arXiv:2607.06563v1 Announce Type: new Abstract: Traditional data physicalization is often static and disconnected from real environments, limiting its ability to convey embodied spatial dynamics and engage users. To address this limitation, we present AcoustoBots, a mobile acoustophoretic data-physicalization platform in which TurtleBot3 robots carry upward-facing 8 x 8 ultrasonic phased arrays. Each array levitates a particle whose height (1-10 cm) encodes a local urban scalar value, such as population density, noise, or traffic. A MARL (Multi-Agent Reinforcement Learning) policy based on the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm, with centralized training and decentralized execution, selects collision-aware navigation actions, while a high-rate Gerchberg-Saxton-Phased Array of Transducers (GS-PAT) acoustic controller maintains trap stability and updates array phases to achieve the commanded height during motion. This creates a closed perception-display-action loop. We evaluate single-robot city-to-city traversal and dual-robot cooperative coverage on a 4 m x 3 m scaled UK map using PhaseSpace-based localization for repeatable multi-robot trials. Results show stable in-motion levitation and consistent, location-dependent height rendering, with task success rates of 90% and 80% for the single and dual-robot regimes, respectively, over 10 trials per regime, and low collision counts. These findings support acoustophoretic levitation as a simple, glanceable, robot-mediated communication cue for embodied human-robot interaction in spatial analytics.
Science Journals
arXiv:2606.26783v2 Announce Type: replace Abstract: Fang et al. (2025) introduced a null-space constrained projection, named AlphaEdit, for locate-then-edit knowledge editing methods, theoretically guaranteeing that edits do not disrupt previously preserved knowledge, and reports substantial gains over existing editing methods on LLaMA3, GPT2-XL, and GPT-J. In this work, we present a reproducibility study of AlphaEdit, reproducing its reported results under the original experimental setup and extending the evaluation along three axes: new model architectures, additional downstream benchmarks, and substantially longer sequential editing horizons. We successfully reproduce AlphaEdit's reported metrics across the original models, though we identify a discrepancy in the reported fluency and consistency metric. Extending AlphaEdit to newer model families, we find that its advantage does not generalize uniformly, which we trace to architectural assumptions in the locate-then-edit paradigm that are violated by these newer models. We further stress-test AlphaEdit's central sequential-editing claim by extending the number of edits well beyond those evaluated in the original paper, and find that performance, which is stable at the originally reported scale, degrades as edits reach a much higher count, indicating that the null-space projection's protection against catastrophic forgetting is bounded rather than unconditional. Finally, we extend evaluation of edited models on three extra benchmarks, namely, BoolQ, HellaSwag, and XSTest, and we find that large-scale sequential editing degrades both general downstream task competence and safety-relevant refusal behavior. Our results confirm that AlphaEdit performs as reported within its original scope, while showing that its core theoretical guarantees are sensitive to model architecture and editing scale in ways that have practical implications for its deployment.
arXiv:2606.27728v2 Announce Type: replace Abstract: We study hp approximation and additive Schwarz decompositions for variable-order cubical finite element spaces on one-irregular meshes. For fitted homogeneous diffusion interface problems on one-irregular hexahedral meshes, we prove an hp-optimal energy-norm estimate for the interior penalty DG method. The interpolation input is a conforming hp interpolant obtained from fitted conforming closures of one-irregular vertex patches. We also derive stable decompositions for conforming and DG spaces. On one-irregular quadrilateral meshes the bounds allow locally comparable variable polynomial degrees and are independent of the mesh size, the local degrees, and, under a local coefficient quasi-monotonicity condition, the coefficient contrast. On one-irregular hexahedral meshes the conforming decomposition has the corresponding polylogarithmic loss; the DG-to-conforming reduction is used there for uniform-degree DG spaces. Numerical experiments illustrate the p-optimal DG error estimate and the robustness of the DG Schwarz preconditioner.
