Object_Detection
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Efficient Passive Acoustic Monitoring of Killer Whales Using a Two-Stage Detection and Ecotype Classification Cascade
2026-09-01 19:03:10Daniela Ruiz, Manuel Castellote, Zhongqi Miao, Carl Chalmers, Bruno Demuro, Rahul Dodhia, Pablo Arbelaez, Juan M. LavistaAbstract
Passive acoustic monitoring of killer whales is particularly important for conservation of the endangered Southern Resident killer whale population, but requires accurate models that can operate in real time under severe class imbalance and deployment shift. We propose a lightweight ResNet-based two-stage cascade that first detects killer whale vocalizations and then classifies confident detections into five eastern North Pacific ecotypes, abstaining on ambiguous calls. We train and evaluate the pipeline on the DCLDE 2027 dataset, where the detector achieves 0.960 macro-F1 and the classifier 0.958, outperforming frozen Perch 2.0 embeddings on the five-ecotype benchmark. By separating detection from ecotype recognition, the end-to-end cascade improves seven-class macro-F1 from 0.919 for a single-stage model to 0.933, with the largest gain on the rare OKW ecotype. To assess transfer beyond the benchmark, we use active learning to adapt the Stage 1 to the acoustic environment of Puget Sound, WA, increasing killer whale detection F1 from 0.405 to 0.755 on manually verified detection windows. Finally, each stage processes a 3 s window in approximately 1.4 ms on an NVIDIA H100, enabling faster than real time inference. These results demonstrate that the proposed two-stage cascade pipeline enables reliable killer whale detection and classification, adaptation to new acoustic domains, and real-time monitoring for conservation applications.
Abstract (translated)
URL
https://arxiv.org/abs/2609.01792
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CoViT: Instance-Correspondence Contrastive Learning for Vision Transformer
2026-09-01 18:59:02Yisen Wang, Zhirong Wu, Limin WangAbstract
Vision Transformers (ViT) excel in semantic understanding but fail to discriminate between object instances (e.g., identical embeddings for two dogs), limiting their use in instance-level tasks such as object detection and instance segmentation. We propose Contrastive Vision Transformer (CoViT), a self-supervised learning framework that injects instance-awareness into ViT through geometry-guided contrastive learning. CoViT uniquely coordinates ViT's attention maps and embeddings by constructing triplets: (1) Attention-guided masking: Refine multi-head attention via adaptive thresholding and morphological operations to generate instance masks, identifying foreground anchors; (2) Hardest contrastive mining: For each anchor, computing pairwise embedding similarities to select the intra-instance hardest positive (least similar patch within its mask) and inter-instance hardest negative (most similar patch from other instances), with intra-instance regions masked during negative search. These triplets drive a contrastive loss that simultaneously compresses intra-instance variance and expands inter-instance margins, forcing ViT to discern subtle geometric and appearance differences between instances. CoViT consistently achieves stable performance gains of over 2 AP points across multiple instance-level perception tasks by using ViT as backbone architecture. Notably, CoViT requires no extra decoders or labels, demonstrating that a pure ViT can learn instance-aware representations via inherent attention priors and targeted contrastive constraints. Code and models will be released.
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URL
https://arxiv.org/abs/2609.01787
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UAV Thermal Imagery for Inert Ordnance Screening: Multi Campaign Dataset Development,Object Detection, and Practical Recommendations
2026-09-01 18:07:41Chad Melton, PhD., Annabelle KeltonAbstract
Unexploded ordnance (UXO) continues to restrict civilian access, agricultural activity, infrastructure recovery, and environmental remediation in contaminated areas around the world. This study created a multi campaign UAV thermal image data set of inert ordnance, developed a labeled image set from collected imagery, tested object detection models, and identified practical considerations for humanitarian mine action and demining applications. Data were collected during four field campaigns in Tennessee under summer and winter conditions using inert mines, munitions, and other ordnance placed in short grass, tall vegetation, gravel, mulch, rock, compost, and compacted surfaces. Thermal imagery was collected under flight altitutes of 33 m and 15 m. The final source inventory contained 5,855 thermal image label pairs, including 918 positive images and 4,937 background images. After retaining all positive images and downsampling background images, the 33 m dataset contained 420 training and 106 validation images, while the 15 m dataset contained 629 training and 157 validation images. YOLOV11l and RT-DETR-R50 algorithms were trained and evaluated to develop an automated candidate detection model. Practical recommendations include collecting thermal and RGB imagery together, incorporating varied surfaces and background only imagery, considering periods following changes in solar exposure, balancing survey coverage against target pixel representation, calibrating models with representative local data, and retaining qualified human review. The intended use is screening and prioritization for follow on technical survey or EOD assessment, and not a standalone clearance.
