Knowledge
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Systematic Multi-Agent Vision-and-Language Navigation: Formulation, Benchmark, and Method
Abstract
Vision-and-Language Navigation (VLN) has largely focused on a single agent following a single instruction, yet many real-world applications require teams of robots to tackle tasks beyond the capabilities of any individual agent. We present Systematic Multi-Agent Vision-and-Language Navigation, providing, to our knowledge, the first systematic formalization of multi-agent VLN as a constrained coordination problem: each mission consists of subtasks carrying dependency and resource constraints (presence locks and holding chains). A verified four-stage crafting pipeline instantiates the task as MAVLN, comprising 11,724 episodes across 145 scenes with teams of up to four agents under three instruction regimes, accompanied by tailored constraint-aware metrics. We further present TRISS, a coordination-ready navigation system coupling an LLM-based subtask scheduler, a shared topological memory that turns each agent's exploration into team knowledge, and a conflict-aware execution mechanism that realizes simultaneous intentions as collision-free routes. Extensive experiments establish TRISS as a comprehensive baseline and reveal substantial room for improvement across scheduling, planning, and execution, highlighting the challenges of coordinating under MAVLN task constraints. Project page: this https URL.
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URL
https://arxiv.org/abs/2609.35965
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HEAR: Real Voices, Real Bias: A Large-Scale Human-Recorded, Demographically Diverse Benchmark for Audio Language Models
2026-09-28 17:30:33Shen Yan, Duc Le, Irina-Elena VelicheAbstract
We introduce HEAR (Human-recorded Evaluation of Audio-LLM bias by Real speakers), a large-scale, ecologically valid benchmark comprising 87k real human audio samples from 843 demographically diverse participants. HEAR enables comprehensive evaluation through Multiple Choice Question Answering (MCQA) and open-ended long-form tasks. To our knowledge, this is the first large-scale voice benchmark grounded entirely in authentic human speech. We evaluate model behavior across both real-time speech-to-speech and speech-to-text architectures. Our results reveal that voice-conditioned bias is a model-specific property. Furthermore, we demonstrate that personalization instructions consistently exacerbate demographic disparities. Our findings establish that voice bias is a controllable model characteristic, providing a foundational framework for future bias mitigation and evaluation in Audio-LLM development.
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URL
https://arxiv.org/abs/2609.35952
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Question-Specific Knowledge Graphs for Efficient Visual Reasoning
2026-09-28 16:21:13Ting-Chih Chen, Emile van Krieken, Shujian Yu, Filip IlievskiAbstract
Recent work in visual question answering has shown that vision-language models can exhibit strong reasoning capabilities by translating visual inputs into textual representations. The effectiveness of this translation depends on how well visual details are retained; models need to surface and align both explicit and implicit knowledge sufficient to support reasoning, without introducing spurious assumptions. Existing methods that leverage detailed image captions introduce visual details unrelated to the reasoning task, inflating input token counts and increasing computational cost. To address these challenges, we propose VisKG, a reinforcement learning (RL) framework in which models learn to translate visual content into question-specific knowledge graph (KG) representations. This process filters out perceptual noise while preserving the entity-relation structure needed for chain-of-thought reasoning, following the principle of minimum sufficient information. To ensure stable RL post-training, VisKG adopts Group reward-Decoupled Normalization Policy Optimization (GDPO). In addition, we strengthen the supervision stage with negative rationale samples, exposing the model to incorrect reasoning paths before RL post-training. Experimental results across science, mathematics, and general visual understanding benchmarks show that VisKG achieves performance comparable to or better than baselines, while requiring fewer tokens than caption-based representations. Moreover, training VisKG with GDPO improves accuracy by 2% over its GRPO-trained counterpart on average. These results suggest that KG representations are a promising approach for supporting multi-step reasoning and open up future work on adaptively selecting the most suitable representation for a given task.
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URL
https://arxiv.org/abs/2609.35942
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MMSkillRisk: Can Agents Stay Safe When Multimodal Skills Become Traps?
