News & Research

arXiv:2603.09529v2 Announce Type: replace Abstract: Bird's-eye-view (BEV) perception has emerged as a cornerstone of autonomous driving systems, providing a structured, ego-centric representation critical for downstream planning and control. However, real-world deployment faces challenges from sensor degradation and adversarial attacks, which can cause severe perceptual anomalies and ultimately compromise the safety of autonomous driving systems. To address this, we propose a resilient and plug-and-play BEV perception method, RESBev, which can be easily applied to existing BEV perception methods to enhance their robustness to diverse disturbances. Specifically, we reframe perception robustness as a latent semantic prediction problem. A latent world model is constructed to extract spatiotemporal correlations across sequential BEV observations, thereby learning the underlying BEV state transitions to predict clean BEV features for reconstructing corrupted observations. The proposed frame

arXiv:2606.01282v1 Announce Type: new Abstract: Text-to-Image (TTI) systems are now everyday infrastructure for journalism, education, advertising, and public communication, and the demographic and cultural stereotypes they inherit from training data (rendering women, people of colour, older adults, and non-Western cultures as under-represented or caricatured) become a population-level harm at deployment scale. Existing mitigations either require costly retraining, infeasible for the closed-source backbones that dominate consumer products, or rely on fixed demographic templates that ignore cultural context. We present KG-FairDiff, a model-agnostic, inference-time framework that formalises fairness-aware prompt refinement as a constrained optimisation problem and operationalises it as a closed-loop pipeline: a knowledge graph of ~1,200 culture- and bias-related triples retrieves structured context, an LLM rewriter proposes refinements, and a validator accepts only prompts that reduce a

arXiv:2606.00384v1 Announce Type: new Abstract: Fitting quantitative models to data is a central step in scientific workflows, yet it remains one of the least automated. Recent agent-based systems leverage language and vision-language models (VLMs) to iteratively propose and refine statistical models, but these systems struggle on more challenging modeling tasks. To address these limitations, we introduce VESTA: Visual Exploration with Statistical Tool Agents, a framework that equips VLMs with a dynamically growing exploration toolkit to guide model refinement through data transformations, hypothesis-driven visualizations, and robust statistical tests. Unlike prior systems that rely on iterative critique alone, VESTA actively explores data before and during refinement by selecting or creating diagnostic tools, which accumulate in the model's context and can be reused later. We evaluate VESTA against established baselines in three toolkit configurations: no tools, static expert-written

arXiv:2605.22305v2 Announce Type: replace Abstract: We analytically solve the Mountain Car problem, a canonical benchmark in RL, and derive an optimal control solution, closing a gap after 36 years. This enables us to reveal two surprising insights: The optimal control is quite simple, yet modern RL agents display a large gap to optimality. Motivated by the analysis of the optimal control, we introduce Chebyshev policies as a universal (i.e. dense) class of RL policies from first principles. They can be trained as drop-in replacements of neural nets, reducing the regret by a factor of 4.18, while requiring 277 times fewer parameters, fostering sample efficiency, explainability and realtime capability. Chebyshev policies are evaluated on further RL tasks, including a real-world nonlinear motion control testbed. They consistently improve performance over neural nets with PPO, ARS and REINFORCE. Our results demonstrate how Chebyshev policies offer a compelling and lightweight alternative

arXiv:2408.01653v4 Announce Type: replace Abstract: Omnidirectional depth estimation presents a significant challenge due to the inherent distortions in panoramic images. Despite notable advancements, the impact of projection methods remains underexplored. We introduce Multi-Cylindrical Panoramic Depth Estimation (MCPDepth), a novel two-stage framework designed to enhance omnidirectional depth estimation through stereo matching across multiple cylindrical panoramas. MCPDepth initially performs stereo matching using cylindrical panoramas, followed by a robust fusion of the resulting depth maps from different views. Unlike existing methods that rely on customized kernels to address distortions, MCPDepth utilizes standard network components, facilitating seamless deployment on embedded devices while delivering exceptional performance. To effectively address vertical distortions in cylindrical panoramas, MCPDepth incorporates a circular attention module, significantly expanding the recepti

