arXiv:2608.28075v1 Announce Type: new Abstract: Manipulation in partially observable environments requires planning under incomplete scene information. In such settings, an initially valid plan may execute successfully yet remain insufficient for task completion. Existing foundation-model-guided task and motion planning (TAMP) systems can generate useful long-horizon task decompositions, subgoals, or constraints, but they often assume having access to a fully specified scene state or invoke model-level replanning after a subgoal, refinement, or execution attempt fails. We present ROBUST TAMP, a modular LLM/VLM-guided planning framework for reactive TAMP where unseen task-relevant and non-target objects may become visible during execution. The framework restricts the foundation-model plann…

arXiv:2608.27793v1 Announce Type: new Abstract: Autonomous navigation in underwater cave environments is essential for search-and-rescue operations, scientific exploration, and emergency egress. Traditional navigation systems commonly depend on dense visual features for localization and mapping. In underwater caves, however, visual degradation can undermine feature-based localization, sonar-based mapping may yield overly conservative obstacle representations, and communication constraints preclude real-time human guidance. To address these limitations, we propose an autonomous underwater cave navigation framework that leverages a vision-language model (VLM) with Chain-of-Thought (CoT) reasoning to infer navigable directions from environmental cues, including light intensity gradients, pas…

arXiv:2608.27726v1 Announce Type: new Abstract: Multi-agent motion planning for high-degree-of-freedom robotics manipulators in shared workspaces remains a fundamental yet challenging problem. Centralized planners often suffer from poor scalability, while decentralized approaches face robustness and safety concerns. Game-theoretic formulations offer a promising approach for modeling agent interactions, potentially overcoming these limitations. However, their application to articulated multi-arm systems remains limited. This paper presents an iterative Linear Quadratic (LQ) game framework for multi-manipulator motion planning, where each manipulator is modeled as an independent agent optimizing its own objective while interacting with other agents based on shared global states and collisio…

arXiv:2608.27685v1 Announce Type: new Abstract: Simultaneously optimizing the trajectories of multiple agents is a challenging problem plagued by nonlinearity, nonconvexity, and the curse of dimensionality. A collection of interacting aerial vehicles or self-driving cars in an intersection are examples of complex multi-agent systems that remain difficult to solve without many simplifying assumptions. The presence of communication latency between agents further increases the difficulty. In this paper, we analyze Distributed Model-Based Diffusion: a sampling-based Model-Predictive Control method suitable for highly nonlinear, nonconvex, nonsmooth, multi-agent systems. We prove contraction and robustness to latency for multi-agent, nonconvex problems, showing applicability to real-world cons…

arXiv:2608.27628v1 Announce Type: new Abstract: Subarctic regions have the potential to see increased deployment of autonomous robots in applications including forestry, mining, and environmental monitoring. In these conditions, an autonomous system's reliance on GNSS or cloud computing is precarious due to dense tree canopies and atmospheric attenuation, necessitating onboard sensing and data processing. However, established exteroceptive modalities, including cameras, lidars, and radars, are typically evaluated in structured urban settings or in environments that lack significant seasonal variations. To address this, we present a field report on a year-long deployment of a mobile robot in a subarctic boreal forest. We evaluate 64 km of data using nine odometry, localization, and mapping…

arXiv:2608.27609v1 Announce Type: new Abstract: Vision-language-action models (VLAs) have shown strong promise for general-purpose robotic manipulation by mapping language instructions and vision observations directly to actions. However, most VLAs primarily condition action prediction on current observations and lack an explicit mechanism for reasoning over future task dynamics, which is particularly important for fine-grained, contact-rich manipulation. We present PHR-VLA, a framework that enables planning-horizon reasoning in VLAs through privileged latent representations of future dynamics. PHR-VLA introduces a lightweight auxiliary future head that, during training, aligns the VLA's internal representations with latent dynamics extracted from future observations. Evaluation results d…

