# Research Papers — 2026-04 · bundle page 166 of 233 > Full-text markdown of papers #8251–8300 of 11612 published in 2026-04, newest first. AI-readable mirrors of the full 11612-paper 2026-04 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-04/page/166 [← Previous bundle](https://aipod.dev/papers/archive/2026-04/page/165.md) [Next bundle →](https://aipod.dev/papers/archive/2026-04/page/167.md) ### PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC Authors: Mohsen Amiri, Mohsen Amiri, Ali Beikmohammadi, Sindri Magnuśson, Mehdi Hosseinzadeh Published: 2026-04-09 Categories: cs.LG, cs.RO arXiv: https://arxiv.org/abs/2604.08036v1 This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available exclusively during training. We formalize this as a Partially Observable Markov Decision Process (POMDP) in which a planner agent with access to an approximate dynamical model and privileged state information guides a learning agent that observes only a lossy projection of the true state. To realize this framework, we introduce an anytime-feasible Model Predictive Control (MPC) algorithm that serves as the planner agent. For the learning agent, we propose Planner-to-Policy Soft Actor-Critic (P2P-SAC), a method that distills the planner agent's privileged knowledge to mitigate partial observability and thereby improve both sample efficiency and final policy performance. We support this framework with rigorous theoretical analysis. Finally, we validate our approach in simulation using NVIDIA Isaac Lab and successfully deploy it on a real-world Unitree Go2 quadruped navigating complex, obstacle-rich environments. --- ### Rotation Equivariant Convolutions in Deformable Registration of Brain MRI Authors: Arghavan Rezvani, Kun Han, Anthony T. Wu, Pooya Khosravi, Xiaohui Xie Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.08034v1 Image registration is a fundamental task that aligns anatomical structures between images. While CNNs perform well, they lack rotation equivariance - a rotated input does not produce a correspondingly rotated output. This hinders performance by failing to exploit the rotational symmetries inherent in anatomical structures, particularly in brain MRI. In this work, we integrate rotation-equivariant convolutions into deformable brain MRI registration networks. We evaluate this approach by replacing standard encoders with equivariant ones in three baseline architectures, testing on multiple public brain MRI datasets. Our experiments demonstrate that equivariant encoders have three key advantages: 1) They achieve higher registration accuracy while reducing network parameters, confirming the benefit of this anatomical inductive bias. 2) They outperform baselines on rotated input pairs, demonstrating robustness to orientation variations common in clinical practice. 3) They show improved performance with less training data, indicating greater sample efficiency. Our results demonstrate that incorporating geometric priors is a critical step toward building more robust, accurate, and efficient registration models. --- ### IoT-Brain: Grounding LLMs for Semantic-Spatial Sensor Scheduling Authors: Zhaomeng Zhou, Lan Zhang, Junyang Wang, Mu Yuan, Junda Lin, Jinke Song Published: 2026-04-09 Categories: cs.AI, cs.MA, cs.NI arXiv: https://arxiv.org/abs/2604.08033v1 Intelligent systems powered by large-scale sensor networks are shifting from predefined monitoring to intent-driven operation, revealing a critical Semantic-to-Physical Mapping Gap. While large language models (LLMs) excel at semantic understanding, existing perception-centric pipelines operate retrospectively, overlooking the fundamental decision of what to sense and when. We formalize this proactive decision as Semantic-Spatial Sensor Scheduling (S3) and demonstrate that direct LLM planning is unreliable due to inherent gaps in representation, reasoning, and optimization. To bridge these gaps, we introduce the Spatial Trajectory Graph (STG), a neuro-symbolic paradigm governed by a verify-before-commit discipline that transforms open-ended planning into a verifiable graph optimization problem. Based on STG, we implement IoT-Brain, a concrete system embodiment, and construct TopoSense-Bench, a campus-scale benchmark with 5,250 natural-language queries across 2,510 cameras. Evaluations show that IoT-Brain boosts task success rate by 37.6% over the strongest search-intensive methods while running nearly 2 times faster and using 6.6 times fewer prompt tokens. In real-world deployment, it approaches the reliability upper bound while reducing 4.1 times network bandwidth, providing a foundational framework for LLMs to interact with the physical world with unprecedented reliability and efficiency. --- ### "Why This Avoidance Maneuver?" Contrastive Explanations in Human-Supervised Maritime Autonomous Navigation Authors: Joel Jose, Andreas Madsen, Andreas Brandsæter, Tor A. Johansen, Erlend M. Coates Published: 2026-04-09 Categories: cs.AI, cs.RO arXiv: https://arxiv.org/abs/2604.08032v1 Automated maritime collision avoidance will rely on human supervision for the foreseeable future. This necessitates transparency into how the system perceives a scenario and plans a maneuver. However, the causal logic behind avoidance maneuvers is often complex and difficult to convey to a navigator. This paper explores how to explain these factors in a selective, understandable manner for supervisors with a nautical background. We propose a method for generating contrastive explanations, which provide human-centric insights by comparing a system's proposed solution against relevant alternatives. To evaluate this, we developed a framework that uses visual and textual cues to highlight key objectives from a state-of-the-art collision avoidance system. An exploratory user study with four experienced marine officers suggests that contrastive explanations support the understanding of the system's objectives. However, our findings also reveal that while these explanations are highly valuable in complex multi-vessel encounters, they can increase cognitive workload, suggesting that future maritime interfaces may benefit most from demand-driven or scenario-specific explanation strategies. --- ### Open-Ended Instruction Realization with LLM-Enabled Multi-Planner Scheduling in Autonomous Vehicles Authors: Jiawei Liu, Xun Gong, Fen Fang, Muli Yang, Bohao Qu, Yunfeng Hu, Hong Chen, Xulei Yang, Qing Guo Published: 2026-04-09 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2604.08031v1 Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translating passenger open-ended instructions into control signals, without sacrificing interpretability and traceability, remains a challenge. This study proposes an instruction-realization framework that leverages a large language model (LLM) to interpret instructions, generates executable scripts that schedule multiple model predictive control (MPC)-based motion planners based on real-time feedback, and converts planned trajectories into control signals. This scheduling-centric design decouples semantic reasoning from vehicle control at different timescales, establishing a transparent, traceable decision-making chain from high-level instructions to low-level actions. Due to the absence of high-fidelity evaluation tools, this study introduces a benchmark for open-ended instruction realization in a closed-loop setting. Comprehensive experiments reveal that the framework significantly improves task-completion rates over instruction-realization baselines, reduces LLM query costs, achieves safety and compliance on par with specialized AD approaches, and exhibits considerable tolerance to LLM inference latency. For more qualitative illustrations and a clearer understanding. --- ### From Universal to Individualized Actionability: Revisiting Personalization in Algorithmic Recourse Authors: Lena Marie Budde, Ayan Majumdar, Richard Uth, Markus Langer, Isabel Valera Published: 2026-04-09 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2604.08030v1 Algorithmic recourse aims to provide actionable recommendations that enable individuals to change unfavorable model outcomes, and prior work has extensively studied properties such as efficiency, robustness, and fairness. However, the role of personalization in recourse remains largely implicit and underexplored. While existing approaches incorporate elements of personalization through user interactions, they typically lack an explicit definition of personalization and do not systematically analyze its downstream effects on other recourse desiderata. In this paper, we formalize personalization as individual actionability, characterized along two dimensions: hard constraints that specify which features are individually actionable, and soft, individualized constraints that capture preferences over action values and costs. We operationalize these dimensions within the causal algorithmic recourse framework, adopting a pre-hoc user-prompting approach in which individuals express preferences via rankings or scores prior to the generation of any recourse recommendation. Through extensive empirical evaluation, we investigate how personalization interacts with key recourse desiderata, including validity, cost, and plausibility. Our results highlight important trade-offs: individual actionability constraints, particularly hard ones, can substantially degrade the plausibility and validity of recourse recommendations across amortized and non-amortized approaches. Notably, we also find that incorporating individual actionability can reveal disparities in the cost and plausibility of recourse actions across socio-demographic groups. These findings underscore the need for principled definitions, careful operationalization, and rigorous evaluation of personalization in algorithmic recourse. --- ### Wiring the 'Why': A Unified Taxonomy and Survey of Abductive Reasoning in LLMs Authors: Moein Salimi, Shaygan Adim, Danial Parnian, Nima Alighardashi, Mahdi Jafari Siavoshani, Mohammad Hossein Rohban Published: 2026-04-09 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.08016v2 Regardless of its foundational role in human discovery and sense-making, abductive reasoning--the inference