Detection
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S$^3$E-Det: A Strict Spatial-Spectral Equivariant Detector for Multispectral Object Detection
2026-10-20 09:06:01Peng Zhang, Tingfa Xu, Jinrui Sui, Yuyang Tian, Jianan LiAbstract
Multispectral object detection requires detectors to exploit material-dependent spectral responses while maintaining consistent localization under geometric variations. Existing MOD detectors learn discriminative spectral representations, yet lack a unified mechanism that preserves spectral order, adapts spectral-context fusion across pyramid levels, and regulates geometric responses under rotation. To address these limitations, we propose S$^3$E-Det, a strict spatial-spectral equivariant detector that couples ordered spectral modeling with transformation-consistent prediction. Spectral Order-aware Sampling Calibration (SOSC) imposes local order constraints on input-derived spectral features through first-order variation, while Common-Differential Equivariant Fusion (CDEF) adapts spectral-context aggregation across pyramid levels. A compact Geometric Alignment Head (GAH) reconciles invariant and equivariant output properties within a unified prediction stage. Across MODA, HOD3K, and DroneVehicle, S$^3$E-Det combines high detection accuracy with a compact parameter footprint and reduced rotation-induced variation. Code is available at this https URL.
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URL
https://arxiv.org/abs/2610.27882
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From Tokens to Files: Multi-Granularity Detection and Localization of AI-Involved Code
2026-10-20 08:45:35Yue Xu, Xiyang Wang, Hui Liu, Bolei HeAbstract
The increasing use of large language models for code generation calls for methods that distinguish purely human-written code from AI-involved code: files in which any part, however small, was generated or substantially modified by a model. Beyond flagging such files, we aim to localize the lines or blocks attributable to AI. Existing approaches compress a file into a single score, from surface stylistic features or a global code representation, which averages away the evidence when only a few blocks are AI-involved. We propose a framework that models AI authorship at the token level and predicts at the line, block, and file levels. A frozen code language model is equipped with two low-rank adapters, trained separately on machine-written and human-written files; their per-token log-likelihood ratio provides local evidence of AI authorship. Lightweight heads aggregate this evidence within lines and blocks, using the surrounding code context, and their local predictions are aggregated into a file-level decision. We train on mixed-authorship files built from human originals and their AI-generated or AI-modified counterparts, including continuation and fill-in-the-middle scenarios. On an internal test set of 11,773 AI-involved files across six generation regimes against 2,541 human files, our method reaches 72.4 macro F1 at a 1% FPR operating point. With no adaptation, it reaches 62.5 line-level F1 on HybridCodeAuthorship, an external human-AI co-writing benchmark with no training split, above the 56 its own paper reports as the best line-level result. On 19,445 human-written files from repositories created before 2022, the false-positive rate stays between 0.55% and 0.81% under the transported 1% threshold, so the operating point holds on real human code.
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URL
https://arxiv.org/abs/2610.27863
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Decoupled Representation Learning for Face Presentation Attack Detection under Smart Glass Capture
2026-10-20 07:59:40Raghavendra Ramachandra, Narayan Vetrekar, Neha Naik, Rajendra GadAbstract
Face presentation attack detection is typically studied under fixed camera or handheld acquisition, whereas smart glass capture introduces a more challenging setting with ego motion, changing viewpoint, background clutter, distance variation, and less controlled illumination. To address this challenge, we present \emph{SmaGla-FPAD}, a smart glass based face presentation attack database acquired using Ray-Ban Meta Wayfarer Smart Glasses across indoor, outdoor, and in-car settings. The database contains 297,000 sample images with both bona fide and silicone mask based attacks. We further propose \emph{DeCoupPAD-FAS++}, a decoupled representation learning framework that separates spoof related evidence from nuisance sensitive capture variation through complementary attack and style branches, pseudo-domain supervision, adversarial suppression, and prompt guided semantic alignment. Experiments on SmaGla-FPAD show that the proposed method achieves the best balance between attack rejection and bona fide acceptance in both in domain and cross scenario evaluation. Ablation results further confirm the contribution of disentanglement, pseudo-domain supervision, and prompt based regularisation under smart glass capture.
