arXiv:2608.28697v1 Announce Type: new Abstract: Additive manufacturing (AM) enables compact hydraulic components whose internal fluid channels can follow free-form 3D paths rather than conventionally drilled holes. A representative case is multi-group channel layout in rotary direct-drive servo valves: once a channel is placed it permanently occupies volume, so later channels must clear earlier geometry--unlike classical multi-agent pathfinding (MAPF), where agents free space after moving. We study this setting as multi-group pipe routing under permanent geometric occupancy. Our contributions are a problem formalization with geometric dual-witness conflicts, a constructive 3D benchmark (two corridor generators x two obstacle painters, controlled difficulty, feasibility witnesses), and bas…

arXiv:2608.28693v1 Announce Type: new Abstract: Enabling humanoid robots to respond to human speech with synchronized and semantically meaningful gestures is fundamental to natural human-robot interaction. However, this task faces three critical barriers: the scarcity of semantically rich datasets, the "modality eclipse" where models ignore audio cues in favor of kinematic inertia, and the sim-to-real gap regarding physical safety. We propose RoboGesture, a robot-centric framework that co-designs data, modeling, and control to power a complete interactive human-humanoid system in which the robot listens, responds, and gestures in real time. We first establish the RoboGesture dataset featuring over 300 gesture categories and develop an automated pipeline to synthesize large-scale collision…

arXiv:2608.28677v1 Announce Type: new Abstract: This paper presents \ul{CogRun}, a framework that enables safety-critical ground robots to perform cognitively-grounded runtime learning entirely on edge-AI devices in unknown physical environments, without prior maps or perceptual knowledge. CogRun consists of three components: a Learning-Agent, a Rational-Agent, and a Coordinator. The Learning-Agent is novel in cognitive-neural learning architecture, which featurs dedicated replay buffers, cognition-driven experience sampling, and a safety-aware action blending of actor-critic reinforcement learning (RL) with instance-based learning (IBL). The Rational-Agent is a non-learning module that complements the Learning-Agent by exclusively handling safety-critical functions, while the Coordinator…

arXiv:2608.28664v1 Announce Type: new Abstract: Despite the success of foundation models in language and vision, their expansion into embodied AI is bottlenecked by a lack of generalized touch sensing. This limitation is especially relevant to consumer electronics, where smartphones, wearables, VR controllers, home robots, and health monitoring devices require safe and adaptive physical interaction. Constrained by hardware heterogeneity and the necessity of active physical data collection, current haptic models remain rigidly task-specific. To overcome these limitations, this article explores the transformative potential and developmental trajectory of Haptic Foundation Models (HFMs). We detail the paradigm shift required to transition from passive Large Language Models and Vision Languag…

arXiv:2608.28656v1 Announce Type: new Abstract: Behavior-cloned Vision-Language-Action (VLA) driving policies struggle with rare rule-governed maneuvers at signalized intersections. Braking and launching examples contribute little to averaged trajectory loss, while fused representations lack explicit supervision for the governing traffic-light and stop-line state. We present RedLight-VLA, a training objective that uses expert futures and automatically generated perception targets without additional manual rule annotation. First, trajectory-derived behavioral reweighting (BR) emphasizes rare deceleration and acceleration using rotation-invariant longitudinal dynamics and a scale-preserving reduction that exactly recovers the baseline when disabled. Second, parallel auxiliary (AUX) heads gr…

arXiv:2608.28675v1 Announce Type: new Abstract: Video reasoning tasks such as grounded video question answering and temporal grounding require selecting temporal evidence that supports the query. In many current training setups, temporal supervision is applied through local objectives such as boundary regression or span generation, while verification is used mainly to rerank candidate segments at inference time. We study whether a frozen verifier can also guide training. Our multi-agent framework couples a trainable \emph{Grounder} with a frozen \emph{Verifier}: the Grounder samples candidate trajectories and evidence segments, the Verifier assigns query-conditioned segment scores, a group-relative policy-gradient objective favors trajectories that outperform their within-input peers, and…

