Explicit 3D scene representations such as 3D Gaussian Splatting (3DGS) have recently enabled high-quality, real-time novel view synthesis. However, these methods assume static scenes, limiting realism in the presence of dynamic phenomena ubiquitous in real-world environments. While coherent motion (e.g., humans or vehicles) can be captured and reconstructed, high-frequency effects such as flowing water remain intractable under casual capture conditions, where dense multi-view, high-speed acquisition is not feasible. We present a method to animate water in static 3DGS scenes, enabling visually plausible motion without requiring dynamic capture or physical simulation. Our approach estimates 2D optical flow from reference images or model renderings and lifts it into a consistent 3D Eulerian motion field. We propose a cinemagraph-inspired algorithm that applies this motion field to deform Gaussian primitives, producing temporally seamless looping animations. The resulting representation retains real-time rendering performance, significantly enhances perceptual realism, and preserves free-viewpoint navigation within the scene. We evaluate our method on a newly captured dataset of in-the-wild waterfall scenes and demonstrate clear improvements over prior work in dynamic Gaussian splatting and 3D cinemagraph generation in visual quality and computational efficiency.
https://arxiv.org/abs/2610.13860
Modern vision and language models process ever longer token sequences, and reducing them is the main lever on downstream cost. Token compression, however, faces a fundamental trade-off: selecting tokens discards information, while existing merging methods preserve it only through pairwise token-to-token matching or $MN$ token-to-output interactions. We introduce LapMerge, a differentiable merging operator that resolves this trade-off for ordered sequences: a learned mass distribution partitions the sequence into exactly $N$ equal-mass segments under a Laplace-kernel density, and prefix/suffix scans aggregate each segment, so both the forward and the backward pass run in $\mathcal{O}(M+N)$ time. This combination - an exact output budget, end-to-end differentiability, and linear cost - is precisely what previous reducers trade off against one another. The budget can be changed without changing operator parameters, and the learned mass doubles as a token-level map of where the budget is allocated. Across vision and vision-language tasks, LapMerge matches or improves on strong token reducers while being up to two orders of magnitude faster at large sequence lengths; it is particularly effective when token order reflects spatial or temporal locality, and works both as a drop-in reduction module and as a trainable architectural component.
https://arxiv.org/abs/2610.13858
Natural disasters such as earthquakes, tropical storms, and floods cause extensive damage to buildings, and rapid, reliable damage maps are essential to guide emergency response. Automating this task, referred to as building damage assessment (BDA), from satellite imagery, has become an active research topic at the intersection of remote sensing, computer vision, and machine learning, particularly since supervised deep learning methods were shown to outperform earlier handcrafted approaches. Yet, despite a decade of intense activity and the release of several large-scale datasets, the field lacks a shared foundation. This chapter revisits the task of BDA from first principles, organized around three pillars: data, evaluation, and methods. We first clarify the candidate task for- mulations and argue for a sensor-agnostic, instance-based definition that tolerates missing pre-event imagery. We then review existing datasets along the axes of sensing modality, temporal configuration, and geographic coverage. On the evaluation side, we show that prevailing practices, largely based on a single aggregate score, are theoretically fragile, and we lay the foundations of a more informative, ranking-based, multi-score protocol. We further review methods ranging from task-specific deep networks to recent Earth observation foundation models, noticing that generalization to unseen events and regions remains an open difficulty. Finally, we discuss how these elements can inform the organization of a BDA challenge, including cross-validation, challenge, and private data-sharing setups designed to build trust between developers and users.
https://arxiv.org/abs/2610.13857
Action recognition is a crucial task in domains like robotics, patient monitoring, or surveillance. Recently, event-based action recognition has attracted much attention due to the event camera's ability to capture fast motions and its improved privacy over conventional vision cameras. While frame-based event representations work well for short event sequences, their discriminative ability declines sharply with longer and more complex event sequences. In this work, we introduce a multi-frame representation that greatly improves recognition performance over its single-frame counterpart. We adopt a masked auto-encoding framework to pre-train a Vision Transformer using a sparsity-aware masking algorithm and token selection mechanism to improve downstream performance and control computational complexity. We also introduce multiple mask tokens for the decoder with a position-aware attention mechanism, leading to further improved performance. Our proposed method shows impressive performance for challenging long-duration and complex event sequences, yielding state-of-the-art performance on THU-EACT-50 CHL and DailyDVS-200.
