Reconstruction
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2DGS-Planner: Rasterization-based Path Planning in 2D Gaussian Splatting Map
2026-10-08 11:41:38Jiwon Park, Dong-Uk Seo, Hyun MyungAbstract
Gaussian splatting provides an explicit and efficiently rasterizable scene representation for robot navigation. However, individual Gaussian primitives may not reliably represent obstacles as they are jointly optimized through alpha-composited rendering from a finite set of reconstruction views. We propose 2DGS-Planner, a path planner for ground robots that reads planning-relevant geometry from a 2D Gaussian splatting (2DGS) map through rasterization, rather than treating individual Gaussian primitives as obstacles. During offline roadmap construction, multi-view attribution converts rendered normal dispersion into structural scores for non-ground disks supported by the reconstruction views. These scores guide adaptive node sampling on the ground. Path-aligned orthographic queries validate candidate edges, while cylindrical queries estimate local clearance fields that are cached on the edges. During online planning, graph search initializes a route, and path refinement reuses the cached fields while accounting for the robot's dimensions and ground constraints. Experiments demonstrate improved roadmap connectivity, more accurate clearance estimation, and higher planning success compared with the tested baselines. These results support rasterization as an effective geometric query interface for planning directly on Gaussian maps. Code and data are available at this https URL
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URL
https://arxiv.org/abs/2610.11752
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Towards Unified Evaluation of Prompt Enhancers for Video Generation
2026-10-08 11:31:13Yawen Shao, Yubo Zhu, Ziyun Dai, Zixun Fang, Kai Zhu, Zeyinzi Jiang, Yufeng Ai, Siyang Sun, Haolan Xue, Yu Shang, Yuxiang Bao, Zoubin Bi, Jingming Luo, Jie Xiao, Chaojie Mao, Zhehan Kan, Hongchen Luo, Yu Liu, Sheng Zhong, Wei Tong, Xueyang Fu, Yang Cao, Wei Zhai, Zheng-Jun ZhaAbstract
Modern video generators can realize increasingly complex visual narratives, positioning the prompt enhancer (PE) as a critical bridge from concise user instructions and multimodal references to structured cinematic plans. However, existing PE evaluation relies on rendered videos, imposing substantial computational and human costs, slowing PE training and iteration, and conflating PE quality with downstream generator behavior. To address this gap, we introduce PEBench, the first unified benchmark for direct PE evaluation across text-to-video, image-to-video, and reference-to-video prompt enhancement. It comprises 1,100 expert-verified cases and 1,005 visual assets, spanning 35 fine-grained tasks with diverse temporal, cinematic, audiovisual, and multi-reference requirements. In addition, we develop PEBench evaluation, an evidence-grounded framework that combines modality-aware fact extraction with rubric-based assessment across 24 criteria. Our systematic evaluation of representative open- and closed-source PE methods reveals an emerging shift from fine-grained descriptive expansion toward intent-preserving cinematic planning, while the caption-reconstruction and forward-refinement methods show complementary strengths in cinematic coverage and semantic fidelity or internal coherence, respectively. Human validation shows that PEBench scores align closely with expert judgments of enhanced prompts and downstream videos from Wan3.0 and MiniMax-H3, indicating that prompt-level evaluation reliably reflects downstream utility.
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https://arxiv.org/abs/2610.11736
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Intervention anchors and scientific verification in synthetic vascular predictive representations
2026-10-08 11:10:56Lingsen You, Yujun Guo, Xinyu Zhong, Zisu Peng, Wentong Wang, Li Shen, Junbo GeAbstract
Complete orthogonal predictive coordinates do not by themselves bind a latent direction to a named intervention. We present a mathematical and synthetic audit motivated by vascular device-vessel suitcordance. Capacity-matched least-squares predictors were exactly equivalent under complete fixed output transforms, whereas an anchor-only observer recovered interpretations only within the span of known perturbation signatures. Six three-dimensional configurations across 64 seeds gave a maximum paired prediction discrepancy of 6.7e-15 but a median untransported edit error of 1.513. Coordinate transport removed that error. Noisy and weak anchors constrained calibration stability, and changing the representation basis required recalibration or verified transport. Across 256 additional fits in dimensions 3-24, prediction equivalence persisted within 4.0e-15. We then evaluated nine deliberate runnable fault classes across 64 seeds. All 576 faulty executions completed, but each violated at least one reconstruction, prediction, delivered-edit or scope contract; all 320 valid control records passed. Repeating a faulty implementation gave exact self-agreement despite error against the separately computed simulator expectation. For one omitted-direction defect, probe coverage followed its analytic law, and rank-aware abstention protected unsupported interpretations. Scalar-noise experiments exposed both missed weak faults and excessive rejection under narrow relative tolerances. These controls provide an executable separation of prediction, semantic support and scientific acceptance. They are synthetic numerical audits, not clinical validation, neural JEPA-Anything replication, agent learning or patient treatment-effect estimation.
