Sparse
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RAHF-Net: Range-Aware Heterogeneous Fusion for LiDAR-Assisted RGB Semantic Segmentation
2026-10-20 21:00:32R. D. Lin, Pengcheng Weng, Ge Wang, Han Ding, Fei WangAbstract
This paper studies LiDAR-assisted RGB semantic segmentation, where LiDAR point-cloud features improve dense pixel-wise predictions in the RGB image plane rather than 3D point labels or detections. Existing 2D fusion methods often project point clouds into shallow depth/range maps and apply spatially uniform fusion, discarding rich 3D structure and ignoring the range-dependent reliability of outdoor LiDAR. We propose RAHF-Net, a Range-Aware Heterogeneous Fusion Network. Its Cylindrical-to-Perspective (C2P) module projects pretrained cylindrical voxel features into the image plane, preserving structured 3D semantic priors. A Range-Aware Heterogeneous Fusion (RAHF) module then uses a soft depth-derived range mask to perform LiDAR-guided geometric enhancement in reliable near-field regions and visual-context enhancement in sparse far-field regions. On KITTI-360, RAHF-Net achieves 65.76 mIoU, outperforming representative RGB-only and RGB-LiDAR baselines, including CMX by 1.45 points. Experiments on DELIVER further demonstrate improved robustness under adverse weather, illumination degradation, and sensor corruption.
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https://arxiv.org/abs/2610.25400
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Where Do Legal Factors Live in LLMs?
2026-10-20 18:24:37Li Zhang, Kevin AshleyAbstract
In case-based legal reasoning, legal professionals identify legally significant fact patterns in a new dispute and compare them with those of decided cases. In AI & Law, HYPO dimensions and CATO factors represent these patterns symbolically, organizing expert knowledge distilled from case narratives as explicit, structured, interpretable, and auditable legal concepts and relations that support case comparison, legal argument, and precedent-based reasoning. Large language models (LLMs) are increasingly used for legal tasks, yet their internal organization of legal knowledge remains difficult to trace. We investigate whether LLMs form internal representations corresponding to all 26 CATO factors. Two research questions examine linear decodability and sparse localization with sparse autoencoders. Experiments cover three open models, Qwen3-1.7B, Qwen3-8B, and Gemma-2 2B, supported by cross-model comparison and human audit of controlled natural-language passages. Results show that all 26 factors are linearly decodable in all three models. Single-feature sparse readouts cover the complete factor catalog, with best-layer test AUCs ranging from 0.86 to 1.00. Five selected features approach full-vector readout performance. We report 78 model-specific layer-feature coordinates, one for each factor in each model. Together, these results show that information corresponding to expert-defined legal factors can be read from the internal activations of LLMs processing legal narratives. By locating these readouts, our study connects legal language and the symbolic abstractions of HYPO and CATO to learned internal representations.
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https://arxiv.org/abs/2610.28799
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Learning Adaptable Dexterous Skills via Hybrid Dexterous Mimicking
2026-10-20 17:59:32Yuxuan Kuang, Jiashun Wang, Yixuan Sun, Yufei Ye, Sungjae Park, Umar Iqbal, Katerina Fragkiadaki, Shubham TulsianiAbstract
Dexterous multi-finger hands hold promise to unlock diverse skills like functional grasps, in-hand reorientation, and dynamic handover that the human-designed world assumes, yet existing learning recipes force a trade-off. Goal-reaching reinforcement learning generalizes to arbitrary object poses but, lacking any human prior, converges to unnatural and unreliable finger strategies; motion tracking reproduces human-like behavior from a single clip but cannot deviate from it. We present AdaDex, a goal-conditioned RL framework that turns a single hand-object trajectory of a few seconds---from mocap data or HOI reconstruction from in-the-wild RGB(D) video---into an adaptable dexterous skill. At the core of AdaDex is Hybrid Dexterous Mimicking: a shared policy is trained on two populations of massively parallel environments: motion tracking environments trained with dense motion tracking objective, which instill the human prior from human motion; and generalization environments with noised initial states and goals and a sparse object-success reward, which force the skill to work far off the reference. From seconds of human motion per skill, the resulting policies can learn diverse adaptable dexterous skills, such as functional grasping, object reposing, in-hand reorientation with finger gaiting, and dynamic behaviors like throw-and-catch. Our method outperforms baselines in terms of generalization and functionality, and we demonstrate transfer across simulators and to the real world. Project page: this https URL.
