Detection
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F2A-ObjectNav: An Adaptive Agentic Architecture for Object-Goal Navigation
2026-10-14 05:41:58Seyed Ali Mirghasemi, Alireza TaheriAbstract
Object-goal navigation requires an embodied agent to explore an unfamiliar environment, identify a target object, navigate toward candidate instances, and reliably determine whether the observed object satisfies the mission goal. This work investigates this problem through a two-stage development process. In Stage I, a fixed modular framework is used to examine combinations of exploration, object detection, and target validation methods. The results reveal clear trade-offs among navigation performance, validation reliability, execution time, and model-related cost, with no single fixed configuration remaining preferable across all evaluated conditions. These observations motivate F2A-ObjectNav (Fixed-to-Adaptive Object-Goal Navigation), an adaptive agentic architecture in which a rule-based Supervisor coordinates specialized components for navigation and exploration, object detection, target validation, semantic guidance, and Mission Memory. The architecture uses event-driven recovery, strategy revision, candidate management, and conditional semantic guidance while retaining lightweight execution during normal operation. F2A-ObjectNav is evaluated over 25 episodes in each of AI2-THOR, RoboTHOR, and ProcTHOR, achieving success rate (SR) / success-weighted path length (SPL) values of 0.84/0.52, 0.40/0.22, and 0.44/0.37, respectively. In addition to task-level metrics, architecture-specific behavioral metrics are used to characterize semantic-guidance usage, strategy switching, recovery activation, memory-supported behavior, and decision stability. The results show different patterns of adaptive intervention across the three environments, with higher intervention frequencies observed in RoboTHOR and ProcTHOR than in AI2-THOR.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19618
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CORE: Contrast-and-Reflect for Self-Supervised Prompt Optimization in Anomaly Synthesis
2026-10-14 05:33:36Haoxiang Rao, Fang Zhao, Zhao Wang, Weijia Li, Chenyang Si, Caifeng ShanAbstract
Industrial anomaly detection (AD) is bottlenecked by the scarcity of anomalous samples, making high-fidelity anomaly synthesis crucial for improving downstream performance. However, existing methods either rely on scarce real anomaly references or auxiliary data, while lacking complex reasoning and iterative optimization capabilities for generating realistic defects in open-set scenarios. To address these challenges, we propose CORE, a cost-efficient and training-free prompt optimization framework based on Large Multimodal Models (LMMs), which unifies zero-shot and one-shot anomaly synthesis. CORE first introduces an Anomaly Context Grounding module to transform sparse user context into defect-aware generation context, which is subsequently instantiated as structured anomaly prompts that disentangle normal-region preservation from anomaly-specific variation, enabling controllable and faithful defect generation. Furthermore, CORE autonomously refines prompts through a self-supervised contrast-and-reflect mechanism. This design empowers general-purpose LMMs to synthesize realistic anomalies under both zero-shot and one-shot settings without task-specific training. Extensive experiments on MVTec-AD and VisA demonstrate that CORE synthesizes realistic and diverse anomalies, yielding superior improvements in downstream AD performance. Furthermore, its model-agnostic and plug-and-play paradigm enables effortless integration with diverse LMMs, facilitating adaptation to unseen open-set scenarios.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19610
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RELAY: Selective Self-Distillation with Adaptive Hand-off for Rubric-Based Reinforcement Learning
2026-10-14 05:22:37Kunwang Zheng, Xinyu Sun, Yu Cao, Shuocheng Li, Lei Cheng, Ying Liu, Qilong Zhang, Jinlong Chen, Hua Yang, Qianglong ChenAbstract
Rubric-based reinforcement learning grades a response against many written criteria but collapses them into one reward, which discards the detail the rubric carries and gives no GRPO reward gradient when a group's responses tie. A frozen teacher that reads the rubric as privileged context provides token-level supervision, but we observe an early plateau in the gains over GRPO. RELAY uses advantages and rewards to select positive-advantage and low-scoring zero-advantage rollouts, and monitors the distillation loss to decide when to retire the teacher. Stage 1 combines selective distillation from a frozen teacher with GRPO; a plateau detector then removes the teacher, and Stage 2 continues with GRPO alone. Calibrated on one model-domain pair and reused unchanged in three others, the plateau detector fires between steps 122 and 171. RELAY scores highest in-domain among the compared methods in all four settings, ahead of GRPO on RaR-Medicine by 4.62 points with Qwen3-1.7B and 6.02 with Qwen3-4B. On Qwen3-1.7B/Medicine, removing the teacher from a shared checkpoint outperforms keeping, weakening or refreshing it. Distilling selected rollouts covering about half the response tokens also outperforms distilling all rollouts at a matched average coefficient.
