Zero-Shot
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GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions
2026-08-06 17:40:32Chenghao Gu, Hanyang Yu, Jingbo Zhang, Haitao Lin, Wenyao Zhang, Jinghe Wang, Hanglei Jin, Shuzhao Xie, Jingyan Jiang, Zhi WangAbstract
Generalist robot policies exhibit strong capabilities, but their robustness in complex and unseen environments remains limited. Scaling robot learning and evaluation in diverse real-world environments remains costly and challenging. Action-conditioned world models offer a promising alternative, but they often suffer from limited action controllability and poor generalization to out-of-distribution (OOD) scenarios. To this end, we present GeniWorld, an interactive world model for robots that generalizes robustly across unseen scenarios. Building on pretrained video generative models, we use URDF-based rendering to transform numerical actions into visual action representations, enabling spatially grounded action control. By explicitly decoupling embodiment kinematics from environmental dynamics, our model mitigates scene overfitting and facilitates modeling of robot-environment interactions. To achieve closed-loop control, we construct an autoregressive video prediction model integrated with high-frequency robot kinematic control, enabling interaction with both robot policies and human teleoperators. In our experiments, even when trained solely on limited fixed-scene data, our model achieves superior in-domain performance and robust zero-shot generalization to highly randomized, unseen environments. For downstream applications, GeniWorld serves as a scalable policy evaluator that remains reliable under environmental perturbations. Furthermore, even with limited real-world demonstrations, GeniWorld generates diverse manipulation trajectories within the world model, improving downstream policy performance and robustness in complex environments.
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URL
https://arxiv.org/abs/2608.06332
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Toward Deployable Bangla Sign Language Recognition with Expert-Validated Data and a Lightweight Attention-Based Model
2026-08-06 16:41:22Saad Ahmed, Md Khalid SyfullahaAbstract
Deaf and hard-of-hearing people in Bangladesh communicate mainly through Bangla Sign Language (BdSL). Automatic BdSL recognition on personal devices could widen access to education and services. Existing systems use controlled-setting datasets without expert verification and heavyweight pretrained backbones unsuited to on-device use. We introduce RSBdSL38, 10,874 expert-validated images spanning all 38 BdSL hand signs, representing the 51 letters of the Bangla alphabet, recorded from real signers at three special-needs schools across Bangladesh. We propose a lightweight attention based convolutional network of 298,470 parameters, built from grouped bottleneck residual blocks, channel and spatial attention, a multi-scale depthwise hand-feature block, dual pooling, and Swish activations. Trained from scratch, it attains 96.37% accuracy (95.72% +- 0.54% over five seeds), within 1.08 percentage points of the best of nine ImageNet-pretrained efficient architectures under an identical protocol, using 8.5 to 68x fewer parameters and 1.3 to 21.7x fewer MACs. Retrained, it reaches 92.95 to 98.33% on six public BdSL benchmarks, 97.04% on a merged corpus, and 76.25% zero-shot on BdSL-38. Removing any architectural stage costs 7.61 to 89.30 points, against at most 3.17 for the training recipe. Grad-CAM with deletion-insertion and weight-randomization checks confirms that predictions follow the signing hand. A signer-independent split holding out 6 of 36 signers yields 85.18%. Quantized to 0.48 MB, it runs at 3.98 ms per image within a 15.5 MB footprint on a commodity smartphone. Together, RSBdSL38 and our from-scratch model turn benchmark accuracy into deployable accessibility at a fraction of pretrained-backbone cost; dataset, code, and models are released.
