ニュース＆研究

arXiv:2510.23509v3 Announce Type: replace Abstract: Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe behaviors, especially in dynamic human spaces, due to limited physical grounding and weak logical consistency. In this work, we introduce NaviWM, a socially-aware robot Navigation World Model that augments LLM reasoning with a structured world model and a logic-driven chain-of-thought process. NaviWM consists of two main components: (1) a spatial-temporal world model that captures the positions, velocities, and activities of agents in the environment, and (2) a deductive reasoning module that guides LLMs through a multi-step, logic-based inference process. This integration enables the robot to generate navigation decisions that are both socially compliant and physically safe, under well-defined constraints s

arXiv:2605.24876v1 Announce Type: cross Abstract: We introduce a novel neural operator architecture designed to approximate solutions of linear elliptic partial differential equations with high-contrast, spatially varying coefficients. The network, termed the Iterated V-shaped Net (IV-Net), realizes a mapping from the input coefficients and righthand side to the corresponding solution field. The architecture of IV-Net is informed by, and closely resembles, a V-cycle multigrid solver. The IV-Net model is parameterized via convolutional layers defined in the physical domain. For coercive problems with highly heterogeneous coefficients, the proposed network exhibits superior performance relative to a proper orthogonal decomposition (POD) approach and several existing neural operator architectures. For low-frequency oscillatory Helmholtz problems with smooth coefficients, its performance is similar to that of a Fourier neural operator. We analyze the approximation error and convergence beh

arXiv:2605.24570v1 Announce Type: cross Abstract: Despite the central role of optimization in deep learning, most optimizers rely on update structures whose functional form is fixed before training begins. This static design can limit their ability to respond to changing gradient behavior across the loss landscape, where training may shift between stable, noisy, and inconsistent regimes. This study proposes PILOT (Policy-Informed Learned OpTimizer), an online optimizer that adapts its update behavior during training. Rather than using a fixed balance between momentum, normalization, and sign-based updates, PILOT uses gradient-direction agreement as a signal of local training stability. Conditioning the update rule on this agreement signal allows the optimizer to adjust its behavior when gradients become stable, noisy, or inconsistent. Experiments on FashionMNIST and CIFAR-10 show that PILOT consistently achieves the highest accuracy among the evaluated optimizers across convolutional s

arXiv:2604.23728v2 Announce Type: replace-cross Abstract: Recent advances in autonomous driving have motivated research on pedestrian intention prediction, which aims to infer future crossing decisions and actions by modeling temporal dynamics, social interactions, and environmental context. However, existing studies remain constrained by oversimplified multi-agent interaction patterns, opaque reasoning logic, and a lack of global consistency in behavioral predictions, which compromise both robustness and interpretability. In this work, we propose ESIA (Energy-based Spatiotemporal Interaction-Aware framework), a novel Conditional Random Field (CRF)-based paradigm. We cast the intention prediction task as a structured prediction problem over a unified graph-based representation, treating pedestrians and the environment as spatiotemporal nodes. To characterize their distinct roles, we assign unary potentials to nodes to capture individual intentions, and pairwise potentials to edges to e

arXiv:2512.18735v2 Announce Type: replace-cross Abstract: Modern Large Multimodal Models (LMMs) have demonstrated extraordinary ability in static image and single-state spatial-temporal understanding. However, their capacity to comprehend the dynamic changes of objects within a shared spatial context between two distinct video observations, remains largely unexplored. This ability to reason about transformations within a consistent environment is particularly crucial for advancements in the field of spatial intelligence. In this paper, we introduce $M^3-Verse$, a Multi-Modal, Multi-State, Multi-Dimensional benchmark, to formally evaluate this capability. It is built upon paired videos that provide multi-perspective observations of an indoor scene before and after a state change. The benchmark contains a total of 270 scenes and 2,932 questions, which are categorized into over 50 subtasks that probe 4 core capabilities. We evaluate 16 state-of-the-art LMMs and observe their limitations i

