Optimization
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From Structural Feedback to Prompt Policies: Learning Faithful Text-to-Image Prompt Editors
2026-10-26 18:50:50Wentao Ye, Yali Ye, Zhiqing Xiao, Ru Peng, Xinpeng Ti, Liyao Li, Zhanming Shen, Peng Lu, Jie Zhang, Haobo WangAbstract
Prompt optimization should improve the image a user receives without changing the scene the user requested. Yet stylistic rewriting can weaken object attributes and relations even when global text--image similarity remains high. We propose StruPO, a structure-aware prompt editor that uses a calibrated scene graph as a shared representation for policy conditioning and image-grounded supervision. The graph exposes what should be preserved, while deletion, reordering, and insertion provide a token-aligned way to modify the prompt. This turns structural feedback from an external critique into a training signal for a reusable editing policy. Learning from that signal requires handling both uncertain grounding and stochastic image generation. StruPO retains grounding confidence through smooth reward shaping and averages multiple images for each edit before computing group-relative advantages. Experiments span three disjoint 2K-prompt test sets and four frozen generation backbones, with comparisons to learned prompt optimizers, iterative structural feedback, diffusion-model fine-tuning, and inference-time attention control. StruPO improves the faithfulness--aesthetics trade-off, with consistent gains in relational fidelity. Independent automatic evaluators and a 15-annotator study provide complementary evidence, and human preference margins increase with relation complexity. Controlled ablations connect these gains to graph conditioning, local editing, and image-grounded learning. The resulting policy produces reusable optimized text in one pass after graph calibration, without an iterative critique--rewrite loop.
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URL
https://arxiv.org/abs/2610.36146
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Differentiable Contact Dynamics for Legged Locomotion: Policy Learning and Contact-Implicit Trajectory Optimization
2026-10-26 17:57:14Gijeong Kim, Seungbin Oh, Dongyun Kang, Hae-Won ParkAbstract
This paper proposes a smooth analytic gradient for frictional contact and applies it to policy learning and contact-implicit trajectory optimization for legged locomotion. The exact contact sensitivity is available in closed form but describes changes within the current contact mode, providing no first-order information toward neighboring contact modes. The proposed gradient replaces this sensitivity only in the backward pass, leaving the hard-contact forward solve unchanged and the realized rollout feasible. A central-path relaxation of the de Saxcé-corrected second-order-cone complementarity problem for Coulomb friction smooths the conditions defining the separating, clamping, and sliding modes. The relaxed sensitivity is evaluated at a point on the central path obtained by a Newton iteration initialized from the hard-contact solution. The sensitivity remains continuous through contact-mode transitions and converges to the exact sensitivity as the relaxation vanishes. Using 100,000 samples and less than 2 min of training on a desktop PC, policy learning with the proposed gradient produces a policy that transfers to hardware without fine-tuning. On hardware, the robot under a trotting policy withstands pushes and traverses debris and slippery ground. In trajectory optimization, the proposed gradient reaches contact-rich solutions missed by exact and Signorini-relaxed gradients. Project page: this https URL
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URL
https://arxiv.org/abs/2610.35852
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CIVER: Causal Intervention Verification for Reliable Code Review
2026-10-26 16:29:40Xinyuan Song, Hasibul Haque, Jay Somasundaram, Ryan Turner, Bowen Zhu, Liang ZhaoAbstract
Code review is essential for maintaining software repositories by identifying defects, improving code quality, and supporting reliable software evolution. With the growing adoption of LLM-based coding agents, an increasing number of code contributions and repository changes are generated by these agents. Consequently, LLM-based code review agents are becoming increasingly prevalent to evaluate these contributions and maintain software quality. However, LLM reviewers often generate lengthy reviews containing numerous potential issues, many of which are false positives or lack sufficient evidence. These unreliable reviews can mislead developers and downstream coding agents, motivating the need to distinguish actionable findings from unsupported claims. We propose CIVER, a causal intervention-based framework that identifies the core issues underlying code-review findings and distinguishes genuine defects from false positives. CIVER integrates three modules: a review module assesses findings, an intervention module generates repair-oriented perturbations, and a verifier module scores review reliability. Through joint optimization via expert iteration, the three modules identify genuine defects by responding to targeted repairs while remaining stable under unrelated changes. Extensive experiments on SWE-Review-Bench demonstrate that CIVER correctly identifies 77% of genuine defects through targeted repairs. Cross-project and downstream repair evaluations further demonstrate that CIVER generalizes across repositories and improves coding agents' task success rates, highlighting its effectiveness for reliable automated code review.