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URL
https://arxiv.org/abs/2608.06252
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Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments
2026-08-06 15:36:12Giorgio Tonetti, Laurent Kneip, Abel Gawel, Marco HutterAbstract
Hierarchical 3D scene graphs are a promising representation for high-level spatial reasoning in autonomous mobile platforms. However, existing extraction frameworks typically rely on purely local visual clustering or strict geometric heuristics, such as wall-separated rooms, which fail in open-plan or arbitrarily-structured environments. We propose Prior-SG, a task- and prior-driven framework that casts scene graph generation fundamentally as a probabilistic alignment problem. As the robot explores, it continuously aggregates an incoming RGB-D sensor stream into a physically grounded Instance Graph utilizing a multi-scale, open-vocabulary feature fusion strategy. The system then infers the high-level functional semantics of this map through a Maximum A Posteriori (MAP) estimate, guided by a Prior Graph-a logical expectation of the environment's structure and task-relevant vocabulary synthesized dynamically by a Large Language Model. By optimizing a Markov Random Field that fuses heterogeneous experts (visual, geometric, and discrete objects) with these topological priors, the system resolves local perceptual ambiguities. We validate this approach across diverse simulated residential datasets and large, open-plan real-world environments. Prior-SG achieves state-of-the-art semantic region segmentation accuracy compared to recent baselines, robustly delineates distant functional boundaries in the absence of physical walls, and uniquely provides zero-shot ontological flexibility, enabling the robot to entirely restructure its spatial partitioning based on a given high-level task.
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URL
https://arxiv.org/abs/2608.06170
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Schema-Guided Hierarchical Information Extraction and Semantic Evaluation Using Generative AI
2026-08-06 15:33:30Modhurita Mitra, Jan-Willem Versteeg, Maarten D. Schermer, Shiva Nadi Najafabadi, Marie L. De Bruin, Lourens T. BloemAbstract
We present a schema-based framework for extracting complex, structured information from unstructured text documents using generative AI, followed by automated semantic evaluation of the extracted information against a gold standard. The schema, serving as an information model encoding domain knowledge, provides a unified, systematic, and consistent framework for extraction of hierarchical, nested information, with attributes of variable cardinality, and subsequent evaluation of the results. Information extraction from a document is performed in a single call to the model, in zero-shot mode. In the evaluation step, we introduce a path-based semantic matching algorithm to align the nested, variable-cardinality attributes in the extracted results with those in the gold standard. We use generative AI for semantic comparison of the extracted and gold standard values of an attribute, and introduce a rubric to classify the result of the comparison, according to domain-specific considerations, as an exact, semantic, useful, or non-match. We were able to extract 12 out of 14 attributes with an F1 score of $>$90\% from documents published by the health technology assessment organisation NICE, using the generative AI model Claude Opus 3. The time needed to extract the attributes from a document was $\sim$30 times lower than the time taken by a human domain expert. We further demonstrate generalisability of this framework across different generative AI models and transferability across different HTA organisations and languages.
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URL
https://arxiv.org/abs/2608.06167
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Visual Grounding in Zero-Shot Vision-Language Control
2026-08-06 15:21:42J. de Curt\`o, Dayani Plasencia, Diego S\'anchez, I. de Zarz\`aAbstract
Vision-language models (VLMs) are increasingly used as zero-shot controllers, but successful trajectories do not necessarily show that decisions are grounded in visual input: simulator dynamics and conservative action priors can produce favourable scores without meaningful perception. We investigate this with an input-ablation battery: blind-image controls, repeated identical inputs, lane-axis reflection, non-visual baselines, and pipeline-integrity checks. Across nine direct-action models, six structured local VLMs, and an exploratory VLM-MPC hierarchy, we analyse 32,874 scored calls over two embodiments and three simulators. The direct-control results are largely negative: a constant-SLOW policy outperforms a scripted geometric controller, several models are image-invariant or nearly constant, and models that recognize longitudinal hazards still fail to transform LEFT and RIGHT under reflection. No local VLM meets the joint longitudinal and lateral grounding criteria. However, an image-only deterministic positive control estimates the lead gap with 0.090 m MAE and exact mirror equivariance, confirming the stimuli carry sufficient visual information; the failures are modular, not universal. A post-hoc, leakage-controlled symmetry-consensus guardian selects two models from 16 calibration frames and freezes a 2-of-4 hazard vote across original and reflected views. On 272 held-out frames it reaches 0.954 balanced accuracy (episode-cluster bootstrap 95% CI [0.895,0.990]); nested leave-one-episode-out recovers the same pair and threshold in all 12 folds. Abstaining on ties raises committed balanced accuracy to 0.973 at 0.824 coverage. With deterministic perception retaining lateral authority, offline modular replay achieves 0.934 action agreement and exact mirror equivariance. These results support current VLMs as bounded, selective hazard assistants, not monolithic zero-shot controllers.
