Autonomous
-
Understanding Operator Attitudes Toward AI-Supported Decision Making in Maritime Operations
2026-09-10 16:57:44Doreen Jirak, Armeen Saroukanoff, Dirk van RooyAbstract
Maritime Autonomous Surface Ships (MASS) and AI- supported decision assistants are expected to transform maritime operations, but their safe integration depends on how maritime professionals perceive and trust such systems. This paper presents a survey study on maritime stakeholders' attitudes toward an AI-supported assistant in collision-avoidance scenarios. Participants evaluated technology anxiety, trust in automation, and explanation quality using established and adapted questionnaires, complemented by sentiment and thematic analysis of open-ended responses Results indicate a generally positive disposition toward maritime technology, no clear age-related differences in openness, stable trust across scenarios, and more scenario-sensitive, multidimensional explanation ratings. Open responses showed that participants valued support for decision-making, situation awareness, and confidence-building, while raising concerns about AI reliability, over- reliance and loss of expertise. The findings suggest that maritime AI systems should not focus solely on increasing automation or trust, but on supporting calibrated reliance through transparent, reliable, and operationally meaningful design with domain experts in the loop.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11805
PDF
-
MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images
2026-09-10 15:34:09Vladislav Diuzhev, Dmitry YudinAbstract
Unified models for object detection and trajectory forecasting aim to merge perception and prediction for autonomous driving, refining actor trajectories directly over shared bird's-eye-view (BEV) images rasterized from LiDAR and high-definition maps. Their accuracy on dynamic, moving actors, however, remains the hardest part of the task, and the strongest such model, DeTra, has no public implementation. We contribute an openly released DeTra reimplementation with documented approximations, and on top of it MC-DeTra: a family of motion-consistency mechanisms that add supervision through two annotation-derived auxiliary signals -- each actor's observed past motion and the occupancy of the surrounding traffic that forms its social context -- and one inter-output consistency constraint that aligns an actor's predicted heading with its predicted direction of motion. Every proposed loss is train-only and inference-safe: it shapes the shared BEV representation during training and is removed at test time, adding no inference latency. On the Waymo Open Dataset, evaluated under a strict, detection-conditioned forecasting protocol, MC-DeTra improves dynamic, socially-situated trajectory forecasting while preserving or improving detection accuracy; a gradient-based loss-calibration analysis exposes how the auxiliary objectives compete at the shared backbone, and our ablation identifies which signals contribute most. We release code, configurations, and evaluation tooling at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11717
PDF
-
Autonomy, Social Norms, and Alignment: Towards a Developmental Framework for Autonomous Artificial Agents
2026-09-10 15:02:52Marica Notte, Ludovica Marinucci, Vieri Giuliano SantucciAbstract
In recent years, artificial intelligence has made extraordinary progress thanks to large-scale models capable of generalization and the generation of complex outputs. However, transferring this potential into embodied agents reveals a significant limitation: the most advanced systems rely on pre-existing datasets and human feedback strategies that are powerful but insufficient in dynamic or unknown contexts. To adapt, an agent must acquire knowledge through direct interaction with its environment. One strategy to address this challenge involves introducing higher-level mechanisms, such as intrinsic motivations, which leverage curiosity and competence, to guide exploration and learning in complex environments. While this flexibility expands autonomy, it complicates the task of ensuring agents remain aligned with human goals. Alignment, already a challenge for artificial systems in general, becomes even more complex in unstructured and dynamic contexts where predefined rules prove insufficient. To be effective and adaptable, norms must be rooted in experience through an epistemological process that starting from simple, situated principles allows for the gradual construction of more complex rules through experience, autonomous learning, and cooperation with other moral agents. Similarly to children learning social norms by exploring their environment and participating in collective practices, artificial agents must also be educated toward alignment. Following Dennett, the status of a moral agent is not innate but is attributed gradually based on the ability to responsibly manage increasing degrees of freedom. From this perspective, the regulatory sandboxes can be viewed as pedagogical environments for AI: dynamic spaces where alignment develops as a formative process, progressively shaping autonomous behaviors through interaction and cooperation in scenarios of increasing complexity.