arXiv:2607.05939v1 Announce Type: new Abstract: This article presents a solution to intercept an agile drone by a team of agile drone carrying catching nets. We formulate the problem as a competitive Multi-Agent Reinforcement Learning (MARL) task. To address the problem of nonstationarity and catastrophic forgetting of agents overfitting to the current opponent strategy, we train the pursuers and the evader using Multi-Agent Proximal Policy Optimization (MAPPO) with Prioritized Fictitious Self Play (PFSP). We train the agents in a high-fidelity simulator using low-level control commands, collective thrust and body rates (CTBR), to achieve agile flights for both the pursuers and the evader. We compare the performance of the trained policies in terms of catch rate, time to catch and crash rates, against heuristic baselines and show that our solution outperforms them. Ablation studies show that PFSP lead to more robust policies that can adapt to different opponent strategies, and that a low-level control commands are crucial for learning performing strategies in the pursuit-evasion task. Finally, a qualitative analysis of the learned behaviours highlights the emergence of cooperative tactics among the pursuers.
arXiv:2607.06004v1 Announce Type: new Abstract: Large Language Models (LLMs) are increasingly used in software engineering (SE), yet there is no systematic study that determines to which degree these LLMs actually understand standardized SE terminology. Lack of such understanding can lead to miscommunication and misunderstanding, both by LLMs consuming text but also by human-developers acting on LLM-generated text. Within this paper, we investigate to which degree state-of-the-art LLMs are able to identify whether definitions from the ISO/IEC/IEEE 24765:2017 Systems and Software Engineering - Vocabulary are correct. We prompt LLMs both with correct definitions, as well as systematically falsified definitions. The falsifications are both semantic (substitution of key terms) and structural (removing critical information). We measure both classification accuracy and whether reasoning tokens generated by the LLMs make sense with respect to understanding the definition. While most LLMs detect falsified definitions with high accuracy, they also reject many correct definitions, indicating a systematic rejection bias rather than genuine discriminative understanding. Explicit reasoning does not consistently improve results and may even hinder performance through over-thinking. Our work demonstrates that while the performance of LLMs (including their agentic use) in many SE tasks is impressive, there are still fundamental issues to understand how this will impact SE, including the consistent use of terminology.
arXiv:2607.06354v1 Announce Type: new Abstract: The rapid advancement of large-scale generative models has accelerated the spread of highly deceptive AI-generated images, making generalized synthetic image detection a critical imperative. Existing forensic networks often struggle with cross-model generalization and realworld degradations due to their reliance on single-domain representations and conventional binary classification optimization. To overcome these limitations, we propose RNSIDNet, a novel forensic framework that achieves robust detection through enhanced RGB-Noise representation learning. Specifically, our method employs a dual-branch architecture where global RGB semantics, extracted by an attention-refined CLIP backbone, dynamically modulate highfrequency noise artifacts captured by Bayar convolutions via a Feature-wise Linear Modulation (FiLM) module. To further enhance the learned representations, we design a Hard Sample-aware Contrastive Learning (HSCL) strategy. By explicitly penalizing challenging training samples, HSCL reshapes the latent feature space to maximize the discriminative margin between pristine and synthetic domains. Extensive experiments across eight public benchmark datasets verify that our model achieves state-of-the-art performance, delivering superior generalization ability, robustness, and computational efficiency. Code and dataset will be publicly available on https://github.com/multimediaFor/RNSIDNet.
arXiv:2607.05568v1 Announce Type: new Abstract: Representing 3D shapes as compact sets of geometric primitives is fundamental to robotics, simulation, and scene understanding. Generative image models trained at scale have recently emerged as generalist visual learners that can identify and segment object parts directly in the image domain, across arbitrary categories and without task-specific training. Adapting such models to downstream tasks typically requires fine-tuning; we ask whether their pretrained capability can instead be harnessed directly, without any training, and answer affirmatively with a training-free harness. Our pipeline renders multi-view images of a 3D object, uses a vision-language model to analyze its semantic parts, prompts a generative image model to paint a color-coded part segmentation mask, reprojects it onto the geometry, and fits a superquadric primitive to each part via parameter optimization. The approach contains no learned parameters: it is category-agnostic and orientation-invariant, properties that previous learning-based models struggled with. Its accuracy ceiling rises with future generative-model improvements, which we confirm with a ground-truth segmentation study showing that part segmentation, not primitive fitting, is the current accuracy bottleneck. On HumanPrim and Toys4K, our method achieves the lowest Chamfer distance among all evaluated methods, using 5--9 primitives per object on average.
