arXiv:2510.09344v2 Announce Type: replace
Abstract: Elderly speech poses unique challenges for automatic processing due to age-related changes such as slower articulation and vocal tremors. Existing Chinese datasets are mostly recorded in controlled environments, limiting their diversity and real-world applicability. To address this gap, we present WildElder, a Mandarin elderly speech corpus collected from online videos and enriched with fine-grained manual annotations, including transcription, speaker age, gender, and accent strength. Combining the realism of in-the-wild data with expert curation, WildElder enables robust research on automatic speech recognition and speaker profiling. Experimental results reveal both the difficulties of elderly speech recognition and the potential of WildElder as a challenging new benchmark. The dataset and code are available at https://github.com/NKU-HLT/WildElder.
Science Journals
arXiv:2310.16152v5 Announce Type: replace
Abstract: Federated learning (FL) has become a key component in various language modeling applications such as machine translation, next-word prediction, and medical record analysis. These applications are trained on datasets from many FL participants that often include privacy-sensitive data, such as healthcare records, phone/credit card numbers, login credentials, etc. Although FL enables computation without necessitating clients to share their raw data, existing works show that privacy leakage is still probable in federated language models. In this paper, we present two novel findings on the leakage of privacy-sensitive user data from federated large language models without requiring access to gradients. Firstly, we make a key observation that model snapshots from the intermediate rounds in FL can cause greater privacy leakage than the final trained model. Secondly, we identify that a malicious FL participant can aggravate the leakage by tampering with the model's selective weights that are responsible for memorizing the sensitive training data of some other clients, even without any cooperation from the server. Our best-performing method increases the membership inference recall by 29% and achieves up to 71% private data reconstruction, evidently outperforming existing attacks that consider much stronger adversary capabilities. Lastly, we recommend a balanced suite of techniques for an FL client to defend against such privacy risk.
arXiv:2607.16548v1 Announce Type: new
Abstract: Cross-chain DAOs face unique security challenges that go beyond traditional single-chain vulnerabilities. This paper identifies and categorizes four critical attack vectors in cross-chain DAO governance: bribery attacks, token control exploits, human-computer interaction deceptions, and protocol vulnerabilities. We propose a comprehensive security framework with a multi-layered architecture that integrates cryptographic trust anchors, fraud-resistant consensus mechanisms, and decentralized validation techniques to address these threats. Our framework introduces novel components, including a Governance Kernel with on-chain rule verification, a Cross-Chain Trust Layer using threshold cryptography, and a Resilience Layer offering time-locked decision reversals and progressive dispute resolution. By establishing a structured set of countermeasures, this work lays the foundation for secure, transparent, and attack-resistant governance across diverse blockchain environments.
arXiv:2510.15936v3 Announce Type: replace
Abstract: The study explores the role of large language models (LLMs) in the context of the architectural design studio, understood as the pedagogical core of architectural education. Traditionally, the studio has functioned as an experiential learning space where students tackle design problems through reflective practice, peer critique, and faculty guidance. However, the integration of artificial intelligence (AI) in this environment has been largely focused on form generation, automation, and representation-al efficiency, neglecting its potential as a pedagogical tool to strengthen student autonomy, collaboration, and self-reflection. The objectives of this research were: (1) to identify pedagogical challenges in self-directed, peer-to-peer, and teacher-guided learning processes in architecture studies; (2) to propose AI interventions, particularly through LLM, that contribute to overcoming these challenges; and (3) to align these interventions with measurable learning outcomes using Bloom's taxonomy. The findings show that the main challenges include managing student autonomy, tensions in peer feedback, and the difficulty of balancing the transmission of technical knowledge with the stimulation of creativity in teaching. In response to this, LLMs are emerging as complementary agents capable of generating personalized feedback, organizing collaborative interactions, and offering adaptive cognitive scaffolding. Furthermore, their implementation can be linked to the cognitive levels of Bloom's taxonomy: facilitating the recall and understanding of architectural concepts, supporting application and analysis through interactive case studies, and encouraging synthesis and evaluation through hypothetical design scenarios.
