Detection
-
Task aware Dynamic Movement Primitives for failure detection and recovery in contact rich manipulation
2026-09-19 17:37:15Bhavnashri A, Sobia Shafi, Krishnapuram Himavarshini, Anuj TiwariAbstract
Assembly remains a challenging robotic manipulation task in presence of tight tolerances and complex contact interactions. While Learning from Demonstration (LfD) frameworks like Dynamic Movement Primitives (DMPs) can effectively encode trajectories from a single demonstration, they are highly sensitive to variations in initial grasp configurations and external contact forces. Such variations often lead to task failures during the contact rich phases. This paper presents a task aware failure detection and recovery framework that integrates DMP based trajectory generation with real time stage classification. Utilizing Quadratic Discriminant Analysis (QDA) trained on multimodal sensor data, the framework segments execution into approach, alignment, and insertion stages for a Peg in Hole (PiH) assembly operation. By using goal relative position data as features, this classification generalizes to unseen goal positions without requiring retraining, matching the inherent generalization capability of DMPs. Anomaly detection is performed online using a Mahalanobis distance metric computed over force features, isolating contact induced failures from nominal trajectory execution. Upon failure detection, a spiral search recovery policy is triggered to actively realign the peg under contact before resuming the learned DMP insertion. The proposed approach is evaluated on an experimental setup achieving 95% stage classification accuracy, and demonstrates reliable failure recovery under lateral misalignments of up to 3 mm using only a single demonstration.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23151
PDF
-
QwenVLConnector: A Fast, Unified Medical VLM Chatbot for Fine-Grained Clinical Perception and Text Generation
2026-09-19 17:09:50Le Thien Phuc Nguyen, Thien Nguyen, Thanh-Huy Nguyen, Gia Minh Hoang, Anh Mai Vu, Ulas BagciAbstract
Most medical vision-language models (VLMs) excel at open-ended report generation and VQA but provide limited support for structured, fine-grained clinical perception within a unified interface. We present QwenVLConnector, a Qwen2.5-VL-based medical chatbot that unifies classification, multi-label classification, textualized detection, counting, regression, and free-form report generation under a single next-token objective. Our key component is a lightweight dense multi-layer Connector that aggregates low- and high-level visual features, aligns them through the pretrained vision Merger, and fuses them with the final visual representation without increasing sequence length. This design enriches visual tokens with complementary spatial and semantic cues while preserving efficiency. On FLARE-2D, QwenVLConnector improves detection F1 from 0.55 to 0.85, raises single-label classification from 0.37 to 0.51, and boosts report-generation GREEN by up to 18.3 points over the Qwen2.5-VL baseline. We further explore multimodal in-context learning for report generation, showing additional improvements without updating model parameters. Overall, QwenVLConnector offers a unified and efficient framework for combining structured medical perception with open-ended clinical text generation. Our code can be found at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23139
PDF
-
HDMamba-YOLO: Efficient State-Space Perception and Local Spatial Reconstruction for UAV Small Object
2026-09-19 14:47:57Linduo Wei, Junjie Fan, Yijun Mai, Yong QiAbstract
Small-object detection in UAV imagery is challenged by weak visual evidence, ambiguous boundaries, dense object distributions, and complex backgrounds. Effective detection therefore requires long-range contextual information for target-background discrimination while preserving explicit local two-dimensional structures for accurate localization. These requirements arise at different stages of the detection pipeline and are not naturally addressed by a uniform feature-processing strategy. We propose Hybrid Dual-domain Mamba-YOLO (HDMamba-YOLO), a stage-wise heterogeneous SSM-CNN detector organized according to a perception-reconstruction-alignment-interaction rationale. EfficientVMamba-based EVSS establishes long-range contextual perception in the backbone, while PhasePatchMerging2D provides phase-aware hierarchical transitions. DST-Wrapper and Native