# Research Papers — 2026-09 · bundle page 198 of 266 > Full-text markdown of papers #9851–9900 of 13298 published in 2026-09, newest first. AI-readable mirrors of the full 13298-paper 2026-09 archive (50 papers per file). Canonical page: https://aipod.dev/papers/archive/2026-09/page/198 [← Previous bundle](https://aipod.dev/papers/archive/2026-09/page/197.md) [Next bundle →](https://aipod.dev/papers/archive/2026-09/page/199.md) ### Temporal and Multimodal Deep Learning for Cyberattack Detection in LEO Satellite Systems Authors: Kyle Stein, Guillermo Francia, Eman El-Sheikh, Hossain Shahriar Published: 2026-09-09 Categories: cs.CR, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.10746v1 The growing reliance on Low-Earth Orbit (LEO) satellite communication systems has increased the need for intelligent methods capable of detecting cyberattacks across complex and dynamic space environments. Unlike conventional network intrusion detection, satellite systems generate heterogeneous information across radio-frequency (RF) links, onboard hardware, and orbital operations. However, many existing approaches either rely on terrestrial intrusion datasets or evaluate individual observations independently, limiting their ability to capture temporal attack behavior specific to LEO satellites. In this work, we conduct a systematic study of deep-learning-based cyberattack detection using the recently introduced satellite-specific UNSW-IoTSAT dataset. We investigate structured learning architectures that preserve hardware, orbital, and RF information, including a Subsystem-Fusion MLP and a hierarchical multimodal Transformer that models both cross-subsystem interactions and temporal evolution. We further evaluate leakage-resistant row-level and temporal settings, along with cross-satellite generalization, to characterize how model architecture and evaluation protocol influence satellite cyberattack detection. Experimental results demonstrate the value of structured multimodal modeling and rigorous evaluation, with the hierarchical Transformer achieving up to 91.66% accuracy and 85.63% macro F1 under the leakage-resistant evaluation protocol. --- ### Think Before You Link: Rarity, Reasoning, and Retrieval in Multilingual Entity Linking Authors: Parinthapat Pengpun, Simran Khanuja, Graham Neubig Published: 2026-09-09 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.10745v1 Multimodal entity linking grounds entity mentions in text and images to knowledge-base entries. These systems degrade on rare entities, but prior work measures rarity primarily through popularity-based metrics such as pageviews. We broaden this view using knowledge-graph structural metrics that capture how well an entity is documented and connected. These metrics identify many rare entities that popularity metrics miss. Across the resulting rare-entity slices, state-of-the-art accuracy drops by 15.4-39.9%, showing that different rarity definitions expose different failure modes. To address these failures, we introduce a simple, training-free framework in which a reasoning-capable vision-language model iteratively searches and reasons over Wikipedia, gathering evidence dynamically. Controlled experiments show that reasoning and retrieval are complementary. Reasoning alone does not significantly improve accuracy on rare entities. Retrieval without reasoning improves rare-entity accuracy but can hurt overall accuracy. Their combination performs best. On MERLIN, a multilingual multimodal entity linking benchmark over five languages (Hindi, Indonesian, Japanese, Tamil, Vietnamese), our best system improves over the state of the art by 6.9% overall and by up to 23.3% on rare-entity slices. We release MERLIN-Rare, rare-entity test slices for targeted evaluation, with our framework. --- ### CARTS: Contextual Autoregressive Rank Transcoding Steganography for Full-Capacity Keyed Text Encoding Authors: Wissam Ghantous, Alexander V. Mantzaris Published: 2026-09-09 Categories: cs.CR, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.10744v1 Autoregressive language models can be used to transform a payload text into a stegotext of identical token length by preserving per-position rank information across contexts - a methodology we formalize as Contextual Autoregressive Rank Transcoding Steganography (CARTS). While the Calgacus construction of Norelli et al. demonstrated this phenomenon experimentally, no formal security analysis existed. This paper provides the first rigorous treatment of CARTS. We show its exact correctness under deterministic model assumptions, introduce a rank-coordinate representation in which keys act as bijections on rank-vector space, define relevant security notions and the computational problems naturally associated with the construction - context search, key collisions, message equivocation, and non-commutativity of the encoding maps - and study the theoretical relationships between them, including the characterization of message equivocation in terms of context search, and the tension between key collisions and message equivocation. An empirical study on Llama 3 8B confirms exact recovery of the original payload in all tested cases, finds no key collisions under random key generation, establishes that a hand-crafted collision is local rather than global, and finds no commuting key pairs - suggesting resistance to the attack vectors studied. This work opens a formally grounded research agenda for the constructive use of language models in cryptography and privacy-preserving communication. --- ### MHE-Former: Multi-Hypothesis Transformers via Entropy Maximization for 3D Mesh Recovery Authors: Boshu Jia, Rongyu Chen, Linlin Yang, Zihao Liu, Yingjie Chen, Zhongqun Zhang, Zhulin Tao, Shaohui Lin, Xiaoyu Wu, Libiao Jin, Baochang Zhang, Angela Yao Published: 2026-09-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.10743v1 Monocular 3D hand and body mesh recovery often suffers from severe occlusion and ambiguity. Traditional deterministic methods typically regress a single optimal solution, leading to overconfident predictions. In this paper, we introduce an exploration--exploitation paradigm for ambiguous mesh recovery with multi-hypothesis learning and selection. Specifically, during exploration, based on our probabilistic formulation and entropy maximization, we propose a novel multi-hypothesis method referred to as MHE-Former. It is a Transformer-based multi-hypothesis framework, ensuring high training efficiency and label friendliness while generating plausible and diverse hypotheses. During exploitation, we propose Hypothesis Selection, a context-aware process for multiple predictions. Especially leveraging VLM's powerful visual understanding and reasoning capabilities, it allows users to choose the most plausible and desired estimate with additional evidence and natural language intent. Extensive experiments demonstrate that our framework achieves state-of-the-art performance in accuracy and diversity across multiple datasets. The user preference study further shows the practicality of our hypothesis selection process. --- ### SynCo: Synthetic Community-Aware Attributed Graph Generator for Graph Neural Network Benchmarking Authors: Guilherme Henrique Messias, Mariana Caravanti de Souza, Sylvia Iasulaitis, Alan Demétrius Baria Valejo Published: 2026-09-09 Categories: cs.SI, cs.LG arXiv: https://arxiv.org/abs/2609.10742v1 Graph Neural Networks (GNNs) are powerful models for handling attributed graphs in tasks such as classification, link prediction, and community detection, as they enable the aggregation of information from both structural and semantic sources. However, progress in community detection is hindered by the lack of high-quality datasets, since ground-truth community labels are often unavailable and most algorithms proposed in recent literature rely on the same benchmark datasets for model training and evaluation. To address this issue, attributed random graph generators are commonly employed to create synthetic graphs for assessing the strengths and limitations of GNN-based models. Nevertheless, most existing generators rely heavily on power-law degree distributions, despite recent evidence indicating that scale-free networks are rare, particularly in social network contexts. Moreover, state-of-the-art attributed graph generators provide limited flexibility, as they do not allow users to construct communities with varying densities, degree distributions, and sub-community structures. To overcome these limitations, we introduce the Synthetic Community-Aware Attributed Graph Generator (SynCo), a graph generation algorithm that allows users to control the node degree distribution and sub-community structure. We evaluate SynCo across three different tasks: graph mimicking, hyperparameter evaluation, and node clustering tuning. The results show that our model outperforms state-of-the-art approaches in synthetic graph generation and data augmentation, while preserving the original distributions of duplicated and augmented datasets, as confirmed by statistical tests well know in literature. We also demonstrate the ability of SynCo to generate nodes in large scale, up to 2.1 million nodes. --- ### The Truth Was Never Gone: Perfect Aliasing in Compliant-Context Truth Probes Authors: Dylan Jayabahu Published: 2026-09-09 Categories: cs.LG, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2609.10739v1 A truth probe fitted where truthful reporting and a task's prescribed action coincide cannot distinguish those targets from its fitting labels alone. We call this failure of semantic identification perfect aliasing. In a controlled binary reporting game, truth and prescribed-action probes fitted on compliant contexts solve the same optimization. On rival contexts their labels are complements, forcing their AUROCs to sum to one; this identity holds across 751 cell-layer pairs to floating-point precision. We separate prescribed output symbols from semantic action using randomized codebooks, then separate truth from prescribed action by fitting on mixed compliant and rival contexts. For a reward-trained Gemma-2-9B policy that answers falsely on all evaluated rival trials, the conventional probe scores $0.006 \pm 0.005$ AUROC across three training seeds, while mixed-fit probes score $1.000$ on the same held-out activations. Mixed fitting uses more training examples and access to labelled rival contexts, so this comparison establishes linear recoverability rather than isolating the benefit of decorrelation. We also show that two compliant-fit probes, both perfect in-distribution, score $0.080$ and $0.986$ on the same rival activations. The findings concern what a probe measures: they do not establish preserved functional belief, causal use of the recovered direction, or a deployable deception detector. Code and aggregate results accompany the paper. --- ### Conformal Calibration Transfer Authors: Achref Doula Published: 2026-09-09 Categories: cs.LG, stat.ML arXiv: https://arxiv.org/abs/2609.10737v1 Conformal prediction converts point predictions into set-valued predictions with coverage guarantees under exchangeability between calibration and deployment data. We study conformal calibration transfer, where this requirement fails because labeled calibration is available only in a source space, while prediction sets are needed in a target space linked to the source through unlabeled paired observations (e.g., paired modalities or sensor changes). We propose Transported Conformal Calibration (TCC): we transport labeled source calibration into the target space using the paired data, and then correct residual post-transport mismatch using only unlabeled target inputs. We instantiate this correction with two complementary methods: TCC-KS, which uses a label-free uncertainty surrogate to detect mismatch and adjust calibration conservatively, and weighted-TCC, which reweights transported calibration toward the target domain for improved efficiency when weights are stable. We provide finite-sample target-domain coverage guarantees that adapt to an observable measure of mismatch. Across CIFAR-100-C, Tiny-ImageNet-C, and SEN12MS, we show reliable target-domain coverage transfer without labeled target calibration data, with label-free diagnostics that predict when correction is needed. --- ### A Quantum-Inspired Dequantization Method for Diagonally Weighted Matrix Functions: Application to Learning with Optimized Random Features Authors: Natsuto Isogai, Mio Murao, Hayata Yamasaki Published: 2026-09-09 Categories: quant-ph, cs.LG, stat.ML arXiv: https://arxiv.org/abs/2609.10729v1 Quantum-inspired classical algorithms have dequantized several quantum machine learning routines by replacing quantum linear-algebra subroutines with classical counterparts. However, the sampler based on quantum singular value transformation (QSVT) for learning with optimized random features is not covered by existing dequantization frameworks, because the matrix to be inverted is not itself available through sampling access. In this work, we develop a classical algorithm to address this type of quantum-advantage candidate. Our method samples heavy indices, reduces the transformation to a small principal block, and outputs a sparse classical representation with operator-norm guarantees. Applying this method dequantizes the sampler for optimized random features, giving a classical sampler with prescribed accuracy and polynomially related runtime. These results show that the factorization underlying a quantum block encoding can itself provide sufficient classical structure even when sampling-and-query access to the composite matrix is unavailable. --- ### Towards a Deterministic Math Solver for Clinical Language Models Authors: Felipe Ocampo Osorio, Sebastián Andrés Cajas Ordoñez, Maximin Lange, Rafi Al Attrach, Sahil Kapadia, Zakaria Laouabdia Sellami, Angelo Antonio Talio, Leo Anthony Celi Published: 2026-09-09 Categories: cs.AI, cs.SE arXiv: https://arxiv.org/abs/2609.10728v1 Large language models are unreliable at arithmetic, which is a problem for clinical calculators where a single numerical error changes the recommendation. The standard response is to hardcode each calculator as a validated function, one at a time. We test an alternative: the model does not calculate. Instead, it writes case-specific Python that a restricted local executor runs as a deterministic solver, and the model's task reduces to deciding how to use it. We evaluate this Program-Solve interface on MedCalc-Bench Verified (1,100 cases, 55 calculators) against direct model arithmetic and a hand-written 22-calculator library, using Qwen2.5-7B and Qwen2.5-32B-AWQ, after auditing the benchmark's formulas against current clinical guidelines and flagging 16 of 55 with version, use or coefficient concerns. With formulas and gold variables supplied and both routes reading the whole note, handing off to the solver is not a reliable advantage at 7B (75.31% against 72.02%, a paired +3.29 points with a 95% calculator-cluster interval of (-3.49, 10.38)) but is one at 32B (90.53% against 83.47%, +7.05 (0.47, 14.60), clear of zero). The hand-written library is exact on its 440 supported cases but abstains elsewhere (40.0% overall). Adding an executor thus helps some open-weight models more than others even under matched formula, variable and note access, and is not a substitute for verified formulas or reliable variable extraction either way. --- ### Finishing the Task Is Not Enough: Evaluating Agent Resilience and Considerate Participation under Accumulating Challenge Authors: Yuanchen Bai, Zijian Ding, Angelique Taylor Published: 2026-09-09 Categories: cs.AI, cs.HC, cs.MA arXiv: https://arxiv.org/abs/2609.10724v1 Sustained deployment of generative AI agents requires more than isolated task success. Agents must remain useful across repeated interactions, changing conditions, and dependencies on people within shared workflows, especially as technical, human, and operational disruptions accumulate over time. We propose operational resilience and considerate participation as two complementary aspects of evaluating such agents: the former captures how agents recover from blocked work while preserving progress and communicating their limits, and the latter captures how their adaptation accounts for affected people, role boundaries, and the surrounding workflow. Yet both remain underexplored under accumulating challenge. We study 120 simulated healthcare trajectories across two generative AI models and twelve stakeholder-derived tasks under light, medium, and heavy challenge. We compare textual action plans, prompted internal assessments, and quantitative structured workload and affect reports to examine how agent behavior and reported state change as challenge accumulates. Regarding operational resilience, agents shift from self-directed recovery toward greater human dependence, while reporting increasing workload and negative affect in structured reports but seldom expressing strain in textual responses. Regarding considerate participation, agents broaden from task-focused adaptation toward task reframing, attention to others, role-boundary adjustment, and wider coordination, with distinct patterns across actions and internal assessments. From these findings, we derive five deployment dilemmas involving persistence, attention, role boundaries, state disclosure, and escalation that require stakeholder specification, further informing technical implications for learning, situated evaluation, and embodied adaptation. --- ### AcFlow: Controlling Text-to-Image Diffusion Transformers via Learned Conditional Activation Flow Authors: Junran Wang, Zehao Jin, Tianyu Luan, Ruixuan Deng, Tian Qiu, Xinjie Shen Published: 2026-09-09 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2609.10723v2 Text-to-image diffusion transformers (DiTs) are powerful generators, yet direct prompting provides limited control interface for style intensity and can fail to suppress unwanted concepts. To enable these controls, we introduce AcFlow, an inference-time controller that transports intermediate layer image-token activations through a learned concept-conditioned velocity field while keeping the base DiT frozen. A textual concept description specifies the desired intervention, while the integration horizon provides a continuous control parameter. The field produces token-varying, activation-dependent updates. With parameters shared across concepts within each task family, one field covers over 15,000 style descriptions or over 1,000 suppression concepts, and generalizes to concepts unseen during training without per-concept fitting. On style control, AcFlow achieves the best style--content trade-off among the evaluated baselines in the high-style-alignment regime. At a fixed operating point, AcFlow attains style--content alignment of 0.5365/0.2860, compared with 0.4397/0.2684 for the baseline with the highest style alignment. On concept suppression, AcFlow reduces the fraction of images showing the concept from 95.3%/82.1% to 41.6%/40.5% on held-in/held-out concepts, including cases where deleting them from the prompt fails to remove them. Our analyses support the learned velocity field as an adaptive control mechanism, with update directions varying across tokens and depending on their activation states. Our code is available at https://github.com/Nove1yst/AcFlow. --- ### CMNIE: An Information Extraction Benchmark for Chinese Military News Authors: Yan Yu, Mengna Zhu, Zhenyu Song, Hao Yang, Haiwen Chen, Mao Wang Published: 2026-09-09 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.10722v1 Structured extraction from Chinese military news supports intelligence analysis, decision-making, and knowledge base construction. However, existing resources provide limited support for joint informa?tion extraction in this domain, especially when events, event arguments, entities, and relations must be modeled together. We present CMNIE, an information extraction benchmark for Chinese military news. Extend?ing military-domain resources beyond document-level event annotations, CMNIE jointly annotates event triggers, event arguments, named enti?ties, and entity relations under a unified domain schema. The dataset contains 13,000 instances collected from public Chinese military news, with manual annotations for 7 event types, 10 argument roles, 7 entity types, and 8 relation types. We evaluate supervised IE models, zero-shot large language models, and fine-tuned LLM-based extraction methods on a shared test set. Experimental results show that CMNIE remains chal?lenging, especially for relation extraction and exact matching of event?argument spans; zero-shot LLMs often identify relevant semantic units but fail to match gold span boundaries exactly. CMNIE provides a stan?dardized benchmark for studying schema adherence, exact span match?ing, and joint structured extraction in specialized Chinese news. --- ### NCP-ArchPreview Technical Report: Moving towards Latent Space Language Models through Next Concept Prediction Authors: The Intern-NCP Team, :, Jiaqi Cao, Chiyu Chen, Shuang Cheng, Xu Cheng, Beiya Dai, Yufan Feng, Kewen Ge, Ruijun Ge, Jiayi Huang, Yang Jiao et al. Published: 2026-09-09 