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:2609.30462v1 Announce Type: new Abstract: Policies trained with imitation learning can accumulate errors over time, causing the robot to drift outside the training distribution. Existing methods mitigate this covariate shift by collecting additional data where the policy fails or is likely to fail. The first places the robot in unsafe conditions and the second requires choosing an appropriate noise distribution to collect new expert demonstrations under that noise. We propose Policy-Calibrated DAgger, a method that makes use of the properties of recent generative policies to estimate the policy's noise offline by using its own predicted action distribution. We measure a diffusion policy's spread of predicted actions at observations along the e…

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:2609.30461v1 Announce Type: new Abstract: Off-road traversability is direction-dependent and vehicle specific, yet most global maps assign a single isotropic cost to each location. Existing learned estimators are also commonly trained independently for each vehicle; this preserves vehicle-specific behavior but prevents vehicles from sharing common terrain representations. DGT-MAP addresses both limitations through a self-supervised framework that learns global, directional, and vehicle-conditioned traversability costmaps from RGB-D observations and locomotion signals. A shared multi-task backbone learns common terrain features across training vehicles while vehicle-specific prediction heads preserve platform-dependent responses. At inference,…

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:2609.30460v1 Announce Type: new Abstract: High-level robotic supervisors coordinate capabilities whose reported outcomes determine the robot's next action. Reactive synthesis can generate such supervisors with formal guarantees, but deployment requires more than proving a Generalized Reactivity (1) (GR(1)) specification realizable. Designers must encode failure-prone capabilities, choose liveness assumptions that match retry intent, audit strategies, and translate them into robot software. We present an open-source pipeline for Robot Operating System (ROS) 2 Flexible Behavior Engine (FlexBE) supervisors that generates capability-based GR(1) specifications, analyzes assumptions before synthesis, audits strategies, reduces states with a behavior…

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:2609.30459v1 Announce Type: new Abstract: Perception in robotics and XR fundamentally relies on good state estimation. Visual-inertial odometry (VIO) and Simultaneous Localization and Mapping (VI-SLAM) are proven ways of achieving this goal in a cost-effective and accurate manner. Efficiency in these systems allows for smaller, cooler, and lighter devices. GPU acceleration is a natural approach for reducing latency, thanks to their wide availability in platforms like embedded computers, mobile phones, and XR headsets. However, previous works in the literature have limited themselves to the use of CUDA for this task, significantly reducing deployment options to a single vendor. We instead leverage the vendor-agnostic Vulkan API, originally desi…

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:2609.30436v1 Announce Type: new Abstract: Driving world models learn rich predictive representations of the surrounding environment from visual observations, yet accurate visual prediction does not necessarily translate into effective trajectory planning. We argue that a key bottleneck lies in the mismatch between visual world states and raw geometric trajectories, which may limit the planner's ability to exploit action-relevant semantics encoded by the world model. To address this issue, we propose World-Model Alignment for Latent Trajectories (WALT), which learns a compact generative trajectory latent space by transferring information from a frozen pretrained driving world model without modifying the world model itself. Rather than directly…

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:2609.30428v1 Announce Type: new Abstract: Foundation models provide robots with the ability to interpret natural language and reason about environmental context, yet most language-conditioned policies assume that goals are well-specified and that task-relevant information is provided upfront via a prior map. Operating in unfamiliar environments with underspecified tasks entails high contextual uncertainty: the robot must jointly infer what constitutes task success, what constitutes relevant information, and where (or whether) that information exists. We address these limitations via CLUE (Closed-Loop contextual Uncertainty rEsolution), a framework for actively resolving contextual uncertainty given underspecified tasks in natural language. CLU…

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:2609.30404v1 Announce Type: new Abstract: We present POIL, a point-based one-shot imitation learning framework with stable dynamical systems. While one-shot imitation avoids collecting extensive demonstrations, successful one-shot manipulation requires not only transferring a demonstrated trajectory to a novel object but also executing it robustly under changing scene conditions, grasp configurations, and external disturbances. POIL addresses both problems through a shared representation: a set of 3D points on the object's functional part, used jointly for trajectory transfer and closed-loop execution. The one-shot transfer from the demonstrated trajectory is enabled with point correspondences. POIL grounds the shared functional part with a mu…

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:2609.30358v1 Announce Type: new Abstract: Nanodrones require accurate, real-time state estimation under severe sensing and computational constraints. We present TinyCVIO, a visual-inertial odometry system that co-designs miniature sensing, visual processing, and estimation for a commodity dual-core microcontroller with 520 kB SRAM. Lightweight LED constellations provide known geometry without surveyed positions or yaw angles, assuming placement on a common level plane. A streaming visual frontend tracks LED observations from a millimeter-scale camera at 29.2 FPS, while a rigid-board measurement model retains inter-LED constraints and streaming QR bounds estimation workspace for a fixed filter-state size. Across 19 hand-held hardware-in-the-loo…