C3k2-ASSAF then perform perception-to-reconstruction transition and repeated local two-dimensional reconstruction during FPN/PAN aggregation. DySample provides content-adaptive cross-scale resampling, while OS-CVTIA introduces macro-micro interaction and task-specific modulation for localization and classification. On VisDrone2019, HDMamba-YOLO-B achieves 42.737% mAP50 and 25.713% mAP50:95 with 10.042M parameters and 29.879 corrected GFLOPs. HDMamba-YOLO-Lite achieves 41.140% mAP50 and 24.741% mAP50:95 with 5.344M parameters. Under the unified AI-TOD evaluation protocol, HDMamba-YOLO-B obtains 21.621% AP and 47.881% AP50. Controlled ablations further support the stage-wise allocation of state-space perception, convolutional reconstruction, dynamic alignment, and task interaction for UAV small-object detection.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23061
PDF
-
Reconstructed holograms and explanation-aware evaluation for low-cost computational pollen analysis in veterinary cytology
2026-09-19 13:35:07Swarn Warshaneyan, Joial Danyal, Bla\v{z} Cugmas, Mindaugas Tamo\v{s}i\=unas, Edgars Kviesis-Kipge, Kirishanth Manivannan, Roberts Kadi\c{k}isAbstract
Automated pollen analysis supports veterinary cytology, but brightfield microscopy is costlier and more complex than lens-less digital in-line holographic microscopy. We evaluate whether reconstructed holograms can narrow this gap and whether model explanations remain reliable under modality change. Six pollen species were imaged by brightfield and holographic microscopy. Raw, single back-propagation and iterative phase retrieval holograms were evaluated with YOLOv26s detection and MobileNetV4 classification after anchor-based annotation transfer. Six attribution methods were assessed for spatial grounding and faithfulness with the Attribution Health Inspection and Repair (AHIR) protocol, which tests model brittleness under weak noise and corrects attribution-map granularity when needed. Brightfield achieved 0.6890 mAP50-95 (0.8865 mAP50) for detection and 0.9687 macro-F1 (0.9705 accuracy) for classification. Reconstructed holograms narrowed the gap with a task-dependent split: p-type was strongest for detection at 0.5324 mAP50-95 (0.8229 mAP50), while r-type was strongest for classification at 0.7695 macro-F1 (0.7866 accuracy), both far above raw-hologram baselines. Activation-based explanations localized strongly on grains, and region-based methods retained ~60 to ~80% of faithfulness under holography. The holographic detector was highly brittle to weak perturbations, saturating deletion-based evaluation while insertion remained informative. Pixel-level gradient explanations approached random floor, yet spatial smoothing restored p-type gradient faithfulness from 0.05 to 0.51. For holographic classification, perturbation-based explanations remained faithful while gradient-based methods fell below random floor. Reconstruction improves low-cost holographic pollen analysis, while AHIR distinguishes genuine attribution failure from artifacts caused by model brittleness and map granularity.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23017
PDF
-
Interpretable Multi-Hypersphere Deep Anomaly Detection for Open-set Supervised Anomaly Detection
2026-09-19 13:12:06Zhiji Yang, Fangyong Wang, Yue Li, Xianli Pan, Jianhua ZhaoAbstract
Multi-class open-set anomaly detection requires a model to characterize the normal acceptance domain formed by multiple heterogeneous subdistributions using only class-labeled samples from known normal classes, and to identify previously unseen anomalies at test time. Existing single-hypersphere methods cannot explicitly represent class-specific locations and acceptance ranges, while current multi-hypersphere or multi-class approaches do not fully integrate inter-class boundary constraints, learnable acceptance ranges, and interpretable decisions. To address these limitations, we propose Interpretable Multi-Hypersphere Deep Anomaly Detection (IMHD-AD). IMHD-AD constructs an independent hypersphere for each known normal class in a shared feature space. With target-inside and non-target-outside constraints, IMHD-AD embeds the class-specific hypersphere centers and radii directly into the final network layer and jointly optimizes them with the shared representation. The minimum signed boundary score across hyperspheres simultaneously determines open-set acceptance or rejection and provides a faithful geometric explanation of each decision. On MNIST, Fashion-MNIST, and CIFAR-10, IMHD-AD achieves the highest AUC in 28 of 30 open-set comparisons. A two-dimensional synthetic study further shows that model architecture must balance the compactness of known normal classes against the separability of unknown anomalies.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23008
