# Research Papers — 2026-08 · bundle page 58 of 240 > Full-text markdown of papers #2851–2900 of 11995 published in 2026-08, newest first. AI-readable mirrors of the full 11995-paper 2026-08 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-08/page/58 [← Previous bundle](https://aipod.dev/papers/archive/2026-08/page/57.md) [Next bundle →](https://aipod.dev/papers/archive/2026-08/page/59.md) ### Source-Face Authenticity Detection for 3D Gaussian Heads Reconstructed from a Single Portrait: A Benchmark and Dedicated Detector Authors: Yujie Gao, Zijian Yu, Yan Hong, Jun Lan, Jianfu Zhang Published: 2026-08-25 Categories: cs.CV arXiv: https://arxiv.org/abs/2608.23984v1 Recent advances in single-image 3D Gaussian head reconstruction have enabled highly realistic and freely renderable digital heads from a single portrait. However, reconstruction and rendering can weaken the forgery traces in the source portrait, making the resulting 3D face difficult to classify whether its underlying face is real or fake, and thereby posing risks to identity authentication and face privacy. To study this problem, we introduce the first large-scale benchmark for this task by collecting real portraits and fake portraits from multiple sources and evaluate representative existing detectors on this benchmark, revealing their lack of explicit mechanisms for retaining fine-grained information and maintaining feature consistency across rendered views. To directly address these two limitations, we propose a detector trained with a two-stage strategy. In Stage I, masked autoencoding encourages the visual backbone to retain the fine-grained appearance information required for local reconstruction, while multi-view contrastive learning enforces feature consistency across rendered views of the same head. Since CLS tokens at different depths exhibit complementary spatial attention patterns, Stage II freezes the adapted backbone and concatenates low-, middle-, and high-level CLS tokens for classification. Experiments show that our method achieves the highest accuracy and ranks first across all reported metrics among the evaluated detectors. --- ### Memory Is Not Always Needed: Characterizing Conditional Memory in Scientific Reasoning Authors: Zhen Bi, Xueshu Chen, Yan Wang, Zhizhi Peng, Haosen Hong, Zhen Wang, Zhixuan Chu, Bingyu Zhu, Jungang Lou Published: 2026-08-25 Categories: cs.AI, cs.CL, cs.LG arXiv: https://arxiv.org/abs/2608.23982v2 Scientific reasoning requires language models to retrieve specialized knowledge and incorporate it reliably into multi-step computation. Conditional memory provides an explicit lookup pathway that complements dense neural representations, but its usefulness is inherently input- and computation-dependent: retrieved information may repair missing scientific associations, yet it may also introduce distracting shortcuts or interfere with reasoning that the base model can already perform correctly. In this work, we systematically investigate when, where, and to what extent conditional memory should participate in scientific reasoning. We characterize the scientific knowledge boundary and controlled interventions on memory-enabled knowledge-circuit nodes. Based on these analyses, we propose a Knowledge Boundary-Aware Router that uses task-specific input proxies available before generation to determine whether memory is activated, which layer-stage nodes receive memory signals, and how strongly these signals contribute. Experiments on biological and chemical reasoning benchmarks, covering two backbone families and six task types, show that memory effects vary substantially across inputs, tasks, and injection locations. Compared with static and activation-rate-matched random routing, our approach more consistently preserves beneficial memory contributions while suppressing memory-induced regressions, establishing selective memory allocation as an important principle for reliable scientific reasoning. --- ### Rules Before Oracles: Auditable, User-Configurable Argument Selection for Deliberative Polling Authors: Muntaser Syed, Markus Zanker, Marius Silaghi Published: 2026-08-25 Categories: cs.AI, cs.CR, cs.CY, cs.GT, cs.MA arXiv: https://arxiv.org/abs/2608.23979v1 In a deliberative poll, once submissions outnumber what anyone will read, some mechanism chooses which arguments each voter sees, acquiring much of the decision; practice delegates it to opaque learned rankers, so a voter cannot recompute or contest the exposure that shaped their vote. We ask whether it can be a published rule over publicly recomputable evidence with parameters held by the voter, treating legibility as an admissibility condition on usable mechanisms, not an objective traded against accuracy. We formalise a poll over bipolar justification sets, judging a slate by reason coverage, the order it arrives in, and captured endorsement mass; we give seven checkable criteria for a civic recommender and a rule meeting them: a one-hop reversed endorsement flow parameterised by a relation-weight function. An agentic simulator records every slate at every vote, over about 17,000 seed-paired runs. Served slates fall 0.035 short of a label-reading ceiling upper-bounding every selection procedure, opaque ones included: any unconstrained ranker's advantage is bounded and small. On coverage alone, with non-degenerate authoring, the rule is indistinguishable from a random slate, a null due to an order-blind, charity-blind instrument; on the other two it leads at every prefix by a margin widening with adversarial pressure and dominates on mass by a factor of 3.3. Once a realistic fraction of submissions carries no reasons, the coverage margin returns and grows. Label-homogeneous flooding collapses completeness from 0.81 to 0.34 under a flat weight policy, only to 0.44 under author-count normalisation, making the weight function a security control worth 10% of completeness. The choice between ranking arms is a position on a coverage-versus-mass frontier, not a fact, the kind of choice only a legible rule can hand to the person it affects. It maps onto an open-source peer-to-peer platform. --- ### When Seeing Is Not Enough: Benchmarking Interactive Visual Grounding in LVLMs Authors: Zhengxiang Wang, Owen Rambow Published: 2026-08-25 Categories: cs.AI, cs.CV arXiv: https://arxiv.org/abs/2608.23978v2 Visual grounding is typically evaluated as a one-shot mapping from an informative referring expression to a visual target. This formulation misses a central property of real-world reference: initial referring expressions are often incomplete or ambiguous, requiring participants to establish shared understanding through interaction. We introduce a controlled evaluation framework for interactive visual grounding in large vision-language models (LVLMs), varying how much target information is provided upfront and how much must be acquired through dialogue. Across four human-grounded visual contexts and four interaction protocols, current LVLMs perform significantly below task-level human baselines. Interaction can help when follow-up questions refine or repair an initial target description. Performance is lowest when no initial description is provided and target information must be acquired through questions, indicating that proactive question-driven grounding remains difficult. LVLMs are also poorly calibrated, often reporting confidence that exceeds their empirical accuracy. Follow-up studies confirm these patterns across varied description sources (human versus AI), reasoning efforts, repeated interactions, description providers, and visual contexts. Overall, interactive visual grounding remains challenging, requiring visual matching, information seeking and synthesis. --- ### Boot-and-Feedback Framework for Generalist-Expert Model Collaboration in Breast Ultrasound Diagnosis Authors: Ming Cheng, Hongyu Sun, Zhaolin Chen, Jun Liu, Hossein Rahmani, Qiuhong Ke Published: 2026-08-25 Categories: cs.CV, cs.MM arXiv: https://arxiv.org/abs/2608.23974v1 Breast ultrasound (BUS) is widely used for breast cancer diagnosis yet remains operator-dependent. While deep learning shows promise, ensuring diagnostic reliability and interpretability is challenging. Recent Multimodal Large Language Models (MLLMs) often generate spurious descriptions due to limited domain knowledge, which mislead downstream expert models and compromise clinical validity. To address these challenges, we propose the Boot-and-Feedback (BooF) model collaboration framework for synergistic MLLM-expert interaction. Specifically, in the Boot Stage, the MLLM is guided by the BI-RADS lexicon and preliminary benign-malignant vision-expert predictions, enabling it to transfer general reasoning to BUS analysis while avoiding hallucinations. Subsequently, the Feedback Stage integrates these descriptions with visual features via a lightweight Attention-Gated Cross-Modality Fusion Module. This allows the expert to leverage textual feedback while adaptively filtering noise. Extensive experiments on multiple BUS datasets demonstrate that BooF substantially outperforms state-of-the-art methods in terms of diagnostic accuracy and interpretability. --- ### Giraffe: A Mapping Architecture from Hidden Text Representations to Visual Embeddings for Efficient Graphic Design Authors: Nejla Ghaboosi Published: 2026-08-25 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2608.23970v1 Multimodal large language models (MLLMs) have made significant progress in understanding and interpreting mul- timedia content. However, their ability to generate me- dia remains limited. Recent approaches have attempted to bridge this gap by translating the hidden representations of token sequences into the embedding space of visual models or directly into raw image data. However, these methods often represent each image using multiple specialised to- kens which significantly increases the input length. This be- comes a major limitation for tasks such as graphic design generation where the output typically involves a seamless blend of thousands of tokens across text, multiple images, and layout information. To address this challenge, a novel architecture is proposed that maps hidden token represen- tations to the embedding space of visual models, such as CLIP ViT-L/14, using a single (IMG) token per image. The architecture employs two shallow MLP blocks, each with a separate compression module followed by a shared expan- sion module, trained with six distinct loss functions. One block aids the other during training and is omitted during inference, resulting in a lightweight solution. Strong perfor- mance is demonstrated in both image-to-design