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:2609.30609v1 Announce Type: new Abstract: Multi-shot agentic video generation requires consistent character appearance, stable spatial layout across camera angles, and continuous character state between shots. When every shot is a separate request to a frozen generator, repeated text does not determine appearance, layout or state. We therefore recast the problem as condition construction and present MVAgent, a multi-agent pipeline whose agents collaborate through typed conditioning inputs. Because an environment image shows one viewpoint, a Spatial Grounding agent samples views from generated camera-traversal clips and anchors each shot to the view matching its framing. As generated shots drift from the plan, an Observer records how each shot…

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:2609.30595v1 Announce Type: new Abstract: Synchronised action annotations are needed to train controllable world models and these datasets remain elusive. Existing approaches make use of instrumented platforms with calibrated sensors, costly manual annotation, or latent-action models which lack grounding. We instead turn ordinary unlabelled video into action-supervised training data by recovering (without training) a data-derived egomotion basis. We track pixel displacements across frames and exploit the recurring coherent structure induced by egomotion to obtain grounded control signals directly. Using a method as simple as principal components analysis perform this, we find that the leading components provide signed, scalable, and composable…

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:2609.30566v1 Announce Type: new Abstract: We present a new inference-time sampler for diffusion models that gives a pretrained model a capability it was never trained for: constructing the atlas of the population it synthesizes. The sampler converges from every random seed to the population's central anatomy, which we call the \emph{intrinsic atlas}. The advantage is threefold. (1) It requires no retraining. A diffusion model that has already learned a coherent population, including the released ones, yields its atlas in a single inference pass without involving deformable registration. (2) It applies to multiple domains, such as brain MRI, chest X-ray, faces, and 3D shapes. (3) It extends to subpopulations. One age-conditioned model gives an…

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:2609.30478v1 Announce Type: new Abstract: Convolutional neural networks trained on ImageNet are known to exhibit a strong preference for local high-frequency texture, an inductive bias that translates into fragile robustness against distribution shifts in real-world environments. Event cameras, in contrast, record only changes in scene brightness and are therefore well suited to capturing contour information; however, due to the absence of diagnostic benchmarks in the event domain, the inductive bias that event-camera data instills in vision models has remained underexplored. In this work, we use knowledge distillation from the event domain to the RGB domain so as to exploit the rich evaluation toolkit available in the RGB domain and systemati…

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:2609.30450v1 Announce Type: new Abstract: Optical lens design is a complex, non-convex optimization challenge that relies heavily on human experience and intuition. Existing optimized-based automatic lens design methods struggle to navigate this vast parameter space without meticulous manual tuning. In this paper, we present LensDesigner, an autonomous agent framework that mirrors the problem-solving workflow of expert opticians. To overcome the initial cold start problem, we construct LensLib100K, an extensive optical lens library, and employ Optics-Aware Retrieval to supply physically valid structural seeds. Within an interactive physical simulation environment, the agent executes macroscopic orchestration while receiving immediate optical 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:2609.30434v1 Announce Type: new Abstract: Pre-trained vision-language models such as CLIP can recognize new categories via prompting, but they often struggle when labeled data are scarce or the test distribution shifts. Prompt learning adapts only a small set of parameters while keeping the backbone frozen, yet many existing multimodal prompt learners couple the visual and textual branches weakly and can be brittle in low-shot regimes. We propose ProCAP, a probabilistic cross-attentive prompt learning framework that improves cross-modal interaction and training stability without updating any CLIP weights: it learns both visual and textual prompt tokens and links them through stacked bidirectional multi-head cross-attention so the two branches…

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:2609.30402v1 Announce Type: new Abstract: Multimodal misinformation is increasingly crafted to look convincing by pairing a textual claim with an image that appears to "prove" it. Yet in practice, building effective detectors often hinges on a small set of design choices that are rarely examined in a controlled way. In this paper, we conduct a large-scale study of multimodal design choices for misinformation detection with over 3,375 experiments- spanning three benchmark datasets and a broad range of pre-trained vision and language backbones. Through systematic comparisons and targeted robustness analyses, we distill practical guidance on which design choices help, when do they fail silently, and what aspects of the pipeline most strongly shap…