Abstract (translated)
URL
https://arxiv.org/abs/2610.17623
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SaTPO: Text-to-Image Safety Alignment via Transition Preference Optimization
2026-10-14 04:21:20Ziyi Fang, Jingzhi Li, Xiaojun Jia, Xingxing Wei, Wenqi Ren, Haijun ZhangAbstract
Safety alignment of text-to-image diffusion models aims to suppress harmful content without compromising useful generation capabilities. However, preferences over completed images compress multidimensional generation factors into a coarse signal, potentially driving changes beyond those required for safety. To address this, we propose Safety Transition Preference Optimization (SaTPO), which enforces step-wise alignment during denoising. SaTPO leverages the insight that an unsafe prompt and its safe rewrite naturally form a tightly coupled preference pair when conditioned on a shared parent state and noise realization. By anchoring optimization on identical parent states, SaTPO eliminates historical trajectory divergence, confining safety adaptation to an incremental alignment while preserving task-relevant semantics. Multi-scale drift constraints and benign replay further limit behavioral deviation and preserve ordinary generation. We additionally construct CoProPV, a refined dataset ensuring visually verified contrasts. Experiments on Stable Diffusion v1.5 and SDXL demonstrate improved safety-quality trade-offs. Compared with AlignGuard, PerspectiveVision unsafe-detection rates on Inappropriate Image Prompts decrease from 12.70% to 6.00% and from 15.04% to 9.30%, respectively, while FID improves from 32.28 to 25.95 and from 36.50 to 27.51. Warning: this paper includes potentially offensive content.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19563
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Cross-Scenario Industrial Defect Detection via Domain-Robust Training and Metric-Aligned Selection
2026-10-14 03:57:52Dikai Li, Weijia Wang, Yuan-Gen WangAbstract
Automated defect detection of industrial boards must remain highly reliable under cross-scenario variations in lighting, surface contaminants, and production line conditions. This makes cross-scenario defect detection a domain generalization problem, wherein models are required to detect, localize, and classify defects across unseen scenarios while minimizing false alarms on clean boards. For the IDA 2026 Track 1 challenge, we propose a cross-scenario defect detection method that includes four complementary modules: cross-scenario robust training, small-defect-aware learning, score calibration and inference threshold selection, and metric-aligned checkpoint selection. These four modules respectively introduce cross-scenario robust normalization and DSU-style statistic perturbation with progressive random convolution, NWD and parameter-free spatial attention, the VFL learning objective, and a custom SWAD variant driven by the Track 1-oriented proxy. Experimental results demonstrate that our model achieves a Track 1 score of 0.564 with a screening score of 0.696 on the test dataset on a single RTX 4090 GPU. The code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19540
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Typed Decision Models on Tabular Data
2026-10-14 03:54:19Baowen Zhang, Hangting Ye, Hongyuan ZhaAbstract
Typed decision models are language models that answer a question with a fixed set of possible answers by returning a probability for each answer instead of generating text. We study them on tabular data and compare four decision models with three large language models (LLMs) on row classification, fact verification and anomaly detection. Every request is sent in its original form and under 21 types of rewrite that keep its content, such as renaming the options or writing the table in another format. The decision models perform as well as the LLMs at a lower cost. Three of them are also far more robust to how the question is formulated. No model we test is robust to how the table is organized. For every model, at least a third of the row decisions change under some rewrite of the table or the question. The decisions to which a decision model gives low probability are the ones most likely to change. Decision models are a practical choice for tabular decisions, but their robustness remains an open problem.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19536
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HyrCap: Hybrid Rank-Calibration of Action Proposals for Temporal Event Understanding
2026-10-14 03:44:40Rui Chen, Xingyu Chen, Pengxin Xu, Kai Chen, Junzhi YuAbstract