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URL
https://arxiv.org/abs/2610.36010
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Continuous-Time Safe Planning and Control for Agile Quadrupeds
2026-10-26 16:14:07Gage MacLin, Mason Peterson, Camilla Tabasso, Venanzio Cichella, Joshua Migdal, Tye Brady, Taskin PadirAbstract
Agile quadruped navigation in dynamic environments demands trajectories that are both dynamically feasible and provably collision-free. Most real-time planners achieve tractability through a convex reduction that requires simplified kinematic models, discarding motion that the robot can readily execute, and certify safety only at discretization points, leaving open possible inter-sample collisions with moving obstacles. We present a real-time motion planning framework that retains the fully-actuated $SE(2)$ model of a quadruped, with its anisotropic, heading-coupled velocity bounds, and accepts the resulting nonconvexity. By parameterizing trajectories as composite Bernstein polynomials, we exploit the convex hull property to certify collision avoidance and the input bounds over the entirety of each planning horizon. Solved at online replanning rates, the optimization runs in closed loop, commanding body velocities to the locomotion controller. We validate the approach in simulation against ablations and external baselines, and in hardware experiments on a quadruped navigating among unknown moving obstacles, recovering both lateral and heading-coupled motion that simplified models exclude.
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URL
https://arxiv.org/abs/2610.35670
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ExCal: Optimization-Free Multivariate Time Series Anomaly Detection via Excess Calibration
2026-10-26 15:06:39Kadir-Kaan \"Ozer, Ren\'e Ebeling, Markus EnzweilerAbstract
We introduce ExCal, a normal-only multivariate time series anomaly detector that combines raw state retrieval, a signal/derivative subspace, and robust statistics across temporal scales. Each expert map receives a high normality floor from the training prefix. During scoring, positive excess is retained, attenuated for broadly firing maps, and combined with a small rank term. The method fits reference memories and projections without gradient optimization or anomaly labels. Prevalence and ranks depend on the complete scored sequence, making inference batch and transductive rather than online. On 180 series from 17 TSB-AD-M families, ExCal obtains AUC-PR $0.421\pm0.37$ and VUS-PR $0.452\pm0.37$ over three seeds, ranking second among 24 methods. Holm-adjusted paired tests detect no significant difference from AxonAD or StreamVAE, which are the two leading non-pretrained methods on TSB-AD-M, on either primary metric, while finding significant positive differences against the other 21 baselines. A separate single-run probe over three series measures median model-wrapper time of $0.0662$ s. Ablations associate the largest primary-metric changes with raw retrieval and excess-magnitude preservation. The evaluated score is decomposable by expert, but its diagnostic utility and online suitability remain untested.
Abstract (translated)
URL
https://arxiv.org/abs/2610.35568
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Copying As Defense: Protecting Images from Editing By Eliciting Model Copying
2026-10-26 15:05:46Salma Abdel Magid, Sanghyuk Chun, Eric Slyman, Kushal Kafle, Olga RussakovskyAbstract
Image editors built on diffusion transformers (DiTs), such as Flux Kontext, make it possible to turn a single photograph into a convincing manipulated image, including harmful and non-consensual edits. Proactive defenses aim to prevent such manipulations by adding an imperceptible perturbation before an image is shared. Existing defenses for DiT-based in-context editors make the output attend less to the protected reference image. But this leaves the model free to follow the edit instruction using the text and its own generated tokens, often producing a new, weakly grounded image rather than preventing the edit. We find that the opposite strategy is more effective: instead of leading the model to ignore the reference, we encourage it to copy it. Through controlled attention interventions, we show that concentrating target-token attention on the reference image in only a few early blocks is sufficient to collapse the editing behavior, causing the model to reproduce its input, often as a lossy copy, rather than execute the requested transformation. Based on this insight, we introduce Copying-as-Defense (CaD), which maximizes per-token target-to-reference attention mass in early transformer blocks. Since attention rows are normalized, increasing reference attention suppresses the attention allocated to the text and generated canvas. Restricting the objective to early blocks also lets us truncate the backpropagation path, keeping optimization cheap. Across editors and benchmarks, CaD reduces average edit success from 81.4% on unprotected images to 24.0%, a 70.6% relative reduction, and by a further 44.3% relative to DeContext, the strongest baseline (43.0%). CaD is also roughly 1.8-2.0x faster per optimization step than comparable methods.
