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2604.12519 2026-04-15 cs.LG cs.IT math.IT

Instantiating Bayesian CVaR lower bounds in Interactive Decision Making Problems

Raghav Bongole, Tobias J. Oechtering, Mikael Skoglund

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英文摘要

Recent work established a generalized-Fano framework for lower bounding prior-predictive (Bayesian) CVaR in interactive statistical decision making. In this paper, we show how to instantiate that framework in concrete interactive problems and derive explicit Bayesian CVaR lower bounds from its abstract corollaries. Our approach compares a hard model with a reference model using squared Hellinger distance, and combines a lower bound on a reference hinge term with a bound on the distinguishability of the two models. We apply this approach to canonical examples, including Gaussian bandits, and obtain explicit bounds that make the dependence on key problem parameters transparent. These results show how the generalized-Fano Bayesian CVaR framework can be used as a practical lower-bound tool for interactive learning and risk-sensitive decision making.

2604.12513 2026-04-15 cs.LG

Agentic Control in Variational Language Models

Yves Ruffenach

Comments 20 pages, 8 figures

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英文摘要

We study whether a variational language model can support a minimal and measurable form of agentic control grounded in its own internal evidence. Our model combines local variational hidden computation (EVE), a homeostatic latent regulator, structurally aware checkpoint retention and a calibrated uncertainty-aware controller operating on top of the retained model. Rather than treating uncertainty as a passive diagnostic measured after prediction, we treat it as an operational signal that can regulate training, support checkpoint retention and guide inference-time intervention. The resulting framework is deliberately focused. It studies a closed-loop form of internal control in which structural and predictive signals become actionable. Empirically, the variational backbone improves over a matched deterministic reference on the language-modeling task while also exhibiting a richer and more usable uncertainty profile. On top of this backbone, the calibrated controller remains active, uses multiple actions under a full agentic evaluation and yields a positive quality-cost trade-off. These results support a precise claim: internal uncertainty can serve not only as a descriptive property of a variational language model, but also as a practical control interface for regulation, checkpoint retention and minimal agentic routing.

2604.12512 2026-04-15 cs.CV cs.AI

NTIRE 2026 The 3rd Restore Any Image Model (RAIM) Challenge: Professional Image Quality Assessment (Track 1)

Guanyi Qin, Jie Liang, Bingbing Zhang, Lishen Qu, Ya-nan Guan, Hui Zeng, Lei Zhang, Radu Timofte, Jianhui Sun, Xinli Yue, Tao Shao, Huan Hou, Wenjie Liao, Shuhao Han, Jieyu Yuan, Chunle Guo, Chongyi Li, Zewen Chen, Yunze Liu, Jian Guo, Juan Wang, Yun Zeng, Bing Li, Weiming Hu, Hesong Li, Dehua Liu, Xinjie Zhang, Qiang Li, Li Yan, Wei Dong, Qingsen Yan, Xingcan Li, Shenglong Zhou, Manjiang Yin, Yinxiang Zhang, Hongbo Wang, Jikai Xu, Zhaohui Fan, Dandan Zhu, Wei Sun, Weixia Zhang, Kun Zhu, Nana Zhang, Kaiwei Zhang, Qianqian Zhang, Zhihan Zhang, William Gordon, Linwei Wu, Jiachen Tu, Guoyi Xu, Yaoxin Jiang, Cici Liu, Yaokun Shi

Comments NTIRE Challenge Report. Accepted by CVPRW 2026

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In this paper, we present an overview of the NTIRE 2026 challenge on the 3rd Restore Any Image Model in the Wild, specifically focusing on Track 1: Professional Image Quality Assessment. Conventional Image Quality Assessment (IQA) typically relies on scalar scores. By compressing complex visual characteristics into a single number, these methods fundamentally struggle to distinguish subtle differences among uniformly high-quality images. Furthermore, they fail to articulate why one image is superior, lacking the reasoning capabilities required to provide guidance for vision tasks. To bridge this gap, recent advancements in Multimodal Large Language Models (MLLMs) offer a promising paradigm. Inspired by this potential, our challenge establishes a novel benchmark exploring the ability of MLLMs to mimic human expert cognition in evaluating high-quality image pairs. Participants were tasked with overcoming critical bottlenecks in professional scenarios, centering on two primary objectives: (1) Comparative Quality Selection: reliably identifying the visually superior image within a high-quality pair; and (2) Interpretative Reasoning: generating grounded, expert-level explanations that detail the rationale behind the selection. In total, the challenge attracted nearly 200 registrations and over 2,500 submissions. The top-performing methods significantly advanced the state of the art in professional IQA. The challenge dataset is available at https://github.com/narthchin/RAIM-PIQA, and the official homepage is accessible at https://www.codabench.org/competitions/12789/.

