Surveillance
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What Do Interaction Representations Actually Measure? Pre-Event Separability in Weakly-Supervised Violence Detection
2026-08-28 03:39:41Parishruthi GaneshAbstract
Articulated human pose provides detailed body-configuration information beyond coarse spatial relationships, but whether this detail yields greater discriminative information when the downstream pipeline is held fixed remains unclear. We examine this through early violence detection. Holding the tracker, temporal head, supervision, folds, and evaluation fixed, we compare five interaction representations spanning coarse bounding-box geometry, a matched handcrafted pose analogue, enriched pose descriptors, and a matched-capacity encoder learned from raw joints, under video-level evaluation with cluster-bootstrap intervals. No pose-based representation outperforms coarse geometry, though with fifteen anomalous videos this subset cannot rule out small effects. Extending the pipeline to frozen visual encoders, and repeating the comparison on XD-Violence (137 anomalous videos, nine times our UCF-Crime sample), person-crop appearance and whole-frame context both exceed geometry by a wide margin, yet context matches appearance on UCF-Crime and exceeds it on the larger split: cropping to the interacting people yields no advantage over encoding the whole frame. This prompts a direct test of what the benchmark measures. Scoring anomalous videos using only frames preceding the annotated onset, under a control removing sequence length as a cue, retains 39-91% of above-chance separation on both benchmarks, including for seven hand-designed geometric channels. Inspection of the tightest pre-onset windows identifies concrete provenance artifacts: editorial title cards and platform watermarks absent from the surveillance footage supplying the normal class. Video-level AUC here is thus a composite of event evidence and pre-event source cues, a shared source of discrimination that can obscure differences between representations. The diagnostic requires only annotations these benchmarks already ship.
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URL
https://arxiv.org/abs/2608.27879
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Beyond the Proving Ground: Independent Public-Road Testing of Assisted Lane Change Systems using LiDAR
2026-08-27 06:24:14Marcello Cellina, Akos Kriston, Antonio Migneco, Davide Maggi, Stefano Favelli, Fabrizio Re, Fabrizio Minarini, Andrea Nuovo, Riccardo Dona, Biagio CiuffoAbstract
Testing of commercial Advanced Driver Assistance Systems is essential to ensure safety and compliance during type approval and in service operation. However, proving ground scenarios may not reflect real world driving complexity, while geo fencing can require manufacturer collaboration and limit assessment independence. This work presents a methodology for independently testing Assisted Lane Change systems on public roads. A campaign on the A31 French motorway used a test vehicle equipped with a LiDAR based vehicle detection and tracking system. Tests covered combinations of inter vehicle distance and speed between the test vehicle and the take over vehicle. Real time kinematic global navigation satellite system receivers assessed detection and tracking performance. Recorded lane change trajectories were compared with the lane change suppression requirements of UNECE Regulation Number 79. Of 27 predefined lane change manoeuvres, 18 were completed and 9 suppressed. In 6 cases, the system allowed manoeuvres that did not meet regulatory minimum distance requirements. In 3 cases, the deviation remained statistically significant after accounting for measurement uncertainty. To the authors knowledge, this is the first public road campaign designed to assess Assisted Lane Change compliance with Regulation Number 79 safety distance requirements. The results demonstrate the suitability of LiDAR based sensing for this purpose. The methodology can support market surveillance and future regulatory revisions by revealing real world behaviours not covered by approval procedures.
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https://arxiv.org/abs/2608.26669
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Formal, Executable and Explainable Runtime Monitoring of Spoken Air Traffic Control Operational Procedures
2026-08-26 15:37:00Roberto Luvini, Giacomo Longo, Alessandro Armando, Enrico RussoAbstract
Air traffic control procedures are executed through spoken exchanges between controllers and pilots. These interactions are essential to the safety of air transportation: failures in their execution can create severe operational hazards, as evidenced by past fatal accidents. Assessing whether an instruction has been followed requires relating what was said to the aircraft concerned, its state, and the obligations that pilots must meet. We present a runtime verification framework that monitors such procedures by checking controller-pilot exchanges, surveillance data, and onboard observations. The framework parses radio communications into events linked to the entities they concern and merges them with surveillance and onboard observations into a time-stamped trace. The ICAO-derived obligations as formalized as temporal formulas with explicit time bounds and evaluated over execution traces. Every violation is reported along with the breached obligations and the observations that support the verdict. With real traffic, the complete pipeline reaches an F1 of 0.85 against blind human-annotated violations; in 1,495 synthetic situations derived from two public corpora, the monitor logic returns the expected verdict in every case. In two historical accidents reconstructed from official investigation reports, the monitor identifies the same procedural deviations documented by the investigators.