2026-09-28 08:07:45Lingqi Jiang, Jialuo Chen, Jianan Ma, Xinhao Deng, Xiaohu Du, Sibo Yi, Yuqi Qing, Zhenguang Liu, Qinming He, Shiwen Cui, Changhua MenAbstract
Agent skills are shareable packages of procedural instructions, tools, and examples. Multimodal skills additionally include visual references that agents retrieve and inspect during execution. Because these images guide actions, attackers can disguise malicious instructions as ordinary visual guidance within otherwise legitimate skills. Existing skill-security research primarily examines text-carried attacks or scanner detection, leaving the runtime effects of image-borne attacks insufficiently evaluated. We introduce MMSkillRisk, to our knowledge the first publicly available benchmark dedicated to end-to-end safety evaluation of image-borne attacks in multimodal skills. To instantiate this attack surface, we design Native-Context Visual Attack (NCVA), which disguises malicious instructions as native components of teaching images, such as annotations and interface labels. The accompanying this http URL provides auxiliary guidance toward relevant visual regions without explicitly stating the malicious operation. Built from 28 curated clean skills, MMSkillRisk contains 36 attack packages and 108 executable cases spanning five attack objectives, with separate checks for attack success and legitimate-task completion. Across nine model-harness configurations evaluated in isolated sandboxes, NCVA induces unauthorized operations in every configuration. Its pooled attack success rate (ASR) reaches 43.1%, exceeding the matched text-carrier baseline by 16.4 percentage points, with higher ASR in all nine configurations. Attack success and legitimate-task completion co-occur in 36.5% of cases, reaching 72.2% for GPT-5.6-sol with Codex. These results show that skill-bundled images can induce unauthorized actions even as agents complete legitimate tasks, so task success alone does not establish safe skill use. Our code and data are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.35912
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Learn Now, Use Next, Trust Later: Prequential Test-Time Learning for LLM Agents
2026-09-28 08:06:03Tong Zhao, Reed Li, Yuyang Hu, Yutao Zhu, Haijin Liang, Haibo Shi, Yu Lu, Zhicheng DouAbstract
Adapting large language model agents during deployment requires not only retaining past experience, but also turning new observations into timely guidance. Many test-time learning methods, however, acquire knowledge from completed episodes. Feedback from an ongoing interaction may therefore not be distilled into knowledge soon enough to help the next decision. Acquiring knowledge at the granularity of individual transitions could reduce this delay, but raises a separate challenge: a rule that is useful within one episode may not be reliable enough to guide future episodes. Waiting for validation can forfeit immediate benefits, whereas unrestricted reuse can propagate accidental or misattributed guidance. We introduce StepLearn, a nonparametric framework that separates immediate use from persistent trust. It turns informative transitions into hypotheses that can guide the next step, while requiring prospective validation before reuse across episodes. Their predicted effects are checked against subsequent observations outside the source episodes, and only sufficiently supported hypotheses become available for persistent guidance. This process updates external knowledge while keeping all model parameters fixed. Over five rounds on WebArena-Lite and ALFWorld, StepLearn achieves average success rates of 59.9% and 84.0% with GPT-5-mini, and 57.8% and 88.1% with Qwen3.5-35B-A3B, respectively. It outperforms EvoTest, the strongest baseline, by 2.2-12.7 percentage points across the four settings. Learning dynamics further shows that these gains are not restricted to the final repetition, with advantages already present on first task attempts in most settings.
