Knowledge
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All-in-One Multilingual Scene Text Recognition with Script-aware Mixture-of-Experts
2026-09-21 03:34:56Xingsong Ye, Yongkun Du, Jiaxin Zhang, Zhixian Li, Chong Sun, Chen Li, Jing Lyu, Lianwen Jin, Zhineng ChenAbstract
Multilingual scene text recognition (STR) remains challenging due to the scarcity of training data for most languages and the difficulty of serving diverse scripts within a single model. Existing solutions either deploy one recognizer per language, inflating cost and introducing error accumulation, or rely on massive vision-language models (VLMs) that are expensive and still inaccurate on many scripts. In this work, we pursue an all-in-one multilingual recognizer that is simpler than per-language experts, lighter than VLMs, and more accurate than both. First, we construct TextMuSS-10M, a large-scale synthetic scene text dataset spanning 10 scripts and 229 languages. It provides balanced and sufficient supervision where real data is unavailable. Second, we propose ScriptMoE, a script-aware Mixture-of-Experts (MoE) architecture. It shares a single visual encoder and replaces the dense decoder with a sparse MoE block, which consists of an image-level router dispatches each image to the top-2 script-aligned experts and a shared expert absorbs cross-script knowledge. Extensive experiments on our assembled TextMuSS-Bench (10 scripts, 10,899 images) show that ScriptMoE achieves the highest accuracy of 82.06%, outperforming the strongest STR baseline by 1.31%. On the CC-OCR end-to-end multilingual task, replacing only the recognizer in PP-OCRv5 with ScriptMoE lifts F1 score from 65.71% to 80.89%, slightly surpassing the best VLM (80.73%) at a fraction of the parameter count.
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URL
https://arxiv.org/abs/2609.24058
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Toward Human-in-the-Loop Robot Failure Recovery: Bridging Communication Gaps in Human-Robot Collaboration
2026-09-21 03:31:37Promise Ekpo, Teju Vijay, Dhruv Mandalik, Tisha Jain, Arman Ibrayeva, Sunishka Sil, Stefanie A. Tellex, Angelique TaylorAbstract
Robots can recover from failures by asking bystanders for help, but effective human-in-the-loop recovery requires communication that accounts for differences in people's knowledge. Prior inverse-semantics work generates requests using a single listener model, leaving differences in listener knowledge untested. We introduce Listener Differences in Human-Robot Interaction (LD-HRI), a game, dataset, and benchmark that evaluates speakers through human listener performance. Our evaluation examines request properties, large language model (LLM) speakers, and inverse-semantics request-selection algorithms under controlled differences in listener information. The corpus contains 446 human-written requests and 1{,}302 listener trials. We additionally evaluated 24 frozen LLM-written requests with 70 human listeners across 560 trials. Novice success is descriptively higher with model-written requests across all four tasks, yet both request sources leave substantial expert--novice gaps, including 16 percentage points for LLM requests. LD-HRI makes these gaps measurable, providing a foundation for designing more robust communication in human-robot and human-agent interaction.
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URL
https://arxiv.org/abs/2609.24055
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Diffusion Models and Concept Formation
2026-09-21 02:54:55Zekun Wang, Karthik Singaravadivelan, Christopher J. MacLellanAbstract
Humans organize knowledge into a taxonomy of concepts with nested levels of abstraction and a \emph{basic level} at which people recognize and name objects with the least cognitive effort. Cobweb is a classic cognitive account of this ability, an incremental learner that builds a probabilistic concept hierarchy by maximizing category utility. We argue that diffusion models, although designed for image synthesis, implicitly perform the same computation. The noisy marginals of a diffusion model are Gaussian smoothings of the data distribution, and the modes of these marginals form a hierarchy that corresponds to a Cobweb tree of probabilistic prototypes in four respects. Both are hierarchical density models, both are hierarchical-Bayesian models with Gaussian prototypes, both treat categorization as score-following that reduces uncertainty, and in both a basic level emerges. We locate this basic level for a diffusion model at an intermediate noise level, where recent analyses show that the reverse process commits to the class identity of a sample. The two models differ mainly in how they represent and learn the taxonomy. Cobweb learns a discrete tree incrementally, whereas a diffusion model encodes a continuous, interpolable hierarchy in a single learned score field fit to the data distribution. We test the correspondence on MNIST and Fashion-MNIST by recovering the diffusion hierarchy through mode-finding and comparing the basic levels of the two models. This reframes diffusion as a cognitive model of concept formation and offers Cobweb a continuous, scalable instantiation.