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URL
https://arxiv.org/abs/2610.35566
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Multi-Fidelity Training Reshapes Uncertainty Decomposition in Atomistic Models
2026-10-26 15:01:42Matteo Tolloso, Davide Bacciu, Luigi BonatiAbstract
Multi-fidelity training, which combines abundant low-fidelity data with scarce high-fidelity labels, is increasingly common in atomistic modeling, but its effect on predictive uncertainty remains largely unexplored. We investigate this question using deep ensembles of mean-variance MACE models trained on ANI-1x, contrasting high-fidelity training from scratch with low-fidelity pretraining followed by fine-tuning. We characterize aleatoric, epistemic, and total uncertainty throughout training and under two distribution shifts: unseen molecular systems and higher-energy configurations. We find that pretraining reduces prediction error and improves uncertainty-based ranking across all test sets, but does not yield well-calibrated predictive variances; calibration deteriorates more severely under energy extrapolation. Training-dynamics analysis localizes most of this calibration degradation to high-fidelity optimization, during which the learned aleatoric variance becomes overconfident on held-out data. Moreover, multi-fidelity fine-tuning produces a more effective uncertainty-based acquisition function than high-fidelity training from scratch. These findings show that uncertainty ranking and calibration capture distinct properties and must be assessed separately in multi-fidelity atomistic models, especially under extrapolation.
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URL
https://arxiv.org/abs/2610.35560
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Generative Structure from Motion with Native 3D Diffusion
2026-10-26 14:40:40Haobin Duan, Binbin Huang, Mochu Xiang, Yiqun Zhao, Zibo Zhao, Yi Ma, Shenghua GaoAbstract
Recovering an object's 3D structure and camera motion from a few uncalibrated views is a fundamental problem in computer vision. Classical structure from motion methods recover 3D geometry consistent with the input images but cannot recover unseen regions; native generation methods produce plausible 3D objects which are related but not necessarily faithful to the input images. Methods simply concatenating reconstruction and generation allow error to cascade across the two stages, instead of producing a 3D object consistent with both the distribution and the input. We propose GenSfM, which integrates image-based 3D reconstruction with a native 3D diffusion model. In particular, we use a multi-modal diffusion transformer to jointly denoise the shape latent and per-view pose latents under shared self-attention, grounding generated geometry in the observed views while using object-level priors to infer unobserved regions. A compact 3D-native UV-volume tokenization keeps the joint sequence small as views are added, and a pose-aware stage refines geometry and texture by sampling per-voxel image features at the recovered camera poses. On Toys4k and GSO, for $4$ uncalibrated views, GenSfM improves novel-view PSNR by $3.2$-$4.5$ dB and reduces median Chamfer distance by $2.8$-$3.8\times$ over a strong native-3D generation baseline, while recovering input-view poses over $96\%$ Acc@$5^\circ$ without any external pose-estimation backbone, post-hoc optimization, or known intrinsics. Project page: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.35522
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Learning Scene Coordinate Reconstruction from Unposed Images via Pose Graph Optimization
2026-10-26 14:29:13Tze Ho Elden Tse, Jizong Peng, Angela YaoAbstract
Learning-based structure-from-motion methods such as ACE-Zero have demonstrated strong performance in estimating cameraposes and scene coordinates from unordered image collections without requiring ground truth supervision. However, the lack of global and multi-view consistency constraints in ACE-Zero can lead to pose drift and misalignment, particularly in complex or ambiguous scenes. In this work, we propose a hybrid framework that integrates pose graph optimization (PGO) into ACE-Zero to refine camera poses and suppress incorrect refinements. We construct pose graphs directly from ACE-Zero outputs by extracting relative pose constraints from predicted scene coordinates. Furthermore, we introduce an uncertainty-aware optimization strategy by estimating confidence scores using geometric priors, including epipolar and optical flow consistencies across views. Our approach improves the robustness and accuracy of pose estimation, demonstrating that global geometric reasoning can effectively complement learning-based inference in structure-from-motion.