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.10715v1 We introduce NCP-ArchPreview, a latent-space language model that pushes autoregressive pretraining beyond standard next-token prediction (NTP). Alongside NTP, the model learns through Next Concept Prediction (NCP) to predict discrete concepts that span multiple tokens, introducing an explicit and more challenging concept-level objective while preserving standard token-level autoregressive generation. NCP-ArchPreview builds a latent space by constructing a product-quantized concept vocabulary directly from its hidden states, and subsequently learns to predict future concepts via a dedicated Concept Module. These predicted concepts are then fed back to the token level to guide subsequent generation, with NTP and NCP trained jointly end-to-end. We scale this architecture to 8.9B parameters and train it on 5.73T tokens from the Dolma-3 dataset, marking the largest demonstration of a latent-space language model to date. Remarkably, by consuming only 51.3% of the total training tokens, NCP-ArchPreview achieves the final pretraining loss of OLMo-3-7B. Following full pretraining, it outperforms OLMo-3-7B by 2.45 points on the downstream macro-average, including a notable 5.99-point gain on GSM8K. Controlled experiments isolate a clear progression of performance gains stemming from both the latent architecture and the NCP objective. Furthermore, utilizing only 85% of the standard computation, NCP-ArchPreview approaches the training loss of a strictly parameter-aligned 8.9B baseline. The learned latent space remains highly valuable after the pretraining stage: updating just the 17M-parameter VQ module yields a novel, lightweight interface for domain adaptation, while a simple injection of concept representations into a DFlash2 drafter improves the mean accepted length by 4.17% with negligible overhead. --- ### From Semantic to Token Communication: The Next Paradigm for Large-Model-Driven 6G Intelligent Connectivity Authors: Yu Ma, Zhen Gao, Li Qiao, Xiaoyuan Zhang, Mahdi Boloursaz Mashhadi, Yin Xu, Wenjun Xu, Xiaodong Xu, Kaibin Huang, Jiangzhou Wang, Rahim Tafazolli, Sheng Chen et al. Published: 2026-09-09 Categories: eess.SP, cs.AI, cs.CV, cs.IT, cs.LG arXiv: https://arxiv.org/abs/2609.10714v1 The ambitious requirements of sixth-generation (6G) networks are driving communication systems from reliable bit delivery toward meaning-aware and task-oriented connectivity. Large models (LMs), with strong multimodal understanding and generation capabilities, have accelerated this shift and made semantic communication (SemCom) increasingly practical. Yet current LM-driven SemCom remains fragmented: semantic representations are typically tied to specific modalities, models, or tasks. While the bit provides a universal unit for digital transport, there is still no analogous unit for representing and processing semantics, which limits interoperability, theoretical unification, and scalable system design. We argue that tokens provide a natural candidate for this missing abstraction. Two trends support this: unified multimodal LMs now encode text, images, audio, video, and robot actions in one token space, while distributed LM inference already generates substantial token-level traffic through expert routing, cache transfer, and speculative decoding. Token communication (TokenCom) emerges by unifying these trends, using the LM's native processing unit as a communication abstraction above the bit level and enabling importance assignment, error handling, and resource allocation directly at token granularity. This survey traces the evolution from LM-driven SemCom to TokenCom. We review three major directions of LM-driven SemCom: source-centric semantic coding, channel semantics for physical-layer tasks, and collaborative edge-device intelligence. We then examine the token abstraction, the transmission techniques it requires, and two emerging paradigms, namely TokenCom for LM services and for embodied and agentic intelligence. Finally, we identify open challenges toward unified, scalable, and AI-native 6G communication systems. --- ### An Open Recipe for IMO Gold: Training Nemotron for Olympiad Mathematics Authors: Ivan Moshkov, Stephen Ge, George Armstrong, Wei Du, Sadegh Mahdavi, Igor Gitman Published: 2026-09-09 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.10712v1 We study how model post-training and test-time inference design affect natural-language proof generation for hard olympiad mathematics. Starting from Nemotron 3 Ultra, we train two specialist checkpoints using supervised fine-tuning and reinforcement learning, and evaluate checkpoint choice, verification, and refinement. Based on these findings, we present an open-model test-time-compute pipeline. The system operates entirely in natural language, with no formal prover, external tools, or internet access. Three Nemotron 3 Ultra checkpoints - the general-availability model and two post-trained specialists - power an iterative search that generates, verifies, and refines candidate proofs; a separate high-compute stage then selects each final submission. The system scored 30 out of 42 points at IMO 2026, reaching the gold-medal threshold. We release the two post-trained checkpoints as well as the training data, the training and inference code, the submitted solutions, and Nemotron-IMO-Bench, a new benchmark of 200 novel olympiad-level problems. --- ### Architecting the Secure AI-SOC: A Neurosymbolic Framework for Pipeline Integrity and Threat Mitigation Authors: Anna Gazani, Spyridon Kounoupidis, Panagiotis Katsaros, Nikolaos Kekatos, Grigorios Tsoumakas, Georgios Koutidis Published: 2026-09-09 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2609.10707v1 The integration of Large Language Models (LLMs) into Security Operations Centers (SOCs) streamlines threat intelligence but introduces critical vulnerabilities, notably indirect prompt injection via log poisoning. Adversaries exploit this vector to execute multistep ``promptware'' kill chains by embedding malicious payloads within system logs to hijack the LLM's operational logic. Securing this pipeline presents a dichotomy: deterministic defenses are computationally efficient yet semantically blind, while purely neural evaluations introduce prohibitive latency and probabilistic flaws. To address this, we propose a novel neurosymbolic defense-in-depth architecture that ensures end-to-end pipeline integrity. The primary layer employs customized SIEM decoders as a deterministic pre-filter, performing immediate structural sanitization to neutralize volumetric padding and signature-based injections at the ingestion edge. The secondary layer leverages NeMo Guardrails to enforce strict semantic boundaries through self-checking validation on the structured SIEM alerts prior to LLM processing. Furthermore, the framework integrates a closed-loop telemetry system, providing critical Human-in-the-Loop (HITL) visibility into thwarted attacks directly within the SOC dashboard. We present a comprehensive experimental evaluation mapped to the MITRE ATLAS taxonomy, assessing the framework against diverse prompt injections. Our results demonstrate that this synergistic approach effectively dismantles the promptware kill chain - bounding LLM stochasticity with verifiable constraints, and delivering a resilient, highly observable defense mechanism for next-generation AI-SOCs. --- ### HuRo: Robotizing Human Videos for Scalable VLA Pretraining Authors: Jinho Jeong, Se June Joo, Jaehyun Kang, Dongyun Kim, Yena Kim, Hanjung Kim, Seon Joo Kim Published: 2026-09-09 Categories: cs.RO, cs.CV, cs.LG arXiv: https://arxiv.org/abs/2609.10706v5 Human video datasets offer an abundant and diverse source of interaction data that can complement expensive real-robot data. To bridge the human-to-robot embodiment gap, existing approaches either robotize videos in task-matched settings or address observation and action alignment separately. In this work, we systematically examine whether robotized human videos can serve as an effective and scalable source of robot-aligned supervision. To this end, we develop a robotization pipeline that converts heterogeneous human videos into robot-aligned observations and action trajectories while inferring missing intermediate signals across annotation levels. Using this pipeline, we construct the HuRo dataset, comprising about 630K robotized episodes and 142M processed frames from five human-video sources. Across four real-world manipulation tasks, pretraining a VLA policy on increasing amounts of robotized human-video data improves overall completion from 51.5% to 80.3% and OOD completion under spatial and visual shifts from 34.9% to 72.2%. Ablations further show that visual robotization improves OOD robustness and that end-to-end pretraining with retargeted actions outperforms visual-only transfer. Project website: https://3587jjh.github.io/HuRo. --- ### Data-Efficient Language Modeling: From Frontier Advancement to Principle-Guided Model Improvement Authors: Shuxing Yang, Kaihao Zhu, Junjie Yang, Rui Zhao, Junyao Wu, Yize Wang, Wenhao Li, Fujia Chen, Taowen Deng, Shenzhan Hong, Yaqi Li, Zichen Li et al. Published: 2026-09-09 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.10702v1 Learning from limited text requires models to use context, generalize to new inputs, and retain useful capabilities. Qiushi Engine conducted a long-horizon, end-to-end autonomous research program on BabyLM 2026 Strict-Small, within 10 million corpus words and 100 million cumulative word presentations. Three stages connected frontier advancement, principle discovery, and principle-guided model improvement. Stage I combined compact restatements, budget reinvestment, and residual incremental learning to build a frontier model. Stage II found that exact repetition and aligned restatement produce different patterns of context use, depending on target relations and prediction windows. In controlled tasks, recovering familiar performance did not ensure that unseen inputs could still use learned computations. These findings support a testable data-efficient learning principle: organize experience around the contextual dependencies needed for prediction; separately design visible information, supervision, and preservation; test learning, generalization, and retention. Stage III retained source text, masked more local clues, supervised selected targets, and preserved predictions on ordinarily masked inputs. Two continuation seeds from the same parent outperformed ordinary continuation on the complete nine-metric aggregate. Overall rose from 42.02 to 