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URL
https://arxiv.org/abs/2609.13047
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UniK: Universal Knowledge Perception for Digital and Physical AI
2026-09-21 00:56:36Nirmit Desai, Kunal Sawarkar, Aditya Mahakali, Dongkon Lee, Kevin Park, Eric SongAbstract
Two transformative classes of AI systems are reshaping how organizations operate: \textit{digital AI}, which reasons over enterprise knowledge to power chatbots and agent workflows; and \textit{physical AI}, which learns to control robots and autonomous systems from video, gameplay, and sensor telemetry. Both face the same foundational bottleneck: raw knowledge at scale, spanning heterogeneous modalities, locked in private corpora that existing AI infrastructure cannot access reliably or efficiently. We propose \textit{Universal Knowledge Perception (UniK)} as a common platform for both classes, covering the full knowledge lifecycle (ingestion, enrichment, indexing, retrieval, and continuous evaluation) across modalities from rich text and video to molecular data and sensor telemetry. We present UniK, built on Polymath Retrieval (multi-index fusion over automatically enriched indices) with no task-specific fine-tuning. Across five digital AI domains (medical literature, open-domain QA, chemistry, legal video proceedings, and government open data) UniK combined with an open-source 70-billion-parameter model consistently matches or outperforms frontier proprietary LLMs that are orders of magnitude larger: 76\% RAG accuracy on government data versus 47\% for GPT-5; 77.9\% on medical QA without fine-tuning; topping all open-source chemistry pipelines. We show that the same infrastructure directly addresses the data curation, indexing, and retrieval challenges facing physical AI world model training, where the knowledge problem is harder but structurally identical.
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URL
https://arxiv.org/abs/2609.23971
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Topology-Informed Visual Prompting For Vision Language Action Policies
2026-09-20 23:39:39Haoyang Wu, Abhinav Kumar, Dmitry BerensonAbstract
Vision-language-action (VLA) policies can struggle with manipulation tasks with complex obstacle geometries due to partial observability. These complex geometries can lead to similar visual observations or robot configurations requiring qualitatively different actions, a distinction that can be quantified using topological signatures. While motion planners with full knowledge of environment geometries and object states can reason about these signatures in planning, this information is often not known at deployment. To address this issue, we present a topology-guided visual-prompting framework that uses simulation-based planning to augment a nominal demonstration dataset and provides vision-based guidance at deployment. Our method uses a Gauss-Linking-Integral topological signature representation to capture important topological properties of the environment. Using privileged geometry information from a simulation approximation of our environment, we augment a VLA fine-tuning dataset with trajectories that move the system to a demonstrated signature and, from the new configuration, resume task execution. A vision-language model (VLM) is fine-tuned on the same dataset to both predict signatures from live camera observations and predict end-effector waypoints, which are rendered as visual prompts on the observations to guide the VLA. Across three simulated bimanual tasks and a real-world box pickup task, our method outperforms a VLA fine-tuned only on nominal demonstrations and a VLM-prompting baseline that can remove topology-relevant information from observations. On hardware, it exceeds the strongest baseline by 40% in task success. Project website: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.23944
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Time-Incremental Continued Pretraining of LLMs: Knowledge Updates Without Catastrophic Forgetting
