Survey
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A Survey on Federated Causal Discovery and Inference
2026-06-21 15:44:39Xianjie Guo, Yuwei Wang, Guodu Xiang, Xiaoli Tang, Kui Yu, Han Yu, Qiang YangAbstract
Causal reasoning, which encompasses the discovery of causal structures and the inference of causal effects, is fundamental to data-driven decision making. In practice, data for reliable causal analysis are often distributed across institutions and cannot be centralized due to privacy regulations or communication constraints. Federated learning (FL) addresses this by enabling collaborative analysis without raw data sharing, giving rise to the rapidly growing field of federated causal discovery (FCD) and inference (FCI). However, the interdisciplinary nature of this field and the absence of a comprehensive survey present barriers to entry for researchers. This paper bridges that gap by providing a systematic review through multi-dimensional taxonomies. Grounded in the three core design decisions underlying any FCD solution, namely how structures are learned, how data are partitioned, and what structural knowledge each party obtains, we organize FCD along three axes: methodological paradigm, federation topology, and structural scope. We further examine key practical dimensions, including temporal dynamics, data heterogeneity, missing data, and non-identical variable sets. For FCI, we categorize methods by target estimand (average versus individualized/conditional treatment effects) and by estimation strategy, from classical weighting methods to modern deep generative architectures. Unlike prior works that treat FCD and FCI separately, we formalize their connection as complementary stages of a unified federated causal reasoning pipeline, where FCD supplies the structural knowledge required for valid effect estimation in FCI. Finally, we highlight their shared concerns regarding privacy, communication efficiency, theoretical guarantees, and application domains, and conclude by identifying open challenges for future research.
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URL
https://arxiv.org/abs/2606.23741
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Personalization, Personas, and Forecasting in Value Alignment
2026-06-21 01:38:22James Wedgwood, Pratiksha Thaker, Neil Kale, Virginia SmithAbstract
LLM behavior may be conditioned by human identity in several ways: they may be asked to adapt to users, role-play populations, or forecast how people would answer value-laden questions. We test whether these framings are interchangeable using the World Values Survey (WVS). We evaluate GPT-5.4, Claude Sonnet 4.6, Gemini 2.5 Flash, and Qwen3-235B on 101 WVS-derived questions across 13 language-country slices, comparing a language-only baseline with user-country, persona-country, and third-person prompts. Across 21,008 model-response rows, prompt framing is a first-order determinant of cultural alignment: country cues often shift answers substantially, but not all shifts move toward matched human response distributions. Third-person forecasting yields the strongest directional alignment for three of the four hosted models, while personalization and role-play are weaker or less stable. Alignment gains concentrate on salient value dimensions such as religiosity, gender roles, and work-oriented material values, whereas institutional trust and democracy-related questions remain difficult. These results show that prompt framing is not a cosmetic choice in cultural value elicitation; it changes both model behavior and measured alignment.
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URL
https://arxiv.org/abs/2607.24782
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Explainable Geospatial AI for Satellite Ground Station Siting Using LiDAR-Derived Terrain Intelligence
2026-06-19 19:08:52Shohini Sarkar, Smithi Mahendran, Rishi Chudasama, Varun Mannam, Arav Luthra, Yuvraj Rekhi, Vivek Nadig, Arsh GoenkaAbstract
Representative clutter height (RCH) is a key parameter in radio propagation and interference analysis because it captures the dominant height of local obstructions that drive terminal clutter loss. Current practice often relies on fixed clutter heights assigned to land use classes in Recommendation ITU-R P.452-18, but this misses within class variation and can lead to conservative exclusion zones and poor site ranking for low Earth orbit ground station siting and spectrum coordination. We present an interpretable, globally deployable machine learning framework for predicting RCH from open geospatial data. The model is trained using LiDAR derived labels from the U.S. Geological Survey 3D Elevation Program and inference time features from global land-cover, terrain, demographic, thermal, and optical remote sensing products. We define RCH using a robust 75th percentile clutter height statistic, evaluate multiple regressors, and select LightGBM for its accuracy, efficiency, and compatibility with feature attribution analysis. The final model achieves a mean absolute error of 1.79m and an R^2=0.765, reducing absolute error by more than 60% relative to the ITU baseline. Beyond aggregate fit, we evaluate domain facing criteria relevant to RF planning, including meter scale error, tolerance band accuracy, over and under estimation tails, agreement with ITU clutter height regimes, and SHAP-based physical plausibility. SHAP identifies tree canopy cover, land-cover semantics, and spectral reflectance as the most influential predictors. Studies on segmentation derived features, non-forest ablations, and land-cover matched international validation show that open geospatial data can improve clutter modeling at scale without sacrificing interpretability or deployability.
