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UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception
2026-04-15 17:04:34Ziming WangAbstract
We present UMI-3D, a multimodal extension of the Universal Manipulation Interface (UMI) for robust and scalable data collection in embodied manipulation. While UMI enables portable, wrist-mounted data acquisition, its reliance on monocular visual SLAM makes it vulnerable to occlusions, dynamic scenes, and tracking failures, limiting its applicability in real-world environments. UMI-3D addresses these limitations by introducing a lightweight and low-cost LiDAR sensor tightly integrated into the wrist-mounted interface, enabling LiDAR-centric SLAM with accurate metric-scale pose estimation under challenging conditions. We further develop a hardware-synchronized multimodal sensing pipeline and a unified spatiotemporal calibration framework that aligns visual observations with LiDAR point clouds, producing consistent 3D representations of demonstrations. Despite maintaining the original 2D visuomotor policy formulation, UMI-3D significantly improves the quality and reliability of collected data, which directly translates into enhanced policy performance. Extensive real-world experiments demonstrate that UMI-3D not only achieves high success rates on standard manipulation tasks, but also enables learning of tasks that are challenging or infeasible for the original vision-only UMI setup, including large deformable object manipulation and articulated object operation. The system supports an end-to-end pipeline for data acquisition, alignment, training, and deployment, while preserving the portability and accessibility of the original UMI. All hardware and software components are open-sourced to facilitate large-scale data collection and accelerate research in embodied intelligence: \href{this https URL}{this https URL}.
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https://arxiv.org/abs/2604.14089
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Training-Free Semantic Multi-Object Tracking with Vision-Language Models
2026-04-15 16:44:57Laurence Bonat, Francesco Tonini, Elisa Ricci, Lorenzo VaqueroAbstract
Semantic Multi-Object Tracking (SMOT) extends multi-object tracking with semantic outputs such as video summaries, instance-level captions, and interaction labels, aiming to move from trajectories to human-interpretable descriptions of dynamic scenes. Existing SMOT systems are trained end-to-end, coupling progress to expensive supervision, limiting the ability to rapidly adapt to new foundation models and new interactions. We propose TF-SMOT, a training-free SMOT pipeline that composes pretrained components for detection, mask-based tracking, and video-language generation. TF-SMOT combines D-FINE and the promptable SAM2 segmentation tracker to produce temporally consistent tracklets, uses contour grounding to generate video summaries and instance captions with InternVideo2.5, and aligns extracted interaction predicates to BenSMOT WordNet synsets via gloss-based semantic retrieval with LLM disambiguation. On BenSMOT, TF-SMOT achieves state-of-the-art tracking performance within the SMOT setting and improves summary and caption quality compared to prior art. Interaction recognition, however, remains challenging under strict exact-match evaluation on the fine-grained and long-tailed WordNet label space; our analysis and ablations indicate that semantic overlap and label granularity substantially affect measured performance.
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https://arxiv.org/abs/2604.14074
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Neuromorphic Spiking Ring Attractor for Proprioceptive Joint-State Estimation
2026-04-15 16:04:16Federica Ferrari, Flavia Davidhi, Bernard Maacaron, Alberto Motta, Luuk van Keeken, Elisa Donati, Giacomo Indiveri, Chiara De Luca, Chiara BartolozziAbstract
Maintaining stable internal representations of continuous variables is fundamental for effective robotic control. Continuous attractor networks provide a biologically inspired mechanism for encoding such variables, yet neuromorphic realizations have rarely addressed proprioceptive estimation under resource constraints. This work introduces a spiking ring-attractor network representing a robot joint angle through self-sustaining population activity. Local excitation and broad inhibition support a stable activity bump, while velocity-modulated asymmetries drive its translation and boundary conditions confine motion within mechanical limits. The network reproduces smooth trajectory tracking and remains stable near joint limits, showing reduced drift and improved accuracy compared to unbounded models. Such compact hardware-compatible implementation preserves multi-second stability demonstrating a near-linear relationship between bump velocity and synaptic modulation.
