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DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation
2026-07-09 17:50:47Yunchao Yao, Zhuxiu Xu, Tianqi Zhang, Zixian Liu, Sikai Li, Zhenyu Wei, Feng Chen, Dihong Huang, Kechang Wan, Chenyang Ma, Shuqi Zhao, Shenghua Gao, Masayoshi Tomizuka, Yi Ma, Mingyu DingAbstract
Building general-purpose dexterous manipulation policies requires benchmarks that go beyond isolated tasks to systematically evaluate policies across diverse interaction modes, sensory conditions, and robot embodiments. However, existing benchmarks remain limited in task and data diversity, embodiment coverage, or controllable visual variation, hindering studies of cross-task and cross-embodiment generalization. We present DexVerse, a large-scale and modular benchmark for dexterous manipulation. DexVerse includes 100 tasks spanning a broad range of manipulation skills, including object grasping and relocation, articulated-object interaction, functional tool use, bimanual coordination, non-prehensile control, contact-rich behaviors, multi-goal execution, and long-horizon multi-stage task completion. It supports 3 robot arms and 6 dexterous hands, and is extensible to new tasks, assets, and embodiments. To evaluate visuomotor generalization, DexVerse provides configurable visual variations in textures, background, lighting, and camera viewpoints. We further provide a VR-based teleoperation interface and 3,180 demonstrations with synchronized proprioceptive, RGB, depth, point-cloud, and state observations. We benchmark representative methods, including Diffusion Policy, DP3, OpenVLA, and $\pi_{0.5}$, across 19 tasks. Results reveal substantial challenges in task generalization and visuomotor robustness, establishing DexVerse as a promising testbed for general-purpose dexterous manipulation. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2607.08751
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AUTOPILOT VQA: Benchmarking Vision-Language Models for Incident-Centric Dashcam Understanding
2026-07-09 17:46:24Siddharth Damodharan, Radhika Gupta, Ali Alshami, Ryan Rabinowitz, Jugal KalitaAbstract
Recent advances in Vision-Language Models, Large Language Models, and Multimodal Large Language Models have improved autonomous driving tasks such as scene understanding, decision making, trajectory prediction, and visual question answering. However, evaluating whether these models can reliably reason about safety-critical incidents remains challenging. To address this gap, we present AUTOPILOT-VQA, an incident-centric visual question answering benchmark for dashcam video understanding. The dataset evaluates different systems through structured questions designed around real-world driving incidents and near-incidents. The benchmark covers diverse safety-relevant categories, including weather and lighting conditions, traffic environment, road layout, road surface state, signage, involved entities, accident occurrence, impact location, and avoidability-related reasoning. By requiring models to answer grounded questions about both contextual scene properties and event-level incident details, AUTOPILOT-VQA moves beyond object recognition toward temporally grounded, safety-aware reasoning. The dataset is released as part of the AUTOPILOT CVPR 2026 competition and provides a standardized benchmark for assessing the reliability of autonomous driving systems in different scenarios. Our benchmark support developments for more interpretable, robust, and safety-conscious vision-language systems for real-world autonomous driving.
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URL
https://arxiv.org/abs/2607.08745
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Validity of LLMs as data annotators: AMALIA on authority
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A national language model offers a linguistic community its own instrument for measuring what its citizens say and value. Portugal's AMALIA, a publicly funded 9B-parameter model for European Portuguese, appears competitive on agreement alone: asked to code the moral foundation of authority, it agrees with trained human coders to within six F1 points of open models eight to thirteen times its size. Yet agreement is reliability, not validity. For theoretical constructs that must be inferred rather than read from surface features, the question is whether the model follows the construct's theory or reaches the right code by correlated shortcuts. We test this with the recovery gap: the loss in performance when a holistic prompt is decomposed into the codebook's atomic clauses and recombined by the theory's explicit rule. If calibration closes that gap, some portability should survive across models and languages; where it does not, the construct-model instrument is the likely locus of failure. We ask whether a calibrated English instrument transfers to AMALIA-9B and to European Portuguese. For one construct and one corpus, it does not. Decomposition recovers only about half of AMALIA's holistic performance, and error analysis suggests reliance on surface correlates, especially moral outrage near authority figures. An open multilingual LLM closes the gap on the same Portuguese corpus under the same instructions, pointing away from the corpus as the main explanation. AMALIA can still screen and pre-code at scale, but it cannot yet measure this construct well enough to stand alone. The study is a single counterexample, not a verdict on national models; it argues that sovereign-LLM benchmark batteries should test not only agreement with human coders, but the evidential route by which that agreement is warranted.
