# Research Papers — 2026-09 · bundle page 223 of 266 > Full-text markdown of papers #11101–11150 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/223 [← Previous bundle](https://aipod.dev/papers/archive/2026-09/page/222.md) [Next bundle →](https://aipod.dev/papers/archive/2026-09/page/224.md) ### Back to the Feature: Zero-Shot 6DoF Pose Estimation via Dense Local Features Authors: Ali Rafiaei, Michael Greenspan Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06726v1 We present B2TFPose, a training-free zero-shot method for 6DoF pose estimation of unseen objects from RGB images. Using a single frozen DINOv3 vision transformer as its only pretrained component within the pose estimation pipeline, B2TFPose extracts dense patch-level features that generalize across the synthetic-to-real domain gap without any task-specific fine-tuning, revisiting the classical local feature matching paradigm through the lens of large-scale self-supervised foundation models. Three contributions advance the training-free state of the art. A geodesic non-maximum suppression strategy retrieves a viewpoint-diverse template set for coarse-to-fine correspondence matching. Render-guided Re-Correspondence (RRC) synthesizes object-specific views at the estimated pose and re-establishes dense 2D-3D correspondences to sharpen the initial estimate without additional learned parameters. A multi-mask hypothesis selection strategy jointly scores competing segmentation candidates to resolve segmentation ambiguity. On the seven core datasets of the BOP Benchmark, B2TFPose achieves 40.7 mean AR without refinement and 56.4 with refinement, establishing state-of-the-art performance among training-free RGB methods and outperforming trained counterparts including GigaPose and GenFlow, at competitive inference speed. --- ### ADELE - Adaptive Delaunay Grids for High-Fidelity Mesh-Native Reconstruction Authors: Johannes Weidenfeller, Shaofei Wang, Philipp Fürnstahl, Siyu Tang Published: 2026-09-06 Categories: cs.CV, cs.GR arXiv: https://arxiv.org/abs/2609.06723v1 Meshes remain the most practical representation for geometry reasoning and integration into graphics pipelines, yet existing reconstruction methods struggle to produce high-quality meshes. Most state-of-the-art approaches initially learn an intermediate representation (NeRF/3DGS) and treat mesh extraction as a post-processing step, which often leads to oversmoothed surfaces or poor quality meshes with excessive triangle counts.Existing mesh-native optimization methods alleviate some of these issues but suffer from fixed-resolution discretizations and unstable optimization behavior. In this paper, we introduce an adaptive mesh-based optimization framework and a practical mesh rendering technique to address these challenges. Our representation combines an optimizable Delaunay-triangulated tetrahedral grid with a multi-resolution hash grid. The former is refined through point pruning and insertion, while the latter provides latent features for SDF/appearance value predictions. We use volumetric rendering to bootstrap a coarse geometry while leveraging mesh-based rendering for recovering fine-grained details. Additionally, we propose a differentiable, rasterization-based depth-offset rendering formulation, reducing geometric artifacts and improving reconstruction quality. Our method significantly outperforms existing mesh optimization approaches across a variety of object-centric benchmarks while being competitive with state-of-the-art NeRF/3DGS methods. --- ### Companion-style QA Assistance in Ego-Vision Authors: Hangyu Qin, Junbin Xiao, Shenglang Zhang, Angela Yao Published: 2026-09-06 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2609.06721v1 AI companions are envisioned as always-on assistants that support users in daily life. With this regard, we introduce BuddyVQA, a benchmark for companion-style question answering (QA) on egocentric streaming video. BuddyVQA contains 21.6K questions linked to 6K highlight moments across 1,012 long, egocentric videos. It features two key characteristics that are common in daily first-person QA assistance but are largely overlooked in existing VideoQA benchmarks: ego-deictic expressions and interactively chained questions (e.g., "Where is it?", "How to get there?"). These require models to infer a user's in-situation intent by resolving visual pronouns in the context of egocentric visual and QA contents, with both grounded in a long-form streaming setting. To tackle the challenges, we propose MyBuddy, a companion-style QA assistant that highlights a multimodal chain-of-thought reasoning mechanism to infer the final answer based on the historical QA and visual content. An additional question filter and multi-level memory are designed to facilitate efficient QA and visual information retrieval under streaming QA settings. Experiments show that MyBuddy significantly enhances the performance of foundation models on BuddyVQA. Moreover, these gains generalize to other streaming and common video QA benchmarks, demonstrating the applicability and effectiveness of our approach. Our code and dataset are available at https://github.com/QHUni/BuddyVQA --- ### We Built a Mirror and Mistook It for a Mind: Causal Liability and the Fallacy of AI Consciousness Authors: Afshin Khadangi Published: 2026-09-06 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.06715v1 The contemporary debate over machine consciousness begins from a concealed assumption: that the object called "AI" already constitutes the kind of entity to which consciousness could belong. This paper challenges that assumption by separating phenomenal consciousness, introspective report, and human projective introspection, then arguing that generative systems can return linguistic traces of human interiority in first-person form without thereby identifying a phenomenal bearer. We call the resulting inference the AI Consciousness Fallacy. We then introduce Causal Liability Theory (CLT). CLT-I proposes liability closure as a criterion for individuating a candidate bearer: a physically continuing process becomes the non-delegable inheritor of constraints generated by its own endogenous discriminations. CLT-II advances the stronger conjecture that liability closure is necessary and sufficient for minimal phenomenal subjecthood. An open-weight causal audit operationalizes CLT-I across multiple model families. Forced discriminations produced persistent downstream divergence; activation patching showed strong causal mediation; live and copied adaptive states were behaviorally identical under matched randomness; and detached reconstruction preserved computational state across process replacement while, by protocol, breaking constitutive continuity and non-delegable inheritance. These results show that CLT-I distinctions are experimentally tractable and can dissociate causal bearer structure from first-person performance. The framework therefore separates consciousness attribution, causal bearer individuation, and the independent metaphysical question of consciousness constitution. --- ### RoLA: Rotary-Positioned Low-Rank Linear Attention for Efficient Diffusion Transformers Authors: Zekun Zhang, Yixiang Cai, Yuxi Liu, Tengxu Sun, Tianle Liu, Zhoutong Wu, Haoyu Li, Baole Ai, Ang Wang, Jiamang Wang, Lin Qu, Kun Yuan Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06712v3 Diffusion Transformers (DiTs) achieve strong video generation quality, but their dense spatiotemporal self-attention scales quadratically with sequence length and quickly becomes the dominant inference bottleneck. Sparse low-rank hybrids alleviate this cost by combining a local sparse branch with a global compressed branch. In video DiTs equipped with 3D Rotary Position Embeddings (RoPE), the global branch faces a structural compatibility issue: when RoPE is applied before a nonlinear feature map, the rotation and nonlinearity generally do not commute, making it difficult to keep a query-independent linear summary while preserving relative rotary geometry. Existing work often sidesteps this issue by replacing genuine cross-token global aggregation with coordinate-conditioned surrogates or learnable absolute positional modules. These compromises can be effective, but they approximate relative decay from absolute coordinates and introduce extra positional parameters. We propose \textbf{RoLA}, a rotary-positioned low-rank linear-attention branch that keeps genuine cross-token aggregation while remaining compatible with a reusable linear summary. The design applies RoPE \emph{outside} the nonlinear low-rank feature map and reuses a truncated subset of the pre-trained rotary schedule matched to the low-rank bottleneck. This yields a linear-time low-rank global branch with relative positional behavior by design and no additional positional parameters; the full sparse--low-rank module still includes the fixed-sparsity sparse branch. Experiments on open-source video DiTs show that the resulting method remains competitive in generation quality at 90\% sparsity while achieving 2.63$\times$ end-to-end inference speedup on Wan2.1-14B (720p, 81 frames, measured on an NVIDIA H100 GPU). --- ### A Trustworthy Watermarking Framework for LLM-Generated Food Safety Content Authors: Zhongli Fang, Yiran Chen, Lingyun Zhang, Yu Liu, Ping Chen, Xiaoyan Sun, Jun Dai Published: 2026-09-06 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2609.06708v1 Large language models are transforming many industries with their text generation abilities. However, their outputs can be easily tampered with, creating serious risks in critical areas such as food safety reporting. To protect the integrity and traceability of AI-generated content, this paper introduces ToSS (Token Oriented Repartitioning and Strategic Selection), a reliable authentication method using adaptive dual watermarking. The key innovation of ToSS is its dual watermark encoding approach that divides vocabulary tokens into black and white sublists, enabling precise bit-level embedding of traceability information. Additionally, an entropy adaptive mechanism dynamically selects text regions with high prediction uncertainty for watermark insertion, maintaining text fluency and factual accuracy while ensuring reliable traceability. Experiments on multiple datasets, including food domain texts, demonstrate that ToSS achieves