Object_Detection
-
DroneDAR: Long-Range Drone Distance Estimation Using Monocular Vision and Bounding-Box Features
2026-06-05 18:12:00Knut Peterson, Zaid Mayers, David HanAbstract
Accurate distance estimation for small drones in long-range imagery is important for tracking and situational awareness, yet remains challenging due to extreme target scale variation, background clutter, and noisy visual cues. This paper studies monocular drone distance estimation using image crops together with bounding-box geometry, a practical setting in which a detector provides a candidate drone region and the model predicts range from appearance and box-derived features. We evaluate a Droneranger-style baseline, and introduce a new DroneDAR (Drone Detection And Ranging) model that combines a convolutional backbone with explicit bounding-box cues through a lightweight gating mechanism. Experiments analyze how backbone capacity, crop resolution, and regression loss functions affect performance across distance regimes. We further examine common failure modes at long distances, including sensitivity to bounding-box noise and reduced texture detail in the crop. The results provide guidance for designing and training range estimators that remain robust under real-world long-range conditions and highlight directions for improving reliability when drones occupy only a few pixels.
Abstract (translated)
URL
https://arxiv.org/abs/2606.07756
PDF
-
Differences in Detection: Explainability Where it Matters
2026-06-05 17:54:58Johannes Theodoridis, Johannes Maucher, Andreas SchillingAbstract
We propose Differences in Detection (DnD), an intuitive method to compare two object detection models. Based on the same matching algorithm, it complements the standard metrics of mean Average Precision ($mAP$) and TIDE error analysis with the ability to compare two models directly. More specifically, we calculate the intersection of ground truth labels that are recognized by both models, followed by the corresponding difference sets and the complement set of ground truth labels that are missed by both models. The resulting comparison is more direct and intuitive than a comparison of independent summary statistics. It reveals individual and shared mistakes and becomes particularly interesting when combined with error types. In this case, the differences in detection errors can be analyzed naturally in a standard confusion matrix. While valuable in itself, we believe that one of the best applications of DnD is to guide explainability methods such as ODAM towards metric-relevant examples, grounded in structured subsets. The code for our method is available here: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2606.07503
PDF
-
SV-Detect: AI-generated Text Detection with Steering Vectors
2026-06-05 14:34:37Mikhail Vishnyakov, Tatiana GaintsevaAbstract
Detecting machine-generated text is especially difficult under distribution shift, such as transfer across domains, source models, and editing attacks. We propose a fake-text detector based on steering vectors extracted from the hidden representations of a frozen language model. At each layer, we construct a direction that separates human-written from machine-generated text, and represent each input by its layer-wise alignment with these directions. A lightweight classifier trained on these projection features yields the final detection score. Our method achieves strong performance both in-distribution and under distribution shift, including across domains, source models, and machine-editing transformations such as polishing and rewriting. Interpretation analyses show that the learned directions align with recognizable stylistic cues while capturing substantial additional signal beyond surface features. These results position fake-text detection as a representation-space probing problem and show that steering vectors provide a simple and effective solution.
Abstract (translated)
URL
https://arxiv.org/abs/2606.07313
PDF
-
Does Appearance Help? A Systematic Study of Image-Based Re-Identification in Online 3D Multi-Pedestrian Tracking
2026-06-05 13:00:04Eduardo Borges, Lu\'is Garrote, Urbano J. NunesAbstract
LiDAR-based 3D Multi-Object Tracking (MOT) typically relies solely on geometric information, which is often insufficient to distinguish between targets during prolonged occlusions or in crowded human-populated environments. While integrating RGB-based Re-Identification (ReID) offers a theoretical solution for preserving identity context, existing approaches often rely on computationally expensive parallel detectors that hinder real-time robot responsiveness. This work presents a systematic study of image-based ReID in online 3D MOT, utilizing a lightweight projection-based framework to decouple geometric and appearance modeling for mobile robots. A comprehensive analysis of feature extraction architectures is conducted, employing lightweight CNNs and Vision Transformers, and evaluating various multi-modal data association strategies to balance computational latency with robust tracking. Experiments on the Pedestrian class of the KITTI dataset reveal that naive linear fusion, of appearance and motion costs, degrades performance due to visual noise. Conversely, a cascaded matching strategy successfully recovers occluded tracks without compromising overall precision, effectively preventing identity switches to maintain human-robot interaction continuity. We show that lightweight architectures can offer an optimal trade-off between the low latency required for safe navigation and the discriminative power needed for social awareness.