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11660
PDF
-
Lightweight LiDAR-Based Cone Detection Framework Using Random Forest for Formula Student Driverless
2026-09-10 13:28:53M\'ark Mez\H{o}-Kerekes, P\'eter Praksz, Chang LiuAbstract
Reliable, low-latency perception is crucial for Formula Student Driverless vehicles, yet many existing pipelines rely on deep learning and multi-sensor fusion, often requiring GPU acceleration. This paper presents a lightweight LiDAR-only perception pipeline tailored for CPU execution, combining ground removal, IMU-based motion compensation, DBSCAN clustering, and geometric feature-based Random Forest classification. Feature importance analysis reduced the model input from 12 to 7 features while preserving performance. Evaluated on 2,371 labeled clusters collected from real FSD events, the pipeline achieves an F1-score of 98.33% and an end-to-end runtime of 3.13 ms on CPU-only hardware. The released dataset, labeling tool, and trained models provide a practical and reproducible baseline for other resource-constrained autonomous racing teams.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11527
PDF
-
CARLAverse: A Highly Modular, Distributed, and Multimodal Framework for Human-in-the-Loop Simulation
2026-09-10 12:44:18Patrick Rebling, Philipp Nenninger, Reiner KriestenAbstract
The development of autonomous driving demands comprehensive testing in mixed-traffic scenarios involving vulnerable road users (VRUs), where purely artificial agents often fail to capture authentic human social negotiations. While human-in-the-loop (HITL) simulators enable safe investigation of these interactions, existing multi-agent platforms struggle with the network latency and synchronization constraints required for high-fidelity haptic feedback. To resolve this, we present CARLAverse, an open-source, multimodal simulation ecosystem. Extending modular hardware abstraction, CARLAverse integrates driving (DrivoCARLA), cycling (CycloCARLA), and pedestrian (WalkoCARLA) simulators into a shared virtual environment. Its core methodological contribution is a distributed physics architecture: latency-critical ego dynamics and high-frequency force feedback are computed locally on client nodes, while a central CARLA server orchestrates non-player character (NPC) physics and global traffic. By decoupling haptic control loops from network bottlenecks, CARLAverse enables scalable, cross-institutional HITL experiments without compromising physical immersion. Code and documentation: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.11478
PDF
-
LLMs as Post-hoc Auditors of Physiological Plausibility in Symbolic Regression: A Clinician-Evaluated Case Study
2026-09-10 12:03:33Jorge L\'opez-Varela, J. Ignacio Hidalgo, Jos\'e-Manuel Mu\~noz, Omar Costilla-Reyes, Esther Maqueda, Jesus Moreno-Fernandez, Tom\'as Gonz\'alez-Vidal, J. Manuel Velasco, Oscar GarnicaAbstract
Genetic Programming and its variants, such as grammatical evolution, are widely used in Symbolic Regression to derive mathematical expressions from multivariate data. In addition to predictive accuracy, models are appreciated for their potential to provide interpretability, offering explicit equations that relate input variables to outcomes. However, achieving interpretability and plausibility remains challenging, as evolved models may be complex or scientifically inconsistent. In this study, we explore whether Large Language Models, can assist in improving the explainability of Symbolic Regression models generated by evolutionary computation methods. Building upon our previous work on estimating body fat percentage using grammar-based Genetic Programming , we investigate the use of LLMs as post-processing tools to analyze and rank evolved expressions according to their interpretability and medical plausibility. Four symbolic expressions are analysed by three LLMs over three repeated runs, and the resulting interpretations and rankings are assessed by a panel of three clinicians. Across the three LLMs, comparative model-ranking outputs received more favorable clinician assessments than isolated term-level interpretations. However, the LLMs also produced physiologically and mathematically questionable explanations, indicating that they are better suited to comparative auditing under expert oversight than to autonomous validation.\blfootnote{The present work is an extended version of a paper submitted into a journal.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11431