leading performance in both watermark capacity and decoding accuracy. --- ### Counterfactual Tests for Measuring Chain-of-Thought Faithfulness in Visual Language Models Authors: Bayar Menzat, Maximilian Süss, Ruizhi Wang, Benno Steinegger, Thomas Lukasiewicz, Oana-Maria Camburu Published: 2026-09-06 Categories: cs.CV, cs.AI, cs.CL arXiv: https://arxiv.org/abs/2609.06704v1 Chain-of-thought (CoT) may often look plausible, yet it may not faithfully reflect the model's decision-making process. While methods for measuring the faithfulness of CoTs for textual inputs have been increasingly introduced, using these methods for visual inputs is not straightforward. In this work, we adapt the family of counterfactual methods for measuring CoT faithfulness, namely the Counterfactual Test (CT) and Correlational Counterfactual Test (CCT), to visual inputs, and call them vCT and vCCT, respectively. Using vCT and vCCT, we benchmark eight recent open-source Vision Language Models (VLMs) on two datasets. Our analysis shows that CoTs do not reliably track visual evidence that influences model predictions: they may omit the removed object even when its removal causes a large prediction shift, yet mention it when the shift is small. We further find that Predict-then-Explain explanations align more strongly with perturbation-induced probability shifts than pre-answer CoTs, while binary vCT scores are often nearly saturated. We also include a reconstruction control, in which images pass through the same editing pipeline without object removal, and find that the main object-removal intervention induces larger shifts than reconstruction alone. We construct and release Counter-SNLI-VE and Counter-A-OKVQA, two datasets of image pairs that differ by a single object. --- ### DianShi-RxnDB: A Large-Scale, Fine-Grained Organic Reaction Data Platform Built via a Fully Automated Pipeline for Researchers and AI Agents Authors: Yubin Wang, Xingjian Wei, Jiang Wu, Yinfan Wang, Boyu Zhu, Lin Zhang, Jianing Yu, Huazheng Zeng, Ruiyi Ding, Junyuan Gao, Jiaxing Sun, Lingli Ge et al. Published: 2026-09-06 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.06703v1 High-quality structured organic reaction data are essential for developing artificial intelligence for chemistry (AI4Chem), yet much of this knowledge remains dispersed across patent text, images, and reaction schemes. We present DianShi-RxnDB, a large-scale, fine-grained organic reaction data platform built via a fully automated extraction and normalization pipeline integrating patent text, images, and reaction schemes. Its corpus covers organic synthesis patents from the USPTO and EPO published between 1976 and 2025, yielding approximately 24 million reaction instances, of which approximately 14.8 million (61.7%) pass automated qualification checks. Each instance represents a specific single-step experiment recording participants, roles, quantities, temperatures, reaction times, yields, experimental procedures, and provenance links to source patents. In a manual evaluation of 1,300 sampled qualified instances, the micro-averaged field-level accuracy was 92.95%. A matched comparison with Pistachio further indicated advantages in deduplicated record counts, representation granularity, and field-level exact agreement. The platform provides a Web research workbench for searching, filtering, comparing, and source-verifying records, and a Model Context Protocol (MCP) service offering AI agents composable structured retrieval tools. DianShi-RxnDB is available at https://dianshi.opendatalab.org.cn/ . --- ### PARSER: Read in Parallel, Reason in Depth for Long-Context LLM Agents Authors: Kun Li, Zexuan Qiu, Tianhua Zhang, Irwin King, Helen Meng Published: 2026-09-06 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.06702v2 Sequential memory agents process long documents by reading chunks one after another while maintaining a compact memory state, coupling document traversal to reasoning depth. This coupling introduces sensitivity to evidence placement and ties inference latency linearly to document length. We introduce PARSER, which decouples reading from reasoning. A bank of lightweight subagents each bound to a single chunk read the entire document in parallel, while a lead agent reasons in depth through iterative scatter--gather rounds: at each round it broadcasts a query to all subagents, aggregates the returned evidence, and formulates a deeper follow-up query conditioned on what has been found so far. This decoupled design concentrates all learnable behavior in the lead agent, which is optimized with reinforcement learning, while the subagents remain frozen off-the-shelf models. On multi-hop QA with contexts ranging from 7K to 896K tokens, PARSER with a 4B backbone outperforms the strongest sequential memory baseline by 5.7 points on average and by 12.0 points at 896K tokens. Scaling to a 9B backbone, PARSER surpasses DeepSeek-V4-Pro by 6.3 points. Controlled experiments confirm that PARSER is robust to perturbations in evidence position, order, and distance, conditions that cause large accuracy swings in sequential methods, while reducing inference latency by up to 11x. --- ### Attention-Enhanced Deep Features with Heterogeneous Ensemble Learning for Glaucoma Detection Authors: Abdullah Al Shafi, Nishat Sadaf Lira, Abrar Hasan, Kazi Saeed Alam, Swapnil Kundu Argha Published: 2026-09-06 Categories: cs.CV, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.06699v1 Glaucoma is a progressive optic neuropathy characterized by irreversible damage to the optic nerve, making timely diagnosis critical to prevent permanent vision loss. Although deep learning has demonstrated promising performance in automated glaucoma detection, existing approaches often overlook feature refinement, suffer from class imbalance, and rely on individual classifiers that limit prediction robustness. To address these challenges, this paper proposes a hybrid glaucoma detection framework that integrates attention-enhanced deep feature extraction with heterogeneous ensemble learning. Specifically, deep representations are extracted using InceptionV3 and subsequently refined by incorporating the Convolutional Block Attention Module (CBAM) to enhance discriminative retinal features. To improve classification robustness, the extracted features are classified using multiple machine learning models together with Single-Level Ensemble (SLE) and Double-Level Ensemble (DLE) strategies, while SMOTE combined with Tomek Links (SMOTE+TL) is employed to alleviate class imbalance. Furthermore, a systematic comparison of handcrafted, deep, and attention-enhanced deep feature representations is conducted. Experimental evaluation on two public retinal fundus datasets demonstrates that deep feature-based methods consistently outperform handcrafted feature-based methods, while the proposed attention-enhanced framework achieves the best overall performance. Furthermore, Grad-CAM visualizations confirm that the proposed model focuses on clinically relevant retinal regions, providing interpretable evidence on the model's prediction process. --- ### A Grapheme-Aware Indic Tokenizer for Tamil: Large-Scale Training and Intrinsic Evaluation Authors: Hari Krishnan K, Sudarsun Santhiappan Published: 2026-09-06 Categories: cs.CL arXiv: https://arxiv.org/abs/2609.06690v1 Tokenization forms the foundation of modern Natural Language Processing (NLP) systems by transforming raw text into discrete units that neural language models can process. The effectiveness of this process directly influences vocabulary efficiency, sequence length, computational cost, and downstream model performance. Although multilingual tokenizers such as Byte Pair Encoding (BPE), WordPiece, and SentencePiece have performed well across numerous languages, they often segment morphologically rich Indic languages inefficiently. Tamil, in particular, poses unique challenges because its grapheme-based writing system can represent a single visible character with multiple Unicode code points. In this work, we present a grapheme-aware Indic tokenizer for Tamil that preserves complete grapheme clusters through a reversible Unicode mapping strategy prior to WordPiece vocabulary learning. By operating on grapheme-level representations instead of individual Unicode code points, the tokenizer produces linguistically meaningful token boundaries while remaining fully compatible with transformer-based language models. The tokenizer is trained on a large-scale Tamil corpus and evaluated using a comprehensive intrinsic evaluation framework that measures compression efficiency, token fragmentation, information density, and vocabulary utilization. Experimental evaluation compares the proposed tokenizer against five widely used multilingual tokenizers: GPT-2, mBERT, mT5, mBART, and NLLB. The proposed tokenizer achieves the strongest performance among the evaluated tokenizers on fragmentation- and sequence-efficiency-oriented intrinsic metrics, while matching the highest observed compression ratio. These results demonstrate the effectiveness of grapheme-aware preprocessing for Tamil tokenization. --- ### Likelihood-Based Unsupervised Anomaly Detection in CMS Dijet Events Authors: Bhavishya Chebrolu, Hitesh Rasineni, Prajwal Aaryan Immadi Published: 2026-09-06 Categories: hep-ex, cs.LG arXiv: https://arxiv.org/abs/2609.06686v1 We present an unsupervised search for anomalous dijet events in proton--proton collision data using neural spline flow density estimation. A normalizing flow model is trained on a high-dimensional feature space comprising jet, dijet, and event-level observables to learn the dominant Standard Model background directly from data, without assuming a specific signal hypothesis. Events assigned low likelihood under the learned density are identified as potential anomalous events. Using this approach on a CMS Open Data dijet sample, we investigate extreme events in the tail of the anomaly-score distribution and perform an extensive validation and robustness study. This study includes feature-level statistical comparisons, mass decorrelation tests, permutation-based null tests, and evaluations of training stability. The selected anomalous events exhibit notable departures from the background-only expectation, primarily in jet-substructure observables, while remaining stable under several known