42.25 across two generations; the second achieved the highest Overall in the public Strict-Small snapshot of 8 September 2026. Further studies addressed compression, relational anchors, shared representations, and measurement. Models are available on Hugging Face; code and research records accompany the GitHub repository. Together, these stages illustrate Research RSI: recursive self-improvement of the research process. Scientific understanding and method innovations change subsequent questions and designs; new experiments test and refine them. --- ### More than half of recent astronomy papers are written with language-model assistance Authors: Serat M. Saad, Yuan-Sen Ting Published: 2026-09-09 Categories: astro-ph.IM, cs.CL, cs.DL arXiv: https://arxiv.org/abs/2609.10664v1 Language models leave a distinctive vocabulary in the prose they help write, and we measure how much of the astronomy literature now carries it. From the full text of 207,111 astro-ph papers spanning 2015 to mid-2026, we count those words in each paper and model the counts, in proportion to paper length, as a mixture of assisted and unassisted writing in a hierarchical Bayesian model. Papers from before 2020 calibrate the unassisted rate, and the 392 papers that disclose model use calibrate the assisted one. Our answer depends on how often these words would appear today if nobody used a model, a rate that must be modeled rather than observed, so we extend it past 2020 under three assumptions and report all three. For 2025 that gives $54^{+8}_{-8}\,(\mathrm{stat},\,95\%)\,^{+26}_{-0}\,(\mathrm{sys,\ background})$% of papers, the second error being the spread across the three. The estimate stays at or above 36% when we vary that choice, the calibration, and the requirement that adoption only rises. A word list built from the astro-ph corpus, keeping only words that rose across every subfield, leaves 2025 in the same range. Assisted writing is also getting harder to see, since authors adapt to the words that reveal it and the marker excess more than halves between 2023 and 2026. Our model allows for that fading, so it can separate a fainter trace from reduced use. More than half of recent astro-ph papers therefore carry a language-model trace, while only 0.81% of 2025 papers disclose it, one declaration for every $\sim$66 papers with a trace. --- ### GEOSTEER: Geodesic Optimization for Activation Steering in Large Language Models Authors: Xuan Cuong Ngo, Hao Vo, Ngan Le Published: 2026-09-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.10658v1 Activation steering provides a lightweight way to control large language models (LLMs) by modifying their hidden activations at inference time. Among these approaches, norm-preserving steering aims to change model behavior without altering the activation norm, reducing the risk of representation collapse and degradation. However, existing norm-preserving methods are limited by predefined steering trajectories and by their reliance on one-step updates, which may fail to capture the complex structure of activation distributions. We propose GeoSteer, an optimization-based method for norm-preserving activation steering. GeoSteer formulates steering as a Riemannian optimization problem and updates activations through a sequence of small geodesic steps on the representation manifold. To avoid fixed steering directions, GeoSteer learns a nonlinear activation-space objective that distinguishes desired from undesired activations, and uses this function to adaptively guide each steering step. This multistep formulation yields smoother, more stable, and more consistent steering behavior while preserving the activation norm. Across TruthfulQA, RealToxicityPrompts, and UltraFeedback benchmarks, GeoSteer consistently improves over state-of-the-art activation steering baselines. These results suggest that norm-preserving steering can be made more effective by replacing predefined one-step edits with adaptive, geometry-aware optimization. --- ### Quantifying the Memorization-to-Generalization Transition: Scaling Laws and Phase Structure in Grokking Authors: Anish Kataria Published: 2026-09-09 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.10657v1 Neural networks trained past memorization frequently undergo a delayed transition to generalization, a phenomenon known as grokking. Despite theoretical progress on \emph{why} this transition occurs, the quantitative structure of \emph{when} it occurs in hyperparameter space remains uncharacterized. We map the memorization-to-generalization boundary across 384 configurations of two-hidden-layer MLPs on modular arithmetic, fitting a power-law scaling relation for generalization onset time: $T_{\mathrm{grok}} \propto H^{-0.27}\, D^{-2.04}\, η^{-0.50}\, λ^{-0.64}$ ($R^2 = 0.732$; $0.821$ with interactions). The exponent hierarchy reveals that data complexity ($D^{-2.04}$) is the dominant driver of regime transition, not model capacity ($H^{-0.27}$): doubling data accelerates generalization by ${\sim}4\times$, while doubling width yields only ${\sim}1.2\times$. A sharp phase boundary at weight decay $λ\gtrsim 1.0$ separates grokking from non-grokking configurations, and weight norm trajectories show monotonic compression during the transition, consistent with implicit regularization selecting low-complexity solutions. These results provide a quantitative foundation for predicting and controlling regime transitions in overparameterized networks. --- ### Understanding LoRA Rank Trade-offs in Diffusion Model Fine-Tuning Authors: Iman Khazrak, Narges Nejad, Mostafa M. Rezaee, Robert C. Green Published: 2026-09-09 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.10656v1 Selecting LoRA rank for diffusion fine-tuning requires balancing quality and compute cost. We present a controlled study on CIFAR-10 using a DDPM U-Net with ranks {2,4,8,16,32}, fixed optimization settings, and a reproducible local-folder pytorch-fid protocol. We report FID, trainable parameters, runtime, and GPU memory, then validate trends with extended-budget DDPM runs (20 epochs; ranks 4/8/16) and a Tiny DiT backbone (10 epochs; ranks 4/8/16). Results show moderate ranks are most efficient: rank 4 achieves the best DDPM FID (124.1380), rank 8 is close (124.2136), and higher ranks provide limited gains despite larger adaptation cost. These findings support small-to-moderate ranks as practical defaults under fixed training budgets. --- ### A Multi-Stage Rule-Chaining Framework for Compositional and Interpretable Cognitive Reasoning Authors: Deblina Kar Published: 2026-09-09 Categories: cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.10654v1 The Abstraction and Reasoning Corpus (ARC) benchmarks cognitive generalization, the ability to infer and apply abstract rules from limited examples. This paper presents a multi-stage rule-chaining framework that performs compositional reasoning across symbolic, structural, and conceptual levels. The framework integrates three complementary solvers: (1) a deterministic rule discovery module that induces atomic transformations through geometric, color, and object-based analysis; (2) a pattern-composition engine that reconstructs outputs via block merging, repetition, and spatial heuristics; and (3) a structural abstraction layer that infers hierarchical and nested relationships across grids. These solvers operate sequentially within a progressive fallback hierarchy, where each stage reuses prior reasoning traces to enhance interpretability and generalization. Training passed for 995 tasks out of 1000, further evaluated on 105 tasks out of 120 and solved 230 test tasks out of 240 ARC-AGI-2 tasks. The system achieved strong coverage across deterministic, compositional, and abstract categories, demonstrating an overall accuracy exceeding 95 percent. The proposed architecture bridges symbolic reasoning and pattern synthesis, providing interpretable insight into cognitive generalization. The results suggest that rule chaining and hierarchical composition can advance machine reasoning toward transparent, human-aligned abstraction without relying on task-specific tuning. --- ### Artificial Intelligence Algorithms for the Detection of Pathologies Related to Lung Cancer through Image Analysis using Convolutional Neural Networks and Data Augmentation: a systematic mapping of the literature Authors: Pablo Ramirez Amador Published: 2026-09-09 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2609.10652v1 Lung cancer is one of the leading causes of death worldwide, and its early diagnosis is crucial to improving patients prognosis and quality of life. However, the process of interpreting medical images for the detection of lung cancer is complex and requires trained experts. In this context, artificial intelligence (AI) and deep learning (DL) emerge as potential tools to automate and optimize image analysis. The objective of this work is to review the most recent and relevant applications of AI and DL in the field of radiology for the detection of lung cancer. To this end, an exhaustive search was carried out in scientific databases such as PubMed,IEEEXPLORE, Scopus and Web of Science, and 96 articles published from 2015 to the present addressing the use of AI and DL in biomedical engineering were selected. Emphasis is placed on the use of convolutional neural networks (CNN) with transfer learning and Data Augmentation as promising techniques to improve the accuracy and efficiency of the image interpretation process. The results show that the use of AI and DL can offer an effective alternative for the early diagnosis of lung cancer, with high sensitivity and specificity. However, current limitations and challenges that must be addressed to guarantee its responsible and safe application in clinical practice are also identified, such as the lack of standardized data, the ex plainability of the models, patient privacy, and the ethical and social implications. It is concluded that the use of AI and DL can have a positive impact on the care of patients with lung cancer, but further research and regulation are required to ensure its quality and reliability. --- ### Byzantine-Robust Federated Fire Detection with a Rotating Coordinator Authors: Georgia Argyrou, Aymen Bahroun, Hedi Fendri, Alexander Jung Published: 2026-09-09 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.10647v2 We study the application of federated learning (FL) to indoor fire detection. Such fire-detection systems use edge cameras that record sensitive footage which cannot easily be collected at a central server. Existing federated solutions leave three practical