AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00322v1 Announce Type: new Abstract: A robot that has to see and react on a fixed clock runs into two problems at once. Its cameras degrade in rain, mud, fog, and darkness. And the single onboard processor it runs on is shared with planning and control, so the compute left over for perception moves around from second to second. Most systems model the two separately. We present a perception router that tracks probabilistic estimates of sensor-fault state and compute- contention state, couples them with a noisy-OR term, and uses the coupled estimate to pick one of four detector configurations (YOLO11x/n at 1280 or 640 px) so that the frame finishes before its deadline. Where the two stressors co-occur, the coupled policy cuts the deadline-miss rate by…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00315v1 Announce Type: new Abstract: Robot policies are becoming increasingly general, with vision-language-action (VLA) models enabling a single policy to execute diverse tasks specified in natural language. Safe deployment, however, requires adapting not only to new tasks but also to varying safety requirements across users, environments, and applications. Existing safety filters remain largely constraint-specific and thus must be redesigned or relearned when safety requirements change. In this paper, we investigate language-conditioned safety filtering, in which a Hamilton-Jacobi safety actor and critic are conditioned on language-specified constraints. We evaluate this formulation across pick-and-place, table-wiping, and block-stacking tasks in 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:2608.00284v1 Announce Type: new Abstract: This paper presents an applied case study on hybrid visual attention estimation for human-robot interaction using an expressive robotic head based on the InMoov ecosystem. The proposed pipeline combines a fast geometric perception layer with an independent semantic perception layer based on a vision-language model. The geometric layer provides high-frequency face and head-pose information for temporal regulation, while the semantic layer receives only raw egocentric camera frames and produces contextual attention labels related to attention toward the robot, phone use, or attention elsewhere. These signals are integrated through a finite state machine that regulates adaptive interaction behavior, including activat…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00272v1 Announce Type: new Abstract: This paper proposes a localization framework that uses spatiotemporal fields governed by partial differential equations (PDEs) as localization signatures. Two PDE classes are considered: the shallow water equations, which describe free-surface flows in coastal and riverine environments, and the advection-diffusion equation, which models the transport and mixing of scalar quantities such as temperature, salinity, and dissolved oxygen. A numerical PDE solver provides predicted fields over the domain, and multiple field channels are fused as multimodal measurements to improve localization accuracy. We formulate the problem within a Rao-Blackwellized particle filter (RBPF) that partitions the vehicle state into a nonl…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00263v1 Announce Type: new Abstract: Contact planning in robotics requires models that are both computationally efficient and physically accurate. Sphere-based robot representations satisfy the first requirement by enabling fast collision checking and differentiable geometry, but sacrifice physical accuracy by relying on point contact which cannot capture contact patch area, pressure distributions, rotational stiffness, or frictional moments. We introduce Compliant Sphere Lattice Contact (CSLC), a distributed contact model that operates natively on sphere representations by modeling the robot interface as a compliant lattice of surface spheres connected through anchor and lateral springs. When pressed against an object, the lattice deforms to produce…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00208v1 Announce Type: new Abstract: This paper addresses how to enable a humanoid robot to learn motion policies based on developmental principles and combine policies to create more sophisticated and useful behaviors. Specifically, we present an approach to (1) learning a whole-body reaching and grasping policy and (2) combining it and a standing-up and walking policy to compose a more complex policy of manipulation and locomotion: grasping, standing up, and walking. In (1), our method draws inspiration from harmonic analysis and adopts cubic harmonics as weights to represent the hand-object spatial relationship via spatial convolution. Utilizing an intra-episode finger joint decoupling curriculum based on developmental principles, a robot can auto…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00206v1 Announce Type: new Abstract: Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. This paper presents a motion planning framework that generates dynamically feasible and collision-free trajectories for autonomously opening and traversing both push and pull doors. The proposed method formulates the robot and door as a coupled dynamical system within a nonlinear Model Predictive Control (MPC) optimization framework. Manipulation feasibility is enforced through a penalty-based constraint, avoiding explicit arm kinematic modeling in the planner. Simulations and a hardware experiment demonstrate that the approach successful…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00113v1 Announce Type: new Abstract: In Formula 1, drivers optimize racing lines within tire grip limits to minimize lap times; however, in rally racing, drivers intentionally break traction to drift on loose surfaces. This maneuver rapidly aligns the vehicle for corner exits, ultimately reducing lap time. Autonomously executing such maneuvers formulates a complex dual-objective control problem: stabilizing highly nonlinear drift dynamics while