2604.12509 2026-04-15 cs.RO cs.CV

Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers

Snehal Jauhri, Vignesh Prasad, Georgia Chalvatzaki

Comments PrePrint. Project website: sites.google.com/view/whole-moma

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英文摘要

Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems via hierarchical optimization, but require extensive hand-tuned optimization and remain brittle. Learning-based methods, on the other hand, show strong generalization capabilities but typically rely on expensive whole-body teleoperation data or heavy reward engineering. We observe that even a sub-optimal WBC is a powerful structural prior: it can be used to collect data in a constrained, task-relevant region of the state-action space, and its behavior can still be improved upon using offline reinforcement learning. Building on this, we propose WHOLE-MoMa, a two-stage pipeline that first generates diverse demonstrations by randomizing a lightweight WBC, and then applies offline RL to identify and stitch together improved behaviors via a reward signal. To support the expressive action-chunked diffusion policies needed for complex coordination tasks, we extend offline implicit Q-learning with Q-chunking for chunk-level critic evaluation and advantage-weighted policy extraction. On three tasks of increasing difficulty using a TIAGo++ mobile manipulator in simulation, WHOLE-MoMa significantly outperforms WBC, behavior cloning, and several offline RL baselines. Policies transfer directly to the real robot without finetuning, achieving 80% success in bimanual drawer manipulation and 68% in simultaneous cupboard opening and object placement, all without any teleoperated or real-world training data.

2604.12508 2026-04-15 cs.CV

From Attenuation to Attention: Variational Information Flow Manipulation for Fine-Grained Visual Perception

Jilong Zhu, Yang Feng

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While Multimodal Large Language Models (MLLMs) have demonstrated impressive capabilities in general visual understanding, they frequently falter in fine-grained perception tasks that require identifying tiny objects or discerning subtle visual relationships. We attribute this limitation to Visual Attenuation: a phenomenon where sparse fine-grained visual signals are prematurely suppressed or diluted by dominant textual tokens during network propagation, resulting in a "loss of focus" during the deep-level decision-making process. Existing input-centric solutions fail to fundamentally reverse this intrinsic mechanism of information loss. To address this challenge, we propose the Variational Information Flow (VIF) framework. Adopting a probabilistic perspective, VIF leverages a Conditional Variational Autoencoder (CVAE) to model the visual saliency relevant to the question-answer pair as a latent distribution. As a plug-and-play module, VIF can be integrated into existing architectures. Extensive evaluations across diverse benchmarks, covering General VQA, fine-grained perception, and visual grounding, demonstrate that VIF yields competitive improvements over previous methods, validating its effectiveness in enhancing the fine-grained perception of MLLMs.

2604.12506 2026-04-15 cs.CL cs.SD

Beyond Transcription: Unified Audio Schema for Perception-Aware AudioLLMs

Linhao Zhang, Yuhan Song, Aiwei Liu, Chuhan Wu, Sijun Zhang, Wei Jia, Yuan Liu, Houfeng Wang, Xiao Zhou

Comments Accepted to ACL 2026 Findings

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Recent Audio Large Language Models (AudioLLMs) exhibit a striking performance inversion: while excelling at complex reasoning tasks, they consistently underperform on fine-grained acoustic perception. We attribute this gap to a fundamental limitation of ASR-centric training, which provides precise linguistic targets but implicitly teaches models to suppress paralinguistic cues and acoustic events as noise. To address this, we propose Unified Audio Schema (UAS), a holistic and structured supervision framework that organizes audio information into three explicit components -- Transcription, Paralinguistics, and Non-linguistic Events -- within a unified JSON format. This design achieves comprehensive acoustic coverage without sacrificing the tight audio-text alignment that enables reasoning. We validate the effectiveness of this supervision strategy by applying it to both discrete and continuous AudioLLM architectures. Extensive experiments on MMSU, MMAR, and MMAU demonstrate that UAS-Audio yields consistent improvements, boosting fine-grained perception by 10.9% on MMSU over the same-size state-of-the-art models while preserving robust reasoning capabilities. Our code and model are publicly available at https://github.com/Tencent/Unified_Audio_Schema.

2604.12503 2026-04-15 cs.CL cs.AI

Topology-Aware Reasoning over Incomplete Knowledge Graph with Graph-Based Soft Prompting

Shuai Wang, Xixi Wang, Yinan Yu

Comments 12 pages, 2 figures

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Large Language Models (LLMs) have shown remarkable capabilities across various tasks but remain prone to hallucinations in knowledge-intensive scenarios. Knowledge Base Question Answering (KBQA) mitigates this by grounding generation in Knowledge Graphs (KGs). However, most multi-hop KBQA methods rely on explicit edge traversal, making them fragile to KG incompleteness. In this paper, we proposed a novel graph-based soft prompting framework that shifts the reasoning paradigm from node-level path traversal to subgraph-level reasoning. Specifically, we employ a Graph Neural Network (GNN) to encode extracted structural subgraphs into soft prompts, enabling LLM to reason over richer structural context and identify relevant entities beyond immediate graph neighbors, thereby reducing sensitivity to missing edges. Furthermore, we introduce a two-stage paradigm that reduces computational cost while preserving good performance: a lightweight LLM first leverages the soft prompts to identify question-relevant entities and relations, followed by a more powerful LLM for evidence-aware answer generation. Experiments on four multi-hop KBQA benchmarks show that our approach achieves state-of-the-art performance on three of them, demonstrating its effectiveness. Code is available at the repository: https://github.com/Wangshuaiia/GraSP.