https://arxiv.org/abs/2610.13856
We present HorizonNav, a video diffusion-based framework for anticipatory robot navigation that transforms a single RGB image and a text prompt into a geometrically aligned representation of plausible surrounding 3D space. Given the initial observation and a textual description of the reconstruction objective, a vision-language model, guided by designed instructions, interprets the scene and constructs structured prompts for a video diffusion model. The resulting video sequence provides plausible future observations of the environment, which are subsequently processed using monocular ORB-SLAM3 for camera pose estimation and Video Depth Anything for dense depth prediction. Our central contribution is a geometry-guided depth alignment stage that combines the estimated camera poses with triangulated visual landmarks to constrain dense depth predictions across multiple views. This alignment improves the geometric consistency of the reconstructed 3D environment, addressing inconsistencies that temporal coherence of the generated video alone cannot resolve. The experimental evaluation of navigation in imagined 3D environment shows that across a 19-scene horizon study, planning-feasible scenes increase from 13/19 at P20 to 15/19 at P81, while successful RRT trials increase from 62/90 to 75/90. In a separate corridor study, 6 of 25 evaluable generated-camera trajectories violate the reconstructed collision constraints; RRT planner recovers feasible alternatives in 5 of those 6 cases. A larger archive contains 58 usable reconstructions from 67 attempted cases, of which 36 support a downstream plan and 22 do not, exposing reconstruction and free-space failure modes rather than hiding them without lidar. Across 15 corridor reconstructions, the mean reconstruction error is approximately 0.30 m at matched structural landmarks.
https://arxiv.org/abs/2610.13849
Comics are one of the great visual records of the twentieth century: hundreds of thousands of pages in which a mass readership saw its leaders, its wars and its heroes. Most of this record has never been studied as a whole; comics scholarship proceeds one book at a time. We argue that artificial intelligence, including generative models, can change this to the benefit of the medium itself. We propose PAGE, a framework that makes artificial intelligence an instrument for comics research. It parses every scan into panels, text and a bibliographic record; annotates each page with a vision-language model that follows a written codebook, as a human coder would; grounds samples of these readings in human annotation; and explains change across an archive, with estimates controlled for publisher and genre. We demonstrate the framework on 3,929 American comic books (1938--1956) and 87 volumes of Japanese manga, in three studies, each resting on a different capability. The first pairs text search with visual reading to recover how a mass medium portrayed political power. The second measures the page's visual form across an industry and recovers the hand of individual artists. The third follows who speaks across two comics traditions, checked against human annotation. Beyond research, the same instruments can make archives searchable by what is drawn, open comics to blind and low-vision readers, and help preserve fragile collections and credit uncredited artists. We outline a research agenda in which artificial intelligence strengthens the study, preservation and reach of the medium.
https://arxiv.org/abs/2610.13840
Nearly every autonomous or semi-autonomous flipper controller assumes access to an elevation map of the terrain under and in front of the robot. The terrain beneath the chassis is occluded in the sensors, so the map is remembered through odometry integration, whose drift corrupts it. We present Stabilizing Anti-Stuck (SAS), a mapless controller that combines a stabilization term for body roll and pitch with an anti-stuck term that frees the robot when it gets stuck. As input, SAS uses the IMU, the flipper joint angles, and a motion cue that only tells whether the robot is moving. The cue is computed over a short window and never accumulated, so SAS does not inherit the odometry-integration drift that corrupts the map. We deploy SAS on a tracked robot with four flippers and evaluate it against manual teleoperation and prior flipper controllers in a large comparison, both in simulation and on a real obstacle. In simulation and on the real robot, SAS achieves traversal quality comparable to state-of-the-art map-based controllers. On a log hidden in tall grass, invisible to the LiDAR, the best map-based controller gets stuck while SAS traverses the hidden obstacle without a problem.
