# Research Papers — 2026-06 · bundle page 6 of 260 > Full-text markdown of papers #251–300 of 12993 published in 2026-06, newest first. AI-readable mirrors of the full 12993-paper 2026-06 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-06/page/6 [← Previous bundle](https://aipod.dev/papers/archive/2026-06/page/5.md) [Next bundle →](https://aipod.dev/papers/archive/2026-06/page/7.md) ### WIDER-FAIR: An Annotated Version of the WIDER-FACE Dataset for Fairness Evaluation Authors: Maxime Moussi, Benoît Ronval, Siegfried Nijssen, Félicien Schiltz Published: 2026-06-30 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2606.31704v1 The deployment of face detection models in real-world applications raises important fairness concerns, as these systems may showcase performance disparities across demographic groups. A key obstacle to studying and mitigating such biases is the lack of face detection datasets with sensitive feature annotations. To address this gap, we introduce WIDER-FAIR, a new dataset built on the widely used WIDER-FACE benchmark, manually annotated with the perceived ethnicity and sex of each face. The dataset contains 16,256 images annotated across four ethnic groups: Asian, Black, Indian, and White, and two sex categories. We assess the quality and coherence of the annotations using face embeddings, a K-Nearest Neighbors classifier, and a t-SNE visualization, all of which support the consistency of the labeling process. As a demonstration of the dataset's potential, we train a YOLOv5 model and perform ablation studies on each sensitive feature. Among other findings, our experiments show that detection performance is notably lower for faces of Black individuals, and that excluding this group from training increases fairness disparity more than excluding any other ethnic group. These observations illustrate the value of demographically annotated datasets for understanding and evaluating bias in face detection models. --- ### Phantom: A Unified Face-Swap Deepfake Protection Framework with Latent and Spatial Constraints Authors: Jungkon Kim, Cheolseung Jung, Jong-Min Choi, Juseong Lee Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31703v1 Face-swapping deepfakes pose an escalating threat to personal privacy by enabling unauthorized identity manipulation. While adversarial approaches have demonstrated success against black-box face recognition (FR) models, their applicability to face-swapping scenarios remains underexplored. In particular, reliance on fixed or random targets yields ambiguous latent guidance, and the lack of explicit spatial constraints causes perturbations to spill into identity-irrelevant regions. These issues are further exacerbated by identity-style disentanglement, which suppresses adversarial signals during deepfake generation. In this paper, we present Phantom, a unified face-swap deepfake protection framework that jointly constrains perturbations in latent and spatial domains. Phantom adaptively synthesizes identity-shifted yet attribute-preserving targets to guide identity-aware latent optimization, and applies masked perturbations confined to semantically relevant facial regions. Extensive experiments on state-of-the-art face-swapping deepfakes demonstrate that Phantom improves protection success rates in dodging scenarios by 27.8%, 25.6%, and 16.6% on UniFace, INSwapper, and SimSwap, respectively, while also enhancing visual quality. Furthermore, Phantom generalizes to impersonation scenario, yielding up to 10.2% higher protection while improving perceptual fidelity. These results underscore the effectiveness of jointly leveraging latent and spatial constraints for robust and coherent facial privacy protection. --- ### Diffusing Blame: Task-Dependent Credit Assignment in Biologically Plausible Dual-Stream Networks Authors: Yutaro Yamada, Luca Grillotti, Rujikorn Charakorn, Sebastian Risi, David Ha, Robert Tjarko Lange Published: 2026-06-30 Categories: cs.LG, cs.NE arXiv: https://arxiv.org/abs/2606.31700v1 Biological neural circuits obey Dale's principle: each neuron's synapses are uniformly excitatory or inhibitory. Artificial networks that respect this constraint must coordinate separate excitatory and inhibitory populations, fundamentally changing how credit is assigned during learning. Several biologically plausible learning rules avoid backpropagation's weight transport requirement, but it has been difficult to achieve strong performance under Dale's principle beyond MNIST. Error Diffusion (ED) was originally proposed in a dual-stream excitatory/inhibitory architecture, where learning is driven by routing global error signals to all layers without transporting transposed forward weights or relying on random feedback matrices. Whether such a rule can scale under Dale's principle across both supervised classification and reinforcement learning remains unknown. Here, we introduce modulo error routing to extend Error Diffusion beyond binary classification, and show that a dual-stream excitatory/inhibitory architecture trained with this method achieves 96.7% on MNIST and establishes a 61.7% baseline on CIFAR-10, demonstrating that representation learning is possible even when strictly enforcing Dale's principle. For the classification setting, we introduce three domain-specific innovations: layer-specific sigmoid widths, batch-centered class error signals, and asymmetric initialization, and ablation analysis reveals that their relative importance reverses between MNIST and CIFAR-10, exposing task-dependent credit-assignment bottlenecks invisible to single-benchmark evaluation. In reinforcement learning, we integrate ED with Proximal Policy Optimization (PPO) and evaluate it on continuous-control tasks in Google Brax and on Craftax, an open-ended exploration task. We show that ED-PPO achieves competitive performance relative to Direct Feedback Alignment, a backpropagation-free baseline. --- ### Look But Don't Touch with Sparse Autoencoders for Unlearning in Diffusion Models Authors: Enrico Cassano, Riccardo Renzulli, Rayyan Ahmed, Marco Grangetto, Stephan Alaniz Published: 2026-06-30 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.31699v2 Sparse autoencoders (SAEs) have recently been proposed as interpretable tools for concept-level manipulation, under the assumption that isolated features can serve as controllable intervention points. In this work, we systematically evaluate this assumption in the context of object erasure and steering in diffusion models. We show that while SAEs reliably detect and localize semantic concepts within diffusion model activations, direct intervention in their latent space frequently induces out-of-distribution activations, resulting in severe visual artifacts. To disentangle detection from intervention, we use SAE activations purely as semantic detectors to identify image regions containing the target object, and replace those patch embeddings with the ones that do not contain it. This detection-based replacement preserves the diffusion model's activation statistics and produces significantly cleaner erasure results than latent steering. Our findings reveal a fundamental gap between concept detection and concept intervention in diffusion models: monosemantic or sparse features are not inherently suitable as control knobs for steering. These results position SAEs as powerful interpretability tools for analyzing generative models, but highlight important limitations when used for direct manipulation, such as unlearning. --- ### Intrinsically Stable Spiking Neural Networks: Overcoming the Performance Barrier in the Absence of Batch Normalization Authors: Ruichen Ma, Xiaoyang Zhang, Jian Bai, Guanchao Qiao, Liwei Meng, Ning Ning, Yang Liu, Shaogang Hu Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31695v1 The performance of deep spiking neural networks (SNNs) often relies on batch normalization (BN). However, the advanced dynamic BN variants used in state-of-the-art models introduce runtime multiplications, which weaken the hardware-efficiency motivation of SNNs. To address this tension, we identify catastrophic firing-rate decay as a primary cause of severe performance degradation in normalization-free SNNs. Guided by this insight, this work proposes the Intrinsically Stable SNN (IS-SNN) architecture, which removes activation-normalization layers by enforcing signal homeostasis through topology-aware weight standardization and modified residual connections. By folding the standardization operations into static weights offline, IS-SNN removes the runtime statistics tracking and multiplications introduced by activation normalization, restoring an accumulation-oriented inference datapath. Comprehensive experiments show that IS-SNN achieves performance competitive with or superior to computationally expensive dynamic BN techniques across VGG, ResNet, and Transformer-based models. Notably, it achieves a competitive accuracy of 68.05\% on ImageNet and overcomes the severe depth limitations of prior BN-free attempts. Together with a 96.4\% reduction in FPGA lookup table resource consumption for neuron implementations, these results support IS-SNN as a practical framework for building accurate and hardware-friendly deep neuromorphic systems. --- ### RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization Authors: Jingbo He, Michael Färber, Roberto Calandra Published: 2026-06-30 Categories: cs.RO, cs.AI, cs.CL, cs.CV arXiv: https://arxiv.org/abs/2606.31694v1 For robots manipulating open-world objects, tactile representations must generalize to unseen materials. We introduce RCT (Robotic Contact Tactile), a robot-collected touch-vision-language dataset with 29,279 tactile frames from full robot presses on 122 industrial reference materials in 7 categories, recorded with three DIGIT sensors at multiple contact positions. RCT preserves each press as a contact sequence, enabling held-out evaluation across materials, categories, sensors, contact positions, and contact sequences. Frames from one press are strongly correlated: frame-random splits can place near-duplicate observations of the same physical interaction in both training and test. With the encoder held fixed, removing contact-sequence overlap reduces tactile-to-text Recall@1 by 17.7 percentage points. When materials are additionally held out at training time, performance drops sharply, leaving held-out-material Recall@1 at 25.1 +/- 6.1% averaged over three held-out draws. The public