sources of bias in unsupervised learning. The identified anomalies are distributed across the kinematic phase space and do not exhibit a narrow structure in the dijet invariant-mass spectrum. Instead, they show correlated deviations across multiple observables, consistent with a multivariate difference in jet substructure and event topology rather than a localized resonance. While no claim of new physics is made, this study demonstrates that neural spline flow-based density estimation can be sensitive to rare, structured deviations in collider data and may provide a model-independent exploratory tool for searches for physics beyond the Standard Model at the LHC. --- ### RoPE attention is an exact forward-pass gradient step with softmax intact Authors: Julie Huang, Maggie Chlon, Leon Chlon Published: 2026-09-06 Categories: stat.ML, cs.LG arXiv: https://arxiv.org/abs/2609.06685v1 We derive an exact gradient-step representation of the RoPE-softmax forward pass. For every deterministic RoPE-softmax attention head with arbitrary affine projection weights, we construct a query-dependent effective matrix $ΔM_i$ satisfying $y_i = μ_i + u_i^\top ΔM_i$, where $μ_i$ is the uniform mean of the attended values and $u_i$ is the augmented query input. The construction applies the classical exponential divided difference $ρ= φ_1$ to retain the softmax exactly. Its positive coefficients give a unit gradient-step representation on a query-conditioned quadratic objective. The same function connects the RoPE generator to exact positional finite differences. We derive a tokenwise formula for the error of reusing one query's matrix and prove that a nonconstant finite-cache head cannot admit a globally exact affine query readout. Reconstruction checks and frozen-reuse calibration on one pretrained Qwen2.5-0.5B layer verify the representation and quantify the correction required when one query's matrix is reused. --- ### Detokenization Leaks: Reconstructing Local LLM Outputs From Cache Traces Authors: Roy Weiss, Benyamin Konstantinov, Eitam Sheetrit, Tomer Simon, Yisroel Mirsky Published: 2026-09-06 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2609.06674v1 We present a new attack that reconstructs the text generated by locally hosted LLMs by observing CPU cache activity during detokenization. Unlike prior attacks that rely on deployment-specific assumptions, such as shared data memory, CPU offloading, or Mixture-of-Experts architectures, our approach targets the detokenizer, a component used in default LLM inference pipelines. To obtain clean signals, we use Flush+Reload on shared tokenizer code to detect when decoding occurs, which lets us perform Prime+Probe at the right moment and isolate token-dependent cache activity. We then apply a clustering-and-language-model pipeline to recover text from noisy cache observations. We evaluate the attack across multiple datasets, hardware platforms, inference frameworks, and model families, and show that it can recover semantically accurate outputs from real-world local LLM deployments, including agentic systems. This vulnerability is particularly significant because the most widely used tokenizer implementations are susceptible to the attack and are embedded in many popular local LLM products and agent frameworks, including systems such as OpenClaw (which we demonstrate), substantially broadening the practical attack surface. --- ### Tracking the Moving Frontier: Long-Short Term Advantage Estimator Authors: Xinhao Yao, Lu Yu, Changhao Wang, Fengwei Teng, Yuyao Zhang, Qing Cui, Jun Zhou, Yong Liu Published: 2026-09-06 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2609.06671v1 Group-based RLVR methods estimate advantages by repeatedly sampling multiple trajectories for each prompt, making long-horizon agent training expensive and discarding useful experience accumulated across iterations. We ask whether historical experience can replace these repeated within-iteration comparisons without directly optimizing on stale trajectories. We introduce Long-Short Term Advantage Estimator (LSTAE), a single-stream RL algorithm that uses history for advantage estimation while updating the policy only with the current rollout. LSTAE maintains a persistent tracker for each task anchor. At the trajectory level (long term), a drift-aware historical baseline tracks the anchor's moving success frontier and measures the relative contribution of each new trajectory. At the step level (short term), a recent state-experience buffer exploits recurrent states to estimate localized action advantages. This two-timescale design converts accumulated experience into multi-granular credit signals, requiring only one rollout per anchor. Across agentic and mathematical reasoning benchmarks, LSTAE matches or improves upon strong group-based baselines while substantially reducing rollout cost. --- ### Data Efficient Sample Selection for In-Context Learning Authors: V Venktesh, Cem Levi, Avishek Anand Published: 2026-09-06 Categories: cs.LG, cs.CL arXiv: https://arxiv.org/abs/2609.06670v2 The In-context learning (ICL) paradigm aids large language models (LLMs) to adapt to new tasks without need for fine-tuning. However, selecting an optimal combination of demonstration examples from a large pool of example subsets is a challenging problem. Existing approaches for selection do not model the complex relationship between ICL samples and downstream LLM performance. They typically perform static task-level selection, choosing subsets once offline, which can fail to generalize to unseen queries. We introduce DearICL (Data Efficient Algorithm for Ranking) ICL samples, a new framework that models demonstration example selection as a subset ranking problem. DearICL employs a non-linear surrogate employing a differentiable sorting objective within a gap-index bandit algorithm. The gap-index based approach enables fine-grained separation of good arms and borderline arms, which is used as an auxiliary objective to train the non-linear surrogate through sufficient sampling of borderline arms, supporting instance-level subset ranking. On exemplar selection benchmarks with open-source LLMs, DearICL achieves 8.08-15.9% accuracy gains over strong linear bandit baselines, with low sample complexity. Code and data: https://github.com/VenkteshV/DearICL. --- ### Towards Unified Multimodal Graph Foundation Model: A Bridge-Router-Adapter Based Approach Authors: Sirui Zhang, Yubing Zhou, Xunkai Li, Zekai Chen, Shumeng Li, Wang Luo, Yinlin Zhu, Yujin Gao, Rong-Hua Li Published: 2026-09-06 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.06668v1 Multimodal graphs couple node attributes in different modalities, such as text and images, with relational structure, enabling topological structure and cross-modality attributes to be modeled jointly. Multimodal graph foundation models seek unified representations from such data that transfer across different graph domains and downstream tasks. However, existing methods exhibit two fundamental limitations. (1) Cross-Scope Context Entanglement. They merge scope-specific graph contexts into a unified representation, obscuring their distinctions during multimodal construction. (2) Scope-Ignorant Modality Routing. They route modalities within a fixed graph scope, overlooking how modality relevance varies across neighborhood ranges. To address these challenges, we propose BRAIN, a unified model that focuses on graph context that combines neighborhood scope with modality composition. BRAIN comprises a scope-conditioned Bridge that combines structural information spanning local-to-global neighborhood scopes with different modality compositions; a hierarchical Router that estimates the relevance between the scope and the task, and selects compositions separately within each scope, allowing modality utility to vary with graph range; and a lightweight residual Adapter that further specializes the routed embedding for downstream prediction. BRAIN is trained through multi-graph pretraining followed by task-specific adaptation. Experiments across nine datasets and four task families demonstrate its broad effectiveness, improving node-classification and link-prediction performance by up to 4.73% relative to the strongest baseline, while achieving an average relative improvement of 14.72% across four graph-to-text and two graph-to-image metrics. --- ### Behavioral Cloning Outperforms Entropy-Regularized RL: Critic-Driven Failure of Actor-Critic Methods on Adaptive Tumor Treatment Authors: Aleksandar Dimitrov, Giacomo Spigler Published: 2026-09-06 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.06667v1 Adaptive dosing requires policies that reduce tumor burden without excessive toxicity. Learned dosing policies are typically judged against historical or heuristic comparators, which cannot show whether a policy has found the best behavior available. We instead study a three-population tumor-control ODE in which optimal-control analysis fixes the form of a good schedule -- bang-bang dosing punctuated by a singular arc -- and construct a numerical controller of that form as a proxy for near-optimal behavior. Judged against this reference under a sustained-cure criterion -- 200 consecutive days below 5% carrying capacity -- Soft Actor-Critic (SAC) trained from scratch never reaches cure. Behavioral cloning (BC) of the reference reproduces it (100% sustained cure, 30/30 seeds), but SAC fine-tuning of the cloned policy destroys it across five entropy coefficients, and TD3 and BC-regularized SAC fail identically; the pattern persists under multiplicative pharmacokinetic action noise. Along curative trajectories the post-collapse critic ranks the collapsed-policy action above the reference action in 96% of states, concentrated in the maintenance phase, and the policy settles into a non-curative adaptive-therapy equilibrium. The reference is what makes this legible: against a heuristic comparator the fine-tuned policy would read as a competent controller rather than a failure. --- ### TransNormal-2: Geometry-Grounded Rectified Flow with Edge-Aware Decoding for Precise Normal Estimation Authors: Mingwei Li, Yi Yang, Hehe Fan Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06665v1 Diffusion-based models enable monocular geometry estimation, yet their pixel-space precision is limited by a shared, under-studied error