PDF
-
SwarmNxt: Open-source Software-Hardware Platform for Fast and Agile Aerial Swarms
2026-09-10 11:17:20Charbel Toumieh, Niel Mistry, Benjamin Jarvis, Simon Jeger, Peize Liu, Shaojie Shen, Dario FloreanoAbstract
Aerial robot swarms have the potential to transform time-critical safety, security, and search-and-rescue operations. By coordinating multiple robots, they can rapidly survey disaster sites, map collapsed or GPS-denied environments, and search cluttered areas faster than a single robot, reducing response times and minimizing risks to first responders. Realizing this potential, however, requires robust autonomous swarm navigation, which remains an active research challenge. Progress is further constrained by existing platforms, as commercial drones are often closed-source or lack the onboard computational resources needed for agile, vision-based collective flight. Moreover, developing, deploying, and maintaining software across multiple aerial robots requires significant engineering effort. To address these challenges, we present SwarmNxt, an open-source software platform built on the open-source OmniNxt drone hardware. SwarmNxt provides an end-to-end toolkit, including detailed hardware assembly instructions with a video tutorial, automation tools for parallel software deployment and swarm-wide updates, and a ROS 2-based framework for autonomous navigation. The platform integrates state-of-the-art control, planning, and depth estimation into a single ROS 2 multi-agent system, providing an open research infrastructure for physical swarm experimentation. We validate SwarmNxt through two real-world experiments: a six-drone swarm performing decentralized planning with high-speed inter-drone collision avoidance, and a four-drone swarm executing collective flight with onboard depth estimation in an obstacle-filled environment. Both experiments were run indoors with global position from external motion capture; perception, planning, and control run onboard.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11382
PDF
-
Cognitive Digital Twins: Ethical Risks and Governance for AI Systems That Model the Mind
2026-09-10 10:11:14Vamshi Krishna Bonagiri, Juan Nicolas Sepulveda-Arias, Abdoul Jalil Djiberou Mahamadou, Monojit ChoudhuryAbstract
As AI systems become increasingly persistent and personalized, they make possible a class of technologies that we call cognitive digital twins (CDTs): dynamic computational representations of a specific person's cognition, updated from behavioral, contextual, or physiological data in order to model, predict, or simulate that person's cognition, or to act as that person's communicative or decision-making proxy. CDTs combine cognitive inference with longitudinal representation, simulation, and proxy action in ways that existing governance strategies for personal assistants, autonomous agents, recommender systems, and automated decision systems only partially address. This paper makes four contributions. First, we define CDTs and distinguish them from adjacent systems. Second, we introduce a 5A governance framework organized around authority, autonomy, access and control, accountability, and availability. Third, we identify CDT-specific risks, from misrepresentation and epistemic authority shifts to shadow twins, simulated participation, proxy action, and proxy-power asymmetries. Fourth, we analyze governance gaps and propose requirements for high-risk CDTs that strengthen consent, purpose limitation, validity, traceability, contestation, independent review, and model retirement. Existing frameworks primarily regulate data processing, automated decisions, or autonomous actions; CDTs also require governance at the level of cognitive representation itself, before any final decision or external action occurs. We argue that CDTs require governance not only because they can act for people, but because they can become infrastructures through which cognition is represented, simulated, classified, and operationalized.