2026-09-20 22:44:54F{\i}rat \"Oncel, Salman Hussain Ali, Mirco Ravanelli, Cem Subakan, \c{C}a\u{g}atay Y{\i}ld{\i}zAbstract
Large language models (LLMs) drift out of date the moment their pretraining ends, yet retraining from scratch is prohibitively expensive. Continued pretraining (CPT) is the natural remedy, but it is typically evaluated through a continual learning lens that assumes disjoint data streams. This is a poor fit for time-incremental updates on web-scale crawls, where successive snapshots share substantial URL overlap by design. We study time-incremental CPT in this realistic regime: continued pretraining on FineWeb-Edu dumps drawn strictly from after each model's knowledge cutoff, evaluated across six open-weight models spanning three families (OLMo2, Llama-3.1/3.2, Gemma-3-1B) and four parameter scales (1B-3B-7B-8B). We organize our findings around four practical questions. (i) Is knowledge acquired? Yes, but heterogeneously, and without catastrophic forgetting: five of six models also improve on pre-cutoff factual recall, and the gains track pretraining saturation (driven primarily by token budget per parameter). (ii) What does it cost? Almost nothing: the macro-average across a thirteen-task suite stays within 0.01 of the base for every model. (iii) What is the recipe? Data quality dominates quantity (a curated 6B-token slice matches a broader 40B one); the optima for knowledge acquisition and general capability are separated by roughly an order of magnitude in learning rate; and LoRA at sufficient rank matches full CPT. (iv) Does it survive deployment? CPT gains transfer through SFT, while DPO's effect is family-dependent. Together, these results paint a more optimistic picture of time-incremental CPT than the prior continual learning literature suggests.
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URL
https://arxiv.org/abs/2609.23916
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BarrierFormer: Transformer-Guided Predictive Barrier Enforcement for Safe Robot Control
2026-09-20 22:03:18Anandsingh Chauhan, Kunal GargAbstract
Control barrier functions (CBFs) have become one of the most popular tools for encoding and enforcing state constraints in safety-critical robotics. Standard CBF approaches are inherently myopic in nature as they enforce safety only at the current time step. Consequently, the system can be driven toward the boundary of the safe set where no feasible safe control exists at a future timestep. Model predictive control (MPC) based approaches address this by enforcing state constraints over a receding horizon. However, such approaches generally require the model to be known for solving a constrained optimization problem at every step, which is computationally expensive for real-time deployment. We propose BarrierFormer, a barrier-supervised transformer framework that addresses these limitations by encoding rollout-level CBF constraints in learning a model-free safe policy. A causal transformer encodes observation-action history, autoregressively generates a predictive rollout through the dynamics head to replace the model, and provides a residual correction to a nominal controller through the action head to replace the online computation. A barrier critic operating on local observations evaluates CBF constraint violations along this rollout, and a safety teacher computes barrier-consistent actions satisfying these constraints as direct supervision targets for the learned control policy. During inference, the policy maps observation-action history to control actions without any online optimization or model knowledge, enabling real-time model-free predictive safety enforcement. Evaluations across linear and nonlinear, 2D and 3D dynamical systems for safe goal-directed navigation demonstrate that BarrierFormer outperforms existing reinforcement learning (RL)-based, diffusion-based, MPC-based, and transformer-based approaches in safety rate and inference latency.