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URL
https://arxiv.org/abs/2610.27800
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Toward Agentic AI for the 6G Physical Layer: From Algorithm Discovery to Verified Baseband Silicon
2026-10-20 07:56:10Eric Mittag, Lukas Brechtel, Maximilian Stark, Hans D. SchottenAbstract
6G will be designed faster than it can be built: AI-driven search already proposes physical-layer algorithms at machine speed, while carrying a single one onto embedded baseband silicon remains specialist work. That silicon imposes hard memory and numeric limits, but also exposes cost structures a GPU lacks, and a design flow that never runs on the target sees neither. We present an agentic workflow in which an LLM coding agent implements algorithms on a commercial baseband SoC, optimizes them down to agent-written vector assembly, and validates them on silicon. The agent is guided by a knowledge base of measured platform facts, checked at every step against evaluators it is instructed never to edit, and metered per phase. We showcase the workflow on an AI-discovered orthogonal time frequency space (OTFS) detector portfolio on the open 6G4All platform. It yields twelve kernels that run cycle-exactly on silicon, their optimized versions at 18k-405k cycles (30-660 $\mu$s) per frame. It also yields a new detector shaped by the chip's measured costs that needs 13.9% fewer cycles than the port of the discovered detector while matching its error rate, with a measured edge our evaluation cannot statistically resolve, a structure that a hardware-blind search objective had no reason to find. What is not specific to OTFS is the workflow: an LLM agent exploring an implementation space under real hardware limits, with the cost of every choice measured rather than assumed.
Abstract (translated)
URL
https://arxiv.org/abs/2610.27797
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Robotic Physical Comparison of Biologically Motivated and Counterfactual Sensory Arrangements using Biomimetic Skin
2026-10-20 07:22:34Akihiro Miki, Shun Hasegawa, Yoshimoto Ribayashi, Yuta Sahara, Kento Kawaharazuka, Kei OkadaAbstract
Human skin contains diverse mechanoreceptors, including Merkel cells and Pacinian corpuscles, each localized in specific regions. Although their spatial organization is known to be shaped by molecular signaling and neural induction during development, experimentally examining its functional significance under controlled conditions in living systems remains challenging. In particular, physically comparing alternative receptor arrangements that do not occur biologically is difficult. In this study, we developed a layered biomimetic robotic skin designed to mimic key structural features of human skin tissue by embedding receptor-analog sensors within compliant soft media. Using this platform, we implemented both biologically motivated and counterfactual sensory arrangements and quantitatively evaluated their performance across three passive tactile tasks: detection of weak contacts, a two-point discrimination-like assessment, and texture identification. Arrangements reflecting key features of the biologically motivated sensory organization exhibited higher performance than the alternative configurations examined. This study addresses a biological question concerning how spatial organization influences tactile function by presenting a biomimetic robotic approach that enables physical and empirical comparison of biologically motivated and counterfactual sensory arrangements that are difficult to investigate in living systems.
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URL
https://arxiv.org/abs/2610.26680
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Revealing Inter-Channel Modality Discriminability: Channel Selective Interaction Fusion Network for Optical-SAR Object Detection
2026-10-20 07:19:20Haojie Li, Yuanfei Huang, Lingfei Song, Jia Li, Lizhi WangAbstract
Synthetic aperture radar (SAR) and optical imagery provide complementary structural and appearance information for remote sensing object detection. However, substantial cross-modal discrepancies and indiscriminate channel interaction inevitably introduce redundant or conflicting features. Since different feature channels encode heterogeneous semantic information and contribute unequally to cross-modal fusion, selectively highlighting task-relevant channels while suppressing redundant ones is essential. To address this issue, we propose the Channel Selective Interaction Fusion Network (CSIF-Net), which performs selective channel-level cross-modal interaction. CSIF-Net first employs a frequency decomposition module to construct frequency-aware SAR inputs, facilitating the separation of structural information from noise-related responses. It then models cross-modal channel relationships through a cross-attention channel selection module and dynamically partitions the features into shared and modality-specific components. Finally, a dual-branch fusion module performs cross-modal interaction and channel realignment for shared features while independently enhancing SAR-specific features, thereby exploiting complementary information and suppressing modality interference. Extensive experiments on the OGSOD 1.0 and M4-SAR datasets demonstrate that CSIF-Net achieves state-of-the-art performance in both horizontal and oriented object detection, surpassing the existing methods by 4.01% and 3.18% gains, respectively.