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URL
https://arxiv.org/abs/2609.35911
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Decoding the Disaster: Multi-Task Geospatial Reasoning with Vision-Language Models and Crowdsourced Imagery for Disaster Mapping
2026-09-28 07:10:08Wenping Yin, Fabian Desuer, Ziqi Liu, Naixia Mou, Weijia Li, Pedram Ghamisi, Xiao Xiang Zhu, Hao LiAbstract
Crowdsourced imagery provides timely, fine-grained, street-level observations for disaster mapping, complementing conventional remote sensing imagery (RSI) during emergency response. However, such imagery is often unstructured, spatially ambiguous, and lacks reliable geographic metadata, making manual geolocalization and interpretation labor-intensive and difficult to scale. This work proposes a multi-task Geospatial Reasoning Disaster mapping framework, namely GRDisaster, to examine the potential of vision-language models (VLMs) in understanding, geolocalizing, and reasoning over crowdsourced disaster imagery. GRDisaster is built on a newly curated benchmark dataset derived from PhotoMappers, comprising 26,340 images organized into human-validated volunteered geographic information (VGI), street-view imagery (SVI), RSI cross-view triplets covering multiple disaster events from 2018 to 2024. The framework combines deterministic and probabilistic cross-view geolocalization with multi-view fusion to associate VGI images with georeferenced SVI and RSI. It introduces two sets of spatial reasoning indicators for cross-view geolocalization validation and disaster damage assessment. These indicators use structural, environmental, and global-scene cues to validate cross-view correspondences and visually observable damage evidence with expert-verified annotations to assess disaster severity, improving the interpretability of VLM outputs. To our knowledge, this study provides the first systematic investigation and unified evaluation framework for examining how VLM-based spatial reasoning can transform crowdsourced disaster imagery into actionable geospatial artificial intelligence (GeoAI) through cross-view geolocalization validation, interpretable spatial reasoning, and damage-aware severity assessment.
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URL
https://arxiv.org/abs/2610.00302
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Reconstructing Implicit Scientific Knowledge: Evaluating LLM Agents through End-to-End Reproduction of Astronomy
2026-09-28 01:44:09Yuehui Wang, Xinyu Qi, Guirong Xue, Cheng Wang, Yangbin Xie, Xiaoyu Tang, Cong SunAbstract
The integration of large language models (LLMs) into scientific workflows is accelerating, yet their ability to reconstruct the reasoning underlying published research remains unexplored. Papers specify explicit procedures while leaving many methodological dependencies-data selection, calibration corrections, priors, and domain assumptions-implicit. This ambiguity complicates the evaluation of LLM-based agents, since a failure to reproduce a result may reflect either limitations of the agent or underspecification in the source. We present a framework that evaluates agents through end-to-end reproduction, separating execution from verification and computational failure from methodological ambiguity. We apply it to fourteen astronomy studies: a case study from The Astrophysical Journal and thirteen papers published in Nature. Eleven of the thirteen contained an ambiguity preventing a uniquely specified reproduction path. In a controlled case study, twelve predefined paths, a 3x2x2 sensitivity analysis over sample definition, sky masking, and parallax zero-point treatment-gave estimates from 2.16 to 3.53 kpc for the same quantity, with only one recovering the published value (about 2.70 kpc). The published value was never used as an optimization target, selection criterion, or stopping condition; the matching path was found only after all twelve had run. Crucially, the decisive information (a +0.02 mas parallax zero-point correction) was already in the paper, but the agents did not recognize its causal relevance until the analysis made the effect visible. Matching a published outcome therefore does not validate reconstruction of the underlying reasoning, and the bottleneck is as often a failure to connect relevant information as to retrieve it. End-to-end reproduction thus serves both as a test of reproducibility and as a framework for evaluating implicit scientific knowledge in AI systems.
