Object_Detection
-
Personalized Object Identification and Localization via In-Context Inference with Vision-Language Models
2026-07-01 02:56:45Kensuke Nakamura, Byung-Woo HongAbstract
Personalized object localization (POL) localizes an object instance in a query image based on a few reference images with bounding-box annotations and a target object label. The pioneering method, IPLoc, solves this task through in-context inference with vision-language models (VLMs). However, it assumes that the query image always contains the target object. This assumption severely limits its applicability to real-world scenarios with many irrelevant images. To address this issue, we formulate a new task, personalized object identification and localization (POIL), by positioning POL within the broader few-shot object detection framework. POIL aims to localize the target object instance while rejecting query images that do not contain the reference object instance. We also present POIL datasets constructed from public sources. We further propose an in-context algorithm named IPLoc-ID for solving POIL with VLMs. IPLoc-ID first predicts a candidate bounding box and then determines whether it corresponds to the reference object instance. We introduce a self-posed query to connect these two steps within a single autoregressive generation framework. Through ablation studies and comprehensive experiments, we show that IPLoc-ID substantially suppresses false-positive detections on negative query images while maintaining localization performance comparable to IPLoc. Overall, IPLoc-ID effectively addresses the practical instance-level POIL task, which cannot be sufficiently solved by conventional object detection, few-shot object detection, or the localization-only IPLoc method.
Abstract (translated)
URL
https://arxiv.org/abs/2607.00357
PDF
-
DroneFINE: Domain-Aware Parameter-Efficient Fine-Tuning of Vision-Language Detectors for Drone Images
2026-07-01 02:27:40Ke Wu, Yanan Zhang, Yingjie Gao, Wenhao Li, Chenyu Zhou, XinZhu Ma, Jiaxin Chen, Di HuangAbstract
Object detection for Unmanned Aerial Vehicles (UAVs) working in open and dynamic environments is a highly challenging task. While Vision-Language Models (VLMs) have offered a powerful solution for universal object detection, adapting them to UAV scenarios remains non-trivial due to a substantial domain gap between VLM pre-training data and aerial imagery. The prevailing Parameter-Efficient Fine-Tuning (PEFT) methods prove ineffective in bridging this gap, as VLMs' "natural-scene, foreground-dominant" visual priors misalign with the "bird's-eye-view, background-dominant, small-object" characteristics of UAV data. To address this issue, we propose DroneFINE, a novel PEFT paradigm comprising two domain-aware complementary modules tailored for VLM-based drone image detectors. Specifically, a data-dependent, foreground-aware, and multi-path adaptation mechanism named HyperAdapter is designed, which overcomes the static structural constraints of PEFT. In addition, a background suppression algorithm named SemanticGate is developed. It is a text-conditioned guidance strategy that employs background vocabulary to actively guide the model in suppressing responses from irrelevant regions. Extensive experiments on VisDrone and UAVDT demonstrate that DroneFINE significantly outperforms existing PEFT methods and achieves performance comparable to full fine-tuning while substantially reducing the number of trainable parameters.
Abstract (translated)
URL
https://arxiv.org/abs/2607.00338
PDF
-
Temporal Multi-Signal Fusion for Token-Level Hallucination Detection
2026-06-30 19:22:39Igor ItkinAbstract
Token-level hallucination detectors score each token independently from a single signal, and fail exactly when the generating model is confidently wrong. This paper instead treats hallucination as a temporally extended span and detects it by sequence labeling: each token is scored from a 33-dimensional feature stream that fuses text statistics, Natural Language Inference (NLI) entailment, and language model surprisal, with no access to model internals. A Bidirectional Gated Recurrent Unit (BiGRU) over these features reaches an AUC of 0.840 on RAGTruth (10 seeds), an 11-point gain over an independent logistic-regression baseline (p = 0.002, Wilcoxon signed-rank). A controlled decomposition attributes most of the gain to temporal order rather than model capacity: evidence propagates from confident positions to ambiguous neighbors within a span. The same 0.845 ceiling recurs across recurrent, state-space (Mamba), and attention architectures, locating the bottleneck in the feature set rather than the model. Because it reads only the generated text and external signals, the detector works on closed-source models, and it keeps working on text produced by language models it never saw during training, losing under 4% AUC.
