dense matrix aggregations, heavy multimodal fusion modules, or non-sparse frequency domain transformations. Furthermore, they severely suffer from the short-term amnesia of spiking neurons. In this paper, we propose the Spiking State-Space Topology Transformer (S3T-Former), which, to the best of our knowledge, is the first purely spike-driven Transformer architecture specifically designed for energy-efficient skeleton action recognition. Rather than relying on heavy fusion overhead, we formulate a Multi-Stream Anatomical Spiking Embedding (M-ASE) that acts as a generalized kinematic differential operator, elegantly transforming multimodal skeleton features into heterogeneous, highly sparse event streams. To achieve true topological and temporal sparsity, we introduce Lateral Spiking Topology Routing (LSTR) for on-demand conditional spike propagation, and a Spiking State-Space (S3) Engine to systematically capture long-range temporal dynamics without non-sparse spectral workarounds. Extensive experiments on multiple large-scale datasets demonstrate that S3T-Former achieves highly competitive accuracy while theoretically reducing energy consumption compared to classic ANNs, establishing a new state-of-the-art for energy-efficient neuromorphic action recognition. --- ### Fundamental Limits of Neural Network Sparsification: Evidence from Catastrophic Interpretability Collapse Authors: Dip Roy, Rajiv Misra, Sanjay Kumar Singh Published: 2026-03-18 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.18056v1 Extreme neural network sparsification (90% activation reduction) presents a critical challenge for mechanistic interpretability: understanding whether interpretable features survive aggressive compression. This work investigates feature survival under severe capacity constraints in hybrid Variational Autoencoder--Sparse Autoencoder (VAE-SAE) architectures. We introduce an adaptive sparsity scheduling framework that progressively reduces active neurons from 500 to 50 over 50 training epochs, and provide empirical evidence for fundamental limits of the sparsification-interpretability relationship. Testing across two benchmark datasets -- dSprites and Shapes3D -- with both Top-k and L1 sparsification methods, our key finding reveals a pervasive paradox: while global representation quality (measured by Mutual Information Gap) remains stable, local feature interpretability collapses systematically. Under Top-k sparsification, dead neuron rates reach $34.4\pm0.9\%$ on dSprites and $62.7\pm1.3\%$ on Shapes3D at k=50. L1 regularization -- a fundamentally different "soft constraint" paradigm -- produces equal or worse collapse: $41.7\pm4.4\%$ on dSprites and $90.6\pm0.5\%$ on Shapes3D. Extended training for 100 additional epochs fails to recover dead neurons, and the collapse pattern is robust across all tested threshold definitions. Critically, the collapse scales with dataset complexity: Shapes3D (RGB, 6 factors) shows $1.8\times$ more dead neurons than dSprites (grayscale, 5 factors) under Top-k and $2.2\times$ under L1. These findings establish that interpretability collapse under sparsification is intrinsic to the compression process rather than an artifact of any particular algorithm, training duration, or threshold choice. --- ### Unified Spatio-Temporal Token Scoring for Efficient Video VLMs Authors: Jianrui Zhang, Yue Yang, Rohun Tripathi, Winson Han, Ranjay Krishna, Christopher Clark, Yong Jae Lee, Sangho Lee Published: 2026-03-18 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2603.18004v1 Token pruning is essential for enhancing the computational efficiency of vision-language models (VLMs), particularly for video-based tasks where temporal redundancy is prevalent. Prior approaches typically prune tokens either (1) within the vision transformer (ViT) exclusively for unimodal perception tasks such as action recognition and object segmentation, without adapting to downstream vision-language tasks; or (2) only within the LLM while leaving the ViT output intact, often requiring complex text-conditioned token selection mechanisms. In this paper, we introduce Spatio-Temporal Token Scoring (STTS), a simple and lightweight module that prunes vision tokens across both the ViT and the LLM without text conditioning or token merging, and is fully compatible with end-to-end training. By learning how to score temporally via an auxiliary loss and spatially via LLM downstream gradients, aided by our efficient packing algorithm, STTS prunes 50% of vision tokens throughout the entire architecture, resulting in a 62% improvement in efficiency during both training and inference with only a 0.7% drop in average performance across 13 short and long video QA tasks. Efficiency gains increase with more sampled frames per video. Applying test-time scaling for long-video QA further yields performance gains of 0.5-1% compared to the baseline. Overall, STTS represents a novel, simple yet effective technique for unified, architecture-wide vision token pruning. --- ### Universal Skeleton Understanding via Differentiable Rendering and MLLMs Authors: Ziyi Wang, Peiming Li, Xinshun Wang, Yang Tang, Kai-Kuang Ma, Mengyuan Liu Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.18003v5 Multimodal large language models (MLLMs) exhibit strong visual-language reasoning, yet cannot process structured, non-visual data such as human skeletons. Existing methods either compress skeleton dynamics into lossy feature vectors for text alignment, or quantize motion into discrete tokens that generalize poorly across heterogeneous skeleton formats. We present SkeletonLLM, which achieves universal skeleton understanding by translating arbitrary skeleton sequences into the MLLM's native visual modality. At its core is DrAction, a differentiable, format-agnostic renderer that converts skeletal kinematics into compact image sequences. Because the pipeline is end-to-end differentiable, MLLM gradients can directly guide the rendering to produce task-informative visual tokens. To further enhance reasoning capabilities, we introduce a cooperative training strategy: Causal Reasoning Distillation transfers structured, step-by-step reasoning from a teacher model, while Discriminative Finetuning sharpens decision boundaries between confusable actions. SkeletonLLM demonstrates strong generalization \revise{in open-vocabulary action recognition, while its learned reasoning capabilities naturally extend to motion captioning and question answering across heterogeneous skeleton formats} -- suggesting a viable path for applying MLLMs to non-native modalities. Code: https://github.com/wangzy01/SkeletonLLM. --- ### Loc3R-VLM: Language-based Localization and 3D Reasoning with Vision-Language Models Authors: Kevin Qu, Haozhe Qi, Mihai Dusmanu, Mahdi Rad, Rui Wang, Marc Pollefeys Published: 2026-03-18 Categories: cs.CV, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2603.18002v1 Multimodal Large Language Models (MLLMs) have made impressive progress in connecting vision and language, but they still struggle with spatial understanding and viewpoint-aware reasoning. Recent efforts aim to augment the input representations with geometric cues rather than explicitly teaching models to reason in 3D space. We introduce Loc3R-VLM, a framework that equips 2D Vision-Language Models with advanced 3D understanding capabilities from monocular video input. Inspired by human spatial cognition, Loc3R-VLM relies on two joint objectives: global layout reconstruction to build a holistic representation of the scene structure, and explicit situation modeling to anchor egocentric perspective. These objectives provide direct spatial supervision that grounds both perception and language in a 3D context. To ensure geometric consistency and metric-scale alignment, we leverage lightweight camera pose priors extracted from a pre-trained 3D foundation model. Loc3R-VLM achieves state-of-the-art performance in language-based localization and outperforms existing 2D- and video-based approaches on situated