Temporal action detection in long untrimmed videos suffers from inaccurate localization and low-quality proposals, especially with sparse annotations and ambiguous boundaries. For open-ended video understanding and LLM-driven event analysis, reliable proposals connect temporal localization, event annotation, and semantic understanding. However, conventional temporal action detection (TAD) pipelines lack explicit modeling of proposal localization quality, cross-representation support, and inter-proposal relations. We propose Hybrid Rank-Calibration of Action Proposals (HyrCap), a proposal-centric query-based TAD framework for temporal event understanding. Hybrid combines complementary video features with different localization cues, while Rank-Calibration adjusts proposal ranking confidence to reflect localization reliability and candidate competition. HyrCap treats dense query-based predictions as an over-complete temporal event hypothesis space. Cross-Representation Consensus Calibration, Localization Quality Estimation, and Proposal Redundancy Suppression improve proposal ranking reliability, localization quality, and candidate discrimination. Inspired by LLMs' capabilities in fine-grained semantic recognition, event description, and reasoning, we introduce HyrCap for Semantic Action Understanding, using calibrated proposals for standard TAD and as inputs to LLM-based semantic understanding. We define a staged evaluation protocol to separately measure event localization, segment-level semantic understanding, and combined event understanding performance. Experiments on public benchmarks show that HyrCap achieves state-of-the-art performance across multiple metrics and provides a finer-grained paradigm and evaluation protocol for query-based event segmentation and annotation.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19526
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WinARDet: Compressed Window Auto-Regression for Long-Horizon Vision-Language Grounding
2026-10-14 02:09:36Chenxu Wang, Hangyi Kuang, Bo-Wen Yin, Yuxuan Li, Quan-Sheng Zeng, Yang Zhang, Xu Guo, Xiang Li, Qibin HouAbstract
MLLM-based detectors formulate vision-language grounding as autoregressive coordinate generation, yet in dense scenes, they often collapse into a box repetition loop, repeatedly emitting identical boxes until the decoding budget is exhausted. We trace this failure to historical-answer attention takeover: Under full-history autoregression, repeated coordinate tokens in the growing answer history attract disproportionate attention, crowding out the attention sinks needed to attend to new visual evidence. % To break this loop, in this paper, we propose \textbf{Compressed Window Auto-Regression} (WinAR). This new mechanism partitions a long answer sequence into consecutive generation windows and restricts full token-level autoregression to the current window only while compressing each previous window into a fixed set of latent tokens that condition subsequent decoding. This design reduces the repeated exposure to raw historical coordinates that triggers the attention takeover, yet preserves cross-window dependencies essential for coherent multi-object generation. On RSDense, which contains 200-2,000 objects per image, our model WinARDet improves RexOmni F1-score (IoU=0.5) from 32.16 to 39.36 over the baseline, while reducing the redundancy rate from 35.48% to 13.00%. WinARDet also generalizes across decoding strategies and output formats, including parallel box decoding and polygon generation, providing a practical paradigm for long-horizon vision-language grounding across scene densities.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19419
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The Impact of Detector Architecture, Model Scale, and Scene Density on Multi-Pedestrian Tracking
2026-10-14 01:12:58Pedro Manoel Herminio Alves, Dalton C\'ezane Gomes Valadares, Cl\'audio de Souza BaptistaAbstract
Pedestrian tracking in video is important for applications such as surveillance and scene analysis, but it becomes more challenging in crowded scenarios with frequent occlusions and rapid motion. This paper analyzes how detector architecture, model scale, scene density, and inference regime affect the tracking of multiple pedestrians. We compare the YOLO11, RT-DETR, and YOLO26 detector families with the ByteTrack and BoT-SORT trackers on sequences from the MOT17, MOT20, and SOMPT22 benchmarks. For YOLO26, we also compare traditional overlap filtering via Non-Maximum Suppression (NMS) with end-to-end inference. The RT-DETR family achieved the highest mean scores on the HOTA tracking quality metric across all three benchmarks with both trackers, with a more pronounced advantage on MOT20, albeit at a higher computational cost. On MOT17 and SOMPT22, YOLO26 variants, especially YOLO26-L with NMS, offered favorable combinations of quality and speed compared with RT-DETR. In the YOLO26 inference comparison, the end-to-end mode did not yield consistent tracking gains over the NMS-based regime. Taken together, these results provide a practical guide for selecting detectors and trackers for this task based on application priorities.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19369
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Integrated Novelty Detection Systems: From Sensor Networks to Multi-Novelty Computer Vision
Abstract
