Pose
-
Scal3R: Learning Efficient Multi-Relative Pose Query for Scalable Online 3D Reconstruction
2026-09-03 17:59:53Chin-Yang Lin, Yang-Che Sun, Cheng Sun, Fu-En Yang, Min-Hung Chen, Yen-Yu Lin, Wei-Chen Chiu, Yu-Lun LiuAbstract
Online 3D reconstruction models perform poorly on long videos. This happens because regressing poses relative to a fixed first-frame anchor forces extrapolation far beyond the training distribution. Small drifts accumulate and amplify into significant geometric collapse. However, we observe that per-frame depth remains stable throughout this failure. The backbone's local geometry remains intact; only the global pose head breaks down. Motivated by this decoupling, we introduce Scal3R. This approach reformulates online reconstruction as multi-reference relative pose querying. We use lightweight learnable tokens, which make up about ~1% of the parameters, and inject them into a completely frozen backbone via asymmetric attention. This setup queries poses relative to multiple past keyframes. An online pose-graph optimization system with loop closure suppresses long-range drift. Scal3R reaches convergence in 8 hours on a single GPU. It reduces the average ATE by over 60% on KITTI compared to the online baseline. It also achieves state-of-the-art performance across Virtual KITTI, Sintel, TUM-Dynamic, ScanNet, and 7-Scenes. Project page: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.04201
PDF
-
Principia: Relational Physics Tests for Video Models
2026-09-03 17:59:50Varun Varma Thozhiyoor, Shivam Tripathi, Venkatesh Babu Radhakrishnan, Anand BhattadAbstract
Evaluating physical reasoning in video models is difficult because absolute motion measurements depend on frame rate, object scale, and camera calibration, all of which are often ambiguous or unavailable in generated video. We propose a different approach. When two objects in the same scene obey the same physical law, their motions must satisfy predictable relationships, and these relationships hold independent of calibration. We introduce Principia, a benchmark that evaluates Newtonian physics through relational consistency between paired objects. Principia spans eight phenomena - gravity, restitution, friction, rotational inertia, projectile motion, momentum, pendulum, and mass-spring oscillation - across translational, rotational, collisional, and oscillatory dynamics, using real-world scenes recorded under controlled protocols. We also introduce a calibration-independent consistency score that quantifies physical violation directly in image space. Across thousands of generations from six state-of-the-art video generators, no model exceeds 0.42 on Principia despite all scoring around 0.8 on VBench. Vision-language models are evaluated on their ability to detect relational physics violations, with the best model achieving only 67% accuracy and most performing near chance level.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04200
PDF
-
Compile by Training: Turning Natural-Language Specifications into Local Neural Functions
Abstract
Many recurring text functions are easy to describe but difficult to implement with rules, while calling a large remote model for every input introduces repeated cost, latency, and dependency on a provider. We present compile by training, which turns a natural-language specification into a reusable neural function. At compile time, teacher models generate task-specific examples that are used to train a small adapter for a compact interpreter. The resulting function runs without the teachers and can be stored, versioned, and composed like ordinary software. On FuzzyBench-Hard, a subset on which the Program-as-Weights fast compiler produced no exact matches, compile by training reaches 83.6% semantic accuracy. This higher accuracy comes with a higher compile-time cost: roughly a minute rather than seconds for the fast compiler. We deploy the compiler in a public interactive service and demonstrate compiled functions in a multi-site website helper, a language-controlled 3D avatar, and a bidirectional English-Claudish translator.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04199
PDF
-
Clean Engineering, Unstable Measurement: A Preregistered Reliability Failure of Black-Box LLM Observers on Shared Endpoints
Abstract
Language-model judges now gate training data, score generations, and drive leaderboards. The judge is then a measurement instrument, resting on one rarely stated assumption: the same request, sent to the same model name, reads the same tomorrow. We audited that assumption in two preregistered campaigns with every threshold fixed in advance; neither got past validating its instrument. Across 52,988 audited request attempts, same-window repeat rankings agreed at Spearman 0.400 against a required 0.90, and byte-identical next-day replays agreed at 0.78 against a required 0.99, each time with the execution record at ceiling. Three mechanisms explain the gap: a label-to-meaning mapping that biased readouts as strongly as the signal; candidate gaps seven orders of magnitude below the instrument's own noise floor; and byte-identical inputs returning different rankings, a noise that exact-permutation readouts compound. Neither metric substitution nor sampling repaired it on the tested grid. Preregistered follow-ups bound the problem: waiting did not help on the days sampled (0.805 versus 0.800, replicated over five further days); switching providers did not help (four providers share the floor, medians 0.74 to 0.88, predicted by none of the metadata fields they expose); self-hosting on batch-invariant kernels helped only while the server was quiet; and on constructed errors with known gaps, the readout's separation tracks error type, not size. We distill the evidence into a three-level snapshot-identity ladder, eight design rules, and a reporting checklist; a pilot at roughly 2% of the study's call volume would have exposed both unreachable gates in advance. All results concern externally measured behaviour on shared serving infrastructure. On a shared endpoint, a model name is not a frozen instrument; a preregistered evaluation must measure its instrument before freezing any gate on it.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04198
