AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19443v1 Announce Type: new Abstract: Thanks to its parallelizability and flexibility, sampling-based Model Predictive Control (MPC) has become widely popular for controlling real-world robotic systems. However, for high-dimensional and open-loop unstable dynamical systems, the required number of samples to improve the control sequence will grow exponentially with the horizon, leading to poor sample efficiency and numerical instability. This paper investigates the instability of shooting methods in sampling-based MPC and shows that the optimal sampling proposal distribution can be realized by sampling with an optimized feedback policy. We refer to this algorithm as Feedback Sampling MPC (FS-MPC). FS-MPC involves a hybrid sampling design which balances…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19425v1 Announce Type: new Abstract: Reliable performance evaluation is a central bottleneck for deploying robot-learning policies in real-world conditions. Real-world testing is faithful but costly and difficult to scale, whereas simulation-based testing scales easily but is inevitably biased by the sim-to-real gap. Existing simulation-augmented methods combine limited real-world rollouts with abundant simulation proxies, but focus on performance averaged over initial conditions and deployment settings. Such population-level averages obscure scenario-specific variation and provide limited guidance about when and where a policy can be safely deployed. We propose SCAPE, a scenario-conditioned simulation-augmented policy evaluation framework that predi…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19375v1 Announce Type: new Abstract: High-fidelity embodied AI simulators provide realistic evaluation of complex robotic systems, but their computational cost limits their direct use for large-scale reinforcement learning campaigns. We advocate the use of less accurate but more expeditious simulations, which might draw on data-driven, e.g., neural dynamics, models. This contribution argues that the practical value of a neural dynamics model for complex robot control lies in learning the \emph{right abstraction}: a reduced state that preserves the control-relevant physics of the high-fidelity system while enabling high-throughput policy learning. We develop a neural reduced dynamics (NRD) framework that separates the state the model propagates from w…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19372v1 Announce Type: new Abstract: A fundamental challenge in robotic teleoperation is enabling an operator to control a remote robot as effortlessly and intuitively as their own hands. Despite the growing use of teleoperation to collect demonstration data for training autonomous robot policies, teleoperated robot performance still falls significantly short of human dexterity, even for basic tasks. Here, we present evidence that a key factor contributing to this performance gap is the absence of spatially distributed tactile feedback. Using a two-degree-of-freedom (DoF) bilateral force-feedback telemanipulator paired with a 32-DoF tactile fingertip display, we show that operator performance improves significantly when localized deformations on the…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19281v1 Announce Type: new Abstract: Programming robots remains challenging for non-experts, as traditional methods require expert knowledge and even block-based interfaces often lack flexibility. Recent work has explored Large Language Models (LLMs) to automatically generate robot programs from natural language, but these systems remain limited by a lack of transparency, missing mechanisms to ensure alignment with user intent, and little support for reuse. We present APPROVE (AI-Powered Programming for Robots with Visual End-User Feedback), an LLM-based multi-modal end-user programming framework that integrates natural language input with a block-based interface and an explicit user confirmation step. Generated programs are visualized using a block-…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19553v1 Announce Type: new Abstract: Vision--language models can identify the correct referent while returning an imprecise bounding box. We study whether a frozen direct-answer model can use its own prediction to allocate one additional localized observation without accessing target annotations at inference. Label-free precision refinement (LFPR) routes predicted-small regions to a higher-resolution pass, re-grounds the expression inside a context crop, admits a candidate only under fixed geometric guards, and returns a fixed coordinate-wise midpoint. We report results across three evidence tiers. On 31,921 retrospective Ref-L4 expressions, LFPR raises mAcc$_{0.5:0.95}$ from 72.947\% to 76.013\% ([email protected] 88.531\%$\to$89.725\%, [email protected] 55.788\%$\to$6…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19536v1 Announce Type: new Abstract: Learning-based global point cloud registration has achieved remarkable progress, yet its reliance on geometric representations makes existing methods sensitive to variations in point density, scan pattern, viewpoint, and sensor characteristics. We propose CVSD-Reg, a robust global LiDAR registration framework that distills visual semantic priors from a vision foundation model into LiDAR representations. In Stage 1, a Point Transformer V3 student learns from a frozen DINOv2 teacher through contrastive distillation and spherical-manifold alignment, which preserves the hyperspherical geometry of the teacher embedding space. Self-supervised InfoNCE consistency and soft $\mathrm{SE}(3)$ invariance further encourage vie…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19504v1 Announce Type: new Abstract: We propose a conditioning mechanism for diffusion models based on multi-speed joint diffusion of the target and the condition. The mechanism learns an unconditional joint score network and enforces conditioning at inference via a plug-in correction term. The plug-in term separates the conditioning