Sparse
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RL-Guided Temporal Localization for Dual-Channel Retrieval in Long-Horizon Agent Memory
2026-10-16 15:16:50Dabin Sheng, Zhe Wu, Jinming Zhao, Junliang Xing, Yuanchun ShiAbstract
Time-aware retrieval is crucial for long-horizon LLM agents to effectively leverage ever-growing long-term memory. Existing methods focus on lexical or semantic similarity, leading to target memories being crowded out by temporally mismatched yet semantically similar candidates. Even time-aware approaches inject temporal cues only during memory organization or answer generation, overlooking temporal constraints at the retrieval stage, where candidate selection occurs - the root cause of the displacement. Inspired by the temporal contiguity effect in human episodic memory, we propose TIDER (Temporal Interval-driven Dual-channel Evidence Retrieval), a time-aware agentic retrieval framework. Central to TIDER is a reinforcement learning (RL)-trained temporal interval locator that infers the temporal windows in which the evidence lies. RL optimizes window localization as a discrete, non-differentiable retrieval decision, using composite rewards to convert sparse answer supervision into fine-grained retrieval feedback. These temporal windows first define the temporal retrieval channel; the retrieved candidates are then merged with results from the semantic channel and reranked by proximity to the windows. This temporal grounding enables TIDER to retrieve temporally aligned evidence that would otherwise be drowned out by the volume of semantically similar yet temporally mismatched memories. With a lightweight 1.7B locator, TIDER achieves state-of-the-art accuracy on both long-horizon memory benchmarks - 61.52% on LifeBench (+8.82%) and 78.96% on LoCoMo (+3.66%) - which indicates that temporal cues are crucial for pinpointing target evidence amid a vast pool of semantically similar historical events in long-term daily-life memory.
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URL
https://arxiv.org/abs/2610.23598
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F-LIVO: A Feature-Level Geometric Measurement Framework for LiDAR-Inertial-Visual Odometry
2026-10-16 15:14:25Xinye Dai, Yapeng Wang, Shujie Zhou, Zihao Wang, Shiqi Zheng, Jiayu Hu, Yusheng Wang, Weiwei Song, Weiming TangAbstract
Measurement-level LiDAR-Inertial-Visual Odometry (LIVO) can achieve high accuracy, and its practical resource requirements depend on the adopted association and map-maintenance strategy. Persistently attaching dense photometric patches or appearance attributes to mapped LiDAR points can introduce additional storage, association, and update costs. This paper presents F-LIVO, a filter-based LIVO framework that couples a visual-inertial subsystem and a LiDAR-inertial subsystem through feature-level point-to-plane constraints between visual points and LiDAR planes. To preserve cross-modal coupling when visual triangulation is weak, we further recover visual feature depth from the LiDAR map through local plane fitting and ray-plane intersection. In the LiDAR update, the covariance of each point-to-plane residual is adaptively scaled according to local planar reliability, thereby reducing overconfident updates on poorly conditioned surfaces. Because the proposed method relies on sparse geometric features rather than persistent dense photometric map attributes, it retains a compact map representation. Experiments on multiple public datasets show competitive, sequence-dependent accuracy. Across the evaluated degradation cases, F-LIVO maintains continuous estimation with comparatively low accumulated end-to-end drift. Under the evaluated resource configuration, it achieves the lowest mean and peak central processing unit (CPU) usage, the lowest peak resident set size (RSS), and the lowest RSS growth rate among the evaluated implementations, while R2LIVE retains a lower mean RSS. The source code will be made publicly available upon acceptance to facilitate reproducible research.