strictly minimizing lap time. Addressing this challenge motivates the development of advanced Minimum-Lap-Time (MLT) drift control architectures. This paper proposes a planning-control framework specifically designed for MLT drifting scenario. First, we formulate an optimal control problem to generate a MLT dr…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00076v1 Announce Type: new Abstract: Multimodal large language models (MLLMs) increasingly support high-stakes decision making by combining complementary information from images and text. While existing explainability methods identify influential image regions or text tokens, they cannot answer a fundamental question: which modality drives a prediction? Consequently, a model may produce the correct output while relying on the wrong source of evidence, masking shortcut learning and unsafe reasoning. We formulate modality attribution as a complementary explainability objective for multimodal foundation models and propose Counterfactual Modality Attribution (CMA), the first framework for quantifying modality-level contributions in MLLMs. CMA generates 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:2608.00075v1 Announce Type: new Abstract: Accelerated magnetic resonance imaging (MRI) aims to recover the k-space signal from acquired measurements, where accurate estimation of missing samples is essential for high-fidelity reconstruction. Existing k-space reconstruction methods estimate missing samples through interpolation operators or structure priors defined on discrete sampling grids. Although these formulations effectively exploit local interpolation relationships and global k-space redundancy, they reconstruct only discrete frequency coefficients and therefore do not explicitly model the underlying continuous signal. To overcome this limitation, we propose K-space Gaussian Representation (KGR), the first explicit continuous representation formula…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00074v1 Announce Type: new Abstract: This paper presents a multimodal machine-learning framework for calibration monitoring, quality assessment, and adaptive acquisition support in archaeological digitisation workflows. The proposed approach operates across photogrammetric 3D reconstruction, hyperspectral imaging, X-ray fluorescence spectroscopy, and Raman spectroscopy through a unified pipeline combining deterministic quality indicators, statistical feature representations, machine-learning classification, anomaly detection, and explainable artificial intelligence (XAI). Rather than replacing instrument-level calibration, the framework introduces an additional algorithmic layer that evaluates whether acquisitions are statistically consistent, physic…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00073v1 Announce Type: new Abstract: Rigorous dataset partitioning is a foundational, yet frequently overlooked, prerequisite for reliable deep learning in longitudinal medical imaging. Naively shuffling small clinical cohorts routinely introduces covariate shifts and temporal sampling imbalances across training, validation, and test subsets, exposing downstream models to out-of-distribution evaluation. We address this vulnerability with an auditable Tripartite Dataset Analytics Framework that systematically characterizes spatial grid integrity, multi-parametric intensity fingerprints, and longitudinal temporal trajectories, quantifying the heavy-tailed feature dispersion and irregular, episodic sampling intervals typical of real-world clinical cohor…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00072v1 Announce Type: new Abstract: Recent advances in quantum computing are opening new possibilities for Earth Observation (EO) data analysis. Quantum machine learning (QML) approaches offer novel ways to process information by exploiting quantum phenomena such as superposition and entanglement. These capabilities have motivated the exploration of whether quantum-enhanced models can address long-standing challenges in satellite remote sensing, where complex spectral and spatial signals often require sophisticated feature extraction. Among various fields of application, EO data allow the global monitoring of volcanic clouds and are crucial for aviation safety, hazard assessment, real-time eruption response, and evaluation of volcanic impacts on cli…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00071v1 Announce Type: new Abstract: The rapid emergence of 3D CT foundation models has opened new avenues for predictive modeling from CT imaging, offering a compelling alternative to traditional radiomics which is known to suffer from reproducibility issues and sensitivity to acquisition protocol variations. Yet, as these models grow in availability, a critical need arises to evaluate how well their learned representations generalize across diverse clinical settings and whether adaptation to specific downstream tasks is necessary to unlock their full potential. To address these questions, we benchmarked several 3D CT foundation models for predicting recurrence-free survival in head and neck cancer across two public datasets totaling 3,644 patients,…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00068v1 Announce Type: new Abstract: Construction-safety models must handle concrete deployment risks, such as a worker standing near a scaffold edge without guardrails, rather than only recognize common objects in curated images. Yet real inspection archives are redundant, long-tailed, and collected across changing sites and months. We introduce SafeBuild-Bench, a metadata-driven benchmark for evaluating multimodal large language models on construction safety under realistic temporal and site variation. It is mined from 100K+ industrial image-text records and contains 3,314 task instances from over 3,000 expert-verified images, covering multiple-choice hazard identification and free-form hazard description. To make expert verification scalable, we 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:2608.00066v1 