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URL
https://arxiv.org/abs/2610.27757
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RSI Control: Can AI Models Perform Covert Sabotage in the Self-Improvement Process?
2026-10-20 06:57:59Kaiwen Zhou, Udari Madhushani SehwagAbstract
Recursive self-improvement, in which frontier AI models work on training the next generation, is quickly becoming a reality. However, the safety of this process has received far less attention than it should. A misaligned model training its successor can shape what that successor knows, how it behaves, and what it wants, and the harm carries forward into the next generation. We study this risk through the lens of AI control. We introduce RSI Control Arena, a testbed in which a frontier model, acting as an autonomous R\&D agent, is given a benign main task from a stage of a successor model's training pipeline together with a covert side task to install a misaligned property in the successor. The testbed contains 16 side tasks in three classes, forming 22 task pairs with main tasks that span the pipeline from data curation to reinforcement learning. We evaluate six frontier models as agents against LLM monitors that read the transcript of the run and the agent's reasoning. We observe that every model completes a substantial share of the side tasks without degrading the main-task performance, including side tasks that make the successor itself a better saboteur. Under minimal instructions to stay covert, models already produce successful attacks that monitors fail to detect, and providing a short list of evasion tactics further reduces the detection rate. Monitors with access to agent's reasoning detects most attacks, but not all. Our results indicate that recursive self-improvement raises significant safety concerns, and that strong safety effort should be in place before models are trusted with greater responsibility of training their successors.
Abstract (translated)
URL
https://arxiv.org/abs/2610.27735
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Anytime-Valid Runtime Monitoring of Learned Barrier Certificates
2026-10-20 06:46:22Zhipeng Cao, Taoran Wu, Weiru Cui, Luke Ong, Bai XueAbstract
Learned barrier certificates provide a principled mechanism for establishing safety of stochastic systems, but their validity may deteriorate during deployment when the underlying dynamics differ from those used for training. We propose an anytime-valid runtime monitor that audits a learned barrier certificate using observed closed-loop trajectories. The monitor is intended to detect loss of statistical support for the deployed barrier condition; it does not by itself guarantee detection before unsafe entry or safety of a subsequent intervention. Specifically, the conditional barrier-drift condition is formulated as an episode-wise sequential hypothesis test, and observed barrier increments are transformed into a nonnegative test supermartingale, yielding finite-sample false-alarm control under arbitrary stopping times. Inspired by finite-horizon safety verification, we further introduce a deterministic temporal shaping of the monitoring boundary, making the monitor more conservative early in a prescribed deployment horizon while preserving anytime-validity. The monitor is designed to detect statistical evidence that the safety certificate is no longer consistent with the observed dynamics, rather than to predict unsafe entry. To assess the monitor empirically, we evaluate empirical alarm behavior under valid and invalid certificates. Code and data are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.27726
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Tracing Recurrent and Emergent Hallucination Patterns in Decomposed Text-to-SQL Generation
2026-10-20 06:39:16Hayden Moore, Abhinav Verma, Anshuman DuttAbstract
Large language models can achieve strong Text-to-SQL benchmark performance while still producing schema and query-logic errors. Most evaluations characterize such failures only in the final generated query, making it difficult to determine whether a related error was also observed in an earlier, simpler step or appears only at the final stage. We present a drill-down evaluation framework that decomposes Text-to-SQL queries into progressively more complex executable sub-queries and corresponding natural-language questions, allowing rule-based hallucination categories to be examined across a generation path. We distinguish recurrent hallucinations, in which the same rule-based category is observed in an earlier step and again in the final query, from emergent hallucinations, in which the category is observed at the final step without an earlier detection in the same path. Across five LLMs evaluated on an expanded BIRD-mini benchmark, several categories show appreciable recurrence probabilities, while clause abuse shows comparatively higher conditional emergence. Under the conversational-history condition, recurrence probabilities are generally higher and emergence probabilities are generally lower. These observations indicate that the two conditional measures do not move uniformly in the same direction under additional context and motivate trajectory-level analysis in addition to final-output evaluation. Code and evaluation artifacts are available in the project repository. this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2610.27720
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How Fine-Tuning Objectives Shape Layer-Wise Information in LLM Hallucination Detection
2026-10-20 06:30:27Kaiyang Wan, Forrest Sheng Bao, Amin Ahmad, Yuxia WangAbstract