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URL
https://arxiv.org/abs/2610.23595
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PanoBench: A Panoptic Occupancy Prediction Benchmark for Autonomous Driving
2026-10-16 14:34:38Yi Feng, Zizhan Guo, Junwu E, Yu Ma, Mengtan Zhang, Jin Wu, Wei Ye, Hanli Wang, Qijun Chen, Danwei Wang, Rui FanAbstract
Panoptic occupancy unifies 3D geometry, semantics, and instance identities, but its development is limited by scarce instance-aware annotations. Existing benchmarks mainly provide semantic labels reconstructed from incomplete sensor observations, while panoptic datasets have limited domain coverage or annotation completeness. We introduce PanoBench, a camera-centric panoptic occupancy prediction benchmark spanning synthetic and real-world driving scenes. It combines PanoBench-CarlaOcc, PanoBench-nuScenes, and PanoBench-KITTI360 through canonical data interfaces and unified evaluation protocols, providing multi-resolution annotations with persistent instance identities. The synthetic branch derives complete panoptic geometry from simulated meshes. For real-world data, a new pipeline reconstructs backgrounds using geometric priors and topology constraints, generates foreground mesh assets from multi-frame multi-view images, and fuses them into sparse panoptic voxels. A unified valid-mask protocol evaluates complete thing instances supported by temporal observations while scoring stuff regions at the voxel level. Analyses of observation fidelity, geometric completeness, spatial continuity, and temporal consistency demonstrate the benefits of the resulting annotations over existing occupancy benchmarks. We benchmark representative methods on semantic occupancy prediction, panoptic occupancy prediction, and 4D occupancy forecasting, and study voxel resolution, synthetic-to-real transfer, and storage efficiency. These results reveal complementary strengths of volumetric and ray-based metrics and persistent challenges in real-world instance-aware prediction. PanoBench is available at this https URL.
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URL
https://arxiv.org/abs/2610.23537
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Analytic Robot Self-Model: Learning Screw-Axis Kinematics for Rendering and Model-Based Control
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Visual self-modelling lets robots learn body models from observations, but such models usually encode kinematics implicitly rather than exposing metric joint parameters for computation and control. Moreover, a good fit to images does not by itself establish accurate kinematics. Here we present an explicit analytic robot self-model that requires neither deformation networks nor URDF/CAD templates. Multi-view images and joint readings establish Gaussian appearance and provide motion evidence for rigid link assignments, whereas sparse end-effector poses independently identify metric screw axes. The resulting closed-form forward kinematics and analytic Jacobian can be evaluated beyond the fitting ranges. We validate the model on a simulated seven-axis arm, a simulated twelve-joint quadruped and a real six-axis arm. In simulation, it achieves millimetre-level reaching and pick-and-place, as well as closed-loop quadruped walking. On the real arm, it renders held-out configurations, predicts end-effector positions with a median error of 6.4 mm, compared with 11.7 mm for a calibrated nominal model, and supports reaching with external marker feedback. A controlled comparison shows that image fit alone is not enough: two Panda models differing only in their joint axes are 0.55 dB apart in PSNR, yet their end-effector prediction errors differ 13.7-fold.
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URL
https://arxiv.org/abs/2610.15558
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SkyAgent: Revisable Target Memory for Continuous Aerial Search
2026-10-16 11:00:43Kaibo Yang, Xingyu Wu, Enze Zhu, Yajie Chai, Xuyang Li, Jiahui Cui, Xiaoxuan Liu, Lei Wang, Zhan ChenAbstract
Continuous aerial search builds target hypotheses from sparse, viewpoint-dependent observations. When later evidence contradicts a stored hypothesis, however, the candidate can remain available to the planner and continue triggering approach or verification actions. We call this trajectory-level failure false candidate persistence (FCP). We equip SkyAgent with Revisable Target Memory (RTM), which associates evidence with persistent candidates, discounts correlated views, and revises each candidate through Tentative, Confirmed, and Rejected states. The key interface binds every generated waypoint to its source candidate: rejection therefore invalidates stale goals, while conservative reactivation protects temporarily occluded targets. Across four splits from the CityAVOS, UAV-ON, and OpenUAV benchmarks, our SkyAgent equipped with RTM outperforms all competitors, improving SR by 2.90--6.31 points while substantially reducing Behavior-FCP and post-contradiction travel with a low false-rejection rate. Across 35 matched real-world DJI scenarios per method, RTM consistently improves task success and behavioral reliability, further validating its state-to-action correction under physical deployment conditions.