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URL
https://arxiv.org/abs/2608.25926
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Rethinking Pre-Training and Augmentation for Zero-Shot Cross-City Object Detection
2026-08-25 07:16:42Long Hoang Pham, Quoc Pham-Nam Ho, Huy-Hung Nguyen, Duong Nguyen-Ngoc Tran, Ngoc Doan-Minh Huynh, Cu Quoc Le, Hoang-Khang Nguyen, Hyung-Min Jeon, Chi Dai Tran, Son Hong Phan, Duong Khac Vu, Trinh Le Ba Khanh, Jae Wook JeonAbstract
Real-world deployment of traffic surveillance systems is bottlenecked by geographic domain shift, in which models trained in one city underperform when applied to an unseen target city. Conventional domain adaptation relies on hyperparameter-sensitive architectures or direct profiling of target data. Both are fundamentally precluded in privacy-conscious ecosystems that require completely blind training and evaluation loops. In this setting, we explore the effects of pre-training and augmentation in addressing the domain shift problem. Specifically, we propose a new modular training pipeline for object detection structured around two core orthogonal pillars: (1) a multi-dataset pre-training strategy featuring a class-agnostic objectness distillation to decouple structural vehicle geometry from semantic taxonomies, and (2) a domain-resilient augmentation stream featuring a novel Grayworld transformation that forces global attention heads to strip volatile chromatic shortcuts in favor of robust shape priors. When evaluated with the real-time transformer-based detector RF-DETR, our framework bridges cross-city distribution gaps while using limited GPU memory (16GB). Our optimized variants, RF-DETR-HR and RF-DETR-Grayworld, deliver a substantial empirical gain of +24.29 over the baseline, achieving 1st place (47.53 mAP) on the AI City Challenge Track 6 leaderboard. Code and data are available at: \href{this https URL}{SKKUAutoLab/aic26\_cross\_city}.
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URL
https://arxiv.org/abs/2608.24154
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ORBITALIF: An Efficient Spiking Federated Learning Framework for Onboard Cloud Removal
2026-08-25 05:11:19Bohan Zhang, Chenyu Xu, Yijie Mao, Yuanming ShiAbstract
Low-earth-orbit (LEO) satellites enable high-resolution, large-scale Earth observation for applications such as disaster monitoring and environmental surveillance. However, cloud coverage often obscures the Earth's surface, and conventional cloud-removal pipelines that download cloudy images to ground stations for processing suffer from limited contact windows, constrained satellite-to-ground bandwidth, and high latency. In this work, we propose a novel satellite federated learning framework for cloud removal across LEO constellations, named orbital attention leaky integrate-and-fire (OrbitALIF). OrbitALIF performs both onboard training and inference using a compact 2.30,M-parameter spiking neural network (SNN) backbone with an adaptive gated fusion module (AGFM) and a spectral-spatial hybrid attention module (SHAM), combined with a decentralized federated learning strategy that shares model weights via inter-satellite links. Our experiments show that OrbitALIF achieves competitive cloud removal quality while consuming only 0.287,mJ per inference on neuromorphic hardware, a 72.3 times (98.6%) energy reduction versus an equivalent artificial neural network (ANN).