Announce Type: new Abstract: Remote photoplethysmography (rPPG) enables non-contact heart-rate estimation from facial videos, but its weak physiological signal is easily corrupted by motion, illumination changes, occlusion, skin-appearance variation, and device noise. Existing rPPG methods typically rely on a single model to directly predict heart rate or recover pulse waveforms, while different strong estimators may produce conflicting yet individually plausible candidates for the same video. To resolve these conflicts, we propose PhysAgent, an inference-time multi-agent candidate-verification framework. Unlike direct prediction approaches, PhysAgent neither trains a new base rPPG model nor asks Multimodal Large Language Models (MLLMs) to ou…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00064v1 Announce Type: new Abstract: Generative models learn the statistical properties of their training data, so high-quality generation depends on clean and representative datasets. In scientific imaging, acquisition often yields noisy measurements, while collecting clean references can be costly, impractical or even unattainable. Training directly on these measurements results in a model that reproduces the corrupted data. This can be circumvented by learning the clean population distribution directly from the noisy data. Conditional flow matching (CFM) combines a simple regression objective with stable training, efficient sampling, and strong image-generation performance, making it a natural framework for this setting. We introduce Noise-Robust…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00060v1 Announce Type: new Abstract: Here we introduce ELECTRIC (Evidential Learning-Enhanced CT Reconstruction via Iterative Correction), a physics-guided Bayesian formulation. An evidential neural network provides an image proposal and an error-predictive epistemic-uncertainty surrogate. The latter is converted into an adaptive precision field and inserted into a Poisson-weighted MAP update. The resulting image-evidence-precision-reconstruction loop treats prior confidence as a learned state variable of iterative reconstruction. In addition to the formulation and theoretical analysis, we report two simulation studies on image slices from the AAPM Mayo Clinic Low-Dose CT dataset: a mechanism-validation pilot using transparent surrogate estimators, a…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00030v1 Announce Type: new Abstract: Specialised retrieval agents typically surface higher quality results than general-purpose search, but selecting the optimal agent for a given query remains an open problem. Current approaches route queries based on inferred topic or intent, however intent-based selection is fundamentally limited: it does not incorporate signal from retrieved content, and cannot detect when a topically aligned agent produces low-relevance results. We address this by training a small language model via supervised fine-tuning followed by reinforcement learning to jointly perform agent selection and structured parameter generation for downstream tool calls, using a hierarchical reward function grounded in retrieval relevance along wi…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00024v1 Announce Type: new Abstract: Although diffusion models have revolutionized continuous domains like image synthesis through high quality generations and controllable guidance mechanisms, bringing this controllability to the discrete, sequential nature of text remains an open challenge. Meanwhile, current sampling strategies and guidance methods adjust token likelihoods without capturing the broader semantic landscape, leading to a suboptimal balance between fidelity and diversity. In this work, we introduce a novel training-free Semantic-Aware Kernel Entropy (SAKE) guidance method. Our method computes the order-2 R\'enyi entropy over a kernel Gram matrix that captures both cross-token semantic interactions and relative token positions. By line…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00023v1 Announce Type: new Abstract: Social simulations built from language-model agents need role-conditioned behavior that can be checked before agents are placed into a simulated population. We introduce an activation-steering screening workflow for role-conditioned agents: define a role profile, extract a role-specific direction, sweep four steering coefficients, evaluate role-profile alignment, and pass or flag each candidate configuration. On OLMo-3-7B-Instruct, we apply the workflow to a mixed 275-role inventory with 228 role-agnostic questions, GPT-4.1-mini prompted role references, and GPT-4.1-mini judges. Role-specific directions receive higher judged role-profile alignment than an assistant-axis directional control from prior persona-vecto…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00013v1 Announce Type: new Abstract: Choosing the right large language model (LLM) backbone is the most consequential decision when building a vision-language model (VLM), yet it remains fundamentally unprincipled: compute-based scaling laws fail to generalize across model families, and no framework exists for directly predicting VLM performance before training begins. We propose the Capability-Driven Multimodal Scaling Law, the first cross-family framework that predicts VLM benchmark accuracy from directly observable textual capability. Given a low-dimensional capability score $S$ extracted from LLM textual benchmarks via PCA, we model VLM performance as a function of $S$, with a per-backbone transfer rate and an absorption rate that quantifies data…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00012v1 Announce Type: new Abstract: Multimodal Large Language Models (MLLMs) are increasingly used to interpret Earth observation data, yet their capability to support real-world disaster emergency response remains insufficiently evaluated. Existing remote sensing benchmarks largely rely on static, post-hoc, and expert-processed products, such as gridded reanalysis data, which are