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URL
https://arxiv.org/abs/2610.23293
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Expand-and-Prune: Test-Time Candidate-Space Adaptation for End-to-End Autonomous Driving
2026-10-16 10:34:12Fabian Schmidt, Karol Fedurko, Markus Enzweiler, Abhinav ValadaAbstract
Candidate-based end-to-end driving planners reason over a finite set of trajectory hypotheses. However, for sparse planners, a limited candidate set may provide insufficient support for scene-relevant maneuvers, while fixed downstream candidate budgets do not account for prediction uncertainty. To address these challenges, we introduce Expand-and-Prune, a test-time framework that jointly adapts candidate support and capacity without updating learned parameters. The framework expands the native candidate set using semantic driving intent and temporally propagated predictions and then uses uncertainty in intermediate trajectory scores to adaptively prune the resulting candidates. Across four heterogeneous candidate-based planners and four benchmarks, Expand-and-Prune consistently improves planning performance. It achieves state-of-the-art results on LangAuto, increasing the Driving Score from 68.2 to 75.9, while providing further improvement on Bench2Drive, Fail2Drive, and NAVSIMv2, with particularly strong improvements in out-of-distribution scenarios. Moreover, in its full instantiation, 72.5% of selected trajectories originate from the newly introduced intent-guided or temporal candidates, confirming that candidate-space expansion provides useful hypotheses beyond those generated natively by the planner. The code is available at this https URL.
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URL
https://arxiv.org/abs/2610.23262
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A Stronger Teacher Within: Strengthening MoE Models via On-Policy Bidirectional Distillation
2026-10-16 09:23:22Haoyu Chen, Jun Bai, Yang Liu, Jianfei Zhang, Wenge RongAbstract
Reinforcement Learning with Verifiable Rewards (RLVR) has substantially improved Mixture-of-Experts (MoE) LLMs, but its outcome-level rewards provide only sparse supervision. On-Policy Distillation offers dense token-level feedback, yet requires a stronger compatible teacher, while on-policy self-distillation relies on hand-designed privileged information. We observe that the MoE architecture itself offers a way to resolve this dilemma, as increasing the activation budget per token exposes latent expert capacity and yields a potentially stronger teacher within the model. However, naive expansion degrades performance because newly co-activated experts are not optimized to work together. We therefore propose MoEvolve, a bidirectional distillation framework following a recovery-then-improvement strategy: we first restore the activation-expanded high-$k$ model and further strengthen it by exploiting its additional active capacity, then reverse the direction of distillation to transfer the enhanced capabilities back into the original low-$k$ configuration, retaining its inference-time activation budget. Across diverse MoE models and benchmarks, MoEvolve improves the initial models by up to $22.2$ domain-average points and outperforms same-budget RLVR baselines by up to $6.5$ points. Notably, the final low-$k$ models often surpass their activation-expanded teachers.
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URL
https://arxiv.org/abs/2610.23185
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Tree-Aware Posterior Distillation for Long-Horizon Agentic Reinforcement Learning
2026-10-16 09:17:26Heming Zou, Qi Wang, Yixiu Mao, Yun Qu, Yuyi Guo, Zeyuan Liu, Chenglin Li, Weijie Liu, Saiyong Yang, Xiangyang JiAbstract
Reinforcement learning with verifiable rewards has become a scalable post-training paradigm for large language models. However, training agents over long-horizon interactions presents two challenges: using only terminal rewards makes turn-level credit assignment sparse and high-variance, while sequential mini-batch updates on a fixed rollout batch introduce policy staleness as the current policy drifts from the behavior policy. Existing approaches obtain denser credit via learned critics, process reward models, or on-policy distillation, but they rely on a value network, step-level annotations, or a stronger external teacher that increase training complexity. Meanwhile, importance sampling and clipping mitigate policy drift, but they do not specify a finite target that stops sequential updates from overshooting. In this work, we introduce TreeOPSD, a critic-free, tree-aware posterior self-distillation framework for long-horizon agentic reinforcement learning. Treating each interaction turn as a tree node, TreeOPSD branches alternative continuations from shared prefixes and recursively backs up terminal rewards into implicit turn-level credit. It then maps each credit to a closed-form, bounded teacher distribution parameterized by the likelihood ratio relative to the frozen behavior policy. Minimizing the divergence between this teacher and the student policy recovers the policy-gradient direction as the tangent at the behavior policy while bounding updates toward a finite target across sequential mini-batches. Empirically, TreeOPSD improves agentic capabilities across several competitive benchmarks and model scales, especially for long-horizon tasks, e.g., raising the average accuracy of Qwen3-30B-A3B-Thinking-2507 by 4.97 points over GRPO on the Deep Research setting.