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https://arxiv.org/abs/2610.11704
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Elucidating the Space of Enzymatic Reaction: A Unified Benchmark and Pretrained Model
2026-10-08 11:05:48Yutong Hu, Tianming Huang, Yanbo Zhao, Qiongyu Zhang, Shixiang Tang, Lei Bai, Ziyi Zhou, Liang Hong, Pan TanAbstract
Existing reaction models primarily learn molecular transformations, whereas enzy- matic reactions depend jointly on molecular structure and catalytic function. We formulate this problem as learning an enzymatic reaction space linking reactants, products, and Enzyme Commission (EC) annotations. To characterize this space, we introduce VenusRX-Bench, a unified benchmark for forward reaction prediction, single-step retrosynthesis, and EC-number prediction. VenusRX-Bench integrates reactions from multiple biochemical databases with standardized curation, leakage- controlled splits, and consistent evaluation. Benchmarking representative chemical and enzymatic models reveals a clear chemical-to-enzymatic domain gap, driven by limited domain data, catalytic-context dependency, and the difficulty of modeling large biomolecular structures. To bridge this gap, we develop VenusRX, a unified T5-style sequence-to-sequence model for enzymatic reactions. VenusRX jointly learns forward prediction, ret- rosynthesis, and reaction reconstruction, with two-stage training on millions of template-expanded reactions followed by real biochemical reactions. In addition, optional EC conditioning incorporates catalytic context, while Molecule Library- Constrained Decoding improves the generation of complex biomolecules. Across benchmark tasks and challenging generalization splits, VenusRX achieves the best or competitive performance on most evaluated settings over representative chem- ical and enzymatic baselines. Moreover, EC information consistently improves reaction prediction, while learned reaction representations support accurate EC prediction, revealing a bidirectional relationship between reaction structure and catalytic function. Together, VenusRX-Bench and VenusRX provide a unified framework for elucidating and modeling enzymatic reaction space
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https://arxiv.org/abs/2610.11694
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Tabula Rasa: Monte Carlo estimation of unit-variance noise with controlled spatio-temporal correlation
2026-10-08 10:30:02Tobias Ritschel, Yang Zhou, Nick Milef, Mikhail Dereviannykh, Chen Liu, Christophe Hery, Carl MarshallAbstract
We suggest a method to generate time-varying Gaussian noise with controlled variance and controlled temporal correlation. This noise is used in several downstream tasks for temporal control and temporal coherence. The core technical idea is to phrase this problem as joint Monte-Carlo estimation of both a classic pixel reconstruction and estimation of variance using the concept of "sketching" from the database literature. We demonstrate that our method allows temporal control for downstream tasks with simpler and faster code than previous methods.
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https://arxiv.org/abs/2610.11653
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PointVGGT: Zero-Shot Multiview RGB-D Point Cloud Registration with Visual Geometry Foundation Priors
2026-10-08 09:54:56Haobo Jiang, Liang Yu, Jianmin ZhengAbstract
This paper addresses multiview RGB-D point cloud registration, aiming to estimate global rigid poses for unordered RGB-D scans and align them in a metrically consistent coordinate frame. The conventional pairwise-then-global paradigm suffers from locally optimized pairwise registration, severe error propagation and high computational burden. In particular, existing methods typically treat RGB data as a mere auxiliary matching cue and overlook the holistic geometric priors (e.g., camera poses and 3D models) encoded across image sequences. This paper introduces PointVGGT, a zero-shot framework built upon a novel \emph{foundation-then-refinement} paradigm that systematically leverages visual geometry foundation models (e.g., VGGT) as the computational backbone for robust, training-free multiview RGB-D registration. In the foundation stage, we directly recover metrically consistent global poses (without any pairwise estimation) by grounding the scale-ambiguous pose predictions of the foundation model against metric depth observations. In the refinement stage, we introduce an efficient voxelized spatial hashing mechanism that exploits the globally coherent 3D reconstruction (induced by the foundation model) as a shared spatial anchor, enabling dense multiview correspondences in near-linear time. On top of this, an IRLS-based robust motion-only bundle adjustment is performed using a conjugate gradient solver to jointly minimize the correspondence and reprojection residuals for multiview pose refinement. Extensive experiments on indoor/object-centric/outdoor datasets verify the outstanding zero-shot registration accuracy and computational efficiency of our proposed method.