Abstract (translated)
URL
https://arxiv.org/abs/2608.18115
PDF
-
Reliability Scales Inversely: Bigger Models Compound Mistakes Faster via a Hidden Auto-Regressive Risk Regime
2026-06-30 17:51:04Kushal ChakrabartiAbstract
As language models scale, answers start truer but degrade faster: scaling buys capability but erodes reliability. The knowledge-gap account - more data, retrieval, or scale - misses an auto-regressive risk residual that scale sharpens: the model commits to a low-probability token, conditions on it as established, and snowballs. We track this through per-position disagreement $\delta = \log p_M - \log p_O$ against a stronger same-family oracle, whose second moment splits exactly into bias$^2$ $\mathrm{KL}(p_M \,\|\, p_O)^2$ and risk $\mathrm{Var}[\delta]$. We present four findings: (i) under scaling, the knowledge gap falls $\approx$$6\times$ while knowledge degradation grows $11$-$39\times$; (ii) at a fabrication, felt uncertainty $H(p_M)$ relaxes quickly while oracle-referenced risk persists up to $17\times$ longer, leaving a confident-but-precarious risk regime that bridges consecutive fabrications ($+69\%$ at $14$B); (iii) this regime is causal - an on-policy, fixed-$\mathrm{KL}$ variance contraction cuts web-verified hallucination by $35$-$74\%$ across three model families; and, (iv) it structurally evades self-monitoring, with $p_M$-only detectors (e.g. semantic entropy) firing $\approx$$30\%$ less ($p<10^{-16}$) on the risky branch holding nearly $4\times$ more fabrications. Bigger models snowball mistakes faster, through a failure mode that is dominant, self-perpetuating, causal and invisible to the model itself.
Abstract (translated)
URL
https://arxiv.org/abs/2607.18292
PDF
-
Explicit Fuzzy Logic in the Feed-Forward Layer: Self-Forgetting Quantifiers Discover Legible Grammatical-Licensing Detectors
Abstract
A transformer's feed-forward (FFN) sublayer materializes the distinctions attention gathers, yet gives no account of what it computes. In a parameter-neutral replacement, each hidden unit is an explicit fuzzy set operation on sigmoid-bounded [0,1] memberships: intersection A*B and set-difference A*(1-B), the latter a bounded positive negation ("A but not B") that gated/bilinear units lack -- a negation-capable FFN (NC-FFN). On N-bit parity they are the most parameter-efficient reasoning basis at shallow depth; at scale (125M, OpenWebText) NC-FFN ties the GELU baseline's perplexity, every unit carrying explicit logical form. Two limits share one cause: two-operand logic localizes to layer 0 and erodes under training, and the one robust grammatical deficit concentrates in licensing and quantifiers, beyond within-token operators. We resolve both with a small block of sequence quantifiers: a soft existential and a soft proportion, each with a per-unit learned forgetting rate from a sticky init. This recovers the deficit at epoch one (halving the wider epoch-two gap), modestly leads on LAMBADA, and makes the FFN legible: the structure now holds and migrates into depth; the decay un-learns its stickiness (median half-life ~1.5 tokens; zero latch units); and at the semantic layers the units read, without dictionary learning, as grammatical licensing detectors: each fires on a licensor (a comparative, a passive participle, a negative-polarity item) and carries its memory forward to predict the licensed word (than, by, nor). This legibility is localized and free only up to a partition (a fully Boolean FFN diverges in training), but the result is a parameter-neutral, language-model-quality transformer with a readable, interpretable-by-construction grammatical mechanism -- an account not just of what a feed-forward layer represents but how it licenses.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31845
PDF
-
Real-Time Source-Free Object Detection
2026-06-30 15:38:56Sairam VCR, Varun Gopal, Poornima Jain, Vineeth N Balasubramanian, Muhammad Haris KhanAbstract