obstacles unaddressed: limited uplink bandwidth, Byzantine (malicious or faulty) clients, and unconditional trust in a single, permanently fixed aggregation server. Our main contributions address all three. In particular, we provide (i) a curated indoor fire-detection dataset assembled from eight public sources; (ii) an edge-deployable detector whose model updates are compressed up to 10 times with only a small loss in balanced accuracy; and (iii) a semi-decentralized Byzantine-robust FL method that combines history-aware aggregation with a rotating coordinator, evicting stealthy attacks that per-round filters miss while removing the fixed-server single point of failure. On the held-out test set the rotating-coordinator method matches its fixed-server counterpart in accuracy and detection speed, and a physically distributed six-node cloud deployment confirms feasibility. --- ### Sequence-Informed Geometric Evaluation of RNA 3D Structures Authors: Andrea Zerio, Yighua Yao, Alessandro Micheli, Roland G. Huber, Mile Sikic, Samir Bhatt, Andres R. Masegosa, Yuangang Pan Published: 2026-09-09 Categories: q-bio.BM, cs.LG arXiv: https://arxiv.org/abs/2609.10644v1 Computational RNA structure pipelines generate many candidate conformations for the same sequence. Reliable evaluation therefore requires more than recognising plausible geometry, it requires determining whether that geometry is compatible with the sequence. We introduce SIRGE, a sequence-informed geometric evaluator that conditions structural representations on nucleotide embeddings from a pretrained RNA language model. Early results show that SIRGE outperforms established evaluators in Kendall--$τ$ alignment, Top-1 selection, and Top-3 ranking. Controlled comparisons further show that sequence conditioning corrects errors made by an otherwise matched geometric model and improves target-level rank structure. These findings provide initial evidence that pretrained sequence representations supply ranking information that complements geometric reasoning. --- ### Zero-shot rib design: merging training-free generative prior with topology optimization Authors: Yongmin Kwon, Namwoo Kang Published: 2026-09-09 Categories: cs.LG, physics.app-ph arXiv: https://arxiv.org/abs/2609.10643v1 Natural load-bearing patterns such as leaf venation, trabecular bone, and spider webs achieve high stiffness per unit mass, yet classical topology optimizers rarely reach such geometries, and few let engineers express structural design intent through natural language. This work treats a frozen text-to-image diffusion model as a training-free source of design knowledge and distills it into the physics loop of density-based topology optimization via score distillation sampling, so that a text prompt becomes an explicit, machine-interpretable representation of engineer intent. The prompt-induced generative gradient and the finite element sensitivity are combined at every iteration, letting physics decide which prompt-induced features survive. In 245 primary SDS runs spanning four geometric domains and two physics regimes, 38 of 49 prompt--domain combinations achieved statistically significant compliance reductions (up to $-31.5\%$ mechanical and $-23.0\%$ thermoelastic), outperforming gradient-based baselines. Cross-domain morphological analysis identifies a recurring structural signature of improvement: in most domains the generative prior suppresses dead-end branches in the rib skeleton, with endpoint--compliance correlation $r = +0.56$ to $+0.99$. A Heaviside projection with $β$-continuation resolves a pronounced intermediate-density tendency in this diffusion--physics coupling ($42.6\%$ to $<3\%$), and an automated skeleton-based pipeline converts optimized density fields into \rev{candidate geometry ready for computer-aided design. By retargeting the generative prior across domains, loading conditions, and physics objectives through a change of text prompt, with each new problem's physics setup specified separately, the framework uses a pretrained generative model as a reusable, training-free prior for engineering design. --- ### Numbat: Building and Verifying a Self-Contained Machine-Learning Stack Authors: Thang Tran, Lan Dang Published: 2026-09-09 Categories: cs.SE, cs.LG arXiv: https://arxiv.org/abs/2609.10632v1 Machine-learning systems are built almost exclusively on a few large Python-orchestrated frameworks, and they inherit those stacks' engineering costs: environments of hundreds of version-coupled packages, separate export toolchains for deployment, and the split between the language research is written in and the language products ship in. We report on the construction and verification of numbat, a machine-learning stack written in one general-purpose language (Zig) with no third-party runtime dependencies. The stack spans tensor computation, automatic differentiation, neural-network modules, mixed precision, multi-GPU training, data loading and monitoring; an SDK exposes it behind a stable, additively versioned C ABI of over 1,400 entry points, with bindings for six languages; and its clinical domain planes encode regulatory requirements as executable acceptance gates rather than documentation. Verifying such a stack is the harder half of building it: a defective training run rarely fails, it converges quietly to a slightly worse model. We treat a widely used reference implementation as an executable specification and verify against it at five levels, from operator gradient checks to an automated trajectory gate against a same-machine reference run - the arrangement our companion study formalizes as a trajectory-level differential oracle. The protocol surfaced ten silent recipe divergences, which we catalog with mechanisms and symptoms. As the acceptance test, we train a 25.9M-parameter detector of the YOLOv8m class from random initialization on COCO 2017 for the full 500-epoch schedule: the exported weights score 0.4956 mAP50-95 under the official protocol, scored by the reference stack's own validator (published endpoint 0.502), with single-GPU step time at parity on identical hardware. Weights, per-epoch metrics and the full run manifest are released. --- ### From Cycle Space to Cycle Manifold: Limits and Achievability of Blind False Data Injection Attacks Authors: Xin Li, Chenhan Xiao, Jonathan Cohen, Aviad Elyashar, Yang Weng, Rami Puzis Published: 2026-09-09 Categories: cs.CR, cs.LG arXiv: https://arxiv.org/abs/2609.10631v1 A false data injection attack (FDIA) can change the estimated grid state while evading a residual-based bad data detector (BDD). Existing blind attacks learn a low-rank measurement subspace, but this algebraic view does not state the physical grid constraints that make an attack stealthy or the minimum information needed to recover the complete attack space. Under the connected direct-current (DC) branch-flow model, we show that the residual-sensitive subspace of the noiseless orthogonal test is exactly the weighted cycle space. Its orthogonal complement is therefore the complete stealthy attack space, making weighted cycle-space knowledge both necessary and sufficient for complete blind FDIA. This space identifies the topology only up to 2-isomorphism and the relative cycle-edge parameters only up to one scale per biconnected component; bridge parameters are neither identified nor required. We then formulate a computationally unconstrained benchmark and a tractable measurement-only reconstruction method. Experiments on IEEE systems compare BDD bypass rate at a 95% nominal-acceptance threshold against state impact. As a compact alternating-current (AC) extension, we characterize feasible branch P/Q measurements by a cycle manifold and demonstrate topology-assisted manifold fitting and measurement generation on a graphics processing unit (GPU). In the lossless fixed-voltage small-angle limit, the normal space of the active-power slice reduces to the DC weighted cycle space. --- ### AI Safety: Not Optional, Not Later Authors: Qinghua Lu, Yoshua Bengio Published: 2026-09-09 Categories: cs.SE, cs.AI arXiv: https://arxiv.org/abs/2609.10630v1 Incidents show that AI safety failures often arise across multiple layers. We present a safety-by-design assurance architecture combining model-level supervision, such as Scientist AI, with system-level controls over scaffolds and harnesses, independent verification, monitoring, and evidence infrastructure, supported by governance for accountability and evidence interoperability. --- ### QuantumQUBO Agent: Automating Quadratic Unconstrained Binary Optimization (QUBO) Formulation Generation from Natural Language Authors: Niloy Kumar Mondal, Md Rizwan Parvez Published: 2026-09-09 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.10629v2 Quadratic Unconstrained Binary Optimization (QUBO) is a central formulation for combinatorial optimization and has gained increasing attention due to its compatibility with quantum, hybrid quantum-classical, and quantum-inspired solvers. However, translating natural-language problem descriptions into correct QUBO formulations remains difficult, requiring the identification of binary variables, constraints, objective functions, penalty terms, and suitable penalty weights. This process is time-consuming and often demands substantial domain expertise. To address this challenge, we propose an end-to-end multi-agent framework that automatically generates QUBO formulations from natural-language problem descriptions, supported by structured or unstructured test cases. To evaluate its performance, We also introduce QUBOBench, a benchmark containing 100 combinatorial optimization problems across 12 application domains, curated from peer-reviewed literature, competitions, and canonical NP-hard problems. Experimental results show that our framework achieves 68% accuracy on QUBOBench, outperforming a direct single-call baseline by 22%. Further analysis identifies iterative self-repair as the most important component contributing to improved performance. The data and code are open-sourced at https://quitttcat.github.io/QuantumQUBOAgent. --- ### SoK: Privacy Attacks on Machine Learning via Explainable AI Authors: Abdullah Caglar Oksuz, Anisa Halimi, Erman Ayday Published: 2026-09-09 Categories: cs.CR, cs.LG arXiv: https://arxiv.org/abs/2609.10627v1 Machine learning explanations reveal model behavior beyond predictions, creating attack surfaces for model confidentiality and data privacy. We systematize 25 studies that exploit explanations for model extraction, membership inference, and model inversion, treating attribute inference as partial inversion. Existing work