# Research Papers — 2026-03 · bundle page 215 of 243 > Full-text markdown of papers #10701–10750 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/215 [← Previous bundle](https://aipod.dev/papers/archive/2026-03/page/214.md) [Next bundle →](https://aipod.dev/papers/archive/2026-03/page/216.md) ### Beyond Mixtures and Products for Ensemble Aggregation: A Likelihood Perspective on Generalized Means Authors: Raphaël Razafindralambo, Rémy Sun, Frédéric Precioso, Damien Garreau, Pierre-Alexandre Mattei Published: 2026-03-04 Categories: stat.ML, cs.CV, cs.LG, math.ST, stat.ME arXiv: https://arxiv.org/abs/2603.04204v1 Density aggregation is a central problem in machine learning, for instance when combining predictions from a Deep Ensemble. The choice of aggregation remains an open question with two commonly proposed approaches being linear pooling (probability averaging) and geometric pooling (logit averaging). In this work, we address this question by studying the normalized generalized mean of order $r \in \mathbb{R} \cup \{-\infty,+\infty\}$ through the lens of log-likelihood, the standard evaluation criterion in machine learning. This provides a unifying aggregation formalism and shows different optimal configurations for different situations. We show that the regime $r \in (0,1)$ is the only range ensuring systematic improvements relative to individual distributions, thereby providing a principled justification for the reliability and widespread practical use of linear ($r=1$) and geometric ($r=0$) pooling. In contrast, we show that aggregation rules with $r \notin (0,1)$ may fail to provide consistent gains with explicit counterexamples. Finally, we corroborate our theoretical findings with empirical evaluations using Deep Ensembles on image and text classification benchmarks. --- ### Bayesian Adversarial Privacy Authors: Cameron Bell, Timothy Johnston, Antoine Luciano, Christian P Robert Published: 2026-03-04 Categories: math.ST, cs.CR, cs.LG, stat.ME arXiv: https://arxiv.org/abs/2603.04199v2 Theoretical and applied research into privacy encompasses an incredibly broad swathe of differing approaches, emphases and aims. This work introduces a novel quantitative notion of privacy that is both contextual and specific. Building on and extending ideas from statistical disclosure control and differential privacy, our aim is to model the implications of a disclosure decision in an adversarial setting. Our definition relies on concepts inherent to standard Bayesian decision theory, while departing from them in several important respects. In particular, (i) inference about the data itself becomes meaningful and (ii) the party controlling the release of sensitive information should make disclosure decisions from the prior viewpoint, rather than conditional on the data, which is a feature shared with Bayesian design. Illuminating toy examples are exploited towards highlighting the specificities of the method. --- ### Bayesian Adversarial Privacy Authors: Cameron Bell, Timothy Johnston, Antoine Luciano, Christian P Robert Published: 2026-03-04 Categories: math.ST, cs.CR, cs.LG, stat.ME arXiv: https://arxiv.org/abs/2603.04199v1 Theoretical and applied research into privacy encompasses an incredibly broad swathe of differing approaches, emphasis and aims. This work introduces a new quantitative notion of privacy that is both contextual and specific. We argue that it provides a more meaningful notion of privacy than the widely utilised framework of differential privacy and a more explicit and rigorous formulation than what is commonly used in statistical disclosure theory. Our definition relies on concepts inherent to standard Bayesian decision theory, while departing from it in several important respects. In particular, the party controlling the release of sensitive information should make disclosure decisions from the prior viewpoint, rather than conditional on the data, even when the data is itself observed. Illuminating toy examples and computational methods are discussed in high detail in order to highlight the specificities of the method. --- ### Stable and Steerable Sparse Autoencoders with Weight Regularization Authors: Piotr Jedryszek, Oliver M. Crook Published: 2026-03-04 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2603.04198v2 Sparse autoencoders (SAEs) are widely used to extract human-interpretable features from neural network activations, but their learned features can vary substantially across random seeds and training choices. To improve stability, we studied weight regularization by adding L1 or L2 penalties on encoder and decoder weights, and evaluate how regularization interacts with common SAE training defaults. On MNIST, we observe that L2 weight regularization produces a core of highly aligned features and, when combined with tied initialization and unit-norm decoder constraints, it dramatically increases cross-seed feature consistency. For TopK SAEs trained on language model activations (Pythia-70M-deduped), adding a small L2 weight penalty increased the fraction of features shared across three random seeds and roughly doubles steering success rates, while leaving the mean of automated interpretability scores essentially unchanged. Finally, in the regularized setting, activation steering success becomes better predicted by auto-interpretability scores, suggesting that regularization can align text-based feature explanations with functional controllability. --- ### Noise-aware Client Selection for carbon-efficient Federated Learning via Gradient Norm Thresholding Authors: Patrick Wilhelm, Inese Yilmaz, Odej Kao Published: 2026-03-04 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2603.04194v1 Training large-scale Neural Networks requires substantial computational power and energy. Federated Learning enables distributed model training across geospatially distributed data centers, leveraging renewable energy sources to reduce the carbon footprint of AI training. Various client selection strategies have been developed to align the volatility of renewable energy with stable and fair model training in a federated system. However, due to the privacy-preserving nature of Federated Learning, the quality of data on client devices remains unknown, posing challenges for effective model training. In this paper, we introduce a modular approach on top to state-of-the-art client selection strategies for carbon-efficient Federated Learning. Our method enhances robustness by incorporating a noisy client data filtering, improving both model performance and sustainability in scenarios with unknown data quality. Additionally, we explore the impact of carbon budgets on model convergence, balancing efficiency and sustainability. Through extensive evaluations, we demonstrate that modern client selection strategies based on local client loss tend to select clients with noisy data, ultimately degrading model performance. To address this, we propose a gradient norm thresholding mechanism using probing rounds for more effective client selection and noise detection, contributing to the practical deployment of carbon-efficient Federated Learning. --- ### Towards Natural Personalization: Evaluating Long-Horizon Preference Following in Personalized User-LLM Interactions Authors: Qianyun Guo, Yibo Li, Yue Liu, Bryan Hooi Published: 2026-03-04 Categories: cs.AI arXiv: https://arxiv.org/abs/2603.04191v2 Large Language Models (LLMs) are increasingly serving as personal assistants, where users may share individual preferences over extended interactions. However, assessing how well LLMs can follow these preferences in natural, long-term situations remains underexplored. This work proposes RealPref, a benchmark for evaluating natural preference-following in personalized user-LLM interactions. RealPref features 100 synthetic user profiles, 1300 personalized preferences, 4 types of preference expression (from explicit to implicit), and long-horizon interaction histories. It explored three types of test tasks (multiple-choice, true-or-false, and open-ended), with granular rubrics for LLM-as-a-judge evaluation. Results indicate that LLM performance drops significantly as context length grows and preference expression becomes more implicit, and that generalizing user preference understanding to unseen scenarios poses further challenges. RealPref and these findings provide a foundation for future research to develop user-aware LLM assistants that better adapt to individual needs. --- ### Towards Realistic Personalization: Evaluating Long-Horizon Preference Following in Personalized User-LLM Interactions Authors: Qianyun Guo, Yibo Li, Yue Liu, Bryan Hooi Published: 2026-03-04 Categories: cs.AI arXiv: https://arxiv.org/abs/2603.04191v1 Large Language Models (LLMs) are increasingly serving as personal assistants, where users share complex and diverse preferences over extended interactions. However, assessing how well LLMs can follow these preferences in realistic, long-term situations remains underexplored. This work proposes RealPref, a benchmark for evaluating realistic preference-following in personalized user-LLM interactions. RealPref features 100 user profiles, 1300 personalized preferences, four types of preference expression (ranging from explicit to implicit), and long-horizon interaction histories. It includes three types of test questions (multiple-choice, true-or-false, and open-ended), with detailed rubrics for LLM-as-a-judge evaluation. Results indicate that LLM performance significantly drops as context length grows and preference expression becomes more implicit, and that generalizing user preference understanding to unseen scenarios poses further challenges. RealPref and these findings provide a foundation for future research to develop user-aware LLM assistants that better adapt to individual needs. The code is available at https://github.com/GG14127/RealPref. --- ### CAM-LDS: Cyber Attack Manifestations for Automatic Interpretation of System Logs and Security Alerts Authors: Max Landauer, Wolfgang Hotwagner, Thorina