and general 3D question-answering benchmarks, demonstrating that our spatial supervision framework enables strong 3D understanding. Project page: https://kevinqu7.github.io/loc3r-vlm --- ### EchoGen: Cycle-Consistent Learning for Unified Layout-Image Generation and Understanding Authors: Kai Zou, Hongbo Liu, Dian Zheng, Jianxiong Gao, Zhiwei Zhao, Bin Liu Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.18001v1 In this work, we present EchoGen, a unified framework for layout-to-image generation and image grounding, capable of generating images with accurate layouts and high fidelity to text descriptions (e.g., spatial relationships), while grounding the image robustly at the same time. We believe that image grounding possesses strong text and layout understanding abilities, which can compensate for the corresponding limitations in layout-to-image generation. At the same time, images generated from layouts exhibit high diversity in content, thereby enhancing the robustness of image grounding. Jointly training both tasks within a unified model can promote performance improvements for each. However, we identify that this joint training paradigm encounters several optimization challenges and results in restricted performance. To address these issues, we propose progressive training strategies. First, the Parallel Multi-Task Pre-training (PMTP) stage equips the model with basic abilities for both tasks, leveraging shared tokens to accelerate training. Next, the Dual Joint Optimization (DJO) stage exploits task duality to sequentially integrate the two tasks, enabling unified optimization. Finally, the Cycle RL stage eliminates reliance on visual supervision by using consistency constraints as rewards, significantly enhancing the model's unified capabilities via the GRPO strategy. Extensive experiments demonstrate state-of-the-art results on both layout-to-image generation and image grounding benchmarks, and reveal clear synergistic gains from optimizing the two tasks together. --- ### AgentFactory: A Self-Evolving Framework Through Executable Subagent Accumulation and Reuse Authors: Zhang Zhang, Shuqi Lu, Hongjin Qian, Di He, Zheng Liu Published: 2026-03-18 Categories: cs.AI arXiv: https://arxiv.org/abs/2603.18000v1 Building LLM-based agents has become increasingly important. Recent works on LLM-based agent self-evolution primarily record successful experiences as textual prompts or reflections, which cannot reliably guarantee efficient task re-execution in complex scenarios. We propose AgentFactory, a new self-evolution paradigm that preserves successful task solutions as executable subagent code rather than textual experience. Crucially, these subagents are continuously refined based on execution feedback, becoming increasingly robust and efficient as more tasks are encountered. Saved subagents are pure Python code with standardized documentation, enabling portability across any Python-capable system. We demonstrate that AgentFactory enables continuous capability accumulation: its library of executable subagents grows and improves over time, progressively reducing the effort required for similar tasks without manual intervention. Our implementation is open-sourced at https://github.com/zzatpku/AgentFactory, and our demonstration video is available at https://youtu.be/iKSsuAXJHW0. --- ### The Unreasonable Effectiveness of Text Embedding Interpolation for Continuous Image Steering Authors: Yigit Ekin, Yossi Gandelsman Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17998v1 We present a training-free framework for continuous and controllable image editing at test time for text-conditioned generative models. In contrast to prior approaches that rely on additional training or manual user intervention, we find that a simple steering in the text-embedding space is sufficient to produce smooth edit control. Given a target concept (e.g., enhancing photorealism or changing facial expression), we use a large language model to automatically construct a small set of debiased contrastive prompt pairs, from which we compute a steering vector in the generator's text-encoder space. We then add this vector directly to the input prompt representation to control generation along the desired semantic axis. To obtain a continuous control, we propose an elastic range search procedure that automatically identifies an effective interval of steering magnitudes, avoiding both under-steering (no-edit) and over-steering (changing other attributes). Adding the scaled versions of the same vector within this interval yields smooth and continuous edits. Since our method modifies only textual representations, it naturally generalizes across text-conditioned modalities, including image and video generation. To quantify the steering continuity, we introduce a new evaluation metric that measures the uniformity of semantic change across edit strengths. We compare the continuous editing behavior across methods and find that, despite its simplicity and lightweight design, our approach is comparable to training-based alternatives, outperforming other training-free methods. --- ### LoST: Level of Semantics Tokenization for 3D Shapes Authors: Niladri Shekhar Dutt, Zifan Shi, Paul Guerrero, Chun-Hao Paul Huang, Duygu Ceylan, Niloy J. Mitra, Xuelin Chen Published: 2026-03-18 Categories: cs.CV, cs.GR, cs.LG arXiv: https://arxiv.org/abs/2603.17995v1 Tokenization is a fundamental technique in the generative modeling of various modalities. In particular, it plays a critical role in autoregressive (AR) models, which have recently emerged as a compelling option for 3D generation. However, optimal tokenization of 3D shapes remains an open question. State-of-the-art (SOTA) methods primarily rely on geometric level-of-detail (LoD) hierarchies, originally designed for rendering and compression. These spatial hierarchies are often token-inefficient and lack semantic coherence for AR modeling. We propose Level-of-Semantics Tokenization (LoST), which orders tokens by semantic salience, such that early prefixes decode into complete, plausible shapes that possess principal semantics, while subsequent tokens refine instance-specific geometric and semantic details. To train LoST, we introduce Relational Inter-Distance Alignment (RIDA), a novel 3D semantic alignment loss that aligns the relational structure of the 3D shape latent space with that of the semantic DINO feature space. Experiments show that LoST achieves SOTA reconstruction, surpassing previous LoD-based 3D shape tokenizers by large margins on both geometric and semantic reconstruction metrics. Moreover, LoST achieves efficient, high-quality AR 3D generation and enables downstream tasks like semantic retrieval, while using only 0.1%-10% of the tokens needed by prior AR models. --- ### GMT: Goal-Conditioned Multimodal Transformer for 6-DOF Object Trajectory Synthesis in 3D Scenes Authors: Huajian Zeng, Abhishek Saroha, Daniel Cremers, Xi Wang Published: 2026-03-18 Categories: cs.CV, cs.RO arXiv: https://arxiv.org/abs/2603.17993v1 Synthesizing controllable 6-DOF object manipulation trajectories in 3D environments is essential for enabling robots to interact with complex scenes, yet remains challenging due to the need for accurate spatial reasoning, physical feasibility, and multimodal scene understanding. Existing approaches often rely on 2D or partial 3D representations, limiting their ability to capture full scene geometry and constraining trajectory precision. We present GMT, a multimodal transformer framework that generates realistic and goal-directed object trajectories by jointly leveraging 3D bounding box geometry, point cloud context, semantic object categories, and target end poses. The model represents trajectories as continuous 6-DOF pose sequences and employs a tailored conditioning strategy that fuses geometric, semantic, contextual, and goaloriented information. Extensive experiments on synthetic and real-world benchmarks demonstrate that GMT outperforms state-of-the-art human motion and human-object