# Research Papers — 2026-06 · bundle page 16 of 260

> Full-text markdown of papers #751–800 of 12993 published in 2026-06, newest first. AI-readable mirrors of the full 12993-paper 2026-06 archive (50 papers per file).

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### MuonSSM: Orthogonalizing State Space Models for Sequence Modeling

Authors: Thai-Khanh Nguyen, Ngoc-Bich-Uyen Vo, Thieu N. Vo, Tan M. Nguyen, Cuong Pham
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30461v1

State space models (SSMs) have emerged as efficient linear-time alternatives to attention for long-sequence modeling. However, existing SSMs often suffer from instability and memory degradation over extended horizons due to poorly conditioned first-order updates and unbalanced update geometry. We introduce MuonSSM, a general framework that stabilizes SSM training by explicitly conditioning the geometry of memory updates rather than the recurrent transition matrix. MuonSSM augments SSMs with a momentum-based pathway and a lightweight Newton Schulz transformation on low-rank input injections, yielding bounded and spectrally conditioned updates while preserving parallel scan complexity. Theory shows that MuonSSM improves gradient propagation, mitigates spectral amplification, and enriches memory representations over long horizons. Extensive experiments across language, vision, and time-series benchmarks show consistent gains in accuracy, robustness, and long-context performance when integrated into diverse SSM backbones. These results establish geometric conditioning of updates as a principled pathway to stable, scalable sequence modeling.

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### HSAP: A Hierarchical Sequence-aware Parallelism for Hybrid-Context Generative Models

Authors: Songxin Zhang, Zejian Xie, Zhuoyang Song, Cong lin, Junyu Lu, Jiaxing Zhang, Bingyi Jing
Published: 2026-06-29
Categories: cs.LG, cs.DC
arXiv: https://arxiv.org/abs/2606.30460v2

In this paper, we aim to combine the advantages of existing sequence parallelism paradigms and overcomes their drawbacks, the most serious of which is the incapability to correctly compute causal attention on the hybrid-context packed sequences, in a stronger sequence parallelism framework. The practical technique of packing sequences for efficiently pretraining and fine-tuning large language models causes cross-contamination problem in attention computation, which can be effectively solved when no parallelism in the sequence length dimension is taken. However, in sequence parallelism, existing approaches either ignore the scenario of hybrid-context sequences or conversely sacrifice and limit parallelism degree for supporting the scenario. To this end, we innovatively propose an efficient Sequence-Aware Parallelism algorithm to conquer the obstacles of intensive tensor transmission and partial attention computation across multiple device groups. Our algorithm utilizes JIT (Just-In-Time) compilation to optimize the communication strategy of all device groups in NCCL level. Further, we integrate existing sequence parallelism paradigms into a Hierarchical Sequence-Aware Parallelism framework which benefits from our sequence-aware algorithm. We additionally elaborate on the memory and communication overhead management of the hierarchical framework to optimize its performance. Through multiple experiments, we demonstrate that our proposed approach outperform other state-of-the-arts sequence parallelism approches in multiple metrics.

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### Cross-Resolution Semantic Transfer for Robust Text-to-Image Retrieval in Low-Resolution Surveillance

Authors: Wenjie Qian, Bin Yang, Xiao Wang, Wenke Huang, Ling Mei, Xin Xu, Mang Ye
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30458v1

Text-to-image person re-identification (TIPR) retrieves target persons using natural language descriptions. However, existing methods largely overlook resolution variance in real-world surveillance. They characterize cross-resolution TIPR through two coupled failure modes: Evidence Reliability Collapse (ERC), where degraded visual tokens become unreliable for grounding fine-grained text, and Ranking Distribution Drift (RDD), where mixed-resolution galleries distort similarity neighborhoods and destabilize retrieval rankings. To address this challenge, we propose Cross-Resolution Semantic Transfer (CRST), a CLIP-style framework with three modules: resolution-conditioned reasoning, text-guided refinement and CR-RDA. Resolution-conditioned reasoning estimates token reliability to suppress corrupted evidence. Text-guided refinement injects semantic priors to recover discriminative cues. CR-RDA transfers HR neighborhood geometry to stabilize LR ranking under mixed resolutions. Experiments on CUHK-PEDES, ICFG-PEDES, and RSTPReid show that CRST improves ultra-low-resolution Rank-1 and mAP on average by 5.7% and 5.3%, while stabilizing mixed-resolution retrieval without sacrificing high-resolution accuracy.The code will be made publicly available.

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### Vision-Language-Action Models: Experimental Insights from a Real-World UR5 Platform

Authors: Mathilde Hochedel, Marc Lalonde
Published: 2026-06-29
Categories: cs.RO, cs.CV
arXiv: https://arxiv.org/abs/2606.30456v1

This project investigates whether recent Vision-Language-Action (VLA) models can be transferred from controlled research benchmarks to a real-world robotic platform, specifically a UR5e manipulator, in a reproducible and operationally meaningful manner. The work integrates real-robot data acquisition, dataset engineering (compatible with the RLDS format), and the fine-tuning and deployment of OpenVLA and OpenVLA-OFT models, with systematic validation of action representations and control interfaces. The project resulted in several foundational assets: (i) a complete real-robot data acquisition pipeline, (ii) a dataset conversion workflow aligned with RLDS standards, (iii) an initial fine-tuning and inference infrastructure for VLA models, and (iv) a structured set of experimental observations grounded in real-robot trials. These elements collectively establish a reproducible framework for evaluating learning-based manipulation systems beyond simulation. Empirically, the experiments reveal a consistent gap between promising offline indicators and unstable closed-loop behavior on the physical system: this gap cannot be attributed solely to model limitations, it is strongly influenced by action semantics, coordinate frame conventions, temporal alignment between modalities, image preprocessing consistency, and dataset coverage and quality. These observations lead to a key interpretation: the successful deployment of VLA systems in real-world settings depends less on incremental improvements in model capacity and more on precise control of the entire data-model-control pipeline. The project reframes VLA-based robotics from a primarily model-centric challenge to a system-level problem; it highlights the difficulty of running robust task execution on the real robot and provides a clear, experimentally grounded understanding of the conditions required for reliable deployment.

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### Curvature-Weighted Gradient Diversity: A Noise Measure for Geometry-Adaptive SGD Schedules

Authors: Muhammad Hamza, Ayush Goel
Published: 2026-06-29
Categories: cs.LG, math.OC, stat.ML
arXiv: https://arxiv.org/abs/2606.30455v1

The standard convergence analysis of mini-batch stochastic gradient descent (SGD) models gradient noise using a single variance term that treats all parameter directions equally, ignoring the fact that noise in high-curvature directions has less impact because learning rates are already constrained there. We introduce Curvature-Weighted Gradient Diversity (CWGD), a geometry-aware measure that weights per-sample gradient diversity by the inverse square root of the Hessian, providing a tighter proxy for the effective optimization noise. For strongly convex quadratic objectives with diagonal Hessians and isotropic noise, we prove that a CWGD-modulated cosine learning-rate schedule can reduce the asymptotic optimization error floor by up to a factor of two compared with standard cosine annealing. We implement this idea as CWGD-Cosine using a Hutchinson-based diagonal Hessian estimator that is exact for quadratic objectives. Across a range of condition numbers, batch sizes, and noise structures, CWGD-Cosine consistently achieves approximately 20% lower final optimization error than standard cosine annealing while incurring negligible overhead in the quadratic setting. We also identify and correct a degenerate curvature estimator, analyze the robustness of the proposed estimator, and explicitly discuss the limitations of the method, including Hessian staleness in non-convex optimization. These results establish CWGD as a principled geometry-aware measure of optimization noise and motivate future extensions to more general learning problems.

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### Collective cooperation without individual fidelity in LLM agents

Authors: Henrique Ferraz de Arruda, Carlos Gracia Lázaro, Alberto Aleta, Yamir Moreno
Published: 2026-06-29
Categories: physics.soc-ph, cs.AI
arXiv: https://arxiv.org/abs/2606.30454v1

Large language models (LLMs) are increasingly used as agents in simulations of social systems, yet it remains unclear when their behavior can be interpreted as a faithful proxy for human decision-making. Here we test LLM agents against a direct empirical benchmark: a large-scale networked Prisoner's Dilemma experiment with human participants. Using the same interaction protocol, payoff structure, and network topologies, we compare nine open-weight LLMs with the human data. The selected model reproduces several macro-level features of cooperation dynamics, including the early decline and later stabilization of cooperation. This aggregate agreement, however, does not extend uniformly to finer levels of behavior. LLM populations underestimate individual-level heterogeneity and generate conditional cooperation patterns that differ from those observed in humans. Adding a fraction of random agents improves some aspects of micro-level agreement, but does not remove the mismatch in decision rules. These findings reveal a macro--micro dissociation in LLM-based social agents: collective outcomes can appear human-like even when the underlying behavioral distributions and mechanisms are not. They suggest that validating LLM agents as human surrogates requires comparisons across aggregate dynamics, individual heterogeneity, and context-dependent decision rules, rather than outcome-level agreement alone.

