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Eye, Robot: Learning Expressive Gaze Dynamics via a VLM-Guided Transformer-VAE
2026-10-14 06:04:04Yuhang Hu, Junlin Lyu, Yuan Fang, Xiaoying Shen, Lechen Zhang, Jiong Lin, Judah Goldfeder, Steven Tian, Hod LipsonAbstract
Gaze coordinates attention in human interaction through coupled eye, head, and eyelid motion. A humanoid robot must choose where to look while generating a suitable movement toward that target; fixed tracking rules alone do not model the temporal structure of human gaze. We separate these tasks with an asynchronous vision-language model that selects a scene referent, a reactive perception module that maintains fixation, and a Realistic Gaze Transformer (RGT) that generates target-conditioned motion. RGT is a Transformer-VAE trained on markerless human recordings retargeted to the robot's 11-DoF joint space: self-supervised pretraining encodes recent full-head history, and autoregressive fine-tuning exposes the model to its own predictions during rollout. At inference, a four-dimensional binocular-eye trajectory conditions coordinated neck and eye motion; an auxiliary blink predictor triggers eyelid templates during playback. On a two-second benchmark in which all controllers receive the same ground-truth target, RGT-Base obtains the lowest reported overall seven-joint MSE, and physical demonstrations show the integrated targeting and control pipeline. The evidence establishes robot-space kinematic fidelity and real-time RGT inference; perceived naturalness and open-vocabulary target-selection accuracy remain questions for controlled evaluation.
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URL
https://arxiv.org/abs/2610.19635
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E2DRL: End-to-End Differentiable Reinforcement Learning for 3D Obstacle Avoidance in Quadruped Robots
2026-10-14 05:54:25Cheng Fan, Bingyang Zhou, Gang Yang, Zixuan Zhuang, Aoqian Zhang, Pengzhi Yang, Xin Liu, Chunzheng Wang, Yan Rui Tan, Fan ShiAbstract
Differentiable reinforcement learning shows strong promise for robot policy learning, but its application to legged locomotion has remained limited to blind walking or simulated 2D tasks. Extending it to end-to-end visual obstacle avoidance is challenging because hard collision constraints and early termination upon contact corrupt first-order gradients, trapping optimizers in local minima. We present E2DRL, which addresses this with a soft differentiable obstacle-interaction formulation: penetration penalties across multiple body keypoints with velocity-conditioned stop-gradient shaping to provide the first-order training signals for 3D obstacle avoidance. To realize a deployable perception-control system, a privileged teacher trained via Soft Analytic Policy Optimization (SAPO) in a differentiable simulator is distilled into a recurrent depth-based student via DAgger, then blended with a base locomotion policy using a terrain-aware gating module for deployment. In simulation, E2DRL achieves higher sample efficiency than PPO and demonstrates superior velocity-tracking performance and 3D obstacle-avoidance capability compared with both PPO and Duality-based DCBF NMPC. We present the first sim-to-real validation of end-to-end differentiable RL for 3D obstacle avoidance on a Unitree Go2 in static and dynamic environments.
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URL
https://arxiv.org/abs/2610.19627
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Spacecraft Pose Tracking via Kinematic Prediction and Selective Event Correction
2026-10-14 02:46:18Yonglong Zhang, Guanning Yao, Shuo Zhang, Yifan Yang, Yang Liu{\dag}, Zongwu XieAbstract
In initialized spacecraft tracking, a short-horizon motion prediction remains available as event support changes. Observation-Aligned Event Innovation (OA-EI) uses events to correct selected components of this prediction. A constant-body-twist model propagates the complete pose; the event encoder proposes rotational and normalized image-plane translation corrections, retaining propagated axial depth. Candidate magnitudes come from a bounded Scale Gate and a deterministic activity factor, with empty windows returning the prediction unchanged. Evaluation uses four FRESH physical-event trajectories, twenty rollout starts, and three training seeds. Each rollout starts from two reference poses and then uses self-estimates. At 7.7 seconds, rotation and translation errors fall from 41.63°/57.28 mm for prediction alone to 15.73°/22.41 mm for OA-EI, reductions of 62.2% and 60.9%. Failure rates fall from 20.0% to 1.67%. Matched ablations favor the rotation-bearing interface for overall pose accuracy; combining scaling with activity support gives the lowest errors at every tested event-retention level. On Jetson Orin Nano, the measured in-memory update takes 44.56 milliseconds at the median and 58.77 milliseconds at P95.
