AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09597v1 Announce Type: new Abstract: Accurate contact prediction is useful for robotic manipulation only if it supports effective decisions. We investigate this connection using a compact, randomly initialized visuotactile world model, trajectory-level uncertainty calibration, and behavior-initialized actor-critic learning in imagination. On 160 MuJoCo Lift episodes, adding touch reduces endpoint-force prediction error from 1.058 to 0.228 N and interval-peak error from 2.724 to 0.523 N across three training seeds. However, tactile persistence achieves lower errors of 0.095 and 0.498 N, respectively. Two exploratory control rounds comprise 680 executions on 40 independent test initial conditions. A matched reward revision on fresh test environments in…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09503v1 Announce Type: new Abstract: Rapid bespoke commissioning of the Cognitive Digital Twin (CDT) is a major challenge in reconfigurable manufacturing. Traditional digital twin (DT) construction methods primarily focus on geometric reconstruction, often neglecting the deep semantic integration and functional interoperability necessary for autonomous reasoning. This paper proposes an agent-based, AI-driven workflow to automate end-to-end CDT debugging. The system utilises LangGraph as a multi-agent orchestration engine to achieve dual-path synthesis: the semantic path extracts technical specifications from unstructured documents using Retrieval Augmented Generation (RAG), while the functional path autonomously discovers and binds to real-time indus…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09492v1 Announce Type: new Abstract: Reinforcement learning has produced capable controllers across a broad range of legged-robot tasks, but a subset of these tasks fail to converge under standard training: those for which most exploration trajectories terminate before producing useful gradient signal. To address such tasks we introduce the \emph{Actuator Dynamics Curriculum}, a procedure that initializes joint stiffness at a high value and anneals it toward the system-identified value as completed episode lengths grow. Using a cart-pole system as a representative example, we show that higher closed-loop joint natural frequency under critical damping enlarges the viability kernel of the underlying Markov Decision Process, increasing the fraction of i…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09403v1 Announce Type: new Abstract: In the past decade, Bayesian optimization (BO) has emerged as a powerful and adaptable framework for automatic controller tuning and robot learning. This article offers a comprehensive overview of the state-of-the-art in BO, designed to support both researchers and practitioners in understanding recent advancements, practical applications, and future research directions. We begin by adopting a practitioner's perspective, illustrating how to effectively set up BO through a representative controller tuning example. We position BO within the broader context of learning paradigms, ranging from deep reinforcement learning to data-driven control, and highlight scenarios where BO is most advantageous. Next, we discuss th…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09380v1 Announce Type: new Abstract: Unlocking the potential of tiny aerial robots requires order of magnitude improvements in the performance of embedded edge control. In particular, although recent cached model predictive control (MPC) solvers can handle the fast system dynamics and complex constraints required for agile drone flight, their computational demands remain prohibitive for resource-constrained robots, forcing prior implementations to operate at reduced control rates. AccelMPC overcomes this challenge through an end-to-end co-design approach that jointly optimizes the solver algorithm, numerical representation, hardware mapping, and physical integration. AccelMPC pairs a co-designed FPGA-accelerated alternating direction method of multip…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09250v1 Announce Type: new Abstract: A verifier for robot policies reads a candidate behavior and returns a score for how well it did, used both to evaluate vision-language-action policies and to train them. Verifiers range from success detectors and reward models to runtime monitors, safety filters, and temporal-logic specifications. We survey roughly 150 verifiers and compare them along two properties. Availability is how much a verdict costs, how early in a rollout the verdict arrives, and how often a verdict can be asked for. Availability rises as verdicts get cheaper, earlier, and denser. Credibility is how much a high score tells us about the task. Credibility falls as the judgment becomes gameable and self-serving. We group the verifiers by wh…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09234v1 Announce Type: new Abstract: Vision-guided reinforcement learning for Unmanned Aerial Vehicles (UAVs) remains challenging due to unstable policy optimisation, aggressive exploration, and the cost of high-dimensional visual perception. In this work, we investigate long-horizon UAV visual servoing using compact target-centric cues combined with low-dimensional sensor measurements. Rather than learning directly from RGB images, lightweight target segmentation provides image-space offsets and relative depth, which are combined with quadrotor velocity and projected-gravity measurements into a compact 12D policy observation. We compare Direct PPO with three matched-budget curriculum strategies: a Visual curriculum that progressively expands target…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09217v1 Announce Type: new Abstract: Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications in inspection, environmental monitoring and disaster response. This paper presents the design, modeling, and experimental validation of a reproducible underwater quadruped robot. The robot is built around custom