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URL
https://arxiv.org/abs/2607.08731
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Remember When It Matters: Proactive Memory Agent for Long-Horizon Agents
2026-07-09 17:26:28Yifan Wu, Lizhu Zhang, Yuhang Zhou, Mingyi Wang, Bo Peng, Serena Li, Xiangjun Fan, Zhuokai ZhaoAbstract
In long-horizon tasks, decision-relevant state is often scattered across an expanding trajectory, while the action agent must surface it and act. As trajectories grow, task requirements, environment facts, prior attempts, diagnoses, and open subgoals can be buried in the context window or pushed beyond it, failing to influence decisions when needed. We call this failure mode "behavioral state decay". We study memory as an active intervention mechanism rather than passive retrieval. A separate memory agent runs alongside an unmodified action agent, updating a structured memory bank from the recent trajectory and deciding whether to inject a memory-grounded reminder or remain silent. The module is plug-and-play with frontier action agents and existing agent harnesses. Across Terminal-Bench 2.0 and $\tau^2$-Bench, it improves pass@1 for both weaker and stronger action agents, with gains of +8.3 pp on Terminal-Bench and +6.8 pp on $\tau^2$-Bench. Ablations show that selective intervention outperforms passive bank exposure, always-on injection, advisor-only guidance, and general retrieval. As an early step toward open-weight memory policies, we train Qwen3.5-27B on SETA using SFT and GRPO, improving validation reward and achieving partial transfer to Terminal-Bench.
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URL
https://arxiv.org/abs/2607.08716
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HumanForge: A Human-Centric Deepfake Video Benchmark with Multi-Agent Forgery Rationales
2026-07-09 17:12:41Wenbo Xu, Zhimin Chen, Xiaojie Liang, Hengrui Liu, Wei LuAbstract
Rapid advancements in video diffusion models and temporal editing tools have enabled the generation of highly realistic human-centric videos, posing unprecedented challenges to digital content forensics. Existing benchmarks primarily focus on either face-swapping or global text-to-video synthesis, overlooking the crucial dimensions of human-object or human-human interactions and multi-modal alignment. To address these limitations, we introduce HumanForge, a unified, large-scale, and multi-paradigm human-centric video forgery dataset. To construct and annotate this dataset without labor-intensive manual labeling or hallucinated monolithic prompts, we propose Gen2Anno, a modular active multi-agent pipeline built on LangGraph. Gen2Anno coordinates six specialized agents-ranging from source profiling to MoE-based reference analysis and closed-loop forensic verification-to generate over 18K high-fidelity video segments and produce structured, contrastive omni-annotations containing binary decisions, fine-grained artifact categories, and spatio-temporal localization. Extensive benchmarks using state-of-the-art traditional detectors and Large Multimodal Models (LMMs) demonstrate the significant challenges of zero-shot generalization and fine-grained reasoning on HumanForge. Code and dataset will be publicly released.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08705
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UltraX: Refining Pre-Training Data at Scale with Adaptive Programmatic Editing
2026-07-09 16:18:07Xinlong Zhao, Dongsheng Liu, Hengyu Zhao, Zixuan Fu, Zheng Wang, Jie Cai, Jie Zhou, Qiang Ma, Xuanhe Zhou, Xu Han, Yudong Wang, Zhiyuan LiuAbstract
As available training data approaches its physical limit, gains from Scaling Laws have begun to diminish. Consequently, improving Large Language Models (LLMs) now depends less on data expansion and more on higher-quality data utilization. However, in the context of large-scale corpora, existing refinement methodologies face significant limitations in quality, efficiency, and reliability: Rule-based approaches are constrained by fixed heuristics and struggle with instance-level variations; LLM-based approaches improve quality but fail to meet the efficiency and reliability requirements of large-scale data processing. To address these challenges, we propose UltraX, a function-calling refinement framework for large-scale pre-training data that completes the editing function space by introducing insertion in addition to deletion and modification, enabling fine-grained instance-level editing. Specifically, UltraX builds a reliable program-supervision generation pipeline. In this pipeline, dataset-adaptive prompt optimization first guides an expert LLM to produce high-quality end-to-end refined texts, and Line Alignment Mapping and Dynamic Context Replacement then convert original-refined text pairs into structured program supervision. Meanwhile, UltraX improves supervision quality and stabilizes the training distribution with low-confidence example filtering and ratio-controlled sampling by operation combination. During inference and execution, it normalizes and validates model outputs through sliding-window prediction, global operation aggregation, and systematic post-processing, improving the stability and reliability of large-scale execution. Experiments show that UltraX achieves the highest average performance across all corpora and also matches or surpasses baselines with fewer training tokens, demonstrating stronger data efficiency and refinement reliability.