Boenke, Florian Skopik, Markus Wurzenberger Published: 2026-03-04 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2603.04186v1 Log data are essential for intrusion detection and forensic investigations. However, manual log analysis is tedious due to high data volumes, heterogeneous event formats, and unstructured messages. Even though many automated methods for log analysis exist, they usually still rely on domain-specific configurations such as expert-defined detection rules, handcrafted log parsers, or manual feature-engineering. Crucially, the level of automation of conventional methods is limited due to their inability to semantically understand logs and explain their underlying causes. In contrast, Large Language Models enable domain- and format-agnostic interpretation of system logs and security alerts. Unfortunately, research on this topic remains challenging, because publicly available and labeled data sets covering a broad range of attack techniques are scarce. To address this gap, we introduce the Cyber Attack Manifestation Log Data Set (CAM-LDS), comprising seven attack scenarios that cover 81 distinct techniques across 13 tactics and collected from 18 distinct sources within a fully open-source and reproducible test environment. We extract log events that directly result from attack executions to facilitate analysis of manifestations concerning command observability, event frequencies, performance metrics, and intrusion detection alerts. We further present an illustrative case study utilizing an LLM to process the CAM-LDS. The results indicate that correct attack techniques are predicted perfectly for approximately one third of attack steps and adequately for another third, highlighting the potential of LLM-based log interpretation and utility of our data set. --- ### REDNET-ML: A Multi-Sensor Machine Learning Pipeline for Harmful Algal Bloom Risk Detection Along the Omani Coast Authors: Ameer Alhashemi Published: 2026-03-04 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.04181v1 Harmful algal blooms (HABs) can threaten coastal infrastructure, fisheries, and desalination dependent water supplies. This project (REDNET-ML) develops a reproducible machine learning pipeline for HAB risk detection along the Omani coastline using multi sensor satellite data and non leaky evaluation. The system fuses (i) Sentinel-2 optical chips (high spatial resolution) processed into spectral indices and texture signals, (ii) MODIS Level-3 ocean color and thermal indicators, and (iii) learned image evidence from object detectors trained to highlight bloom like patterns. A compact decision fusion model (CatBoost) integrates these signals into a calibrated probability of HAB risk, which is then consumed by an end to end inference workflow and a risk field viewer that supports operational exploration by site (plant) and time. The report documents the motivation, related work, methodological choices (including label mining and strict split strategies), implementation details, and a critical evaluation using AUROC/AUPRC, confusion matrices, calibration curves, and drift analyses that quantify distribution shift in recent years. --- ### Architectural Proprioception in State Space Models: Thermodynamic Training Induces Anticipatory Halt Detection Authors: Jay Noon Published: 2026-03-04 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2603.04180v1 We introduce the Probability Navigation Architecture (PNA) framework, which treats neural computation as navigation through a probability manifold governed by thermodynamic principles. We train State Space Models (SSMs) and Transformers with a novel thermodynamic loss function that penalizes computational waste alongside standard cross-entropy. Across 19 experimental phases, we discover that thermodynamically-trained SSMs develop architectural proprioception: a strong anticipatory coupling between recurrent state entropy and halt confidence (r = -0.836, p < 0.001) in which the halt signal leads state entropy collapse by exactly two tokens (tau = -2.0). This Universal Stopping Signature (USS) reproduces to four decimal places across random seeds and generalizes to a structurally distinct sorting task. Critically, Transformers trained identically show no such coupling (r = -0.07), demonstrating that the phenomenon is architecture-dependent. Cross-task transfer experiments confirm that SSM halt detection reflects genuine meta-cognition (zero-shot transfer F1: SSMs 64.2% vs. Transformers 69.3%; post-adaptation: SSMs 94.5% vs. Transformers 86.4%), while Transformer halt detection relies on syntactic pattern matching. A 2D hyperparameter sweep over energy penalty (alpha) and halt supervision (beta) reveals that the anticipatory coupling is continuously controllable through training, with thermodynamic pressure serving as the primary induction mechanism and explicit halt supervision as an amplifier. Our results establish that SSMs are thermodynamically native architectures whose fixed-size recurrent states naturally support the Markovian compression that enables computational self-awareness, with implications for cost-aware inference, dynamic token budgets, and confidence-based routing in production systems. --- ### NOVA3R: Non-pixel-aligned Visual Transformer for Amodal 3D Reconstruction Authors: Weirong Chen, Chuanxia Zheng, Ganlin Zhang, Andrea Vedaldi, Daniel Cremers Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04179v2 We present NOVA3R, an effective approach for non-pixel-aligned 3D reconstruction from a set of unposed images in a feed-forward manner. Unlike pixel-aligned methods that tie geometry to per-ray predictions, our formulation learns a global, view-agnostic scene representation that decouples reconstruction from pixel alignment. This addresses two key limitations in pixel-aligned 3D: (1) it recovers both visible and invisible points with a complete scene representation, and (2) it produces physically plausible geometry with fewer duplicated structures in overlapping regions. To achieve this, we introduce a scene-token mechanism that aggregates information across unposed images and a diffusion-based 3D decoder that reconstructs complete, non-pixel-aligned point clouds. Extensive experiments on both scene-level and object-level datasets demonstrate that NOVA3R outperforms state-of-the-art methods in terms of reconstruction accuracy and completeness. --- ### CodeTaste: Can LLMs Generate Human-Level Code Refactorings? Authors: Alex Thillen, Niels Mündler, Veselin Raychev, Martin Vechev Published: 2026-03-04 Categories: cs.SE, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2603.04177v2 LLM coding agents can generate working code, but their solutions often accumulate complexity, duplication, and architectural debt. Human developers address such issues through refactoring: behavior-preserving program transformations that improve structure and maintainability. We investigate whether agents (i) can execute refactorings reliably and (ii) identify the refactorings that human developers actually chose in real codebases. To this end, we construct CodeTaste, a benchmark mined from large multi-file open-source refactorings. To score solutions, we combine repository test suites that measure functional correctness with tailored static checks that verify removal of undesired and introduction of desired code patterns using dataflow reasoning. Our results show a clear gap: agents perform well at implementing refactorings that are specified in detail, but often fail to discover the human refactoring choices when given a focus area for changes. A propose-then-implement decomposition improves alignment, and selecting the best-aligned proposal before implementation can yield further gains. CodeTaste provides an evaluation target and a potential preference signal for aligning coding agents with human refactoring decisions in realistic codebases. We release the benchmark, leaderboard, and code. --- ### Learning Hip Exoskeleton Control Policy via Predictive Neuromusculoskeletal Simulation Authors: Ilseung Park, Changseob Song, Inseung Kang Published: 2026-03-04 Categories: cs.RO, cs.LG arXiv: https://arxiv.org/abs/2603.04166v1 Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we present a physics-based neuromusculoskeletal learning framework that trains a hip-exoskeleton control policy entirely in simulation, without motion-capture demonstrations, and deploys it on hardware via policy distillation. A reinforcement learning teacher policy is trained using a muscle-synergy action prior over a wide range of walking speeds and slopes through a two-stage curriculum, enabling direct comparison between assisted and no-exoskeleton conditions. In simulation, exoskeleton assistance reduces mean muscle activation by up to 3.4% and mean positive joint power by up to 7.0% on level ground and ramp ascent, with benefits increasing systematically with walking speed. On hardware, the assistance profiles learned in simulation are preserved across matched speed-slope conditions (r: 0.82, RMSE: 0.03 Nm/kg), providing quantitative evidence of sim-to-real transfer without additional hardware tuning. These results demonstrate that physics-based neuromusculoskeletal simulation can serve as a practical and scalable foundation for exoskeleton controller development, substantially reducing experimental burden during the design phase. --- ### PlaneCycle: Training-Free 2D-to-3D Lifting of Foundation Models Without Adapters Authors: Yinghong Yu, Guangyuan Li, Jiancheng Yang Published: 2026-03-04 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.04165v3 Large-scale 2D foundation models exhibit strong transferable representations, yet extending them to 3D volumetric data typically requires retraining, adapters, or architectural redesign. We introduce PlaneCycle, a training-free, adapter-free operator for architecture-agnostic 2D-to-3D lifting of foundation models. PlaneCycle reuses the original pretrained 2D backbone by cyclically distributing spatial aggregation across orthogonal HW, DW, and DH planes throughout