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URL
https://arxiv.org/abs/2610.11612
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SV-TAD: Native Sparse Convs for Efficient Temporal Action Detection
2026-10-08 09:31:38Ricardo Pizarro, Roberto Valle, Jos\'e M. Buenaposada, Luis M. Bergasa, Luis BaumelaAbstract
To adapt billion-parameter Vision Transformers for long-video understanding, recent methods freeze the backbone and train lightweight convolutional modules. While effective for parameter-efficient training, existing adapters do not reduce inference-time computation, leaving scalability with respect to video length largely unaddressed. Token selection can reduce attention cost by pruning redundant tokens, but it breaks the spatial grid structure required by convolutional adapters. This forces an expensive dense reconstruction, nullifying much of the potential speedup. We address this by introducing native sparse 2D convolutions, a primitive that allows these adapters, for the first time, to operate directly and efficiently on dynamically pruned token sets. We integrate this primitive into SV-TAD, an adapter framework for temporal action detection, reducing VideoMAEv2-L computation by up to 64% and achieving 2.2x faster inference, while maintaining state-of-the-art accuracy on THUMOS-14 and ActivityNet-1.3. When scaled to InternVideoNext-L, our approach surpasses the previous state of the art at roughly half its computational cost. Moreover, the sparse formulation naturally supports auxiliary task tokens, which improves fine-grained assembly detection on ATTACH.
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URL
https://arxiv.org/abs/2610.11579
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Hankel Subspace Self-Supervised Learning for Parallel MRI Reconstruction
2026-10-08 09:22:55Mingyu Hu, Siquan Zhu, Xijun Zhong, Qiegen LiuAbstract
Parallel magnetic resonance imaging reconstruction is an ill-posed inverse problem under undersampling. Multi-coil acquisition and Hankel lifting expose complementary repeated information: observations of the same anatomy across coils and repeated local k-space neighborhoods in overlapping windows. These dependencies guide recovery of missing k-space data. However, splitting lifted Hankel entries for self-supervision can place the original sample in both input and target, causing data leakage. We propose Hankel Subspace Self-Supervised Reconstruction (HSSRecon), a scan-specific reconstruction framework for parallel magnetic resonance imaging. HSSRecon partitions data by physical acquisition units before Hankel lifting and applies multiplicity normalization to repeated Hankel copies in overlapping windows. Rather than learning a mapping that directly predicts missing data, the network learns a compact complex-valued Hankel subspace operator. Reconstruction is performed over the original k-space variables using a conjugategradient solver with hard data consistency. This design separates structural learning in the Hankel domain from data consistency in the physical domain: the former exploits multi-coil and local Hankel correlations, while the latter solves over unacquired degrees of freedom. We provide theoretical analyses of physicalgroup splitting and multiplicity normalization, and establish positive definiteness, uniqueness, hard data consistency, and a finite-step conjugate-gradient error bound for the system. On fastMRI brain data with three contrasts and three sampling masks, HSSRecon achieves competitive peak signal-to-noise ratio, structural similarity, and normalized mean squared error across six aggregated conditions.
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URL
https://arxiv.org/abs/2610.11560
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OX-NeRF: 3D X-ray Tomography Reconstruction from Sparse Views Using Implicit Neural Representation
2026-10-08 09:12:37Thomas Welsch, Min-Hsin Tu, David J. Chapman, Daniel E. EakinsAbstract
NeRF and Gaussian splatting methods have been successfully applied on X-ray scenes where the views are too sparse for 3D reconstruction via classical methods. Ultra-sparse scenes with 10 or fewer views such as those with high-rate or low-dose acquisition still, however, present a significant challenge. To address this problem we present a new framework, Optimised X-ray Neural Radiance Fields (OX-NeRF), that combines cross-scene feature learning with scene-specific optimisation to reconstruct sets of related scenes. OX-NeRF employs a convolutional neural network (CNN) to identify cross-scene features while maintaining scene-specific multi-resolution hash grids of spatial features. The paired representations are fused and passed to a multilayer perceptron (MLP); the CNN, hash grids and MLP are then jointly optimised end-to-end. Benchmarking on parallel-beam and cone-beam X-ray datasets shows OX-NeRF provides significantly higher reconstruction accuracy on ultra-sparse scenes compared to existing radiance field methods.
