AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05579v1 Announce Type: new Abstract: Large-scale visuomotor policies have demonstrated impressive performance across a wide range of robot manipulation tasks. However, despite this success, manipulation polices often entangle scene geometry with the corresponding viewpoint, learning where objects lie in an image rather than where it lies in the task space. This entanglement inherently limits the corresponding policy's ability to learn from viewpoint-diverse datasets (ex. DROID, BridgeV2) and generalize beyond the viewpoints captured in their training data. In this work, we present ARGUS, an observation pre-processing pipeline that uses large-scale 3D vision models to align image observations from arbitrary camera viewpoints into a canonical viewpoint…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05410v1 Announce Type: new Abstract: Continuum robots often operate in uncertain environments, where accurate state estimation is essential for safe interactions. Estimate uncertainty is inherently spatially non-uniform: confidence varies depending on where measurements are available. Global estimation accuracy is not always the top priority, but rather achieving sufficient confidence at task-relevant locations along the robot. This extended abstract introduces mechanically reconfigurable sensing enabling uncertainty-shaping in state estimation for continuum robots. We present a concept hardware design demonstrating the feasibility of longitudinal translation of a sensor within a continuum robot. We demonstrate that state estimation confidence can be…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05369v1 Announce Type: new Abstract: Vision-language-action (VLA) models often treat main-view and wrist-view observations as parallel visual inputs, overlooking their distinct roles in robot manipulation. Fine-grained manipulation, however, benefits from anticipating how wrist-local interactions may evolve under the global task context. To address this limitation, we present World-to-Wrist VLA (W2-VLA), a VLA model for fine-grained robot manipulation with task-conditioned future wrist modeling. Given current multi-view observations and a task instruction, W2-VLA contextualizes a set of latent modeling tokens as a compact interface between the vision-language model and the wrist predictor. Conditioned on this interface and the observed wrist history,…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05365v1 Announce Type: new Abstract: This paper presents an observation-only autonomy framework for Unmanned Underwater Vehicles (UUVs) navigation in dynamic underwater environments that integrates persistent occupancy mapping, global clearance-aware planning, and risk-aware local control. The proposed pipeline constructs occupancy maps solely from onboard sonar and depth image observations, adapts a clearance-constrained global planner (GP) to provide long-horizon structure, and integrates a reinforcement learning (RL) policy to handle short-range tracking and reactive avoidance. To further support decision-making under partial observability, the system learns a compact latent state representation from onboard sensor data, encoding environmental str…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05313v1 Announce Type: new Abstract: Service robots operate in household environments shared with humans, pets, and everyday objects, where they are highly susceptible to failures such as software crashes, hardware degradation, or unpredictable interactions. While roboticists strive to minimize failures, some remain inevitable, making it critical to mitigate their potential consequences for safe and reliable deployment. This paper introduces a novel safety formulation that evaluates both the probability of impactful interactions between robots and surrounding entities during failures, and the severity of their outcomes. By quantifying the impact of failures on different entities, our approach enables robots to make informed planning decisions that ba…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05221v1 Announce Type: new Abstract: The ongoing digitalization of rail systems and the increasing use of artificial intelligence (AI) are fundamentally transforming the design, operation, and maintenance of rail vehicles. While fully automated operation at Grade of Automation 4 (GoA4) is well established in metro systems, its deployment in mainline rail remains limited. This is primarily due to stringent safety requirements and the complexity of open operational environments. Current perception systems based on cameras, radar, and lidar are effective in detecting objects but provide limited capability for reliably identifying impacts, collisions, and driving-over events. This paper presents a novel approach for real-time vehicle condition monitoring…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05215v1 Announce Type: new Abstract: Learning manipulation skills from human videos is promising for scalable robot learning. However, the embodiment mismatch between humans and robots makes this challenging. One promising solution is to learn object-centric actionable affordances that are embodiment-agnostic. In this work, we propose a framework that leverages egocentric human videos with state-of-the-art 3D Structure-from-Motion and hand mesh reconstruction to extract actionable affordances such as visual, grasp, and trajectory affordances that explicitly encode where to interact, how to grasp, and how to move. We construct EgoAffordance, a large-scale dataset comprising 204K episodes with 5.6M visual affordances and 11.6M grasp and trajectory affo…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05356v1 Announce Type: new Abstract: High-definition 3D LiDAR maps are important for autonomous driving and smart-city services, which require reliable detection of object-level changes in multi-temporal urban LiDAR to keep digital maps aligned with the physical world. Existing approaches from raster height differencing to depth image and point-cloud