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URL
https://arxiv.org/abs/2608.06154
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ECHO: A Locally-Deployable Agentic Health Assistant with Temporal Memory, Safety Guardrails, and Speech Assessment
2026-08-06 14:44:12Abdulkadir K\"ul\c{c}e, Alihan Esen, Ca\u{g}la Fikir, Berke Kurt, Kuzey Arar, G\"okhan Ercan, Faik Boray TekAbstract
This paper presents ECHO (Enhanced Care \& Health Observer), a locally-deployable conversational health assistant for long-term chronic care management. ECHO integrates three complementary software modules developed under shared supervision as a unified system. The core module is an agentic chatbot built on a ReAct loop orchestrated via LangGraph, equipped with 17 clinical tools and a temporal knowledge graph for persistent cross-session memory; it achieves a 94.9\% tool-execution pass rate across a 59-scenario benchmark with GPT-5 Mini. A two-stage hybrid safety layer intercepts all incoming queries: a rule-based layer handles explicit crisis signals and jailbreak attempts in under 1ms, while a signed graph neural network (GNN) with APPNP-style propagation classifies boundary cases by clinical intent, achieving 88.8\% accuracy and 90.6\% unsafe recall on a 2,537-query annotated Turkish health dataset while outperforming zero-shot LLM baselines including Llama 3.3 70B. A multimodal speech assessment module combining Whisper acoustic encoding and BERT text encoding with cross-attention fusion estimates emotion, depression, and pain, reaching a mean macro F1 of 0.652. The full system is implemented as a web application that can run entirely on consumer hardware, with no patient data transmitted to external services, supporting compliance with GDPR and KVKK.
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URL
https://arxiv.org/abs/2608.06110
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Clinical Communication Processing with Models Trained on LLM-Generated Synthetic Data: A Structured Survey and Novel Application Case Studies
2026-08-06 13:04:42Alexander Apartsin, Yehudit ApersteinAbstract
Much clinical value is conveyed not through structured records but through communication: exchanges in which patients describe symptoms, clinicians reason and give instructions, ambulances hand over to emergency departments, and nurses pass on a shift. Such language differs from tabular data because meaning depends on speaker role, intent, causality, uncertainty, omission, and channel noise. Healthcare natural language processing must therefore interpret information as conveyed rather than coded. This requires well-annotated corpora, which are scarce because authentic exchanges are private, fragmented, and costly to annotate. Large language models offer a way forward by transforming clinical sources, such as records, diagnostic labels, symptom lists, or care plans, into written and transcribed communication for downstream models. We present a structured narrative survey organized by source representation, communication form and participants, generation method, and downstream task, complemented by thirteen novel case studies. These build clinical NLP systems for communication channels and languages without labeled real-world data, including EMS pre-arrival reports, field-radio casualty documentation, nurse handoffs, patient-portal triage, and low-resource discharge communication. They show that synthetic communication can bootstrap such systems. Findings include the competitiveness of fine-tuned encoder models over evaluated zero-shot baselines and the value of deliberately degraded communication for robustness. The main limitation is that most studies evaluate on held-out synthetic communication, while train-on-synthetic, test-on-authentic evidence remains limited. We conclude that syn-thetic clinical communication is becoming a practical research resource; establishing it as reusable clinical infrastructure will require authentic-data transfer, safety and external validation.
