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2601.16982 2026-01-26 cs.CV cs.LG cs.RO

AnyView: Synthesizing Any Novel View in Dynamic Scenes

Basile Van Hoorick, Dian Chen, Shun Iwase, Pavel Tokmakov, Muhammad Zubair Irshad, Igor Vasiljevic, Swati Gupta, Fangzhou Cheng, Sergey Zakharov, Vitor Campagnolo Guizilini

Comments Project webpage: https://tri-ml.github.io/AnyView/

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Modern generative video models excel at producing convincing, high-quality outputs, but struggle to maintain multi-view and spatiotemporal consistency in highly dynamic real-world environments. In this work, we introduce \textbf{AnyView}, a diffusion-based video generation framework for \emph{dynamic view synthesis} with minimal inductive biases or geometric assumptions. We leverage multiple data sources with various levels of supervision, including monocular (2D), multi-view static (3D) and multi-view dynamic (4D) datasets, to train a generalist spatiotemporal implicit representation capable of producing zero-shot novel videos from arbitrary camera locations and trajectories. We evaluate AnyView on standard benchmarks, showing competitive results with the current state of the art, and propose \textbf{AnyViewBench}, a challenging new benchmark tailored towards \emph{extreme} dynamic view synthesis in diverse real-world scenarios. In this more dramatic setting, we find that most baselines drastically degrade in performance, as they require significant overlap between viewpoints, while AnyView maintains the ability to produce realistic, plausible, and spatiotemporally consistent videos when prompted from \emph{any} viewpoint. Results, data, code, and models can be viewed at: https://tri-ml.github.io/AnyView/

2601.16976 2026-01-26 cs.LG

Latent Diffusion for Internet of Things Attack Data Generation in Intrusion Detection

Estela Sánchez-Carballo, Francisco M. Melgarejo-Meseguer, José Luis Rojo-Álvarez

Comments Submitted to IEEE. 15 pages, 2 figures

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Intrusion Detection Systems (IDSs) are a key component for protecting Internet of Things (IoT) environments. However, in Machine Learning-based (ML-based) IDSs, performance is often degraded by the strong class imbalance between benign and attack traffic. Although data augmentation has been widely explored to mitigate this issue, existing approaches typically rely on simple oversampling techniques or generative models that struggle to simultaneously achieve high sample fidelity, diversity, and computational efficiency. To address these limitations, we propose the use of a Latent Diffusion Model (LDM) for attack data augmentation in IoT intrusion detection and provide a comprehensive comparison against state-of-the-art baselines. Experiments were conducted on three representative IoT attack types, specifically Distributed Denial-of-Service (DDoS), Mirai, and Man-in-the-Middle, evaluating both downstream IDS performance and intrinsic generative quality using distributional, dependency-based, and diversity metrics. Results show that balancing the training data with LDM-generated samples substantially improves IDS performance, achieving F1-scores of up to 0.99 for DDoS and Mirai attacks and consistently outperforming competing methods. Additionally, quantitative and qualitative analyses demonstrate that LDMs effectively preserve feature dependencies while generating diverse samples and reduce sampling time by approximately 25\% compared to diffusion models operating directly in data space. These findings highlight latent diffusion as an effective and scalable solution for synthetic IoT attack data generation, substantially mitigating the impact of class imbalance in ML-based IDSs for IoT scenarios.

2601.16973 2026-01-26 cs.CV

VisGym: Diverse, Customizable, Scalable Environments for Multimodal Agents

Zirui Wang, Junyi Zhang, Jiaxin Ge, Long Lian, Letian Fu, Lisa Dunlap, Ken Goldberg, XuDong Wang, Ion Stoica, David M. Chan, Sewon Min, Joseph E. Gonzalez

Comments Project page: https://visgym.github.io/

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Modern Vision-Language Models (VLMs) remain poorly characterized in multi-step visual interactions, particularly in how they integrate perception, memory, and action over long horizons. We introduce VisGym, a gymnasium of 17 environments for evaluating and training VLMs. The suite spans symbolic puzzles, real-image understanding, navigation, and manipulation, and provides flexible controls over difficulty, input representation, planning horizon, and feedback. We also provide multi-step solvers that generate structured demonstrations, enabling supervised finetuning. Our evaluations show that all frontier models struggle in interactive settings, achieving low success rates in both the easy (46.6%) and hard (26.0%) configurations. Our experiments reveal notable limitations: models struggle to effectively leverage long context, performing worse with an unbounded history than with truncated windows. Furthermore, we find that several text-based symbolic tasks become substantially harder once rendered visually. However, explicit goal observations, textual feedback, and exploratory demonstrations in partially observable or unknown-dynamics settings for supervised finetuning yield consistent gains, highlighting concrete failure modes and pathways for improving multi-step visual decision-making. Code, data, and models can be found at: https://visgym.github.io/.