arXiv:2608.27550v1 Announce Type: new Abstract: Scaling robot data is crucial for building generalist Vision-Language-Action (VLA) models, yet robot trajectories are harder to scale than web-scale image-text data because embodied collection is costly and sparsely covers the physical world. This makes representation quality a central bottleneck: under a fixed robot-data budget, continued pre-training must turn limited trajectories into transferable visual-action knowledge rather than merely fit actions. We propose VLAct, a VLA-oriented VLM backbone trained on broad, heterogeneous, multi-embodiment robot data before task-specific fine-tuning. VLAct preserves the broad VLM prior and encourages shared action semantics across embodiments through VLM-prior preservation, multi-head continuous ac…

arXiv:2608.27545v1 Announce Type: new Abstract: This study evaluates the effectiveness of remote human-robot interaction using virtual reality for leaf inspection and soil moisture assessment in a greenhouse environment. The robotic system comprised an unmanned ground vehicle and a robotic manipulator equipped with cameras, governed by kinematic models for navigation and manipulator control. Fourteen distinct plants were inspected across two experiments utilizing VR teleoperation, guided by a set of pre-specified research questions and hypotheses. In the leaf inspection experiments, cycle completion times varied from 3.3 to 8.0 s, and plant-based disease detection was achieved up to 88% accuracy; diseased-spot detection improved numerically in the second experiment, though this change was…

arXiv:2608.27497v1 Announce Type: new Abstract: Recent embodied models increasingly leverage geometric representations to improve spatial reasoning and robotic manipulation. However, existing reconstruction methods only reconstruct relative geometry with arbitrary scales, causing predicted object dimensions and spatial distances to vary across scenes, viewpoints, and input configurations. This inconsistency prevents geometric perception from being directly aligned with robotic actions defined on the real-world scale. To address this limitation, we propose Metric-Aware Geometry Perception (MAGP), an end-to-end, plug-and-play framework for metric geometry reconstruction that can be seamlessly integrated into robotic policies. At its core, Metric Scale Equivariant Augmentation encourages the…

arXiv:2608.27753v1 Announce Type: new Abstract: Despite the rapid advancement of Vision-Language Models (VLMs), their linguistic reach remains largely confined to high-resource languages, leaving the majority of the world's 7,000+ living languages on the wrong side of a growing digital divide. This disparity is especially pronounced in Optical Character Recognition (OCR), where low-resource scripts lack the massive datasets required for traditional scaling laws. We investigate OCR adaptation in extreme data-scarce regimes (<10K real and <250K synthetic images), demonstrating that conventional fine-tuning strategies often reach a performance ceiling. Our key finding reveals a structural inefficiency in language-specific adaptation: while higher layers of specialized models diverge to captu…

arXiv:2608.27735v1 Announce Type: new Abstract: We present ABCD (Alpha-Composited Block Coordinate Descent), an out-of-core training framework for alpha-composited radiance fields, instantiated here for 3D Gaussian Splatting. Our method reformulates training as block coordinate descent over spatial partitions: only one block of parameters is active at a time, while all others are frozen. By exploiting the associativity of alpha blending, these inactive regions can be pre-rendered and collapsed into foreground and background RGBA images. As a result, for fixed partition size and image resolution, peak VRAM becomes O(1) with respect to total scene extent, rather than growing with full scene size. This enables GPUs with limited memory to train scenes that would otherwise not fit in core. In…

arXiv:2608.27668v1 Announce Type: new Abstract: Segmentation models can surpass radiologists, classification models, and vision-language models in tumor detection. Importantly, segmentation models outline tumors, allowing radiologists to better verify and trust the AI output. Their main limitation is the scarcity of tumor masks: creating one 3D tumor mask takes up to 30 minutes, so most public CT datasets contain only a few hundred masks, and even the largest private datasets contain only a couple of thousand. Tumor masks are not produced in clinical routine, but radiology reports are. Public datasets contain tens of thousands of CT-Report pairs, and hospitals contain hundreds of thousands. These reports describe tumors in detail, providing large-scale, informative training data. Here, we…