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URL
https://arxiv.org/abs/2610.23181
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SCOPE: Selective Certification of Program Edits for Embodied Heuristic Learning
2026-10-16 08:33:56Junyang Shu, Bingqing Wei, Jishuo Li, Zheqi He, Yongtao WangAbstract
Embodied heuristic learning must balance strategic adaptation with the preservation of previously successful behavior. Local repairs may leave structural failures unresolved, whereas broader revisions can introduce regressions that are costly to detect through repeated environment interaction. We introduce SCOPE (Selective Certification Of Program Edits), which uses failed and successful executions as complementary evidence for program revision. Frontier-guided program search annotates a shared diagnostic graph with execution evidence to distinguish supported progress from unresolved checks. Selective behavioral certification uses stateful API replay to restore recorded responses and mutations, checking whether edits preserve selected historical successes. Diagnosis and certification feedback, supplemented by sparse environment diagnostics, guide consecutive repairs across configurations. SCOPE outperforms the strongest baseline in both simulation and real-world tasks. On LIBERO-PRO and Robosuite, it achieves mean success rates of 80.66% and 84.48%, with respective gains of 6.51 and 3.48 percentage points. Our code is available at this https URL.
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URL
https://arxiv.org/abs/2610.23128
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Foundation Models for Autonomous Space Robotics: Architectures, Physical Adaptation, and Validation
2026-10-16 07:42:06Zizhe Wang, Jia Deng, Xin Lu, Zehao Jia, Yi Huang, Yao Zhu, Jianing LiAbstract
Space robots must interpret tasks and act despite unfamiliar dynamics, difficult sensing conditions, and limited opportunities for human intervention. Foundation models offer reusable perceptual and behavioral knowledge, but their value depends on how that knowledge reaches physical execution. This critical review follows space-specific requirements through perception, prediction, planning, and action to deployment and validation, emphasizing orbital manipulation and proximity operations. Terrestrial comparisons establish benefits of particular pretraining stages and model interfaces; their transfer to space dynamics and constrained onboard operation remains insufficiently tested. Event cameras offer timely motion observations across strong illumination contrasts, while spiking neural networks provide possible routes to sparse local computation. We examine how sensor degradation, state estimation and computing choices affect feedback and recovery. Higher action throughput need not yield fresher feedback; lower processor power can also coexist with higher energy per inference. We organize validation as an iterative sim-to-ground-to-space pathway, connecting physical tests with telemetry-based diagnosis and closed-loop revalidation. A satellite-capture example links observations to approach, contact and recovery, while a corresponding protocol separates generalization from adaptation with limited target-domain interaction. These comparisons identify what models already contribute and the physical evidence needed to support autonomous space operation.
