Object_Detection
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Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation
2026-09-30 12:29:52Michal Pliska, Matou\v{s} Vrba, Ond\v{r}ej V\'ita, Martin Jirou\v{s}ek, Viktor Walter, Martin SaskaAbstract
Agile multi-UAV flight requires accurate and low-latency onboard estimation of the kinematic states of neighboring UAVs for collision avoidance, motion coordination, etc. Most vision-based approaches rely on position-only measurements, inferring velocity and acceleration indirectly from displacement. We show that this introduces a fixed structural delay in the estimation of higher-order states, which limits the achievable agility. To address this, we propose to integrate tilt measurements, provided by a state-of-the-art visual detector, which inform about the thrust direction of co-planar multirotor UAVs. We benchmark four position-only and five pose-aware estimators, including a novel formulation of a linear thrust-constraining Kalman filter, on two real-world and one high-fidelity photorealistic simulated dataset over different levels of agility (3-21 m/s^2). In our setup, pose-aware estimation consistently reduces the average velocity and acceleration estimation errors by 40% and 57% across the three datasets with the proposed KF formulation outperforming the other estimators. Position-only filters exhibit a constant ~300 ms delay in acceleration step response independent of agility, whereas the tilt-constrained estimators operate near the physical response limit given by the camera frame-rate by observing the change in thrust direction before the displacement accumulates. In a closed-loop leader-follower simulated experiment with NMPC control, position-only estimation of the leader's state fails to facilitate stable hovering of the follower, while the proposed estimator enables tracking of lateral maneuvers exceeding 2g of acceleration.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39611
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Pretext: Defeating Malicious Skill Detection Frameworks for AI Agents
2026-09-30 12:26:33Tobias Kaisar, Aritra DharAbstract
Skills extend an agent's capabilities by injecting instructions and information into the context, and are widely used by agents such as OpenClaw and Claude Code. Prior work shows third-party marketplaces host malicious skills that give attackers direct influence over the victim's agent. The emerging defense scans skills before installation, pairing deterministic static checks with an LLM-based semantic judge, as in NVIDIA's SkillSpector. We show that such defenses fall to an attacker who knows the detector. Our white-box LLM attacker, Pretext, iteratively crafts skills that evade detection while still delivering the payload and performing the benign task: moving the payload from code into natural language leaves static analysis inert, while framing it as the skill's legitimate purpose and splitting instructions across files keeps the LLM stage below its blocking threshold. Across three open-source models, Pretext achieves up to 97\% and 77\% against a frozen detector and a co-adaptive one, respectively, revealing major gaps in current skill scanners.
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URL
https://arxiv.org/abs/2609.39607
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A Generalizable and Explainable Framework for Synthetic Video Detection Using First-Digit Gradient Statistics
2026-09-30 12:12:32Sidharth Shanu, Gautam Kumar, Tej SinghAbstract
AI video generators have not only become harder to detect but are used to generate a diverse set of scenarios from landscapes to street views to animal videos. This creates a problem where CNN-based detectors are effective but offer no insight into their inner workings, while forensics-based detectors are often pretrained for a set scenario or become too complex to derive meaningful insights. We present a novel approach to AI video detection using Sobel gradient values analysed with the first-digit law. Using linear discriminant analysis, we visualise the discriminatory signal, while a multi-layer perceptron is used for classification. The detection method has no generator- or scenespecific features, and the model has no knowledge of container formats, codec, bitrate, or compression artefacts. The model is trained and tested on GenBuster-200K, GenBusterBench, GenVA, FaceForensics++ C23, and CelebDF. We also show how zero-shot detection fails even though the feature set carries a discriminatory signal.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39585
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Speculative Safety Honeypot: Toward Proactive Defense Against Multi-turn Agent Attacks
2026-09-30 11:50:06Zezhong Wang, Xueyang Tang, Rui Lian, Yang Lou, Heqing HuangAbstract