arXiv:2607.05571v1 Announce Type: new Abstract: Large language models are increasingly explored as AI tutors, yet deploying them in K-12 settings raises concerns around privacy, cost, and reliance on proprietary models. Small language models (SLMs) offer a promising alternative, but selecting the right model for a specific educational context remains difficult, particularly when the target domain, such as block-based programming, is largely absent from model training data. We introduce CSTutorBench, a benchmark for evaluating language models as CS tutors in VEX VR, a block-based robotics environment. The benchmark comprises 17 scenario-based questions scored against a pedagogical rubric grounded in established tutoring and feedback research, with a human-in-the-loop LLM-as-judge pipeline for evaluation. Preliminary findings across 11 models (4B-120B parameters) reveal that models perform well on surface-level criteria such as vocabulary and tone but struggle with deeper pedagogical behaviors, particularly avoiding answer leakage and engaging with student debugging histories. In our sample, model family and instruction-tuning approach appear to be better predictors of tutoring quality than parameter count alone, though the small number of models limits the strength of this conclusion. A targeted prompt revision grounded in recent educational prompt engineering research improved scores for 10 of 11 models. These results underscore the value of context-specific, pedagogically grounded benchmarks for SLM selection in educational deployment.
arXiv:2606.27377v2 Announce Type: replace Abstract: Modern image generation demands a single model that unifies diverse capabilities, including text-to-image (T2I), local editing, and global editing. However, these capabilities are rarely naturally aligned and often conflict. For instance, editing tends to degrade T2I performance, while global and local editing interfere with each other. Consequently, effectively composing these capabilities has become a central challenge for image generation model training. To tackle this, we introduce DanceOPD, an on-policy generative field distillation framework for flow-matching models that routes each sample to one capability field, queries one low-noise student-induced state, and trains with a simple velocity MSE objective. With each capability source defined as a velocity field over the shared flow state space, the student learns from fields queried on its own rollout states to compose expert capabilities. This formulation also absorbs operator-defined fields such as classifier-free guidance. Comprehensive experiments on T2I, editing, realism-field absorption, and CFG absorption show that our approach improves multi-capability composition, strengthening target capabilities while preserving anchor generation quality. We believe this work establishes a practical route for generative field distillation in flow-matching models.
arXiv:2607.06469v1 Announce Type: new Abstract: Time-varying metamaterials involve a rapid temporal modulation of the permittivity, often at frequencies comparable to the oscillation frequency of light. However, pronounced physical effects at low modulation amplitudes are observed only when resonances sustained in the metamaterials are utilized. This requires an additional spatial structuring. Here, we demonstrate the first exploitation of bound states in the continuum (BICs) in such spatio-temporal metamaterials consisting of a multilayered metasurface. Leveraging Fabry-Perot BICs in a metasurface-based cavity, we realize polarization-insensitive scattering anomalies such as exceptional points (EPs), coherent perfect absorption (CPA), and lasing at extremely small modulation amplitudes. In a second example, by utilizing symmetry-protected BICs and breaking time-reversal symmetry of a multilayered metasurface, we obtain strong nonreciprocal behavior. Harnessing nonreciprocity, we further demonstrate a device capable of one-way monochromatic light transmission at perturbative modulation amplitudes. Our contribution establishes BIC-enabled spatio-temporal metamaterials as a scalable platform for low-power, tunable light-matter interactions, opening new pathways toward practical nonreciprocal photonic devices, dynamic wave control, and on-chip optical signal processing.
arXiv:2607.05404v1 Announce Type: new Abstract: Frontier AI's labor-market effects matter to workers, firms, and policymakers, but current evidence generally comes from a handful of high-income economies. The capabilities of frontier AI are jagged across work tasks and national economies diverge in how they allocate human labor. We introduce a national AI exposure metric that combines occupation-level exposure scores and international employment data for 141 countries. We find that high income countries are substantially more exposed than low income countries and that Europe and Central Asia are 50 percent more exposed than Sub-Saharan Africa. We also find a gender gap: women are more exposed than men in 91 percent of countries, driven by their concentration in white-collar and sales occupations. The exceptions are countries where women's employment remains concentrated in agriculture and household enterprises. We validate our national AI exposure estimates by showing they predict national AI adoption statistics published by Anthropic, Microsoft, and OpenAI. Beyond direct exposure, we identify a new mechanism for indirect exposure due to cross-country income dependencies. Some nations such as Tajikistan depend heavily on foreign workers remitting money back to their home countries: Tajikistan's direct exposure to frontier AI is below-average but because 37 percent of Tajikistan GDP is Russian remittance and Russia is very exposed, Tajikistan's remittance-accounted exposure becomes above-average. Our research shows that national variation in exposure is large enough that policy responses calibrated to U.S. or European labor markets will not generalize.