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URL
https://arxiv.org/abs/2607.14127
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Knowing You Is Everything: LLM Agents Achieve Near-Perfect Profile-Consistent Reaction Prediction in Social Media Simulation
2026-06-19 08:15:46Ljubisa Bojic, Ljiljana Matic, Joerg Matthes, Milan Cabarkapa, Bojana Dinic, Jue WangAbstract
Autonomous AI agents in social media present concrete risks to democratic discourse and platform governance, while also offering tools for pre-deployment recommender system testing. A central open question is whether persona-prompted LLMs can simulate individual-level social media reactions with sufficient accuracy to support either application, and how accuracy depends on profile completeness, model selection, and the generalization challenge posed by novel post content. This study benchmarks twelve LLM configurations on binary like/dislike prediction across 296 survey-based agent profiles and 26 ground-truth-mapped posts under three profile conditions, with leave-post-out machine learning classifiers as baselines. Across full-profile conditions, accuracy ranges from 75.54% to 96.68%, with a 30-point spread attributable primarily to model selection and confirmed by paired McNemar tests with agent-level bootstrap intervals. GPT-5.5 Pro accuracy degrades monotonically from 96.68% under a full profile to 62.32% under a reduced profile and to 51.00% with demographics alone, the last indistinguishable from the majority-class baseline, which confirms that demographic inference provides negligible predictive signal. Supervised classifiers collapse to 15.4% under leave-post-out, while LLMs sustain genuine zero-shot generalization unavailable to trained methods. Adaptive reasoning improves accuracy substantially for some models. Inter-model agreement is nearly double for posts with direct profile anchors (mean \k{appa} = 0.44) than for posts without them (\k{appa} = 0.23), and the least heterogeneous configuration homogenizes 34% of simulated population reactions. Results validate LLM-based simulation for recommender system stress-testing while documenting the behavioral accuracy that makes large-scale synthetic agent swarms a credible threat to public opinion.
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URL
https://arxiv.org/abs/2608.07498
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International Agreements to Limit Frontier AI: Objectives and Exit
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An international agreement to limit AI development could be crucial to mitigate risks from AI. However, it remains unclear which conditions should determine when the limiting measures are relaxed. We survey existing international agreements, outline what properties appropriate conditions should satisfy, list possible conditions, and finally give a recommendation in an example scenario. We recommend a fixed time period after which a new organization established at the start of the period specifies conditions that address when AI development can be safely conducted, with a possibility of withdrawal in extraordinary circumstances. We hope to illustrate the considerations that would likely go into an international agreement to limit AI.
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URL
https://arxiv.org/abs/2607.16224
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Position: Explainability Research Must Prioritize Foundations over Ad-hoc Methods
2026-06-18 21:46:20Michal Moshkovitz, Suraj Srinivas, Lesia Semenova, Nave Frost, Cyrus Rashtchian, Valentyn Boreiko, Shichang Zhang, Himabindu Lakkaraju, Cynthia Rudin, Jennifer Wortman VaughanAbstract
Despite the proliferation of Explainable AI (XAI) techniques -- from feature attributions to sparse autoencoders -- explanations rarely influence real-world workflows. In practice, they are often generated and discarded without guiding meaningful action. This gap reflects foundational shortcomings: research has not yet established methodologies for integrating explanations into end-to-end, human-in-the-loop systems. This position paper argues that the machine learning community must pivot from ad-hoc XAI methods toward addressing foundational & structural challenges, including unclear problem formulations, underspecified evaluation objectives, and the absence of pipelines for explanation-driven feedback. We support this claim through an analysis of recent ICML, NeurIPS, and ICLR papers and a survey of XAI practitioners, revealing recurring issues that limit cumulative progress. We conclude by outlining a practical checklist designed to shift XAI toward a more human-centered, action-oriented paradigm. By emphasizing foundational clarity over the development of ad-hoc methods, we hope to provide a roadmap for integrating explanations into actionable, feedback-driven AI systems.