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https://arxiv.org/abs/2604.14021
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Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain
2026-04-15 15:57:05Tim Hansen, Arturo Gomez-Chavez, Ilya Shimchik, Andreas BirkAbstract
We promote in this paper the processing of radar data in the frequency domain to achieve higher robustness against noise and structural errors, especially in comparison to feature-based methods. This holds also for high dynamics in the scene, i.e., ego-motion of the vehicle with the sensor plus the presence of an unknown number of other moving objects. In addition to the high robustness, the processing in the frequency domain has the so far neglected advantage that the underlying correlation based methods used for, e.g., registration, provide information about all moving structures in the scene. A typical automotive application case is overtaking maneuvers, which in the context of autonomous racing are used here as a motivating example. Initial experiments and results with Fourier SOFT in 2D (FS2D) are presented that use the Boreas dataset to demonstrate radar-only-odometry, i.e., radar-odometry without sensor-fusion, to support our arguments.
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https://arxiv.org/abs/2604.14013
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Temporally Consistent Long-Term Memory for 3D Single Object Tracking
2026-04-15 12:30:42Jaejoon Yoo, SuBeen Lee, Yerim Jeon, Miso Lee, Jae-Pil HeoAbstract
3D Single Object Tracking (3D-SOT) aims to localize a target object across a sequence of LiDAR point clouds, given its 3D bounding box in the first frame. Recent methods have adopted a memory-based approach to utilize previously observed features of the target object, but remain limited to only a few recent frames. This work reveals that their temporal capacity is fundamentally constrained to short-term context due to severe temporal feature inconsistency and excessive memory overhead. To this end, we propose a robust long-term 3D-SOT framework, ChronoTrack, which preserves the temporal feature consistency while efficiently aggregating the diverse target features via long-term memory. Based on a compact set of learnable memory tokens, ChronoTrack leverages long-term information through two complementary objectives: a temporal consistency loss and a memory cycle consistency loss. The former enforces feature alignment across frames, alleviating temporal drift and improving the reliability of proposed long-term memory. In parallel, the latter encourages each token to encode diverse and discriminative target representations observed throughout the sequence via memory-point-memory cyclic walks. As a result, ChronoTrack achieves new state-of-the-art performance on multiple 3D-SOT benchmarks, demonstrating its effectiveness in long-term target modeling with compact memory while running at real-time speed of 42 FPS on a single RTX 4090 GPU. The code is available at this https URL
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https://arxiv.org/abs/2604.13789
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Radar-Informed 3D Multi-Object Tracking under Adverse Conditions
2026-04-15 07:31:54Bingxue Xu, Emil Hedemalm, Ajinkya Khoche, Patric JensfeltAbstract
The challenge of 3D multi-object tracking (3D MOT) is achieving robustness in real-world applications, for example under adverse conditions and maintaining consistency as distance increases. To overcome these challenges, sensor fusion approaches that combine LiDAR, cameras, and radar have emerged. However, existing multi-modal fusion methods usually treat radar as another learned feature inside the network. When the overall model degrades in difficult environmental conditions, the robustness advantages that radar could provide are also reduced. We propose RadarMOT, a radar-informed 3D MOT framework that explicitly uses radar point cloud data as additional observation to refine state estimation and recover detector misses at long ranges. Evaluations on the MAN-TruckScenes dataset show that RadarMOT consistently improves the Average Multi-Object Tracking Accuracy (AMOTA) with absolute 12.7% at long range and 10.3% in adverse weather. The code will be available at this https URL
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https://arxiv.org/abs/2604.13571
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Event-Adaptive State Transition and Gated Fusion for RGB-Event Object Tracking
2026-04-15 02:51:35Jinlin You, Muyu Li, Xudong ZhaoAbstract
Existing Vision Mamba-based RGB-Event(RGBE) tracking methods suffer from using static state transition matrices, which fail to adapt to variations in event sparsity. This rigidity leads to imbalanced modeling-underfitting sparse event streams and overfitting dense ones-thus degrading cross-modal fusion robustness. To address these limitations, we propose MambaTrack, a multimodal and efficient tracking framework built upon a Dynamic State Space Model(DSSM). Our contributions are twofold. First, we introduce an event-adaptive state transition mechanism that dynamically modulates the state transition matrix based on event stream density. A learnable scalar governs the state evolution rate, enabling differentiated modeling of sparse and dense event flows. Second, we develop a Gated Projection Fusion(GPF) module for robust cross-modal integration. This module projects RGB features into the event feature space and generates adaptive gates from event density and RGB confidence scores. These gates precisely control the fusion intensity, suppressing noise while preserving complementary information. Experiments show that MambaTrack achieves state-of-the-art performance on the FE108 and FELT datasets. Its lightweight design suggests potential for real-time embedded deployment.
