AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.27141v1 Announce Type: new Abstract: Reliable contact establishment remains a critical challenge for autonomous on-orbit servicing (OOS), particularly when interacting with non-cooperative targets. Gecko-inspired dry adhesives provide a lightweight, passive, and residue-free solution for robotic capture in space, yet current systems operate in open loop, without the ability to estimate their own contact or adhesion state during interaction. This paper presents a real-time interaction-awareness framework that enables sensorized gecko-inspired adhesive interfaces to estimate their contact state throughout the adhesion lifecycle using embedded capacitive sensing. Five discrete interaction states (idle, proximity, contact, engaged, and disengaged) are cl…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.27040v1 Announce Type: new Abstract: General-purpose multimodal models, including GPT-6 Astra and Claude Opus 5.5, demonstrate broad capabilities in embodied manipulation. Our analysis indicates that this generality is accompanied by strong spatial perception, as Astra can determine where to interact with task-relevant entities amid visual distractors. Because spatial perception connects high-level reasoning to the physical scene, we investigate scaling visual grounding to strengthen the perceptual foundation of general embodied operation. We develop a unified data pipeline that combines robot manipulation recordings with complementary visual data from diverse sources. After automatically annotating the robot recordings, the pipeline converts the col…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.27039v1 Announce Type: new Abstract: Foundation models offer a promising basis for robotic agents, but long-horizon tasks require them to sustain coherent reasoning and reliable physical execution across interdependent stages. We introduce Embodied Playground, a benchmark for evaluating how foundation-model agents coordinate physical, strategic, and spatial reasoning throughout such tasks. Agents must track task progress, satisfy intermediate constraints, and revise their plans using execution feedback as earlier actions shape subsequent decisions. The playground comprises 410 task environments spanning basic manipulation, sequential puzzles, and multi-stage household activities, with variations in planning depth, geometric constraints, and physical…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.27003v1 Announce Type: new Abstract: Embodied VLMs can execute increasingly complex manipulation tasks, yet execution errors can leave the environment in states that require replanning for recovery. Existing recovery methods either rely on inference-time mechanisms with fixed policies or learn from failure examples and reference corrections rather than verified action outcomes. To enable recovery learning through verifiable interaction, we introduce the Embodied Replanning for Recovery Environment (ERR-Env), which provides feedback on task progress and execution errors. We further construct ERR-Bench, a benchmark with held-out tasks spanning nominal, intermediate, and error states for evaluating recovery capability and execution reliability. We then…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26962v1 Announce Type: new Abstract: Differences in hand geometry, joint parameterization, and kinematic topology pose challenges for cross-embodiment dexterous grasp generation. However, spatial relations among links alone are insufficient to fully capture the hand's kinematic topology. We propose DexGraspFlow, a conditional link-level $\mathrm{SE}(3)$ flow-matching framework integrating geometric relations and kinematic topology. The framework encodes local object geometry, link geometry, and current poses. A dual-stream DiT models link--link coordination and link--object interaction, while attention biases derived from kinematic-tree distances provide explicit structural information for modeling evolving geometric interactions. The model jointly l…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26933v1 Announce Type: new Abstract: An event camera emits events at a rate given by the scene motion, object texture, illumination, its own contrast thresholds, and other settings. Across the N-Caltech101 dataset, recorded by a single event camera, the event rate varies by roughly 26x. Standard event-based Graph Neural Network GNN pipelines do not make use of the variable event rate. They either normalize each event's timestamp into a fixed window or train the network to be invariant to the event rate. We argue that both choices lose information that could instead be used to improve the performance of a pipeline. Per-recording normalization is non-invertible, incurring about 6pp (percentage points) of natural-rate accuracy loss in our setting. And i…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26925v1 Announce Type: new Abstract: With the rapid expansion of online video content, video temporal grounding has become essential for localizing moments based on user-specific queries, comprising two subtasks: moment retrieval (MR) and highlight detection (HD). While recent approaches adopt DETR-style decoders or temporal pyramid architectures, they rely on single-scale feature maps or uniformly downsampled representations, limiting their ability to capture semantic boundaries and variable-length events. In this paper, we present SuperClip Video Temporal Grounding (SCVTG) built on a multi-scale temporal hierarchy that better captures distinctive events at various granularities. SCVTG constructs a SuperClip pyramid by grouping adjacent clips into s…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26923v1 Announce Type: new Abstract: Treatment planning is intrinsically counterfactual: clinicians must compare how a patient's tumor and survival would evolve under competing regimens, whereas a retrospective cohort records only the regimen received and one follow-up scan. A treatment-conditioned generator trained on such data can therefore