Abstract (translated)
URL
https://arxiv.org/abs/2606.23094
PDF
-
Sci-MMR: Benchmarking Multi-Step Evidence-Grounded Scientific Reasoning in Multimodal Agents
2026-09-10 08:41:07Jiaqiang Li, Yajie Yang, Zhiheng Xi, Jiadong Chen, Enyu Zhou, Senjie Jin, Yang Nan, Jiazheng Zhang, Han Wang, Yanxin Li, Dingwei Zhu, Bicheng Deng, Yuhui Wang, Xiang Zheng, Qi Zhang, Lei Bai, Xingjun Ma, Tao GuiAbstract
Autonomous research agents are increasingly expected to search the literature, analyze experimental evidence, and generate scientific hypotheses. These capabilities require multi-step evidence grounded reasoning that progressively acquires, integrates, and verifies evidence before reaching a conclusion. Existing multimodal benchmarks, however, largely evaluate final-answer accuracy, leaving open whether predictions are actually supported by traceable scientific evidence. We introduce Sci-MMR, a benchmark for multi-step evidence-grounded scientific reasoning built on structured argument graphs linking scientific claims, citation-grounded knowledge, visual evidence, and supporting regions. Sci-MMR comprises 235 multi-hop reasoning tasks spanning four scientific disciplines, with an average of nine figure panels per task. Evaluating eight frontier multimodal models, we find that answer accuracy consistently exceeds complete-evidence recovery rate by more than 20%, revealing a substantial gap that answer-only evaluation is structurally unable to capture. Through controlled interventions, we identify two fundamental bottlenecks. First, evidence acquisition: models struggle to extract complete structured evidence from scientific figures, accounting for 57.2% of failures. While cropping tools yield modest gains (+4.5 points), providing gold evidence improves accuracy by up to 37.0 points, indicating difficulty in assembling complete multi-region evidence. Second, evidence integration: models struggle to translate available evidence into correct conclusions, accounting for 31.8% of failures, while even with gold evidence the strongest model achieves only 69.1% accuracy on the hardest tasks. These findings indicate that current answer-centric benchmarks substantially overestimate the evidence-grounded reasoning capabilities of multimodal research agents
Abstract (translated)
URL
https://arxiv.org/abs/2609.11243
PDF
-
Harness Robotic OS: A Unified Embodied-Agent Runtime for Closed-Loop Quadruped Inspection
2026-09-10 08:25:46Yaoyuan Yan, Zhiyou Heng, Haoxiang Jie, Gang Liu, Hongjie Yan, Wei ZhouAbstract
Autonomous property inspection requires more than robust robot navigation: a deployable system must connect heterogeneous sensing, reusable autonomy capabilities, multimodal scene understanding, human interaction, and enterprise response within a traceable operational loop. Existing quadruped inspection systems commonly integrate these functions through task-specific interfaces, making contextual coordination, knowledge reuse, and controlled adaptation difficult. This paper presents \textit{Harness Robotic OS} (HROS), a unified embodied-agent runtime, and Argos, its realization for residential-community inspection. HROS organizes the system into robot runtime, embodied autonomy skills, cognitive agent runtime, and interaction and operations planes. A shared context connects physical state with agent reasoning; streaming ASR/TTS supports voice-based mission interaction; hierarchical working, episodic, and semantic memory preserves operational knowledge; and a safety-gated self-evolution loop converts execution traces into versioned candidate updates without permitting unconstrained online modification. The Argos prototype integrates a Vbot quadruped, Fast-LIO2 localization and mapping, Hobot-Stereo depth perception, PCT-Planner global planning, EGO-Planner local motion generation, and OpenClaw-orchestrated Qwen3-VL inspection analysis. Experiments in a residential property environment achieved 100\% waypoint reachability, outdoor localization error below 10~cm, local obstacle-response latency below 200~ms, representative hazard-detection rates of 85--95\%, and 99\% success in alarm delivery and structured-report generation. These results validate the deployed navigation and inspection closed loop, while HROS provides an extensible software foundation for memory-augmented, voice-aware, and continuously improvable embodied inspection agents.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11225