Real-world detectors for autonomous driving, surveillance, and robotics must handle domain-shifts under strict latency and memory constraints, yet existing source-free object detection (SFOD) methods rely on heavyweight architectures that prioritize accuracy alone. We show this trade-off is unnecessary: building on YOLOv10, an NMS-free dual-head detector, we achieve state-of-the-art adaptation accuracy while being faster and more compact. We observe that directly applying vanilla mean-teacher self-training to dual-head detectors leads to suboptimal adaptation performance due to two key factors. First, simple pseudo-label generation strategies, such as using a single head or directly combining high-confidence predictions from both heads, yield suboptimal supervision under domain-shift. We propose DHF (Dual-Head Pseudo-Label Fusion) which selectively admits one-to-one (O2O) and one-to-many (O2M) head predictions, preserving precision and recovering missed objects. Second, we observe domain-shift collapses multi-scale feature discriminability. We propose the use of our MARD (Multi-scale Adaptive Representation Diversification) loss which mitigates this by enforcing detection-aware variance and covariance constraints on multi-scale feature maps. Both modules are training-time only, leaving inference unchanged. Across domain-shift benchmarks, our method, RT-SFOD yields 1.4 to 3.5\% mAP gains, 1.3$\times$ higher throughput, with $\sim$2$\times$ fewer parameters than prior state-of-the-art SFOD methods, thus advancing the Pareto frontier of the speed-accuracy-model size trade-off. We report main results with YOLOv10, and demonstrate generalizability with additional YOLO- and DETR-based dual-head detectors. Code is available here: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2606.31834
PDF
-
Autonomous UAV Navigation for Individual Wildlife Re-Identification
2026-06-30 14:56:04Claire Sun, Tanya Berger-Wolf, Jenna KlineAbstract
Reliable individual re-identification (re-ID) of wildlife is essential for population monitoring, behavioral tracking, and conservation policy evaluation, yet large-scale data collection remains labor-intensive, relying on manual efforts by ecologists or citizen scientists. We propose an autonomous drone navigation system that actively optimizes image capture for downstream re-ID, moving beyond passive aerial sensing. The system combines YOLOv11 object detection with a DINOv2-based pose classifier to guide real-time flight decisions: detecting animals, orienting to expose the lateral flank (the surface of interest for pattern-based re-ID), and approaching until the subject meets a minimum bounding-box threshold. Unlike prior drone systems that optimize for group-level behavioral video, ours targets the specific image-quality requirements of individual-identification models. We demonstrate feasibility through a case study on zebra using footage collected in Kenya, and show the approach generalizes to other species with diagnostic surface patterns, including giraffes, tigers, and elephants. Our work establishes a framework for task-aware embodied AI for ecological data collection, in which downstream re-ID requirements drive real-time perception and control.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31772
PDF
-
Look But Don't Touch with Sparse Autoencoders for Unlearning in Diffusion Models
2026-06-30 14:09:28Enrico Cassano, Riccardo Renzulli, Rayyan Ahmed, Marco Grangetto, Stephan AlanizAbstract
Sparse autoencoders (SAEs) have recently been proposed as interpretable tools for concept-level manipulation, under the assumption that isolated features can serve as controllable intervention points. In this work, we systematically evaluate this assumption in the context of object erasure and steering in diffusion models. We show that while SAEs reliably detect and localize semantic concepts within diffusion model activations, direct intervention in their latent space frequently induces out-of-distribution activations, resulting in severe visual artifacts. To disentangle detection from intervention, we use SAE activations purely as semantic detectors to identify image regions containing the target object, and replace those patch embeddings with the ones that do not contain it. This detection-based replacement preserves the diffusion model's activation statistics and produces significantly cleaner erasure results than latent steering. Our findings reveal a fundamental gap between concept detection and concept intervention in diffusion models: monosemantic or sparse features are not inherently suitable as control knobs for steering. These results position SAEs as powerful interpretability tools for analyzing generative models, but highlight important limitations when used for direct manipulation, such as unlearning.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31699
PDF
-
Surprise as a Signal for Plasticity and Metacognition
2026-06-30 11:14:04Louis MouchonAbstract