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URL
https://arxiv.org/abs/2608.05993
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Big, Bright, or Invisible: A Frozen-Feature Benchmark of 3D CT Foundation Models
2026-08-06 12:34:17Maulik Chevli, Johannes Brandt, Rickmer Braren, Daniel Rueckert, Philip M\"ullerAbstract
Routine CT interpretation is inherently comprehensive, capturing incidental findings across the entire scan volume. 3D CT foundation models could assist this process by providing generalizable representations of anatomy and pathology. To evaluate their diagnostic breadth, we benchmark ten frozen CT encoders across three cohorts of thoracic CT scans, including an unseen internal clinical dataset, using $k$-nearest neighbors, zero-shot prompting, and linear probing. We find no universal state-of-the-art, with rankings fluctuating significantly depending on the evaluation context. While models combining fine-grained image tokenization with vision-language alignment generally perform best, a lightweight supervised encoder remains highly competitive, demonstrating that explicit labels can effectively substitute for scale. Crucially, rather than model architecture, we observe that the primary determinant of performance is a physical bottleneck: a finding's detectability scales with its contrast against surrounding tissue and its spatial extent. Through controlled within-organ comparisons, we empirically demonstrate that widespread or high-contrast abnormalities, such as devices and effusions, are reliably recovered. Conversely, small, low-contrast focal lesions remain a persistent challenge across all evaluated encoders. We attribute this to the inherent limitations of globally pooled embeddings, suggesting that accurately representing small, low-contrast structures will require region- or lesion-level pretraining.
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URL
https://arxiv.org/abs/2608.05960
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Respect Your Zero-Shot Uncertainty: Conservative Calibration for Test-Time-Adapted Vision-Language Models
2026-08-06 12:11:53Jingyan Jiang, Yaru Sun, Xiao Chen, Jiazhen Huang, Caiting Li, Zhijian He, Yin Chen, Pingting HaoAbstract
Test-time adaptation (TTA) can improve the recognition accuracy of vision-language models under distribution shift, but often degrades calibration, making predictive confidence unreliable for downstream decision-making. Many existing label-free calibration approaches are either coupled to prompt optimization or rely on logit-range statistics that provide only a coarse characterization of the predictive distribution. We show that TTA can increase confidence and reduce entropy even when the top-1 prediction and its correctness remain unchanged, a failure mode we term prediction-preserving sharpening. Across diverse TTA methods and benchmarks, larger entropy reductions relative to paired zero-shot predictions are associated with greater increases in Expected Calibration Error (ECE). On entropy-reduced samples, confidence gains also tend to exceed accuracy gains. Based on these findings, we propose Zero-Shot-Anchored Entropy Calibration (ZAEC), a label-free post-hoc method that uses zero-shot entropy as a sample-specific uncertainty reference. ZAEC selectively restores the zero-shot entropy of sharpened predictions through minimal temperature scaling while leaving all other predictions unchanged. It requires no labeled calibration data or learned parameters and preserves class rankings and classification accuracy. Across five TTA methods and 15 datasets, ZAEC achieves the lowest post-hoc macro-average ECE on ViT-B/16, with consistent gains on RN50.