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URL
https://arxiv.org/abs/2610.23068
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Frame-Consistent Feed-Forward 3D Gaussian Splatting from Sparse Unposed Images
2026-10-16 07:15:54Viruthshaan Vinasirajan, Ranga RodrigoAbstract
Feed-forward Gaussian models have made novel view synthesis almost instantaneous. Feed-forward methods predict Gaussians directly, either in two stages or in a single merged pass. Using two separately trained models is attractive because each can specialize in its own objective: one for accurate pose estimation and the other for high-quality reconstruction, rather than forcing a single jointly trained network to compromise between the two. A natural instantiation pairs a frozen pose estimator, VGGT, with a frozen reconstruction backbone, TokenGS. Prior work, such as VGGT-X and 3R-GS, also adopts a two-stage design, but attributes the resulting quality degradation to noisy pose estimates and introduces learned refinement. We show that this is not the primary source of the problem. Through per-camera analysis across 107 scenes from two datasets, DL3DV and MipNeRF360, using COLMAP poses as the reference, we find that the rotation error after alignment is small (median 1.6 degrees), whereas the translation scale is offset by a large, dataset-consistent factor. Controlled ablations over 140 DL3DV scenes show that the primary obstacles are two integration failures rather than pose error: a coordinate-frame inconsistency and a translation-scale mismatch, both of which can be corrected deterministically. With these fixes, a frozen VGGT driving a frozen TokenGS achieves 22.47 PSNR, within 0.51 dB of the COLMAP reference, with no additional training, when poses are estimated from all scene views. In the sparse setting, where reconstruction uses only four context images under the standard pose-free protocol, the same pipeline matches this all-view quality, yielding a fully COLMAP-free pipeline without any refinement step.
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URL
https://arxiv.org/abs/2610.23039
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Efficient CPU-GPU collaborative MoE inference via Adaptive Expert Assignment
2026-10-16 06:31:43Wenhui Lv, Yunming Liao, Hongli Xu, Yang Xu, Junhao ChengAbstract
Mixture-of-Experts (MoE) models reduce inference computation through sparse expert activation, but their large expert memory footprint often exceeds GPU capacity, making expert offloading necessary for memory-constrained inference. However, existing systems typically handle GPU-missed experts by either transferring them to the GPU, incurring substantial PCIe transfer latency, or executing them on the CPU, making the slower CPU computation the bottleneck. To address these limitations, we present \method, a CPU-GPU collaborative MoE inference system that adaptively assigns these missed experts to the CPU or GPU for efficient execution. By exploiting differences in expert token-loads, \method selectively transfers high-load experts to the GPU while executing low-load experts on the CPU. To minimize inference latency, \method adaptively adjusts expert assignments to balance the CPU computation path against the GPU transfer-and-computation path, allowing both execution paths to complete as early as possible. Extensive experiments on three representative MoE LLMs show that \method improves prefill speed by up to 51.9\% and decode throughput by up to 39.5\% over the strongest baseline across the evaluated batch sizes, with consistent gains under different GPU-memory budgets.
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URL
https://arxiv.org/abs/2610.23006
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Prism Attention: Proposal-Refined Index Sharing Mechanism for Efficient LLMs Inference
2026-10-16 06:11:20Zhenxu Tian, Kebin Liu, Zhengwu Yang, Yi Su, Qingqing Dang, Yanlin Sha, Kaipeng Deng, Dianhai Yu, Yanjun Ma, Juntao Li, Min ZhangAbstract
Long-context decoding in large language models (LLMs) is increasingly bottlenecked by the memory and computation required to attend over an ever-growing Key-Value (KV) cache at each autoregressive step. Although token-level sparse attention reduces this burden by restricting computation to a small subset of relevant past tokens, its practical gains are often offset by repeatedly recomputing layer-wise sparse indices as the context grows. A common remedy is to share sparse indices across layers by computing them only at designated anchor layers, but such static reuse ignores the layer-wise evolution of attention patterns, causing the reused indices to progressively deviate from the layer-specific optima and incur substantial attention loss. By revisiting cross-layer sparsity from the perspective of attention dynamics, we find that inter-layer salient token shift is highly localized: although the exact top-$\kappa$ indices differ across layers, the core high-attention tokens remain stable, with changes concentrated near the expanded boundary of previously selected regions. Motivated by this, we propose Prism Attention, a proposal-refined sparse attention framework. It replaces rigid cross-layer index reuse with a coarse-to-fine strategy, preserving layer-wise adaptability while retaining the efficiency benefits of cross-layer sharing. Extensive experiments show that Prism Attention achieves state-of-the-art performance among mainstream sparse attention methods on both reasoning and long-context benchmarks, while attaining a $3.4\times$ end-to-end decoding speedup over FlashAttention at 128K context length.