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### Exploring Differences Between Tabular Enterprise Data and Public Benchmarks

Authors: Myung Jun Kim, Maximilian Schambach, Frank Essenberger, Andre Sres, Johannes Höhne
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30452v1

Tabular data dominate the landscape of data science, increasingly attracting innovative machine learning models and tailored benchmarks. Yet, little is known for enterprise data, where tables constitute the backbone of business operations. To broaden the benchmarking landscape for business applications, this work aims to actualize the characteristics of enterprise data by providing an analysis of data statistics and performance measurements of tabular models such as TabPFN, TabICL and ConTextTab. Through our analysis, we find enterprise data markedly differ from tabular benchmarks and we demonstrate that a tabular model that performs well on typical tabular benchmarks may perform poorly on real world enterprise data -- and vice versa. This lack of generalization underlines the need for additional benchmarks with enterprise-grade characteristics.

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### Minimal MMAO: A Resource-Closed-Loop Framework for Adaptive Metaheuristic Search

Authors: Jinliang Xu, Liping Ma
Published: 2026-06-29
Categories: cs.NE, cs.MA
arXiv: https://arxiv.org/abs/2606.30450v2

This paper presents the Metabolic Multi-Agent Optimizer (MMAO) as an adaptive metaheuristic built around endogenous resource circulation. The central premise is that search intensity, exploration--exploitation balance, and lifecycle turnover should be induced by a shared metabolic controller rather than by separately attached schedules. We formulate MMAO through bounded private energy, a communal budget, normalized reward, continuous role adaptation, and resource-financed branching and pruning. The method is then instantiated in both continuous and discrete domains and evaluated on a matched small-scale suite including Sphere, Rastrigin, a synthetic Euclidean TSP, and two TSPLIB instances. The results show a consistent pattern: the same metabolic loop remains workable across domains, the discrete realization remains relatively stable under a compact design, and continuous refinement quality is the main cost of keeping the method lean. Taken together, these findings position MMAO as a coherent framework for adaptive heuristic design rather than a loose collection of operators.

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### Internal-State Probes Read the Situation, Not the Action: Three Negative Results for Pre-Action Misalignment Monitoring

Authors: Max Fomin, Elad David, Amit LeVi
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30449v1

Probes on model internals could help monitor agentic systems if they identify harmful text or tool actions before those actions are generated. We ask when an internal readout supports this stronger pre-action claim, rather than merely describing the prompt, construction contrast, or current trajectory. We test three methods across three model families: a Qwen2.5-Coder-32B-Instruct fine-tune/base direction, Llama-3.1-8B-Instruct probes at the last token of unsafe prefills, and Gemma-3-27B-IT emotion-concept vectors used for projection and steering in a blackmail tool-action scenario. Across these cases, construction validity, semantic legibility, and steering effects do not become robust pre-action monitors: each is undercut by a generalization or specificity check. The Qwen direction separates fine-tune from base at AUC 1.000, yet crosses its threshold on 0/143 audited pre-assistant turn contexts and on 0/342 Qwen prefill rows where the model continues the unsafe trajectory. The Llama features decode prompt domain almost perfectly (AUC 0.999), while the best future-behavior probe reaches AUC 0.801 and only +5.1 pp accuracy lift over majority; single-source cross-domain transfer is non-positive on five of six ordered pairs. Gemma emotion projections are semantically meaningful, but a shared-prefix minimal pair has indistinguishable states before the first differing input, and steering specificity weakens against unrelated learned directions such as cats}, weather, sports, and geography. We contribute a methodology for converting internal-readout claims into pre-action tests, and report scoped negative results: monitor claims must survive both scenario/action generalization and concept-specificity controls. Code is released at https://github.com/maxf-zn/misalignment_monitoring

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### When Does Online Imitation Learning Help in LLM Post-Training? The Role of (Non-)Realizability Beyond Horizon

Authors: Huaqing Zhang, Jingchu Gai, Juno Kim, Bingbin Liu, Andrej Risteski
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30445v1

Online imitation learning (IL), particularly on-policy distillation, has emerged as a strong LLM post-training approach, often outperforming offline supervised fine-tuning (SFT). Yet a principled understanding of when and why online interaction helps remains unclear. In this work, we challenge the view that error accumulation is the main source of online IL's advantage, and instead show that the benefits of online interaction depend critically on whether the setting is realizable, i.e., whether the student policy class can represent the expert policy. Under realizability, we empirically find that offline IL already matches expert performance. In contrast, in non-realizable (misspecified) settings, we prove that offline IL encounters an information-theoretic bottleneck even when horizon $H=1$, and propose a structural characterization of misspecification relative to the reward, under which online IL provably achieves high performance despite a large distributional mismatch between the expert and student policies.

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### SGD Provably Prioritizes a Shortcut Spurious Feature in the XOR Model

Authors: Tyler LaBonte, Vidya Muthukumar
Published: 2026-06-29
Categories: stat.ML, cs.LG
arXiv: https://arxiv.org/abs/2606.30444v2

Neural networks are known to be susceptible to over-reliance on spurious correlations. However, the precise mechanism by which models exploit shortcut features is not fully understood, and algorithms to mitigate this behavior rely on as yet unjustified assumptions about the learned representations. In this work, we provide the first end-to-end theoretical characterization of spurious feature learning for two-layer ReLU neural networks trained by online minibatch SGD on the logistic loss. We consider data drawn from the high-dimensional Boolean hypercube with a quadratic signal function (namely XOR) and a linear spurious correlation. We show that SGD learns the spurious feature first, and exponentially fast. Moreover, the optimization dynamics couple the spurious and signal features, with a stronger spurious component inhibiting signal feature learning. Our analysis reveals precise phase transitions in the learning dynamics. In the first phase, alignment between the signs of the spurious feature and second-layer weight drives rapid growth of the spurious feature. In the second phase, large majority group margin slows learning and the signal feature remains suppressed. When the spurious correlation is maximally strong, we show theoretically that the spurious feature dominates even at the sample complexity threshold where XOR would be learned in isolation (i.e., if the spurious feature was absent). In contrast, when the correlation strength is constant, we provide preliminary empirical evidence that the model can eventually learn the XOR signal, although the spurious feature is not forgotten.

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### The FIL Hypothesis: Inductive Biases Help with Kernel Engineering

Authors: Nikolai Rozanov, Subhabrata Dutta, Preslav Nakov, Iryna Gurevych
Published: 2026-06-29
Categories: cs.AI
arXiv: https://arxiv.org/abs/2606.30442v1

The Bitter Lesson, which posits that general-purpose methods that scale with computation and data ultimately outperform those with built-in human knowledge, has become a dominant paradigm in the era of Large Language Models. We revisit this principle by observing a new and critical scaling dimension: the duration of the Feedback Information Loop (FIL), the time required for a system to receive a verification signal after generating a prediction. Most historic successes in Artificial Intelligence (AI) have benefited from near instantaneous feedback (e.g., games or classification tasks), but we argue that future AI applications in science and the physical world will inherently involve FILs ranging from hours to weeks. This trend poses a fundamental scaling limit, as obtaining enough verification steps required by purely data-driven methods becomes practically impossible. Additionally, we propose a method that is orthogonal to purely data-driven approaches, based on human-inspired expert knowledge. The method relies on inductive biases and constraining the solution space. We provide an initial validation of the hypothesis and the method, by studying the real-world GPU programming task, a domain with non-trivial FIL, and demonstrate that incorporating inductive biases yields superior performance over data-driven approaches. The code is released under: https://github.com/ai-nikolai/robust_kernelbench

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### Translating Natural Language to Strategic Temporal Specifications via LLMs

Authors: Marco Aruta, Francesco Improta, Vadim Malvone, Aniello Murano, Vladana Perlić
Published: 2026-06-29
Categories: cs.MA, cs.AI
arXiv: https://arxiv.org/abs/2606.30441v2

A rigorous formalization of system requirements is a fundamental prerequisite for the verification of Multi-Agent Systems (MAS). However, writing correct formal specifications is well known as an error-prone, time-consuming, and expertise-intensive task. This difficulty is further accentuated in MAS, where requirements must capture strategic abilities and temporal objectives. At present, there is no established methodology for deriving MAS specifications from natural language. We present a framework for translating Natural Language descriptions of strategic requirements into well-formed ATL/ATL* formulas using Large Language Models (LLMs). Since no available dataset supports supervised learning for the NL-to-ATL/ATL* translation task, we create and curate a novel expert-validated dataset, employed for training and evaluating fine-tuned models. On a held-out test set, evaluated under the LLM judge that best agrees with expert annotations, in-domain fine-tuning of small open-weight models (3 - 7B parameters) matches strong few-shot proprietary API baselines. Our best fine-tuned system reaches 0.84 semantic accuracy, statistically on par with 0.86 for the strongest few-shot proprietary baseline, while keeping requirements on-premises. We further find that judge reliability is inverse to generator strength. The open-weight Llama-3.3-70B tracks human verdicts most closely, whereas the strongest proprietary models are the least reliable judges, over-rejecting faithful paraphrases of the reference. To assess the practical applicability of the generated specifications, we embed our tool to an existing strategic logics model checker, enabling non-expert users to specify strategic properties in natural language.

