AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.29172v1 Announce Type: new Abstract: While robot foundation models are growing increasingly capable, the strongest models are typically trained on proprietary data and remain closed-source, limiting downstream users' ability to adapt them to new tasks, embodiments, and deployment settings. Following the LLM community, an emerging access paradigm for closed-weight robot foundation models is the managed supervised fine-tuning (SFT) API, where users submit training data and receive a tuned policy without access to model weights, gradients, or training internals. While such APIs let downstream users leverage powerful proprietary foundation models, they restrict policy improvement to pure imitation, ruling out reinforcement learning and other…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.29169v1 Announce Type: new Abstract: Vision-language-action (VLA) policies achieve strong performance in robotic manipulation but remain vulnerable to runtime disturbances that break the temporal alignment among visual observations, robot states, and executed actions. We introduce ActFovea, a plug-and-play safeguarding framework that detects and mitigates such failures without retraining or modifying the underlying VLA policy. ActFovea uses robot kinematics, proprioceptive states, and recent actions to construct action-conditioned foveated regions that retain contact-relevant areas and predicted motion corridors while suppressing task-irrelevant visual content. It detects runtime risks by evaluating whether visual motion and observation f…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.29102v1 Announce Type: new Abstract: Realistic palpation training requires reliable rendering of soft tissue stiffness changes in real time, which is difficult to achieve with conventional simulators. This paper presents a compact, variable-stiffness tactile interface (VSTaI) based on vacuum-induced jamming of 3D-printed structured fabrics. A vacuum-sealed fabric layer is sandwiched between two silicone layers, and stiffness is tuned by regulating internal pressure. Four fabric patterns with different geometric parameters were fabricated and evaluated using force-indentation tests under atmospheric and vacuum conditions. Across the tested pattern and geometry combinations, vacuum jamming increased stiffness significantly, producing an eff…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.29052v1 Announce Type: new Abstract: End-to-end (E2E) autonomous driving aims to learn a direct mapping from visual observations to control actions. However, these E2E models often act as black boxes and struggle with complex scenarios. To address this, recent works incorporate Vision-Language Models (VLMs) to provide explicit reasoning, enhancing both interpretability and driving robustness. These approaches typically rely on pre-generated annotations, which suffer from potentially flawed labels and require costly human labor. In this work, we propose a new framework that integrates structured reasoning and geometric precision through a teacher-student architecture. The teacher model introduces reflective reasoning, where the VLM generat…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.29031v1 Announce Type: new Abstract: Existing autonomous-driving world models typically perform dense prediction of future videos, occupancy states, BEV representations, or agent motion. We argue that planning need not reconstruct the complete future world, but only focus on scene features that affect future ego action. Based on this perspective, we propose Auto-JEPA, an action-oriented latent world model that learns continuous future driving intent through joint-embedding prediction. Given visual observations, egomotion history, and navigation commands, Auto-JEPA predicts an intent embedding aligned with the latent representation of the future ego trajectory. The predicted intent retrieves executable trajectories from a fixed trajectory…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.29011v1 Announce Type: new Abstract: Traversing crests, ledges, and ditches at high speed often launches vehicles into the air, and a mishandled landing presents a substantial crash hazard. We show that the airborne phase is barely controllable: on a 1383 kg platform the wheel angular-momentum budget caps the recoverable pitch-rate change at roughly $9$-$13^\circ$/s in the tighter nose-up direction under drive at typical takeoff wheel speeds, and at about twice that in the reverse-inclusive braking direction; driving the wheels to their drivetrain hard limit raises the measured nose-up ceiling to only $16$-$18^\circ$/s. Takeoff pitch-rate disturbances beyond this directional budget are physically unrecoverable in flight, so the decisive l…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.29009v1 Announce Type: new Abstract: Multi-robot systems, particularly heterogeneous robot swarms, can improve the efficiency of complex task execution through parallel collaboration and complementary capabilities. However, conventional rule-based methods rely on predefined task models and specialized decision making programs, making it difficult to understand complex semantic instructions and coordinate heterogeneous robots. LLMs introduce strong language understanding and task reasoning capabilities, allowing multi-robot systems to interpret instructions, decompose tasks, and assign roles according to task semantics. VLMs further incorporate visual perception, enabling robots to reason about objects, regions, and spatial relationships i…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28995v1 Announce Type: new Abstract: Accurate plant leaf modeling is fundamental to downstream tasks such as plant growth monitoring, and phenotyping for yield estimation. Autonomous robotic reconstruction for large-scale field deployment must address limitations on robot planning budget and computation resources while optimizing viewpoint utility for leaf surface reconstruction. Existing approaches either focus on rigid objects, point-cloud coverage or plant reconstruction without fully addressing the system limitations or exploiting task-driven point cloud utility. In this work, we study next-best-view (NBV) planning for leaf surface reconstruction under travel constraints. We develop a novel Centroid-based Information Gain (CIG) functi…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28993v1 Announce Type: new Abstract: World Action Models (WAMs) have emerged as a promising paradigm by jointly modeling robot actions and future visual dynamics. However, their reliance on pixel-generative future supervision can entangle action-relevant state transitions with task-irrelevant visual content, limiting robustness under visual distribution shifts. We identify Training-Distribution Hallucination, a recurring phenomenon in which futures conditioned on visually shifted observations hallucinate training-domain content rather than remain faithful to the current scene. A controlled frame-triplet diagnosis further shows that DINOv3 features remain more stable across visual shifts while better preserving task-state distinctions than…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28952v1 Announce Type: new Abstract: Humanoid and quadrupedal robots have the potential to revolutionize the way we work, interact, and coexist with intelligent machines. To understand their effects on society and how they can enable scientific discovery, we assess the current capabilities of these systems along hardware, locomotion, autonomy, data, and applications. We identify recent advances and key open challenges that must be overcome to enable widespread adoption and new use cases for legged robots. Last, we provide an outlook on the future of legged robots, exploring their ethical considerations, economic potential, policy implications, and broader societal effects.