Abstract (translated)
URL
https://arxiv.org/abs/2609.01738
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A Hybrid Insider Threat Detection Framework Combining Multi-Agent Simulation, Layered SIEM Correlation, and Theory-of-Mind Reasoning
2026-09-01 17:10:12Firdous Kausar, Asmah Muallem, Naw Safrin Sattar, Mohamed Zakaria KurdiAbstract
This paper presents a hybrid insider threat detection framework for enterprise environments, integrating multi-agent simulation, layered SIEM correlation, trust-adaptive thresholds, behavioral and communication forensics, and Theory-of-Mind reasoning. Email is treated not as a control channel but as a coordination and social-engineering evidence stream correlated with authentication, file-access, and privilege events. Four variants are evaluated: Layered SIEM-Core (LSC), Cognitive-Enriched SIEM (CE-SIEM), Evidence-Gated SIEM (EG-SIEM), and EG-SIEM-Enron with Enron-calibrated email forensics. Across ten matched runs with eight malicious insiders, actor-level F1 improves from 0.567 for LSC to 0.774 for CE-SIEM, 0.898 for EG-SIEM, and 0.944 for EG-SIEM-Enron; paired Wilcoxon tests confirm the first three differences after Holm-Bonferroni correction. Evidence gating reduces confirmed false positives from 33.7 per run under LSC and 49.3 under CE-SIEM to 0.2 and 0.0 respectively, a precision gain traded against longer confirmation time. Domain-shift evaluation shows that an Enron-trained email classifier does not transfer to a different operational email domain, although target-domain fine-tuning reaches F1 = 0.974 under grouped template-family evaluation. On CERT r4.2, the evidence-gated logic improves actor-level detection while reducing false positives, outperforming tabular anomaly detectors and a sentence-embedding baseline. Scalability tests to 1000 agents indicate stable detection quality.
Abstract (translated)
URL
https://arxiv.org/abs/2601.04243
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Revisiting Cross-View Completion: Self-Supervised Pre-Training via Reconstruction Error Comparison
2026-09-01 16:57:46Thibaut Loiseau, Guillaume Bourmaud, Vincent LepetitAbstract
Self-supervised pre-training via cross-view completion learns strong features for 3D vision from co-visible regions of image pairs. However, the reference view provides little information for reconstructing non-co-visible patches, implicitly yielding a monocular training signal in these regions. We introduce Gekko, which turns this limitation into a useful signal. The relative improvement of the cross-view reconstruction error over a masked-autoencoder error is a self-supervised proxy for co-visibility: large improvements indicate co-visible regions, negligible ones non-co-visible areas. Gekko is a network, trained from scratch, that jointly performs cross-view completion, masked autoencoding, and per-pixel prediction of this relative improvement, providing an additional binocular signal for all masked regions without any ground-truth 3D annotation. Under identical architectures and training data, Gekko consistently outperforms CroCo on zero-shot correspondence estimation, relative pose estimation, and pointmap regression, with up to 6 times higher accuracy at the strictest relative-pose threshold and a 22% drop in end-point error on ETH3D. The extra channel it learns is itself a strong co-visibility detector on unseen scenes, and Gekko's frozen features outperform released cross-view backbones of comparable or larger size. It can also be trained directly from raw videos with a simple stride-based curriculum, removing the cumbersome 3D preprocessing prior methods require while matching models trained on curated data. Code and pre-trained models are publicly available.