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https://arxiv.org/abs/2610.28628
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Neural Implicit Energy Optimization for LiDAR Mapping
2026-10-20 17:47:07Hrishikesh Viswanath, Md Ashiqur Rahman, Chi Lin, Damon Conover, Aniket BeraAbstract
Neural implicit representations provide memory-efficient signed distance field (SDF) parameterizations for large-scale LiDAR scenes, but the geometry recovered from sparse and often noisy inputs carries jitter and artifacts. Classical geometric optimization techniques resolve such artifacts with surface energy functionals, whose minimizers correspond to smooth surfaces. Motivated by this principle, we formulate neural LiDAR mapping as the optimization of energy functionals over the parameter space of neural implicit representations. Specifically, we regularize the signed distance field with an energy functional defined on the shape operator of its level set, which represents the curvature of the surface, thus encouraging smoothness along the surface. This adapts classical geometric priors to the scale of million-point LiDAR maps. Experiments on large-scale datasets show reconstructions with improved smoothness at preserved geometric fidelity, and no additional inference-time cost. The code is publicly available at \href{this https URL}{this https URL}
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https://arxiv.org/abs/2610.28598
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Learning Computational Structure for Sample-Efficient Prediction
2026-10-20 17:18:35Hangyu Zhou, Constantine Dovrolis, Stephen MussmannAbstract
Statistical learning in high dimensions suffers from the curse of dimensionality. Fortunately, many functions of practical interest are compositionally sparse, meaning they admit a composition of local functions, each depending on only a few variables, allowing sample complexity to depend on local arity rather than ambient dimension. Yet realizing this benefit requires exploiting hidden compositional structure, which theory does not establish for practical gradient-based training. We study this gap with CSFRBench, a controlled benchmark that hides the target's compositional computation during training but retains it for diagnosis, and find that dense networks and sparsity-based baselines leave much of that benefit unrealized. Inspired by the spatial organization of biological neural circuits, we introduce Learned Wiring (LeWi): each neuron has a learned low-dimensional embedding, only nearby neurons connect, and embeddings and weights are trained jointly. LeWi improves sample efficiency on targets with hierarchical structure, intermediate reuse, or independent modules. Across 32 additional targets generated by independently sampled computation graphs, LeWi is the most sample-efficient method not given the target graph, with 27% lower mean learning-curve area than dense networks. Dense networks perform better on targets with a single high-arity function. LeWi's representations and connectivity align with the target computation. On 17 world-model prediction tasks spanning control, navigation, and manipulation, LeWi beats the dense baseline on 16 and wins 99/119 baseline comparisons. These results show that jointly learning connectivity and weights can exploit computational structure to improve sample efficiency.
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https://arxiv.org/abs/2610.28555
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CoGaussian: Open-Vocabulary Gaussian-based Collaborative 3D Scene Understanding
2026-10-20 17:04:38Om Shivam Verma, Shaya Farahmand, Lingjun Zhao, Lu GanAbstract
Collaborative perception enables agents to retrieve the scene semantics and geometry beyond the field of view of any individual agent. This broader scene understanding enhances transportation safety and improves efficiency in multi-robot systems. However, existing collaborative semantic occupancy methods rely on dense 3D voxel annotations and are limited to recognizing objects within a predefined set of semantic classes. To overcome these limitations, we present CoGaussian, an open-vocabulary Gaussian-based collaborative semantic occupancy prediction framework. CoGaussian represents a scene as a set of foundation model-aligned sparse 3D Gaussians, which serve as a compact representation for communicating and fusing geometric and semantic information across multiple agents. On the Semantic-OPV2V benchmark, our method outperforms existing open-vocabulary single-agent approaches, highlighting the effectiveness of open-vocabulary collaborative scene understanding.