Novelty detection is crucial in various technological and scientific domains. Its importance spans from ensuring the reliability of sensor networks to enhancing the adaptability of computer vision systems. As AI systems become increasingly sophisticated and complex, effective anomaly detection is essential for maintaining reliability and accuracy. This work addresses novelty detection in weather sensor networks and computer vision. In weather sensor networks, particularly for monitoring rainfall, detecting blocked rain gauges can significantly impact data reliability, food security, and disaster management. This work evaluates four existing quality control methods for detecting blocked rain gauges and demonstrates their limitations, particularly in detecting clusters of faulty sensors. By comparing methods such as the Conditional Mixture Model (CMM), PSWQ (Fz-filter), Kernel Regression, and Gaussian Method, we identify their shortcomings and propose three novel quality control techniques that integrate probabilistic fault detection and consistency-based diagnosis framework to improve timely detection of blocked sensors, while reducing false alarms. In the realm of computer vision, current systems often fail to handle multiple types of novelty due to their focus on single-novelty scenarios. We highlight the need for integrated systems capable of handling multiple types of novelty. To support this, we introduce the Novel Snapshot Serengeti (NOVEL-SS) dataset, derived from the Snapshot Serengeti camera trap data, which includes various forms of novelty. We also present the DCA (Detect, Characterize, and Accommodate) baseline system, designed to handle multiple novelty by detecting, characterizing, and accommodating them. This work aims to advance the robustness and adaptability of novelty detection systems across both weather sensor networks and computer vision applications.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19347
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Kandinsky S2V 1.0: Audio-Driven Avatar Video Generation
2026-10-13 23:11:39Nikolay Semenov, Artem Riabinin, Sergey Bassenko, Anna Averchenkova, Julia Agafonova, Anastasia Aliaskina, Kirill Kozlov, Lev Novitskiy, Nikita Samsonov, Nikolai Gerasimenko, Denis DimitrovAbstract
We present Kandinsky S2V 1.0, an open family of speech-to-video models for controllable audio-driven human animation, comprising Kandinsky S2V 1.0 Lite (2B parameters) and Kandinsky S2V 1.0 Pro (21B parameters). From a single reference image, a speech waveform, and a text prompt, the models generate long-form 25 FPS video in which lip motion, expression, pose, and gesture follow the speech. The architecture draws text and audio conditioning from one Qwen2.5-Omni model and adds a reference-aware three-scale visual memory. Training starts from the Kandinsky 5.0 Video foundation models [1] and combines mixed reference-memory layouts with an area-adaptive face loss. The training corpus contains 1.17M single-speaker clips selected by active-speaker detection, with captions generated directly in English and Russian. A side-by-side human evaluation against the strongest open-source baseline and two proprietary commercial models shows that Kandinsky S2V 1.0 Pro performs comparably to or better than these models on average and is also preferred for lip synchronization. On common speech to video benchmarks, Kandinsky S2V 1.0 Lite and Kandinsky S2V 1.0 Pro rank among the top performing models according to mean rank over five reported metrics. Beyond the base models, we provide {\pi}-Flow distilled variants of both Kandinsky S2V 1.0 Lite and Kandinsky S2V 1.0 Pro. The distilled Kandinsky S2V 1.0 Pro model generates video in 16 sampling steps without classifier-free guidance, achieving a 5.4 times end-to-end speedup over the base model, while matching or exceeding it on nearly all reported benchmark metrics. To accelerate open research and deployment in speech-to-video generation, we release the code, model checkpoints, and diffusers integration under the MIT license.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19290
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From Detection To Anticipation: Continuous Onset Forecasting For Stuttered Speech
2026-10-13 21:52:59Tampu Ravi Kumar, Ayoub Daliri, Vivek GuptaAbstract
Automatic stuttering systems primarily detect dysfluencies after they have occurred, limiting their use for anticipatory intervention. We address this gap by formulating stuttering prediction as continuous causal time-to-event forecasting, where a model estimates the risk of an upcoming stuttering onset every 100 ms using only preceding speech. To support this task, we augment FluencyBank Timestamped for 36 speakers with manually reviewed repetitions, prolongations, and blocks, yielding 2,872 forecasting events. We then model the temporal evolution of frozen Whisper-large-v3 speech representations using a compact causal Conformer with 3.67M trainable parameters. The proposed approach achieves an AUROC of 0.63. Temporal analysis further shows that explicitly modeling preceding speech states outperforms simply increasing the static acoustic window, while a discrete-time survival formulation provides coherent forecasts from 300 ms to 1.5 s using a single model. These results provide initial evidence that stuttering onset is preceded by measurable temporal information in speech and establish a framework for future anticipatory stuttering systems.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19235
