arXiv:2606.04853v1 Announce Type: new
Abstract: Low-cost 2D LiDARs lack the intensity channel that higher-end sensors use to diagnose measurement failures, yet they are widely used on educational and budget robotics platforms. We present SENTINEL, a training - free, label - free reliability estimation framework that gives range - only LiDAR an effective diagnostic signal. SENTINEL combines geometry-based scan statistics with cross - modal depth consistency between LiDAR and an RGB - D camera to compute a per - scan reliability score between 0 and 1. When the score falls below a threshold, corrupted scans are rejected and the robot falls back to calibrated wheel odometry, preventing silent SLAM corruption. We evaluate SENTINEL on a GEFIER R1 four - wheel skid-steer robot equipped with an RPLidar A2M12 and an Intel RealSense D435i in a 185 cm by 245 cm arena containing controlled transparent and reflective failure elements on a central obstacle. Spatial reliability maps across five surface conditions, including glass, mirror, shiny paper, and a mixed mirror and shiny-paper condition, show clear separation between clean and failure cases, allowing affected regions to be identified as reject or noise. Because these failure modes are absent in simulation, validation is performed entirely on real hardware.
Science Journals
arXiv:2512.16919v2 Announce Type: replace
Abstract: Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera configurations. To bridge this gap, we propose a Driving Visual Geometry Transformer (DVGT), which reconstructs a global dense 3D point map from a sequence of unposed multi-view visual inputs. We first extract visual features for each image using a DINO backbone, and employ alternating intra-view local attention, cross-view spatial attention, and cross-frame temporal attention to infer geometric relations across images. We then use multiple heads to decode a global point map in the ego coordinate of the first frame and the ego poses for each frame. Unlike conventional methods that rely on precise camera parameters, DVGT is free of explicit 3D geometric priors, enabling flexible processing of arbitrary camera configurations. DVGT directly predicts metric-scaled geometry from image sequences, eliminating the need for post-alignment with external sensors. Trained on a large mixture of driving datasets including nuScenes, OpenScene, Waymo, KITTI, and DDAD, DVGT significantly outperforms existing models on various scenarios. Code is available at https://github.com/wzzheng/DVGT.
arXiv:2511.06331v2 Announce Type: replace
Abstract: Detailed structural and species information on individual tree level is increasingly important to support precision forestry, biodiversity conservation, and provide reference data for biomass and carbon mapping. Point clouds from airborne and ground-based laser scanning are currently the most suitable data source to rapidly derive such information at scale. Recent advancements in deep learning improved segmenting and classifying individual trees and identifying semantic tree components. However, deep learning models typically require large amounts of annotated training data which limits further improvement. Producing dense, high-quality annotations for 3D point clouds, especially in complex forests, is labor-intensive and challenging to scale. We explore strategies to reduce dependence on large annotated datasets using self-supervised and transfer learning. Our objective is to improve performance across three tasks: instance segmentation, semantic segmentation, and tree classification using realistic and operational training sets. We observe improvements across all tasks, compared to training from scratch, evaluated with their respective metrics. For instance segmentation, self-supervised learning combined with domain adaptation improves AP50 by 16.98%. For semantic segmentation, self-supervised learning alone improves mIoU by 1.79%. For tree classification, hierarchical transfer learning improves mean Jaccard by 6.07%. To simplify use and encourage uptake, we integrated the tasks into a unified framework, streamlining the process from raw point clouds to tree delineation, structural analysis, and species classification. Pretrained models reduce energy consumption and carbon emissions by ~21%. This open-source contribution aims to accelerate operational extraction of individual tree information from laser scanning point clouds to support forestry, biodiversity, and carbon mapping.
arXiv:2606.04767v1 Announce Type: new
Abstract: The robustness of deep neural networks is crucial for safety-critical deployments, yet existing evaluation methods are often attack-dependent and lack interpretability. We propose a principled, attack-agnostic robustness metric based on the spectral norm of the Fisher Information Matrix (FIM), which quantifies the worst-case sensitivity of the model's output distribution to input perturbations. Theoretically, we establish that the FIM equals the variance of the input Jacobian and derive closed-form spectral bounds for common architectures, including VGG, ResNet, DenseNet, and Transformer, providing the first theoretical robustness ranking. To enable scalable evaluation, we develop efficient algorithms, including power iteration and Hutchinson-based estimation, that support both white-box and black-box settings. Extensive experiments across multiple datasets, including CIFAR, ImageNet, and medical images, and across multiple architectures show a strong correlation between our metric and adversarial vulnerability. Our framework serves as an interpretable diagnostic tool that complements attack-based evaluations, offering insights into architectural sensitivity and guiding the design of more robust models. Code is available at: https://github.com/franz-chang/SRP/.