arXiv:2607.16554v1 Announce Type: new
Abstract: In multi-task learning (MTL) negative transfer is often considered as an optimization artifact, but it can also be viewed as a consequence of limited shared capacity and weak task redundancy. We investigate this effect through a Capacity--Redundancy (CR) identity that decomposes the sum of per-task predictive informations into joint predictive information that includes label redundancy defined via total correlation (TC), and a residual coupling term that quantifies interference left unresolved by the shared representation. Additionally, we show two key results: (i) a clustering-gap decomposition that gives a necessary and sufficient condition for clustered sharing to outperform global sharing, and (ii) a gradient--TC bridge in a Gaussian multi-task model that formally justifies gradient cosine similarity as a proxy for redundancy ordering. Empirically, we estimate the residual coupling $\Delta$ from validation residual correlations, showing that clustered LoRA substantially reduces $\widehat{\Delta}$, outperforms size-matched random partitions, and results in statistically significant gains with multi-seed confidence intervals.
arXiv:2607.17371v1 Announce Type: new
Abstract: Processing-in-memory-based (PIM) architectures have emerged as a promising solution for accelerating Convolutional Neural Network (CNN) workloads at the edge. Fine-tuning pre-trained CNNs is a common requirement to enhance the model predictive accuracy after deployment. However, the fine-tuning process is computational and memory-intensive, generating a significant amount of intermediate activations. This leads to frequent off-chip memory access, affecting the overall efficiency of the PIM accelerator. Existing fine-tuning strategies are agnostic to the underlying hardware, as they treat all layers equally. In this paper, we propose a hardware-aware framework called ADEPT to accelerate CNN fine-tuning on PIM architectures. Unlike prior fine-tuning methods, ADEPT adaptively trains the model considering both the training overhead and layer sensitivity. Specifically, ADEPT introduces a novel metric that quantifies the trade-off between a block's gradient-based sensitivity and its hardware architecture-specific Energy-Delay Product (EDP), producing platform-dependent fine-tuning configurations. Overall, ADEPT helps reduce the total trainable parameters and the off-chip data access during fine-tuning, while incurring minimal loss in predictive accuracy compared to full-parameter fine-tuning.
arXiv:2607.18227v1 Announce Type: new
Abstract: In line with the prevailing direction of vision research, we explore the integration of both generation and editing capabilities for video and image modalities within a single model. Current approaches to collecting video editing data typically depend on labour-intensive, time-consuming curated procedures--involving object mask annotation, the use of error-introducing pair synthesis via I2V model and ControlNet-like guidance, and VLM-based quality filtering or refinement--and demonstrate limited task scalability. As a result, the diversity of editing tasks remains substantially narrower than that available for image editing models. We develop a pixel-pair temporal warped flow field that can directly generate corresponding video editing samples in real time from image editing samples, and we demonstrate across multiple levels of video editing tasks that a model can learn video editing using only such data. We regard the image modality as a particular form of the video modality. Accordingly, we design a modality mimic generation loss and a modality mimic editing loss to relatively align the capabilities--and thereby the output distributions--of the two modalities through mutual imitation. Moreover, language-based visual editing entails the comprehension of the editing instruction and the reference visual content, the localization of the region corresponding to that instruction within the reference visual contents, and the modification of that region alone. Existing approaches predominantly rely on external aids, such as fine-tuning an additional MLLM or explicitly supplying a mask sequence as auxiliary input during inference. In contrast, we aspire for the model to internalize this capability. To that end, we introduce sense-related tasks--for instance, referring expression segmentation--along with corresponding editing-region-aware latent-level loss and attention-level loss.