Abstract (translated)
URL
https://arxiv.org/abs/2606.07233
PDF
-
Automated 3D Kinematic Monitoring for Circadian Activity and Anomaly Detection in Juvenile Fish
2026-06-05 09:50:40Chih-Wei Huang, Chang-Wen Huang, Chung-Ping Chiang, Tsung-Wei PanAbstract
Precision aquaculture faces a "phenotyping bottleneck" in tracking high-resolution behavioral traits, as conventional methods cannot quantify instantaneous three-dimensional (3D) physical exertion. To address this, we present a high-throughput 3D behavioral phenotyping framework integrating deep learning object detection with binocular stereo vision for real-time monitoring of juvenile tilapia in high-density environments. The system automates non-contact body length estimation and reconstructs 3D swimming trajectories from absolute spatial coordinates. By eliminating 2D perspective distortions, this approach precisely quantifies 3D velocity and acceleration, marking the first estimation of true physical swimming speeds in free-roaming juveniles. Results show the framework successfully establishes circadian locomotor baselines, serving as an early warning system for physiological stress and providing an objective metric for fish vitality.
Abstract (translated)
URL
https://arxiv.org/abs/2606.14749
PDF
-
ForensicConcept: Transferable Forensic Concepts for AIGI Detection
2026-06-05 08:25:34Menyanshu Zhou, Ziyin Zhou, Ke Sun, Yunpeng Luo, Jiayi Ji, Xiaoshuai Sun, Rongrong JiAbstract
AI-generated image detectors achieve high accuracy on in-distribution data but often fail on unseen generators. A key obstacle to understanding this failure is the black-box nature of current detectors: they do not reveal which evidence drives their decisions. We propose ForensicConcept, a framework that extracts explicit forensic concepts from detectors and enables their transfer across backbones. Our method localizes decision-critical patches via Transformer attribution, clusters them into a compact concept codebook, and uses a concept-aligned projection to produce auditable evidence readouts. Motivated by prior studies showing that DINO representations can guide diffusion generation and exhibit concept-level correspondence with diffusion features, we introduce a generation-trace reference based on CleanDIFT diffusion features and quantify backbone-trace alignment via neighborhood-structure consistency (CKNNA). We further propose concept codebook injection to transfer diffusion-derived concepts into target backbones. Experiments on GenImage, GAN-family, and Chameleon benchmarks show consistent improvements over prior methods. We also find that CKNNA alignment predicts transfer effectiveness, providing a principled explanation for why some backbones yield more transferable forensic evidence than others.