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https://arxiv.org/abs/2610.28530
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Asymmetric Looped Transformers: Fixed Global Representations for an Iterative Decoder
2026-10-20 16:36:33Cheng Liang, Tengfei Zhang, Wenjie DU, Jianyu Wu, Changlian Ma, Shuchen Pu, Ya Zhang, Yanfeng Wang, Zhouhan LinAbstract
Looped Transformers increase effective depth by repeatedly applying shared layers, offering a way to scale computation without increasing parameter count. However, full-stack looping places context construction and iterative state refinement within the same recurrent computation, without explicitly distinguishing their roles. We introduce the Asymmetric Looped Transformer (AsymLoop), which separates single-pass context encoding from recurrent state refinement. A single-pass causal encoder produces layer-specific Global key-value (KV) caches that remain fixed across iterations, while a weight-tied recurrent decoder generates Local KV from its evolving state. Joint attention over both sources under a single softmax allows each update to integrate persistent contextual information with the current intermediate state. For training, we apply a heavy-tail-guided layerwise learning-rate method to the encoder and decoder. Experiments on FineWeb-Edu across four model scales, from 60M to 1B, show consistently lower validation perplexity and higher average downstream accuracy than Full Loop under matched effective depth and training token budgets. At 1B, AsymLoop improves average zero-shot accuracy across seven commonsense reasoning benchmarks from 49.58% to 50.85%. Further experiments extend these benefits to longer training budgets, an OLMo-style backbone, and sparse mixture-of-experts models. These results support asymmetric context encoding and state refinement as an effective design for recurrent language models.
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https://arxiv.org/abs/2610.28489
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Stratified Sparse Attention: Reducing the Sparse-to-Dense Gap at Extreme Sparsity
2026-10-20 16:02:12Sahil Joshi, Prithvi Dixit, Aryan Katiyar, Agniva Chowdhury, Joseph E. Gonzalez, Anshumali Shrivastava, Aditya Desai, Kumar Krishna AgrawalAbstract
Large Language Model inference over long contexts is increasingly bottlenecked by the cost of attending to a growing Key-Value (KV) cache. Sparse attention reduces this cost by accessing only a fraction of the cache, but existing methods face a trade-off between deterministic retrieval, which captures high-scoring tokens but discards residual attention mass, and sampling, which improves coverage at the cost of higher variance. Hybrid methods combine top-$k$ retrieval with uniform sampling, yet still exhibit a substantial gap from dense attention at aggressive sparsity. We introduce \emph{Stratified Sparse Attention (SSA)}, a unified framework combining deterministic retrieval with score-guided sampling. SSA deterministically attends to high-scoring tokens while sampling the residual using proxy attention scores and correcting for their inclusion probabilities, thereby recovering attention mass beyond the retrieval set. SSA encompasses top-$k$, top-$p$, and hybrid top-$k$+sampling as special cases. Across RULER, LongBench, LOFT, and AIME, and five models ranging from 3B to 27B parameters, SSA consistently improves over the baselines at matched sparsity. On RULER-HARD with Ministral-3-8B, SSA improves accuracy over the strongest practical baseline from 81.8\% to 84.2\% at 32K and from 63.8\% to 69.3\% at 128K under $50\times$ attention sparsity, recovering 94\% and 85\% of dense-attention performance, respectively. With optimized CUDA kernels, SSA achieves up to $2.96\times$ decode speedup over FlashInfer at 1M context, demonstrating that its accuracy gains translate into practical long-context inference acceleration. We open-source our code at this https URL.
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https://arxiv.org/abs/2610.28441
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Compute-Optimal Scaling Laws for Spiking Language Models
2026-10-20 15:59:21Dan Saunders, Benjamin Ren, Catherine HeAbstract
Spiking neural networks target energy-efficient language modeling through sparse, binary activations, but the efficiency-accuracy tradeoff of spiking language models is uncharacterized at scale. We present the first Chinchilla-style IsoFLOP scaling study of a spiking language model, sweeping SpikeGPT-family models (RWKV backbone) from width 384 to 1536 across compute budgets from $3\times10^{17}$ to $10^{19}$ FLOPs on FineWeb-EDU. We report two findings. First, the compute-optimal frontier is $N_{opt} \propto C^{0.56}$, close to the 0.50 that Hoffmann et al. report for dense Transformers, so spiking does not change how parameters and data should be traded off under a compute budget. Second, against non-spiking RWKV and Transformer baselines trained the same way, the loss gap splits into a backbone cost of about 0.16 nats that does not change with compute and a spiking cost that falls steadily with compute, from 0.34 to 0.23 nats over our range. These results give the first compute-optimal recipe for spiking language models and quantify the accuracy cost of their sparsity.