PDF
-
Beyond Single-Model Injection: A Threat Model and Defense Architecture for Prompt Injection in Multi-Agent Systems
2026-09-19 11:06:14Rudrendu Kumar Paul, Sourav NandyAbstract
Existing prompt injection research focuses on single-model chatbot scenarios, where an attacker manipulates one LLM through crafted input. Multi-agent systems amplify this threat through three mechanisms absent from single-model settings: inter-agent message passing creates injection channels invisible to perimeter defenses, shared tool access enables privilege escalation across agent boundaries, and trust propagation allows a compromised agent to influence upstream orchestrators. We construct a threat model enumerating 14 attack vectors across four categories: direct injection via user input (3 vectors), indirect injection via tool outputs (4 vectors), inter-agent injection via message passing (4 vectors), and cascading injection through orchestrator manipulation (3 vectors). Testing all 14 vectors against a 6-agent production-representative system, we find that 67% of agents are vulnerable to at least one scope violation even with system-prompt-level guardrails, and indirect injection via tool outputs succeeds in 43% of attempts. Four architectural defenses reduce overall injection success from 31.2% to 4.2%: message signing with provenance tracking (inter-agent injection down 91%), input/output sanitization at agent boundaries (indirect injection down 78%), privilege-scoped tool access per agent role (privilege escalation eliminated entirely), and anomaly detection on inter-agent communication patterns (84% of cascading attempts caught).
Abstract (translated)
URL
https://arxiv.org/abs/2609.22949
PDF
-
Combining Foundation Model Confidence and Monocular Depth for Training-Free Out-of-Distribution Segmentation
2026-09-19 09:04:17Serin Varghese, Fabian H\"uger, Kira MaagAbstract
Autonomous vehicles operating in open-world scenarios are inevitably confronted with previously unknown objects, such as exotic animals or loose cargo. The reliable detection and segmentation of these out-of-distribution (OOD) objects is therefore crucial for a safe understanding of the environment and decision-making. Most existing approaches require access to OOD training samples, retraining of the segmentation backbone, or dedicated auxiliary architectures, limiting their practical applicability. We propose a training-free method that derives dense OOD scores directly from the confidence predictions of a foundation segmentation model, without any task-specific fine-tuning or access to anomalous data. To improve the robustness of our OOD segmentation, geometric information from monocular depth estimation is incorporated into the decision process, providing complementary cues to uncertainty-based predictions. We evaluate the proposed method on the SegmentMeIfYouCan benchmark and additionally assess its performance on OOD tracking in video sequences, reflecting the temporal nature of real-world perception systems. The method performs strongly on road-centered benchmarks.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22896
PDF
-
Planning-Aligned Pretraining of BEV Representations with Sparse Action-Conditioned Targets for End-to-End Autonomous Driving
2026-09-19 08:13:03Jaeha Song, Soonmin HwangAbstract
End-to-end driving requires planning-relevant bird's-eye-view (BEV) representations, but existing pretraining approaches often rely on task annotations or dense scene reconstruction. We introduce PAVER, Planning-Aligned BEV Encoder Pretraining. From a single LiDAR sweep, PAVER constructs sparse risk and unknown targets describing occupied and unobserved evidence along rule-based ego motions. A 10K-parameter head predicts these targets from masked BEV features conditioned on the action state, directing supervision toward geometric constraints on candidate motions. Pretraining requires no driving-task annotations or dense reconstruction. Only the BEV encoder is transferred, preserving the downstream architecture and camera-only inference. On nuScenes, PAVER reduces VAD-Tiny's average collision rate from 0.51% to 0.19%, while improving planning L2, motion prediction, detection, and mapping. The selected VAD-Tiny and VAD-Base schedules use about 36% less estimated total training time than scratch training, including pretraining. On Bench2Drive Town05 Long, PAVER improves UniAD-Tiny's closed-loop Driving Score from 48.45 to 58.79. The project page is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22868