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URL
https://arxiv.org/abs/2604.13426
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Singularity Avoidance in Inverse Kinematics: A Unified Treatment of Classical and Learning-based Methods
2026-04-15 02:14:01Vishnu Rudrasamudram, Hariharasudan MalaichameeAbstract
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical singularity-robust IK with rapidly growing learning-based approaches. We provide a unified treatment spanning Jacobian regularization, Riemannian manipulability tracking, constrained optimization, and modern data-driven paradigms. A systematic taxonomy classifies methods by retained geometric structure and robustness guarantees (formal vs. empirical). We address a critical evaluation gap by proposing a benchmarking protocol and presenting experimental results: 12 IK solvers are evaluated on the Franka Panda under position-only IK across four complementary panels measuring error degradation by condition number, velocity amplification, out-of-distribution robustness, and computational cost. Results show that pure learning methods fail even on well-conditioned targets (MLP: 0% success, approx. 10 mm mean error), while hybrid warm-start architectures - IKFlow (59% to 100%), CycleIK(0% to 98.6%), GGIK (0% to 100%) - rescue learned solvers via classical refinement, with DLS converging from initial errors up to 207 mm. Deeper singularity-regime evaluation is identified as immediate future work.
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https://arxiv.org/abs/2604.13405
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Empirical Evidence of Complexity-Induced Limits in Large Language Models on Finite Discrete State-Space Problems with Explicit Validity Constraints
2026-04-15 00:35:22Md. Fahad Ullah Utsho, Mohd. Ruhul Ameen, Akif Islam, Md. Golam Rashed, Dipankar DasAbstract
Large Language Models (LLMs) are increasingly described as possessing strong reasoning capabilities, supported by high performance on mathematical, logical, and planning benchmarks. However, most existing evaluations rely on aggregate accuracy over fixed datasets, obscuring how reasoning behavior evolves as task complexity increases. In this work, we introduce a controlled benchmarking framework to systematically evaluate the robustness of reasoning in Large Reasoning Models (LRMs) under progressively increasing problem complexity. We construct a suite of nine classical reasoning tasks: Boolean Satisfiability, Cryptarithmetic, Graph Coloring, River Crossing, Tower of Hanoi, Water Jug, Checker Jumping, Sudoku, and Rubik's Cube, each parameterized to precisely control complexity while preserving underlying semantics. Using deterministic validators, we evaluate multiple open and proprietary LRMs across low, intermediate, and high complexity regimes, ensuring that only fully valid solutions are accepted. Our results reveal a consistent phase transition like behavior: models achieve high accuracy at low complexity but degrade sharply beyond task specific complexity thresholds. We formalize this phenomenon as reasoning collapse. Across tasks, we observe substantial accuracy declines, often exceeding 50%, accompanied by inconsistent reasoning traces, constraint violations, loss of state tracking, and confidently incorrect outputs. Increased reasoning length does not reliably improve correctness, and gains in one problem family do not generalize to others. These findings highlight the need for evaluation methodologies that move beyond static benchmarks and explicitly measure reasoning robustness under controlled complexity.