reproduce historical treatment allocation rather than simulate the interventional disease dynamics needed to rank regimens. We introduce \textbf{CaMeWM}, a causal medical world model for supported post-TACE tumor evolution and treatment planning. CaMeWM implements one intervention-to-decision loop rather than three independent prediction tasks: it first admits a queried regimen only for clinically comparable his…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26922v1 Announce Type: new Abstract: Controllable object insertion provides a targeted approach to augmenting object detection datasets that require category--count fidelity, annotation alignment, and source-content preservation beyond visual realism. Several approaches have been proposed to address this grand challenge, but most suffer from different constraints in precise category--count requests and visual consistency, limited coordination across categories and instances, and poor localization of multiple objects of specific category and count. We design SceneP2F, a two-stage trainable framework that connects scene-aware joint planning with layout-aligned generation leveraging explicit instance-level layouts. SceneP2F consists of two novel designs…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26918v1 Announce Type: new Abstract: Temperature-field reconstruction and prediction are important for condition monitoring, process analysis, and state assessment in industrial and dynamic environments. This work aims to recover a four-dimensional spatio-temporal thermal state field directly from two-dimensional observations, without requiring a predefined 3D model, prescribed thermodynamic equation, or predefined heating/cooling trajectory. To this end, we propose the Gaussian Thermal State-Space Model (GTSM), which represents thermal evolution through a shared scene-level latent process and Gaussian-specific local thermal states. The resulting continuous dynamics are propagated using differentiable RK2 integration, allowing thermal evolution to be…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26915v1 Announce Type: new Abstract: Online action detection (OAD) identifies ongoing actions in streaming videos. Many existing OAD systems combine RGB appearance with optical flow, but dense-flow extraction remains a major computational bottleneck. Codec motion vectors (MVs) are available during decoding, avoiding a separate optical-flow computation. On THUMOS'14, optical flow exceeds MVs by 11.2 mAP points with motion-only inputs, whereas the gap narrows to 3.7 points after RGB fusion, with the largest reduction in action-category discrimination. We propose CodecMotion-OAD, which replaces optical flow with decoder-provided MVs while retaining existing temporal detector architectures. Its two-stage training first aligns MV features with a pretraine…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26910v1 Announce Type: new Abstract: Long-video understanding often requires answering many questions about a single video whose evidence is distributed across extended temporal contexts. Conventional video-language models repeatedly encode frames or retrieve visual evidence for every question. Parameterized video memory offers a write-once alternative, but existing methods rely primarily on synthesized text and fixed adaptation configurations, leaving open where video knowledge should be written and how visual evidence should shape the memory. We introduce Memory Internalization via Test-Time Training (MIT^3), a per-video adaptation framework that writes each long video into compact, video-specific adaptive parameters for video-free, text-only quest…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26909v1 Announce Type: new Abstract: In generalized few-shot 3D point cloud segmentation, support annotations are often compromised by sparsity and occlusion. Blindly adapting to such low quality samples risks learning spurious geometric patterns rather than robust novel concepts. Although 3D Vision-Language Models have been introduced to sup plement supervision, the potential of uncertainty to actively govern adaptation dynamics remains underexplored. Existing signal-level methods like loss reweight ing fail to prevent unreliable episodes from steering the optimization trajectory. To address this, we propose Uncertainty-Gated Adaptive (UGA), to the best of our knowledge the first framework that elevates uncertainty to update-level gating for general…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26903v1 Announce Type: new Abstract: Action-conditioned world models support planning and policy evaluation by predicting future states. However, learning an accurate one-step predictor can require substantial training computation. We introduce Beckmann World Models (BWM), which learn a direct map from noise, visual history, and actions to future frames without a pretrained generative teacher. We adapt the terminal-map conservation law of Beckmann Transport Models to action-conditioned video prediction, training directly from noise-data pairs without conditional populations of generated samples required by DriftWorld. However, transport consistency on interpolated inputs does not ensure accurate prediction from the pure noise used at inference. We ad…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26898v1 Announce Type: new Abstract: Creating photorealistic human heads typically involves trade-offs between representation power, efficiency, and generalizability. Traditional mesh-based solutions relying on 3DMMs generally sacrifice representation power but are efficient to render. On the other hand, NeRF-based methods improve representation power and fidelity while sacrificing efficiency. Gaussian splatting methods attempt to resolve these trade-offs by offering both high representation power and efficiency with real-time rendering. However, their efficiency nonetheless depends on the number of rasterized Gaussians, and the time needed to optimize and prepare the head (the enrollment time) is often high. In light of this, we propose