https://arxiv.org/abs/2610.13838
When solving complex spatial reasoning tasks, ordinary humans naturally revisit the scenes from task-relevant viewpoints and mentally reconstruct the spatial layouts from those viewpoints. But can Large Vision-Language Models (LVLMs) proactively think in the same way? We term this ability Active Spatial Mentalization (ASM), an intrinsic component of visual intelligence that remains substantially underdeveloped in current LVLMs. To bridge this gap, we introduce SpatialASM, a scalable framework to internalize ASM into LVLMs through training-time spatial simulation. SpatialASM employs an allocentric novel-view generator to ground hypothetical viewpoints in visual evidence and produces two complementary forms of supervision: i) explicit ASM trajectories that teach LVLMs when and how to adaptively invoke view planning and imagination during spatial reasoning, and ii) automatically-constructed perspective-taking tasks that further strengthens viewpoint-conditioned scene imagination. On seven benchmarks spanning relatively perception-oriented spatial understanding to more challenging tasks requiring multi-image, cross-view and viewpoint-transformation reasoning, SpatialASM yields performance gain on LVLMs of four LVLM backbones in spatial reasoning while retaining their original general vision capabilities. The experimental results demonstrate that our approach improves average accuracy across the seven spatial benchmarks. And the synthesis of ASM trajectories provides a scalable pathway to alleviate the scarcity of spatial Chain-of-Thought (CoT) supervision for eliciting active viewpoint exploration and mental scene simulation.
https://arxiv.org/abs/2610.13832
A central challenge in embodied recursive self-improvement is enabling agents to convert interaction history into capabilities that persist beyond one world and transfer to later tasks. A saved memory or successful final action does not by itself establish that a reusable capability was acquired; evaluation must separate capability change from carried-over resources, unequal source exposure, and early execution failures. We construct MC-EvoBench as a controlled Minecraft benchmark with a fixed catalog of 19 registered evolution chains, including 12 primary evaluation chains and seven calibration or probe chains, together with three graph-aligned paired probe families for transfer. The benchmark represents each task as a task-state graph, defines stage-level environment verifiers, assigns matched source and target roles, resets the target world, and permits only a declared agent artifact to cross the source-target boundary. For each probe, no-prior, related, unrelated, and shuffled source conditions are evaluated under matched environment-step budgets and five seeds; we report TSR, WGP, and VMP and retain provenance records. The benchmark reveals a consistent direct-capability gap between controller and planner-backed variants, while related experience yields no stable transfer: it does not improve either tool probe, its small wood-species gain hinges on one seed, and all intervals include zero. Stage audits further show that early wood-collection and crafting bottlenecks often leave later capabilities unobserved. MC-EvoBench thus offers a controlled testbed for durable, transferable embodied capabilities. Code and data are available at this https URL
https://arxiv.org/abs/2610.13829
Recent advances in automatic pronunciation assessment (APA) have driven a shift from scripted to free-form assessment. However, existing methods often rely on multi-stage pipelines with forced alignment and separate feature extractors, limiting their practicality across response settings. In light of this, we propose OpenPA, a novel APA framework that leverages Whisper's cross-attention mechanism to jointly predict word- and utterance-level pronunciation scores without forced alignment. Through mixed-transcript adaptation and adaptive substitution weighting, OpenPA accommodates heterogeneous transcripts across closed- and open-response settings within a single model. Trained solely on speechocean762, OpenPA achieves the strongest overall performance among evaluated systems under in-domain closed and simulated open-response conditions, while maintaining its performance zero-shot on MultiPA. An additional cross-task evaluation on oral-cancer speech suggests its potential applicability beyond non-native speech.
https://arxiv.org/abs/2610.13826
Semantic query engines ask a large language model (LLM) to judge individual rows, and benchmarks compare these engines on the quality of a few executions at temperature 0. We measure how much another execution changes. We re-execute the text and tabular workloads of SemBench, LRO-Bench, and UDA-Bench through their own harnesses, log every one of 1.2 million model calls, and reanalyze SemBench's published executions. At temperature 0, between 0.07% and 10.2% of rows change their operator output over five executions, depending on the model, and up to 24.0% on one task. Plans amplify these changes exponentially in the number of rows an answer exposes, as a possible-worlds model predicts: on UDA-Bench, a few percent of extracted values change, but about two thirds of the answers do. In SemBench's published results, 21% of text results change quality between executions, including on engines whose plans are deterministic. Several per-query system comparisons, and 16 of 28 tests of LRO-Bench's implementation recommendations, are not settled by the executions the benchmarks run. Changing rows are rows on which models disagree with each other; identical requests within one execution disagree as often as across executions; and one execution's decision margin or reasoning length predicts which rows change. Voting reduces the variance but does not remove it, and a calibrated cascade keeps its guarantee while the rows it returns change. We derive reporting rules for benchmarks and design rules for engines.