Abstract (translated)
URL
https://arxiv.org/abs/2606.07034
PDF
-
CL-CLIP: CLIP-Based Continual Learning Framework with Cost-Volume Category Decoupling for Object Detection
2026-06-05 07:09:52Zihan Liu, Yuguang Yang, Shengjie Su, Jianing Pang, Linlin Yang, Chunyu Xie, Nikolai Yu. Zolotykh, Baochang ZhangAbstract
Continual Object Detection (COD) requires a detector to acquire new categories over time while preserving previously learned ones. This goal is closely related to open-vocabulary detection, since both settings require reasoning over categories that are not fully covered by the annotations available at the current training stage. Recent CLIP-based open-vocabulary detectors have shown strong zero-shot generalization, and frameworks such as F-ViT demonstrate that vision-language pretraining can provide powerful zero-shot detection ability for unseen categories. However, real-world deployments cannot remain purely zero-shot: once these detectors are continually updated on newly introduced categories, they suffer severe catastrophic forgetting and quickly lose their previously calibrated detection ability. We therefore propose CL-CLIP, a CLIP-based COD framework that equips open-vocabulary detectors with better continual learning ability through cost-volume-guided category decoupling. Specifically, following CAT-Seg, we compute a CLIP image-text similarity cost volume, defined as dense category-wise response maps between visual tokens and class text embeddings. This zero-shot spatial prior decomposes shared region features into class-specific pathways, which are then processed by a Multi-Expert RoI head. Extensive experiments on PASCAL VOC and MS-COCO show that CL-CLIP substantially improves the F-ViT baseline under continual fine-tuning and achieves competitive performance with existing continual object detectors, especially in adapting to newly introduced categories while preserving competitive base-class performance.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06978
PDF
-
OpenHalDet: A Unified Benchmark for Hallucination Detection across Diverse Generation Scenarios
2026-06-05 06:38:40Xinyi Li, Zhen Fang, Yongxin Deng, Jinyuan Luo, Hongnan Ma, Changdae Oh, Zijing Shi, Shanshan Ye, Hanchen Wang, Shu-Lin Chen, Yadan Luo, Mengyue Yang, Sean Du, Sharon Li, Ling ChenAbstract
Hallucination detection is essential for the reliable deployment of large language models (LLMs). However, existing evaluations face two core challenges: inconsistent inference configuration and evaluation, and limited coverage of downstream domains and tasks. Consequently, reported detector performance is often difficult to compare, reproduce, and generalize beyond specific experimental settings. We introduce OpenHalDet, a unified benchmark for hallucination detection across diverse generation scenarios. OpenHalDet standardizes the evaluation pipeline, from prompt construction and response generation to truthfulness annotation, detector scoring, and metric computation. It supports heterogeneous detector families under different access settings, including black-box methods that use only generated outputs, gray-box methods that rely on probability-based signals, and white-box methods that exploit internal model signals. By bringing diverse tasks, models, and detectors into a shared framework, OpenHalDet enables controlled comparison and provides a systematic view of how different detection paradigms behave in LLM applications. We release OpenHalDet as an open and extensible codebase to facilitate reproducible evaluation and future development of hallucination detection methods. The code and datasets are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06959
PDF
-
DRIFT: From Robustness Gaps to Invariance Manifolds for AI-Generated Image Detection
2026-06-05 05:32:57Abhishek Ameta, Sayan Banerjee, Shreyas Pandith, Harshit, Ankita Chatterjee, Akshay Janardan Bankar, Amit Satish UndeAbstract
The rapid evolution of generative image models challenges existing AI-generated image detectors, particularly in open-world settings with unseen generators. Recent training-free approaches measure robustness gaps in frozen vision foundation models (VFMs), detecting fakes via perturbation-induced embedding drift. However, these methods rely on fixed invariance geometry inherited from pretraining and lack principled adaptation to the detection task. We instead formulate AI-generated image detection as learning a structured invariance manifold of real images under one-class supervision. Building upon a frozen VFM, we introduce lightweight projection heads that decompose representation space into complementary robust and fragile subspaces. The robust subspace is explicitly trained to suppress variations induced by physically plausible imaging transformations, approximating tangent directions of a real-image manifold, while the fragile subspace retains sensitivity to edit-like perturbations. A structured ordering margin enforces hierarchical separation between physical invariance and edit-induced variability, enabling detection as a margin-violation test relative to the learned manifold. At inference, multi-scale patch-wise drift under both transformation families yields a dual-channel invariance signature and interpretable localization. Extensive experiments demonstrate strong open-world generalization across unseen generators and resolutions, consistently outperforming training-free robustness-based baselines while providing interpretable invariance-violation maps.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06918