of the most plausible explanation for an observation--has been relatively underexplored in Large Language Models (LLMs). Despite the rapid advancement of LLMs, the exploration of abductive reasoning and its diverse facets has thus far been disjointed rather than cohesive. This paper presents the first survey of abductive reasoning in LLMs, tracing its trajectory from philosophical foundations to contemporary AI implementations. To address the widespread conceptual confusion and disjointed task definitions prevalent in the field, we establish a unified two-stage definition that formally categorizes prior work. This definition disentangles abduction into Hypothesis Generation, where models bridge epistemic gaps to produce candidate explanations, and Hypothesis Selection, where the generated candidates are evaluated and the most plausible explanation is chosen. Building upon this foundation, we present a comprehensive taxonomy of the literature, categorizing prior work based on their abductive tasks, datasets, underlying methodologies, and evaluation strategies. In order to ground our framework empirically, we conduct a compact benchmark study of current LLMs on abductive tasks, together with targeted comparative analyses across model sizes, model families, evaluation styles, and the distinct generation-versus-selection task typologies. Moreover, by synthesizing recent empirical results, we examine how LLM performance on abductive reasoning relates to deductive and inductive tasks, providing insights into their broader reasoning capabilities. Our analysis reveals critical gaps in current approaches--from static benchmark design and narrow domain coverage to narrow training frameworks and limited mechanistic understanding of abductive processes... --- ### Component-Adaptive and Lesion-Level Supervision for Improved Small Structure Segmentation in Brain MRI Authors: Minh Sao Khue Luu, Evgeniy N. Pavlovskiy, Bair N. Tuchinov Published: 2026-04-09 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2604.08015v2 We propose a unified objective function, termed CATMIL, that augments the base segmentation loss with two auxiliary supervision terms operating at different levels. The first term, Component-Adaptive Tversky, reweights voxel contributions based on connected components to balance the influence of lesions of different sizes. The second term, based on Multiple Instance Learning, introduces lesion-level supervision by encouraging the detection of each lesion instance. These terms are combined with the standard nnU-Net loss to jointly optimize voxel-level segmentation accuracy and lesion-level detection. We evaluate the proposed objective on the MSLesSeg dataset using a consistent nnU-Net framework and 5-fold cross-validation. The results show that CATMIL achieves the most balanced performance across segmentation accuracy, lesion detection, and error control. It improves Dice score (0.7834) and reduces boundary error compared to standard losses. More importantly, it substantially increases small lesion recall and reduces false negatives, while maintaining the lowest false positive volume among compared methods. These findings demonstrate that integrating component-level and lesion-level supervision within a unified objective provides an effective and practical approach for improving small lesion segmentation in highly imbalanced settings. All code and pretrained models are available at https://github.com/luumsk/SmallLesionMRI. --- ### Bridging Time and Space: Decoupled Spatio-Temporal Alignment for Video Grounding Authors: Xuezhen Tu, Jingyu Wu, Fangyu Kang, Qingpeng Nong, Kaijin Zhang, Chaoyue Niu, Fan Wu Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.08014v3 Spatio-Temporal Video Grounding requires jointly localizing target objects across both temporal and spatial dimensions based on natural language queries, posing fundamental challenges for existing Multimodal Large Language Models (MLLMs). We identify two core challenges: \textit{entangled spatio-temporal alignment}, arising from coupling two heterogeneous sub-tasks within the same autoregressive output space, and \textit{dual-domain visual token redundancy}, where target objects exhibit simultaneous temporal and spatial sparsity, rendering the overwhelming majority of visual tokens irrelevant to the grounding query. To address these, we propose \textbf{Bridge-STG}, an end-to-end framework that decouples temporal and spatial localization while maintaining semantic coherence. While decoupling is the natural solution to this entanglement, it risks creating a semantic gap between the temporal MLLM and the spatial decoder. Bridge-STG resolves this through two pivotal designs: the \textbf{Spatio-Temporal Semantic Bridging (STSB)} mechanism with Explicit Temporal Alignment (ETA) distills the MLLM's temporal reasoning context into enriched bridging queries as a robust semantic interface; and the \textbf{Query-Guided Spatial Localization (QGSL)} module leverages these queries to drive a purpose-built spatial decoder with multi-layer interactive queries and positive/negative frame sampling, jointly eliminating dual-domain visual token redundancy. Extensive experiments across multiple benchmarks demonstrate that Bridge-STG achieves state-of-the-art performance among MLLM-based methods. Bridge-STG improves average m\_vIoU from $26.4$ to $34.3$ on VidSTG and demonstrates strong cross-task transfer across various fine-grained video understanding tasks under a unified multi-task training regime. --- ### SearchAD: Large-Scale Rare Image Retrieval Dataset for Autonomous Driving Authors: Felix Embacher, Jonas Uhrig, Marius Cordts, Markus Enzweiler Published: 2026-04-09 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.08008v1 Retrieving rare and safety-critical driving scenarios from large-scale datasets is essential for building robust autonomous driving (AD) systems. As dataset sizes continue to grow, the key challenge shifts from collecting more data to efficiently identifying the most relevant samples. We introduce SearchAD, a large-scale rare image retrieval dataset for AD containing over 423k frames drawn from 11 established datasets. SearchAD provides high-quality manual annotations of more than 513k bounding boxes covering 90 rare categories. It specifically targets the needle-in-a-haystack problem of locating extremely rare classes, with some appearing fewer than 50 times across the entire dataset. Unlike existing benchmarks, which focused on instance-level retrieval, SearchAD emphasizes semantic image retrieval with a well-defined data split, enabling text-to-image and image-to-image retrieval, few-shot learning, and fine-tuning of multi-modal retrieval models. Comprehensive evaluations show that text-based methods outperform image-based ones due to stronger inherent semantic grounding. While models directly aligning spatial visual features with language achieve the best zero-shot results, and our fine-tuning baseline significantly improves performance, absolute retrieval capabilities remain unsatisfactory. With a held-out test set on a public benchmark server, SearchAD establishes the first large-scale dataset for retrieval-driven data curation and long-tail perception research in AD: https://iis-esslingen.github.io/searchad/ --- ### Preference Redirection via Attention Concentration: An Attack on Computer Use Agents Authors: Dominik Seip, Matthias Hein Published: 2026-04-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2604.08005v2 Advancements in multimodal foundation models have enabled the development of Computer Use Agents (CUAs) capable of autonomously interacting with GUI environments. As CUAs are not restricted to certain tools, they allow to automate more complex agentic tasks but at the same time open up new security vulnerabilities. While prior work has concentrated on the language modality, the vulnerability of the vision modality has received less attention. In this paper, we introduce PRAC, a novel attack that, unlike prior work targeting the VLM output directly, manipulates the model's internal preferences by redirecting its attention toward a stealthy adversarial patch. We show that PRAC is able to manipulate the selection process of a CUA on an online shopping platform towards a chosen target product. While we require white-box access to the model for the creation of the attack, we show that our attack generalizes to fine-tuned versions of the same model, presenting a critical threat as multiple companies build specific CUAs based on open weights models. --- ### Preference Redirection via Attention Concentration: An Attack on Computer Use Agents Authors: Dominik Seip, Matthias Hein Published: 2026-04-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2604.08005v1 Advancements in multimodal foundation models have enabled the development of Computer Use Agents (CUAs) capable of autonomously interacting with GUI environments. As CUAs are not restricted to certain tools, they allow to automate more complex agentic tasks but at the same time open up new security vulnerabilities. While prior work has concentrated on the language modality, the vulnerability of the vision modality has received less attention. In this paper, we introduce PRAC, a novel attack that, unlike prior work targeting the VLM output directly, manipulates the model's internal preferences by redirecting its attention toward a stealthy adversarial patch. We show that PRAC is able to manipulate the selection process of a CUA on an online shopping platform towards a chosen target product. While we require white-box access to the model for the creation of the attack, we show that our attack generalizes to fine-tuned versions of the same model, presenting a critical threat as multiple companies build specific CUAs based on open weights models. --- ### Evaluating Counterfactual Explanation Methods on Incomplete Inputs Authors: Francesco Leofante, Daniel Neider, Mustafa Yalçıner Published: 2026-04-09 Categories: cs.AI arXiv: https://arxiv.org/abs/2604.08004v1 Existing algorithms for generating Counterfactual Explanations (CXs) for Machine Learning (ML) typically assume fully specified inputs. However, real-world data often contains missing