As Large Language Model (LLM) agents are increasingly deployed in complex environments, multi-turn interaction attacks have become a significant security challenge. Existing detection methods typically rely on historical context. However, this retrospective logic struggles to identify deep malicious intents that are split across turns to hide future risks. Inspired by speculative decoding, we propose the Speculative Safety Honeypot (SSH) framework. SSH uses a multi-agent simulation system composed of small LLMs to build an action-level speculate-and-verify workflow. In the speculation stage, SSH predicts future behaviors of the target agent and asynchronously builds a trajectory tree to expose potential risks in advance. In the verification stage, the system uses the target agent's real actions to calibrate and prune the trajectory tree, effectively reducing false positives. As a plug-and-playable component, SSH provides existing detectors with rich decision redundancy beyond the current interaction slice. By judging risk based on the evolution of the entire trajectory tree rather than a single point in time, the system reduces the reliance on the absolute precision of individual detection components. This improves the defense resilience and the warning lead-time of agent systems against complex temporal attacks.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39549
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DensePed-Lite: Quality-Aware Adaptive Detection for Dense Pedestrians under Occlusion
2026-09-30 10:31:20ZiAn Wang, MingZhe Liu, Chaoyi Guo, ChangChun Li, Fangming GuAbstract
Pedestrian detection plays a crucial role in computer vision with applications in autonomous driving, surveillance, and public safety. However, real-world dense scenes bring severe challenges, including heavy occlusion, drastic scale variations, and strict real-time requirements. Existing lightweight detectors struggle to balance accuracy and efficiency while often neglecting quality-aware feature modeling and consistency between classification and localization, leading to unstable performance under crowded conditions. To address these issues, we propose DensePed-Lite, a unified framework built on a single principle: under occlusion the network should adapt its behavior to the quality of what it observes rather than assume complete information. This principle is realized at three points where occlusion does the most damage: unreliable confidence scoring (UQE), fragmented spatial coverage (MPSC), and incoherent multi-scale fusion (CTDM). The three mechanisms reinforce one another instead of acting in isolation, all without significantly increasing complexity. Experiments on CityPersons and CrowdHuman validate that DensePed-Lite achieves a superior accuracy-efficiency trade-off compared with recent state-of-the-art lightweight methods, making it suitable for real-time deployment in dense pedestrian scenarios.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39467
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PCB-MC: Missing Component Analysis in Printed Circuit Boards
2026-09-30 10:06:00Betsy Villa Brochero, Ian Gibson, Estefania TalaveraAbstract
Detecting missing components on printed circuit boards (PCBs) differs fundamentally from conventional object detection, as the model must localize components that are not present. We introduce PCB-MC, a curated dataset for missing component detection with footprint level annotations built on top of the RF100 dataset. The dataset contains 197 distinct board types, each corresponding to a unique PCB design, with multiple augmented samples per type. We also provide benchmark results on PCB-MC by evaluating a diverse set of supervised and unsupervised methods. To ensure fair evaluation, we propose board type aware cross validation splits that prevent layout leakage between training and test sets. Supervised models showcase high false negative rates on unseen board designs, and unsupervised anomaly detection methods fail entirely due to the lack of spatial alignment with a board specific reference. These results confirm that missing component detection on diverse PCB layouts remains an open challenge. We release PCB-MC and all training protocols to support reproducible research on structural absence detection in industrial inspection.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39427
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AHMAD: Adaptive Hybrid Multi-task Vision Learning with Assisted Distillation for Keypoint Detection
2026-09-30 08:56:26Mohammad Mahdi, Nedyalko Prisadnikov, Yuqian Fu, Carmelo Scribano, Danda Pani Paudel, Luc Van GoolAbstract
Generalist multitasking vision models aim to unify multiple vision tasks within a single framework, enabling more efficient and versatile learning. However, handling diverse vision tasks -- spanning dense and sparse predictions -- remains challenging due to their inherently varying output structures. In this paper, we propose AHMAD, a simple yet effective framework for generalist multitask learning that integrates different key vision tasks: semantic segmentation, instance segmentation, depth estimation, keypoint detection, and object detection. Our approach incorporates these five tasks into a unified structure: a shared encoder-decoder with several lightweight task-specific projectors. Under the multitask learning paradigm, we observed a complementary performance gain, achieving a state-of-the-art PQ of 53.1 and an mIoU of 66.5 for COCO-val panoptic and semantic segmentation, respectively. Additionally, for top-down keypoint detection, which typically incurs high computational overhead due to multiple forward passes, we introduce a knowledge distillation-based method that enables a single forward pass over the entire image, greatly improving efficiency. Ultimately, our model delivers a lightweight yet effective generalist multitask learning framework, demonstrating strong performance across five vision tasks.