PDF
-
Lighting-Aware Representation Learning under Controllable Lighting Variation
2026-06-05 04:31:32Lizhen Zhu, Charantej Reddy Pochimireddy, James Z Wang, Brad WybleAbstract
Variations in illumination remain a major challenge for visual representation learning, as they induce substantial appearance changes both across and within environments. While existing approaches typically address this issue through data augmentations that encourage models to become invariant to lighting changes, such strategies do not explicitly model lighting information during learning. Inspired by theories of human vision, we propose a lighting-aware representation learning framework that incorporates illumination variation as an explicit training signal rather than a nuisance factor to be suppressed. Our method extends contrastive learning by introducing an auxiliary objective that captures illumination-dependent variation in rendered scenes, enabling the model to jointly learn representations that preserve semantic consistency while remaining sensitive to lighting-dependent visual structure. We evaluate the proposed model on image classification and object detection tasks across the ImageNet, ExDark, and PASCAL VOC benchmarks. Results demonstrate that the proposed lighting-aware training consistently improves downstream performance over standard contrastive learning baselines, while maintaining the same architecture and training budget. Furthermore, our approach shows promising performance in supervised learning frameworks and under settings involving simpler lighting variation, suggesting broad applicability beyond complex illumination scenarios. These results indicate its potential to enhance model robustness and adaptability in complex visual environments as well as in more conventional image processing tasks.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06899
PDF
-
FS-DVS: A Frequency-Selective Dynamic Visual Sensing Paradigm for Enhancing Information Completeness
2026-06-05 03:00:36Feiyu Ji, Xiaokang Yang, Xiaoyun YuanAbstract
Dynamic vision sensors (DVS) offer exceptional temporal resolution and dynamic range by asynchronously reporting pixel-level intensity changes. However, conventional DVS rely on a per-pixel independent triggering mechanism, ignoring the spatial integration performed by biological retinal ganglion cells (RGCs). Consequently, they lack the contrast sensitivity function (CSF) and its inherent sensitivity to mid-spatial frequencies, which inevitably leads to information incompleteness due to sub-threshold signal loss. To bridge this gap, we propose FS-DVS (Frequency-Selective Dynamic Vision Sensor), a novel paradigm that integrates a learnable spatial filter strictly preceding the event triggering process to mimic the RGC aggregation mechanism. By developing a differentiable event simulation framework, the spatial filter can be optimized end-to-end with downstream tasks. Our study reveals that starting from a delta function, the learned spatial filters spontaneously evolve into center-surround patterns that emphasize mid-frequency components, consistently aligning with human CSF. Beyond achieving substantial performance gains in object detection and action recognition, the consistent convergence to human-like CSF characteristics across different tasks underscores the universality of this mid-frequency selective mechanism. Compared to naively increasing sensor sensitivity or relying on post-processing, our paradigm achieves selective information enhancement with high noise resilience, providing a robust, biologically plausible blueprint for next-generation neuromorphic sensors.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06856
PDF
-
USU-Corn-WeedDB: A UAV RGB Image Dataset for Multi-Species Weed Detection in Forage Corn
2026-06-04 20:51:41Utsav Bhandari, Saroj Burlakoti, Rhonda Miller, Sierra Young, Eric Westra, Aaron EtienneAbstract
Weed pressure in forage corn production causes yield losses of up to 31.5%, yet site-specific weed management (SSWM) systems built on UAV imagery and deep learning remain constrained by the scarcity of field-representative training datasets. We present USU-Corn-WeedDB, a publicly available UAV RGB image dataset collected from a commercial forage corn field in Cache Valley, Utah, designed to support multi-class weed detection under both supervised and semi-supervised learning frameworks. RGB imagery was acquired on 27 June 2025 using an Autel EVO II Dual 640T V2 drone at ~10m above ground level, yielding a ground sampling distance of approximately 0.48 cm/pixel. A total of 366 full-resolution images were tiled into 8,800 patches at 640 x 640-pixel resolution. Of these, 800 images were manually annotated for three weed species; common lambsquarters (Chenopodium album), redroot pigweed (Amaranthus retroflexus), and green foxtail (Setaria viridis) comprising 10,539 bounding-box instances, with the remaining 8,000 tiles retained as an unlabeled pool for semi-supervised experiments. This dataset reflects a natural class imbalance where redroot pigweed constitutes 53.86% of annotated instances, which was preserved intentionally to mirror real field conditions. To validate dataset utility, we trained 28 object detection models spanning five architecture families including YOLOv8, YOLOv9, YOLOv10, YOLO11, YOLO26, and RT-DETR under identical conditions without hyperparameter tuning. Test set mAP@0.5 ranged from 0.773 to 0.840, with lightweight models achieving competitive performance relevant to edge-deployed UAV systems. USU-Corn-WeedDB is publicly available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06709