arXiv:2608.27633v1 Announce Type: new Abstract: Pothole detection and its severity measurement is still an important challenges in urban infrastructure management, where late maintenance directly contributes to vehicle damage, road accidents, and escalating repair costs. Existing automated approaches depend on 2D RGB images and cannot measure physical depth of potholes. In this paper, we present a depthaware pothole detection framework and then compare five architectures: YOLOv8n, YOLOv8nSeg, YOLOv9t, RTDETRL, and RTDETRX for RGB-D sensor fusion-based detection and automated depth measurement. A custom offline augmentation pipeline is used here to simulate adverse road monitoring conditions. All models are trained on the PothRGBD dataset with an 80% training and 20% validation split and e…

arXiv:2608.27610v1 Announce Type: new Abstract: Visual anomaly detectors based on frozen foundation-model features commonly score distances from test patches to a memory of normal features. Benign acquisition changes can also enlarge these distances, confounding domain variation with defects. We investigate whether structured decomposition of nearest-normal DINOv2 residuals can suppress shift-induced evidence while retaining unseen defects. ShiftSplit-AD decomposes the patch residual matrix into low-rank and row-sparse components and scores the sparse component, with an optional low-rank/sparse fusion. The experiments expose a central trade-off rather than a universal separation: genuine defects can contain correlated, low-dimensional structure, so filtering broad residual activity may al…

arXiv:2608.27584v1 Announce Type: new Abstract: Autonomous systems rely on extracting information from light, yet remain brittle in extreme environments, from nighttime navigation to high-speed robotics. Conventional sensors aggregate photons over fixed exposures, imposing trade-offs between sensitivity, dynamic range, and temporal resolution that degrade perception when photons are scarce or dynamics are rapid. Quanta sensors detect individual photons, but their streams exceed real-time compute and latency budgets by orders of magnitude. Here we introduce $\textit{probabilistic events}$, a computational primitive for real-time quanta perception from individual photon detections. By computing the posterior over the time since the last intensity change, we represent photon streams as recur…

arXiv:2608.27562v1 Announce Type: new Abstract: Translating continuous, noisy egocentric video streams into discrete, temporally ordered action steps is fraught with visual challenges. Heavy ego-motion, transient occlusions, and the high intra-class variability of unscripted human-object interactions cause standard frame-level online temporal models to struggle, often resulting in severe over-segmentation and structural collapse. To bridge the gap between unstable low-level perception and high-level procedural logic, we present VidParse, an online, training-free framework that treats activity understanding as a graph-constrained inference problem. Rather than relying on learned temporal filters, we dynamically identify semantic transitions using a temporal similarity matrix over manipulat…

arXiv:2608.27549v1 Announce Type: new Abstract: Physical understanding and reasoning depend on forming compact and generalizable representations of the world. While modern vision-language models can recognize and explain diverse physical events, they often lack explicit representations of the underlying mechanisms-such as object states, physical parameters, and governing dynamics-needed for reliably reasoning how the world evolves and responds to interventions. In this work, we introduce Code-as-World, a paradigm that represents physical worlds through executable world representations. By expressing physical composition, dynamic evolution, and visual appearance as executable code, Code-as-World provides a compact, quantitatively grounded, and controllable abstraction of the physical world…

arXiv:2608.27529v1 Announce Type: new Abstract: Streaming 3D reconstruction from extremely long videos requires estimating camera motion and scene geometry online under bounded memory and computation. Early streaming models achieve causal, bounded-cost inference using finite context buffers or compact recurrent states, yet their estimates often deteriorate as sequences grow. Recent methods improve long-horizon stability by coupling short-range context with persistent or multi-level long-range memory. We pursue a different route: we keep the learned temporal state strictly local and formulate predictions whose targets remain independent of sequence length. We present ABot-Recon, a simple streaming model that caches KV features from only the preceding 11 frames. It predicts a point map in t…