PDF
-
The Price of Safety: Benign-Case Utility and Token Overhead of Memory-Poisoning Defenses in LLM Agents
Abstract
Memory-poisoning defenses for LLM agents are typically evaluated by their ability to prevent attacks. However, the traffic they process is rarely adversarial. The cost of implementing a defense is paid with each interaction, while its benefits are only seen in a small percentage of cases. We developed a measurement setup that keeps the memory backend, retrieval process, and judge consistent across different conditions, changing only the defense itself. We test each condition three times across five conversations to distinguish the defense's real effects from noise inherent in the pipeline's runs, which remains significant even at temperature zero. Across three write-time defenses (input sanitization, provenance checking, and LLM-based anomaly detection) and one read-time defense (reranking), tested on entirely benign traffic, the write-time defenses show no utility cost we can resolve, with 95% confidence intervals spanning roughly +/-4.5 points and including zero. The reranker is different: it lowers core accuracy by 4.4 points (95% CI [-9.0,-0.05], bootstrap; McNemar p=0.064), a result that survives replication but sits at the edge of our resolution. Its clearer cost is mechanical rather than statistical. On conversations containing no attack, the reranker quarantines legitimate memories on 33.6% of adjudicated items, reaching as many as 106 false quarantines in a single conversation, at 2.7% token overhead. Stacking all four defenses does not compound this cost: the combined condition's accuracy loss is smaller, and its confidence interval includes zero, suggesting the write-time defenses may partly offset what the reranker discards. Where a defense intercepts the pipeline, not whether it uses an LLM, appears to determine its benign-case price.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22818
PDF
-
AlexandriaX 2026: The First Shared Task on Dialectal Arabic Machine Translation
2026-09-19 05:59:30Abdellah El Mekki, AbdelRahim A. Elmadany, Samar M. Magdy, Saad Ezzini, Mo El-Haj, Mustafa Jarrar, Zaid Alyafeai, Bernard Ghanem, Muhammad Abdul-MageedAbstract
Dialectal Arabic machine translation (MT) remains challenging despite recent progress in Arabic language technologies, particularly because effective translation requires modeling not only semantic content but also dialectal variation, conversational context, speaker and addressee characteristics, and sociolinguistic appropriateness. Moreover, conventional MT metrics provide limited insight into the linguistic errors produced by dialectal systems. We present the AlexandriaX 2026 Shared Task on Dialectal Arabic MT, which addresses these challenges through three complementary subtasks: (1) context-aware English-to-Dialectal Arabic dialogue translation across 13 Arabic varieties, (2) cross-dialect Arabic translation in the financial domain covering six Arabic dialects, and (3) span-level MT error detection and classification using linguistically motivated error categories across five Arabic varieties. The shared task attracted 38 registrations for Subtask 1, 33 for Subtask 2, and 35 for Subtask 3. Twelve unique teams submitted their system description papers, all of which we accepted for publication. The best system on Subtask 1 achieved 30.42 spBLEU in the constrained track and 33.49 spBLEU in the unconstrained track. On Subtask 2, the top system obtained 28.40 spBLEU. On Subtask 3, the best system achieved an overall score of 49.82, outperforming the 24.29 baseline. Taken together, the results of the leading systems across the three subtasks highlight the benefits of explicit dialect modeling, context-aware generation, retrieval and reranking, and specialized approaches to interpretable MT error analysis. All the resources of AlexandriaX 2026 shared task are publicly available, including data, baselines, and evaluation code on our project page: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22796
PDF
-
SelfOp: An Optimization Algorithm for Self-Improving Security Agents