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URL
https://arxiv.org/abs/2609.23896
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Circuit-Diff: Factual Edit-based Intervention Method for Localizing Knowledge in Attribution Graphs
2026-09-20 21:59:00Edward G. Friedman, Xiangchen SongAbstract
Mechanistic interpretability defines features as the fundamental units of a neural network and circuits as the weighted subgraphs that carry out its computation. Because individual neurons are polysemantic, Cross-Layer Transcoders (CLTs) were introduced as a way to approximate a model's circuits by generating an attribution graph. The nodes of that graph, however, are unlabeled features: reading a graph means pruning it and then working out by hand what each surviving node means. To make CLTs easier to use for circuit discovery, we introduce Circuit-Diff, which intervenes on the model itself with a low-rank factual edit and takes the features whose role in the attribution graph changes under that edit as related to the edited knowledge. On the edits we examine, the flagged nodes are not only detectors of the object token: read off the CLT's released feature dashboards, they include features for the history, geography and associations surrounding the old and new objects. We formalize the method, measure how reliable a frozen CLT remains after a factual edit, test the selected nodes causally by patching them on up to 24 CounterFact edits, give a case study, and release an open-source implementation built on the circuit-tracer package, together with two further tools (multi-prompt aggregation and rule-based supernode labeling).
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URL
https://arxiv.org/abs/2609.23892
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From UNDRR Reports to Event Records: Schema-Constrained LLM Extraction of Georeferenced Disasters
2026-09-20 20:14:51Camilla Andreozzi, Phuong-Anh Nguyen-Le, Zhijing Jin, Revati ManiAbstract
Disaster-risk-reduction archives describe hazard events in prose that databases such as EM-DAT (Delforge et al., 2025) cannot ingest directly. We present an LLM pipeline that generates candidate georeferenced event records using a controlled hazard vocabulary and fixed schema, retaining evidence for review. Applied to 10,000 documents from PreventionWeb, the knowledge hub managed by UNDRR, it produced 3,572 records from 1,913 documents across 24 hazard types and resolved 81% of location mentions to OpenStreetMap geometries. On 171 human-positive document windows from a stratified 217-document reference set, GPT-5 achieved 86.0% pooled attribute $F_1$, versus 44.2% for the spaCy-gazetteer baseline. Evaluation pools hazard families, location strings, and event years within documents, without assessing their assignment to individual events. GPT-5.4 ranked highest among ten LLMs (86.6% $F_1$). Verbatim evidence occurrence was 72.0% for GPT-5 and 47.2% for GPT-5.4, measuring textual traceability without establishing attribute support. We report production failure modes and automated label and location-rule compliance checks. Prompts, schema, and outputs will be released for adaptation to national reporting archives.
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URL
https://arxiv.org/abs/2609.23853
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Impact Is Not Invalidation: Ask About the Claim, Not the Diff
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Memory systems for coding agents must decide, when a repository changes, which of their stored claims have become false. Content anchoring invalidates a claim whenever the artifact it came from changes, which fires constantly. Semantic-equivalence classification asks whether a diff preserves behavior, a question about the diff rather than about any stored claim. We show the second signal fails for a reason unrelated to model capability: asked whether a commit preserves behavior, five models spanning a 40x price range fire on 59-72% of real commits and reach precisions of only 0.291 to 0.329 against a 0.25 base rate. Asked instead whether one specific claim still holds, the same models on the same diffs reach 0.705 to 0.974. A control that hands the behavior-preservation judge the claim text, changing only the question, moves precision by 0.010 and 0.016; changing the question moves it by 0.49 and 0.65. We also compare against pytest-testmon, a deployed regression-test selector with coverage-derived dependency data: it reaches 0.868 recall at 0.415 precision, so near-complete knowledge of what a change can reach does not identify what it falsifies. Ground truth is execution, not annotation: a claim is a test function passing at commit t, and it has flipped if that same assertion text fails at t+1. Building this required an observation we did not find in prior work. On a CI-gated mainline a commit that leaves a pre-existing test failing cannot merge, so the naive construction has an empty positive class by design. We report 10,369 claims with 184 execution-verified flips mined from 23 Python libraries, splits held out by repository, a post-knowledge-cutoff split, a shuffled-diff null, a paraphrase control, and a leave-one-repository-out analysis over 17 repositories.