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28935v1 Announce Type: new Abstract: Recently, 3D semantic occupancy prediction has garnered increasing attention for understanding the indoor scene. However, unlike structured outdoor environments, indoor scenes feature a high diversity of object categories that exhibit a severe long-tailed distribution, which has become a core bottleneck limiting the performance of existing models. To tackle this challenge, we propose a novel method, Group-UFD Occ, based on hierarchical semantic supervision and synergistic loss optimization. At the architectural level, we introduce a fine-grained semantic grouping strategy and design multi-scale, parallel ``main-expert'' prediction heads to guide the model in efficiently learning tail-class features thr…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28868v1 Announce Type: new Abstract: Data augmentations define the invariances learned by self-supervised learning (SSL). Standard augmentation pipelines were designed for natural images, yet scientific imaging modalities are governed by physical measurement processes with distinct symmetry and acquisition constraints. Enforcing invariances that contradict these constraints can distort learned representations and limit downstream performance, but practitioners moving from machine learning into a new scientific modality currently have little guidance beyond transferring natural-image pipelines unexamined. We address this gap with a principled, reproducible procedure for augmentation design in scientific SSL: we formalise the physics-aligne…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28858v1 Announce Type: new Abstract: Automatic brain tumor segmentation from magnetic resonance imaging (MRI) has become a fundamental task in computer-assisted diagnosis, treatment planning, and disease monitoring. Although numerous deep learning architectures have recently been proposed, objective comparisons remain challenging because published studies often employ different datasets, preprocessing strategies, training protocols, and evaluation procedures. This work presents a unified experimental benchmark for comparing representative convolutional neural networks (CNNs), Transformer-based models, and recent State Space Model (SSM) architectures under homogeneous experimental conditions. Five state-of-the-art three-dimensional segment…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28834v1 Announce Type: new Abstract: 3D Gaussian Splatting (3DGS) is evolving from one-time reconstruction into deliverable, inspectable, and maintainable visual assets. Existing workflows focus on global reconstruction, training-time density control, or open-ended generative editing, leaving trained assets without precise local maintenance. We propose FocusGS, which unifies local repair and deterministic editing as composite spatial deltas. Repair is the purely additive special case: its base-manipulation term is empty, and it adds only local Gaussian bases; deterministic editing uses erase-insert factorization (EIF) to combine old-carrier erasure with new-content insertion. FocusGS addresses spatial gradient starvation: local repair rai…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28796v1 Announce Type: new Abstract: High-throughput phenotyping requires AI-enabled computer vision models that generalize across genotypes, locations, and growing seasons, yet such models often lose accuracy under new conditions. Annotating real imagery for every genotype-by-environment (G x E) combination a breeding program encounters is prohibitively expensive. We quantify how G x E shifts affect AI-based detection of cowpea flowers and pods across two California locations and two growing seasons. Flower detection mAP@50 fell from 76.3% to as low as 50.6% under unseen shifts, and pod detection was more sensitive. Feature-space and image-quality diagnostics confirmed these losses track measurable distributional shifts. Because closing…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28771v1 Announce Type: new Abstract: Medical foundation models (FMs) are increasingly used for brain MRI analysis. However, their evaluation remains dominated by high-resource datasets, leaving generalization to African cohorts underexplored. We assess whether FMs generalize equally to African and non-African brain MRI data across two tasks: dementia classification using a Nigerian dataset and brain tumor segmentation using BraTS-Africa. We evaluate two generalist FMs (BrainIAC, 3DINO) and two segmentation-specific FMs (MedSAM2, Medical-SAM2) against a from-scratch baseline. For classification, FMs provide limited gains (highest ROC-AUC of 0.86 with BrainIAC), whereas for segmentation they consistently improve performance, reaching up to…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28769v1 Announce Type: new Abstract: Security-critical biometric and forensic applications require accurate predictions and reliable confidence estimates, particularly under distribution shift. This challenge is especially acute for deepfake detection, where foundation-model-based detectors often exhibit overconfident predictions on out-of-distribution manipulations, which limits their suitability for operational deployment. We propose an uncertainty-aware deepfake detection