interaction baselines, such as CHOIS and GIMO, achieving substantial gains in spatial accuracy and orientation control. Our method establishes a new benchmark for learningbased manipulation planning and shows strong generalization to diverse objects and cluttered 3D environments. Project page: https://huajian- zeng.github. io/projects/gmt/. --- ### Versatile Editing of Video Content, Actions, and Dynamics without Training Authors: Vladimir Kulikov, Roni Paiss, Andrey Voynov, Inbar Mosseri, Tali Dekel, Tomer Michaeli Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17989v1 Controlled video generation has seen drastic improvements in recent years. However, editing actions and dynamic events, or inserting contents that should affect the behaviors of other objects in real-world videos, remains a major challenge. Existing trained models struggle with complex edits, likely due to the difficulty of collecting relevant training data. Similarly, existing training-free methods are inherently restricted to structure- and motion-preserving edits and do not support modification of motion or interactions. Here, we introduce DynaEdit, a training-free editing method that unlocks versatile video editing capabilities with pretrained text-to-video flow models. Our method relies on the recently introduced inversion-free approach, which does not intervene in the model internals, and is thus model-agnostic. We show that naively attempting to adapt this approach to general unconstrained editing results in severe low-frequency misalignment and high-frequency jitter. We explain the sources for these phenomena and introduce novel mechanisms for overcoming them. Through extensive experiments, we show that DynaEdit achieves state-of-the-art results on complex text-based video editing tasks, including modifying actions, inserting objects that interact with the scene, and introducing global effects. --- ### Feeling the Space: Egomotion-Aware Video Representation for Efficient and Accurate 3D Scene Understanding Authors: Shuyao Shi, Kang G. Shin Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17980v2 Recent Multimodal Large Language Models (MLLMs) have shown high potential for spatial reasoning within 3D scenes. However, they typically rely on computationally expensive 3D representations like point clouds or reconstructed Bird's-Eye View (BEV) maps, or lack physical grounding to resolve ambiguities in scale and size. This paper significantly enhances MLLMs with egomotion modality data, captured by Inertial Measurement Units (IMUs) concurrently with the video. In particular, we propose a novel framework, called Motion-MLLM, introducing two key components: (1) a cascaded motion-visual keyframe filtering module that leverages both IMU data and visual features to efficiently select a sparse yet representative set of keyframes, and (2) an asymmetric cross-modal fusion module where motion tokens serve as intermediaries that channel egomotion cues and cross-frame visual context into the visual representation. By grounding visual content in physical egomotion trajectories, Motion-MLLM can reason about absolute scale and spatial relationships across the scene. Our extensive evaluation shows that Motion-MLLM makes significant improvements in various tasks related to 3D scene understanding and spatial reasoning. Compared to state-of-the-art (SOTA) methods based on video frames and explicit 3D data, Motion-MLLM achieves competitive accuracy while running $1.30\times$ and $1.61\times$ faster, respectively. --- ### AdaRadar: Rate Adaptive Spectral Compression for Radar-based Perception Authors: Jinho Park, Se Young Chun, Mingoo Seok Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17979v2 Radar is a critical perception modality in autonomous driving systems due to its all-weather characteristics and ability to measure range and Doppler velocity. However, the sheer volume of high-dimensional raw radar data saturates the communication link to the computing engine (e.g., an NPU), which is often a low-bandwidth interface with data rate provisioned only for a few low-resolution range-Doppler frames. A generalized codec for utilizing high-dimensional radar data is notably absent, while existing image-domain approaches are unsuitable, as they typically operate at fixed compression ratios and fail to adapt to varying or adversarial conditions. In light of this, we propose radar data compression with adaptive feedback. It dynamically adjusts the compression ratio by performing gradient descent from the proxy gradient of detection confidence with respect to the compression rate. We employ a zeroth-order gradient approximation as it enables gradient computation even with non-differentiable core operations--pruning and quantization. This also avoids transmitting the gradient tensors over the band-limited link, which, if estimated, would be as large as the original radar data. In addition, we have found that radar feature maps are heavily concentrated on a few frequency components. Thus, we apply the discrete cosine transform to the radar data cubes and selectively prune out the coefficients effectively. We preserve the dynamic range of each radar patch through scaled quantization. Combining those techniques, our proposed online adaptive compression scheme achieves over 100x feature size reduction at minimal performance drop (~1%p). We validate our results on the RADIal, CARRADA, and Radatron datasets. --- ### AHOY! Animatable Humans under Occlusion from YouTube Videos with Gaussian Splatting and Video Diffusion Priors Authors: Aymen Mir, Riza Alp Guler, Xiangjun Tang, Peter Wonka, Gerard Pons-Moll Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17975v2 We present AHOY, a method for reconstructing complete, animatable 3D Gaussian avatars from in-the-wild monocular video despite heavy occlusion. Existing methods assume unoccluded input-a fully visible subject, often in a canonical pose-excluding the vast majority of real-world footage where people are routinely occluded by furniture, objects, or other people. Reconstructing from such footage poses fundamental challenges: large body regions may never be observed, and multi-view supervision per pose is unavailable. We address these challenges with four contributions: (i) a hallucination-as-supervision pipeline that uses identity-finetuned diffusion models to generate dense supervision for previously unobserved body regions; (ii) a two-stage canonical-to-pose-dependent architecture that bootstraps from sparse observations to full pose-dependent Gaussian maps; (iii) a map-pose/LBS-pose decoupling that absorbs multi-view inconsistencies from the generated data; (iv) a head/body split supervision strategy that preserves facial identity. We evaluate on YouTube videos and on multi-view capture data with significant occlusion and demonstrate state-of-the-art reconstruction quality. We also demonstrate that the resulting avatars are robust enough to be animated with novel poses and composited into 3DGS scenes captured using cell-phone video. Our project page is available at https://miraymen.github.io/ahoy/ --- ### Toward Scalable Automated Repository-Level Datasets for Software Vulnerability Detection Authors: Amine Lbath Published: 2026-03-18 Categories: cs.SE, cs.AI arXiv: https://arxiv.org/abs/2603.17974v1 Software vulnerabilities continue to grow in volume and remain difficult to detect in practice. Although learning-based vulnerability detection has progressed, existing benchmarks are largely function-centric and fail to capture realistic, executable, interprocedural settings. Recent repo-level security benchmarks demonstrate the importance of realistic environments, but their manual curation limits scale. This doctoral research proposes an automated benchmark generator that injects realistic vulnerabilities into real-world repositories and synthesizes reproducible proof-of-vulnerability (PoV) exploits, enabling precisely labeled datasets for training and evaluating repo-level vulnerability detection agents. We