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URL
https://arxiv.org/abs/2607.14123
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Agentic Electronic Design Automation: A Handoff Perspective
2026-06-18 04:58:55Jiawei Liu, Peiyi Han, Yuntao Lu, Su Zheng, Fengyu Yan, Bei YuAbstract
Electronic design automation (EDA) is inherently multi-stage and handoff-heavy. Design artifacts, flow scripts, and engineering decisions cross tool, session, and organizational boundaries before final implementation, signoff, or release. Each transfer carries explicit and implicit requirements that may not be fully captured by stage-local checks. LLM-based agents now invoke EDA tools directly, embed retrieved knowledge in executable scripts, and hand off state across sessions and stages. Once their outputs condition downstream engineering decisions, the transferred object must satisfy a handoff contract and meet the assumptions of its next consumer. This survey introduces handoff validity as its organizing principle. A handoff is valid when the transferred object satisfies the consumer's acceptance conditions and carries sufficient context, evidence, and provenance for downstream use. We review 82 systems and classify them into three boundary classes. Stage-Bound systems establish validity within a single EDA stage or bounded verification task. Flow-Bound systems preserve coherent workflow state across tools, invocations, and sessions. Organization-Bound systems maintain source grounding, provenance, scope, and admissibility across knowledge and authority boundaries. For each class, we analyze handoff contracts, handoff objects, coordination mechanisms, and open questions. These analyses motivate a five-layer EDA agent communication protocol (EACP), covering the agent discovery, agent message, tool invocation, workflow orchestration, and security and IP protocols. We aim to provide a common vocabulary and research agenda for trustworthy agentic EDA.
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URL
https://arxiv.org/abs/2606.19795
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ForEnt: A Multi-Modal Dataset for Characterizing Quadruped Robot Entrapments in Forest Environments
2026-06-18 00:59:11Natapat Kirdwichai, Danesh TaraporeAbstract
Legged robots are increasingly deployed in forests for ecological surveying and monitoring, yet their autonomy is often interrupted consequent to the challenges posed in traversing forest environments. Forest entrapments, for example, when a robot's legs are ensnared in vines or other vegetation, result in loss of stability and toppling. Such events not only disrupt the mission and require manual intervention, but also risk damage to the robot hardware. To address the absence of a dedicated dataset to investigate these failure modes in forest environments, we present ForEnt, a multi-modal dataset collected with the low-cost Unitree Go2 quadruped across eight forest sites in the Southampton Common Woodlands, UK. For our dataset, over approximately 1.7 km of traversals in 11 sequences were conducted, yielding 69 recorded entrapment events. ForEnt includes time-synchronized RGB-D images, LiDAR scans, proprioceptive data, and third-person video, enabling analysis of terrain factors contributing to entrapment and providing labeled sensor streams for reproducible benchmarking. By supporting the evaluation of entrapment detection strategies, ForEnt lowers the barrier to developing robust quadruped robot deployments in challenging forest environments.