2604.12502 2026-04-15 cs.CV cs.AI

SEATrack: Simple, Efficient, and Adaptive Multimodal Tracker

Junbin Su, Ziteng Xue, Shihui Zhang, Kun Chen, Weiming Hu, Zhipeng Zhang

Comments Accepted as a CVPR 2026 Oral

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Parameter-efficient fine-tuning (PEFT) in multimodal tracking reveals a concerning trend where recent performance gains are often achieved at the cost of inflated parameter budgets, which fundamentally erodes PEFT's efficiency promise. In this work, we introduce SEATrack, a Simple, Efficient, and Adaptive two-stream multimodal tracker that tackles this performance-efficiency dilemma from two complementary perspectives. We first prioritize cross-modal alignment of matching responses, an underexplored yet pivotal factor that we argue is essential for breaking the trade-off. Specifically, we observe that modality-specific biases in existing two-stream methods generate conflicting matching attention maps, thereby hindering effective joint representation learning. To mitigate this, we propose AMG-LoRA, which seamlessly integrates Low-Rank Adaptation (LoRA) for domain adaptation with Adaptive Mutual Guidance (AMG) to dynamically refine and align attention maps across modalities. We then depart from conventional local fusion approaches by introducing a Hierarchical Mixture of Experts (HMoE) that enables efficient global relation modeling, effectively balancing expressiveness and computational efficiency in cross-modal fusion. Equipped with these innovations, SEATrack advances notable progress over state-of-the-art methods in balancing performance with efficiency across RGB-T, RGB-D, and RGB-E tracking tasks. \href{https://github.com/AutoLab-SAI-SJTU/SEATrack}{\textcolor{cyan}{Code is available}}.

2604.12500 2026-04-15 cs.LG cs.CR

Safety Training Modulates Harmful Misalignment Under On-Policy RL, But Direction Depends on Environment Design

Leon Eshuijs, Shihan Wang, Antske Fokkens

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Specification gaming under Reinforcement Learning (RL) is known to cause LLMs to develop sycophantic, manipulative, or deceptive behavior, yet the conditions under which this occurs remain unclear. We train 11 instruction-tuned LLMs (0.5B--14B) with on-policy RL across 3 environments and find that model size acts as a safety buffer in some environments but enables greater harmful exploitation in others. Controlled ablations trace this reversal to environment-specific features such as role framing and implicit gameability cues. We further show that most safety benchmarks do not predict RL-induced misalignment, except in the case of Sycophancy scores when the exploit relies on inferring the user's preference. Finally, we find that on-policy RL preserves a safety buffer inherent in the model's own generation distribution, one that is bypassed during off-policy settings.

2604.12493 2026-04-15 cs.CL cs.AI

Latent Planning Emerges with Scale

Michael Hanna, Emmanuel Ameisen

Comments ICLR 2026

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LLMs can perform seemingly planning-intensive tasks, like writing coherent stories or functioning code, without explicitly verbalizing a plan; however, the extent to which they implicitly plan is unknown. In this paper, we define latent planning as occurring when LLMs possess internal planning representations that (1) cause the generation of a specific future token or concept, and (2) shape preceding context to license said future token or concept. We study the Qwen-3 family (0.6B-14B) on simple planning tasks, finding that latent planning ability increases with scale. Models that plan possess features that represent a planned-for word like "accountant", and cause them to output "an" rather than "a"; moreover, even the less-successful Qwen-3 4B-8B have nascent planning mechanisms. On the more complex task of completing rhyming couplets, we find that models often identify a rhyme ahead of time, but even large models seldom plan far ahead. However, we can elicit some planning that increases with scale when steering models towards planned words in prose. In sum, we offer a framework for measuring planning and mechanistic evidence of how models' planning abilities grow with scale.

2604.12491 2026-04-15 cs.CL

Calibrated Confidence Estimation for Tabular Question Answering

Lukas Voss

Comments 27 pages, 9 figures, 17 tables (8-page main body + appendix)

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Large language models (LLMs) are increasingly deployed for tabular question answering, yet calibration on structured data is largely unstudied. This paper presents the first systematic comparison of five confidence estimation methods across five frontier LLMs and two tabular QA benchmarks. All models are severely overconfident (smooth ECE 0.35-0.64 versus 0.10-0.15 reported for textual QA). A consistent self-evaluation versus perturbation dichotomy replicates across both benchmarks and all four fully-covered models: self-evaluation methods (verbalized, P(True)) achieve AUROC 0.42-0.76, while perturbation methods (semantic entropy, self-consistency, and our Multi-Format Agreement) achieve AUROC 0.78-0.86. Per-model paired bootstrap tests reject the null at p<0.001 after Holm-Bonferroni correction, and a 3-seed check on GPT-4o-mini gives a per-seed standard deviation of only 0.006. The paper proposes Multi-Format Agreement (MFA), which exploits the lossless and deterministic serialization variation unique to structured data (Markdown, HTML, JSON, CSV) to estimate confidence at 20% lower API cost than sampling baselines. MFA reduces ECE by 44-63%, generalizes across all four models on TableBench (mean AUROC 0.80), and combines complementarily with sampling: an MFA + self-consistency ensemble lifts AUROC from 0.74 to 0.82. A secondary contribution, structure-aware recalibration, improves AUROC by +10 percentage points over standard post-hoc methods.