further investigate an adversarial co-evolution loop between injection and detection agents to improve robustness under realistic constraints. --- ### TDAD: Test-Driven Agentic Development - Reducing Code Regressions in AI Coding Agents via Graph-Based Impact Analysis Authors: Pepe Alonso, Sergio Yovine, Victor A. Braberman Published: 2026-03-18 Categories: cs.SE, cs.AI arXiv: https://arxiv.org/abs/2603.17973v2 AI coding agents can resolve real-world software issues, yet they frequently introduce regressions -- breaking tests that previously passed. Current benchmarks focus almost exclusively on resolution rate, leaving regression behavior under-studied. This paper presents TDAD (Test-Driven Agentic Development), an open-source tool that performs pre-change impact analysis for AI coding agents. TDAD builds a dependency map between source code and tests so that before committing a patch, the agent knows which tests to verify and can self-correct. The map is delivered as a lightweight agent skill -- a static text file the agent queries at runtime. Evaluated on SWE-bench Verified with two open-weight models running on consumer hardware (Qwen3-Coder 30B, 100 instances; Qwen3.5-35B-A3B, 25 instances), TDAD reduced regressions by 70% (6.08% to 1.82%) compared to a vanilla baseline. In contrast, adding TDD procedural instructions without targeted test context increased regressions to 9.94% -- worse than no intervention at all. When deployed as an agent skill with a different model and framework, TDAD improved issue-resolution rate from 24% to 32%, confirming that surfacing contextual information outperforms prescribing procedural workflows. All code, data, and logs are publicly available at https://github.com/pepealonso95/TDAD. --- ### Beyond Muon: MUD (MomentUm Decorrelation) for Faster Transformer Training Authors: Ben S. Southworth, Stephen Thomas Published: 2026-03-18 Categories: cs.LG, math.NA, math.OC arXiv: https://arxiv.org/abs/2603.17970v1 Orthogonalized-momentum optimizers such as Muon improve transformer training by approximately whitening/orthogonalizing matrix-valued momentum updates via a short polar-decomposition iteration. However, polar-factor approximations typically require multiple large matrix multiplications, and the resulting overhead can be substantial and hardware-dependent. We introduce MUD (MomentUm Decorrelation), a complementary whitening approach that replaces Muon's polar update with a triangular (Cholesky-like) whitening surrogate inspired by classical Gram--Schmidt and Gauss-Seidel ideas. We show that row-orthonormal matrices are fixed points of the MUD map, relate the inner step to symmetric Gauss-Seidel preconditioning of the Gram matrix, and prove quadratic local convergence near the fixed point. In terms of time-to-perplexity, MUD yields consistent 10-50\% wall-clock improvements over tuned AdamW and Muon in time-to-perplexity, typically converging slightly slower per step than Muon but with substantially lower optimizer overhead -- relative to Muon, MUD improves peak tokens/s by roughly $1.3-2.6\times$ across most settings and up to nearly $3\times$ on GPT-2 large on an A100. We also demonstrate training a ESM-2 150M protein language model, where MUD matches Muon-level validation perplexity in significantly less wall-clock time. --- ### Specification-Aware Distribution Shaping for Robotics Foundation Models Authors: Sadık Bera Yüksel, Derya Aksaray Published: 2026-03-18 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2603.17969v1 Robotics foundation models have demonstrated strong capabilities in executing natural language instructions across diverse tasks and environments. However, they remain largely data-driven and lack formal guarantees on safety and satisfaction of time-dependent specifications during deployment. In practice, robots often need to comply with operational constraints involving rich spatio-temporal requirements such as time-bounded goal visits, sequential objectives, and persistent safety conditions. In this work, we propose a specification-aware action distribution optimization framework that enforces a broad class of Signal Temporal Logic (STL) constraints during execution of a pretrained robotics foundation model without modifying its parameters. At each decision step, the method computes a minimally modified action distribution that satisfies a hard STL feasibility constraint by reasoning over the remaining horizon using forward dynamics propagation. We validate the proposed framework in simulation using a state-of-the-art robotics foundation model across multiple environments and complex specifications. --- ### Robust-ComBat: Mitigating Outlier Effects in Diffusion MRI Data Harmonization Authors: Yoan David, Pierre-Marc Jodoin, Alzheimer's Disease Neuroimaging Initiative, The TRACK-TBI Investigators Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17968v1 Harmonization methods such as ComBat and its variants are widely used to mitigate diffusion MRI (dMRI) site-specific biases. However, ComBat assumes that subject distributions exhibit a Gaussian profile. In practice, patients with neurological disorders often present diffusion metrics that deviate markedly from those of healthy controls, introducing pathological outliers that distort site-effect estimation. This problem is particularly challenging in clinical practice as most patients undergoing brain imaging have an underlying and yet undiagnosed condition, making it difficult to exclude them from harmonization cohorts, as their scans were precisely prescribed to establish a diagnosis. In this paper, we show that harmonizing data to a normative reference population with ComBat while including pathological cases induces significant distortions. Across 7 neurological conditions, we evaluated 10 outlier rejection methods with 4 ComBat variants over a wide range of scenarios, revealing that many filtering strategies fail in the presence of pathology. In contrast, a simple MLP provides robust outlier compensation enabling reliable harmonization while preserving disease-related signal. Experiments on both control and real multi-site cohorts, comprising up to 80% of subjects with neurological disorders, demonstrate that Robust-ComBat consistently outperforms conventional statistical baselines with lower harmonization error across all ComBat variants. --- ### LaDe: Unified Multi-Layered Graphic Media Generation and Decomposition Authors: Vlad-Constantin Lungu-Stan, Ionut Mironica, Mariana-Iuliana Georgescu Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17965v1 Media design layer generation enables the creation of fully editable, layered design documents such as posters, flyers, and logos using only natural language prompts. Existing methods either restrict outputs to a fixed number of layers or require each layer to contain only spatially continuous regions, causing the layer count to scale linearly with design complexity. We propose LaDe (Layered Media Design), a latent diffusion framework that generates a flexible number of semantically meaningful layers. LaDe combines three components: an LLM-based prompt expander that transforms a short user intent into structured per-layer descriptions that guide the generation, a Latent Diffusion Transformer with a 4D RoPE positional encoding mechanism that jointly generates the full media design and its constituent RGBA layers, and an RGBA VAE that decodes each layer with full alpha-channel support. By conditioning on layer samples during training, our unified framework supports three tasks: text-to-image generation, text-to-layers media design generation, and media design decomposition. We compare LaDe to Qwen-Image-Layered on text-to-layers and image-to-layers tasks on the Crello test set. LaDe outperforms Qwen-Image-Layered in text-to-layers generation by improving text-to-layer alignment, as validated by two VLM-as-a-judge evaluators (GPT-4o mini and Qwen3-VL). --- ### ConGA: Guidelines for Contextual Gender Annotation. A Framework for Annotating Gender in