We study a single idea across two settings: that a prediction-error signal, computed by a small predictor over the latent space of a frozen encoder, can serve both as a gate on plasticity and as a substrate for metacognition. In the first system, a non-parametric episodic memory writes a new concept only when this surprise is high, and a periodic offline replay phase consolidates recent traces into a slow linear readout. On a continual stream of 1000 ImageNet classes with a frozen DINOv2 or I-JEPA backbone, the consolidation phase recovers 17.7 points of retention on the oldest classes for DINOv2 and 51.3 points for I-JEPA (single-seed runs), and an ablation shows that replaying only a recent window is worse than no replay at all. In few-shot evaluation the same memory reaches 91.6% on 5-way 1-shot mini-ImageNet, above a task-specific baseline, while a harder 500-way regime exposes the true difficulty. In the second system, the same surprise signal, computed in a shared text-image space, modulates the behaviour of a vision-language model: it answers assertively when a concept is known, hedges when it is partially familiar, and refuses to identify the object and asks for an explanation when it is novel, learning the concept from a single user utterance. The external detector separates known from novel concepts at an AUROC of 0.966 (95% CI +/-0.024), far above the model's own verbalised confidence (0.618), while its token-level confidence sits below chance under greedy decoding; after a sleep phase that empties the fast store, the system recalls 99.2% of fifty taught facts from the consolidated store while a base model recovers none. We report both systems as proof-of-concept, with explicit limitations, and position the second against recent episodic-memory and personalised-VLM work.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31495
PDF
-
Temporal Preservation over Processing: Diagnosing and Designing Spatiotemporal Single-Stage Video Detectors
2026-06-30 09:44:21Karam Tomotaki-Dawoud, Anna Hilsmann, Peter Eisert, Sebastian BosseAbstract
Single-stage video object detectors are increasingly deployed in time-critical applications, yet it remains unclear whether these models genuinely reason over temporal context or merely exploit a single informative frame-a gap hidden by standard metrics, which reward correct predictions regardless of how they are reached. We address this from two complementary directions: first, we propose TemporalLens, a model-agnostic diagnostic framework probing temporal dependence through controlled perturbations, structured occlusions, temporal shuffling, redundancy injection, and resolution degradation, revealing whether a detector actually uses information across time. Applied to stacked-frame 2D detectors and our YOLO-3D architecture, it exposes behavioural differences invisible to mAP: stacked 2D models collapse when the target frame is removed, while spatiotemporal models recover predictions from earlier frames, a signature of real temporal reliance. Second, we detail YOLO-3D, a modular real-time spatiotemporal detector built on YOLOv8, and show that simply preserving temporal depth through the backbone is the dominant performance driver (+3.7 pp mAP@50 at 32 frames averaged across scales). Together, the diagnostics and architecture turn "does this detector reason over time?" into a measurable, actionable question.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31421
PDF
-
Linguistic Bias Mitigation for Spoofing Detection via Gradient Reversal and A Variational Information Bottleneck
2026-06-30 09:36:55Anh-Tuan Dao, Driss Matrouf, Mickael Rouvier, Nicholas EvansAbstract
Rapid advancements in generative speech technology have compromised the reliability of voice biometrics. While current spoofing detectors excel when assessed under in-domain conditions, generalisation to out-of-domain settings is often poor. We show that this can be due to linguistic bias. A reliance on linguistic cues observed in training data can then compromise robustness to cross-data. We propose a linguistic-invariant spoofing detection framework utilizing teacher-student adversarial learning. The linguistic-aware teacher model, pre-trained on linguistic content of an external dataset, guides the student detector via gradient reversal to minimize the linguistic information. To prevent the inadvertent removal of non-linguistic cues, we incorporate a Variational Information Bottleneck to enable suppression of principal cues. Across nine DF Arena datasets, our method achieves up to a 36.2% relative reduction in the EER compare to the baseline.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31411
PDF
-
CSO-LLM: Class Subspace Orthogonalization for Post-Training Backdoor Detection and Trigger Inversion in LLMs
2026-06-30 08:19:00Zhengxing Li, David J. Miller, Guangmingmei Yang, George KesidisAbstract