arXiv:2510.25508v2 Announce Type: replace
Abstract: Generating tunable, high-intensity mid-infrared (MIR) to terahertz (THz) radiation on-chip remains a formidable challenge due to the rigid spectral limits of conventional thermal emitters. While graphene has emerged as a promising platform for light-matter interaction, active control of its radiative properties has been largely confined to surface-limited phenomena mostly associated with plasmons. Here, we introduce a new MIR radiation platform where multi-layer chemical vapor deposition (CVD) graphene is integrated with modular, vibrationally active dielectric substrates, ranging from organic thin films and inorganic matrices. A pivotal discovery is that the long-range de Broglie wavelength of drift carriers enables coherent coupling with vibrational transition dipoles deep within the substrate bulk. This transforms the substrate into a three-dimensional volume emission source, where complex spectra of characteristic molecular and lattice vibration energies are additively combined on demand. The exponential scaling of radiation intensity appears when the electrons' drift velocity in graphene exceeds the sound velocity of the substrates, consistent with quantum stimulated amplification associated with Cerenkov electron-phonon instability. Our work redefines the passive dielectric substrate as an active, programmable component driven by electron waves, paving the way for next-generation system-on-a-chip MIR-THz photonics, environmental and biomedical sensing, and highly efficient mode-specific electrothermal applications.
arXiv:2510.21200v3 Announce Type: replace
Abstract: In shift bribery, a briber seeks to promote his preferred candidate by paying voters to raise their ranking. Classical models of shift bribery assume voters act independently, overlooking the role of social influence. However, in reality, individuals are social beings and are often represented as part of a social network, where bribed voters may influence their neighbors, thereby amplifying the effect of persuasion. We study Shift bribery over Networks, where voters are modeled as nodes in a directed weighted graph, and arcs represent social influence between them. In this setting, bribery is not confined to directly targeted voters its effects can propagate through the network, influencing neighbors and amplifying persuasion. Given a budget and individual cost functions for shifting each voter's preference toward a designated candidate, the goal is to determine whether a shift strategy exists within budget that ensures the preferred candidate wins after both direct and network-propagated influence takes effect. We show that the problem is NP-Complete even with two candidates and unit costs, and W[2]-hard when parameterized by budget or maximum degree. On the positive side, we design polynomial-time algorithms for complete graphs under plurality and majority rules and path graphs for uniform edge weights, linear-time algorithms for transitive tournaments for two candidates, linear cost functions and uniform arc weights, and pseudo-polynomial algorithms for cluster graphs. We further prove the existence of fixed-parameter tractable algorithms with treewidth as parameter for two candidates, linear cost functions and uniform arc weights and pseudo-FPT with cluster vertex deletion number for two candidates and uniform arc weights. Together, these results give a detailed complexity landscape for shift bribery in social networks.
arXiv:2606.04695v1 Announce Type: new
Abstract: High-dimensional optimal transport is seldom available in closed form. The one-dimensional case is exceptional because the order of the real line is compatible with convex transport costs, making monotone rearrangement optimal. This paper studies when an analogous Monge structure can be recovered in higher dimensions from a partial order. We introduce a cone-compatible Monge geometry: a closed convex cone (K) induces the order (x\preceq_K y) whenever (y-x\in K), and is compatible with a cost if ordered pairs satisfy a Monge exchange inequality. For squared Mahalanobis costs (c_M(x,y)=(x-y)^\top M(x-y)), we prove a sharp characterization: compatibility holds exactly when (K) is acute under the (M)-inner product, namely (u^\top Mv\ge0) for all (u,v\in K), equivalently (K\subseteq K_M^*). Under this condition, measures supported on cone chains admit a quantile-type closed-form optimal coupling, yielding exact transport under the original ground cost rather than after projection or metric replacement. We distinguish the resulting cone-chain Wasserstein metric on canonically ordered chain distributions from an extended directed cone transport cost on general measures, and develop feasibility, duality, stability, approximation, Gaussian recovery, statistical, and computational results. The theory is complementary to sliced and tree Wasserstein distances: it is not a universal fast surrogate, but a way to obtain interpretable, direction-valid, original-space monotone transport for ordered high-dimensional data.