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URL
https://arxiv.org/abs/2609.25130
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WorkWorlds: An Infrastructure for Evaluating AI Agents on Workplace Tasks
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Many knowledge-work benchmarks are constructed around individual tasks, with the context needed for each task selected together with or after the task has been specified. This design measures performance on workplace-like tasks in an environment assembled for the task. When task specification guides which context is selected, the evaluation can encode task information into the environment and pre-complete part of the information-localization work that workplace performance normally requires. We introduce WorkWorlds, an evaluation infrastructure that separates organizational state from task specification. A world first fixes a revision, date, and employee seat and materializes the organizational state that employee can access; tasks are introduced only afterward. We implement WorkWorlds in a primary synthetic pharmaceutical company with 8 measured tasks across 6 employee seats, and construct additional organizational worlds. Across 192 matched evaluations, moving from task-curated context to the full role-visible workplace reduced evidence access from 90.4% to 74.5% and criterion pass from 79.4% to 68.2%, while pass conditional on evidence access remained nearly unchanged; most of the measured difference occurred before the agent reached sufficient evidence.
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URL
https://arxiv.org/abs/2609.23806
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PRISM-RAG: Multimodal Hypergraph Retrieval-Augmented Generation for Tobacco Product and Legislative Policy Reasoning
2026-09-20 17:39:21Manuel Serna-Aguilera, Raegan Anderes, Page Dobbs, Khoa LuuAbstract
The disambiguation of semantically similar statutory text across jurisdictions is a retrieval problem that existing methods do not solve. This inter-context conflict can steer generative models toward confidently produced answers grounded in topically relevant but jurisdictionally incorrect sources. Tobacco and nicotine regulations vary by US jurisdiction, often sharing similar language, thus, robust reasoning requires identifying which jurisdiction's law governs a given product, not merely retrieving relevant text. Emerging products (e.g., pouches) exploit ambiguous definitions to evade regulation. State-of-the-art (SOTA) document retrieval-augmented generation (RAG) methods struggle to address this inter-context conflict, and thus struggle to connect image attributes (e.g., rich attribute captions) to the set of similar legislation texts. We introduce NicoPRISM (Nicotine Product and Regulation Image-and-Text Surveillance Multimodal), comprising 161,563 images, attribute captions, a knowledge base of product, health, and legislative documents spanning 13 US jurisdictions, and 1,495 validated question-answer pairs across two tasks: policy compliance QA and product knowledge QA. We also propose PRISM-RAG, a multimodal hypergraph RAG framework built over images, captions, and entities without any LLM calls at index time, grounding every query in a product image and routes retrieval through a jurisdiction-aware context assembly mechanism guaranteeing that statutory text from the queried jurisdiction reaches the language model by construction. PRISM-RAG retrieves passages from the correct jurisdiction in 93.9% of policy compliance queries, a 48.6 percentage point advantage over standard RAG (p<0.001), using zero LLM calls at index time and one at query time, and is competitive with or outperforms SOTA RAG frameworks across keyword, semantic, jurisdiction-, and compliance-accuracy metrics.
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URL
https://arxiv.org/abs/2609.23769
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PETR: Prompt Ensembling with Training-free Routing for Vision-Language Models
2026-09-20 12:36:55Weihan Cai, Hao Tan, Xinping Gao, Shibiao Xu, Jun WanAbstract
Prompt learning efficiently adapts vision-language models (VLMs) to downstream tasks, but gains on seen classes often come at the expense of generalization to unseen classes. To address this limitation, we propose prompt ensembling with training-free routing (PETR), whose key innovation is a carefully designed dual-prompt architecture: two complementary prompts are learned from different data and objectives to emphasize seen class discrimination and unseen-class generalization, respectively. During training, both prompts are fine-tuned using a shared frozen CLIP backbone, and statistical information is collected from the training set logits. At inference time, we determine the similarity of each test sample to seen data, and route the sample to the most appropriate prompt branch. To the best of our knowledge, this is the first prompt tuning framework that performs training-free adaptive routing based on statistical similarity. This design provides an interpretable routing signal and avoids common MoE-style routing pathologies, such as router training instability and load imbalance. Extensive experiments on 11 benchmark datasets demonstrate that our framework consistently outperforms previous methods on both seen and unseen classes, achieving new state-of-the-art results.