TVL/HCT split shows the same structure: every test contact sequence appears in training, and raw-pixel nearest neighbors recover the correct sequence in 98.3% of cases. Uniformly sampling a press improves contrastive training, and RCT-trained embeddings improve category probes on unseen materials. RCT makes contact-sequence-aware, held-out-material evaluation reproducible and exposes novel-material generalization as a central challenge for robotic tactile perception. The RCT dataset is open-sourced at https://faerber-lab.github.io/RCT/ --- ### ShopX: A Foundation Model for Intent-to-Item Fulfillment in Agentic Shopping Authors: Jiacheng Chen, Tao Zhang, Manxi Lin, Dunxian Huang, Teng Shi, Honghao Fu, Mengyan Li, Xinming Zhang, Chenchi Zhang, Xuan Lu, Xiaoxiong Du, Haibin Chen et al. Published: 2026-06-30 Categories: cs.IR, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2606.31693v2 The wave of AI-native applications is moving shopping beyond page- and feed-based browsing toward intent-driven experiences orchestrated by LLM agents. A common design wraps an LLM around existing search and recommendation pipelines, forcing complex intents through low-bandwidth retrieval or ranking interfaces and leaving a gap between language understanding and item-space fulfillment. Generative recommendation gives LLMs a direct item-space interface through semantic IDs (SIDs), but existing models mainly generate candidates for retrieval rather than translate flexible intents into item-space outcomes. We propose ShopX to address this bottleneck by unifying intent understanding, execution planning, and flexible SID-native item-space operations into a single foundation model. We deploy ShopX in agentic shopping workflows through a model-native item-fulfillment framework with a serving harness that defines a model-facing action protocol and exposes support surfaces for context access, catalog grounding, and state management. Within this framework, ShopX plans and composes SID-based item-space operations such as SID beam-search retrieval, listwise ranking, or product bundling. This model-centric design reduces lossy hand-offs between agent orchestration and item-space execution. To build ShopX, we design semantically recoverable, LLM-operable SIDs and a training recipe that equips a general LLM for flexible multi-turn item-space fulfillment while retaining the knowledge and instruction-following abilities needed by a shopping agent. We evaluate the ShopX framework against tool-mediated agentic systems on single- and multi-turn fulfillment tasks derived from anonymized Taobao production logs, showing that model-native fulfillment improves overall framework behavior, especially on complex or ambiguous requests. --- ### Overview of the TalentCLEF 2026: Skill and Job Title Intelligence for Human Capital Management Authors: Luis Gasco, Hermenegildo Fabregat, Laura García-Sardiña, Paula Estrella, Warre Veys, Casimiro Pío Carrino, Matthias De Lange, Daniel Deniz Cerpa, Álvaro Rodrigo, Jens-Joris Decorte, Rabih Zbib Published: 2026-06-30 Categories: cs.CL arXiv: https://arxiv.org/abs/2606.31692v1 This paper presents an overview of the second edition of the TalentCLEF challenge, organized as a Lab at the Conference and Labs of the Evaluation Forum (CLEF) 2026. TalentCLEF is an initiative aimed at advancing Natural Language Processing research in Human Capital Management. The second edition of the challenge consisted of two tasks: Task A, contextualized job-person matching, focuses on identifying and ranking the most suitable candidates represented by their resumes for a given job vacancy in English and Spanish. Task B, job-skill matching with skill type classification, addresses retrieving the most relevant skills for a given job title in English and distinguishing between core and contextual skills. TalentCLEF attracted 113 registered teams and received more than 400 submissions in the two tasks, reflecting the growing interest of the research community in shared evaluation benchmarks for Human Capital Management. This paper describes the motivation and organization of the challenge, summarizes the datasets and evaluation settings, and reports the main results obtained by the participating teams. --- ### Semantic Occupancy Prediction with Dual Range-Voxel Representation Authors: Sitao Chen, Zhuangwei Zhuang, Hui Luo, Lizhao Liu, Qingyao Wu, Mingkui Tan Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31688v1 LiDAR-based 3D semantic occupancy prediction, which aims to provide accurate and comprehensive scene representation, is crucial for autonomous driving systems. As point clouds suffer from sparsity and incompleteness, leading to insufficient semantic learning and difficult occupancy perception, existing methods often stack multi-sweep point clouds to obtain dense spatial information. However, such a naive strategy also results in efficiency (e.g., additional computational burden) and robustness (e.g., pose transformation noise) concerns, which hinder their practical applications. In this work, we propose a Dual Range-Voxel Representation (DRVR) that leverages the range-view context and voxel-view geometry of single-sweep point clouds for 3D semantic occupancy prediction, eliminating the concerns associated with the multi-sweeps. Specifically, we use the range-view encoder to extract the compact context of the scene. To fully exploit the spatial information, we design a geometry-aware voxel-view encoder that extracts multi-scale voxel-view features separately and combines them for better geometric occupancy prediction. Moreover, we propose a range-voxel fusion module to cooperate range- and voxel-view features via voxel-to-range and range-to-voxel fusions. Extensive experiments on nuScenes-Occupancy, SemanticKITTI and SemanticPOSS show the superiority of our method. Especially on nuScenes-Occupancy, our single-sweep DRVR achieves 5.4% improvement in mIoU and 2.1x acceleration compared to the multi-sweep method. --- ### When to Truncate a Feature Ranking: A Residual-Overlap Stopping Rule for Subset Selection Authors: Jesus S. Aguilar-Ruiz Published: 2026-06-30 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.31686v1 Feature rankings are widely used in supervised feature selection because they are simple, scalable and easy to interpret. Variables are first ranked by a relevance score, and a subset is then obtained by retaining the top-ranked variables. Although the first stage has been extensively studied, the second is often governed by an arbitrary cardinality, an empirical threshold or cross-validation, without a direct interpretation. This raises a basic question: given a feature ranking, when is there enough accumulated class-separation evidence to stop selecting features? This paper develops a distributional framework for transforming supervised feature rankings into class-independent subsets through an explicit risk-calibrated stopping rule. For each variable and each pair of classes, marginal separation is measured by the Bhattacharyya coefficient between the corresponding class-conditional distributions. The proposed method selects a single global subset shared by all classes by retaining the shortest prefix of a ranking whose residual product overlap falls below a prescribed threshold for every relevant class contrast. We derive binary and multiclass Bayes-risk bounds for the labelled product marginal problem, and obtain prior-dependent and prior-free calibrations of the residual-overlap threshold from a target all-pairs risk level. An empirical comparison on high-dimensional genomic datasets illustrates that the rule can reduce tens of thousands of variables to a few dozen while maintaining predictive performance statistically comparable to the all-features baseline. As the stopping rule only requires one-dimensional marginal overlap estimates and scans a precomputed ranking, it is well suited to very high-dimensional settings where exhaustive subset search is infeasible and interpretable truncation of feature rankings is essential. --- ### Histogram-constrained Image Generation Authors: Haoming Liu, Yuanhe Guo, Yijia Cao, Shenji Wan, Hongyi Wen Published: 2026-06-30 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.31683v1 Diffusion models have emerged as a dominant paradigm in generative modeling, enabling high-fidelity sampling from complex data distributions. Despite impressive capabilities, controlling diffusion models to produce outputs aligned with user intent remains an open challenge, especially when balancing global coherence with local precision. Existing control mechanisms vary in the granularity of their conditioning signals. For example, textual prompts guide generation globally through high-level semantics, while ControlNet-like approaches secure precise local structure via dense conditions. In this work, we introduce Histogram-constrained Image Generation (HIG), a novel control mechanism that falls into the middle ground of control granularity. Our framework enforces user-specified distributional constraints (e.g., color histograms or latent token distributions) during the generation process with exact precision. We model such control as an optimal transport (OT) problem and apply explicit guidance transformations during sampling, thereby driving the diffusion trajectory to align with the desired histogram. We demonstrate the versatility of HIG across diverse applications, including constrained generation via color/latent histograms and high-capacity information embedding through histogram-level encoding. Our findings underscore the promise of distributional control, a flexible and interpretable control scheme that is fully compatible with existing control mechanisms, diversifying the hybrid strategies for controllable image generation. Our project page is available at: https://maps-research.github.io/hig/. --- ### ShellMaker: Language-Guided Exterior Completion under Structural Constraints Authors: Ruiqi Xu, Daniel Aliaga Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31680v1 Despite advances in indoor scene generation, synthesizing coherent building exteriors consistent with generated interiors remains largely unexplored. Existing methods can generate floor plans and wall layouts but typically stop at a structural shell, lacking stylistically consistent facades and roofs. Completing these exteriors is challenging because the footprint, wall geometry, and opening semantics must remain fixed-constraints