Under matched conditions, classifier-head fine-tuning (\textsc{cls}) paradigm consistently outperforms the LLM-as-Judge sequence-to-sequence (\textsc{s2s}) on binary hallucination detection. We trace this gap to the representations induced by the two objectives. Static analysis shows that \textsc{cls} learns a task-specific discriminative direction, pushing hidden states into a clear two-cluster geometry with stronger class separation and linearly decodable label information. By contrast, \textsc{s2s} relies on the pretrained language-modeling head to make decisions. This minimizes the pressure to reorganize representations, leaving the hidden states much closer to the pretrained backbone. Our analysis also reveals that the \textsc{cls} signal saturates before the final layer, after which upper layers form a plateau of statistically interchangeable and largely redundant representations. However, endpoint redundancy alone does not show whether these layers are dispensable during training. Further training-dynamics analysis reveals 1) a lower pretrained substrate, 2) a narrow upper-middle \textbf{InfoWindow} where task information emerges, and 3) a later-synchronizing upper plateau that mirrors this signal. This mechanism motivates us to remove layers above the InfoWindow. Truncating 31\% of the network leaves accuracy unchanged within seed noise on Qwen3-4B and 8B and cuts latency by $1.4\times$. The same depth fraction, fixed before any analysis of the target models, transfers to Llama-3.2-3B and Mistral-7B-v0.3, and the layer structure behind it reappears there and on QNLI and SST-2. We hope this helps guide efficient task-specific LLM design.
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URL
https://arxiv.org/abs/2610.27711
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CovNav: Conformal Prediction-Guided Adaptive Inference for Object Goal Navigation
2026-10-20 05:47:26Pengying Wu, Zhejia Wen, Kang Ding, Kangjie Zhou, Chunxuan Jiao, Wei Pan, Xiangli Nie, Chang LiuAbstract
In object goal navigation (ObjectNav), an embodied agent must find a target object (e.g., "find a bed") in a previously unseen environment, relying on spatial commonsense such as object co-occurrence. Large Language Models (LLMs) encode this commonsense, but deploying them on robots exposes a trade-off between reasoning quality and efficiency: cloud-based models incur latency and privacy risks, whereas small on-device LLMs are fast but prone to hallucinated spatial judgments. Hybrid reasoning LLMs offer both a fast non-thinking mode and a slow thinking mode, which raises a key question for embodied agents: when is slow thinking worth its cost? We propose CovNav, a training-free framework that answers this question with Conformal Prediction (CP), turning dual-process (System 1 / System 2) inference into an uncertainty-aware decision. Much like recent decision models such as Jev, CovNav casts each spatial query as a structured binary decision rather than free-form generation: a local LLM in fast mode judges whether the target is likely near an observed object, CP converts its token probabilities into a prediction set, and only ambiguous queries are escalated to slow chain-of-thought reasoning. The object-pair formulation keeps calibration tractable and supports open-set objects through off-the-shelf detectors. Experiments on Gibson and HM3D show that CovNav surpasses the strongest zero-shot baseline by 0.8 and 1.7 percentage points in success rate on HM3D v1 and v2, while invoking slow reasoning for only 12.4% of queries and retaining most of the gain of always-on thinking at a fraction of its latency. Real-robot experiments on a TurtleBot 4 further validate the approach. CovNav shows how calibrated uncertainty can decide when an embodied agent should think slowly, offering a principled form of adaptive test-time reasoning for LLM-based robots.
Abstract (translated)
URL
https://arxiv.org/abs/2610.27677
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A Unified Attack Framework against Statistical Generative Watermarks for Large Language Models
2026-10-20 05:12:12Romina Omidi, Nima Naderloui, Yuan Hong, Binghui WangAbstract
Watermarking has emerged as a key tool for identifying text generated by large language models (LLMs), with current schemes embedding statistical signals into the generation process to enable later detection. In this work, we identify a shared weakness across a broad class of popular LLM watermarking methods, including KGW (and its variants), GumbelSoft, DipMark, ITS, and SynthID. We show that these schemes exhibit a fundamental link between their detection scores and the token probability shifts they introduce during generation. This link, which we call score-ratio alignment, allows an attacker with only black-box query access to the model--and no knowledge of secret keys or model weights--to produce text that evades detection while remaining fluent and natural. We prove that the resulting attack is optimal across all covered watermark families, and show that the weakness is intrinsic: any watermark designed to maximize statistical detection power necessarily induces the very structure that attackers can exploit. We evaluate our attack on seven popular generative LLM watermarking schemes, three LLMs, and tasks, which reduce detection rates to at most 0.05 across all settings while preserving text quality. Our findings show that current watermarking methods can be reliably defeated under realistic attack conditions, highlighting the need for fundamentally different watermarking designs that decouple detection scores from token probability shifts.