arXiv:2607.18057v1 Announce Type: new
Abstract: AI coding agents increasingly submit complete pull requests (PRs) with minimal human intervention, shifting software development from AI-assisted to autonomous workflows. As these agents become more prevalent, ensuring the code they generate is adequately tested, by existing tests or by tests the agents write, is critical to preventing regressions, yet little is known about testing in agentic PRs. To address this gap, we analyze 4882 agent-generated PRs from the AIDev dataset (532 Java and 4350 Python PRs) produced by five coding agents. We study (i) how often agents include test changes and (ii) how well covered are code changes by existing and agent-written tests. Agents include test changes in only 49.6% of PRs that change code under test files. Existing tests provide an incomplete safety net: they cover 61.5% of agents' changed executable lines in Java and only 27.0% in Python, where 64.8% of PRs have no changed line executed by any existing test. Agent-written tests improve coverage over existing tests, but only in a minority of PRs: 35.9% of Java and 22.5% of Python Code + Tests PRs show a coverage gain. Across both languages, error-handling constructs (e.g., try and catch blocks) are the most consistently under-tested, with miss rates reaching 86.0% in Java and 81.0% in Python. These findings motivate coverage-aware development practices, coverage feedback loops for coding agents, and evaluation benchmarks that measure test quality to better help agents reliably test their own code.
arXiv:2607.16571v1 Announce Type: new
Abstract: Helping seems to make a lock wait-free: wrap the critical section in an idempotent thunk that any process can finish once the holder stalls. Yet helping protects the system, not the call. An overwritable candidate lets later requests bump one another in sequence, so a call can be forced to help newcomer after newcomer and never return, while point contention never exceeds two.
We ask whether a call can instead be charged only for the requests active when it takes its ticket, never for what arrives afterward. We show that the answer is yes. SeniorLock is a deterministic helpable thunk lock in which a call with ticket-time seniority $\beta$ finishes in $O((\beta+1)(T+1))$ local shared-memory steps, where $T$ bounds one thunk's cost, independently of later invocations. We call this guarantee \emph{retrospective wait-freedom}.
The same lock doubles as a universal construction we call SeniorObj: it turns any deterministic sequential object whose operations are bounded, concurrently idempotent thunks into a retrospective wait-free one, with no copying of its representation and, when no senior is active, at essentially the native cost of the operation.
arXiv:2607.17386v1 Announce Type: new
Abstract: Recent advances in Multimodal Large Language Models (MLLMs) have significantly improved remote sensing (RS) multimodal understanding. Language-conditioned segmentation is crucial for fine-grained target understanding in Unmanned Aerial Vehicle (UAV) videos. However, this task remains challenging due to the prevalence of small, visually ambiguous targets and dynamic aerial perspectives. In this paper, we propose SkyVLaM, a multimodal large language model for UAV video understanding. SkyVLaM constructs sparse tokens directly from patch-level video representations through a temporal basis perceiver, regularizes the sparse basis to encourage complementary temporal cues, and adaptively selects a temporally coherent dense segment for high-resolution inspection. The resulting sparse and dense tokens are jointly processed by a large language model for query-conditioned segmentation. We further build SkyVid, consisting of SkyVid-VGCG and SkyVid-RVOS for video grounded conversation generation and referring video object segmentation, respectively. SkyVid contains 101 videos, 33.6K frames, and 1.53M pixel-level object instances. Experiments show that SkyVLaM provides a more effective allocation of the visual token budget and improves language-conditioned video segmentation in UAV scenarios.