PDF
-
DRG-MAPPO: Hierarchical Dynamic Role-Graph Multi-Agent Reinforcement Learning for Cooperative Air Combat
2026-09-10 07:02:01Junlin Liu, Chengwei Li, Yang Gao, Hui Chang, Xinchen Zhang, Zhijun Zhao, Hao ZhaoAbstract
Multi-Agent Reinforcement Learning (MARL) has emerged as a pivotal paradigm for complex decision-making in autonomous systems and air combat. While MARL has demonstrated significant potential in air combat, achieving sophisticated tactical coordination remains a non-trivial challenge. This difficulty is largely attributed to two primary limitations: (1) the absence of structured relational modeling hinders agents from capturing complex, time-varying interactions among battlefield entities; and (2) conventional flat architectures often lack the capability to explicitly model tactical roles, leading to ambiguous task allocation in highly dynamic environments. To address these challenges, we propose Hierarchical Dynamic Role-Graph Multi-Agent Proximal Policy Optimization (DRG-MAPPO), a novel MARL framework that integrates graph-based relational modeling with dynamic role assignment. Specifically, DRG-MAPPO constructs a graph-based representation of battlefield interactions and leverages graph attention mechanisms to extract critical relational features among allies, enemies, and threats. Subsequently, a high-level policy employs a dynamic role assignment mechanism to determine tactical responsibilities (e.g., ``leader'' and ``supporter''). Conditioned on these roles and encoded graph-relational features, a low-level policy executes discrete maneuver actions, facilitating the joint optimization of tactical strategy and collaborative execution. Furthermore, a target-priority auxiliary task is designed to foster the emergence of behaviors such as focus-fire. Experimental results demonstrate that DRG-MAPPO achieves a state-of-the-art win rate of 87%, suggesting that our framework effectively balances relational modeling, interpretability, and optimization stability for cooperative air combat.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11155
PDF
-
Autonomous Chemical Mechanistic Discovery through Agentic Reasoning and Validation
2026-09-10 06:49:24Dong Li, Sixuan Mi, Zihao Ye, Huan Xiong, Tao XU, Tong Zhu, Aijia Zhang, Junqi Gao, Kaiyan Zhang, Shijie Wang, Bowen Zhou, Yuqiang Li, Biqing QiAbstract
Unraveling reaction mechanisms is central to modern chemistry, yet automating these investigations remains challenging because computational workflows still rely heavily on expert intervention. Here we introduce ARCHE, an autonomous agentic system that integrates a general-purpose reasoning model, a domain-specialized computational chemistry model, and a structured tool registry to transform mechanistic inquiry into a scalable, self-validating process. ARCHE interprets scientific questions, generates and prioritizes mechanistic hypotheses, orchestrates computational workflows, and iteratively refines conclusions based on computed evidence within a closed loop. We validate its capabilities across three increasingly demanding scenarios: reconstructing stereocontrolling transition states and validating the corresponding reaction mechanism in a previously reported asymmetric catalytic reaction; proposing and validating a plausible radical pathway through iterative hypothesis refinement for a recently discovered but unpublished $\alpha$-iodoboronate C-I cleavage reaction; and identifying a chemically interpretable descriptor that governs selectivity in nickel-catalysed migratory cross-coupling reactions. By coupling agentic reasoning with rigorous computational validation, ARCHE advances autonomous mechanistic discovery and establishes a foundation for broader machine-assisted chemical research. The code for ARCHE is publicly available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11147
PDF
-
Freehand Sketching for End-User Programming of Robot Swarms
2026-09-10 04:34:02Riwa Karam, Ian Kuo, Magnus EgerstedtAbstract