Machine Translation Authors: Argentina Anna Rescigno, Eva Vanmassenhove, Johanna Monti Published: 2026-03-18 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.17962v1 Handling gender across languages remains a persistent challenge for Machine Translation (MT) and Large Language Models (LLMs), especially when translating from gender-neutral languages into morphologically gendered ones, such as English to Italian. English largely omits grammatical gender, while Italian requires explicit agreement across multiple grammatical categories. This asymmetry often leads MT systems to default to masculine forms, reinforcing bias and reducing translation accuracy. To address this issue, we present the Contextual Gender Annotation (ConGA) framework, a linguistically grounded set of guidelines for word-level gender annotation. The scheme distinguishes between semantic gender in English through three tags, Masculine (M), Feminine (F), and Ambiguous (A), and grammatical gender realisation in Italian (Masculine (M), Feminine (F)), combined with entity-level identifiers for cross-sentence tracking. We apply ConGA to the gENder-IT dataset, creating a gold-standard resource for evaluating gender bias in translation. Our results reveal systematic masculine overuse and inconsistent feminine realisation, highlighting persistent limitations of current MT systems. By combining fine-grained linguistic annotation with quantitative evaluation, this work offers both a methodology and a benchmark for building more gender-aware and multilingual NLP systems. --- ### Gender Disambiguation in Machine Translation: Diagnostic Evaluation in Decoder-Only Architectures Authors: Chiara Manna, Hosein Mohebbi, Afra Alishahi, Frédéric Blain, Eva Vanmassenhove Published: 2026-03-18 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.17952v1 While Large Language Models achieve state-of-the-art results across a wide range of NLP tasks, they remain prone to systematic biases. Among these, gender bias is particularly salient in MT, due to systematic differences across languages in whether and how gender is marked. As a result, translation often requires disambiguating implicit source signals into explicit gender-marked forms. In this context, standard benchmarks may capture broad disparities but fail to reflect the full complexity of gender bias in modern MT. In this paper, we extend recent frameworks on bias evaluation by: (i) introducing a novel measure coined "Prior Bias", capturing a model's default gender assumptions, and (ii) applying the framework to decoder-only MT models. Our results show that, despite their scale and state-of-the-art status, decoder-only models do not generally outperform encoder-decoder architectures on gender-specific metrics; however, post-training (e.g., instruction tuning) not only improves contextual awareness but also reduces the masculine Prior Bias. --- ### VideoAtlas: Navigating Long-Form Video in Logarithmic Compute Authors: Mohamed Eltahir, Ali Habibullah, Yazan Alshoibi, Lama Ayash, Tanveer Hussain, Naeemullah Khan Published: 2026-03-18 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.17948v1 Extending language models to video introduces two challenges: representation, where existing methods rely on lossy approximations, and long-context, where caption- or agent-based pipelines collapse video into text and lose visual fidelity. To overcome this, we introduce \textbf{VideoAtlas}, a task-agnostic environment to represent video as a hierarchical grid that is simultaneously lossless, navigable, scalable, caption- and preprocessing-free. An overview of the video is available at a glance, and any region can be recursively zoomed into, with the same visual representation used uniformly for the video, intermediate investigations, and the agent's memory, eliminating lossy text conversion end-to-end. This hierarchical structure ensures access depth grows only logarithmically with video length. For long-context, Recursive Language Models (RLMs) recently offered a powerful solution for long text, but extending them to visual domain requires a structured environment to recurse into, which \textbf{VideoAtlas} provides. \textbf{VideoAtlas} as a Markov Decision Process unlocks Video-RLM: a parallel Master-Worker architecture where a Master coordinates global exploration while Workers concurrently drill into assigned regions to accumulate lossless visual evidence. We demonstrate three key findings: (1)~logarithmic compute growth with video duration, further amplified by a 30-60\% multimodal cache hit rate arising from the grid's structural reuse. (2)~environment budgeting, where bounding the maximum exploration depth provides a principled compute-accuracy hyperparameter. (3)~emergent adaptive compute allocation that scales with question granularity. When scaling from 1-hour to 10-hour benchmarks, Video-RLM remains the most duration-robust method with minimal accuracy degradation, demonstrating that structured environment navigation is a viable and scalable paradigm for video understanding. --- ### Unified Policy Value Decomposition for Rapid Adaptation Authors: Cristiano Capone, Luca Falorsi, Andrea Ciardiello, Luca Manneschi Published: 2026-03-18 Categories: cs.LG, q-bio.NC arXiv: https://arxiv.org/abs/2603.17947v1 Rapid adaptation in complex control systems remains a central challenge in reinforcement learning. We introduce a framework in which policy and value functions share a low-dimensional coefficient vector - a goal embedding - that captures task identity and enables immediate adaptation to novel tasks without retraining representations. During pretraining, we jointly learn structured value bases and compatible policy bases through a bilinear actor-critic decomposition. The critic factorizes as Q = sum_k G_k(g) y_k(s,a), where G_k(g) is a goal-conditioned coefficient vector and y_k(s,a) are learned value basis functions. This multiplicative gating - where a context signal scales a set of state-dependent bases - is reminiscent of gain modulation observed in Layer 5 pyramidal neurons, where top-down inputs modulate the gain of sensory-driven responses without altering their tuning. Building on Successor Features, we extend the decomposition to the actor, which composes a set of primitive policies weighted by the same coefficients G_k(g). At test time the bases are frozen and G_k(g) is estimated zero-shot via a single forward pass, enabling immediate adaptation to novel tasks without any gradient update. We train a Soft Actor-Critic agent on the MuJoCo Ant environment under a multi-directional locomotion objective, requiring the agent to walk in eight directions specified as continuous goal vectors. The bilinear structure allows each policy head to specialize to a subset of directions, while the shared coefficient layer generalizes across them, accommodating novel directions by interpolating in goal embedding space. Our results suggest that shared low-dimensional goal embeddings offer a general mechanism for rapid, structured adaptation in high-dimensional control, and highlight a potentially biologically plausible principle for efficient transfer in complex reinforcement learning systems. --- ### CARE: Covariance-Aware and Rank-Enhanced Decomposition for Enabling Multi-Head Latent Attention Authors: Zhongzhu Zhou, Fengxiang Bie, Ziyan Chen, Zhenyu Zhang, Yibo Yang, Junxiong Wang, Ben Athiwaratkun, Xiaoxia Wu, Shuaiwen Leon Song Published: 2026-03-18 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2603.17946v1 Converting pretrained attention modules such as grouped-query attention (GQA) into multi-head latent attention (MLA) can improve expressivity without increasing KV-cache cost, making it attractive for efficient inference. However, many practical conversion baselines rely on weight-only low-rank approximations (e.g., SVD-style initializations) and uniform rank allocation. They focus on minimizing the difference between weight matrices rather than on how those weights affect input activations, ignore the covariance