contribution from the learned unconditional dynamics, offering a transparent view of how the condition steers generation of the target distribution. Building on this, we derive explicit conditional reverse-time SDEs and approximate probability-flow ODEs, enabling principled and directly comparable conditional samplers. To reduce the induced ODE--SDE discrepancy, we introduce a log-Fokker--Planck residual regularization t…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19480v1 Announce Type: new Abstract: Human pose estimation has advanced significantly due to the development of deep learning models, increased data availability, and improved computing resources. These developments have led to highly accurate body tracking systems with direct applications in sports analysis and performance evaluation. The VideoRun2D Demo performs a biomechanical analysis during sprints using different human pose estimators. The proposed framework was evaluated using human pose trackers and expert manual annotations. The tested framework uses 314 sprints from 44 professional runners, focusing on two key joint angles in sprint biomechanics: 1) hip flexion/extension and 2) knee flexion/extension. The framework also includes a post-proc…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19407v1 Announce Type: new Abstract: Deep Learning models can include billions of parameters or more, making it difficult to explain their internal transformations and outputs. However, explainability is increasing in importance due to the use of AI in crucial applications. This paper focuses on the interpretability of convolutional neural networks (CNNs). Building on the popular gradient based method LayerCAM for extracting internal features in CNNs, we propose an improved method named HiRA-CAM, and show that it outperforms both LayerCAM and Grad-CAM on creating useful saliency maps for object classification. The main feature of HiRA-CAM is its adaptive use of activation maps from all the layers of the CNN to arrive at a more focused saliency map.

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19385v1 Announce Type: new Abstract: Historical Arabic manuscript transcription is not only a recognition problem. A usable scholarly system must cope with shifting hands and layouts, preserve uncertain readings, distinguish visual evidence from linguistic plausibility, and record the researcher's final decision. We present Phoenix, a 4.99-million-parameter CNN-BiLSTM-CTC recognizer, and Athar, an evidence-aware review workflow built around it. Phoenix is adapted across archival, Maghrebi, and historical manuscript domains using document-aware replay, an expanded 81-symbol codec, and forgetting guards that reject checkpoints that improve a new domain at unacceptable cost to previous domains. In a pre-specified held-out comparison against the precedin…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19380v1 Announce Type: new Abstract: While modern autonomous driving systems excel at perception tasks such as object detection and trajectory prediction, they lack the high-level causal reasoning required to interpret traffic accidents. In particular, determining responsibility, such as identifying who is at fault and which traffic rule was violated, remains largely unexplored in current benchmarks. To this end, we introduce CAViAR (Causal Accident Video and Incident Analysis Repository), a human-annotated dashcam benchmark comprising 2,249 real-world accident videos collected from CarCrashDataset (CCD) and Nexar. Each video is annotated with structured labels spanning environmental conditions, accident type, causal explanation, apparent At-Fault Ag…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19376v1 Announce Type: new Abstract: Split-conformal prediction provides marginal coverage under exchangeability and is increasingly used as an abstention layer for zero-shot vision-language models (VLMs). We audit this practice under deployment shift for CLIP, OpenCLIP, and SigLIP across ImageNet and non-ImageNet settings. Marginal coverage can remain relatively high while class-conditional tail coverage collapses: on ImageNet-Sketch, worst-class coverage falls to $\approx 0$ and 10-12% of classes lie below a finite-sample null floor, despite marginal coverage of about 0.86. The failure is aligned with target-domain class accuracy but is not predicted by the source-domain diagnostics we test. Source-side Mondrian calibration improves the in-distribu…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19298v1 Announce Type: new Abstract: Map matching is a key technology connecting positioning data with high precision road networks, but it faces challenges in noise robustness, cross regional transfer, and interpretability. To addr ess the limitations of existing methods in local global fusion, dynamic road network adaptation, and reliance on black box mod els, this paper proposes SceneGTMM, a transferable GNN Transformer dual graph interaction map matching framework based on a conformal mapping based scene relative strategy. 1) Conformal mapping based scene relative strategy: constructs trajectory centric local coordinate systems to reduce dependence on the training road network, supporting cross regional transfer and dynamic road network updates;…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19285v1 Announce Type: new Abstract: Recent Visual-Language Models (VLMs) have enhanced the capabilities of pre-trained LLMs by adding vision tokens alongside text, with approaches like LLaVA showing impressive results. However, the computational burden of processing up to 576 or 729 visual tokens makes edge deployment challenging. While various token pruning techniques require retraining, some are training-free and thus can easily adapt to architecture changes. We introduce ClustRS, a two-part, training-free algorithm for robust token pruning. Its first component is an attention-weighted, clustering algorithm that selects representative tokens from each semantic cluster. The second component, Residual Shrinkage, is a one-pass