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:2609.30395v1 Announce Type: new Abstract: Real-time tiny object detection in aerial imagery is constrained by the weak spatial evidence of very small objects and the loss of high-resolution detail in lightweight detectors. This study presents Cross-Scale Channel-wise Knowledge Distillation (CSCWD), a training-time framework that transfers high-resolution spatial representations from a YOLO11m-P2 teacher to a compact YOLO11n student without altering the student's inference architecture. Unlike conventional same-scale feature distillation, CSCWD transfers supervision from teacher P2 to student P3 after feature alignment while retaining same-scale distillation at deeper pyramid levels. Under the unified seven-sequence Drone-vs-Bird validation pro…

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:2609.30393v1 Announce Type: new Abstract: Selecting informative camera views is critical for efficient training and adaptive refinement in 3D Gaussian Splatting, where each observation significantly influences model parameters. However, information-driven view-selection strategies can require repeated evaluations of expensive information-gain oracles as the number of candidate views increases. We propose LiTe-GS, an oracle-efficient method for next best view selection in 3D Gaussian Splatting. LiTe-GS reduces the number of information-oracle evaluations by performing randomized subset evaluation of candidate views rather than exhaustively scoring the full candidate pool. The resulting approach achieves expected $O(M\log(1/\epsilon))$ oracle co…

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:2609.30356v1 Announce Type: new Abstract: Cities differ in built form, land cover and development history, complicating comparison across places and time. Satellite foundation models map Earth's surface onto common numerical representations. Yet the tasks and targets used to shape them typically do not focus on cities: globally consistent labels for urban function do not exist, and many datasets - especially land cover and land use classifications - collapse the built environment into few classes. Here we audit the representation, focusing on AlphaEarth but with broader applicability to other Earth embeddings, by probing the geometry and geography of embeddings for 1,000 urban areas in 162 countries. We find that cities occupy a shifted but ov…

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:2609.30298v1 Announce Type: new Abstract: Systematic reviews (SR) are essential for evidence-based research, but their screening phase is highly time-consuming and labor-intensive. Large language models (LLMs) offer a promising opportunity to reduce this workload by assisting with article relevance classification. However, existing evaluation approaches often rely on traditional metrics that may be misleading for highly imbalanced SR screening datasets.This paper presents a benchmark dataset of $45\,064$ labeled entries for evaluating LLM performance in SR screening across 32 curated secondary studies. It proposes an evaluation framework that accounts for class imbalance, i.e., the natural prevalence of excluded articles relative to included a…

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:2609.30297v1 Announce Type: new Abstract: Conversational recommendation agents are a new paradigm for content discovery, enabling users to express complex intents through natural language (e.g., "recommend Italian indie artists I haven't heard before"). A central challenge in building such agents is optimizing agent planning -- deciding how to select, sequence, and invoke tools -- particularly in cold-start settings where real user interactions are not yet available. We introduce a pipeline for multi-turn synthetic data generation and a self-improvement loop to address this challenge. The synthetic data pipeline transforms single-turn prompts into realistic multi-turn conversations, enabling systematic evaluation before launch. The self-improv…

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:2609.30295v1 Announce Type: new Abstract: Identifying an unfamiliar sign is difficult when a learner remembers its movement but does not know its meaning or formal feature codes. SignTrace addresses this longstanding reverse-lookup problem through natural-language access to a Chinese sign-language dictionary. The system integrates LLM-based dictionary enrichment, action extraction, dictionary-style rewriting, seven-channel retrieval, and candidate reranking over 6,699 entries. It has been deployed for user trials and has received positive informal feedback. Evaluation on a dictionary-derived benchmark of 500 movement-description queries yields 94.0% Hit@1, 97.4% Hit@9, and a mean reciprocal rank of 0.9540. Reranking increases Hit@1 from 71.8%…

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:2609.30294v1 Announce Type: new Abstract: Scientific presentations are more than summaries of research papers. They need to present the work in a coherent sequence, explain the main ideas clearly, and help the audience follow the presentation. We present SlideLab, a training-free multi-agent framework for generating scientific presentations from research papers. SlideLab first plans the presentation narrative, then builds and iteratively refines a shared slide deck using agents for content planning, visual generation, layout refinement, and grounding verification. In a blind human preference study, SlideLab was preferred over both open-source and commercial systems on 77% of papers while using roughly 4 times fewer inference tokens than the st…