arXiv:2505.15516v3 Announce Type: replace Abstract: While eXplainable AI (XAI) has advanced significantly, few methods address interpretability in embedded vector spaces where dimensions represent complex abstractions. We introduce Distance Explainer, a novel method for generating local, post-hoc explanations of embedded spaces in machine learning models. Our approach adapts saliency-based techniques from RISE to explain the distance between two embedded data points by assigning attribution values through selective masking and distance-ranked mask filtering. We evaluate Distance Explainer on cross-modal embeddings (image-image and image-caption pairs) using established XAI metrics including Faithfulness, Sensitivity/Robustness, and Randomization. Experiments with ImageNet and CLIP models demonstrate that our method effectively identifies features contributing to similarity or dissimilarity between embedded data points while maintaining high robustness and consistency. We also explore how parameter tuning, particularly mask quantity and selection strategy, affects explanation quality. This work addresses a critical gap in XAI research and enhances transparency and trustworthiness in deep learning applications utilizing embedded spaces.
arXiv:2505.19120v2 Announce Type: replace Abstract: Image demoir\'eing remains a challenging task due to the complex interplay between texture corruption and color distortions caused by moir\'e patterns. Existing methods, especially those relying on direct image-to-image restoration, often fail to disentangle these intertwined artifacts effectively. While frequency-aware approaches offer a promising direction, their potential is hindered by the discrete transform (e.g., Haar wavelet or block-based DCT), which may suffer from spatial discontinuity, channel redundancy, and further cause error accumulation during their fixed inverse processes. In this paper, we present Freqformer, a Transformer-based framework specifically designed for image demoir\'eing through targeted frequency separation. Our method performs an effective frequency decomposition that splits moir\'e patterns into high-frequency spatially-localized textures and low-frequency scale-robust color distortions, which are then handled by a dual-branch architecture and an asymmetric training scheme tailored to their distinct characteristics. We further propose a learnable Frequency Composition Transform (FCT) module to adaptively fuse the frequency-specific outputs, enabling consistent and high-fidelity reconstruction. To better aggregate the spatial dependencies and the inter-channel complementary information, we introduce a Spatial-Aware Channel Attention (SA-CA) module that refines moir\'e-sensitive regions without incurring high computational cost. Extensive experiments on various demoir\'eing benchmarks demonstrate that Freqformer achieves state-of-the-art performance with a compact model size. The code will be made publicly available at https://github.com/xyLiu339/Freqformer.
arXiv:2506.01544v2 Announce Type: replace Abstract: We introduce Temporal Variational Implicit Neural Representations (TV-INRs), a probabilistic framework for modeling irregular multivariate time series that enables efficient and accurate individualized imputation and forecasting. By integrating implicit neural representations with latent variable models, TV-INRs learn distributions over time-continuous generator functions conditioned on signal-specific covariates. Unlike existing INR approaches that require extensive training, fine-tuning or meta-learning, our method achieves accurate individualized predictions through a single forward pass. Our experiments demonstrate that with a single TV-INRs instance, we can accurately solve diverse imputation and forecasting tasks, offering a computationally efficient and scalable solution for real-world applications. TV-INRs performs particularly well in low-data regimes, where on several datasets it achieves substantially lower imputation error, including order-of-magnitude improvements.