While post-training backdoor detection and trigger inversion schemes have been developed for AIs used e.g. for images, there is a paucity of such methods for LLMs. First, the LLM input space is discrete, with up to 150,000^k k-tuples to consider with k the token-length of a putative trigger. Second, one must blacklist tokens typical of the putative target response (class) of an attack, as such tokens may give false detection signals. However, a comprehensive blacklist is not available, in general, for a given domain. We develop a highly effective detection and inversion framework for LLMs treated as classifiers. Central to our approach is class subspace orthogonalization (CSO), a novel plug-and-play paradigm for backdoor detection that serves two fundamental roles when applied to LLMs: i) it enhances both sensitivity and specificity of a baseline detector; ii) it provides a form of implicit blacklisting, as it penalizes against inclusion, in a candidate trigger, of tokens that induce signal perturbations "in the direction of" the putative target class of an attack. One version of our detector performs continuous optimization in token embedding space, while a companion trigger-inversion and detection method performs greedy accretion in discrete token space. Our methods give both strong detection performance and accurate inversion of ground-truth triggers on several LLM classification domains, and for several different LLM architectures.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31309
PDF
-
Triospect: A Three-Dimensional Framework for Robust Statistical AI-Generated Text Detection Against Diverse Attacks
2026-06-30 03:02:42Guangsheng Bao, Lihua Rong, Yanbin Zhao, Xiao Yu, Qiji Zhou, Yue ZhangAbstract
Existing AI-generated text detectors are vulnerable to attacks that manipulate textual characteristics. In this study, we propose a novel Triospect Detection Framework by using additional perspectives of content (core ideas) and expression (stylistic elements) within a given text. Experiments on two benchmarks involving 17 attacks, 12 domains, and 17 source models demonstrate that Triospect is robust against these attacks. It improves the strong baseline by a significant margin of 22.3% (AUROC) and 13% (TPR01) on the Humanize-16K after-attack subset, and by 9.1% (AUROC) and 22% (TPR01) on the adversarial RAID. This framework marks a pioneering effort in statistical methods to enhance detection reliability against attacks. We release our data and code at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.31074
PDF
-
Budget-Adaptive Routing: Skipping the Weak When the Strong Answers Anyway
2026-06-29 21:11:19Wei Geng, Nitinder Mohan, J\"org OttAbstract
Edge-cloud inference collaborations are often designed with a routing estimator that decides whether to offload each frame from weak models at the edge to stronger models in the cloud. Existing systems place the routing estimator after the weak detector, so the weak forward pass still runs even on frames that are later offloaded. In this paper, we argue that this weak-conditioned design can be suboptimal when the offload budget varies. First, we present a competitive weak-skipping estimator (0.153 GFLOPs, about 29x lighter than the weak detector at 4.49 GFLOPs) that extracts routing signal from raw pixels, outperforming the common after-weak placement weak-conditioned baselines. Second, we show that neither weak-skipping nor weak-conditioned placement dominates across the full operating curve, and we propose budget-adaptive routing, which selects between them by offload budget via two offline-tuned thresholds. On PASCAL VOC, our budget-adaptive router traces the upper accuracy envelope of both fixed placements across the operating range. Our method reduces per-frame latency by up to 19.1 ms (about 30% lower at rho = 0.9). Besides outperforming SOTA methods, it is surprisingly stronger than the strong model (+1.7 pp over the strong model's peak mAP) at some operating points with far less compute. Artifacts are available at this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2606.30919
PDF
-
The Label Imitation Game: Turing Test Network for Zero-Shot Pseudo-Label Pruning
2026-06-29 20:06:58Brent A. Griffin, Jason J. CorsoAbstract