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URL
https://arxiv.org/abs/2610.35501
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Enhancing Deep Reinforcement Learning for Robotic Motion Planning via Task Decomposition
2026-10-26 14:23:40Yuanzhi He, Victor Romero-Cano, Jiayu Xu, Juan David Hern\'andez, Gualtiero ColomboAbstract
Training robotic manipulation policies in simulation is widely adopted due to safety and cost efficiency; however, tasks involving obstacles remain under-performing and often converge slowly under Deep Reinforcement Learning (DRL). To address this challenge, we propose a task decomposition framework for DRL that integrates Transfer Learning (TL) with Reward Redesign (RR) to improve learning efficiency and robustness in obstacle environments. The TL strategy selectively transfers only the first-layer critic parameters across structurally related tasks, since that layer captures general state--action representations while deeper layers encode reward- and obstacle-specific value geometry; RR decomposes tasks into staged sub-objectives to provide denser optimization signals. Experiments on the PyBullet Panda platform show consistent gains in obstacle settings. On Push with obstacle, our method achieves $0.83 \pm 0.05$, outperforming the strongest baseline (Truncated Quantile Critics (TQC), $0.77 \pm 0.06$) by approximately $7.8\%$. On Slide with obstacle, performance reaches $0.95 \pm 0.02$, exceeding Soft Actor-Critic (SAC) ($0.84 \pm 0.06$) by about $11\%$ success rates. In addition to higher final performance, forward transfer reduces convergence time by up to $70\%$ in obstacle tasks, and RR shortens sparse-reward Pick-and-Place training from roughly $0.75$M to $0.20$M steps ($\approx73\%$ reduction). The best policy is deployed on a real Franka Emika FR3 robot as a qualitative feasibility demonstration.
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URL
https://arxiv.org/abs/2610.35494
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S$^2$-RL: Sample-Set Dual Reinforcement Learning for Generative Semantic Segmentation Dataset Distillation
2026-10-26 14:21:31Haoyu Wang, Fei Zhou, Qingqing Qiu, Lei Zhang, Wei Wei, Chen DingAbstract
While dataset distillation has witnessed significant advances in image classification, its extension to dense prediction tasks such as semantic segmentation is plagued by two core bottlenecks: bi-level optimization-based approaches suffer from prohibitive computational costs stemming from pixel-wise gradient unrolling, whereas proxy-based generative methods merely infuse visual textures into fixed semantic masks derived from real data, thus failing to condense rich semantic knowledge into a compact set of informative, novel scene generations. To address both bottlenecks simultaneously, we propose a novel Sample-Set Reinforcement Learning (S$^2$-RL) framework for generative semantic segmentation dataset distillation (SSDD). Specifically, S$^2$-RL formulates SSDD as a diffusion model based text-to-image generation paradigm, enabling flexible generation of images with informative, novel semantic distributions via a concise text prompt. Furthermore, we fine-tune a diffusion policy via Group Relative Policy Optimization (GRPO), leveraging a sample-set dual reward paradigm: for individual samples, it enforces semantic alignment with input text prompts and intra-class feature diversity; for sample sets, it maximizes inter-sample semantic distribution diversity by solving a contextual multi-armed bandit problem. These design choices enable S$^2$-RL to distill large-scale semantic segmentation datasets into a compact set of generated samples that encapsulate diverse, informative semantic knowledge without the need of pixel-wise gradient unrolling. Extensive experiments on the ADE20K and COCO datasets demonstrate that S$^2$-RL achieves substantial and consistent improvements over state-of-the-art baselines, establishing a new benchmark for SSDD.
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URL
https://arxiv.org/abs/2610.35491
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GPDPO: Learning from Reward Conflicts via Group Pareto-Dominance Policy Optimization
2026-10-26 14:11:28Zixuan Xu, Haoxuan Chen, Jiangxin Sun, Jian-Fang HuAbstract
Multi-reward reinforcement learning offers a promising framework for aligning large language models (LLMs) with diverse objectives, but conflicting reward signals can induce ambiguous update directions and hinder stable optimization. Existing approaches address such conflicts through reward reweighting, gradient coordination, or rollout filtering, yet they primarily operate on per-response or group-level optimization signals and underexploit relational information among sampled responses. As a result, conflict-filtered rollouts may still contain useful supervision that is discarded during training. We propose Group Pareto-Dominance Policy Optimization (GPDPO), a multi-reward policy optimization method that recovers pairwise supervision from conflict-filtered rollouts. GPDPO identifies Pareto-dominance relations among sampled responses and converts them into auxiliary preference signals, which are jointly optimized with the original policy objective. This enables more effective reuse of existing rollouts without additional sampling or reward evaluation. Experiments on API-Bank across multiple model scales and reward configurations show that GPDPO consistently outperforms competitive multi-reward optimization baselines. Further analysis demonstrates that GPDPO reduces both group-relative and pairwise reward conflicts, supporting the effectiveness of exploiting relational supervision for multi-reward alignment. Code will be released.