EGGHead, whi…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26955v1 Announce Type: new Abstract: Long-horizon language agents require compact memories that retain interaction evidence while preserving competing hypotheses about unobserved states. Although effective, many belief-state methods encode memory in discrete natural language, where repeated compression can omit evidence or prematurely discard plausible alternatives. We introduce LAMB, a recurrent framework for latent multi-hypothesis beliefs. A Common--Delta factorization combines a shared Common state for interaction evidence with weighted Delta components for competing hypotheses. Relative evidence from action-outcome predictions guides recurrent hypothesis updates without generating textual memory. A context-conditioned readout exposes hypotheses…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26952v1 Announce Type: new Abstract: Relational triple extraction identifies entity relations from raw sentences without depending on entity type information. The performance of traditional methods is seriously degenerated by ``unseen'' entities, because these methods can't build contextual dependencies relevant ``unseen'' entities. This paper addresses this challenge by proposing a multi-granularity interaction network that leverages word-word, entity-relation, and head-tail interactions to capture deep semantic dependencies. By incorporating multiple iterations, the multi-granularity interaction network is effective to refine the representations corresponding to head and tail entities. It enhances the global semantic features associated with relati…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26951v1 Announce Type: new Abstract: Retrieval-augmented generation (RAG) is the dominant paradigm for grounding large language models in external corpora, but its similarity-driven, chunked pipeline has structural blind spots: it cannot anticipate which passages a question requires and discards document-level context that resolves cross-passage references. We introduce evidence-based generation (EBG), requiring models to return an answer with line-level citations, and a joint Ans+Evid metric that scores correctness and grounding simultaneously. We reformulate two corpora into evidence-grounded multi-document QA benchmarks- MultiHop-RAG and QASPER-MP, a multi-paper adaptation of QASPER with realistic short paper cues, and pair them with a controlled…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26937v1 Announce Type: new Abstract: Large clinical language models often require multi-GPU infrastructure, limiting local deployment. We introduce CERTA, a decision-level statistical certificate that determines when a quantized model may substitute for its native BF16 reference and escalates decisions that cannot be certified to it. Across eleven instruction-tuned models, both general-purpose and domain-adapted, from three families (7-72B), we evaluated 2,500 clinical-verification decisions from de-identified patient contexts (2,484 patients), with patient-disjoint calibration and testing. In the higher-power operational analysis, round-to-nearest 8-bit quantization at BF16 storage served 99.8-100% of held-out decisions across all eleven models; for…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26926v1 Announce Type: new Abstract: Large language models (LLMs) possess broad factual knowledge and strong reasoning capabilities, but solving complex tasks also requires procedural knowledge about how to act. Existing approaches often represent procedural knowledge through trajectories or bundled skills, limiting flexible reuse across interaction histories. This paper introduces Procedural Atoms, fine-grained and independently applicable units that represent Intent, When, Do, and Avoid guidance. Building on this representation, we propose AtomSD, an Atom-guided Self-Distillation framework in which the learner continually extracts Procedural Atoms from its own successful trajectories and distills them into the evolving policy through Atom-condition…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26888v1 Announce Type: new Abstract: We present Mixture of Phonetic Experts based Low-Rank Adaptation (MoPE-LoRA), a parameter-efficient adaptation framework for accented English speech recognition. Recent mixture-of-experts approaches typically allocate experts per accent, implicitly treating accent identity as the primary axis of variation. In contrast, we organize adaptation along phonetic categories, motivated by the observation that accent differences are often expressed as systematic distortions of phoneme realization. MoPE-LoRA introduces a fixed set of six low-rank experts aligned with manner-of-articulation classes and performs frame-level routing through a hybrid mechanism that combines phoneme supervision with learned acoustic gating. Beca…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26868v1 Announce Type: new Abstract: Ambivalence and hesitancy (A/H) are subtle behavioural states that can be expressed through both what a person says and how it is spoken. This paper presents an audio--text framework for video-level A/H recognition. Full-video transcripts and speech waveforms are encoded using pre-trained multilingual BERT and wav2vec~2.0, respectively, and projected into a shared representation space. Two stacked bidirectional cross-attention blocks allow linguistic tokens to attend to acoustic frames and acoustic frames to attend to linguistic context without requiring explicit temporal alignment. The resulting sequences are aggregated through masked mean pooling and combined using concatenation, element-wise products, and absol…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26867v1 Announce Type: new Abstract: Modern speech systems are evolving into ecosystems of autonomous speech agents that speak together, negotiate, and trade assets such as embeddings, spectrograms, or raw data. In such markets, sellers cannot reveal assets for evaluation due to privacy constraints, and buyers cannot price what they cannot