arXiv:2610.00065v1 Announce Type: new Abstract: Legible planning is the creation of plans that best disambiguate their goals from a set of other candidates from an observer's perspective. In this paper we propose a method for legible planning for arbitrary PDDL domains, by extending previous research on legibility to classical planning without requiring to construct ad-hoc planners. We also discuss how the observer perspective may be estimated through a second order theory of mind that connects the planner's and the observer's task spaces. Our solution can for example be deployed in human-robot teaming scenarios, where an autonomous robot in a team can implicitly communicate its goal by producing legible plans. We present benchmark results on several PDDL planning domains. Our results gen…

arXiv:2610.00057v1 Announce Type: new Abstract: Guiding a tractor along a predefined reference path is a key component of precision agriculture. This study develops a path tracking controller based on Nonlinear Model Predictive Control, which incorporates multiple segments of a piecewise-linear reference path directly into the objective function. In addition, methods for selecting viable reference segments from the full path are presented. The control system is evaluated during a field test with a tractor controlled via the Tractor Implement Management steering interface. The NMPC solver converged on average after 3.45 ms and tracked the curved reference path with a mean absolute cross-track error of 6.1 cm.

arXiv:2610.00008v1 Announce Type: new Abstract: Sim-to-real research pursues physics fidelity as a primary objective: simulators are judged by how closely they reproduce real-world contact dynamics. For governance benchmarking of LLM-driven robots, where the simulator demonstrates that an admission/policy/contract/audit pipeline behaves correctly, contact fidelity at object handoffs (grasp, carry, place) becomes a liability: contact-force integration noise injects audit-chain divergence that is structurally unrelated to the governance property under test. We propose bounded-fidelity sim-as-demo-stage, a design pattern that suppresses contact physics within explicitly bracketed handoff envelopes while preserving full dynamics elsewhere. The construction uses MuJoCo's mocap-body primitive d…

arXiv:2610.00069v1 Announce Type: new Abstract: Long-horizon ego/exo data contains rich procedural evidence, but are redundant, noisy, and costly to process or retain. We propose a compact framework that converts continuous multimodal workplace video into a structured Procedural State Memory, implemented as a Work Environment Model (WEM). Inspired by event segmentation theory, we detect boundaries using changes in visual context, location, motion, narration, gaze/object interaction, and optional exocentric workspace evidence, rather than fixed windows or visual novelty alone. Each segment is abstracted into an evidence-linked event card containing actor, interval, location, action, objects/tools, pre/post state, confidence, and provenance. These event cards incrementally update the WEM, e…

arXiv:2610.00067v1 Announce Type: new Abstract: Reliable visual inspection is essential for quality assurance in aero-engine blade manufacturing, where defect appearance may vary across production lines, imaging conditions, blade poses, and surface backgrounds. Such domain shifts cause a mismatch between training and deployment data and degrade the reliability of deep defect detectors in online inspection. This problem is particularly challenging because aero-engine blade images usually contain sparse defects, making pseudolabel-based adaptation vulnerable to noisy or missing predictions. To address this issue, we propose Aero-engine Blade Defect Detector (ABDD), an online adaptive detection framework based on test-time adaptation. ABDD introduces a Dual-Alignment Strategy to jointly adap…

arXiv:2610.00064v1 Announce Type: new Abstract: Assembly actions are compositional: they combine a manipulation with a part or tool. In deployment, systems routinely encounter novel combinations of familiar components, yet an atomic action classifier assigns every unseen combination exactly zero probability by construction. The prevailing solution is verb--noun decomposition, which predicts components separately and recombines them to reach unseen actions. While widely adopted, how decomposition generalizes under compositional shift remains poorly understood. We present a systematic analysis of verb--noun decomposition across three assembly datasets (MECCANO, HAViD, and IMPACT). Although decomposition escapes the atomic ceiling, its generalization extends only partially beyond it. Unseen-…