arXiv:2608.28674v1 Announce Type: new Abstract: Multi-exposure is an efficient way to capture real-world high-dynamic-range (HDR) scenes. However, HDR imaging suffers from severe ghosting artifacts in dynamic scenes due to the temporal gap between sequential exposures. In this article, we categorize the literature on two important topics on HDR imaging: multi-exposure fusion (MEF) and ghost removal. Conventional filter-based and data-driven methods are studied in pixel space and feature space. For popular deep learning-based approaches, we provide a granular taxonomy based on their alignment and fusion domains: pixel-space methods, which typically employ explicit motion compensation such as optical flow or spatial transformers, and feature-space methods, which leverage implicit alignment…

arXiv:2608.28673v1 Announce Type: new Abstract: Deploying vision perception models in autonomous vehicles requires that we prioritize inference speeds, resulting in a model with shallower architectures and lesser model parameters (i.e., more pruned). Such small models do not generalize well, which could result in poor performance when encountered with novel scenarios. We propose a system that overcomes this by continuously retraining the vision models on the cloud with data uploaded by vehicles. We leverage the abundant compute resources, including machine learning accelerators, of the cloud to run a highly-accurate oracle model that will guide the retraining process of the on-vehicle model. This newly trained model is transmitted to the vehicle over the network and is utilized by the veh…

arXiv:2608.28672v1 Announce Type: new Abstract: Autonomous vehicles operate in dynamic, ever-changing environments where new scenarios and edge cases constantly emerge. As a result, static learning models are inadequate for ensuring safe and reliable operation. Continuous learning is essential for adapting to these evolving conditions and maintaining robust performance across diverse real-world settings. However, autonomous vehicles generate massive streams of visual data during operation, and existing continuous learning approaches typically rely on heuristic sampling methods that fail to capture temporal dynamics, often overlooking critical learning opportunities or selecting redundant frames. In this paper, we introduce FrameScope, a temporal data valuation framework for continuous lea…

arXiv:2608.28671v1 Announce Type: new Abstract: AI-generated art has sparked debates around potential plagiarism, as these images may closely resemble existing artworks. This research quantifies the similarity between original pieces and AI-generated counterparts, particularly those produced by the Stable Diffusion XL Refiner 1.0. We use Siamese Networks with frozen CLIP encoders and cosine similarity optimized through triplet loss. A dataset of paired original and generated images was built using image-to-image generation and custom prompts, enriched with semantic descriptors and BLIP-2 captions. Prior studies report up to 81\% style replication and 90\% visual similarity. Our results show high discriminative performance: training accuracy reached 99.9\%, and the best model configuration…

arXiv:2608.28670v1 Announce Type: new Abstract: Diffusion Transformers achieve high-fidelity image and video generation, but their iterative sampling remains expensive, for each denoising step requires large matrix operations. Existing cache-based acceleration reduces redundant computation yet increases the VRAM footprint by storing intermediate states, which can directly constrain inference batch size. In this work, we propose a training-free acceleration method that performs stepwise forecasting for DiT sampling using a Barycentric Extrapolator. By leveraging barycentric extrapolation, our predictor is numerically stable and alleviates oscillatory artifacts analogous to the Runge phenomenon during forward forecasting. Across extensive experiments on both image and video generation, our…

arXiv:2608.28669v1 Announce Type: new Abstract: Recovering an executable parametric CAD program from an observed object is fundamentally ambiguous, because the same final geometry can result from different construction procedures. We study this problem from four types of input: natural-language descriptions, rendered images, point clouds, and STEP/B-Rep geometry. MIRAGE-CAD maps each input to a shared construction representation and mediates program generation through an explicit construction-plan interface. The resulting Python CAD code is executed by an OpenCASCADE kernel to build the solid and export it as STEP. On 2,500 held-out queries per modality, the system achieves 55.4-70.0% build success and 52.3-66.2% STEP export success without retrieval at inference. Controlled comparisons s…