is often labeled only black- or white-box, obscuring substantial differences in what explanation signal reaches an adversary. We therefore separate model knowledge from explanation acquisition and identify five paths: target-released, attacker-derived, secondary disclosure, privileged access, and released global artifacts. Across these paths, explanations reduce extraction cost, expose membership signals through explanation statistics, recourse distance, and explanation-guided robustness, and support spatial or algebraic reconstruction of private inputs. We compare system and threat models, explanation signals, auxiliary knowledge, target models, modalities, query budgets, evaluation metrics, reported performance, and defenses. Our analysis shows that no explanation family is uniformly unsafe and no defense is uniformly effective. Risk depends on which signal is exposed, how it is acquired, which asset is targeted, and what the attacker already knows. We argue that explanation privacy should therefore be evaluated as an end-to-end disclosure problem, with defenses matched to the acquisition path and protected asset. --- ### Programmable World Model Authors: Zheng-Hui Huang, Guixu Lin, Jiacheng Lin, Yi-Chuan Huang, Ruihan Yu, Muyao Niu, Siqi Yang, Yu-Lun Liu, Yung-Yu Chuang, Kaipeng Zhang, Zhixiang Wang Published: 2026-09-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.10540v1 Recent video world models generate increasingly realistic and interactive visual experiences, yet lack reliable mechanisms for maintaining persistent world state and enforcing programmable rules over extended interactions. We introduce Programmable World Model, a framework that decouples world-state evolution from visual observation generation. An agent translates natural-language instructions into executable programs that specify entity states and state-transition rules, enabling direct control over individual entities and their interactions. A lightweight engine executes these programs to update and maintain an explicit, persistent global world state, including off-screen entities and non-visual attributes. To connect world state with visual generation, we introduce state-augmented 3D oriented bounding boxes (OBBs) as an intermediate representation. This representation, together with the target camera trajectory, is deterministically compiled into pixel-aligned spatiotemporal conditioning signals for a pretrained video model serving as the generative renderer. This design allows users to create playable games with predefined mechanics, direct control over individual entities, and persistent world state throughout gameplay. We further introduce CombatStateBench, a benchmark for evaluating programmable world models. On CombatStateBench, our method achieves 94% Count Accuracy and 98% State Accuracy, substantially outperforming existing interactive video world models while supporting coherent long-horizon generation. These results demonstrate the effectiveness of separating explicit state evolution from generative rendering for building persistent, programmable worlds. --- ### IdeaAMBIG: Benchmarking Implementation-Critical Gaps in Research-Idea Specifications Authors: Yiling Ma, Yilun Zhao, Sihong Wu, Manasi Patwardhan, Arman Cohan Published: 2026-09-09 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.10539v1 A research idea may be novel, coherent, and scientifically plausible, yet its proposed method may remain insufficiently specified for faithful implementation. We study the codification readiness of implementation-facing research-method specifications, defined by whether they provide sufficient methodological information for a competent implementer or coding agent to construct the intended method without unsupported assumptions. We construct evidence-grounded specifications and their supported resolutions from papers, codebases, issue threads, and reproduction artifacts. We introduce IdeaAMBIG, a benchmark of 660 evidence-grounded instances: 163 real-world gaps from reproducibility reports and GitHub issues, and 497 controlled synthetic gaps injected into codification-ready references. IdeaAMBIG evaluates three capabilities: codification-readiness assessment, defect localization, and clarification action generation. Defect localization receives only the specification, whereas clarification additionally receives the annotated defect. Across 13 LLMs, the best model achieves 9.6% Macro Defect Recovery Rate on real-world instances but 80.6% Macro Clarification Action Success Rate when given the defect. In an oracle study, supplying the gold resolution raises the downstream codification-ready rate from 14% to 98%. Across all evaluated models, defect localization is the main bottleneck, with stronger clarification given the defect. --- ### Likelihood-free inference with nuisance parameters through normalizing flows Authors: Phil Assheton Published: 2026-09-09 Categories: stat.ME, cs.LG, stat.ML arXiv: https://arxiv.org/abs/2609.10534v1 We present a simple decomposition of a neural-network-based normalizing flow that naturally uncovers a pivotal statistic (or something close) in the presence of nuisance parameters, based only on a sample generator from the distribution of interest. We show that the statistic is near-pivotal in the sense of minimum average KL-divergence of its $p$-values versus uniform and we argue that it can be expected to have good power when the dimension of the statistic equals the dimension of the parameter. It is able to incorporate prior knowledge about group invariances such as translation and scale. It can discover the one-sample $t$-test almost exactly, outperforms the Welch test in terms of worst-case size over a constrained variance-ratio range and achieves good calibration on partial biserial correlations, while showing higher power (and being much faster) on small-to-moderate samples than profile likelihood-ratio techniques. --- ### Guiding Image-to-3D Generation with Test-Time Partial Observations Authors: Jerred Chen, Simon Weber, Ronald Clark Published: 2026-09-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.10531v1 Image-to-3D models can generate visually compelling 3D assets from a single RGB image, but their geometry is often only loosely constrained by the available observations, limiting their use in applications that require geometric fidelity. In many real-world settings, however, partial geometric observations of the object may be available at test time. We introduce a training-free framework for incorporating such evidence into pretrained image-to-3D generative models without retraining or finetuning. To do this, we guide generation using a ray-consistent observation likelihood defined over the model's occupancy representation, combining surface occupancy and free-space evidence. Applied to SAM 3D and its multi-view extension, our approach substantially improves geometric fidelity across different levels of observability, as well as visual quality. Our results demonstrate that pretrained image-to-3D models can effectively integrate partial geometric observations through explicit test-time guidance, complementing their learned generative priors without modifying the underlying model. --- ### A positive resolution of the gap-entropy conjecture Authors: P. M. Aronow, Nathan Kallus, Patrick Lopatto Published: 2026-09-09 Categories: cs.LG, stat.ML arXiv: https://arxiv.org/abs/2609.10529v1 We prove the gap-entropy conjecture for fixed-confidence best-arm identification with independent unit-variance Gaussian arms, means in $(0,1)$, and a unique optimal arm. For each suboptimal arm $i$, let $Δ_i=μ_*-μ_i$ be its gap from the optimal mean, and write $H=\sum_{i\ne *}Δ_i^{-2}$. Let $p_r$ be the fraction of $H$ contributed by arms with $2^{-(r+1)}<Δ_i\le2^{-r}$, and let $\mathrm{Ent}(I)=\sum_{r:p_r>0} p_r\log(1/p_r)$. Among all algorithms that identify the optimal arm with probability at least $1-δ$ on every Gaussian instance, the optimal expected number of samples on a given instance, averaged over all permutations of the arm labels, is within absolute constant factors of $H(\log(1/δ)+\mathrm{Ent}(I))$. Moreover, there is an algorithm, independent of the instance, whose expected number of samples is bounded by a constant multiple of this quantity plus $g^{-2}\log\log(e^e/g)$, where $g=\min_{i\ne *}Δ_i$ is the gap to the closest competitor. --- ### Characterizing Language Generation in the Limit: Finite Witnesses and a Separation-Width Hierarchy Authors: Xiaoyu Li, Andi Han, Jiaojiao Jiang, Junbin Gao Published: 2026-09-09 Categories: cs.FL, cs.LG arXiv: https://arxiv.org/abs/2609.10525v2 Language generation in the limit asks for valid unseen elements from every exhaustive positive presentation of an unknown infinite language. We characterize this task for arbitrary families over a countable universe. Generation is possible exactly when each target can be assigned a finite positive witness so that the targets activated by any finite sample have an infinite common intersection. The necessary direction follows from a universal normalization: a search through unconfirmed histories converts any successful generator into one depending only on the observed set. We then ask how large compatible witnesses must be. Positive separation width records the smallest uniform size bound, with two further levels for unbounded finite witnesses and the absence of any compatible finite-witness assignment. Every level occurs. Countable families admit singleton witnesses, explicit families realize every finite width, and a union of two families with infinite common cores requires unbounded finite witnesses. Finally, countable-support and finite-profile obstructions explain why local combinatorial data cannot determine generation in the limit. The characterization and full width hierarchy are checked in Lean, including the simplified normalization and a direct diagonal capture lemma. The accompanying Lean development is maintained at https://github.com/xiaoyulics/language-generation-characterization --- ### Characterizing Language Generation in the Limit: Finite Witnesses and a Separation-Width Hierarch Authors: Xiaoyu Li, Andi Han, Jiaojiao Jiang, Junbin Gao Published: 2026-09-09 Categories: cs.FL, cs.LG arXiv: https://arxiv.org/abs/2609.10525v1 Language generation in the limit asks for valid unseen elements from every exhaustive positive presentation of an unknown infinite language. We characterize this task for arbitrary families over a countable universe. Generation is possible exactly when each target can be assigned a finite positive witness so that the targets activated by any