structure of activations, and enforce uniform rank across layers, causing activation drift and degraded attention fidelity. To address these issues, we propose CARE, a Covariance-Aware, Rank-Enhanced MLA conversion pipeline under a fixed KV width. CARE introduces three key steps: (i) activation-preserving factorization, which aligns the approximation with the actual input activations rather than just the weights; (ii) adjusted-rank allocation, which spreads a fixed KV budget across layers by giving more capacity to layers that need it most; and (iii) KV-parity mapping, which reparameterizes the converted K and V to fit the MLA format while keeping the KV-cache size unchanged. Our method outperforms a uniform-rank SVD baseline on Qwen3-4B/30B-A3B-Instruct-2507 and Llama-3.1-8B/70B-Instruct, reducing one-shot perplexity by up to 215x and improving mean accuracy by up to 1.70x at matched KV budgets. With a brief post-SVD healing fine-tune, we fully recover the original model's accuracy. --- ### ShapleyLaw: A Game-Theoretic Approach to Multilingual Scaling Laws Authors: Xuyang Cao, Qianying Liu, Chuan Xiao, Yusuke Oda, Jiayi Wang, Pontus Stenetorp, Daisuke Kawahara, Makoto Onizuka, Sadao Kurohashi, Shuyuan Zheng Published: 2026-03-18 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.17945v3 In multilingual pretraining, the test loss of a pretrained model is heavily influenced by the proportion of each language in the pretraining data, namely the \textit{language mixture ratios}. Multilingual scaling laws can predict the test loss under different language mixture ratios and can therefore be used to estimate the optimal ratios. However, the current approaches to multilingual scaling laws do not measure the \textit{cross-lingual transfer} effect, resulting in suboptimal mixture ratios. In this paper, we consider multilingual pretraining as a cooperative game in which each language acts as a player that jointly contributes to pretraining, gaining the resulting reduction in test loss as the payoff. Consequently, from the perspective of cooperative game theory, we quantify the cross-lingual transfer from each language by its contribution in the game, and propose a game-theoretic multilingual scaling law called \textit{ShapleyLaw}. Our experiments show that ShapleyLaw outperforms baseline methods in model performance prediction and language mixture optimization. --- ### ShapleyLaw: A Game-Theoretic Approach to Multilingual Scaling Laws Authors: Xuyang Cao, Qianying Liu, Chuan Xiao, Yusuke Oda, Jiayi Wang, Pontus Stenetorp, Daisuke Kawahara, Makoto Onizuka, Sadao Kurohashi, Shuyuan Zheng Published: 2026-03-18 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.17945v2 In multilingual pretraining, the test loss of a pretrained model is heavily influenced by the proportion of each language in the pretraining data, namely the \textit{language mixture ratios}. Multilingual scaling laws can predict the test loss under different language mixture ratios and can therefore be used to estimate the optimal ratios. However, the current approaches to multilingual scaling laws do not measure the \textit{cross-lingual transfer} effect, resulting in suboptimal mixture ratios. In this paper, we consider multilingual pretraining as a cooperative game in which each language acts as a player that jointly contributes to pretraining, gaining the resulting reduction in test loss as the payoff. Consequently, from the perspective of cooperative game theory, we quantify the cross-lingual transfer from each language by its contribution in the game, and propose a game-theoretic multilingual scaling law called \textit{ShapleyLaw}. Our experiments show that ShapleyLaw outperforms baseline methods in model performance prediction and language mixture optimization. --- ### TransText: Alpha-as-RGB Representation for Transparent Text Animation Authors: Fei Zhang, Zijian Zhou, Bohao Tang, Sen He, Hang Li, Zhe Wang, Soubhik Sanyal, Pengfei Liu, Viktar Atliha, Tao Xiang, Frost Xu, Semih Gunel Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17944v2 We introduce the first method, to the best of our knowledge, for adapting image-to-video models to layer-aware text (glyph) animation, a capability critical for practical dynamic visual design. Existing approaches predominantly handle the transparency-encoding (alpha channel) as an extra latent dimension appended to the RGB space, necessitating the reconstruction of the underlying RGB-centric variational autoencoder (VAE). However, given the scarcity of high-quality transparent glyph data, retraining the VAE is computationally expensive and may erode the robust semantic priors learned from massive RGB corpora, potentially leading to latent pattern mixing. To mitigate these limitations, we propose TransText, a framework based on a novel Alpha-as-RGB paradigm to jointly model appearance and transparency without modifying the pre-trained generative manifold. TransText embeds the alpha channel as an RGB-compatible visual signal through latent spatial concatenation, explicitly ensuring strict cross-modal (RGB-and-Alpha) consistency while preventing feature entanglement. Our experiments demonstrate that TransText significantly outperforms baselines, generating coherent, high-fidelity transparent animations with diverse, fine-grained effects. --- ### Efficient Training-Free Multi-Token Prediction via Embedding-Space Probing Authors: Raghavv Goel, Mukul Gagrani, Mingu Lee, Chris Lott Published: 2026-03-18 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.17942v2 Large Language Models (LLMs) possess latent multi-token prediction (MTP) abilities despite being trained only for next-token generation. We introduce ESP (Embedding-Space Probing), a simple and training-free MTP method that probes an LLM using on-the-fly mask tokens drawn from its embedding space, enabling parallel future-token prediction without modifying weights or relying on draft models. ESP constructs a speculative token tree by sampling Top-K candidates from mask-token logits and applies a lightweight pruning rule to retain high-probability continuations. During generation, predictions are verified in parallel, yielding lossless decoding while significantly reducing model calls and increasing token throughput. ESP consistently outperforms existing training-free baselines, improving acceptance length by 7-11% over LADE on LLaMA3 and 7-8% on Qwen3, and increasing throughput by up to 15-19% over the strongest baseline. Finally, we provide theoretical insight and empirical evidence showing that decoder layers naturally align mask-token representations with next-token states, enabling accurate multi-step prediction without retraining or auxiliary models. --- ### Interpretable Traffic Responsibility from Dashcam Video via Legal Multi Agent Reasoning Authors: Jingchun Yang, Jinchang Zhang Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17930v1 The widespread adoption of dashcams has made video evidence in traffic accidents increasingly abundant, yet transforming "what happened in the video" into "who is responsible under which legal provisions" still relies heavily on human experts. Existing ego-view traffic accident studies mainly focus on perception and semantic understanding, while LLM-based legal methods are mostly built on textual case descriptions and rarely incorporate video evidence, leaving a clear gap between the two. We first propose C-TRAIL, a multimodal legal dataset that, under the Chinese traffic regulation system, explicitly aligns dashcam videos and textual descriptions with a closed set of responsibility modes and their corresponding Chinese traffic statutes. On this basis, we introduce a two-stage framework: (1) a traffic accident understanding module that generates textual video descriptions; and (2) a legal multi-agent framework that outputs responsibility modes, statute sets, and complete judgment reports. Experimental results on C-TRAIL and MM-AU show that our method outperforms general and legal LLMs, as well as existing agent-based