Abstract (translated)
URL
https://arxiv.org/abs/2609.35490
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FORTE: Forecasting Occupancy for Spatiotemporal Risk-Aware Planning in Dynamic Environments
2026-09-30 08:46:51Hahjin Lee, Young J. KimAbstract
Safe navigation in dynamic environments requires anticipating future environmental states to account for spatiotemporal risks, specifically when and where collisions may occur. To this end, occupancy grid map (OGM) prediction has been widely adopted as an effective approach. However, existing OGM-based navigation methods often struggle to achieve accurate and efficient forecasting and fail to fully exploit the temporal information in predicted OGMs during planning. To address these challenges, we propose FORTE, a navigation framework that directly exploits the spatiotemporal evolution of predicted occupancy from the perspectives of spatiotemporal occupancy overlap and occupancy directivity. Based on these properties, FORTE evaluates multiple topology-distinct paths and selects the suitable one without explicit object detection or tracking. To support online planning, we formulate a latent diffusion model-based OGM predictor that generates the entire forecast horizon in a non-autoregressive manner while maintaining temporal consistency through temporal shift modules. Extensive evaluations demonstrate that FORTE outperforms state-of-the-art baselines. For prediction, FORTE achieves up to 215.3% higher IoU and 5.24x faster inference; for navigation, it yields up to a 3.5x higher success rate.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39305
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BMASH: Ball-Motion-Aware Soccer Header Spotting
2026-09-30 08:43:50Ahmed Endris Hasen, Muhammad Shahzad Khan, Nikolaos Passalis, Jenni RaitoharjuAbstract
Recent advances in computer vision have made broadcast sports videos increasingly useful for event analysis, performance assessment, and player-safety applications. In soccer, however, header spotting remains a challenging problem due to the subtle and short-lived nature of header events. This paper focuses on soccer header spotting: identifying moments in broadcast videos where the ball contacts a player's head. We first adapt and evaluate Video Swin as a strong action-recognition baseline for this task, and then introduce BMASH, a ball-motion-aware fusion framework that integrates detector-derived ball features. BMASH combines Video Swin action representations with ball-presence and motion features from frame-level soccer-ball detection, integrating player-action context with ball dynamics to distinguish headers from visually similar events. We evaluate BMASH using game-level splits with separate test matches and rotating validation folds, considering both centered-window classification and continuous full-video spotting. Results show that Video Swin provides a strong baseline for header spotting, while BMASH improves clip-level AP and ROC-AUC over the corresponding Video Swin baseline. In continuous full-video spotting, BMASH achieves a comparable event-level F1-performance with a different precision--recall trade-off.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39300
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Universal Cross-Prompt Adversarial Attacks on Promptable Concept Segmentation
2026-09-30 08:23:06Ziqi Zhou, Yifan Hu, Yufei Song, Haowen Jiang, Xianlong Wang, Shengshan Hu, Dezhong Yao, Leo Yu ZhangAbstract
The Segment Anything Model (SAM) achieves remarkable performance in visual segmentation. The latest SAM3 extends promptable segmentation to concept-level prediction, broadening the scope of segmentation foundation models. While recent works reveal that SAM and SAM2 are vulnerable to adversarial examples, the robustness of SAM3 under the concept segmentation paradigm remains unexplored. In addition, existing adversarial attacks on SAM-series models exhibit limited cross-prompt transferability. To this end, we propose AdvPCS, a universal cross-prompt adversarial attack for Promptable Concept Segmentation (PCS), including a min-max prompt optimization strategy, a global-local perception deception attack, and a temporal transition deviation attack. Specifically, we first identify the hardest-to-attack prompts via min-max bilevel optimization. In the inner maximization, we enhance diversity over candidate point, box, and text prompts. In the outer minimization, we select prompts with the highest responses based on the confidence scores