PDF
-
Signal-Driven Observation for Long-Horizon Web Agents
2026-06-04 20:48:37Shubham Gaur, Ian LaneAbstract
Web agents operating over long horizons ingest raw DOM and accessibility trees -- routinely tens of thousands of tokens -- at every action step, causing progressive context degradation that erodes reasoning well before tasks complete. We argue that this coupling of observation frequency to action frequency is an architectural mistake. Drawing on the insight from Recursive Language Models that querying a document outperforms reading it wholesale, we propose Signal-Driven Observation (SDO): a dedicated sub-call reads the full DOM but returns only task-relevant elements and their selectors, and is re-invoked only when a lightweight signal detector fires -- triggered by URL transitions, newly visible interactive elements, action failures, or exogenous browser events. We outline the open problems SDO introduces and call on the community to treat observation compression as a core architectural decision in web agent design.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06708
PDF
-
MMBU: A Massive Multi-modal Biomedical Understanding Benchmark to Probe the Perception Capabilities of Vision-Language Models
2026-06-04 20:24:47Ryan D'Cunha, Alejandro Lozano, Xiaoxiao Sun, Daniel Vela Jarquin, Min Woo Sun, Josiah Aklilu, James Burgess, Yuhui Zhang, Ryan Nayebi, Paola Avila, Robayo, Jin Ye, Ming Hu, Zhongying Deng, Junjun He, Xin Chen, Yue Yao, Robert Tibshirani, Jeffrey J. Nirschl, Serena Yeung-LevyAbstract
Vision and language models (VLMs) hold immense promise to transform biomedical imaging workflows, from detecting lesions in chest X-rays to profiling cellular features in microscopy. Realizing this potential, however, requires robust and fine-grained visual perception. Models need to correctly interpret subtle features in images, and they must do so across diverse biomedical modalities, scales, and contexts. Nevertheless, current benchmarks remain limited. To address these gaps, we introduce the Massive Multimodal Biomedical Understanding (MMBU) benchmark. It is the largest biomedical vision and language benchmark to date, covering 35 submodalities with rich structured metadata. It includes both open and closed versions of ungrounded classification, grounded classification, and object detection, enabling systematic evaluation of model performance across biological scales, clinical settings, and imaging modalities. Evaluating 15 open-weight and 2 frontier VLMs, we find that while medical adaptation provides measurable gains for some models, the high accuracy often reported on established benchmarks can mask deficiencies in visual perception and domain generalization.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06696
PDF
-
Beyond Detection: Redesigning Assessment and Governande of Generative AI at the Universidad Polit'ecnica de Madrid
2026-06-04 18:04:50Jessica D\'iaz, Sonia Linio, Fernando Pescador, Daniel Martin-FabianiAbstract
Universities have responded to generative artificial intelligence (GenAI) in noticeably different ways, both internationally and within Spain. So far, the dominant reaction has been defensive, this is, most institutions frame the debate around AI detection, plagiarism, academic integrity and a presumed drop in student effort, prioritizing basic training for academic staff over students. Other group of pioneering universities is doing the opposite, pursuing deeper adoption, and assuming that any policy built on prevention or sanction will not hold. This paper sides with that second view. Obsessing about detection is a dead end, since generated text is increasingly hard to distinguish from human writing, and detectors still misfire too often to be trusted. What universities need instead is a coordinated effort to set clear, course-by-course rules for GenAI use, redesign assessment toward authentic and interdisciplinary assessment that fosters critical thinking and learner autonomy, and build a serious AI-literacy programme that treats students as critical co-creators rather than passive users. The challenge, though, is not only pedagogical. Adoption at university scale also raises organisational, technical, operational, legal and economic questions that have to be solved together. In this context, the Universidad Politécnica de Madrid (UPM) is developing a strategic and sustainable AI policy and adoption framework structured around six dimensions, in which AI functions as an enabler of student autonomy and pedagogical innovation rather than as a threat to be policed.