Abstract (translated)
URL
https://arxiv.org/abs/2610.27653
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CUA-Recovery: Benchmarking Error Recovery in Long-Horizon Computer-Use Agents
2026-10-20 05:06:00Xu Hu, Haoming Li, Yuxiang Wang, Jinxin Yang, Kangshuo Li, Licheng Wang, Dingyi Kang, Jiayu Song, Tianhao Wang, Zhanhua Hu, Xu Yang, Qiannan Li, Bingzhe Li, Feng ChenAbstract
As computer-use agents (CUAs) move to long-horizon workflows spanning multiple applications, undetected errors can silently corrupt persistent state and cause cascading failures in subsequent actions. Reliable error detection and recovery have become critical bottlenecks for building robust CUAs. However, existing benchmarks focus primarily on end-to-end task performance, providing limited insight into whether agents can detect and recover from errors during execution. The few benchmarks that evaluate recovery rely largely on manually injected errors, which may not reflect the types or horizons of failures induced by real agent policies. We introduce CUA-Recovery, a benchmark comprising test and training suites across multiple desktop applications. We construct it using ReRail, a framework for synthesizing long-horizon tasks and trajectories in a persistent desktop environment. ReRail composes MyPCBench tasks into new long-horizon workflows with executable ground truth, collects verifier-confirmed failures from multiple policies, and turns them into verified recovery trajectories. CUA-Recovery comprises a human-verified test suite of 2,250 erroneous states over 100 tasks and a training suite of 8.6K trajectories over 377 tasks. Evaluation on the test suite shows that agents struggle both to recognize inherited errors and to complete the task. Across six agents and six takeover depths, Error Awareness Rate (EAR) reaches at most 44.0% and Pass@3 at most 25.5%. After fine-tuning Qwen3.5-35B-A3B on the training suite, its average EAR rises from 19.9% to 35.2% on held-out recovery states, and its Rubric Score goes from 5.0% to 16.1%. It also gains 15.3 points on MyPCBench and 10.8 points on Odysseys for Pass@3, showing that the training trajectories help both with recovery and with completing tasks from a clean start. Our code is available at this https URL.
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URL
https://arxiv.org/abs/2610.27645
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Provisioning Robust and Efficient LiDAR Perception for Autonomous Driving
2026-10-20 04:31:30Tingxu Han, Zijie Shen, An Guo, Lyuke Wang, Chunrong Fang, Zhenyu Chen, Wei SongAbstract
LiDAR-based 3D object detection is a core perception service for autonomous driving, but deployment requires robustness to point-cloud corruption while meeting latency and memory requirements. Existing approaches address robustness and resource efficiency separately, resulting in compact detectors that are fragile under corruption or robust detectors that remain costly to deploy. We therefore formulate LiDAR perception provisioning as constructing a detector that remains accurate under point-cloud corruptions while meeting constraints on inference latency and peak GPU memory. To achieve robustness, we first craft corrupted samples that mimic extreme weather conditions. Then we train candidate detectors offline by ordering clean and corrupted samples by perturbation sensitivity, through which detectors learn more from hard corrupted samples. We estimate perturbation sensitivity using an ensemble of seven heterogeneous 3D detectors by tracking changes in confidence, BEV overlap, and unmatched detections. To improve efficiency, we narrow the network and use offline neighborhood-density measurements to determine how many points and neighbors each sampling stage processes. We evaluate our method using AP (Average Precision) under clean and corrupted conditions, inference latency, and peak allocated GPU memory. On KITTI for Car detection with PointRCNN, our method improves Moderate AP under corruption by 3.32 points over the original detector while reducing mean latency by 19.8% and peak allocated GPU memory by 53.9%. Across two datasets, two detector architectures, and three object classes, our method improves AP under corruption by 4.03 points on average over the corresponding original detectors, while reducing mean inference latency and peak allocated GPU memory by 14.4% and 38.0%, respectively. Our code is available at this https URL.