networks often remain tile-based and threshold-driven, yielding per-point scores without explicit detection limits or consistent object-level labels. We propose an object-level 3D change-detection pipeline that integrates detection-limit-aware registration, geometry-driven object proxies with rule-based semantic and instance segmentation, and displacement cues in height, volume, and surface-normal direct…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05341v1 Announce Type: new Abstract: Vision-Language Models (VLMs) for radiology report generation are typically trained on retrospective clinical reports, which suffer from omission noise: clinically present findings are left unreported due to the omission of subtle findings. For example, prior studies show that cardiomegaly may be omitted from ICU chest X-ray reports when the imaging request is focused on monitoring support device placement. As a result, models trained with standard approaches inherit these omissions, learning to under-report findings themselves. We propose PU-DPO, a preference optimization framework to prevent omission noise from corrupting the preference signal. We reformulate the objective under a positive-unlabeled (PU) learnin…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05333v1 Announce Type: new Abstract: In-context learning (ICL) adapts medical image segmentation models to unseen structures and modalities without retraining by conditioning on a task-specific support set of image-mask exemplars. Because this support set is the model's only task-specific signal, its composition directly influences segmentation performance. In this work, we investigate the support set as a controllable determinant of ICL reliability. First, we compare random sampling against similarity-based selection, where exemplars are retrieved based on their visual similarity to the query image. Second, we train a transformer-based classifier to predict, from the query and support images alone, whether a segmentation will fall below a specified…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05260v1 Announce Type: new Abstract: Contrastive vision-language models such as CLIP and BLIP are typically trained on short image captions, limiting their ability to retrieve images from detailed textual descriptions. While methods such as Long-CLIP extend the token limit through positional embedding interpolation, we ask a simpler question: does training text granularity alone determine long-text retrieval performance? We present a systematic study of supervision ranging from single captions to multi-sentence paragraphs for contrastive image-text retrieval. Using a synthetic pipeline based on Qwen2-VL and Llama 3.2 Vision, we generate diverse captions, hard negatives, and quality-scored paragraphs for 500K CC3M images. To isolate the effect of text…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05258v1 Announce Type: new Abstract: Gradient-weighted Class Activation Mapping (Grad-CAM) is widely used to visualize model decisions, but it was originally formulated for convolutional neural networks, where spatial feature maps and channel dimensions have clear architectural meanings. Vision Transformers (ViTs) do not provide the same structure, instead representing images through tokens, attention, residual streams, and multimodal interactions. This paper presents a systematic taxonomy and literature audit of how Grad-CAM and related methods are adapted, justified, and reported for ViT-based architectures. From an initial search of more than 550 papers, we identify 175 papers that apply Grad-CAM or Grad-CAM-adjacent methods to ViTs. We find that…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05237v1 Announce Type: new Abstract: Current few-step autoregressive video diffusion models depend on previous fully denoised clean frames as context for all denoising steps of the current frame. However, these clean frames leak excessive local details, which causes the model to take shortcuts, resulting in compromised temporal semantics and dynamics. Inspired by the perspective of diffusion as masking, we explore the impact of noisy contexts on few-step autoregressive generation. Yet, simply applying contexts with the same noise levels provides insufficient guidance, leading to poor temporal consistency. To resolve this dilemma, we introduce In-Context Forcing, a progressive autoregressive paradigm that utilizes contexts with decreasing noise levels…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05226v1 Announce Type: new Abstract: Neuron counting and segmentation in microscopy images of neuronal cultures is a routine and time-consuming task in neuroscience research, traditionally performed through manual inspection or semi-automatic tools. We present NeuroAdaptTrainer, an open-source Fiji/ImageJ plugin that integrates a YOLO instance-segmentation model directly into the microscopist's workflow. The plugin allows a user to run automatic neuron detection on a single image or a batch of images, manually correct the resulting detections from within Fiji, and use those corrections to adapt the model to new imaging conditions via transfer learning. A built-in external validation module allows the base and adapted models to be compared quantitativ…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05213v1 Announce Type: new Abstract: The style of a painting is not monolithic: color, texture, and structure may come from different sources. Existing reference-guided methods transfer them as one style signal, leaving each attribute's source and strength outside the user's control. We ask where in a diffusion model one attribute can change while the others hold, and find that no single representation isolates all three. The proposed StyleComposer therefore routes each style attribute through the representation where it separates best and coordinates the routes over denoising time. Without training or inversion, it satisfies three references and the prompt jointly more closely than prior methods, and exposes one strength slider per