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https://arxiv.org/abs/2610.15146
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SpecEvo: Speculative Evolution with Large Language Models for Cost-Efficient Scientific Discovery
2026-10-20 15:40:05Ha Minh Hieu, Tongyao Zhu, Do Xuan Long, Min-Yen KanAbstract
LLM-driven evolutionary search is a promising paradigm for scientific discovery, but existing methods remain costly and slow, often applying expensive reasoning uniformly while underusing evidence from failed, redundant, and saturated trials. We introduce Speculative Evolution (SpecEvo), a multi-LLM framework that coordinates lightweight and frontier models through continual consolidation of search evidence. Lightweight models power both parallel Speculators, which generate and refine candidate programs, and an Advisor, which distills accumulated successes, failures, and saturated directions into persistent guidance for subsequent exploration. At sparse checkpoints, a frontier-model Navigator inspects the evolving population and intervenes through synthesis, surgical refinement, or reframing according to search stagnation. This speculate-then-consolidate workflow delegates routine exploration and evidence consolidation to inexpensive models while reserving frontier reasoning for strategic interventions whose benefits extend across many subsequent low-cost evaluations. Across 176 tasks spanning four scientific and algorithmic discovery domains, SpecEvo matches or outperforms frontier-model baselines while reducing API cost by up to 80%, achieves up to 1.5x greater evaluation efficiency than cost-efficient baselines on equation discovery, and improves over the strongest CO-Bench baseline by 3.8%. These results support trajectory-conditioned model coordination as an effective approach to cost-efficient scientific discovery.
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https://arxiv.org/abs/2610.28706
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RayCo4D: Ray-Conditioned Continuous Motion Model for Monocular 4D Dynamic Reconstruction
2026-10-20 15:17:29Yuanxiang Ni, Xianliang Huang, Ruihan Hou, Feng Xie, Hao ZhangAbstract
Reconstructing dynamic 3D scenes from monocular video requires inferring motion from noisy and intermittently visible observations. Long-range tracks provide valuable geometric constraints, but integrating their fragmented temporal coverage into shared, continuous motion remains challenging. We introduce \textbf{RayCo4D}, a ray-conditioned continuous motion model for monocular 4D reconstruction that explicitly separates visual measurements from latent 3D motion states. Each track is associated with a reference-time 3D query constrained to its camera ray, and its image and depth observations constrain shared latent motion nodes through local many-to-many associations. Each node maintains an $\mathrm{SE}(3)$ pose and body-frame velocity at sparse support times. A white-noise-on-acceleration process prior couples neighboring states and defines continuous-time interpolation, allowing observations across visibility intervals to jointly constrain the same latent state this http URL inferred shared motion is transferred to Gaussian primitives through dual-quaternion blending, while reference-anchored local $\mathrm{SE}(3)$ residuals capture fine-scale non-rigid deformation beyond the shared scaffold. Experiments on diverse monocular dynamic scenes show that RayCo4D achieves competitive novel-view synthesis quality, improves structural and temporal consistency under rapid motion and incomplete tracks, and supports continuous-time rendering.
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https://arxiv.org/abs/2610.28351
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DeclineCraft: A RAG Abstention Benchmark for Jointly Measuring Combined Retrieval and Parametric Knowledge
2026-10-20 15:07:19Atharva Thakur, Abulhair Saparov, Bruno RibeiroAbstract
Reliable retrieval-augmented generation (RAG) requires recognizing when neither retrieved documents nor parametric knowledge supports an answer. We introduce DeclineCraft, a dynamic abstention benchmark whose unanswerable questions target Minecraft feature additions after a corpus cut-off, with audits of possible parametric exposure. Later cut-offs support evaluation of future models. Across 27 LLMs, we measure Correct Abstention Rate (CAR; how often models acknowledge insufficient knowledge on unanswerable questions), Answerable Attempt Rate and Answer Accuracy. We find that (1) single-shot retrieval significantly raises CAR in 38 of 40 configurations (model and thinking setting) versus no retrieval. (2) Iterative RAG, in which the model self-assesses its context and can request up to two further retrieval rounds, significantly lowers CAR versus single-shot RAG in 30 of 40 configurations (mean 46.4%), with little change in Answer Accuracy (68.5% to 69.3%). Adding query rewriting and reranking to hybrid (dense & sparse) retrieval lowers CAR for all 12 models tested. (3) Larger models answer more accurately (Spearman $\rho = +0.60$ with total parameters), but neither model size nor release date shows a significant association with CAR. (4) Without retrieval, enabling thinking on the same weights lowers CAR significantly for 8 of 13 models (by 14% points on average), and the responses shift from acknowledged uncertainty to premise denial.