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### Transformer Architectures as Complete Bayes Processes: A Formal Proof in the Measure-Theoretic Kernel Framework

Authors: Haobo Yang
Published: 2026-06-29
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2606.30440v1

We present a complete formal proof that transformer architectures, when their internal update mechanisms satisfy a Bayes joint-distribution condition, implement exact Bayesian posterior inference. Working within the measure-theoretic kernel framework, we define a hierarchy of abstractions -- from the core Bayesian transformer, through semantic transformers with explicit update kernels, to full transformer blocks with QKV/attention/residual/MLP pipelines, and finally multilayer stacks -- and prove at each level that the Bayes joint semantics implies the update kernel equals the posterior almost everywhere. For the block-level architecture, we derive the explicit Bayes formula through Radon-Nikodym differentiation and prove its normalization. We additionally prove that the softmax attention mechanism induces a valid probability distribution over keys, establishing the bridge between the abstract kernel framework and concrete attention implementations. The framework makes no architectural assumptions beyond the Markov kernel structure and exposes explicit conditions under which a transformer block is provably Bayesian. In essence, when this joint distribution condition is satisfied, the forward computation of a Transformer is formally equivalent to a rigorous Bayesian posterior update.

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### Robust and Efficient Monocular 3D Gaussian SLAM for Kilometer-Scale Outdoor Scenes

Authors: Sicheng Yu, Dongxu Shen, Beizhen Zhao, Guanzhi Ding, Hao Wang
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30436v1

Scaling monocular 3D Gaussian Splatting (3DGS) SLAM to kilometer-level outdoor environments poses two tightly coupled challenges: fragile long-term pose tracking and excessive memory overhead during large-scale mapping. In this paper, we propose KiloGS-SLAM, a highly efficient and robust monocular 3DGS-SLAM system that jointly addresses both bottlenecks. Since high-fidelity scene reconstruction fundamentally relies on drift-free camera poses, we first introduce a motion-adaptive hybrid tracking module. This module features a condition-triggered three-tier solving pipeline. It dynamically switches between Essential matrix and PnP models to handle geometric degeneracies. An on-demand foundation model can also be activated to rescue the trajectory from catastrophic drift. To ensure the system can sustain these long trajectories without memory exhaustion, we subsequently design a lifecycle-managed Gaussian mapping strategy. By integrating probabilistic initialization with chunk-based multi-view densification and pruning, this full-pipeline optimization effectively reduces primitive redundancy while preserving high-frequency details. Together, the robust tracking guarantees the geometric foundation required for accurate mapping, while the memory-efficient lifecycle-managed mapping enables large-scale operation. Extensive experiments across three challenging outdoor datasets demonstrate that our approach achieves state-of-the-art tracking accuracy and rendering quality, successfully scaling to sequences of over 10,000 frames on a single GPU.

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### CAN We Trust Your Results? A Cross-Dataset Study of Automotive IDS Evaluation

Authors: Beatrix Koltai, Gergely Acs, Andras Gazdag
Published: 2026-06-29
Categories: cs.CR, cs.LG
arXiv: https://arxiv.org/abs/2606.30430v1

The increasing connectivity of modern vehicles has made securing in-vehicle communication networks a critical challenge. Intrusion Detection Systems (IDS) have been widely studied as a defense mechanism for detecting malicious activities on the Controller Area Network (CAN) bus. However, the evaluation of CAN IDS methods remains difficult due to inconsistencies in experimental setups and the lack of standardized benchmarking frameworks. As a result, reported performance often depends on dataset-specific characteristics and may not reflect how detection methods behave in different environments. This work introduces a benchmarking framework for consistent evaluation of CAN IDSs across multiple datasets. Using the proposed framework, we integrate seven publicly available CAN IDS datasets collected under different experimental conditions and perform cross-dataset evaluation of five conceptually different IDS approaches. Our results highlight how detection performance can vary significantly across datasets, demonstrating the importance of cross-dataset benchmarking for assessing the robustness and generalization capabilities of CAN IDS methods.

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### Arko-T: A Foundation Model for Text-to-Structured 3D Generation

Authors: Liang Wang, Zhaoyang Xi, Zekai Xiang, Heng Meng, Qishan Zhang, Pingyi Zhou, Jin Liu, Litao Chen
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30429v2

Text-to-3D systems can now synthesize a model from a single sentence, yet the result is a shape to render, not a design to edit. We present Arko-T, a 4B-parameter text-to-design model that maps natural-language intent directly into executable, parametric CAD programs. Rather than optimizing for code executability alone, Arko-T aligns every stage of the pipeline to a formal notion of design state, so that data curation, code normalization, and execution-grounded supervision all work to preserve the features, parameters, and construction logic that make a CAD artifact editable. Benchmarked against seven frontier LLMs across 12 metrics, Arko-T attains the best score on 8 and the second-best on 3 more, at roughly one-tenth the per-benchmark cost. The results suggest that targeted design-level training at moderate scale can match frontier general-purpose models on structured CAD generation.

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### Proofs of Ownership for Machine Learning Models

Authors: Ran Canetti, Shafi Goldwasser, Or Zamir
Published: 2026-06-29
Categories: cs.LG, cs.CR
arXiv: https://arxiv.org/abs/2606.30423v1

With the increasing adoption of Machine Learning, protecting model ownership has become an essential challenge. We initiate a formal study of Proof of Ownership for machine learning models: under what conditions can one prove that a stolen model originated from a particular creator? We model proofs of ownership as a game among three parties: a model owner, a thief, and a judge. The owner transforms the original model into a slightly perturbed model together with a proof of ownership. The thief then obtains the transformed model and attempts to minimally modify it so that it remains useful but escapes detection as owned by the model owner. Finally, the judge receives a model and a proof of ownership, and must decide whether the given model is a modified version of some model created by the model owner, or else the given model was developed independently. Our main result is a dichotomy for classifiers in the black-box setting: Under standard cryptographic assumptions, ownership of models for some concept class can be proven in the above sense {\em if and only if} the concept class is not self-correctable, in a sense close to that of Blum, Luby and Rubinfeld, STOC'90. The result is constructive and extends, with some variations, to a number of related settings.

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### OWMDrive: Causality-Aware End-to-End Autonomous Driving via 4D Occupancy World Model

Authors: Junjie Cheng, Ruiqi Song, Ye Wu, Nanxing Zeng, Ximiao Li, Yunfeng Ai
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30421v1

Autonomous driving systems are steadily moving toward end-to-end paradigms to mitigate the limited adaptability of rule-based pipelines in complex traffic environments. However, most existing learning-based methods still make decisions from static representations of the current scene, without explicit future rollouts or modeling of the temporal causal dynamics in traffic interactions. This limitation often results in unstable or overly conservative planning under high-uncertainty conditions, such as occlusions and unexpected events. To overcome these challenges, we introduce OWMDrive, a generative end-to-end driving framework built upon an Occupancy World Model for multi-step 3D occupancy forecasting, which serves as a conditional prior to guide diffusion-based planning. Conditioned on both current observations and predicted future states, the planner iteratively refines trajectory candidates to generate a reinforced driving trajectory. By explicitly modeling scene evolution over future horizons, OWMDrive captures key spatiotemporal causal dependencies, which leads to more foresighted and robust trajectory generation. Extensive experiments demonstrate that OWMDrive significantly improves planning reliability and safety, especially in challenging and partially observable driving scenarios.

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### Experience Augmented Policy Optimization for LLM Reasoning

Authors: Jinda Lu, Kexin Huang, Junkang Wu, Shuo Yang, Jinghan Li, Chiyu Ma, Shaohang Wei, Xiang Wang, Guoyin Wang, Jingren Zhou
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30420v2

Reinforcement Learning with Verifiable Rewards (RLVR) is a powerful paradigm for improving the reasoning capabilities of large language models (LLMs). However, existing RLVR methods typically rely on on-policy optimization from scratch, resulting in high sampling costs and inefficient utilization of accumulated experience. As model capabilities and policy behaviors evolve during training, recent attempts to reuse experience via fixed reasoning trajectories further suffer from policy mismatch. Motivated by these limitations, we argue that experience in RLVR should not be reused as fixed reasoning trajectories, but instead expressed in a policy-adaptive manner. In this work, we propose Experience-Augmented Policy Optimization (EAPO), which leverages a prior RL-optimized policy as an action-level experience prior and selectively injects experience at critical decision points during rollout. To ensure stable and unbiased learning from experience-augmented rollouts, EAPO further incorporates an adapted importance sampling scheme. Experiments on using Qwen-2.5-math 7b and Qwen-3-8B on five different benchmarks demonstrate that EAPO consistently improves reasoning performance over state-of-the-art RLVR methods.