arXiv:2603.02650v2 Announce Type: replace-cross Abstract: Diffusion planners are a strong approach for offline reinforcement learning, but they can fail when value-guided selection favours trajectories that score well yet are locally inconsistent with the environment dynamics, resulting in brittle execution. We propose Self-supervised Action Gating with Energies (SAGE), an inference-time re-ranking method that penalises dynamically inconsistent plans using a latent consistency signal. SAGE trains a Joint-Embedding Predictive Architecture (JEPA) encoder on offline state sequences and an action-conditioned latent predictor for short horizon transitions. At test time, SAGE assigns each sampled candidate an energy given by its latent prediction error and combines this feasibility score with value estimates to select actions. SAGE can integrate into existing diffusion planning pipelines that can sample trajectories and select actions via value scoring; it requires no environment rollouts an

arXiv:2606.00198v1 Announce Type: cross Abstract: While agents are increasingly spending more resources, today agent cost is mostly measured only after execution. A Budget-Aware Agent (BAGEN) should treat budget as an active control signal, rather than a passive cost metric. We first systematically define budget estimation as internal budgets (from agent computation) and external budgets (from agent actions). We then formalize budget-awareness as progressive interval estimation: at each step of a plan, an agent should predict an upper and lower bound on remaining budget, and alert when completion is unlikely. Scoring with a rollout-replay protocol, we find consistent failure patterns on four environments and five frontier agents: (1) strong agents do not necessarily have strong budget-awareness, with correlation r=0.35. (2) frontier models are consistently over-optimistic, continue spending on tasks that are unlikely to succeed, instead of alerting the user early. (3) budget-aware sign

arXiv:2606.01834v1 Announce Type: cross Abstract: Human Action Recognition (HAR) using WiFi Channel State Information (CSI) has gained increasing attention due to its non-contact, low-cost, and privacy-preserving nature. However, existing learning-based approaches largely rely on deep, computationally intensive architectures to implicitly capture motion dynamics from CSI measurements, thereby increasing model complexity and reducing efficiency. Instead, we argue that incorporating appropriate inductive biases tailored to the physical characteristics of CSI signals enables more efficient and effective learning. In this work, we propose a compact temporal convolutional network (TCN)-based framework that explicitly incorporates motion-aware inductive biases into feature learning. Specifically, we introduce a Doppler-energy-guided temporal attention mechanism in feature space to emphasize motion-salient time segments, and a variance-driven channel attention module to weight informative sub

arXiv:2606.00775v1 Announce Type: cross Abstract: Video Moment Retrieval (VMR) task requires accurately localizing temporal boundaries aligned with natural language queries, but many models suffer from a misalignment between continuous surrogate losses and non-differentiable metrics, leading to optimization stagnation during the late stages of training and trapping boundary predictions in suboptimal solutions. Although Reinforcement Learning (RL) post-training successfully optimizes localization results for large models, applying it directly to lightweight networks easily disrupts the fragile feature representations established during the supervised phase. To overcome this optimization bottleneck, we propose Gradient-Isolated Reinforcement Learning for DETR (GIRL-DETR), introducing RL post-training into a lightweight temporal localization framework for the first time. The input video and text features first establish early alignment through Cross-Modal Interaction (CMI) before entering

arXiv:2606.00288v1 Announce Type: new Abstract: Large language models are undergoing a transition from model technology to system technology. As developers use Codex, Claude Code, AutoGPT, and related agents to write code, manage projects, and execute multi-step tasks, recurring engineering problems such as cache reuse, context management, agent scheduling, and permission control increasingly resemble classical computer systems problems. This paper develops that analogy as a visionary survey. We map concepts from computer architecture to the emerging model-native stack and review work on LLM-as-OS, memory management, agent frameworks, tool protocols, multi-agent coordination, cognitive architectures, and safety governance. We argue that these strands address different layers of the same system but lack a unified model. To fill this gap, we propose the Intelligent Computing Architecture Model (ICAM), a six-layer framework for model-native computing with explicit interface contracts and