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DiffGIPC: Differentiable Mixed-Coordinate Contact Dynamics on GPU
2026-10-13 19:29:49Kemeng Huang, Bowen Ren, Xinyu Lu, Minchen Li, Taku komuraAbstract
Contact-rich inverse problems require efficient gradients and reliable enforcement of non-penetration. Existing differentiable methods provide fast simulation and rigid-deformable coupling, but contact treatments based on penalties or velocity-level constraints can permit penetration or positional drift. Incremental Potential Contact (IPC) maintains non-penetration through geometric barriers and {continuous collision detection (CCD)}. However, repeated forward and backward evaluations remain costly in full-space finite-element (FEM) implementations, particularly when nearly rigid components retain many vertex {degrees of freedom (DoFs)}. We present DiffGIPC, a GPU-accelerated differentiable IPC framework for optimizing interacting deformable and nearly rigid bodies. Our affine-body derivatives enable {rest-shape} design, initial-state optimization, and articulated control while retaining only twelve motion DoFs per affine body. These gradients account for how changes in geometry, placement, and actuation affect other objects through collision and friction. We preserve these interactions in one coupled FEM-affine adjoint system per frame, reducing the backward-system size without discarding the dependencies that drive the inverse problem. GPU-optimized backward computation further reduces the cost of repeated gradient evaluations. A reusable PyTorch interface connects supported physical parameters to user-defined parameter maps and losses across design, identification, motion, placement, and articulated control. Experiments demonstrate peak speedups over DiffIPC of approximately 150.0x with full-space FEM and 4133.3x with affine bodies for combined forward simulation and backward differentiation.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19091
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MonoMIP: Multi-Height Inverse Perspective Mapping for Monocular 3D Object Detection
2026-10-13 19:06:51Emir Ulurak, Furkan K{\i}ra\c{c}Abstract
Monocular 3D object detection methods increasingly rely on depth-guided transformers, but they operate entirely in the perspective image plane where spatial relationships are distorted by foreshortening. We propose MonoMIP, a dual-decoder framework that adds complementary 3D geometric reasoning through Bird's-Eye View (BEV) features constructed via Multi-Height Inverse Perspective Mapping. We perform IPM at K elevation planes spanning ground to rooftop, producing an ordered stack of height-conditioned metric BEV features that reduces above-ground misprojection and exposes depth-dependent appearance variation across planes. A BEV decoder with multi-scale deformable attention aggregates this multi-height evidence per query, while a depth-guided 3D decoder provides complementary perspective-space predictions. Without extra training data, MonoMIP attains 25.84% Moderate AP3D|R40 on KITTI val and 21.66% on the official test set for Car, outperforming recent published monocular methods on both the KITTI and Waymo benchmarks.
Abstract (translated)
URL
https://arxiv.org/abs/2610.19071
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Bytes to Threats: Byte-Sequence Transformer For Malware Detection
2026-10-13 17:37:17Abdelrahman Yassin Eljamal, Abdeltawab HendawiAbstract
Existing malware detection approaches heavily rely on handcrafted features derived from static or dynamic analysis of the executable files. These methods require specialized domain expertise, dedicated analysis tools, and time-consuming analysis, which limits their scalability and robustness in the face of the increasing complexity and diversity of modern malware. Consequently, there is a growing interest in approaches that operate directly on raw bytes, which contain rich semantic and structural information. However, capturing long-range dependencies within executable files remains challenging for conventional static and CNN-based methods. This paper presents MalwareFormer, a transformer-based, byte-level malware detection framework that operates directly on raw bytes, without requiring domain knowledge or feature extraction. MalwareFormer achieves an accuracy of 98.35%, a balanced accuracy of 98.32%, a macro-F1 of 98.32%, and a false positive rate of 1.94%, outperforming both baselines across all threshold-dependent classification metrics and demonstrating that transformers provide a powerful and scalable approach for byte-level malware detection.