Robot swarms are increasingly used in applications where accessible interaction with non-expert users is desirable. This paper investigates freehand sketching as an end-user programming interface for specifying robot swarm geometries. Users communicate spatial intent through a drawing, while the swarm autonomously extracts target formation points, constructs a rigid formation graph, assigns robots to formation nodes, and executes distributed formation control with a guarantee against unintended reflected formations. The resulting sketch-to-swarm framework is evaluated through a human study examining the usability of freehand formation specification. Twenty participants generated $42$ geometric shapes, and the interface achieved a mean System Usability Scale score of $84.25$, which conventionally indicates high perceived usability. The results support freehand sketching as an intuitive interaction abstraction for human-swarm collaboration without requiring robotics or programming expertise.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11078
PDF
-
DeFiFusion: Combining Transaction Events with Smart Contracts to Detect Price Manipulation Attacks
2026-09-10 02:36:45Rui Cao, Shaojing Fan, Liming Fang, Yuchan Liu, Yingying Jiao, Zhenguang LiuAbstract
Decentralized Finance (DeFi) has emerged as a rapidly growing blockchain-based financial service, where market transaction dynamics and underlying smart contract logic are intricately intertwined. This autonomous interplay, while eliminating centralized intermediaries, significantly expands the vulnerability surface of DeFi protocols to Price Manipulation Attacks (PMAs), which have already inflicted catastrophic financial losses. Despite their gravity, existing detection paradigms suffer from fundamental limitations. Transaction-centric methods lack awareness of contract execution semantics, making them prone to false positives under legitimate market volatility, while static contract analyses ignore real transaction behaviors and frequently report vulnerabilities that are infeasible to exploit in practice. We present DeFiFusion, a dual-modal PMA detection framework that closes this gap by jointly modeling transaction events and smart contract semantics within a unified pipeline. Our core insight is that PMA maliciousness emerges only from the interaction between transaction behaviors and the contract logic they exploit; neither signal suffices in isolation. Accordingly, we derive price-manipulation-aware event encoding for extracting fine-grained temporal and economic features tailored to manipulation patterns. We further introduce LLM-based contract semantic extraction to supply the execution-logic context that prior behavioral methods lack. To fuse these modalities, we propose a Dual-Modal Projection-Fusion Transformer with T5-style relative positional encoding, capturing the cyclic multi-stage execution structures that distinguish PMAs from benign market activity. Extensive experiments demonstrate that DeFiFusion consistently achieves state-of-the-art detection performance, effectively recalling 222 of the 225 PMA cases while maintaining a precision of 96.10%.
Abstract (translated)
URL
https://arxiv.org/abs/2609.11008
PDF
-
A Mathematical Theory of Pragmatic Information
2026-09-10 02:04:44Kai Niu, Ping ZhangAbstract
We propose a pragmatic information theory unifying communication, control, and decision-making. Its core is the isoteleia mapping, formalizing equifinality: distinct semantic paths leading to the same optimal action are pragmatically equivalent. This induces a three-tier hierarchy of syntactic, semantic, and pragmatic information, each abstraction discarding task-irrelevant distinctions. We develop pragmatic entropy, up/down mutual information, channel capacity, and rate-distortion, and prove three coding theorems generalizing Shannon's classical results. We introduce pragmatic value (VoI) and cost (CoI) of information as decision-theoretic duals to rate-distortion and capacity, respectively, and formulate a Lagrangian dual framework for cross-layer optimization. The pragmatic efficiency bound $\mathcal{E}_p(\lambda)=\sup_R[\Phi_p(R)-\lambda\,\mathrm{CoI}_p(R)]$ quantifies the maximum net utility any resource-constrained intelligent system can extract, thereby establishing a fundamental behavioral capacity limit---generalizing Shannon's symbol-level capacity to goal-directed action. Extensions to continuous messages yield closed-form Gaussian expressions, while dynamic settings are addressed via a Bellman equation for sequential decision-making. This framework provides a rigorous foundation for task-oriented communication, networked control, autonomous systems, and embodied AI, shifting focus from symbol fidelity to the effectiveness of information in guiding actions, and offers a unified mathematical language for next-generation intelligent systems.