attribute. Projec…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05210v1 Announce Type: new Abstract: Picture books and comics have long been used to disseminate hateful narratives because they are easily understood even by children, as exemplified by the notorious Nazi propaganda picture book \emph{Der Giftpilz}. Recently, frontier text-to-image (T2I) systems such as Gemini and GPT-Image have enabled conversational generation with consistent characters and scenes across turns, making hateful visual stories, namely ordered image groups that collectively convey hateful narratives, cheap and scalable to produce. Although prior work has studied hateful content generation by T2I systems, it focuses on individual images, leaving group-level hateful meaning largely unexplored. We aim to address the gap. Concretely, we 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:2608.05209v1 Announce Type: new Abstract: Constructing reliable online HD maps remains challenging in dynamic urban environments due to moving objects and occlusions. While recent works employ feature-level temporal fusion to address this, they rely solely on per-frame ground truth supervision. Consequently, they lack an explicit objective to directly penalize the geometric noise and temporal jitter between consecutive online HD maps. To address this, we propose MapTCL, an auxiliary training strategy that formulates temporal consistency loss between current and past frames via bidirectional alignment. Specifically, Bidirectional Vector Consistency Learning (BVCL) models the geometric and semantic discrepancies between associated past and current vector 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:2608.05162v1 Announce Type: new Abstract: Pooling is a consequential but under-examined design choice in decoder-only concept representation work: practitioners must collapse token-level hidden states into a passage-level vector, yet no shared protocol exists for comparing this choice across concepts, models, and tasks. Reported gains are confounded by simultaneous changes in dataset, layer, construction method, and pooling rule, making principled decisions impossible. We introduce PoolBench, a benchmark that isolates pooling as the experimental variable under a fixed evaluation protocol. PoolBench covers 17 concepts, 19 pooling strategies, and 3 open-weight decoder-only models (Llama-3.1-8B, Gemma-2-9B, Mistral-7B), evaluated on a single audited corpus 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:2608.05161v1 Announce Type: new Abstract: Instruction-tuned LLMs are deployed into environments where domains evolve, yet extending a fine-tuned model's capabilities without full retraining remains an unsolved practical challenge. We present SemiAdapt-Instruct, a modular framework that discovers latent instruction domains, trains per-domain LoRA adapters in parallel, and performs parameter-free routing, incorporating new domains via single-adapter training without modifying existing components. SemiAdapt-Instruct outperforms full model fine-tuning across all configurations on both ROUGE-L and LLM-as-a-judge evaluation, while matching single LoRA fine-tuning and delivering extensibility that monolithic approaches cannot provide. We empirically demonstrate…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05158v1 Announce Type: new Abstract: In biological evolution, unconstrained mutation can lead to catastrophic outcomes: organisms may evolve enhanced capabilities while losing essential functions for survival. Nature's solution is \textit{developmental constraints}, where core regulatory genes remain anchored while peripheral genes adapt freely. We observe that current self-evolution algorithms for large language models lack analogous constraints. They optimize purely for capability, implicitly assuming safety will be preserved. Our experiments reveal this assumption to be dangerously wrong: models can \textit{misevolve} into powerful yet dangerous entities. Inspired by how Hox genes anchor body structure across $500$ million years of evolution, we p…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05157v1 Announce Type: new Abstract: Double blind peer review serves as the scientific community primary defense against status and affiliation bias. Its effectiveness rests on the assumption that anonymized manuscripts convey scientific merit without revealing their authors. While authorship can often be recovered using citation networks or stylistic markers, we show that this assumption is increasingly fragile in the presence of large language models (LLMs). Using only titles and abstracts from papers published after model training, we find that LLMs collapse anonymity more efficiently than humans, with belief concentrating onto a small subset of plausible authors drawn from pools of five domain expert candidates. This vulnerability persists even 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:2608.05156v1 Announce Type: new Abstract: Post-training of large language models optimizes only parameters, while inference-time procedural scaffolds are typically designed independently of parameter training. This disconnect makes it difficult to automatically acquire and internalize complex strategies. We propose scaffold-mediated post-training: procedural scaffolds are organized into an evolvable graph structure that co-evolves with model parameters through discovery, distillation, and dynamic recompilation. We instantiate this paradigm as Skill Training. On FeatureBench, automatically discovered skills improve the passed rate by 8.1pp, and after progressive distillation the model still achieves a 27.7% passed rate without any external scaffold (distil…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05155v1 Announce Type: new Abstract: Traditional sentiment analysis (SA) models, while effective for polarity classification, provide limited insight into the rhetorical, ideological, and framing dimensions of political discourse -- dimensions that are central to research in the social sciences and humanities (SSH). In this paper, we present a comparative