arXiv:2606.04691v1 Announce Type: new
Abstract: Zero-shot information extraction (IE) with large language models (LLMs) has attracted increasing attention due to its flexibility in adapting to new schemas and domains without task-specific training. Existing approaches mainly rely on monolithic prompting, each-type prompting, or multi-agent debate. However, monolithic prompting often suffers from boundary and type errors, while each-type prompting and multi-agent debate introduce cross-type conflicts, redundant agent interactions, and substantial token overhead. To address these challenges, we propose SMADE-IE, a sparse and evidence-driven multi-agent framework for zero-shot IE. SMADE-IE first employs an Adaptive Mode Selector to dynamically route inputs into either a lightweight Global Extraction Mode or a Type-Centric Extraction Mode, reducing unnecessary type selection and reasoning noise. For conflicting predictions, we further introduce an Evidence-Driven Debate mechanism that structures arguments into Toulmin-style components and performs confidence aggregation through external evidence scoring and Bayesian updates. Experimental results on 9 benchmark datasets across NER, RE, and JERE tasks show that SMADE-IE consistently outperforms existing zero-shot IE baselines while also improving token efficiency through sparse agent selection and early-stopping debate.
arXiv:2509.17710v2 Announce Type: replace
Abstract: We derive two forms of conditional a posteriori error estimates for a finite volume scheme approximating the parabolic-elliptic Keller-Segel system. The estimates control the error in the $L^\infty(0,T, L^2(\Omega))$- and $L^2(0,T;H^1(\Omega))$-norm and exhibit linear convergence in the mesh size, as observed in numerical experiments. Crucially, we show that, as long as the condition of the error estimate is satisfied, a weak solution exists. This means, as long as the numerical solution has good properties, we can rigorously infer existence of an exact solution.
arXiv:2606.04594v1 Announce Type: new
Abstract: LLM serving frameworks are quickly evolving with a complex software stack and a vast number of optimizations. The rapid development process can introduce silent errors where output quality silently degrades without any explicit error signals. Diagnosing silent errors is notoriously difficult due to the substantial semantic gap between the high-level symptoms and the low-level root causes. We observe that diagnosis of silent errors can be effectively framed as a differential debugging problem by leveraging the existence of semantically correct reference implementations. We propose Ekka, an automated diagnosis system that identifies root causes by systematically aligning and comparing intermediate execution states between a target and a reference framework. We constructed a benchmark of real-world silent errors from popular serving frameworks, where Ekka shows 80% pass@1 diagnosis accuracy and 88% pass@5 diagnosis accuracy, outperforming state-of-the-art systems. Ekka also diagnoses 4 new silent errors from serving frameworks, all of which have been confirmed by the developers.
arXiv:2606.04536v1 Announce Type: new
Abstract: Existing memory-augmented LLM agents store past experience exclusively in prompt space, as textual summaries or retrieved passages, while keeping model parameters frozen throughout a rollout. Such agents can \emph{look up} what they have seen but cannot \emph{learn from} it: their policy is unchanged by experience, and any information dropped from the context is permanently lost. We introduce \texttt{TMEM}, a self-evolving parametric memory framework in which the agent not only compresses history into explicit memory but also absorbs distilled supervision into fast LoRA weights $\Delta_t$ via lightweight online updates, genuinely altering its future behavior within a single episode. We formalize this as an agentic decision process with fast-weight rollout dynamics: actions are sampled from $\pi_{\theta_0+\Delta_t}$, while extraction actions produce supervision that updates $\Delta_t$ for subsequent decisions. This view makes the extraction policy directly optimizable by RL: training $\theta_0$ improves not only task actions but also the quality of the data used for online LoRA adaptation. We further propose SVD-based initialization of the LoRA subspace to accelerate online convergence. Experiments on LoCoMo, LongMemEval-S, multi-objective search, and CL-Bench show that \texttt{TMEM} consistently outperforms summary-based and retrieval-based baselines across different model scales.