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URL
https://arxiv.org/abs/2609.01530
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Benchmarking Spatial, Spectral, and Self-Supervised Cues for Face Forgery Detection under Realistic Degradation
2026-09-01 16:41:55Lucas Cunha, Lucas Sotomaior, Lucas Gasperin, Beatriz Caldas, Eduardo Pianovski, Rayson LarocaAbstract
Face forgery detectors often achieve strong results on controlled benchmarks, but their reliability under realistic image degradations remains limited. This paper presents a standardized benchmark for face forgery detection using the Multi-Dimensional Face Forgery Image (MFFI) dataset and evaluates performance on both clean and degraded test partitions. We compare six model families, including convolutional networks, transformer-based models, and a frozen self-supervised DINOv3 backbone, across spatial, spectral, and hybrid input representations. The results show that clean-set performance is not a reliable indicator of robustness under compression, resizing, and blurring. Xception with RGB obtains the best clean performance, reaching 0.884 mean ROC-AUC, but degrades substantially on the harder partition. In contrast, frozen DINOv3 achieves the strongest degraded-set result, with 0.726 mean ROC-AUC, while training only a linear classification head. The representation analysis indicates that Fourier-domain cues are most useful when combined with RGB information, whereas purely spectral inputs consistently underperform spatial representations. Qualitative attribution maps further suggest that convolutional detectors focus on localized artifacts, while DINOv3 relies on broader facial structure. These findings reinforce the need for degraded evaluation protocols and highlight self-supervised visual representations as a promising direction for robust face forgery detection. Our source code is publicly available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.01511
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Vision-Based Leader-Follower Formation Control for Cooperative UAVs in GPS-Degraded Environments
2026-09-01 15:35:38Deekshitha Angadi, Naveena Budda, Vikas Agarwal, Rojesh Arunkumar Mulasa, Ravi Killamsetty, Mohamed Samshad, Narsimlu KemsaramAbstract
Cooperation in multi-UAV systems requires reliable relative perception so that follower vehicles can maintain formation and continue their mission safely even when absolute positioning sensors degrade or fail. This paper presents a vision-based cooperative formation framework running on a follower UAV that uses a front-facing RGB-D camera to detect, track, and localize a leader UAV in real-time. A lightweight YOLO-based detector is trained on a dedicated drone dataset and deployed onboard to predict leader bounding boxes, which are then fused with depth information via a pinhole camera model to estimate the leader's relative pose. These estimates provide a leader-follower position controller and can also be used as a backup when GPS or external localization is unavailable. This framework is implemented as a set of ROS nodes and evaluated in a physics-based multi-UAV simulation built on XTDrone, with sensor noise and communication dropouts. We evaluate detection accuracy, runtime, and formation-keeping error under nominal conditions and under simulated failures of the positioning sensors. The results show that the proposed framework maintains stable leader-follower formations with reasonable computational cost and provides a practical basis for extending vision-based cooperative formation control to real-world multi-UAV systems.
Abstract (translated)
URL
https://arxiv.org/abs/2609.01420
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Accurate Reconstruction of Gas Turbine Blade Geometry Using 3D/2D Rigid Registration and CT View Optimization
2026-09-01 15:06:11Hristo Valtchanov, Nicolas Pich\'e, Vladimir Brailovski, Justin Byers, Catherine D\'esrosiers, Fran\c{c}ois GuibaultAbstract
Non-destructive X-ray and computed tomography (CT) testing are essential for ensuring the dimensional accuracy of manufactured components with complex internal structures, such as the cooling channels in gas turbine blades, which directly affect thermal performance and service life. This study presents a multipart 3D-2D rigid registration approach for aligning CAD models with X-ray projections as an alternative to CT reconstruction for part inspection and measurement. A greedy registration algorithm sequentially aligns the blade's exterior before registering its internal components by maximizing the mutual information between simulated and acquired X-ray images. This stepwise approach reduces problem complexity and improves alignment accuracy. View angles are optimized using a greedy method that iteratively selects angles to minimize dimensional measurement errors. The results indicate that a small number of oblique views provides the best accuracy, although a broad range of angles yields acceptable results. The method achieves subpixel registration accuracy, with errors below one-fifth of the magnified detector-pixel pitch. Image noise and defects reduce registration precision, but direct registration in projection space mitigates these effects compared with CT reconstruction. Appropriate view selection can therefore preserve acceptable subpixel accuracy in the presence of image noise and defects.
Abstract (translated)
URL
https://arxiv.org/abs/2609.01368
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EDGE: Error Dependency Graph-Guided Multi-Error Attribution in Multi-Agent LLM Systems
2026-09-01 15:00:54Jun Hou, Priya Pitre, Yi Fang, Xuan WangAbstract
Large language model (LLM) agent failures often contain multiple related errors rather than a single mistake. Existing attribution methods usually identify a responsible agent, step, or root cause, but do not explicitly model dependency between errors. We introduce EDGE, an Error Dependency Graph-guided multi-Error attribution framework. EDGE constructs an error dependency graph from observed error events and validates a reliable causal subset through counterfactual rollout. The inference graph guides a two-stage LLM-as-judge detector for error attribution, and the intervention-validated subgraph provides a more reliable basis for explanation and repair analysis. Experiments on TRAIL and MAST show that EDGE improves category-level multi-error attribution across most evaluated models and settings. Experiments with adapted Who&When-style prompts show that the graph helps across prompting strategies. These results suggest that dependency structure is a useful diagnostic prior for agent failures beyond isolated root-cause prediction.