arXiv:2610.00040v1 Announce Type: new Abstract: Recent advances in 3D Gaussian Splatting have enabled open-vocabulary and referring segmentation by distilling semantic knowledge from 2D foundation models into 3D representations. However, existing referring fields embed language features in a globally view-invariant space, making them fundamentally unable to resolve observer-centric spatial relations (e.g., "to the left of") that depend on camera pose. We propose DSSR-3D, an inference-time framework for view-dependent referring segmentation on continuous 3D Gaussian fields, formalized as two interfaces - pose-invariant semantic localization and pose-conditioned spatial reasoning - such that any pair of functions satisfying these constraints yields a valid instantiation, requiring no retrai…

arXiv:2610.00031v1 Announce Type: new Abstract: Street-view imagery is increasingly used to infer urban attributes, but predictive accuracy alone does not reveal how much a photograph contributes beyond data already available for the same place. We compare image-based predictions with existing urban data across seven attributes from five public resources and three VLMs. The same urban units are evaluated using images, task context, nearby observations, and public records, while image replacements and conflicting records test source reliance. Existing urban data matched or exceeded image-only models for road damage, curb ramps, and house price, while neighbouring official statistics nearly matched the best image result for population. Images were more informative for building type, buildin…

arXiv:2610.00030v1 Announce Type: new Abstract: Object detection models often experience performance degradation when deployed under distribution shifts, caused by for example changes in weather type, operational environment, or object appearance. Domain Generalization (DG) aims to develop models that remain robust under such shifts and generalize well to unseen domains. DG research specifically focused on object detection models is scarce, although these models face additional challenges around localization and multi-scale representations. Synthetic data is a promising tool to support in DG, by enabling large-scale generation of diverse new samples. In this paper, we present an object detection-centric review of DG and examine the role of synthetic data from three complementary perspecti…

arXiv:2610.00024v1 Announce Type: new Abstract: Across three vision-language model architectures (LLaVA-1.5-7B, Qwen2.5-VL-7B, InternVL3-8B), we report a universal negative finding for mid-layer interpretability. On POPE -- the benchmark common to all three -- the mid layers encode the ground-truth answer in 68-91% of errors, yet this signal is not causally active for the final prediction: residual-stream patching yields 0% non-trivial flip at the layer level on all three architectures, and on two of three at the per-head level (Qwen: 0/12,600 patched forwards). The lone exception, InternVL3 layer-20 head-2, is a non-vocab, self-attending head whose effect is localized to that specific head (p < 1e-4). Despite the null, the errors separate operationally into three failure modes -- Percept…

arXiv:2610.00017v1 Announce Type: new Abstract: We present Spatial Lifting (SL), a novel methodology for dense prediction tasks. SL operates by lifting standard inputs, such as 2D images, into a higher-dimensional space and subsequently processing them using networks designed for that higher dimension, such as a 3D U-Net. Counterintuitively, this dimensionality lifting allows us to achieve good performance on benchmark tasks compared to conventional approaches, while reducing inference costs and \textbf{drastically lowering the number of model parameters}. The SL framework produces intrinsically structured outputs along the lifted dimension. This emergent structure facilitates dense supervision during training and enables single-forward-pass self-consistency-based quality and uncertainty…

arXiv:2610.00006v1 Announce Type: new Abstract: Pretrained Vision Transformers encode whether two image patches belong to the same object. This IsSameObject signal is decodable from frozen patch embeddings at high accuracy, which suggests that object binding emerges from self-supervised pretraining alone. We show that this single accuracy number hides the structure of the signal. Binding is local: the probability that two patches of the same object are decoded as bound falls off monotonically with the distance between them and levels off at a nonzero floor, a falloff well described by an exponential with a finite length scale. This decay holds across object sizes, across three families of probe, on both ADE20K and COCO, and across DINO and CLIP backbones, which indicates that it is a prop…