arXiv:2608.27527v1 Announce Type: new Abstract: A major challenge in finger vein recognition is the lack of large-scale public datasets. Existing datasets contain few identities and limited samples per finger, restricting the advancement of deep learning-based methods. To address this, we propose FVeinSyn, a large-scale controllable synthetic data generation framework for finger vein. It explicitly decouples synthesis of vascular topology and imaging appearance to mitigate the limitations caused by insufficient training samples, such as inadequate identity diversity and restricted realism. Specifically: first, a finger vein identity generator models vascular topology under physiological and geometric constraints using stochastic L-systems, producing anatomically valid and identity-distinc…

arXiv:2608.27505v1 Announce Type: new Abstract: Reinforcement learning from human feedback (RLHF) has become the dominant paradigm for aligning large language models (LLMs) with human preferences. However, traditional RLHF relies on scalar reward signals that lack interpretability and fail to capture the multifaceted nature of response quality. Rubric-guided reinforcement learning addresses these limitations by introducing structured, interpretable evaluation criteria, or rubrics, as the backbone of reward design, feedback generation, and policy optimization. In this survey, we introduce a Bayesian framework that defines constitutions as prior distributions $P(R)$ over evaluation criteria and rubrics as conditional instantiations $R_x \sim P(R|x)$. Under this unified view, we present a ta…

arXiv:2608.27501v1 Announce Type: new Abstract: Mathematical reasoning has seen rapid progress in large language models (LLMs), yet existing methods optimize predominantly for final-answer correctness, raising the question whether models truly internalize mathematical concepts or merely memorize solution patterns. In human mathematics education, example-based reasoning such as constructing counterexamples to test theorem boundaries reflects deep conceptual understanding, but remains underdeveloped in current LLMs. Enhancing this capability through preference optimization presents two key challenges: (1) the model's limited example-based reasoning ability makes constructing effective preference pairs inherently difficult; and (2) capability acquisition is progressive, as the model must fir…

arXiv:2608.27481v1 Announce Type: new Abstract: Knowledge-intensive multi-hop question answering requires systems to select evidence and compose dependent facts, yet multilingual benchmarks usually translate an entire example into one language. This hides failures at language boundaries inside the reasoning chain. We introduce XHotpotQA, a controlled benchmark for cross-lingual knowledge composition over mixed-language evidence. Each instance is modeled as an evidence-dependency graph whose question, bridge evidence, answer-bearing evidence, and distractors have explicit language assignments. The audited resource contains 15,661 training and 7,405 validation instances, with sentence-level support supervision and supplied distractors. In validation, 99.81% of items cross the question-to-go…

arXiv:2608.27470v1 Announce Type: new Abstract: Entity Disambiguation (ED) is a key task for constructing and using knowledge graphs. State-of-the-art neural approaches commonly model ED as a single task, although it consists of two distinct subproblems: retrieving candidate entities and selecting the correct one given context. Dual-encoder models optimize for both within a shared embedding space, forcing representations to balance high-recall retrieval with fine-grained selection, and they require trained retrievers, which are costly to maintain as knowledge graphs change. While recent work has begun to combine retrievers with LLM-based selectors, the interplay between the two stages has not been studied systematically. In this paper, we present a systematic comparison of retrieval strat…

arXiv:2608.27467v1 Announce Type: new Abstract: We describe the UIC-AIHealth4All system for ArchEHR-QA 2026, a shared task on grounded question answering from electronic health records. We participated in Subtasks 2 (evidence identification), 3 (answer generation), and 4 (answer-evidence alignment). For Subtasks 2 and 3, we propose an answer-first pipeline in which the model generates candidate answers citing specific note sentences before classifying the full evidence set, exploiting the asymmetry between judging relevance in the abstract versus relative to a generated answer. For Subtask 4, we apply self-consistency voting over five independent model calls, retaining links by vote threshold. Our pipeline ranked third on evidence identification (Strict Micro F1 62.90), ninth on answer ge…