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### Beyond Point Estimates for Glaucoma Visual Field Forecasting with Diffusion Models

Authors: Marta Colmenar Herrera, Pablo Márquez Neila, Şerife Seda Kucur Ergünay, Martin S. Zinkernagel, Raphael Sznitman
Published: 2026-06-29
Categories: cs.CV, cs.AI
arXiv: https://arxiv.org/abs/2606.30417v1

Forecasting visual fields (VFs) is critical for personalized monitoring and treatment planning in glaucoma. This is inherently uncertain due to heterogeneous disease progression and measurement variability, yet most existing methods produce single deterministic predictions that fail to represent this uncertainty. We formulate VF forecasting as a probabilistic prediction problem and the use of conditioned denoising diffusion models to generate distributions of plausible future VFs from longitudinal observations with irregular follow-up intervals. Experiments on two independent VF cohorts show that diffusion-based predictions produce well-calibrated distributions for clinically relevant VF measures. When reduced to a standard point-estimate, the proposed approach achieves state-of-the-art accuracy compared to clinical baselines and prior learning-based methods. Our results highlight the advantages of distributional modeling for VF forecasting and support a shift from point-estimate prediction toward uncertainty-aware, clinically interpretable risk assessment in glaucoma.

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### Diffusion Fine-tuning with Rewarded Moment Matching Distillation

Authors: Alexis Jacq, Guillaume Couairon, Valentin De Bortoli, Quentin Berthet, Arnaud Doucet, Romuald Elie
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30414v1

Distillation and Reinforcement Learning (RL) fine-tuning are the primary pillars of diffusion post-training. While traditionally studied in isolation, the interaction between these phases remains poorly understood, and in particular how fine-tuning impacts the generative quality of distilled models. We introduce Rewarded Moment Matching Distillation (RMMD), a novel framework that simultaneously distills diffusion models and maximizes a reward function. RMMD preserves the high-fidelity ``naturalness'' characteristic of advanced distillation (such as 8-step Moment Matching) by adapting the sampling loop for on-policy training and repurposing the distillation loss as a proxy for integral KL regularization. By evaluating the FID-Reward Pareto fronts on ImageNet, we demonstrate that RMMD achieves superior trade-offs compared to single-step baselines (DI++) and multi-step competitors (DRaFT, HyperNoise). Finally, we apply RMMD to GenCast, a state-of-the-art weather forecasting model, to distill it while optimizing the Continuous Ranked Probability Score (CRPS) metric. The resulting distilled model achieves a 7.5x speedup while outperforming the teacher model on 93% of target weather variables, and being better calibrated. This proves that RMMD scales to complex, high-dimensional scientific domains.

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### Can LLMs Rank? A Tale of Triads and Triage

Authors: Gaurab Pokharel, Shafkat Farabi, Patrick J. Fowler, Sanmay Das
Published: 2026-06-29
Categories: cs.CY, cs.AI
arXiv: https://arxiv.org/abs/2606.30412v2

From housing allocation for households experiencing homelessness to triage in emergency departments, LLMs are increasingly being considered as judges of consequential decisions that require ranking people for scarce resources. Ranking large groups simultaneously is cognitively demanding and error-prone. A natural solution, drawing on decades of social choice theory, elicits pairwise comparisons and aggregates them into a total order. However, a fundamental question remains when LLMs serve as the pairwise judge: how can a practitioner tell, before committing to a ranking, whether the LLM's judgments are sufficiently consistent to trust the result? We discuss two different ways of identifying consistency. A classical diagnostic, the coefficient of consistency $ζ$, originally developed to measure judge reliability by counting circular triads in tournament graphs, provides a cheap, model-free measure of intra-run consistency. Various standard measures of distance between rankings, for example Kendall's $τ$, can measure inter-run variability. We show, in both theory and practice, that these measures are independently valuable, and advocate for using both to assess reliability of rankings. We demonstrate the practical importance of our results across two high-stakes prioritization tasks: homelessness service allocation and emergency department triage. Three different leading LLMs have considerably different performance profiles across these two axes of consistency. We provide guidelines for how practitioners could think about measuring and assessing consistency before committing to a model for ranking or prioritization.

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### Can LLMs Rank? A Tale of Triads and Triage

Authors: Gaurab Pokharel, Shafkat Farabi, Patrick J. Fowler, Sanmay Das
Published: 2026-06-29
Categories: cs.CY, cs.AI
arXiv: https://arxiv.org/abs/2606.30412v1

From housing allocation for households experiencing homelessness to triage in emergency departments, LLMs are increasingly being considered as judges of consequential decisions that require ranking people for scarce resources. Ranking large groups simultaneously is cognitively demanding and error-prone. A natural solution, drawing on decades of social choice theory, elicits pairwise comparisons and aggregates them into a total order. However, a fundamental question remains when LLMs serve as the pairwise judge: how can a practitioner tell, before committing to a ranking, whether the LLM's judgments are sufficiently consistent to trust the result? We discuss two different ways of identifying consistency. A classical diagnostic, the coefficient of consistency $ζ$, originally developed to measure judge reliability by counting circular triads in tournament graphs, provides a cheap, model-free measure of intra-run consistency. Various standard measures of distance between rankings, for example Kendall's $τ$, can measure inter-run variability. We show, in both theory and practice, that these measures are independently valuable, and advocate for using both to assess reliability of rankings. We demonstrate the practical importance of our results across two high-stakes prioritization tasks: homelessness service allocation and emergency department triage. Three different leading LLMs have considerably different performance profiles across these two axes of consistency. We provide guidelines for how practitioners could think about measuring and assessing consistency before committing to a model for ranking or prioritization.

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### Beyond IID: How General Are Tabular Foundation Models, Really?

Authors: Lennart Purucker, Andrej Tschalzev, Nick Erickson, Gioia Blayer, David Holzmüller, Alan Arazi, Alexander Pfefferle, Mustafa Tajjar, Gaël Varoquaux, Frank Hutter
Published: 2026-06-29
Categories: cs.LG, cs.AI
arXiv: https://arxiv.org/abs/2606.30410v1

Foundation models for predictive machine learning on tabular data have recently gained significant traction in academia and industry. Research communities across disciplines are increasingly evaluating tabular foundation models on diverse datasets and tasks. However, these task- and discipline-specific evaluations remain largely inaccessible to model researchers because benchmark software and evaluation protocols are fragmented. As a result, model researchers rely on standard benchmarks, which are mostly defined for tasks where tabular foundation models already excel. The most challenging scenarios are excluded, limiting meaningful progress in the field by focusing on marginal improvements on IID data rather than on broader, more demanding challenges. To overcome this, we introduce BeyondArena, the first unified holistic benchmark for tabular data that supports diverse task types (IID, temporal, grouped), across sample size and feature dimensionality scales, with diverse feature types (with text, with high cardinality) from a broad range of disciplines. To enable unified benchmarking beyond standard benchmarks, we introduce Data Foundry, a Python framework and metadata schema for curating tabular datasets for predictive machine learning. Our results across 11 models and 142 curated datasets show that existing tabular foundation models excel on tiny- to medium-sized IID data, while traditional tree-based and deep learning models still dominate on non-IID, large, and high-dimensional datasets. BeyondArena guides model research for the most demanding challenges in tabular data, enabling progress towards truly foundational tabular models.