arXiv:2607.05407v1 Announce Type: new Abstract: Modern artificial intelligence (AI) systems present profound new risks to child safety. AI is increasingly being misused to create AI-generated child sexual abuse material, facilitate child sexual exploitation, and reduce barriers to harm. In this paper, we argue that protecting children from AI-facilitated sexual abuse requires new approaches to AI safety. Existing safety techniques assume data accessibility, transparency, and evaluation practices that are incompatible with the ethical and legal constraints surrounding child sexual abuse material. We examine how these constraints create new technical challenges, such as limitations on dataset auditing, red teaming, and fine-tuning prevention. In turn, we outline *15 open problems* in online child sexual exploitation and abuse across the AI development lifecycle, from dataset curation and model design to deployment and long-term maintenance. We propose targeted recommendations for researchers, developers, and policymakers to bridge the gap between theoretical AI safety and the realities of child protection. Our work aims to reframe preventing AI-facilitated child sexual abuse as a central, safety-critical dimension for AI research, motivating work that translates responsible AI principles into concrete safeguards against the exploitation of children.
arXiv:2607.05409v1 Announce Type: new Abstract: Introductory programming instruction relies on hands-on practice and short learning activities to support mastery of foundational concepts. Although many such learning resources exist, organizing and linking these items in instructionally meaningful ways is challenging without time-intensive expert curation. This study investigates the use of pattern-based Knowledge Components (KCs) to automatically identify code-based learning resources targeting similar concepts. In our approach, pattern-based KCs are extracted from each code sample, and related activities are identified by measuring similarity between the KC sets associated with each activity. By leveraging alignment at the level of semantically important programming patterns, this method supports contextually appropriate and pedagogically useful recommendations. We evaluate our approach on an expert-organized corpus of introductory Python materials in which instructors grouped items into bundles based on conceptual similarity. Results show that our pattern-based KC approach retrieves resources that align with this expert organization, and outperformed representative KC- and embedding-based baselines across standard ranking evaluations. Overall, the framework supports targeted, concept-oriented guidance for programming learners and can help instructors organize, bundle, and recommend instructional content at scale.
arXiv:2607.04990v2 Announce Type: replace Abstract: This work delivers two key contributions: one to efficient feature selection in reinforcement learning (RL), the other to the theory of non-monotone inclusions. On the RL side, the estimation bias inherent in conventional regularization schemes is addressed by augmenting classical least-squares temporal-difference (LSTD) policy evaluation with the sparsity-inducing, non-convex projected minimax concave (PMC) penalty. Because the PMC penalty is weakly convex, the resulting fixed-point problem is no longer monotone; instead, it falls under a broader class of non-monotone inclusions involving the sum of a monotone Lipschitz operator and a hypomonotone operator. On the theory side, novel convergence conditions are developed for the forward-reflected-backward splitting (FRBS) method applied to this broader class of non-monotone inclusion problems. Under mild conditions, Lyapunov stability and the existence of a limit point of the sequence of FRBS iterates are established; alternatively, under the weak Minty variational inequality assumption, exact convergence is guaranteed. Numerical tests on benchmark datasets show that the proposed FRBS iterates, applied to the non-convexly regularized LSTD problem, substantially outperform state-of-the-art feature-selection methods, especially when many noisy features are present.
arXiv:2607.05176v2 Announce Type: replace Abstract: Small object detection (SOD) remains a challenging task in real-world applications. Despite recent advances, existing detectors remain limited by rigid processing that entangle spatial aggregation with implicit frequency aliasing and truncation, leading to inadequate preservation of high-frequency components for SOD. To tackle these limitations, we propose a Frequency-Spatial Domain Collaborative Detection Transformer (FSDC-DETR), a novel collaborative framework that explicitly models complementary spatial and frequency representations. Specifically, we first introduce Dual-Branch Frequency-Spatial Adaptive Fusion (DBFSAF) to enhance frequency diversity and adaptively capture frequency-spatial domain discriminative representations. Building on these representations, a frequency-spatial interaction scheme is further explored within the hybrid encoder to enable progressive feature propagation to the decoder. In particular, structure-aware frequency-spatial aggregation is achieved through Shunt Frequency-Spatial Feature Fusion (SFS-FF), establishing bidirectional interaction and progressive cross-scale propagation between frequency and spatial representations for coherent discriminative modeling. Meanwhile, informative high-frequency responses are preserved during scale transitions through Frequency-Spatial Dynamic Downsampling (FSD-Down), thereby minimizing frequency degradation throughout multi-scale fusion for the precise SOD. Experimental results demonstrate that FSDC-DETR achieves state-of-the-art performance, improving AP by 6.4 on VisDrone-DET2019 and 6.6 on AITODv2, with gains of 6.8 and 6.9 AP for small objects. The code is available at github.com/nevereverinsomnia/FSDC-DETR.