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URL
https://arxiv.org/abs/2610.22985
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Sink-Sparse Hybrid Attention for Efficient Inference in T2I/T2V Diffusion Transformers
2026-10-16 05:50:56Bingxin Xing, Yu Zhang, Jiatong Ding, Lei Lu, Ping WangAbstract
Diffusion Transformers (DiTs) have become a common backbone for high-quality text-to-image and text-to-video generation, but repeated dense self-attention remains a major inference bottleneck as token sequences grow and the same operator is invoked across many denoising steps. Our study suggests that dense attention in pretrained DiTs contains reusable layer/head-specific high-mass structure that can be identified from a small offline calibration set and reused across future generations. This leads to Sink-Sparse Hybrid Attention, a train-free attention replacement that reuses static sink masks and supplements them with a lightweight pooled-KV branch, while leaving model weights and sampling schedules unchanged. On Wan2.1-T2V-1.3B, the method attains 1.54$\times$ end-to-end speedup while maintaining generation quality. On Z-Image-Turbo, it attains 1.57$\times$ end-to-end speedup with competitive GenEval2 performance. These results indicate that reusable importance-aware sparse support can provide an effective train-free acceleration path for both T2V and T2I DiTs.
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URL
https://arxiv.org/abs/2610.22975
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COMET: Decoupled Distillation, Routing, and Capacity Control for Task-Agnostic Continual Vision--Language Learning
2026-10-16 04:15:49Seungyoon Woo, Keonhee Park, Gunhee KimAbstract
Vision-language models (VLMs) such as CLIP retain zero-shot recognition ability, but their open-world use often requires task-agnostic continual learning: tasks arrive sequentially, past data are unavailable, task identity is unknown, and the backbone cannot be retrained. We argue that this setting fails VLMs through three coupled pressures beyond the stability-plasticity tradeoff: (1) modal-consistency drift, (2) representation-space interference, and (3) per-task capacity shortfall. We propose COMET (Collaborative Mixture-of-Expert Transfer) to resolve these three issues respectively as follows. A frozen teacher provides only a feature reference on a shared image-text pool; Tri-Affinity Distillation preserves image-image, text-text, and image-text geometry; and Student-Aware Cross-Expert Distillation aligns new experts with compatible prior experts so routing errors degrade gracefully. We design COMET to keep capacity and inference separate: a contextual bandit keeps or merges full per-task experts using post-training signals, while a reconstruction router selects sparse experts at test time without teacher semantics. On the X-TAIL benchmark, we show that each proposed component improves continual learning performance. COMET shows that continual vision-language adaptation can preserve multimodal geometry, coordinate accumulated experts, and allocate capacity jointly when feature reference, expert shaping, routing, and capacity control are separated by construction.
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URL
https://arxiv.org/abs/2610.22907
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ToPA: Block-wise Toeplitz Adaptation for Expressive and Efficient Fine-Tuning
2026-10-16 03:38:18Sicong Li, Qianqian Xu, Zhiyong Yang, Zitai Wang, Longtao Huang, Xiaochun Cao, Qingming HuangAbstract
Parameter-Efficient Fine-Tuning (PEFT) has emerged as a prevalent strategy for adapting large pre-trained models. Among PEFT techniques, reparameterization-based methods, particularly those that employ low-rank or sparsity structures, have attracted significant attention. However, these approaches often underperform full fine-tuning. Specifically, low-rank methods constrain the update rank, which is misaligned with the inherently high-rank nature of full fine-tuning. In contrast, sparsity-based techniques limit the flexibility of the parameter space and compromise connectivity across weights. To overcome these limitations, we explore the use of Toeplitz matrices, whose entries are constant along each diagonal, therefore providing a compact parameterization without imposing explicit rank or sparsity constraints. A straightforward approach is to update weights via a product of Toeplitz matrices. However, similar to RNNs, long multiplicative chains often lead to gradient instability. To address this issue, we propose \textbf{ToPA}, a more refined version of this idea that replaces standard Toeplitz matrices with block-wise Toeplitz, greatly increasing each factor's capacity and shortening the chain, thereby stabilizing training and improving expressiveness. We theoretically show that products of block-wise Toeplitz matrices can approximate arbitrary matrices under shorter chain length, justifying the structural design of ToPA. Furthermore, we demonstrate that ToPA offers greater expressivity than existing low-rank and sparse parameterizations. Empirical evaluations across 21 NLP and CV datasets, spanning 5 model architectures, consistently validate the effectiveness of ToPA.