2601.16971 2026-01-26 cs.LG

Auto-Regressive Masked Diffusion Models

Mahdi Karami, Ali Ghodsi

Journal ref 29th International Conference on Artificial Intelligence and Statistics (AISTATS) 2026

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Masked diffusion models (MDMs) have emerged as a promising approach for language modeling, yet they face a performance gap compared to autoregressive models (ARMs) and require more training iterations. In this work, we present the Auto-Regressive Masked Diffusion (ARMD) model, an architecture designed to close this gap by unifying the training efficiency of autoregressive models with the parallel generation capabilities of diffusion-based models. Our key insight is to reframe the masked diffusion process as a block-wise causal model. This perspective allows us to design a strictly causal, permutation-equivariant architecture that computes all conditional probabilities across multiple denoising steps in a single, parallel forward pass. The resulting architecture supports efficient, autoregressive-style decoding and a progressive permutation training scheme, allowing the model to learn both canonical left-to-right and random token orderings. Leveraging this flexibility, we introduce a novel strided parallel generation strategy that accelerates inference by generating tokens in parallel streams while maintaining global coherence. Empirical results demonstrate that ARMD achieves state-of-the-art performance on standard language modeling benchmarks, outperforming established diffusion baselines while requiring significantly fewer training steps. Furthermore, it establishes a new benchmark for parallel text generation, effectively bridging the performance gap between parallel and sequential decoding.

2601.16967 2026-01-26 cs.AI cs.IR

Empowering Medical Equipment Sustainability in Low-Resource Settings: An AI-Powered Diagnostic and Support Platform for Biomedical Technicians

Bernes Lorier Atabonfack, Ahmed Tahiru Issah, Mohammed Hardi Abdul Baaki, Clemence Ingabire, Tolulope Olusuyi, Maruf Adewole, Udunna C. Anazodo, Timothy X Brown

Comments Accepted at the MIRASOL Workshop at MICCAI 2025. To appear in Lecture Notes in Computer Science (LNCS)

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In low- and middle-income countries (LMICs), a significant proportion of medical diagnostic equipment remains underutilized or non-functional due to a lack of timely maintenance, limited access to technical expertise, and minimal support from manufacturers, particularly for devices acquired through third-party vendors or donations. This challenge contributes to increased equipment downtime, delayed diagnoses, and compromised patient care. This research explores the development and validation of an AI-powered support platform designed to assist biomedical technicians in diagnosing and repairing medical devices in real-time. The system integrates a large language model (LLM) with a user-friendly web interface, enabling imaging technologists/radiographers and biomedical technicians to input error codes or device symptoms and receive accurate, step-by-step troubleshooting guidance. The platform also includes a global peer-to-peer discussion forum to support knowledge exchange and provide additional context for rare or undocumented issues. A proof of concept was developed using the Philips HDI 5000 ultrasound machine, achieving 100% precision in error code interpretation and 80% accuracy in suggesting corrective actions. This study demonstrates the feasibility and potential of AI-driven systems to support medical device maintenance, with the aim of reducing equipment downtime to improve healthcare delivery in resource-constrained environments.

2601.16965 2026-01-26 cs.AI

Spatial-Agent: Agentic Geo-spatial Reasoning with Scientific Core Concepts

Riyang Bao, Cheng Yang, Dazhou Yu, Zhexiang Tang, Gengchen Mai, Liang Zhao

Comments 15pages, 4 figures

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Geospatial reasoning is essential for real-world applications such as urban analytics, transportation planning, and disaster response. However, existing LLM-based agents often fail at genuine geospatial computation, relying instead on web search or pattern matching while hallucinating spatial relationships. We present Spatial-Agent, an AI agent grounded in foundational theories of spatial information science. Our approach formalizes geo-analytical question answering as a concept transformation problem, where natural-language questions are parsed into executable workflows represented as GeoFlow Graphs -- directed acyclic graphs with nodes corresponding to spatial concepts and edges representing transformations. Drawing on spatial information theory, Spatial-Agent extracts spatial concepts, assigns functional roles with principled ordering constraints, and composes transformation sequences through template-based generation. Extensive experiments on MapEval-API and MapQA benchmarks demonstrate that Spatial-Agent significantly outperforms existing baselines including ReAct and Reflexion, while producing interpretable and executable geospatial workflows.