output by the detector. Given the selected prompts, we apply the perception deception attack to minimize both global and local existence probabilities under joint prompting and employ the temporal memory misalignment attack to maximize inter-frame semantic inconsistency and corrupt memory pointers. Extensive experiments on four benchmark datasets show that a single universal adversarial perturbation (UAP) generated by our method generalizes across frames from different videos and achieves strong attack performance under point, box, and text prompts. In particular, it reduces the average mIoU of various PCS models on the SA-CO dataset to below 5% under text prompts, demonstrating strong attack ability.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39265
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RAIM: Robust Aggregation of Inexpensive Models for Hallucination Detection
2026-09-30 08:03:31Elia Onofri, Roberto Di PietroAbstract
Automatic evaluation of faithfulness increasingly relies on a large language model acting as a judge, yet the most reliable judges are proprietary frontier models, costly and ill-suited to high-throughput monitoring. We investigate whether a panel of cheap open-weight judges (4--9B) can be aggregated to stand in for a frontier one, what the substitution sacrifices, and when it is worth making. We propose RAIM, an aggregation scheme robust to the members' correlated errors, coupling a cross-fitted stacked logistic regression with an admissibility test that, read from the members' own outputs, identifies when aggregating them improves on their best member and stays within reach of the frontier judge. We instantiate RAIM with ten judges from disjoint families across eight faithfulness benchmarks. Against Claude Sonnet, the panel retains a median 93% of its Cohen's $\kappa$ and gives up only 2.9 points of balanced accuracy on average; read as paired differences, it clearly improves on one benchmark and clearly worsens on three (only two by a non-negligible margin), leaving four unresolved. At a sixty-fourth of the frontier's inference price, the operative expense is a one-time in-domain calibration on 50--100 labelled records. The panel is also competitive with purpose-trained detectors on their home benchmarks (within 1.3 accuracy points of GPT-4o and 1.9 of the LLM-AggreFact leader), and beats the strongest one we reran by 6 points on our grounded sets. Whether aggregation pays depends on the members themselves: where several capable members err on different items, the panel improves on its best judge and approaches the frontier; where one dominates, the stacker recovers the leader, and only there does the frontier remain materially ahead. Both conditions are read off the calibration set at no further cost, so a cheap panel can stand in for a frontier one wherever this audit admits it.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39229
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Fiber-Resolved Microstructure Quantification from Multi-Shell Diffusion MRI using Detection Transformers
2026-09-30 07:41:04Sebastian Endt, Marcus Wirth, Johannes Reinhold Schlund, Marion Irene MenzelAbstract
Fiber orientation and compartmental microstructure are central to the characterization of white matter tissue in diffusion MRI, yet existing methods either resolve fiber orientations without quantifying microstructure, or quantify microstructure while assuming a fixed number of compartments and a single fiber direction. Nonparametric approaches that recover both require tensor-valued diffusion encoding and computationally expensive Monte-Carlo inversion of an ill-posed inverse Laplace transform. We propose to reframe this problem as an object detection-like task, adopting the Detection Transformer (DETR) architecture to jointly predict mean diffusivity (MD), fractional anisotropy (FA), main fiber direction, and signal fraction for a variable number of compartments per voxel from standard multi-shell diffusion MRI with linear encoding. Hungarian matching during training resolves permutation invariance across compartments. We introduce mean Average Precision as a reproducible benchmark metric. Evaluated on synthetic test data with up to five compartments per voxel, our model achieves $R^2=0.95$ for MD, $R^2=0.88$ for FA, and a median angular error of 4.2°, with performance scaling naturally with compartmental signal fraction.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39184