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URL
https://arxiv.org/abs/2610.22883
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Clinically Informed Acoustic-Aware Attribute Modeling for Respiratory Sound Classification
2026-10-16 02:55:07Xinhong Li, Li Xiao, Ziyang Chen, Yuhong Yang, Weiping TuAbstract
Automated respiratory sound classification (RSC) aims to identify normal and adventitious respiratory sounds, such as crackles and wheezes. Most existing methods formulate RSC as a flat four-class classification problem over norma, crackle, wheeze and both. However, unlike conventional classification tasks with semantically independent and mutually exclusive categories, the commonly used four-class RSC labels have a compositional structure and can be represented by two clinically meaningful sound attributes: crackle presence and wheeze presence. Existing flat classifiers do not explicitly exploit this structure, which may increase the learning burden by treating the four labels as independent targets. Meanwhile, crackles and wheezes exhibit distinct temporal characteristics, with sparse transient crackle events and sustained continuous wheeze patterns, making a single temporal aggregation strategy less suitable for modeling different adventitious sound evidence. To address these limitations, we propose an Acoustic-Aware Asymmetric Framework (AAAF) for RSC. AAAF reformulates four-class recognition as two sound-attribute detection tasks and recovers the final category through logical composition during inference. Built upon a pretrained BEATs encoder, AAAF employs branch-specific multi-layer fusion and asymmetric temporal aggregation to capture localized crackle evidence and sustained wheeze patterns. Auxiliary normal--abnormal supervision and a batch-adaptive dynamic loss are further introduced to improve global discrimination and robustness under imbalanced labels. Experiments on ICBHI and SPRSound demonstrate that AAAF improves overall RSC performance and generalizes across datasets, achieving a state-of-the-art four-class Score of 65.30% on ICBHI.
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URL
https://arxiv.org/abs/2610.22854
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VTrajEmbed: Aligning Text with Video Object Trajectories via Spatiotemporal Embeddings
2026-10-16 02:34:07Ruizhi Chen, Zining Fan, Yudi Guo, Jiang Liu, Zhiyu Lin, Zhongjiang He, Shouqian Shi, Hao SunAbstract
Fine-grained alignment between text and video object trajectories is a core challenge in multimodal understanding. Existing embedding models excel at global retrieval, yet their single global representation entangles multiple objects and their spatiotemporal dynamics, limiting direct object-level grounding. To address this issue, we propose VTrajEmbed, an embedding model that decomposes a video into object trajectories and aligns each trajectory embedding with text for object-level grounding through retrieval. Our main contributions: (1)Slow-Fast Trajectory Encoding, a dual-branch architecture that establishes trajectory representations by densely sampling low-resolution frames for high-frequency motion cues and sparsely selecting high-resolution frames for scene context, aggregated by a shared LLM backbone; (2)Mask-Guided Contrastive Learning, a training objective built upon these representations that couples an intra-group loss and a batch-level bidirectional loss under a relation mask, excluding unverified relations and preventing confirmed matches from becoming false negatives; (3)Text2Traj-Bench, a trajectory-level text-video benchmark with model-assisted construction and human-verified query--trajectory relations. Experimental results show that VTrajEmbed-5B improves text-to-trajectory and trajectory-to-text R@1 over Qwen3-VL-Embedding-8B by 15.48 and 18.05 percentage points, respectively, and achieves 49.48% average R@1 across five global retrieval benchmarks, compared with 42.86% for Qwen3-VL-Embedding-8B.