values, and the impact of these incomplete inputs on the performance of existing CX methods remains unexplored. To address this gap, we systematically evaluate recent CX generation methods on their ability to provide valid and plausible counterfactuals when inputs are incomplete. As part of this investigation, we hypothesize that robust CX generation methods will be better suited to address the challenge of providing valid and plausible counterfactuals when inputs are incomplete. Our findings reveal that while robust CX methods achieve higher validity than non-robust ones, all methods struggle to find valid counterfactuals. These results motivate the need for new CX methods capable of handling incomplete inputs. --- ### Rethinking Entropy Allocation in LLM-based ASR: Understanding the Dynamics between Speech Encoders and LLMs Authors: Yuan Xie, Jiaqi Song, Guang Qiu, Xianliang Wang, Ming Lei, Jie Gao, Jie Wu Published: 2026-04-09 Categories: eess.AS, cs.CL, cs.SD arXiv: https://arxiv.org/abs/2604.08003v1 Integrating large language models (LLMs) into automatic speech recognition (ASR) has become a dominant paradigm. Although recent LLM-based ASR models have shown promising performance on public benchmarks, it remains challenging to balance recognition quality with latency and overhead, while hallucinations further limit real-world deployment. In this study, we revisit LLM-based ASR from an entropy allocation perspective and introduce three metrics to characterize how training paradigms allocate entropy reduction between the speech encoder and the LLM. To remedy entropy-allocation inefficiencies in prevailing approaches, we propose a principled multi-stage training strategy grounded in capability-boundary awareness, optimizing parameter efficiency and hallucination robustness. Specifically, we redesign the pretraining strategy to alleviate the speech-text modality gap, and further introduce an iterative asynchronous SFT stage between alignment and joint SFT to preserve functional decoupling and constrain encoder representation drift. Experiments on Mandarin and English benchmarks show that our method achieves competitive performance with state-of-the-art models using only 2.3B parameters, while also effectively mitigating hallucinations through our decoupling-oriented design. --- ### The ecosystem of machine learning competitions: Platforms, participants, and their impact on AI development Authors: Ioannis Nasios Published: 2026-04-09 Categories: cs.LG, cs.AI, stat.ML arXiv: https://arxiv.org/abs/2604.08001v1 Machine learning competitions (MLCs) play a pivotal role in advancing artificial intelligence (AI) by fostering innovation, skill development, and practical problem-solving. This study provides a comprehensive analysis of major competition platforms such as Kaggle and Zindi, examining their workflows, evaluation methodologies, and reward structures. It further assesses competition quality, participant expertise, and global reach, with particular attention to demographic trends among top-performing competitors. By exploring the motivations of competition hosts, this paper underscores the significant role of MLCs in shaping AI development, promoting collaboration, and driving impactful technological progress. Furthermore, by combining literature synthesis with platform-level data analysis and practitioner insights a comprehensive understanding of the MLC ecosystem is provided. Moreover, the paper demonstrates that MLCs function at the intersection of academic research and industrial application, fostering the exchange of knowledge, data, and practical methodologies across domains. Their strong ties to open-source communities further promote collaboration, reproducibility, and continuous innovation within the broader ML ecosystem. By shaping research priorities, informing industry standards, and enabling large-scale crowdsourced problem-solving, these competitions play a key role in the ongoing evolution of AI. The study provides insights relevant to researchers, practitioners, and competition organizers, and includes an examination of the future trajectory and sustained influence of MLCs on AI development. --- ### PASK: Toward Intent-Aware Proactive Agents with Long-Term Memory Authors: Zhifei Xie, Zongzheng Hu, Fangda Ye, Xin Zhang, Haobo Chai, Zihang Liu, Pengcheng Wu, Guibin Zhang, Yue Liao, Xiaobin Hu, Deheng Ye, Chunyan Miao et al. Published: 2026-04-09 Categories: cs.AI, cs.CL, cs.CV, cs.HC, cs.MA arXiv: https://arxiv.org/abs/2604.08000v1 Proactivity is a core expectation for AGI. Prior work remains largely confined to laboratory settings, leaving a clear gap in real-world proactive agent: depth, complexity, ambiguity, precision and real-time constraints. We study this setting, where useful intervention requires inferring latent needs from ongoing context and grounding actions in evolving user memory under latency and long-horizon constraints. We first propose DD-MM-PAS (Demand Detection, Memory Modeling, Proactive Agent System) as a general paradigm for streaming proactive AI agent. We instantiate this paradigm in Pask, with streaming IntentFlow model for DD, a hybrid memory (workspace, user, global) for long-term MM, PAS infra framework and introduce how these components form a closed loop. We also introduce LatentNeeds-Bench, a real-world benchmark built from user-consented data and refined through thousands of rounds of human editing. Experiments show that IntentFlow matches leading Gemini3-Flash models under latency constraints, while identifying deeper user intent. --- ### Benchmarking Deep Learning for Future Liver Remnant Segmentation in Colorectal Liver Metastasis Authors: Anthony T. Wu, Arghavan Rezvani, Kela Liu, Roozbeh Houshyar, Pooya Khosravi, Whitney Li, Xiaohui Xie Published: 2026-04-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2604.07999v1 Accurate segmentation of the future liver remnant (FLR) is critical for surgical planning in colorectal liver metastases (CRLM) to prevent fatal post-hepatectomy liver failure. However, this segmentation task is technically challenging due to complex resection boundaries, convoluted hepatic vasculature and diffuse metastatic lesions. A primary bottleneck in developing automated AI tools has been the lack of high-fidelity, validated data. We address this gap by manually refining all 197 volumes from the public CRLM-CT-Seg dataset, creating the first open-source, validated benchmark for this task. We then establish the first segmentation baselines, comparing cascaded (Liver->CRLM->FLR) and end-to-end (E2E) strategies using nnU-Net, SwinUNETR, and STU-Net. We find a cascaded nnU-Net achieves the best final FLR segmentation Dice (0.767), while the pretrained STU-Net provides superior CRLM segmentation (0.620 Dice) and is significantly more robust to cascaded errors. This work provides the first validated benchmark and a reproducible framework to accelerate research in AI-assisted surgical planning. --- ### Few-Shot Incremental 3D Object Detection in Dynamic Indoor Environments Authors: Yun Zhu, Jianjun Qian, Jian Yang, Jin Xie, Na Zhao Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.07997v1 Incremental 3D object perception is a critical step toward embodied intelligence in dynamic indoor environments. However, existing incremental 3D detection methods rely on extensive annotations of novel classes for satisfactory performance. To address this limitation, we propose FI3Det, a Few-shot Incremental 3D Detection framework that enables efficient 3D perception with only a few novel samples by leveraging vision-language models (VLMs) to learn knowledge of unseen categories. FI3Det introduces a VLM-guided unknown object learning module in the base stage to enhance perception of unseen categories. Specifically, it employs VLMs to mine unknown objects and extract comprehensive representations, including 2D semantic features and class-agnostic 3D bounding boxes. To mitigate noise in these representations, a weighting mechanism is further designed to re-weight the contributions of point- and box-level features based on their spatial locations and feature consistency within each box. Moreover, FI3Det proposes a gated multimodal prototype imprinting module, where category prototypes are constructed from aligned 2D semantic and 3D geometric features to compute classification scores, which are then fused via a multimodal gating mechanism for novel object detection. As the first framework for few-shot incremental 3D object detection, we establish both batch and sequential evaluation settings on two datasets, ScanNet V2 and SUN RGB-D, where FI3Det achieves strong and consistent improvements over baseline methods. Code is available at https://github.com/zyrant/FI3Det. --- ### SAT: Selective Aggregation Transformer for Image Super-Resolution Authors: Dinh Phu Tran, Thao Do, Saad Wazir, Seongah Kim, Seon Kwon Kim, Daeyoung Kim Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.07994v2 Transformer-based approaches have revolutionized image super-resolution by modeling long-range dependencies. However, the quadratic computational complexity of vanilla self-attention mechanisms poses significant challenges, often leading to compromises between efficiency and global context exploitation. Recent window-based attention methods mitigate this by localizing computations, but they often yield restricted receptive fields. To mitigate these limitations, we propose Selective Aggregation Transformer (SAT). This novel transformer efficiently captures long-range dependencies, leading to an enlarged model receptive field by selectively aggregating key-value matrices (reducing the number of tokens by 97\%) via our Density-driven Token Aggregation algorithm while maintaining the full resolution of the query matrix. This design significantly reduces computational costs, resulting in lower complexity and enabling scalable global interactions without compromising reconstruction fidelity. SAT identifies and represents each cluster with a single aggregation token, utilizing density and isolation metrics to ensure that critical high-frequency details are preserved. Experimental results demonstrate that SAT outperforms the state-of-the-art method