https://arxiv.org/abs/2610.13823
A useful language model should know when to answer and when to say "I don't know." Can we improve that decision by training the model itself or by training a separate component to check its answers? We study both approaches on Qwen3-14B for factual questions, using a score that rewards correct answers, penalizes mistakes, and allows abstention. Across three training seeds and two held-out confidence thresholds, a learned answer selector improves threshold-averaged utility over the original model's calibrated confidence filter. On TriviaQA, mean coverage increases from 20.2% to 30.9%, while the pooled error rate among scored answers decreases from 23.0% to 14.5% under exact-match grading. The tested reinforcement-learning changes do not establish consistent gains. On NQ-Open, the selector improves threshold-averaged utility over the filter but still performs worse than always abstaining. A partial human-reviewed audit preserves the TriviaQA finding. Our results support learning to select answers in this setting while showing that reliable abstention across datasets remains unresolved.
https://arxiv.org/abs/2610.13821
Generalist robot policies are trained with imitation learning and are bounded by the quality and coverage of their demonstrations. Reinforcement learning can improve and extend them, either by fine-tuning the policy weights or by training a small module to steer the input noise of a frozen generative policy. When tasks arrive sequentially, both approaches suffer from catastrophic forgetting. Fine-tuning on a task degrades prior tasks, and steering only shifts forgetting to the shared steering module. We propose Dream to Remember (D2R), which continually steers a frozen generalist policy toward new tasks, while retaining its earlier skills. As the steering module learns a new task, a frozen pretrained world model rehearses prior tasks through imagined rollouts, anchoring the module to its earlier behavior without a replay buffer or new data. When the world model is faithful enough, D2R learns the new task entirely in imagination. Otherwise, it learns the task in the environment while using the world model only to rehearse prior tasks. On CALVIN, D2R improves eight tasks in sequence entirely in imagination, raising average success from 63.7% to 74.8%, while LoRA fine-tuning on the same sequence drops it to 11.7%. With a frozen off-the-shelf generalist policy and world model, $\pi_0$ and A2World, D2R learns unseen LIBERO-90 tasks in the environment while keeping $\pi_0$'s performance on the LIBERO suites it was fine-tuned on, even though the world model is not accurate enough for policy optimization. Finally, on a real Franka robot, D2R improves three tasks in sequence entirely in imagination while retaining the earlier improvements.
https://arxiv.org/abs/2610.13816
Flow-matching and diffusion models are increasingly used as priors for linear inverse problems, however, most methods are bespoke to one class of trajectory prior. Plug-and-play methods have been proposed, however these implicitly decorrelate the guided trajectory, resulting in broad priors that can struggle when data is sparse. This work proposes $\beta$-Flow: a general plug-and-play method indexed by a correlation parameter $\beta$ that generalises over flow, diffusion, and decorrelated priors, and a confidence parameter $\kappa$ that controls how strongly the path distribution is enforced. Each step requires only one forward evaluation of a denoising network, followed by a Gaussian conditioning step. This step is an exact Kalman update that is not dependent on network gradients. We show that many existing guided samplers can be interpreted as instances or approximations of our method, each implicitly using a different trajectory prior and operator in place of the Kalman gain. From this viewpoint, we provide a qualitative comparison of methods in terms of their implicit biases and assumptions. We demonstrate consistently state-of-the-art level performance across 7 inverse problems over 4 datasets in terms of PSNR and SSIM. Moreover, we demonstrate the utility of this prior control, by showing that confident high correlations (strict priors) work best when observations are less informative, while low correlation is preferred when observations are more informative, reflecting the complementary roles of the prior and likelihood in Bayesian inference.