test. Thus, we open-source WaveCommitments, an end-to-end design that pairs confidential asset valuation via Data Shapley inside a trusted execution environment with multivariate polynomial commitments. It enables selective openings and tamper-evident provenance to prove that a delivered asset matches the valuation while hiding everything else. Our extensive experiments across three known datasets and various tasks…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26865v1 Announce Type: new Abstract: Retrieval-augmented speech translation improves rare terminology, but systems such as RASST still assume that users provide a glossary before each session. That assumption is inconvenient for live talks, while merging every domain into one growing glossary eventually places too many irrelevant terms in the same retrieval and prompt competition. We present AutoTerm-SST, an interactive system that removes session-time glossary upload and domain selection. It organizes a large offline terminology catalog into topic slices, matches recent streaming translation context to bilingual slice prototypes, and activates a compact multi-slice working set under fixed retrieval and prompt budgets. On five ACL and five ESO oncolo…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26864v1 Announce Type: new Abstract: Gradient ascent (GA) is a simple language-model unlearning baseline, but it continues increasing forget loss after useful forgetting has occurred. This unbounded pressure can damage retained utility and make forgotten examples abnormally high-loss. We introduce H2DF, a calibrated target-band objective that applies GA-like pressure below a data-dependent lower target and suppresses, or reverses, that pressure after the target region is reached. The targets are estimated from matched non-member examples before training, so the base objective requires one forget-batch forward/backward pass per optimization step; our reported TOFU variant adds sparse retain replay every tenth step. We instantiate a one-sided objective…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.27000v1 Announce Type: new Abstract: Deep generative models provide an effective modern solution to alleviating the problem of data scarcity by synthesizing realistic time series. However, despite the considerable progress achieved by existing deep time series generators, two key challenges remain: (1) learning hierarchical representations for heterogeneous temporal patterns; and (2) coordinating the generation process of heterogeneous temporal dynamics. To address these key bottlenecks, in this work, we propose ORBIT, a unified deep generative framework for time series. Specifically, we develop two key components: the Frequency-Hierarchical VQ-VAE (FH-VQ-VAE) and the Frequency-Band Autoregressive Transformer (FBAR). The former learns hierarchical re…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26999v1 Announce Type: new Abstract: Deep learning for radio frequency (RF) signal analysis relies on large annotated datasets, yet synthetic datasets trade physical realism for controllability, while uncontrolled over-theair measurements offer realism but limited reproducibility. We present CorteXforge, a scenario-based framework for generating realistic and reproducible RF datasets on programmable software defined radio (SDR) testbeds. High-level RF scenarios are automatically translated into synchronized experiments executed on the SLICES-RI/CorteXlab platform, producing fully annotated Signal Metadata Format (SIGMF) datasets that capture hardware impairments and propagation effects. We validate CorteXforge through automatic modulation classificat…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26992v1 Announce Type: new Abstract: Split Federated Learning (SFL) has emerged as a promising paradigm for training large-scale deep models on resource-constrained edge devices. Although asynchronous SFL alleviates the straggler bottleneck caused by system heterogeneity, it inevitably introduces two coupled dimensions of inconsistency: horizontal inconsistency across clients and vertical inconsistency between clients and the server. These inconsistencies, further exacerbated by statistical heterogeneity, result in biased activation representations, model divergence, and severe client drift. To address these challenges, we propose CoASFL, an inconsistency-aware asynchronous SFL framework that incorporates a dynamic activation merging mechanism and a…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26979v1 Announce Type: new Abstract: Latent world models let an agent plan in latent space. The planner searches for an action sequence that minimizes a cost, and that cost is often the $\ell_2$ distance between the predicted terminal latent and the goal latent. The latent, however, is partly noise: the regularizer that prevents collapse during world model training promotes variance in the directions carrying no signal. We show that the same regularizer also supplies the structure to prune that noise in the latent. SIGReg drives the latent marginal to a standard Gaussian at every step, and assuming further that the latent sequence is a Gauss-Markov process, the transition is linear with its covariance pinned by the map itself, $z' \mid z \sim \mathca…

AI 服务暂时不可用，以下为来源摘要，待恢复后补全翻译：arXiv:2610.26974v1 Announce Type: new Abstract: We show that two-layer transformers trained to near-zero loss on a sorting task converge to one of two mechanistically distinct solution classes depending on their initialization. One solution class consists of solutions that do not use the second attention layer to sort, but also fail to length-generalize. The other, which uses both attention layers, length-generalizes perfectly, despite only being trained to sort sequences of a fixed length. By carefully choosing the weight initialization, we demonstrate that we can steer the model toward learning one solution or the other. We identify input types that are rare at the training length but increasingly common at longer sequence lengths as a source of this disparit…