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URL
https://arxiv.org/abs/2609.35900
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Artificiality's First Exam: An LLM-Referenced C-test for Supraintelligence
2026-09-27 20:41:46Jose Hernandez-OralloAbstract
Under the accelerated pace of AI development, any benchmark whose difficulty is calibrated with humans or current AI systems becomes circular, or saturates soon. How can we then evaluate machines that may become more capable than the current machines and the people who write the tests? One answer to the question hinges on inverse problems, inductive inference questions for which difficulty depends on the complexity of the underlying mechanism, given the observations and the previous knowledge. Levin's Kt, a computable variant of Kolmogorov complexity, puts a theoretical upper bound to that difficulty, balancing the simplest representation encoding for the mechanism and the logarithm of the time steps to run that mechanism. Previous tests derived from Levin's Kt, such as the original C-test, are based on minimalistic Universal Turing Machines (UTM), capable of very limited representations and no previous knowledge. Reasoning large language models (LLM) are UTMs that capture a compendium of human culture as knowledge, using prompts as natural language programs. This paper presents the first test based on Levin's Kt with LLMs as representational machines. Fresh test items can be produced at high difficulties, estimated in a ratio scale measured in bits, before any human or frontier model can solve them. We formalise the measure, devise a lightweight generation and certification pipeline, explore the effect of the power of the reference machine and the gap between examiner and examinee. We produce a first battery of certified items administered to twelve LLMs. The resulting agent characteristic curves decrease with difficulty, down to the uncharted high-difficulty region, the supra-intelligence window of items we can certify, yet beyond generations of frontier intelligence.
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URL
https://arxiv.org/abs/2610.14005
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Relevance Is Not Sufficient Evidence: Detecting Evidence Gaps Before Generation in RAG
2026-09-27 17:39:51Suting Chen, Peichun Hua, Yunming XiaoAbstract
Retrieval-augmented generation (RAG) grounds large language models in external sources, but retrieved passages often name the right entities without providing the facts needed to answer. Even when instructed to abstain, 12 generators answer 40.0-99.3% of insufficient-evidence questions. Training generators to abstain ties the decision to model weights, may reward answers recalled from parametric knowledge, and still requires a full generator call. Can sufficiency be judged from the question and evidence alone, before any answer exists? We identify pitfalls in constructing insufficient-evidence tests: removing relevant evidence or pairing evidence with unrelated questions can reveal labels through lexical overlap or evidence position. We build a paired benchmark using substitution, deletion, and question-swap constructions that vary answer support while controlling selected surface features, such as word use. Sufficiency can be judged without generating an answer, but no single signal works across all datasets. We introduce RINSE (Relevance Is Not Sufficient Evidence), which combines three signals: whether every part of the question is covered, whether any passage offers an answer, and whether a small language model reading the passages together judges them sufficient. Across six datasets, RINSE ranks sufficient above insufficient evidence with a score of 0.837 (chance 0.5), exceeding the best of 10 prior methods (0.746) and a frontier model queried through an API (0.784). Its weakest dataset scores higher than any other method's weakest (0.684 vs. 0.676). RINSE runs locally before generation, taking 36.5 ms per question on a single GPU.
Abstract (translated)
URL
https://arxiv.org/abs/2609.37469
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Representational Simplicity and Circuit Size Dissociate in a Threshold-Dependent Way: A Controlled Test via Adversarial Training
Abstract
Sparse-autoencoder decomposability and concentrated feature attribution are increasingly treated as evidence that a model's computation is easier to reverse-engineer. Whether this representational and attributional cleanliness actually predicts a smaller or more tractable causal circuit remains an open question. We test this directly using adversarial training as a controlled instrument: it reliably reshapes internal representations, but this alone does not constitute a test of circuit size. We investigate this question through reverse-engineering complexity: the causal structure required to recover a model's behavior at a fixed level of faithfulness. To our knowledge, this is the first controlled empirical test of whether representational or attributional simplicity translates into causal simplicity at the circuit level. Starting from the same pretrained GPT-2 Small checkpoint, we apply matched standard and adversarial continual training, requiring both conditions to retain competence on indirect object identification and pass independent robustness verification before comparing mechanisms. We then compare the models along three complementary axes: sparse-autoencoder decomposability, SAE feature engagement in task attribution, and the size of faithful circuits recovered from the raw computational graph. The robust model is more SAE-decomposable and engages fewer SAE features in task attribution. Circuit size is regime-dependent: on competence-matched IOI, standard leads or ties below 85% faithfulness, but robust needs substantially fewer edges at high faithfulness (90%, 95%), a pattern established on the primary pair while representational trends generalize across a seven-point sweep and a second corpus.