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URL
https://arxiv.org/abs/2610.22842
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SAFETYEDIT: Sparse Internal Targets with Prompt-Wide Control for LLM Jailbreak Backdoors
2026-10-15 20:57:15Yutong Ke, Yansu Wang, Zeyu Zhang, Xihao Guo, Chongwen Zhao, Kaizhu HuangAbstract
Model-editing backdoors aim to induce harmful responses under a trigger while preserving ordinary behavior on untriggered input. Recent model-editing approaches target affirmative response prefixes through rank-one updates to a small subset of model weights. Yet when this prefix-level target is satisfied, the model may still revert to refusal or produce a coherent, apparently compliant response that does not address the request. To overcome this limitation, existing internal-representation approaches shift focus from output tokens to dense, high-dimensional compliance directions in latent space. Existing representation-level approaches rely on preservation constraints to maintain conditionality, motivating us to ask whether a smaller internal target can offer a different effectiveness-preservation trade-off. Motivated by the comparable control capability of single-coordinate interventions, we investigate a sparse refusal-related MLP coordinate as this target. We propose SAFETYEDIT, which optimizes a single refusal-related coordinate and uses KV-cache marking in early attention layers to propagate a prefix-trigger signal across subsequent instruction positions. On some checkpoints a downstream MLP reader converts this signal into control of the coordinate, while on others the propagated signal alone suffices; the method is defined by the sparse target rather than by a fixed writer-reader pair. Across four open-weight LLMs and three dataset groups, SAFETYEDIT achieves the highest triggered Guard ASR in 11 of 12 comparisons and the highest mean StrongREJECT score in all 12, relative to the baselines evaluated for each model. Crucially, comprehensive ablation and behavioral audits confirm generally minimal changes in untriggered behavior and general capabilities in the tested configurations.
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URL
https://arxiv.org/abs/2610.22640
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Network-Wide Freeway Speed Nowcasting and Forecasting from Sparse Fixed Sensors with a Probe-Supervised Graph Convolutional Recurrent Network
2026-10-15 20:35:45Ran Tu, Zihao Li, Arash MirzaeiAbstract
Traffic agencies need current and near-future speeds on every link of their network, but their fixed sensors cover only part of it. We study joint nowcasting and next-hour forecasting of hourly speeds on all 4{,}127 directional freeway links of the Dallas--Fort Worth region from sensors on 643 links (15.6%). Historical probe-vehicle data supervise every link in training; only sensor readings are used at inference. We call this setting probe-supervised sparse sensing. We propose GCRN+, a graph convolutional recurrent network that predicts deviations from a historical speed profile. It combines a parameter-free, direction-aware kernel interpolation of sensor anomalies, used as input features and as an output baseline, with a diffusion-convolutional GRU on the directed road graph, a low-rank adaptive graph and learnable link embeddings. It scales linearly with network size and trains on a CPU. Sensor readings are emulated from probe speeds, which isolates spatio-temporal inference from detector calibration. On four held-out test days, GCRN+ attains an RMSE of 2.21~mph for the current hour and 2.39~mph for the next hour on unsensored links, against 3.23~mph for the historical average. The best baselines that use the same interpolation features reach 2.53 and 2.75~mph. Adapted recent models without these features (STID, STAEformer, ImputeFormer, MoGERNN) reach at best 2.54 and 2.53~mph; this comparison is between complete pipelines rather than architectures. GCRN+ is best in every distance band except links not connected to any sensor through the road graph. Ablations within one recurrent backbone attribute most of the gain to the link embeddings and the adaptive graph, which can be trained because probe labels exist for every link. For congestion detection on unsensored links, recall rises from 77\% (historical average) and 86% (best competitor) to 89% at aprecision of 0.94.
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URL
https://arxiv.org/abs/2610.22630
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