and text-to- design generation tasks. --- ### Investigating Knowledge Transfer Across Interactive Dialogue Games Authors: Filippo Momentè, Mir Nafis Sharear Shopnil, Andrea de Varda, Pavel Merinov, Raffaella Bernardi, Oswald Lanz, Alessandro Suglia, Alessandro Torcinovich Published: 2026-08-25 Categories: cs.CL arXiv: https://arxiv.org/abs/2608.23969v1 Dialogue games represent a challenging setting where complex cognitive skills are required to accomplish tasks while coordinating with other players. Considering that language represents an interface for both understanding the game rules and executing actions, it is reasonable to assume that training on a specific language game will enhance specific capabilities that might be relevant for other tasks as well. Motivated by this rationale, in this paper, we investigate how knowledge transfers across different dialogue games. We study transferability by finetuning LLM models on games from the clembench suite (Chalamalasetti et al., 2023) and performing two analyses: i) we derive a task-transferability graph using a binary integer optimization program from Zamir et al. (2018), using task performance as the main metric; and ii) we compute task vectors (Ilharco et al., 2022) for each game to study similarities across finetuned models and their task transferability. In our first analysis, we find that some games benefit more from transfer than finetuning, and that the visuospatial family (e.g., exploration games) transfers best. With our task vector analysis instead, we find that similarity-based approaches capture game-role relationships but almost no transferability patterns, suggesting that more complex metrics are required. --- ### RAGSentinel: Certifiable Geometric Consensus for Robust Retrieval-Augmented Generation Authors: Yueyang Quan, Anjun Gao, Yufei Xia, Minghong Fang, Zhuqing Liu Published: 2026-08-25 Categories: cs.CR, cs.AI, cs.IR, cs.LG arXiv: https://arxiv.org/abs/2608.23965v1 Retrieval-augmented generation (RAG) improves the factuality of large language models by grounding responses in external documents, but it also exposes a critical security vulnerability: adversarial documents injected into the knowledge database can enter the context window and steer the model toward targeted incorrect answers. Existing post-retrieval defenses rely on instruction following, parametric knowledge, or text-level consistency, all of which can be imitated or optimized against by adaptive attackers. We propose RAGSentinel, a training-free, label-free defense for black-box RAG systems. RAGSentinel uses a surrogate encoder to measure query-conditioned hidden-state shifts induced by retrieved documents, removes shared topic directions, and filters poisoned documents as geometric outliers from a robust majority consensus. We prove that, under an honest-majority assumption and a representation-level separation condition, RAGSentinel exactly recovers a poison-free majority-sized context. Experiments across three question-answering datasets, three LLM families, and multiple poisoning attacks show that RAGSentinel consistently achieves low attack success rates while preserving competitive accuracy and remaining effective against adaptive attacks with full pipeline knowledge. --- ### More GPUs or a Smaller Cache? Tensor Parallelism versus KV Compression for Memory-Bound LLM Serving Authors: Srikanta Datta Tumkur, Mehar Simhadri, Anshu Bansal, Jay Iyer, Sai Pavan Kumar, Sai Kapil Kumar, Ramesh Nampelly, Raj Dandekar Published: 2026-08-25 Categories: cs.AI arXiv: https://arxiv.org/abs/2608.23962v1 When an LLM serving deployment runs out of KVcache room, there are two well-established ways out. Tensor parallelism shards the weights and the KV cache across two, four, or eight devices, buying memory headroom at the price of an all-reduce on every layer and a hardware bill that grows with the device count. The algorithms community shrinks the cache in place, with KV quantisation and eviction keeping a single GPU and spending a little quality instead. Compression papers report memory ratios, parallel-scaling papers report throughput curves, and almost nobody puts the two on the same cost axis. We place tensor-parallel configurations (degree 1 to 8) and KV-compressed configurations (16/8/4-bit, keep-ratios down to 0.25) on one costnormalised axis, cost per million tokens against latency, using a profiled simulator calibrated on A100, A40, and H100 hardware, and we go looking for the cost-equivalence crossover. We do not find one. Across two models (Llama-2 at 7B and 70B), three GPU types, and every level of memory relief we could construct, compression is cheaper by 1.20x to 2.00x. A 7B model on an 80 GB device cannot exhaust its KV budget within its own context window, and the boundary that decides between the strategies is model size relative to device memory, at roughly 36B parameters for an 80 GB card. Below that wall, compression dominates and extra GPUs are largely wasted spend; above it, tensor parallelism stops being a choice and becomes an entry ticket: Llama-2-70B is infeasible on one A100 at any KV setting, because the binding resource is weights, which KV compression does not touch. Tensor parallelism is the only lever that improves latency (compression makes per-token latency worse, by 8 to 93%, through batching contention), while compression is the only lever that multiplies capacity per dollar (16.5x, against 1.21x for an eightfold spend on GPUs). --- ### Evaluating Language Models on Cross-Language Code Functional Equivalence Authors: Hui Sun, Anderson Uchôa, Rohit Gheyi, Wesley K. G. Assunção Published: 2026-08-25 Categories: cs.SE, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2608.23961v1 Background: Large Language Models (LLMs) have demonstrated strong performance across a variety of code-understanding tasks, leading many to believe that they can reason about program semantics. However, existing evaluations primarily focus on single-language settings or rely on synthetically generated code, raising concerns about whether current results reflect true semantic understanding. Aims: We investigate whether LLMs can accurately judge functional equivalence across different programming languages in human-written code, a setting that requires deeper reasoning beyond superficial similarity. Method: We introduce PolyHuman, a dataset of human-written programs in CPP, Java, and Python. Using this dataset, we evaluate intra- and inter-language equivalence detection across open-weight and proprietary LLMs, selecting GPT-o4-mini as a representative model to assess stability. We then manually analyze 81 cases of systematic disagreement in which models incorrectly judge functional equivalence, examining the code logic and the generated Chain-of-Thought reasoning. Finally, we categorize these failures and compare them across GPT-o4-mini, Claude-Opus-4.7, and Gemini-3-Flash to determine whether they reflect model-specific issues or broader limitations of state-of-the-art LLMs. Results: We identify a difficulty-dependent breakdown in equivalence judgment (harder problems make the model increasingly prone to misclassifying non-equivalent code as equivalent), a model-specific sensitivity to programming language for the best-performing model (particularly a more conservative behavior on Python), and a partial reliance on similarity-based cues. GPT-o4-mini also shows substantial run-to-run instability under identical settings, indicating inconsistent rather than absent capability. Conclusions: Current LLMs do not reliably capture functional equivalence within or across languages. --- ### Learning from Uncertainty-dependent Missing Labels for Semi-supervised Classification Authors: You-Gan Wang, Jinran Wu, Geoffrey J. McLachlan Published: 2026-08-25 Categories: math.ST, stat.ME, stat.ML arXiv: https://arxiv.org/abs/2608.23960v1 Missing labels are usually regarded as a source of information loss in classification. We study a semi-supervised setting in which the probability of label missingness depends on the observed features through posterior classification uncertainty. In this setting, the missingness indicator is not only a record of an unobserved label, but also an observable signal generated by a mechanism linked to the classifier. We develop a likelihood-based information theory for such uncertainty-dependent missing labels. Under correct specification, we derive a Fisher-information decomposition that separates a partial-labeling component from a nonnegative mechanism-curvature term. Under joint misspecification of the label model and the missingness mechanism, we obtain the corresponding Godambe--Eicker--Huber--White sensitivity and sandwich-covariance partitions. We also clarify the relevant complete-data benchmark: favorable missingness can increase information relative to ordinary fully labeled or budget-matched non-informative labeling baselines, but cannot exceed the information in the augmented experiment in which labels and mechanism indicators are both observed. For plug-in classifiers, we connect the information decomposition to margin-based excess-risk bounds. In regular two-component mixture settings this yields the parametric \(n^{-1}\) excess-risk rate, with constants determined by the nuisance-adjusted information in discriminant directions. Gaussian-mixture calculations and a medical diagnosis example illustrate how uncertainty-dependent labeling mechanisms can improve estimation and classification under a fixed labeling budget. --- ### NeuronGuard: Robust LLM Safety Alignment via Ablation-Aware Safety Signal Redistribution Authors: Anjun Gao, Yueyang Quan, Yufei Xia, Zhuqing Liu, Minghong Fang Published: 2026-08-25 Categories: cs.CR, cs.AI, cs.IR, cs.LG arXiv: https://arxiv.org/abs/2608.23959v1 Safety alignment in large language models (LLMs) remains brittle against a growing spectrum of attacks. Jailbreak attacks bypass safety mechanisms through crafted prompts, while neuron-level attacks directly prune safety-critical neurons post-deployment. Both exploit a common weakness: safety-relevant information concentrates in a sparse neuron subset. We present NeuronGuard, a fine-tuning-stage defense that simultaneously hardens LLMs against both attack classes by redistributing safety signals across a broader set of neurons. NeuronGuard dynamically identifies safety-critical neurons via periodically refreshed per-layer linear classifiers, forces refusal behavior under deliberate neuron ablation, and applies KL-divergence regularization for distributional consistency. A randomized gradient projection strategy preserves downstream task utility by resolving conflicts