arXiv:2605.03472v2 Announce Type: replace-cross Abstract: Mental-health dialogue models are increasingly evaluated by AI-based evaluators, yet these evaluators often treat surface empathy, supportiveness, or fluency as evidence of safety. In this paper, we study a hidden failure mode that we call implicit sycophancy: a response may appear empathetic while implicitly reinforcing catastrophizing, avoidance, hopeless prediction, or CBT-style labeling. To examine this problem, we introduce a diagnostic benchmark for implicit-sycophancy detection, built from three representative mental-health dialogue sources covering everyday peer support, counseling-style emotional support, and crisis-oriented interaction, and further construct a leakage-audited clean single-response matched benchmark with 500 contexts and 1,500 matched response windows. We then propose Dynamic Emotional Signature Graphs (DESG), a structured offline audit framework that separates LLM-based state extraction from final scor

arXiv:2605.25220v1 Announce Type: cross Abstract: High-fidelity 3D Gaussian head avatar generation is critical for applications such as AR/VR, telepresence, and digital humans. Existing methods depend on multi-view datasets, 3D captures, or intermediate 2D view synthesis. In contrast, we learn both conditional and unconditional 3D head models from randomly sampled 2D images alone, without using multi-view data, 3D supervision, or intermediate view generation. We introduce MVCHead, a single-shot state space model that enforces multi-view consistency (MVC) directly in the 3D representation while regressing 3D Gaussians under these constraints. At its core, we propose a Hierarchical State Space (HiSS) block that progressively refines Gaussians from coarse to fine, while capturing long-range dependencies. Within each HiSS block, we modify Mamba's standard unidirectional scan with the proposed Hierarchical Bi-directional State Scan (HiBiSS) that aligns recurrence with the axes along which m

arXiv:2605.24041v2 Announce Type: replace-cross Abstract: Neural operators serve as fast, data-driven surrogates for scientific modeling but typically rely on a monolithic, single-pass inference procedure that struggles to resolve high-frequency details, a limitation known as spectral bias. We introduce the Iterative Refinement Neural Operator (IRNO), which augments pre-trained operators with a learned refinement module iteratively applied via fixed-point iteration. IRNO decomposes the prediction into a coarse initialization followed by successive residual corrections, paralleling classical numerical solvers. Under local assumptions, we establish contraction of the induced operator, ensuring convergence to a unique fixed point. To explicitly target high-frequency errors, we propose a progressive spectral loss that adaptively increases penalty on high-frequency components over refinement steps during training. Across physical systems, IRNO consistently lowers error, with up to 56.05% im

arXiv:2605.25435v1 Announce Type: new Abstract: The rapid evolution of large language model (LLM)-driven autonomous agents has given rise to OpenClaw, a new class of open-source agent frameworks that operate as continuously running, skill-augmented systems with persistent memory, multi-channel interaction, and high degrees of autonomy. Such capabilities enable OpenClaw agents to autonomously execute complex, multi-step tasks and interact seamlessly with external applications, but simultaneously introduce a substantially enlarged attack surface. In particular, the combination of high-privilege operations and persistent memory exposes OpenClaw agents to various emerging threats, including skill poisoning, cognitive manipulation, multi-agent cascading failures, and supply-chain vulnerabilities. In this survey, we present a comprehensive study of the security landscape of OpenClaw agents. We first examine the general architecture and key characteristics that distinguish OpenClaw agents fro

arXiv:2605.25558v1 Announce Type: new Abstract: Optimizing the trade-off among predictive performance and computational cost is a central focus in the deployment of Large Language Models (LLMs). Current routing methods primarily rely on direct mapping from queries to models based on surface-level features, making them susceptible to the memorization trap and leading to poor generalizability on out-of-distribution (OOD) data. In this paper, we propose DecoR, a novel routing framework that recasts the routing task as a matching process of sifting similar queries from historical logs, effectively mitigating the memorization trap. To enhance matching accuracy, we introduce a query capability deconstruction method that decouples linguistic surface forms from task-intrinsic requirements, directing matching toward capability dimensions to ground decisions in essential task attributes. Furthermore, we develop CodaSet, a comprehensive benchmark for assessing routing generalization, where experi