PFT by up to 0.22dB, while the total number of FLOPs can be reduced by up to 27\%. --- ### MotionScape: A Motion-Stratified UAV Video Benchmark for World Modeling and Future Video Generation Authors: Zile Guo, Zhan Chen, Xiaoxuan Liu, Enze Zhu, Kan Wei, Yongkang Zou, Sijia Ma, Lei Wang Published: 2026-04-09 Categories: cs.CV, cs.MM arXiv: https://arxiv.org/abs/2604.07991v2 Unmanned aerial vehicles (UAVs) are increasingly crucial for low-altitude autonomy and complex environment understanding. World models enable UAVs to anticipate how future states may evolve under potential actions, providing predictive support for autonomous decision-making. For video world models, future video generation serves as a means of simulating future visual states, providing a direct basis for evaluating their predictive capability. However, existing UAV video resources typically focus on specific control signals or simulated environments. Standardized benchmarks for multi-condition UAV-view future video generation are still limited. To bridge this gap, we introduce MotionScape, a real-world UAV-view benchmark comprising 228 high-resolution video clips totaling 62,700 frames, with semantic annotations of weather and illumination conditions, scene environment, and camera-viewpoint motion. The clips are stratified into low-, medium-, and high-motion strata using optical-flow-based motion intensity. MotionScape supports Text2World, Image2World, and Video2World evaluation under a unified future-generation protocol. Technical validation with representative baseline models assesses performance across conditioning settings and motion strata, providing a unified platform for evaluating the future visual simulation capabilities of UAV world models. --- ### MotionScape: A Large-Scale Real-World Highly Dynamic UAV Video Dataset for World Models Authors: Zile Guo, Zhan Chen, Enze Zhu, Kan Wei, Yongkang Zou, Xiaoxuan Liu, Lei Wang Published: 2026-04-09 Categories: cs.CV, cs.MM arXiv: https://arxiv.org/abs/2604.07991v1 Recent advances in world models have demonstrated strong capabilities in simulating physical reality, making them an increasingly important foundation for embodied intelligence. For UAV agents in particular, accurate prediction of complex 3D dynamics is essential for autonomous navigation and robust decision-making in unconstrained environments. However, under the highly dynamic camera trajectories typical of UAV views, existing world models often struggle to maintain spatiotemporal physical consistency. A key reason lies in the distribution bias of current training data: most existing datasets exhibit restricted 2.5D motion patterns, such as ground-constrained autonomous driving scenes or relatively smooth human-centric egocentric videos, and therefore lack realistic high-dynamic 6-DoF UAV motion priors. To address this gap, we present MotionScape, a large-scale real-world UAV-view video dataset with highly dynamic motion for world modeling. MotionScape contains over 30 hours of 4K UAV-view videos, totaling more than 4.5M frames. This novel dataset features semantically and geometrically aligned training samples, where diverse real-world UAV videos are tightly coupled with accurate 6-DoF camera trajectories and fine-grained natural language descriptions. To build the dataset, we develop an automated multi-stage processing pipeline that integrates CLIP-based relevance filtering, temporal segmentation, robust visual SLAM for trajectory recovery, and large-language-model-driven semantic annotation. Extensive experiments show that incorporating such semantically and geometrically aligned annotations effectively improves the ability of existing world models to simulate complex 3D dynamics and handle large viewpoint shifts, thereby benefiting decision-making and planning for UAV agents in complex environments. The dataset is publicly available at https://github.com/Thelegendzz/MotionScape --- ### SceneScribe-1M: A Large-Scale Video Dataset with Comprehensive Geometric and Semantic Annotations Authors: Yunnan Wang, Kecheng Zheng, Jianyuan Wang, Minghao Chen, David Novotny, Christian Rupprecht, Yinghao Xu, Xing Zhu, Wenjun Zeng, Xin Jin, Yujun Shen Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.07990v2 The convergence of 3D geometric perception and video synthesis has created an unprecedented demand for large-scale video data that is rich in both semantic and spatio-temporal information. While existing datasets have advanced either 3D understanding or video generation, a significant gap remains in providing a unified resource that supports both domains at scale. To bridge this chasm, we introduce SceneScribe-1M, a new large-scale, multi-modal video dataset. It comprises one million in-the-wild videos, each meticulously annotated with detailed textual descriptions, precise camera parameters, dense depth maps, and consistent 3D point tracks. We demonstrate the versatility and value of SceneScribe-1M by establishing benchmarks across a wide array of downstream tasks, including monocular depth estimation, scene reconstruction, and dynamic point tracking, as well as generative tasks such as text-to-video synthesis, with or without camera control. By open-sourcing SceneScribe-1M, we aim to provide a comprehensive benchmark and a catalyst for research, fostering the development of models that can both perceive the dynamic 3D world and generate controllable, realistic video content. --- ### Show Me the Infographic I Imagine: Intent-Aware Infographic Retrieval for Authoring Support Authors: Jing Xu, Jiarui Hu, Zhihao Shuai, Yiyun Chen, Weikai Yang Published: 2026-04-09 Categories: cs.IR, cs.AI arXiv: https://arxiv.org/abs/2604.07989v1 While infographics have become a powerful medium for communicating data-driven stories, authoring them from scratch remains challenging, especially for novice users. Retrieving relevant exemplars from a large corpus can provide design inspiration and promote reuse, substantially lowering the barrier to infographic authoring. However, effective retrieval is difficult because users often express design intent in ambiguous natural language, while infographics embody rich and multi-faceted visual designs. As a result, keyword-based search often fails to capture design intent, and general-purpose vision-language retrieval models trained on natural images are ill-suited to the text-heavy, multi-component nature of infographics. To address these challenges, we develop an intent-aware infographic retrieval framework that better aligns user queries with infographic designs. We first conduct a formative study of how people describe infographics and derive an intent taxonomy spanning content and visual design facets. This taxonomy is then leveraged to enrich and refine free-form user queries, guiding the retrieval process with intent-specific cues. Building on the retrieved exemplars, users can adapt the designs to their own data with high-level edit intents, supported by an interactive agent that performs low-level adaptation. Both quantitative evaluations and user studies are conducted to demonstrate that our method improves retrieval quality over baseline methods while better supporting intent satisfaction and efficient infographic authoring. --- ### LogAct: Enabling Agentic Reliability via Shared Logs Authors: Mahesh Balakrishnan, Ashwin Bharambe, Davide Testuggine, David Geraghty, David Mao, Vidhya Venkat, Ilya Mironov, Rithesh Baradi, Gayathri Aiyer, Victoria Dudin Published: 2026-04-09 Categories: cs.DC, cs.AI arXiv: https://arxiv.org/abs/2604.07988v1 Agents are LLM-driven components that can mutate environments in powerful, arbitrary ways. Extracting guarantees for the execution of agents in production environments can be challenging due to asynchrony and failures. In this paper, we propose a new abstraction called LogAct, where each agent is a deconstructed state machine playing a shared log. In LogAct, agentic actions are visible in the shared log before they are executed; can be stopped prior to execution by pluggable, decoupled voters; and recovered consistently in the case of agent or environment failure. LogAct enables agentic introspection, allowing the agent to analyze its own execution history using LLM inference, which in turn enables semantic variants of recovery, health check, and optimization. In our evaluation, LogAct agents recover efficiently and correctly from failures; debug their own performance; optimize token usage in swarms; and stop all unwanted actions for a target model on a representative benchmark with just a 3% drop in benign utility. --- ### DP-DeGauss: Dynamic Probabilistic Gaussian Decomposition for Egocentric 4D Scene Reconstruction Authors: Tingxi Chen, Zhengxue Cheng, Houqiang Zhong, Su Wang, Rong Xie, Li Song Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.07986v1 Egocentric video is crucial for next-generation 4D scene reconstruction, with applications in AR/VR and embodied AI. However, reconstructing dynamic first-person scenes is challenging due to complex ego-motion, occlusions, and hand-object interactions. Existing decomposition methods are ill-suited, assuming fixed viewpoints or merging dynamics into a single foreground. To address these limitations, we introduce DP-DeGauss, a dynamic probabilistic Gaussian decomposition framework for egocentric 4D reconstruction. Our method initializes a unified 3D Gaussian set from COLMAP priors, augments each with a learnable category probability, and dynamically routes them into specialized deformation branches for background, hands, or object modeling. We employ category-specific masks for better disentanglement and introduce brightness and motion-flow control to improve static rendering and dynamic reconstruction. Extensive experiments show that DP-DeGauss outperforms baselines by +1.70dB in PSNR on average with SSIM and LPIPS gains. More importantly, our framework achieves the first and state-of-the-art disentanglement of background, hand, and object components, enabling explicit, fine-grained separation, paving the way for more intuitive ego scene understanding and editing. --- ### Predicting the Benefit of Retrieval Augmentation in Open-Domain Question Answering Authors: Or Dado, David