network depth, enabling progressive 3D fusion while preserving pretrained inductive biases. The method introduces no additional parameters and is applicable to arbitrary 2D networks. Using pretrained DINOv3 models, we evaluate PlaneCycle on six 3D classification and three 3D segmentation benchmarks. Without any training, the lifted models exhibit intrinsic 3D fusion capability and, under linear probing, outperform slice-wise 2D baselines and strong 3D counterparts, approaching the performance of fully trained models. With full fine-tuning, PlaneCycle matches standard 3D architectures, highlighting its potential as a seamless and practical 2D-to-3D lifting operator. These results demonstrate that 3D capability can be unlocked from pretrained 2D foundation models without structural modification or retraining. Code is available at https://github.com/HINTLab/PlaneCycle. --- ### Degradation-based augmented training for robust individual animal re-identification Authors: Thanos Polychronou, Lukáš Adam, Viktor Penchev, Kostas Papafitsoros Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04163v2 Wildlife re-identification aims to recognise individual animals by matching query images to a database of previously identified individuals, based on their fine-scale unique morphological characteristics. Current state-of-the-art models for multispecies re- identification are based on deep metric learning representing individual identities by fea- ture vectors in an embedding space, the similarity of which forms the basis for a fast automated identity retrieval. Yet very often, the discriminative information of individual wild animals gets significantly reduced due to the presence of several degradation factors in images, leading to reduced retrieval performance and limiting the downstream eco- logical studies. Here, starting by showing that the extent of this performance reduction greatly varies depending on the animal species (18 wild animal datasets), we introduce an augmented training framework for deep feature extractors, where we apply artificial but diverse degradations in images in the training set. We show that applying this augmented training only to a subset of individuals, leads to an overall increased re-identification performance, under the same type of degradations, even for individuals not seen during training. The introduction of diverse degradations during training leads to a gain of up to 8.5% Rank-1 accuracy to a dataset of real-world degraded animal images, selected using human re-ID expert annotations provided here for the first time. Our work is the first to systematically study image degradation in wildlife re-identification, while introducing all the necessary benchmarks, publicly available code and data, enabling further research on this topic. --- ### Degradation-based augmented training for robust individual animal re-identification Authors: Thanos Polychronou, Lukáš Adam, Viktor Penchev, Kostas Papafitsoros Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04163v1 Wildlife re-identification aims to recognise individual animals by matching query images to a database of previously identified individuals, based on their fine-scale unique morphological characteristics. Current state-of-the-art models for multispecies re- identification are based on deep metric learning representing individual identities by fea- ture vectors in an embedding space, the similarity of which forms the basis for a fast automated identity retrieval. Yet very often, the discriminative information of individual wild animals gets significantly reduced due to the presence of several degradation factors in images, leading to reduced retrieval performance and limiting the downstream eco- logical studies. Here, starting by showing that the extent of this performance reduction greatly varies depending on the animal species (18 wild animal datasets), we introduce an augmented training framework for deep feature extractors, where we apply artificial but diverse degradations in images in the training set. We show that applying this augmented training only to a subset of individuals, leads to an overall increased re-identification performance, under the same type of degradations, even for individuals not seen during training. The introduction of diverse degradations during training leads to a gain of up to 8.5% Rank-1 accuracy to a dataset of real-world degraded animal images, selected using human re-ID expert annotations provided here for the first time. Our work is the first to systematically study image degradation in wildlife re-identification, while introducing all the necessary benchmarks, publicly available code and data, enabling further research on this topic. --- ### Bielik-Q2-Sharp: A Comparative Study of Extreme 2-bit Quantization Methods for a Polish 11B Language Model Authors: Jakub Prejzner Published: 2026-03-04 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2603.04162v2 We present Bielik-Q2-Sharp, the first systematic academic evaluation of extreme 2-bit quantization applied to a Polish large language model. Using Bielik-11B-v2.3-Instruct (11B parameters, Mistral architecture) as our base model, we compare six state-of-the-art post-training quantization methods -- QuIP#, SpinQuant+GPTQ, ButterflyQuant, QTIP, VPTQ, and AQLM -- all calibrated on a Polish-language corpus (CulturaX-PL) with shared Hessian matrices. Our best variant (QuIP# E8P12) achieves 71.92% across 22 Polish benchmarks versus 72.07% for the IQ2_XXS baseline -- within statistical noise, at a modest size premium (3.26 GB vs. ~2.6 GB). On eq_bench, our method scores 47.14 versus 43.53 (+3.6pp), suggesting superior preservation of higher-order reasoning. QTIP achieves the best per-bit efficiency (79.4% MC acc_norm at ~2.4 bpw, 3.27 GB), matching VPTQ's quality at 35% smaller size. We additionally document a MC-generation dissociation phenomenon where rotation-based methods preserve log-likelihood quality but fail catastrophically at autoregressive generation. The entire project was conducted by a single independent researcher on cloud GPUs (vast.ai) within a $285 budget. All models, Hessians, and evaluation logs are publicly available. --- ### Traces of Social Competence in Large Language Models Authors: Tom Kouwenhoven, Michiel van der Meer, Max van Duijn Published: 2026-03-04 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.04161v2 The False Belief Test (FBT) has been the main method for assessing Theory of Mind (ToM) and related socio-cognitive competencies. For Large Language Models (LLMs), the reliability and explanatory potential of this test have remained limited due to issues like data contamination, insufficient model details, and inconsistent controls. We address these issues by testing 17 open-weight models on a balanced set of 192 FBT variants (Trott et al., 2023) using Bayesian Logistic regression to identify how model size and post-training affect socio-cognitive competence. We find that scaling model size benefits performance, but not strictly. A cross-over effect reveals that explicating propositional attitudes (X thinks) fundamentally alters response patterns. Instruction tuning partially mitigates this effect, but further reasoning-oriented fine-tuning amplifies it. In a case study analysing social reasoning ability throughout OLMo 2 training, we show that this cross-over effect emerges during pre-training, suggesting that models acquire stereotypical response patterns tied to mental-state vocabulary that can outweigh other scenario semantics. Finally, vector steering allows us to isolate a think vector as the causal driver of observed FBT behaviour. --- ### GarmentPile++: Affordance-Driven Cluttered Garments Retrieval with Vision-Language Reasoning Authors: Mingleyang Li, Yuran Wang, Yue Chen, Tianxing Chen, Jiaqi Liang, Zishun Shen, Haoran Lu, Ruihai Wu, Hao Dong Published: 2026-03-04 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2603.04158v1 Garment manipulation has attracted increasing attention due to its critical role in home-assistant robotics. However, the majority of existing garment manipulation works assume an initial state consisting of only one garment, while piled garments are far more common in real-world settings. To bridge this gap, we propose a novel garment retrieval pipeline that can not only follow language instruction to execute safe and clean retrieval but also guarantee exactly one garment is retrieved per attempt, establishing a robust foundation for the execution of downstream tasks (e.g., folding, hanging, wearing). Our pipeline seamlessly integrates vision-language reasoning with visual affordance perception, fully leveraging the high-level reasoning and planning capabilities of VLMs alongside the generalization power of visual affordance for low-level actions. To enhance the VLM's comprehensive awareness of each garment's state within a garment pile, we employ visual segmentation model (SAM2) to execute object segmentation on the garment pile for aiding VLM-based reasoning with sufficient visual cues. A mask fine-tuning mechanism is further integrated to address scenarios where the initial segmentation results are suboptimal. In addition, a dual-arm cooperation framework is deployed to address cases involving large or long garments, as well as excessive garment sagging caused by incorrect grasping point determination, both of which are strenuous for a single arm to handle. The effectiveness of our pipeline are consistently demonstrated across diverse tasks and varying scenarios in both real-world and simulation environments. Project page: https://garmentpile2.github.io/. --- ### LISTA-Transformer Model Based on Sparse Coding and Attention Mechanism and Its Application in Fault Diagnosis Authors: Shuang Liu, Lina Zhao, Tian Wang, Huaqing Wang Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04146v1 Driven by the continuous development of models such as Multi-Layer Perceptron, Convolutional Neural Network (CNN), and Transformer, deep learning has made breakthrough progress in fields such as computer