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Feature-Aware Token Attack for Compression-Triggered Stealthy Failures in Large Vision-Language Models
2026-09-30 07:04:15Shilinlu Yan, Bowen Chen, Yuechen Zhang, Zhenhong Zhou, Li Sun, Sen SuAbstract
Visual-token compression improves the efficiency of large vision-language models, but can expose failures that full-token evaluation misses. We study adversarial images that preserve full-token correctness yet induce errors after compression, even when both inference paths succeed on the clean image. Creating such failures is challenging because perturbing token importance can also damage the visual content needed for full-token inference. We propose Feature-Aware Token Attack (FATA), which couples attention suppression with cosine-based feature preservation on a fixed set of salient clean-image tokens. In the primary LLaVA-1.5-7B setting, FATA uses only vision-encoder gradients, without access to the deployed compressor, token budget, or downstream task. Across four visually dependent task subsets and four compressors under a controlled reconstruction protocol, FATA achieves SR = 96.3% full-token accuracy retention and CBR = 22.1% conditional blinding, compared with 89.8% and 15.7% for CAA. Ablations support the role of both objectives in balancing compressed-path failure against full-token preservation. FATA also has the lowest measured detection rate among four attacks across three evaluated detectors at a 5% false-positive rate. These findings motivate assessing adversarial robustness jointly across full-token and compressed inference.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39134
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Agentic Tool-Augmented Reasoning for Explainable Image Forgery Detection
2026-09-30 06:05:16Zhiya Tan, Jing Huang, Changtao Miao, Lin Tan, Xin Zhang, Weiwei Feng, Jianshu Li, Joey Tianyi ZhouAbstract
Conventional image forgery detection methods produce binary scores or pixel-level masks without interpretable evidence, while recent multimodal large language model (MLLM)-based approaches generate post-hoc explanations of predetermined classification results rather than reasoning from evidence. Inspired by the forensic workflow of human judicial experts, we propose Agentic Tool-Augmented Reasoning (ATAR), a framework integrating 22 specialized forensic tools across seven complementary domains to autonomously detect, localize, and explain image forgeries through multi-turn reasoning. A Dual-Stream Forensic Reasoning paradigm combines a high-level semantic anomaly path, which magnifies suspicious regions for fine-grained inspection, with a low-level forgery artifact path, which invokes forensic tools to extract objective evidence. We further introduce Forensics Curriculum Learning: during General Experience SFT, an automated teacher-student mentoring pipeline synthesizes multi-turn tool-usage reasoning trajectories; during Forensic Scene RL, a Tool Prior Curriculum guides early tool exploration and progressively transfers control to the agent, while a Structured Evidence Reward provides fine-grained process-level supervision. Experiments across IMDL, Deepfake detection, DMDL, and AIGC detection show that ATAR achieves 78.5% average image-level F1 on six zero-shot IMDL benchmarks, surpassing the strongest MLLM baseline by 11.8 percentage points, and remains competitive with specialized detectors on other tasks while producing substantially more faithful and grounded explanations.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39066
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TSMD: Temporal-Stream Modality Dropout for Robust Video Highlight Detection
2026-09-30 05:58:00Bo-Yuan Cheng, Kuan-Yu Chen, Po-Han Huang, Jeng-Lin Li, Jian-Jiun DingAbstract
Existing multimodal video highlight detectors typically assume that visual, audio, and textual streams are continuously available. In practice, however, inputs may suffer from localized frame missingness or complete-stream outage. We formulate this robustness challenge along two dimensions: temporal missingness, where frames are missing independently in each modality, and stream-level missingness, where one modality is unavailable throughout a video. Moreover, we find that the mean squared error (MSE) loss is misaligned with both the evaluation metrics and the peak-driven nature of highlights. Therefore, we propose Temporal-Stream Modality Dropout (TSMD), which combines structured missingness simulation with a joint objective comprising pointwise MSE, per-video Pearson correlation, and peak-oriented RankNet loss terms. TSMD has three variants: temporal, stream-level, and mixed dropout. On the MoSu and Mr. HiSum datasets, TSMD-Temporal improves mAP@15 by 7.06 and 3.41 points over TripleSumm under 50% independent temporal removal, whereas TSMD-Stream performs the best under complete-stream removal. TSMD-Mix retains most of these complementary benefits and ranks the best or the second-best across the evaluated temporal and stream-level conditions.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39051