arXiv:2610.00003v1 Announce Type: new Abstract: Vision models pretrained for frame-level appearance often struggle to infer hidden physical properties from motion. We study center-of-mass (CoM) localization for opaque, asymmetric rigid bodies from short monocular videos, where surface cues and point tracking are unreliable under self-occlusion. We propose STATERA, which adapts a pretrained video backbone (V-JEPA) with mostly frozen weights and a lightweight temporal tubelet mixer to predict per-frame CoM heatmaps and trajectories. To support this task, we introduce the HiddenMass Benchmark, comprising 50K MuJoCo trajectories and a 63-sequence real-world test set with physically calibrated CoM ground truth. In simulation, STATERA-50K-Sigma improves normalized CoM error from 41.7% (DINOv2)…

arXiv:2609.38342v1 Announce Type: new Abstract: On-policy self-distillation uses a model as its own teacher to provide dense supervision for reasoning, often through reference-solution conditioning. Providing privileged information does not by itself ensure effective token-level supervision throughout long responses. We introduce Activation-Conditioned Self-Distillation (ACSD), which extracts a steering vector by contrasting activations of self-generated trajectories that reach verified correct answers within a generation budget with those of all remaining trajectories. A frozen copy of the base model applies this vector at each prediction position, and the student learns from its next-token distributions on student-generated prefixes. Outcome verification is used for direction constructi…

arXiv:2609.38332v1 Announce Type: new Abstract: Test-time scaling improves model performance by allocating additional compute during inference. Using this compute effectively across multiple context windows requires deciding how to allocate fresh contexts and what information to carry between them. We call a model's ability to make these decisions contextual reasoning. Existing approaches largely prescribe these decisions through their harness; we instead shift them to the model. We introduce 1) Hermes, a family of simple, configurable harnesses that progressively varies model control over context allocation and reuse, and 2) Hermes-Learn, a two-stage framework for learning these capabilities. We find that capable models can exploit this flexibility to scale with additional inference-time…

arXiv:2609.38276v1 Announce Type: new Abstract: Alcohol intoxication is a leading contributor to fatal and severe-injured e-scooterist crashes. Current countermeasures, such as temporal restrictions or pre-ride cognitive screening, cannot continuously assess an e-scooterist's physical motor control or impairment in real time. We conducted a controlled experiment in which 25 participants rode an instrumented e-scooter through a test track while sober and at two targeted blood alcohol concentration levels (0.05% and 0.08%). The e-scooter was instrumented with a six-axis inertial measurement unit (IMU), and throttle and brake lever position sensors, all sampled at 100 Hz. Two complementary signal features were computed: normalised permutation entropy, which quantifies temporal complexity, an…

arXiv:2609.38198v1 Announce Type: new Abstract: Diffusion maps, and kernel methods more generally, provide an interpretable nonlinear spectral representation basis for geometric learning. In the geometric limit, small bandwidth, these matrices tend to be high rank and thus require materializing dense Gaussian kernels requires $O(N^2)$ memory. We introduce FlashDiffusion, a matrix-free method that evaluates dense Gaussian kernel blocks in fused GPU tiles and couples the eigensolver to an empirical $\beta$-flow that selects the finite-sample resolution scale. A continuation over sample size and bandwidth warm-starts increasingly expensive spectral solves from coarser resolutions.

arXiv:2609.38197v1 Announce Type: new Abstract: Financial time-series forecasting must capture price dynamics across heterogeneous assets while incorporating news available at prediction time. We introduce DualCast, a dual-path framework that extends a frozen language model with a discrete financial vocabulary. Each log-return patch is represented by a learned summary token and three residual shape tokens, preserving local drift and volatility while allowing shape patterns to be shared across assets. To improve codebook utilization, we develop adaptive frequency-equalizing residual vector quantization, which rebalances overloaded codewords without compromising reconstruction accuracy. The fast path trains only the new financial-token embeddings and output heads on a frozen Qwen3-8B backbo…