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URL
https://arxiv.org/abs/2610.35480
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An Interactive Evolutionary Multiobjective Optimization Algorithm Based on Interpretable Active Preference Learning
2026-10-26 14:04:44Thomas Quadt, Boris \v{C}ule, Roy Lindelauf, Herman Monsuur, Mark VoskuijlAbstract
Many decision-making tasks are inherently multi-objective. Interactive evolutionary multi-objective optimization algorithms (iEMOAs) are particularly well-suited to help the decision-maker find their most preferred solution. However, many of these algorithms employ black-box preference models. For high-stakes decision-making tasks, like healthcare and defense, a high level of transparency is needed, for instance to support accountability. We propose an interpretable iEMOA which uses active learning to efficiently learn a tree-based preference model directly from pairwise comparisons. The survival operator of NSGA-II and NSGA-III is extended with the learned preference model to guide the algorithm towards the region of interest. An extensive experimental study compares the proposed method to a state-of-the-art black-box model and a state-of-the-art interpretable model. Results indicate that our proposed model outperforms the alternatives in terms of finding the most preferred solution at the cost of a slightly worse average final population. Finally, a case study on a real-life engineering problem illustrates how inspecting the learned model reveals which objectives drive the decision-maker's preferences.
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URL
https://arxiv.org/abs/2610.35470
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Skill$^{infty}$: Recursive Self-Improvement for Agent Skill Optimization
2026-10-26 13:37:56Wangcheng Tao, Zhanglu Yan, Han Wu, Weng-Fai WongAbstract
Recursive self-improvement (RSI), in which a system also improves the way it improves, is a long-standing aspiration on the path to AGI. Language agents increasingly store procedural knowledge in reusable skills. Optimizing skills offers a direct way to achieve RSI, because the optimization procedure itself can be encoded as a skill. Existing skill optimizers, however, follow a hand-designed procedure. Even methods that evolve a meta-skill confine it to a fixed pipeline and relearn it for each task. We present Skill$^{\infty}$, which makes skill optimization recursively self-improving: a meta agent follows a meta-skill to optimize task skills and optimizes the meta-skill itself using the same procedure. The optimization is agent-led. The meta agent diagnoses execution traces, proposes candidates, requests independent reviews, and allocates the search budget. The meta-skill defines these steps, allowing self-improvement to rewrite them. This meta-skill is also decoupled from task skills, refined on multiple skill optimization tasks and then reused to optimize task skills across diverse domains. As in deployment, skills at both levels are standard packages loaded through native skill discovery. On 83 SkillsBench tasks, Skill$^{\infty}$ reaches a pass rate of 60.7%, compared with 56.4% for human-curated skills and 54.5% for SkillEvolver.
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URL
https://arxiv.org/abs/2610.35434
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PriFT: Guiding Supervised Fine-Tuning with Pretrained Priors
2026-10-26 12:47:06Ke Wang, Shuangqi Li, Mathieu Salzmann, Pascal FrossardAbstract
Supervised fine-tuning (SFT) is an efficient approach for downstream task adaptation and often serves as the initialization stage for reinforcement learning (RL), but it can show weaker generalization than RL. A key limitation is its off-policy objective: SFT fits fixed demonstrations token by token, including targets poorly aligned with the model's pretrained distribution, which can lead to overfitting. A recent line of work addresses this issue by assigning larger training weights to tokens better aligned with the current model's predictive distribution, with the intuition that fitting these tokens are less distortive to the model's knowledge and representations. However, computing the token weights from the model that is currently fine-tuned entangles token weights with the optimization trajectory, inducing a self-reinforcing loop which concentrates the supervision signal to a narrow set of initially preferred tokens. To address this, we propose PriFT (Prior-support guided Fine-Tuning), which derives token weights from a frozen pretrained reference to obtain a stable reweighting signal unaffected by fine-tuning. This signal estimates prior support: the extent to which each target token is supported by the pretrained distribution. By reweighting tokens according to their prior support, PriFT limits excessive adaptation to targets requiring substantial deviation from the pretrained distribution and improves SFT generalization. We introduce two instantiations: PriFT-prob uses pretrained target-token probability, while PriFT-mass selects tokens by cumulative probability mass under the pretrained distribution. Across mathematical reasoning, code generation, and medical QA, PriFT achieves state-of-the-art results among SFT baselines, while also providing a stronger initialization for subsequent RL.