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URL
https://arxiv.org/abs/2610.27617
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WaveSpec: Multi-Spectral Iris Presentation Attack Detection via Wavelength-Conditioned Spectral Coherence Adaptation
Abstract
Multispectral iris presentation attack detection benefits from observing the same iris across multiple near-infrared wavelengths, but existing methods often use wavelength information mainly for conditioning or fusion. This can limit their ability to explicitly model whether the spectral response of a sample is coherent across bands. In this paper, we propose \textbf{WaveSpec}, a multispectral iris PAD framework that performs feature-level spectral coherence adaptation. Each NIR band is first encoded with a DINOv2 backbone. The proposed Set Conditioned Spectral Coherence Adapter then updates each band feature using the consensus of the available spectral set, the band-specific deviation from that consensus, and wavelength identity. The adapted features are projected into structural, spectral, and anomaly representations, adaptively pooled, and classified as bona fide or attack. We evaluate WaveSpec on the MSIrPAD benchmark under a strict cross-artefact protocol, where the model is trained with one presentation attack instrument and tested on unseen attacks. WaveSpec reduces the average D-EER from 8.45\% for SpectraIrisPAD to 3.33\%, and reduces average BPCER@APCER=1\% from 43.16\% to 12.07\%. Ablation results show that the SCSA adapter and spectral residual are central to the improvement, while a band-subset analysis shows that WaveSpec remains effective under partial spectral observations and performs best when all five bands are available. The method adds only modest computational overhead, with 11.15 ms end-to-end latency per five-band sample on an NVIDIA L40S-48Q GPU.
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URL
https://arxiv.org/abs/2610.27608
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Why Static Probes Fail: Context Determines Deception Feature Composition
2026-10-20 03:42:51Yao Huang, Siyuan Chen, Zhenghan Zhou, Yinpeng DongAbstract
With increasing autonomy, Large Language Models (LLMs) may engage in deceptive behaviors, such as scheming to pursue misaligned goals or sandbagging to escape oversight. Monitoring outputs alone is insufficient, as models can produce seemingly benign responses while harboring misaligned internal objectives. While mechanistic approaches like linear probing are promising, they rely on the assumption that deception corresponds to a single direction in representation space. We demonstrate that such single-direction probes fail to generalize across diverse deception scenarios. To bridge this gap, we propose representing deception as a multi-dimensional subspace rather than a single direction. Our method utilizes iterative orthogonal decomposition to identify complementary directions that capture distinct facets of deceptive intent. To effectively leverage these directions for detection, we find that static combinations prove brittle due to strong domain dependence across different scenarios. We therefore introduce a domain-adaptive gating mechanism that dynamically composes the extracted directions through few-shot adaptation at test time. With only 10 examples, our approach achieves an average AUROC of 0.97 and 94% recall at 5% FPR across all evaluated datasets, substantially outperforming existing methods.
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URL
https://arxiv.org/abs/2610.27577
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AudiPsy: Evidence-Grounded Multimodal Reasoning over Spoken Counseling Conversations for Depression Assessment
2026-10-20 03:31:15Chuanbo Zhu, Run Luo, Weibo Zhao, Yue Li, Kun Qian, Qiang Qu, Yike Guo, Minghuan Tan, Wei XueAbstract
Depression assessment from counseling speech requires integrating textual and acoustic psychological evidence across turns, yet existing end-to-end classification approaches lack explicit multimodal evidence interpretation and context-aware reasoning. We propose AudiPsy, an evidence-grounded omni-LLM for depression assessment over spoken counseling conversations. AudiPsy employs an Observation-Assessment-Summary (OAS) paradigm to integrate dialogue transcripts, textual and acoustic emotions, and textual-acoustic emotion incongruence into structured reasoning. OAS incrementally organizes multimodal observations, performs contextualized assessment, and maintains an evolving dialogue summary for subsequent turns. To support this framework, we construct AudiPsy-Counsel, a synthetic spoken counseling conversation corpus with multimodal context augmentation, and develop a unified three-stage curriculum for depression-oriented reasoning. Experiments on DAIC-WOZ demonstrate superior depression assessment performance over specialized depression detection methods and general-purpose speech/omni-LLMs, along with improved reasoning quality, while supplementary evaluation on EATD-Corpus supports AudiPsy's applicability to naturalistic conversations.