Abstract (translated)
URL
https://arxiv.org/abs/2609.10986
PDF
-
Auto-RecSys: Harnessing Autonomous Research Agents for Industry-Scale Recommender System
2026-09-10 00:09:18Ming Li, Dai Li, Xuying Ning, Bo Sun, Rui Li, Yi Zhang, Silvia Gong, Xuan Cao, Rui Li, Cornelia Carapcea, Qunshu Zhang, Zhigang Wang, Yinglong Xia, Andy WangAbstract
Auto-research agents have shown the potential to automate hypothesis generation, experiment execution, and iterative refinement. However, scaling this paradigm to industry-scale recommendation models introduces two challenges: (1) long feedback loops, where model training can take days, making serial iteration prohibitively slow and requiring parallel exploration across multiple research directions; and (2) system complexity, where large configurations, fragile infrastructure dependencies, and multi-day GPU jobs require robust and recoverable execution. We present Auto-RecSys, an autonomous research system for long-horizon experimentation on industry-scale recommendation models. Auto-RecSys addresses these challenges through three harness designs: (1) distributed asynchronous execution for running multiple experiments in parallel across servers, (2) centralized cross-server memory for persistent and recoverable execution across sessions and failures, and (3) cognitive-procedural separation, where natural-language skill files guide LLM reasoning while deterministic scripts enforce operational correctness. Auto-RecSys further employs a dual-loop self-evolving architecture: an Execution Evolution Loop in which model-specific playbooks accumulate operational knowledge by recording failed attempts and crystallizing successful pipelines, and an Idea Evolution Loop in which experimental outcomes inform subsequent ideation. Evaluated on recommendation models, Auto-RecSys significantly reduces the human time required per experiment cycle and improves execution reliability as its playbooks mature.
Abstract (translated)
URL
https://arxiv.org/abs/2609.10922
PDF
-
TrajFusionNet+: Transformer-Based Prediction of Pedestrian Crossing Intention via Fusion of Trajectory Representations and Scene Graphs
2026-09-09 20:17:32Fran\c{c}ois G. Landry, Moulay A. AkhloufiAbstract
The pedestrian crossing intention task involves predicting whether pedestrians are likely to cross the road from the point of view of an autonomous vehicle. We introduce TrajFusionNet+, a novel transformer-based model for pedestrian crossing intention prediction. TrajFusionNet+ combines sequential and visual representations of pedestrian trajectory with a graph-based representation of the scene context in order to predict pedestrian crossing intention. The proposed architecture builds upon our previous model, TrajFusionNet, and comprises three branches: a Sequence Attention Module (SAM), which processes a sequential representation of past and predicted pedestrian trajectories; a Visual Attention Module (VAM), which utilizes a visual representation of the pedestrian trajectories by overlaying observed and predicted bounding boxes onto scene images; and a Graph Attention Module (GAM), which extracts pedestrian-centric graphs from segmented scene images and captures the relational dependencies between pedestrians and traffic elements. TrajFusionNet+ achieves improved state-of-the-art performance on the two most widely used pedestrian crossing intention datasets, PIE and JAAD. Furthermore, we introduce a new evaluation protocol in which models are trained jointly on the PIE and JAAD datasets but evaluated separately on each. Under this setting, TrajFusionNet+ demonstrates superior generalization compared to existing approaches.
Abstract (translated)
URL
https://arxiv.org/abs/2609.10806
PDF
-
Two-Parameter Flow Map Learning for Continuous-Time Diffeomorphic Image Registration
2026-09-09 19:52:48Mohammadjavad Matinkia, Nilanjan RayAbstract
Diffeomorphic image registration is central to medical image analysis, enabling anatomically consistent alignment across subjects. Most learning-based diffeomorphic methods model autonomous ODEs(ordinary differential equations) by parameterizing a stationary velocity field and recovering deformations via scaling-and-squaring. While non-autonomous ODEs with time-dependent velocities increase expressiveness, existing approaches rely on numerical integration to implicitly enforce flow structure that entangles model expressiveness with discretization accuracy. We propose a framework to directly learn the continuous-time solution of a non-autonomous ODE formulated as a two-parameterflow map. By enforcing cocycle consistency, a fundamental structural property of time-varying flows, we learn the flow maps without time discretization and velocity integration during training. The framework recovers diffeomorphic mappings at inference using a small number of compositions. Our proposed framework seamlessly incorporates standard registration backbones and improves alignment accuracy consistently across nine datasets while preserving diffeomorphic structure. Notably, the proposed method achieves an average Dice improvement of 2.1% on brain MRI benchmarks, a 12% TRE reduction on lung CT, and a 2.6% Dice gain on cardiac MRI and ultrasound datasets.