that unconstrained generative models often violate. We introduce ShellMaker, a language-guided exterior completion framework that operates under these structural constraints. Given a building scaffold and a text style prompt, ShellMaker generates a complete exterior mesh with PBR materials by combining parametric roof generation, LLM-based part-aware prompt refinement, joint wall-roof material retrieval, and geometry-aware assembly. Operating on a format agnostic scaffold representation, ShellMaker generalizes to indoor generators, CityGML, and CAD inputs, while maintaining structural consistency and improving architectural coherence over retrieval and unconstrained generative baselines. The project page is available at https://ruiqixu37.github.io/ShellMaker_web/ --- ### Practical High-Fidelity Novel-View Synthesis of Mounted Lepidoptera Authors: Kristof Overdulve, Lode Jorissen, Nick Michiels Published: 2026-06-30 Categories: cs.GR, cs.CV arXiv: https://arxiv.org/abs/2606.31679v2 Mounted butterflies are among the most striking objects in natural history collections. However, their beauty is notoriously hard to digitize in 3D: they are small and fragile, with microscopic hairs and vein structures. Capturing them in sufficient detail, therefore, requires a macro lens, which has a very limited Depth of Field (DoF). Moreover, a camera body cannot be maneuvered beneath a pinned specimen to photograph its ventral surface. We introduce an end-to-end pipeline that resolves these challenges, turning such specimens into photorealistic 3D models viewable from every direction. It combines three ingredients: handheld focus stacking for all-in-focus macro capture without a tripod, a non-contact first-surface mirror system that exposes the ventral surface without touching the specimen, and a segmentation-free, mirror-aware 3D Gaussian Splatting extension. We validate the reconstructions and design decisions on nine diverse specimens. --- ### Practical High-Fidelity Novel-View Synthesis of Mounted Lepidoptera Authors: Kristof Overdulve, Lode Jorissen, Nick Michiels Published: 2026-06-30 Categories: cs.GR, cs.CV arXiv: https://arxiv.org/abs/2606.31679v1 Mounted butterflies are among the most striking objects in natural history collections. However, their beauty is notoriously hard to digitize in 3D: they are small and fragile, with microscopic hairs and vein structures. Capturing them in sufficient detail, therefore, requires a macro lens, which has a very limited Depth of Field (DoF). Moreover, a camera body cannot be maneuvered beneath a pinned specimen to photograph its ventral surface (the underside of the wings). We introduce an end-to-end pipeline that resolves these challenges to turn such specimens into photo-realistic 3D models viewable from every direction. It combines three ingredients: handheld focus stacking for all-in-focus macro capture without a tripod, a non-contact first-surface mirror system that exposes the ventral surface without touching the specimen, and a segmentation-free, mirror-aware 3D Gaussian Splatting extension. We validate the reconstructions on four diverse specimens. --- ### REDI: Corpus Aware Patch Ranking for DINOv3 Token Reduction Authors: Chanjong Im, Sebastian Diem, Thomas Mandl Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31676v1 Most token reduction methods for Vision Transformers seek favorable tradeoffs between accuracy and efficiency by pruning, merging, or pooling patch tokens. REDI (Relevance for DINOv3 Token Reduction) studies this question through a controlled supervised reference: how should a fixed token budget be allocated across patches for image classification? REDI quantizes final block DINOv3 patch representations into a visual vocabulary and derives class conditioned corpus scores using supervised TF-IDF over visual words. For each validation image, the ground truth class selects a row of the TF-IDF table, and four transformed views produce a TF-IDF map aligned to a reference center crop. A separate dense pass on the same crop provides an attention map. After independent min max normalization, their elementwise product defines the REDI score. A fixed keep, merge, and compress operator then uses score rank to assign patch roles and score magnitude to weight merging and compression. With precomputed REDI scores, a frozen DINOv3 ViT-B/16 backbone, and the same linear classifier used for dense evaluation, the operator reduces the sequence length from 201 to 107 tokens, a 46.8% sequence reduction. The REDI variant based on incoming attention mass achieves 84.706% Top-1 accuracy on ImageNet-1K, compared with 83.514% for the dense baseline, 82.634% for incoming attention mass alone, and 81.796% for supervised TF-IDF alone. The same corpus term also improves reduced classification for three alternative attention formulations relative to their attention only counterparts. Together, these controlled comparisons indicate that class specific corpus statistics and image specific attention provide complementary signals for patch ranking in this setting. --- ### WorldRoamBench: An Open-World Benchmark for Long-Horizon Stability of Interactive World Models Authors: Ting-Bing Xu, Jiacheng Sui, Zhe Gao, Kewei Shi, Wenjin Yang, Zhicheng Liu, Zhaoxu Sun, Mingchao Sun, Hongyu Pan, Fan Jiang, Mu Xu, Qi Fan et al. Published: 2026-06-30 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.31672v5 Despite rapid progress in interactive world models (IWMs), short-horizon performance does not establish sustained action following, visual stability, physical plausibility, or memory. We introduce WorldRoamBench, an open-world benchmark for long-horizon stability across four dimensions, each with innovations: (i) Action: per-frame action metric bypassing cross-model semantic scale disparity and exposing failures hidden by trajectory; (ii) Vision: sliding-window drift metric capturing non-monotonic mid-sequence collapse missed by start-vs-end comparisons; (iii) Physics: evaluation of physical plausibility across mechanics, optics, and 3D consistency, gated by camera-motion and subject-tracking checks; (iv) Memory: a trajectory-aware protocol reducing confounding from action-following errors, evaluating scene memory via transition-localized 3D point-cloud reconstruction and subject memory via tracking-plus-VLM reasoning. The benchmark comprises 1000+ test cases across Nature, Urban, and Indoor scenes in first/third-person views with WASD 10-60 s continuous interaction. Evaluating 10+ open/closed-source models reveals none reliably satisfies all dimensions; even the best achieves only moderate scores. Advances on WorldRoamBench are steps toward IWMs that are stable, physically grounded, memory-faithful, and deployable in real-world applications. --- ### WorldRoamBench: An Open-World Benchmark for Long-Horizon Stability of Interactive World Models Authors: Ting-Bing Xu, Jiacheng Sui, Zhe Gao, Kewei Shi, Wenjin Yang, Zhicheng Liu, Zhaoxu Sun, Mingchao Sun, Hongyu Pan, Fan Jiang, Mu Xu, Qi Fan et al. Published: 2026-06-30 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.31672v3 Despite rapid progress in interactive world models (IWMs), existing benchmarks evaluate action following only at trajectory level and ignore memory and interaction physics. We introduce WorldRoamBench, an open-world benchmark for long-horizon stability across four dimensions, each with tailored innovations: (i) Action: per-frame action metric bypassing cross-model semantic scale disparity and exposing failures hidden by trajectory; (ii) Vision: segment-based drift metric capturing non-monotonic mid-sequence collapse missed by start-vs-end comparisons; (iii) Physics: controllability-gated evaluation over mechanics, optics, and 3D consistency, scoring plausibility under faithful action execution; (iv) Memory: action-decoupled protocol evaluating scene memory via transition-localized 3D point-cloud reconstruction and subject memory via tracking-plus-VLM reasoning. The benchmark comprises 600+ test cases across Nature, Urban, and Indoor scenes in first/third-person views with WASD 10-60s continuous interaction. Evaluating 10+ open/closed-source models reveals none reliably satisfies all dimensions; even the best achieves only moderate scores. Advances on WorldRoamBench are steps toward IWMs that are stable, physically grounded, memory-faithful, and deployable in real-world applications. --- ### SAMBA: A Scatter-Guided Masked Bidirectional Mamba Foundation Model for SAR Target Recognition Authors: Ke Wang, Xiaoyi Pan, Zhaoyu Gu, Xiaofeng Ai, Zhiming Xu, Feng Zhao, Shunping Xiao Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31668v2 Synthetic aperture radar automatic target recognition (SAR ATR) is critical for Earth observation and defense, but its practical deployment is constrained by scarce annotated training data. Self-supervised pre-training alleviates this label bottleneck, yet prevailing Transformer architectures incur prohibitive quadratic computational complexity, and conventional universal masking neglects the unique electromagnetic scattering properties intrinsic to SAR imagery. To address these limitations, we propose SAMBA (Scattering-Guided Bidirectional Mamba), an efficient self-supervised pre-training foundation model for SAR target interpretation. Our framework features three core innovations: (i) a linear-complexity Mamba encoder with a mid-sequence class token to mitigate computational bottlenecks; (ii) a three-level hierarchical Scattering-Guided Masked Autoencoder (SG-MAE) masking strategy guided by SAR physical priors, aligning the pretext task with SAR's intrinsic imaging mechanism; (iii) a lightweight SpatialMix feature interaction module to enhance cross-region feature fusion. We also design a two-stage cross-domain pre-training pipeline to optimize the overall pre-training process. Extensive evaluations demonstrate that SAMBA consistently delivers superior performance across all pre-training configurations, with substantially fewer parameters than both CNN and Transformer baselines. Compared with the default masking strategy in standard MAE, the proposed SG-MAE strategy further boosts the model's few-shot transfer capability. Benchmarking on seven downstream datasets covering classification and detection tasks shows SAMBA achieves state-of-the-art (SOTA) performance on most metrics, fully validating its robust generalizability across diverse SAR interpretation tasks. Source code and pre-trained