2601.16964 2026-01-26 cs.AI

AgentDrive: An Open Benchmark Dataset for Agentic AI Reasoning with LLM-Generated Scenarios in Autonomous Systems

Mohamed Amine Ferrag, Abderrahmane Lakas, Merouane Debbah

Comments 16 pages

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The rapid advancement of large language models (LLMs) has sparked growing interest in their integration into autonomous systems for reasoning-driven perception, planning, and decision-making. However, evaluating and training such agentic AI models remains challenging due to the lack of large-scale, structured, and safety-critical benchmarks. This paper introduces AgentDrive, an open benchmark dataset containing 300,000 LLM-generated driving scenarios designed for training, fine-tuning, and evaluating autonomous agents under diverse conditions. AgentDrive formalizes a factorized scenario space across seven orthogonal axes: scenario type, driver behavior, environment, road layout, objective, difficulty, and traffic density. An LLM-driven prompt-to-JSON pipeline generates semantically rich, simulation-ready specifications that are validated against physical and schema constraints. Each scenario undergoes simulation rollouts, surrogate safety metric computation, and rule-based outcome labeling. To complement simulation-based evaluation, we introduce AgentDrive-MCQ, a 100,000-question multiple-choice benchmark spanning five reasoning dimensions: physics, policy, hybrid, scenario, and comparative reasoning. We conduct a large-scale evaluation of fifty leading LLMs on AgentDrive-MCQ. Results show that while proprietary frontier models perform best in contextual and policy reasoning, advanced open models are rapidly closing the gap in structured and physics-grounded reasoning. We release the AgentDrive dataset, AgentDrive-MCQ benchmark, evaluation code, and related materials at https://github.com/maferrag/AgentDrive

2601.16955 2026-01-26 cs.LG

3D Molecule Generation from Rigid Motifs via SE(3) Flows

Roman Poletukhin, Marcel Kollovieh, Eike Eberhard, Stephan Günnemann

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Three-dimensional molecular structure generation is typically performed at the level of individual atoms, yet molecular graph generation techniques often consider fragments as their structural units. Building on the advances in frame-based protein structure generation, we extend these fragmentation ideas to 3D, treating general molecules as sets of rigid-body motifs. Utilising this representation, we employ SE(3)-equivariant generative modelling for de novo 3D molecule generation from rigid motifs. In our evaluations, we observe comparable or superior results to state-of-the-art across benchmarks, surpassing it in atom stability on GEOM-Drugs, while yielding a 2x to 10x reduction in generation steps and offering 3.5x compression in molecular representations compared to the standard atom-based methods.

2601.16954 2026-01-26 cs.CV

Domain-invariant Mixed-domain Semi-supervised Medical Image Segmentation with Clustered Maximum Mean Discrepancy Alignment

Ba-Thinh Lam, Thanh-Huy Nguyen, Hoang-Thien Nguyen, Quang-Khai Bui-Tran, Nguyen Lan Vi Vu, Phat K. Huynh, Ulas Bagci, Min Xu

Comments accepted in ICASSP 2026

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Deep learning has shown remarkable progress in medical image semantic segmentation, yet its success heavily depends on large-scale expert annotations and consistent data distributions. In practice, annotations are scarce, and images are collected from multiple scanners or centers, leading to mixed-domain settings with unknown domain labels and severe domain gaps. Existing semi-supervised or domain adaptation approaches typically assume either a single domain shift or access to explicit domain indices, which rarely hold in real-world deployment. In this paper, we propose a domain-invariant mixed-domain semi-supervised segmentation framework that jointly enhances data diversity and mitigates domain bias. A Copy-Paste Mechanism (CPM) augments the training set by transferring informative regions across domains, while a Cluster Maximum Mean Discrepancy (CMMD) block clusters unlabeled features and aligns them with labeled anchors via an MMD objective, encouraging domain-invariant representations. Integrated within a teacher-student framework, our method achieves robust and precise segmentation even with very few labeled examples and multiple unknown domain discrepancies. Experiments on Fundus and M&Ms benchmarks demonstrate that our approach consistently surpasses semi-supervised and domain adaptation methods, establishing a potential solution for mixed-domain semi-supervised medical image segmentation.

2601.16946 2026-01-26 cs.CL

Strategies for Span Labeling with Large Language Models

Danil Semin, Ondřej Dušek, Zdeněk Kasner

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Large language models (LLMs) are increasingly used for text analysis tasks, such as named entity recognition or error detection. Unlike encoder-based models, however, generative architectures lack an explicit mechanism to refer to specific parts of their input. This leads to a variety of ad-hoc prompting strategies for span labeling, often with inconsistent results. In this paper, we categorize these strategies into three families: tagging the input text, indexing numerical positions of spans, and matching span content. To address the limitations of content matching, we introduce LogitMatch, a new constrained decoding method that forces the model's output to align with valid input spans. We evaluate all methods across four diverse tasks. We find that while tagging remains a robust baseline, LogitMatch improves upon competitive matching-based methods by eliminating span matching issues and outperforms other strategies in some setups.