Abstract (translated)
URL
https://arxiv.org/abs/2607.01255
PDF
-
Operation-Guided Progressive Human-to-AI Text Transformation Benchmark for Multi-Granularity AI-Text Detection
2026-06-04 17:58:05Sondos Mahmoud Bsharat, Jiacheng Liu, Xiaohan Zhao, Tianjun Yao, Xinyi Shang, Yi Tang, Jiacheng Cui, Ahmed Elhagry, Salwa K. Al Khatib, Hao Li, Salman Khan, Zhiqiang ShenAbstract
As AI writing assistants become increasingly integrated into real-world drafting and revision workflows, many documents are no longer purely human-written or AI-generated, but instead result from progressive human-AI co-editing. However, existing AI-text detection benchmarks largely focus on final outputs and provide limited understanding of how AI authorship signals emerge, accumulate, or disappear throughout the revision process. We introduce OpAI-Bench, an operation-guided benchmark for studying progressive human-to-AI text transformation across document, sentence, token, and span granularities. Starting from human-written documents, OpAI-Bench constructs nine sequentially revised versions for each sample under predefined AI coverage levels and five representative AI edit operations, covering four domains while preserving complete authorship provenance at multiple granularities. The benchmark supports comprehensive evaluation with 8 document-level detectors, 7 sentence-level detectors, and 2 fine-grained token/span-level detectors. Experiments reveal that AI-text detectability is governed not only by the proportion of AI-edited content, but also by edit operation, domain, and cumulative revision history. Interestingly, we notice that mixed-authorship intermediate versions are often harder to detect than both fully human and heavily AI-edited endpoints, exposing non-monotonic detection patterns missed by existing benchmarks. OpAI-Bench provides a controlled testbed for analyzing whether, when, and how AI-assisted writing becomes detectable under realistic progressive editing scenarios. Our code and benchmark are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06481
PDF
-
Human Adults and LLMs as Scientists: Who Benefits from Active Exploration?