Carmel, Oren Kurland Published: 2026-04-09 Categories: cs.CL, cs.IR arXiv: https://arxiv.org/abs/2604.07985v3 While retrieval augmented generation has become a common approach for enhancing question answering systems, retrieval is not universally advantageous. We study the problem of predicting whether incorporating external retrieved information is likely to improve response quality for a given question. To this end, we evaluate a range of prediction methods that are based on retrieval signals, answer characteristics, and semantic consistency between generated responses and retrieved passages. We further devise a predictor that probes the LLM's internal state. Its prediction performance significantly narrows the performance gap between post-generation methods which are computationally demanding and pre-generation (post-retrieval) methods. We use the prediction methods to devise a selective retrieval framework that dynamically chooses between retrieval and non-retrieval generation modes per question. Experimental results demonstrate that selectively applying retrieval augmentation yields answer quality that transcends that of using retrieval for all queries. --- ### Rag Performance Prediction for Question Answering Authors: Or Dado, David Carmel, Oren Kurland Published: 2026-04-09 Categories: cs.CL, cs.IR arXiv: https://arxiv.org/abs/2604.07985v2 We address the task of predicting the gain of using RAG (retrieval augmented generation) for question answering with respect to not using it. We study the performance of a few pre-retrieval and post-retrieval predictors originally devised for ad hoc retrieval. We also study a few post-generation predictors, one of which is novel to this study and posts the best prediction quality. Our results show that the most effective prediction approach is a novel supervised predictor that explicitly models the semantic relationships among the question, retrieved passages, and the generated answer. --- ### A Decomposition Perspective to Long-context Reasoning for LLMs Authors: Yanling Xiao, Huaibing Xie, Guoliang Zhao, Shihan Dou, Shaolei Wang, Yiting Liu, Nantao Zheng, Cheng Zhang, Pluto Zhou, Zhisong Zhang, Lemao Liu Published: 2026-04-09 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.07981v1 Long-context reasoning is essential for complex real-world applications, yet remains a significant challenge for Large Language Models (LLMs). Despite the rapid evolution in long-context reasoning, current research often overlooks the internal complexity of the long-context reasoning task itself. In this paper, we move beyond this holistic view and decompose long-context reasoning into a set of fundamental atomic skills, and we then automatically synthesize a suite of pseudo datasets, each explicitly targeting a specific atomic skill. Our empirical analysis confirms that proficiency in these atomic skills is strongly correlated with general long-text reasoning performance. Building on this insight, we employ reinforcement learning on these pseudo datasets to sharpen the model's atomic skills, in the hope of boosting its general long-context reasoning ability. Extensive experiments across multiple benchmarks demonstrate the effectiveness of our approach: it outperforms a strong baseline by an average margin of 7.7\% (improving from 46.3\% to 54.0\%) across Loogle, Loong, LongBench-v2, BrowscompLong, Ruler-qa2, and MRCR. --- ### Object-Centric Stereo Ranging for Autonomous Driving: From Dense Disparity to Census-Based Template Matching Authors: Qihao Huang Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.07980v1 Accurate depth estimation is critical for autonomous driving perception systems, particularly for long range vehicle detection on highways. Traditional dense stereo matching methods such as Block Matching (BM) and Semi Global Matching (SGM) produce per pixel disparity maps but suffer from high computational cost, sensitivity to radiometric differences between stereo cameras, and poor accuracy at long range where disparity values are small. In this report, we present a comprehensive stereo ranging system that integrates three complementary depth estimation approaches: dense BM/SGM disparity, object centric Census based template matching, and monocular geometric priors, within a unified detection ranging tracking pipeline. Our key contribution is a novel object centric Census based template matching algorithm that performs GPU accelerated sparse stereo matching directly within detected bounding boxes, employing a far close divide and conquer strategy, forward backward verification, occlusion aware sampling, and robust multi block aggregation. We further describe an online calibration refinement framework that combines auto rectification offset search, radar stereo voting based disparity correction, and object level radar stereo association for continuous extrinsic drift compensation. The complete system achieves real time performance through asynchronous GPU pipeline design and delivers robust ranging across diverse driving conditions including nighttime, rain, and varying illumination. --- ### How Far Are Large Multimodal Models from Human-Level Spatial Action? A Benchmark for Goal-Oriented Embodied Navigation in Urban Airspace Authors: Baining Zhao, Ziyou Wang, Jianjie Fang, Zile Zhou, Yanggang Xu, Yatai Ji, Jiacheng Xu, Qian Zhang, Weichen Zhang, Chen Gao, Xinlei Chen Published: 2026-04-09 Categories: cs.AI arXiv: https://arxiv.org/abs/2604.07973v1 Large multimodal models (LMMs) show strong visual-linguistic reasoning but their capacity for spatial decision-making and action remains unclear. In this work, we investigate whether LMMs can achieve embodied spatial action like human through a challenging scenario: goal-oriented navigation in urban 3D spaces. We first spend over 500 hours constructing a dataset comprising 5,037 high-quality goal-oriented navigation samples, with an emphasis on 3D vertical actions and rich urban semantic information. Then, we comprehensively assess 17 representative models, including non-reasoning LMMs, reasoning LMMs, agent-based methods, and vision-language-action models. Experiments show that current LMMs exhibit emerging action capabilities, yet remain far from human-level performance. Furthermore, we reveal an intriguing phenomenon: navigation errors do not accumulate linearly but instead diverge rapidly from the destination after a critical decision bifurcation. The limitations of LMMs are investigated by analyzing their behavior at these critical decision bifurcations. Finally, we experimentally explore four promising directions for improvement: geometric perception, cross-view understanding, spatial imagination, and long-term memory. The project is available at: https://github.com/serenditipy-AC/Embodied-Navigation-Bench. --- ### Kathleen: Oscillator-Based Byte-Level Text Classification Without Tokenization or Attention Authors: George Fountzoulas Published: 2026-04-09 Categories: cs.CL arXiv: https://arxiv.org/abs/2604.07969v2 We present Kathleen, a text classification architecture that operates directly on raw UTF-8 bytes using frequency-domain processing -- requiring no tokenizer, no attention mechanism, and under 470K parameters. Kathleen introduces several novel components: (1) RecurrentOscillatorBanks -- damped sinusoid convolutions with temporal memory for O(L) sequence processing; (2) an FFT-Rotate Wavetable Encoder that maps all 256 byte values using a single learnable vector (256 floats); (3) PhaseHarmonics -- a sinusoidal non-linearity with just 6 learnable phase parameters (+2.6% accuracy, <0.001% of model parameters); (4) Content-Dependent Reverb with Positional Decay Modulation -- a temporal memory mechanism whose decay rate is jointly conditioned on input content and a learned position-indexed bias vector; (5) Token-Level Module Sequencer with consonance and dissonance interference channels. Through iterative architecture evolution from an initial 733K-parameter baseline (Kathleen-Clean) to the current Kathleen-V9 (469K parameters), we demonstrate that pretraining can be entirely eliminated while improving accuracy. Kathleen-V9 achieves 88.5% +/- 0.2% on IMDB, 92.4% +/- 0.2% on AG News, and 85.8% +/- 0.5% on SST-2 (3-seed averages) -- matching or exceeding the pretrained baseline on all benchmarks with 36% fewer parameters. On SST-2, the improvement is +2.5% absolute over the pretrained predecessor. Kathleen processes sequences in O(L) time and memory. --- ### AtomEval: Validity-Aware Atomic Evaluation of Adversarial Claim Rewriting in Fact Verification Authors: Hongyi Cen, Mingxin Wang, Yule Liu, Jingyi Zheng, Hanze Jia, Tan Tang Published: 2026-04-09 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2604.07967v3 Large language models (LLMs) can rewrite refuted claims to evade evidence-based fact verifiers, but conventional attack success rate (ASR) can be inflated when rewrites change, weaken, or correct the false proposition they are supposed to preserve. We introduce AtomEval, a validity-aware evaluation protocol for fixed-evidence adversarial claim rewriting. AtomEval represents claims as subject--relation--object--modifier (SROM) atoms, applies a one-way preservation gate to separate valid verifier evasion from proposition-changing rewrites, and reports validity-aware attack success rate (VASR), which counts only verifier-evasive rewrites that preserve the original false proposition. AtomEval further provides fine-grained diagnostics that explain both proposition-level failures and non-minimal valid rewrites. On FEVER refuted-claim rewriting, AtomEval exposes and explains ASR inflation: many apparent attacks fool the verifier by altering, weakening, or correcting the proposition they should preserve. By making attacked-proposition preservation explicit and measurable, AtomEval provides a stable evaluation target for evaluating adversarial rewriters that must balance verifier evasion with proposition preservation. --- ### Lighting-grounded Video Generation with Renderer-based Agent Reasoning Authors: Ziqi Cai, Taoyu Yang, Zheng Chang, Si Li, Han Jiang, Shuchen Weng, Boxin Shi Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.07966v1 Diffusion models have achieved remarkable