2601.16936 2026-01-26 cs.LG

Is BatchEnsemble a Single Model? On Calibration and Diversity of Efficient Ensembles

Anton Zamyatin, Patrick Indri, Sagar Malhotra, Thomas Gärtner

Comments Accepted at the 1st workshop on Epistemic Intelligence in Machine Learning at EurIPS 2025

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In resource-constrained and low-latency settings, uncertainty estimates must be efficiently obtained. Deep Ensembles provide robust epistemic uncertainty (EU) but require training multiple full-size models. BatchEnsemble aims to deliver ensemble-like EU at far lower parameter and memory cost by applying learned rank-1 perturbations to a shared base network. We show that BatchEnsemble not only underperforms Deep Ensembles but closely tracks a single model baseline in terms of accuracy, calibration and out-of-distribution (OOD) detection on CIFAR10/10C/SVHN. A controlled study on MNIST finds members are near-identical in function and parameter space, indicating limited capacity to realize distinct predictive modes. Thus, BatchEnsemble behaves more like a single model than a true ensemble.

2601.16922 2026-01-26 cs.LG stat.ML

Group-realizable multi-group learning by minimizing empirical risk

Navid Ardeshir, Samuel Deng, Daniel Hsu, Jingwen Liu

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The sample complexity of multi-group learning is shown to improve in the group-realizable setting over the agnostic setting, even when the family of groups is infinite so long as it has finite VC dimension. The improved sample complexity is obtained by empirical risk minimization over the class of group-realizable concepts, which itself could have infinite VC dimension. Implementing this approach is also shown to be computationally intractable, and an alternative approach is suggested based on improper learning.

2601.16914 2026-01-26 cs.CV cs.AI

LoL: Longer than Longer, Scaling Video Generation to Hour

Justin Cui, Jie Wu, Ming Li, Tao Yang, Xiaojie Li, Rui Wang, Andrew Bai, Yuanhao Ban, Cho-Jui Hsieh

Comments preprint

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Recent research in long-form video generation has shifted from bidirectional to autoregressive models, yet these methods commonly suffer from error accumulation and a loss of long-term coherence. While attention sink frames have been introduced to mitigate this performance decay, they often induce a critical failure mode we term sink-collapse: the generated content repeatedly reverts to the sink frame, resulting in abrupt scene resets and cyclic motion patterns. Our analysis reveals that sink-collapse originates from an inherent conflict between the periodic structure of Rotary Position Embedding (RoPE) and the multi-head attention mechanisms prevalent in current generative models. To address it, we propose a lightweight, training-free approach that effectively suppresses this behavior by introducing multi-head RoPE jitter that breaks inter-head attention homogenization and mitigates long-horizon collapse. Extensive experiments show that our method successfully alleviates sink-collapse while preserving generation quality. To the best of our knowledge, this work achieves the first demonstration of real-time, streaming, and infinite-length video generation with little quality decay. As an illustration of this robustness, we generate continuous videos up to 12 hours in length, which, to our knowledge, is among the longest publicly demonstrated results in streaming video generation.

2601.16907 2026-01-26 cs.LG

Calibrated Similarity for Reliable Geometric Analysis of Embedding Spaces

Nicolas Tacheny

Comments arXiv admin note: substantial text overlap with arXiv:2512.10350

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While raw cosine similarity in pretrained embedding spaces exhibits strong rank correlation with human judgments, anisotropy induces systematic miscalibration of absolute values: scores concentrate in a narrow high-similarity band regardless of actual semantic relatedness, limiting interpretability as a quantitative measure. Prior work addresses this by modifying the embedding space (whitening, contrastive fine tuning), but such transformations alter geometric structure and require recomputing all embeddings. Using isotonic regression trained on human similarity judgments, we construct a monotonic transformation that achieves near-perfect calibration while preserving rank correlation and local stability(98% across seven perturbation types). Our contribution is not to replace cosine similarity, but to restore interpretability of its absolute values through monotone calibration, without altering its ranking properties. We characterize isotonic calibration as an order-preserving reparameterization and prove that all order-based constructions (angular ordering, nearest neighbors, threshold graphs and quantile-based decisions) are invariant under this transformation.