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URL
https://arxiv.org/abs/2608.05945
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MAVISEG: Manifold Propagation and Visual Prototypes for Zero-Shot Open-Vocabulary Segmentation in Diffusion Transformers
2026-08-06 11:00:03Rajatsubhra Chakraborty, Xujun Che, Ritabrata Chakraborty, Xi Niu, Depeng XuAbstract
Text-to-image diffusion transformers learn about objects and scenes by learning to generate them, making them strong candidates for training-free zero-shot open-vocabulary semantic segmentation. State-of-the-art attribution methods score each pixel independently, comparing its features against a fixed text-derived class representation, whether as an output-space similarity or as a cross-attention weight. This discards structured signals the model itself exposes: the temporal structure of the generative trajectory, the visual appearance statistics of each concept, and the image's own pairwise feature geometry. We present MAVISEG, a training-free refinement layer that recovers these signals. Because its operators consume only a pixel-by-concept score field and a pixel feature space, MAVISEG is capture-agnostic rather than tied to one attribution method. Across six benchmarks it achieves the strongest overall results among training-free methods, including the best mIoU on every benchmark. Interestingly, gains are largest where the initial capture is weakest, and individual operators contribute depending on the noise in the field they refine. Our results indicate that diffusion transformers carry more concept-level information than current attribution methods recover, and that much of it is lost on the way to the mask rather than absent from the model.
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URL
https://arxiv.org/abs/2608.05878
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XEWorld: Can Action-Conditioned World Models Generalize to Unseen Robot Embodiments?
2026-08-06 09:35:33Yixiang Chen, Jiabing Yang, Yuan Xu, Qisen Ma, Keji He, Peiyan Li, Kai Wang, Ziheng He, Xiangnan Wu, Jing Liu, Nianfeng Liu, Yan Huang, Liang WangAbstract
Action-conditioned world models are promising learned simulators for robotic manipulation, yet evaluating them exclusively on training robots fails to reveal whether they capture physical dynamics or merely memorize visual patterns. To answer whether a model can faithfully render a robot it has never seen, we introduce XEWorld, a controlled cross-embodiment testbed for world models that isolates embodiments by evaluating held-out robots within physically identical scenes. Our systematic analysis uncovers a shared architectural bottleneck: current models act primarily as 2D visual pattern matchers whose generalization is governed by visual similarity rather than physical kinematic similarity. Driven by this limitation, they struggle to translate abstract numeric joint actions into coherent visual trajectories, and fail to predict dynamic visual changes from static initial observations. Consequently, successfully rendering an unseen embodiment zero-shot strictly requires heavily grounded cues, specifically pixel-space actions and explicit spatial-temporal alignment. Even when bypassing this zero-shot barrier via few-shot adaptation, the forced appearance recovery triggers catastrophic forgetting of seen embodiments. Together, these failures expose a critical inability to apply learned physical dynamics to novel visual appearances, highlighting that achieving true cross-embodiment generalization requires architectural innovations that decouple visual appearance from underlying physical dynamics.
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URL
https://arxiv.org/abs/2608.05799
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Beyond Relevance: Bayesian Evidence Acquisition for Agentic Whole-Slide Image Reasoning
2026-08-06 08:40:57Bryan Wong, Xun Xu, Huazhu Fu, Nancy F. Chen, Mun Yong YiAbstract
Whole-slide image (WSI) reasoning requires an agent to sequentially acquire visual evidence before answering a diagnostic question. Existing training-free agentic frameworks formulate this process as iterative patch retrieval based on semantic relevance to the question. However, semantic relevance does not necessarily imply diagnostic informativeness in computational pathology, where competing diagnoses often exhibit similar and overlapping morphological patterns, making many patches semantically relevant yet diagnostically non-discriminative. Consequently, relevance-based retrieval may acquire redundant observations and leave diagnostic uncertainty unresolved. We propose BEACON, a plug-and-play agentic framework that reformulates WSI reasoning as a Bayesian evidence acquisition problem. BEACON maintains a probabilistic belief over competing diagnostic hypotheses and sequentially acquires patches by maximizing expected information gain (EIG) to reduce diagnostic uncertainty. An evidence controller then determines whether to answer, acquire additional evidence, or perform higher-resolution inspection. Built entirely from off-the-shelf foundation models, BEACON requires no additional training or fine-tuning. Extensive zero-shot experiments across five WSI-VQA benchmarks demonstrate that BEACON achieves the strongest overall performance among training-free agentic frameworks while substantially improving evidence acquisition efficiency, establishing Bayesian evidence acquisition as a principled paradigm for uncertainty-aware agentic WSI reasoning. The code is available at this https URL
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URL
https://arxiv.org/abs/2608.05757
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GST-Bench: Can VLMs Develop Global Spatial Awareness from Video?