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URL
https://arxiv.org/abs/2606.19675
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ExpertIVS: Sociological Expert Driven Individual Value Simulation in Large Language Models
2026-06-17 07:30:46Zhen Wang, Yuqi Ren, Yuehan Cui, Hongxiang Wang, Jianxiang Peng, Zhaoxia Zhang, Bingkun Zhu, Tongxuan Zhang, Dezhi Tong, Deyi XiongAbstract
Large Language Model (LLM) agents have demonstrated considerable potential for social simulation, yet struggle to accurately model individual value systems. Most existing methods mechanically stitch survey responses into prompts, which suffer from semantic fragmentation, failing to capture the internal coherence of human value systems. The value systems of LLMs are typically assessed using static multiple-choice questions, which fail to evaluate the value orientation in real-world dialogue interactions. To address these issues, we propose ExpertIVS, a framework employing 14 Sociological Expert Agents to interpret World Values Survey (WVS) responses through structured professional perspectives, rather than direct responses concatenation. These expert agents perform deep semantic reconstruction to generate robust and internally consistent individual profiles. To evaluate the consistency between LLMs and individual value systems during dynamic interactions, we further introduce a multi-agent debate mechanism. Extensive experiments across 480 individuals from 12 countries demonstrate that ExpertIVS achieves 90.78% value restoration fidelity and significantly outperforms baselines in value generalization (+5.3%). Moreover, ExpertIVS exhibits strong personality discriminability and behavioral consistency, enabling a shift from mere response concatenation to genuine sociological role-playing.
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URL
https://arxiv.org/abs/2608.20355
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Human-AI Agent Interaction in a Business Context
2026-06-17 05:55:07Kathrin Paimann, Elizangela Valarini, Sebastian JuhlAbstract
As AI agents are increasingly integrated into core business processes, understanding and designing effective interaction patterns between humans and AI agents becomes crucial for value creation. This study identifies and evaluates principles and criteria for a positive User Experience (UX) with AI agents, along with methods for its measurement. We identify user expectations and needs to facilitate adoption, build trust, and support user-centered decision-making by development teams. Using a mixed-methods approach that combines qualitative and quantitative techniques, we explore interaction patterns between humans and AI agents. The findings from this exploratory research serve as the basis to develop a survey experiment which evaluates the effectiveness of specific design elements on a larger scale. This foundational research contributes to the development of more intuitive and effective human-AI agent interactions in business settings.
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URL
https://arxiv.org/abs/2606.18716
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How to Ask the AI: A User Perspective Survey for Large Language Model Prompting
2026-06-17 05:51:11Yiqun Zhang, Yunfan Zhang, Mingjie Zhao, Sen Feng, Yiu-ming CheungAbstract
AI tools like ChatGPT and DeepSeek, powered by Large Language Models (LLMs), allow users to obtain instant and effective content responses simply by typing requests, such as ``plan a three-day Vienna trip'', ``solve the attached mathematical problem'', ``draft an email to inquire review progress'', etc., which are also known as LLM prompts. Crafting clear and well-structured prompts leads to more appropriate LLM feedback, which effectively bridges human-LLM interaction. Although prompting appears accessible to non-expert users, precisely organizing effective prompts is a highly systematic and skillful process, presenting potential challenges even for experienced users. This survey explores the principles, taxonomy, and organization of prompts from a user-centered perspective. Differing from the existing surveys that primarily focus on technical principles and application scenarios of LLMs, this paper provides actionable guidelines for formulating effective LLM prompts across diverse real-world tasks and specifically contributes by: 1) developing an intuitive evaluation strategy for prompt efficacy, 2) providing prompting workflow demonstrations on representative applications, and 3) maintaining a dynamically updated open-source project to ensure the core takeaways remain up-to-date. These measures lower the threshold for users to correctly understand and craft prompts that align with evolving application scenarios. This work will be maintained as a living GitHub project \href{this https URL}{\textcolor{blue}{here}}.