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https://arxiv.org/abs/2610.28340
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Reliability-Aware Reconstruction of V-Shaped Surfaces with a Low-Cost Multi-Zone SPAD Sensor
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Low-cost multi-zone single-photon avalanche diode (SPAD) sensors provide compact time-of-flight measurements but are limited by sparse sampling and unreliable depth estimates near geometric discontinuities. This letter presents a reliability-aware reconstruction framework for V-shaped surfaces using two complementary TMF8821 acquisition configurations. Point-wise reliability is learned from sensor confidence, transient peak amplitude, and peak sharpness, and is incorporated into a graph-based depth optimization. The reconstructed geometry is evaluated by robust two-plane fitting and a perpendicular cross-section. Experiments on 60-degree, 90-degree, and 120-degree targets reduce the mean V-angle error from 11.21 degrees to 9.66 degrees (13.8%). For the representative 90-degree target, the combined point-to-plane RMSE decreases from 14.56 mm to 13.65 mm.
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https://arxiv.org/abs/2610.28258
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From Outcomes to Components: A Counterfactual Evaluation Framework for LLM-Proposed Repairs
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A repair action proposed by a large language model (LLM) specifies which records to change and how to change their values. A failed action may still contain a useful choice of records or a useful update, depending on how the two are paired. We introduce a counterfactual evaluation framework that separates selected records (targets) from the applied change (an update). Four executions combine proposed and reference targets and updates to measure the effects of correcting or retaining each component and their interaction. We evaluate the framework on two tasks: traffic assignment, where affected demand must be identified from road counts, and database repair, where affected rows must be identified from aggregate reports. An injected fault supplies a reference action that reverses it, and the recovery rate measures an action's loss reduction relative to that reference. For sparse-target actions in the traffic experiments, retaining the proposed update on reference targets achieves 79.4% of the reference loss reduction, compared with 43.7% from tuning update strength on the proposed targets. In the database experiments, update replacement worsens 17 of 108 actions, all selecting unaffected records, with sharply different frequencies across models. The value of a proposed update depends on the targets it is paired with. Missed targets hide useful updates, while excess targets can make a milder update better than the reference correction. In a component-reuse study, testing new target-update pairings from two proposals raises mean held-out recovery rate to 0.616, compared with 0.580 when selecting between the original proposals.
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https://arxiv.org/abs/2610.26650
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PointForward V2: Point-Aligned Interaction for Feedforward Driving Reconstruction
2026-10-20 12:30:21Xianqi Wang, Cheng Chi, Yuechuan Pu, Hongcheng Luo, Junda Cheng, Guang Chen, Hangjun Ye, Bing Wang, Xin YangAbstract
Feedforward reconstruction of dynamic driving scenes requires integrating observations across multiple views and time steps into a coherent 3D representation. PointForward established state-of-the-art feedforward driving reconstruction by lifting image observations into sparse 3D queries, demonstrating the effectiveness of point-aligned scene representations. However, these queries are largely processed independently, limiting information exchange across space and time, while direct global attention among tens of thousands of point queries is computationally prohibitive. In this work, we present \textbf{PointForward V2}, which advances point-aligned representation to point-aligned interaction. Our key idea is to mediate query interaction through compact, scene-structured registers. For the static background, frame-wise Static Scene Registers compress point information, communicate across frames, and propagate the aggregated context back to the queries. For each dynamic instance, queries from different frames are aligned in an object-centric canonical space and interact through instance-specific Dynamic Instance Registers. We further employ 4D positional encoding that combines aligned spatial coordinates with original timestamps, enabling spatially aligned yet temporally distinguishable interactions. In this way, PointForward V2 enables scalable spatio-temporal reasoning directly among lifted 3D queries without dense global attention. Experiments on Waymo, nuScenes, and Argoverse 2 demonstrate state-of-the-art performance across large-scale driving benchmarks.