arXiv:2607.05683v1 Announce Type: new Abstract: Battery charging of Autonomous Mobile Robots (AMRs) in warehouses is a critical operational challenge that heavily impacts both order processing times and throughput. In this study, we address the dynamic AMR charging problem under stochastic order arrivals, where robots must learn optimal charging decisions. Traditional fixed-rule heuristics often prove suboptimal in dynamic environments and fail to account for multi-AMR coordination, leading to severe resource inefficiencies. To overcome these limitations, we propose a Proximal Policy Optimization (PPO)-based Deep Reinforcement Learning (DRL) framework designed for multi-block warehouses with fixed charging stations. Our model dynamically learns two key decisions: charging station selection and optimal charging duration, explicitly accounting for anticipated queuing times at the stations. Extensive numerical experiments benchmark the proposed model against state-of-the-art DRL and traditional heuristic approaches. Results demonstrate that our PPO framework increases order-completion rates by up to 6\% compared to the strongest baseline, while significantly reducing the total time dedicated to recharging operations. Furthermore, we validate the model's robustness across diverse warehouse configurations and stochastic arrival rates. Finally, we interpret the learned DRL policy, offering valuable operational insights into its superiority over standard benchmarks.
arXiv:2607.06244v1 Announce Type: cross Abstract: Pulse-echo speed-of-sound (SoS) imaging based on minute misalignments between consecutively acquired ultrasound images traditionally relies on images beamformed on Cartesian grids. Existing SoS imaging developments do not allow for real-time imaging and typically do not prioritize feasibility in conventional ultrasound systems that have limited resources and rigid processing structures. In this work, we propose a resource-efficient approach based on radial beamforming with virtual source transmits for implementation within an on-the-fly beamformer. We also introduce alternating transmissions with fast pair-alternating beamforming for motion-robust displacement tracking with typical line-based beamformers. We tested these methods comparatively on numerical simulations, tissue-mimicking phantom experiments, and in vivo data from breast lesion examinations. We demonstrate that the proposed radial grid beamforming approach performs comparably to a Cartesian grid approach, while allowing implementation on standard hardware for beamforming. Our proposed sequences would allow for SoS data acquisition frame rates of more than 20 fps in parallel to conventional B-mode imaging. The proposed speckle-shift based radial approach with fast alternation between congruent beamforming lines is a major step towards real-time SoS imaging on standard ultrasound systems with moderate resources.
arXiv:2607.05187v2 Announce Type: replace Abstract: As CMOS technology scales into the deep nanometer regime, digital circuit reliability is increasingly threatened by the combined stochastic effects of Bias Temperature Instability (BTI) and Process Variation (PV). Traditional reliability analysis methods, which rely on computationally intensive simulations or extensive lookup tables, fail to scale efficiently for large designs, creating a critical bottleneck in design space exploration. To address this, we propose SMART, a novel framework that integrates Machine Learning (ML) with Monte Carlo simulation to enable rapid, high-fidelity reliability analysis. SMART employs Random Forest regression to predict gate delay distributions directly, bypassing time-consuming atomic model parameter extractions. Crucially, the model utilizes Bayesian Optimization for automated hyperparameter tuning, ensuring maximum predictive robustness across diverse libraries. Experimental validation on ISCAS85 benchmark circuits demonstrates that SMART achieves a 94.54% reduction in analysis time compared to state-of-the-art methods, while maintaining a remarkable average accuracy error of just 1.63%. By shifting computational complexity to an offline training phase, the proposed framework offers a scalable, accurate solution for designing resilient, reliability-aware digital systems.
arXiv:2607.05253v2 Announce Type: replace Abstract: Large-scale Vision-Language Models like CLIP have demonstrated impressive open-set localization capabilities at the image level. However, adapting this capability to pixel-level dense prediction poses challenges due to global feature biases. In this paper, we introduce CLIPix, a simple yet effective framework that repurposes CLIP to perform pixel-level localization. By tracing back CLIP's classification process, CLIPix identifies object-specific attentive regions and repurposes them as pixel-level localization cues. To address noise introduced by global biases, we propose a Noise-Resistant Correction strategy, refining these cues for more precise segmentation. Additionally, we introduce a Localization Embedding strategy to integrate both localization and enriched detail information, enabling accurate, high-resolution segmentation. Our approach preserves CLIP's generalization strength and unlocks its potential for segmenting arbitrary objects. Extensive experiments on the PASCAL and COCO datasets demonstrate that CLIPix achieves state-of-the-art performance, underscoring its effectiveness.