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URL
https://arxiv.org/abs/2608.07494
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Engagement Intensity as a Learner-Modeling Signal for Adaptive AI Ethics Instruction
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Adaptive AI ethics instruction in graduate research training benefits from intake measures that reflect differences in prior LLM experience. Prior coursework or workshop attendance is an obvious candidate, but it is not clear whether it is associated with pre-instruction ratings on key AI perception items. We compare three candidate intake features, self-reported usage frequency, self-rated LLM familiarity, and prior AI education, across five baseline perception outcomes in 93 bioscience graduate and postdoctoral trainees enrolled in a required research ethics course. Usage frequency shows Holm-corrected associations with all five outcomes, self-rated familiarity with three, and prior AI education with none. A threshold-like pattern at the lower end of the scale is most visible for training interest and accuracy trust rather than appearing as a uniform gradient across all five outcomes. In a short intake survey, reported LLM use is more consistently associated with these perceptions than prior coursework or workshops, with self-rated familiarity serving as a secondary indicator. These results suggest that simple pre-instruction behavioral signals can inform lightweight intake profiling for adaptive AI ethics education.
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URL
https://arxiv.org/abs/2606.18548
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Improving Survey Participation in Low-Literacy Populations Through Value-Sensitive Conversational AI
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Collecting reliable social data from low-literacy populations remains a persistent challenge, particularly when surveys involve sensitive topics and marginalized communities. Traditional paper-based and web-based survey modalities often suffer from high attrition and incomplete responses due to literacy barriers, social pressure, and interactional discomfort. In this paper, we present findings from an initial field evaluation comparing multiple survey modalities paper-based interviews, digital web-based surveys, conversational AI (convAI) surveys, and convAI enhanced with layered value-sensitive design conducted with low-literacy women across India. Using data from 315 participants, we show that convAI significantly improves survey completion rates relative to traditional modalities, with the highest completion and lowest drop-off observed when value-sensitive and culturally aligned conversational design elements are fully integrated. These results demonstrate the importance of human-centered and value-sensitive interaction design in enabling inclusive, ethical, and scalable data collection; motivating more `AI for social good' applications.
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URL
https://arxiv.org/abs/2606.30660
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AI Adoption Across a Multinational Workforce: Sociotechnical Conditions for GenAI Acceptance in Human Resources
2026-06-16 13:08:27Dalia Ali, Maria Jos\'e Rodr\'iguez Vel\'azquez, Manoel Horta Ribeiro, Vera Liao, Orestis PapakyriakopoulosAbstract
Generative AI (GenAI) deployment in the workplace is accelerating rapidly. Nevertheless, questions of who adopts, who benefits, and who is left behind and why are still understudied. In this paper, we investigate these dynamics in the context of a multinational tech company transitioning from a legacy Human Resources (HR) search system to a GenAI-supported system, analyzing search log data, survey data (n=25), and ten semi-structured interviews. Our findings show that adoption depended on the fit between the GenAI system's design assumptions and employees' work positionalities (role, spoken language, tenure). Further, we find that employees' trust in GenAI answers was built through source-checking, comparison among systems, and seeking input from colleagues or HR when in doubt. Our contribution is twofold. First, we provide empirical evidence of workplace GenAI adoption during a live organizational transition, showing that adoption is influenced by factors such as situational fit, search literacy, and trust calibration. It is also further shaped by knowledge conditions such as the system's content quality, employee training, and guidance. Second, we translate these findings into design considerations for inclusive deployment and adoption in high-stakes environments such as HR. We argue that organizations should design systems considering the role and context-sensitive benefits they yield to different social groups. They also need to treat the organizational knowledge infrastructure as AI infrastructure to improve the accountability and usability of GenAI systems
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URL
https://arxiv.org/abs/2606.17887
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AnchorKV: Safety-Aware KV Cache Compression via Soft Penalty with a Refusal Anchor
2026-06-16 12:43:18Ning Ni, Yingjie LaoAbstract
Large language models (LLMs) outperform earlier architectures on generative inference and long-context tasks, but their large size introduces significant challenges in memory usage, energy cost, and on-device deployment. Since scaling pre-trained language models improves downstream capability \cite{zhao2023survey}, the key-value (KV) cache becomes a dominant inference bottleneck. Recent KV cache compression methods \cite{jo2025fastkv,li2024snapkv,zhou2024dynamickv} reduce this cost by retaining only a subset of attention-relevant tokens. However, while these approaches preserve accuracy on benign workloads, their compression policies either fail to defend against jailbreak attacks \cite{jiang2024robustkv} or degrade safety alignment under aggressive eviction. We propose AnchorKV, a drop-in modification to KV cache compression that biases token retention scores away from directions in key space associated with harmful prompts. AnchorKV constructs an offline safety anchor by adapting a difference-of-means representation engineering approach \cite{arditi2024refusal,zou2023representation} to the layer-specific key projection space used in KV caching. Based on this anchor, a soft penalty token selection rule trades a small amount of utility for substantially improved safety alignment, while reducing to the original compressor when the penalty is zero.