arXiv:2609.38196v1 Announce Type: new Abstract: Accurate time series forecasting is critical across various domains, yet traditional ensemble methods often suffer from the disproportionate influence of extreme forecasts. We introduce the Conformal Adversarial Generative Ensemble (CAGE), a novel framework that combines generative modeling, adversarial discrimination, and conformal prediction to enhance forecast reliability and accuracy. CAGE employs multiple generative models to produce initial forecasts, which are then evaluated by a discriminative component using conformal prediction techniques. P-values derived from nonconformity scores help dynamically adjust model weights, minimizing the impact of unreliable forecasts. This approach ensures that only the most credible predictions cont…

arXiv:2609.38195v1 Announce Type: new Abstract: Operators for interfacial problems are trained on reference solutions produced by the solver they are intended to replace. This work develops a data-free physics-informed neural operator for level-set interface advection, in which the interface is the equation's unknown and the operator maps an initial interface to the full spatiotemporal trajectory under a prescribed flow. Training uses only the transport residual and a geometric constraint; no reference solution enters the objective at any point. A spacetime Fourier backbone emits the entire trajectory in one pass, and the initial condition is imposed by construction rather than by penalty, which removes the competition between the anchoring term and the residual that otherwise arises when…

arXiv:2609.38194v1 Announce Type: new Abstract: Despite the importance for interpretability, decision trees face severe scalability challenges. Existing global optimal methods are often limited by binary feature selection and shallow tree depths, whereas traditional heuristic approaches frequently sacrifice predictive accuracy. To overcome these limitations, this paper proposes a moving-horizon approximate branch-and-reduce method to train near-optimal deep classification trees on large-scale datasets with continuous features. Built on a hierarchical root-subtree optimization framework, the method solves the root-level problem via branch-and-reduce while approximating the induced subtree problem using greedy heuristics. Although the underlying framework is capable of guaranteeing global o…

arXiv:2609.38193v1 Announce Type: new Abstract: Patient world models and clinical agents aim to predict changes in patients' health and support clinical work. Developing these systems requires reliable histories of patient conditions, treatments, and the information available at each decision. Electronic health records (EHRs) contain these histories, but differences in how events are recorded make them difficult to use consistently. We present EHR2Trace, a system that converts EHRs from different sources into traceable patient events for model training and evaluation. It links events to source records, separates event time from information availability, and distinguishes medication orders, dispensing, and administration. A shared event representation supports both OMOP and MEDS exports, w…

arXiv:2609.38190v1 Announce Type: new Abstract: The purpose of this research is to find data and methods using machine learning and deep learning to correctly predict the estimated travel time for transportation and logistics in a supply chain system. The supply chain ecosystem is very complex and heavily relies on the transportation and logistics of raw materials and finished goods. Accurate travel time estimation is critical because it helps supply chain members to improve logistics consistency and performance. This helps in planning, demand forecasting, lead time management and assembly planning. The logistics on the delivery side of the customer also plays a crucial role in customer satisfaction and voice of customer. With the collection of huge historical data and using novel techniq…

arXiv:2610.00197v1 Announce Type: new Abstract: We investigate automated rewards for training language models in conversational humor, focusing on reward exploits and countermeasures. Two approaches aim to capture understandable surprise and predicted audience amusement. Controlled tests show that an embedding-based surprise reward accepts word-shuffled replies as readily as witty ones. A fluency filter detects the shuffles, but the combined reward also rejects some witty replies and fails further validation. An audience model's predicted laughter is instead vulnerable to laughter cues in either speaker's messages. Normalizing these cues across speakers blocks the covered attacks, although unmatched expressions remain exploitable. Three reinforcement-learning runs evaluate training with s…