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https://arxiv.org/abs/2610.11547
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GROB: A Multi-Agent Architecture for Public-Trace Investigation of Candidate Agentic Activity
2026-10-08 08:17:45Chiara Bonfanti, Cataldo BasileAbstract
We present GROB, a multi-agent architecture for investigating candidate autonomous-agent activity through public Internet traces when privileged telemetry is unavailable. The system performs controlled, read-only collection of public traces and preserves selected observations for later resolution. In a frozen September 2026 corpus, several collected traces became more informative as additional public evidence emerged. The strongest result concerns Census-labelled identifiers captured on 9 September. Public revision records later resolved these identifiers to specific Census requests from 16 - 17 June. Other results show weaker links between traces collected by GROB and evidence reconstructed or reported later. These links vary in strength, and only some can be tied to specific public records. The results show that sparse public traces can remain useful even before their significance is fully understood. Such evidence can support later reconstruction, but public traces alone do not establish organizational attribution. Execution identity presents a separate problem, as continuity of agent identity remains an active research question for autonomous language-model agents.
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https://arxiv.org/abs/2610.11467
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Fresco++: Frequency-Guided and Canonical-Consistent Optimization for Fine-Grained Head Avatar Modeling
2026-10-08 07:43:20Shikun Zhang, Yong Li, Yiqun Wang, Qiuhong Ke, Cunjian ChenAbstract
We propose Fresco++, a unified optimization framework for fine-grained and view-consistent head avatar reconstruction. Head avatar optimization is typically driven by per-view image supervision, which can lead to premature fitting of unstable high-frequency details and inconsistent local appearance across viewpoints. Fresco++ addresses these challenges by regulating both the progression of visual detail and the formation of cross-view supervision during optimization. For frequency-aware optimization, a progressive curriculum first stabilizes low-frequency structures and then introduces high-frequency constraints to recover fine facial and hair details without amplifying spurious responses at early stages. For cross-view optimization, we introduce Canonical Group Consensus, which associates local observations through shared canonical surface regions and establishes correspondence across different viewpoints. Geometric and visibility-aware screening removes unreliable observations, while the remaining multi-view evidence is aggregated in feature space to form a consensus target for supervising the current rendering. This design enforces local consistency without relying on a specific image-space parameterization and avoids additional rendering of the auxiliary view. Together, the frequency curriculum and canonical consensus provide stable optimization from coarse structures to fine details while maintaining coherent appearance across viewpoints. Extensive experiments on NeRSemble demonstrate improved reconstruction quality and cross-view consistency, while evaluations across diverse avatar representations further confirm the generality and transferability of Fresco++.
Abstract (translated)
URL
https://arxiv.org/abs/2610.11412
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Cognition-Oriented Emotion Tracing from Causes to Consequences in Real-World Social Scenes
2026-10-08 07:40:44Hao Li, Jinye Zhang, Bobo Li, Mong-Li Lee, Wynne Hsu, Zheng Wang, Hao Fei, Min ZhangAbstract
Affective computing has progressed from categorical emotion recognition to open-ended affective analysis with large multimodal models. Yet affective science describes emotion as an unfolding process shaped by appraisal, regulation, and social interpretation, which remains underexplored computationally. We propose TRACE, a cognition-oriented framework that formalizes an affective episode through three interrelated stages: Condition, Affect, and Effect, integrating observable cues with cognitive factors such as internal stance and regulation of emotional display. Based on this formulation, TRACE-Bench evaluates multimodal models in real-world social scenes through five tasks spanning grounded affect recognition, regulation decoding, cause reasoning, effect reasoning, and full-chain reconstruction, with 3,746 structured question-answer pairs over 646 videos. A matched human-model comparison reveals a substantial performance gap, while affect-specialized models also generally lag behind general-purpose MLLMs. Model outputs show recurring failures, including treating displayed behavior as genuine feeling and fabricating unsupported events during long-chain generation. We further propose TRACER, a cognition-grounded structured reasoning method that couples each inference with explicit premises from factual observations, cognitive appraisals, and established upstream conclusions, forming a traceable graph of intermediate and target conclusions. TRACER outperforms all evaluated model baselines on each of the five tasks. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2610.11410