2026-09-19 05:51:27Saad Ullah, Yigitcan Kaya, Christopher Kruegel, Giovanni Vigna, Gianluca StringhiniAbstract
LLM agents are increasingly used for security tasks: vulnerability discovery, exploit reproduction, and patch generation. Improving them at the model level demands expert demonstrations or computable rewards, which security tasks rarely offer: traces are costly, failures hard to diagnose, rewards sparse, and non-computable. Efforts thus shift to the harness and context, but manual tuning needs task-specific expertise and scales poorly, while automated methods rely on scarce ground truth, stronger optimizer models, or unguided propose-and-evaluate loops that reduce to costly trial and error. We introduce SelfOp, an algorithm that automatically improves a frozen security agent's task context (instructions, skills, and reference documents), without modifying its execution harness and model weights. SelfOp casts context optimization as chain-rule-inspired textual gradient descent: from a single instance's outcome, it propagates error signals backward through the evaluator, the agent's trajectory, and the context artifacts that shaped its behavior, yielding per-instance textual gradients. Gradients are accumulated across instances by clustering, ranking, and filtering, and committed only under cross-instance consensus. A convergence detector monitors the gradient signal itself and stops once the context has absorbed the generalizable information in the training data, without held-out validation data. We evaluate SelfOp on CyberGym, a benchmark of real-world vulnerability reproduction tasks. With fewer than 200 training examples, SelfOp yields a 17-point self-improvement for GPT-5.4-mini (with Codex), enough to surpass the frontier GPT-5.4 baseline by 6 points, and an 18.5-point self-improvement for GPT-5.4 itself. The optimized skills also transfer across models, highlighting that SelfOp-optimized skills learn generalizable task knowledge not model-specific patterns.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22792
PDF
-
Beyond Final-Token Classification: Heterogeneous Readouts for Evidence-Grounded Suicide Risk Detection
2026-09-19 05:01:17Zirui Li, Yanling Li, Kaolanglang GaoAbstract
The IEEE BigData Cup benchmark combines three prediction problems with different output structures: ordinal suicide-risk classification, multi-label psychosocial factor detection, and extraction of supporting phrases. We introduce heterogeneous readout decomposition (HRD), which separates semantic verification from output realization. A locally deployed Qwen3.8-27B model, adapted with task-specific QLoRA adapters, produces both answer-token margins and layer-63 answer states for card-conditioned queries. HRD compares four latent scores for ordinal risk, retains token margins for most factors while routing seven labels through one shared latent probe, and constructs evidence sets from verbatim span candidates with calibrated, risk-conditional constraints. On two held-out user-grouped confirmation folds, the latent risk readout improves weighted F1 from 0.8237 to 0.8372 and macro F1 from 0.7965 to 0.8185. Selective factor routing improves macro F1 by 0.0105 and tail-label macro F1 by 0.0189; in contrast, global latent replacement and independent label-specific probes fail. The constrained evidence decoder raises pooled phrase F1 from 0.7488 to 0.7609 in row-level out-of-fold evaluation. Lenormand's best public result is 0.8052 on Subtask 1 and 0.6636 on Subtask 2, giving a composite score of 0.7627. These results identify the answer-token boundary, rather than semantic representation alone, as a measurable source of error in this benchmark.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22767
PDF
-
Towards Robust Classroom Attendance: A Comprehensive Evaluation of Face Detection and Recognition Models
2026-09-19 04:14:58Himani Trivedi, Hiren Patel, Ridham Patel, Krutika Patel, Nancy PatelAbstract