2026-08-06 08:33:13Qifeng Zhang, Kaixiang Huang, Heng Dong, Huang Fang, Junting Chen, Junjie Zhu, Yonghang Chen, Zhiyu Zhang, Wei LiAbstract
Spatial intelligence is fundamental to embodied agents, yet existing benchmarks focus on local spatial perception from single or few viewpoints, overlooking global spatial awareness over continuous, long-horizon visual streams. To address this limitation, we introduce the Global-Spatial-Temporal Benchmark (GST-Bench), a VQA benchmark for global spatial intelligence in video understanding, comprising human-verified questions derived from 6,790 minutes of synthetically generated video. It requires models to perform accurate spatial inference from novel viewpoints unseen in the input video and to map egocentric observations onto global top-down images. A comprehensive evaluation of 22 state-of-the-art VLMs exposes a striking gap between models and humans: the strongest zero-shot model attains only 42.68, far below the human score of 79.08. To probe the cause of this gap, we construct GST-Bench-Local and find that models, despite strong local spatial understanding under the same task formulation, still fail to consolidate long-horizon observations into a globally consistent scene representation. We further provide GST-Train, a dataset for global spatial reasoning, as a complementary resource to facilitate future research on this challenge.
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URL
https://arxiv.org/abs/2608.05747
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Once a Response, Always a Response: Detecting LLM-generated Text via Latent Prompt Restoration
2026-08-06 08:22:19Hongrui Bao, Yubing Ren, Yanan Cao, Jinhan You, Fang Fang, Shi WangAbstract
Large language models (LLMs) can generate fluent and convincing text at scale, creating growing risks for misinformation dissemination, educational misuse, and platform governance. These concerns make robust detection of machine-generated text increasingly necessary. Recent zero-shot detectors mainly exploit probability-based statistical discrepancies, but they do not explicitly account for the training process of LLMs, which leaves a distinct generation mechanism insufficiently modeled and limits detection robustness. To address this issue, we propose EchoPrompt, a training-free detector based on latent prompt restoration. Our key intuition is that machine-generated text is typically produced conditioned on an upstream prompt, and this hidden dependency can be partially reactivated by prepending a unified generic prefix. Specifically, EchoPrompt restores a generic assistant-response context, measures the induced likelihood gain with an instruction-tuned model, calibrates it against the corresponding base model, and aggregates the resulting differences into a score that quantifies latent prompt dependency. Extensive experiments show that EchoPrompt achieves state-of-the-art performance among zero-shot detectors while maintaining strong robustness across challenging evaluation settings.
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URL
https://arxiv.org/abs/2608.05741
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StepReflect: Structured UI Transition Reflection for Mobile GUI Agents
2026-08-06 04:17:27Linqiang Guo (Peter), Wei Liu (Peter), Li Gu (Peter), Yang Wang (Peter), Tse-Hsun (Peter), ChenAbstract
Autonomous mobile GUI agents require accurate action reflection for reliable long-horizon execution. Existing approaches rely on open-ended multimodal reasoning after each action, which is costly and poorly matched to the structured nature of GUI state transitions. We propose StepReflect, which formulates per-step GUI reflection as supervised structured prediction conditioned on explicit transition specifications and paired visual evidence. StepReflect is trained through a staged pipeline combining supervised fine-tuning, teacher-student distillation, and preference- and reward-based refinement. Offline, the resulting 8B model achieves 82.16% transition-level accuracy on AndroidWorld, exceeding zero-shot GPT-5.2 by 11.83 percentage points under the same structured input. Online, across M3A, Agent-SAMA, MAI-UI-8B, and Seed-2.0-Pro, StepReflect achieves higher task success in three of four agent configurations and remains within one successful task of the GPT-5.2 Reflection Agent in the fourth. It also reduces paid API charges relative to GPT-based reflection in all four configurations. These results establish StepReflect as a practical, locally deployable alternative to repeated frontier-model reflection for long-horizon mobile GUI agents.