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:2609.30293v1 Announce Type: new Abstract: The Model Context Protocol (MCP) enables AI agents to discover and call tools, but loading every definition becomes expensive as connected catalogs grow. We present Cartograph, a federated MCP proxy that changes agent-visible tool discovery from $O(n)$ catalog traversal to $O(k)$ progressive disclosure. Cartograph combines three mechanisms: (1) operator-attested capability cards, Ed25519-signed descriptions generated under the deploying operator's control rather than ranked publisher copy; (2) Rift, a three-layer confusable-cluster analysis comprising density clustering, query-margin analysis, and token diagnosis; and (3) two-stage retrieval, which ranks servers before tools. On a 22-server, 374-tool 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:2609.30292v1 Announce Type: new Abstract: Online reviews shape consumer decisions, platform governance, and corporate reputation.Fake reviews compromise this information channel by injecting deceptive evidence into rating systems, recommendation pipelines, and public trust mechanisms.The rise of large language models, or LLMs, has changed the problem in two directions.LLMs can generate fluent and context-aware deceptive reviews, while pre-trained language models, or PLMs, and LLMs also provide stronger semantic representations for detection.This survey reviews fake review detection from an information fusion perspective, covering 211 studies published from 2018 to early 2026.We organize existing work by evidence source and fusion level, coveri…

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:2609.30290v1 Announce Type: new Abstract: Production text-to-SQL pipelines often end with an LLM-as-judge whose agreement with human annotators has never actually been measured. When we checked ours, the deployed gpt-4o-mini judge agreed with two-author gold at only Cohen's kappa = 0.04 on a disagreement-enriched set and 0.42 on a uniform-random spot-check, over-flagging 77.1% of the human-FAITHFUL cases in the enriched set. Most of its over-flags trace back to a single mechanism we call GRADE-HALLUCINATION. A self-hosted Qwen3.6-27B replacement (kappa = 0.72) lands in the same range as Claude Opus 4.7 (kappa = 0.71); the head-to-head is underpowered at n = 96, but for the deployment decision that hardly matters, since Qwen costs roughly 1/300…

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:2609.30289v1 Announce Type: new Abstract: In team collaboration scenarios, memory is heterogeneous and continually evolving. Team memories capture collective decisions, protocols, and current consensus, while individual memories preserve member-specific observations, execution traces, and intermediate progress. Existing memory-augmented systems typically retrieve from all stored memories as a flat pool, ranking them by semantic relevance, importance, or recency without modeling hierarchical structure or evolving validity. As a result, they often surface semantically relevant but outdated or conflicting memories, especially individual memories that no longer align with current team consensus, instead of prioritizing currently valid memories. Th…

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:2609.30288v1 Announce Type: new Abstract: In Transformer-based masked language models, attention is the primary mechanism for context mixing, but there are other ways to mix data across tokens. Recent attention-free mixers replace attention with fixed or hypernetwork-generated MLPs, alternating their dynamic, content-dependent weighting for computational simplicity. We build an alternative that gets the same property from a low-rank bottleneck autoencoder. We replace attention with a stack of autoencoder-based mixing modules, one operating over local neighborhoods, one over the full sequence, and one across attention heads, each compressing and reconstructing its input through a bottleneck, and its width is a hyperparameter rather than a train…

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:2609.30287v1 Announce Type: new Abstract: AI-generated text detectors achieve high accuracy on standard benchmarks, yet the internal representations that drive these predictions remain poorly understood. We study which neurons in a frozen BERT-base-uncased encoder support AI-text detection, using the RAID benchmark across six generators spanning pure-base and instruction-tuned models. We apply the L1-to-L2 sparse-probing protocol of Gurnee et al. (2023) to all 9,216 CLS hidden-state dimensions (12 layers x 768), which we call neurons. The procedure recovers a stable set of under 1% of neurons per generator, consistent across folds and seeds; a probe restricted to that set retains most of the full-feature detection accuracy. Bidirectional activ…

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:2609.30484v1 Announce Type: new Abstract: While large language models (LLMs) have achieved remarkable linguistic capabilities, a profound question lingers at their core: do these models truly comprehend context or simply excel at pattern matching on an unprecedented scale? Contextual understanding in LLMs refers to the ability to correctly extract relevant information from a given context, integrate it into a coherent internal representation, and reason over it to produce factually consistent and contextually grounded responses. However, traditional methods such as BiLingual Evaluation Understudy (BLEU) and perplexity simply measure surface-level performance. This reveals a critical gap in question answering (QA), where responses must be conte…

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:2609.30469v1 Announce Type: new Abstract: Pretrained ASR systems perform poorly on noisy Broadcast Police Communication (BPC), hindering efforts to understand police decision-making. Pseudo-labeling offers an unsupervised path to improve ASR without expensive human labels, but the efficacy of this approach on very noisy domains is not known. In this work, we systematically assess the opportunities and limits of pseudo-labeling to adapt foundation ASR models (Whisper and Qwen3-ASR) to noisy BPC domain corpora from Baltimore and Chicago. We demonstrate that existing internal confidence metrics (log-probabilities and STAR scores) fail to distinguish between high and low quality BPC pseudo-labels, and we introduce an external LLM-as-a-judge filter…