weights are publicly available at https://github.com/mynswkk/SAMBA. --- ### Sparsity-Inducing Divergence Losses for Biometric Verification Authors: Dimitrios Koutsianos, Ladislav Mošner, Yannis Panagakis, Themos Stafylakis Published: 2026-06-30 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.31664v1 Performance in face and speaker verification is largely driven by margin-penalty softmax losses such as CosFace and ArcFace. Recently introduced $α$-divergence loss functions offer a compelling alternative, particularly due to their ability to induce sparse solutions (when $α>1$). However, standard geometric margins are designed for the softmax function and do not naturally extend to this generalized probabilistic framework. In this paper we propose Q-Margin, a novel $α$-divergence loss that introduces a principled probabilistic margin. Unlike conventional methods that apply geometric penalties to the logits (unnormalized log-likelihoods), Q-Margin encodes the margin penalty directly into the reference measure (prior probabilities). This formulation naturally encourages discriminative embeddings while preserving the beneficial sparsity properties of the $α$-divergence. We demonstrate that Q-Margin achieves competitive or superior performance on the challenging IJB-B and IJB-C face verification benchmarks and similarly strong results in speaker verification on VoxCeleb. Crucially, against ArcFace and CosFace baselines trained under an identical recipe, Q-Margin consistently improves at low False Acceptance Rates (FARs), a capability critical for practical high-security applications. Finally, the extreme sparsity of the Q-Margin posteriors enables exact and memory-efficient training, offering a scalable solution for datasets with millions of identities. --- ### DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments Authors: Wen Jiang, Hanfang Liang, Li Wang, Kangyao Huang, Wang Xu, Wei Fan, Jinyuan Liu, Shaoyu Liu, Hongwei Duan, Bin Xu, Xiangyang Ji, Huaping Liu Published: 2026-06-30 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2606.31654v2 Recent advances in multimodal large models have significantly improved UAV vision-language navigation (UAV-VLN) by enhancing high-level perception and reasoning. However, existing methods mainly focus on predicting discrete actions, local targets, or sparse waypoints, while the continuous transition from navigation intent to executable UAV motion remains weakly modeled. This motion-interface gap limits the continuity, stability, and executability of generated UAV trajectories. To address this gap, we propose DynFly, a dynamic-aware continuous trajectory generation framework that bridges high-level navigation reasoning and executable UAV motion. DynFly bridges high-level navigation intent and continuous UAV motion through a lightweight trajectory generation layer. Specifically, it represents expert trajectories in B-spline control-point space and employs a Spline-DiT generator to learn conditional trajectory generation via flow matching. Furthermore, we introduce UAV-oriented dynamic-aware supervision over position, finite-difference velocity, finite-difference acceleration, heading consistency, and local target alignment, enabling the generated trajectories to better satisfy UAV motion characteristics. And our trajectory generation framework can also be integrated with an existing UAV-VLN framework while preserving its original visual-language reasoning pipeline. Extensive experiments on the OpenUAV UAV-VLN benchmark show that DynFly improves both navigation performance and trajectory quality. On the Test Unseen Full split, DynFly improves the strongest baseline by 4.69 NDTW, 2.40 SDTW, 2.14 SR points and 4.87 OSR points, while reducing NE by 4.51 m. --- ### Improving Certified Robustness via Adversarial Distillation Authors: Matteo Melis, Jesus Martinez Del Rincon, Vishal Sharma Published: 2026-06-30 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.31653v1 Certified training aims to produce models whose predictions can be formally verified against adversarial perturbations, typically by optimising upper bounds on the worst-case loss over an allowed perturbation set. For neural networks, certified training methods based purely on tight relaxation bounds produce networks that are amenable to certification, but sacrifice standard accuracy. Conversely, adversarial training often yields stronger empirical robustness and standard accuracy, but the resulting models are generally difficult to certify with neural network verifiers. Recently, the literature has shown that better standard-certified accuracy trade-offs can be achieved by combining adversarial training objectives with loose over-approximations based on Interval Bound Propagation (IBP), effectively interpolating between lower and upper bounds of the worst-case loss. Building on this, we introduce AD-CERT, a certified training objective that combines adversarial distillation with an IBP upper bound. We show that distilling adversarial information over the logit space from an empirically robust teacher provides an effective lower bound surrogate for certified training, with AD-CERT achieving state-of-the-art certified performance on several robustness benchmarks. Furthermore, in a unified setup, distilling adversarial information at the logit-level is shown to improve certified accuracy over a robust feature-space distillation objective by up to 5.40 percentage points. --- ### FARS: A Fully Automated Research System Deployed at Scale Authors: Qiong Tang, Tianxiang Sun, Xiangkun Hu, Xiangyang Liu, Yiran Chen, Yunfan Shao, Bobo Li, Changze Lv, Cheng Xu, Chengsong Huang, Chunyang Li, Dizhan Xue et al. Published: 2026-06-30 Categories: cs.AI arXiv: https://arxiv.org/abs/2606.31651v2 Recent automated research systems show that language-model agents can generate hypotheses, run experiments, and write complete manuscripts, but most evidence still comes from selected examples, human-framed topics, or a few pre-defined research tasks. We present FARS (Fully Automated Research System), a fully automated AI-for-AI research system designed to operate across research topics at scale. FARS autonomously generates and advances projects through ideation, planning, experimentation, and writing, using stage-specific agents coordinated through a shared workspace that records proposals, code, logs, results, and manuscripts. In its first public deployment, FARS produced 166 complete research papers spanning 67 fine-grained AI/ML topics while preserving intermediate artifacts as an auditable corpus rather than a curated set of successes. We evaluate this corpus with 282 structured reviews from volunteer reviewers covering 140 papers, including overall ratings, sub-scores, integrity checks, and LLM-use disclosure. The reviews indicate that FARS can produce review-worthy and occasionally strong AI/ML research artifacts in a large-scale public deployment, while also exposing recurring failure modes in narrow experimental scope, methodological limitations, and integrity issues. --- ### ECHO: Prune To Act, Trace To Learn With Selective Turn Memory In Agentic RL Authors: Zijun Xie, Binbin Zheng, Enlei Gong, Jihua Liu, Yuyang You, Lingfeng Liu, Jiayao Tang, Guanqun Zhao, Aoqi Hu, Zeyu Chen Published: 2026-06-30 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.31650v5 Long-horizon language agents must repeatedly interact with tools, accumulate evidence, and make decisions under bounded context windows. Context-management methods make such rollouts feasible by simplifying past interactions through deletion, folding, or memory editing. However, when useful history is collapsed into compressed states, the reconstructed context may no longer reveal which earlier observations support a successful final answer. This creates a mismatch between bounded-context acting and outcome-based reinforcement learning: the policy acts on reconstructed context, while the learner lacks source-level provenance for assigning credit to the evidence that mattered. We propose ECHO, a selective turn-memory framework for traceable context reconstruction in Agentic RL. ECHO compresses each completed environment turn into a compact source-indexed memory record, reconstructs bounded policy contexts by selecting useful records, and reuses the selected source indices to route positive outcome credit to the final trajectory segment, reused evidence turns, memory findings, and memory-selection actions. On BrowseComp-Plus, ECHO reaches 43.4% held-out accuracy, outperforming GRPO at 28.9% and the rolling-summary baseline SUPO at 36.1%, while using fewer turns and lower trajectory volume than SUPO. The trained policy also improves zero-shot generalization across multi-objective QA, code generation, and deep information-seeking benchmarks on both dense and MoE backbones. --- ### Think in English, Answer in Korean: Efficient Adaptation of Multilingual Tool-Using Agents Authors: Utsav Garg, Sungjin Hong, Jason Jung, Justin Lee, Shaan Desai, Joon Hee Kim, Anirudh Shrinivason, Edmond Wen, Susie Park Published: 2026-06-30 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.31648v1 We present LuckyStar 111B, a 111B-parameter hybrid reasoning model developed through a collaboration between Cohere and LG CNS for Korean-English enterprise agents under practical memory and serving constraints. The model trains from Cohere's fully post-trained Command A model rather than a new pretraining run, and uses preamble conditioning to switch between concise non-reasoning behavior and longer tool-oriented reasoning. We study four choices for scaling tool-using agents efficiently: multilingual supervised fine-tuning, reinforcement learning with verifiable rewards for multi-step tool-use tasks, language-consistency rewards for Korean user-facing responses, and 4-bit quantization for single-GPU serving. The adapted model improves mathematical reasoning, function calling, and agentic natural-language-to-SQL (NL2SQL) performance while preserving general Korean and English instruction-following quality. These results provide a practical recipe and failure-mode analysis for adapting post-trained multilingual models to verifiable agentic workflows under memory-constrained deployment. --- ### Technical Report of RoboSpatial Challenge at CVPR 2026: Selective Reasoning Activation and Reference-Frame Disambiguation for Embodied Spatial Reasoning Authors: Yuxiang Xie, Qi Lv, Jianming Xing, Zijian Hong, Xiang