Foundation model pseudo-labeling - labeling data strictly via zero-shot inference - enables massive scale, but performance is undermined by hallucinations that evade standard thresholds. To eliminate these errors, we introduce the Turing-inspired Label Imitation Game (LIG), a framework that formalizes pseudo-label pruning as an adversarial interrogation. Rather than filtering labels via isolated thresholds, we use the LIG to train a Turing Test Network (TTN), a task-agnostic "judge" that evaluates candidate pseudo-labels within a dataset-wide context. Experiments across four diverse datasets demonstrate the TTN's robustness, consistently enhancing label accuracy for three state-of-the-art vision-language models without costly supervision or retraining. Crucially, we demonstrate that learned semantic-contextual logic is a robust alternative to spatial-geometric verification, enabling a unique zero-shot task transfer capability - a TTN trained strictly on image classification datasets can effectively prune complex object detection pseudo-labels. This pruning yields F1-score gains of 28% for the worst-performing baseline categories and 44% with task-specific fine-tuning. Significantly, we also observe Category Revival, where the TTN pruning "detoxifies" the training signal for downstream models and enables them to recover from zero recall on transfer-vulnerable classes. The pre-trained TTN models and code are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.30875
PDF
-
GaussLite: Online Task-Conditioned 3D Gaussian Splatting for Real-Time Robotic Mapping
2026-06-29 18:34:08Annika Thomas, Mason Peterson, Jonathan P. HowAbstract
Existing 3D Gaussian Splatting (3DGS) systems distribute representation capacity uniformly across a scene, ignoring the fact that many downstream robotic tasks engage only a fraction of the reconstructed geometry. This causes valuable onboard compute to be allocated towards optimizing irrelevant parts of the scene, either limiting online capacity or under-optimizing the most relevant parts of the scene. We introduce GaussLite, a task-driven 3DGS mapping system that conditions its representation density on a natural-language task specification. Given a posed RGB-D stream and a task such as "prepare to pick up the object on the desk," GaussLite uses a one-shot LLM parser to extract target and anchor objects, which are grounded per-frame by an open-vocabulary detector and segmented to produce per-pixel relevance masks in real time. The mapper allocates seeding density, gradient flow and scaling by task relevance. At matched Gaussian budget and real-time mapping at 4 Hz on resource-constrained hardware, GaussLite outperforms baselines on ROI PSNR on the Replica Dataset by an average +2.72 dB and on a real-hardware demonstration in indoor and outdoor settings by +2.23 dB. We further show that two task-specialized agents' maps can be fused into a single shared map via per-voxel voting on active-optimization counts in real time, outperforming concatenation by +3.42 dB while only sharing an average 7.08% of the map.
Abstract (translated)
URL
https://arxiv.org/abs/2606.30809
PDF
-
Open-Vocabulary and Referring Segmentation for 3D Gaussians Using 2D Detectors
2026-06-29 17:58:41Jameel Hassan, Yasiru Ranasinghe, Vishal PatelAbstract
3D Gaussian Splatting (3DGS) has emerged at the forefront of 3D scene reconstruction. Extending 3DGS with language-driven, open-vocabulary understanding has gained significant attention for real-world applications such as embodied AI. Recent methods achieve this by learning an instance feature attribute and assigning semantics by distilling high-dimensional Contrastive Language-Image Pretraining (CLIP) features directly into the scene representation. However, the instance grouping mechanisms of these methods either require a predefined number of instances or suffer from noise in their bottom-up grouping strategies. Furthermore, the reliance on CLIP restricts semantic understanding to simple noun phrases, preventing complex spatial reasoning and referential expression grounding. We present GaussDet, a method that circumvents the need for dense CLIP features by leveraging discrete, open-vocabulary 2D object detectors with referring expression capabilities. We learn instance features for individual Gaussians to decompose the scene into 3D instance groups. By rendering these groups and aggregating semantic votes from multi-view 2D detections, we generate a robust View-Aggregated Semantic Label Distribution (VASD) for each 3D instance. This view-aggregation strategy acts as a strong regularizer, attenuating spurious labels caused by low-quality instance grouping. Our approach enables a straightforward, zero-shot extension from simple language queries to complex referential grounding. Extensive evaluations across two key tasks -- open-vocabulary segmentation (LeRF-OVS, ScanNet) and referring expression grounding (Ref-LeRF) -- demonstrate that GaussDet achieves consistent improvements over existing methods. Most notably, we achieve a substantial 16.7% mIoU improvement in referential grounding within a strict zero-shot setting.