vision and natural language processing, and has been successfully applied in practical scenarios such as image classification and industrial fault diagnosis. However, existing models still have certain limitations in local feature modeling and global dependency capture. Specifically, CNN is limited by local receptive fields, while Transformer has shortcomings in effectively modeling local structures, and both face challenges of high model complexity and insufficient interpretability. In response to the above issues, we proposes the following innovative work: A sparse Transformer based on Learnable Iterative Shrinkage Threshold Algorithm (LISTA-Transformer) was designed, which deeply integrates LISTA sparse encoding with visual Transformer to construct a model architecture with adaptive local and global feature collaboration mechanism. This method utilizes continuous wavelet transform to convert vibration signals into time-frequency maps and inputs them into LISTA-Transformer for more effective feature extraction. On the CWRU dataset, the fault recognition rate of our method reached 98.5%, which is 3.3% higher than traditional methods and exhibits certain superiority over existing Transformer-based approaches. --- ### VietNormalizer: An Open-Source, Dependency-Free Python Library for Vietnamese Text Normalization in TTS and NLP Applications Authors: Hung Vu Nguyen, Loan Do, Thanh Ngoc Nguyen, Ushik Shrestha Khwakhali, Thanh Pham, Vinh Do, Charlotte Nguyen, Hien Nguyen Published: 2026-03-04 Categories: cs.CL, cs.NE arXiv: https://arxiv.org/abs/2603.04145v1 We present VietNormalizer1, an open-source, zero-dependency Python library for Vietnamese text normalization targeting Text-to-Speech (TTS) and Natural Language Processing (NLP) applications. Vietnamese text normalization is a critical yet underserved preprocessing step: real-world Vietnamese text is densely populated with non-standard words (NSWs), including numbers, dates, times, currency amounts, percentages, acronyms, and foreign-language terms, all of which must be converted to fully pronounceable Vietnamese words before TTS synthesis or downstream language processing. Existing Vietnamese normalization tools either require heavy neural dependencies while covering only a narrow subset of NSW classes, or are embedded within larger NLP toolkits without standalone installability. VietNormalizer addresses these gaps through a unified, rule-based pipeline that: (1) converts arbitrary integers, decimals, and large numbers to Vietnamese words; (2) normalizes dates and times to their spoken Vietnamese forms; (3) handles VND and USD currency amounts; (4) expands percentages; (5) resolves acronyms via a customizable CSV dictionary; (6) transliterates non-Vietnamese loanwords and foreign terms to Vietnamese phonetic approximations; and (7) performs Unicode normalization and emoji/special-character removal. All regular expression patterns are pre-compiled at initialization, enabling high-throughput batch processing with minimal memory overhead and no GPU or external API dependency. The library is installable via pip install vietnormalizer, available on PyPI and GitHub at https://github.com/nghimestudio/vietnormalizer, and released under the MIT license. We discuss the design decisions, limitations of existing approaches, and the generalizability of the rule-based normalization paradigm to other low-resource tonal and agglutinative languages. --- ### HBRB-BoW: A Retrained Bag-of-Words Vocabulary for ORB-SLAM via Hierarchical BRB-KMeans Authors: Minjae Lee, Sang-Min Choi, Gun-Woo Kim, Suwon Lee Published: 2026-03-04 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2603.04144v1 In visual simultaneous localization and mapping (SLAM), the quality of the visual vocabulary is fundamental to the system's ability to represent environments and recognize locations. While ORB-SLAM is a widely used framework, its binary vocabulary, trained through the k-majority-based bag-of-words (BoW) approach, suffers from inherent precision loss. The inability of conventional binary clustering to represent subtle feature distributions leads to the degradation of visual words, a problem that is compounded as errors accumulate and propagate through the hierarchical tree structure. To address these structural deficiencies, this paper proposes hierarchical binary-to-real-and-back (HBRB)-BoW, a refined hierarchical binary vocabulary training algorithm. By integrating a global real-valued flow within the hierarchical clustering process, our method preserves high-fidelity descriptor information until the final binarization at the leaf nodes. Experimental results demonstrate that the proposed approach yields a more discriminative and well-structured vocabulary than traditional methods, significantly enhancing the representational integrity of the visual dictionary in complex environments. Furthermore, replacing the default ORB-SLAM vocabulary file with our HBRB-BoW file is expected to improve performance in loop closing and relocalization tasks. --- ### A Multi-Agent Framework for Interpreting Multivariate Physiological Time Series Authors: Davide Gabrielli, Paola Velardi, Stefano Faralli, Bardh Prenkaj Published: 2026-03-04 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.04142v1 Continuous physiological monitoring is central to emergency care, yet deploying trustworthy AI is challenging. While LLMs can translate complex physiological signals into clinical narratives, it is unclear how agentic systems perform relative to zero-shot inference. To address these questions, we present Vivaldi, a role-structured multi-agent system that explains multivariate physiological time series. Due to regulatory constraints that preclude live deployment, we instantiate Vivaldi in a controlled, clinical pilot to a small, highly qualified cohort of emergency medicine experts, whose evaluations reveal a context-dependent picture that contrasts with prevailing assumptions that agentic reasoning uniformly improves performance. Our experiments show that agentic pipelines substantially benefit non-thinking and medically fine-tuned models, improving expert-rated explanation justification and relevance by +6.9 and +9.7 points, respectively. Contrarily, for thinking models, agentic orchestration often degrades explanation quality, including a 14-point drop in relevance, while improving diagnostic precision (ESI F1 +3.6). We also find that explicit tool-based computation is decisive for codifiable clinical metrics, whereas subjective targets, such as pain scores and length of stay, show limited or inconsistent changes. Expert evaluation further indicates that gains in clinical utility depend on visualization conventions, with medically specialized models achieving the most favorable trade-offs between utility and clarity. Together, these findings show that the value of agentic AI lies in the selective externalization of computation and structure rather than in maximal reasoning complexity, and highlight concrete design trade-offs and learned lessons, broadly applicable to explainable AI in safety-critical healthcare settings. --- ### Unbiased Dynamic Pruning for Efficient Group-Based Policy Optimization Authors: Haodong Zhu, Yangyang Ren, Yanjing Li, Mingbao Lin, Linlin Yang, Xuhui Liu, Xiantong Zhen, Haiguang Liu, Baochang Zhang Published: 2026-03-04 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2603.04135v1 Group Relative Policy Optimization (GRPO) effectively scales LLM reasoning but incurs prohibitive computational costs due to its extensive group-based sampling requirement. While recent selective data utilization methods can mitigate this overhead, they could induce estimation bias by altering the underlying sampling distribution, compromising theoretical rigor and convergence behavior. To address this limitation, we propose Dynamic Pruning Policy Optimization (DPPO), a framework that enables dynamic pruning while preserving unbiased gradient estimation through importance sampling-based correction. By incorporating mathematically derived rescaling factors, DPPO significantly accelerates GRPO training without altering the optimization objective of the full-batch baseline. Furthermore, to mitigate the data sparsity induced by pruning, we introduce Dense Prompt Packing, a window-based greedy strategy that maximizes valid token density and hardware utilization. Extensive experiments demonstrate that DPPO consistently accelerates training across diverse models and benchmarks. For instance, on Qwen3-4B trained on MATH, DPPO achieves 2.37$\times$ training speedup and outperforms GRPO by 3.36% in average accuracy across six mathematical reasoning benchmarks. --- ### InstMeter: An Instruction-Level Method to Predict Energy and Latency of DL Model Inference on MCUs Authors: Hao Liu, Qing Wang, Marco Zuniga Published: 2026-03-04 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.04134v1 Deep learning (DL) models can now run on microcontrollers (MCUs). Through neural architecture search (NAS), we can search DL models that meet the constraints of MCUs. Among various constraints, energy and latency costs of the model inference are critical metrics. To predict them, existing research relies on coarse proxies such as multiply-accumulations (MACs) and model's input parameters, often resulting in inaccurate predictions or requiring extensive data collection. In this paper, we propose InstMeter, a predictor leveraging MCUs' clock cycles to accurately estimate the energy and latency of DL models. Clock cycles are fundamental metrics reflecting MCU operations, directly determining energy and latency costs. Furthermore, a unique property of our predictor is its strong linearity, allowing it to be simple and accurate. We thoroughly evaluate InstMeter under different scenarios, MCUs, and software settings. Compared with state-of-the-art studies, InstMeter can reduce the energy and latency prediction errors by $3\times$ and $6.5\times$, respectively, while requiring $100\times$ and $10\times$ less training data. In the NAS scenario, InstMeter