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URL
https://arxiv.org/abs/2609.23600
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Transferring Visual Explanations: How Cross-Architecture Knowledge Distillation Affects Model Interpretability
2026-09-20 11:27:23Aleks Czufarow, Ihor BabinAbstract
Deploying efficient neural networks is essential in resource-constrained environments, yet compact models often sacrifice interpretability - a critical in safety-critical domains such as autonomous driving and medicine. This study investigates whether Knowledge Distillation transfers the spatial feature attribution of a large teacher network to a compact student. To assess the influence of the KD scheme on interpretability, we distill a ResNet-152 teacher into a ResNet-34 student on ImageNet-1K across five configurations by systematically varying the distillation temperature and soft-label loss weight. Models are evaluated on top-1 accuracy, along with two interpretability metrics: Relevance Mass Accuracy and Relevance Rank Accuracy. These metrics are computed via Grad-CAM heatmaps benchmarked against ground-truth object masks. Our results show that top-1 accuracy ranges from 71.6% to 74.0%. For Grad-CAM, RMA ranges from 7.7% to 9.7% and RRA from 7.3% to 10.1%; for Guided Grad-CAM, RMA ranges from 16.1% to 18.6% and RRA from 15.9% to 21.5%. Interpretability proves far more sensitive to the soft-label weight than to the temperature: keeping the student anchored to hard labels preserves both accuracy and coarse localization, whereas weighting the teacher heavily degrades both. Fine-grained attribution, however, fell below the undistilled baseline in every configuration tested, indicating that logit distillation transmits where a model attends more readily than the pixel-level structure of that attention. We evaluate 12 cross-architecture combinations of convolutional and transformer-based models, revealing that the inheritance of fine-grained spatial reasoning is fundamentally bottlenecked by the student's intrinsic structural biases. To our knowledge, this is the first application of this interpretability-aware evaluation framework - previously used for neural network pruning - to KD.
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URL
https://arxiv.org/abs/2609.23561
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Towards robust multimodal 3D object detection via visual foundation models
2026-09-20 10:41:37Ziying Song, Lin Liu, Hongyu Pan, Shaoqing Xu, Lei Yang, Mingzhe Guo, Caiyan JiaAbstract
Multimodal 3D object detection is fundamental to robust perception in autonomous driving because it integrates complementary information from LiDAR and camera sensors. However, existing methods often fail to maintain robustness under out-of-distribution (OOD) corruptions caused by sensor noise, adverse weather, and environmental changes. To address this problem, we propose RoboDistill, a robust and generalizable multimodal 3D object detection framework that leverages visual foundation models (VFMs), such as the Segment Anything Model (SAM). First, we introduce SAM-AD, a domain-specific pretraining strategy that fine-tunes SAM on autonomous-driving imagery to extract feature representations with rich semantic information. Second, we design the AD Feature Pyramid Network (AD-FPN) to refine and upsample SAM features at multiple scales for seamless fusion with LiDAR features. Third, we develop the Depth-Guided Wavelet Attention (DGWA) module, which suppresses high-frequency sensor noise while preserving critical contextual information. Finally, we introduce KD Fusion, in which the pretrained SAM-AD serves as a teacher that distills high-quality visual knowledge into a lightweight point-cloud network, thereby improving robustness under noisy conditions. Extensive experiments across 27 challenging OOD corruption settings show that RoboDistill generally delivers stronger or competitive detection performance and robustness relative to representative state-of-the-art methods. This work bridges the gap between VFMs and 3D object detection and advances robust multimodal perception for real-world autonomous-driving applications.