Abstract (translated)
URL
https://arxiv.org/abs/2610.18787
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Jeva: System One Models from First Principles
Abstract
System one models enable direct, low-latency decision-making. Yet recent practice of predicting an answer from serialized text does not, by itself, respect the structure of a decision problem. We argue that current designs underemphasize four important structural requirements. (i) null-aware: Models should distinguish answer absence from uncertainty among candidates; (ii) permutation-invariant: Reordering alternatives should not change the decision; (iii) option-scalable: Growing candidate sets should not require redefining the output space; (iv) cacheable: Request-independent computation over recurring alternatives should be reusable across requests. We introduce Jeva, a decision-native architecture that addresses these requirements jointly. A shared encoder independently represents the request and each option, while a compact decision stack refines only the request state against immutable option memory. Symmetric aggregation yields permutation-equivariant probabilities; shared scoring accommodates variable-size candidate sets. A separate coverage estimate distinguishes answer absence from candidate competition, enabling explicit null outcomes. Request-independent option representations and layer projections support reuse across newly assembled sets. These mechanisms unify Choice, Noul, and Score outputs. Across evaluations, Jeva combines strong typed-decision performance with near-perfect null detection and no decision flips under any tested permutations. It scales to thousands of candidates and substantially reduces latency through cross-request reuse without changing decisions.
Abstract (translated)
URL
https://arxiv.org/abs/2610.18773
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The Singularity Has a Distribution: Exact Timing Laws and Detection Limits for a Stochastic Intelligence Explosion
Abstract
Automating AI research creates a positive feedback loop between software capability and research effort. We study a stochastic realisation of this loop in which independent, positive, multiplicative improvements arrive at a rate proportional to a power of current capability. Within this model, randomness leaves the deterministic explosion threshold unchanged but replaces the blow-up date by an explicit distribution. For equal-sized improvements the explosion time is a geometrically weighted sum of independent exponentials; its $q$-series representation gives its transforms, moments and tail behaviour, including a two-term small-time asymptotic. For Lomax-distributed improvement sizes the explosion time is exactly Gamma distributed. Self-similarity implies that, with parameters known, the relative uncertainty about the remaining time does not vanish as explosion approaches. We formulate a fixed-sample test between constant and geometrically increasing idea-arrival rates. If the baseline rate and the alternative log-rate increment $\ell$ are known, the minimum sample size at error level $\alpha$ is asymptotic to $(12z_\alpha^2)^{1/3}\ell^{-2/3}$, where $z_\alpha$ is the upper-$\alpha$ standard normal quantile. Uncertainty about the growth exponent near its critical value produces a $1/t$ tail with an explicit constant, and hence an infinite conditional mean waiting time, although explosion is certain given a positive exponent. Separate extensions show that a fixed deployment delay prevents explosion in the specified delayed-feedback models, that power-law diversion of effort shifts the growth threshold, and that in a deterministic oversight race a fixed allocation share does not change the asymptotic regime, except at a critical equality of exponents. Numerical illustrations, which are not empirical forecasts, show how timing and detectability depend on the granularity of improvements.