arXiv:2606.00154v1 Announce Type: cross Abstract: Recent advancements in multimodal large language models (MLLMs) have achieved remarkable progress in multimodal reasoning and code generation, catalyzing a new paradigm for front-end development. In particular, these models can directly transform visual designs into executable code, significantly improving the efficiency and adaptability of web development. Modern web applications are dynamic and interactive, featuring frequent user-page interactions. However, existing benchmarks largely evaluate the code generation of static webpages, ignoring the complex interactive behaviors in real-world applications. Besides, their evaluation criteria remain confined to visual fidelity and code structure, overlooking the interaction consistency between the generated and the reference webpages. To address these limitations, we introduce WebIGBench, the first benchmark designed to evaluate code generation for interactive webpages with complex interac

arXiv:2606.01643v1 Announce Type: new Abstract: Sign Language Production (SLP) is the task of generating avatar sign language motion from natural language text. The quality of the generated motion is typically evaluated by a motion-space Fr\'echet distance (FID) and back-translation (BT) BLEU score on benchmarks such as How2Sign. Both metrics can improve substantially while the underlying generator fails to faithfully represent the sign language gestures. In this work we propose to evaluate the generated motion at three independent levels: ({\tau}1) initial-pose conditioning, ({\tau}2) output diversity, and ({\tau}3) target faithfulness. We compute these as pairwise-distance ratios using latent representations of a frozen motion autoencoder (MoAE). We evaluate 14 SLP model checkpoints on the How2Sign dataset, including a re-implemented Neural Sign Actors (NSA), and show that {\tau}3 faithfulness is never attained, while FID varies by nearly two orders of magnitude and is uncorrelated w

arXiv:2510.06048v4 Announce Type: replace Abstract: Effective data selection is essential for pretraining large language models (LLMs), enhancing efficiency and improving generalization to downstream tasks. However, existing approaches often require leveraging external pretrained models, making it difficult to disentangle the effects of data selection from those of the external pretrained models. In addition, they often overlook the long-term impact of selected data if the model is trained to convergence, primarily due to the prohibitive cost of full-scale LLM pretraining. In this paper, we introduce BLISS (\textbf{B}ileve\textbf{L} \textbf{I}nfluence \textbf{S}coring method for data \textbf{S}election): a lightweight data selection method that operates entirely \emph{from scratch}, without relying on any external pretrained oracle models, while explicitly accounting for the long-term impact of selected data. BLISS leverages a small proxy model as a surrogate for the LLM and employs a

arXiv:2606.02232v1 Announce Type: new Abstract: Learning a Markov transition model is not merely conditional density estimation: the learned object must be a valid transition kernel before it is iterated in downstream dynamics. This paper introduces a Doeblin-anchored contrastive chart, a statistical-to-dynamical coordinate framework for learning transition kernels from contrastive objectives. Given a restart law and an anchor strength, the chart mixes the target transition with the restart law. The resulting anchored kernel is simultaneously a Doeblin-minorized Markov kernel, the positive conditional law in a binary contrastive experiment, and an explicitly invertible coordinate for the original transition law. We prove that the anchored contrastive risk identifies the anchored transition density and calibrates excess risk to density error. Since inversion of a learned score may produce a signed or unnormalized object, we introduce a measurable Markovization operator that restores ker

arXiv:2605.12895v2 Announce Type: replace-cross Abstract: Clinical decision-support systems are expert systems whose recommendations clinicians act on directly, yet they are usually cleared on one aggregate accuracy number from a held-out test set. That number says nothing about input reliability under encoding shifts, subgroup gaps, threshold sensitivity, or operational feasibility. We present RISED, a pre-deployment evaluation framework operationalising five dimensions (Reliability, Inclusivity, Sensitivity, Equity, Deployability) through BCa bootstrap 95% confidence intervals, literature-grounded thresholds, and Holm-Bonferroni-corrected PASS / FAIL / INCONCLUSIVE verdicts; Equity is a proxy-dependence diagnostic rather than a gating test. Applied to seven cohorts spanning 35 years (n from 303 to 99,492), RISED surfaces failures invisible to AUROC: on Diabetes 130, Reliability passes by three orders of magnitude (PSS = 0.0004) while Inclusivity (AUC parity gap = 0.262) and Sensitivi