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URL
https://arxiv.org/abs/2606.09396
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CVTSplat: Multi-view Reconstruction Using an Adaptive Centroidal Voronoi Tessellation
2026-10-26 12:39:58Briac Toussaint, Diego Thomas, Jean-S\'ebastien Franco, Edmond Boyer, Christian TheobaltAbstract
Voronoi tessellations have recently emerged as an adaptive, space-partitioning discretization for shape and appearance reconstruction from multi-view images. However, the irregular cells they produce make the repeated reconstruction of the tessellation during optimization costly. We therefore explore adaptive centroidal Voronoi tessellations (CVTs), which extend standard CVTs with non-uniform cell sizes while preserving the regular, well-shaped cells that make them efficient to compute. In CVTSplat, cell size is modulated by the evolving signed distance field, concentrating sites near the zero level set while keeping cells nearly centroidal. This regularity lets us specialize the whole pipeline, with GPU algorithms for nearest-neighbor queries and approximate Voronoi construction, and a rasterizer tailored to small, nearly isotropic cells. Our Voronoi construction is 5 to 10 times faster than general-purpose alternatives in this regime. On DTU and BlendedMVS, CVTSplat reaches geometric accuracy competitive with the best Gaussian-splatting surface methods while training in about 2.5 minutes on a single GPU.
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URL
https://arxiv.org/abs/2610.35347
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VisGeo-PipeTrack: A Visual Geometric Servo Control Framework with MPC-RCAPID Control for UAV-Based Dynamic Pipes Tracking
2026-10-26 12:34:40Zhenyang Gao, Jianlin Chen, Yang Yu, Honghao Shan, Jiale Gao, Ziyan JiaAbstract
While unmanned aerial vehicles (UAVs) are increasingly deployed for pipeline inspection, prevailing research predominantly assumes static pipes. In real-world industrial environments, pipes often exhibit dynamic movements, such as vibrations. This imposes more stringent requirements on UAVs' adaptive control and computational efficiency than in static scenarios. Therefore, this paper proposes a servo control framework named VisGeo-PipeTrack, which utilizes geometric constraints to enable UAV tracking of dynamic pipes. To achieve efficient UAV positioning, YOLOv5 is employed to detect labels on the pipe. The positions are derived from visual geometric constraints based on these detected labels to enable precise localization. To address tracking control challenges, a model predictive control based real-time corrected adaptive PID (MPC-RCAPID) controller is proposed. This controller employs the Recursive Least Squares method for real-time model estimation and integrates rolling horizon optimization to dynamically adjust PID parameters. Experiments conducted on both the AirSim simulator and the Tello UAV platform validate the effectiveness of the proposed framework. Simulation comparisons with standard PID, fractional-order PID, adaptive PID, and fuzzy PID demonstrate that MPC-RCAPID achieves the shortest settling time (3.26 s) and the lowest average tracking error (3.52%). In physical experiments on the Tello platform, compared with standard PID control, MPC-RCAPID reduces the average tracking error by 55.52%, 26.72%, and 26.52% across the three test dimensions. These results demonstrate that VisGeo-PipeTrack facilitates efficient autonomous tracking in dynamic pipe environments.