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URL
https://arxiv.org/abs/2610.19465
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Beyond Kinematic Tracking: Preserving Expressive Characteristics in Humanoid Whole-Body Control
2026-10-14 01:39:14Lingfan Bao, Hanshang Zhu, Yan Pan, Jincheng Wang, Jingyang Yu, Tianhu Peng, Yiyang Jia, Dimitrios Kanoulas, Chengxu ZhouAbstract
Whole-body control plays a crucial role in enabling humanoid robots to execute expressive motions. Faithful execution requires preserving both the intended action and its expressive characteristics. Existing whole-body trackers typically balance joint and keypoint tracking with physical stability across diverse motions, but these objectives do not necessarily prioritize the expressive characteristics of each action. Our analysis shows that lower average positional tracking error does not guarantee better preservation of dynamic and postural motion characteristics. To address this gap, we propose a residual learning framework with compensation objectives targeting amplitude, energy, body expansion, body lean, and pelvis height. To concentrate compensation while limiting interference with the underlying tracking behavior, motion-aware gating allocates correction capacity according to body-part activity, preserving larger correction ranges in more active parts and restricting them elsewhere. For each frozen tracker, we train motion-specific residual policies and distill them into a unified policy shared across motion categories. Simulation and physical experiments on the Unitree G1 across eight motion categories demonstrate superior preservation of dynamic and postural motion characteristics compared with the corresponding baselines.
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URL
https://arxiv.org/abs/2610.19393
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The Impact of Detector Architecture, Model Scale, and Scene Density on Multi-Pedestrian Tracking
2026-10-14 01:12:58Pedro Manoel Herminio Alves, Dalton C\'ezane Gomes Valadares, Cl\'audio de Souza BaptistaAbstract
Pedestrian tracking in video is important for applications such as surveillance and scene analysis, but it becomes more challenging in crowded scenarios with frequent occlusions and rapid motion. This paper analyzes how detector architecture, model scale, scene density, and inference regime affect the tracking of multiple pedestrians. We compare the YOLO11, RT-DETR, and YOLO26 detector families with the ByteTrack and BoT-SORT trackers on sequences from the MOT17, MOT20, and SOMPT22 benchmarks. For YOLO26, we also compare traditional overlap filtering via Non-Maximum Suppression (NMS) with end-to-end inference. The RT-DETR family achieved the highest mean scores on the HOTA tracking quality metric across all three benchmarks with both trackers, with a more pronounced advantage on MOT20, albeit at a higher computational cost. On MOT17 and SOMPT22, YOLO26 variants, especially YOLO26-L with NMS, offered favorable combinations of quality and speed compared with RT-DETR. In the YOLO26 inference comparison, the end-to-end mode did not yield consistent tracking gains over the NMS-based regime. Taken together, these results provide a practical guide for selecting detectors and trackers for this task based on application priorities.
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URL
https://arxiv.org/abs/2610.19369
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VLX-Go: Robust Embodied Tracking through Multi-Stage Learning and On-Policy Refinement
2026-10-14 01:02:16Kyusong Lee, Heting Ying, Tiancheng ZhaoAbstract
Embodied visual tracking requires a robot to identify a designated target from visual observations and control its own motion to follow that target through an environment. Following an isolated person is a comparatively simple demonstration of embodied visual tracking, but following the intended person among distractors remains challenging. Existing methods exhibit a substantial drop in success from single-target to distractor tracking, motivating a focus on the shared spaces that person-following robots must navigate. We present \method{}, a vision--language waypoint policy built around the hypothesis that visual and language representations should be aligned before tracking-specific motion is learned. The policy combines complementary frozen visual encoders, multiscale temporal context, a transformer backbone, and a lightweight head for robot-centric waypoint prediction. Its training progresses through vision--language alignment, multimodal reasoning mid-training, and tracking specialization on 19,532 oracle episodes. Compared with 41.54\% distractor-tracking success for our earlier OmTrackVLA model, the complete multi-stage recipe achieves 55.80\%. We then explore on-policy refinement using filtered oracle labels for states visited by the policy. This preliminary study adds 2.42 percentage points of distractor-tracking success, reaching 58.22\%, while reducing collision rate by 1.99 pts. The final policy records the highest distractor- and ambiguous-tracking success rates among the compared methods. These results support staged multimodal learning as a promising direction for tracking among distractors and motivate further study of on-policy refinement for person following in shared spaces.