can fully exploit the energy budget, identifying optimal DL models with higher inference accuracy. We also evaluate InstMeter's generalization performance through various experiments on three ARM MCUs (Cortex-M4, M7, M33) and one RISC-V-based MCU (ESP32-C3), different compilation options (-Os, -O2), GCC versions (v7.3, v10.3), application scenarios (keyword spotting, image recognition), dynamic voltage and frequency scaling, temperatures (21°C, 43°C), and software settings (TFLMv2.4, TFLMvCI). We will open our source codes and the MCU-specific benchmark datasets. --- ### Exploiting Subgradient Sparsity in Max-Plus Neural Networks Authors: Ikhlas Enaieh, Olivier Fercoq Published: 2026-03-04 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2603.04133v1 Deep Neural Networks are powerful tools for solving machine learning problems, but their training often involves dense and costly parameter updates. In this work, we use a novel Max-Plus neural architecture in which classical addition and multiplication are replaced with maximum and summation operations respectively. This is a promising architecture in terms of interpretability, but its training is challenging. A particular feature is that this algebraic structure naturally induces sparsity in the subgradients, as only neurons that contribute to the maximum affect the loss. However, standard backpropagation fails to exploit this sparsity, leading to unnecessary computations. In this work, we focus on the minimization of the worst sample loss which transfers this sparsity to the optimization loss. To address this, we propose a sparse subgradient algorithm that explicitly exploits the algebraic sparsity. By tailoring the optimization procedure to the non-smooth nature of Max-Plus models, our method achieves more efficient updates while retaining theoretical guarantees. This highlights a principled path toward bridging algebraic structure and scalable learning. --- ### Two-Stage Photovoltaic Forecasting: Separating Weather Prediction from Plant-Characteristics Authors: Philipp Danner, Hermann de Meer Published: 2026-03-04 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.04132v1 Several energy management applications rely on accurate photovoltaic generation forecasts. Common metrics like mean absolute error or root-mean-square error, omit error-distribution details needed for stochastic optimization. In addition, several approaches use weather forecasts as inputs without analyzing the source of the prediction error. To overcome this gap, we decompose forecasting into a weather forecast model for environmental parameters such as solar irradiance and temperature and a plant characteristic model that captures site-specific parameters like panel orientation, temperature influence, or regular shading. Satellite-based weather observation serves as an intermediate layer. We analyze the error distribution of the high-resolution rapid-refresh numerical weather prediction model that covers the United States as a black-box model for weather forecasting and train an ensemble of neural networks on historical power output data for the plant characteristic model. Results show mean absolute error increases by 11% and 68% for two selected photovoltaic systems when using weather forecasts instead of satellite-based ground-truth weather observations as a perfect forecast. The generalized hyperbolic and Student's t distributions adequately fit the forecast errors across lead times. --- ### Mask-Guided Attention Regulation for Anatomically Consistent Counterfactual CXR Synthesis Authors: Zichun Zhang, Weizhi Nie, Honglin Guo, Yuting Su Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04130v1 Counterfactual generation for chest X-rays (CXR) aims to simulate plausible pathological changes while preserving patient-specific anatomy. However, diffusion-based editing methods often suffer from structural drift, where stable anatomical semantics propagate globally through attention and distort non-target regions, and unstable pathology expression, since subtle and localized lesions induce weak and noisy conditioning signals. We present an inference-time attention regulation framework for reliable counterfactual CXR synthesis. An anatomy-aware attention regularization module gates self-attention and anatomy-token cross-attention with organ masks, confining structural interactions to anatomical ROIs and reducing unintended distortions. A pathology-guided module enhances pathology-token cross-attention within target lung regions during early denoising and performs lightweight latent corrections driven by an attention-concentration energy, enabling controllable lesion localization and extent. Extensive evaluations on CXR datasets show improved anatomical consistency and more precise, controllable pathological edits compared with standard diffusion editing, supporting localized counterfactual analysis and data augmentation for downstream tasks. --- ### Crab$^{+}$: A Scalable and Unified Audio-Visual Scene Understanding Model with Explicit Cooperation Authors: Dongnuan Cai, Henghui Du, Chang Zhou, Xi Chen, Dan Guo, Hongyuan Zhang, Xuelong Li, Di Hu Published: 2026-03-04 Categories: cs.CV, cs.AI, cs.MM arXiv: https://arxiv.org/abs/2603.04128v1 Developing Audio-Visual Large Language Models (AV-LLMs) for unified scene understanding is pivotal in multimodal intelligence. While instruction tuning enables pre-trained models with multi-task abilities, we observe that conventional multi-task unification methods often suffer from severe negative transfer, where nearly 55% of tasks degrade compared to single-task training. We attribute this phenomenon to audio-visual task heterogeneity, characterized by disparate task granularity and divergent capability demands, which lead to negative interference under joint training. To tackle this, we present Crab$^{+}$, a scalable and unified audio-visual scene understanding model that addresses task heterogeneity through explicit cooperation from both data and model perspectives. On the data side, we introduce AV-UIE v2, a comprehensive Audio-Visual Unified Instruction-tuning dataset with Explicit reasoning processes. It contains approximately 222K samples spanning 17 datasets and 7 tasks, enabling the model to capture cross-task relationships at different levels of granularity. On the model side, we design a unified interface to align heterogeneous task formulations, and propose Interaction-aware LoRA (I-LoRA), which explicitly models inter-task relationships via dynamic routing to coordinate distinct audio-visual interaction patterns, mitigating parameter interference. Extensive experiments show Crab$^{+}$ covers broader tasks than existing unified models while outperforming specialized models on various benchmarks. We successfully reverse the negative transfer trend, achieving positive transfer where multi-task learning surpasses single-task baselines in nearly 88% of tasks. These results hold across diverse AV-LLM paradigms and are validated through in-depth visualization, positioning Crab$^{+}$ as a robust step towards holistic audio-visual scene understanding. --- ### Data-Aware Random Feature Kernel for Transformers Authors: Amirhossein Farzam, Hossein Mobahi, Nolan Andrew Miller, Luke Sernau Published: 2026-03-04 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2603.04127v1 Transformers excel across domains, yet their quadratic attention complexity poses a barrier to scaling. Random-feature attention, as in Performers, can reduce this cost to linear in the sequence length by approximating the softmax kernel with positive random features drawn from an isotropic distribution. In pretrained models, however, queries and keys are typically anisotropic. This induces high Monte Carlo variance in isotropic sampling schemes unless one retrains the model or uses a large feature budget. Importance sampling can address this by adapting the sampling distribution to the input geometry, but complex data-dependent proposal distributions are often intractable. We show that by data aligning the softmax kernel, we obtain an attention mechanism which can both admit a tractable minimal-variance proposal distribution for importance sampling, and exhibits better training stability. Motivated by this finding, we introduce DARKFormer, a Data-Aware Random-feature Kernel transformer that features a data-aligned kernel geometry. DARKFormer learns the random-projection covariance, efficiently realizing an importance-sampled positive random-feature estimator for its data-aligned kernel. Empirically, DARKFormer narrows the performance gap with exact softmax attention, particularly in finetuning regimes where pretrained representations are anisotropic. By combining random-feature efficiency with data-aware kernels, DARKFormer advances kernel-based attention in resource-constrained settings. --- ### A Baseline Study and Benchmark for Few-Shot Open-Set Action Recognition with Feature Residual Discrimination Authors: Stefano Berti, Giulia Pasquale, Lorenzo Natale Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04125v2 Few-Shot Action Recognition (FS-AR) has shown promising results but is often limited by a closed-set assumption that fails in real-world open-set scenarios. While Few-Shot Open-Set (FSOS) recognition is well-established for images, its extension to spatio-temporal video data remains underexplored. To address this, we propose an architectural extension based on a Feature-Residual Discriminator (FR-Disc), adapting previous work on skeletal data to the more complex video domain. Extensive experiments on five datasets demonstrate that while common open-set techniques provide only marginal gains, our FR-Disc significantly enhances unknown rejection capabilities without compromising closed-set accuracy, setting a new state-of-the-art for FSOS-AR. The project website, code, and benchmark are available at: https://hsp-iit.github.io/fsosar/. --- ### BeamPERL: Parameter-Efficient RL with Verifiable Rewards Specializes Compact LLMs for Structured Beam Mechanics Reasoning Authors: Tarjei Paule Hage, Markus J. Buehler Published: 2026-03-04 Categories: cs.AI, cond-mat.mtrl-sci, cs.CL, cs.LG arXiv: https://arxiv.org/abs/2603.04124v1 Can reinforcement learning with hard, verifiable rewards teach a compact language model to reason about physics, or does it primarily learn to pattern-match toward correct answers? We study this question by training a 1.5B-parameter reasoning model on beam statics, a classic engineering problem, using parameter-efficient RLVR with binary correctness rewards from symbolic solvers, without teacher-generated reasoning traces. The best BeamPERL checkpoint achieves a 66.7% improvement in Pass@1 over the base model. However, the learned competence is anisotropic: the model generalizes compositionally (more loads) but fails under topological shifts (moved supports) that require the same equilibrium equations. Intermediate checkpoints yield the strongest reasoning, while continued optimization degrades robustness while maintaining reward. These findings reveal a key limitation of outcome-level alignment: reinforcement learning with exact physics rewards induces procedural solution templates rather than internalization of governing equations. The precision of the reward signal - even when analytically exact - does not by itself guarantee transferable physical reasoning. Our results suggest that verifiable rewards may need to be paired with structured reasoning scaffolding to move beyond template matching toward robust scientific reasoning. --- ### FINEST: Improving LLM Responses to Sensitive Topics Through Fine-Grained Evaluation Authors: Juhyun Oh, Nayeon Lee, Chani Jung, Jiho Jin, Junho Myung, Jongwon Lee, Taeui Song, Alice Oh Published: 2026-03-04 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.04123v1 Large Language Models (LLMs) often generate overly cautious and vague responses on sensitive topics, sacrificing helpfulness for safety. Existing evaluation frameworks lack systematic methods to identify and address specific weaknesses in responses to sensitive topics, making it difficult to improve both safety and helpfulness simultaneously. To address this, we introduce FINEST, a FINE-grained response evaluation taxonomy for Sensitive Topics, which breaks down helpfulness and harmlessness into errors across three main categories: Content, Logic, and Appropriateness. Experiments on a Korean-sensitive question dataset demonstrate that our score- and error-based improvement pipeline, guided by FINEST, significantly improves the model responses across all three categories, outperforming refinement without guidance. Notably, score-based improvement -- providing category-specific scores and justifications -- yields the most significant gains, reducing the error sentence ratio for Appropriateness by up to 33.09%. This work lays the foundation for a more explainable and comprehensive evaluation and improvement of LLM responses to sensitive questions. --- ### FastWave: Optimized Diffusion Model for Audio Super-Resolution Authors: Nikita Kuznetsov, Maksim Kaledin Published: 2026-03-04 Categories: cs.SD, cs.LG arXiv: https://arxiv.org/abs/2603.04122v1 Audio Super-Resolution is a set of techniques aimed at high-quality estimation of the given signal as if it would be sampled with higher sample rate. Among suggested methods there are diffusion and flow models (which are considered slower), generative adversarial networks (which are considered faster), however both approaches are currently presented by high-parametric networks, requiring high computational costs both for training and inference. We propose a solution to both these problems by re-considering the recent advances in the training of diffusion models and applying them to super-resolution from any to 48 kHz sample rate. Our approach shows better results than NU-Wave 2 and is comparable to state-of-the-art models. Our model called FastWave has around 50 GFLOPs of computational complexity and 1.3 M parameters and can be trained with less resources and significantly faster than the majority of recently proposed diffusion- and flow-based solutions. The code has been made publicly available. --- ### When to restart? Exploring escalating restarts on convergence Authors: Ayush K. Varshney, Šarūnas Girdzijauskas, Konstantinos Vandikas, Aneta Vulgarakis Feljan Published: 2026-03-04 Categories: cs.LG arXiv: https://arxiv.org/abs/2603.04117v1 Learning rate scheduling plays a critical role in the optimization of deep neural networks, directly influencing convergence speed, stability, and generalization. While existing schedulers such as cosine annealing, cyclical learning rates, and warm restarts have shown promise, they often rely on fixed or periodic triggers that are agnostic to the training dynamics, such as stagnation or convergence behavior. In this work, we propose a simple yet effective strategy, which we call Stochastic Gradient Descent with Escalating Restarts (SGD-ER). It adaptively increases the learning rate upon convergence. Our method monitors training progress and triggers restarts when stagnation is detected, linearly escalating the learning rate to escape sharp local minima and explore flatter regions of the loss landscape. We evaluate SGD-ER across CIFAR-10, CIFAR-100, and TinyImageNet on a range of architectures including ResNet-18/34/50, VGG-16, and DenseNet-101. Compared to standard schedulers, SGD-ER improves test accuracy by 0.5-4.5%, demonstrating the benefit of convergence-aware escalating restarts for better local optima. --- ### TextBoost: Boosting Scene Text Fidelity in Ultra-low Bitrate Image Compression Authors: Bingxin Wang, Yuan Lan, Zhaoyi Sun, Yang Xiang, Jie Sun Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04115v1 Ultra-low bitrate image compression faces a critical challenge: preserving small-font scene text while maintaining overall visual quality. Region-of-interest (ROI) bit allocation can prioritize text but often degrades global fidelity, leading to a trade-off between local accuracy and overall image quality. Instead of relying on ROI coding, we incorporate auxiliary textual information extracted by OCR and transmitted with negligible overhead, enabling the decoder to leverage this semantic guidance. Our method, TextBoost, operationalizes this idea through three strategic designs: (i) adaptively filtering OCR outputs and rendering them into a guidance map; (ii) integrating this guidance with decoder features in a calibrated manner via an attention-guided fusion block; and (iii) enforcing guidance-consistent reconstruction in text regions with a regularizing loss that promotes natural blending with the scene. Extensive experiments on TextOCR and ICDAR 2015 demonstrate that TextBoost yields up to 60.6% higher text-recognition F1 at comparable Peak Signal-to-Noise Ratio (PSNR) and bits per pixel (bpp), producing sharper small-font text while preserving global image quality and effectively decoupling text enhancement from global rate-distortion optimization. --- ### Any2Any: Unified Arbitrary Modality Translation for Remote Sensing Authors: Haoyang Chen, Jing Zhang, Hebaixu Wang, Shiqin Wang, Pohsun Huang, Jiayuan Li, Haonan Guo, Di Wang, Zheng Wang, Bo Du Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04114v2 Multi-modal remote sensing imagery provides complementary observations of the same geographic scene, yet such observations are frequently incomplete in practice. Existing cross-modal translation methods treat each modality pair as an independent task, resulting in quadratic complexity and limited generalization to unseen modality combinations. We formulate Any-to-Any translation as inference over a shared latent representation of the scene, where different modalities correspond to partial observations of the same underlying semantics. Based on this formulation, we propose Any2Any, a unified latent diffusion framework that projects heterogeneous inputs into a geometrically aligned latent space. Such structure performs anchored latent regression with a shared backbone, decoupling modality-specific representation learning from semantic mapping. Moreover, lightweight target-specific residual adapters are used to correct systematic latent mismatches without increasing inference complexity. To support learning under sparse but connected supervision, we introduce RST-1M, the first million-scale remote sensing dataset with paired observations across five sensing modalities, providing supervision anchors for any-to-any translation. Experiments across 14 translation tasks show that Any2Any consistently outperforms pairwise translation methods and exhibits strong zero-shot generalization to unseen modality pairs. Code and models are available at https://github.com/MiliLab/Any2Any. --- ### Understanding Sources of Demographic Predictability in Brain MRI via Disentangling Anatomy and Contrast Authors: Mehmet Yigit Avci, Akshit Achara, Andrew King, Jorge Cardoso Published: 2026-03-04 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.04113v3 Demographic attributes can be predicted from medical images, raising concerns about bias in clinical AI systems. In X-ray imaging, acquisition characteristics have been shown to contribute substantially to this predictability. Whether the same holds in brain MRI remains unclear, as anatomical variation and acquisition-dependent contrast are deeply entangled in the image formation process, obscuring the origins of demographic signal. To address this, we propose a controlled framework based on disentangled representation learning, decomposing brain MRI into anatomy-focused representations that suppress acquisition influence and contrast embeddings that capture acquisition-dependent characteristics. Training predictive models for age, sex, and race on full images, anatomical representations, and contrast embeddings allows us to quantify the relative contributions of structure and acquisition to the demographic signal. Across three datasets and multiple MRI sequences, demographic predictability is found to be driven primarily by anatomical variation, with