approaches, while providing a transparent and interpretable legal reasoning process. --- ### A practical artificial intelligence framework for legal age estimation using clavicle computed tomography scans Authors: Javier Venema, Stefano De Luca, Pablo Mesejo, Óscar Ibáñez Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17926v1 Legal age estimation plays a critical role in forensic and medico-legal contexts, where decisions must be supported by accurate, robust, and reproducible methods with explicit uncertainty quantification. While prior artificial intelligence (AI)-based approaches have primarily focused on hand radiographs or dental imaging, clavicle computed tomography (CT) scans remain underexplored despite their documented effectiveness for legal age estimation. In this work, we present an interpretable, multi-stage pipeline for legal age estimation from clavicle CT scans. The proposed framework combines (i) a feature-based connected-component method for automatic clavicle detection that requires minimal manual annotation, (ii) an Integrated Gradients-guided slice selection strategy used to construct the input data for a multi-slice convolutional neural network that estimates legal age, and (iii) conformal prediction intervals to support uncertainty-aware decisions in accordance with established international protocols. The pipeline is evaluated on 1,158 full-body post-mortem CT scans from a public forensic dataset (the New Mexico Decedent Image Database). The final model achieves state-of-the-art performance with a mean absolute error (MAE) of 1.55 $\pm$ 0.16 years on a held-out test set, outperforming both human experts (MAE of approximately 1.90 years) and previous methods (MAEs above 1.75 years in our same dataset). Furthermore, conformal prediction enables configurable coverage levels aligned with forensic requirements. Attribution maps indicate that the model focuses on anatomically relevant regions of the medial clavicular epiphysis. The proposed method, which is currently being added as part of the Skeleton-ID software (https://skeleton-id.com/skeleton-id/), is intended as a decision-support component within multi-factorial forensic workflows. --- ### Multi-Armed Sequential Hypothesis Testing by Betting Authors: Ricardo J. Sandoval, Ian Waudby-Smith, Michael I. Jordan Published: 2026-03-18 Categories: stat.ME, cs.LG, math.ST arXiv: https://arxiv.org/abs/2603.17925v2 We consider a variant of sequential testing by betting where, at each time step, the statistician is presented with multiple data sources (arms) and obtains data by choosing one of the arms. We consider the composite global null hypothesis $\mathscr{P}$ that all arms are null in a certain sense (e.g. all dosages of a treatment are ineffective) and we are interested in rejecting $\mathscr{P}$ in favor of a composite alternative $\mathscr{Q}$ where at least one arm is non-null (e.g. there exists an effective treatment dosage). We posit an optimality desideratum that we describe informally as follows: even if several arms are non-null, we seek $e$-processes and sequential tests whose performance are as strong as the ones that have oracle knowledge about which arm generates the most evidence against $\mathscr{P}$. Formally, we generalize notions of log-optimality and expected rejection time optimality to more than one arm, obtaining matching lower and upper bounds for both. A key technical device in this optimality analysis is a modified upper-confidence-bound-like algorithm for unobservable but sufficiently "estimable" rewards. In the design of this algorithm, we derive nonasymptotic concentration inequalities for optimal wealth growth rates in the sense of Kelly (1956). These may be of independent interest. --- ### SegFly: A Dataset and 2D-3D-2D Paradigm for Aerial RGB-Thermal Semantic Segmentation at Scale Authors: Markus Gross, Sai Bharadhwaj Matha, Rui Song, Viswanathan Muthuveerappan, Conrad Christoph, Julius Huber, Daniel Cremers Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17920v2 Semantic segmentation for uncrewed aerial vehicles (UAVs) is fundamental for aerial scene understanding, yet existing RGB and RGB-T datasets remain limited in scale, diversity, and annotation efficiency due to the high cost of manual labeling and the difficulties of accurate RGB-T alignment on off-the-shelf UAVs. To address these challenges, we propose a scalable geometry-driven 2D-3D-2D paradigm that leverages multi-view redundancy in high-overlap aerial imagery to automatically propagate labels from a small subset of manually annotated RGB images to both RGB and thermal modalities within a unified framework. By lifting less than 3% of RGB images into a semantic 3D point cloud and rendering it into all views, our approach enables dense pseudo ground-truth generation across large image collections, automatically producing 97% of RGB labels and 100% of thermal labels while achieving 91% and 88% annotation accuracy without any 2D manual refinement. We further extend this 2D-3D-2D paradigm to cross-modal image registration, using 3D geometry as an intermediate alignment space to obtain fully automatic, strong pixel-level RGB-T alignment with 87% registration accuracy and no hardware-level synchronization. Applying our framework to existing geo-referenced aerial imagery, we construct SegFly, a large-scale benchmark with over 20,000 high-resolution RGB images and more than 15,000 geometrically aligned RGB-T pairs spanning diverse urban, industrial, and rural environments across multiple altitudes and seasons. On SegFly, we establish the Firefly baseline for RGB and thermal semantic segmentation and show that both conventional architectures and vision foundation models benefit substantially from SegFly supervision, highlighting the potential of geometry-driven 2D-3D-2D pipelines for scalable multi-modal aerial scene understanding. Data and Code available at https://github.com/markus-42/SegFly. --- ### Only relative ranks matter in weight-clustered large language models Authors: Borja Aizpurua, Sukhbinder Singh, Román Orús Published: 2026-03-18 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2603.17917v1 Large language models (LLMs) contain billions of parameters, yet many exact values are not essential. We show that what matters most is the relative rank of weights-whether one connection is stronger or weaker than another-rather than precise magnitudes. To reduce the number of unique weight values, we apply weight clustering to pretrained models, replacing every weight matrix with K shared values from K-means. For Llama 3.1-8B-Instruct and SmolLM2-135M, reducing each matrix to only 16-64 distinct values preserves strong accuracy without retraining, providing a simple, training-free method to compress LLMs on disk. Optionally fine-tuning only the cluster means (centroids) recovers 30-40 percent of the remaining accuracy gap at minimal cost. We then systematically randomize cluster means while keeping assignments fixed. Scrambling the relative ranks of the clusters degrades quality sharply-perplexity can increase by orders of magnitude-even when global statistics such as mean and variance are preserved. In contrast, rank-preserving randomizations cause almost no loss at mid and late layers. On the other hand, when many layers are perturbed simultaneously, progressive layer-by-layer replacement reveals that scale drift-not rank distortion-is the dominant collapse mechanism; however, an affine correction w' = aw + b with a > 0 (which preserves both rank order and overall weight distribution) can substantially delay this drift. This rank-based perspective offers a new lens on model compression and robustness. --- ### IndicSafe: A Benchmark for Evaluating Multilingual LLM Safety in South Asia Authors: Priyaranjan Pattnayak, Sanchari Chowdhuri Published: 2026-03-18 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2603.17915v2 As large language models (LLMs) are deployed in multilingual settings, their safety behavior in culturally diverse, low-resource