waterproof motor housings machined from polyoxymethylene plastic, which use off-the-shelf O-rings and dynamic shaft seals. A simplified model is derived to describe the dynamics of this underwater legged system, capturing how drag forces on spherical end effectors transmit torque to the floating base. Building on this model, a c…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09213v1 Announce Type: new Abstract: We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M trainable parameters. Six conditions are trained on three LIBERO-Spatial tasks and evaluated over three seeds and 540 held-out rollouts. Conditioning recurrent decay gates on geometric increments yields 28.9% success, compared with 36.7% when those increments are shuffled during training and 24.4% without explicit object/goal geometry. Both geometry policies receive correct inputs at evaluation. A token adapter using the same increments scores 27.8%; differences vary across seeds and remain inconclusive. Token-clock conditioning scores 11.1%, including one seed that fails to converge. In separate robustness te…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09210v1 Announce Type: new Abstract: Teleoperated demonstrations are often multimodal even when the underlying dynamics are nearly deterministic given the executed action. We argue that this multimodality typically mixes three factors--operator habit in action selection, shared physics, and observation nuisance--and that entangled next-observation predictors absorb all three. We formalize the split with a structural causal model a=g(h,z,u), z'=f(z,a), o=r(z,c), and test it with complementary interventions: replacing or shuffling actions at fixed state sharply increases next-state error, whereas appearance and camera changes should not; habit-aware reverse scoring improves ranking of feasible pasts without rewriting the dynamics. The associated adapta…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09394v1 Announce Type: new Abstract: Recovering metric 3D geometry from monocular images is a fundamental computer vision task, yet current methods remain heavily fragmented by fixed camera model assumptions and inflexible input schemes. We present OmniPoint, a unified framework designed to generalize metric reconstruction across diverse imaging sensors, including pinhole, fisheye, and equirectangular projections, while accommodating varying geometric priors. To overcome projection rigidity, OmniPoint abandons conventional planar depth regression. It instead adopts a decoupled ray and distance representation alongside a decoupled training objective, explicitly separating the camera projection model from the scene structure. To address the severe scar…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09368v1 Announce Type: new Abstract: We present the Living Library, an end-to-end framework for transforming fragmented digital archives into governed, conversational, in-person exhibit experiences. Developed and deployed at the Theodore Roosevelt Presidential Library, the framework comprises four layers: digitization and corpus creation, AI-powered processing, retrieval and reasoning, and an optional embodied conversational interface. The first three layers aggregate a 300,000-record collection, apply OCR and structured metadata enrichment for expert curatorial review, and publish records to a hybrid dense/semantic index. Expert review is conducted through the Archivist App, a curator-facing interface that supports correction of AI-generated transcr…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09359v1 Announce Type: new Abstract: Polarimetric vision is gaining increasing attention because it provides physical cues about scene shape, material, and reflection that are difficult to recover from RGB alone. Recent work has therefore explored predicting polarization directly from conventional RGB images; however, the fidelity of these methods strongly depends on the polarization supervision used for training. Most existing datasets rely on Division-of-Focal-Plane (DoFP) cameras with four spatially interleaved analyzer orientations, which provide limited angular redundancy and introduce interpolation and instantaneous-field-of-view errors. We introduce DensePol, a high-redundancy RGB--polarization dataset based on Division-of-Time (DoT) acquisiti…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09300v1 Announce Type: new Abstract: Video understanding demands a convergence of complementary capabilities across perception, temporal understanding, and complex reasoning, which are difficult to jointly optimize within a single model. We introduce Video-MOPD-8B, an open-weight model dedicated to video understanding tasks. To fundamentally enhance its capabilities, we conduct targeted reinforcement learning (RL) optimization across three core domains: video temporal grounding (VTG), general video comprehension, and video STEM reasoning. We then unify their complementary capabilities via Multi-Teacher On-Policy Distillation (MOPD), which consolidates expert knowledge by supervising student-generated trajectories with routed teacher feedback. We furt…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09206v1 Announce Type: new Abstract: Multimodal Large Language Models (MLLMs) often struggle with hallucinations, thus hindering their reliable practical applications. Existing attention-based mitigation methods mainly rely on indirect signals (e.g., attention weights) that fail to accurately reflect the actual information shift underlying hallucination generation. In this paper, we propose HEAL, Head-lEvel information disentAnglement and caLibration for identifying and mitigating hallucinations. HEAL first employs causal noise intervention on multi-head outputs to filter out causally redundant heads. Subsequently, it disentangles information distribution within the remaining heads via the counterfactual Difference-in-Differences, categorizing heads…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09188v1 Announce Type: new Abstract: Lensless near-eye sensing is often described as privacy-friendly because its coded measurements are visually unintelligible. Yet visual unintelligibility reflects human interpretation, not what a learned adversary can recover. We therefore treat identity privacy as a systems property of disclosure surfaces: representations crossing sensing, storage, computation, and output boundaries. We audit a simulated lensless gaze pipeline under a 36-subject known-gallery closed-set identification protocol with a fixed, known PSF; privacy from an unknown or varying optical key is outside our scope. Reported accuracies are empirical attack success rates under matched linear and MLP probes and do not upper-bound stronger advers…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09187v1 Announce Type: new Abstract: Advertising video generation is not only a video synthesis task, but also a product-conditioned reasoning problem whose success is measured by online business metrics. Recent video foundation models can generate realistic clips from multimodal conditions, yet they do not optimize how a product should be transformed into an effective advertisement or how future generation should be improved from online business feedback. To close this loop, we propose AgenticGen, a reward-guided agentic framework that decomposes advertising video generation into two trainable reasoning stages, strategy selection and draft generation, thereby exposing optimization targets that online business feedback can supervise. AgenticGen learn…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09186v1 Announce Type: new Abstract: Classification models based on resting-state functional magnetic resonance imaging (rs-fMRI) often show lower performance at imaging sites not included during model development, which can limit their use in clinical settings. Domain generalization (DG) addresses this issue by learning representations from source sites that remain effective for unseen target sites. However, existing DG approaches for psychiatric disorder classification commonly rely on a single imaging modality and may not fully account for site-specific acquisition effects on the learned representation space. Subjects scanned at the same site share scanner hardware, acquisition settings, and preprocessing characteristics, which can cause represent…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09185v1 Announce Type: new Abstract: Multi-label chest X-ray classification has attracted considerable attention in recent years, with the effective use of visual representations and clinical semantic knowledge playing an important role. This study proposes a framework that combines unimodal representations from RAD-DINO with vision--language representations from BioViL-T for the classification of 14 labels in the MIMIC-CXR-JPG dataset. The RAD-DINO and BioViL-T embeddings and their combined representation are refined separately in latent space before being normalized and fused across the three branches. In addition to improving classification performance, the study aims to clarify the role of each embedding source and the degree to which they comple…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09184v1 Announce Type: new Abstract: Vision-language model (VLM) confidence may change in aggregate when visual evidence is degraded while remaining structurally inconsistent within individual examples. We study answer-level reliability along five-step, question-conditioned evidence-loss trajectories. Using a frozen Qwen2.5-VL-3B-Instruct model, we construct 176 accepted GQA-derived trajectories (880 masking conditions) by progressively masking scene-graph-localized question-critical regions. Native sequence confidence has an evidence monotonicity violation rate (EMVR) of 0.436, and 92.0% of trajectories contain at least one adjacent violation. A matched non-critical-region control shows that full critical masking reduces accuracy by 28.2 percentage…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09552v1 Announce Type: new Abstract: In this paper, we solve two fundamental obstacles in applying LLMs to critical domains: token efficiency and faithfulness. To address both constraints jointly, we present TEFM (Token-Efficient Faithful Modeling), a framework designed for structured data analysis in critical domains. TEFM achieves token efficiency by compressing lengthy structured observations into compact Behavioral Code tokens, dramatically reducing token consumption with minimal information loss. Moreover, TEFM enables faithful rationalization through a dual-fidelity objective that jointly optimizes code-level reconstruction and prediction-level fidelity, identifying minimal sufficient feature subsets grounded in input data. Comprehensive experi…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09496v1 Announce Type: new Abstract: Algorithmic outputs now populate the digital environments through which contemporary life is organized. The role of law in facilitating and constituting (rather than merely responding to) these processes is gaining increasing traction across scholarly accounts. This inquiry traces the evolution of algorithmic outputs attending to their legal underpinnings and social implications, surfacing the mutations of machine speech. The first mutation redefined speech as data to be queried: search engines transformed the web from a space of information retrieval into an economic regime of algorithmic visibility. The second mutation reframed speech as engagement: social media platforms fused moderation with amplification, tur…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09425v1 Announce Type: new Abstract: Educational data filters have become a practical way to improve language-model pre-training, but most filters treat educational value as a single scalar property. This may be too broad for some applications, especially if the data set already features a high density of educational material. Useful learning material needs to be accurate, engaging, well structured, and