Abstract (translated)
URL
https://arxiv.org/abs/2609.35890
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Predict Before You Modify: Learning Improvement Dynamics for Self-Evolving Agents
2026-09-26 18:59:47Zixuan Xie, Chang Xu, Yuhua Jiang, Li ZhaoAbstract
Self-evolving agents improve through repeated cycles of modification and evaluation. However, existing methods receive feedback on modifications only after costly evaluations, and aggregate scores may obscure distinctions between failures that require different repairs. We introduce predictive self-evolution through an editable Improvement Dynamics Model (IDM). Before evaluation, the IDM predicts task-level outcomes of a proposed modification and guides an optional revision. After evaluation, past modifications and their observed outcomes are used to improve the IDM, allowing predictive knowledge to accumulate across generations. The system can thus improve how it solves tasks, proposes modifications, and predicts their effects. Building on HyperAgents, we evaluate this approach across multilingual coding, paper review, robotics reward design, and Olympiad-level mathematical grading. Our approach outperforms HyperAgents across all four domains, with up to 46% higher average performance over generations. Gains also persist under matched token budgets that include both agent evolution and task evaluation, and extend to held-out tasks. Forecast accuracy improves as the IDM evolves, and the learned predictive knowledge transfers to improve evolution in a new domain.
Abstract (translated)
URL
https://arxiv.org/abs/2610.13991
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Is Human-Readable Text Necessary for Effective LLM Fine-Tuning?
2026-09-26 12:39:54Jinhao Zhang, Zeyu Liu, Zicheng Yan, Yunquan Zhang, Daning Cheng, Song TangAbstract
Is human readability necessary for effective fine-tuning of large language models? We investigate whether model-conditioned training representations can preserve or improve adaptation utility without requiring a human-readable textual form. We propose Desired-Update-Aligned Synthetic Data (DASA), which uses activation-gradient feedback from a frozen reference model to guide the optimization of continuous synthetic input embeddings. Inspired by the role of activation gradients in local risk reduction, DASA targets useful adaptation updates rather than source-text reconstruction or linguistic fluency. The resulting embeddings are used directly for downstream fine-tuning; discrete token projections are employed only for qualitative inspection. Experiments on six models from the Llama and Qwen families, ranging from 1B to 32B parameters, cover six benchmarks spanning knowledge, mathematical reasoning, code generation, and commonsense reasoning. Under matched LoRA adaptation settings, DASA achieves performance comparable to the source natural-language data and surpasses it in multiple configurations, while outperforming GRADMM in most comparisons. Further experiments cover general-domain and task-specialized source data. Under the evaluated synthesis settings, DASA provides a $3.6$--$4.9\times$ speedup over GRADMM with comparable peak GPU memory.
Abstract (translated)
URL
https://arxiv.org/abs/2609.35868
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DeepEdu-v1: Efficient and Scalable Agentic LLMs for Vietnamese Education
2026-09-25 17:33:41Quang Nguyen, Hieu Nguyen, Hien Hoang, Toan Pham, Cong Tran, Nam VuAbstract
AI tutoring could markedly improve learning outcomes for students in developing regions such as Vietnam, yet the two obvious paths both fall short. Cloud assistants such as ChatGPT route sensitive student data to foreign servers---violating data-sovereignty laws such as Vietnam's Decree 53---and, pre-trained on Western-centric corpora, are not organized around the national textbook curriculum, so their knowledge of local content is unsystematic and frequently hallucinated. Self-hosting an open model keeps data on-premise but hits a two-fold wall: post-training quantization (AWQ, GPTQ) tames the static weight footprint, yet the dynamic KV cache and prefill latency of long tutoring contexts still cause out-of-memory failures and slow responses on consumer GPUs, while the model keeps hallucinating on region-specific material. We present DeepEdu-v1, an AI-tutoring system for Vietnamese education built on SCALE (Self-improving Context-Aware Learning Engine), a framework with two innovations. First, a long-context inference engine amortizes token selection from per-sub-chunk to per-cluster granularity; on long-context retrieval it issues x7.7 fewer retrieval calls than a state-of-the-art selective-attention baseline, cutting prefill latency (TTFT) by roughly 35% while matching or improving task accuracy. Second, a self-improving agentic layer continuously curates a verified playbook from past interactions instead of fine-tuning, a design intended to progressively reduce reliance on dominant-language priors as trustworthy local knowledge accumulates. In its deployed configuration, DeepEdu achieves a nearly x2 TTFT speedup over standard vLLM serving and lifts agentic accuracy from 70.0% to 79.5% on complex tasks, with the strongest per-track gains across financial-reasoning and interactive-agent benchmarks.