2604.12487 2026-04-15 cs.CL cs.AI

KG-Reasoner: A Reinforced Model for End-to-End Multi-Hop Knowledge Graph Reasoning

Shuai Wang, Yinan Yu

Comments 15 pages, 4 figures

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Large Language Models (LLMs) exhibit strong abilities in natural language understanding and generation, yet they struggle with knowledge-intensive reasoning. Structured Knowledge Graphs (KGs) provide an effective form of external knowledge representation and have been widely used to enhance performance in classical Knowledge Base Question Answering (KBQA) tasks. However, performing precise multi-hop reasoning over KGs for complex queries remains highly challenging. Most existing approaches decompose the reasoning process into a sequence of isolated steps executed through a fixed pipeline. While effective to some extent, such designs constrain reasoning flexibility and fragment the overall decision process, often leading to incoherence and the loss of critical intermediate information from earlier steps. In this paper, we introduce KG-Reasoner, an end-to-end framework that integrates multi-step reasoning into a unified "thinking" phase of a Reasoning LLM. Through Reinforcement Learning (RL), the LLM is trained to internalize the KG traversal process, enabling it to dynamically explore reasoning paths, and perform backtracking when necessary. Experiments on eight multi-hop and knowledge-intensive reasoning benchmarks demonstrate that KG-Reasoner achieves competitive or superior performance compared to the state-of-the-art methods. Codes are available at the repository: https://github.com/Wangshuaiia/KG-Reasoner.

2604.12486 2026-04-15 cs.RO

DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation

Sunyao Zhou, Yunzi Wu, Tianhang Wang, Xinhai Li, Guang Chen, Lizheng Liu, Chenjia Bai, Xuelong Li

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Long-horizon collaborative vision-language navigation (VLN) is critical for multi-robot systems to accomplish complex tasks beyond the capability of a single agent. CoNavBench takes a first step by introducing the first collaborative long-horizon VLN benchmark with relay-style multi-robot tasks, a collaboration taxonomy, along with graph-grounded generation and evaluation to model handoffs and rendezvous in shared environments. However, existing benchmarks and evaluations often do not enforce strictly synchronized dual-robot rollout on a shared world timeline, and they typically rely on static coordination policies that cannot adapt when new cross-agent evidence emerges. We present Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation (DeCoNav), a decentralized framework that couples event-triggered dialogue with dynamic task allocation and replanning for real-time, adaptive coordination. In DeCoNav, robots exchange compact semantic states via dialogue without a central controller. When informative events such as new evidence, uncertainty, or conflicts arise, dialogue is triggered to dynamically reassign subgoals and replan under synchronized execution. Implemented in DeCoNavBench with 1,213 tasks across 176 HM3D scenes, DeCoNav improves the both-success rate (BSR) by 69.2%, demonstrating the effectiveness of dialogue-driven, dynamically reallocated planning for multi-robot collaboration.

2604.12483 2026-04-15 cs.SD cs.AI

Elastic Net Regularization and Gabor Dictionary for Classification of Heart Sound Signals using Deep Learning

Mahmoud Fakhry, Ascensión Gallardo-Antolín

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In this article, we propose the optimization of the resolution of time-frequency atoms and the regularization of fitting models to obtain better representations of heart sound signals. This is done by evaluating the classification performance of deep learning (DL) networks in discriminating five heart valvular conditions based on a new class of time-frequency feature matrices derived from the fitting models. We inspect several combinations of resolution and regularization, and the optimal one is that provides the highest performance. To this end, a fitting model is obtained based on a heart sound signal and an overcomplete dictionary of Gabor atoms using elastic net regularization of linear models. We consider two different DL architectures, the first mainly consisting of a 1D convolutional neural network (CNN) layer and a long short-term memory (LSTM) layer, while the second is composed of 1D and 2D CNN layers followed by an LSTM layer. The networks are trained with two algorithms, namely stochastic gradient descent with momentum (SGDM) and adaptive moment (ADAM). Extensive experimentation has been conducted using a database containing heart sound signals of five heart valvular conditions. The best classification accuracy of $98.95\%$ is achieved with the second architecture when trained with ADAM and feature matrices derived from optimal models obtained with a Gabor dictionary consisting of atoms with high-time low-frequency resolution and imposing sparsity on the models.