Manual attendance methods, such as paper or register-based systems, take a lot of time, can lead to errors, and are easy to falsify. Face recognition is more reliable, but it frequently struggles in classrooms because lighting and other conditions can vary. Face recognition datasets are designed for regulated environments and do not capture the actual challenges found in classrooms. To address this, a new face detection and recognition dataset, the Visage Face dataset, comprising 16,234 face samples, is proposed for the task of face detection and recognition. The photos are taken from different angles and under varying lighting conditions, with students showing a range of expressions, and some faces partly covered to reflect real-life situations. A YOLO-based system is used to detect faces and tested seven advanced face recognition models with thirteen configurations: LVFace, QCFace, FaceLiVTv2, TopoFR, EdgeFace, TransFace, and GhostFaceNets. Of these, FaceLiVTv2-M performed best, with 99.75% Top-1/Top-5 accuracy and an inference time of 6.459 ms. These results show that the Visage Face Dataset is a realistic and challenging benchmark for face recognition in classroom attendance.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22750
PDF
-
DOA-SORT: Directional Occlusion-Aware Multi-Object Tracking with Distributional Observations
2026-09-19 02:39:43Hao WangAbstract
Identity association in multi-object tracking (MOT) is vulnerable to partial occlusion, truncated detections, and fluctuating confidence scores. Existing motion-dominant trackers commonly represent occlusion as a scalar penalty. This treatment misses the directional observation bias caused by occlusion: left, right, top, and bottom occlusions distort the location and shape of a detection in different ways. We propose \ours{} (Directional Occlusion-Aware SORT), an online and training-free tracker that models these biases explicitly. First, it infers a soft front--back ordering from box overlap and relative bottom positions, and estimates directional occlusion coverage and depth. It then constructs a mixture of one clean and four directional occlusion observation components. The model uses a five-dimensional observation comprising box center, area, confidence, and aspect ratio, and adapts observation noise to predicted occlusion and detection confidence. The directional mixture likelihood is used in high-confidence association, low-confidence association, and track recovery; ambiguity penalties and local order-consistency swaps further reduce identity errors among nearby objects. On the DanceTrack validation split, \ours{} improves HOTA from 63.00 to 66.34, AssA from 45.10 to 49.57, and IDF1 from 62.19 to 65.28 over OA-SORT with the same detector and evaluation protocol. The gains are concentrated in association quality while detection accuracy remains stable. Additional local evaluations on MOT17 and MOT20 train splits characterize cross-dataset behavior under the same no-ReID tracking protocol.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22706
PDF
-
Hapi: A Multivariable Land-Surface Transformer for Medium-Range Hydrological Forecasting at Continental Scale
2026-09-19 02:29:47Hong Zhang, John K. Hutchison, Rao Kotamarthi, Jeremy Feinstein, Haiwen Guan, Romit Maulik, Vijay P. Ramalingam, Jason Stock, Tom WallAbstract
Accurate flood forecasts several days in advance are essential for flood control, water-resource management, and emergency response. Producing them at high resolution over a continental domain calls for local hydrological detail together with spatial context extending from river basins to synoptic weather systems. We developed Hapi, a U-Net Swin Transformer that uses fine three-dimensional patches and hierarchical shifted-window attention to forecast discharge, surface runoff, snow water equivalent, and soil wetness across the contiguous United States. The model produces 24--72-hour forecasts at $0.05^{\circ}$ resolution, with learned Laplacian task weights adjusting each variable's contribution to training. On 2024 test data using reconstructed weather and land-surface inputs from ERA5-Land, Hapi outperformed an operational physics-based model and a state-of-the-art AI model in flood detection. Independent validation against 3,881 U.S. Geological Survey gauges and a Hurricane Helene case study supported its advantage over the physics-based model in reproducing daily discharge. Controlled experiments showed that learned task weighting strengthens rare-flood detection, which is particularly sensitive to changes in precipitation inputs. Hapi produced a four-variable, 72-hour forecast across the contiguous United States with an average inference time of 0.11 seconds on a single A100 GPU.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22702
PDF
-
X-Beat: An Explainable Framework for ECG Image Classification
2026-09-18 22:34:32Mohammad Sadman Tahsin, Haitham Y. Adarbah, Afzel NooreAbstract