arXiv:2608.28666v1 Announce Type: new Abstract: Video-language models (VLMs) remain brittle on tasks that require tracking events over time and grounding answers in specific spatial regions. We propose that part of this limitation can be addressed through better organization of visual evidence at inference time. We introduce structured video prompting, a training-free inference-time method that augments the input video with lightweight spatial structure and temporal structure, providing explicit anchors for organizing evidence across space and time without changing model weights or decoding and without altering the question prompt in the main comparison. We evaluate this approach on two complementary video benchmarks and two open video-language models. Across these settings, structured in…

arXiv:2608.28665v1 Announce Type: new Abstract: Recent open-vocabulary segmentation models have advanced semantic perception for UAVs, but predictions from moving aerial platforms can remain temporally inconsistent across repeated observations of the same physical scene. We investigate temporal semantic stability by associating frame-wise predictions with persistent world-space locations through metric 3D fusion. We introduce a voxel-level evaluation framework that jointly characterises final semantic agreement, Semantic Belief Drift (SBD), Observation Persistence (OP), and semantic uncertainty. Experiments on UAVid-3D reveal substantial frame-wise semantic flicker and show that high aggregate world-space agreement can overstate temporal stability when locations have limited repeated-obse…

arXiv:2608.28663v1 Announce Type: new Abstract: Reliable individual cattle identification supports disease surveillance, vaccination records, breeding management, and livestock insurance. Although the bovine muzzle provides a stable, non-contact biometric, existing muzzle-recognition systems largely assume a closed set of enrolled animals, limiting their practical deployment. We reformulate cattle muzzle biometrics as an open-set, gallery-based identification problem that can reject previously unseen animals and support incremental enrollment without model retraining. We introduce a leakage-controlled evaluation protocol based on identity-disjoint splits, per-fold retraining, held-out threshold calibration, verified duplicate removal, and bootstrap confidence intervals. We evaluate the fr…

arXiv:2608.28629v1 Announce Type: new Abstract: Existing methods lack a generalized approach to efficiently identify and resolve the diversity of design defects in BIM. Therefore, this study proposes an integrated framework to identify and repair various defects in BIM via domain-specific LLMs. Firstly, a BIM-to-Text method with component-balanced chunking is introduced to bridge BIM data with LLMs. Then, prompt learning with rule injection, few-shot prompting and RAG is proposed to identify defects and generate repair suggestions. Meanwhile, a hallucination control strategy combining key identifier validation and token-length thresholds is introduced to ensure reliability. Experiments show capability expansion yields 85% identification accuracy versus 70% for traditional rule checking, a…

arXiv:2608.28626v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly used to generate peer reviews, prompting examination of their capacity for critical evaluation. This study evaluates two multimodal LLMs, Qwen2.5-VL-72B and Pixtral-Large-124B, as reviewers across 165 submissions to the 2026 International Conference on Learning Representations, a venue that postdates both models' training cutoffs. Manuscripts were presented to both models with author identities blinded, replaced with high-prestige affiliations, or replaced with low-prestige affiliations, and in either text-only or text-with-figure format. Additionally, 145 verifiably detectable errors were inserted into 55 manuscripts to assess error identification under natural and verification-oriented prompts.…

arXiv:2608.28625v1 Announce Type: new Abstract: We study predictive pretraining for scientific document representation using the discourse structure of papers. We propose SciJEPA, a citation-free framework that learns through asymmetric within-document prediction: title and abstract representations are used to predict method representations, and method representations are used to predict conclusion representations. Experiments on RELISH, high-influence citation, SciDocs, and cite prediction show that plain predictive training is viable but weaker than a controlled contrastive baseline using the same section pairs. Adding Sliced Isotropic Gaussian Regularization (SIGReg) substantially improves performance and narrows this gap. The effect of regularization is task-dependent: moderate SIGReg…