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URL
https://arxiv.org/abs/2607.08646
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SHAP-Weighted Cross-Modal Expert Fusion for Emotion and Sentiment Recognition: Evidence and Limits
2026-07-09 15:06:28Adis Alihodzic, Selma Skopljakovic HubljarAbstract
Multimodal emotion and sentiment recognition is commonly addressed by early fusion, which concatenates modalities before classification, or late fusion, which combines independently trained unimodal predictors. Early fusion can be accurate but monolithic, while late fusion is modular but may lose cross-modal interactions. This paper revisits XAI-guided adaptive fusion (\xgaf), a tree-based mixture of unimodal and cross-modal experts whose sample-level weights are derived from TreeSHAP attribution magnitudes. We focus on the effect of SHAP attribution reduction when experts have unequal feature dimensionalities. In this setting, mean-abs and median-abs reductions can suppress high-dimensional cross-modal experts, whereas sum-abs reduction preserves total attribution mass. On MELD 7-class emotion recognition, sum-abs \xgaf{} nearly matches early fusion across three face-sequence aggregators; the Transformer variant reaches 0.5983 \wf{}, compared with 0.6018 for early fusion and 0.4598 for probability-average late fusion. McNemar testing shows no significant difference between sum-abs \xgaf{} and early fusion on MELD ($p=1.000$), while \xgaf{} remains significantly better than late fusion ($p<0.0001$). On CMU-MOSEI 3-class sentiment recognition, sum-abs \xgaf{} reaches 0.6519 \wf{}, slightly exceeding early fusion (0.6485) and late fusion (0.5696). Ablation studies show that the main gain comes from adding cross-modal experts, especially the trimodal expert, rather than from complex per-sample routing. Diagnostics further show that mean-abs and median-abs weights are nearly uniform, while sum-abs weights concentrate on the trimodal expert. Thus, the main contribution is a transparent empirical analysis of how SHAP reduction, expert dimensionality, and cross-modal expert design affect modular multimodal fusion.
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URL
https://arxiv.org/abs/2607.08573
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CommuniWave:A Machine Learning Model for Quantifying the Degree of Temporary Informal Behavior in Urban Communities
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For urban managers and designers, improving the functional attributes of urban communities to enhance territorial resilience in the face of complexity and uncertainty is crucial. Currently, community planning often follows a top-down approach and lacks effective metrics to quantify informal behaviors of residents, leading to frequent conflicts with original plans. This study introduces CommuniWave, a machine learning model designed to efficiently detect and quantify the Degree of Informal Behavior (DIB) in urban communities. The model integrates a Behavior Capture Net (BCN) based on mmaction2, a self-developed YOLOv10 model (YLX), and a Behavior Eval Model (BEM) using random forest. Ultimately, by generating DIB fluctuation charts from street videos, the model facilitates dynamic monitoring, supporting urban managers in making refined decisions to enhance the overall resilience of communities.