Accurate automated interpretation of electrocardio- grams (ECGs) is essential for early detection of cardiac condi- tions such as myocardial infarction and rhythm abnormalities. However, many high-performing deep learning models remain difficult to deploy in clinical settings due to limited transparency and lack of reliability validation. In this work, we present X- Beat, an explainable and reliability-aware benchmark framework for ECG image classification designed to support trustworthy AI systems in healthcare. The proposed framework combines transfer learning with post-hoc explainability and systematic reliability evaluation across four cardiac classes: Abnormal Heartbeat, History of Myocardial Infarction, Myocardial In- farction, and Normal Heartbeat. Multiple ImageNet-pretrained CNN backbones, including EfficientNet-B0, ResNet-50, DenseNet- 121, and MobileNetV3-Large, are evaluated under a unified training protocol. Beyond standard performance metrics, we incorporate Grad-CAM-based visual explanations together with additional analyses, including explanation stability, regional sen- sitivity, and confidence-based reliability assessment, to examine whether model predictions are supported by clinically meaningful evidence. Experimental results show that ResNet-50 achieves the best performance, reaching 91.94% accuracy and a macro F1- score of 0.9098, with strong class separability (AUC up to 0.995). Explanation analyses indicate that the model primarily focuses on waveform-relevant regions, while reliability evaluation suggests that most incorrect predictions occur with lower confidence. Overall, this work provides a structured and reproducible bench- mark for evaluating both predictive performance and explanation reliability in ECG image classification, contributing toward the development of trustworthy and interpretable AI components for clinical decision support systems.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22631
PDF
-
Beyond the Leaderboard: Counterfactual Diagnosis of End-to-End and VLA Driving Policies Under Domain Shift
2026-09-18 21:06:13Ruolin Yang, Zilin Huang, Buoyue Wang, Zhengyang Wan, Yuhao Luo, Zihao Sheng, Sikai ChenAbstract
End-to-end and vision-language-action (VLA) driving policies are compared by leaderboard rank, but a rank reports an outcome, not the behaviour behind it, so it predicts poorly how a policy will behave at a new site. On six released policies, rank on nuScenes open-loop error or on NAVSIM's leaderboard does not carry over to scenes with a pedestrian near the ego corridor at a new site. We propose a counterfactual check-up: a few hundred real frames, each edited two ways (pedestrian removed, or re-lit by a night-style perturbation), every edit verified by an independent detector, and the change in the planned trajectory read as a diagnosis rather than a score. From these edits two causal axes are read, and five exams built on them separate what a score merges: how far the policy plans to drive, whether seeing the pedestrian buys safety, whether that response scales with danger, whether the plan moves when nothing requires it, and how much an irrelevant lighting change moves it. On 246 NAVSIM near-pedestrian scenes, in the cells where the pedestrian lies on the planned path only 1.9% of responses are genuine avoidance, and under our open-loop protocol the median clearance change is at most 0.03 m and the median change in planned distance at most 0.08 m for every policy. In a pre-registered test from left- to right-hand drive, the exposure and specificity orderings, the lighting verdict and the collision outcome transfer, while point values and the hazard-sensitivity verdict do not. Read as a selection report, the profiles say which policy is safe because it plans short, which covers a human-like distance without yielding, and which is unsteady under a change that requires no reaction, and they price each verdict: most settle within a few dozen frames, hazard sensitivity needs hundreds. Code and edited frames will be released.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22582
PDF
-
Correct Diagnosis, Better Feedback: A Symbolic-Verifier for Faithful LLM Tutoring Feedback in Logic Proofs
2026-09-18 20:09:49Tahreem Yasir, Arnav Mody, Xioayi Tian, Tiffany BarnesAbstract