https://arxiv.org/abs/2610.13812
Large language models (LLMs) have shown strong results in classical code generation and are increasingly used to write the unit tests that safeguard that code. Whether they can do the same for quantum software is less clear, because quantum programs are probabilistic, depend on numerical tolerances, and are judged by domain-specific checkers, so a well-formed test can still disagree with the benchmark's verdict. Existing quantum benchmarks measure whether a model produces a correct solution, but not whether its tests can distinguish correct implementations from faulty ones. We introduce QTestBench, a framework that evaluates LLM-generated quantum test suites against independent benchmark checkers, never treating the tests themselves as ground truth. For each task, QTestBench prompts models to produce syntactic, semantic, and behavioral tests, injects candidate solutions at runtime, and compares each test verdict with the checker's label under three validation cohorts, each answering a distinct diagnostic question. We benchmark five LLMs on eight PennyLane QHack challenges and ten Qiskit HumanEval tasks. Generated suites almost always execute, but discrimination lags behind: the best generator reaches a test quality of 0.71 on QHack and 0.34 on Qiskit HumanEval, so executability alone overstates test quality. Oracle-verified synthetic mutants stabilize bug-detection estimates when natural faulty solutions are scarce, as on three of ten Qiskit tasks that yield none. QTestBench offers a reproducible, cross-framework benchmark for the trustworthiness of LLM-generated quantum tests.
https://arxiv.org/abs/2610.13811
Large language models (LLMs) are now a standard source of query expansion terms but they hallucinate. They inject non existent entities and off-topic terms that add ranking noise and can hurt strong retrievers. Existing remedies such as corpus grounding, mutual verification and preference alignment treat hallucinated terms as an undifferentiated nuisance to be filtered by agreement heuristics, without a mechanistic account of why a given term appears or a principled criterion for how many terms to keep. We propose Subsequence-Association Filtered, breadth-aware query expansion (SAFE-QE), a training-free, retriever agnostic method that draws on the subsequence-association account of hallucination. We score each candidate expansion term by its corpus conditioned cross-context reproducibility, terms that reappear under randomised query contexts yet lack support in the pseudo-relevant set are flagged as products of dominant hallucinatory associations and down-weighted. Drawing on the characterisation of language generation as a trade-off between consistency (no hallucination) and breadth (coverage), we cast term selection as constrained coverage maximisation over the pseudo-relevant set, keeping a set that is approximately broad but consistent and stable across resampling. We also introduce the Hallucinated Expansion Term Rate, a query side faithfulness metric that counts injected expansion terms no relevant document supports. We evaluate our approach on benchmarked TREC and BEIR collections. Our SAFE-QE is statistically indistinguishable from generative and corpus-steered expansion on nDCG@10 while injecting fewer unsupported terms 4.3 per query against 27.8 for Query2doc and 57.5 for HyDE and on a strong learned sparse retriever, where every expansion method regresses. Faithfulness is therefore available at no measurable cost in ranking quality.
https://arxiv.org/abs/2610.13810
Data augmentation is standard practice for low-resource automatic speech recognition (ASR), but its benefits are almost always reported as aggregate error rates, leaving open why and when a method helps. On four low-resource languages and English at five data sizes, we cross two augmentations that modify existing audio (speed perturbation and SpecAugment) with two that modify text transcriptions and synthesize audio from it. We analyze errors at the phoneme level and find that they help for complementary reasons. SpecAugment has the most reliable aggregate improvements, but increases tone and palatalization errors, whereas text-based methods introduce consonant insertions; in combination, each reduces the errors the other introduces. This complementarity is predictable. Tone and palatalization are each signaled by a single acoustic property and occur least frequently in training (lowest training exposure), and text-based methods that flatten word frequency raise their frequency by 37--38%, reversing those errors while further improving aggregate error. The improvement from combining the methods exceeds the sum of their individual improvements; the superadditivity vanishes by 100 hours, limiting the complementarity to the low-resource regime. Where specific error types matter, we recommend selecting augmentation by training exposure and acoustic properties, both measurable before any training.