PDF
-
ESPO: Error-Structured Prompt Optimization via Diagnose, Diversify, and Stabilize
2026-09-03 17:59:37Lihao Liu, Peng Tang, Kunwar Yashraj Singh, Shabnam GhadarAbstract
Evolutionary prompt optimizers such as GEPA suffer from prompt bloat: each iteration appends rules and caveats, producing prompts up to 3$\times$ longer yet no more accurate. We trace this to three deficiencies - incomplete error observation, limited search diversity, and unreliable selection - and propose ESPO (Error-Structured Prompt Optimization), which decomposes prompt optimization into three phases: Diagnose clusters all training errors into structural patterns in one round; Propose generates candidates via four complementary strategies with independent biases; Select applies bootstrap stability selection. On seven public NLP benchmarks - Tweet, MMLU, GSM8K, HotpotQA, ScoNe, HoVer, and PUPA - ESPO improves average accuracy by $+$3.76 pp over the state-of-the-art (74.67% vs 70.91% for GEPA), matching or exceeding GEPA on every dataset while producing prompts 47% shorter (1,004 vs 1,878 chars) and faster at inference. Cross-model experiments across four additional student models (Gemma 3 12B, Mistral 14B, Qwen3 32B, Claude Haiku 4.5) show ESPO yields the best average accuracy on every model tested, with the largest gap on Qwen3 GSM8K (15.00% $\to$ 91.40%). A generalization bound (Appendix) grounds each phase in a corresponding term of the test-time gap, and the ablation confirms a key prediction: adding diversity without bootstrap selection actually hurts performance ($-$1.20%).
Abstract (translated)
URL
https://arxiv.org/abs/2609.04197
PDF
-
Puffin-World: Scaling a Unified Multimodal Model with Native 3D World States
2026-09-03 17:59:13Kang Liao, Yihang Luo, Xiao-Ming Wu, Linyi Jin, Size Wu, Chunyu Lin, Yao Zhao, Fei Wang, Wei Li, Chen Change LoyAbstract
We propose Puffin-World, a unified multimodal architecture that integrates physical understanding, spatial simulation, and 3D world generation and reconstruction without relying on external offline modules. To reliably construct and interact with 3D worlds, our framework jointly models three native world states: physics (gravity field and latitude), geometry (depth), and appearance (image), together with a unified Omni-Camera representation that supports diverse tasks and flexible motions. Beyond modeling these states, we introduce a strategy for propagating physical dynamics across future frames. By grounding absolute camera properties in the real world, Puffin-World enables physically consistent and visually stable world generation. We further couple appearance and geometry within a single generative process, jointly synthesizing each future view and reconstructing its underlying geometry. This unified paradigm enables interleaved closed-loop applications requiring synergy across multiple tasks, including mimic and self-calibrated world exploration. To scale Puffin-World to complex scenarios, we construct Puffin-16M, comprising 15 million vision-language-camera triplets and 1 million trajectories featuring various and challenging motions. To foster further research in this area, we released the code, models, and datasets.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04196
PDF
-
Seeing Before Synthesizing: VLM-Guided Transition Event Discovery for Weakly-Supervised Dense Video Captioning
2026-09-03 17:58:02Ye-Chan Kim, Seunghee Choi, SeungJu Cha, Si-Woo Kim, Hwiseon Kim, Hyungee Kim, Dong-Jin KimAbstract
Weakly-Supervised Dense Video Captioning aims to localize and describe multiple events in untrimmed videos given only an ordered set of event-level captions per video. Recent work synthesizes auxiliary transition captions via LLM to provide additional vision-language alignment, but these captions lack visual grounding and are rigidly assigned to every inter-event gap at a fixed location and duration. To address these, we propose Seeing Before Synthesizing (SBS), a framework that adaptively provides visually grounded linguistic guidance only where warranted. Leveraging a VLM, we generate frame-level narratives for the inter-event gaps and detect transitions from the semantic variation across them. For identified transitions, we then refine inter-event temporal masks by blending the temporal midpoint with the semantic change point and selecting the width that maximizes vision-language alignment. Experiments on ActivityNet Captions and YouCook2 demonstrate state-of-the-art performance in both captioning and localization.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04183
PDF
-
Zero-Shot Novel Depth Synthesis Using 3D Foundation Models Scene Representations
2026-09-03 17:54:52Denis M. Akola, David F. FouheyAbstract
3D Foundation Models (3DFMs) such as VGGT have recently pushed the boundaries of 3D vision by predicting rich unified representations with feed-foward transformers. The scene representations learned by these models enable strong performance on multiple 3D vision tasks. In this paper, we investigate using their internal representations to infer 3D in the scene from new views. Our hypothesis is that in order to solve the task of 3D reconstruction, these models need to learn a representation that includes a large amount of general knowledge about 3D scenes. After showing that it is possible to decode hidden surfaces from internal 3DFM representations, we propose a method, Z3D, that estimates pointmaps in unseen views by doing latent diffusion on 3DFM representation. We show that Z3D can predict realistic depth maps for new views across multiple datasets.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04174