progress in video generation, but their controllability remains a major limitation. Key scene factors such as layout, lighting, and camera trajectory are often entangled or only weakly modeled, restricting their applicability in domains like filmmaking and virtual production where explicit scene control is essential. We present LiVER, a diffusion-based framework for scene-controllable video generation. To achieve this, we introduce a novel framework that conditions video synthesis on explicit 3D scene properties, supported by a new large-scale dataset with dense annotations of object layout, lighting, and camera parameters. Our method disentangles these properties by rendering control signals from a unified 3D representation. We propose a lightweight conditioning module and a progressive training strategy to integrate these signals into a foundational video diffusion model, ensuring stable convergence and high fidelity. Our framework enables a wide range of applications, including image-to-video and video-to-video synthesis where the underlying 3D scene is fully editable. To further enhance usability, we develop a scene agent that automatically translates high-level user instructions into the required 3D control signals. Experiments show that LiVER achieves state-of-the-art photorealism and temporal consistency while enabling precise, disentangled control over scene factors, setting a new standard for controllable video generation. --- ### DSCA: Dynamic Subspace Concept Alignment for Lifelong VLM Editing Authors: Gyanendra Das, Sai Satyam Jena Published: 2026-04-09 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.07965v1 Model editing aims to update knowledge to add new concepts and change relevant information without retraining. Lifelong editing is a challenging task, prone to disrupting previously learned concepts, especially for Vision Language Models (VLMs), because sequential edits can lead to degraded reasoning and cross modal misalignment. Existing VLM knowledge editing methods based on gated adapters, activation edits, and parameter merging techniques address catastrophic forgetting seen in full fine tuning; however, they still operate in the shared representation space of the VLM, where concepts are entangled, so edits interfere with other non relevant concepts. We hypothesize that this instability persists because current methods algorithmically control edits via optimization rather than structurally separating knowledge. We introduce Dynamic Subspace Concept Alignment (DSCA) which by design mitigates this limitation by decomposing the representation space into a set of orthogonal semantic subspaces and proposing edits only in those transformed spaces. These subspaces are obtained through incremental clustering and PCA on joint vision language representations. This process structurally isolates concepts, enabling precise, non interfering edits by turning isolation from a soft training objective into an architectural property. The surgical edits are guided by a multi term loss function for maintaining task fidelity, edit locality, and cross modal alignment. With the base model frozen, our method achieves 98 percent single edit success, remains over 95 percent after 1000 sequential edits, lowers hallucination by 3 to 5 percent, and achieves the best backward transfer (BWT) scores on continual instruction tuning benchmarks. Extensive experiments demonstrate DSCA state of the art stability and knowledge retention capability in continual lifelong editing across various datasets and benchmarks. --- ### Are we still able to recognize pearls? Machine-driven peer review and the risk to creativity: An explainable RAG-XAI detection framework with markers extraction Authors: Alin-Gabriel Văduva, Simona-Vasilica Oprea, Adela Bâra Published: 2026-04-09 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.07964v1 The integration of large language models (LLMs) into peer review raises a concern beyond authorship and detection: the potential cascading automation of the entire editorial process. As reviews become partially or fully machine-generated, it becomes plausible that editorial decisions may also be delegated to algorithmic systems, leading to a fully automated evaluation pipeline. They risk reshaping the criteria by which scientific work is assessed. This paper argues that machine-driven assessment may systematically favor standardized, pattern-conforming research while penalizing unconventional and paradigm-shifting ideas that require contextual human judgment. We consider that this shift could lead to epistemic homogenization, where researchers are implicitly incentivized to optimize their work for algorithmic approval rather than genuine discovery. To address this risk, we introduce an explainable framework (RAG-XAI) for assessing review quality and detecting automated patterns using markers LLM extractor, aiming to preserve transparency, accountability and creativity in science. The proposed framework achieves near-perfect detection performance, with XGBoost, Random Forest and LightGBM reaching 99.61% accuracy, AUC-ROC above 0.999 and F1-scores of 0.9925 on the test set, while maintaining extremely low false positive rates (<0.23%) and false negative rates (~0.8%). In contrast, the logistic regression baseline performs substantially worse (89.97% accuracy, F1-score 0.8314). Feature importance and SHAP analyses identify absence of personal signals and repetition patterns as the dominant predictors. Additionally, the RAG component achieves 90.5% top-1 retrieval accuracy, with strong same-class clustering in the embedding space, further supporting the reliability of the framework's outputs. --- ### Rethinking Data Mixing from the Perspective of Large Language Models Authors: Yuanjian Xu, Tianze Sun, Changwei Xu, XinLong Zhao, Jianing Hao, Ran Chen, Yang Liu, Ruijie Xu, Stephen Chen, Guang Zhang Published: 2026-04-09 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.07963v1 Data mixing strategy is essential for large language model (LLM) training. Empirical evidence shows that inappropriate strategies can significantly reduce generalization. Although recent methods have improved empirical performance, several fundamental questions remain open: what constitutes a domain, whether human and model perceptions of domains are aligned, and how domain weighting influences generalization. We address these questions by establishing formal connections between gradient dynamics and domain distributions, offering a theoretical framework that clarifies the role of domains in training dynamics. Building on this analysis, we introduce DoGraph, a reweighting framework that formulates data scheduling as a graph-constrained optimization problem. Extensive experiments on GPT-2 models of varying scales demonstrate that DoGraph consistently achieves competitive performance. --- ### Is your algorithm unlearning or untraining? Authors: Eleni Triantafillou, Ahmed Imtiaz Humayun, Monica Ribero, Alexander Matt Turner, Michael C. Mozer, Georgios Kaissis Published: 2026-04-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2604.07962v1 As models are getting larger and are trained on increasing amounts of data, there has been an explosion of interest into how we can ``delete'' specific data points or behaviours from a trained model, after the fact. This goal has been referred to as ``machine unlearning''. In this note, we argue that the term ``unlearning'' has been overloaded, with different research efforts spanning two distinct problem formulations, but without that distinction having been observed or acknowledged in the literature. This causes various issues, including ambiguity around when an algorithm is expected to work, use of inappropriate metrics and baselines when comparing different algorithms to one another, difficulty in interpreting results, as well as missed opportunities for pursuing critical research directions. In this note, we address this issue by establishing a fundamental distinction between two notions that we identify as \unlearning and \untraining, illustrated in Figure 1. In short, \untraining aims to reverse the effect of having trained on a given forget set, i.e. to remove the influence that that specific forget set examples had on the model during training. On the other hand, the goal of \unlearning is not just to remove the influence of those given examples, but to use those examples for the purpose of more broadly removing the entire underlying distribution from which those examples were sampled (e.g. the concept or behaviour that those examples represent). We discuss technical definitions of these problems and map problem settings studied in the literature to each. We hope to initiate discussions on disambiguating technical definitions and identify a set of overlooked research questions, as we believe that this a key missing step for accelerating progress in the field of ``unlearning''. --- ### TOOLCAD: Exploring Tool-Using Large Language Models in Text-to-CAD Generation with Reinforcement Learning Authors: Yifei Gong, Xing Wu, Wenda Liu, Kang Tu Published: 2026-04-09 Categories: cs.CV, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2604.07960v2 Computer-Aided Design (CAD) is an expert-level task that relies on long-horizon reasoning and coherent modeling actions. Large Language Models (LLMs) have shown remarkable advancements in enabling language agents to tackle real-world tasks. Notably, there has been no investigation into how tool-using LLMs optimally interact with CAD engines, hindering the emergence of LLM-based agentic text-to-CAD modeling systems. We propose ToolCAD, a novel agentic CAD framework deploying LLMs as tool-using agents for text-to-CAD generation. Furthermore, we introduce an interactive CAD modeling gym to rollout reasoning and tool-augmented interaction trajectories with the CAD engine, incorporating hybrid feedback and human supervision. Meanwhile, an end-to-end post-training strategy is presented to enable the LLM agent to elicit refined CAD Modeling Chain of Thought (CAD-CoT) and evolve into proficient CAD tool-using agents via online curriculum reinforcement learning. Our findings demonstrate ToolCAD fills the gap in