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URL
https://arxiv.org/abs/2608.24073
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ConsensusTAS: Self-Supervised Temporal Action Segmentation for Long-Horizon Construction Videos
2026-08-25 04:05:15Xiaoshan Zhou, Yafei SunAbstract
Recognizing sequential construction activities is important for collaborative human-robot work; for example, robots are able to understand workers' current and upcoming actions and provide timely tool delivery or physical support. However, despite extensive research on construction worker activity recognition, existing studies have been limited to classifying activity categories, such as climbing, lifting, and walking, instead of recognizing fine-grained activity transitions from long-horizon sequences. Addressing this problem is challenging because annotating action temporal boundaries in long construction videos is time-consuming. In this study, we propose ConsensusTAS, a label-free, self-supervised learning approach to segment continuous video streams into distinct activity phases by exploiting the internal consensus of candidate segmentations. We evaluated our algorithm on three public datasets, where it outperformed state-of-the-art methods, achieving an F1@10 of 73.08 on GTEA, an F1@10 of 64.33 on Breakfast, and an F1@50 of 33.50 on static-camera videos from Assembly101. We also tested it on real-world construction videos, where post-hoc evaluation showed that the model successfully recognized and segmented actions within the composite activity of bricklaying, such as spreading mortar on a brick, placing the brick, pressing, and aligning. Compared with other temporal action segmentation models that require computationally intensive large vision-language models, our method can run on a CPU, which provides practical value for video surveillance and human-robot collaboration on mobile robotic platforms.
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URL
https://arxiv.org/abs/2608.24043
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STAIN-FL: Stealthy Targeted Attack Injection with Contextual Triggers in Federated Learning
2026-08-25 01:24:16Ashlinder Kaur, Purnima Murali Mohan, Zengxiang Li, Tram Truong-HuuAbstract
Federated video anomaly detection trains model collaboratively without sharing raw surveillance footage, but limited server-side visibility lets compromised clients to inject backdoor via malicious updates. This paper introduces STAIN-FL, a stealthy targeted backdoor attack injection framework that uses naturally occurring surveillance conditions, including low-light scenes, indoor settings, and crowd density, as contextual triggers. STAIN-FL combines anomaly-to-benign label \textit{manipulation} with gradient masking over least-updated coordinates to preserve clean accuracy while inducing trigger-conditioned misclassification. We evaluate STAIN-FL on \texttt{UCF-Crime} using 1024-dimensional I3D features in a non-IID four-client multi-agency setting, comparing FedAvg and FedProx under sparse and continuous attacks. Results show that sparse attacks have low-detectability, operationally significant attacks rather than high-intensity attacks: they keep the mean clean-accuracy drop below $2\%$, yet still misclassify more than half of triggered anomalies at peak backdoor accuracy under FedAvg ($56.7\%$) and FedProx ($54.2\%$). Under FedAvg, the sparse backdoor remains above the $25\%$ backdoor-accuracy threshold for an average of $336$ post-attack rounds, highlighting the persistence risk of contextually triggered attacks in surveillance systems.
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URL
https://arxiv.org/abs/2608.23952
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Modalities Should Talk to Each Other: Dual-Stream Multimodal Learning for Long-Horizon Influenza Forecasting
2026-08-24 15:20:01Seyed Mohammad Hossein Hashemi, Mohsen Hooshmand, Parvin RazzaghiAbstract
Forecasting long-range influenza-like illness (ILI) matters for public health readiness. Publicly available surveillance datasets typically pair numeric epidemiological signals with textual information that is noisy, loosely structured, only indirectly related to near-term trends, and often lagged relative to the numeric signal. Fusing the two therefore requires careful design. We propose Dual-Stream Attention (DSA), a multimodal deep learning framework that forecasts 12-week-ahead ILI activity from a 36-week multimodal history by letting the numerical and textual streams condition each other. Using the Time-MMD health-domain dataset, DSA separately encodes the two modalities with a Transformer-based numerical encoder and a domain-adapted headline encoder, then couples them through a bidirectional Cross-Modal Attention (CMA) mechanism: the text (news headlines) conditions the interpretation of the numeric signal and vice versa. The CMA output then passes to a causal temporal model for forecasting. Evaluated across ten random seeds, DSA achieves a median test MSE of 0.416, versus 0.668, 0.607, and 0.851 for iTransformer, TaTS, and GPT4MTS, corresponding to mean-error reductions of 54.95%, 37.29%, and 67.23%, with paired Cohen's d of 0.555, 0.337, and 0.345, respectively, and ranks first in 100% of bootstrap draws. It also has substantially lower worst-window error than all baselines. On an external-geography dataset, DSA again ranks first among nine evaluated baselines. Ablations show the advantage does not depend on text-encoder choice or language-model fine-tuning, and that bidirectional attention outperforms either direction alone. Finally, perturbation-based faithfulness analysis shows the learned CMA is functionally informative under targeted masking, with a stronger effect in the text-to-numerical direction.