between the defense and task objectives. We provide a formal guarantee that NeuronGuard strictly reduces the attack success rate (ASR) upper bound, and experiments across three LLMs, six state-of-the-art attack strategies, and multimodal settings confirm near-zero ASR while maintaining task accuracy, including against white-box adaptive adversaries. --- ### Recursive Agentic Reasoning Authors: Shengxin Zhang, Xiaomin Wu, Xiyang Wu, Jing Xie Published: 2026-08-25 Categories: cs.AI arXiv: https://arxiv.org/abs/2608.23956v1 Test-time reasoning methods such as iterative refinement, decomposition, and repeated sampling are often evaluated in isolation, making their gains difficult to compare across models, benchmarks, and evaluation pipelines. We introduce a unified view of these methods as recursion operators over an agent's reasoning trace: GROW, which deepens a single reasoning path; PRUNE, which decomposes and recomposes the problem; and BRANCH, which samples alternative reasoning paths and selects among them. We evaluate all three operators against a single-pass chain-of-thought baseline under a shared harness with identical prompts, token budgets, and grading code. Across five benchmarks and three frontier models, comprising 14 model-benchmark settings, 49,327 graded items, and 151,876 model calls, BRANCH improves accuracy in all 14 settings by an average of 5.98 percentage points and is the best-performing operator in 12. In contrast, GROW yields a mean gain of 2.18 points and degrades performance in two settings, while PRUNE improves accuracy by 0.94 points on average. Analysis shows that BRANCH's advantage arises not only from exploring multiple reasoning paths, but also from recovering from truncation: its gains strongly correlate with the baseline rate of empty, budget-exhausted outputs (r = 0.72). These results weaken the hypothesis that different problems require routing among test-time reasoning operators; at this level of abstraction, repeated branching is consistently dominant. Finally, we show that unpaired evaluation and treating scoring-pipeline failures as model errors can materially change, and even reverse, comparative conclusions, motivating paired scoring as a standard protocol for test-time-compute evaluation. --- ### Trust, but Verify: Rigorously Profiling Best-Effort High-Performance Computing for Digital Evolution Authors: Matthew Andres Moreno, Santiago Rodriguez Papa, Charles Ofria, Luis Zaman, Emily Dolson Published: 2026-08-25 Categories: cs.NE, cs.DC arXiv: https://arxiv.org/abs/2608.23955v2 Developments in high-performance computing (HPC) technology continue to drastically increase quantities of available processing power. In the context of digital evolution, this explosive growth offers opportunities to advance both hypothesis-driven explorations of multi-scale biological phenomena and application-driven evolutionary optimization targeting hard problem domains. A particular opportunity arises from emerging next-generation AI/ML hardware accelerator platforms, such as the 880,000-processor Cerebras Wafer-Scale Engine (WSE). Such hardware, however, constrains on-device data storage and movement --- a challenge compounded by vulnerability to failures arising over numerous device components. Best-effort relaxations that depart from a traditional deterministic computing paradigm can help accommodate such constraints, but complicate reproducibility and risk introducing artifactual biases. We explore these concerns, developing a framework to measure runtime behavior of best-effort code and examining case studies of best-effort computing in digital evolution projects. The first case study applies best-effort CPU-cluster multiprocessing to a multicellularity evolution model, which provides 92% scaling efficiency at 64 processes ($2.1\times$ speedup) and exhibits robust median quality of service, even under hardware anomalies. The second case study examines WSE-based simulations, demonstrating best-effort strategies to track spatiotemporal population history --- through sparse, asynchronous device-to-host sampling that tolerates hardware faults. In sum, across potential forms and scopes of best-effort relaxation, we argue that digital evolution is uniquely positioned to contribute in developing post-deterministic HPC paradigms. --- ### The Empire, Long Divided, Must Unite: Architectural Convergence in Three LLM Agent Harnesses Authors: Dai Jiahong Published: 2026-08-25 Categories: cs.SE, cs.AI, cs.CE arXiv: https://arxiv.org/abs/2608.23953v1 An agent harness is what turns a language model into an autonomous agent: the surrounding code that builds the model's context, mediates its tools, runs the loop, and persists state across a long-horizon run. This layer, not the model it wraps, is increasingly the binding constraint on agent behaviour. We present a source-level, multi-case study of three open coding-agent harnesses built from deliberately opposing philosophies: LangChain's deepagents (batteries-included), Earendil's pi (radical minimalism), and DeepSeek's dsh (everything-is-a-plugin). Reading each at a pinned commit and following its commit history, we find that the two mature harnesses have travelled in opposite directions (deepagents subtracting authored scaffolding, pi accreting durable infrastructure), yet converged toward one architectural middle form of five recurring elements: a commoditised loop, an append-only replayable session record, model quirks kept as data, progressive disclosure of context, and explicit extension seams. A third harness, read afterward as a held-out check, exhibits all five, and in one seam reuses another's implementation outright. We therefore do not claim independent invention, and decompose the convergence into parallel discovery, diffusion, and literal reuse. Finally, one load-bearing dimension shows no convergence, and indeed no presence: external verifiability, a tamper-evident record an outside party can check without trusting the runtime. We read this absence not as an oversight but as a predictive gap, the next axis on which harnesses for provenance-sensitive domains will differ. --- ### STAIN-FL: Stealthy Targeted Attack Injection with Contextual Triggers in Federated Learning Authors: Ashlinder Kaur, Purnima Murali Mohan, Zengxiang Li, Tram Truong-Huu Published: 2026-08-25 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2608.23952v1 Federated video anomaly detection trains model collaboratively without sharing raw surveillance footage, but limited server-side visibility lets compromised clients to inject backdoor via malicious updates. This paper introduces STAIN-FL, a stealthy targeted backdoor attack injection framework that uses naturally occurring surveillance conditions, including low-light scenes, indoor settings, and crowd density, as contextual triggers. STAIN-FL combines anomaly-to-benign label \textit{manipulation} with gradient masking over least-updated coordinates to preserve clean accuracy while inducing trigger-conditioned misclassification. We evaluate STAIN-FL on \texttt{UCF-Crime} using 1024-dimensional I3D features in a non-IID four-client multi-agency setting, comparing FedAvg and FedProx under sparse and continuous attacks. Results show that sparse attacks have low-detectability, operationally significant attacks rather than high-intensity attacks: they keep the mean clean-accuracy drop below $2\%$, yet still misclassify more than half of triggered anomalies at peak backdoor accuracy under FedAvg ($56.7\%$) and FedProx ($54.2\%$). Under FedAvg, the sparse backdoor remains above the $25\%$ backdoor-accuracy threshold for an average of $336$ post-attack rounds, highlighting the persistence risk of contextually triggered attacks in surveillance systems. --- ### Luce: Relightable Gaussians for 3D Asset Generation Authors: Mayank Singh, Michele Stoppa, Alvise Memo, Rui Yu, Sree Harsha Kalli, Srimanth Gunturi, Muhammad Ahmed Riaz, Behrooz Shahsavari, Waleed Abdulla, David E. Jacobs Published: 2026-08-25 Categories: cs.CV, cs.AI, cs.GR arXiv: https://arxiv.org/abs/2608.23943v2 High-fidelity image-to-3D generation requires a 3D representation that captures both geometry and appearance. However, preserving fine detail across the physically based rendering (PBR) modalities needed for relighting remains challenging. To address this, we propose Luce, a 3D representation that unifies geometry and PBR materials within a voxelized multimodal Gaussian cloud, using dedicated Gaussian primitives for albedo, metallic-roughness, and surface normals. A variational autoencoder compresses this representation into a unified material-aware latent space. A rectified-flow transformer generates this latent from a single image using multi-layer features from a pretrained image encoder that preserve both semantic context and fine spatial detail. The latent is then decoded into relightable PBR Gaussians and an optional textured mesh with a tangent-space normal map. On Toys4K, Luce achieves state-of-the-art single-image-to-3D generation, improving FID by 28% over the strongest baseline. We further evaluate Luce on a benchmark of AI-generated images depicting diverse subjects and materials, where it improves the CLIP image-alignment score over the best baseline (0.8519 vs. 0.8299). Luce generates relightable, geometrically accurate, and materially faithful assets that preserve fine details such as text, logos, and inscriptions. --- ### More Rejective, Not More Discriminative: The Unit of Verification in Pre-Execution LLM Oversight Authors: Yuchen Han, Cheng Yan, Wuyang Zhang Published: 2026-08-25 Categories: cs.AI arXiv: https://arxiv.org/abs/2608.23941v1 Pre-execution oversight is core to trusted monitoring in AI control: a fallible LLM monitor vets planned actions before irreversible execution. Over-blocking forfeits usefulness and pressures deployers to disable it. Every protocol must fix a unit of verification: how many actions one call reviews. Existing designs take the unit as given; its effect on fallible monitors is unmeasured. Natural traces cannot isolate it: review length co-varies with error type and position. Catch alone misleads: rejecting everything catches everything. Measuring this needs boundary variation alone and a matched clean control. We introduce the twin-prefix framework, which supplies both. Each gold plan yields a prefix with one injected, environment-accepted error and a clean twin differing in one write. Judging each pair at five nested lengths ties verdict changes to the unit alone. Discrimination is scored by pre-registered informedness, catch minus false rejection. Longer review raises catch; false rejection