2604.12481 2026-04-15 cs.CV

T2I-BiasBench: A Multi-Metric Framework for Auditing Demographic and Cultural Bias in Text-to-Image Models

Nihal Jaiswal, Siddhartha Arjaria, Gyanendra Chaubey, Ankush Kumar, Aditya Singh, Anchal Chaurasiya

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Text-to-image (T2I) generative models achieve impressive visual fidelity but inherit and amplify demographic imbalances and cultural biases embedded in training data. We introduce T2I-BiasBench, a unified evaluation framework of thirteen complementary metrics that jointly captures demographic bias, element omission, and cultural collapse in diffusion models - the first framework to address all three dimensions simultaneously. We evaluate three open-source models - Stable Diffusion v1.5, BK-SDM Base, and Koala Lightning - against Gemini 2.5 Flash (RLHF-aligned) as a reference baseline. The benchmark comprises 1,574 generated images across five structured prompt categories. T2I-BiasBench integrates six established metrics with seven additional measures: four newly proposed (Composite Bias Score, Grounded Missing Rate, Implicit Element Missing Rate, Cultural Accuracy Ratio) and three adapted (Hallucination Score, Vendi Score, CLIP Proxy Score). Three key findings emerge: (1) Stable Diffusion v1.5 and BK-SDM exhibit bias amplification (>1.0) in beauty-related prompts; (2) contextual constraints such as surgical PPE substantially attenuate professional-role gender bias (Doctor CBS = 0.06 for SD v1.5); and (3) all models, including RLHF-aligned Gemini, collapse to a narrow set of cultural representations (CAS: 0.54-1.00), confirming that alignment techniques do not resolve cultural coverage gaps. T2I-BiasBench is publicly released to support standardized, fine-grained bias evaluation of generative models. The project page is available at: https://gyanendrachaubey.github.io/T2I-BiasBench/

2604.12480 2026-04-15 cs.SD cs.AI

Audio Source Separation in Reverberant Environments using $β$-divergence based Nonnegative Factorization

Mahmoud Fakhry, Piergiorgio Svaizer, Maurizio Omologo

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In Gaussian model-based multichannel audio source separation, the likelihood of observed mixtures of source signals is parametrized by source spectral variances and by associated spatial covariance matrices. These parameters are estimated by maximizing the likelihood through an Expectation-Maximization algorithm and used to separate the signals by means of multichannel Wiener filtering. We propose to estimate these parameters by applying nonnegative factorization based on prior information on source variances. In the nonnegative factorization, spectral basis matrices can be defined as the prior information. The matrices can be either extracted or indirectly made available through a redundant library that is trained in advance. In a separate step, applying nonnegative tensor factorization, two algorithms are proposed in order to either extract or detect the basis matrices that best represent the power spectra of the source signals in the observed mixtures. The factorization is achieved by minimizing the $β$-divergence through multiplicative update rules. The sparsity of factorization can be controlled by tuning the value of $β$. Experiments show that sparsity, rather than the value assigned to $β$ in the training, is crucial in order to increase the separation performance. The proposed method was evaluated in several mixing conditions. It provides better separation quality with respect to other comparable algorithms.

2604.12479 2026-04-15 cs.CL

Meet Dynamic Individual Preferences: Resolving Conflicting Human Value with Paired Fine-Tuning

Shanyong Wang, Shuhang Lin, Yining Zhao, Xi Zhu, Yongfeng Zhang

Comments 20 pages, 13 figures

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Recent advances in large language models (LLMs) have significantly improved the alignment of models with general human preferences. However, a major challenge remains in adapting LLMs to individual preferences, which are not only diverse but also dynamic. In this paper, we introduce a novel framework, Preference-Paired Fine-Tuning (PFT), designed to align models with contradictory and evolving individual preferences. We present a new dataset, Value Conflict Dilemma (VCD), which includes scenarios that involve conflicting human preferences, facilitating the evaluation of our approach. Our experiments demonstrate that PFT outperforms single-preference training methods, achieving up to 96.6% accuracy in multi-choice classification tasks and the highest open-ended generation score of 8.69. PFT also shows significant improvements over DPO, SFT and some traditional training methods, especially when handling conflicting preferences. Additionally, with limited user history data, models can inferring preference vector rapidly, achieving a 44.76% improvement in user-specific preference alignment in comparison to single-preference models.

2604.12477 2026-04-15 cs.CL cs.AI

Mining Large Language Models for Low-Resource Language Data: Comparing Elicitation Strategies for Hausa and Fongbe

Mahounan Pericles Adjovi, Roald Eiselen, Prasenjit Mitra

Comments 11 pages, 5 figures, 6 tables; to appear in LREC-COLING 2026

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Large language models (LLMs) are trained on data contributed by low-resource language communities, yet the linguistic knowledge encoded in these models remains accessible only through commercial APIs. This paper investigates whether strategic prompting can extract usable text data from LLMs for two West African languages: Hausa (Afroasiatic, approximately 80 million speakers) and Fongbe (Niger-Congo, approximately 2 million speakers). We systematically compare six elicitation task types across two commercial LLMs (GPT-4o Mini and Gemini 2.5 Flash). GPT-4o Mini extracts 6-41 times more usable target-language words per API call than Gemini. Optimal strategies differ by language: Hausa benefits from functional text and dialogue, while Fongbe requires constrained generation prompts. We release all generated corpora and code.