Abstract (translated)
URL
https://arxiv.org/abs/2610.18445
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FedGraph: Defending Federated Large Language Model Fine-Tuning Against Backdoor Attacks via Graph-Based Aggregation
2026-10-13 14:08:49Xi Chen, Chunyi Zhou, Rui Zeng, Xiaogang Xu, Zhe Liu, Shouling JiAbstract
Federated fine-tuning of large language models (LLMs) allows multiple clients to collaboratively adapt models without sharing raw data, offering strong privacy benefits. However, this setting is highly vulnerable to backdoor attacks, in which malicious clients manipulate their updates to induce targeted behaviors while maintaining normal performance on benign inputs. In this work, we make a key observation specific to federated LLM fine-tuning: malicious clients tend to exhibit strong consistency in their model updates, whereas benign clients produce more diverse and dispersed updates. This structural difference is not well captured by existing defense methods, which typically rely on direct anomaly detection in high-dimensional parameter space and therefore struggle in the presence of entangled LLM updates. Motivated by this observation, we propose FedGraph, a graph-based aggregation framework that explicitly models relationships among client updates. By representing clients as nodes in a dynamically constructed graph and extracting structural features that characterize their relative positions and interactions, FedGraph derives compact client representations that effectively separate malicious and benign behaviors. These representations are then used to identify and suppress malicious contributions during aggregation. Extensive experiments demonstrate that FedGraph significantly improves backdoor defense. It consistently reduces attack success rates to below 10% while achieving high detection accuracy (95.5% on average) and a low false positive rate (2.33%), substantially outperforming existing federated learning defenses.
Abstract (translated)
URL
https://arxiv.org/abs/2610.18430
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Resource-Efficient 3D Shape and Orientation Estimation of Road Users using Roadside RGB Camera and 3D Radar
2026-10-13 13:58:01Shiva Agrawal, Savankumar Bhanderi, Gordon ElgerAbstract
End-to-end deep learning pipelines for camera-radar 3D object detection are well established in driver assistance systems and autonomous vehicles; however, adapting them to roadside-mounted infrastructure presents significant challenges. On vehicles, sensor heights, pitch angles, and relative geometries remain largely uniform, allowing end-to-end models to generalize effectively. On the contrary, roadside sensor installations vary drastically in height, tilt, and field of view across locations, rendering end-to-end models prone to failure and difficult to adapt without massive location-specific datasets. Hence, instead of designing a complex end-to-end pipeline for direct 3D bounding box estimation, a low-cost, resource-efficient two-stage approach is proposed for real-time 3D shape and orientation estimation. The first stage utilizes any off-the-shelf, state-of-the-art method to extract 2D camera bounding boxes and associated 3D radar points for each road user. The proposed second stage then processes these inputs to construct 3D oriented bounding boxes where radar data determines 3D position, predefined templates define size for each road user, and a tiny neural network predicts a site-specific and optimized yaw angle. The algorithm is successfully validated at a curved road with a junction for pedestrians, bicycles, and cars, where it achieves 25 frames per second on an NVIDIA Jetson ORIN for real-time applications.
Abstract (translated)
URL
https://arxiv.org/abs/2610.18417
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FALLNEST: Dual-Domain Dataset Condensation of Imbalanced IMU Data for Wearable Fall Detection
2026-10-13 12:25:20Rashi Niyas P, Ritika Jain, Hitika TiwariAbstract
Wearable fall detection is hampered by rare fall events, scarce labeled IMU data, and the cost of training deep models on large, imbalanced corpora. Existing methods either rely on hand-crafted features with shallow classifiers, which limits learning from raw signals, or train deep networks on full datasets that require re-sampling to counter class skew and demand substantial data and compute. To address this, we propose a novel Fall detection framework via Normalized-gradient and Embedding matched Synthetic Time-frequency condensation, dubbed FALLNEST, a data-centric approach that distills large, imbalanced IMU datasets into tiny, class-balanced synthetic training sets. Building on dual-domain time-series condensation (CondTSC), FALLNEST introduces a fall-specific 7-channel input with accelerometer vector magnitude, class-balanced K-Means initialization, and normalized gradient matching with gradient clipping, combined with MMD-based embedding alignment and multi-view Fourier-domain augmentation, so that class balance arises from the condensed set itself rather than from re-sampling. We evaluate on SisFall, KFall, and MobiFall using strict subject-wise splits and naturally imbalanced test sets, reporting accuracy, Macro-F1, and PR-AUC over five seeds. A 102K-parameter TinyCNN trained on only 32 to 146 synthetic windows (about only 1% of the training windows) reaches 93.5-95.8% mean accuracy and 0.89-0.98 PR-AUC, with standard deviations of 1.0-1.7% in accuracy, demonstrating the efficacy of our approach.
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URL
https://arxiv.org/abs/2610.18260
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