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URL
https://arxiv.org/abs/2610.19361
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Learning Keypoint Constraints from Visual Demonstrations for Safe Motion Planning
2026-10-13 23:15:47Zheng Qiu, Zhouyu Zhang, Ninghan Zhong, Glen ChouAbstract
We present Keypoint Constraint Learning (KCL), a framework for learning task-relevant motion constraints from visual demonstrations and for planning safely with the extracted constraints. To make constraint learning tractable from RGB-D observations, we represent demonstrations using sparse 3D object-centric keypoints and semantic mask centroids extracted through segmentation, visual feature clustering, and point tracking. In this reduced geometric space, we learn keypoint dynamics and infer distance- and orientation-based constraints that make the expert trajectories feasible and approximately locally optimal by enforcing KKT optimality conditions in the reduced state space. We then plan with the learned constraints under uncertainty, using robustness margins derived from accumulated prediction error, and provide a theoretical analysis of how keypoint perception error and learned dynamics error affect the recovered constraints. We evaluate KCL on visual demonstrations from navigation to rigid/deformable manipulation, showing that it recovers multi-stage geometric constraints and outperforms baselines in downstream safe planning.
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URL
https://arxiv.org/abs/2610.19295
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Can LLM Agents Efficiently Identify Appliance Faults? Insights From Diagnosing a Simulated Appliance
2026-10-13 23:12:32Lucas H. McCabe, Sarah Lukens, H. Howie HuangAbstract
In so-called "Industry 4.0," integrated sensors, analytics tools, and other digital technologies supplement industrial workflows, potentiating enhanced visibility and automation. Prognostics and health management (PHM) and natural language processing (NLP) practitioners alike have explored the application of large language models (LLMs) to industrial asset management, but many prior works' focus on exam-like benchmarks has limited their assessment of LLMs' ability to automate practical operations. Herein, we introduce CoffeeBench, a fault diagnostics task for LLM agents, using a simulated appliance. The LLMs we evaluate struggle to consistently identify faults from the sensor information alone, but the best-performing ones can iteratively refine the fault-option space to eventually obtain a successful diagnosis. Our subsequent analyses, therefore, focus on: differentiating models by diagnostic efficiency (RQ1); examining the lagging performance of the three worst models (RQ2); and identifying viable heuristics for selective prediction (RQ3), including that initial diagnostic uncertainty and LLM-judged soundness of reasoning are high-signal predictors of diagnostic success. In addition to our benchmark results (Section 3.1), we provide practical insights for improving the performance of the open-weight models on CoffeeBench, such as by explicitly tracking episode state on their behalf to reduce timeouts (Section 3.2) or applying a deliberation loop to refine diagnostic hypotheses (Section 3.3).
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URL
https://arxiv.org/abs/2610.19291
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DexMimic: A Generalist Dexterous Hand-Object Tracking Policy via Value-Guided Reset Allocation
2026-10-13 19:29:33Zhexi Luo, Zhixuan Xu, Rui Yang, Zeyu Xiao, Yiwen Hou, Lin ShaoAbstract
Achieving human-like dexterous manipulation remains a central challenge in robotics. Learning from human hand-object interaction (HOI) datasets offers a promising pathway to diverse dexterous skills, yet existing physics-based approaches train specialist policies for individual trajectories, thereby limiting skill reuse at scale. We introduce DexMimic, a generalist dexterous hand-object tracking policy jointly trained across diverse HOI trajectories. Efficient joint training requires allocating each rollout to both an undertrained phase and a starting state that supports continued tracking. DexMimic realizes this insight through Value-Guided Reset Allocation, which adapts the initialization distribution online to prioritize difficult phases and select reset states with higher expected tracking returns. We further introduce a benchmark spanning training, fine-tuning, and generalization. Experiments show improved tracking success and training efficiency, faster fine-tuning, and the potential for zero-shot generalization to unseen trajectories and objects; larger training sets further improve efficiency and generalization. Finally, we validate DexMimic on a real-world dexterous manipulation platform.