https://arxiv.org/abs/2610.13807
Production recommender systems have feature-lifecycle asymmetry: adding new features must produce gains on some metric, while feature removal must not regress any metric. In practice, feature deprecation is hard to prioritize as a feature can fail to be removed if it interacts with other features, its importance changes daily, it cannot be evaluated before production models change or data drift occurs, it is in contention for A/B test space with other launches, it causes regressions in an online A/B test, or it is consumed by multiple models that need to coordinate its deprecation. We present FORTE, a model-agnostic production framework for discovering, validating, and removing features. Its efficient perturbation implementation allows daily feature evaluation. To account for interactions, it evaluates candidate feature sets constructed from all the low-rank features through grouped ablation and its offline results are sufficiently predictive of online A/B tests to allow deprecations to proceed to online testing with confidence. Lineage tracing identifies all downstream consumer models to realize the full savings of removing a feature from the training set. We validate FORTE over 2 large-scale recommender systems and find that it identifies deprecable feature sets which do not cause online regressions, while the impact on efficiency depends on model characteristics. On a search-relevance model, FORTE resulted in 3 nested candidate sets of 32, 48, and 59 features. Online guardrails rejected the largest treatment. The 48-feature set was selected for deprecation, removing 43.3% of the model's features. On a large ranking model, FORTE identified 8 candidates for removal. Retraining and A/B testing confirmed no regression. Its launch reduced the trainable parameters by 29.9%, improved serving throughput by 19.8-25.5%, and reduced annual training costs by hundreds of thousands of dollars.
https://arxiv.org/abs/2610.13806
Detecting communicative meaning in dialogue requires modeling not only lexical content but also the participant-role structures through which sentiment, emotion, politeness, and formality (SEPF) are expressed. Existing approaches rely on contextual language representations while leaving semantic roles implicit. We introduce a role-aware transformer architecture that maps the four SEPF dimensions to theory-grounded Semantic Role Labeling (SRL) configurations, incorporating these configurations directly into the transformer's self-attention mechanism. Role-aware attention models non-directional internal states (sentiment and emotion), while directional role-aware attention captures initiator-to-recipient relations for external cues (politeness and formality). The resulting role-aware representations are fused with contextual embeddings through a learned gate that adaptively weights how much role information each input contributes, rather than appending semantic roles as an auxiliary feature vector. Across four benchmark datasets, the framework yields statistically reliable gains over strong BERT-based baselines for emotion, politeness, and formality, with gains concentrated in theoretically predicted cases such as low-frequency, complex emotions and highly polite expressions; sentiment improvements are marginal and non-significant, suggesting that sentiment is conveyed more through lexical choice than participant-role structure. Additional evaluation on real-world data demonstrates that the framework improves both predictive performance and model traceability. These results demonstrate that linguistically grounded modifications to transformer self-attention improve the detection of communicative meaning, generalize beyond benchmark datasets to real-world mental-health data, and yield traceable, role-grounded explanations that extend beyond predictive performance to interpretability.
https://arxiv.org/abs/2610.13797
Discourse particles subtly shape the flow of discourse by reflecting conversational context and interlocutor attitudes, often leaving the truth-conditional meaning untouched. They are also often polyfunctional, with distinct senses which partially overlap with other particles; for example, the exclusive use of English "just" and "only" ("John only/just drinks water"). Despite the frequency of these words in natural language, they have gone largely unstudied due to the subtle nature of their effects. We investigate LLM sensitivity to "just" and "only" in natural conversations using behavioral and mechanistic analyses. First, we find that LLMs and humans similarly prefer the presence of these particles in context, and both are more sensitive to "just" compared to "only". Second, when sampling from LLMs with and without these particles, we find LLMs consistently rate generations as more likely, given their source context, demonstrating their particle sensitivity. In both experiments, instruction tuning increases sensitivity. Finally, we localize particle-sensitive units within LLMs and find the overlap between "just" and "only" is asymmetric: "only" units transfer selectively to exclusive "just", while all "just" units transfer to "only" equally well regardless of sense, suggesting LLM lexical-level particle representations are partially organized by sense. We release our code, sense-labeled dialogue stimuli, and human preference annotations at this https URL.
https://arxiv.org/abs/2610.13794