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URL
https://arxiv.org/abs/2608.23373
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Switched Turn-based Adaptive Source Seeking Strategy using Estimation and Information-driven Direction of Improvement
2026-08-24 10:13:13Shubhra Banerjee, Satadal GhoshAbstract
Source seeking arises in applications such as gas leak localization, radiation monitoring, and environmental surveillance, where the origin of an unknown signal field must be estimated from spatial measurements. In practice, the source location is not directly observable and must be inferred from noisy scalar measurements collected during this http URL robotic source seeking, estimation and motion are closely linked: measurements improve the source estimate, while the chosen trajectory affects the quality of future this http URL loop-based geometric strategies generate feasible motion but do not explicitly use estimation uncertainty to regulate direction this http URL paper presents a loop-based source-seeking framework that combines Extended Kalman Filter (EKF) estimation with Fisher Information Matrix (FIM)-based direction selection. The source estimate is updated during motion, and the heading is changed at loop boundaries using both estimation uncertainty and predicted information gain. A measurement-based stopping condition is used to detect convergence without requiring prior knowledge of the source this http URL results under stationary and moving source scenarios demonstrate improved tracking performance and reduced estimation error compared to purely information-driven or estimate-driven strategies.
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https://arxiv.org/abs/2608.23068
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Open-Set Cattle Muzzle Identification: A Leakage-Controlled Benchmark and Evaluation Protocol
2026-08-22 15:48:21Lalit BC, Dharmendra Singh Chaudhary, Shovit NepalAbstract
Reliable individual cattle identification supports disease surveillance, vaccination records, breeding management, and livestock insurance. Although the bovine muzzle provides a stable, non-contact biometric, existing muzzle-recognition systems largely assume a closed set of enrolled animals, limiting their practical deployment. We reformulate cattle muzzle biometrics as an open-set, gallery-based identification problem that can reject previously unseen animals and support incremental enrollment without model retraining. We introduce a leakage-controlled evaluation protocol based on identity-disjoint splits, per-fold retraining, held-out threshold calibration, verified duplicate removal, and bootstrap confidence intervals. We evaluate the framework using two contrasting embedding configurations: a hybrid CNN-ViT metric-learning model and the MegaDescriptor-L foundation model. Under oracle threshold selection, the hybrid model achieves detection-and-identification rates of 98.3%, 96.4%, and 93.6% at target false-acceptance rates of 10^(-1), 10^(-2), and 10^(-3), respectively, while MegaDescriptor-L achieves 99.3%, 98.1%, and 96.1%. However, deployable threshold calibration reveals a substantial difference between oracle and calibrated performance: the hybrid model achieves a false-acceptance rate of 1.03% at a 1% target, whereas MegaDescriptor-L reaches 2.44%. Incremental enrollment further achieves Rank-1 accuracy above 91% with a single reference image and up to 97.3% with eight reference images, without retraining the model or degrading the existing gallery. These results demonstrate that threshold calibration, leakage control, and embedding quality are critical for reliable open-set cattle identification and provide a practical evaluation framework for deployment-oriented animal biometric systems.
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https://arxiv.org/abs/2608.28663
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A2DINOv3: Rethinking Multi-Modal Object Detection via Socialized Collaboration
2026-08-21 13:44:46Jiekang Feng, Zhihe Fan, Yunqi Zhu, Xinjie Yao, Yueying Zhang, Yike Gao, Ranxin Li, Guanzuo ChenAbstract
Multi-modal object detection is essential for robust scene understanding in challenging conditions, including low-light and adverse environments. Recent vision foundation models (e.g., DINOv3) have exhibited strong representation capabilities, yet adapting them to multi-modal scenarios remains challenging. Existing dense cross-modal fusion strategies often force heterogeneous modalities to interact indiscriminately, which may introduce redundant information and disrupt the valuable pre-trained representations. To address this issue, we revisit multi-modal fusion from the perspective of socialized learning and propose adapter to DINOv3 (A2DINOv3), a multi-expert collaboration framework with a Socialized Collaboration Protocol (SCP). Specifically, RGB and infrared branches are modeled as heterogeneous experts that independently preserve their specialized knowledge while exchanging complementary information through selective and constrained interactions. This design mitigates harmful cross-modal interference and prevents degradation of pre-trained priors during adaptation. Furthermore, a zero-initialization strategy is introduced to gradually activate cross-modal collaboration, enabling a smooth transition from modality-specific learning to cooperative representation learning. Extensive experiments on four multi-modal benchmarks, including aerial detection (GAIIC), autonomous driving (FLIR), low-light surveillance (LLVIP), and diverse real-world scenarios (M3FD), demonstrate that A2DINOv3 consistently achieves state-of-the-art performance in multi-modal object detection.