Deng, Weili Guan, Liqiang Nie Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31645v1 Vision-language models achieve strong general perception but often struggle with the spatial reasoning required for embodied tasks. We present RoboSpatialBrain, our submission to the RoboSpatial Challenge at the Embodied Reasoning in Action Workshop, CVPR 2026, built on RoboBrain2.5-8B-NV. RoboSpatialBrain combines two training-free, inference-time mechanisms: a forced <think> prefix activation strategy paired with a task-specific post-prompt that elicits deliberate reasoning on context and compatibility tasks, and an explicit reference-frame redirection pipeline that resolves camera-centric and object-centric ambiguity for context tasks. We additionally explore fine-tuning RoboBrain2.5 on compatibility data and present a detailed analysis of its interaction with prompting. RoboSpatialBrain achieved first place in the RoboSpatial Challenge, with an overall success rate of 80.9\% on RoboSpatial-Home. Code is available at https://github.com/YuxiangXie2003/RoboSpatialBrain. --- ### Moral Safety in LLMs: Exposing Performative Compliance with Puzzled Cues Authors: Mohammadamin Shafiei, Shuyue Stella Li, Yulia Tsvetkov Published: 2026-06-30 Categories: cs.CL, cs.CY arXiv: https://arxiv.org/abs/2606.31644v3 As large language models take on morally consequential roles in healthcare, legal, and hiring contexts, we need to examine whether their ethical behaviors are genuine or superficial. We show that current fairness evaluations substantially overestimate moral safety. Models appear fair when demographic identity is stated as an explicit label, yet become measurably less fair when the same identity must be inferred. We term this failure performative compliance, where a model is fair when the presentation resembles a fairness evaluation and less fair as that cue weakens. We introduce a cue-variation methodology that holds the moral dilemma and the demographic identity fixed and varies only how that identity is conveyed. Hiding the explicit label raises harmful decisions by +4.4 pp, changes model safety rankings, and the shift persists when models correctly infer the demographic, ruling out attribution error. We propose the Cue Visibility Gap, a model-agnostic robustness metric that can be added to any existing fairness benchmark to separate genuine from performative moral safety. Fairness evaluations that omit cue variation measure surface compliance, not moral robustness, and should not ground deployment decisions in high-stakes settings. --- ### Tone-Conditioned Curriculum Learning for Low-Resource Bantu Speech Recognition Authors: Kesego Mokgosi, Vukosi Marivate, Sitwala Mundia, Unarine Netshifhefhe, Tsholofelo Hope Mogale, Thapelo Sindane Published: 2026-06-30 Categories: cs.CL arXiv: https://arxiv.org/abs/2606.31642v1 Southern Bantu languages are spoken by over 80 million people, yet current foundation ASR models still produce zero-shot WER above 100%, which limits practical use in education and public services. We addressed this gap with a tone conditioned curriculum framework for 6 Southern Bantu languages that combined hybrid difficulty scoring, gated adapters driven by tonal statistics and staged curriculum training. We trained on a community corpus and tested transfer to NCHLT to measure robustness beyond matched evaluation. Results revealed clear interactions between architecture and language, with W2V-BERT outperforming Whisper on Nguni languages by 3 to 4 WER points whilst Whisper performed better on Sotho-Tswana languages. W2V-BERT with tone conditioning reached 28.41% average WER across datasets and 23.79% on Xitsonga transfer. No single model suited all 6 languages, so deployment should pair model selection per language with validation across corpora. --- ### A Lifecycle and Application-Stack Survey of Large Language Model Vulnerabilities: Attacks, Risks, Defenses, and Open Problems Authors: Seyed Bagher Hashemi Natanzi, Bo Tang Published: 2026-06-30 Categories: cs.CR, cs.AI, cs.GT, cs.LO arXiv: https://arxiv.org/abs/2606.31639v1 Large language models are no longer only text generators. They are increasingly embedded in retrieval pipelines, enterprise assistants, coding environments, robotic systems, security-operation workflows, and autonomous agents that can read private data, call tools, write files, execute code, and act across organizational boundaries. This shift changes the security problem: risks do not arise from the model weights alone, but from the full lifecycle and application stack through which data, prompts, model outputs, tools, memories, and user authority interact. This paper systematizes the literature on vulnerabilities in large language model systems through a lifecycle and application-stack lens. We organize attacks across eight stages: data collection, pretraining, post-training alignment, model packaging and supply chain, retrieval and memory, prompting and inference, tool/agent execution, and deployment/maintenance. For each stage, we analyze attacker capabilities, affected security objectives, representative attacks, practical risks, evaluation practices, and defenses. We further map LLM-specific vulnerabilities to confidentiality, integrity, availability, safety, privacy, fairness, accountability, and agency-control objectives. Unlike taxonomies that list isolated attack names, the proposed systematization emphasizes where trust boundaries fail, how untrusted data becomes executable instruction, how delegated authority amplifies model errors, and why point defenses rarely compose. We close with a research agenda for secure LLM systems, including compositional security, provenance-aware retrieval, tool-call containment, long-horizon agent evaluation, privacy-preserving adaptation, realistic red teaming, and deployment-grade incident response. --- ### Intrinsic decomposition and editing of 3D Gaussian splats Authors: Alexandre Lanvin, Jeffrey Hu, Simon Lucas, Adrien Bousseau, George Drettakis Published: 2026-06-30 Categories: cs.GR, cs.AI arXiv: https://arxiv.org/abs/2606.31637v1 Intrinsic decomposition which expresses image colors as the product of diffuse albedo and shading, possibly augmented with view-dependent residuals has a long history in image editing as it enables the modification of object colors and textures without altering lighting. We extend intrinsic decomposition to radiance fields represented with Gaussian splatting by proposing solutions to three key aspects of such decomposition. First, we describe how to model the intrinsic decomposition as independent sets of Gaussian primitives, which allows each set to adapt to the characteristics of the layer it represents. Second, we present an optimization procedure guided by data-driven predictions to disentangle multi-view photographs of a scene into the aforementioned intrinsic sets. Finally, we provide an editing workflow where users modify the texture of planar surfaces simply by modifying the albedo of that surface in one image. Capturing this edit within the intrinsic radiance field allows re-rendering of the edited scene with plausible lighting under arbitrary viewpoints. --- ### LiteMatch: Lightweight Zero-Shot Stereo Matching via Cost Volume Stabilization Authors: Md Raqib Khan, Santosh Kumar Vipparthi, Subrahmanyam Murala Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31636v1 Despite rapid progress in learning-based stereo matching, high accuracy is often achieved at the cost of heavy backbones and computationally intensive 3D cost volume processing, resulting in substantial memory and runtime overhead. More critically, these methods frequently struggle to generalize across domains, limiting their practical deployment. We present \textit{LiteMatch}, a lightweight stereo matching framework that achieves strong zero-shot generalization through cost volume stabilization-without expensive 3D convolutions. LiteMatch employs two complementary encoders: a Cross-View Correspondence Encoder (CVCE) to capture global cross-view interactions, and a High-Frequency Encoder (HFE) that enhances fine structural details via FFT-based frequency cues. To stabilize the cost volume, we introduce the \textit{Cost Volume Consistency Loss (CVC-Loss)}, a voxel-wise binary cross-entropy objective applied to softmax-normalized cost distributions. By encouraging sharp and unimodal disparity probabilities, CVC-Loss promotes stable cost distributions and enables rapid convergence. A lightweight refinement module further produces sharp full-resolution disparities with low-iteration updates, avoiding heavy recurrent refinement. With a flexible design ranging from 3.36M to 9.58M parameters, LiteMatch achieves exceptional zero-shot generalization, delivering competitive EPE and D1 performance across Scene Flow, KITTI, Middlebury, ETH3D, and DrivingStereo. Our results establish that lightweight architectures can indeed generalize across domains without sacrificing accuracy. \href{https://mdraqibkhan.github.io/Litematch}{\textcolor{blue}{Code}} --- ### A Tutorial on Autonomous Fault-Tolerant Control Using Knowledge-Grounded LLM Agents Authors: Javal Vyas, Milapji Singh Gill, Artan Markaj, Felix Gehlhoff, Mehmet Mercangöz Published: 2026-06-30 Categories: eess.SY, cs.AI, cs.MA arXiv: https://arxiv.org/abs/2606.31635v1 Fault recovery in process plants still relies heavily on plant operators, especially when faults fall outside predefined supervisory logic. Operators interpret alarms, procedures, P\&IDs, interlocks, and process trends, then decide how to move the plant to a safe operating mode without triggering a shutdown. This paper examines how Large Language Model (LLM) agents can support such recovery decisions. The proposed framework treats the LLM as a constrained supervisory planner. It uses plant-specific knowledge to propose recovery actions, and every proposal is checked by an external validator (symbolic or simulation-based) before actuation. The paper develops three design dimensions for applying the framework: the recovery patterns for which LLM agents are useful, the validation strategies that separate admissible from inadmissible proposals, and the deployment constraints imposed by latency, knowledge engineering, safety integration, and model lifecycle management. To make the framework directly usable, two openly available executable Python environments are provided. Both re-implement established case studies, a modular mixing module and