anatomy-focused representations largely preserving the performance of models trained on raw images. Contrast embeddings retain a weaker signal that is dataset-specific and does not generalize across sites. These findings suggest that effective mitigation must explicitly account for the primarily anatomical and secondarily acquisition-dependent origins of demographic signal, ensuring that any bias reduction generalizes robustly across domains. --- ### Understanding Sources of Demographic Predictability in Brain MRI via Disentangling Anatomy and Contrast Authors: Mehmet Yigit Avci, Akshit Achara, Andrew King, Jorge Cardoso Published: 2026-03-04 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.04113v2 Demographic attributes can be predicted from medical images, raising concerns about bias in clinical AI systems. In X-ray imaging, acquisition characteristics have been shown to contribute substantially to this predictability. Whether the same holds in brain MRI remains unclear, as anatomical variation and acquisition-dependent contrast are deeply entangled in the image formation process, obscuring the origins of demographic signal. To address this, we propose a controlled framework based on disentangled representation learning, decomposing brain MRI into anatomy-focused representations that suppress acquisition influence and contrast embeddings that capture acquisition-dependent characteristics. Training predictive models for age, sex, and race on full images, anatomical representations, and contrast embeddings allows us to quantify the relative contributions of structure and acquisition to the demographic signal. Across three datasets and multiple MRI sequences, demographic predictability is found to be driven primarily by anatomical variation, with anatomy-focused representations largely preserving the performance of models trained on raw images. Contrast embeddings retain a weaker signal that is dataset-specific and does not generalise across sites. These findings suggest that effective mitigation must explicitly account for the primarily anatomical and secondarily acquisition-dependent origins of demographic signal, ensuring that any bias reduction generalizes robustly across domains. --- ### Testing Full Mediation of Treatment Effects and the Identifiability of Causal Mechanisms Authors: Martin Huber, Kevin Kloiber, Lukáš Lafférs Published: 2026-03-04 Categories: econ.EM, stat.ML arXiv: https://arxiv.org/abs/2603.04109v2 In causal analysis, understanding the causal mechanisms through which an intervention or treatment affects an outcome is often of central interest. We propose a test to evaluate (i) whether the causal effect of a treatment that is randomly assigned conditional on covariates is fully mediated by, or operates exclusively through, observed intermediate outcomes (referred to as mediators or surrogate outcomes), and (ii) whether the various causal mechanisms operating through different mediators are identifiable conditional on covariates. We demonstrate that if both full mediation and identification of causal mechanisms hold, then the conditionally random treatment is conditionally independent of the outcome given the mediators and covariates. Furthermore, we extend our framework to settings with non-randomly assigned treatments. We show that, in this case, full mediation remains testable, while identification of causal mechanisms is no longer guaranteed. We propose a double machine learning framework for implementing the test that can incorporate high-dimensional covariates and is root-n consistent and asymptotically normal under specific regularity conditions. We also present a simulation study demonstrating good finite-sample performance of our method, along with two empirical applications revisiting randomized experiments on maternal mental health and social norms. --- ### Efficient Point Cloud Processing with High-Dimensional Positional Encoding and Non-Local MLPs Authors: Yanmei Zou, Hongshan Yu, Yaonan Wang, Zhengeng Yang, Xieyuanli Chen, Kailun Yang, Naveed Akhtar Published: 2026-03-04 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2603.04099v1 Multi-Layer Perceptron (MLP) models are the foundation of contemporary point cloud processing. However, their complex network architectures obscure the source of their strength and limit the application of these models. In this article, we develop a two-stage abstraction and refinement (ABS-REF) view for modular feature extraction in point cloud processing. This view elucidates that whereas the early models focused on ABS stages, the more recent techniques devise sophisticated REF stages to attain performance advantages. Then, we propose a High-dimensional Positional Encoding (HPE) module to explicitly utilize intrinsic positional information, extending the ``positional encoding'' concept from Transformer literature. HPE can be readily deployed in MLP-based architectures and is compatible with transformer-based methods. Within our ABS-REF view, we rethink local aggregation in MLP-based methods and propose replacing time-consuming local MLP operations, which are used to capture local relationships among neighbors. Instead, we use non-local MLPs for efficient non-local information updates, combined with the proposed HPE for effective local information representation. We leverage our modules to develop HPENets, a suite of MLP networks that follow the ABS-REF paradigm, incorporating a scalable HPE-based REF stage. Extensive experiments on seven public datasets across four different tasks show that HPENets deliver a strong balance between efficiency and effectiveness. Notably, HPENet surpasses PointNeXt, a strong MLP-based counterpart, by 1.1% mAcc, 4.0% mIoU, 1.8% mIoU, and 0.2% Cls. mIoU, with only 50.0%, 21.5%, 23.1%, 44.4% of FLOPs on ScanObjectNN, S3DIS, ScanNet, and ShapeNetPart, respectively. Source code is available at https://github.com/zouyanmei/HPENet_v2.git. --- ### Real Eyes Realize Faster: Gaze Stability and Pupil Novelty for Efficient Egocentric Learning Authors: Ajan Subramanian, Sumukh Bettadapura, Rohan Sathish Published: 2026-03-04 Categories: cs.CV, cs.HC arXiv: https://arxiv.org/abs/2603.04098v1 Always-on egocentric cameras are increasingly used as demonstrations for embodied robotics, imitation learning, and assistive AR, but the resulting video streams are dominated by redundant and low-quality frames. Under the storage and battery constraints of wearable devices, choosing which frames to keep is as important as how to learn from them. We observe that modern eye-tracking headsets provide a continuous, training-free side channel that decomposes into two complementary axes: gaze fixation captures visual stability (quality), while pupil response captures arousal-linked moments (novelty). We operationalize this insight as a Dual-Criterion Frame Curator that first gates frames by gaze quality and then ranks the survivors by pupil-derived novelty. On the Visual Experience Dataset (VEDB), curated frames at 10% budget match the classification performance of the full stream, and naive signal fusion consistently destroys both contributions. The benefit is task-dependent: pupil ranking improves activity recognition, while gaze-only selection already dominates for scene recognition, confirming that the two signals serve genuinely different roles. Our method requires no model inference and operates at capture time, offering a path toward efficient, always-on egocentric data curation. --- ### Lyapunov Stability of Stochastic Vector Optimization: Theory and Numerical Implementation Authors: Thiago Santos, Sebastiao Xavier Published: 2026-03-04 Categories: math.OC, cs.NE arXiv: https://arxiv.org/abs/2603.04095v1 The use of stochastic differential equations in multi-objective optimization has been limited, in practice, by two persistent gaps: incomplete stability analyses and the absence of accessible implementations. We revisit a drift--diffusion model for unconstrained vector optimization in which the drift is induced by a common descent direction and the diffusion term preserves exploratory behavior. The main theoretical contribution is a self-contained Lyapunov analysis establishing global existence, pathwise uniqueness, and non-explosion under a dissipativity condition, together with positive recurrence under an additional coercivity assumption. We also derive an Euler--Maruyama discretization and implement the resulting iteration as a \emph{pymoo}-compatible algorithm -- \emph{pymoo} being an open-source Python framework for multi-objective optimization -- with an interactive \emph{PymooLab} front-end for reproducible experiments. Empirical results on DTLZ2 with objective counts from three to fifteen indicate a consistent trade-off: compared with established evolutionary baselines, the method is less competitive in low-dimensional regimes but remains a viable option under restricted evaluation budgets in higher-dimensional settings. Taken together, these observations suggest that stochastic drift--diffusion search occupies a mathematically tractable niche alongside population-based heuristics -- not as a replacement, but as an alternative whose favorable properties are amenable to rigorous analysis. --- ### Reducing hyperparameter sensitivity in measurement-feedback based Ising machines Authors: Toon Sevenants, Guy Van der Sande, Guy Verschaffelt Published: 2026-03-04 Categories: cs.LG, physics.app-ph, physics.comp-ph, physics.data-an arXiv: https://arxiv.org/abs/2603.04093v1 Analog Ising machines have been proposed as heuristic hardware solvers for combinatorial optimization problems, with the potential to outperform conventional approaches, provided that their hyperparameters are carefully tuned. Their temporal evolution is often described using time-continuous dynamics. However, most experimental implementations rely on measurement-feedback architectures that operate in a time-discrete manner. We observe that in such setups, the range of effective hyperparameters is substantially smaller than in the envisioned time-continuous analog Ising