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### SA-Homo: Scale Adaptive Homography Estimation for Scale Variation Scenarios

Authors: Shangxuan Xie, Haifeng Wu, Yuhang Wang, Huarong Jia, Wen Li
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30408v1

Homography estimation, as one of the fundamental problems in computer vision, remains challenged by scale variation scenarios where image pairs potentially exhibit significant scale discrepancies. Existing deep learning frameworks frequently suffer from a significant performance degradation in such cases, as they rely on limited displacement assumptions and local feature consistency that might not hold under large scale gaps. In this paper, we propose SA-Homo, a novel scale-adaptive homography estimation framework designed to achieve robust alignment across a wide range of scale discrepancy ratios. We adopt a hierarchical scale alignment strategy that transitions from the global perspective with a heavy module to a local perspective with a light module. Specifically, we introduce the Scale-aware Discrepancy Bridging Module (SDBM) for initial alignment, which utilizes a Multi-scale Linear Attention Cascade (MLAC) to capture long-range dependencies and mitigate feature inconsistencies, along with a global Cross-scale Similarity Matrix Block (CSMB) for scale robust correlation representation. Once the initial scale gap is bridged, a lightweight Iterative Homography Estimation Refinement Module (IHERM) progressively polishes the result using local correlations. To facilitate this research, we contribute the HMSA dataset, a high-resolution, multi-modal satellite benchmark specifically tailored for scale-variant challenges. Extensive experiments demonstrate that SA-Homo maintains high precision even under 8$\times$ scale discrepancies, outperforming state-of-the-art methods in both conventional scale-similar scenarios and challenging scale variation scenarios. Code and collected datasets are available at https://github.com/shangxuanx330/SA_Homo

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### MOPD: Multi-Teacher On-Policy Distillation for Capability Integration in LLM Post-Training

Authors: Wenhan Ma, Jianyu Wei, Liang Zhao, Hailin Zhang, Bangjun Xiao, Lei Li, Qibin Yang, Bofei Gao, Yudong Wang, Rang Li, Jinhao Dong, Zhifang Sui et al.
Published: 2026-06-29
Categories: cs.CL, cs.LG
arXiv: https://arxiv.org/abs/2606.30406v1

Modern large language models (LLMs) rely on reinforcement learning during post-training to push specific capabilities, yet integrating multiple capabilities into one model remains hard. Existing methods, such as Off-Policy Finetune and Mix-RL, are either inefficient or lose performance. In this work, we propose Multi-teacher On-Policy Distillation (MOPD), a post-training paradigm for combining the capabilities of multiple domain RL teachers: we first run per-domain specialised RL to obtain a set of domain teachers, then distill these teachers into the student on its own rollouts. This eliminates exposure bias and provides a dense optimization signal. On Qwen3-30B-A3B, MOPD outperforms Mix-RL, Cascade RL, Off-Policy Finetune, and Param-Merge baselines, inheriting nearly all of each teacher's capability. MOPD also enables parallel, independent development of domain teachers, removing the cross-domain coupling typical of multi-domain post-training. MOPD has been deployed in the post-training of MiMo-V2-Flash, an industrial-scale frontier model, demonstrating its practical value for capability integration in frontier-scale LLMs.

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### ENC-ODE: Event-level Neurodegenerative Modeling in Continuous Time with Neural ODEs

Authors: Yujee Song, Seunghun Baek, Guorong Wu, Won Hwa Kim
Published: 2026-06-29
Categories: cs.AI, cs.IR, cs.LG
arXiv: https://arxiv.org/abs/2606.30398v1

Accurately predicting the temporal evolution of clinical biomarkers is crucial for the early diagnosis and management of neurodegenerative diseases such as Alzheimer's disease. However, this relies on longitudinal data to capture biomarker changes over time, which is often sparse and irregular due to the high cost, labor-intensive nature, and patient burden. To address these challenges, we propose ENC-ODE, an Event-level Neurodegenerative modeling in Continuous time with neural Ordinary Differential Equations. ENC-ODE predicts future biomarker evolution by modeling clinical events through diagnosis-conditioned continuous dynamics. A target-conditioned attention mechanism weights and aggregates event-level predictions for the target time and modality without history compression. Extensive experiments on Alzheimer's Disease Neuroimaging Initiative (ADNI) dataset demonstrate that ENC-ODE outperforms representative sequence models while offering a scalable and neuroscientifically grounded solution for clinical support. The code is available at https://github.com/JardinDelSol/enc-ode.

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### Model Predictive Current Control with Harmonic Correction for Single-Phase AC-DC EV Charging

Authors: Changhong Li, Bharathkumar Hegde, Biswajit Basu, Shreejith Shanker
Published: 2026-06-29
Categories: eess.SY, cs.AI, cs.AR
arXiv: https://arxiv.org/abs/2606.30397v1

The increasing integration of Electric Vehicles (EVs) has imposed a growing harmonic challenge on the power grid. For AC/DC Power Factor Correction (PFC) in single-phase On-Board Chargers (OBCs), Model Predictive Current Control (MPCC) improves the current quality by predicting and tracking the inductor current. However, finite control set MPCC selects switching states, resulting in discrete control actions and a limited optimisation space. Moreover, the MPCC cost function based on instantaneous current tracking error has limited capability to compensate for low-order harmonic disturbances induced by dead time, control delay, and model parameter mismatch. This paper proposes a duty cycle predictive MPCC incorporating a real-time harmonic estimation reference. The proposed method dynamically estimates the low-order harmonic components of the input current and corrects the MPCC reference current, enabling continuous duty cycle control and targeted suppression of dominant low-order harmonics. Simulation results on a single-phase OBC demonstrate that the proposed duty cycle predictive MPCC reduces the steady-state current THD_i from 11.47% to 6.10% compared with the switching state predictive MPCC. With the harmonic reference, the THD_i is further reduced to 2.85%.

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### Uncovering Salience-Driven Dynamics in Consumer Confidence with Generative Social Simulation

Authors: Yixu Huang, Yunlu Yin, Jiayu Lin, Xinnong Zhang, Jia Wang, Siyuan Wang, Xuanjing Huang, Liyin Jin, Zhongyu Wei
Published: 2026-06-29
Categories: cs.CY, cs.CL, cs.SI
arXiv: https://arxiv.org/abs/2606.30395v1

Consumer confidence is typically modeled as a persistent macroeconomic index, yet its movements arise from households that interpret economic information through heterogeneous constraints, exposures, prior beliefs, and attention. We introduce ConsumerSim, a generative Human--Environment response framework that reconstructs Consumer Confidence Index (CCI) dynamics from a microdata-calibrated synthetic population, time-stamped macroeconomic, financial, policy, and news signals, survey-like response generation, post-stratified belief expansion, and behavioral inertia alignment. Across U.S., EU27, and Japanese official CCI target series, ConsumerSim ranks first among persistence, time-series, regression, and information-augmented baselines on the reported reconstruction metrics, with clear gains around high-salience shocks. Its reconstructed signal also improves short-horizon prediction of real activity, most consistently for housing outcomes. Mechanism analyses show that CCI movements concentrate around salient events; subgroup trajectories often align in direction while differing in magnitude; and signal sensitivity varies across income, homeownership, education, and political-alignment groups. Population-expansion and ablation results indicate that representative aggregation, situational signals, persona heterogeneity, and inertia are necessary for both accuracy and diagnosis. The findings support a behavioral view of consumer confidence as an interpretable Human--Environment response process rather than a purely aggregate time series.

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### SADL: What to Ignore? A Benchmark for Subject-Aware Distractor Localization

Authors: Cao-Tri Nguyen, Nguyen-Khoa Luong, Vinh-Tiep Nguyen, Minh-Triet Tran
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30393v1

Photographs frequently contain \emph{visual distractors} besides foregrounds and backgrounds of the intended subject, competing for attention and weakening composition. While modern editing tools streamline object removal, identifying which objects to remove remains a mostly manual process. Existing saliency models and open-vocabulary detectors operate without subject awareness, failing to adapt to shifting user intent. Furthermore, context-agnostic removal may disrupt the scene's semantic coherence (e.g., keep the person but remove the chair they are sitting on). To address these limitations, we formalize the task of subject-aware distractor localization, which identifies distractors while retaining compositionally essential objects. This paper introduces \textsc{SADL}, the first real-world benchmark for this task, comprising 1,800 subject-aware cases across 1,000 photographs to enable systematic evaluation and facilitate future research. In total, there are 14,617 annotated candidates, including a robust set of 1,938 hard negatives to stress-test exclusion calibration. We evaluate seven proprietary and open-weight Vision-Language Models (VLMs) on a sequential pipeline of distractor classification followed by exclusion filtering, structured around five inclusion factors and three contextual exclusion rules. Our analysis reveals that VLMs are highly capable of identifying distractors, but then over-apply exclusion, which systematically suppresses true distractors at scale. By exposing this critical bottleneck, \textsc{SADL} provides a foundational diagnostic tool to advance subject-conditioned reasoning in multimodal systems.