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https://arxiv.org/abs/2604.13371
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Multi-Agent Object Detection Framework Based on Raspberry Pi YOLO Detector and Slack-Ollama Natural Language Interface
2026-04-14 23:15:38Vladimir Kalu\v{s}ev, Branko Brklja\v{c}, Milan Brklja\v{c}Abstract
The paper presents design and prototype implementation of an edge based object detection system within the new paradigm of AI agents orchestration. It goes beyond traditional design approaches by leveraging on LLM based natural language interface for system control and communication and practically demonstrates integration of all system components into a single resource constrained hardware platform. The method is based on the proposed multi-agent object detection framework which tightly integrates different AI agents within the same task of providing object detection and tracking capabilities. The proposed design principles highlight the fast prototyping approach that is characteristic for transformational potential of generative AI systems, which are applied during both development and implementation stages. Instead of specialized communication and control interface, the system is made by using Slack channel chatbot agent and accompanying Ollama LLM reporting agent, which are both run locally on the same Raspberry Pi platform, alongside the dedicated YOLO based computer vision agent performing real time object detection and tracking. Agent orchestration is implemented through a specially designed event based message exchange subsystem, which represents an alternative to completely autonomous agent orchestration and control characteristic for contemporary LLM based frameworks like the recently proposed OpenClaw. Conducted experimental investigation provides valuable insights into limitations of the low cost testbed platforms in the design of completely centralized multi-agent AI systems. The paper also discusses comparative differences between presented approach and the solution that would require additional cloud based external resources.
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https://arxiv.org/abs/2604.13345
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Lazy or Efficient? Towards Accessible Eye-Tracking Event Detection Using LLMs
2026-04-14 19:21:15Dongyang Guo, Yasmeen Abdrabou, Enkelejda KasneciAbstract
Gaze event detection is fundamental to vision science, human-computer interaction, and applied analytics. However, current workflows often require specialized programming knowledge and careful handling of heterogeneous raw data formats. Classical detectors such as I-VT and I-DT are effective but highly sensitive to preprocessing and parameterization, limiting their usability outside specialized laboratories. This work introduces a code-free, large language model (LLM)-driven pipeline that converts natural language instructions into an end-to-end analysis. The system (1) inspects raw eye-tracking files to infer structure and metadata, (2) generates executable routines for data cleaning and detector implementation from concise user prompts, (3) applies the generated detector to label fixations and saccades, and (4) returns results and explanatory reports, and allows users to iteratively optimize their code by editing the prompt. Evaluated on public benchmarks, the approach achieves accuracy comparable to traditional methods while substantially reducing technical overhead. The framework lowers barriers to entry for eye-tracking research, providing a flexible and accessible alternative to code-intensive workflows.
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https://arxiv.org/abs/2604.13243
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Numerical Instability and Chaos: Quantifying the Unpredictability of Large Language Models
2026-04-14 18:26:38Chashi Mahiul Islam, Alan Villarreal, Mao Nishino, Shaeke Salman, Xiuwen LiuAbstract
As Large Language Models (LLMs) are increasingly integrated into agentic workflows, their unpredictability stemming from numerical instability has emerged as a critical reliability issue. While recent studies have demonstrated the significant downstream effects of these instabilities, the root causes and underlying mechanisms remain poorly understood. In this paper, we present a rigorous analysis of how unpredictability is rooted in the finite numerical precision of floating-point representations, tracking how rounding errors propagate, amplify, or dissipate through Transformer computation layers. Specifically, we identify a chaotic "avalanche effect" in the early layers, where minor perturbations trigger binary outcomes: either rapid amplification or complete attenuation. Beyond specific error instances, we demonstrate that LLMs exhibit universal, scale-dependent chaotic behaviors characterized by three distinct regimes: 1) a stable regime, where perturbations fall below an input-dependent threshold and vanish, resulting in constant outputs; 2) a chaotic regime, where rounding errors dominate and drive output divergence; and 3) a signal-dominated regime, where true input variations override numerical noise. We validate these findings extensively across multiple datasets and model architectures.