adopting and training open-source LLMs for CAD tool-using agents, enabling them to perform comparably to proprietary models, paving the way for more accessible and robust autonomous text-to-CAD modeling systems. --- ### ImVideoEdit: Image-learning Video Editing via 2D Spatial Difference Attention Blocks Authors: Jiayang Xu, Fan Zhuo, Majun Zhang, Changhao Pan, Zehan Wang, Siyu Chen, Xiaoda Yang, Tao Jin, Zhou Zhao Published: 2026-04-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2604.07958v2 Current video editing models often rely on expensive paired video data, which limits their practical scalability. In essence, most video editing tasks can be formulated as a decoupled spatiotemporal process, where the temporal dynamics of the pretrained model are preserved while spatial content is selectively and precisely modified. Based on this insight, we propose ImVideoEdit, an efficient framework that learns video editing capabilities entirely from image pairs. By freezing the pre-trained 3D attention modules and treating images as single-frame videos, we decouple the 2D spatial learning process to help preserve the original temporal dynamics. The core of our approach is a Predict-Update Spatial Difference Attention module that progressively extracts and injects spatial differences. Rather than relying on rigid external masks, we incorporate a Text-Guided Dynamic Semantic Gating mechanism for adaptive and implicit text-driven modifications. Despite training on only 13K image pairs for 5 epochs with exceptionally low computational overhead, ImVideoEdit achieves editing fidelity and temporal consistency comparable to larger models trained on extensive video datasets. --- ### WorldMAP: Bootstrapping Vision-Language Navigation Trajectory Prediction with Generative World Models Authors: Hongjin Chen, Shangyun Jiang, Tonghua Su, Chen Gao, Xinlei Chen, Yong Li, Zhibo Chen Published: 2026-04-09 Categories: cs.AI, cs.CV, cs.RO arXiv: https://arxiv.org/abs/2604.07957v1 Vision-language models (VLMs) and generative world models are opening new opportunities for embodied navigation. VLMs are increasingly used as direct planners or trajectory predictors, while world models support look-ahead reasoning by imagining future views. Yet predicting a reliable trajectory from a single egocentric observation remains challenging. Current VLMs often generate unstable trajectories, and world models, though able to synthesize plausible futures, do not directly provide the grounded signals needed for navigation learning. This raises a central question: how can generated futures be turned into supervision for grounded trajectory prediction? We present WorldMAP, a teacher--student framework that converts world-model-generated futures into persistent semantic-spatial structure and planning-derived supervision. Its world-model-driven teacher builds semantic-spatial memory from generated videos, grounds task-relevant targets and obstacles, and produces trajectory pseudo-labels through explicit planning. A lightweight student with a multi-hypothesis trajectory head is then trained to predict navigation trajectories directly from vision-language inputs. On Target-Bench, WorldMAP achieves the best ADE and FDE among compared methods, reducing ADE by 18.0% and FDE by 42.1% relative to the best competing baseline, while lifting a small open-source VLM to DTW performance competitive with proprietary models. More broadly, the results suggest that, in embodied navigation, the value of world models may lie less in supplying action-ready imagined evidence than in synthesizing structured supervision for navigation learning. --- ### MONETA: Multimodal Industry Classification through Geographic Information with Multi Agent Systems Authors: Arda Yüksel, Gabriel Thiem, Susanne Walter, Patrick Felka, Gabriela Alves Werb, Ivan Habernal Published: 2026-04-09 Categories: cs.AI arXiv: https://arxiv.org/abs/2604.07956v2 Industry classification schemes are integral parts of public and corporate databases as they classify businesses based on economic activity. Due to the size of the company registers, manual annotation is costly, and fine-tuning models with every update in industry classification schemes requires significant data collection. We replicate the manual expert verification by using existing or easily retrievable multimodal resources for industry classification. We present MONETA, the first multimodal industry classification benchmark with text (Website, Wikipedia, Wikidata) and geospatial sources (OpenStreetMap and satellite imagery). Our dataset enlists 1,000 businesses in Europe with 20 economic activity labels according to EU guidelines (NACE). Our training-free baseline reaches 62.10% and 74.10% with open and closed-source Multimodal Large Language Models (MLLM). We observe an increase of up to 22.80% with the combination of multi-turn design, context enrichment, and classification explanations. We will release our dataset and the enhanced guidelines. --- ### Rethinking Residual Errors in Compensation-based LLM Quantization Authors: Shuaiting Li, Juncan Deng, Kedong Xu, Rongtao Deng, Hong Gu, Minghan Jiang, Haibin Shen, Kejie Huang Published: 2026-04-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2604.07955v1 Methods based on weight compensation, which iteratively apply quantization and weight compensation to minimize the output error, have recently demonstrated remarkable success in quantizing Large Language Models (LLMs). The representative work, GPTQ, introduces several key techniques that make such iterative methods practical for LLMs with billions of parameters. GPTAQ extends this approach by introducing an asymmetric calibration process that aligns the output of each quantized layer with its full-precision counterpart, incorporating a residual error into the weight compensation framework. In this work, we revisit the formulation of the residual error. We identify a sub-optimal calibration objective in existing methods: during the intra-layer calibration process, they align the quantized output with the output from compensated weights, rather than the true output from the original full-precision model. Therefore, we redefine the objective to precisely align the quantized model's output with the original output of the full-precision model at each step. We then reveal that the residual error originates not only from the output difference of the preceding layer but also from the discrepancy between the compensated and original weights within each layer, which we name the 'compensation-aware error'. By inheriting the neuron decomposition technique from GPTAQ, we can efficiently incorporate this compensation-aware error into the weight update process. Extensive experiments on various LLMs and quantization settings demonstrate that our proposed enhancements integrate seamlessly with both GPTQ and GPTAQ, significantly improving their quantization performance. Our code is publicly available at https://github.com/list0830/ResComp. --- ### Pruning Extensions and Efficiency Trade-Offs for Sustainable Time Series Classification Authors: Raphael Fischer, Angus Dempster, Sebastian Buschjäger, Matthias Jakobs, Urav Maniar, Geoffrey I. Webb Published: 2026-04-09 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2604.07953v1 Time series classification (TSC) enables important use cases, however lacks a unified understanding of performance trade-offs across models, datasets, and hardware. While resource awareness has grown in the field, TSC methods have not yet been rigorously evaluated for energy efficiency. This paper introduces a holistic evaluation framework that explicitly explores the balance of predictive performance and resource consumption in TSC. To boost efficiency, we apply a theoretically bounded pruning strategy to leading hybrid classifiers - Hydra and Quant - and present Hydrant, a novel, prunable combination of both. With over 4000 experimental configurations across 20 MONSTER datasets, 13 methods, and three compute setups, we systematically analyze how model design, hyperparameters, and hardware choices affect practical TSC performance. Our results showcase that pruning can significantly reduce energy consumption by up to 80% while maintaining competitive predictive quality, usually costing the model less than 5% of accuracy. The proposed methodology, experimental results, and accompanying software advance TSC toward sustainable and reproducible practice. --- ### Fraud Detection System for Banking Transactions Authors: Ranya Batsyas, Ritesh Yaduwanshi Published: 2026-04-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2604.07952v1 The expansion of digital payment systems has heightened both the scale and intricacy of online financial transactions, thereby increasing vulnerability to fraudulent activities. Detecting fraud effectively is complicated by the changing nature of attack strategies and the significant disparity between genuine and fraudulent transactions. This research introduces a machine learning-based fraud detection framework utilizing the PaySim synthetic financial transaction dataset. Following the CRISP-DM methodology, the study includes hypothesis-driven exploratory analysis, feature refinement, and a comparative assessment of baseline models such as Logistic Regression and tree-based classifiers like Random Forest, XGBoost, and Decision Tree. To tackle class imbalance, SMOTE is employed, and model performance is enhanced through hyperparameter tuning with GridSearchCV. The proposed framework provides a robust and scalable solution to enhance fraud prevention capabilities in FinTech transaction systems. Keywords: fraud detection, imbalanced data, HPO, SMOTE --- ### Investigation of Automated Design of Quantum Circuits for Imaginary Time Evolution Methods Using Deep Reinforcement Learning Authors: Ryo Suzuki, Shohei Watabe Published: 2026-04-09 Categories: quant-ph, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.07951v1 Efficient ground state search is fundamental to advancing combinatorial optimization problems and quantum chemistry. While the Variational Imaginary Time Evolution (VITE) method offers a useful alternative to Variational Quantum Eigensolver (VQE), and Quantum