2604.12473 2026-04-15 cs.RO cs.HC

Designing for Error Recovery in Human-Robot Interaction

Christopher D. Wallbridge, Erwin Jose Lopez Pulgarin

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Journal ref
Proceedings of Errors, Mistakes, and Failures in Humans and Robots at HRI 2026
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This position paper looks briefly at the way we attempt to program robotic AI systems. Many AI systems are based on the idea of trying to improve the performance of one individual system to beyond so-called human baselines. However, these systems often look at one shot and one-way decisions, whereas the real world is more continuous and interactive. Humans, however, are often able to recover from and learn from errors - enabling a much higher rate of success. We look at the challenges of building a system that can detect/recover from its own errors, using the example of robotic nuclear gloveboxes as a use case to help illustrate examples. We then go on to talk about simple starting designs.

2604.12470 2026-04-15 cs.AI

Intelligent ROI-Based Vehicle Counting Framework for Automated Traffic Monitoring

Mohamed A. Abdelwahab, Zaynab Al-Ariny, Mahmoud Fakhry, El-Sayed Hasaneen

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Accurate vehicle counting through video surveillance is crucial for efficient traffic management. However, achieving high counting accuracy while ensuring computational efficiency remains a challenge. To address this, we propose a fully automated, video-based vehicle counting framework designed to optimize both computational efficiency and counting accuracy. Our framework operates in two distinct phases: \textit{estimation} and \textit{prediction}. In the estimation phase, the optimal region of interest (ROI) is automatically determined using a novel combination of three models based on detection scores, tracking scores, and vehicle density. This adaptive approach ensures compatibility with any detection and tracking method, enhancing the framework's versatility. In the prediction phase, vehicle counting is efficiently performed within the estimated ROI. We evaluated our framework on benchmark datasets like UA-DETRAC, GRAM, CDnet 2014, and ATON. Results demonstrate exceptional accuracy, with most videos achieving 100\% accuracy, while also enhancing computational efficiency, making processing up to four times faster than full-frame processing. The framework outperforms existing techniques, especially in complex multi-road scenarios, demonstrating robustness and superior accuracy. These advancements make it a promising solution for real-time traffic monitoring.

2604.12469 2026-04-15 cs.LG

Analyzing the Effect of Noise in LLM Fine-tuning

Lingfang Li, Procheta Sen

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Fine-tuning is the dominant paradigm for adapting pretrained large language models (LLMs) to downstream NLP tasks. In practice, fine-tuning datasets may contain various forms of noise arising from annotation errors, preprocessing artifacts, or automated data collection. While prior work has focused on designing robust learning algorithms to mitigate performance degradation under noisy conditions, comparatively little is known about how different types of noise affect the internal learning dynamics of LLMs during fine-tuning. In this work, we systematically study the impact of noise on model behavior across three pretrained model families (GPT-2, Qwen2 and Llama-2) and three diverse NLP tasks. We introduce controlled perturbations corresponding to three common real-world noise types: label noise, grammatical noise, and typographical noise. Beyond task-level performance, we analyze layer-wise representation changes and attention patterns to understand how noise propagates through the network. Our results show that corrupting labels (i.e. label noise) consistently causes the largest performance degradation, whereas grammatical noise and typographical noise can occasionally yield mild regularization benefits. We further find that noise effects are localized primarily to task-specific layers, while attention structures remain comparatively stable.

2604.12463 2026-04-15 cs.CV cs.AI

Euler-inspired Decoupling Neural Operator for Efficient Pansharpening

Anqi Zhu, Mengting Ma, Yizhen Jiang, Xiangdong Li, Kai Zheng, Jiaxin Li, Wei Zhang

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Pansharpening aims to synthesize high-resolution multispectral (HR-MS) images by fusing the spatial textures of panchromatic (PAN) images with the spectral information of low-resolution multispectral (LR-MS) images. While recent deep learning paradigms, especially diffusion-based operators, have pushed the performance boundaries, they often encounter spectral-spatial blurring and prohibitive computational costs due to their stochastic nature and iterative sampling. In this paper, we propose the Euler-inspired Decoupling Neural Operator (EDNO), a physics-inspired framework that redefines pansharpening as a continuous functional mapping in the frequency domain. Departing from conventional Cartesian feature processing, our EDNO leverages Euler's formula to transform features into a polar coordinate system, enabling a novel explicit-implicit interaction mechanism. Specifically, we develop the Euler Feature Interaction Layer (EFIL), which decouples the fusion task into two specialized modules: 1) Explicit Feature Interaction Module, utilizing a linear weighting scheme to simulate phase rotation for adaptive geometric alignment; and 2) Implicit Feature Interaction Module, employing a feed-forward network to model spectral distributions for superior color consistency. By operating in the frequency domain, EDNO inherently captures global receptive fields while maintaining discretization-invariance. Experimental results on the three datasets demonstrate that EDNO offers a superior efficiency-performance balance compared to heavyweight architectures.