arXiv:2605.24546v1 Announce Type: new Abstract: Process modeling is a sub-domain of Business Process Management (BPM) focused on the translation of process artifacts into formal models. This task traditionally requires extensive human input and domain expertise in both BPM notations and the specific business context. While Large Language Models (LLMs) can now automate much of this manual work, current text-to-model approaches focus predominantly on the control-flow perspective-ordering activities without considering the collaborative aspect of the processes. In this paper, we introduce a resource-aware generation pipeline that produces formal BPMN 2.0 collaboration diagrams from natural-language descriptions. Rather than solely prompting an LLM for raw XML, we describe a compact, executable intermediate language with mandatory resource details defining both the organization (pool) and the role (lane). Cross-organization dependencies are materialized using the standard formal notation f

arXiv:2605.25967v1 Announce Type: new Abstract: As policy catches up with the capabilities of generative AI, watermarking is central to content provenance efforts. Inference-time watermarks for autoregressive models are unfit for continuous modalities due to discretization inconsistencies. Existing methods overcome this by finetuning the modality tokenizers, nullifying the watermark's training-free advantage. In this work, motivated by the vocabulary redundancy of discretization, we propose an elegant solution for powerful and robust watermarking of synthetic audio. We theoretically analyze the impact of token errors on watermark detection, and effectively mitigate them using a reduced vocabulary obtained via community detection. Thorough experiments showcase that our gradient-free method can boost detectability by several orders of magnitude, while also achieving built-in robustness to audio modifications. Broadly, we discover a new state-of-the-art for token-level watermarks in multi

arXiv:2605.25216v1 Announce Type: new Abstract: Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We introduce InvariantCloud, a 6-DoF pose estimation framework that leverages the global invariance of surface marker constellations on vision-based tactile sensors. In contrast to recent approaches, our one-shot globally invariant point cloud registration suppresses cumulative drift and overcomes long-standing limitations in accurately estimating yaw (Z-axis) rotation. Experimental verifications show that InvariantCloud achieves superior yaw tracking accuracy and re-localization repeatability compared to existing benchmarks, demonstrating its precision and robustness in long-sequence manipulation tasks.

arXiv:2605.25188v1 Announce Type: new Abstract: Multi-agent LLM systems improve reasoning by combining outputs from multiple agents, but interaction-heavy methods can introduce error propagation and high communication overhead. When agents exchange raw responses or reasoning traces, incorrect intermediate reasoning may be adopted and amplified, leading to confident but wrong consensus; multi-round communication also increases token consumption, latency, and inference cost. In this paper, we propose a controlled-communication coordination framework named DarkForest. DarkForest first keeps agents independent, so each agent produces an answer without seeing the others' outputs. It then parses the raw responses into structured candidate records, groups semantically equivalent candidates into clusters, and estimates a calibrated belief distribution over these clusters using agent reliability, confidence, parse quality, support-pattern reliability, and independence corrections. A coordinator

arXiv:2605.25547v1 Announce Type: new Abstract: Existing embodied control research demonstrates remarkable performance improvements by scaling training data and model size. We instead explore inference-time strategy as an alternative axis. Non-deterministic generative models, such as diffusion and autoregressive models, have been widely adopted in the field of embodied control. However, the single-shot inference paradigm limits their performance. In this paper, we propose \textbf{TapSampling}, a plug-and-play framework for inference-time sampling. First, we introduce an Action-VAE that represents actions in a low-dimensional latent space by mapping policy-generated initial actions into a compressed posterior distribution, from which any number of latent samples can be drawn and decoded into candidate actions that approximate the true action distribution. Second, we formulate action verification as task-progress outcome prediction, using the intrinsic sequential structure of robotic dat