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Super-Resolution in The Right Latent Space: A Frozen Vision-Foundation Substrate
2026-10-08 07:09:55Wanzhou Lei, Cuifeng Shen, Yanjin He, Maohua Li, Hua Yuan, Per-Olof Persson, Tao Lan, Kan Liu, Hanlin TangAbstract
In an image latent space, the embeddings of high-resolution, natural, and sharp images form a manifold. Degradation of high-resolution images pushes their embeddings off this manifold. Real-world super-resolution (SR) then becomes the task of mapping the degraded embedding back onto this manifold --- not anywhere on the manifold, but to the point that preserves what the input still carries, both its semantics and pixel details. Every published method implements this mapping in a reconstruction-oriented latent space or pixel space. We claim these spaces are the wrong substrates for SR. Low-resolution and degraded images are embedded far from the manifold, making the mapping difficult and expensive. The lack of semantic information in these substrates also makes it difficult to navigate to the faithful point on the manifold, causing severe hallucination when degradation is heavy. Thus, restoring in a suitable latent space is crucial to the SR task. We show that the latent space of 23 fused layers of a frozen DINOv3-L is one such space that makes the SR task easier. Degraded images are embedded near the manifold. Moreover, this substrate contains a hierarchy of information, from pixel record to degradation robust semantics, guiding the model to find the faithful point on the manifold. On this substrate, a 415M decoder is trained under reconstruction and adversarial objectives to map the degraded embeddings back and decode to pixel space in one pass. The resulting model, RAESR, attains the best fidelity--perception trade-off among state-of-the-art adversarial and diffusion-based restorers on RealSR, DRealSR, LSDIR and DIV2K-Val, at 37 ms per 512 by 512 image on a single H20 GPU. Swapping the substrate for a VAE latent under an identical recipe loses on every metric.
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https://arxiv.org/abs/2610.04781
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Mine Odyssey: Benchmarking Spatial Agentic Intelligence in the Wild
2026-10-08 06:26:43Yuxuan Cao, Junlong Li, Hao Li, Junxian HeAbstract
Advances in foundation models are driving efforts to introduce agents to assist people in the physical world. Such agents require agentic spatial intelligence: exploring unfamiliar environments, updating spatial understanding through interaction, and adapting actions based on feedback to sustain progress toward a sequence of goals. Existing benchmarks cover only a limited range of spatial layouts, scales, and traversal requirements. We introduce Mine Odyssey, a benchmark for evaluating agentic spatial intelligence using Minecraft reconstructions of real-world locations. It comprises 180 tasks covering 30 such locations across 20 countries and regions on five continents, including 20 outdoor and 10 indoor settings. These settings span diverse spatial scales, layouts, terrains, and connectivity patterns, from Midtown Manhattan and rural Entrup to Santa LucÃa Hill and Buckingham Palace. We select meaningful waypoints, such as landmarks, buildings, and rooms, and manually verify their accessibility. Each task provides a natural-language instruction specifying which waypoints to visit and in what order. Completing these tasks requires agents to find accessible routes and entrances, open doors, and move between levels using stairs and ladders, while monitoring their progress and recovering from navigation errors. Across eight evaluated state-of-the-art models, GPT-6 Astra achieves the highest success rate of 85.6%. However, the second-best model, Claude Opus 5.5, completes 73.9% of tasks, while the strongest evaluated open-weight model, DeepSeek-V4.1-Flash, reaches 23.9%, highlighting substantial room for improvement in the agentic spatial intelligence of current models. Comprehensive analyses and ablation studies on Mine Odyssey reveal current models' limitations and provide insights for advancing agentic spatial intelligence.