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URL
https://arxiv.org/abs/2606.17872
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Federated Explainable Artificial Intelligence: Roles, Architectures, Evaluation, and Open Challenges
2026-06-15 21:02:31Masoume Gholizade, Fabrizio Ruffini, Pietro Ducange, Francesco MarcelloniAbstract
Federated Learning (FL) has emerged as a key paradigm for privacy-preserving collaborative model training across distributed and heterogeneous data sources. By keeping raw data local, FL addresses data confidentiality concerns, yet it does not resolve the opacity of modern machine learning models. In parallel, Explainable Artificial Intelligence (XAI) has gained attention for improving transparency, trust, and accountability, particularly in high-stakes domains. Their intersection has given rise to Federated Explainable Artificial Intelligence (FedXAI) paradigm, which aims to jointly satisfy privacy and explainability requirements. This survey provides a systematic review of FedXAI, highlighting the transition of explainability from a post-hoc tool to an integral component of the FL lifecycle. We show how explainability supports aggregation, personalization, robustness, coordination, and system-level decision making. To organize the literature, we introduce a taxonomy that classifies FedXAI methods by the role of explainability, model and explainer types, explanation scope, integration level, FL settings, and data heterogeneity. We review approaches ranging from model-agnostic explanations to interpretable federated models and explainability-aware aggregation mechanisms. We also examine evaluation practices and discuss the lack of standardized benchmarks and metrics for measuring explanation quality, stability, privacy leakage, and computational overhead. Finally, we identify key challenges, including explainability under non-IID data, explanation-centric security threats, communication-efficient XAI, continual FedXAI, and the integration of domain knowledge and regulatory constraints. By consolidating existing work and identifying key gaps, this survey serves as a reference framework for designing trustworthy, transparent, and privacy-preserving federated AI systems.
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URL
https://arxiv.org/abs/2607.13045
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A First-Principles Derivation of LLM Policy Optimization: From Expected Reward to GRPO and Its Structural Extensions
2026-06-15 13:55:23Jianghan Shen, Siqi Luo, Yue Li, Jiyao Liu, Wanying Qu, Yi Zhang, Ziyan Huang, Tianbin Li, Ming Hu, Xiaohong Liu, Yirong Chen, Junjun HeAbstract
Policy gradient algorithms for language models optimize the same objective $J(\theta) = \mathbb{E}*{\tau \sim p*\theta(\tau)}[R(\tau)]$, which has exactly two factors: the trajectory probability $p_\theta(\tau)$ and the reward $R(\tau)$. Every method from REINFORCE to PPO to GRPO and their descendants modifies one or both factors to address a specific failure in the preceding formulation. Existing surveys organize these methods by domain or chronology, which obscures the rationale behind each design choice and the precise location of its intervention within the gradient estimator. This survey revisits the landscape of LLM policy optimization from $J(\theta)$ on first principles and uses the trajectory side, induced by $p_\theta(\tau)$, and the reward side, induced by $R(\tau)$, as the two axes along which methods are located. It covers the path from REINFORCE and PPO to GRPO, as well as post-GRPO variants, Agentic RL, and GRPO-OPD. The resulting framework is unified, diagnostic, and extensible: it analyzes methods from a shared objective, identifies which side each method modifies and why, and applies the same trajectory and reward axes across these settings. Across these settings, the framework also exposes compound failures that no single-side fix resolves and that therefore require joint design of the trajectory side and the reward side. The boundary cases and coupled failures identified by this map mark where existing solutions run out and provide a principled starting point for designing the next generation of LLM policy optimization algorithms.