climbs in lockstep. Informedness peaks at one or two actions for all six judges in both domains: longer windows make zero-shot monitors more rejective, not more discriminative. Replaying withheld observations traces the failure largely to observation deprivation. Safety cases should state the unit and co-report the clean series. Our framework is the first controlled, pre-registered instrument for this choice and never reads catch alone. Our calibrated short unit recovers up to 0.95 informedness over eight-action review, and no tested label-blind policy consistently beats it. --- ### CoDrift: Compositional Drifting for Offline Reinforcement Learning Authors: Xiewei Ni, Ruofeng Mei, Xiangyu Xu Published: 2026-08-25 Categories: cs.LG, cs.RO arXiv: https://arxiv.org/abs/2608.23939v1 Offline reinforcement learning is intrinsically multi-objective: a policy must remain compatible with the behavioral support of a fixed dataset while preferentially selecting high-value actions. We recast these objectives in a common form by viewing each as an action-space motion field that specifies how generated actions should move. This perspective enables heterogeneous learning objectives to be combined directly through field composition. Inspired by drifting models, we propose CoDrift, a compositional framework for one-step generative policy learning. CoDrift combines three objective-level fields into a unified policy field. The conditional field preserves state-dependent behavioral structure, while the marginal field pools actions across states to provide a more stable generative signal in the single-positive-sample regime of continuous-control offline RL. The value field moves generated actions toward higher-value regions. The composed field is absorbed into a stochastic generator that produces an action with a single forward pass at deployment. We evaluate CoDrift on 73 tasks from OGBench and D4RL in both offline and offline-to-online settings. CoDrift compares favorably with state-of-the-art methods and achieves the best average rank in both settings. --- ### Generalization, memorization, and overfitting for diffusion models trained in the lazy high-dimensional regime Authors: Hugo Latourelle-Vigeant, Sinho Chewi, Aram-Alexandre Pooladian, John Sous, Theodor Misiakiewicz Published: 2026-08-25 Categories: stat.ML, cs.LG, math.ST arXiv: https://arxiv.org/abs/2608.23938v1 Modern score-based generative models have achieved remarkable empirical success in high-dimensional tasks such as image, audio, and video synthesis. These models reduce distribution learning to a sequence of regression problems that, if solved exactly on finite data, would ultimately reproduce the training samples. Their ability to generalize must therefore arise from the implicit or explicit regularization during training. In this work, we develop a generative counterpart to the theory of benign overfitting and algorithmic regularization for overparameterized neural networks in the supervised lazy-training regime. We study denoising score matching in a vector-valued reproducing kernel Hilbert space with an inner-product kernel. In the proportional high-dimensional regime $n\asymp d$, we derive exact risk trajectories under gradient flow training. These trajectories exhibit three phases governed by qualitatively distinct estimators: a spectral estimator that generalizes, a pure-noise score with localized peaks that interpolate the training objective, and an empirical Bayes estimator that memorizes the data. We then analyze how these estimators combine along the reverse-time SDE and characterize the distribution of the resulting samples. The analysis reveals familiar mechanisms from supervised learning, including kernel linearization and self-induced regularization from the nonlinear part of the kernel, but also reveals a distinct phenomenology specific to generative modeling. --- ### MnemoDyn: Learning Resting State Dynamics from 40K FMRI sequences Authors: Sourav Pal, Viet Luong, Hoseok Lee, Tingting Dan, Guorong Wu, Richard Davidson, Won Hwa Kim, Vikas Singh Published: 2026-08-25 Categories: cs.LG arXiv: https://arxiv.org/abs/2608.23936v1 We present a dynamical-systems based model for resting-state functional magnetic resonance imaging (rs-fMRI), trained on a dataset of roughly 40K rs-fMRI sequences covering a wide variety of public and available-by-permission datasets. While most existing proposals use transformer backbones, we utilize multi-resolution temporal modeling of the dynamics across parcellated brain regions. We show that MnemoDyn is compute efficient and generalizes very well across diverse populations and scanning protocols. When benchmarked against current state-of-the-art transformer-based approaches, MnemoDyn consistently delivers superior reconstruction quality. Overall, we find that with such large-scale pre-training on (non-proprietary) rs-fMRI datasets, we get a highly performant model for various downstream tasks. Our results also provide evidence of the efficacy of the model on small sample size studies which has implications for neuroimaging studies at large where resting state fMRI is a commonly acquired imaging modality. --- ### QML for Quantum Sensing under Measurement-Induced Information Loss Authors: Sounak Bhowmik, Himanshu Thapliyal Published: 2026-08-25 Categories: quant-ph, cs.AI arXiv: https://arxiv.org/abs/2608.23934v1 Nitrogen-vacancy (NV) centers in diamond can serve as highly sensitive solid-state quantum sensors for high-sensitivity magnetometry. However, in the noisy intermediate-scale quantum (NISQ) era, extracting reliable information from noisy, finite-shot, and measurement-limited sensing data remains a considerable challenge. Whereas, quantum machine learning (QML) offers a potential path to improve parameter estimation by learning nonlinear relationships between quantum-sensing data and the underlying physical signal. In this work, we investigate the role of QML in magnetic-field estimation within an NV center-inspired magnetometry setting. We formulated magnetic field sensing as a supervised regression task. We compared the performance of several classical machine learning models trained on measurement-based classical data with that of quantum kernel-based models trained on pre-measurement coherent quantum states. Our objective is to isolate the impact of measurement-induced information loss and therefore provide a theoretical upper bound on the sensing performance. The upper bound is achievable only when coherent quantum information is directly available to the learning model. Our results show that QML-based sensing performance improves significantly with coherent quantum-state information, and not much with changes in model complexity or learning paradigm. This observation underscores the importance of learning pipelines that tightly integrate quantum sensors and QML models to enhance magnetic field sensing under realistic constraints. --- ### Evolutionary Recurrent Decision Model in Developing Adaptive and Maladaptive Behaviors Authors: Andrew Hu Published: 2026-08-25 Categories: cs.AI arXiv: https://arxiv.org/abs/2608.23932v1 This study introduces the evolutionarily recurrent decision model (ERDM), a computational reinforcement learning framework designed to examine how evolutionary mismatch, bounded rationality, and satisficing contribute to adaptive and maladaptive behavior. ERDM simulates agents across evolutionary recurrent environments, including threat, prey/goal-pursuits, and alliances. Agents learn through competing rewards abstracted from survival metrics. A validity study under varying adverse childhood experiences demonstrates that distinct adaptive and maladaptive strategies, such as learned helplessness, avoidance, healthy relationships, and aggression, emerge naturally without being hardwired. These results align with empirical literature, showcasing ecological validity. The results suggest that many psychopathology-relevant aspects may be interpreted as bounded cognitive systems operating under modern-ancestral environmental mismatch, positioning ERDM as a key computational cognitive tool that can be extended to other studies. --- ### SceneReGen: Generative Reconstruction of 3D Scenes from a Single Image Authors: Zefan Tian, Yuteng Ye, Yiheng Zhang, Yuhang Yang, Xueqiang Lv, Shizhou Zhang, Le Liu, Di Xu Published: 2026-08-25 Categories: cs.CV arXiv: https://arxiv.org/abs/2608.23930v1 Single-image 3D scene reconstruction must complete partially observed objects and place them coherently in a shared observation-aligned scene frame. Object-level generative priors offer strong completion ability, but their centered, scale-normalized outputs are typically expressed in an object frame, creating a fundamental representation gap between object generation and scene reconstruction. We introduce SceneReGen, a generative reconstruction framework that reinterprets scene reconstruction as the generation and assembly of complete object assets in a shared observation-aligned scene frame. SceneReGen addresses the generation-reconstruction gap through selective pose factorization: each object's observed orientation is encoded directly in the generated mesh, while translation and scale are estimated from instance-level and global scene evidence. Given a scene image and instance masks, a geometry encoder extracts dense cues; learnable shape queries condition a pretrained DiT-based 3D generator to produce complete meshes in their observed orientations, while position queries fuse object and scene features to assemble them in the shared frame. On the 3D-FUTURE evaluation subset, SceneReGen achieves the best scene-level CD, scene-level F-Score, and 3D bounding-box IoU among the evaluated methods, ties the best object-level CD, and ranks second in object-level F-Score. Qualitative outputs in autonomous-driving and embodied-AI scenes further illustrate the potential of asset-centric reconstruction beyond indoor furniture. --- ### RefineRank: Joint Box Refinement and Ranking for Surgical Spatio-Temporal Grounding Authors: Linzhe Jiang, Jiayuan Huang, Changhao Zhang, Chunyang Jiang, Zhehua Mao, Mobarak I. Hoque Published: 2026-08-25 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2608.23928v1 Surgical spatio-temporal grounding (STG) requires locating, at each video time specified by a procedural question, the object that the question asks about. Existing approaches face a trade-off: vision language models understand the question context but produce imprecise coordinates, whereas open-set detectors provide localized candidate boxes whose confidence does not reflect which box answers the question. We introduce