framework that identifies manipulations through inconsistencies across complementary evidence sources. The framework integrates three streams: a visual stream based on an adapted CLIP encoder, a semantic stream that models consistency among facial attributes through d…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28760v1 Announce Type: new Abstract: As image generation models scale to ever higher resolutions, global coherence, local detail, and texture fidelity become critical axes for generation quality. However, standard flow matching treats all spatial frequencies uniformly, ignoring the natural frequency hierarchy where high-frequency bands become indistinguishable from pure noise far earlier than coarse structures. We introduce WaiT, a Wavelet-aware image Transformer that decomposes generation into coarse and fine bands via lossless wavelets. True to its name, the high-frequency bands wait for the signal: staying pure noise until coarse structure has emerged, then joining the flow for joint refinement. Since standard FID discards fine-grained…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28759v1 Announce Type: new Abstract: In X-ray CT, metallic objects cause beam hardening, photon starvation, and scattering, leading to projection inconsistency, streaks, dark bands, and structural distortions that compromise clinical diagnosis and quantitative analysis. Existing metal artifact reduction (MAR) methods remain limited: optimization-based methods may leave residual artifacts or blur structures, regression networks may generalize poorly across scenarios, and generative models without sample-specific structural guidance and physical constraints may produce anatomically inconsistent structures. Flow Matching learns a continuous-time velocity field that deterministically transports a source distribution to a target distribution,…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28751v1 Announce Type: new Abstract: Universal multimodal embedding (UME) maps heterogeneous multimodal inputs into a shared embedding space. Existing UME models either form embeddings through single forward encoding or add computation through explicit rationale tokens and latent autoregressive states. Although token expansion can improve complex matching, serial generation increases retrieval latency and makes the final embedding depend on generated intermediate states. This raises a different question: can useful computation be expanded along model depth while keeping the token workspace fixed? We analyze positive-negative similarity separation at every layer of independently trained UME models and observe a shared progression: early la…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28661v1 Announce Type: new Abstract: Do Large Language Models (LLMs) possess genuine structural reasoning, or merely rely on surface-level pattern matching? The financial domain, demanding numerical precision and multi-step logic over long contexts, is an ideal testbed. Existing benchmarks fail to capture real-world industrial complexity, predominantly relying on multiple-choice questions or single-hop QA over cropped tables while ignoring intricate cross-statement dynamics and temporal de-cumulation. To bridge this gap, we introduce FinIndices, a large-scale benchmark evaluating data-processing fidelity over uncropped financial statements (up to 32K tokens). Utilizing an automated synthesis pipeline with adversarial traps, FinIndices enc…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28658v1 Announce Type: new Abstract: Federated pre-training offers a way to train foundation models on private or distributed data without centralizing the underlying datasets. However, evaluating federated pre-training remains challenging because differences in client participation and local data availability can make directly comparable evaluation difficult. Moreover, pre-training test perplexity is tied to the pre-training distribution, while downstream benchmarks introduce task-specific adaptation that may not faithfully reflect the test perplexity established during pre-training. In this work, we study which evaluation protocol more reliably reflects federated pre-training quality. Using a controlled set of centralized and federated-…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28641v1 Announce Type: new Abstract: We introduce the \textit{Agentic Formalism Trap} and the Evaluative Dissonance Index ($D_E$), quantifying how LLM-as-a-Judge systems conflate structural proceduralism with semantic truth under adversarial load. Analyzing 22,500 trajectories across 3 domains (GAIA, SWE-bench, Multi-Challenge), we extract a semantic taxonomy of hallucination maneuvers, validated via deterministic lexical grounding ($p < 10^{-120}$). A logistic meta-evaluator isolates the exact syntactic triggers of this evaluator capture (ROC-AUC 0.8779), while a zero-shot Leave-One-Domain-Out transfer proves the vulnerability is universally domain-agnostic (mean ROC-AUC 0.7482). Architectural profiling reveals that distinct simulated sw…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28640v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) should generate consistent responses given semantically equivalent inputs across modalities. However, we observe a systematic discrepancy in