arXiv:2607.17389v1 Announce Type: new
Abstract: The paper investigates the possibility of predicting function-inlining decisions in compact compilers, source-to-source tools, and interpreters where the reuse of GCC or LLVM optimization infrastructure is impractical. The relevance of this work is determined by the need to transfer mature inlining heuristics to systems with limited compiler infrastructure, restricted runtime dependencies, and reduced access to target-specific analysis. Existing production compilers already contain strong inliners, but their decisions depend on internal intermediate representations (IRs), pass ordering, target models, and analysis stacks that are difficult to reproduce in lightweight systems. To overcome these constraints, we propose a portable inlining-prediction framework. Production compiler diagnostics serve as supervision; a separate extractor reconstructs caller-callee callsites, prepares sterile source snippets, normalizes them into a universal AST, optionally lowers them to a lightweight structural IR, and exports scalar features for model training. Thus, a trained predictor can be emitted as ordinary C code without a compiler-runtime dependency. To evaluate the proposed framework, we constructed a dataset comprising 336,938 callsites from fifteen open-source C projects, including 79,287 compiler-reported inline events. A comparison of several tabular models is performed using project-aware validation. Under leave-one-project-out validation, CatBoost reaches ROC-AUC 0.928 and PR-AUC 0.713; after threshold tuning, F1 improves from 0.670 to 0.729 and the false-positive rate drops from 0.192 to 0.084. Feature analysis shows that most signal is concentrated in source locality, explicit inline intent, callee size, side effects, branch and call structure, signature shape, and callsite argument shape.
arXiv:2607.18231v1 Announce Type: new
Abstract: Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent memory-augmented VLAs have relaxed the Markovian assumption by conditioning on past images or language summaries. Vision-based memory approaches address this by conditioning on sampled past image frames, but they are computationally expensive and fundamentally limited when temporal events are visually ambiguous, e.g., pushing a button multiple times with small movements. We propose FM-VLA, a VLA model with force-based memory, enabling temporal context reasoning for non-Markovian, contact-rich manipulation. We encode force histories into compact force memory tokens with a variational autoencoder (VAE) pretrained with force time series reconstruction. By projecting force latent representations and short state history as additional conditioning tokens to the action expert module, we enable VLAs to leverage accumulated contact event history to guide manipulation. We evaluate FM-VLA on three memory-dependent tasks, including finding a hidden block, pressing a button, and wiping a dish for a specific number of times. Our lightweight force memory achieves over 80% success rate with minimal inference overhead, significantly outperforming baseline approaches. Project page: https://qft-333.github.io/FM-VLA-Page/
arXiv:2503.10677v3 Announce Type: replace
Abstract: Retrieval-Augmented Generation (RAG) has gained significant attention in recent years for its potential to enhance natural language understanding and generation by combining large-scale retrieval systems with generative models. RAG leverages external knowledge sources, such as documents, databases, or structured data, to improve model performance and generate more accurate and contextually relevant outputs. This survey aims to provide a comprehensive overview of RAG by examining its fundamental components, including retrieval mechanisms, generation processes, and the integration between the two. We discuss the key characteristics of RAG, such as its ability to augment generative models with dynamic external knowledge, and the challenges associated with aligning retrieved information with generative objectives. We also present a taxonomy that categorizes RAG methods, ranging from basic retrieval-augmented approaches to more advanced models incorporating multimodal data and reasoning capabilities. Additionally, we review the evaluation benchmarks and datasets commonly used to assess RAG systems, along with a detailed exploration of its applications in fields such as question answering, summarization, and information retrieval. Finally, we highlight emerging research directions and opportunities for improving RAG systems, such as enhanced retrieval efficiency, model interpretability, and domain-specific adaptations. This paper concludes by outlining the prospects for RAG in addressing real-world challenges and its potential to drive further advancements in natural language processing.
arXiv:2510.19789v2 Announce Type: replace
Abstract: This paper introduces OmniMotion-X, a versatile multimodal framework for whole-body human motion generation, leveraging an autoregressive diffusion transformer in a unified sequence-to-sequence manner. OmniMotion-X efficiently supports diverse multimodal tasks, including text-to-motion, music-to-dance, speech-to-gesture, and global spatial-temporal control scenarios (e.g., motion prediction, in-betweening, completion, and joint/trajectory-guided synthesis), as well as flexible combinations of these tasks. Specifically, we propose the use of reference motion as a novel conditioning signal, substantially enhancing the consistency of generated content, style, and temporal dynamics crucial for realistic animations. To handle multimodal conflicts, we introduce a progressive weak-to-strong mixed-condition training strategy. To enable high-quality multimodal training, we construct OmniMoCap-X, the largest unified multimodal motion dataset to date, integrating 28 publicly available MoCap sources across 10 distinct tasks, standardized to the SMPL-X format at 30 fps. To ensure detailed and consistent annotations, we render sequences into videos and use GPT-4o to automatically generate structured and hierarchical captions, capturing both low-level actions and high-level semantics. Extensive experimental evaluations confirm that OmniMotion-X significantly surpasses existing methods, demonstrating state-of-the-art performance across multiple multimodal tasks and enabling the interactive generation of realistic, coherent, and controllable long-duration motions.