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https://arxiv.org/abs/2610.28120
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MoDDiT: Simple Token Routing in Diffusion Transformers
2026-10-20 12:05:49Jarek Liesen, Matthew T. Jackson, Benjamin Ellis, Shimon Whiteson, Jakob N. FoersterAbstract
Real-time video generation, interactive world models, and on-device image synthesis are almost a reality. Diffusion Transformers (DiT) achieve excellent sample quality, shifting the bottleneck to the throughput of the models themselves. Natural images are inherently sparse, as large portions of an image are often background, contribute little to the scene content, and are easy to denoise. DiTs fail to exploit this sparsity, as they process image tokens statically and uniformly. We propose MoDDiT, a simple architecture modification that learns to route tokens through both MLP and self-attention operations. By routing tokens through both blocks independently, MoDDiT allows for dynamic compute allocation in MLPs that varies across tokens, images, and denoising timesteps. Using MoDDiT to train image generation models from scratch significantly reduces computational costs of training and inference, processing as few as 12.5% of the tokens. By increasing sparsity and model depth, MoDDiT reduces costs and improves generation performance over unrouted baselines. The learned allocation is interpretable, revealing how computation varies with visual content and noise level. We also use MoDDiT to train video generation models, where allocation correlates with motion, and to distill a dense bidirectional video model into a sparse autoregressive student.
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https://arxiv.org/abs/2610.28086
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TrajEvolve: Trajectory Evolution for Reinforcement Learning with Hindsight Credit Assignment
2026-10-20 11:48:01Yi Wen, Hao Chen, Wanyu Wang, Maolin Wang, Pengyue Jia, Derong Xu, Huize Tan, Yingyi Zhang, Wenlin Zhang, Weihong Luo, Xiku Du, Xiangyu ZhaoAbstract
The Reinforcement Learning (RL) paradigm has achieved remarkable success in enhancing the reasoning capabilities of Large Language Models (LLMs). However, when applied to long-horizon tasks, it faces severe challenges: i) Due to the high task complexity, the model struggles to sample enough successful trajectories, resulting in slow convergence. ii) Relying solely on sparse final rewards causes all steps to be updated indiscriminately, encouraging redundant step generation. When both the quantity and quality of successful trajectories become difficult to guarantee, the performance is severely constrained. This dilemma stems from the limitations: existing RL paradigms rely entirely on the reasoning capability of base models, lacking the ability to actively optimize trajectories. To address the above issues, we propose a novel trajectory evolution paradigm with hindsight credit assignment, termed TrajEvolve. TrajEvolve not only relies on the trajectory inferred by the model but also generates ``evolutionary trajectories'' by refining low-quality steps in historical trajectories, thereby exposing the policy to high-quality compositions that lie within the base model's support but are rarely sampled within practical training budgets. Furthermore, TrajEvolve reformulates step-level continuous credit assignment as a binary classification task, whether each step is necessary for task completion. This simplification not only reduces the learning difficulty but also enables step labels to be obtained through counterfactual verification, achieving precise identification of redundant steps. Extensive experiments on two datasets demonstrate the superiority of the proposed method.
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https://arxiv.org/abs/2610.28060
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Decoupling Action from Egocentric Observation for World Simulation
2026-10-20 09:52:46Yue Ma, Pengjie Song, Xinyu Wang, Yi He, Zeqian Long, Fangneng Zhan, Kaichen Zhou, Hongyu Liu, Hongfa Wang, Peihao Li, Haoyang Huang, Nan Duan, Qifeng ChenAbstract
Egocentric action transfer aims to decouple the semantic action from egocentric observations and reproduce them in new visual contexts, enabling scalable world simulation, embodied policy learning, and robotic data generation. Existing approaches to transferring actions rely on condition-guided video generation, which converts the observation video into explicit geometric controls (e.g., hand poses or meshes) to drive synthesis. However, these methods introduce geometric estimation errors, making it difficult to preserve physically plausible interactions when transferred to new scenes. Alternatively, motion transfer methods directly extract motion patterns from the observation video, yet motion-level features alone cannot encode rich contact dynamics, frequently leading to severe hand structural collapse and implausible contact layout. To address both limitations, we present EgoACT, a test-time framework for egocentric action transfer that operates directly on the denoising process of video diffusion models without requiring additional geometric estimators. EgoACT uses Velocity-guided Structure Anchoring to stabilize reference-consistent hand-object structure in the early denoising stage, and Sparse Correspondence Calibration to refine reliable local correspondences in the mid-to-late denoising stages. Together, these two components preserve transferable action semantics while improving temporal coherence and interaction realism. We further establish EgoActionBench, a benchmark for evaluating action preservation, visual quality, and hand-object plausibility across diverse egocentric manipulation scenarios. Experiments show that EgoACT generates more coherent and physically plausible interaction videos than strong baselines.