a continuous stirred-tank reactor, extended with configurable faults and defined interfaces for custom recovery and validation methods. --- ### Calibration, Not Compilation: Detecting and Repairing Misspecified Probabilistic Programs Written by Language Models Authors: Jian Xu, Delu Zeng, John Paisley, Qibin Zhao Published: 2026-06-30 Categories: cs.LG arXiv: https://arxiv.org/abs/2606.31630v1 Language models increasingly write probabilistic programs (in NumPyro, Stan, or Pyro), but a program that compiles, runs, and passes every unit test can still be \emph{statistically} wrong -- a Gaussian likelihood for heavy-tailed data, a Poisson for over-dispersed counts, an invalid prior support, or a pathological parameterization. The right verifier is therefore not a test suite but the Bayesian workflow itself: posterior predictive checks, simulation-based calibration, sampler diagnostics ($\hat R$, divergences, ESS), and held-out predictive density. We study this calibration oracle along three axes. \textbf{Detection:} on a benchmark of $14$ misspecification types across $10$ model families ($200$ instances), it flags the bug with AUC $0.97$ ($88\%$ at $2\%$ FPR \emph{when handed the correct reference program, an upper bound}) -- and a fully \emph{reference-free} version that uses no correct program reaches $62$--$78\%$ (the upper figure from a small automated model search), versus $0\%$ for a unit-test oracle. \textbf{Repair:} used as feedback in an LLM repair loop across fifteen models, calibration significantly outperforms unit-test feedback -- which is itself \emph{significantly worse than no feedback at all}, a passing test inducing false confidence that suppresses repair -- and improves over no feedback on strong-but-unsaturated models (GPT-5.1 $33{\to}92\%$, Claude $75{\to}100\%$; paired McNemar, $n{=}228$). \textbf{Reality:} on programs LLMs write from scratch for neutral briefs, $15$--$47\%$ of runnable ones are statistically misspecified (unit tests catch none), and calibration-guided repair significantly beats LLM-as-judge review, a Bayesian-workflow checklist, and data-summary self-debug. Across all three, the lesson is the same: for probabilistic programs, correctness is calibration, not compilation. --- ### PrISM-IQA: Image Quality Assessment Made Practical for Smartphone Photography Authors: Shuyan Zhai, Jiaqi He, Weixia Zhang, Liang Wang, Zhenjie Lee, Zufeng Zhang, Kede Ma Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31626v1 Existing smartphone image quality assessment (IQA) methods commonly reduce perceptual quality to a single score. However, this scalar formulation is poorly aligned with practical image signal processor (ISP) tuning, where engineers must identify specific quality issues, estimate their severities, and determine whether they are acceptable or require intervention. In this work, we introduce a Practical ISP-aware Structured Model for IQA (PrISM-IQA), which reformulates smartphone IQA as a multi-issue ordinal diagnosis problem. Rather than regressing a single quality score, PrISM-IQA predicts an \textit{ordered} severity level -- absent, minor, severe, or critical -- for each ISP-relevant issue, covering both global image-level artifacts and local content-dependent defects. To produce logically consistent predictions, PrISM-IQA combines cumulative ordinal encoding with structured inference that captures within-issue monotonicity as well as cross-issue subsumption and exclusion relations. We evaluate PrISM-IQA on a reconstructed SPAQ benchmark annotated with $53$ ISP-relevant quality issues and on a small-scale expert-annotated real-world dataset. Experimental results demonstrate the effectiveness of PrISM-IQA for practical issue-level diagnosis, reveal transferable perceptual quality representations through linear probing, and further show how its predictions can support actionable and meaningful ISP tuning. --- ### Scientific Explanations in Health Sciences: Causality, Trust, and Epistemic Adequacy Authors: Martina Mattioli, Marcello Pelillo Published: 2026-06-30 Categories: cs.AI arXiv: https://arxiv.org/abs/2606.31616v1 Medical Artificial Intelligence (AI) is widely expected to transform clinical practice, yet the decision-making processes of many Machine Learning (ML) models remain opaque. Explainability has been advanced as a partial remedy to clarify why AI generates predictions, particularly in high-stakes contexts. Despite ongoing efforts, debates on what constitutes an adequate medical explanation remain unsettled. Yet, explanation has long been a central topic of inquiry in the philosophy of science and medicine. The insights developed in these fields, however, have been largely overlooked in contemporary explainable AI (XAI) research, leaving its foundational assumptions insufficiently examined. To address this gap, this paper develops a critical review at the intersection of philosophy of science and XAI. It examines prevailing accounts of what counts as an explanation in the health sciences and assesses their adequacy for informing XAI in medicine, arguing that they provide necessary conditions for a philosophically grounded approach to explainability in this domain. Building on this foundational philosophical literature, the discussion identifies three central axes of analysis: the role of causality in medical reasoning, the epistemic and relational dimensions of medical trust, and the criteria of explanatory adequacy as shaped by the pragmatic needs of diverse stakeholders. By integrating philosophical analysis with current developments in medical AI, the paper outlines principles for designing XAI systems that offer explanations that are not only epistemically robust but also aligned with the epistemic and practical requirements of clinical decision-making, shaping ongoing debates in medical XAI toward underexplored conceptual foundations. --- ### Automating Cause-Effect Specification with Knowledge Graphs and Large Language Models Authors: Javal Vyas, Milapji Singh Gill, Mehmet Mercangöz Published: 2026-06-30 Categories: eess.SY, cs.AI arXiv: https://arxiv.org/abs/2606.31614v1 Engineering specifications such as interlocks, alarm rationalization tables, and cause-and-effect (C&E) matrices remain central to process control and safety, yet their creation is still predominantly manual, document-driven, and prone to inconsistency. This paper presents a semantic-AI framework that automates the generation of C&E logic by combining a knowledge graph (KG) with a constrained large language model (LLM) layer. The KG builds on an established modular alignment ontology to represent process structure, operating modes, faults, symptoms, causes, and mitigation actions in a machine-interpretable form. The LLM then transforms this information into operator-ready safety narratives and Semantic Web Rule Language (SWRL) rules under strict ontology and vocabulary constraints, grounding the generated artifacts in the underlying semantic model. The workflow is demonstrated on a modular process plant, showing how engineering semantics, diagnostic relations, and machine-verifiable specifications can be generated from a unified knowledge representation with reduced manual effort. --- ### Robust Autonomous UAV Landing on Maritime Platforms via Multimodal Agentic AI and Active Wave Compensation Authors: Francisco S. Neves, Pedro N. Pereira, Raul D. S. G. Campilho, Andry M. Pinto Published: 2026-06-30 Categories: cs.CV, cs.RO arXiv: https://arxiv.org/abs/2606.31613v1 Autonomous aerial inspection of marine infrastructure is frequently compromised by stochastic sea states, introducing risks of high-kinetic impacts, post-landing toppling, and sensory occlusion. This paper proposes a decoupled, multi-vehicle landing framework synchronizing an Unmanned Surface Vehicle (USV) equipped with a 3-RPU stabilized platform with a robust Unmanned Aerial Vehicle (UAV). The architecture utilizes two independent Deep Reinforcement Learning (DRL) agents: a Soft Actor-Critic (SAC) agent providing high-frequency wave-motion compensation for the landing deck, and a multimodal RL agent for the UAVs final approach. Evaluated in high-fidelity maritime simulations, the system achieved a 100% landing success rate across 15 trials in wave states varying from calm to rough. Results show a mean stabilization efficacy of 87.8%, maintaining the landing surface within 1 degree of the horizontal plane for 96% of the mission duration in rough conditions, effectively contributing to safer landings. --- ### What Memory Do GUI Agents Really Need? From Passive Records to Active Task-Driving States Authors: Chen Liu, Ling Chen, Hanzhang Zhou, Xu Zhang, Quyu Kong, Panrong Tong, Wenhao Wang, Xin Yu, Steven Hoi, Yue Wang Published: 2026-06-30 Categories: cs.CV arXiv: https://arxiv.org/abs/2606.31612v2 Mobile GUI agents increasingly face long-horizon tasks that require reading, updating, and reusing task-relevant data across pages and applications. Existing methods treat memory largely as passive storage, where past observations are accumulated and retrieved when needed. Yet retrieving a value does not reveal its current role in the workflow. The agent must still infer from accumulated records whether the value should be used now, has already been used, or must wait for a later dependency. This implicit reconstruction becomes unreliable in long trajectories with repeated values, distractors, and outdated states, causing repeated or missed operations. To address this, we propose Active Task Driving Memory (ATMem), which shifts GUI-agent memory from passive storage to an actively maintained execution state. ATMem maintains task-relevant information as a continually updated execution state that links each value to its role and current status, enabling action selection based on the current workflow state. While supervised fine-tuning enables the agent to construct ATMem, it does not teach when ATMem is beneficial. We therefore introduce STR-GRPO, an online reinforcement learning method that encourages selective use of ATMem based on its contribution to task completion. STR-GRPO contrasts memory-on and memory-off rollouts to estimate when memory use improves execution, while memory-cost-aware reward discourages costly memory usage that does not improve execution. To evaluate whether agents can complete all in-scope work while avoiding out-of-scope actions, we build a challenging mobile benchmark. From a list of near identical entries, agents