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URL
https://arxiv.org/abs/2610.19089
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Contact-UAN: Unsupervised Actuator Networks as a Residual World Model for Humanoid Control
2026-10-13 18:00:52Nolan Fey, Khai Nguyen, Yash Prabhu, Gabriel B. Margolis, Pulkit AgrawalAbstract
Humanoid policies trained in simulation can transfer qualitatively to hardware while failing to transfer the force interactions learned during training, compromising torque efficiency, load regulation, and robustness to impacts. This failure can arise from actuator sim-to-real gaps because forces depend on actuator torques. We introduce Contact-UAN, a residual world model that preserves a simulator's physics priors while correcting actuator dynamics to align simulated rollouts with recorded hardware rollouts. For humanoid motion with contact, this requires contact-consistent replay: if hardware playback in simulation begins with misaligned contact wrenches, the residual model learns to correct reset artifacts rather than actuator discrepancies. Using only onboard proprioception, Contact-UAN infers the simulator-side stance-foot pose needed to initialize replay with consistent contact forces. We show that a UAN trained on 6.5 minutes of real-world walking data generalizes to tasks that benefit from accurate force and impulse regulation and produces policies that transfer seamlessly to the real world, yielding 20% lower running torque, 43% lower force-tracking error, extreme compliance, accurate impedance control, and dynamic, robust jumps.
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URL
https://arxiv.org/abs/2610.18991
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Task-evoked eye movements as candidate digital biomarkers of depression severity in adolescents and young adults
2026-10-13 14:51:53Youxiang Sun, Yujie Nie, Zhuoru Wu, Mengyuan Yu, Wenkong Wang, Xiang Li, Yumei Wang, Xin Ma, Lizhou FanAbstract
Objective digital measures of depression severity could complement conventional symptom assessments and facilitate more timely clinical evaluation. Here, we investigated whether task-evoked eye movements provide interpretable behavioral markers of depression severity in adolescents and young adults. In this single-center, cross-sectional study, 155 participants aged 14--20 years completed emotional-spatial free-viewing and memory-guided recall tasks and were stratified by 17-item Hamilton Depression Rating Scale scores. We examined 19 prespecified eye-movement features across six task-informed domains using covariate-adjusted ordinal-trend models. Greater depression severity was associated with lower gaze-allocation entropy (standardized $\beta=-0.599$), fewer inter-area switches ($\beta=-0.526$), longer first target-entry latency ($\beta=0.572$), and lower target dwell proportion ($\beta=-0.678$; all false-discovery-rate-adjusted $q<0.001$). Emotion-specific attentional-bias measures were not associated with severity, whereas associations involving fixation dispersion weakened after adjustment for anxiety symptoms. In a complementary machine-learning analysis incorporating 44 candidate eye-movement features and demographic covariates, a three-stage cascade classifier achieved the highest four-class stratification performance (accuracy, 0.665; macro-F1, 0.670; area under the receiver operating characteristic curve, 0.869), outperforming single-stage and two-stage approaches. Together, these findings identify altered visual exploration and memory-guided gaze control as candidate digital biomarkers of depression severity, rather than generalized negative attentional bias. These results support further prospective evaluation of task-evoked eye tracking as a complementary approach for timely severity assessment and clinical decision support.
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URL
https://arxiv.org/abs/2610.18494
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Reset Early, Reset Often, Eliminate Models
Abstract
Connection-tableau provers typically construct closed tableaux by backtracking search. This gives lightweight proof procedures, but their low-memory search state leaves little derived information to reuse after a failed attempt. SATCoP addresses this by retaining grounded tableau clauses in an incremental SAT solver, allowing the prover to refute the problem once the accumulated ground clauses become propositionally unsatisfiable. We introduce SATResetCoP, which relies more directly on this persistent SAT state by not backtracking on unproductive tableaux and instead starting new ones to generate further ground clauses for the SAT solver. On TPTP, SATResetCoP improves over our leanCoP-style baseline by 54% and our SATCoP-style baseline by 18%. On the bushy MPTP2078 benchmark, it solves 616 problems, a 49% improvement over our leanCoP-style baseline and a 12% improvement over our SATCoP-style baseline. These results suggest that changing tableau guidance to accumulate useful ground clauses faster improves the performance of the prover.