2601.16906 2026-01-26 cs.LG cs.HC

The Trajectory Alignment Coefficient in Two Acts: From Reward Tuning to Reward Learning

Calarina Muslimani, Yunshu Du, Kenta Kawamoto, Kaushik Subramanian, Peter Stone, Peter Wurman

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The success of reinforcement learning (RL) is fundamentally tied to having a reward function that accurately reflects the task objective. Yet, designing reward functions is notoriously time-consuming and prone to misspecification. To address this issue, our first goal is to understand how to support RL practitioners in specifying appropriate weights for a reward function. We leverage the Trajectory Alignment Coefficient (TAC), a metric that evaluates how closely a reward function's induced preferences match those of a domain expert. To evaluate whether TAC provides effective support in practice, we conducted a human-subject study in which RL practitioners tuned reward weights for Lunar Lander. We found that providing TAC during reward tuning led participants to produce more performant reward functions and report lower cognitive workload relative to standard tuning without TAC. However, the study also underscored that manual reward design, even with TAC, remains labor-intensive. This limitation motivated our second goal: to learn a reward model that maximizes TAC directly. Specifically, we propose Soft-TAC, a differentiable approximation of TAC that can be used as a loss function to train reward models from human preference data. Validated in the racing simulator Gran Turismo 7, reward models trained using Soft-TAC successfully captured preference-specific objectives, resulting in policies with qualitatively more distinct behaviors than models trained with standard Cross-Entropy loss. This work demonstrates that TAC can serve as both a practical tool for guiding reward tuning and a reward learning objective in complex domains.

2601.16900 2026-01-26 cs.LG cs.CV

Embedding -based Crop Type Classification in the Groundnut Basin of Senegal

Madeline C. Lisaius, Srinivasan Keshav, Andrew Blake, Clement Atzberger

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Crop type maps from satellite remote sensing are important tools for food security, local livelihood support and climate change mitigation in smallholder regions of the world, but most satellite-based methods are not well suited to smallholder conditions. To address this gap, we establish a four-part criteria for a useful embedding-based approach consisting of 1) performance, 2) plausibility, 3) transferability and 4) accessibility and evaluate geospatial foundation model (FM) embeddings -based approaches using TESSERA and AlphaEarth against current baseline methods for a region in the groundnut basin of Senegal. We find that the TESSERA -based approach to land cover and crop type mapping fulfills the selection criteria best, and in one temporal transfer example shows 28% higher accuracy compared to the next best method. These results indicate that TESSERA embeddings are an effective approach for crop type classification and mapping tasks in Senegal.

2601.16897 2026-01-26 cs.LG math.OC stat.ML

FedSGM: A Unified Framework for Constraint Aware, Bidirectionally Compressed, Multi-Step Federated Optimization

Antesh Upadhyay, Sang Bin Moon, Abolfazl Hashemi

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We introduce FedSGM, a unified framework for federated constrained optimization that addresses four major challenges in federated learning (FL): functional constraints, communication bottlenecks, local updates, and partial client participation. Building on the switching gradient method, FedSGM provides projection-free, primal-only updates, avoiding expensive dual-variable tuning or inner solvers. To handle communication limits, FedSGM incorporates bi-directional error feedback, correcting the bias introduced by compression while explicitly understanding the interaction between compression noise and multi-step local updates. We derive convergence guarantees showing that the averaged iterate achieves the canonical $\boldsymbol{\mathcal{O}}(1/\sqrt{T})$ rate, with additional high-probability bounds that decouple optimization progress from sampling noise due to partial participation. Additionally, we introduce a soft switching version of FedSGM to stabilize updates near the feasibility boundary. To our knowledge, FedSGM is the first framework to unify functional constraints, compression, multiple local updates, and partial client participation, establishing a theoretically grounded foundation for constrained federated learning. Finally, we validate the theoretical guarantees of FedSGM via experimentation on Neyman-Pearson classification and constrained Markov decision process (CMDP) tasks.

2601.16895 2026-01-26 cs.CV cs.AI

Evaluating Large Vision-language Models for Surgical Tool Detection

Nakul Poudel, Richard Simon, Cristian A. Linte

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Surgery is a highly complex process, and artificial intelligence has emerged as a transformative force in supporting surgical guidance and decision-making. However, the unimodal nature of most current AI systems limits their ability to achieve a holistic understanding of surgical workflows. This highlights the need for general-purpose surgical AI systems capable of comprehensively modeling the interrelated components of surgical scenes. Recent advances in large vision-language models that integrate multimodal data processing offer strong potential for modeling surgical tasks and providing human-like scene reasoning and understanding. Despite their promise, systematic investigations of VLMs in surgical applications remain limited. In this study, we evaluate the effectiveness of large VLMs for the fundamental surgical vision task of detecting surgical tools. Specifically, we investigate three state-of-the-art VLMs, Qwen2.5, LLaVA1.5, and InternVL3.5, on the GraSP robotic surgery dataset under both zero-shot and parameter-efficient LoRA fine-tuning settings. Our results demonstrate that Qwen2.5 consistently achieves superior detection performance in both configurations among the evaluated VLMs. Furthermore, compared with the open-set detection baseline Grounding DINO, Qwen2.5 exhibits stronger zero-shot generalization and comparable fine-tuned performance. Notably, Qwen2.5 shows superior instrument recognition, while Grounding DINO demonstrates stronger localization.