arXiv:2606.01143v3 Announce Type: replace
Abstract: GRPO-based LLM post-training commonly samples multiple trajectories from the same prompt and then trains on the resulting group. In long-context GRPO workloads, this shared prompt-side prefix can contain retrieved passages, visual tokens, tool schemas, system instructions, or task context, while the full rollout group is still too large to pack into one training microbatch. Standard dense trainers therefore recompute the same prefix forward and backward for every trajectory. We present a schedule-level reuse mechanism that decouples prefix and suffix computation. The schedule runs prefix forward once, executes suffixes as ordinary microbatches while reading prefix K/V and accumulating prefix-side gK/gV , and then runs prefix backward once on the accumulated gradient cache. This reordered schedule is equivalent to baseline training over real arithmetic and aligns numerically within finite-precision tolerance. Because only K/V and gK/gV are hot during suffix computation, the approach offloads dormant prefix activations, integrates with TP/EP/CP/PP and DP-style placement at the execution level, and preserves aux-loss-based MoE router semantics through logical prefix-token accounting. On dense Llama3-8B, Qwen3-8B, and MoE Qwen3-MoE-30B-A3B configurations, the schedule matches optimizer updates across TP/CP/PP/EP combinations, aligns on a 100-step real GRPO actor-update trace replay, reaches up to 4.395x speedup (2.930x under a conservative compile-on comparison) as prefix ratio and GRPO group size grow, and reduces Phase-B peak HBM by up to 59.1%, extending the Llama3-8B capacity frontier from 17,920 to 29,696 total tokens.
arXiv:2606.04303v1 Announce Type: new
Abstract: Analytical database systems serve as foundational infrastructure for knowledge discovery across many domains. Day after day, researchers, practitioners, and increasingly AI-driven agents issue analytical queries, inspect their results, and refine their inquiries. An analytical database system thus receives and processes diverse analytical queries that arrive over time and execute concurrently. Such workloads can create redundant execution work across independently issued queries. Exploiting this overlap to optimize query processing as a whole is a critical technical challenge. This paper presents GraftDB, a multi-query execution engine that dynamically folds a later-arriving query into a running execution, reusing previously performed work and sharing subsequently performed work. GraftDB achieves dynamic folding with state-centric execution, which treats operator state accumulated during execution not as owned by a single query, but as shared state that any compatible query can observe or contribute to. Each query observes shared state through a per-query state lens, which lets the query observe that state only after the relevant input has been incorporated and receive only rows or state fragments valid under the query's semantics. For an arriving query, query grafting identifies operator state that already satisfies part of the query's requirements and work that can still be shared to satisfy the rest. Together, these mechanisms let GraftDB share work across overlapping analytical queries and reduce redundant execution work. Experiments using TPC-H-derived instances of dynamic concurrent workloads show that GraftDB achieves up to 2.17 times higher throughput than a same-engine isolated-execution baseline. Under overloaded open-loop arrivals, GraftDB reduces P95 response time to as low as 0.17 times the same baseline's P95 response time.
arXiv:2606.04222v1 Announce Type: new
Abstract: Prosthetic socket fitting remains largely manual and iterative, and objective fit metrics are still limited. Part of the challenge is the lack of long-term real-life pressure data at the residual limb--socket interface. Traditional pressure sensors are prone to drift over time, and capture only normal pressures at sparse locations within the socket, missing a critical component for biomechanical analysis: shear. Although some sensors can report both normal and shear interface stresses, these components are often difficult to decouple because of measurement crosstalk. One potential path forward is to develop models that can augment available measurements. This work introduces a testbed to evaluate model performance under sparse pressure sensing using two complementary validation signals: (i) the global wrench (\ie, total forces and moments expressed in an orthonormal frame) transmitted through the socket, by an artificial residual-limb, and (ii) local interface loads (\ie, decoupled normal and shear pressure components in a right-hand-rule orthogonal frame that lives in each instrumented location) measured by sparse sensing clusters, each composed of four capacitance-sensing channels. Rather than presenting full-field pressure estimates, the focus is on an analysis sequence that quantifies how well candidate mechanical models explain both global and local measurements under controlled conditions. A quasi-static spring--mass contact model is evaluated, and its parameters are identified via a two-stage convex least-squares problem. Validation under static loading shows that estimating constant bias terms reduces steady offsets in the wrench channels and improves agreement with local measurements. A Pareto-front sensitivity analysis further illustrates how the trade-off between global and local objectives changes when bias terms are included.