appropriate for the intended audience and application (e.g. learner- vs teacher-facing). Following QuRating (Wettig et al. 2024), we introduce Edu-QuRating: a pipeline for multi-dimensional educational data scoring and curation. Edu-QuRating defines education-specific rubrics, uses an LLM judge to label sampled document pairs and distills those pairwi…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09410v1 Announce Type: new Abstract: While autonomous agents have made significant strides in "deep research" by iteratively navigating the open web to synthesize information, real-world problem-solving is rarely confined to a single environment. Complex analytical tasks inherently require agents to weave together evidence from both ambiguous unstructured text (e.g., the open web) and highly precise structured data (e.g., relational databases). However, existing benchmarks evaluate these modalities in isolation, failing to capture the critical "handoff" - the ability to preserve constraints when moving evidence between systems. We introduce HybridDeepResearch, to our knowledge the first deep-research benchmark that requires both web search and SQL to…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09363v1 Announce Type: new Abstract: Large language models (LLMs) are prone to hallucinating or misinterpreting facts, which impairs their usability in retrieval-augmented generation or data-to-text systems. We analyse how faithfulness of LLMs to provided context depends on how plausible they perceive the context to be (context-memory conflict). To better identify error patterns, we make use of the increased difficulty of non-English and low-resource language text generation and input data based on local knowledge, only partially captured in models' parametric knowledge. We let the models generate text in English, Czech, Slovak and Upper Sorbian from factual (FA), counterfactual (CFA) and fictional (FI) RDF triples containing local Czech and Slovak d…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09356v1 Announce Type: new Abstract: At Noora Health, our nurses answer more than 50,000 medical queries per month on our WhatsApp-based service that provides caregivers with on-demand support. Their most time-critical task is emergency triage: deciding which queries need immediate in-person attention. To support them, we built a system that uses a large language model (LLM) to classify whether a message is an emergency and provide a rationale for interpretability. But the system was opaque: analyzing mistakes meant reading reasoning chains for each message, which is infeasible at our scale. Prompt changes meant re-running a full evaluation to prevent regressions, which was both costly and operationally challenging. Clinicians follow a decision tree…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09349v1 Announce Type: new Abstract: Modern LLMs demonstrate impressive multilingual performance, yet standard benchmarks primarily reward selecting correct answers rather than evaluating genuine factual understanding. We introduce Systematic Wikidata-based Object-Relation Distortion (SWORD), a benchmark that evaluates whether models consistently reject factual errors across languages. SWORD generates syntactically well-formed but factually incorrect statements in eight widely spoken languages through controlled perturbations of Wikidata triples, ranging from random entity substitutions to semantically plausible property-based selections. Our distortion-based evaluation surfaces two critical insights that remain entirely obscured by conventional benc…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09338v1 Announce Type: new Abstract: Speculative decoding is critical for accelerating LLM inference. However, the speedup is fragile: drafters are typically trained against a narrow distribution for a single target model, and their acceptance rate collapses under workload shifts. This is a striking inversion of modern LLM development, where target models are valued precisely for the broad generalization they acquire through large-scale pretraining. We argue that the natural remedy, pretraining, has been hard to apply to drafters because existing recipes are target-specific: the drafter consumes the target's hidden states and is distilled on the target's logits, so pretraining must be repeated for each target. We introduce Osprey, which instead boots…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09264v1 Announce Type: new Abstract: Leading benchmarks for formal theorem proving with large language models are small collections drawn from competition math, such as the IMO and Putnam, that poorly represent field-specific applications. We introduce StochBench, a Lean 4 benchmark of 450 graduate stochastic-processes problems at varying abstraction levels, each paired with its natural-language source. Addressing a field underrepresented in Mathlib, it covers finite and countable Markov chains, renewal processes, random walks, martingales, stopping times, queues, Brownian motion, stochastic calculus, weak convergence, and Poisson and continuous-time Markov processes. Our Opus 4.8-based agent achieves a 34.9% proof rate (157/450) under a 15-minute pe…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2609.09166v1 Announce Type: new Abstract: This paper investigates collaborative speculative decoding (CoSD), a distributed large language model (LLM) inference framework in which an on-device small language model (SLM) drafts candidate tokens and a server LLM verifies them. Existing CoSD methods assume a shared vocabulary between the SLM and the LLM and incur substantial communication load because residual resampling requires token distribution exchange between the user device and the edge server. To address these limitations, we propose cross-vocabulary CoSD (X-CoSD), a lossless and communication-efficient CoSD framework for heterogeneous SLM-LLM vocabularies. X-CoSD is built on hybrid resampling (HR), which splits residual resampling across the common-v…