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URL
https://arxiv.org/abs/2607.08554
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DocMaster: A Hierarchical Structure-Aware System for Document Analysis
2026-07-09 14:33:47Ziqi Chen, Yingli Zhou, Fangyuan Zhang, Quanqing Xu, Chuanhui Yang, Yixiang FangAbstract
Leveraging large language models (LLMs) to analyze complex documents -- such as academic papers, technical manuals, and financial reports -- has emerged as a mainstream and critical task in both research and industry. In practice, users must first filter relevant documents from large collections and then conduct in-depth analysis (e.g. question answering) over the selected subset, yet existing systems flatten documents into plain-text chunks, discarding the rich hierarchical structures (sections, tables, figures, equations) and degrading downstream performance. We present DocMaster, a hierarchical structure-aware document analysis system. DocMaster parses documents into hierarchical document trees preserving original layouts and constructs a structure-aware semantic index that enables accurate document filtering and in-depth analysis. We demonstrate DocMaster through an interactive web interface that enables users to upload document collections, construct tree-based and multi-view semantic indices, filter relevant documents via natural-language conditions, and perform follow-up question answering over the filtered results. The source code, data, and demo are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08539
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AI-guided stimuli discovery and generation to optimize facial emotion perception studies in autism
2026-07-09 14:29:31Kushin Mukherjee, Na Yeon Kim, Maren Wehrheim, Ralph Adolphs, Kohitij KarAbstract
Understanding perceptual differences between autistic and neurotypical adults requires behavioral assays that are sensitive, reliable, and mechanistically informative. Facial emotion perception is a useful test case because group differences have been reported, but findings vary across studies. Here we show that this variability may reflect image-level sparsity: autistic-neurotypical differences in emotion judgments were concentrated in a small subset of diagnostic facial expressions rather than spread uniformly across stimuli. We trained population-specific artificial neural network models to predict image-level judgments for autistic and neurotypical participants, then used these models to select novel faces predicted to maximize group separation. In an independent cohort, model-selected images produced larger behavioral differences than matched random images. We then used the same models with a generative adversarial network to transform diagnostic images toward greater predicted group agreement. In phenotype-matched validation, synthesized images reduced behavioral separation relative to their matched originals. These results establish a model-guided framework for discovering and transforming stimuli that reveal population-specific perceptual differences. More broadly, they show how behavioral phenotyping can move beyond averaging across fixed stimulus sets toward optimized assays that identify the conditions under which neurodivergent perception diverges or converges.
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URL
https://arxiv.org/abs/2607.08533
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A Quantized Native Runtime for On-Device Semantic Audio Generation
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Semantic audio applications increasingly require controllable generation on commodity and embedded hardware rather than through framework-heavy datacenter stacks. We present \textit{aria}, a dependency-free native runtime that runs the complete text-to-music pipeline of Stable Audio~3 (SA3) on ordinary GPUs, CPU-only machines, and a Raspberry~Pi~5, with no Python or deep-learning framework underneath. Our main contribution is a study of quantization: running the model at lower numerical precision to fit tight memory budgets, saving memory in place rather than adding to it. Because the runtime owns every internal tensor, it also exposes activation steering, a low-cost way to steer what the model generates. We judge the quality cost with three independent measures of the output (prompt adherence, overall audio quality, taste preservation), each compared against the ordinary variation between random seeds. Eight-bit precision shows no measurable quality loss on any measure while sharply cutting memory, and it is the fastest mode on the GPU; four-bit adds a small, bounded cost but shrinks the footprint enough to run the $1.2$-billion-parameter model on an $8$\,GB Pi. Against the official implementation, aria matches or exceeds generation speed and starts about seven times faster. A case study of the steering interface generates music carrying taste associations (\emph{sonic seasoning}), with genuine but bounded control for a subset of attributes. These results make a compact, quantized runtime with built-in control a practical basis for on-device semantic audio in Internet-of-Sounds settings. The \textit{aria} runtime is released at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08526