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URL
https://arxiv.org/abs/2610.35342
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Self-Supervised Pretraining for PHM: What Transfers, What Does Not, and What Federating It Costs
2026-10-26 11:50:33Jos\'e Sanz-Dur\'an, David Sol\'is-Mart\'inAbstract
Self-supervised pretraining has produced capable time-series foundation models, but its value for Prognostics and Health Management (PHM) has not been measured under leakage-controlled conditions. We measure it on a corpus of 47 public PHM datasets, harmonized to a single tensor contract and partitioned so that 11 datasets are withheld from pretraining in full. Transfer turns out to be task-dependent: a compact channel-independent Transformer encoder (801,808 parameters) pretrained with masked patch prediction raises fault-classification macro-F1 from 0.350 to 0.812 on CWRU and from 0.569 to 0.951 on HSG18, yet on CMAPSS remaining-useful-life estimation no pretrained checkpoint reliably improves upon a from-scratch baseline. We pretrain under two regimes---centralized, and simulated cross-silo federated with ten clients grouped by physical domain---holding architecture, objective, source data and optimization budget fixed. Two further findings are negative. At matched budget the centralized encoder leads by 15.5--20.2 macro-F1 points in four of four comparisons, although the comparison is confounded by a learning-rate schedule that favours the centralized arm and rests on a single pretraining run per regime; on RUL the two regimes are indistinguishable. And the intrinsic SSL loss is not a valid selection criterion: the centralized encoder more than halves the federated reconstruction loss without a corresponding gap on RUL, and a server-momentum sweep moves downstream validation macro-F1 by up to 0.29 while the SSL loss varies by 0.021. Transfer also hinges on the backbone learning rate: the same checkpoint yields 0.169 or 0.829 macro-F1 on CWRU depending on a single order of magnitude. We release the corpus pipeline, the protocol and the code.
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URL
https://arxiv.org/abs/2610.35280
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O2D-MedNet: An Optimization-Aware Dual-Domain Framework for Robust Medical Image Segmentation
2026-10-26 11:11:47Shipeng Hu, Miaohui Wang, Jing Qin, Sukun Tian, Yuchun SunAbstract
Medical image segmentation (MIS) remains challenging due to composite degradations and multi-scale geometric variations, which jointly impair lesion-background separability, structural consistency, and optimization stability. Existing single-stream frameworks entangle heterogeneous cues within a single representation pathway, while hybrid-stream approaches often rely on generic or static fusion, limiting effective coordination across domains and failing to explicitly address optimization instability. To overcome these limitations, we propose a new optimization-aware dual-domain framework for MIS (O2D-MedNet). First, a degradation-aware dualdomain interaction (DDI) module integrates Fourier - and Wavelet-domain features to suppress degradation-sensitive responses while preserving structural and fine-detail information. Second, a cross-backbone contour-guided fusion (CGF) module enables selective interaction between CNN-based local detail modeling and visual state-space-based global structure modeling, improving boundary accuracy and representation consistency. Third, a gradient-context optimization (GCO) strategy stabilizes training by adaptively adjusting learning dynamics based on loss trends and gradient statistics, mitigating instability caused by class imbalance and heterogeneous sample difficulty. Extensive experiments on six benchmarks demonstrate consistent improvements over state-of-the-art MIS methods across multiple imaging modalities. Further analyses confirm enhanced sensitivity, structural consistency, and optimization stability, validating the effectiveness of the proposed O2D-MedNet for robust MIS under heterogeneous conditions.
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URL
https://arxiv.org/abs/2610.35220
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Efficient Exact Unlearning for Federated Zeroth-Order Optimization
2026-10-26 11:03:48Weijun Yin, Yanqing Yao, Falko Dressler, Di Wang, Youming TaoAbstract
Federated zeroth-order optimization (FedZOO) reduces the memory and communication costs of collaborative training for edge intelligence by avoiding backpropagation while communicating only random seeds and scalar coefficients. However, existing methods lack efficient mechanisms for exact unlearning to fully remove the influence of training data when users request deletion. A key insight is that total variation stability of the learning algorithm creates overlap between model distributions before and after data deletion, allowing exact unlearning to reuse computation through coupling. Based on this observation, we jointly design two stable zeroth-order learning algorithms and their corresponding exact-unlearning procedures: \textsc{FedZOO-S} obtains stability through client and mini-batch subsampling, enabling \textsc{FedZOUL-S} to perform efficient unlearning by preserving earlier updates and restarting from the first affected step. \textsc{FedZOO-NS} further combines subsampling with Gaussian noise to increase overlap between update distributions; \textsc{FedZOUL-NS} exploits this overlap through rejection--reflection coupling to reuse affected updates when the coupling is accepted. We prove exact unlearning for both algorithms: the model and saved state have the same joint distribution as retraining with the corresponding learner on retained data. We further establish stability and convergence guarantees for the learning algorithms and derive upper bounds on expected unlearning cost. Experiments demonstrate effective unlearning with competitive model utility and up to $56.1\%$ less cumulative unlearning time than re-optimization. Compared with first-order baselines, our methods reduce communication overhead by up to approximately four orders of magnitude.
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https://arxiv.org/abs/2610.35211
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