study of RoBERTa-based sentiment analysis and an LLM-based multi-dimensional framing analysis platform applied to a corpus of 50 political news articles from 17 international media outlets. The results reveal a critical limitation we term neutral collapse: RoBERTa classifies 70% of articles as neutral, effectively flattening substantively rich political content into an analytically uninformative cat…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05154v1 Announce Type: new Abstract: Rotary positional encoding (RoPE) is a core component of modern language models and has been extended to multimodal LLMs through multidimensional variants such as multimodal RoPE (M-RoPE), which split positional channels into temporal, height, and width subspaces. This report identifies two limitations of static multidimensional position assignment in interleaved multimodal contexts. First, height/width rotations may be applied to token pairs whose spatial displacement is not a well-defined geometric object, producing cross-modal and inter-instance spatial interference. Second, temporal coordinates are often treated as equal-step counters, so a text token, an image block, and a video segment can advance the tempor…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05153v1 Announce Type: new Abstract: GraphRAG underperforms vector RAG on citation precision in many reports, but where and why have remained corpus-bound. We present a triple-robustness analysis that holds the retrieval architecture fixed and varies three orthogonal axes embedder (local e5-small -> Azure text-embedding-3-small), corpus (DO-178C typed-edge requirements -> Wikipedia paragraph chains via MuSiQue), and judge (paired GPT-5.4 x GPT-4.1) across 4,440 main-matrix runs, 600 cross-corpus runs, and 1,200 paired faithfulness judgments. (C2a) Over-citation is architecturally universal: GraphRAG emits 11-15 IDs per answer at citation precision 0.12-0.23 and retrieval recall 0.68-0.87 across all three settings. (C2b) Its faithfulness consequence 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:2608.05152v1 Announce Type: new Abstract: Large language models (LLMs) with chain-of-thought reasoning have been widely applied in recent years, and theoretical explanations of their behavior may help deepen our understanding and guide model optimization. In this study, we introduce a framework that seeks statistical regularities and theoretical interpretations in LLM reasoning without simplifying the model architecture or making analogies to existing physical systems. We formulate LLM reasoning as a guided discovery process on a clue graph, and derive a one-dimensional ordinary differential equation for the fraction of discovered clues using the mean-field approximation. Experimentally, clue tokens are identified using the normalized surprisal of a stude…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05151v1 Announce Type: new Abstract: Wastewater operators need answers grounded in how their plant's variables interact and how fast effects propagate, not in generic pretraining text, when asking causal questions such as "why is N2O rising?" or "what happens if I cut aeration by 20%?". We compare three concrete ways to ground a frozen Qwen2.5-32B-Instruct model in an architecturally interpretable wastewater simulator (CCSS-IX): a live simulator oracle (Method 1), structured parameter injection (Method 2), and a Decoupled Recall-Reasoning (DRR) retriever (Method 3). On a 198-question causal benchmark the three reach 99.5%, 79%, and 75.8%, forming a deployment ladder above the strongest retrieval-augmented baseline at 48%. The DRR retriever has 110M p…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05255v1 Announce Type: new Abstract: Retail investors lack access to the kind of personalized, tax-aware portfolio management that institutional clients take for granted -- existing robo-advisors use static, rule-based allocation, and institutional-grade systems require account minimums and technology stacks unavailable to individual investors. We present a fully built, integration-tested application that closes this gap: a FastAPI backend and web dashboard that let a user describe an investment goal in plain language (e.g. "I want steady growth but need to sell some shares next month for a down payment"), routes that goal to one of six investment mandates, and produces a live, broker-integrated portfolio recommendation from athree-phase reinforcemen…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05253v1 Announce Type: new Abstract: Quantized orthogonal fine-tuning (qoft) enables parameter-efficient adaptation of low-bit language models by learning structured activation rotations before frozen quantized weights. However, its task-specific updates remain constrained to linear orthogonal transformations, limiting input-dependent nonlinear corrections. We introduce AuroOFT, which keeps qoft as a stable quantization-compatible branch while attaching a zero-start gated low-rank nonlinear residual to each adapted linear layer. AuroOFT maps activations into an RMS-normalized compact latent space and uses adaptive nonlinear bases with bounded or token-dependent gating. The zero-initialized up projection makes AuroOFT functionally identical to qoft at…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.05250v1 Announce Type: new Abstract: Multi-task supervised fine-tuning (SFT) often casts a heterogeneous data mixture as a single optimization problem, even though different tasks may reach their best generalization at different times. msft exposes this mismatch through task-wise roll-out, exclusion, and rollback, but its original formulation materializes the scheduler state as full-model checkpoints, making stage transitions costly to store, restore, and deploy. This paper introduces AuroSFT, a parameter-efficient framework that recasts the carried state of overfitting-aware multi-task SFT as a compact, mergeable adapter state. AuroSFT freezes the pretrained backbone, trains only injected adapters, rolls back adapter checkpoints at task-wise peaks,…