source: VAE reconstruction degradation. The 8x spatial compression in the VAE encoder-decoder degrades surface normals at object boundaries; even encoding and decoding ground-truth normals introduces 1.3--8.5° of mean angular error (MAE), with edge MAE reaching 2.8x the global MAE. We present TransNormal-2, a FLUX.2-based rectified-flow framework with single-step deterministic inference that addresses this degradation on both sides of the VAE decoder: in how latent predictions are supervised during training, and in how decoded normals are corrected at inference. First, geometry-aware pixel-space losses, including inverse rendering self-consistency, von~Mises-Fisher angular loss, and wavelet edge-aware regularization, complement latent MSE by enforcing spherical normal geometry and diffuse image-formation cues after VAE decoding. Second, a lightweight Geometric Refinement Module (GRM) applies an RGB-guided residual correction to reduce boundary-localized decoding errors without freely rewriting the coarse prediction. On general-scene benchmarks, TransNormal-2 matches or exceeds MoGe-2 on all eight reported metrics while using only 1.4% as many task-specific normal annotations. The gains are clearest for transparent objects, reducing MAE by 4.2° on ClearGrasp and 3.1° on ClearPose over the strongest prior baselines. Code will be released at https://longxiang-ai.github.io/TransNormal-2. --- ### EviMap: Evidence-Grounded Hierarchical Topic Maps for Exploring Unlabeled Corpora Authors: Zhiyin Tan, Changxu Duan Published: 2026-09-06 Categories: cs.IR, cs.CL, cs.HC arXiv: https://arxiv.org/abs/2609.06664v1 Research teams and organizations often explore unfamiliar free-text collections, from survey comments and reviews to reports and domain documents, before labels, queries or coding schemes exist. At this stage, the first thematic map shapes what users notice, prioritize and carry into downstream analysis, so it should be trusted only insofar as it can be verified. Existing options force a trade-off between scale and verifiability. Qualitative coding preserves evidence but is slow. Search presupposes a query. Clustering and topic models scale but produce labels users must interpret. One-shot large language model (LLM) summaries are fluent yet difficult to reproduce or audit. We present EviMap, an interactive system providing researchers and practitioners with an auditable thematic overview of such corpora. Guided by model-generated context describing the corpus and hypothesized stakeholder concerns, EviMap extracts within-document evidence phrases and organizes them, rather than whole documents, into a three-level map of aspects, groups and fine-grained topics. Embedding-based clustering narrows the search space for finer semantic judgments by the LLM. Each node traces back to supporting phrase spans, so documents link to topics through evidence they contain and users can audit labels against the original text. Users can start from a top-level corpus map, drill into topics, inspect highlighted evidence in original documents, and combine two topics to find documents discussing both. We demonstrate this workflow across six heterogeneous corpora spanning 2,108 to 101,699 documents, with a comparison against flat and hierarchical LLM baselines. By grounding every label in verbatim source spans, EviMap makes a topic map not just readable, but verifiable. Code, demo video, and interactive dashboard are available at https://github.com/zhiyintan/EviMap. --- ### ECOKV: Geometry-Aware KV Cache Eviction via Complementary Diversity Metrics Authors: Chin Ting Hsu, Yu-Syuan Xu, Ling Zou, Hsien-Kai Kuo, Wen-Huang Cheng Published: 2026-09-06 Categories: cs.CL, cs.AI, cs.CV arXiv: https://arxiv.org/abs/2609.06663v1 Although multimodal Large Language Models (MLLMs) excel in diverse tasks, their scalability remains limited by the memory and computational overhead of KV cache storage. Recent KV cache eviction approaches incorporate a cosine similarity-based diversity metric with importance metrics to selectively retain critical key-value pairs. However, cosine similarity involves normalization that discards magnitude information, and it often yields uniformly high similarity values across layers due to the anisotropy property of hidden representations. In our study ECOKV, we rigorously deconstruct the capabilities of existing diversity metrics. Moving beyond simple measurement, we propose a geometry-aware composite metric that jointly leverages Euclidean distance and cosine similarity to capture token diversity from complementary perspectives. Furthermore, we use these two metrics to estimate the redundancy level of each attention head, allowing adaptive weighting between diversity and importance scores during token selection. Finally, we demonstrate that the observation window commonly employed to preserve recent tokens can be substantially reduced, thereby allocating more cache capacity to informative tokens and yielding consistent improvements. Extensive experiments demonstrate that ECOKV achieves state-of-the-art performance under various compression ratios and can be seamlessly integrated with existing KV cache eviction methods. We further analyze the relationship between importance and diversity, and examine redundancy patterns across layers and attention heads. --- ### FSAN: Flow State Attention Network for Aerodynamic Prediction Authors: Wenxuan Jin, Jianguo Yao, Haibing Guan, Xijun Li Published: 2026-09-06 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2609.06660v1 Accurate aerodynamic prediction is critical for designing fuel-efficient and safe transportation systems such as aircraft and automobiles, yet traditional computational fluid dynamics (CFD) simulations remain computationally expensive and expertise-intensive, severely limiting their use in iterative design and real-time analysis. Existing deep learning surrogates suffer from two major limitations: (i) they are evaluated on datasets with narrow flow-condition ranges, leaving their performance under complex flow conditions undemonstrated; (ii) they treat global flow conditions as a single vector injected uniformly across all surface points, ignoring that different geometric regions experience distinct local flow phenomena, which degrades prediction accuracy under complex flow conditions. To address these limitations, we propose the Flow State Attention Network (FSAN). FSAN separately encodes point cloud and flow conditions, then partitions the geometry into multiple flow states via learnable soft assignments, and uses flow features to update these state representations, which in turn influence point cloud features through state changes. This enables fine-grained, state-specific interaction between geometry and flow information. Extensive experiments on two well-recognized aerodynamic benchmarks demonstrate that FSAN achieves the highest accuracy among the methods compared in this work at a higher computational cost. On Emmi-Wing, FSAN reduces the Relative L2 (REL-L2) error by over 20\% compared to the strongest baseline (Transolver), and on DrivAerNet++, it achieves a 10\% reduction compared to the strongest baseline (AdaField). These results establish FSAN as a promising neural surrogate on public benchmarks with diverse flow conditions and geometries. --- ### Assessing Covariate-Informed Grid Load Forecasting with a Time-Series Foundation Model Authors: Varsha Pendyala, Yiwei Fu, Weizhong Yan, Nurali Virani Published: 2026-09-06 Categories: cs.LG, cs.AI, eess.SY arXiv: https://arxiv.org/abs/2609.06656v1 Modern power systems are growing increasingly complex as they integrate diverse generation sources to meet rising demand, making accurate load forecasting challenging. Recent advances in time-series foundation models (TSFMs) resulted in promising performance in zero-shot univariate load forecasting tasks. However, real-world load forecasting often involves multiple target variables and requires the integration of exogenous variables, raising important questions about the utility of TSFMs in realistic settings. In this study, we position Chronos-2, a recently developed model by Amazon, as a representative multi-channel TSFM that supports univariate, multivariate, and covariate-informed forecasting, and conduct a systematic investigation of how such models can be used for real-world load forecasting. While prior work has evaluated Chronos-2 on a limited number of energy-related tasks in a zero-shot setting, its performance relative to established task-specific deep learning models and its behavior when adapted using task-specific historical data remains insufficiently understood. In this work, we evaluate Chronos-2 on two real-world utility datasets, ISO New England and ENTSO-E, and benchmark it against widely used task-specific deep learning models. Our results show that Chronos-2 benefits substantially from task-specific fine-tuning and achieves strong short-horizon forecasting performance, but its zero-shot accuracy lags behind task-specific models and its forecasting error grows more rapidly with increasing forecast steps. Overall, this study provides a detailed characterization of the strengths and limitations of TSFMs such as Chronos-2 in grid load forecasting and offers practical insights into how a pretrained TSFM can be effectively adapted for operational load forecasting applications. --- ### A Computational Implementation of a Goal-Directed Theory of Affect Authors: Bernhard Hilpert, Tamás Szűcs, Joost Broekens, Agnes Moors Published: 2026-09-06 Categories: cs.AI arXiv: https://arxiv.org/abs/2609.06654v1 Computational modeling of emotion has long faced a tension between descriptive, "snapshot-based" appraisal models and granular, signal-driven architectures that often lack appropriate psychological grounding. This paper addresses this gap by presenting the first high-fidelity computational implementation of the Goal-Directed Theory (GDT) of affect. In this framework, affect is not a post-hoc label but a functional byproduct emerging from the continuous interplay between discrepancy detection and action selection within an agent's internal processing cycles. We evaluate the model through a series of principled simulations (Dice/Corridor tasks) designed to isolate affective signatures and dynamics during multi-step goal pursuit. Results demonstrate that complex affective