machine. In this paper, we analyze this discrepancy and discuss its impact on the practical operation of Ising machines. Next, we propose and experimentally verify a method to reduce the sensitivity to hyperparameter selection of these measurement-feedback architectures. --- ### CLIP-Guided Multi-Task Regression for Multi-View Plant Phenotyping Authors: Simon Warmers, Muhammad Zawish, Fayaz Ali Dharejo, Steven Davy, Radu Timofte Published: 2026-03-04 Categories: cs.CV arXiv: https://arxiv.org/abs/2603.04091v1 Modeling plant growth dynamics plays a central role in modern agricultural research. However, learning robust predictors from multi-view plant imagery remains challenging due to strong viewpoint redundancy and viewpoint-dependent appearance changes. We propose a level-aware vision language framework that jointly predicts plant age and leaf count using a single multi-task model built on CLIP embeddings. Our method aggregates rotational views into angle-invariant representations and conditions visual features on lightweight text priors encoding viewpoint level for stable prediction under incomplete or unordered inputs. On the GroMo25 benchmark, our approach reduces mean age MAE from 7.74 to 3.91 and mean leaf-count MAE from 5.52 to 3.08 compared to the GroMo baseline, corresponding to improvements of 49.5% and 44.2%, respectively. The unified formulation simplifies the pipeline by replacing the conventional dual-model setup while improving robustness to missing views. The models and code is available at: https://github.com/SimonWarmers/CLIP-MVP --- ### EgoPoseFormer v2: Accurate Egocentric Human Motion Estimation for AR/VR Authors: Zhenyu Li, Sai Kumar Dwivedi, Filip Maric, Carlos Chacon, Nadine Bertsch, Filippo Arcadu, Tomas Hodan, Michael Ramamonjisoa, Peter Wonka, Amy Zhao, Robin Kips, Cem Keskin et al. Published: 2026-03-04 Categories: cs.CV, cs.GR, cs.HC arXiv: https://arxiv.org/abs/2603.04090v1 Egocentric human motion estimation is essential for AR/VR experiences, yet remains challenging due to limited body coverage from the egocentric viewpoint, frequent occlusions, and scarce labeled data. We present EgoPoseFormer v2, a method that addresses these challenges through two key contributions: (1) a transformer-based model for temporally consistent and spatially grounded body pose estimation, and (2) an auto-labeling system that enables the use of large unlabeled datasets for training. Our model is fully differentiable, introduces identity-conditioned queries, multi-view spatial refinement, causal temporal attention, and supports both keypoints and parametric body representations under a constant compute budget. The auto-labeling system scales learning to tens of millions of unlabeled frames via uncertainty-aware semi-supervised training. The system follows a teacher-student schema to generate pseudo-labels and guide training with uncertainty distillation, enabling the model to generalize to different environments. On the EgoBody3M benchmark, with a 0.8 ms latency on GPU, our model outperforms two state-of-the-art methods by 12.2% and 19.4% in accuracy, and reduces temporal jitter by 22.2% and 51.7%. Furthermore, our auto-labeling system further improves the wrist MPJPE by 13.1%. --- ### End-to-end event reconstruction for precision physics at future colliders Authors: Dolores Garcia, Lena Herrmann, Gregor Krzmanc, Michele Selvaggi Published: 2026-03-04 Categories: hep-ex, cs.AI arXiv: https://arxiv.org/abs/2603.04084v1 Future collider experiments require unprecedented precision in measurements of Higgs, electroweak, and flavour observables, placing stringent demands on event reconstruction. The achievable precision on Higgs couplings scales directly with the resolution on visible final state particles and their invariant masses. Current particle flow algorithms rely on detector specific clustering, limiting flexibility during detector design. Here we present an end-to-end global event reconstruction approach that maps charged particle tracks and calorimeter and muon hits directly to particle level objects. The method combines geometric algebra transformer networks with object condensation based clustering, followed by dedicated networks for particle identification and energy regression. Our approach is benchmarked on fully simulated electron positron collisions at FCC-ee using the CLD detector concept. It outperforms the state-of-the-art rule-based algorithm by 10--20\% in relative reconstruction efficiency, achieves up to two orders of magnitude reduction in fake-particle rates for charged hadrons, and improves visible energy and invariant mass resolution by 22\%. By decoupling reconstruction performance from detector-specific tuning, this framework enables rapid iteration during the detector design phase of future collider experiments. --- ### Hindsight Quality Prediction Experiments in Multi-Candidate Human-Post-Edited Machine Translation Authors: Malik Marmonier, Benoît Sagot, Rachel Bawden Published: 2026-03-04 Categories: cs.CL arXiv: https://arxiv.org/abs/2603.04083v1 This paper investigates two complementary paradigms for predicting machine translation (MT) quality: source-side difficulty prediction and candidate-side quality estimation (QE). The rapid adoption of Large Language Models (LLMs) into MT workflows is reshaping the research landscape, yet its impact on established quality prediction paradigms remains underexplored. We study this issue through a series of "hindsight" experiments on a unique, multi-candidate dataset resulting from a genuine MT post-editing (MTPE) project. The dataset consists of over 6,000 English source segments with nine translation hypotheses from a diverse set of traditional neural MT systems and advanced LLMs, all evaluated against a single, final human post-edited reference. Using Kendall's rank correlation, we assess the predictive power of source-side difficulty metrics, candidate-side QE models and position heuristics against two gold-standard scores: TER (as a proxy for post-editing effort) and COMET (as a proxy for human judgment). Our findings highlight that the architectural shift towards LLMs alters the reliability of established quality prediction methods while simultaneously mitigating previous challenges in document-level translation. --- ### Revisiting the Role of Foundation Models in Cell-Level Histopathological Image Analysis under Small-Patch Constraints -- Effects of Training Data Scale and Blur Perturbations on CNNs and Vision Transformers Authors: Hiroki Kagiyama, Toru Nagasaka, Yukari Adachi, Takaaki Tachibana, Ryota Ito, Mitsugu Fujita, Kimihiro Yamashita, Yoshihiro Kakeji Published: 2026-03-04 Categories: cs.CV, q-bio.QM arXiv: https://arxiv.org/abs/2603.04081v1 Background and objective: Cell-level pathological image analysis requires working with extremely small image patches (40x40 pixels), far below standard ImageNet resolutions. It remains unclear whether modern deep learning architectures and foundation models can learn robust and scalable representations under this constraint. We systematically evaluated architectural suitability and data-scale effects for small-patch cell classification. Methods: We analyzed 303 colorectal cancer specimens with CD103/CD8 immunostaining, generating 185,432 annotated cell images. Eight task-specific architectures were trained from scratch at multiple data scales (FlagLimit: 256--16,384 samples per class), and three foundation models were evaluated via linear probing and fine-tuning after resizing inputs to 224x224 pixels. Robustness to blur was assessed using pre- and post-resize Gaussian perturbations. Results: Task-specific models improved consistently with increasing data scale, whereas foundation models saturated at moderate sample sizes. A Vision Transformer optimized for small patches (CustomViT) achieved the highest accuracy, outperforming all foundation models with substantially lower inference cost. Blur robustness was comparable across architectures, with no qualitative advantage observed for foundation models. Conclusion: For cell-level classification under extreme spatial constraints, task-specific architectures are more effective and efficient than foundation models once sufficient training data are available. Higher clean accuracy does not imply superior robustness, and large pre-trained models offer limited benefit in the small-patch regime. --- ### SaFeR: Safety-Critical Scenario Generation for Autonomous Driving Test via Feasibility-Constrained Token Resampling Authors: Jinlong Cui, Fenghua Liang, Guo Yang, Chengcheng Tang, Jianxun Cui Published: 2026-03-04 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2603.04071v1 Safety-critical scenario generation is crucial for evaluating autonomous driving systems. However, existing approaches often struggle to balance three conflicting objectives: adversarial criticality, physical feasibility, and behavioral realism. To bridge this gap, we propose SaFeR: safety-critical scenario generation for autonomous driving test via feasibility-constrained token resampling. We first formulate traffic generation as a discrete next token prediction problem, employing a Transformer-based model as a realism prior to capture naturalistic driving distributions. To capture complex interactions while effectively mitigating attention noise, we propose a novel differential attention mechanism within the realism prior. Building on this prior, SaFeR implements a novel resampling strategy that induces adversarial behaviors within a high-probability trust region to maintain naturalism, while enforcing a feasibility constraint derived from the Largest Feasible Region (LFR). By approximating the LFR via offline reinforcement learning, SaFeR effectively prevents the generation of theoretically inevitable collisions. Closed-loop experiments on the Waymo Open Motion Dataset and nuPlan demonstrate that SaFeR significantly outperforms state-of-the-art baselines, achieving a higher solution rate and superior kinematic realism while maintaining strong adversarial effectiveness. ---