arXiv:2510.23509v3 Announce Type: replace
Abstract: Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe behaviors, especially in dynamic human spaces, due to limited physical grounding and weak logical consistency. In this work, we introduce NaviWM, a socially-aware robot Navigation World Model that augments LLM reasoning with a structured world model and a logic-driven chain-of-thought process. NaviWM consists of two main components: (1) a spatial-temporal world model that captures the positions, velocities, and activities of agents in the environment, and (2) a deductive reasoning module that guides LLMs through a multi-step, logic-based inference process. This integration enables the robot to generate navigation decisions that are both socially compliant and physically safe, under well-defined constraints such as personal space, collision avoidance, and timing. Unlike previous methods based on prompting or fine-tuning, NaviWM encodes social norms as first-order logic, enabling interpretable and verifiable reasoning. Experiments show that NaviWM improves success rates and reduces social violations, particularly in crowded environments. These results demonstrate the benefit of combining formal reasoning with LLMs for robust social navigation. Additional experimental details and demo videos for this work can be found at: https://sites.google.com/view/NaviWM.
arXiv:2607.16494v1 Announce Type: new
Abstract: The rapid development and popularization of AI-enabled coding agents have meant software engineering students and professionals cannot be assumed to understand their own code, which risks academic integrity and professional accountability. We developed a method called Personalized Probing Puzzles ($p^3$) to evaluate students' understanding of their own code, and tested $p^3$ in a graduate-level cloud computing course. Our pilot study shows that $p^3$ can help identify potential gaps in students' understanding of their own code. The puzzles are automatically generated, asynchronously administered, and finished in minutes. Future work is needed to correlate puzzle results with code understanding and to embed $p^3$ in a professional code review process.
arXiv:2510.26800v2 Announce Type: replace
Abstract: There are two prevalent ways for automatic 3D scene construction: procedural generation and 2D lifting. Among these, panorama-based 2D lifting has emerged as a promising technique, leveraging powerful 2D generative priors to produce immersive, realistic, and diverse 3D environments. In this work, we advance this technique to generate graphics-ready 3D scenes suitable for physically based rendering (PBR), relighting, and simulation. Our key insight is to repurpose 2D generative models for panorama perception of geometry, textures, and PBR materials. Unlike existing 2D lifting approaches that emphasize appearance generation and neglect the perception of intrinsic properties, we present OmniX, a versatile and unified framework for panorama generation, perception, and completion. Built upon cross-modal adapter structure and cyclic spatial operators, OmniX effectively repurposes pre-trained 2D flow matching priors for joint modeling of multimodal, seamless equirectangular representations. Furthermore, we construct a large-scale synthetic panorama dataset comprising high-quality multimodal panoramas from diverse indoor and outdoor scenes. Extensive experiments demonstrate the effectiveness and generality of OmniX as a unified framework for panorama generation and perception across geometry, lighting, and semantics, enabling graphics-ready 3D scene generation and opening new possibilities for immersive and physically realistic virtual world creation.