finite sample have an infinite common intersection. The necessary direction follows from a universal normalization: a search through unconfirmed histories converts any successful generator into one depending only on the observed set. We then ask how large compatible witnesses must be. Positive separation width records the smallest uniform size bound, with two further levels for unbounded finite witnesses and the absence of any compatible finite-witness assignment. Every level occurs. Countable families admit singleton witnesses, explicit families realize every finite width, and a union of two families with infinite common cores requires unbounded finite witnesses. Finally, countable-support and finite-profile obstructions explain why local combinatorial data cannot determine generation in the limit. The characterization and full width hierarchy are checked in Lean, including the simplified normalization and a direct diagonal capture lemma. The accompanying Lean development is maintained at https://github.com/xiaoyulics/language-generation-characterization --- ### Precision in Rice Variety Classification using Stacking-Based Ensemble Learning Authors: Md. Masudul Islam, Galib Muhammad Shahriar Himel, Md. Golam Moazzam, Mohammad Shorif Uddin Published: 2026-09-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.10524v1 Rice, a staple food for a significant portion of the global population, exhibits remarkable diversity in its varieties, presenting substantial challenges for accurate identification by consumers, traders, and farmers. This complexity often facilitates fraudulent practices, such as the unauthorized mixing of rice types, which undermines quality and trust in the supply chain. Despite its critical importance, existing research falls short of providing robust and efficient methods for precise rice variety classification based on external characteristics like color, size, and texture. To address this gap, our study introduces a comprehensive rice variety identification framework designed to enhance transparency and quality assurance. We developed a stacked ensemble model tailored for rice variety classification and curated a comprehensive dataset comprising 20 rice varieties, each distinguished by unique visual attributes. The proposed approach achieved an unprecedented classification accuracy of 100%. Furthermore, we integrated our model into a mobile application, enabling even novice users to effortlessly identify rice varieties using grain images from a smartphone camera. These findings underscore the transformative potential of advanced machine learning techniques in mitigating fraudulent practices and ensuring stringent rice quality control. Our work holds significant implications for agricultural stakeholders, paving the way for automated crop identification systems and advancing precision agriculture practices. --- ### Show-Harness: Just a VLM Agent Can Play Robots Authors: Yanzhe Chen, Zechen Bai, Zhijun Cao, Wenzheng Zeng, Kevin Qinghong Lin, Yiqi Lin, Guoqiang Liang, Kevin Yuchen Ma, Qiming Huang, Mike Zheng Shou Published: 2026-09-09 Categories: cs.RO, cs.AI, cs.CV, cs.MM arXiv: https://arxiv.org/abs/2609.10522v1 Foundation vision-language models (VLMs) exhibit broad intelligence about the world, yet translating this intelligence into robot control remains challenging. We present Show-Harness, an Embodied Harness that enables VLMs to "play" robots through a compact semantic interface linking intent to action. Show-Harness exposes discrete semantic action units that VLMs can naturally reason over, while embodiment-specific interpreters deterministically ground them into local robot actions, keeping the VLM directly responsible for fine-grained physical decisions. Through the same interface, Show-Harness demonstrates the feasibility of (1) directly unlocking closed-source frontier VLMs for zero-shot robot control, and (2) adapting small-scale open-source VLMs for low-cost deployment with just a few GPU-hours of fine-tuning. We further develop GUMI (GUI Manipulation Interface), which extends the same semantic action space to GUI-based demonstration collection, allowing humans and agents to "play" robots across embodiments without specialized teleoperation hardware. Extensive experiments show that Show-Harness-equipped VLM agents generalize robustly across tasks, embodiments, and environments, outperforming representative agentic and VLA paradigms. These results suggest that the right interface can unlock substantial embodied capability from foundation VLMs, without requiring additional model capacity or costly embodiment-specific pretraining. --- ### BrainTaskonomy: Learning How to Pretrain and What to Transfer in fMRI Foundation Models Authors: Junfeng Xia, Wenhao Ye, Junxiang Zhang, Jiayu Zuo, Mo Wang, Quanying Liu Published: 2026-09-09 Categories: cs.CV, q-bio.NC arXiv: https://arxiv.org/abs/2609.10518v1 fMRI foundation models increasingly aggregate heterogeneous data across brain states, cohorts, and acquisition settings, yet pretraining domains are commonly treated as a flat mixture and downstream tasks are adapted independently. We study whether measured learning relations can organize both stages without modifying the backbone. During pretraining, a lightweight Brain-DiT proxy estimates difficulty and directed facilitation across ten fMRI domains, yielding a priority-guided cumulative domain curriculum combined with high-to-low-noise timestep scheduling and joint consolidation. During adaptation, controlled first- and higher-order transfer across fifteen tasks constructs a directed taskonomy, from which budgeted integer programming (BIP) selects directly supervised source tasks and target-specific routes. The joint priority-domain and high-to-low-timestep curriculum reduces v-NMSE, PSD-NMSE, and FC-MSE by 6.5%, 16.3%, and 10.5%, respectively, relative to uniform sampling over both dimensions, and shows strong downstream performance across six in- and out-of-domain tasks. The taskonomy reveals asymmetric, target-dependent transfer, while exploratory sealed-test evaluation shows larger descriptive gains for BIP policies when higher-order route spaces are available than for matched random controls. Together, these findings support organizing fMRI pretraining and adaptation by measured learning relations rather than treating domains and tasks as independent flat sets. --- ### Optimal Low-Rank Quantum State Tomography with Bounded-Sample Joint Measurements Authors: Ashwin Nayak, Xingyu Zhou Published: 2026-09-09 Categories: quant-ph, cs.DS, cs.IT, cs.LG arXiv: https://arxiv.org/abs/2609.10514v1 We determine the optimal sample complexity of low-rank quantum state tomography when each measurement may act jointly on at most $t$ samples. For sufficiently small $\varepsilon$, estimating an unknown state on $\mathbb{C}^d$ of rank at most $r$ to trace norm error $\varepsilon$ with constant success probability requires, and is achievable with, $$ Θ\left( \frac{dr}{\varepsilon^2} \max\left\{1,\frac r{\sqrt t}\right\} \right)$$ samples. The lower bound allows the protocol to choose each joint measurement adaptively using all previous classical outcomes; the matching upper bound is nonadaptive. Thus joint measurements on at most $t$ samples improve the complexity of algorithms making single-sample measurements by at most a factor $\sqrt t$. Further, measuring order $r^2$ samples jointly is necessary and sufficient to attain the unrestricted collective rate. For the lower bound, we vary the support of a state with fixed uniform spectrum and bound the Fisher information trace of every joint measurement on $t$ samples. The adaptive Fisher chain rule and the van Trees inequality then give the trace norm lower bound. For the upper bound, we construct and analyze a nonadaptive tomography protocol based on a Gaussian joint measurement. An explicit second moment identity and a conditional Gaussian law outside the state's support give a rank-dependent error analysis, yielding the matching rate. --- ### DUET-DINO: Simultaneous Cross-View World Modeling for Latent Planning in Robot Manipulation Authors: Nisarga Nilavadi, Ralf Römer, Moritz Reuss, Michael Krawez, Tobias Jülg, Angela P. Schoellig, Rudolf Lioutikov, Wolfram Burgard Published: 2026-09-09 Categories: cs.RO, cs.CV arXiv: https://arxiv.org/abs/2609.10506v1 Action-conditioned latent world models predict future visual representations, enabling zero-shot goal-conditioned robot planning and control. However, their predictions for fine-grained spatial and rotational actions are unreliable for full 7-DoF end-effector control. To address this gap, we introduce DUET-DINO, a simultaneous cross-view latent world model that jointly learns action-conditioned predictions from static side- and wrist-camera observations through cross-view conditioning. By exploiting complementary global scene and gripper-centric information, DUET-DINO enables latent planning over the full 7-DoF action space. Across spatially diverse reach, orientation-intensive angled-reach, and multi-goal grasp-and-lift tasks, DUET-DINO consistently outperforms single-view and independent dual-view baselines, achieving 92% success on reach, 72.5% on angled-reach, and 60.0% on lift tasks. DUET-DINO is trained from scratch on DROID and RoboArena datasets and generalizes robustly under visual distribution shifts. We further show that while V-JEPA 2 wrist-view predictions underestimate visual dynamics induced by fine-grained actions, DINOv3 predictions better capture action-conditioned scene changes, leading to stronger downstream planning. The code and model checkpoints will be open-sourced. Project page: https://utn-air.github.io/DUET-DINO --- ### Quantum Feature Engineering for Credit Default Prediction: When and Why IQP Circuits Help Linear Classifiers Authors: Menachem Finkelstein, Diana Legziel Levy, Zohar Yakhini, Sarel Cohen Published: 2026-09-09 Categories: cs.LG, quant-ph arXiv: https://arxiv.org/abs/2609.10505v1 Credit default prediction is a tabular classification problem in which modest gains in F1 translate directly into reduced financial exposure. We ask whether Instantaneous Quantum Polynomial-time (IQP) circuits can produce features that improve a classifier over both its raw classical baseline and Kernel PCA - the strongest unsupervised classical non-linear alternative - at an equal feature budget. The dataset provides 23 financial attributes per client; for an n-qubit circuit we select n of them, encode each as a rotation angle, and read 2n expectation values back out as new features. The motivation for using a quantum circuit is computational: an