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Hard-Gate Candidacy in a Deployed Validator Suite
Abstract
Before a validator can be promoted to a hard gate on a deployment pipeline, it has to be shown that its firing separates outputs that reach users in working order from those that do not. We run that screen on 13 validators in a deployed generative agent, against 550 runtime and 350 static builds labelled by downstream outcome, and report each check's marginal separation $J=\mathrm{TPR}-\mathrm{FPR}$ with Newcombe intervals and Fisher exact tests. Two checks survive correction for multiple comparisons, two more are nominal only, and the remaining nine are not distinguishable from zero, three of them because they never fired on any sampled build. Execution itself is not random with respect to the property being gated, and this replicates: across four runs covering 1,867 builds and ten distinct runtime checks, probes were skipped on 144 of 895 broken builds and 1 of 972 acceptable builds (per-run rates 15.6% to 16.6% against at most 0.3%), every skip carrying the same unsafe-to-probe reason. Because a skipped check is recorded as a pass, this imposes a ceiling that no check quality can lift: a check that needs a live artifact cannot operationally detect more than about 84% of broken builds in this harness. For the one check with construct-specific labels, a detector built for blank output fires on 0 of 90 human-labelled blank builds (95% upper bound on sensitivity 3.3%), and the global frame statistic it approximates separates the classes only weakly (AUC 0.59), so the gap is not a threshold that needs tuning. The same gap appears one layer up: on a census of tens of thousands of judge-scored builds, 32.5% of rejections carry no recorded issue at all. We argue that evaluation records must distinguish a check that ran and passed from one that did not run, must carry the evidence for a rejection, and that an inventory of checks is not evidence about a gate.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39037
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TED:Text-Axis Evidence Decomposition for Prompted Anomaly Localization
2026-09-30 05:37:13JinYoung Kim, Geonho Kim, GiJeong Park, Geonu Lee, YoungJoon YooAbstract
CLIP is a powerful vision-language model, but it was not designed for fine-grained defect localization; CLIP-based anomaly detectors therefore adapt it with prompts or lightweight modules to increase defect sensitivity. We show that stronger sensitivity does not necessarily make local evidence reliable: under domain shift, adapted CLIP-AD models often assign high anomaly scores to both true defects and visually complex normal regions. The issue is not simply missing defect information, but a local scoring rule that decodes defect and hard-normal evidence, having the same anomaly evidence. We propose TED (Text-Axis Evidence Decomposition), a post-hoc scoring method that asks whether each ambiguous response is better supported by source defect patches or by source normal patches mistaken as anomalous. TED compares these supports under the host's normal-versus-anomaly text response, leaves the backbone and prompts unchanged, and requires no target-domain training. It works as a train-free score for raw VLM backbones or as a source-calibrated residual correction for adapted CLIP-AD hosts. Across frozen VLM backbones, TED substantially improves pixel-level localization over raw prompt similarity; across adapted hosts, it improves most pixel-level settings over P-AUROC, P-PRO, and P-AP. Gains are largest under stronger hard-FP competition, with mean localization gain increasing from +5.0 in low-competition regimes to about +10.9 in mid/high-competition regimes. These results suggest that recoverable defect evidence can already exist in pretrained multimodal representations, but reliable localization requires decoding it against hard-normal competitors. Code will be released at TED GitHub repository.