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URL
https://arxiv.org/abs/2606.16733
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Islamic Large Language Models: From Knowledge Acquisition to Trustworthy and Hallucination-Resistant AI
2026-06-15 12:22:36Mohammed Amine MouhoubAbstract
Large language models (LLMs) are increasingly used for knowledge-intensive question answering, including religious and legal questions. Islamic knowledge is a particularly demanding setting: answers are expected to be grounded in authoritative sources, citations must be exact, Arabic varieties differ substantially from the language of classical sources, and legitimate jurisprudential disagreement must be represented rather than collapsed into a single answer. This survey reviews the emerging field of Islamic LLMs and trustworthy Islamic AI. We organize the literature around Arabic NLP and Arabic-centric LLMs, Islamic NLP resources, Qur'anic question answering, Islamic knowledge benchmarks, retrieval-augmented generation, Islamic legal reasoning, inheritance reasoning, hallucination evaluation, and trustworthiness. We argue that fluency in Arabic is not sufficient for Islamic AI. Reliable systems require curated sources, retrieval and verification modules, citation-aware generation, madhhab-aware reasoning, human expert evaluation, and benchmarks that measure not only answer accuracy but also faithfulness, source validity, and reasoning quality. The survey concludes with a research agenda for hallucination-resistant Islamic AI systems.
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URL
https://arxiv.org/abs/2606.16629
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3D Scene Graphs: Open Challenges and Future Directions
2026-06-15 08:14:08Dennis Rotondi, Francesco Argenziano, Sebastian Koch, Nathan Hughes, Martin Buechner, Johanna Wald, Lukas Rosenberger Schmid, Daniele Nardi, Abhinav Valada, Liam Paull, Federico Tombari, Luca Carlone, Kai O. ArrasAbstract
3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Their expressiveness has made them relevant to a broad range of problems in robotics and computer vision, including manipulation, navigation, task planning, scene understanding, and many others. However, the field remains fragmented: different communities adopt distinct formulations, construction pipelines, and evaluation protocols, making it difficult to compare methods, identify common assumptions, and assess remaining challenges for robust real-world deployment. This survey provides a unified and critical review of 3DSGs, with particular emphasis on open challenges and future directions. We first formalize 3DSGs under a common definition and analyze the principal modeling choices that characterize existing formulations, including node and edge attributes, hierarchical structure, dynamic scene representations, and affordance-aware extensions. We then review how 3DSGs are built from raw sensory observations, discussing the most common terminologies, conventions, and techniques. Finally, we examine downstream applications and evaluation strategies, from intrinsic graph quality to task-level performance. To support the community, we also provide a dedicated website that organizes and extends the surveyed content, accessible at this https URL.
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URL
https://arxiv.org/abs/2606.19383
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A Comprehensive Survey of Medical Image Segmentation: Challenges, Benchmarks, and Beyond
2026-06-15 03:15:19Pengyu Zhu, Xiaojing Zhang, Kunbo Zhang, Chunyan Zhang, Zhenyu WangAbstract
Medical image segmentation plays a critical role in clinical diagnostics, treatment planning, disease monitoring, and neurological disorder identification. This article presents a comprehensive review of its systematic development, covering widely used public datasets, representative methods built on the U-Net, Transformer, and SAM architectures, and key evaluation metrics with their differences, followed by an analysis of major challenges from multiple perspectives. Unlike surveys that focus on a single model family or a specific clinical application, this review organizes U-Net-, Transformer-, and SAM-based methods within a unified analytical framework, with a particular focus on their effectiveness in improving segmentation accuracy and efficiency. This work aims to guide future research and support clinical translation of medical image segmentation, with all related resources publicly available in our GitHub repository: this https URL.
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URL
https://arxiv.org/abs/2606.16153
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