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URL
https://arxiv.org/abs/2610.18204
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I3L: Iterative Interactive Imitation Learning for Whole-Body Mobile Manipulation
2026-10-13 05:28:59Wensi Ai, Christopher Luey, Karthik Dharmarajan, Evans Han, Yunfan Jiang, Stef Ren, Jianwen Xie, Jiajun Wu, Li Fei-Fei, Ruohan ZhangAbstract
Policies trained offline from teleoperated demonstrations can degrade outside their training distribution. This gap is particularly acute in long-horizon whole-body mobile manipulation, where long horizons amplify compounding errors and coordinated arm, torso, and base motion makes exhaustive demonstration coverage impractical. We introduce I3L, an integrated hardware and learning system that combines whole-body correction with iterative policy refinement to address this last-mile reliability gap. Its low-cost, open-source JoyLo+ interface uses policy-tracking leader arms and touch-triggered takeover to enable coordinated corrections across the body parts, while iterative deployment and retraining allow operators to target failures of the updated policy. We evaluate I3L across three robot embodiments and eight simulated and real-world tasks, including four long-horizon whole-body mobile manipulation tasks. Controlled simulation experiments show that four-round HG-DAgger achieves the highest final success on both tasks. Under this protocol, I3L improves autonomous success over the base policies by an average of 68.3 percentage points and achieves at least 90% success on every task, outperforming demonstration-only training by 35.6 percentage points on average with the same number of training trajectories. Averaged across tasks, takeover duration per episode decreases by 72% over four rounds. Together, these results show that I3L helps close the last-mile gap between offline training and reliable deployment and provides practical insights into collecting and using corrections for long-horizon whole-body mobile manipulation. Videos, visualizations, and appendix are at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.17748
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The belief-action gap in language model agents
2026-10-12 22:04:36Ayse Sila Okcu, Weisheng Wang, Tongmeng Xie, Niall Dalton, Angelos Nalmpantis, Raghu Arghal, Mario GiulianelliAbstract
Language model (LM) agents can fail for different reasons, requiring different explanations and interventions. We study how state beliefs, action values, and action preferences interact as LM agents reason and commit to decisions in text-rendered grid worlds. We estimate task-relevant beliefs using report-based and representation-based probes, and action values using inverse reinforcement learning. We find that task-relevant state and value information is often represented more reliably than it is reflected in behaviour. Tracking action preferences throughout reasoning further shows that decisions sharpen around a commitment point and reported belief uncertainty decreases near commitment, although individual belief changes do not consistently explain shifts in action preference. Finally, forced actions follow reasoning prefixes from other decisions when transplanted, whereas the tested reasoning-window activation edits provide limited control over the action. Together, these results suggest that some failures arise not from missing task-relevant information, but from how available information is translated into action. Our measurements distinguish information availability from belief-action consistency without by themselves identifying the cause of each failure. Our code is available at: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2610.17444
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Beyond Successful Play: Diagnosing Opponent Modeling in Large Language Models
2026-10-12 19:08:43Hanbo Xie, Yue Zhao, Robert C. WilsonAbstract
Language-model agents are expected to adapt to others whose behavior changes through interaction. Yet adaptation may rely on learned behavioral patterns rather than theory of mind (ToM): the ability to infer others' mental states, including beliefs and intentions. We introduce a benchmark and diagnostic framework for repeated hide-and-seek against algorithmic opponents with explicitly defined recursive belief updates. Their ground-truth beliefs and action probabilities let us distinguish adaptive play, action prediction, and belief tracking through live interaction, fixed-history evaluation, and controlled information interventions. With structured elicitation and behavioral supervised fine-tuning (SFT), we find improved play in several tested settings, but diagnostics reveal limitations in opponent prediction and belief tracking. We test whether supervising opponent action probabilities can address this predictive deficit in Qwen2.5-7B-Instruct. Predictions improve when the model is told the opponent's type and parameter settings, but become less accurate when it must infer the opponent from history without this information. Training on examples that also omit these details reduces the gap, although improvements vary across opponents. Is this limitation specific to smaller open-weight models, or does it also appear in a frontier model? GPT-5.4 also benefits from correct opponent beliefs: supplying them improves its predictions and choices, whereas deeper explicit belief reports and self-generated memory do not consistently improve forecasting from interaction history. This contrast suggests that using useful belief information is easier than inferring it autonomously, even for a frontier model. Together, our findings distinguish improved play and action prediction from reliable belief tracking, providing a framework for evaluating mentalizing and testing targeted improvements.