must act on every entry that satisfies the instruction and reject entries that violate its constraints. We further introduce App-Level Progress and Scope-Aware F1 to measure these two dimensions separately. --- ### Learning Structurally Consistent Representations for Multi-View Radar Semantic Segmentation Authors: Ali Zia, Muhammad Umer Ramzan, Abdelwahed Khamis, Usman Ali, Abdul Rehman Published: 2026-06-30 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.31609v1 Radar sensors provide reliable perception under adverse weather and lighting conditions, but their sparse, noisy, and weakly semantic measurements make dense semantic segmentation challenging. Most existing radar segmentation methods rely on grid-based encodings and pairwise interactions, which struggle to capture the higher-order relational structure formed by multiple radar returns from the same physical object. We introduce a unified higher-order structural alignment framework for multi-view radar segmentation. The proposed method refines radar feature representations using learnable hypergraphs to capture higher-order dependencies among spatially related responses. To ensure consistency across heterogeneous radar projections, we further align view-specific features using Unbalanced Optimal Transport (UOT), enabling correspondence-free alignment under varying measurement densities and partial observations. An adaptive attention mechanism then fuses complementary radar views while emphasising structurally informative responses under sparsity and noise. The resulting architecture learns structurally consistent representations across Range Angle (RA), Range Doppler (RD), and Angle Doppler (AD) views and is trained using supervised segmentation together with cross-view consistency regularisation. Experiments on the CARRADA and RADIal benchmarks demonstrate consistent improvements over strong radar-specific baselines, achieving 63.8% mIoU on CARRADA and 83.4% mIoU on RADIal, improving the previous best methods by +1.7 and +2.3 mIoU, respectively. These results highlight the importance of higher-order relational modelling for robust radar perception. --- ### CLExEval: A Human-in-the-Loop Framework for Qualitative Evaluation of LLM Clinical Reasoning Authors: Ajmal M., Abin Roy, Afthab Salam Kanniyan, Jawadh Abdul Kabeer, Jerin James, Preslav Nakov, Zhuohan Xie Published: 2026-06-30 Categories: cs.CL arXiv: https://arxiv.org/abs/2606.31608v1 Large Language Models (LLMs) achieve strong results on many medical benchmarks, but their clinical reasoning remains difficult to evaluate reliably. A central risk is an evaluation illusion: fluent and well-structured explanations can appear clinically convincing even when the final diagnosis is incorrect. We introduce CLExEval, a human-in-the-loop framework for evaluating LLM clinical reasoning under progressive information masking. CLExEval combines 5,600 expert-physician annotations with 200 clinical reasoning traces derived from 40 rare diagnostic cases. Our analysis identifies three recurring failure patterns: (i) verbosity bias, where GPT-4o-mini's diagnostic accuracy drops from 95.0% to 32.5% under information scarcity; (ii) a hidden knowledge paradox, where a specialist model reaches 92.5% maximum diagnostic potential but fails to retrieve that knowledge reliably in verbose contexts; and (iii) a 68.6% reasoning-to-output mismatch, where correct diagnoses appear in reasoning traces but are not reflected in final answers. We further evaluate the LLM-as-a-Judge paradigm on a human-verified failure set (n = 142). GPT-4o-mini approved 47.9% of clinically incorrect outputs, while HuatuoGPT-o1 approved all validly scored failures and showed a positive self-preference bias. These results suggest that standalone automated clinical evaluations can substantially overestimate clinical reliability without expert-grounded validation. --- ### Preserve the Hard, Regenerate the Rest: Uncertainty-Guided Synthetic Training Data Augmentation with Diffusion Models Authors: Nikolai Röhrich, Julian Gleißner, Ahmed H. A. Ibrahim, Silvan Mertes, Tobias Huber Published: 2026-06-30 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2606.31603v1 Semantic segmentation models struggle with data sparsity and rare or visually diverse regions, e.g., dense regions or small objects in aerial or autonomous mobility data. While synthetic augmentation is an appealing solution, directly generating new labeled data risks misalignment of labels and generated pixels. Existing solutions to this problem often rely on external models, or employ coarse heuristics such as indiscriminately augmenting all foreground objects or entire backgrounds, which wastes capacity on uninformative pixels. To address this, we propose an uncertainty-guided synthetic context augmentation strategy that strictly preserves label validity and efficiently maximizes pixel informativeness per synthetic sample - no external guardrails required. Using a baseline segmenter's predictive entropy, we identify uncertain semantic regions and inpaint only the complementary visual context. When fine-tuning the segmenter on this synthetic data, we compute the loss only over the original pixels, excluding inpainted regions. This focuses learning on the unmodified, uncertain regions while presenting them in novel contexts. We demonstrate substantial mIoU gains on Cityscapes, UAVID, and BDD100K with the largest gains on rare and difficult classes such as buses, trains, or (from the aerial perspective) cars. Our results demonstrate that uncertainty-guided context augmentation is a highly effective lever to improve segmentation performance on complex datasets, with code provided at https://github.com/XITASO/Preserve-the-Hard-Regenerate-the-Rest. --- ### Robust Text Watermarking for Large Language Models via Dual Semantic Embeddings Authors: Jonas Schäfer, Cezary Pilaszewicz, Gerhard Wunder Published: 2026-06-30 Categories: cs.CL, cs.CR arXiv: https://arxiv.org/abs/2606.31602v3 This work presents Dual-Embedding Watermarking (DEW), a semantic watermarking scheme for large language models (LLMs) that leverages contextual and token-level embeddings to enhance robustness against paraphrasing and translation. DEW utilizes a signal-processing methodology, applying algebraic vector-space operations to token and context embeddings to derive a watermark signal that degrades gracefully under semantic shifts. The method obfuscates the watermark by projecting embedding vectors through pseudo-random matrices seeded with a secret key. Experimental results show that dual-embedding watermarking can offer state-of-the-art robustness, particularly against translation, while incurring relatively low computational overhead compared with other semantic schemes. At lower watermark strength, DEW also maintains competitive text quality, suggesting that dual-embedding signals provide a promising substrate for robust semantic watermarking. --- ### Robust Text Watermarking for Large Language Models via Dual Semantic Embeddings Authors: Jonas Schäfer, Cezary Pilaszewicz, Gerhard Wunder Published: 2026-06-30 Categories: cs.CL, cs.CR arXiv: https://arxiv.org/abs/2606.31602v2 This work presents Dual-Embedding Watermarking (DEW), a semantic watermarking scheme for large language models (LLMs) that leverages contextual and token-level embeddings to enhance robustness against paraphrasing and translation. DEW utilizes a signal-processing methodology, applying algebraic vector-space operations to token and context embeddings to derive a watermark signal that degrades gracefully under semantic shifts. The method obfuscates the watermark by projecting embedding vectors through pseudo-random matrices seeded with a secret key. Relevant distributions derived from the underlying algebra are evaluated and employed for statistical testing and benchmarking of DEW. Experimental results across multiple LLMs indicate that DEW improves post-paraphrase detection while maintaining competitive text quality, and remains detectable after translation, even when prior semantic watermarks degrade significantly. These findings position DEW as a practical and robust solution for safeguarding LLM-generated text and addressing critical issues in responsible AI deployment. --- ### On Optimal Data Splitting for Split Conformal Prediction Authors: Sayan Das, Bahram Yaghooti, Todd A. Kuffner, Soumendra N. Lahiri Published: 2026-06-30 Categories: math.ST, cs.LG, stat.ML arXiv: https://arxiv.org/abs/2606.31600v1 Conformal prediction and its variants, including the split conformal prediction, provide a distribution-free framework for uncertainty quantification by constructing prediction intervals or sets with finite-sample coverage guarantees. The statistical efficiency of these intervals depends critically on how the data are split into training and calibration samples. Despite its practical importance, a principled characterization of the training-calibration split that minimizes prediction interval length while maintaining coverage has remained largely unresolved. In this paper, we develop a theoretical framework for optimal data splitting in split conformal prediction. We first analyze the problem in a general setting and derive analytical characterizations of the length-optimal split ratio under both symmetric and asymmetric regimes. We then show how the general results specialize to several commonly used regression settings, including linear regression, nonparametric regression, and neural networks, thereby demonstrating the scope of the framework. We also describe a data-based method for selecting the optimal proportion. Our analysis clarifies how model-related features govern the optimal allocation of samples between training and calibration and provides principled guidance for constructing shorter prediction intervals. Experiments on both synthetic and real-world datasets demonstrate the applicability of the proposed methodology across a variety of practical scenarios. --- ### Token-Sparse Medical Multimodal Reasoning via Dual-Stream Reinforcement Learning Authors: Kaitao Chen, Weiqian Zhao, Jiamin Wu, Qihao Zheng, Shangquan Sun, Chunfeng Song, Xiaosong Wang, Mu Zhou, Mianxin Liu Published: 2026-06-30 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.31599v1 Vision-language models (VLMs) combining reinforcement learning (RL) ignite remarkable progress in multimodal reasoning, yet still struggle with medical images, which typically exhibit extremely