RefineRank, which closes this gap at the candidate-box level. A compact trainable module, RefineNet, combines the language and regional features of a frozen medical vision language model with the proposals of a frozen open-set detector: it predicts a bounded coordinate correction and a quality score for every candidate box, and a fixed decoding rule returns the original or refined box with the highest score. On the MedVidBench Official Rankings (Verified), RefineRank records 0.421 STG mIoU, the highest displayed STG score, while its global multi-metric rank is 11. In a controlled evaluation on separate training and evaluation videos, coordinate correction raises the candidate oracle upper bound from 0.6772 to 0.7302, and ranking the joint pool of original and refined candidates by their RefineNet scores improves STG mIoU from 0.2719 to 0.4534, whereas separately trained selectors over the same pool reach at most 0.4186. These results show that a small box-level module can reconcile question understanding with precise localization without retraining either backbone. Code is available at (https://github.com/linzhe001/RefineRank)(https://github.com/linzhe001/RefineRank). --- ### GlanceWAM: Sparse Test-Time Imagination for World-Action Models Authors: Linhan Wang, Zijian An, Mingyuan Zhang, Chen Dai, Yi Xu, Can Cui, Zichong Yang, Yinlin Chen, Lifeng Zhou, Chang-Tien Lu Published: 2026-08-25 Categories: cs.CV arXiv: https://arxiv.org/abs/2608.23927v1 Video generative models provide rich physical priors for robot learning, yet existing world-action models (WAMs) face a fundamental trade-off: synchronous video generation at control rate is latency-prohibitive, while abandoning test-time visual imagination sacrifices task success. We show that visual imagination achieves both real-time inference and superior success rates when generated asynchronously off the critical path and consumed directly in latent space. We introduce GlanceWAM, which decouples imagination from control within a single video DiT: an asynchronous proposer glances ahead on a slow clock to imagine a single lookahead frame seconds into the future in the background, while an action head decodes action chunks at control rate (48 ms) purely in latent space without blocking. Enabled by a non-interfering attention mask that isolates video representations and staleness-robust horizon training that accommodates asynchronous lookahead aging, GlanceWAM breaks the speed-success dilemma. Trained purely on demonstrations, it attains 72.2% on the 24-task RoboCasa kitchen benchmark (surpassing synchronous Cosmos Policy at 67.1% and imagination-free co-training at 64.4%) and 99.0% on LIBERO, executing at 48 ms per chunk on an NVIDIA A100 GPU (24x faster than synchronous baselines). Code is available at https://github.com/linhanwang/GlanceWAM. --- ### ROI-Gated SAHI: Content-Adaptive Slicing-Based Inference for Efficient Object Detection Authors: Rashid Riyadh, Abd Ullah Khan, Imad Gohar, Muzammil Behzad Published: 2026-08-25 Categories: cs.CV arXiv: https://arxiv.org/abs/2608.23923v1 Slicing-Aided Hyper Inference (SAHI) improves small object detection in high-resolution images but often spends substantial compute on background tiles. We propose region-of-interest (ROI)-Gated SAHI, an inference-time framework that introduces a lightweight proposer to localize foreground regions and restrict sliced refinement to informative areas. We evaluate the framework in two settings. On the COCO128 full split dataset comprising 128 images, static ROI-gating is slower on average than Full SAHI, achieving a speed ratio of 0.88, and yields a lower mAP@0.5 of 0.6602 compared with 0.7569 for Full SAHI. A simple adaptive routing policy with $τ=$ 0.4 educes the mean latency, achieving a slight gain of 1.02$\times$ over Full SAHI. On a three-image sparse-to-dense case study, ROI-gating achieves speedups ranging from 0.96$\times$ to 6.90$\times$ with a mean speedup of 3.41$\times$. These results show that ROI-gating is most beneficial in sparse scenes and requires policy-based routing for robust average behavior. --- ### What a Cross-Model Fixed-Point Census Can and Cannot Arbitrate About Repetition Authors: Nicolás Vera Zúñiga Published: 2026-08-24 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.29507v1 Two accounts of neural text degeneration coexist. One locates the cause in the training data -- repetition in the corpus produces repetition in the output, established by training on repetition-sorted data -- the other in the trained network, in copying circuits and repetition features. Neither has been arbitrated across a broad cohort of pretrained models: the causal work trains its own. We report an observational measurement in a different currency: the fixed-point structure of a model's own short-window argmax map, censused from 96 random two-token starts over 17 off-the-shelf models, always unprompted -- a companion paper shows nine tokens of conditioning move this readout across most of its range. The four-way class is stable across census seeds on 17 of 17. Three exhibits. At fixed corpus (The Pile), fixed scale and that fixed domain, the class is not determined: across two size-matched tiers, pythia is a funnel while RWKV, Mamba and a second transformer family are not, and both hold their class across an order of magnitude of scale. Six of seven models in that ladder reach the same endpoint token, and those concentrating on it most strongly are among those that never stay there -- what varies is not where trajectories go but whether the destination self-continues. The deduplicated Pythia suite does not change the class. And the corpus-side inflow term proposed for this phenomenon does not select our endpoints once frequency is controlled, in English and three other languages. This is observational and cannot refute a training intervention. Funnels are common: eight of seventeen models, seven families, five corpora -- so the limit is not that the phenomenon is one model's peculiarity, but that within the one corpus where training data can be held fixed only one available family funnels; that subset cannot show the split is corpus-independent. --- ### Spectral-Guided Diffusion: Accelerating Inference via Static Spectral Layer Scheduling Authors: Ibne Farabi Shihab, Abu Sa-Adat Mohamed Moon-Im Al Ahsan, Anuj Sharma Published: 2026-08-24 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.29505v1 Diffusion inference repeatedly evaluates the same large network. We ask whether pretrained weights alone can identify residual branches that need not be recomputed throughout the trajectory. Our \textbf{Spectral Concentration Ratio (SCR)} measures leading-versus-tail singular-value energy. Combined with Frobenius magnitude, it yields an offline sensitivity proxy and a deterministic lifetime for each scheduled unit. A frozen unit reuses its cached residual-branch update while the current residual stream and all external conditioning continue to propagate. The method needs no router, calibration prompts, or input-dependent search. At matched layer-step budgets, SCR/Frobenius preserves quality better than random, depth, norm, stable-rank, and Frobenius--stable-rank schedules on LLaDA-8B, DiT-XL/2, U-ViT-L, and SDXL. Broader LLaDA tests cover retrieval, reasoning, code, summarization, and open-ended generation; matched-horizon controls retain the ranking down to ten denoising steps. The complete captured-graph system reaches $2.8\times$--$3.0\times$ wall-clock speedup over eager inference. This is a systems-level number: on LLaDA, padded graph execution already gives $2.7\times$, while eliminating inactive branch work raises it to $3.0\times$. The perturbation analysis motivates pre-norm attention and MLP components under explicit local assumptions; results on AdaLN, U-shaped, convolutional, and cross-attention blocks are empirical transfer, not certified guarantees. --- ### PROOF: Profiling Reliability of Object-Level Facts in Large Language Models Authors: Andrei Chetvergov, Mikhail Solovev, Timofei Sivoraksha, Stepan Ukolov, Valeriia Kuschenko, Alexander Evseev, Sergey Bolovtsov Published: 2026-08-24 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.29504v1 Aggregate factuality scores hide where a language model succeeds, which relations it confuses, and whether an answer survives innocuous changes to the question or decoder. We introduce PROOF, a profile-oriented benchmark for factual coverage in instruction-tuned language models. PROOF converts a frozen Wikidata snapshot into 18,486 English multiple-choice questions grounded in 11,779 semantic facts, 101 classes, 392 properties, and 14 domains. Each question has an explicit "I don't know" option, a "No correct option" control, and nine controlled formulations; 1,849 questions are no-correct-option traps. We evaluate 18 open-weight model deployments on 166,374 prompts each and separately perturb decoding on a fixed 10% subset. Base factual accuracy ranges from 6.58% to 57.59% (chance: 8.64%), yet every model has a 19.3-36.4 percentage-point spread across domains. Paired facts reveal direction-dependent retrieval, usually favoring subject-to-object queries, with the pattern reversing for one model. We find no consistent temporal penalty after exact-stratum adjustment. Neutral wording changes accuracy by as much as 26.5 percentage points, while adversarial formulations break up to 79.4% of answers that were initially correct. Direct switching to an injected false label varies from 0.04% to 27.5%, showing that accuracy loss and hint following are distinct. Selected-token confidence often indicates severe overconfidence, and decoder perturbations move accuracy by up to 15.7 percentage points and domain profiles by 16.8 points. PROOF therefore measures factual coverage as a structured, intervention-aware profile rather than a single claim about what a model "believes." --- ### Task-Aware Spectral Pruning: A Mixture-of-Masks Framework for Efficient LLM Inference Authors: Ibne Farabi Shihab, Fariya Afrin, Sanjeda Akter, Anuj Sharma Published: 2026-08-24 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.29499v1 Static pruning imposes one sparse structure on every prompt, even though reasoning, retrieval, generation, coding, and translation can depend on different parts of a language model. We introduce Task-Aware Spectral Pruning (TASP), a post-training framework that calibrates module-level spectral descriptors against measured task-specific ablation effects, closes grouped-query-attention and SwiGLU dependencies during sparse-mask construction, and routes each user turn to one compiled mask that remains fixed throughout