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URL
https://arxiv.org/abs/2610.17310
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Does the Explanation Drift Before the Guarantee? Label-Free Early Warning on Evolving Graphs
Abstract
Deployed models can fail silently as the world they describe evolves. Attribution drift has served as an early warning in tabular data; we ask whether, in graph streams, a model's own explanations can forewarn the loss of nominal conformal coverage. Doing so requires repairing the naive drift statistic twice. A vanishing edge loses mask mass regardless of whether the model relied on it, so we condition the importance on edge presence. Evolving graphs also break edge identity: a relabelling that changes nothing shifts the identity-based statistic by 0.69 on synthetic graphs and 0.83 on real ego-networks, whereas aggregating over structural roles brings both to 0.0 and stays well-defined when the support changes. We test six pre-registered regimes on thirty seeds each. A two-channel monitor, tracking conditional mask mass and its distribution over roles, precedes coverage collapse by 8 to 14.5 steps across four gradual regimes (node addition, removal, replacement, and edge thinning), all surviving Holm correction. A sudden knockout yields the expected zero lead, and a harmless change triggers no alarm. Leads track the length of the transitional phase (Spearman 0.79 over 150 runs). On real transaction ego-networks, the untuned mass channel forewarns staged drift by 27 steps and is the only channel, attributional or structural, that never alarms on a stationary stream. The main limitation is that the mass channel is blind to covariate drift, which breaks the guarantee in every run; the distributional channel detects it and also rescues the rewiring regime, so we report the two channels separately rather than as a union.
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URL
https://arxiv.org/abs/2610.16534
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Memory-Efficient Integer-Only Training of Deep Neural Networks
2026-10-12 07:25:58Hazem Hesham Yousef Shalby, Fabrizio Pittorino, Manuel RoveriAbstract
Training neural networks in reduced precision can yield significant efficiency gains, yet all existing methods that scale to standard computer vision benchmarks retain floating-point in at least one stage, typically the weight update or optimizer state. We present a training algorithm that scales to modern deep neural networks, in which every tensor (weights, gradients, and activations) is stored as INT8, and every operation (forward pass, backward pass, weight update, optimizer update) is performed in integer arithmetic. Specifically, tensors are stored as signed integer mantissas paired with explicit power-of-two exponents, on which integer-only operations are performed using five custom composable building blocks (products, sums, divide-by-constant, nonlinear functions, and weight updates). This allows complete implementation of trainable integer layers, including convolutions, batch and layer normalization, softmax, and GELU. A per-group velocity mechanism with independent exponent tracking preserves gradient precision across neurons and channels with diverse magnitudes. As every tensor fits in INT8, training memory is roughly 4x smaller than the FP32 baseline. We validate our training algorithm on CNNs (ResNet-18/34/50/101, MobileNetV2) and Vision Transformers (ViT-Ti / B), demonstrating for the first time that training neural networks with INT8 tensors and integer arithmetic can achieve competitive accuracy on CIFAR-10, CIFAR-100 and ImageNet at a reduced memory budget.