Abstract (translated)
URL
https://arxiv.org/abs/2609.10789
PDF
-
Beyond Static Guarantees: Measuring the Static-Pass Dynamic-Fail Gap in Security-Sensitive and LLM-Generated Python Code
2026-09-09 19:02:55Jessica Pourleyli, Maitreyee Das Urmi, Glaucia MeloAbstract
Advances in large language models (LLMs) fuel the quest for scalable methods to assess the security of generated and security-sensitive software. Static analysis is widely adopted as a scalable, reproducible, and inexpensive security gate, but cannot directly observe runtime exploit behaviour. Vulnerabilities dependent on adversarial inputs, execution context, or exploit chaining may evade static checks while remaining exploitable in practice, yet passing static analysis is often treated as evidence of secure behaviour. This paper introduces the Static-Pass Dynamic-Fail (SPDF) phenomenon and a three-stage agentic pipeline combining static scanning, LLM-driven Common Weakness Enumeration (CWE) reasoning, and autonomous exploit verification in isolated Docker containers. We evaluate 1,355 Python samples from SecurityEval, RedCode, and CyberNative datasets. Of the 654 samples producing no findings under the composite Bandit-Semgrep gate, the LLM detection stage identified 394 candidate vulnerabilities across 235 files. Dynamic verification confirmed or partially confirmed exploitability in 95 files, yielding an inclusive pipeline rate of 14.53% (roughly 1 in 7 statically clean samples). This rate represents the proportion of Bandit-Semgrep-clean samples for which the pipeline identified a candidate vulnerability and obtained runtime evidence supporting exploitability. Outcomes varied by dataset: among candidate file--CWE pairs, confirmed exploitability was 33.7% for RedCode, 28.6% for CyberNative, and 5.4% for SecurityEval. Several frequently confirmed classes, including CWE-338 and CWE-916, were flagged by neither Bandit nor Semgrep. These findings indicate that static-analysis success and runtime security are hierarchical layers of software assurance rather than interchangeable measures, and have the potential to reshape how AI-generated and security-sensitive code is evaluated.
Abstract (translated)
URL
https://arxiv.org/abs/2609.10762
PDF
-
Data-Efficient Language Modeling: From Frontier Advancement to Principle-Guided Model Improvement
2026-09-09 18:00:52Shuxing Yang, Kaihao Zhu, Junjie Yang, Rui Zhao, Junyao Wu, Yize Wang, Wenhao Li, Fujia Chen, Taowen Deng, Shenzhan Hong, Yaqi Li, Zichen Li, Jincheng Mi, Yuang Pan, Hongsheng Chen, Yihao YangAbstract
Learning from limited text requires models to use context, generalize to new inputs, and retain useful capabilities. Qiushi Engine conducted a long-horizon, end-to-end autonomous research program on BabyLM 2026 Strict-Small, within 10 million corpus words and 100 million cumulative word presentations. Three stages connected frontier advancement, principle discovery, and principle-guided model improvement. Stage I combined compact restatements, budget reinvestment, and residual incremental learning to build a frontier model. Stage II found that exact repetition and aligned restatement produce different patterns of context use, depending on target relations and prediction windows. In controlled tasks, recovering familiar performance did not ensure that unseen inputs could still use learned computations. These findings support a testable data-efficient learning principle: organize experience around the contextual dependencies needed for prediction; separately design visible information, supervision, and preservation; test learning, generalization, and retention. Stage III retained source text, masked more local clues, supervised selected targets, and preserved predictions on ordinarily masked inputs. Two continuation seeds from the same parent outperformed ordinary continuation on the complete nine-metric aggregate. Overall rose from 42.02 to 42.25 across two generations; the second achieved the highest Overall in the public Strict-Small snapshot of 8 September 2026. Further studies addressed compression, relational anchors, shared representations, and measurement. Models are available on Hugging Face; code and research records accompany the GitHub repository. Together, these stages illustrate Research RSI: recursive self-improvement of the research process. Scientific understanding and method innovations change subsequent questions and designs; new experiments test and refine them.
Abstract (translated)
URL
https://arxiv.org/abs/2609.10702
PDF