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URL
https://arxiv.org/abs/2609.01360
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Jailbreaking Text-to-Image Models Through Cracks: Navigating Heterogeneous Safety Filters via Multi-Agent Debate
2026-09-01 12:45:27Kaiyan Wen, Shijie Zhang, Lu Yu, Guangdong BaiAbstract
Text-to-image (T2I) models remain vulnerable to jailbreak attacks that elicit Not-Safe-For-Work (NSFW) content, despite increasingly being guarded by heterogeneous, multi-layer safety stacks combining text filters, image classifiers, and cross-modal detectors. Existing jailbreak studies either optimize against individual filters or query the complete pipeline with aggregate feedback, making it difficult to identify the active constraint and adapt to conflicts across safety this http URL this paper, we introduce the \emph{Detection Surface}, a unified geometric framework that characterizes the decision boundaries induced by heterogeneous T2I safety filters and their joint effect on the jailbreak search space. This formulation reveals that successful evasion is governed by a sparse and non-convex region shaped by cross-layer conflicts, where mutations that bypass one filter may increase exposure to another. Motivated by this analysis, we propose \emph{CRACK}, a multi-agent debate framework for adaptive jailbreak search that decomposes jailbreak search into exploration, diagnosis, and arbitration. CRACK coordinates an Attack Agent, a Defense Agent, and a Judge Agent to iteratively generate prompt mutations, obtain layer-specific diagnostic feedback, and optimize mutation strategies through reward-guided refinement. Through repeated rounds of debate, CRACK adapts its search direction to the evolving cross-layer constraints while preserving the original harmful intent. Extensive experiments across multiple T2I models, datasets, and safety configurations show that CRACK achieves Attack Success Rates (ASR) of up to 99.63\% under composite defenses, while requiring fewer queries than existing methods and maintaining semantic fidelity.
Abstract (translated)
URL
https://arxiv.org/abs/2609.01168
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Persistent Entropy as a Detector of Phase Transitions
2026-09-01 10:53:48Marcos Gutierrez-del-Pozo, Eduardo Paluzo-Hidalgo, Matteo RuccoAbstract
Persistent entropy is a scalar summary of persistence barcodes widely used to detect regime changes, yet there is no account of when a structural change in a barcode must produce a detectable change in entropy. We establish a model-agnostic theorem supplying such conditions. Treating persistence diagrams as random objects indexed by a control parameter, we identify a dispersion-condensation mechanism in the normalized persistence weights and derive an explicit lower bound on the entropy difference between the two regimes, valid with high probability at finite sample size and insensitive to the absolute scale of bar lifetimes. We also give a procedure for verifying the hypotheses on empirical barcodes. Applied to convolutional networks, the criterion shows that the circular organization of learned filters reported by Gabrielsson and Carlsson emerges through a sharp topological phase transition, and locates its onset: within a few hundred iterations on MNIST, but an order of magnitude later on CIFAR-10. The same criterion detects the Kuramoto synchronization and Vicsek order-disorder transitions.
Abstract (translated)
URL
https://arxiv.org/abs/2602.09058
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Fi-ImageNet-1k: An OOD Benchmark From the Inside of the ImageNet-1k Validation Set
2026-09-01 10:23:40Ruslan Rozumnyi, Mat\v{e}j Such\'anek, Tom\'a\v{s} Voj\'i\v{r}, Kl\'ara Janou\v{s}kov\'a, Ji\v{r}\'i MatasAbstract
Out-of-distribution (OOD) detection predicts whether a test image belongs to none of the predefined classes. To evaluate this task, benchmarks need images from outside the in-distribution (ID) data; typically, these are defined or collected in an ad hoc fashion. Since no ground truth is perfect, ID-labeled datasets themselves contain a natural source of OOD images. We exploit such annotation errors and present Fi-ImageNet-1k, an OOD dataset built from ImageNet-1k validation images that the recent ReImageNet reannotation effort assigned to no ImageNet-1k class. Each image was examined by expert human annotators supported by evidence from MLLMs, VLMs, and reverse image search, comparing it against all visually similar ID classes. We keep only images that could be assigned a specific class outside the ImageNet-1k label space. The resulting Fi-ImageNet-1k, with 655 images from 522 classes, is substantially more challenging than any commonly used OOD dataset. No evaluated combination of classifier and OOD detector achieves a false positive rate below 51% at 95% true positive rate (FPR@95). Compared to the recent NINCO, our dataset is 3.8x more challenging in the FPR@95 metric for state-of-the-art supervised OOD detection methods.