arXiv:2606.04317v1 Announce Type: new
Abstract: Deep neural networks are increasingly deployed across heterogeneous and partially untrusted environments, where models are distributed through cloud storage, CI/CD pipelines, containerized services, and edge execution platforms. This broad deployment landscape exposes model parameters to various integrity risks. Unlike input-space adversarial attacks, parameter attacks directly tamper with the model's internal parameters and persist across all subsequent inferences. Existing defenses either require retraining, incur significant accuracy degradation, or are limited to specific attack classes. However, in real-world deployment scenarios, the forms of parameter attacks are often unpredictable. To address this challenge, we present ParDef, a generalized defense for deep neural networks against diverse types of parameter attacks. ParDef integrates keyed channel reparameterization, which obscures sensitive parameter directions, QC-LDPC quantization, which embeds redundancy and supports error correction, and adaptive robust inference, which stabilizes predictions under uncertainty. Our evaluation on CIFAR-10, CIFAR-100, and Tiny-ImageNet using ResNet and VGG models demonstrates that ParDef consistently reduces attack success rates across different parameter attacks while maintaining high model performance and incurring only moderate deployment overhead. These results highlight that ParDef is a practical and generalized defense for DNN deployments.
arXiv:2606.04450v1 Announce Type: new
Abstract: Worker safety attitudes are key determinants of whether protective practices are applied or bypassed on construction sites. Yet measuring them at scale has remained out of reach. Safety attitudes are multidimensional, vary across topics, and surface most candidly in workers' own conversations. This study created and validated the Construction Safety Attitude Framework (CSAF), which integrates two components: a theory-grounded structure that characterizes safety attitudes along eight dimensions, and an operational codebook for measuring them in worker naturalistic discourse. Applying CSAF to 250 posts and comments from the r/Construction community on Reddit, trained coders reached strong agreement (Krippendorff's {\alpha} = 0.85). Pairwise lift and conditional probability confirmed that the eight dimensions are related yet distinct. To apply the framework across large volumes of discourse, CSAF was operationalized through a large language model (LLM) classifier. On 450 r/Construction contributions, the classifier reproduced expert human coding (Cohen's \k{appa} = 0.90, precision = 0.98, recall = 0.98), and on 400 contributions from r/Roofing it retained that accuracy after transfer to a different trade community (\k{appa} = 0.89, precision = 0.98, recall = 0.97). A proof-of-value case study then applied the validated classifier to 10,346 contributions from r/Roofing, demonstrating that CSAF can distinguish multidimensional attitudes by safety topic, track how they shift over time, and trace the reasoning behind unfavorable ones. The study therefore provides a theoretically grounded, empirically vetted instrument for examining safety attitudes, offering a basis for targeted interventions that address the attitudes underlying unsafe practices.
arXiv:2606.04337v1 Announce Type: new
Abstract: Light-matter interactions provide versatile routes for probing and controlling chemical reactivity, charge transport, and material properties. Time-periodic external fields can reshape electronic states and open new dynamical pathways beyond the field-free Born-Oppenheimer (BO) picture. Floquet nonadiabatic dynamics has consequently emerged as an important framework for describing coupled electron-nuclear dynamics under periodic driving. In this Perspective, we first discuss recent developments in Floquet nonadiabatic dynamics methods for closed and open quantum systems. We then highlight how this framework provides mechanistic insights into electron transfer at molecule-metal interfaces, quantum transport in molecular junctions, carrier dynamics in crystalline solids, and multicolor Floquet engineering. Finally, we outline key conceptual and computational challenges that must be addressed to transform Floquet nonadiabatic dynamics from model-based demonstrations into predictive, first-principles simulations of realistic light-driven processes.