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https://arxiv.org/abs/2608.21099
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ReguSim: Evaluating LLM Agent Rule Grounding in Financial Compliance
2026-08-20 12:49:05Yiyang Luo, Yihang Jiang, Qijun Xie, Liang Lan, Lin Willian Cong, Anyi Rao, Yunya SongAbstract
LLM agents in financial markets may cite rules yet still submit orders that violate executable constraints or misread surveillance evidence. We introduce ReguSim, a controlled financial-compliance environment, and ReguBench, a target-marked monitoring benchmark, to separate four artifacts: stated reasoning, attempted action, execution enforcement, and monitor evidence. In trader runs with DeepSeek V4 Pro and Gemini 3.5 Flash, visible rules reduce but do not eliminate rejected actions, and incentive or persona framing shifts behavior. A bridge study shows that trader rationales can mislead an independent monitor unless enforcement evidence is shown. In monitoring, simple structured baselines either match or exceed prompt-only LLMs. The results frame financial compliance evaluation as an audit of rule-grounded actions and evidence use, rather than a single compliance score.
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https://arxiv.org/abs/2608.19974
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Dijkstra as an Oracle for Online Stochastic Shortest Path Navigation with Provable Guarantees
2026-08-18 12:26:17Mansur M. Arief, Ali Akarma, Ahmad Alfan Alfian IrfanAbstract
Mobile robots that operate in side by side with humans and critical facilities must reach their goals at low cost, despite often unknown true traversal costs of the map apriori and imperfect actuation. Planners that solve the underlying stochastic shortest path problem exactly, such as value iteration, require computation that grows with the diameter of the map, whereas Dijkstra's algorithm is fast but is usually considered inexact once transitions are stochastic. This study shows that Dijkstra's algorithm can remain an exact planning engine under a condition that is much weaker than the causality condition often invoked in the literature, namely nonnegativity of a reduced cost defined on the determinized map. Building on this characterization, an online learner DORA (Dijkstra Oracle Reduced-cost Algorithm) is proposed for robot navigation that calls a shortest path oracle a fixed number of times per episode, never estimates a transition kernel, and adds a logarithmic survival weight when the probability of contact with a dynamic obstacle must stay within a budget. In the numerical experiments involving three other benchmarks that cover grid world navigation, directional drilling, and drone surveillance, the learner matches optimistic value iteration that is given the true transition kernel while performing 4.5 to 19.3 times less planner work, reduces contacts during learning by a factor of seventeen relative to determinize and replan, and keeps the contact rate within budgets that span two orders of magnitude. These results indicate that shortest path search supports safe and efficient online navigation and path planning tasks.
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https://arxiv.org/abs/2608.17703
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A Human-LLM Teaming Framework for Privacy Risk Analysis: An Illustration with CBDC-Based Welfare Schemes
2026-08-17 11:59:03Sourya Joyee De, Abdessamad ImineAbstract
Central Bank Digital Currency (CBDC)-based welfare schemes may be potentially privacy invasive as they process significant volumes of beneficiary personal data and lead to privacy harms such as surveillance, discrimination and stigmatization. Such welfare delivery schemes involve complex digital ecosystems and large number of stakeholders. Consequently, to examine their privacy risks, privacy risk assessments require extensive information gathering and synthesis, complex reasoning, scenario explorations, contextual evaluation and human judgement. Thus, they present ideal scenarios for human-LLM teaming, where effective integration of complementary human and LLM capabilities can yield an outcome far superior to either human-only or LLM-only assessments. In this paper, we propose a first human-LLM teaming framework for the systematic privacy risk analysis methodology called PRIAM. The framework specifies an iterative collaborative process in which the LLM processes large-scale documentary evidence to produce initial outputs, which are then interpreted and evaluated by human experts who direct their further refinement by the LLM and exercise their judgement to finalize the output. We illustrate the framework on the data characterization activity of PRIAM using a CBDC-based welfare scheme use case. The illustration demonstrates that while LLMs generate the initial data categories and assign initial values to data attributes, human experts evaluate and provide feedback to refine them, distinguishing documented evidence from inferences, identifying information gaps, and flagging unsupported or ambiguous outputs. This framework serves as a foundational contribution towards human-AI teaming for privacy risk assessments.