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https://arxiv.org/abs/2604.13206
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One Token Away from Collapse: The Fragility of Instruction-Tuned Helpfulness
2026-04-14 17:40:01Erfan Baghaei Potraghloo, Seyedarmin Azizi, Souvik Kundu, Massoud PedramAbstract
Instruction-tuned large language models produce helpful, structured responses, but how robust is this helpfulness when trivially constrained? We show that simple lexical constraints (banning a single punctuation character or common word) cause instruction-tuned LLMs to collapse their responses, losing 14--48% of comprehensiveness in pairwise evaluation across three open-weight model families and one closed-weight model (GPT-4o-mini). The baseline response is preferred in 77--100% of 1,920 pairwise comparisons judged by GPT-4o-mini and GPT-4o. Notably, GPT-4o-mini suffers 31% comprehensiveness loss (99% baseline win rate), demonstrating that the fragility extends to commercially deployed closed-weight models, contrary to prior findings on format-level constraints. Through mechanistic analysis, we identify this as a planning failure: two-pass generation (free generation followed by constrained rewriting) recovers 59--96% of response length, and linear probes on prompt representations predict response length with $R^2 = 0.51$--$0.93$ before generation begins, with $R^2$ tracking collapse severity across models. The same probes yield negative $R^2$ on base models, confirming that instruction tuning creates the representational structure encoding the collapse decision. Crucially, base models show no systematic collapse under identical constraints, with effects that are small, noisy, and bidirectional, demonstrating that instruction tuning creates this fragility by coupling task competence to narrow surface-form templates. The effect replicates on MT-Bench across all eight task categories. We further show that standard independent LLM-as-judge evaluation detects only a 3.5% average quality drop where pairwise evaluation reveals 23%, exposing a methodological blind spot in how constrained generation is assessed.
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https://arxiv.org/abs/2604.13006
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Drawing on Memory: Dual-Trace Encoding Improves Cross-Session Recall in LLM Agents
2026-04-14 16:45:06Benjamin Stern, Peter NadelAbstract
LLM agents with persistent memory store information as flat factual records, providing little context for temporal reasoning, change tracking, or cross-session aggregation. Inspired by the drawing effect [3], we introduce dual-trace memory encoding. In this method, each stored fact is paired with a concrete scene trace, a narrative reconstruction of the moment and context in which the information was learned. The agent is forced to commit to specific contextual details during encoding, creating richer, more distinctive memory traces. Using the LongMemEval-S benchmark (4,575 sessions, 100 recall questions), we compare dual-trace encoding against a fact-only control with matched coverage and format over 99 shared questions. Dual-trace achieves 73.7% overall accuracy versus 53.5%, a +20.2 percentage point (pp) gain (95% CI: [+12.1, +29.3], bootstrap p < 0.0001). Gains concentrate in temporal reasoning (+40pp), knowledge-update tracking (+25pp), and multi-session aggregation (+30pp), with no benefit for single-session retrieval, consistent with encoding specificity theory [8]. Token analysis shows dual-trace encoding achieves this gain at no additional cost. We additionally sketch an architectural design for adapting dual-trace encoding to coding agents, with preliminary pilot validation.
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https://arxiv.org/abs/2604.12948
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Grasp in Gaussians: Fast Monocular Reconstruction of Dynamic Hand-Object Interactions
2026-04-14 16:19:12Ayce Idil Aytekin, Xu Chen, Zhengyang Shen, Thabo Beeler, Helge Rhodin, Rishabh Dabral, Christian TheobaltAbstract
We present Grasp in Gaussians (GraG), a fast and robust method for reconstructing dynamic 3D hand-object interactions from a single monocular video. Unlike recent approaches that optimize heavy neural representations, our method focuses on tracking the hand and the object efficiently, once initialized from pretrained large models. Our key insight is that accurate and temporally stable hand-object motion can be recovered using a compact Sum-of-Gaussians (SoG) representation, revived from classical tracking literature and integrated with generative Gaussian-based initializations. We initialize object pose and geometry using a video-adapted SAM3D pipeline, then convert the resulting dense Gaussian representation into a lightweight SoG via subsampling. This compact representation enables efficient and fast tracking while preserving geometric fidelity. For the hand, we adopt a complementary strategy: starting from off-the-shelf monocular hand pose initialization, we refine hand motion using simple yet effective 2D joint and depth alignment losses, avoiding per-frame refinement of a detailed 3D hand appearance model while maintaining stable articulation. Extensive experiments on public benchmarks demonstrate that GraG reconstructs temporally coherent hand-object interactions on long sequences 6.4x faster than prior work while improving object reconstruction by 13.4% and reducing hand's per-joint position error by over 65%.