arXiv:2606.04385v1 Announce Type: new
Abstract: Foundation models have driven rapid progress in computer vision, yet the two dominant paradigms, vision-language foundation models (VLMs) and vision-only foundation models (VFMs), remain only partially compatible. VLMs offer language-grounded semantic alignment but are often visually coarse, while VFMs learn discriminative perceptual geometry but lack semantic grounding. We propose GPUA (Geometry-Preserving Unsupervised Alignment), a framework that integrates the complementary strengths of VFMs and VLMs. Inspired by cross-lingual alignment, GPUA treats VFM features as a visual language and learns an orthogonal mapping that translates the VFM space into the VLM semantic space, preserving geometry and narrowing the modality gap without labels or model parameter updates. GPUA is task-agnostic and requires only feature-level access to pretrained models. Experiments across diverse benchmarks demonstrate improved cross-model compatibility and strong gains in downstream zero-shot recognition and segmentation with negligible overhead. Code is available at https://github.com/Yuteam14/GPUA
arXiv:2606.04302v1 Announce Type: new
Abstract: Key-value (KV) caching accelerates inference of large language models (LLMs) by reusing past computations for generated tokens. Its importance becomes even greater in long-context applications such as retrieval-augmented generation (RAG) and in-context learning (ICL). However, conventional KV caching embeds positional information directly into the cache, limiting its reusability. Existing solutions either restrict reuse to prefixes or require expensive memory materialization for positional re-encoding. We introduce LazyAttention, a novel attention mechanism that kernelizes deferred positional encoding to enable zero-copy, position-agnostic KV reuse. By adjusting positional encoding within attention kernels on-the-fly, LazyAttention resolves the materialization bottleneck, allowing a single physical KV copy to serve multiple logical requests at arbitrary positions. Leveraging attention kernels tailored for prefilling and decoding, our system achieves significant efficiency improvements: under skewed document distributions, it reduces time-to-first-token (TTFT) by 1.37$\times$ and increases inference throughput by 1.40$\times$ compared to the state-of-the-art Block-Attention, while maintaining comparable output quality.
arXiv:2606.04214v1 Announce Type: new
Abstract: Datacenter expansion under generative AI is increasingly framed as compatible with sustainability because of efficiency gains, cleaner electricity procurement, and improved facility design. Yet these claims often do not show that absolute electricity, water, material, waste, and community-facing burdens are falling. This Perspective addresses that evidentiary gap. Rather than asking whether efficiency gains are real, we ask when such gains are being enlarged into claims of system-wide sustainability to justify continued expansion. We develop a rebound-informed diagnostic framework for evaluating AI and datacenter sustainability narratives across five tests: metric, boundary, reinvestment, burden shifting, and governance. Applied to major AI industry sustainability reporting, the framework shows that firms largely justify continued expansion through efficiency improvements and clean-energy procurement, rather than by demonstrating reductions in absolute resource use. Applied to plateau claims in the literature, we show that many claims establish local or relative improvements while leaving energy rebound, lifecycle burdens, and enforceable limits unresolved. We argue that these sustainable-growth narratives begin to function as greenwashing when they use efficiency improvements to claim sustainability even as absolute energy, water, material, and public health burdens continue to increase. We conclude by positioning digital sufficiency as a burden-of-proof framework for governance: those advocating further datacenter expansion must show that it reduces, rather than merely redistributes or defers, absolute burdens across the full system.
arXiv:2606.05055v1 Announce Type: new
Abstract: As older adults increasingly prefer to age in place, their adult children often assume the role of informal caregivers. This dynamic creates a distinct tension between the adult child's need for awareness and the older adult's fundamental right to privacy. Traditional monitoring technologies, such as raw video feeds, often compromise the older adult's autonomy. To address this challenge, this study explores the use of generative Artificial Intelligence (GenAI) to create abstract, privacy-preserving ``visual summaries'' of daily activities. We design a 10-day Experience Sampling Method (ESM) study with dyads consisting of older adults and their adult children. Through daily smartphone prompts, participants report their current context and evaluate pre-generated AI sketches, indicating their willingness to share or receive these images. Follow-up interviews will further investigate participants' boundary-setting behaviours. This research aims to quantify the privacy mismatch between generations and provide actionable design guidelines for applying visual abstraction in AI-mediated caregiving tools, ultimately supporting inter-generational connection while protecting user dignity.