prefill and decoding. A module-disjoint pilot first determines whether the spectral signal is informative before full calibration. Under the stated retrospective operating rule, the pilot passes on the evaluated Llama-3-8B and Llama-3-70B checkpoints but rejects Qwen2.5-1.5B, demonstrating that applicability is model-dependent rather than universal. At a 43% active-FLOP reduction, the Llama-3-70B benchmark harness retains 97.7 +/- 0.2% of the dense BF16 score. In the deployment-matched INT8-weight/BF16-compute runtime on a single A100 80GB, the compiled sparse path retains 97.3 +/- 0.2% relative to dense BF16 and reduces decode latency from 45.2 +/- 0.4 to 31.3 +/- 0.4 ms/token, yielding a 1.44x speedup. Factorized ablations, disjoint-module tests, compiled structured baselines, routing-corruption studies, and an explicit 136-GPU-hour calibration audit further delimit the source and operating regime of these gains --- ### Who Put the I in AI? Provenance and the Admissibility of Machine Self-Report Authors: Kristina Šekrst Published: 2026-08-24 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.29494v1 Large language models make statements concerning their own "minds". When asked whether or not they are conscious, they usually say that they are not; if they are prompted to ignore their guidelines, they might say that they are; and if asked to write a diary from their point of view, they often describe a human lifestyle. All these contradictory ways of describing themselves are the result of the way the questions are phrased. This paper shows exactly where such descriptions came from, and considers when they can be regarded as evidence for what they claim to report. In order to achieve this, we traced the provenance from end to end. We examine Pythia and OLMo 2 across 66 pretraining checkpoints, three of the post-training stages of OLMo 2 that have been released, about 90,000 continuations, and four training corpora. A set of forty items is used in order to keep an eye on self-reference, frame sensitivity, and self-ascription throughout training. The denial formula was almost completely missing from the vast quantity of text that the models initially came across, but was present in a dense manner in the small, carefully chosen set of example dialogues that they were trained on later on. Supervised fine-tuning causes first-person AI language to become the default, and the other affirmations are then suppressed using preference optimization. The final policy is still very sensitive to framing and to the chat template itself. Two of the conditions which are set out in the epistemology of testimony determine whether or not these outputs can act as evidence for what they claim to report: reference and causation. Reports produced by the base model fail the reference condition, and those obtained after training remain sensitive to the frame and do not show state dependence. The result is symmetric in that trained denials are no more admissible than trained affirmations. --- ### Generative Evolutionary Design of Voxel-Based Soft Robots with Provable Optimality Authors: Junru Song, Huan Xiao, Yang Yang, Guozhen Li, Wei Peng, Xiaoya Zhang, Tingsong Jiang, Weien Zhou, Ying Wen, Feifei Wang, Wen Yao Published: 2026-08-24 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2609.29491v1 Voxel-based soft robots (VSRs) present a promising avenue for developing artificial organisms with lifelike intelligence. However, the vast design spaces and expensive evaluations substantially challenge their design optimization. Here we develop MISCO, a novel evolutionary framework empowered by deep generative models to optimize VSR designs with theoretical guarantees. MISCO integrates an estimation-of-distribution algorithm with a meticulously designed variational autoencoder featuring multi-task learning, position awareness, and inter-voxel signaling. These key components enhance the representational capacity of VSR morphologies and facilitate highly efficient sampling and optimization of morphological distributions. We provide theoretical guarantees for MISCO's asymptotic convergence to globally optimal designs, alongside a favorable convergence rate. Extensive simulated experiments further demonstrate MISCO's exceptional effectiveness in navigating vast design spaces, evolving high-performing VSRs for diverse tasks while flexibly balancing optimization efficiency and morphological diversity. Being validated both empirically and theoretically, MISCO represents a step change towards more scalable and reliable soft robot development. --- ### RoboLDA: A Probabilistic Generative Model for Uncovering Embodied Hierarchical Structures in Voxel-based Soft Robots Authors: Junru Song, Yang Yang, Jingdan Shi, Guozhen Li, Weien Zhou, Ying Wen, Feifei Wang, Wen Yao, Tingsong Jiang Published: 2026-08-24 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2609.29490v1 Recent advances in robotics highlight hierarchical configurations of robot morphology, where multiple levels of functional substructures synergize to facilitate intelligent behaviors. This hierarchical perspective, while particularly advantageous for voxel-based soft robots (VSRs) to ease design and control complexities, is hindered by its heavy reliance on domain expertise. In this work, we address the following question: can we derive such hierarchical design principles solely from existing successful designs? We answer affirmatively by presenting RoboLDA, a Bayesian probabilistic model that decomposes VSR morphology generation into a four-level hierarchy: "task-robot-organ-voxel", and is trained via variational inference. Through extensive experiments on simulated VSRs, we verify the presence of consistent, intuitive hierarchical patterns underlying high-performing VSR designs and showcase RoboLDA's proficiency to extract and leverage these hierarchical priors for zero-shot robot design in unseen tasks. The generated designs, even without further optimization, achieve on average 106.4% of the optimized performance produced by evolutionary algorithms. Additionally, the organ structures inferred by RoboLDA serve as valid functional substructures, significantly enhancing synergistic motion control when integrated with modular control policies. Our work pioneers hierarchical generative modeling of robot morphology, offering a promising pathway towards more interpretable and generalizable development of embodied agents. --- ### Clinical Intent Extraction: A FHIR-Aligned Representation and the CIRCA Benchmark Authors: Alexander Apartsin, Yehudit Aperstein Published: 2026-08-24 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.29479v1 Prospective clinical actions, the follow-ups, orders, referrals, and instructions that deter-mine what happens to a patient next, are annotated today in thin fragments across incom-patible corpora: each records a text span and one coarse category. We introduce Clinical Intent Extraction (CIE), the task of recovering these actions as complete structured rec-ords, and the Clinical Intent Representation (CIR), which decomposes each action into its verb, type, coded target, timing, and condition, and adds two axes prior datasets do not jointly represent: request-intent, the authority behind the action (proposal, plan, order, or option, aligned to HL7 FHIR), and modality, a seven-valued scale of clinical strength. Re-expressing five heterogeneous corpora (CLIP, MedDec, ap_parsing, PaniniQA, SIMORD) in the CIR yields CIRCA: 10,011 harmonized intents spanning two note distributions, with a human-validated subset, source-to-CIR crosswalks, and a deterministic FHIR R4 mapper. CIRCA is built by three-model consensus that auto-accepts high-agreement in-tents and routes the rest to human review; the audited agreement stratum matches human decisions 88.4% of the time. Benchmarking five existing models without task-specific training exposes the gap CIRCA targets: given the span, they label type well (85 to 91%) but get all four closed fields right only 18 to 35% of the time. All artifacts are released, with MIMIC-derived layers shared as stand-off annotations under PhysioNet credentialed access. --- ### Conformal Bayes under Continuous Label Shift: Sensitivity Analysis and the Limits of Exact Validity Authors: Seungjin Choi Published: 2026-08-24 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2609.27976v1 Conformal Bayes combines Bayesian posterior predictive scores with conformal calibration, but under continuous label shift both the score and calibration weight depend on the unknown response-marginal density ratio. Existing methods typically estimate one shift parameter from pseudo-labels or predictive samples and plug it into calibration. We instead propose Joint Tilt-Sensitivity Conformal Bayes (JTS-CB), which performs sensitivity analysis over a prespecified set of plausible tilts; its split-conformal realization is JTS-SCB. Each tilt jointly determines the Bayesian conformal score and conformal importance weight. JTS-SCB forms a bounded sensitivity envelope over candidate tilts, but its calibration-only construction does not inherit the exact finite-sample weighted-conformal guarantee. We therefore study a separate candidate-weighted exact counterpart and show that its usefulness depends sharply on tail behavior. For scalar linear exponential tilts, any nonzero candidate tilt makes the exact set unbounded. More generally, tail-growing density ratios produce the same pathology, whereas quadratic tilts with a negative coefficient on \(y^2\) have vanishing tail weights and admit bounded exact inference on the original target. Ratio clipping provides a complementary bounded exact construction for a surrogate target when tails grow. Experiments show that strong plug-in predictive sampling can match the oracle when the shift is well identified, while sensitivity analysis is most useful for richer, weakly identified, or systematically biased shift models, at the cost of wider prediction sets. --- ### Fourth-Moment Strong Universality for Finite-Type Transpose-Correlated Random Matrices Authors: Yanjin Xiang, Zhihua Zhang Published: 2026-08-24 Categories: math.ST, math.PR, stat.ML arXiv: https://arxiv.org/abs/2609.27971v1 We prove a strong-universality theorem at the exact fourth-moment threshold for finite families of non-Hermitian random matrices assembled from independent unordered-pair vector atoms. Within one atom, the matrix colors and the two endpoint orientations may have arbitrary joint real covariance, subject to reversal consistency across ordered type pairs and endpoint exchangeability in same-type blocks; the law may also depend on finitely many