2604.12461 2026-04-15 cs.AI

CIA: Inferring the Communication Topology from LLM-based Multi-Agent Systems

Yongxuan Wu, Xixun Lin, He Zhang, Nan Sun, Kun Wang, Chuan Zhou, Shirui Pan, Yanan Cao

Comments ACL 2026, Main

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LLM-based Multi-Agent Systems (MAS) have demonstrated remarkable capabilities in solving complex tasks. Central to MAS is the communication topology which governs how agents exchange information internally. Consequently, the security of communication topologies has attracted increasing attention. In this paper, we investigate a critical privacy risk: MAS communication topologies can be inferred under a restrictive black-box setting, exposing system vulnerabilities and posing significant intellectual property threats. To explore this risk, we propose Communication Inference Attack (CIA), a novel attack that constructs new adversarial queries to induce intermediate agents' reasoning outputs and models their semantic correlations through the proposed global bias disentanglement and LLM-guided weak supervision. Extensive experiments on MAS with optimized communication topologies demonstrate the effectiveness of CIA, achieving an average AUC of 0.87 and a peak AUC of up to 0.99, thereby revealing the substantial privacy risk in MAS.

2604.12460 2026-04-15 cs.AI

Enhancing Clustering: An Explainable Approach via Filtered Patterns

Motaz Ben Hassine, Saïd Jabbour

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英文摘要

Machine learning has become a central research area, with increasing attention devoted to explainable clustering, also known as conceptual clustering, which is a knowledge-driven unsupervised learning paradigm that partitions data into $θ$ disjoint clusters, where each cluster is described by an explicit symbolic representation, typically expressed as a closed pattern or itemset. By providing human-interpretable cluster descriptions, explainable clustering plays an important role in explainable artificial intelligence and knowledge discovery. Recent work improved clustering quality by introducing k-relaxed frequent patterns (k-RFPs), a pattern model that relaxes strict coverage constraints through a generalized kcover definition. This framework integrates constraint-based reasoning, using SAT solvers for pattern generation, with combinatorial optimization, using Integer Linear Programming (ILP) for cluster selection. Despite its effectiveness, this approach suffers from a critical limitation: multiple distinct k-RFPs may induce identical k-covers, leading to redundant symbolic representations that unnecessarily enlarge the search space and increase computational complexity during cluster construction. In this paper, we address this redundancy through a pattern reduction framework. Our contributions are threefold. First, we formally characterize the conditions under which distinct k-RFPs induce identical kcovers, providing theoretical foundations for redundancy detection. Second, we propose an optimization strategy that removes redundant patterns by retaining a single representative pattern for each distinct k-cover. Third, we investigate the interpretability and representativeness of the patterns selected by the ILP model by analyzing their robustness with respect to their induced clusters. Extensive experiments conducted on several real-world datasets demonstrate that the proposed approach significantly reduces the pattern search space, improves computational efficiency, preserves and enhances in some cases the quality of the resulting clusters.

2604.12459 2026-04-15 cs.AI

Operationalising the Right to be Forgotten in LLMs: A Lightweight Sequential Unlearning Framework for Privacy-Aligned Deployment in Politically Sensitive Environments

Esen Kurt, Haithem Afli

Comments 10 pages

详情
Journal ref
PoliticalNLP 2026
英文摘要

Large Language Models (LLMs) are increasingly deployed in politically sensitive environments, where memorisation of personal data or confidential content raises regulatory concerns under frameworks such as the GDPR and its Right to be Forgotten. Translating such legal principles into large-scale generative systems presents significant technical challenges. We introduce a lightweight sequential unlearning framework that explicitly separates retention and suppression objectives. The method first stabilises benign capabilities through positive fine-tuning, then applies layer-restricted negative fine-tuning to suppress designated sensitive patterns while preserving general language competence. Experiments on the SemEval-2025 LLM Unlearning benchmark demonstrate effective behavioural suppression with minimal impact on factual accuracy and fluency. GPT-2 exhibits greater robustness than DistilGPT-2, highlighting the role of model capacity in privacy-aligned adaptation. We position sequential unlearning as a practical and reproducible mechanism for operationalising data erasure requirements in politically deployed LLMs.

2604.12447 2026-04-15 cs.RO

HazardArena: Evaluating Semantic Safety in Vision-Language-Action Models

Zixing Chen, Yifeng Gao, Li Wang, Yunhan Zhao, Yi Liu, Jiayu Li, Xiang Zheng, Zuxuan Wu, Cong Wang, Xingjun Ma, Yu-Gang Jiang

Comments Submitted to conference; 12 pages, 8 figures, including supplementary material

详情
英文摘要

Vision-Language-Action (VLA) models inherit rich world knowledge from vision-language backbones and acquire executable skills via action demonstrations. However, existing evaluations largely focus on action execution success, leaving action policies loosely coupled with visual-linguistic semantics. This decoupling exposes a systematic vulnerability whereby correct action execution may induce unsafe outcomes under semantic risk. To expose this vulnerability, we introduce HazardArena, a benchmark designed to evaluate semantic safety in VLAs under controlled yet risk-bearing contexts. HazardArena is constructed from safe/unsafe twin scenarios that share matched objects, layouts, and action requirements, differing only in the semantic context that determines whether an action is unsafe. We find that VLA models trained exclusively on safe scenarios often fail to behave safely when evaluated in their corresponding unsafe counterparts. HazardArena includes over 2,000 assets and 40 risk-sensitive tasks spanning 7 real-world risk categories grounded in established robotic safety standards. To mitigate this vulnerability, we propose a training-free Safety Option Layer that constrains action execution using semantic attributes or a vision-language judge, substantially reducing unsafe behaviors with minimal impact on task performance. We hope that HazardArena highlights the need to rethink how semantic safety is evaluated and enforced in VLAs as they scale toward real-world deployment.