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https://arxiv.org/abs/2610.27946
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What Novice Operators See Changes What the Policy Learns: A User Study of Keypoint Hand Visual Representation for Teleoperated Demonstration
2026-10-20 09:22:21Amane Yamaguchi, Shohei Kamiguchi, Masashi Hamaya, Shigeo Yoshida, Takuji Narumi, Mai NishimuraAbstract
Imitation learning increasingly relies on novice operators, whose demonstrations fall short of experts' in number and inter-trial consistency. Operators act on what they are shown, yet how the rendering of the robot affects their demonstrations, and the policies trained on them, has not been examined. We study this question with PointHand, a teleoperation interface that renders a multi-fingered robot hand as sparse keypoints at its fingertips and joints, the same keypoints a policy can observe. In a simulated mug-in-box task, 18 novices and 4 experts collected 2,200 trials under three renderings: the real shape of the hand, all keypoints emphasized, or the thumb and index finger alone emphasized. The novices shown the thumb and index finger emphasized collected 441 successful demonstrations from 600 trials, against 320 for those shown the real shape. We then trained diffusion policies on these demonstrations, replacing the scene point cloud and proprioceptive state they observe with the hand keypoints and two object keypoints. Within 400 steps these demonstrations went from the weakest of the three novice conditions under the point-cloud policy (46.3%) to the strongest under the keypoint policy (57.3%), a gain of +11.0 percentage points in all five seeds. Those collected with all keypoints emphasized changed by at most +0.7 percentage points, and in no more than three seeds. The value of a demonstration therefore depends on the rendering shown during collection and on what the policy observes together. A shared representation can pay off on both sides, in the number of successful demonstrations and in the success rate of the policy trained on them. Project page: this https URL
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https://arxiv.org/abs/2610.27907
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SGLDet: Spectral-aware Global-Local Dynamic Modeling for Multispectral Aerial Object Detection
2026-10-20 09:06:09Peng Zhang, Shuaihao Han, Tingfa Xu, Jianan LiAbstract
Multispectral aerial object detection aims to exploit spectral-spatial cues to address object detection challenges in complex aerial scenes. Existing methods mainly focus on spectral-spatial decoupling and object-aware spectral-spatial fusion to improve spectral utilization. However, two critical issues remain underexplored: 1) severe foreground-background imbalance caused by large scene coverage hinders reliable object recognition; 2) aerial objects exhibit substantial local variations in scale, orientation, and structure, which hinder accurate localization. To address these issues, we propose SGLDet, a spectral-aware global-local dynamic modeling framework for multispectral aerial object detection, which is motivated by the observation that object semantics are jointly determined by global spectral consistency and scene context, while precise localization requires dynamic feature modulation conditioned on the input spectral and spatial properties. To realize these properties, SGLDet consists of three coordinated components: a Spectral-driven Global Dynamic Modeling module that aggregates spectrally related features across the scene via similarity-guided sparse matching; a Multi-scale Global Context Integration module that constructs a compact scene memory for scene-guided contextual reasoning; and a Spectral-aware Input-dependent Calibration Aggregation module that performs expert-kernel aggregation with scene-guided spectral-spatial calibration to enable adaptive local feature modulation. Extensive experiments on MODA, HOD3K, and DroneVehicle demonstrate that SGLDet achieves superior performance with competitive computational cost. Code is available at this https URL.
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https://arxiv.org/abs/2610.27883
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