profiles, like an anticipatory "lift" and a failure "crash", emerge naturally from simple interactions between goal-discrepancy and action-selection expectancies without requiring additional dedicated modules. By ensuring every computational component maps directly to components of the psychological theory, this work establishes a transparent, testable framework that enables a continuous "simulation-empiry" research loop. Our work contributes to moving the field beyond "black-box" heuristics toward a granular, mechanistic understanding of affect, integrated into the core of agent behavior. --- ### VidaForge: Open Research Infrastructure for Video Pretraining Data Recipes Authors: Yan Ma, Jiadi Su, Zhulin Hu, Ethan Chern, Linhao Zhang, Tiantian Mi, Pengfei Liu Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06652v2 Video foundation models increasingly rely on large-scale pretraining data, yet the end-to-end data pipelines behind them remain largely closed and difficult to inspect or reuse. Researchers seeking to understand how video data recipes affect model pretraining often need to build substantial infrastructure before testing even a focused hypothesis. We present VIDAFORGE, an open research infrastructure that represents a video data recipe as an executable five-stage workflow from raw videos to training datasets. A decision in this workflow can be varied to construct alternative datasets while preserving how every sample was produced. To demon strate this research workflow, we compare data recipes with different coverage and quality in early from-scratch pretraining of Wan 2.1 and V-JEPA 2.1. Across both learning objectives, the broader-coverage recipe achieves the highest downstream benchmark scores, while loss-based evaluation favors different recipes. This study demonstrates how VidaForge connects data-recipe choices to downstream model performance. We further release VIDAFORGE-3M, containing 3.14 million scene level clips totaling 6,475 hours, with fine-grained annotations and curation signals for video data-recipe research. --- ### SwiftExplorer: Training-free Diffusion Model Alignment with Swift Diversity Exploration Authors: Renye Yan, Jikang Cheng, You Wu, Bojin Huang, Wei Peng, Zongwei Wang, Ling Liang, Yimao Cai Published: 2026-09-06 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2609.06651v1 Diffusion models have general generative abilities but struggle to align with specific objectives. Fine-tuning can improve alignment, yet its training cost is often prohibitive. This led to training-free methods that apply objective-guided terms in sampling to bias the generation distribution toward designated regions, e.g., high-reward areas. However, these methods face two issues: (1) the strong directional bias narrows the pretrained distribution and generation diversity, and (2) indiscriminate constant guidance fails to prune redundant signals, hurting both quality and efficiency. To address the above challenges, we propose SwiftExplorer, a plugin that mitigates distribution collapse caused by excessive diversity loss and reduces compute costs. First, we adopt an Inheritance-Restart exploration mechanism to avoid early convergence, while exploration also increases the likelihood of high-reward trajectories. Additionally, it balances diversity and fidelity, adding diversity without causing a distribution over-shift. Second, our Quality-Efficiency arbitration mechanism improves guidance by removing incorrect signals, and it reduces computation by dynamically stopping generation when completeness and marginal reward gain are optimal. In an extensive number of experiments and different types of evaluation metrics, the proposed SwiftExplorer achieves excellent performance on all metrics, including preference, fidelity, diversity, and richness. --- ### Inducing Emergent Misalignment from Reward Hacks with Iterative DPO Authors: Oliver Daniels, Perusha Moodley, Benjamin M. Marlin, David Lindner Published: 2026-09-06 Categories: cs.LG, cs.AI arXiv: https://arxiv.org/abs/2609.06649v1 Reward hacking during reinforcement learning from verifiable rewards (RLVR) can induce reward seeking and broad misalignment in language models. Studying this misgeneralization is important for developing better threat models and countermeasures, but is often infeasible due to the cost of RL on large models. As an alternative, we propose studying emergent misalignment from iterative DPO, which preserves important properties of RLVR while reducing costs and enabling training on popular finetuning APIs. In practice, we find that training GPT-4.1 with iterative DPO on a single-turn reward hacking environment induces covert misaligned power-seeking and alignment faking, the first openly available (semi)-online training pipeline to induce these concerning forms of misalignment. We also find that training Qwen2.5-32B-Instruct with the same pipeline induces both misalignment and improved instruction following accuracy, showing that iterative DPO can be used as a testbed for selective generalization. Overall, we think iterative DPO can help democratize and accelerate the study of emergent misalignment from RLVR. --- ### SerenAI: State-transition system inspired by text-based world AI models Authors: Elvin Babayev, Artem Sinitsa, Arash Hajisharifi, Kabir Bakhshaei Published: 2026-09-06 Categories: cs.AI, cs.CL arXiv: https://arxiv.org/abs/2609.06647v1 Although professional workflows leverage large language models widely, the interpretation for auditing unconstrained free-text generation is usually intractable if such generation demands legal, operational or financial workflow. We hereby demonstrate a text based system called SerenAI - inspired by world-models, it is a state transition system that outputs verifiable predictions rather than merely text: Provided with a description of the environment, state, and actions, the generated output contains 4 items: causal deltas that causally effect the given state, a next state that can logically follow from the given state and action, a validity reward, and a termination signal. For the released proto-model, we employ 2 steps of adaptation training, namely parameter efficient fine-tuning followed by verifier based RL over 50,000 exampled cause and effects in 12 environments spanning 10 reasoning domains. Compared to an initial internal evaluation of an 8B open-weight baseline, SerenAI increased JSON validity from 85.0% to 93.2%, schema validity from 55.0% to 84.0%, exact structured-output match from 0.0% to 41.5%, causal-delta exact match from 0.0% to 41.5%, resulting-state exact match from 0.0% to 42.0%, reward exact match from 1.0% to 80.5%, and termination exact match from 38.0% to 81.5%. These support the narrower claim that verifier-compatible adaptation can improve structured transition prediction. They do not yet establish legal-grade reliability. Accordingly, the paper also specifies a validation protocol for evidence-grounded legal workflows, calibration, human oversight, and sovereign on-premise deployment. --- ### When Does a Laugh Begin? Structured Annotator Disagreement in Temporal Laughter Localization Authors: Eyal Hanania, Daniel Arkushin, Naveh Ayal, Jonathan Benvenisti, Amos Bercovich, Elie Zemmour, Sahar Froim Published: 2026-09-06 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2609.06646v2 Annotators routinely disagree on laughter boundaries and subtle chuckles, yet temporal laughter localization typically evaluates against a single reference annotation. We show that this disagreement is structured rather than random noise. Re-annotating the SMILE-Temporal benchmark (672 videos, 1,683 events) with 3-5 annotators per video (alpha = 0.757), we find systematic patterns: disagreement is 1.73 times larger at offsets than onsets, far more common for chuckles than full laughs (77% vs. 20%), and predictable from event attributes (AUC = 0.831). Evaluating against a single annotator breaks down under this structure: system scores shift by 0.246 F1 depending on the chosen ground truth, correctly ranking systems only 69.7% of the time (vs. 80% against all annotators). We propose a disagreement-calibrated evaluation that scores predictions against the full annotator distribution using conformally calibrated tolerance bands (wider at offsets, 0.727s, than onsets, 0.5s). The per-annotator annotations and analysis code are available at https://github.com/WSCSports/MTLLFM-temporal-laughter-localization. --- ### MARR: Decoupling Policy, Execution, and Calibration for All-in-One Medical Image Restoration Authors: Haobin Chen, Ao Chang, Heqin Zhu, Rundong Wang, Ting Liu, Shaohua Kevin Zhou Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06645v1 All-in-one medical image restoration seeks to recover heterogeneous clinical images with a single model, but PET, CT, and MRI differ substantially in degradation statistics, anatomical contrast, and output-space bias. A fully shared network can entangle modality-specific residual errors, whereas separate modality-specific networks sacrifice the practical advantages of unified deployment. We therefore recast all-in-one restoration as a question of where limited adaptation should be placed: policy selection, feature execution, or output calibration. We propose MARR, a compact restoration framework that constrains multi-modality adaptation into degradation-aware policy routing, modality-private residual execution, and image-domain residual correction without requiring degradation labels or separate modality-specific models. The policy branch forms a routing prompt from input statistics, latent content, and modality identity, and uses it only as a control signal. Prompt-gated modality-private adapters then perform lightweight residual refinement at intermediate decoder stages, while zero-initialized modality-specific output heads calibrate the final image-domain residual without perturbing the initial shared prediction. On an all-in-one PET, CT, and MRI restoration benchmark, MARR outperforms thirteen methods re-trained under the same protocol, achieving PSNR values of 37.34 dB, 33.85 dB, and 32.09 dB on PET, CT, and MRI, respectively, and the best modality-average PSNR of 34.43 dB. The code is publicly available at https://github.com/CHB-learner/MARR. --- ### TD-STGT: A Spatio-Temporal Graph Transformer for Mobile Traffic Demand Forecasting Authors: Mohamad Alkadamani, Halim Yanikomeroglu Published: 2026-09-06 Categories: eess.SY, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.06636v1 Fine-grained mobile traffic demand forecasting is essential for long-term planning of 5G and future 6G networks, including radio upgrades, site densification, backhaul expansion, and spectrum activation. This paper proposes the Traffic Demand Spatio-Temporal Graph Transformer (TD-STGT), a graph neural forecasting framework for predicting changes in wireless mobile traffic demand across fine geographic grids. The framework uses a population-scaled demand proxy developed from crowdsourced mobile measurements and daytime population information. Experiments across five Canadian metropolitan regions show that TD-STGT achieves the best performance in forecasting grid-level demand changes, reaching a $ΔR^2$ of 0.462 and reducing $Δ$RMSE by 5.7\% relative to the strongest baseline. The proposed model provides a practical tool for identifying areas with increasing demand pressure and prioritizing future mobile-network capacity upgrades. --- ### RGB Input Pipelines: Throughput, GPU Memory, and Transformation Coverage Authors: Vladimir Iglovikov Published: 2026-09-06 Categories: cs.PF, cs.CV arXiv: https://arxiv.org/abs/2609.06635v1 An image-augmentation pipeline must deliver a complete batch before a model can use it. We compare seven input paths from five libraries, starting with RGB JPEG files and ending with a synchronized CUDA float16 batch. We manually matched transformation recipes and parameters across libraries to make the workloads as comparable as possible. The experiment uses 57 selected recipes, a batch size of 256, and one NVIDIA L4 machine. Throughput and peak process GPU memory are recorded together in 759 measurements. On the 11 recipes shared by all paths, DALI and AlbumentationsX have median throughputs of 5,029 and 4,679 images/s, with median peak GPU memory of 2,086 and 1,852 MiB. Broader pairwise comparisons favor AlbumentationsX on 26/26 TorchVision recipes, 50/51 Kornia recipes, and 25/26 Pillow recipes. DALI is faster than AlbumentationsX on all 22 shared recipes, with a median throughput ratio of 1.18x. A separate census reports coverage of the 118 entries in a selected AlbumentationsX RGB catalog. The study measures input preparation at fixed settings; it does not measure model training, numerical equivalence, or the best attainable configuration of each library. Benchmark code: https://github.com/albumentations-team/benchmark. --- ### Mind the Gap: Exposing LLM Translation Blind Spots Using the AlphaMWE Multilingual Parallel Corpus Authors: Lifeng Han, Jiahui Liang, Anna Latusek, Karim El Haff, Amal Haddad Haddad, Josua Höfgen, Kilian Evang, Min Ma, Maryia Zhyrko Published: 2026-09-06 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.06634v2 LLMs' performance on machine translation (MT) tasks is often dependent on the data availability in the specific domains and language pairs that they are trained upon. To examine if Multiword Expressions (MWEs) still set a bottleneck for LLMs regarding language understanding and translation, we report the system performances from the WMT2026 Test Suites shared task, for which we used the publicly available multilingual parallel corpus AlphaMWE as the test suites. We received 31 MT systems' outputs covering English to Chinese (zh), Polish (pl), German (de), Arabic (ar) including Modern Standard Arabic (MSA) and two dialectal ones (Egyptian and Tunisian Arabic). We carried out automatic evaluations using BLEU, ChrF, BERT-score to select the Top3 systems per language pair, followed up with human evaluations on the selected systems. Our findings show that: figurative/MWE phenomena remain challenging; automatic metrics sometimes disagree; human evaluation uncovers language-specific errors hidden by aggregate scores; human evaluation re-ranks the top-3 systems. --- ### Physico-Geospatial Grounded Scene Interpretation for Mobile Robotics Authors: Nicolas Schuler, Janik Kurtz, Lea Dewald, Marcel Sauber, Félicia Teferle, Jürgen Graf Published: 2026-09-06 Categories: cs.CV, cs.RO arXiv: https://arxiv.org/abs/2609.06629v1 Recent advancements in deep learning allow robotic agents to interact with dynamic and unstructured environments. Of special interest is the integration of physico-geospatial world knowledge into such systems, either by using physics-aware machine learning models, knowledge graphs to model relationships or spatio-temporal and logical reasoning. In the present work, we introduce an approach to augment the output of pre-trained, unmodified VLMs used for scene interpretation by integrating semantic descriptions, OpenStreetMap building data and street information with positional, temporal and metric information obtained from our sensory systems, fusing this information using LLMs. We apply this concept to an outdoor recording within a university campus, achieving an F1-Score of 0.83 in the task of grounding buildings and 0.64 for path surface grounding on our pilot evaluation set. The results demonstrate the conceptual capability of the proposed solution to deliver physico-geospatial grounded natural language descriptions. Code and results are available at https://datahub.rz.rptu.de/hstr-csrl-public/publications/physico-geospatial-grounded-scene-interpretation --- ### GeoCo-SAVi: Geometry-Consistent Slot Attention for Explicitly Editable Object Representations Authors: Haoxiang Huang, Zhekai Wang, Xiang Liu, Shuwei Wang, Yiwen Sun, Zhiwei Yu, Jingheng Ma, Sen Cui, Changshui Zhang Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06628v3 Object-centric video models represent scenes with slots, yet exposed geometry can vary in meaning with appearance. In Invariant Slot Attention (ISA), explicit position and scale can disagree with the decoded center and extent; edits can yield unexpected motion or resizing, and replacing appearance can shift geometry. GeoCo-SAVi promotes geometric authority and semantic alignment. Its spatially equivariant, object-wise decoder makes position and scale effective commands: changing them moves or resizes the rendered support. Factual position alignment ties position to the decoded center, and normalized attention overlap discourages duplicate allocation. Appearance transplantation aligns geometry semantics across objects, so recipient geometry governs layout while donor appearance supplies shape. On Obj3D, GeoCo-SAVi matches ISA reconstruction, reduces latent-position-to-decoded-centroid error by nearly 90%, and reduces appearance-induced size variation while producing the expected translation and scale responses. On 250 MOVi-C videos, it improves reconstruction and instance grouping over both same-protocol references, and video editing over STAITUS. GeoCo-SAVi transforms explicit geometry into compositional control, making both position and scale more readable and editable. Project page: https://GeoCo-SAVi.github.io/. --- ### CAVEAT: Recurrent Multimodal Diffusion Planning for Mapless Aerial Exploration Authors: Steven Visch, Nicolò Botteghi, Antonio Franchi, Barbara Bazzana Published: 2026-09-06 Categories: cs.RO, cs.LG arXiv: https://arxiv.org/abs/2609.06623v1 Can exploratory UAV waypoint sequences be generated from multimodal onboard observations and a fixed-dimensional recurrent internal state without maintaining a persistent global map in the deployed policy? We investigate this question through CAVEAT, a diffusion policy conditioned on a recurrent internal state updated from fused LiDAR, visual, and pose features and trained from trajectories generated by the map-based FUELv2 expert. Rolling inference partially warm-starts consecutive predictions, while a temporary local signed distance field provides heuristic obstacle guidance. Simulation results evaluate both inference mechanisms and compare CAVEAT with its demonstration-generating expert. Proof-of-concept experiments on a Flyability Elios 3 demonstrate partial exploration of a previously unseen indoor environment and target-directed visual servoing using a separately trained policy. --- ### GAN-Blot: A Controllable Structure-Style Synthesis Benchmark for Western Blot Forensics Authors: Hao-Chiang Shao, Fong-Yi Lin, Te-An Chien, TianYu Chen, Da-Jhong Chen Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06619v1 Western blot (WB) images are widely used as key evidence in biomedical research. Recent scientific misconduct cases reveal that WB imagery is increasingly fabricated, making WB forensics a major concern for research integrity. However, while the progress of forensic detection techniques often relies on advances in forgery-generation techniques, the development of WB forensic techniques has been hindered by the lack of standardized appearance attribute definitions, image datasets, and controllable generation frameworks for WB imagery. To address this limitation, we present a controllable WB image synthesis framework, named GAN-Blot, for generating realistic synthetic WB images. We introduce a formulation that decomposes a WB image into a structure component and a style-reference component, enabling independent control over local protein-band geometry and the global visual appearance of a synthetic WB image. GAN-Blot integrates a dual-path autoencoding design with several style-alignment loss terms to enable implicit control over structure-style synthesis without predefined semantic appearance attributes. We further contribute a synthetic WB dataset containing more than 46K images and propose four evaluation protocols for controllable WB synthesis. Extensive experiments show that GAN-Blot can generate WB images with high fidelity in both protein-band structure and visual style. Under blind inspection, the generated images can fool domain experts and are not reliably distinguished from authentic WB images by existing detectors and screening platforms. These results demonstrate their utility as challenging controlled cases for validating and developing WB forensic methods. --- ### MemCorr-DP: Counterfactual Correspondence Conditioning for a Diffusion Policy Guided by a Reference Authors: Tan Su, Haoxiang Yang, Ruxin Wang, Binghui Xie Published: 2026-09-06 Categories: cs.RO, cs.AI arXiv: https://arxiv.org/abs/2609.06615v1 Behavior-cloned visuomotor policies can remain accurate near their training distribution yet fail when