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https://arxiv.org/abs/2610.11328
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USDCraft: Geometrically Grounded Programmatic Modeling of Articulated 3D Assets for Simulation
2026-10-08 06:23:24Chuanrui Zhang, Zaijia Yang, Duomin Wang, Lu Shi, Daquan Zhou, Ruihua Zhang, Ziwei WangAbstract
Geometrically faithful and functional articulated 3D assets are essential for real-to-sim robot manipulation, where policies trained in simulation must transfer to physical objects. Recent mesh-based methods learn to infer articulation from annotated 3D assets, but deployment remains challenging when real-world objects fall outside the training distribution or their meshes are incomplete or corrupted. To address these limitations, we formulate articulated asset reconstruction as programmatic modeling grounded in partial geometric evidence and introduce USDCraft, a framework in which a pretrained LLM writes and revises executable programs for simulation-ready articulated assets without task-specific training. We propose source geometry analysis, which converts the source mesh into a metric textual description that distinguishes observed surface from unknown space, and iterative geometric rechecking, which re-encodes each candidate in the same representation so that discrepancies point to program edits while unobserved regions remain open to completion. Visual feedback and physical authoring guidance complete the modeling process, which produces articulated USD assets with explicit physical properties that load into Isaac Sim without manual adjustment. Experiments demonstrate leading articulation recovery on two benchmarks and validate USDCraft's effectiveness for real-to-sim-to-real robot manipulation.
Abstract (translated)
URL
https://arxiv.org/abs/2610.11322
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From Retrieval to Reconstruction: Constructing Evolvable Cognitive Memory for Long-Term Dialogue
2026-10-08 06:21:45Zirui Liao, Zhengxian Wu, Zhuohong Chen, Yunyao Yu, Xiaoyu Liu, Yifan Xu, Haoqian WangAbstract
Large Language Models (LLMs) serving as long-term dialogue agents require memory systems that support reliable reasoning over extended interactions. However, existing Retrieval-Augmented Generation (RAG) frameworks typically treat memory as passive storage, making it difficult to distinguish source-attributed beliefs from unattributed event/fact records and to connect evidence dispersed across sessions. We introduce CogMem, a cognitive memory architecture based on the PEC$^2$F (Person-Event-Concept-Claim-Fact) graph schema. Dedicated Claim nodes preserve the source and target of subjective statements, while Fact and Event nodes represent semantic and episodic knowledge. Dialogue turns are incrementally converted into provenance-aware graph records, consolidated into higher-level facts, and reconciled into temporally scoped Claim views when the same source provides conflicting updates. For retrieval, a rule-based controller driven by LLM intent parsing composes four deterministic graph operators---anchoring, traversal, intersection, and evidence grounding---to reconstruct query-relevant context. Experiments on LoCoMo and LongMemEval show strong performance, especially on multi-hop, temporal, and knowledge-update tasks. Ablations and a semantic-collapse probe support complementary contributions from epistemic separation, consolidation, and agentic retrieval. Code: this https URL.
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https://arxiv.org/abs/2610.11314
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Spatial-Frequency-Aware Implicit Neural Representation of Multidimensional Signals via MLP-KAN Fusion
2026-10-08 06:03:29Wen Yan, Ligen Shi, Jun Qiu, Haimiao Zhang, Lina Wu, Chang LiuAbstract
Implicit Neural Representations (INRs) have emerged as a compelling paradigm for modeling multidimensional signals by mapping continuous coordinates to signal values. However, Multi-Layer Perceptrons (MLP)-based INRs inherently suffer from spectral bias, which favors low-frequency components and suppresses the reconstruction of essential high-frequency details. While existing techniques, such as Fourier feature mappings, mitigate this issue, they often rely on sensitive manual tuning and are prone to spectral artifacts. In this paper, we propose a spatial-frequency-aware INR framework that combines an MLP branch with a Kolmogorov-Arnold network (KAN) branch for complementary frequency-oriented modeling. The MLP branch provides a low-frequency-oriented representation of smooth structures, whereas the KAN branch complements localized variations and fine details. To coordinate the two branches, we integrate the discrete wavelet transform (DWT) and inverse discrete wavelet transform (IDWT) into the output fusion stage. The outputs of the two branches are decomposed into wavelet coefficients, and the corresponding coefficients are additively fused before inverse wavelet reconstruction. A wavelet-domain band-separation regularization further penalizes high-frequency responses in the MLP branch and low-frequency responses in the KAN branch, thereby encouraging complementary frequency-oriented behavior. Experiments on 1D signals, 2D images, 3D volumes and signed distance functions, videos, and 4D light-fields demonstrate the applicability of the proposed representation across the evaluated signal modalities. Results demonstrate improved reconstruction fidelity across the evaluated signal modalities.