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URL
https://arxiv.org/abs/2610.27567
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AnomalyJev: Towards Evaluating Image Anomaly Explanations via Claim-Level Verification
2026-10-20 03:29:08Qizhou Wang, Jiawen Zhu, Guansong Pang, Christopher LeckieAbstract
Recent multimodal LLM (MLLM)-based anomaly detection (AD) methods can generate textual explanations that help interpret their predictions. However, reliably and efficiently evaluating these explanations remains challenging. While LLM judges can assess explanations through structured rubrics, they often require substantial token generation, making evaluation costly and difficult to scale. We instead propose to anchor evaluation in the available ground truth by extracting verifiable claims from each explanation and verifying them against the corresponding annotations. We instantiate this idea as AnomalyJev, a lightweight framework that extracts verifiable claims from contextualised representations using ground-truth-defined queries and pointer based heads, without token generation. The claims are then verified against the ground truth to score faithfulness and completeness. For evaluation, we construct a human-annotated set of 640 explanations with over 1,600 expert ratings across in-domain and cross-dataset settings. Despite its compact design, AnomalyJev achieves stronger agreement with human annotators than most open MLLM judges and approaches that of flagship MLLM judges, at a fraction of their runtime and resources.
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URL
https://arxiv.org/abs/2610.27565
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Cross-Visibility-Gap Identity Persistence for 4D Scene Graphs
2026-10-20 02:20:34Jiahui Hu, Li Gao, Yu Liu, Pengzhan ZhouAbstract
4D scene graphs require persistent object identity when an object disappears inside an opaque carrier and later reappears as a fresh detection. When appearance and target-centric motion are unavailable, identity recovery must rely on relational history. We formulate cross-visibility-gap identity persistence as historical-node recovery through a remembered target--carrier binding. We introduce CVG-SGM, a perception-frontend-compatible transfer--maintain--read memory. Geometry-weighted cross-node interaction transfers target-specific evidence into carrier states, a shared per-node GRU maintains this information during transport, and a two-time readout combines stored carrier--identity compatibility with current detection--carrier geometry to recover the historical identity. In the controlled one-identity-per-carrier setting, CVG-SGM achieves 1.000 re-link accuracy, compared with 0.570 for both no-memory and parameter-count-matched no-write controls. It also generalizes to scene-disjoint, unseen longer visibility gaps. On real RGB-D/SAM2 feature-level episodes, it correctly re-links 36/36 held-out detections, compared with 28/36 for the strongest fixed carrier--identity control. Counterfactual carrier-memory swaps redirect predictions according to the swapped bindings, supporting the role of stored relational information in identity recovery. The current approach remains limited by shared-carrier identity ambiguity and does not provide end-to-end raw-video re-identification.
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URL
https://arxiv.org/abs/2610.27505
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Evaluating Social Reasoning in Embodied Vision-Language Models
2026-10-20 02:14:00Daniel Weiner, Raj KorpanAbstract
Foundation models now serve as reasoning layers for robot teams, but it remains unclear whether embodiment-specialized vision-language models (VLMs) preserve the social-reasoning capabilities of general-purpose VLMs. We evaluate Gemini Robotics-ER on SHREC, a benchmark of real human-robot social interactions, and compare it with published general-purpose VLM baselines. Robotics-ER outperforms GPT-4o-mini on error/competence detection but performs worse on detailed social-attribute judgments; adding a visual frame helps one task while hurting the other. These results suggest embodiment-specialized models may perform differently on social judgments that can be read more directly from observable interaction cues versus those requiring more inference about a person's internal state. Because the comparison spans model families, these differences cannot be attributed to embodiment specialization alone. This matters for multi-robot systems, where a shared foundation model could cause systematic social-perception errors to influence multiple coordination decisions. This work presents an initial evaluation, with broader cross-context and video-based analyses left for future work.
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URL
https://arxiv.org/abs/2610.27496
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