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URL
https://arxiv.org/abs/2609.01027
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RingMoClaw: An Experience-Inspired Multi-Agent Framework for Self-Evolving Research in Remote Sensing
2026-09-01 07:13:50Kaiyue Kang, Qixuan He, Peijin Wang, Yingchao Feng, Chao Ren, Kangxin Wang, Wenhui Diao, Yixiao Wang, Liangjin Zhao, Kaiwen Wei, Nayu Liu, Xian SunAbstract
Remote sensing visual models have continuously advanced various interpretation tasks. However, the research process behind model improvement still heavily relies on manual expertise, requiring extensive trial-and-error iterations in model design, data processing, and performance diagnosis. Existing agent-based approaches mainly focus on task execution and workflow orchestration, while lacking the capability of autonomous research iteration for continuous performance optimization. To address this issue, we propose RingMoClaw, an experience-inspired self-evolving multi-agent framework for remote sensing visual interpretation. RingMoClaw integrates a research branch, a quality-control branch, and a dual-stream dynamic experience bus to establish a closed-loop optimization process covering strategy generation, experiment execution, independent review, and experience accumulation. The heterogeneous Critic mechanism provides stage-wise diagnosis and feedback, while the dual-stream experience bus incorporates external knowledge and internal experimental experience to guide strategy evolution and eliminate ineffective searches. Extensive experiments on four remote sensing downstream tasks, including object detection, scene classification, semantic segmentation, and change detection, demonstrate the effectiveness and generalization of RingMoClaw. Compared with the corresponding baseline models, RingMoClaw improves performance by 1.84\% mAP$_{50}$ on object detection and achieves consistent gains across the other three tasks, while reducing the required evolution steps by over 40\% compared with existing research automation frameworks. These results suggest that RingMoClaw offers a feasible route from task execution toward continuous research driven model evolution in remote sensing.
Abstract (translated)
URL
https://arxiv.org/abs/2609.00814
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Situation Awareness for Intelligent Data Distribution in Connected Vehicles
2026-09-01 07:02:45Falk Dettinger, Akshay Narla, Michael WeyrichAbstract
The limitations of on-board sensors and blind spots caused by occlusion cause the reduction of perception quality in autonomous vehicles. In such cases, cooperative perception provides additional data via Vehicle-to-Everything communication to enhance local perception, causing a large volume of data transmission. The vehicle can focus on acquiring and utilizing relevant data according to the prevailing road context by identifying the current traffic situation. To achieve this, we propose a concept for the situation identification of the vehicle using Bird's-Eye-View images. Firstly, the situation around the vehicle is identified using object detection with semantic segmentation, followed by understanding the context of the traffic using a situation identification module consisting of an open-source projective transformation network Cam2BEV and a situation identification neural network. The concept was evaluated and validated by running the software on the CARLA simulator using the in-built RGB camera and the semantic segmentation camera. Additionally, the portability of the situation identification module for real-world applications was verified on Cityscapes and nuScenes urban driving datasets. Overall, the proposed situation identification approach enables efficient sensor data management by prioritizing relevant data to the current traffic situation. The source code is available in the following link: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.05521
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VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM
2026-09-01 06:07:25Sangmin Song, Sarath Kodagoda, Marc G. Carmichael, Karthick Thiyagarajan, Amal Gunatilake, Kelly Prentice, Jodi MartinAbstract
We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular RGB alone, a regime no prior training-free system addresses. Online systems typically segment object instances and label them at first detection, committing when evidence is weakest. VOIM instead defers label and instance decisions until soft evidence from unmodified, off-the-shelf perception has accumulated per voxel across views. We show that the mapping stage, rather than the particular perception models, carries the result: across four perception configurations on ScanNet++, varying the region descriptor, the detector label prior and the mask source, the map exceeds the strongest online RGB-D system, OVO-SLAM, by between 4.8 and 11.7 mIoU. Perception is not neutral, and substituting that baseline's own descriptor family costs 4.1 of the margin, yet the baseline carries the marginally better 2D descriptor (33.7 vs. 31.5 mIoU over three scenes) and still realizes the weaker map. Under a like-for-like protocol VOIM reaches 44.07 mIoU on ScanNet++ against 32.37, winning all ten scenes and both aggregations (pooled 33.31 vs. 25.97), and the same system runs unchanged to fully monocular RGB, matching that baseline pooled on Replica (27.80 vs. 27.50). The advantage is regime-specific: under Replica's all-classes scoring, matched inputs give a split result, 28.60 vs. 27.50 pooled against 24.59 vs. 30.11 on the per-scene mean. Room scale is label-limited and building scale drift-limited. Labeling does not run in real time, dominated by per-class detection over the full vocabulary. The maps export occupancy grids and resolve free-form queries to object instances.