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URL
https://arxiv.org/abs/2608.05587
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Different Perturbations, Different Mechanisms: Understanding Continued Pre-training for Zero-Shot Dialect Robustness
2026-08-06 01:23:51Aarohi Srivastava, David ChiangAbstract
Dialectal variation remains a major challenge for multilingual language models. Perturbation-based continued pre-training (CPT) has emerged as a promising approach to improving robustness, yet existing work largely evaluates individual perturbation strategies in isolation and provides limited insight into why they work. We present a systematic study of perturbation-based CPT for multilingual dialect robustness in LLMs, comparing six training conditions across nine German, Italian, and Arabic dialect tasks. Perturbation-based CPT, especially character-noised CPT, consistently improves zero-shot dialect robustness while largely preserving standard variety performance. More importantly, we show that methods with similar downstream performance induce distinct mechanisms of robustness, exhibiting different patterns of language model adaptation, representational alignment, and prediction repair. Our results provide a more complete understanding of how synthetic surface variation improves robustness and offer practical guidance for selecting CPT strategies in multilingual and dialectal settings.
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URL
https://arxiv.org/abs/2608.05510
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Robust and Efficient Motion Reasoning for Privacy-Aware Classroom Incident Recognition
2026-08-05 17:46:28Paritosh Parmar, Landy Lan, Hong Yang, Chen Yi, Chiat Pin TayAbstract
Can computer vision help make classrooms safer? In this pilot study, we investigate privacy-aware and computationally efficient classroom incident recognition from CCTV-style observations. This setting remains underexplored, with limited benchmarks and few methods designed for the privacy, efficiency, and generalization demands of real-world deployment. We introduce a novel hybrid benchmark combining generative CCTV-style videos with real-world classroom pose data, and propose a lightweight, but robust motion-reasoning framework motivated by the observation that many incidents differ more in motion direction, speed, acceleration, and intensity than in pose alone. To that end, our method first constructs hierarchical kinematic representations of human actions. Our method then distills hierarchical, multi-order kinematic reasoning from a large teacher into a much smaller single-order student, enabling efficient per-person inference while preserving expressive motion understanding. Experiments show that our model outperforms substantially larger baselines at less than one-tenth of their computational cost, while also demonstrating stronger out-of-domain motion reasoning and zero-shot synthetic-to-real generalization. We will publicly release the benchmark, codebase, and supporting tools to facilitate further research in privacy-aware classroom safety.
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URL
https://arxiv.org/abs/2608.05115
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MarsCast: Transfer Learning of AI Weather Foundation Models to Planetary Atmospheres
2026-08-05 17:03:13M. L. Carroll, J. Li, S. D. Guzewich, G. Villanueva, J. A. Caraballo-Vega, M. J. FrostAbstract
We investigate the transferability of Earth weather foundation models to planetary atmospheres by adapting the GraphCast graph neural weather forecasting model to Mars. While GraphCast achieves state-of-the-art performance for terrestrial forecasting, its applicability to non-Earth environments remains unexplored. Using the Mars Climate Database (MCD), which provides global atmospheric fields across vertical altitude levels (similar to Earth pressure levels), we evaluate zero-shot and fine-tuned GraphCast predictions of Martian temperature and wind fields. Zero-shot forecasts produce a surprisingly accurate depiction of current conditions but fail to reproduce diurnal variability and rapidly decay toward climatological mean states. To address this limitation, we fine-tune GraphCast using MCD variables and top-of-atmosphere solar radiation forcing while holding humidity constant. Fine-tuning enables rapid learning of Martian thermal variability. Within as few as 10 training epochs, the model begins to capture the diurnal cycle and forecasts up to 10 days reproduce seasonal and vertical temperature structure. Prediction quality improves with training sample size and exhibits sensitivity to seasonal initialization. These results demonstrate that Earth-trained AI weather models can be adapted to simulate Martian atmospheric dynamics, providing a pathway toward rapid planetary weather prediction to support mission operations, dust storm risk mitigation, and future human exploration.