2026-06-04 17:53:36Mandana Samiei, Eunice Yiu, Anthony GX-Chen, Dongyan Lin, Jocelyn Shen, Blake A. Richards, Alison Gopnik, Doina PrecupAbstract
A long-standing finding in the causal learning literature is that adults struggle to identify conjunctive causal rules, where an effect requires the simultaneous presence of multiple causes, while performing better in disjunctive settings. However, most demonstrations of this ``conjunctive handicap'' rely on passive observation paradigms with limited evidence, where learners have no control over evidence generation. This paper asks whether this bias persists when adults are granted agency through active exploration. Using a modified ``blicket detector'' task, adult participants freely intervened to identify causal objects under conjunctive or disjunctive rule structures. We show that active exploration substantially improves adults' conjunctive causal reasoning, although conjunctive rules still require more tests to infer than disjunctive rules. We further compare human performance to a range of large language models in the same setting. While some state-of-the-art models approach human-level performance on hypothesis inference accuracy, they often exhibit less efficient exploration strategies and similar conjunctive-disjunctive performance gaps.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06464
PDF
-
LLM Self-Recognition: Steering and Retrieving Activation Signatures
2026-06-04 15:54:34Thibaud Ardoin, Jonas Sch\"afer, Gerhard WunderAbstract
Recent advances in interpretability suggest that large language models (LLMs) implicitly encode signals in their generated text that enable self-recognition of their outputs. We demonstrate that this capability is reliable, even in low-entropy scenarios, and that it can be amplified through targeted intervention. By steering the internal residual stream during generation with a random sparse vector, we create a detectable fingerprint that enables attribution of a given text to a specific LLM. This signal is recoverable from the activations of an LLM used as a detector, achieving over 98% accuracy across multiple detection settings while preserving the quality of generated text. As AI-generated content proliferates, this approach offers a practical alternative to traditional detectors by leveraging the model's natural representation structure for attribution rather than embedding a signal externally. Our contributions include: (i) establishing reliable self-recognition capabilities in LLMs, (ii) a simple steering mechanism enabling multi-LLM identification with no quality degradation, (iii) demonstrating that activation spaces contain exploitable structure for encoding signals without semantic interference.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06315
PDF
-
Synthetic Data Generation and Vision-based Wrinkle and Keypoint Detection for Bimanual Cloth Manipulation
2026-06-04 15:30:49Ariel Herrera, Xueyang Kang, Atal Anil KumarAbstract
Robotic manipulation of textiles remains challenging because continuous deformation and self-occlusions hinder the robust visual perception required to estimate the cloth's state. To address the lack of annotated real-world data, we developed a Blender-based synthetic pipeline exporting auto-annotated keypoints, and combined manually labeled renders with real-world data to train a wrinkle detector. We present a perception framework integrating a CNN for permutation-invariant keypoint detection and a YOLOv8-OpenCV pipeline to extract grasping points from structural wrinkles. A proposed bimanual algorithm uses this system to stretch fully folded garments via wrinkles, transitioning to keypoint-based ironing once corners emerge. The keypoint model achieves a Mean Position Error (MPE) of 1.7615 pixels. The perception system transfers to physical fabrics without fine-tuning, outperforming baselines that fail in high-occlusion states or yield false positives on severe folds.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06292
PDF
-
DAST: A VLM-LLM Framework for Cross-Interface Anomaly Detection in O-RAN
2026-06-04 15:05:04Francesco Spinelli, Esteban Municio, Pau Baguer, Gines Garcia-Aviles, Xavier Costa-PerezAbstract
O-RAN enables a disaggregated baseband stack with programmable functions that communicate over standardized open interfaces. The same openness that enables multi-vendor composition also expands the attack surface across logically decoupled tiers that make up the compute continuum. Among these threats, Denial-of-Service and performance-degradation attacks, which account for the majority of catalogued O-RAN threats, are particularly difficult to detect. Traditional Time-Series Anomaly Detection (TSAD) methods fail in this new regime where labelled baselines are scarce, threats evolve faster than detectors can be retrained, and the high-dimensional multivariate telemetry overwhelms monolithic inference models. To address these challenges, we present DAST, a zero-shot multi-agent framework for cross-interface anomaly detection in O-RAN that chains a three-stage VLM $\rightarrow$ LLM $\rightarrow$ VLM pipeline. DAST converts multivariate KPI streams into visual representations, scores textual per-interface descriptions against O-RAN domain knowledge, and verifies suspects on high-resolution heatmaps to output the problematic interfaces, the anomalous time intervals, an indicative O-RAN WG11-aligned operational impact rating and the decision rationale. We evaluate DAST on real network traces collected from an O-RAN testbed under representative performance degradation scenarios, achieving 0.910 F1-Score and 0.843 Accuracy, outperforming state-of-the-art TSAD baselines.
Abstract (translated)
URL
https://arxiv.org/abs/2606.06261
PDF