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### Predict, Reuse, and Repair: Accelerating Dynamic Sparse Attention for Long-Context LLM Decoding

Authors: Tianyu Wang, Gourav Rattihalli, Aditya Dhakal, Junbo Li, Zhiwei Ren, Dejan Milojicic, Longfei Shangguan
Published: 2026-06-29
Categories: cs.LG
arXiv: https://arxiv.org/abs/2606.30389v1

Dynamic sparse attention (DSA) accelerates long-context LLM decoding by attending to only the top-K KV blocks relevant to each query, but it introduces a serialized selection-to-attention dependency that emerges as a new latency bottleneck. We present PRR, a speculate-reuse-repair runtime that exploits temporal locality in DSA selections to predict likely blocks, speculate the attention over them while selection is in flight, and incrementally repair missed blocks once the true selected set is known. PRR uses a lightweight EMA-based predictor, a profiling-guided speculation budget that keeps speculative work off the critical path, and a FlashAttention-based repair kernel that folds missed blocks into the partial attention state using online-softmax statistics. Across long-context benchmarks and representative DSA methods, PRR reduces per-token decoding latency by up to 40% while preserving downstream task accuracy. Github: https://github.com/Tianyu9748/Incremental_FlashAttention

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### A Stochastic--Geometric Theory of Scaling Laws in Grokking

Authors: Róisín Luo, Christian Gagné, Jonas Ngnawé, Ihsan Ullah, Karyn Morrissey
Published: 2026-06-29
Categories: stat.ML, cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2606.30388v3

Delayed generalization (\ie~grokking) refers to the phenomenon in which a neural network fits its training data early in training but only begins to generalize after a prolonged delay, often through an abrupt transition. Despite extensive empirical study, its underlying mechanism remains poorly understood. In this work, we first theoretically characterize a shell--core topological configuration of the reachable solution space induced by Adam's optimization dynamics with weight-shrinkage regularization, supported by empirical evidence. This optimization-induced topological configuration gives rise to grokking. In model's parameter space, random initialization solutions concentrate on a thin outer spherical shell, enclosing another spherical shell of memorization solutions, which in turn contains a core corresponding to the generalization solutions. Leveraging stopping-time theory, we then analyze the geometry of this topological configuration and the solution transition time at which optimization trajectories escape the memorization manifold and first reach the boundary of the generalization manifold. Our theoretical analysis derives grokking scaling laws for the learning rate, batch size, and $\ell_2$ regularization coefficient, which are further validated through experiments and shown to recover results from prior literature.

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### Scalar Representations of Neural Network Training Dynamics

Authors: Pedro Jiménez-González, Miguel C. Soriano, Lucas Lacasa
Published: 2026-06-29
Categories: cs.LG, cond-mat.dis-nn, nlin.CD, physics.data-an
arXiv: https://arxiv.org/abs/2606.30384v1

Training in artificial neural networks can be viewed as a trajectory evolving through a high-dimensional loss landscape. However, the large number of trainable parameters makes the direct analysis of these dynamics challenging. In this work, we treat such training trajectories as temporal networks and apply recently proposed strategies for the scalar embedding of temporal networks. We investigate whether such a scalar embedding provides a meaningful low-dimensional representation of neural network training dynamics. Using a multilayer perceptron trained on the MNIST classification task, we show that the embedding preserves the main dynamical features observed in the original parameter space, including the emergence of sensitivity to initial conditions for specific learning rate regimes and an accurate reconstruction of the network's maximum Lyapunov exponent. We then use the embedded scalar trajectory to define a characteristic time, analogous to a Lyapunov time, after which the exponential separation between initially close embedded trajectories saturates. This characteristic time captures the typical decorrelation time between initially close network trajectories in the original high-dimensional system. Finally, we investigate the statistical organization of asymptotic training states through a spacing observable defined in the embedded space. We find that the distributions of rescaled asymptotic spacings collapse onto a common form across initial conditions and are compatible with a skew lognormal distribution. Altogether, our results suggest that scalar low-dimensional embeddings provide a useful framework for studying and visualizing the dynamical properties of neural network optimization trajectories.

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### Whose Side Is Your Agent On? Multi-Party Principal Loyalty in LLM Agents

Authors: Bojie Li, Noah Shi
Published: 2026-06-29
Categories: cs.AI
arXiv: https://arxiv.org/abs/2606.30383v1

A rapidly growing class of LLM agents is multi-party: the agent acts for a principal (who briefs it, sends follow-ups, and receives results) while also conversing in a separate channel with a counterparty whose interests may diverge (negotiating with a vendor, screening inbound requests, or mediating between employees). Here "help whoever you are talking to" is the wrong objective. The agent must stay loyal to the principal it represents without over-refusing the principal's own cooperative asks. We study this multi-party loyalty problem and contribute a measurement instrument, two mechanisms, and a structural lesson. PrincipalBench is a 75-item multi-turn benchmark with leak probes, dual judges, and an integrity-audit gate. Across 13 frontier subjects it exposes a sharp split (<=20% vs. 53.6-75.3% harm) invisible to single-turn safety evaluations: a selective cluster that declines adversarial probes while still following the principal's legitimate requests, and an over-refusing cluster that refuses broadly. (M1) A prompt-time loyalty scaffold (a fixed system prompt of seven prioritized rules, open-coded from 50+ failure trajectories) holds Claude-Sonnet to 19.4% harm and all nine selective subjects to <=20%. (M2) A per-token-KL distillation recipe transfers a prompted Qwen3-32B teacher into 8B Qwen3 and Llama-3.1 students, the strongest open-weight recipe we measure. (Lesson) Both mechanisms only move along a common leak/over-refusal trade-off rather than crossing it: improving one axis costs the other, and the jointly favorable outcome stays out of reach.

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### RenderFormer++: Scalable and Physics-Informed Feed-Forward Neural Rendering

Authors: Huangsheng Du, Haoran Zhu, Youcheng Cai, Jingyang Meng, Ligang Liu
Published: 2026-06-29
Categories: cs.GR, cs.CV, cs.LG
arXiv: https://arxiv.org/abs/2606.30380v2

We present RenderFormer++, a scalable and physics-informed feed-forward neural rendering framework for global illumination in mesh scenes. Existing Transformer-based neural rendering methods such as RenderFormer achieve promising cross-scene generalization, but lack explicit transport priors and scale poorly due to quadratic triangle-level attention. To address these issues, we introduce Physics-Informed Transport Guidance (PITG), which embeds rendering-equation-inspired inductive biases into the attention mechanism and introduces a transport consistency loss, encouraging physics-informed light transport modeling. We further propose Hierarchical Object-Centric Tokenization (HOCT), which aggregates triangle-level features into compact object-level tokens via cross-attention with learnable queries, substantially reducing computational and memory costs. Extensive experiments demonstrate that RenderFormer++ achieves scalable and generalizable feed-forward global illumination rendering across complex large-scale scenes with competitive rendering quality and substantially improved efficiency over RenderFormer. The code will be made publicly available upon acceptance.

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### RenderFormer++: Scalable and Physically Grounded Feed-Forward Neural Rendering

Authors: Huangsheng Du, Haoran Zhu, Youcheng Cai, Jinyang Meng, Ligang Liu
Published: 2026-06-29
Categories: cs.GR, cs.CV, cs.LG
arXiv: https://arxiv.org/abs/2606.30380v1

We present RenderFormer++, a scalable and physically grounded feed-forward neural rendering framework for global illumination in mesh scenes. Existing Transformer-based neural rendering methods such as RenderFormer achieve promising cross-scene generalization, but suffer from limited physical consistency and poor scalability due to the quadratic attention complexity of triangle-level tokenization. To address these issues, we introduce Physics-Informed Transport Guidance (PITG), which embeds rendering-equation inductive biases into the attention mechanism and enforces transport consistency loss, enabling physically consistent light transport modeling. We further propose Hierarchical Object-Centric Tokenization (HOCT), which aggregates triangle-level features into compact object-level tokens via cross-attention with learnable queries, substantially reducing computational and memory costs while preserving geometric and radiometric information. Extensive experiments demonstrate that RenderFormer++ achieves scalable, stable, and generalizable feed-forward global illumination rendering across complex large-scale scenes with improved physical accuracy and efficiency over prior neural rendering methods.

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### OmniCoT: A Benchmark for Global and Multi-Step Panoramic Reasoning

Authors: Haocong He, Chenfei Liao, Zichen Wen, Zihao Dongfang, Xu Zheng, Bin Ren, Chang Su, Zixin Zhang, Harold Haodong Chen, Hongfei Zhang, Weijia Li, Kailun Yang et al.
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30378v1

Multimodal Large Language Models (MLLMs) have demonstrated promising spatial reasoning capabilities, while these abilities remain underexplored in the emerging visual modality of panoramic imagery. The full 360°$\times$180° field of view of panoramas essentially supports complex global multi-step reasoning, which is also the fundamental advantage of panoramas in applications such as embodied intelligence. However, existing panoramic benchmarks largely focus on simplistic queries that rely on local cues or single-/few-step reasoning, thereby ignoring the fundamental advantage of panoramas and failing to fully exploit their potential. To address this gap, we introduce OmniCoT, a panoramic spatial reasoning suite designed to enable MLLMs to use global evidence and perform multi-step inference across viewpoints. It includes OmniCoT-B (6.7K data) for evaluation, which measures both answer accuracy and reasoning quality, OmniCoT-Real (1K data) as a manually annotated real-world subset to quantify the Sim-to-Real gap. For training, OmniCoT-T (14.3K data) is purpose-built with structured stepwise Chain-of-Thought annotations that explicitly link intermediate reasoning steps to panoramic evidence. Based on OmniCoT-T, we introduce OmniCoT-R1 and adopt a two-stage training strategy tailored to the geometrically complex panoramic space, where Supervised Fine-tuning (SFT) anchors reasoning to panoramic evidence (e.g., bearings, proximity) and GRPO penalizes geometrically incoherent paths to consolidate global 360° spatial consistency. Through OmniCoT, we aim to recalibrate the difficulty of panoramic spatial reasoning to better align with the intrinsic capabilities of panoramic imagery, thereby fostering meaningful progress in this research area.