arXiv:2607.17909v1 Announce Type: cross
Abstract: The edge-of-chaos heuristic has long served as a guiding principle for designing reservoir computers, yet its relevance to machine performance remains elusive. Here, taking the spectral radius of the reservoir network as the control parameter, we show that the radius yielding the best forecasting performance does not coincide with the Lyapunov edge of the isolated, teacher-forced, or closed-loop generative reservoir. By analyzing the collective dynamics of the teacher-forced reservoir, we find that the target dynamics are represented mainly by stable Lyapunov modes whose finite-time stability is strongly modulated by the input. This finding motivates a stability-expressivity transfer index, which balances the stability of these modes against their expressivity in representing the target. Across chaotic and quasiperiodic targets, and for both asymmetric and symmetric reservoirs, this index accurately identifies the optimal spectral radius for autonomous forecasting.
arXiv:2607.16686v1 Announce Type: new
Abstract: Detection in massive multiple input multiple output (mMIMO) systems suffers from exponential complexity while using optimal decoders like maximum a posteriori (MAP). We propose a belief propagation-based detector based on directional statistics, applicable to mMIMO systems relying on PSK modulations. Thanks to a continuous relaxation of the PSK modulation to the unit circle, and to the use of von Mises parametric representations of the messages to obtain sparse representations of the (generally infinite dimensional) messages, the proposed method allows for approximate detection with a low complexity which does not depend on the PSK modulation order. Extensions of the algorithm to imperfect channel realizations are also present. We quantify the performance and complexity of the proposed approach and compare it with detection algorithms based on Gaussian approximation.
arXiv:2607.17910v1 Announce Type: cross
Abstract: Generative artificial intelligence is rapidly transforming materials design by enabling de novo exploration of immense chemical spaces. Yet a large proportion of AI-generated compositions remain implausible, violating established chemical principles, which limits the reliability and interpretability of generative materials design. Here, we introduce a chemical validity operator that recasts heuristic chemical rules as a configurable algorithmic prior for evaluating and guiding generative materials discovery. Built on the open-source SMACT package, a data-informed oxidation-state model exposes tunable thresholds, allowing users to interpolate continuously between permissive and conservative chemical constraints, while supporting both exploratory and conservative materials-design workflows. Benchmarking six state-of-the-art generative models for inorganic crystals shows that most reproduce stoichiometry but under-represent realistic oxidation-state combinations, and that filtering removes compositions reliant on rarely observed oxidation states while preserving low-energy compounds near the convex hull. Beyond screening, the same operator can also serve as a reinforcement-learning reward, steering a latent diffusion model towards chemically grounded compositions. By encoding chemical heuristics and observations, this work establishes a foundation for oxidation-state-aware generative models.
arXiv:2510.27497v2 Announce Type: replace
Abstract: Transformer-based autoregressive models have emerged as a unifying paradigm across modalities such as text and images, but their extension to 3D molecule generation remains underexplored. The gap stems from two fundamental challenges: (1) how to tokenize molecules into a canonical 1D sequence of tokens that is invariant to both SE(3) transformations and atom index permutations, and (2) how to design an architecture capable of modeling hybrid atom-based tokens that couple discrete atom types with continuous 3D coordinates. To address these challenges, we introduce InertialAR. It first performs generation-oriented canonical tokenization by aligning each molecule to a canonical inertial frame and reordering atoms, thereby converting arbitrary 3D structures into a unique, SE(3)- and permutation-invariant sequence of tokens for autoregressive generation. Built upon this canonical tokenization, we propose geometric positional encoding (GeoPE), which endows Transformer attention with 3D geometric awareness. Finally, InertialAR utilizes a hierarchical autoregressive paradigm to decode the next atom, consecutively predicting the atom type and 3D coordinates via Diffusion Loss. Experimentally, InertialAR achieves state-of-the-art performance on 8 of the 10 evaluation metrics for unconditional generation across QM9, GEOM-Drugs, and B3LYP. Moreover, it significantly outperforms baselines in controllable generation for targeted chemical functionality, attaining state-of-the-art results across all 5 metrics. Code is available at github.com/HaoruiLi46/InertialAR.