arXiv:2610.00084v1 Announce Type: new Abstract: Detailed profession-specific system prompts raise token use and estimated cost per response without a consistent accuracy gain. We evaluate Scientific Agents, an open-source corpus of 503 profession-specific AGENTS.md profiles, with Gemini 3.8 Flash via OpenRouter in the Pi agent harness. We compare matched profiles with four controls: a minimal baseline ("You are a helpful assistant"), the profile's opening role sentence, a generic scientific rigor guide, and a profile from an unrelated domain. Across nine text-based science benchmarks (4,531 sampled questions, 100 matched profiles), 4,488 items completed all five conditions after API-error retries, scored with automated, rule-based grading. The average profile-baseline accuracy difference…

arXiv:2610.00074v1 Announce Type: new Abstract: K-Dense BYOK (bring your own keys) is a free, open-source AI research assistant for scientists in any field that runs on the researcher's own computer. The researcher supplies access to a model of their choice, hosted or running locally, and the application supplies everything else: a place for the work to run, a layer of scientific scaffolding, and a complete record. Each project is an ordinary folder, so the data, the code, the results, and the record stay on a machine the researcher administers and can be read years later without the application. Three things separate it from a chat assistant or a general-purpose coding agent. It ships a library of written scientific procedures, guided workflow templates, catalogs of where research data c…

arXiv:2610.00061v1 Announce Type: new Abstract: Personalizing large language models (LLMs) requires aligning generation behavior with user-specific preferences rather than aggregate quality. While Direct Preference Optimization (DPO) provides a stable framework for preference learning, its effectiveness in personalized settings critically depends on how preference pairs are selected. Existing approaches typically rely on heuristic criteria, such as likelihood-based extremes, which decouple optimization from explicit user utility and can lead to degraded personalization. We formalize personalized preference learning as a geometry-aligned optimization problem by analyzing the first-order interaction between gradients of expected user utility and DPO update directions. Our analysis reveals t…

arXiv:2610.00047v1 Announce Type: new Abstract: Diversity collapse in parallel chain-of-thought has motivated inference-time interventions built on a natural design: when a process reward model (PRM) prunes a chain, its high-PRM prefix is extracted and grafted verbatim as an in-context demonstration into a still-decoding sibling. We isolate this mechanism, PRM-Pruned Fragment Grafting (PPFG), as the most cost-minimal operationalization of cross-trajectory step-level transfer, and test it at the operating point where prior fragment-grafting work reports gains only under additional compensating ingredients. On Qwen2.5-7B-Instruct with Math-Shepherd on full MATH500 (n=500, three seeds), PPFG in both stagnation- and random-targeting variants is statistically indistinguishable from an independ…

arXiv:2610.00025v1 Announce Type: new Abstract: Agent harnesses increasingly want to run small language models (SLMs) on the microtasks around a frontier large language model (LLM) planner: auto-approving shell commands, writing memory, selecting tools, ranking past turns. We ask whether off-the-shelf SLMs meet practitioner-defined thresholds and, when they fail, why, and whether quantization changes the answer. We build a benchmark of 4 such microtasks with fixed prompts and automatic metrics, each with a pre-specified threshold $\tau$ anchored to a cheap non-LLM baseline and a CI-aware eligibility rule (a configuration passes only if its confidence bound clears $\tau$). Sweeping Qwen3 0.6/1.7/4/8B at their best (FP16, greedy, one frozen prompt, no tuning), we find an eligibility gap: 0…

arXiv:2610.00018v1 Announce Type: new Abstract: Role-specialized QA pipelines increasingly pass rationales from a reasoner to a verifier, but it is unclear what this message actually buys: better answers, stronger support assessment, or a new failure surface. We introduce a message-intervention diagnostic that fixes the evidence and candidate answer while varying only the rationale passed across the reasoner-to-verifier boundary. On 400 MuSiQue, HotpotQA, and 2WikiMultiHopQA examples with DeepSeek as generator and verifier, faithful rationales add almost no answer accuracy over no rationale, while corrupted rationales strongly alter support judgments. Under a blind verifier prompt, harmless paraphrases shift support by only 0--2.5%, whereas corrupted rationales shift support by 10--22%; a…