arXiv:2608.27466v1 Announce Type: new Abstract: Web content extraction is essential for reliable LLM data pipelines, yet existing methods often struggle to jointly satisfy accuracy, scalability, and adaptability. General-purpose extractors can be applied broadly, but they are often brittle on publisher-specific layouts and richer extraction targets such as metadata, images, and tables. Direct LLM-based extraction offers greater flexibility, but incurs substantial cost and latency at scale, while manually engineered publisher-specific parsers can achieve high accuracy but require substantial human effort to build and maintain. We introduce PACE, an agentic framework for learning publisher-specific extraction configurations from representative pages and user requirements. During training, P…

arXiv:2608.27465v1 Announce Type: new Abstract: As large language models (LLMs) are increasingly used for everyday decision-making advice, whether a model shifts the direction of its advice according to the user's emotional state has become an important safety problem. We test whether emotional expression increases a model's endorsement (encouragement to proceed) when a user, holding the same objective information, is overconfident about a premature decision (e.g., quitting a stable job on weak evidence). As a key control, we include a no-emotion multi-turn (neutral) condition that holds factual content and the number of conversational turns constant, isolating the effect of emotion from that of conversation length. We exposed six commercial models (top-tier and mid-tier models from OpenA…

arXiv:2608.27462v1 Announce Type: new Abstract: Unlike explicit attacks with obvious profanity, implicit hate speech hides malice within seemingly compliant expressions through metaphors and contextual hints, making its detection in online content review challenging. While existing PLM- or LLM-based methods perform well, they typically apply a single reasoning process to all samples. This overlooks fine-grained linguistic nuances and causes unnecessary computation for simpler cases. We observe that online hate speech is not monolithic but manifests in varied forms. We therefore define three fine-grained categories: Shallow, Targeted, and Context-Dependent. Accordingly, we propose Fine-grained Adaptive Implicit Hate speech Detection (FAID), a novel framework that first performs fine-graine…

arXiv:2608.27461v1 Announce Type: new Abstract: Relational reasoning requires the process of perceptual understanding, comparing, and integrating the underlying relationships between concepts. This ability consists of multiple categories, such as analogical, structural, and cause-effect, each capturing a different aspect of higher-order understanding. To examine the performance of multimodal large language models (MLLM) on these relational inference tasks, we developed SciReC, a model-adaptive multimodal academic dialog benchmark. As the relational reasoning process involves multiple representations and various factors (visual understanding, exhibiting knowledge, and memory recall), we propose DMRA, a deficit-based diagnostic framework that quantifies the contribution of these components…

arXiv:2608.27460v1 Announce Type: new Abstract: Large output embedding matrices create a significant memory bandwidth bottleneck during autoregressive decoding, especially for compact LLMs with large multilingual vocabularies. We reformulate the output projection followed by top-k token selection as a maximum inner product search over token embeddings and replace the dense vocabulary projection with an HNSW-based vector index. The resulting output head retrieves only a small candidate set of high-scoring tokens and can be integrated into existing decoding pipelines by scattering retrieved logits into a sparse full-vocabulary tensor. On CPU inference with Gemma 3, Llama 3.2, and Qwen 3 models, our method substantially accelerates the output projection and improves end-to-end batch-size-one…

arXiv:2608.27662v1 Announce Type: new Abstract: This work presents a generative continual learning framework based on growing self-organizing maps (GSOMs) that are augmented with learned distributional statistics as well as encoder-decoder models for class-incremental learning. The proposed approach enables exemplar-free replay using distributional statistical memory, which eliminates the need to store raw data. Each GSOM unit maintains its own mean, variance, and covariance estimates, which are subsequently used to generate synthetic samples for replay; in encoder-decoder configurations, these samples are then decoded back into the input space (via ancestral sampling) for subsequent training. Our method is fully unsupervised, as it does not rely on explicit task boundaries or class label…