2601.16890 2026-01-26 cs.CL cs.AI cs.LG

LLM-Based Adversarial Persuasion Attacks on Fact-Checking Systems

João A. Leite, Olesya Razuvayevskaya, Kalina Bontcheva, Carolina Scarton

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Automated fact-checking (AFC) systems are susceptible to adversarial attacks, enabling false claims to evade detection. Existing adversarial frameworks typically rely on injecting noise or altering semantics, yet no existing framework exploits the adversarial potential of persuasion techniques, which are widely used in disinformation campaigns to manipulate audiences. In this paper, we introduce a novel class of persuasive adversarial attacks on AFCs by employing a generative LLM to rephrase claims using persuasion techniques. Considering 15 techniques grouped into 6 categories, we study the effects of persuasion on both claim verification and evidence retrieval using a decoupled evaluation strategy. Experiments on the FEVER and FEVEROUS benchmarks show that persuasion attacks can substantially degrade both verification performance and evidence retrieval. Our analysis identifies persuasion techniques as a potent class of adversarial attacks, highlighting the need for more robust AFC systems.

2601.16886 2026-01-26 cs.AI

MAGE-KT: Multi-Agent Graph-Enhanced Knowledge Tracing with Subgraph Retrieval and Asymmetric Fusion

Chi Yu, Hongyu Yuan, Zhiyi Duan

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Knowledge Tracing (KT) aims to model a student's learning trajectory and predict performance on the next question. A key challenge is how to better represent the relationships among students, questions, and knowledge concepts (KCs). Recently, graph-based KT paradigms have shown promise for this problem. However, existing methods have not sufficiently explored inter-concept relations, often inferred solely from interaction sequences. In addition, the scale and heterogeneity of KT graphs make full-graph encoding both computationally both costly and noise-prone, causing attention to bleed into student-irrelevant regions and degrading the fidelity of inter-KC relations. To address these issues, we propose a novel framework: Multi-Agent Graph-Enhanced Knowledge Tracing (MAGE-KT). It constructs a multi-view heterogeneous graph by combining a multi-agent KC relation extractor and a student-question interaction graph, capturing complementary semantic and behavioral signals. Conditioned on the target student's history, it retrieves compact, high-value subgraphs and integrates them using an Asymmetric Cross-attention Fusion Module to enhance prediction while avoiding attention diffusion and irrelevant computation. Experiments on three widely used KT datasets show substantial improvements in KC-relation accuracy and clear gains in next-question prediction over existing methods.

2601.16873 2026-01-26 cs.LG

Provably Learning Attention with Queries

Satwik Bhattamishra, Kulin Shah, Michael Hahn, Varun Kanade

Comments Preprint

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We study the problem of learning Transformer-based sequence models with black-box access to their outputs. In this setting, a learner may adaptively query the oracle with any sequence of vectors and observe the corresponding real-valued output. We begin with the simplest case, a single-head softmax-attention regressor. We show that for a model with width $d$, there is an elementary algorithm to learn the parameters of single-head attention exactly with $O(d^2)$ queries. Further, we show that if there exists an algorithm to learn ReLU feedforward networks (FFNs), then the single-head algorithm can be easily adapted to learn one-layer Transformers with single-head attention. Next, motivated by the regime where the head dimension $r \ll d$, we provide a randomised algorithm that learns single-head attention-based models with $O(rd)$ queries via compressed sensing arguments. We also study robustness to noisy oracle access, proving that under mild norm and margin conditions, the parameters can be estimated to $\varepsilon$ accuracy with a polynomial number of queries even when outputs are only provided up to additive tolerance. Finally, we show that multi-head attention parameters are not identifiable from value queries in general -- distinct parameterisations can induce the same input-output map. Hence, guarantees analogous to the single-head setting are impossible without additional structural assumptions.