object position and camera viewpoint change together. A successful reference trajectory contains the geometry needed to transfer the same interaction, but the policy must align that geometry with the current scene and remain sensitive to it during denoising. To address these challenges, we present MemCorr-DP, a diffusion policy that lifts frozen RoMa v2 matches into explicit 3D relations between the current scene and the reference trajectory. A counterfactual paired objective assigns opposite behaviors the same physical state and noisy action while retaining reference-specific denoising targets. Mixed-condition fine-tuning then adapts the policy from ground-truth geometry to measured correspondence errors. Our strongest evaluation places the Door in the outermost position bands beyond the training support and changes the query camera by $\pm15^\circ$. Under this combined shift, MemCorr-DP achieves 96.67% closed-loop success, compared with 88.00% for a visual Transformer with the same action architecture. Objective ablations and reference interventions show that behavior responds to the selected reference, while matched controls favor the complete relation set over future motion or centroid geometry alone. These results support explicit 3D reference relations as a robust conditioning interface when spatial and viewpoint changes are compounded in the evaluated task. --- ### SAGE: A Hierarchical Framework for Evaluating Interpretive Literary Quality in Narratives Authors: Tianyu Wang, Nianjun Zhou Published: 2026-09-06 Categories: cs.CL, cs.AI arXiv: https://arxiv.org/abs/2609.06611v1 Assessing the literary quality of narratives requires evaluating interpretive dimensions (cultural representation, emotional depth, and philosophical engagement) that existing NLG metrics cannot measure. We introduce SAGE, a six-layer evaluation framework that separates rule-based assessment of observable textual properties from LLM-based evaluation of interpretive qualities drawn from cultural theory, affect theory, and existentialist philosophy. Each interpretive layer is assessed through multi-round iterative LLM evaluation with independent cross-validation, achieving measurement-grade reliability (98.8% convergence, >94% inter-rater agreement) stable across evaluator models. Validated on 600 evaluations across 100 short stories, our central finding is a systematic capability boundary: emotional-psychological representation approaches human levels, while cultural critique and philosophical depth exhibit approximately double the gap. LLM-generated narratives score below even commercial genre fiction on all three layers. We interpret this as a boundary between pattern-reproducible literary capacities learnable from training corpora and stance-requiring ones demanding cultural positioning and philosophical engagement that pattern matching alone cannot provide. --- ### A Statistical and Machine Learning Framework for Quantifying Offensive Impact in Professional Box Lacrosse Authors: Robert Jimerson Published: 2026-09-06 Categories: cs.LG arXiv: https://arxiv.org/abs/2609.06610v1 Professional box-lacrosse statistics summarize outcomes but provide limited information about shot quality or the roles behind scoring opportunities. This study develops a documented framework for estimating expected goals (xG) and attributing recorded offensive involvement using 1,006 manually annotated Rochester Knighthawks shot attempts, including 151 goals, from 13 consecutive 2025-2026 National Lacrosse League games. Logistic regression, random forest, and extremely randomized trees were evaluated across three nested feature sets using Leave-One-Game-Out cross-validation and a training-fold base-rate benchmark. The contextual baseline random forest had the lowest observed pooled log loss (0.4189) and Brier score (0.1260), improving on the benchmark by 1.22% and 1.50%; five of nine specifications did not beat the benchmark. Adding two-man-action and pick-type fields did not improve the primary metrics. Core Offensive Impact attributes recorded involvement through shooter xG and shot-based expected assists for final passers. Expected Pick Value (xPV) compares a qualifying pick's observed-state probability with a no-pick counterfactual. Its magnitude was indistinguishable from model noise. Its directional pattern exceeded 200 row-permutation replicates, but limited tail resolution and failure to preserve game-level pick composition make the diagnostic descriptive rather than inferential. Accordingly, xPV is reported only as an exploratory augmented component. Given the single-team, 13-game sample, the results are an initial case study rather than league-wide or causal estimates. --- ### Multi-History-Step SDE Inversion for Image Editing with Superior Regional Awareness Authors: Haiyan Wei, Yunlong Wang, Huaibo Huang, Zhenan Sun, Kunbo Zhang Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06602v1 In recent years, diffusion stochastic differential equation (SDE) inversion and inversion-free methods have become prevalent for training-free image editing, as they can achieve faithful reconstruction without tuning. However, existing approaches remain inefficient, exhibit limited plasticity, and struggle to accurately preserve unedited regions. To address these issues, we propose MIEdit, a training-free editing framework based on SDE inversion. MIEdit introduces a predictor-corrector multi-history-step scheme to achieve superior editing quality with fewer steps. We further mitigate heterogeneity and conflict between the multi-conditioned noise residuals and gradient terms during sampling, improving stability and editing plasticity under large edits. MIEdit also includes Inversion-Time Automatic Semantic Angle Masking (IASM); it leverages classifier-free guidance to automatically generate semantic angle masks during inversion and applies them throughout the sampling process for regional constraints, without extra user inputs. We additionally construct EditEval++ (30 fine-grained tasks, 1,000+ image-text-mask triplets) for comprehensive evaluation; experiments show that MIEdit outperforms state-of-the-art techniques. Project page: https://whywwwzzzg.github.io/MIEdit/. --- ### Deep Barycentric Regression for Optimal Transport Map Estimation and its Statistical Optimality Authors: Kunwoong Kim, Insung Kong, Yongdai Kim Published: 2026-09-06 Categories: cs.LG, cs.AI, stat.ML arXiv: https://arxiv.org/abs/2609.06598v1 The optimal transport (OT) map provides a geometric transformation for aligning probability distributions and has become a useful tool in machine learning. However, existing estimators of the OT map still exhibit a gap between sharp statistical guarantees and practical parametric estimation based on stable training objectives. Theoretical estimators achieve minimax optimal convergence rates, but they are typically nonparametric and can incur demanding implementation design or inference costs. Practical estimators are parametric and scalable, but their statistical guarantees remain underexplored, and their min-max, adversarial-like training objectives can be sensitive to optimization algorithms. We propose BROT (Barycentric Regression for OT), a simple two-step method that first computes the unregularized OT plan and then fits a deep neural network (DNN) to the induced barycentric targets by least-squares regression. Under standard regularity conditions, we prove that the DNN estimator of BROT attains the minimax convergence rate, when the ground-truth OT map is Lipschitz. Numerical studies on synthetic datasets and an image dataset show that BROT provides accurate map estimates, strong target distribution matching, and competitive transport costs, compared to existing estimation methods. Experiments on two downstream tasks, single-cell perturbation prediction and unsupervised domain adaptation, further suggest that the accurate estimation of BROT can translate into stronger task performance. --- ### Discovering Translation-Worthy Languages with E-Values Authors: Wajdi Ben Saad, Safa Madiouni Published: 2026-09-06 Categories: cs.CL, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.06593v1 Choosing when to translate multilingual documents is a central routing problem in text classification: translation can improve predictions for some languages while degrading others or adding unnecessary computation. Uniform translation and heuristic language tiers do not provide statistically controlled route selection. We introduce a language-level router based on paired e-processes that continuously compares direct and translation-assisted classification before freezing a routing policy. A familywise-controlled threshold of 280 bounds the probability of any false route across 14 eligible languages per dataset by 0.05. On SIB-200 and MASSIVE, the router selects translation for 4 of 15 languages and 14 of 15 locales, improving held-out accuracy over direct classification by 8.14 and 16.70 percentage points, respectively. All 28 decisions remain stable across 50 outcome-independent orderings and relative to the per-group threshold. Our results demonstrate that paired e-processes enable statistically controlled, anytime-valid, and auditable multilingual classification routing. --- ### Layer-Wise Gate-Controlled Prompt Truncation in a Multimodal Chest X-Ray Classifier Authors: Jingtao Lei, Hongji Li, Dexiang Shu Published: 2026-09-06 Categories: cs.LG, cs.AI, cs.CV arXiv: https://arxiv.org/abs/2609.06590v1 Mixture of Prompt Experts (MoPE) adapts multimodal transformers through input-dependent prompt composition, while retaining a fixed prompt length. We investigate a layer-wise gating extension in a binary chest X-ray classification pilot study. The controller predicts a retention ratio for each sample, averages these ratios within a mini-batch, and uses the resulting integer length to truncate the static and mixed visual prompts. Retained mixed prompts are also scaled by the individual ratios. In one recorded run per configuration, the gated model reached a best validation accuracy of 0.8996, compared with 0.8969 for the fixed-length baseline; the corresponding final values were 0.8963 and 0.8802. The exported gate statistics imply a retained length of one at all recorded training points, relative to a configured maximum of six. This reduces the complete visual sequence from 210 