arXiv:2608.28624v1 Announce Type: new Abstract: Accurate interpretation of single-visit and longitudinal clinical assessments for Parkinson's disease is time-consuming and often depends on specialist expertise. Although large language models (LLMs) can generate natural language summaries, they frequently lack domain-specific clinical grounding and struggle to produce factually correct and temporally consistent responses for structured longitudinal assessment data. To address these limitations, we propose MA-RAG, a query-driven multi-agent retrieval-augmented generation framework that decomposes clinical reasoning into domain-specialized agents, combines structured fact extraction, and synthesizes clinically grounded summaries through a final verification stage. The framework supports four…

arXiv:2608.28623v1 Announce Type: new Abstract: Large multimodal reasoning models (LMRMs) are getting increasingly capable, primarily through generating explicit chain-of-thought reasoning before answering. In language models it has been observed that this performance often comes with sycophancy, the tendency of a model to agree with the user over the evidence. However, for LMRMs no reliable method to measure sycophancy yet exists. We bridge this gap by introducing a benchmark and dataset for evaluating LMRM sycophancy when confronted with a wrong answer from a user. Our benchmark pairs four visually grounded datasets spanning mathematical, clinical, temporal, and demographic reasoning with five pressure conditions in single-turn and multi-turn settings. We evaluate sycophancy in the fina…

arXiv:2608.28619v1 Announce Type: new Abstract: Medical history taking is a dialogue-based clinical reasoning task in which learners must gather, organise, and integrate patient information while the consultation unfolds. Generative AI-powered virtual patients (GenAI VPs) make repeated history taking practice scalable and preserve full turn by turn dialogue. However, these logs are educationally difficult to use directly. Complete transcripts are too detailed for routine teacher review, whereas final scores obscure whether learners followed up patient cues, checked uncertainty, or used summaries to guide later questioning. This study examined whether coded GenAI VP dialogues can provide teacher-interpretable process evidence of clinical reasoning. We analysed 1{,}030 GenAI VP dialogues fr…

arXiv:2608.28614v1 Announce Type: new Abstract: Sequence-to-edit approaches make grammatical error correction (GEC) efficient and locally interpretable by predicting edit labels over the input rather than generating a full corrected sentence. Their interpretability, however, is primarily operational: a label specifies how the string should change, but a single edit vocabulary does not always reveal the type of correction being made. We propose STAGEET, a stage-wise typed edit-tagging framework that reorganizes Seq2Edit supervision into typed executable stages and extends edit operations to correction categories. STAGEET decomposes correction into an ordered sequence of medium-grained typed stages; each stage predicts from its own label space, rewrites the current hypothesis once, and pass…

arXiv:2608.28611v1 Announce Type: new Abstract: Recent advances in large language models (LLMs) like ChatGPT and LLaMA have transformed AI-driven education, but these systems are predominantly trained on Western-centric data, making them ill-suited for regional curricula like India's. The Indian education system is linguistically diverse, exam-oriented, and structured around standardized syllabi, not addressed by existing datasets or tools. In this work, we curate a syllabus-aligned QA dataset based on NCERT (National Council of Educational Research and Training) textbooks for classes 9-12, capturing the content, context, and teaching style of Indian curricula. The final dataset, comprising 18,720 question-answer pairs across five subjects, is publicly available at https://huggingface.co/…

arXiv:2608.28609v1 Announce Type: new Abstract: A personalized agent needs a user memory: a persistent model of who its user is. Today it is almost always text -- transcripts and captions retrieved by similarity. This serves the captionable half of a person ("my cat is named Bibi"), but discards the perceptual half no caption can hold: how a voice sounds, how a face reads across age and lighting, how tired someone sounds. We measure this loss across five modalities: a strong caption-based re-identifier recovers as little as 0.11 of a dedicated encoder's recall, collapsing toward chance on non-nameable signals. We instead ground perceptual memory in the model, decomposing recall into two subproblems: a vision-language model grounds the referent in context (what and where), and a dedicated…