difficult to align with operational disaster scenarios where hazards evolve rapidly and decisions must be made under strict time constraints. To bridge this gap, we introduce Obshazard-bench, a real-time, observation-driven benchmark for evaluating disaster intelligence in MLLMs. Unlike image-centric or post-event benchmarks, Obshazard-bench directly integrates raw, high-f…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00011v1 Announce Type: new Abstract: Current text-to-speech systems face a trade-off: autoregres- sive codec language models produce highly intelligible speech but require large-scale models and training data and decode tokens sequentially, while non-autoregressive approaches im- prove speed at the cost of linguistic accuracy. We present DLLM-TTS, a framework that formulates TTS as conditional block discrete diffusion over X-Codec2 neural audio codec to- kens. The model decomposes sequences into blocks and applies masked diffusion within each block while processing blocks se- quentially, learning both local acoustic coherence and global text-speech alignment. During inference, parallel token pre- diction within blocks enables efficient generation wit…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00009v1 Announce Type: new Abstract: Long-term memory remains a critical bottleneck for conversational AI agents, whose finite context windows cannot support coherent recall across thousands of turns. We present AgentMemBench, a unified, reproducible benchmark evaluating five memory management strategies under identical conditions: in-context windowing (ICW), external key-value store (EKV), graph-based episodic memory (GEM), compression-based summarisation (CBS), and web-augmented memory (WAM). All are assessed across three public datasets covering long-term multi-session dialogue (LoCoMo), task-oriented document grounding (MultiDoc2Dial), and persona-grounded multi-session chat (MSC), using Recall@k, MRR, nDCG@k, Answer F1, an LLM-judge Faithfulness…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00007v1 Announce Type: new Abstract: Equipping Large Language Models (LLMs) with human-like personas is crucial for agentic applications, such as role-play and user simulation. Traditional prompt-based methods rely on descriptive conditioning by injecting static textual profiles, which often makes agents show generic behaviors due to a lack of realistic life memory. To fill this gap, we introduce memory-based conditioning, a paradigm inspired by the cognitive psychology, which replaces abstract profiles with an autobiographical memory base, enabling frozen LLMs to dynamically retrieve situation-relevant memory to guide their behaviors. We formalize its enabling task as customized lifelong memory synthesis and propose MemoryForge, a novel framework 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:2608.00005v1 Announce Type: new Abstract: Peer review at major venues is under unprecedented submission pressure, motivating the use of large language models (LLMs) as review assistants. Existing LLM-based reviewers, however, face two structural limitations. First, they map manuscripts directly to reviews, leaving the underlying rubric implicit and entangling its derivation with the judgement. Second, the prevailing paradigms each capture only half of a good review: training-free agents gather broad evidence but produce undirected critiques, while training-based reviewers inherit human discriminative judgement together with its noise and uneven coverage. We introduce RubricReviewer, a fully rubric-driven framework that addresses both limitations. It makes…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00004v1 Announce Type: new Abstract: Grading natural-language mathematical proofs is a recurring cost in evaluating math-reasoning systems, and frontier LLM judges are expensive. We ask whether cheap open-weight models can serve as reliable judges given a candidate proof, a ground-truth proof, and a human-grading rubric. On a 200-instance validation sample of IMO-GradingBench, three cheap judges (GPT-OSS 120B, DeepSeek-V4 Flash, Gemma-4 31B) agree with human pass/fail decisions at rates statistically indistinguishable from Claude Opus 4.7 and Gemini 3.1 Pro, at up to $100\times$ lower cost. We had expected a majority vote of the three to be the best budget option; it matched the frontier but did not improve on its strongest member. Extending to the f…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00212v1 Announce Type: new Abstract: Spatial atomic layer deposition (SALD) is a leading atmospheric-pressure, high-throughput route to industrial ALD, but design and control are limited by the cost of predicting surface coverage: high-fidelity CFD is far too slow for operating-window scans, while analytic models miss transport modulation such as the gas curtain. We present a physics-chemistry-informed neural network (PCINN), a hybrid surrogate with CFD-level accuracy at real-time speed: a query returns coverage in about 7 ms, roughly 5x10^4 times faster than a CFD solve, reaching a test R^2_log = 0.998 (leave-one-out R^2_raw = 0.974) from only 30 training cases spanning four orders of magnitude in coverage. The architecture is not a black box: a sma…

AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.00198v1 Announce Type: new Abstract: Environmental time-series causal discovery requires expert decisions about method choice, conditional-independence tests, lag horizons, sample-size adequacy, multiple-testing control, and evidence interpretation. Applied inconsistently across datasets, these choices yield graphs that cannot be compared, reproduced, or audited. We present AutoCause, an open-source Python workflow that records each decision, derives defaults from an extended causal-audit module, and admits domain-informed overrides. The workflow wraps four established causal-discovery methods from three families, adds non-causal reference models, and grades links by method-count support. On 145 datasets from DGP-Atlas, TimeGraph, and a topology-deri…