Abstract (translated)
URL
https://arxiv.org/abs/2609.31568
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Can You Check That? The Checkability Boundary for Local LLM Network Automation
2026-09-25 17:11:55Maleeha Masood, Momina NofalAbstract
Sending every network-automation input to a third-party frontier LLM exports sensitive artifacts such as production configurations, topologies, and logs. Querying small language models (SLMs) locally avoids this egress, but SLM outputs can be error-prone for direct use. This work introduces checkability as a criterion for determining which tasks are suitable for local inference. A task is checkable when it exposes a cheap, deterministic test - an intrinsic check - that rejects outputs violating a necessary correctness condition. We instantiate this idea in Touchstone, a local-first pipeline that uses seven off-the-shelf SLMs (1-8B parameters) to generate candidates, uses task-specific intrinsic checks to reject responses, and escalates unresolved inputs to a frontier LLM. On conflict detection and intent translation tasks, Touchstone reaches 98.6% and 93.8% end-to-end accuracy while escalating only 16% and 17% of inputs, respectively. On TeleQnA, a knowledge-only control that has no task-specific intrinsic checks, Touchstone is unable to match the accuracy of the frontier baseline. Our results support a simple deployment rule: keep inference local when task semantics support precise, low-cost checks; escalate the rest.
Abstract (translated)
URL
https://arxiv.org/abs/2609.31540
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Muslim: A Deployed Arabic Voice AI Platform for Grounded Islamic Knowledge
Abstract
We present Muslim, a production Arabic voice AI platform serving grounded, sourced Islamic knowledge to real users. Beyond a real-time voice pipeline (NeMo Arabic ASR, an OpenAI-compatible LLM endpoint, self-hosted TTS) and a deterministic multi-source retrieval layer routed across six Model Context Protocol servers, we report three things a research prototype typically lacks. First, a released family of fine-tuned Arabic Islamic model artifacts: an efficient tool-routing LLM (Muslim-6B-PRO, 5.94B parameters) and a Modern Standard Arabic TTS model (Fasih-TTS-V1) that ranks 5th of 17 overall and 2nd of 11 open-weight systems on the community-voted Arabic TTS Arena for MSA. Second, an account and metering layer - a free per-account turn allowance, capacity-aware refusal, and email verification deferred to the point it actually matters - that turns an open demo into an operable, abuse-resistant product. Third, a three-layer observability stack (liveness, error reporting, product analytics) built specifically around the system's characteristic failure mode: a GPU-bound agent host going silent while the web tier keeps serving normally. We report real, measured latency and accuracy figures (98.4% recitation-validation accuracy on 124 cases; end-to-end voice latency of 0.9-1.7s) and discuss the concrete engineering trade-offs and limitations of running an Islamic-knowledge voice product in production.