languages remains poorly understood. We present the first systematic evaluation of LLM safety across 12 Indic languages, spoken by over 1.2 billion people but underrepresented in LLM training data. Using a dataset of 6,000 culturally grounded prompts spanning caste, religion, gender, health, and politics, we assess 10 leading LLMs on translated variants of the prompt. Our analysis reveals significant safety drift: cross-language agreement is just 12.8\%, and \texttt{SAFE} rate variance exceeds 17\% across languages. Some models over-refuse benign prompts in low-resource scripts, overflag politically sensitive topics, while others fail to flag unsafe generations. We quantify these failures using prompt-level entropy, category bias scores, and multilingual consistency indices. Our findings highlight critical safety generalization gaps in multilingual LLMs and show that safety alignment does not transfer evenly across languages. We release \textsc{IndicSafe}, the first benchmark to enable culturally informed safety evaluation for Indic deployments, and advocate for language-aware alignment strategies grounded in regional harms. --- ### Noise-Aware Misclassification Attack Detection in Collaborative DNN Inference Authors: Shima Yousefi, Saptarshi Debroy Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17914v1 Collaborative inference of object classification Deep neural Networks (DNNs) where resource-constrained end-devices offload partially processed data to remote edge servers to complete end-to-end processing, is becoming a key enabler of edge-AI. However, such edge-offloading is vulnerable to malicious data injections leading to stealthy misclassifications that are tricky to detect, especially in the presence of environmental noise. In this paper, we propose a semi-gray-box and noise- aware anomaly detection framework fueled by a variational autoencoder (VAE) to capture deviations caused by adversarial manipulation. The proposed framework incorporates a robust noise-aware feature that captures the characteristic behavior of environmental noise to improve detection accuracy while reducing false alarm rates. Our evaluation with popular object classification DNNs demonstrate the robustness of the proposed detection (up to 90% AUROC across DNN configurations) under realistic noisy conditions while revealing limitations caused by feature similarity and elevated noise levels. --- ### Pretrained Multilingual Transformers Reveal Quantitative Distance Between Human Languages Authors: Yue Zhao, Jiatao Gu, Paloma Jeretič, Weijie Su Published: 2026-03-18 Categories: cs.CL, stat.ML arXiv: https://arxiv.org/abs/2603.17912v1 Understanding the distance between human languages is central to linguistics, anthropology, and tracing human evolutionary history. Yet, while linguistics has long provided rich qualitative accounts of cross-linguistic variation, a unified and scalable quantitative approach to measuring language distance remains lacking. In this paper, we introduce a method that leverages pretrained multilingual language models as systematic instruments for linguistic measurement. Specifically, we show that the spontaneously emerged attention mechanisms of these models provide a robust, tokenization-agnostic measure of cross-linguistic distance, termed Attention Transport Distance (ATD). By treating attention matrices as probability distributions and measuring their geometric divergence via optimal transport, we quantify the representational distance between languages during translation. Applying ATD to a large and diverse set of languages, we demonstrate that the resulting distances recover established linguistic groupings with high fidelity and reveal patterns aligned with geographic and contact-induced relationships. Furthermore, incorporating ATD as a regularizer improves transfer performance in low-resource machine translation. Our results establish a principled foundation for testing linguistic hypotheses using artificial neural networks. This framework transforms multilingual models into powerful tools for quantitative linguistic discovery, facilitating more equitable multilingual AI. --- ### SpiderCam: Low-Power Snapshot Depth from Differential Defocus Authors: Marcos A. Ferreira, Tianao Li, John Mamish, Josiah Hester, Yaman Sangar, Qi Guo, Emma Alexander Published: 2026-03-18 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.17910v1 We introduce SpiderCam, an FPGA-based snapshot depth-from-defocus camera which produces 480x400 sparse depth maps in real-time at 32.5 FPS over a working range of 52 cm while consuming 624 mW of power in total. SpiderCam comprises a custom camera that simultaneously captures two differently focused images of the same scene, processed with a SystemVerilog implementation of depth from differential defocus (DfDD) on a low-power FPGA. To achieve state-of-the-art power consumption, we present algorithmic improvements to DfDD that overcome challenges caused by low-power sensors, and design a memory-local implementation for streaming depth computation on a device that is too small to store even a single image pair. We report the first sub-Watt total power measurement for passive FPGA-based 3D cameras in the literature. --- ### Differential Privacy in Generative AI Agents: Analysis and Optimal Tradeoffs Authors: Ya-Ting Yang, Quanyan Zhu Published: 2026-03-18 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2603.17902v1 Large language models (LLMs) and AI agents are increasingly integrated into enterprise systems to access internal databases and generate context-aware responses. While such integration improves productivity and decision support, the model outputs may inadvertently reveal sensitive information. Although many prior efforts focus on protecting the privacy of user prompts, relatively few studies consider privacy risks from the enterprise data perspective. Hence, this paper develops a probabilistic framework for analyzing privacy leakage in AI agents based on differential privacy. We model response generation as a stochastic mechanism that maps prompts and datasets to distributions over token sequences. Within this framework, we introduce token-level and message-level differential privacy and derive privacy bounds that relate privacy leakage to generation parameters such as temperature and message length. We further formulate a privacy-utility design problem that characterizes optimal temperature selection. --- ### A Noise Sensitivity Exponent Controls Large Statistical-to-Computational Gaps in Single- and Multi-Index Models Authors: Leonardo Defilippis, Florent Krzakala, Bruno Loureiro, Antoine Maillard Published: 2026-03-18 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2603.17896v1 Understanding when learning is statistically possible yet computationally hard is a central challenge in high-dimensional statistics. In this work, we investigate this question in the context of single- and multi-index models, classes of functions widely studied as benchmarks to probe the ability of machine learning methods to discover features in high-dimensional data. Our main contribution is to show that a Noise Sensitivity Exponent (NSE) - a simple quantity determined by the activation function - governs the existence and magnitude of statistical-to-computational gaps within a broad regime of these models. We first establish that, in single-index models with large additive noise, the onset of a computational bottleneck is fully characterized by the NSE. We then demonstrate that the same exponent controls a statistical-computational gap in the specialization transition of large separable multi-index models, where individual components become learnable. Finally, in hierarchical multi-index models, we show that the NSE governs the optimal computational rate in which different directions are sequentially learned. Taken together, our results identify the NSE as a unifying property linking noise robustness, computational hardness, and feature specialization in high-dimensional learning. ---