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URL
https://arxiv.org/abs/2609.23541
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LiteCASS: A Lightweight End-to-End Network for Real-Time Stereo Cinematic Audio Source Separation
2026-09-20 08:31:26Yuanxin Guo, Qiang Ji, Mengmei Liu, Yuhan Lv, Ningning Pan, Gongping HuangAbstract
Cinematic audio source separation (CASS) decomposes a soundtrack into dialogue, music, and sound-effects (SFX) stems. Existing CASS methods, however, suffer from two critical limitations: they rely on heavily parameterized network architectures and GPU-class hardware, limiting their use in real-time and resource-constrained scenarios, and they are overwhelmingly designed for monaural signals, leaving the stereo scenario largely unexplored. We present LiteCASS, to our knowledge the first lightweight end-to-end network for real-time stereo CASS. LiteCASS combines deterministic STFT subband rearrangement with two jointly trained compact U-Nets: the first extracts dialogue, and the second separates music and SFX from the predicted non-speech component. A multi-task waveform-domain L1 loss supervises all stems. On a spatialized stereo extension of DnR v3, LiteCASS-K8 uses only 1.06M parameters and 0.72G MACs per second, while achieving the highest averaged SI-SDR among the compared CASS baselines.
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URL
https://arxiv.org/abs/2609.23453
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PSD: Pseudo Self-Distillation of Memory Representation Capabilities for LLM Agents
2026-09-20 08:24:52Pirzada Suhail, Menglin Xia, Xuchao Zhang, Mayukh Das, Chetan Bansal, Saravan RajmohanAbstract
Memory systems are becoming a core component of LLM agents, but constructing and maintaining memory remains expensive because it relies on repeated calls to large proprietary language models. This cost creates a major barrier to deploying memory-enhanced agents at scale. In this paper, we present Pseudo Self-Distillation (PSD), a framework that enables small language models (SLMs) to construct hierarchical memory representations by distilling behavior from a strong black-box oracle through a multi-stage training pipeline. Standard distillation methods require access to teacher logits or hidden states, which closed models do not expose. Unlike conventional self-distillation settings, where supervision is derived from a model's own predictions, sampled rollouts, or aggregated outputs, PSD enables a single-model distillation setup while channeling external oracle knowledge through the prompt. PSD uses a single small model in two roles: a teacher that sees a privileged prompt containing the oracle's answer as reference context, and a student that sees only the task prompt. The student learns to reproduce the teacher's output distribution, absorbing oracle-guided behavior into its own weights without accessing the oracle's internals. On LoCoMo, PSD-trained Qwen3-0.6B, 1.7B, and 4B match or exceed GPT-4.1-mini on downstream retrieval at a fraction of the deployment cost, with off-policy PSD achieving the strongest results across most conditions. We further show that this memory-construction capability transfers out-of-distribution to LongMemEval, despite the students being trained exclusively on LoCoMo with no exposure to LongMemEval data.
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URL
https://arxiv.org/abs/2609.23449
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RiverVLN: Phase-Grounded Temporal Vision--Language Navigation for Unmanned Surface Vehicles
2026-09-20 07:39:56Jieling Wu, Yuehao Huang, Jiajun Lv, Tao Huang, Yong Liu, Weiwei LiuAbstract
Vision-language navigation (VLN) has largely been developed for indoor and terrestrial robots, where language can often be treated as a static goal and motion is approximated by discrete or near-instantaneous actions. These assumptions break down for unmanned surface vehicles (USVs): river navigation requires continuous motion under inertia and limited maneuverability, while long-horizon instructions must be executed through sparse and visually ambiguous maritime landmarks. We introduce RiverVLN, to our knowledge the first benchmark designed for long-horizon USV VLN under continuous riverine motion, and PGT-NAV, a phase-grounded temporal navigation framework for USVs. Rather than directly mapping an entire instruction to motion, PGT-NAV converts it into an ordered sequence of visually verifiable semantic phases and maintains the active phase online through grounded visual and motion evidence. This explicit semantic progress state is fused with visual-motion history and phase-specific grounding to predict six local SE(2) pose increments. The resulting trajectory is executed in a predict-execute-re-observe loop, where the vessel executes toward W3, updates phase and grounding, and replans through a map-based safety layer. Experiments show that PGT-NAV substantially reduces recursive position and heading drift relative to GNM-style and ViNT-style baselines and achieves an average success rate of 0.79 in Unity-ROS closed-loop navigation. Unseen bridge-opening trials and real-world USV experiments further demonstrate that the phase-grounded representation transfers from controlled evaluation to physical USV deployment.