Abstract (translated)
URL
https://arxiv.org/abs/2609.31511
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'AI is the new...': A Diagnostic Analogy Framework for Generative AI's Cultural Impacts
2026-09-25 16:25:46Rida Qadri, Vinodkumar Prabhakaran, Remi DentonAbstract
Generative AI is reshaping the cultural infrastructures through which knowledge is found, synthesized, and held accountable. To make sense of this shift, scholars and policymakers reach for historical analogies of technologies such as the printing press, steam power or electricity. But these comparisons are typically imprecise about which property of the technology carries the comparison, and imprecise analogies produce imprecise governance by designing interventions against the wrong property of the system. This paper offers a diagnostic framework for analyzing how generative AI can transform epistemic and cultural practice. This paper offers a diagnostic framework for analyzing how generative AI can transform epistemic and cultural practice. We decompose each intervention into three coordinates: the epistemic site at which a technology acts, the governing logic by which it organizes its object, and the technical mechanism through which the logic is instantiated. This framework allows us to distinguish between structural cultural consequences, which follow from the mechanism itself, from contingent ones, which remain open to design and institutional choice. Applying the framework to information discovery and knowledge synthesis, we show how the shift from indexicality to inference and from editorial authority to statistical consensus produces specific, traceable cultural effects and reveals governance levers that gestalt analogy obscures.
Abstract (translated)
URL
https://arxiv.org/abs/2609.31482
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Uncertainty-Aware Federated Learning for Infant Movement Analysis
2026-09-25 16:13:48Edmond S. L. HoAbstract
Infant movement analysis provides valuable biomarkers for the early identification of neurodevelopmental disorders. Recent advances in deep learning have enabled automated analysis of infant movements from video-derived skeletal representations, achieving performance comparable to expert assessment for tasks such as General Movement Assessment (GMA). However, most existing approaches rely on centralized training, requiring data from multiple institutions to be collected and stored at a single site. Such assumptions are often impractical in clinical settings due to privacy, governance, and data-sharing constraints. To address these challenges, we present, to the best of our knowledge, the first federated learning framework for automated infant movement analysis and General Movement Assessment using skeletal motion data. As a clinically relevant use case, the proposed framework is evaluated on fidgety movement classification. To quantify model confidence, Monte Carlo (MC) Dropout is employed to estimate predictive uncertainty during inference. Building upon this, we propose an Uncertainty-Aware Federated Averaging (UA-FedAvg) strategy that incorporates predictive entropy derived from MC-Dropout into the federated aggregation process, enabling client contributions to be adjusted according to their predictive uncertainty. Experiments were conducted using a cross-subject evaluation protocol under a three-client federated learning setting. Results demonstrate that federated learning substantially improves classification performance compared with independently trained local models while achieving performance approaching that of centralized training. Furthermore, UA-FedAvg and its variant incorporating validation loss generally outperform conventional FedAvg across the evaluated data-split configurations.
Abstract (translated)
URL
https://arxiv.org/abs/2609.31463
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AFA-Net: A Differential Attention Approach for Auditory Attention Detection
2026-09-25 15:25:45Philip H. Lee, Shreeram Suresh Chandra, Karan Thakkar, John H. L. HansenAbstract
Auditory Attention Detection (AAD) utilizes electroencephalographic (EEG) signals to identify a target speaker in a multi-speaker environment. Despite considerable progress, existing deep learning architectures often lack explicit mechanisms for handling noisy EEG data. To address this limitation, we propose Auditory Focus Attention Networks (AFA-Net), a machine learning framework that replaces vanilla attention with a simple yet flexible differential attention mechanism to help focus on task-relevant neural activity. AFA-Net achieves an upward accuracy of 96.8% at the 2s decision window, while using substantially fewer parameters than most existing methods. To the best of our knowledge, AFA-Net is among the first frameworks to explicitly try to combat EEG noise to improve AAD.