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https://arxiv.org/abs/2604.12929
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PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots
2026-04-14 15:06:38Zhihao Cao, Tianxu An, Chenhao Li, Stelian Coros, Marco HutterAbstract
Collaborative transport requires robots to infer partner intent through physical interaction while maintaining stable loco-manipulation. This becomes particularly challenging in complex environments, where interaction signals are difficult to capture and model. We present PAINT, a lightweight yet efficient hierarchical learning framework for partner-agonistic intent-aware collaborative legged transport that infers partner intent directly from proprioceptive feedback. PAINT decouples intent understanding from terrain-robust locomotion: A high-level policy infers the partner interaction wrench using an intent estimator and a teacher-student training scheme, while a low-level locomotion backbone ensures robust execution. This enables lightweight deployment without external force-torque sensing or payload tracking. Extensive simulation and real-world experiments demonstrate compliant cooperative transport across diverse terrains, payloads, and partners. Furthermore, we show that PAINT naturally scales to decentralized multi-robot transport and transfers across robot embodiments by swapping the underlying locomotion backbone. Our results suggest that proprioceptive signals in payload-coupled interaction provide a scalable interface for partner-agnostic intent-aware collaborative transport.
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https://arxiv.org/abs/2604.12852
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MISID: A Multimodal Multi-turn Dataset for Complex Intent Recognition in Strategic Deception Games
2026-04-14 13:07:54Shufang Lin, Muyang Chen, Xiabing Zhou, Rongrong Zhang, Dayou Zhang, Fangxin WangAbstract
Understanding human intent in complex multi-turn interactions remains a fundamental challenge in human-computer interaction and behavioral analysis. While existing intent recognition datasets focus mainly on single utterances or simple dialogues, real-world scenarios often involve sophisticated strategic interactions where participants must maintain complex deceptive narratives over extended periods. To address this gap, we introduce MISID, a comprehensive multimodal, multi-turn, and multi-participant benchmark for intent recognition. Sourced from high-stakes social strategy games, MISID features a fine-grained, two-tier multi-dimensional annotation scheme tailored for long-context discourse analysis and evidence-based causal tracking. Our systematic evaluation of state-of-the-art Multimodal Large Language Models (MLLMs) on MISID reveals critical deficiencies in complex scenarios, including text-prior visual hallucination, impaired cross-modal synergy, and limited capacity in chaining causal cues. Consequently, we propose FRACTAM as a baseline framework. Using a ``Decouple-Anchor-Reason'' paradigm, FRACTAM reduces text bias by extracting pure unimodal factual representations, employs two-stage retrieval for long-range factual anchoring, and constructs explicit cross-modal evidence chains. Extensive experiments demonstrate that FRACTAM enhances mainstream models' performance in complex strategic tasks, improving hidden intent detection and inference while maintaining robust perceptual accuracy. Our dataset is available at this https URL.