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URL
https://arxiv.org/abs/2609.00775
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Perceptible or Not? Diagnosing Passive Fingerprints for Speech Deepfake Attribution
2026-09-01 05:54:02Yupei Li, Qiyang Sun, Emmanouil Benetos, Berrak Sisman, Bj\"orn SchullerAbstract
Passive fingerprints (intrinsic traces naturally left by generators) have been shown to enable attribution in speech deepfake detection, yet their persistence, reproducibility, and content-independence remain unverified. Moreover, no prior work distinguishes perceptible from imperceptible fingerprints, although the two have very different implications for attribution reliability. Perceptible fingerprints, such as emotional expression, are shaped by perceptual quality objectives and may change across model updates, whereas imperceptible fingerprints are not explicitly optimised by current training objectives and are rarely considered in existing dataset design or training strategies, as they have limited influence on downstream applications. We therefore propose a Perceptible-Imperceptible Passive-fingerprint Diagnostic Protocol (PIPDP) to define and separately analyze these two fingerprint types. PIPDP comprises three complementary analyses: multi-evidence fingerprint verification through residual-energy, reproducibility, and saliency analyses, perceptually transparent perturbations preserving audio quality, and prompt-driven emotion change that modifies perceptible fingerprints without model retraining. Experiments across ten speech generators and three attribution detectors show that imperceptible fingerprints provide persistent attribution cues. Perceptually transparent perturbations reduce attribution accuracy by up to 48.2\% on HiggsAudioV3, whereas emotion-driven changes leave attribution largely unchanged, with only about a 1.0\% accuracy variation across emotions on CosyVoice2 using w2v-bert-MLP. These results suggest that imperceptible fingerprints are more reliable for trustworthy attribution.
Abstract (translated)
URL
https://arxiv.org/abs/2609.00765
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Part Grounding, Not Action Knowledge: Locating the Bottleneck in VLM Affordance Prediction
2026-09-01 05:03:51Sarthak SattigeriAbstract
Benchmarks agree that vision-language models reason poorly about low-level manipulation, but an aggregate accuracy score does not say which step fails. We separate two steps that affordance questions conflate: identifying which part of an object to act on, and knowing what action that part requires. Across 19 articulated objects we asked eight models, spanning three developers, what motion a robot should apply. Under an open prompt, push was produced once in 64 evaluations where it was correct, despite being correct for 8 of 19 objects and appearing in the offered label set every time. Inspecting the outputs showed why: models described a different part than the one being scored, e.g. explaining how to pick up a camera rather than press its button. Naming the target part raises action accuracy by 0.32 to 0.63 for every model, from 0.158-0.474 to 0.684-0.947, and push recall from 0-1/8 to 7-8/8. No model beats a constant answer that ignores the image under the open prompt; once the part is named, all eight do. Asked to describe the same part in free prose with no label set, models produce pressing language for 6 to 8 of 8. These results are hard to reconcile with missing action knowledge, and instead point to part grounding as the dominant bottleneck, a pattern that holds across all three model families and does not diminish with capability. Naming the part supplies the grounding variable, so this bounds what a perfect part detector would offer rather than demonstrating a general model of mechanics. Two supporting results agree: on real photographs only three of eight models localize grasp points better than a constant baseline, and on rendered objects none do. We also document two measurement errors of our own, a threshold that let a constant baseline score 0.929 and a labelling rule wrong on 4 of 19 objects, both caught only by testing our numbers against trivial alternatives.