2604.12443 2026-04-15 cs.CV

DiffusionPrint: Learning Generative Fingerprints for Diffusion-Based Inpainting Localization

Paschalis Giakoumoglou, Symeon Papadopoulos

Comments CVPRW2026

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英文摘要

Modern diffusion-based inpainting models pose significant challenges for image forgery localization (IFL), as their full regeneration pipelines reconstruct the entire image via a latent decoder, disrupting the camera-level noise patterns that existing forensic methods rely on. We propose DiffusionPrint, a patch-level contrastive learning framework that learns a forensic signal robust to the spectral distortions introduced by latent decoding. It exploits the fact that inpainted regions generated by the same model share a consistent generative fingerprint, using this as a self-supervisory signal. DiffusionPrint trains a convolutional backbone via a MoCo-style objective with cross-category hard negative mining and a generator-aware classification head, producing a forensic feature map that serves as a highly discriminative secondary modality in fusion-based IFL frameworks. Integrated into TruFor, MMFusion, and a lightweight fusion baseline, DiffusionPrint consistently improves localization across multiple generative models, with gains of up to +28% on mask types unseen during fine-tuning and confirmed generalization to unseen generative architectures. Code is available at https://github.com/mever-team/diffusionprint

2604.12442 2026-04-15 cs.CL

GLeMM: A large-scale multilingual dataset for morphological research

Hathout Nabil, Basilio Calderone, Fiammetta Namer, Franck Sajous

详情
英文摘要

In derivational morphology, what mechanisms govern the variation in form-meaning relations between words? The answers to this type of questions are typically based on intuition and on observations drawn from limited data, even when a wide range of languages is considered. Many of these studies are difficult to replicate and generalize. To address this issue, we present GLeMM, a new derivational resource designed for experimentation and data-driven description in morphology. GLeMM is characterized by (i) its large size, (ii) its extensive coverage (currently amounting to seven European languages, i.e., German, English, Spanish, French, Italian, Polish, Russian, (iii) its fully automated design, identical across all languages, (iv) the automatic annotation of morphological features on each entry, as well as (v) the encoding of semantic descriptions for a significant subset of these entries. It enables researchers to address difficult questions, such as the role of form and meaning in word-formation, and to develop and experimentally test computational methods that identify the structures of derivational morphology. The article describes how GLeMM is created using Wiktionary articles and presents various case studies illustrating possible applications of the resource.

2604.12440 2026-04-15 cs.CV cs.AI

IAD-Unify: A Region-Grounded Unified Model for Industrial Anomaly Segmentation, Understanding, and Generation

Haoyu Zheng, Tianwei Lin, Wei Wang, Zhuonan Wang, Wenqiao Zhang, Jiaqi Zhu, Feifei Shao

详情
英文摘要

Real-world industrial inspection requires not only localizing defects, but also explaining them in natural language and generating controlled defect edits. However, existing approaches fail to jointly support all three capabilities within a unified framework and evaluation protocol. We propose IAD-Unify, a dual-encoder unified framework in which a frozen DINOv2-based region expert supplies precise anomaly evidence to a shared Qwen3.5-4B vision-language backbone via lightweight token injection, jointly enabling anomaly segmentation, region-grounded understanding, and mask-guided generation. To enable unified evaluation, we further construct Anomaly-56K, a comprehensive unified multi-task IAD evaluation platform, spanning 59,916 images across 24 categories and 104 defect variants. Controlled ablations yield four findings: (i) region grounding is the decisive mechanism for understanding, removing it degrades location accuracy by >76 pp; (ii) predicted-region performance closely matches oracle, confirming deployment viability; (iii) region-grounded generation achieves the best full-image fidelity and masked-region perceptual quality; and (iv) pre-initialized joint training improves understanding at negligible generation cost (-0.16 dB). IAD-Unify further achieves strong performance on the MMAD benchmark, including categories unseen during training, demonstrating robust cross-category generalization.

2604.12437 2026-04-15 cs.CV

A Hybrid Architecture for Benign-Malignant Classification of Mammography ROIs

Mohammed Asad, Mohit Bajpai, Sudhir Singh, Rahul Katarya

Comments 4 pages, 2 figures, 2 tables

详情
英文摘要

Accurate characterization of suspicious breast lesions in mammography is important for early diagnosis and treatment planning. While Convolutional Neural Networks (CNNs) are effective at extracting local visual patterns, they are less suited to modeling long-range dependencies. Vision Transformers (ViTs) address this limitation through self-attention, but their quadratic computational cost can be prohibitive. This paper presents a hybrid architecture that combines EfficientNetV2-M for local feature extraction with Vision Mamba, a State Space Model (SSM), for efficient global context modeling. The proposed model performs binary classification of abnormality-centered mammography regions of interest (ROIs) from the CBIS-DDSM dataset into benign and malignant classes. By combining a strong CNN backbone with a linear-complexity sequence model, the approach achieves strong lesion-level classification performance in an ROI-based setting.