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URL
https://arxiv.org/abs/2608.05054
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Dense Metric Depth Completion from Sparse Direct Time-of-Flight Sensors
2026-08-05 12:02:09Hakyeong Kim, Ruicheng Wang, Chengtang Yao, Jiaolong Yang, Min H. KimAbstract
Direct Time-of-Flight (dToF) sensors provide highly accurate metric depth and are more robust than indirect ToF systems in challenging real-world conditions. However, their high manufacturing cost and limited photodiode array size produce depth maps that are extremely sparse, low-resolution, and noisy, making them unsuitable for VR/XR, robotics, and 3D perception tasks that require dense metric depth. Existing monocular and depth completion methods struggle to handle the unique sampling patterns and hardware artifacts of dToF devices, and their performance often deteriorates significantly under severe sparsity or noise. We present a generalizable framework for dense metric depth completion from sparse dToF measurements, capable of operating across diverse sensor types, sparsity levels, and noise conditions. Our model employs a depth-guided dual-branch Vision Transformer encoder that processes RGB images and sparse dToF measurements separately, while a masked joint attention module allows depth tokens to reliably guide image features without being overwritten by them. A lightweight decoder reconstructs dense metric depth efficiently, without diffusion-based or refinement-heavy post-processing. To address the scarcity of paired training data, we introduce a comprehensive dToF simulation pipeline that reproduces the characteristics of flash, sub-VGA flash, and rotating sensors, including hardware-induced degradation, irregular sparsity, and realistic noise distributions. Trained entirely on synthetic data, our model achieves strong zero-shot generalization across 6 datasets and 3 real dToF devices, outperforming state-of-the-art approaches in both accuracy and computational efficiency. This establishes a robust and practical solution for dense metric depth completion from sparse direct ToF sensors. Our code and models are open-sourced. See this https URL.
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URL
https://arxiv.org/abs/2608.04737
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IslamicTurathBench: A Multi-Task, Multi-Discipline Benchmark for Evaluating Large Language Models on the Islamic Scholarly Tradition
2026-08-05 11:12:48Shahd Gaben, Heba Sbahi, Samer Rashwani, Abdessalam Bouchekif, Mutaz Al-Khatib, Emad Mohamed, Somaya Eltanbouly, Mohammed GhalyAbstract
Large language models (LLMs) are increasingly used for question answering, education, and research, including in religious and cultural domains where answers depend on specialised source traditions. Yet in Islamic Studies, key concepts, methods, and debates preserved in the authoritative scholarly tradition, known as turath, lack high-quality annotated resources. We introduce IslamicTurathBench (ISTB), a multi-task, multi-discipline dataset for evaluating LLMs on classical Islamic scholarship. Developed and reviewed by domain experts, ISTB contains 3,465 question-answer items drawn from 35 recognised source works spanning more than 12 centuries of scholarship across seven key fields of Islamic Studies. To enable comprehensive profiling of model capabilities, ISTB is structured along two axes: scholarly demand (Beginner, Intermediate, and Advanced) and task format (multiple-choice questions, passage-based comprehension, and open-ended knowledge questions). ISTB includes aggregated scores from a scholarly human reference panel and zero-shot baselines from ten systems. The dataset supports reproducible evaluation of language-model behaviour across source works, disciplines, scholarly-demand levels, and question formats in a historically layered scholarly domain.
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https://arxiv.org/abs/2608.04703
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