denoising step on the s…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19218v1 Announce Type: new Abstract: Large language models (LLMs) and agentic AI systems are increasingly being explored for domain-specific maintenance and prognostics tasks, raising the question of whether they can effectively support prognostics and health management (PHM). In this paper, we investigate remaining useful life (RUL) estimation with multimodal large language models (MLLMs) grounded through time-series retrieval. We propose a framework in which historically similar degradation segments are retrieved from the training set and, together with the test trajectory, transformed into a visual comparison artifact that is processed by the MLLM through a structured multimodal prompt. The approach is evaluated on the FD001 partition of the C-MAP…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19212v1 Announce Type: new Abstract: Out-of-context (OOC) misinformation pairs authentic images with misleading captions to construct false narratives without image manipulation, making detection a problem of multimodal alignment rather than image forensics. Despite the prevalence and consequences of OOC misinformation in Nepal, no public benchmark exists for Nepali. We introduce NepOOC, the first publicly available Nepali-dominant multilingual OOC benchmark, comprising 1,090 image-caption pairs (545 pristine, 545 OOC) annotated across five typologies (fabricated, miscaptioned, temporal mismatch, geographic mismatch, identity mismatch) with inter-annotator agreement kappa = 0.84. Systematic evaluation of five multimodal architectures alongside text-o…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19211v1 Announce Type: new Abstract: Human speech is richly expressive, with prosody carrying linguistic and emotional information beyond the lexical content. A capable large audio-language model (audio-LLM) should therefore support expressive speech understanding, not only transcribing what was said but also interpreting how it was said. Yet behavioral evaluations alone cannot reveal why a model fails on prosodic input. An error may reflect loss of acoustic information, incorrect internal interpretation, or failure to use a representation that is already available inside the model. We introduce a stage-specific probe ladder for localizing these failure modes in audio-LLMs. Across four understanding-only audio-LLMs, prosodic information is usually pr…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19208v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) are frequently exposed to auxiliary textual context, the impact of which on visually grounded tasks remains underexplored. In this paper, we investigate the influence of task-irrelevant context by formulating it as a controlled intervention within a binary visual judgment framework. By maintaining an invariant prompt structure while varying auxiliary inputs, we observe that irrelevant text consistently biases model predictions across diverse benchmarks. To move beyond performance metrics, we characterize this sensitivity through a decision margin defined by the log-probability difference between binary candidates. Our analysis reveals a robust geometric regularity: contextc…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19207v1 Announce Type: new Abstract: Production deployments of Multimodal Large Language Models (MLLMs) increasingly rely on system messages to govern model behavior. Yet existing benchmarks either evaluate constraints in text only or embed them into the user turn, leaving system-message adherence in multimodal contexts largely unmeasured; they also leave open whether compliance comes at the cost of foundational vision-language capabilities. We introduce VSysBench, a benchmark built on MMVet-v2 that organizes constraints into 5 main categories and 22 sub-categories, ranging from textual directives in visual contexts to fully vision-grounded ones, each paired with a misaligned counterpart that stress-tests the instructional hierarchy. VSysBench scores…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19206v1 Announce Type: new Abstract: Contemporary Large Language Models (LLMs) are increasingly aligned to suppress hallucinations, prioritizing factual retrieval over combinatorial creativity. While crucial for mitigating misinformation, this alignment may also restrict speculative Research and Development (R&D) by encouraging what this work operationally treats as semantic overfitting and diversity collapse. In this paper, we propose a Rust-based multi-agent orchestration that uses the contrast between narrative daydreaming and executive control as a functional analogy, not as a neurocognitive claim. The system instigates an Epistemological Friction loop between a high-entropy generating agent and a web-grounded evaluating agent, mediated by a low-…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19203v1 Announce Type: new Abstract: Standard multi-head attention (MHA) gives every head the same full causal context span, although heads can serve different contextual roles. Some heads may rely mainly on nearby lexical or syntactic context, while others may depend on longer-range relations such as entity interactions, discourse links, or state changes. We present Asymmetric Attention Heads (AAH), a head-wise context- allocation framework that treats context length as an explicit per-head or per-group allocation variable. AAH groups heads using feature-derived statistics, organizes these groups hierarchically, and assigns causal local windows while preserving the standard flat MHA output interface. In 4096- token seed-0 experiments, several AAH-st…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19201v1 Announce Type: new Abstract: Bioinformatics software and databases are essential components of modern life science research, yet their mentions in the scientific literature are often inconsistent and difficult to systematically identify at scale. The lack of a comprehensive and up-to-date catalog of bioinformatics resources hinders efforts