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OmniFood-Bench: Evaluating VLMs for Nutrient Reasoning and Personalized Health Advice
2026-07-09 12:46:00Qian Jiang, Zhecheng Shi, Jingpu Yang, Zirui Song, Miao FangAbstract
The rapid integration of Large Vision-Language Models (VLMs) into critical infrastructure promises to revolutionize personalized healthcare and dietary management. However, in the domain of food systems, autonomous agents face a unique and persistent challenge: the "Systemic Information Asymmetry" between visual appearance and intrinsic nutritional composition. Existing benchmarks primarily focus on coarse-grained classification tasks, such as food category recognition, which fail to evaluate the intricate reasoning chain required for real-world dietary management -- specifically, the ability to traverse from identifying hidden ingredients to estimating physical mass, and finally synthesizing safety-critical medical advice. In this paper, we introduce OmniFood-Bench, a comprehensive benchmark constructed from the MM-Food-100K dataset. Unlike previous works, OmniFood-Bench evaluates VLMs across three progressive capabilities: Basic Perception (Ingredients & Cooking Methods), Quantitative Reasoning (Portion Size & Nutritional Profiling), and Safety-Critical Advisory (Disease-Specific Recommendations). We evaluate six state-of-the-art VLMs, including gpt-5.1, gemini-3-flash, and qwen3-vl-8B. Our extensive experiments reveal a startling "Semantic-Physical Gap": while models achieve near-human accuracy in naming dishes, they exhibit catastrophic failure in mass estimation and frequently hallucinate benign advice for high-risk diabetic profiles. This work establishes a rigorous standard for trustworthiness in autonomous agents deployed for public health. The code and datasets are available in: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2607.08423
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Swapping Faces, Saving Features: A Dual-Purpose Pipeline for Pedestrian Privacy in ITS
2026-07-09 12:27:57Roba H. Farouk, Catherine M. EliasAbstract
Large-scale and diverse datasets are needed to train AI models to take real-time decisions for autonomous vehicles (AVs), an intelligent transportation system (ITS) application. Pedestrian intention and trajectory prediction are critical models used in AVs, requiring datasets involving diverse pedestrian images. Unrestricted access to these datasets imposes serious security risks, like identity theft and pedestrian tracking. The challenge is to apply privacy preservation procedures while maintaining the image attributes needed to train the models. Existing privacy methods may preserve the pedestrian's privacy, but degrade the image usability, which hinders the models' effectiveness. This work's focus is to implement a five-stage pipeline to protect pedestrians' privacy through face swapping while keeping the essential facial attributes intact. It should be tailored to satisfy the privacy needs of the Egy-DRiVeS dataset. Moreover, Roop and Ghost-v2 face-swapping models are evaluated. Provenly, Roop outperforms Ghost-v2 in various aspects, as will be discussed. Consequently, Roop is the face-swapping model to be used in the pipeline to strike the balance between pedestrian privacy via identity concealment and data usability via facial attribute preservation.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08402
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HoloTetSphere: Unified TetSphere Mesh Reconstruction for Physical Simulations
2026-07-09 12:21:43YaQiao Dai, Renjiao Yi, Zhirui Gao, Wei Chen, Kai Xu, Chenyang ZhuAbstract
Standard pipelines for physics-ready 3D reconstruction rely on a decoupled two-stage paradigm: extracting surface geometry followed by an error-prone tetrahedralization process. While recent Lagrangian methods like TetSphere Splatting attempt to bypass this by directly optimizing volumetric primitives, their homeomorphic constraints prevent topology-adaptive optimization. Consequently, they produce disjoint tetrahedra rather than a single connected mesh, rendering the structures unsuitable for further physical simulations. To address this, we propose a topology-adaptive framework for holistic tetrahedral mesh reconstruction through end-to-end topological and geometric optimization. First, by coupling Gaussian spheres to tetrahedral elements and leveraging edge connections, we estimate a continuous opacity field for differentiable element pruning. Next, jointly minimizing mesh smoothing energy and multi-view Gaussian rendering error drives alternating geometric refinement while preserving topological adaptivity. Consequently, our approach effectively constructs a unified and topologically coherent tetrahedral mesh. Extensive experiments demonstrate that our method outperforms state-of-the-art techniques by achieving superior geometric accuracy and producing coherent, single-connected tetrahedral meshes, thereby effectively bypassing the error-prone conventional tetrahedralization step for reconstructed surface meshes and streamlining downstream physical simulation.