2601.16866 2026-01-26 cs.RO cs.AI

Boosting Deep Reinforcement Learning with Semantic Knowledge for Robotic Manipulators

Lucía Güitta-López, Vincenzo Suriani, Jaime Boal, Álvaro J. López-López, Daniele Nardi

Journal ref Robotics, published 24 June 2025

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Deep Reinforcement Learning (DRL) is a powerful framework for solving complex sequential decision-making problems, particularly in robotic control. However, its practical deployment is often hindered by the substantial amount of experience required for learning, which results in high computational and time costs. In this work, we propose a novel integration of DRL with semantic knowledge in the form of Knowledge Graph Embeddings (KGEs), aiming to enhance learning efficiency by providing contextual information to the agent. Our architecture combines KGEs with visual observations, enabling the agent to exploit environmental knowledge during training. Experimental validation with robotic manipulators in environments featuring both fixed and randomized target attributes demonstrates that our method achieves up to {60}{\%} reduction in learning time and improves task accuracy by approximately 15 percentage points, without increasing training time or computational complexity. These results highlight the potential of semantic knowledge to reduce sample complexity and improve the effectiveness of DRL in robotic applications.

2601.16863 2026-01-26 cs.AI cs.LG cs.MA cs.SY eess.SY

Mixture-of-Models: Unifying Heterogeneous Agents via N-Way Self-Evaluating Deliberation

Tims Pecerskis, Aivars Smirnovs

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This paper introduces the N-Way Self-Evaluating Deliberation (NSED) protocol, a Runtime Mixture-of-Models (MoM) architecture that constructs emergent composite models from a plurality of distinct expert agents. Unlike traditional Mixture-of-Experts (MoE) which rely on static gating networks, NSED employs a Dynamic Expertise Broker - a runtime optimization engine that treats model selection as a variation of the Knapsack Problem, binding heterogeneous checkpoints to functional roles based on live telemetry and cost constraints. At the execution layer, we formalize deliberation as a Macro-Scale Recurrent Neural Network (RNN), where the consensus state loops back through a semantic forget gate to enable iterative refinement without proportional VRAM scaling. Key components include an orchestration fabric for trustless N-to-N peer review, a Quadratic Voting activation function for non-linear consensus, and a feedback-driven state update. Empirical validation on challenging benchmarks (AIME 2025, LiveCodeBench) demonstrates that this topology allows ensembles of small (less than 20B) consumer-grade models to match or exceed the performance of state-of-the-art 100B+ parameter models, establishing a new hardware arbitrage efficiency frontier. Furthermore, testing on the DarkBench safety suite reveals intrinsic alignment properties, with peer-mediated correction reducing sycophancy scores below that of any individual agent.

2601.16853 2026-01-26 cs.AI cs.CL

Reasoning Promotes Robustness in Theory of Mind Tasks

Ian B. de Haan, Peter van der Putten, Max van Duijn

Comments 14 pages, 2 figures

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Large language models (LLMs) have recently shown strong performance on Theory of Mind (ToM) tests, prompting debate about the nature and true performance of the underlying capabilities. At the same time, reasoning-oriented LLMs trained via reinforcement learning with verifiable rewards (RLVR) have achieved notable improvements across a range of benchmarks. This paper examines the behavior of such reasoning models in ToM tasks, using novel adaptations of machine psychological experiments and results from established benchmarks. We observe that reasoning models consistently exhibit increased robustness to prompt variations and task perturbations. Our analysis indicates that the observed gains are more plausibly attributed to increased robustness in finding the correct solution, rather than to fundamentally new forms of ToM reasoning. We discuss the implications of this interpretation for evaluating social-cognitive behavior in LLMs.

2601.16849 2026-01-26 cs.LG cs.DS

The Art of Being Difficult: Combining Human and AI Strengths to Find Adversarial Instances for Heuristics

Henri Nikoleit, Ankit Anand, Anurag Murty Naredla, Heiko Röglin

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We demonstrate the power of human-LLM collaboration in tackling open problems in theoretical computer science. Focusing on combinatorial optimization, we refine outputs from the FunSearch algorithm [Romera-Paredes et al., Nature 2023] to derive state-of-the-art lower bounds for standard heuristics. Specifically, we target the generation of adversarial instances where these heuristics perform poorly. By iterating on FunSearch's outputs, we identify improved constructions for hierarchical $k$-median clustering, bin packing, the knapsack problem, and a generalization of Lovász's gasoline problem - some of these have not seen much improvement for over a decade, despite intermittent attention. These results illustrate how expert oversight can effectively extrapolate algorithmic insights from LLM-based evolutionary methods to break long-standing barriers. Our findings demonstrate that while LLMs provide critical initial patterns, human expertise is essential for transforming these patterns into mathematically rigorous and insightful constructions. This work highlights that LLMs are a strong collaborative tool in mathematics and computer science research.