Abstract (translated)
URL
https://arxiv.org/abs/2606.30638
PDF
-
Sequential Planning via Anchored Robotic Keypoints
2026-06-29 17:48:01Bryce Grant, Aryeh Rothenberg, Logan Senning, Zonghe Chua, Zach Patterson, Peng WangAbstract
We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \& task cells, more than doubling CaP-Agent0 and Vision-Language-Action (VLA) baselines. CaP-Agent0, a multi-turn code-generation agent, achieves 18.2% by re-querying an LLM at every turn, but its restart-from-scratch solution proves costly against minor policy failures. Perception is the layer that fails most under position and task changes so SPARK spends its computation there. A single Gemini call composes the plan as a typed behavior tree (BT) of composable primitives, each already containing the low-level control (motion, grasping, depth geometry) a code-generation agent would otherwise regenerate on every trial. The rest of the budget goes to perception: a second Gemini call proposes three alternative text prompts per object, SAM3 evaluates each, and we keep the prompt$\to$label pair with the most confident detection and a recovery loop then retries a failed primitive against freshly detected objects, with no new LLM call. The alternative prompts add +27.7 points on the spatial suite and +10.0 on the object suite, with the recovery loop adding +5.0 overall. SPARK runs the same primitives on three robot families (UR10e, Franka FR3, bimanual Franka) across nine unique tasks at twenty trials each, averaging 68%. Since the detector, planner, and controller modules sit behind the typed plan, they swap independently without training, and each primitive's checkable post-condition traces a failure to the corresponding module or a kinematic limit. Every trial logs a verified, labeled trajectory, so a training-free planner that already beats VLAs can supply the data those policies need without teleoperation. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2606.30613
PDF
-
$mu$Flow: Leveraging Average Images for Improving Generalisation of Deepfake Faces Detectors
2026-06-29 16:31:57Orazio Pontorno, Mattia Litrico, Luca Guarnera, Mario Valerio Giuffrida, Sebastiano BattiatoAbstract
Current generative models, including GANs and diffusion models, have reached an outstanding level of photorealism, posing significant risks to privacy and security. To ensure real-world applicability, deepfake detectors must generalise effectively to unseen generators. However, most existing approaches rely on supervised training with both real and fake images, which limits their generalisation especially across generators categories (e.g. GANs vs DMs). In this work, we introduce $\mu$Flow, a one-class deepfake detector trained only on real images without relying on pseudo-deepfakes or synthetic artifacts. Our approach builds on the observation that averaging multiple images amplifies consistent generative traces, producing highly discriminative feature representations. We leverage this property by modelling the distribution of features extracted from averaged images and training a normalizing flow to align the feature space of individual images with this distribution. This alignment yields a likelihood-based criterion that separates real and fake samples while promoting strong generalisation. We evaluate $\mu$Flow on a fully out-of-distribution setting, where both real and fake datasets are unseen during training. Experimental results show that our method significantly outperforms SOTA detectors. Project page: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.30528
PDF
-
FR-DETR: Frequency and Recurrent Feature Refinement for Robust Object Detection under Adverse Weather
2026-06-29 15:31:08Tuan-Duc Nguyen, Duc-Trong LeAbstract
Object detection under adverse weather remains challenging due to severe visual degradations and domain shifts. Existing enhancer-based approaches attempt to improve detection by cascading an enhancer with a detector, but they introduce redundant feature extraction and incur high computational cost with limited accuracy gains when paired with SOTA detectors. We propose FR-DETR, a detector-centric framework that refines features rather than images, focusing enhancement on regions of interest and leveraging frequency-domain cues. Specifically, we design (I) a Frequency Refinement Module that dynamically separates and reweights low- and high-frequency components to improve foreground-background discrimination, and (II) a Recurrent Focus Refinement Module (RFRM) that iteratively refines features using coarse predictions as guidance. Extensive experiments demonstrate that FR-DETR achieves superior detection accuracy under adverse weather while being significantly more computationally efficient than enhancer-based methods. Our implementation is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.30471
PDF