Abstract (translated)
URL
https://arxiv.org/abs/2609.13225
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Panda Diplomacy: Foundation Model Pre-training across Particle Imaging Detectors for High Energy and Nuclear Physics
2026-09-01 02:56:05Samuel Young, C\'esar Jes\'us-Valls, Kazuhiro TeraoAbstract
Foundation models are increasingly being pursued in particle and nuclear physics, but existing approaches remain strongly tied to individual experiments through detector-specific architectures or pre-training objectives, limiting their reuse across sensing modalities. We show that a point cloud self-distillation framework yields a substantially more general sensor-level pre-training recipe. We show that the same refined architecture and objective can be independently pre-trained with minimal changes on three qualitatively different detector modalities: liquid argon time projection chamber (LArTPC), collider TPC, and water Cherenkov. Using 1,000 labeled images for downstream task adaptation, Panda V2 matches or exceeds specialized foundation-model baselines trained with orders of magnitude more supervision, matching state-of-the-art particle-clustering performance with 70x fewer labeled events on sPHENIX while substantially improving particle identification, and on LArTPC data matching Panda (arXiv:2512.01324) particle reconstruction with up to 1,000x fewer labels. Beyond reconstruction, simple linear probes reveal physically meaningful latent structure associated with particle causality and track curvature.
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URL
https://arxiv.org/abs/2609.00611
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Enoki: Efficient Multi-Level Hallucination Detection
2026-09-01 02:21:28Elisei Rykov, Timur Ionov, Nikolay Ivanov, Maksim Savkin, Maksim Makarenko, Alexander Panchenko, Vasily Konovalov, Julia BelikovaAbstract
Ensuring factuality remains a critical challenge for deploying LLMs in high-stakes settings. Existing hallucination detectors usually operate at a single level: claim-level methods provide interpretable factual units, while span-level methods localize unsupported text. Bridging these views is costly, as LLM-heavy pipelines require multiple decomposition and verification calls, and modular systems need additional claim-to-span alignment. We propose Enoki, an Open Information Extraction framework for multi-level hallucination detection. Enoki extracts text-anchored relational facts, verifies them against evidence, and projects unsupported facts back to hallucinated spans. This shared representation enables claim-level verification and span-level localization without requiring separate alignment. Enoki supports LLM-based, encoder-based, and rule-based extraction regimes, balancing accuracy and inference cost through a common interface. Experiments show that Enoki remains competitive with strong claim-level systems while using fewer resources and achieves superior performance on fine-grained span- and entity-level localization. We also release EnokiQA, a dual-granularity dataset with aligned claim-level verification and span-level localization annotations.
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URL
https://arxiv.org/abs/2609.00581
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Workload Identification with Physical Side Channels for AI Governance
2026-08-31 19:59:35Simone Gargiulo, Gabriel KulpAbstract
AI compute verification is one of the first tangible and tractable points for international policy aimed at AI governance. Determining whether frontier labs, or any operator, comply with agreements requires the regulating authority to discern how their compute is used. The elementary building block of AI compute is the GPU, and any activity it executes leaves a physical trace. Here, we show that an external observer can identify the class of the workload running on an NVIDIA H200 from its power draw. Unlike on-chip NVML telemetry, which can be spoofed or replayed, such a physical channel can in principle be observed independently of operator cooperation. We recorded $930$ five-second traces at $\sim 10$ MHz, covering seventeen open LLM families and twenty-five non-AI workloads. Over this corpus we separate training from inference and from non-AI computation with an accuracy of $97\%$ and a macro-averaged F1 score of $0.955$, evaluated on model families unseen during training. AI workload spectral content predominantly lies below $\sim 20$kHz and training is particularly recognizable through the memory-bound optimizer update. The GPU operator is then treated as adversarial and able to reshape the physical computation itself. Four evasion strategies are tested to disguise training as inference, producing an additional 680 adversarial traces. A detector hardened against evasion strategies, with the tested strategy held out, catches training $\geq 99\%$ of the time for three of the four strategies. The fourth, diluted low-rank adaptation (LoRA), is detected $48$--$88\%$ of the time with a hardened classifier, rising to $\geq 98\%$ with an additional rescue rule. While these attacks are not a comprehensive evaluation against adversarial behaviour, they offer initial insights beyond genuine activities and a dataset for developing and testing stronger evasion mechanisms.
Abstract (translated)
URL
https://arxiv.org/abs/2609.00309
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