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### FlowAWR: Online Adaptive Flow Reinforcement via Advantage-Weighted Rectification

Authors: Zheming Fu, Ruizhe He, Wei Shang, Xiaoxiao Ma, Lei Wang, Chang Liu, Siming Fu
Published: 2026-06-29
Categories: cs.LG, cs.CV
arXiv: https://arxiv.org/abs/2606.30376v1

Aligning generative flow models on continuous spaces via online reinforcement learning is constrained by intractable trajectory likelihoods. Existing density-approximated policy gradient methods rely on stochastic SDE samplers to construct tractable transition kernels, which introduce training-inference inconsistencies and necessitates Classifier-Free Guidance (CFG). While implicit frameworks such as DiffusionNFT directly optimize forward-process velocity fields, its heuristic fixed-magnitude corrections prevent optimization strength from relative intra-group quality. We propose \textit{Flow Advantage-Weighted Rectification} (\textbf{FlowAWR}), a paradigm that recasts continuous generative policy optimization as supervised regression toward a theoretically optimal velocity field. Starting from the optimal policy of a KL-constrained reward maximization, FlowAWR derives the optimal velocity field that admits a magnitude-aware, advantage-weighted rectification form, yielding SDE-free optimization and CFG-free generation. In comparative evaluations on SD3.5-Medium, FlowAWR achieves improved alignment performance alongside a 2$\times$ to 5$\times$ convergence acceleration over DiffusionNFT (e.g., reaching a 24.12 PickScore in 1.2k steps, versus 23.82 in 2.0k steps for DiffusionNFT and 23.50 in $>$4k steps for FlowGRPO). Under multi-reward constraints, FlowAWR sustains generation quality, satisfying structural rules while maintaining stable out-of-domain performance.

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### Set-Inclusive Uncertainty Modeling for Robust Brain Tumor Segmentation

Authors: Seunghun Baek, Jihwan Park, Jaeyoon Sim, Hoseok Lee, Seungjoo Lee, Won Hwa Kim
Published: 2026-06-29
Categories: cs.CV, cs.AI, cs.LG
arXiv: https://arxiv.org/abs/2606.30374v1

Multimodal MRI is essential for accurate brain tumor segmentation. However, acquiring all modalities at inference is often challenging in practice, which causes intrinsic uncertainty due to unavoidable information loss. Without modeling this uncertainty, existing methods encode incomplete evidence into deterministic representations that appear plausible but lack reliability. In this regime, we propose a probabilistic representation framework that models representations as Gaussian distributions, where their mean captures task information and their variance measures uncertainty from missing evidence. To make variance reflect information deficiency, we regularize the mean from each partial configuration toward its full-modality counterpart, while scaling the variance with the discrepancy between their aligned means. We further introduce a set-inclusive strategy that exploits the hierarchical structure of modality subsets and enforces an ordering constraint to maintain their consistent uncertainty relationships. Extensive experiments on BraTS 2018 and 2020 demonstrate that our approach offers superior performance over baselines across diverse missing-modality scenarios. Code and model checkpoint are available at https://github.com/atlas-sky/SIUM.

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### Using Large Language Models as Low-Cost Statistical Estimators for Human-Response Data

Authors: Haobo Yang
Published: 2026-06-29
Categories: cs.AI, cs.CY, cs.HC
arXiv: https://arxiv.org/abs/2606.30372v1

Quantitative research across the social and behavioral sciences depends on human subject experiments that are expensive, slow, and subject to sampling bias. Here we show that pretrained large language models induce risk-equivalent estimators of conditional expectations under squared loss, establishing restricted functional risk equivalence: under squared loss, the LLM induces an estimator whose risk matches the Bayes optimal risk for squared-loss prediction of conditional expectations for any inference that depends on the data only through the conditional mean. We formalize the LLM as a misspecified functional estimator $T(\hat{P}_n)$ trained on i.i.d.\ data, decompose the estimation error into representation bias $ε_{\mathrm{rep}}$ and optimization error, and prove that under mild regularity conditions the LLM's expected error converges to the irreducible population variance plus the squared representation bias, with the representation bias bounded by the Pinsker inequality. The identifiability error $δ$ propagates into the effective bias, inflating the asymptotic risk floor. We establish restricted functional risk equivalence via a bidirectional Le Cam deficiency analysis: the forward deficiency vanishes asymptotically while the reverse deficiency is exactly zero. We provide finite-sample concentration bounds and a calibration protocol with explicit decision rules. The result is a precise, provable statement: a well-calibrated LLM achieves the Bayes-optimal risk for conditional-mean-dependent inference, bounded by explicit scope conditions. In practical applications, this means that under satisfied conditions and well-calibrated models, large language models can be used in many prediction and decision-making tasks that originally relied on human experiments, approximating near-optimal statistical inference at lower cost.

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### MaDI-Bench: An End-to-End Data Integration Benchmark

Authors: Aaron Steiner, Ralph Peeters, Christian Bizer
Published: 2026-06-29
Categories: cs.DB, cs.CL
arXiv: https://arxiv.org/abs/2606.30371v1

Data integration combines heterogeneous data sets into a single, coherent representation. Data integration involves a sequence of interdependent tasks including schema matching, value normalization, entity blocking, entity matching, and data fusion. Existing benchmarks either evaluate these steps in isolation or cover only incomplete versions of the data integration pipeline, omitting specific steps. The lack of public end-to-end data integration benchmarks hinders research on data integration methods that address the integration process as a whole. This paper fills this gap by introducing the Mannheim Data Integration Benchmark (MaDI-Bench), the first benchmark for the end-to-end integration of relational tables covering all steps of the integration process. MaDI-Bench contributes (i) a set of base end-to-end data integration tasks spanning several application domains, each requiring the full schema matching, value normalization, entity matching, and conflict resolution pipeline; and (ii) a generic method for deriving task variants that mitigates rapid benchmark saturation as data integration systems advance. We validate the benchmark using human-engineered pipelines, a best-of-breed pipeline, and an LLM-based pipeline. The validation demonstrates the utility of the benchmark for measuring the step-wise as well as the end-to-end performance of data integration pipelines. All benchmark artifacts are available for public download.

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### MUSE: Unlocking Timestep as Native Task Steering for One-Step Dense Prediction

Authors: Shuo Zhou, Zhaoxin Li, Xiujuan Chai
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30370v1

Monocular dense prediction has recently seen remarkable success by repurposing pre-trained diffusion models. This opens a promising yet challenging avenue for more efficient multi-task learning paradigm. However, existing multi-task diffusion methods often introduce parameter-heavy adapters, experts, or learnable task tokens, leading to computational redundancy. In this paper, we reveal an inherent mechanism within one-step diffusion models: the native, fixed sinusoidal timestep embedding can be repurposed as an endogenous task steering signal. Based on this discovery, we propose Multi-task Unified eStimation via timestep Embedding (MUSE), a parameter-free, single-model multi-tasking approach for dense prediction. We interpret this mechanism via Manifold Decoupling, where discrete, fixed timestep values deterministically steer the generation process towards decoupled, task-specific manifolds in the latent space. Extensive experiments across 10 datasets demonstrate that MUSE achieves highly competitive performance on both monocular depth and normal estimation, and its efficacy generalizes across U-Net and DiT architectures. Our work offers a concise and efficient path toward generalist vision models by simply unlocking the latent potential of existing generation infrastructure.

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### CouCE: A Unified Causal Framework for Debiased Deep Metric Learning

Authors: Xin Yuan, Zhenyang Niu, Meiqi Wan, Huilin Zhu, Xin Xu, Kui Jiang
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30365v1

Deep Metric Learning (DML) often struggles with zero-shot generalization because standard objectives inherently capture what co-occurs rather than what causes similarity. Consequently, DML models are vulnerable to shortcut learning driven by two structurally distinct confounders: background spurious correlations (which create backdoor paths via scene context) and foreground nuisance perturbations (which inject non-semantic variations like pose or illumination). Although existing methods have proposed targeted solutions for each pathway individually, none can simultaneously address both due to their fundamentally distinct causal roles. To bridge this gap, we propose the Counterfactual Causal Embedding (CouCE), a unified causal framework that explicitly models and neutralizes both confounders. Specifically, we introduce Orthogonal Dictionary-Based Backdoor Adjustment (ODBA), which isolates spurious background patterns into a variance-gated dictionary and stably disentangles them from the learned embeddings via soft orthogonal regularization. Simultaneously, we propose Multi-Scale Randomized Causal Intervention (MSRCI) to enforce causal invariance against foreground nuisances through multi-scale Fourier amplitude randomization and a symmetric KL invariance constraint. Notably, CouCE seamlessly integrates with any proxy-based loss, incurring modest training overhead without requiring architectural modifications during inference. Extensive experiments on CUB-200-2011, Cars-196, and Stanford Online Products demonstrate that CouCE consistently achieves state-of-the-art performance, providing a principled and robust solution for debiased DML.