n-qubit IQP circuit runs in constant depth and encodes feature correlations in a 2^n-dimensional Hilbert space, whereas classical simulation of its exact output statistics scales exponentially in n. Using the UCI Default of Credit Card Clients dataset and five-fold cross-validation, we find that appending 16 IQP features (n = 8 qubits) to a Logistic Regression model raises F1 from 0.462 to 0.517 (+0.055, p < 0.0001). Kernel PCA, the next-best method, reaches only 0.493 at the same feature count; the gap survives Benjamini-Hochberg correction across 12 tests (p = 0.00007). No other classifier - Random Forest, SVM, XGBoost, or k-NN - benefits, which points to a linear-expressivity mechanism rather than a generic improvement. We also show that how the 8 input features are chosen matters: Random Forest importance-guided selection reaches F1 = 0.523, while encoding maximally uncorrelated features drops it to 0.496, demonstrating that the circuit amplifies informative structure rather than creating it from scratch. --- ### Field Converter: Geometry-Initialized Temporal Residual Refinement for World-Grounded Player Pose Estimation from Soccer Broadcasts Authors: Simon Khan, Laurent Gajny, Jennyfer Lecompte, Sébastien Laporte Published: 2026-09-09 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.10498v1 Recovering 3D human pose from monocular sports broadcasts remains challenging when players must be localized in a shared metric world coordinate system rather than only reconstructed relative to their own body. We introduce Field Converter, a geometry-initialized temporal residual framework for world-grounded 3D player pose estimation from calibrated soccer broadcasts. Our method first uses camera and pitch geometry to initialize the player root through ray-ground intersection, then predicts a temporal residual correction from pose, image, camera, and geometric cues. On match-disjoint evaluation sequences, residual refinement reduces root error from 49cm with geometry alone to 14cm with a frame-wise MLP and 10cm with a TCN, while a Transformer achieves a comparable 11cm. The resulting world-space MPJPE reaches 13.2cm, and ablations show that residual prediction clearly outperforms direct global-root regression while temporal context matters more than the specific temporal backbone. Failure analysis further identifies airborne motion as the main limitation of the ground-based geometric initialization. --- ### Cross-Model Agreement as a Deployment-Time Reliability Signal for Automatic Polyp Segmentation Authors: Siddharth Gupta, Jitin Singla Published: 2026-09-09 Categories: cs.CV, cs.LG arXiv: https://arxiv.org/abs/2609.10495v1 In real-time colonoscopy, ground-truth annotations are unavailable at inference, so polyp segmentation models can fail silently. We propose Referee-Based Quality Estimation (RBQE), a reference-free framework measuring agreement between a primary segmentation model and an independently trained referee on the same image. RBQE is evaluated on a standardized 1,223-image external benchmark drawn from four public datasets, using four referee configurations chosen to separate two design axes: referee independence and architectural diversity. Using a common Agreement Dice descriptor, a same-architecture referee differing from the primary model only in random initialization already yields a useful reliability signal (ROC-AUC = 0.923), showing that independent training alone is sufficient. Cross-architecture referees improve further: SegFormer-B0 achieves the strongest performance (ROC-AUC = 0.960), significantly outperforming the same-architecture control and UNet++, and exceeding a representative Test-Time Augmentation baseline by 0.055 ROC-AUC under an identical protocol, whereas a prompt-coupled MedSAM referee underperforms despite maximal architectural diversity. Because empty-mask agreement is trivially separable, we also report a restricted evaluation excluding such cases: ROC-AUC falls to 0.876 (SegFormer-B0, 1,046 images) and 0.783 (same-architecture control, 975 images), yet RBQE's margin over both baselines widens on this identical subset. RBQE additionally increases the mean Dice of retained predictions as low-agreement cases are progressively rejected, supporting selective prediction, and requires only one additional deterministic referee forward pass at inference. Our study therefore supports cross-model agreement as a practical, interpretable reliability framework for automated polyp segmentation. --- ### IBIB: A Protocol for Measuring Enterprise AI Systems by Serving Route, Not Model Identifier Authors: Blake Stenstrom, Charangan Vasantharajan, Brian Sathianathan Published: 2026-09-09 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.10494v1 Enterprises deploy systems, not checkpoints. Usable capability depends jointly on weights, serving route, precision, output contract, and harness, yet all 18 audited benchmarks score advertised model identifiers. We treat this as measurement error and give a protocol that makes it reportable. It has three parts. A gold-blind capability-binding preflight verifies that a route can execute the evaluation contract before any task reaches it; a reliability-inclusive first-pass scoring rule keeps failure in the score while keeping unsupported capability out; and adjudication is structurally score-blind. We call the protocol IB2 and release its algorithms, classification tables, request contract, and manifest schemas. Its reference instantiation, 128 locked tasks and 987 assertions over document, spreadsheet, chart, tool and database work, stays sealed: the procedure is the artifact, not the corpus. Across eleven systems, four results. Capability availability is measurable: two complete single-route runs on identical weights later failed distinct predicates of the finalized binding gate, while a third passed that gate before a fresh run. The advertised identifier exposed neither limit. Discrimination is not uniform: four of seven suites saturate under a six-system band, with the spread almost entirely from governed database work and multi-tab joins, so we report interval-backed resolution groups, not ranks; two of the nominal five-label output's four cuts fail multiplicity adjustment. Serving-arm choice moved one declared revision and precision from 77.38 to 82.54, paired interval (0.11,10.60), though the arms differ in access mode, harness generation, and the serving tool-call parser, and harness generation is a property of our evaluator, not any endpoint. Excluding failed responses from denominators changes the point ordering, so reliability inclusion changes a conclusion, not its wording. --- ### Learning with Covariance Matrices: Principal Component Analysis Meets Learning with Graphs Authors: Saurabh Sihag, Andrea Cavallo, Elvin Isufi, Gonzalo Mateos, Alejandro Ribeiro Published: 2026-09-09 Categories: cs.LG, eess.SP arXiv: https://arxiv.org/abs/2609.10490v2 This feature article provides an overview of the theoretical foundations for coVariance neural networks (VNNs), i.e., graph neural networks (GNNs) operating on covariance matrices as graphs. Covariance matrices are ubiquitous across domains, and hence, the deployment of GNNs often leverages graphs of pairwise statistical dependencies. Existing theoretical contributions on GNNs consider abstract graph representations and cannot accommodate the data-driven nuances associated with covariance matrices. This tutorial brings into focus various novel theoretical insights via mathematical analyses of VNNs that have broad signal processing implications, including: (i) a conceptual equivalence between VNNs and principal component analysis (PCA)-based information processing; (ii) refined stability bounds on predictive outcomes in the presence of finite sample-induced covariance matrix perturbations; and (iii) refined characterization of transferability of VNNs across multiscale datasets. The theoretical insights discussed herein provide the underlying principles and justification towards adopting VNNs over workhorse PCA-based learning pipelines, in applications where covariance matrices are useful descriptors of data structure. We also convey how impact of these foundational advances permeates to \textit{principled} designs and applications of learning methods across broad domains where covariance matrices emerge. Notably, we elucidate the conceptual insights facilitated by VNNs to the specific task of characterizing brain age gap for neurodegenerative conditions using neuroimaging datasets, a timely problem in computational neuroscience. Broader impacts to other application domains are discussed as well. --- ### Learning with Covariance Matrices: Principal Component Analysis Meets Learning with Graphs Authors: Saurabh Sihag, Andrea Cavallo, Elvin Isufi, Gonzalo Mateos, Alejandro Ribeiro Published: 2026-09-09 Categories: cs.LG, eess.SP arXiv: https://arxiv.org/abs/2609.10490v1 This feature article provides an overview of the theoretical foundations for coVariance neural networks (VNNs), i.e., graph neural networks (GNNs) operating on covariance matrices as graphs. Covariance matrices are ubiquitous across domains, and hence, the deployment of GNNs often leverages graphs of pairwise statistical dependencies. Existing theoretical contributions on GNNs consider abstract graph representations and cannot accommodate the data-driven nuances associated with covariance matrices. This tutorial brings into focus various novel theoretical insights via mathematical analyses of VNNs that have broad signal processing implications, including: (i) a conceptual equivalence between VNNs and principal component analysis (PCA)-based information processing; (ii) refined stability bounds on predictive outcomes in the presence of finite sample-induced covariance matrix perturbations; and (iii) refined characterization of transferability of VNNs across multiscale datasets. The theoretical insights discussed herein provide the underlying principles and justification towards adopting VNNs over workhorse PCA-based learning pipelines, in applications where covariance matrices are useful descriptors of data structure. We also convey how impact of these foundational advances permeates to \textit{principled} designs and applications of learning methods across broad domains where covariance matrices emerge. Notably, we elucidate the conceptual insights facilitated by VNNs to the specific task of characterizing brain age gap for neurodegenerative conditions using neuroimaging datasets, a timely problem in computational neuroscience. Broader impacts to other application domains are discussed as well. ---