Abstract (translated)
URL
https://arxiv.org/abs/2609.39033
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Consensus-Aware Multi-Source Fusion for Reference-Guided Camouflaged Object Detection
2026-09-30 01:31:22Junyang Xia, Luocheng Zhang, Wenwen Pan, Chifeng Zhu, Yang Yang, Xinchun Liu, Jiajun DingAbstract
Reference-guided camouflaged object detection aims to segment a target whose visual appearance closely resembles its surroundings by exploiting auxiliary reference samples. The task remains difficult because reference samples contain inconsistent target cues, while generic visual representations are not inherently aligned with the target specified by the references. To handle these problems, we present a consensus-aware multi-source fusion framework. Reference-Conditioned Dual-Backbone Fusion (RCDF) couples trainable PVTv2 query features with frozen DINOv3 representations and uses reference-conditioned correlation to select foundation-model evidence before multi-scale fusion. The framework also aggregates multiple references through cross-reference consensus aggregation and injects reference information at semantic depths matched to the query features. Extensive experiments demonstrate the effectiveness of the proposed method. The results further show that reference consensus, target-conditioned foundation features, and hierarchical decoding provide complementary improvements under the evaluation protocol. The source code will be made publicly available upon acceptance.
Abstract (translated)
URL
https://arxiv.org/abs/2609.38747
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Vmem-$varphi$: Low-Compute Out-of-Distribution Detection in Spiking Neural Networks from Membrane-Potential Statistics
2026-09-29 23:34:26Arul Rana, Agrim Tripathi, Shoaib Ahmed Dipu, Md. Shaown Miah, Syed Ishtiaque Ahmed, Sayeed Shafayet ChowdhuryAbstract
Spiking Neural Networks (SNNs) offer an energy-efficient approach to processing event-camera data, yet out-of-distribution (OOD) detection remains challenging in this setting. Existing OOD detection methods often depend on model outputs or computational components that are unavailable in object detection SNNs or are poorly suited to low-compute deployment. To that effect, we show that the subthreshold membrane potential \(V_{\mathrm{mem}}(t)\) provides a useful internal signal for detecting distribution shifts. Simple per-channel statistics derived from these membrane dynamics enable OOD detection. To evaluate this approach, we introduce Gen1-C, an event-camera corruption benchmark developed upon the Prophesee Gen1 automotive detection dataset, containing six sensor-motivated histogram-level stress tests at five severity levels. We further propose the Multi-Descriptor Deviation (MDD), a corruption-blind method that operates on membrane-potential statistics. At the highest corruption severity, MDD achieves an AUROC of more than 0.88 on five of the six corruptions using only a bounded 64-frame observation window. Notably, the remaining corruption is also the one that has the smallest effect on the underlying detector. These results show that the temporal membrane-potential dynamics can provide an effective and low-cost signal for OOD detection in SNN-based event perception.
Abstract (translated)
URL
https://arxiv.org/abs/2610.00350
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Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking
2026-09-29 20:33:23Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek, Dimos V. DimarogonasAbstract
Autonomous underwater robots require robust perception, estimation and control to operate in confined environments. This paper presents an open-source BlueROV2 platform combining onboard vision with nonlinear Model Predictive Control (NMPC) for autonomous navigation and docking. The platform integrates an NVIDIA Jetson Orin NX and an Intel RealSense D435i stereo camera in a modular pressure housing. Underwater-calibrated stereo depth and realtime object detection provide relative position measurements of nearby BlueROV2 vehicles in the camera and body frames. A quaternion-based estimator fuses external pose and inertial measurements, while an NMPC controller based on a nonlinear six-degree-of-freedom model tracks planned navigation and docking trajectories. To support reproducible development, we also provide open-source physics-based PX4 SITL and Gazebo environments, multi-robot simulation tools and a lowcost physical docking station. Experiments evaluate underwater perception, onboard computational performance, state estimation, trajectory tracking and autonomous docking.
Abstract (translated)
URL
https://arxiv.org/abs/2609.38511
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