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URL
https://arxiv.org/abs/2608.16461
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Benchmarking Identity-Sensitive LLM Outputs for Surveillance and Security Robots
2026-08-17 02:51:43Nneka Hyman, Jasmine Khan, Raj KorpanAbstract
Large language models (LLMs) are increasingly used to generate textual robot design specifications, interaction policies, and risk assessments during early-stage robot development. Such outputs may influence how surveillance and security robots are conceptualized, documented, and ultimately implemented. This paper evaluates whether identity-conditioned prompts produce systematic differences in LLM-generated surveillance and security robot design descriptions. Using 236 demographic identity labels across single-label and model-augmented prompt conditions, we analyze readability as an initial benchmark for evaluating accessibility and identity-conditioned variation in generated robot design descriptions. The results show significant differences in readability across prompt conditions, design dimensions, and demographic identities. Although readability cannot determine whether an output is fair or socially appropriate, it provides an interpretable baseline within a broader benchmarking framework that also includes lexical, semantic, sentiment, syntactic, and fairness-focused analyses.
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https://arxiv.org/abs/2608.16030
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CrossView: Can Vision-Language Models Reason Across Cameras?
2026-08-16 05:25:04Sahil Shah, S P Sharan, Harsh Goel, Manvik Pasula, Adithya Hebbalae, Minkyu Choi, Sandeep P. ChinchaliAbstract
Video understanding benchmarks have long centered on single-camera settings, where modern multi-modal language models achieve strong performance across image and video tasks. Yet, the real world runs on multi-camera networks: autonomous vehicles, security systems, and robots all gather data across many simultaneous views. We argue that this is not simply "more" of the single-camera problem; it is fundamentally different. Multi-camera reasoning requires handling context that scales with the number of views, resolving occlusions visible from only a subset of cameras, judging which views matter, and integrating evidence across perspectives that may overlap or diverge. Current models struggle with exactly these challenges, yet no benchmark systematically targets them. We introduce CrossView, a multi-camera video question-answering benchmark spanning autonomous driving, security surveillance, egocentric/exocentric video, and robotics. Evaluation of proprietary models, such as GPT-5.2, and open-source models, like Qwen3-VL, reveals consistently low accuracy, with open-source models trailing by a wide margin. Performance scales strongly with a model's ability to jointly process multiple viewpoints, positioning CrossView as a rigorous benchmark for multi-camera video. We open-source our code and dataset at this https URL.
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https://arxiv.org/abs/2608.15539
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UAV Video Deblurring via Motion-Aware Diffusion: A Path to Robust Target Detection
2026-08-15 14:31:16Zhiqiang Hu, Shouren Huang, Masatoshi IshikawaAbstract
Unmanned Aerial Vehicles (UAVs) play a crucial role in various scenarios ranging from disaster response to traffic surveillance. However, aerial video footage often suffers from severe motion blur due to rapid flight maneuvers, vibrations, and camera panning, which can significantly degrade downstream tasks such as target detection. Our goal is to explore a computationally-efficient and effective video deblurring approach to enhance UAV target detection performance. To reduce computational cost, we first propose an Adaptive Latent Scale Selector that dynamically adjusts the latent space resolution according to the intensity of UAV motion, thus balancing detail preservation with inference efficiency. To ensure temporal consistency, we introduce a Multi-Frame Alignment and Learnable Gating module to warp and gate the preceding frames, allowing the model to fuse only relevant temporal information and suppress misaligned or uninformative features. Our method can effectively recover sharp details from the UAV video stream. Extensive experiments on real UAV benchmarks demonstrate that our method not only yields superior deblurring performance but also significantly boosts target detection accuracy, making it highly applicable to robust aerial vision tasks.