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https://arxiv.org/abs/2610.11296
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LR-V2X: Loss-Resilient Collaborative Perception under Low-Bandwidth Communication
2026-10-08 05:19:04Kang Yang, Tianci Bu, Peng Wang, Deying Li, Yongcai WangAbstract
Given the inherent unpredictability of packet loss in vehicular wireless communications, V2X collaborative perception can yield practical benefits only if agents can achieve reliable collaboration under lossy and low-bandwidth communication conditions. Existing dense BEV feature fusion methods depend on redundant BEV feature exchange, which is infeasible in low-bandwidth scenarios, while compact-communication methods aggressively compress messages but can hardly recover the missing feature content after packet loss. In this paper, we present LR-V2X, a loss-resilient, latent-space reconstruction framework that converts corrupted received latents (even under severe 90% packet loss) into a spatial prior and then reconstructs the missing BEV information from this informative prior and using ego context as condition. Notably, the model can be trained under complete communication conditions and can be directly applied to lossy conditions at test time, eliminating the need for training under numerous lossy conditions. Experiments on DAIR-V2X and V2XREAL show that LR-V2X delivers the strongest robustness under severe packet loss and preserves reliable collaboration as communication quality degrades. And it reduces communication overhead by $64\times$ compared to dense BEV feature fusion baselines. Code will be released at this https URL.
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https://arxiv.org/abs/2610.11264
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Read What Matters: Query-Adaptive Quantization for KV Caches
2026-10-08 04:47:41Siddharth Bhandari, Lucas Gretta, Krishna Balasubramanian, Shiva KasiviswanathanAbstract
KV-cache entries are stored before their future queries are known, but each decoding query needs precision in different places. We study this mismatch using separate budgets for retained bits and bits fetched per query. ReadKV stores each key and value in a progressive code whose prefixes support different reconstruction precisions. For each query, it allocates key-channel prefixes using the query, computes attention from the reconstructed keys, and then allocates value-token prefixes using that attention. Stored entries remain unchanged. Each stage optimizes a calibrated distortion objective under a fixed budget; we prove exact allocation under diminishing refinement gains and relate these objectives to attention-output error. We also exhibit a finite-dimensional attention family where query-dependent access strictly outperforms every query-independent reader at the same read budget, even with unrestricted competing encoders and decoders. Across six base models, reading four bits on average from an eight-bit cache increases C4 perplexity by at most 0.66%, using about one quarter of the logical reads and half the retained capacity of a 16-bit cache. It is consistently more accurate than storing and fully reading four bits at the same payload-read budget. Retaining more bits than each query fetches is aimed at long-context decoding, where the cache bytes moved per step, rather than the weights, dominate cost. Long-context question answering and retrieval on two instruction-tuned models provide additional quality evidence. On the tested 8K-token, batch-one, single-layer workload on an NVIDIA A10G, a restricted eight-bit ReadKV reader with a two-bit mean payload-read budget has 39% lower latency than the tested TurboQuant codec.
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https://arxiv.org/abs/2610.11245
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TAP3D: Thermal-Assisted 3D Human Point Clouds
2026-10-08 04:42:25Xie Zhang, Chengxiao Li, Xuan Liu, Chenshu WuAbstract
Human body point clouds are a versatile representation for AI-enabled human sensing. However, existing methods using LiDAR, radar, and depth cameras suffer from inherent drawbacks in high cost, sparse reconstruction, and privacy concerns, etc. In this paper, we exploit low-cost thermal arrays and present TAP3D, the first system to reconstruct 3D human point clouds from body heat signatures, offering significant advantages in cost, density, human sensitivity, and privacy. To overcome major challenges in depth estimation, thermal interference, and multi-person separation, we propose a novel physics-informed design, which integrates a forward thermal physics model with two distinct modules: multi-primitive estimation for self-supervised joint recovery of depth and other thermal properties, and geometric perspective fusion for suppressing interference and disentangling multiple people. We implement TAP3D using a single commodity thermal array sensor and build a large-scale dataset (160K samples, 8 environments, 11 users) for evaluation. TAP3D achieves remarkable accuracy for dense point cloud generation, enabling downstream tasks like fall detection (91.46%), indoor tracking (21.86 cm MAE), and human mesh recovery (4.87 cm error). By transforming body heat into point clouds for the first time, TAP3D pioneers a new paradigm for privacy-first, fully passive human sensing for many applications. TAP3D is open-sourced at this https URL.
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https://arxiv.org/abs/2610.11241
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