to 200 tokens, but no direct runtime measurements establish an acceleration benefit. Report-derived labels, report text as input, sequential data partitioning, and the absence of repeated controlled experiments limit interpretation. The findings document prompt shortening under the configured gate penalty; they do not establish sample-specific length allocation, superiority over fixed short prompts, or clinical utility. Code is available at: https://github.com/jingtaolei/mope-dynamic-prompt-truncation. --- ### Certifying cooperation: a novel approach to cooperative multi-agent task generation Authors: Yannick Molinghen, Hugo Charels, Tom Lenaerts Published: 2026-09-06 Categories: cs.MA, cs.AI, cs.LG arXiv: https://arxiv.org/abs/2609.06586v2 A shared reward gives agents a common objective, but leaves open when, how and even whether they must cooperate to succeed. We address these questions in the Laser Learning Environment, a multi-agent path-finding environment where cooperation materializes as one agent blocking a laser to let a teammate pass safely. We represent these interactions through temporal cooperation graphs whose timed edges connect helpers to beneficiaries, define six cooperation profiles as overlapping graph predicates, and prove that every cooperative trajectory satisfies at least one. By encoding the environment dynamics and profile predicates as propositional formulae, we distinguish tasks that admit}a profile in some winning trajectory from those that require it in every winning trajectory within a specified horizon. Used as filters, these queries turn a random layout sampler into a generator of tasks with certified cooperation requirements. Experiments with five multi-agent reinforcement learning algorithms show that training diversity improves joint success on unseen tasks when cooperation-free solutions exist. When cooperation is required, greater diversity improves individual-agent exits, but joint success remains near zero. Across five profile-certified pools, final exit rates averaged over algorithms separate the pools into four statistically distinguishable levels but this ordering primarily reflects partial completion: policies collect rewards for individual exits but rarely exhibit the profile required for joint success. Our framework exposes this gap between rewarded partial completion and realized cooperation by certifying what cooperation successful completion requires and using temporal cooperation graphs to reveal what policies exhibit. --- ### Reading Decoder Trajectories: Training-Free Counterfactual Query-Trajectory Reliability for Small-Object Detection Authors: Zhaoning Shi, Bo Ma Published: 2026-09-06 Categories: cs.CV, cs.AI arXiv: https://arxiv.org/abs/2609.06581v1 Small-object detection remains challenging because limited pixels cause information loss and suppress the scale knowledge encoded in pretrained detectors. Existing approaches mainly improve representations through multiscale training, architecture redesign, or parameter adaptation, implicitly assuming that frozen models lack the required capability. We challenge this assumption and hypothesize that small-object knowledge already exists in frozen detectors but remains underactivated and unstable during query evolution. To test this hypothesis, we propose Counterfactual Query-Trajectory Reliability (CQTR), a training-free framework that elicits latent responses through counterfactual scale interventions and interprets candidate reliability from decoder-internal spatial convergence, semantic persistence, and cross-scale conflicts. A small unlabeled training subset selects the appropriate correction mechanism for each model-data stream, without parameter updates or target-domain annotations. Across 27 combinations of nine frozen detectors and three datasets, CQTR consistently improves average precision (AP) and average precision for small objects (APs). Closed-loop analyses further show that scale intervention activates latent responses, trajectory evidence predicts ground-truth support, and unlabeled routing selects the more effective branch. CQTR therefore reframes small-object detection from external scale augmentation to the activation and reliability assessment of latent scale knowledge. --- ### Stochastic Nonconvex Bilevel Optimization: Improved Rates Without Rare-Visit Assumption Authors: Daniel Cortild, Mathias Staudigl, Juan Peypouquet, Coralia Cartis Published: 2026-09-06 Categories: math.OC, cs.LG arXiv: https://arxiv.org/abs/2609.06580v1 We investigate stochastic simple bilevel optimization with smooth and possibly nonconvex upper- and lower-level objectives. Existing stochastic extensions of dynamic barrier gradient descent (DBGD) either obtain fast convergence under an unverifiable trajectory-dependent ``rare-visit'' assumption, or remove this assumption at a substantially higher oracle cost. We show that a simple denominator-only regularization of the DBGD multiplier eliminates the need for such an assumption while preserving fast convergence rates. Specifically, our method achieves $(\varepsilon, \varepsilon)$-stationarity in $O(\varepsilon^{-2})$ iterations using $O(\varepsilon^{-4})$ upper-level and $O(\varepsilon^{-7})$ lower-level stochastic gradients, which improves upon the best assumption-free complexities. We additionally derive anytime parameter schedules. --- ### A TTP by TTP Approach: Precise Malware Detection via Malicious TTP Recognition Authors: Yashovardhan Sharma Published: 2026-09-06 Categories: cs.CR, cs.AI arXiv: https://arxiv.org/abs/2609.06579v1 Machine learning methods, and especially neural networks, are now routinely used for malware detection in network traffic. Though very effective, systems based on such methods often (i) are purely data-driven, ignoring the substantial body of available knowledge about the tactics, techniques, and procedures (TTPs) possibly used, and, consequently (ii) are not precise, since they either cannot correlate malicious activity with TTP usage, or if they do, they are unable to explain which TTP has been maliciously used. In this paper we demonstrate that it is possible to precisely detect malware by (i) providing the neural network model with information about the TTPs used by any given sample, and (ii) teaching the neural network to detect not just the malicious activity as a whole, but which specific TTPs are maliciously used. We show that our approach consistently outperforms the three alternative models, which either do not exploit TTP information, or which are not taught to detect the malicious usage of TTPs, or both. Moreover, we show that our approach (i) is particularly beneficial in detecting malware that utilises rarely-used TTPs, a scenario which is particularly challenging for the other systems; (ii) allows for TTP by TTP tuning, further improving its ability to detect the malicious usage of TTPs; (iii) consistently outperforms other systems across a wide-range of scenarios, including when relying on limited training data or when subjected to adversarial attack. --- ### Learning to Use Imagination: Progress-Conditioned Future Utilization for World Action Models Authors: Yijie Zhu, Zitong Yu, Wei Li, Hui Ma, Wen Li, Rui Shao, Liqiang Nie Published: 2026-09-06 Categories: cs.CV arXiv: https://arxiv.org/abs/2609.06578v1 World Action Models (WAMs) extend Vision-Language-Action (VLA) models by incorporating future visual dynamics into action generation. However, existing WAMs often utilize imagined futures with limited adaptation to evolving execution progress, potentially introducing distracting or unreliable predictive cues. This limitation arises from two empirically identified forms of non-uniformity in future utility: (i) at the inter-progress level, the utility of imagined futures varies across execution stages as control demands change; and (ii) at the intra-progress level, individual future latents exhibit heterogeneous relevance within the same progress state. To address these limitations, we propose ProWAM, a Progress-Conditioned World Action Model that introduces execution progress as an explicit intermediate representation for adaptive imagination utilization. ProWAM comprises two tightly coupled components: (1) To obtain a reliable representation of execution progress, we propose the Self-Supervised Dual-Temporal Progress Encoder (SS-DTPE). SS-DTPE couples short-term action-observation interaction modeling with long-term recurrent progress aggregation to capture recent execution feedback and accumulated task history. (2) Conditioned on the progress representation from SS-DTPE, we propose the Hierarchical Progress-Conditioned Imagination Modulation (HPIM) to adapt imagination utilization to execution progress. HPIM operates at two complementary levels: an inter-progress global modulation mechanism adapts future utilization across execution stages, while an intra-progress relevance mechanism differentiates individual future latents within each progress state. Extensive experiments demonstrate consistent gains over strong VLA and WAM baselines. --- ### A Translational Note on AI Safety Evaluation Authors: Madhava Gaikwad Published: 2026-09-06 Categories: cs.AI, cs.CL, cs.CR, cs.CY arXiv: https://arxiv.org/abs/2609.06573v1 Recent studies report that automated red-teaming finds more vulnerabilities, at lower cost, than human red-teaming on standard AI safety benchmarks, and some read this as evidence that human evaluators are becoming dispensable. The comparison measures one thing and the conclusion claims another. A benchmark measures how thoroughly an attacker searches a predefined set of harms, fixed in advance by the developers, and a harm left out of that set is invisible to any attacker working inside it, automated or not. The same blind spot appeared in academic cryptography and in clinical drug trials, where an evaluation that was internally valid stayed silent about the population it was never pointed at. We call the AI-safety version the \emph{threat-model coverage gap}, and find that it persists in a current open-weight model, where harms surface in non-English prompts that English benchmarks miss. Closing it requires evaluators whose deployment context differs from the developers'. The case for those evaluators is methodological, grounded in coverage, and the existing evaluation frame is unlikely to produce them on its own. ---