Approximate Optimization Algorithm (QAOA), its implementation on Noisy Intermediate-Scale Quantum (NISQ) devices is severely limited by the gate counts and depth of manually designed ansatz. Here, we present an automated framework for VITE circuit design using Double Deep-Q Networks (DDQN). Our approach treats circuit construction as a multi-objective optimization problem, simultaneously minimizing energy expectation values and optimizing circuit complexity. By introducing adoptive thresholds, we demonstrate significant hardware overhead reductions. In Max-Cut problems, our agent autonomously discovered circuits with approximately 37\% fewer gates and 43\% less depth than standard hardware-efficient ansatz on average. For molecular hydrogen ($H_2$), the DDQN also achieved the Full-CI limit, with maintaining a significantly shallower circuit. These results suggest that deep reinforcement learning can be helpful to find non-intuitive, optimal circuit structures, providing a pathway toward efficient, hardware-aware quantum algorithm design. --- ### Incremental Residual Reinforcement Learning Toward Real-World Learning for Social Navigation Authors: Haruto Nagahisa, Kohei Matsumoto, Yuki Tomita, Yuki Hyodo, Ryo Kurazume Published: 2026-04-09 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2604.07945v2 As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions vary widely across different regions, simulations cannot easily encompass all possible real-world scenarios. Real-world RL, in which agents learn while operating directly in physical environments, presents a promising solution to this issue. Nevertheless, this approach faces significant challenges, particularly regarding constrained computational resources on edge devices and learning efficiency. In this study, we propose incremental residual RL (IRRL). This method integrates incremental learning, which is a lightweight process that operates without a replay buffer or batch updates, with residual RL, which enhances learning efficiency by training only on the residuals relative to a base policy. Through the simulation experiments, we demonstrated that, despite lacking a replay buffer, IRRL achieved performance comparable to those of conventional replay buffer-based methods and outperformed existing incremental learning approaches. Furthermore, the real-world experiments confirmed that IRRL can enable robots to effectively adapt to previously unseen environments through the real-world learning. --- ### On-Policy Distillation of Language Models for Autonomous Vehicle Motion Planning Authors: Amirhossein Afsharrad, Amirhesam Abedsoltan, Ahmadreza Moradipari, Sanjay Lall Published: 2026-04-09 Categories: cs.RO, cs.AI, eess.SY arXiv: https://arxiv.org/abs/2604.07944v1 Large language models (LLMs) have recently demonstrated strong potential for autonomous vehicle motion planning by reformulating trajectory prediction as a language generation problem. However, deploying capable LLMs in resource-constrained onboard systems remains a fundamental challenge. In this paper, we study how to effectively transfer motion planning knowledge from a large teacher LLM to a smaller, more deployable student model. We build on the GPT-Driver framework, which represents driving scenes as language prompts and generates waypoint trajectories with chain-of-thought reasoning, and investigate two student training paradigms: (i) on-policy generalized knowledge distillation (GKD), which trains the student on its own self-generated outputs using dense token-level feedback from the teacher, and (ii) a dense-feedback reinforcement learning (RL) baseline that uses the teacher's log-probabilities as per-token reward signals in a policy gradient framework. Experiments on the nuScenes benchmark show that GKD substantially outperforms the RL baseline and closely approaches teacher-level performance despite a 5$\times$ reduction in model size. These results highlight the practical value of on-policy distillation as a principled and effective approach to deploying LLM-based planners in autonomous driving systems. --- ### Large Language Model Post-Training: A Unified View of Off-Policy and On-Policy Learning Authors: Shiwan Zhao, Zhihu Wang, Xuyang Zhao, Jiaming Zhou, Caiyue Xu, Chenfei Liu, Liting Zhang, Yuhang Jia, Yanzhe Zhang, Hualong Yu, Zichen Xu, Qicheng Li et al. Published: 2026-04-09 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2604.07941v2 Post-training has become central to turning pretrained large language models (LLMs) into aligned, capable, and deployable systems. Recent progress spans supervised fine-tuning (SFT), preference optimization, reinforcement learning (RL), process supervision, verifier-guided methods, distillation, and multi-stage pipelines. Yet these methods are often discussed in fragmented ways, organized by labels or objectives rather than by the behavioral bottlenecks they address. This survey argues that LLM post-training is best understood as structured intervention on model behavior. We organize the field first by trajectory provenance, which defines two primary regimes: off-policy learning on externally supplied trajectories and on-policy learning on learner-generated rollouts. We then interpret methods through two recurring roles -- effective support expansion, which makes useful behaviors more reachable, and policy reshaping, which improves behavior within already reachable regions -- together with a complementary systems-level role, behavioral consolidation, which preserves, transfers, and amortizes useful behavior across stages and model transitions. Under this view, SFT may serve either support expansion or policy reshaping; preference optimization is usually off-policy reshaping, though online variants move closer to learner-generated states. On-policy RL often improves behavior on learner-generated states, but stronger guidance can also make hard-to-reach reasoning paths reachable. Distillation is often better understood as consolidation rather than only compression, and hybrid pipelines emerge as coordinated multi-stage compositions. Overall, the framework helps diagnose post-training bottlenecks and reason about stage composition, suggesting that progress increasingly depends on coordinated systems design rather than any single dominant objective. --- ### A Systematic Framework for Tabular Data Disentanglement Authors: Ivan Tjuawinata, Andre Gunawan, Anh Quan Tran, Nitish Kumar, Payal Pote, Harsh Bansal, Chu-Hung Chi, Kwok-Yan Lam, Parventanis Murthy Published: 2026-04-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2604.07940v1 Tabular data, widely used in various applications such as industrial control systems, finance, and supply chain, often contains complex interrelationships among its attributes. Data disentanglement seeks to transform such data into latent variables with reduced interdependencies, facilitating more effective and efficient processing. Despite the extensive studies on data disentanglement over image, text, or audio data, tabular data disentanglement may require further investigation due to the more intricate attribute interactions typically found in tabular data. Moreover, due to the highly complex interrelationships, direct translation from other data domains results in suboptimal data disentanglement. Existing tabular data disentanglement methods, such as factor analysis, CT-GAN, and VAE face limitations including scalability issues, mode collapse, and poor extrapolation. In this paper, we propose the use of a framework to provide a systematic view on tabular data disentanglement that modularizes the process into four core components: data extraction, data modeling, model analysis, and latent representation extrapolation. We believe this work provides a deeper understanding of tabular data disentanglement and existing methods, and lays the foundation for potential future research in developing robust, efficient, and scalable data disentanglement techniques. Finally, we demonstrate the framework's applicability through a case study on synthetic tabular data generation, showcasing its potential in the particular downstream task of data synthesis. --- ### HCRE: LLM-based Hierarchical Classification for Cross-Document Relation Extraction with a Prediction-then-Verification Strategy Authors: Guoqi Ma, Liang Zhang, Hongyao Tu, Hao Fu, Hui Li, Yujie Lin, Longyue Wang, Weihua Luo, Jinsong Su Published: 2026-04-09 Categories: cs.CL arXiv: https://arxiv.org/abs/2604.07937v2 Cross-document relation extraction (RE) aims to identify relations between the head and tail entities located in different documents. Existing approaches typically adopt the paradigm of ``\textit{Small Language Model (SLM) + Classifier}''. However, the limited language understanding ability of SLMs hinders further improvement of their performance. In this paper, we conduct a preliminary study to explore the performance of Large Language Models (LLMs) in cross-document RE. Despite their extensive parameters, our findings indicate that LLMs do not consistently surpass existing SLMs. Further analysis suggests that the underperformance is largely attributed to the challenges posed by the numerous predefined relations. To overcome this issue, we propose an LLM-based \underline{H}ierarchical \underline{C}lassification model for cross-document \underline{RE} (HCRE), which consists of two core components: 1) an LLM for relation prediction and 2) a \textit{hierarchical relation tree} derived from the predefined relation set. This tree enables the LLM to perform hierarchical classification, where the target relation is inferred level by level. Since the number of child nodes is much smaller than the size of the entire predefined relation set, the hierarchical relation tree significantly reduces the number of relation options that LLM needs to consider during inference. However, hierarchical classification introduces the risk of error propagation across levels. To mitigate this, we propose a \textit{prediction-then-verification} inference strategy that improves prediction reliability through multi-view verification at each level. Extensive experiments show that HCRE outperforms existing baselines, validating its effectiveness. ---