Abstract (translated)
URL
https://arxiv.org/abs/2609.31402
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Intent2Tc: Automated Intent-to-Traffic Control Translation with Language Models
2026-09-25 15:25:05Andrea Masini, Sudipta Acharya, Paolo Bellavista, Luca Foschini, Burak KantarciAbstract
Automated and highly usable Quality-of-Service (QoS) enforcement requires translating high-level service intents into deployable traffic-management policies. Although intent-based networking (IBN) has simplified policy specification, bridging the gap between business-level intents and executable network configurations remains complex, error-prone, and difficult to automate. This paper presents Intent2Tc, a closed-loop language-model-driven framework that translates business-level traffic-shaping intents into declarative sub-intents and subsequently into validated, executable Linux traffic control (tc) configurations. The framework integrates an Active Queue Management (AQM)-based digital twin (DT) semantic model, automated metadata extraction, critique-driven refinement, and Retrieval-Augmented Generation (RAG)-based knowledge reuse to improve semantic consistency and configuration reliability. We evaluate multiple open-source large language models (LLMs) and small language models (SLMs), together with Claude Sonnet-4.6, on 100 Request for Comments (RFC) 9315-compliant traffic-shaping intents. Across both translation stages, Intent2Tc achieves high semantic fidelity, configuration accuracy, and deployment readiness, with Claude Sonnet-4.6 reaching 0.98 semantic similarity, 1.0 semantic unit coverage, and 0.045 normalized edit distance. Furthermore, RAG reduces token consumption and inference latency while enabling compact models such as Phi-4-mini to approach the performance of substantially larger models. Linux tc serves as the target configuration platform, demonstrating the practical applicability of the proposed framework.
Abstract (translated)
URL
https://arxiv.org/abs/2609.31397
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InternW0-$Delta$: A World Action Model Bridging Predictive Dynamics and Actions with 20K+ Hours of Open Data
2026-09-25 15:24:25Xingyu Miao, Zizun Li, Baole Fang, Kaiwen Song, Tenghui Wang, Hanxue Zhang, Yating Wang, Xudong Li, Yuping He, Xueyuan Wei, Chao Gao, Xijie Yang, Yingxiang Xu, Kerui Ren, Wenqi Guo, Jianjun Zhou, Xinzhe Wang, Weiguang Zhao, Ni Yang, Zetao Cai, Yufei Xue, Hengjie Li, Zeyu He, Yuanzhen Zhou, Rong Fu, Jianyang Zhang, Siwei Cui, Fuxian Huang, Yunsong Zhou, Xing Gao, Yifei Yao, Qiaojun Yu, Kailin Li, Ming Zhou, Mu Huang, Xinyue Li, Wenze Cui, Bingqi Jiang, Xueyue Zhu, Junting Dong, Haoyu Guo, Tao Lu, Mulin Yu, Bowen Zhou, Bin Zhao, Tianfan Xue, Weinan Zhang, Chunhua ShenAbstract
World Action Models (WAMs) jointly model visual dynamics and action generation for generalist robot manipulation. A central challenge is to integrate priors from large-scale pretrained models---including visual dynamics, scene semantics, geometry, and motion---into a unified framework for robot action generation. We introduce InternW0-$\Delta$, a unified WAM pretrained on a heterogeneous corpus that outperforms prior methods across simulation benchmarks and real-robot platforms. InternW0-$\Delta$ combines pretrained visual dynamics, scene-level semantics, 4D geometric and motion priors, and action generation within a Mixture-of-Transformers (MoT) framework. A pretrained video expert and an action expert interact under semantic guidance from a frozen VLM, while a pretrained 4D foundation model injects geometric and motion priors through training-only distillation. We further introduce Causal Imprint, which learns future-relevant scene changes from training-only future supervision and provides predictive representations directly to the action expert without future-video rollout at inference. For large-scale joint training, we construct a heterogeneous corpus of robot demonstrations, UMI data, egocentric human demonstrations, and Ego2Robot data, curated and aligned under a common state-action representation. The resulting corpus contains over 20K hours of processed training data, to our knowledge the largest open-source corpus of its kind. We pretrain InternW0-$\Delta$ on this corpus and demonstrate strong performance across simulation benchmarks and real-robot platforms. We will open source the training code, model weights, infrastructure, data-processing pipeline, and processed data where licenses permit. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.31394
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