arXiv:2511.03631v2 Announce Type: replace
Abstract: Small and Medium Enterprises (SMEs), particularly freelancers and early-stage businesses, face unique financial management challenges due to limited resources, small customer bases, and constrained data availability. This paper presents the development and deployment of an integrated financial prediction system that combines accounts receivable prediction and cash flow forecasting specifically designed for SME operational constraints. Our system addresses the gap between enterprise-focused financial tools and the practical needs of freelancers and small businesses. The solution integrates two key components: a binary classification model for predicting invoice payment delays, and a multi-module cash flow forecasting model that handles incomplete and limited historical data. A prototype system has been implemented and deployed as a web application with integration into Cluee's platform, a startup providing financial management tools for freelancers, demonstrating practical feasibility for real-world SME financial management.
arXiv:2511.05420v2 Announce Type: replace
Abstract: As smart grids evolve to meet growing energy demands and modern operational challenges, the ability to accurately predict faults becomes increasingly critical. However, existing AI-based fault prediction models struggle to ensure reliability in evolving environments where they are required to adapt to new fault types and operational zones. In this paper, we propose a continual learning (CL) framework in the smart grid context to evolve the model together with the environment. We design four realistic evaluation scenarios grounded in class-incremental and domain-incremental learning to emulate evolving grid conditions. We further introduce Prototype-based Dark Experience Replay (ProDER), a unified replay-based approach that integrates prototype-based feature regularization, logit distillation, and a prototype-guided replay memory. ProDER achieves the best performance among the tested CL techniques, with accuracy drops of up to 0.032 for fault type prediction and up to 0.033 for fault zone prediction across different scenarios. These results demonstrate the practicality of resource-efficient continual learning system that reduces the computational and storage burden of maintaining intelligent fault prediction services in evolving energy infrastructure.
arXiv:2511.12972v2 Announce Type: replace
Abstract: The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be especially challenging when: 1) the reference image is captured from an arbitrary viewpoint, and 2) the robot must operate with sparse-view scene reconstructions. In this paper, we address the IIN problem, by introducing SplatSearch, a novel architecture that leverages sparse-view 3D Gaussian Splatting (3DGS) reconstructions. SplatSearch renders multiple viewpoints around candidate objects using a sparse online 3DGS map and uses a multi-view diffusion model to complete missing regions of the rendered images, enabling robust feature matching against the goal image. A novel frontier exploration policy is introduced which uses visual context from the synthesized viewpoints with semantic context from the goal image to evaluate frontier locations, allowing the robot to prioritize frontiers that are semantically and visually relevant to the goal image. Extensive experiments in photorealistic home and real-world environments validate the higher performance of SplatSearch against current state-of-the-art methods in terms of Success Rate and Success Path Length. An ablation study confirms the design choices of SplatSearch.
arXiv:2511.13420v2 Announce Type: replace
Abstract: Most research on hallucinations in Large Vision-Language Models (LVLMs) focuses on factual description tasks that prohibit any output absent from the image. However, little attention has been paid to hallucinations in voluntary imagination tasks, such as story writing, despite this human-like cognitive ability being essential for real-world generative applications. To address this limitation, we introduce Voluntary-imagined Object Presence Evaluation (VOPE) -- a recheck-based evaluation benchmark for assessing LVLMs' grounding behavior in voluntary imagination tasks. Specifically, VOPE poses recheck-based questions to evaluate how an LVLM interprets the presence of the imagined objects in its own response. Rather than penalizing the imagined content itself, VOPE identifies hallucinations based on the correctness of the model's presence judgments for the generated objects. Built on this idea, we construct a dataset covering captioning, reasoning, and writing tasks with different levels of voluntary imagination. We apply VOPE to several mainstream LVLMs and hallucination mitigation methods, revealing two key findings: (1) most LVLMs hallucinate heavily during voluntary imagination, and their performance in presence evaluation is notably poor on imagined objects; (2) existing hallucination mitigation methods show limited effect in voluntary imagination tasks, making this an important direction for future research.