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URL
https://arxiv.org/abs/2607.08398
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Token-Flow Firewall: Semantic Runtime Auditing for Persistent AI Agents
2026-07-09 12:18:40Puji Wang, Yingchen Zhang, Ruqing Zhang, Jiafeng Guo, Xueqi ChengAbstract
Persistent AI agents extend large language models (LLMs) beyond single-turn interaction into long-lived software systems. Unlike traditional chat assistants, unsafe content in these agents can propagate through persistent state, reusable skills, and tool-mediated interactions, creating a substantially larger semantic attack surface. We observe that most security-critical interactions in such agents are transmitted through natural-language token flows, including memory updates, tool arguments, retrieved files, and inter-component communications. This observation enables a new security formulation: unsafe behavior can be intercepted as risky semantic flows before reaching privileged runtime sinks. Based on this insight, we propose TokenWall, a runtime defense framework that acts as a semantic firewall over agent token flows. TokenWall performs boundary-aware semantic auditing over these flows, constructing structured source-sink audit records, applying lightweight local inspection before execution, and selectively escalating ambiguous high-risk cases to stronger arbitration modules. Unlike prior approaches that rely on sparse auditing or remote large-model oversight, TokenWall enables full-coverage pre-execution mediation while reducing remote arbitration and latency. Experiments on CIK-Bench show that TokenWall reduces attack success rate to 12.5% while maintaining a 97.4% benign executable pass rate without human confirmation. TokenWall further introduces only 0.69 seconds of additional latency on benign cases, demonstrating that semantic runtime containment can achieve a practical security-utility trade-off for persistent AI agents.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08395
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Towards Mechanistically Understanding Why Memorized Knowledge Fails to Generalize in Large Language Model Finetuning
2026-07-09 12:17:28Lu Dai, Ziyang Rao, Yili Wang, Hanqing Wang, Hao Liu, Hui XiongAbstract
Fine-tuning LLMs to inject new knowledge faces a critical challenge: LLMs can quickly memorize new facts, yet fail to use them for downstream reasoning tasks. We formalize this failure as the \textit{\textbf{Knowing--Using Gap}}, characterized by an accuracy gap and a temporal lag between memorization and generalization. To understand this phenomenon, we fine-tune LLMs with unseen knowledge and monitor the spatial permeation dynamics of the knowledge internally using a novel intervention technique called self-patching. Self-patching identifies activation locations where relocating representations substantially improves failed generalization cases. These results are consistent with a knowledge-circuit misalignment hypothesis: memorized representations can exist internally but may not be routed to computation-effective layers. To demonstrate the practicality of this diagnostic finding, we design a simple heuristic strategy which recovers 58--75\% of the oracle headroom in generalization failure. Experiments are done cross-domain for the robustness of this finding.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08393
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Large-Language-Models-as-a-Judge in Theory-Agnostic Adaptive Metric-Alignment for Prototypical Networks in Personality Recognition
2026-07-09 11:49:14Jing Jie Tan, Ban-Hoe Kwan, Danny Wee-Kiat Ng, Yan-Chai Hum, Shih-Yu Lo, Po-An Chen, Noriyuki Kawarazaki, Kosuke Takano, Anissa MokraouiAbstract
Personality recognition has traditionally been constrained by theory-dependent formulations, where models are trained to fit predefined psychological taxonomies rather than uncovering shared underlying behavioral structure. This limits generalization, as personality itself is better understood as theory-invariant, while existing annotations reflect only partial and sometimes inconsistent views of the same latent traits. In this work, we introduce JAM ((J)udge for (A)daptive (M)etric-Alignment), a theory-agnostic framework that shifts learning from adapting to predefined personality theories toward discovering unified latent pseudo-facets that capture shared psychological structure. Rather than constraining the model to any personality taxonomy during training or inference, the framework learns generalizable psychological representations and can infer an individual's latent psychological profile directly from the textual samples, without requiring theory-specific labels. JAM achieves this through an Attention-Pooled Graph Prototypical Network that learns structured representations via clustering in embedding space, together with a Cross-Theory Harmonization (CTH) approach that integrates (i) Human-Guided Linkage and (ii) Machine-Induced Consensus to unify heterogeneous datasets without relying on predefined labels. To further improve robustness and data quality, we incorporate an LLM-as-a-Judge mechanism operating in two configurations, (i) LLM-before-the-loop and (ii) LLM-in-the-loop which identifies ambiguous samples to guide adaptive metric learning. Experiments show that JAM improves cross-framework generalization and performance, establishing a strong step toward theory-agnostic personality inference and supporting low-resource personality theories. The related code repository, model weights, and artifacts are available at this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2607.08374