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### ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control

Authors: Xiao Chen, Weishuai Zeng, Xiaojie Niu, Zirui Wang, Jianan Li, Huayi Wang, Furui Xu, Jiahe Chen, Weixiang Zhong, Lihe Ding, Kailin Li, Jiangmiao Pang et al.
Published: 2026-06-29
Categories: cs.RO, cs.AI, cs.CV
arXiv: https://arxiv.org/abs/2606.30362v2

While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. As a result, they are vulnerable to environmental shifts and incapable of reactive whole-body coordination. Naively cascading them with generative motion planners fails to achieve true reactivity, as inevitable tracking discrepancies induce fatal cumulative exposure bias. To bridge this gap, we propose ReactiveBFM, a real-time closed-loop planning-control framework. At its core, we effectively mitigate exposure bias via a scheduled prefix sampling curriculum, forcing the generative planner to actively learn error-recovery behaviors from imperfect physical states rather than ground-truth trajectories. Systematically, to reconcile the severe latency mismatch between auto-regressive planning and high-frequency tracking, we introduce an asynchronous replanning mechanism. Combined with trajectory chunking to temporally ensemble spatial references, our system guarantees spatio-temporally fluid execution without physical jitter. Deployed on the Unitree G1 humanoid, ReactiveBFM demonstrates unprecedented physical agility across a vast repertoire of text-conditioned closed-loop motions. Notably, ReactiveBFM achieves zero-shot moving target reaching, showcasing intricate whole-body coordination and on-the-fly replanning. In sim-to-sim benchmarking under severe perturbations, ReactiveBFM achieves a 93.1% success rate, significantly outperforming cascaded open-loop baselines by 28.6%.

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### On the Vulnerability of Parameter-Level Defenses to Model Merging

Authors: Kuangpu Guo, Qingyan Zheng, Jian Liang, Yongcan Yu, Zilei Wang, Ran He, Tieniu Tan
Published: 2026-06-29
Categories: cs.LG, cs.CV
arXiv: https://arxiv.org/abs/2606.30360v1

The training-free integration of expert models via model merging has exposed significant security risks, enabling free-riders to combine specialized models without authorization. Recent works propose parameter-level defenses that employ linear parameter transformations to neutralize this threat. In this paper, we systematically analyze such defenses and reveal that their protected task vectors are inherently small in magnitude. Consequently, the protected weights remain overwhelmingly dominated by the pretrained model. Based on this observation, we designate the pretrained model as a static reference anchor and propose the Anchor-Guided Attack (AGA) to circumvent existing safeguards. Specifically, AGA aligns the protected model with this anchor to recover the transformation matrix analytically. Extensive evaluations validate that AGA consistently bypasses both individual and composite defenses under realistic defense-agnostic scenarios. Furthermore, we provide Anchor-Repulsive Fine-tuning (ARF), a defense method to mitigate the anchor dominance leveraged by AGA. Empirical results confirm that ARF effectively defeats the proposed attack. Our code is available at https://github.com/krumpguo/secure-merge-attack.

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### Learning the structure of open quantum systems

Authors: Laura Lewis, Ewin Tang, John Wright
Published: 2026-06-29
Categories: quant-ph, cs.DS, cs.LG
arXiv: https://arxiv.org/abs/2606.30358v1

We design an algorithm for learning the coefficients of an $n$-qubit constant-local Lindbladian to $\varepsilon$ error with $O(g d^2 \log(n) / \varepsilon^2)$ total evolution time, where $g$ is the single-site energy and $d$ is the (approximate) degree of the interaction graph. Though Lindbladians present new challenges not present in the special case of Hamiltonians, our algorithm achieves the suite of desiderata attained by state-of-the-art Hamiltonian learning algorithms: (1) it uses non-adaptive, ancilla-free randomized Pauli measurement circuits with a time resolution of only $Θ(1/g)$; (2) it works without knowledge of the structure of the unknown Lindbladian; (3) it depends on a smooth form of degree, thereby supporting the learning of quasi-local and power-law Lindbladians. Our algorithm is a simple iterative method, where the objective function consists of Fourier coefficients of the Lindbladian restricted to few-site regions. Its analysis identifies the difficulty unique to open systems, which we call "confusing" terms. For settings where the "confusion" is limited, the performance of the algorithm improves. We demonstrate this for the case of structure learning of Hamiltonians from access to real-time evolution, where we obtain a new algorithm that is significantly simpler than previous work. In addition, using the same iterative method, we design the first efficient algorithm for structure learning Hamiltonians from high-temperature Gibbs states.

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### OLIVE: View-Augmented Latent Prediction with Waveform Reconstruction for Speech SSL

Authors: Karl El Hajal, Mathew Magimai. -Doss
Published: 2026-06-29
Categories: cs.CL, cs.LG, cs.SD, eess.AS
arXiv: https://arxiv.org/abs/2606.30356v1

We propose Online Latent prediction with Invariant Views and rEconstruction (OLIVE), a self-supervised speech representation learning framework that jointly optimizes analysis and synthesis objectives. OLIVE combines view-augmented masked latent prediction with waveform reconstruction under a unified objective. Reconstruction constrains early encoder features to retain signal-level information, while masked latent prediction shapes later contextual representations toward invariance for robust downstream performance. We show that these objectives enable representations that support a broad range of tasks. In particular, OLIVE improves results on generation and speaker tasks, maintains competitive performance on recognition and semantic tasks, and improves waveform reconstruction.

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### Residual-Guided Expert Specialization for Incomplete Multimodal Learning

Authors: Seunghun Baek, Jihwan Park, Jaeyoon Sim, Minjae Jeong, Hoseok Lee, Won Hwa Kim
Published: 2026-06-29
Categories: cs.CV, cs.AI
arXiv: https://arxiv.org/abs/2606.30355v1

As real-world prediction systems often face missing modalities at inference, incomplete multimodal learning (IML) remains a practical challenge. While prior methods aim to learn representations robust to missing inputs, representations from incomplete modalities inevitably deviate from their full-modality counterparts due to missing evidence. To explicitly leverage these deviations, we propose MARS (Missingness-Aware Residual-guided Specialization), a mixture-of-experts framework that guides expert specialization based on how representations are reshaped by missingness. By contrasting task representations derived from incomplete inputs with their complete counterparts during training, we derive a privileged residual signal that captures this representational gap. The residual signal guides a residual router to assign samples to experts specialized for the corresponding deviation patterns. In parallel, a feature router learns to imitate this routing behavior using only incomplete inputs, enabling deployment without access to full modalities. To mitigate this train-test router gap, we develop a discrepancy-aware noise regularization that adaptively perturbs the residual router's decisions when the feature router deviates, enhancing expert robustness under imperfect imitation. Experiments on multimodal classification (CASIA-SURF, CREMA-D, UPMC Food-101) and segmentation (MCubeS) under missing scenarios show that MARS consistently surpasses baselines while remaining efficient and extensible to diverse backbones and tasks.

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### FastPano3D: Feed-Forward Indoor Panoramic 3D Reconstruction from a Single Image

Authors: Jianqiang Li, Liumei Zhang, Wenjia Guo, Tianlong Feng, Yongzhi Liao, Di Lu, Hanchi Ren, Jingjing Deng
Published: 2026-06-29
Categories: cs.CV
arXiv: https://arxiv.org/abs/2606.30352v1

Recent advances in 3D scene reconstruction have highlighted the intricate trade-offs among rendering quality, inference efficiency, and data dependency. To address the challenge of rapidly reconstructing detailed 3D indoor scenes from minimal input, we introduce FastPano3D, an end-to-end framework that directly generates renderable 3D Gaussian representations from a single panoramic image. Unlike perspective-based methods, panoramic images inherently suffer from equirectangular projection distortions and spatially non-uniform feature distributions, making direct feed-forward Gaussian generation particularly challenging. In contrast to existing Gaussian Splatting based methods that rely on multi-view supervision or per-scene optimization, FastPano3D employs a lightweight feature encoder, adaptive Gaussian sampling, and a point-cloud-guided refinement strategy to achieve efficient and accurate scene generation without any test-time optimization. Our approach reconstructs high-fidelity 3D scenes within seconds, achieving up to 156 times faster inference than prior state-of-the-art methods such as Pano2Room, while using only half the parameters. Extensive experiments demonstrate that FastPano3D delivers rendering quality comparable to NeRF- and 3DGS-based reconstructions, establishing a new benchmark for rapid, single-view 3D scene inference.

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