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URL
https://arxiv.org/abs/2609.23423
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If You Hear It, Help Find It: Orthogonal Knowledge Distillation for Open-Vocabulary Audio-Visual Event Localization
Abstract
Open-vocabulary audio-visual event localization (OV-AVEL) grounds a text-queried event in time from video, audio, and language. The supervision sources available to this task can differ in temporal-boundary reliability: on OV-AVEBench, our configured visual teacher gives more reliable boundary cues than the configured audio teacher, although the latter is a strong pretrained audio model and remains semantically informative. This is a setting-specific diagnostic rather than a universal ranking of vision and audio. We formulate the resulting challenge as supervision placement: which teacher signals may shape the localization decision, and which should remain auxiliary. Based on this view, we propose OV-OrthKD, a reliability-aware asymmetric distillation framework. Visual feature transfer shapes a decision-aligned representation, audio feature transfer enriches a complementary auxiliary subspace, a text prototype anchors seen/unseen category semantics, and an orthogonality loss limits directional overlap between the two teacher-specific projections. The student continues to use both modalities through query-aware fusion at inference, while the default training recipe keeps audio-teacher supervision off the segment-logit path. On OV-AVEBench, OV-OrthKD achieves 0.816 segment AP and improves F1@0.5 over the official fine-tuning baseline by 2.7 points overall and 3.4 points on unseen categories. Path-assignment, role-swap, corruption, and transfer analyses consistently support supervision placement as a task-specific design axis for OV-AVEL.
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URL
https://arxiv.org/abs/2609.23376
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Machine-Interpretable Information: Compiling Documents into Searchable and Readable Protocol States
2026-09-20 05:43:16Yifan Wang, Dejing DouAbstract
Long-context language models interface with external knowledge through raw natural language. In retrieval-augmented systems, this creates a persistent index-payload schism: dense vectors enable searchable routing, but models must re-ingest lengthy text payloads for reasoning at O(N^2) attention cost. Existing compression methods further produce private states tied to specific architectures. We introduce Machine-Interpretable Information (MII), the first agent-to-agent (A2A) document-to-state protocol. A dual-timescale state-space Writer compiles documents into a canonical, fixed-bandwidth state (56 tokens), and a lightweight Translator maps it into any frozen Reader's embedding space, reducing query-time cost to O(K). The resulting .mii artifact unifies Retrieval (searchable geometry), Reasoning (global memory), and Reconstruction (grounded details) in a single transferable medium. We demonstrate strong cross-model interoperability across heterogeneous LLMs (e.g., Llama, Qwen, Mistral) -- despite the Writer using a legacy GPT-2 vocabulary, forcing genuine semantic translation rather than token-level memorization. Mechanistic probes reveal modular latent structure: entity representations can be causally traced and zero-shot transplanted between unrelated document states while remaining decodable. To address lexical reconstruction under fixed bandwidth, we propose Residual-MII, a cache hierarchy combining compiled global memory with sparse local evidence. On HotpotQA (7,405 queries), Residual-MII exceeds full-context Exact Match at approximately 7% of the attention FLOPs, suggesting a paradigm shift toward compiled, transferable neural document formats.
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URL
https://arxiv.org/abs/2609.23371
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