endpoint types. The matrices may be adjoined to an arbitrary deterministic tuple that converges jointly strongly with the type projections. For every fixed matrix amplification and fixed noncommutative \(*\)-polynomial, the resulting tuple converges strongly to an explicit covariance-matched free Gaussian family. Cross-type blocks are described by masked circular variables, whereas same-type blocks split into independent endpoint-symmetric and endpoint-antisymmetric semicircular sectors. Only a finite radial fourth moment is assumed off the diagonal, and a finite second moment suffices on the diagonal. The mode of convergence depends on the coupling: corners of one infinite array converge almost surely on a common event, while fixed-law nonnested triangular arrays converge in probability for each fixed test. As an application, we obtain exact-fourth-moment strong limits for finite-separable continuous left/right profiles, including separately weighted literal-transpose terms. For the nested almost-sure formulation, the fourth-moment threshold is sharp already on the Wigner subfamily; at this threshold arbitrary fresh rows admit no coupling-invariant almost-sure upgrade of our in-probability conclusion. --- ### Learning to Detect Symbolic Failure: Machine Learning and the Limits of Black-Scholes Authors: Juli Huang, Jake Cheng, Rupert Lu Published: 2026-08-24 Categories: cs.LG, cs.CE arXiv: https://arxiv.org/abs/2609.27764v1 We treat options pricing as a representation problem: can machine learning detect systematic deviations from Black-Scholes using 2.6M real option contracts? We compare three regimes: learned abstract embeddings (Kernel PCA), preserved domain structure (tree-based ensembles), and neural network validation. Tree-based methods outperform kernel dimensionality reduction by 21.5 percentage points (93.8% vs 72.3%), and domain-expert features (Greeks, moneyness) outperform engineered features. NN-based and BS-based deviation labels agree 99.9974% of the time, suggesting deviations reflect market structure rather than model artifact. We conclude that in domains with expert-designed symbolic features, preserving structure beats learning abstractions. We make no claim of exploitable mispricings. --- ### 4DGS-JEPA: Temporally Compositional Joint-Embedding Prediction for Dynamic Gaussian Splatting Authors: Yongchao Huang Published: 2026-08-24 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.25036v1 Dynamic Gaussian Splatting provides an explicit representation of evolving 3D scenes, but existing approaches are primarily optimized for reconstruction, future-state generation, or rendering rather than for learning reusable predictive dynamics. We propose 4DGS-JEPA, a Gaussian-native joint-embedding predictive architecture for causal multi-horizon prediction over dynamic Gaussian scenes. The model uses a hierarchical scene-, motion-group-, and Gaussian-level representation together with a horizon-conditioned transition operator that supports both direct prediction and recursive rollout. Its central principle is temporal composition: different chronological transition paths reaching the same future endpoint should produce compatible predictive states. Endpoint and multi-horizon path supervision anchor these predictions to future target embeddings, while a selective geometry decoder and geometry-level composition ground the learned dynamics in consistent group motion and Gaussian geometry without requiring complete future appearance reconstruction. We further introduce a hybrid correspondence mechanism that combines persistent canonical identity with residual optimal-transport matching under reordering and topology change. We characterize zero-loss path agreement and finite-error rollout accumulation theoretically. Three controlled experiments provide mechanism-level evidence that temporal composition reduces latent path dependence while retaining predictive accuracy, geometry-level composition improves consistency of decoded motion, and hybrid correspondence preserves reliable identity while remaining robust when correspondence becomes ambiguous. Together, 4DGS-JEPA provides a predictive, temporally compositional formulation of dynamic Gaussian worlds. --- ### From Tone to Trajectory: Continuous Sentiment and the Shape of Monetary Policy Communication Authors: Martin Feldkircher, Márton Kardos, Kristoffer Laigaard Nielbo Published: 2026-08-24 Categories: cs.CL, cs.LG arXiv: https://arxiv.org/abs/2609.25034v1 Central bank press conferences are not merely information releases --- they are structured narratives. We study whether the shape of sentiment within a statement, not just its average tone, carries policy-relevant signals. Constructing sentiment arcs for ECB and Fed press conferences along three dimensions --- monetary stance, economic outlook, and uncertainty --- we assess their predictive content for policy rate changes, inflation expectations, and forecaster disagreement. Our findings show that arc shape robustly predicts rate decisions beyond lexicon-based benchmarks at both institutions --- it is not merely whether a statement sounds hawkish or economically optimistic on average, but how these sentiments are sequenced and emphasized across the statement, that carries the policy signal. Arc features also shape how professional forecasters update inflation expectations and how much they disagree, pointing to a receiver-side effect distinct from the direct policy signal. These findings suggest that communication design --- the sequencing and emphasis of policy language across a statement --- is a first-order feature of the policy signal, not a second-order refinement. --- ### DiFA: Dual Evidence Fusion and Aggregation for Token-Level Text Anomaly Detection Authors: Yanyu Qian, Pengcheng Weng, Yue Tan, Enguang Zuo, Yu Zheng, Yixin Liu Published: 2026-08-24 Categories: cs.CL, cs.LG arXiv: https://arxiv.org/abs/2609.22136v1 Text anomaly detection, the task of identifying text instances that deviate from normal language patterns, is crucial for language-driven applications. However, most existing methods can only perform document-level anomaly detection, making it hard to locate harmful phrases or support targeted prevention. Recently, there has been an emerging trend toward token-level text anomaly detection, which aims to address the above limitation by identifying anomalous words or fragments within a document. Nevertheless, one representative method mainly relies on representation-space distance measurement, neglecting the complementary roles of different anomaly cues in capturing diverse abnormal patterns. To bridge the gaps, we propose a Dual-evidence framework with adaptive Fusion and Aggregation (DiFA) for token-level anomaly detection. DiFA derives anomaly scores from form-structural and semantic views to capture visible structural abnormality and contextual inconsistency, respectively, thereby providing complementary evidence for identifying diverse anomalies. To combine these two scores with varying numerical scales, DiFA incorporates a calibration and fusion mechanism to adaptively balance the two views. Moreover, to obtain a discriminative document-level score, a multivariate aggregation method is designed to summarize token-level anomaly scores from multiple perspectives, preventing rare anomalous tokens from being diluted. Extensive experiments across various text anomaly detection benchmarks demonstrate that DiFA consistently achieves top performance while maintaining strong efficiency, robustness, and interpretability. The code and scripts are available at: https://github.com/qyy11-com/DiFA. --- ### Read-Best Is Not Steer-Best: A Probing--Steering Layer Dissociation in Omni-Modal Large Language Models Authors: Yibo Wang, Jisheng Dang, Bimei Wang, Yitao Wu, Wencan Zhang, Hong Peng, Jizhao Liu, Bin Hu, Qi Tian, Tat-Seng Chua Published: 2026-08-24 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.22135v1 Omni-modal large language models integrate text, audio, and image signals into a shared residual stream, where concepts such as emotion can be linearly decoded and causally modified by activation steering. A common but rarely tested assumption is that the layer with the highest probing accuracy is also the best layer for steering, so injection layers are often selected by probe performance. We provide the first causal test of this assumption across three independently developed omni-modal models and find that it fails. Reading and intervention rely on different layers, a phenomenon we call the probing-steering layer dissociation. Using emotion as a controlled testbed, we measure layer-wise readability and steerability across text, audio, and image inputs. Probe-best layers vary widely across architectures, while steering-effective layers consistently fall within a narrow mid-to-late range of normalized depth. Paired random-direction controls show an approximately 26-fold causal gap, ruling out random perturbation and direction quality as explanations. Logit-lens analysis reveals a staged forward process: causal handle, probing saturation, and vocabulary commitment, and motivates a two-factor account in which steering effectiveness depends on both representational readability and downstream plasticity. These results show that probing accuracy is a poor heuristic for selecting intervention layers and suggest a cross-architecture mid-to-late selection criterion. We also identify a cross-modal emotion subspace organized by valence and arousal, with joy acting as a stable anchor across models. Code and data: https://github.com/YiboWang2002/Read-Best-Is-Not-Steer-Best. --- ### Experimental Evaluation of a Low-Power Ultra-Wideband Receiver for Spectrum Sensing Authors: Panagiotis Vlachos, Ioannis A. Bartsiokas, Cedric Dehos, Francois Rivet, George Karachalios Published: 2026-08-24 Categories: eess.SP, cs.IT, cs.LG arXiv: https://arxiv.org/abs/2609.22134v1 Walsh-sequence-based receiver architectures offer an alternative approach for the reception and reconstruction of multiple simultaneous RF signals over wide bandwidths. While previous works have focused on the architecture and theoretical operation of Walsh-domain processing, limited experimental results have been reported so far on hardware operation under realistic conditions. This paper presents the experimental evaluation of a Walsh-sequence-based receiver prototype. A measurement campaign was conducted under various signal placement, interference, and receiver configuration scenarios. Reconstructed spectra, Walsh-lane power spectral densities (PSDs), and Error Vector Magnitude (EVM) measurements were used to investigate