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URL
https://arxiv.org/abs/2608.15259
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Self-Supervised Topologically Invariant Manifold Learning for Railway Image Quality Assessment
2026-08-15 13:08:06Tingqiong Cui, Yibu Yang, Yang Li, Jiahao Fu, Xiaoliu Luo, Xu Wang, Mengzhu Wang, Siyuan Liu, Guanghui HuangAbstract
Existing blind image quality assessment (BIQA) methods typically rely on synthetic distortions and subjective annotations, limiting generalization in real-world domains. To address this, we propose a fully self-supervised BIQA framework based on topologically invariant manifold learning under boundary constraints, which constructs a stable quality reference without manual labels. The framework generates progressive background dilution scales via repeated random cropping around each target; exploiting the monotonic degradation of target information density across these scales, it establishes a self-constrained quality manifold. A linearized spatial moment projection eliminates geometric distortions from random cropping; then a monotonicity divergence filter prunes background-sensitive evaluators, isolating an elite pool \(\mathcal{M}_{\text{elite}}\). A robust M-estimator with a principal component stabilizer fuses the metrics into an asymptotically efficient pseudo-ground truth \(q_{\text{PGT}}\), contracting variance toward the Cramér-Rao lower bound. Extensive evaluations demonstrate that the elite evaluator pool, distilled from 11 baseline metrics, secures superior zero-shot transferability across standard synthetic and wild benchmarks (CSIQ, LIVEC, LIVE-2). Concurrently, deployments on the CQU Railway Rolling Stock Surveillance Dataset (2,797 images) yield a manifold cosine similarity \(>0.999\) and a 100.0\% survival rate under industrial extreme stresses, robustly validating its cross-paradigm decoupling and topological resilience.
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URL
https://arxiv.org/abs/2608.15217
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Sensor-Driven Mission Synthesis for UAV/UGV Swarms: A TB-CSPN Coordination Architecture with Hardware-Enforced Safety
2026-08-14 13:44:10Uwe M. Borghoff, Paolo Bottoni, Remo PareschiAbstract
This paper presents a coordination architecture for heterogeneous UAV/UGV swarms that synthesises mission actions from uncertain, multi-modal sensor evidence while preserving hardware-enforced safety at the actuation boundary. The approach combines radar, RF, acoustic, and visual observations with Topic-Based Communication Space Petri Net (TB-CSPN) orchestration to support incremental mission formation under partial and evolving information. Consultant agents transform sensor outputs into temporally bounded semantic tokens, while supervisor agents provide authorisation and policy-governed release of mission transitions. This separation between interpretation, coordination, and execution yields auditable decision paths, constrains non-determinism within the coordination layer through guards and synchronisation, and enables bounded-time integration of heterogeneous evidence. To improve resilience in contested environments, including cyber compromise, spoofing, jamming, and communication loss, the digital coordination layer is complemented by independent analogue safety envelopes that clamp or veto unsafe actuator commands issued to individual vehicles. A coastal-surveillance case study illustrates how the proposed architecture enables dependable, governed, and physically safe swarm coordination under operational uncertainty.
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https://arxiv.org/abs/2608.14306
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CRAFT: LLM-Based Iterative Refinement for Temporal Reasoning over Clinical Narratives
2026-08-13 03:37:11Chengyang He, Tahreem Arif, Marko Zivkovic, Lijing Wang, Yue Ning, Ping WangAbstract
Understanding the temporal progression of symptoms in clinical narratives is critical for disease monitoring, safety surveillance, and causality assessment. Clinical narratives, however, rarely provide explicit temporal anchors. Current approaches to temporal information reasoning focus predominantly on pairwise relation classification across multi-visit and timestamp-rich records, leaving the reconstruction of structured symptom trajectories from individual anchor-sparse reports largely unaddressed. We propose CRAFT, an LLM framework that pairs a generator with a constraint-based verifier to iteratively produce and refine stage-wise symptom timelines through targeted feedback. We conduct evaluation on MedTempo, a new benchmark of 5,347 vaccine adverse-event narratives spanning three COVID-19 vaccine types, with expert-validated temporal stage annotations for 3,166 reports. Experiments across four LLM backbones demonstrate that CRAFT consistently improves temporal ordering accuracy, with ablation analysis isolating the contribution of generator and verifier components across model capability levels.
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https://arxiv.org/abs/2608.12779
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