arXiv:2608.28608v1 Announce Type: new Abstract: Ancient Indian medical texts like Sushruta Samhita have extensive information on diseases, treatments, and surgical techniques. Yet, their ancient format and use of intricate vocabulary pose difficulties in accessibility and systematic ordering. The research here utilizes Natural Language Processing (NLP) methods like Named Entity Recognition (NER), BERTopic modeling, and Knowledge Graph development in Neo4j to extract, categorize, and visualize important concepts based on translated versions. Thematic classification with BERTopic allows for the identification of the underlying medical topics, whereas NER supports the structured entity recognition of diseases, treatments, researchers, and medicinal plants. Graphbased network analysis with Ne…

arXiv:2608.28922v1 Announce Type: new Abstract: A login service can receive its usual number of failed sign-ins while one source grows from 2% to 30% of them. The same pattern appears in system logs when a rare event template becomes common while the message rate stays stable. These events change which categories are active without changing how many events occur. RankShift detects such changes inside the analytical database that stores the data. It compares each window's category shares with a benign reference using a Pearson score whose terms identify the categories responsible for the change. The same query returns the score, calibrated alert, and largest increasing contributions. We evaluate RankShift on HDFS, BGL, and Thunderbird. It matches the count-vector autoencoder within 0.001 A…

arXiv:2608.28911v1 Announce Type: new Abstract: The key-value (KV) cache is the dominant memory bottleneck of long-context large language model (LLM) inference, growing linearly with context length. We show that uniform KV quantization on a fractional-bit grid does not degrade gracefully: under a prespecified multi-seed statistical protocol, Llama-3.1-8B-Instruct with an affine quantizer is statistically indistinguishable from FP16 KV down to 2.322 code bits/value and collapses at 2.0 bits - a quality cliff in (2.0, 2.322] that reappears in generation-time quantization and multi-turn dialogue and transfers to Mistral-7B. The cliff reframes importance-aware mixed precision: above it, eight model-internal importance indicators are statistically interchangeable, so the benefit of mixing is g…

arXiv:2608.28910v1 Announce Type: new Abstract: Coded computing has emerged as a powerful paradigm for mitigating the impact of straggling workers in distributed computing systems. However, existing coded-computing schemes are predominantly designed for the exact recovery of highly structured computations, such as polynomial evaluation and matrix multiplication, and typically rely on strict recovery thresholds. These assumptions significantly limit their applicability to modern machine-learning workloads, particularly deep neural networks (DNNs), whose computations generally lack rigid algebraic structure and, in many applications, require only accurate approximations rather than exact recovery. To address this gap, we revisit coded computing from a learning-theoretic perspective and intr…

arXiv:2608.28905v1 Announce Type: new Abstract: Generative recommenders increasingly emit semantic IDs (SIDs): each item is a short sequence of hierarchical discrete codes from a residual quantizer, decoded autoregressively. Before spending scarce A/B-test, a team may decide offline which decoder or reranking variants are worth testing - a job for off-policy evaluation (OPE). We ask a simple question: can the model's own SID tree serve as the action abstraction for that OPE? Our answer has three parts. (i) Under the near-argmax logging real recommenders use, per-item OPE is hopeless - as item-level effective sample size is usually small on production logs - but marginalizing items to code-prefix clusters restores estimable support and cuts error. (ii) This gain is thanks to coarsening, no…

arXiv:2608.28896v1 Announce Type: new Abstract: Industrial process networks do not maintain a single effective topology while operating: streams are throttled or bypassed, and units move between idle, transition, and active regimes. Models of such systems are typically trained on measured state trajectories while the operating mechanisms that generated them remain latent, and an unconstrained graph network can fit such a trajectory without assigning stable physical meaning to the recovered routing. We address both problems with the Conservative Hybrid Graph Network (CHGN), which learns routing, regime assignment, and removal rates as data-driven surrogates and inserts them into a fixed transport equation, so that the mass balance holds by construction for any predicted routing. CHGN train…