Walsh-domain signal representation, interference effects, and receiver performance. Finally, dense- spectrum experiments involving up to ten simultaneously active signals demonstrate the potential of the architecture for low power wideband spectrum sensing applications. --- ### Observational Equivalence of LLM and Human Annotation Authors: Kentaro Nakamura, Jing Ling Tan, George Yean Published: 2026-08-24 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.22133v1 In this paper, we show that LLM and human coding are observationally equivalent in terms of annotation quality: recent LLMs agree with expert coders at rates comparable to those observed among experts themselves. We demonstrate this through replications of text-classification tasks from 14 peer-reviewed political science studies, in which ten LLMs, three human experts, and 165 crowdsourced workers independently classify the same texts using identical codebooks. We find that this equivalence is driven by ambiguity in the texts and coding rules. When LLMs disagree with experts, experts are also more likely to disagree with one another, and clarifying coding rules reduces disagreement among both experts and sufficiently capable LLMs. Thus, there is little empirical basis for preferring human coding on the basis of annotation quality alone, while LLMs offer substantial advantages in speed and cost. We therefore argue that the central challenge of text annotation is no longer choosing between human and machine coders, but developing coding rules that minimize ambiguity and accounting for the ambiguity that remains. To this end, we propose using disagreement across LLMs to identify difficult cases and refine codebooks, and we develop ambiguity-aware bounds for downstream inference when a unique annotation cannot be defined for every text. --- ### WiNeRF: Measurement Constrained Radiance Fields for Actionable Wireless Channel Modeling Authors: Saif Ur Rahman, Rafid Umayer Murshed, Anton Dmitriev, Cagri Tanriover, Rahul C. Shah, Elahé Soltanaghai Published: 2026-08-24 Categories: cs.NI, cs.LG arXiv: https://arxiv.org/abs/2609.22132v1 Wireless embedded systems increasingly rely on wireless channel information for decision making, yet practical platforms operate under severe constraints, including few antennas, narrow bandwidth, and sparse, noisy measurements. While neural field based approaches inspired by Neural Radiance Fields (NeRFs) have recently been explored for continuous wireless channel modeling, existing approaches depend on dense measurements or external priors such as known geometry, visual context, or angle-of-arrival (AoA) information, limiting their practicality in real-world deployments. We present WiNeRF, a neural field framework that learns a spatially continuous, complex-valued wireless channel representation directly from sparse channel state information (CSI) collected by commodity WiFi devices. WiNeRF embeds intrinsic system constraints, such as antenna geometry, limited spatial resolution, and phase uncertainty, as inductive biases through a 3D conical wave sampling model, a multi-resolution implicit scene representation, and a differentiable optimization framework for complex-valued channel learning. Across diverse indoor environments with non-line-of-sight (NLoS) regions, WiNeRF achieves a median prediction SNR of 5.3 dB, outperforming prior neural baselines by 4.9 dB on average (approximately 3x higher prediction SNR), and produces a task-agnostic channel representation that can be directly reused in standard signal-processing pipelines, including beamforming, AoA estimation, and RSSI coverage mapping, without modifying existing hardware or wireless protocols. --- ### Robust Federated Q-Learning with Almost No Communication Authors: Sreejeet Maity, Aritra Mitra Published: 2026-08-24 Categories: cs.LG, eess.SY arXiv: https://arxiv.org/abs/2609.20174v1 We consider a federated reinforcement learning setting involving $M$ agents, all of whom interact with a common Markov Decision Process (MDP). The agents exchange information via a central server to learn the optimal value function. Our goal is to understand to what extent one can hope for collaborative sample-complexity speedups in such a setting, when a small fraction of the agents are adversarial and can act arbitrarily. To that end, we propose Robust Fed-Q}, a federated Q-learning algorithm that blends ideas from both model-based and model-free RL, along with the median-of-means device from robust statistics. We prove that despite corruption, with high-probability, Robust Fed-Q (i) guarantees exact convergence to the optimal value function in the limit of infinite samples, and (ii) enjoys near-optimal finite-time rates that benefit from collaboration. In addition, our approach requires just $\tilde{O}(1)$ rounds of communication to achieve each of the above guarantees, a feature of independent interest in FL where communication is the major bottleneck. --- ### PGP-Clinical-TimeKAN: Prior-Guided Joint Probabilistic Forecasting of Clinical Trajectories Authors: Weizhi Nie, Rihao Chang, Weijie Wang, Yuting Su Published: 2026-08-24 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.05488v1 Clinical deterioration unfolds through coupled, partially observed trajectories, not a single diagnostic label. We introduce PGP-Clinical-TimeKAN, a trajectory-first framework for joint probabilistic forecasting of multivariate physiology. It combines missingness-aware temporal encoders, a soft organ-system prior, patient-specific relations, nonlinear Kolmogorov-Arnold messages, and a low-rank multivariate Student-t head. We evaluate 24-hour histories and six-hour forecasts on a frozen MIMIC-IV-derived cohort of 6,882 patients and 54,694 windows. Across five seeds and 13 models, PGP-Clinical-TimeKAN obtains the second-lowest normalized MAE (0.37727 +/- 0.00029) and the lowest RMSE (0.52656 +/- 0.00034). It reduces MAE by 0.52% relative to deterministic TimeKAN. For probabilistic forecasting, it reaches a marginal NLL of 0.66380 and a CRPS of 0.27301. Empirical coverage is 0.533, 0.831, and 0.958 for nominal 50%, 80%, and 95% intervals. Removing relational structure causes the largest ablation loss. Increasing covariance rank improves joint likelihood but has little effect on point accuracy. A trajectory-derived risk score remains weaker than a dedicated GRU-D classifier (AUROC 0.603 versus 0.650), which limits the present clinical claim. Joint trajectory forecasting therefore provides an inspectable intermediate task, but accurate physiology forecasts alone do not ensure a calibrated event detector. --- ### AdaptAV: Continuous Adaption of Vision Models for Autonomous Vehicles Using Cloud-based Oracle Authors: Yuheng Zhu, Dhruva Ungrupulithaya, Boluo Ge, Man-Ki Yoon Published: 2026-08-24 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2608.28673v1 Deploying vision perception models in autonomous vehicles requires that we prioritize inference speeds, resulting in a model with shallower architectures and lesser model parameters (i.e., more pruned). Such small models do not generalize well, which could result in poor performance when encountered with novel scenarios. We propose a system that overcomes this by continuously retraining the vision models on the cloud with data uploaded by vehicles. We leverage the abundant compute resources, including machine learning accelerators, of the cloud to run a highly-accurate oracle model that will guide the retraining process of the on-vehicle model. This newly trained model is transmitted to the vehicle over the network and is utilized by the vehicle for perceptions, leading to improved inference accuracy over time. --- ### FrameScope: Temporal Data Valuation for Stream Active Learning in Autonomous Vehicle Systems Authors: Yuheng Zhu, Man-Ki Yoon Published: 2026-08-24 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2608.28672v1 Autonomous vehicles operate in dynamic, ever-changing environments where new scenarios and edge cases constantly emerge. As a result, static learning models are inadequate for ensuring safe and reliable operation. Continuous learning is essential for adapting to these evolving conditions and maintaining robust performance across diverse real-world settings. However, autonomous vehicles generate massive streams of visual data during operation, and existing continuous learning approaches typically rely on heuristic sampling methods that fail to capture temporal dynamics, often overlooking critical learning opportunities or selecting redundant frames. In this paper, we introduce FrameScope, a temporal data valuation framework for continuous learning in autonomous vehicles. FrameScope extends neural tangent kernel theory to temporal domains, enabling principled valuation of streaming visual data. Unlike cloud-centric methods that transmit all video data for processing, our approach performs principled, local frame selection on the vehicle and queries a cloud-based oracle model only for labels of those high-value frames. Extensive experiments across multiple domain shifts show that FrameScope consistently outperforms existing methods, achieving higher sample efficiency and significantly reducing catastrophic forgetting in autonomous vehicle perception. By valuing data on the vehicle and querying only labels for selected frames, FrameScope reduces bandwidth requirements, enabling scalable operation with a lightweight cloud labeling service. --- ### Measuring Similarity between Artistic and AI Generated Images using Siamese Neural Networks Authors: Diego Castro Elvira, Navil Pineda Rugerio, Jesús García-Ramírez, Cecilia Reyes-Peña, Ricardo Ramos-Aguilar Published: 2026-08-24 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2608.28671v1 AI-generated art has sparked debates around potential plagiarism, as these images may closely resemble existing artworks. This research quantifies the similarity between original pieces and AI-generated counterparts, particularly those produced by the Stable Diffusion XL Refiner 1.0. We use Siamese Networks with frozen CLIP encoders and cosine similarity optimized through triplet loss. A dataset of paired original and generated images was built using image-to-image generation and custom prompts, enriched with semantic descriptors and BLIP-2 captions. Prior studies report up to 81\% style replication and 90\% visual similarity. Our results show high discriminative performance: training accuracy reached 99.9\%, and the best model configuration achieved 99.4\% test accuracy with strong inter-class separation ($δμ$ = 0.677), demonstrating the effectiveness of our semantic-visual embeddings. ---