2601.16830 2026-01-26 cs.LG cs.AI cs.NE math.ST stat.TH

Uncertainty propagation through trained multi-layer perceptrons: Exact analytical results

Andrew Thompson, Miles McCrory

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英文摘要

We give analytical results for propagation of uncertainty through trained multi-layer perceptrons (MLPs) with a single hidden layer and ReLU activation functions. More precisely, we give expressions for the mean and variance of the output when the input is multivariate Gaussian. In contrast to previous results, we obtain exact expressions without resort to a series expansion.

2601.16812 2026-01-26 cs.LG eess.IV math.OC

Sample-wise Constrained Learning via a Sequential Penalty Approach with Applications in Image Processing

Francesca Lanzillotta, Chiara Albisani, Davide Pucci, Daniele Baracchi, Alessandro Piva, Matteo Lapucci

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英文摘要

In many learning tasks, certain requirements on the processing of individual data samples should arguably be formalized as strict constraints in the underlying optimization problem, rather than by means of arbitrary penalties. We show that, in these scenarios, learning can be carried out exploiting a sequential penalty method that allows to properly deal with constraints. The proposed algorithm is shown to possess convergence guarantees under assumptions that are reasonable in deep learning scenarios. Moreover, the results of experiments on image processing tasks show that the method is indeed viable to be used in practice.

2601.16811 2026-01-26 cs.CV cs.AI

Incorporating Eye-Tracking Signals Into Multimodal Deep Visual Models For Predicting User Aesthetic Experience In Residential Interiors

Chen-Ying Chien, Po-Chih Kuo

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英文摘要

Understanding how people perceive and evaluate interior spaces is essential for designing environments that promote well-being. However, predicting aesthetic experiences remains difficult due to the subjective nature of perception and the complexity of visual responses. This study introduces a dual-branch CNN-LSTM framework that fuses visual features with eye-tracking signals to predict aesthetic evaluations of residential interiors. We collected a dataset of 224 interior design videos paired with synchronized gaze data from 28 participants who rated 15 aesthetic dimensions. The proposed model attains 72.2% accuracy on objective dimensions (e.g., light) and 66.8% on subjective dimensions (e.g., relaxation), outperforming state-of-the-art video baselines and showing clear gains on subjective evaluation tasks. Notably, models trained with eye-tracking retain comparable performance when deployed with visual input alone. Ablation experiments further reveal that pupil responses contribute most to objective assessments, while the combination of gaze and visual cues enhances subjective evaluations. These findings highlight the value of incorporating eye-tracking as privileged information during training, enabling more practical tools for aesthetic assessment in interior design.

2601.16803 2026-01-26 cs.CL cs.AI

SoS: Analysis of Surface over Semantics in Multilingual Text-To-Image Generation

Carolin Holtermann, Florian Schneider, Anne Lauscher

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英文摘要

Text-to-image (T2I) models are increasingly employed by users worldwide. However, prior research has pointed to the high sensitivity of T2I towards particular input languages - when faced with languages other than English (i.e., different surface forms of the same prompt), T2I models often produce culturally stereotypical depictions, prioritizing the surface over the prompt's semantics. Yet a comprehensive analysis of this behavior, which we dub Surface-over-Semantics (SoS), is missing. We present the first analysis of T2I models' SoS tendencies. To this end, we create a set of prompts covering 171 cultural identities, translated into 14 languages, and use it to prompt seven T2I models. To quantify SoS tendencies across models, languages, and cultures, we introduce a novel measure and analyze how the tendencies we identify manifest visually. We show that all but one model exhibit strong surface-level tendency in at least two languages, with this effect intensifying across the layers of T2I text encoders. Moreover, these surface tendencies frequently correlate with stereotypical visual depictions.

2601.16793 2026-01-26 cs.SD cs.NE eess.AS

A Novel Transfer Learning Approach for Mental Stability Classification from Voice Signal

Rafiul Islam, Md. Taimur Ahad

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英文摘要

This study presents a novel transfer learning approach and data augmentation technique for mental stability classification using human voice signals and addresses the challenges associated with limited data availability. Convolutional neural networks (CNNs) have been employed to analyse spectrogram images generated from voice recordings. Three CNN architectures, VGG16, InceptionV3, and DenseNet121, were evaluated across three experimental phases: training on non-augmented data, augmented data, and transfer learning. This proposed transfer learning approach involves pre-training models on the augmented dataset and fine-tuning them on the non-augmented dataset while ensuring strict data separation to prevent data leakage. The results demonstrate significant improvements in classification performance compared to the baseline approach. Among three CNN architectures, DenseNet121 achieved the highest accuracy of 94% and an AUC score of 99% using the proposed transfer learning approach. This finding highlights the effectiveness of combining data augmentation and transfer learning to enhance CNN-based classification of mental stability using voice spectrograms, offering a promising non-invasive tool for mental health diagnostics.