Effective LLM tutoring depends on correctly identifying the specific error in a student's reasoning before generating feedback. We study this problem in propositional-logic proof tutoring, where student actions can be checked against formal inference rules. We introduce a verifier-grounded architecture that separates diagnosis from language generation. Using 600 balanced student actions, we compare a zero-shot LLM detector, a fine-tuned detector, and a symbolic verifier. Each diagnosis is processed by shared rationale and feedback agents, isolating the effect of the initial diagnosis. The zero-shot detector achieves a macro-F1 of 0.191; fine-tuning raises this to 0.709 but retains systematic errors between structurally related classes. Rationales generally preserve the diagnosis supplied to them, showing that an incorrect diagnosis can be faithfully propagated through the pipeline. Feedback can likewise remain faithful to its rationale, non-revealing, and pedagogically appropriate while addressing the wrong error. Verifier-grounded feedback achieves the highest diagnostic correctness, and expert ratings largely uneven with the automatic feedback evaluations. These findings show that apparent feedback quality can conceal upstream diagnostic errors and that faithfulness must be evaluated separately from correctness. Our code is publicly available
Abstract (translated)
URL
https://arxiv.org/abs/2609.22553
PDF
-
The Wisdom of Artificial Deliberative Crowds
2026-09-18 19:01:43Federico Barrera-Lemarchand, Mariano Sigman, Joaquin NavajasAbstract
The aggregation of many lay estimates often outperforms individual expert judgment, a phenomenon known as the wisdom of crowds. While this is usually attributed to the independence of estimates, an even stronger effect arises through deliberation: averaging the consensus estimates of small deliberating groups outperforms the classical wisdom of crowds, with individual judgments themselves also becoming more accurate after deliberation. Whether these improvements transfer to large language models deliberating amongst themselves is unknown. Here we adapt a three-stage deliberation paradigm previously used with human participants for use with large language models from three different families, and test it across four domains of increasing real-world stakes: visual numerical estimation (Study 1), peer review of machine-learning papers (Study 2), detection of hidden malicious behavior by an artificial intelligence agent (Study 3), and sports forecasting against a real prediction market (Study 4). Across domains, deliberation reduced collective error beyond passive aggregation of independent responses, and post-deliberation individual judgments retained this collective gain. Notably, the advantage required model diversity: groups composed of clones of a single model did not benefit from deliberating. These results establish machine deliberation as a general-purpose aggregation mechanism, and point to diversity as an active ingredient.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22497
PDF
-
Layered e-skin for Shear Sensing
2026-09-18 18:59:35Qingzheng Cong, Alexis W. M. Devillard, Abu Bakar Dawood, Xinxin Zhang, Wen Fan, Neri Niccol\`o Dei, Cem Suulker, Kaspar Althoefer, Etienne Burdet, Dandan ZhangAbstract
This paper presents a stacked two-layer force-sensing resistor (FSR) array designed for robotic fingertips that combines high-resolution pressure mapping with shear-force estimation. A compliant lattice elastomer spacer converts shear loading into a measurable inter-layer displacement, producing relative center-of-pressure (CoP) shifts between layers. A physics-based moment balance links inter-layer CoP displacement to shear force, while an end-to-end CNN--GRU model captures nonlinear effects from load-dependent compression and contact redistribution. This model, with both layers as input, achieves coefficients of determination $R^2 = 0.914$ for $F_x$ and $R^2 = 0.944$ for $F_y$, consistently outperforming single-layer baselines for shear-force estimation. Robotic manipulation experiments show that, for contact-motion tracking, the deep layer tracks the translation and rotation imposed by the robot arm, whereas the superficial layer tracks the slip at the contact surface. Transient changes in the difference between the total pressure responses of the two layers provide the best slip-event detection performance among the tested cues. These results demonstrate that two-layer FSR arrays can provide three-axis force estimation, contact-motion tracking, and slip-event detection beyond conventional normal-force sensing.
Abstract (translated)
URL
https://arxiv.org/abs/2609.22493
PDF