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https://arxiv.org/abs/2604.12700
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Hypergraph-State Collaborative Reasoning for Multi-Object Tracking
2026-04-14 12:37:39Zikai Song, Junqing Yu, Yi-Ping Phoebe Chen, Wei Yang, Xinchao WangAbstract
Motion reasoning serves as the cornerstone of multi-object tracking (MOT), as it enables consistent association of targets across frames. However, existing motion estimation approaches face two major limitations: (1) instability caused by noisy or probabilistic predictions, and (2) vulnerability under occlusion, where trajectories often fragment once visual cues disappear. To overcome these issues, we propose a collaborative reasoning framework that enhances motion estimation through joint inference among multiple correlated objects. By allowing objects with similar motion states to mutually constrain and refine each other, our framework stabilizes noisy trajectories and infers plausible motion continuity even when target is occluded. To realize this concept, we design HyperSSM, an architecture that integrates Hypergraph computation and a State Space Model (SSM) for unified spatial-temporal reasoning. The Hypergraph module captures spatial motion correlations through dynamic hyperedges, while the SSM enforces temporal smoothness via structured state transitions. This synergistic design enables simultaneous optimization of spatial consensus and temporal coherence, resulting in robust and stable motion estimation. Extensive experiments on four mainstream and diverse benchmarks(MOT17, MOT20, DanceTrack, and SportsMOT) covering various motion patterns and scene complexities, demonstrate that our approach achieves state-of-the-art performance across a wide range of tracking scenarios.
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https://arxiv.org/abs/2604.12665
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SEATrack: Simple, Efficient, and Adaptive Multimodal Tracker
2026-04-14 09:27:50Junbin Su, Ziteng Xue, Shihui Zhang, Kun Chen, Weiming Hu, Zhipeng ZhangAbstract
Parameter-efficient fine-tuning (PEFT) in multimodal tracking reveals a concerning trend where recent performance gains are often achieved at the cost of inflated parameter budgets, which fundamentally erodes PEFT's efficiency promise. In this work, we introduce SEATrack, a Simple, Efficient, and Adaptive two-stream multimodal tracker that tackles this performance-efficiency dilemma from two complementary perspectives. We first prioritize cross-modal alignment of matching responses, an underexplored yet pivotal factor that we argue is essential for breaking the trade-off. Specifically, we observe that modality-specific biases in existing two-stream methods generate conflicting matching attention maps, thereby hindering effective joint representation learning. To mitigate this, we propose AMG-LoRA, which seamlessly integrates Low-Rank Adaptation (LoRA) for domain adaptation with Adaptive Mutual Guidance (AMG) to dynamically refine and align attention maps across modalities. We then depart from conventional local fusion approaches by introducing a Hierarchical Mixture of Experts (HMoE) that enables efficient global relation modeling, effectively balancing expressiveness and computational efficiency in cross-modal fusion. Equipped with these innovations, SEATrack advances notable progress over state-of-the-art methods in balancing performance with efficiency across RGB-T, RGB-D, and RGB-E tracking tasks. \href{this https URL}{\textcolor{cyan}{Code is available}}.
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https://arxiv.org/abs/2604.12502
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KG-Reasoner: A Reinforced Model for End-to-End Multi-Hop Knowledge Graph Reasoning
2026-04-14 09:14:21Shuai Wang, Yinan YuAbstract
Large Language Models (LLMs) exhibit strong abilities in natural language understanding and generation, yet they struggle with knowledge-intensive reasoning. Structured Knowledge Graphs (KGs) provide an effective form of external knowledge representation and have been widely used to enhance performance in classical Knowledge Base Question Answering (KBQA) tasks. However, performing precise multi-hop reasoning over KGs for complex queries remains highly challenging. Most existing approaches decompose the reasoning process into a sequence of isolated steps executed through a fixed pipeline. While effective to some extent, such designs constrain reasoning flexibility and fragment the overall decision process, often leading to incoherence and the loss of critical intermediate information from earlier steps. In this paper, we introduce KG-Reasoner, an end-to-end framework that integrates multi-step reasoning into a unified "thinking" phase of a Reasoning LLM. Through Reinforcement Learning (RL), the LLM is trained to internalize the KG traversal process, enabling it to dynamically explore reasoning paths, and perform backtracking when necessary. Experiments on eight multi-hop and knowledge-intensive reasoning benchmarks demonstrate that KG-Reasoner achieves competitive or superior performance compared to the state-of-the-art methods. Codes are available at the repository: this https URL.
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https://arxiv.org/abs/2604.12487
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