arXiv:2112.02353v3 Announce Type: replace Abstract: Hierarchical classification aims to sort the object into a hierarchical structure of categories. For example, a bird can be categorized according to a three-level hierarchy of order, family, and species. Existing methods commonly address hierarchical classification by decoupling it into a series of multi-class classification tasks. However, such a multi-task learning strategy fails to fully exploit the correlation among various categories across different levels of the hierarchy. In this paper, we propose Label Hierarchy Transition (LHT), a unified probabilistic framework based on deep learning, to address the challenges of hierarchical classification. The LHT framework consists of a transition network and a confusion loss. The transition network focuses on explicitly learning the label hierarchy transition matrices, which has the potential to effectively encode the underlying correlations embedded within class hierarchies. The confusion loss encourages the classification network to learn correlations across different label hierarchies during training. The proposed framework can be readily adapted to any existing deep network with only minor modifications. We experiment with a series of public benchmark datasets for hierarchical classification problems, and the results demonstrate the superiority of our approach beyond current state-of-the-art methods. Furthermore, we extend our proposed LHT framework to the skin lesion diagnosis task and validate its great potential in computer-aided diagnosis. The code of our method is available at \href{https://github.com/renzhenwang/label-hierarchy-transition}{https://github.com/renzhenwang/label-hierarchy-transition}.
arXiv:2210.16286v2 Announce Type: replace Abstract: To understand the training dynamics of neural networks, prior studies have considered the mean-field limit of two-layer neural networks as the width tends to infinity, establishing theoretical guarantees for its convergence under gradient flow training as well as approximation and generalization capabilities. In this work, we study the infinite-width limit of a type of three-layer neural network where the first-layer weights are randomly sampled and untrained. To rigorously define the limiting model, we extend the mean-field theory by lifting the representation of neurons from Euclidean to functional spaces. This allows us to establish the mean-field training dynamics as a functional gradient flow with a time-varying kernel that remains positive-definite under suitable assumptions, thus proving a linear-rate convergence of its training loss. Furthermore, we define novel function spaces that contain the solutions obtained through the mean-field training dynamics and prove Rademacher complexity bounds for these spaces. Notably, our analysis applies to a range of scaling choices of the model, resulting in two distinct regimes of the mean-field limit that both exhibit feature learning through training.
arXiv:2607.06564v1 Announce Type: new Abstract: Recently, Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse tasks. However, effective robotic manipulation in physical environments fundamentally requires geometric understanding and spatial reasoning. While some VLA approaches attempt to incorporate 3D information, they are constrained by limited data availability and geometric information loss in current 3D encoding pipelines, and fail to jointly capture 3D geometry and temporally structured actions in dynamic environments. To address these limitations, we introduce Lift3D-VLA, a unified VLA framework that equips models with explicit 3D point cloud reasoning and enables temporally coherent action generation. First, building upon our previous work Lift3D, an enhanced 2D model-lifting strategy is proposed to geometrically align 3D points with pretrained 2D positional embeddings. This design enables direct point-cloud encoding within the VLA vision encoder while minimizing spatial information loss. Based on explicit 3D inputs, we propose Geometry-Centric Masked Autoencoding (GC-MAE), a dual-objective self-supervised framework that reconstructs the current point cloud while predicting its future geometric evolution. This formulation allows the 2D vision encoder to internalize both 3D structure and physical dynamics. To fully exploit 3D representations, we further design layer-wise temporal action modeling, which leverages multiple layers of the LLM to collaboratively predict action chunks, enabling temporally consistent predictions. Across 22 simulated tasks and 8 real-world manipulation tasks, Lift3D-VLA achieves 10.8% and 11.1% higher mean success rates on MetaWorld and RLBench than the best-performing prior VLA methods, and outperforms the strongest real-world baseline by 4 percentage points, while exhibiting stronger generalization to out-of-distribution perturbations.