Abstract (translated)
URL
https://arxiv.org/abs/2610.16298
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All-St3R SLAM: Real-time RGB Dynamic SLAM with Pixel-wise Motion Masking
2026-10-12 04:04:33Yewon Kim, Paul Hongsuck Seo, Sang Chul AhnAbstract
SLAM (Simultaneous Localization and Mapping) is a core technology in autonomous systems that enables them to estimate their own position and build a map of unknown environments simultaneously. SLAM systems in dynamic environments are of great practical importance. However, existing dynamic SLAM approaches still have several limitations like over-removal and high computational costs. To address these limitations, we propose a real-time RGB Dynamic SLAM framework that precisely removes moving objects at the pixel level without relying on predefined labels or segmentation models. Our system combines pixel motion predicted by ego-motion using DUSt3R with point tracking from All-Tracker, removing only actually moving pixels by analyzing discrepancies between the two motion sources. Unlike object-level masking methods, our approach eliminates only currently moving regions, allowing temporarily static parts to be utilized for tracking. Operating at approximately 10 FPS, the system achieves real-time performance on standard 30 FPS video streams by subsampling every 3 frames. Relying solely on RGB inputs, this significantly improves upon state-of-the-art dense dynamic SLAM approaches (0.5-3 FPS), presenting a highly practical solution.
Abstract (translated)
URL
https://arxiv.org/abs/2610.16143
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JSIR: An Audio-Aligned, Multi-Task Dataset of Jazz Standard Recordings
Abstract
Beat tracking, chord estimation, and structure analysis are staple tasks of music information retrieval. Their datasets are drawn largely from Western popular music, and jazz remains a repertoire on which state-of-the-art systems underperform. We present JSIR, the Jazz Standards dataset for Information Retrieval. Its 267 recordings of 44 jazz standards span 25.6 hours, 3.7 times the audio of JAAH, the closest existing resource. For each recording, we provide annotations for beat and downbeat positions, chords, and sections, all produced by a jazz musician and revised in several passes. In baseline experiments, models trained with JSIR also improve on other jazz datasets: the downbeat F-measure of a state-of-the-art beat tracker rises from 87.7% to 89.2%, and the seventh-chord accuracy of a pop-trained chord estimator on JAAH from 34% to 41%. We publicly release the annotations, the annotation tool used to create them, and a web application that displays them in sync with the audio.
Abstract (translated)
URL
https://arxiv.org/abs/2610.15356
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Siam-ALS: An Explainable Siamese Deep Learning Framework for Early ALS Detection Using EEG and Eye-Tracking Signals
2026-10-11 05:14:29Abdur Rahman, A. A. M. Muzahid, Istiak Ahmed, Dipto Biswas, Hua Han, Yujin Zhang, Ferdous SohelAbstract
Amyotrophic lateral sclerosis (ALS) diagnosis remains challenging due to heterogeneous symptoms and reliance on clinical assessment, underscoring the need for objective, data-driven approaches that leverage patient-generated physiological signals. We propose Siam-ALS, an explainable Siamese deep learning framework that jointly models synchronized electroencephalography (EEG) and eye-tracking (ET) signals. EEG captures ALS-related changes in brain activity, while ET provides information about oculomotor control, allowing the model to learn complementary patterns associated with ALS. The framework employs two modality-specific encoders: a convolutional EEG encoder that captures spatiotemporal neural patterns and an MLP-based ET encoder that models oculomotor dynamics. These modality-specific features are processed through weight-sharing Siamese branches and fused into a compact 64-dimensional joint embedding. A lightweight classifier is used to predict ALS, while pairwise metric learning helps the model learn more effective patterns from the small, diverse ALS datasets. Performance was evaluated on the public EEGET-ALS dataset using strict subject-level cross-validation, where Siam-ALS achieved an accuracy of 0.988 and an AUROC of 0.998, demonstrating strong performance compared with classical machine learning, DL, and non-Siamese fusion approaches. Cross-dataset evaluation on the independent BigP3BCI dataset achieved an AUROC of approximately 0.98, supporting the generalization capability of Siam-ALS across different BCI paradigms. To enhance interpretability, six XAI methods were evaluated in the learned embedding space, with SHAP achieving the highest, though statistically comparable, fidelity in identifying important EEG and ET patterns that contribute to ALS predictions. Overall, Siam-ALS provides an accurate, generalizable, and explainable framework for multimodal ALS detection.
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URL
https://arxiv.org/abs/2610.15351
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