model predictions under such cross-modal variations. Specifically, we define the modality gap as the difference in model performance under semantically equivalent textual and multimodal inputs. We introduce TokenSwap, a method that constructs such inputs by replacing textual concepts with semantically aligned images, resulting in sequences where visual tokens are interleaved with text tokens. Based on TokenSwap, we transform existing text-based benchmarks such as MMLU into image-interleaved counterparts, resulting in TokenS…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28639v1 Announce Type: new Abstract: We show that knowledge distillation in small instruction-tuned language models has asymmetric effects on bias. On unambiguous tasks (BBQ-disambig), response-based distillation from a Gemma-2-9B teacher improves context-following: for the most biased baseline (SmolLM2-1.7B-Instruct), it cuts the context-overriding error rate from 44% to 24%. On ambiguous tasks (BBQ-ambig), the same distillation destroys per-item refusal calibration: 15% of items where the baseline correctly abstained instead receive stereotype answers, even when overall refusal rate is preserved. The pattern reproduces on a second student family (OLMo-2-1B-Instruct), with silence-loss of 8% and filled-silence accounting for 89% of new b…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28638v1 Announce Type: new Abstract: As large language model (LLM) agents increasingly learn from experience, they primarily rely on trajectory-level reflection to extract insights. Viewed through the lens of predictive knowledge, we argue that this approach operates on episodic hindsight rather than predictive foresight, yielding brittle, path-dependent heuristics. To address this, we propose Stateful Knowledge Learning (SKL). SKL shifts the agent's focus from trajectory-level summarization to maintaining Stateful Knowledge: explicit, declarative predictive assessments anchored to state. We first demonstrate a motivating example showing how stateful knowledge provides granularity, enhances generalization, and enables knowledge bootstrapp…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28637v1 Announce Type: new Abstract: This paper presents our system for the CHiPSAL 2026 shared task on multimodal hate speech and sentiment detection in Nepali memes. We address both subtasks: binary hate speech classification and three-class sentiment analysis. Our approach adapts the Robust Adaptation of Hateful Meme Detection (RA-HMD) framework using Qwen3-VL-8B-Instruct, a state-of-the-art vision-language model with native Devanagari support. We employ a two-stage training pipeline: (1) LoRA fine-tuning with an MLP projection head for generative classification, and (2) contrastive backbone fine-tuning with supervised InfoNCE loss. We handle class imbalance through minority oversampling, image augmentation, and focal loss. At inferenc…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28636v1 Announce Type: new Abstract: LLMs increasingly serve as automated judges, but their judgments remain vulnerable to cognitive biases. Existing mitigations mostly rely on prompt-driven debiasing, which is brittle across bias types, or human evaluation, which does not scale. We study \emph{Chain-of-Models} (CoM), an automated audit pipeline in which a second model inspects the first model's reasoning trace before producing the final judgment. The key design question is whether the auditor should be the same model, a same-family model, or a different-family model. Across 9 models from 6 families, 4 cognitive biases, and 4 factual datasets, we find that auditor identity matters in two ways. First, standalone bias resistance does not pr…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28635v1 Announce Type: new Abstract: In Natural Language Processing (NLP), dealing with underrepresented topics is challenging, especially in unsupervised tasks where clustering might not adequately capture minority topics. To tackle this challenge, our paper presents a novel unsupervised data augmentation method that integrates Gaussian Mixture Models (GMMs) and Large Language Models (LLMs). Due to their flexibility and robustness, GMMs can detect clusters corresponding to underrepresented areas in the data, while LLMs create synthetic documents to enrich these clusters and improve their representation. Experiments on various imbalanced text datasets demonstrate that our approach preserves clustering performance in all cases and often en…

AI サービスが一時的に利用できないため、復旧後に翻訳を補完します。ソース概要：arXiv:2607.28634v1 Announce Type: new Abstract: The estimation of item difficulty plays a key role in both formative assessment and large-scale high-stakes summative assessments. This study explores how large language models (LLMs) perform in predicting item difficulty levels using items from a large-scale Reading and Writing test. The study investigated various prompting strategies and parameter settings across multiple LLMs. LLM performance was compared with encoder-only language models and feature-based supervised machine learning models. Zero-shot GPT-4.1 with a temperature of 0 yielded the highest item difficulty level prediction accuracy, with a quadratic weighted kappa (QWK) of 0.578. However, LLMs' prediction accuracy was lower than that of…