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FedOPAL: One-Shot Federated Learning via Analytic Visual Prompt Tuning
2026-07-09 11:28:31Lingyu Qiu, Daniela Annunziata, Stefano Izzo, Fabio Giampaolo, Francesco PiccialliAbstract
With the widespread deployment of basic models in edge intelligence, communication bandwidth has become a core bottleneck restricting the scalability of federated learning. Although one-shot federated learning alleviates this problem by minimizing communication rounds, existing iterative fine-tuning or knowledge distillation methods still face challenges such as high server-side computational costs and hyperparameter sensitivity. Analytical federated learning achieves efficient gradientfree aggregation using least-squares closed-form solutions, but in environments with non-independent and identically distributed data, its static feature assumptions fail, leading to feature manifold misalignment and severely impairing model performance. To address this contradiction, this paper proposes the FedOPAL framework. This framework adapts the visual prompts as feature rectifiers, actively correcting the feature distribution of heterogeneous data to a linearly separable space by applying local proximal constraints, thereby satisfying the theoretical assumptions of analytical federated learning. Experimental results show that FedOPAL not only significantly outperforms the original analytical methods on several benchmarks, but also achieves accuracy comparable to state-of-the-art iterative methods while maintaining zero server-side training costs, providing a new engineering paradigm for efficient collaboration of large models on the edge.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08368
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AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance
2026-07-09 10:29:53Chenxi Wang, Ying Feng, Hongjie Fang, Shangning Xia, Lixin Yang, Chuan Wen, Cewu LuAbstract
Teleoperation is a key interface for controlling dexterous robotic hands and collecting demonstrations for imitation learning. Its effectiveness largely depends on kinematic retargeting, which maps operator hand motions to feasible and intuitive robot hand motions. Existing methods often require hand-crafted objectives, precise calibration, or global shape matching between human and robot hand spaces, making them sensitive to hand-specific tuning and less reliable across different dexterous hands. We propose AnyDexRT, a calibration-free retargeting method for intuitive dexterous teleoperation across human-like dexterous hands. AnyDexRT combines self-supervised fingertip correspondence learning with few-shot human guidance to anchor the mapping in task-relevant regions, and further refines pinch-related poses using a contact classifier. Experiments on diverse dexterous hands and real-world teleoperation tasks show that AnyDexRT improves retargeting quality, reduces manual tuning, and provides more intuitive and efficient control than prior retargeting methods. Project website: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2607.08341
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PolyUQuest: Verifiable Structure-Aware Web RAG over Heterogeneous Graphs
2026-07-09 09:10:52Ying Liu, Yi Ye, Quanyu Feng, Mingxi Ye, Mingtao Zhang, Haoyang Li, Chen Jason Zhang, Qing LiAbstract
Existing retrieval-augmented generation (RAG) systems treat web pages as flat text, losing the structural and semantic signals encoded in HTML. We present PolyUQuest, a verifiable, structure-aware web RAG framework built on a heterogeneous graph that unifies hyperlink topology between pages, DOM hierarchy within pages, and entity-relation knowledge across pages. A two-tier router dispatches each query to one of three retrieval modes matched to its structural need, including direct block retrieval, cross-page graph traversal, and multi-hop entity reasoning. Every answer is fully verifiable, as each cited block carries its source page, heading path, and entity links so that users can trace any claim back to its structural evidence. We evaluate on the official websites of the Hong Kong Polytechnic University (PolyU), comprising 4,240 pages, 31,086 DOM blocks, 29,119 entities, and 37,680 relations, together with a multi-type evaluation benchmark. PolyUQuest outperforms existing RAG systems in answer correctness, coverage, and faithfulness, while consuming significantly fewer LLM tokens per query. The demonstration provides an interactive interface for inspecting cited answers, comparing retrieval traces across routing modes, and exploring evidence graph paths. PolyUQuest is being prepared for deployment as a student-facing QA service at PolyU.
Abstract (translated)
URL
https://arxiv.org/abs/2607.08269
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