toward automated biomedical knowledge extraction and streamlined data analysis. Here we present SNAIL, a hybrid named entity recognition framework designed to automatically identify bioinformatics software and database (SW/DB) names from biomedical texts. SNAIL integrates complementary lexical and semantic modeling strategies. The lexical component captures orthographic patterns and contextual cues characte…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19200v1 Announce Type: new Abstract: Text summarization refers to the task of condensing a document into a shorter version while preserving its key information. Automatic text summarization (ATS), driven by advancements in natural language processing (NLP), has developed rapidly in recent years. ATS methods are commonly categorized by input type (such as single-document or multi-document summarization) and by output type (extractive, abstractive, and hybrid). This article presents a focused review of modern summarization techniques with an emphasis on transformer based models and large language models (LLMs), specifically BERT, RoBERTa and BART. It examines their architectures, pretraining strategies, and their suitability for extractive and abstract…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19199v1 Announce Type: new Abstract: We describe the evolution of a virtual assistant, called ATHENA, designed to support the capture, retrieval, and dissemination of knowledge for members of a Community of Practice (CoP) related to the Oil and Gas sector. An evaluation of a first prototype involving 75 professionals from the Society of Petroleum Engineering (SPE) showed that ATHENA dramatically improved both their productivity and performance equality on a set of realistic well-planning tasks compare to their use of a state-of-the-art RAG baseline system. However, the evaluation also identified areas for improvement. This paper describes technical advances to our first prototype in the areas of multi-document retrieval, support for answer validation…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19463v1 Announce Type: new Abstract: Anomaly detection in tabular data is challenging because abnormal samples often arise as violations of cross-feature dependencies rather than simple marginal deviations. Existing detectors rely on geometric or reconstruction signals, while prior LLM-based approaches mainly fine-tune LLMs with normal samples or generate synthetic anomalies. We propose LLM-Detector, a framework that utilizes the in-context learning capacity of LLMs for structured, prompt-conditioned scoring synthesis, enabling LLMs to derive anomaly detection logic from structured normal-state knowledge. Specifically, normal training data are converted into statistical summaries, causal dependencies, and distilled prototypes that are organized into…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19447v1 Announce Type: new Abstract: Shocks that spread through the web, such as cybersecurity breach disclosures, can abruptly disrupt financial time series and cause substantial abnormal losses. While these events are disclosed as discrete records through news reports, regulatory filings, or public databases, their consequences unfold through continuous market dynamics. This creates an event-conditioned impact prediction problem: given pre-event market history and limited event metadata, the goal is to estimate short-term post-disclosure abnormal loss rather than reconstruct the full post-event trajectory. However, most time-series forecasting models focus on endogenous regularities such as trend, seasonality, and autocorrelation, and thus struggle…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19436v1 Announce Type: new Abstract: Alzheimer's disease (AD) progresses as a continuous biological process, whereas most existing neuroimaging-based artificial intelligence methods remain limited to discrete diagnosis or clinical score prediction from cross-sectional imaging. In this work, we propose Disease Continuum Positioning (DCP), a longitudinal Bayesian Learning framework that continuously estimates disease severity from longitudinal diffusion tensor imaging (DTI). Specifically, DCP models disease severity as a low-dimensional probabilistic latent variable by jointly integrating longitudinal observations with weak clinical supervision, from which the proposed Disease Continuum Score (DCS) is derived to quantify an individual's position along…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19351v1 Announce Type: new Abstract: Robustness verification of neural networks is increasingly important, due to their use in many critical domains. In certain scenarios, proof sharing has been shown to accelerate incomplete verification techniques by reusing intermediate-layer abstract states, or templates, across queries. However, questions remain as to the robustness of template-based acceleration across varying network architectures, properties, datasets, and training methods. In this work, we perform a systematic study of the effectiveness of template-based acceleration and its limits. Our study shows that template subsumption rates can vary widely across scenarios. We present a novel metric of jointly stable neurons to explain this variation,…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.19338v1 Announce Type: new Abstract: Mechanistic interpretability seeks quantities that models do not expose directly: represented states, component effects, interactions, and responses to interventions. Patching, gradients, Hessian-vector products, and subset interventions provide different measurements under different access assumptions and may target different quantities. We formulate their shared measurement structure as mechanistic tomography: designed measurement for recovering internal mechanisms and intervention effects. For a chosen basis and intervention family, measurements take the form y = Ax + w, where A describes the interventions, x is the target map, and w contains nonlinear response, sampling error, and basis misspecification. This…