arXiv:2606.03201v2 Announce Type: replace
Abstract: Reinforcement learning from expert videos across visually distinct domains is challenging due to the absence of reward signals and the presence of domain gaps. We introduce XIPER (Cross-domain Video Prediction Reward), a reward model for learning from expert videos collected in a visually different domain, where the agent's appearance differs due to factors such as color, morphology, or the sim-to-real gap. More specifically, XIPER trains a cross-domain video prediction model that maps agent observations into the expert domain and uses the prediction likelihood as a reward signal. Experiments on the DMC Color Suite (8 tasks) and DMC Body Suite (3 tasks) show that XIPER consistently outperforms baselines despite domain gaps such as differences in agent color and morphology. We further analyze XIPER on a sim-to-real transfer dataset, demonstrating that it produces meaningful reward signals for real-robot observations given only simulated expert videos. Code, pretrained models, datasets and video demonstrations can be found on our project webpage: https://sites.google.com/view/xiper
arXiv:2606.04437v1 Announce Type: new
Abstract: Collaborative perception extends the perceptual range of autonomous vehicles by sharing information across agents, but heterogeneous sensors and perception models make intermediate feature fusion difficult to deploy at scale. Existing heterogeneous collaboration methods typically follow a translation-first paradigm: collaborator features must be aligned, adapted, or projected into an ego-compatible space before fusion. Such feature-compatibility contracts improve fixed-system performance, but they couple deployment to collaborator-specific adaptation and make newly joined heterogeneous agents costly to integrate. To address this gap, we propose INTACT, an ego-guided typed sparse evidence retrieval framework for heterogeneous collaborative perception. Instead of translating an entire collaborator feature map, INTACT lets the ego vehicle issue typed evidence queries that express suspected objects and evidence-deficient regions. Collaborators respond only with local evidence at queried locations, and the ego selects useful responses through sparse per-query routing and injects them through gated residual write-back. This changes the compatibility requirement from global feature-map interpretability to local, typed response comparability under ego-issued queries, enabling a zero-training heterogeneous insertion protocol in which the ego interface is trained once and new collaborators join through checkpoint merging. Extensive experiments on simulated and real-world heterogeneous collaborative perception benchmarks validate the effectiveness and deployability of INTACT. On OPV2V-H, INTACT achieves 80.1 AP70 with only 0.52M additional parameters and 18.0 $\log_2$ communication volume, corresponding to about 16$\times$ compression over dense feature transmission. On DAIR-V2X, INTACT achieves 43.8 AP50 under challenging real-world conditions.
arXiv:2606.04436v1 Announce Type: new
Abstract: We propose a 3D-thinking-guided co-training framework that enables vision-language-action (VLA) models to perform 3D spatial reasoning implicitly during action prediction. Our core insight is that 3D geometry perception and 3D spatial reasoning are distinct capabilities that can be disentangled and injected at different feature hierarchies. During training, three tightly coupled components work in concert primarily within the latent space: (1) To gain geometric priors, a latent 3D geometry perception module aligns intermediate visual features with a 3D foundation model, acquiring low-level geometric cues without architectural modifications to the VLM backbone. (2) Complementing this, an online 3D reasoning distillation module mitigates the prompt-induced reasoning gap via a shared reasoning anchor token. During 3D VLM co-training, this anchor is emitted as the first output token to robustly encode spatial priors. During VLA training, it serves as an input token inserted between the task and action instructions, transferring high-level spatial thinking from explicit teacher reasoning prompts to student action prompts without chain-of-thought text generation. (3) These disentangled geometric and reasoning features are then united by a spatially augmented action integration, which jointly injects them into the action-query tokens as hierarchical spatial conditions to prevent action shortcuts. At deployment, our method retains only its lightweight adapters to perform implicit 3D reasoning, discarding the 3D foundation model and the teacher branch used for supervision. Consequently, it operates purely on 2D images without 3D sensors, external models, or explicit text generation while preventing catastrophic forgetting of the pretrained VLM, achieving state-of-the-art performance on LIBERO, LIBERO-PLUS, SimplerEnv, and real-world manipulation tasks.
arXiv:2606.04299v1 Announce Type: new
Abstract: We consider the problem of generating images whose internal structure -- defined by the distribution of patches across multiple scales -- matches that of a single reference image. Recent approaches address this problem by training a diffusion model on a single image. But even in this setting, training is computationally expensive and requires hours of optimization. Instead, we model the image using a dataset of its patches at different scales. As this dataset is finite and the dimensionality of its patches is small, the score function for a noisy patch can be computed tractably using an optimal, closed-form denoiser, eliminating the need for neural network training. We integrate this patch-based denoiser into an efficient, training-free image diffusion model, and we describe how our method connects to classical patch-based image restoration techniques. Our approach achieves state-of-the-art generation quality and diversity compared to trained single-image diffusion models, and we demonstrate applications, including unconditional image generation, text-guided stylization, image symmetrization, and retargeting. Further, we show that our approach is compatible with latent space diffusion, and we show multiple additional acceleration techniques to achieve megapixel single-image generation in one second, and gigapixel generation in minutes.