sparse visual evidence to inform clinical decision-making. We recognize that pruning visual tokens outside the grounding region greatly enhances medical reasoning. However, a united RL framework for active visual token pruning (VTP) and medical multimodal reasoning remains unestablished. Here, we propose a dual-stream RL framework, ViToS, to fulfill token pruning and question answering. ViToS trains one policy model with two task branches, where one focuses on grounding while the other conducts token-sparse reasoning after VTP. Furthermore, we solve the coupled policy learning problem by introducing the cross-feedback sequential optimization, avoiding gradient conflict and facilitating convergence of the shared policy model. Evaluated on seven medical benchmarks, our method reduces visual tokens to 77% of the original sequence length while achieving a 108.27% relative performance on Lingshu-7B and 104.16% relative performance on HuatuoGPT-Vision-7B. Overall, ViToS delivers superior performance and inference speedup, establishing an efficient paradigm for medical multimodal reasoning. --- ### Comparative Analysis of Machine Learning based Intrusion Detection in Realistic IoT Networks Authors: Rana Alharbi, Chuadhry Mujeeb Ahmed Published: 2026-06-30 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2606.31594v1 The Internet of Things (IoT) is rapidly growing and expanding into various sectors, such as healthcare, transportation, smart homes, and more. Despite the benefits of using IoT devices, they present several challenges. Given the significant role these devices play in our lives, it is crucial to address issues related to their security and privacy. These devices are limited in resources, which complicates their security and the protection of the data that they manage. The paper aims to examine intrusion detection systems using the Gotham2025 dataset, generated through the Gotham testbed, which consists of 78 emulated IoT devices utilising various protocols, including MQTT, CoAP, and RTSP, to assist in safeguarding IoT networks from attacks. We conduct a comparative analysis between five machine learning algorithms, including Random Forest, XGBoost, Logistic Regression, Naive Bayes, and Deep Neural Network. We demonstrate that the Random Forest Classifier was the top-performing model, achieving an F1-score of 0.99 in classifying attacks. --- ### Evil Spectra: How Optimisers can Amplify or Suppress Emergent Misalignment Authors: Jason R. Brown, Patrick Leask, Lev McKinney Published: 2026-06-30 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2606.31591v1 Emergent misalignment (EM) is a recently discovered phenomenon in LLMs where fine-tuning on a narrow misaligned task, such as writing insecure code, leads to broadly misaligned behaviour on unrelated prompts. Previous work has noted that the severity of EM is highly sensitive to training choices; however, we still lack a systematic characterisation of this sensitivity. We perform a sweep over several Qwen3 models, optimisers, datasets, and batch sizes, and find that the choice of optimiser has the largest effect, producing a 7x spread in misalignment rate. Surprisingly, model size has a negligible effect within the Qwen3 family. An additional sweep over 12 models from three families using Adam confirms that model scale (1B-235B) and family have negligible effects for that optimiser. Analysing the loss-alignment relationship on Qwen3-8B, we find that final log training loss is a strong predictor of alignment, and that stratifying by optimiser captures nearly all the residual variance. Training dynamics reveal that each optimiser follows a different trajectory through loss-alignment space, and that after significant training, the optimiser becomes more important than training loss as a predictor of alignment. Muon, the adaptive optimiser that preserves alignment the best, implicitly regularises for a more uniform distribution of singular values of the LoRA adapter. We evaluate this insight by training with an additional loss term that incentivises a flatter singular value spectrum, and find that this substantially recovers alignment for the more EM-prone adaptive optimisers (Adam and Lion), with negligible cost to training loss. These results identify optimiser choice as a key factor in EM severity, but show that spectral regularisation can substantially mitigate the effects of EM-prone optimisers. --- ### From Failure to Alignment: A Requirements Engineering Framework for Machine Learning Systems Authors: Amel Bennaceur, Gopi Krishnan Rajbahadur, Prince Mercy, Bashar Nuseibeh, Faeq Alrimawi Published: 2026-06-30 Categories: cs.SE, cs.LG arXiv: https://arxiv.org/abs/2606.31589v1 Organisations designing, developing, and deploying machine learning systems (MLS) need to be able to check that these systems are trustworthy, and communicate this clearly to their stakeholders, be they different categories of users, engineers, or wider society. By focusing on stakeholders, Requirements Engineering is well positioned to drive the design and engineering of MLS that align with the needs of their stakeholders. Yet, we still need a systematic process for modelling and reasoning about requirements for MLS that is driven both by stakeholders' needs and constraints for MLS development. This paper proposes a framework entitled REAL (Requirements Engineering for mAchines that Learn - and Fail) to help develop MLS that align with stakeholders' needs by adopting a requirements engineering approach. This model-based framework is based on three principles. First, weaving together requirements for data, models, and the system as a whole. Second, using failure to drive the exploration of alternative requirements. Third, iterative and traceable refinement of MLS requirements. We demonstrate the proposed framework using an example from autonomous driving and show that REAL supports the development of MLS that better align with stakeholders' requirements. A replication package is available online. --- ### ZEBRA: Zero-Shot Entropy-Regularized Prompt Learning for Base-to-Novel Generalization in Audio-Language Models Authors: Asif Hanif, Mohammad Yaqub Published: 2026-06-30 Categories: cs.SD, cs.AI arXiv: https://arxiv.org/abs/2606.31587v1 Audio-Language Models (ALMs) achieve strong zero-shot performance by aligning audio with textual class descriptions. Although prompt learning improves accuracy on base classes through few-shot supervised adaptation, we observe a critical trade-off: it often degrades performance on novel classes, sometimes falling below zero-shot accuracy. This exposes a base-to-novel generalization gap in prompt learning for ALMs. To address this issue, we propose \textbf{ZEBRA} (Zero-shot Entropy-Regularized Prompt Learning for Base-to-Novel Generalization), a plug-and-play framework that fuses zero-shot logits with prompt-learning logits, and employs self-entropy regularization to reduce overfitting to base classes. Experiments across multiple audio classification datasets show that ZEBRA consistently improves novel-class performance while maintaining strong base accuracy, significantly reducing the base-to-novel gap compared to standard prompt learning. The code is available at: https://github.com/asif-hanif/zebra. --- ### DPPE: Rethinking Camera-Based Positional Encoding for Scaling Multi-View Transformers Authors: Shun Kenney, Teppei Suzuki Published: 2026-06-30 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2606.31585v1 The remarkable scalability of Transformers has expanded their application to 3D computer vision, where camera-aware positional encoding is crucial for providing spatial cues in multi-view geometry. Recent advancements have established the practice of using camera parameters -- such as extrinsics or projection matrices -- as relative positional encoding into the query, key, and value vectors of the attention mechanism. However, when scaling up the training recipe of novel view synthesis (NVS) models with the camera-based positional encoding, we observe a significant issue: model performance stagnates in the late stages of training. In this paper, we investigate the cause of the performance bottleneck when scaling up and demonstrate that storing rotation and translation given by the positional encoding in the same dimensions of the value vector causes indeterminacy in their independent identification, hindering training scalability. To address this, we propose Decoupled Pose Positional Encoding (DPPE), a novel camera-based positional encoding that explicitly decouples rotation and translation. Extensive evaluations on NVS tasks demonstrate that DPPE enables stable long-term training even in scaled-up training setup. Furthermore, it exhibits superior generalization performance in extrapolation settings, such as handling an increased number of viewpoints and zoom-in scenarios. --- ### A Large-Scale Empirical Evaluation of MMAO Under Fair-Budget Continuous and Discrete Benchmarks Authors: Jinliang Xu, Liping Ma Published: 2026-06-30 Categories: cs.NE, cs.MA arXiv: https://arxiv.org/abs/2606.31584v2 This paper evaluates the Metabolic Multi-Agent Optimizer (MMAO) under a stricter empirical protocol rather than reintroducing the framework itself. The study asks whether MMAO's closed-loop resource-allocation principle remains credible under broader, more standard, and more explicitly budget-controlled continuous and discrete benchmarks. The main completed matrix covers eight CEC2017 functions at 10D and 30D with 20 seeds each, and five TSPLIB instances with 20 seeds each, together with stronger reproducible baselines including PSO-lite, ES-lite, and an iterated-greedy 2-opt route baseline. We further add trajectory-level diagnostics for communal budget, success rate, role evolution, and population turnover, plus an auxiliary OR-Library multiple-knapsack slice to extend the discrete evidence beyond routing. Under this protocol, MMAO clearly outperforms the external baseline set on the continuous side and on the TSPLIB side, while the ablation variants remain much closer to the full method than the external baselines are. We therefore position MMAO as a benchmark-backed cross-domain adaptive framework whose most clearly validated value is endogenous resource redistribution under evidence pressure, while also noting that the strongest remaining gap is not basic workability but sharper mechanism isolation and broader competition-grade comparison. ---