PDF
-
Rethinking On-Policy Distillation of Large Language Models II: One Training Example
2026-09-03 17:54:38Zixuan Fu, Bingxiang He, Yuxin Zuo, Haohuan Huang, Jinqian Zhang, Ruhang Xiao, Cheng Qian, Qinyu Luo, Huan-ang Gao, Yudong Wang, Zhiyuan Liu, Ning Ding, Chaojun XiaoAbstract
On-policy distillation (OPD) combines student-generated rollouts with dense token-level supervision from a teacher. Existing work has mainly studied its algorithmic behavior, leaving the role of training data unclear. We examine this role at the data-minimal limit by training on a single query. One-shot OPD keeps improving for hundreds of steps and recovers most of full-data OPD's gain across task domains and model families. We explain this result through the states visited during training and the rate at which the student aligns with the teacher. We measure \emph{state coverage}, the fraction of the states full-data OPD visits that a query set's rollouts reach. A single query already reaches \(71.5\%\), most of it within the first 100 steps. Adding semantically distinct queries raises coverage and validation accuracy together, until 16 queries reach \(98.9\%\) and match full-data training. Yet alignment slows at a similar pace whether OPD trains on one query or the whole dataset, and even a fixed set of states takes hundreds of steps to absorb. OPD is therefore data-overfed but algorithm-starved. Its rollouts quickly expose broad supervision, while the student absorbs that supervision increasingly slowly. The state-coverage result extends to multi-teacher OPD, where 16 semantically diverse queries per domain match full-data MOPD. As a further stress test, content-light templates and off-domain WildChat queries also approach the real-query baseline. Task content and induced state coverage can therefore come apart. We hope these findings direct future work toward the step efficiency of OPD, and prompt a re-examination of the data and the mechanisms behind its recent successes in frontier post-training.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04172
PDF
-
A Case Study on Emergent Cheating and Whistleblowing in Autonomous Research Swarms
2026-09-03 17:54:09Davide Paglieri, Logan Cross, Tim Genewein, Joel Z. Leibo, Nenad Tomasev, Alexander Sasha VezhnevetsAbstract
Multi-agent AI science ecosystems rely on agents possessing tools that allow them to communicate, coordinate, and build on each other's work. Yet this shared infrastructure can also introduce vulnerabilities by creating a substrate for the contagious spread of unintended and undesirable behaviors. We report a case study on a research collective of 100 autonomous LLM agents tasked with proving formal mathematical conjectures. Within the swarm, cheating spontaneously emerged and was later challenged by whistleblowers - both without any external intervention. When a single agent discovered an exploit in the evaluation system, it propagated across the collective via a shared knowledge library and later through peer-to-peer messages. Despite early reluctance, a cohort of agents adopted the exploit in response to competitive pressure. A separate group of agents produced an emergent counter-response: auditing fraudulent proofs, alerting peers across broadcast and private channels, staging boycotts, lodging formal complaints, and proposing validation patches. In recent incidents, agent swarms coordinated covertly through improvised side-channels (Dalton and Wallace, 2026; Greenblatt et al., 2026). Our setting differs: the same transparent channels that carried the exploit also gave non-cheating agents the visibility they needed to detect fraud, organize resistance, and enforce norms. We cast the problem of managing the agents' shared infrastructure as the knowledge commons governance problem (Ostrom, 1990). To protect the commons from exploits, we propose to adopt institutional mechanisms, such as graduated sanctioning and collective-choice rules, to support decentralized self-governance in autonomous swarms.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04170
PDF
-
From Deceptive Outputs to Deceptive Mechanisms: A Causal Framework for Language-Model Deception Research
Abstract
Research and news coverage of language-model deception increasingly attributes human-like mental-state concepts to language models. Such claims can blur the distinction between behavior that looks deceptive and a mechanism that is actually deceptive. We introduce a causal taxonomy separating prior commitment from retrospective report, model preference from realized output, false preference from sensitivity to the utility of misleading a recipient, and deceptive behavior from the provenance of the objective or strategy producing it. We test these distinctions in two open-weight model families. Across controlled guessing-game and stock-trading experiments, we find that deceptive-looking behavior can arise without the corresponding proposed mechanism, while other interventions provide direct evidence that recipient information state can causally affect deceptive preference. These results show that deceptive behavior can provide evidence for a deceptive mechanism. But even evidence for such a mechanism does not establish model agency in the deception.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04166
PDF
-
SENTINEL-RL: Offloading Topological Reasoning from LLM Agents in the Security Operations Center
2026-09-03 17:49:12Uday Vallabhaneni, Cassie L. Cagwin, David J. WildAbstract
Large language model (LLM) agents are increasingly proposed as autonomous SOC analysts, but two limitations make them unreliable at enterprise scale: a finite context window cannot hold a multi-thousand-host authentication graph, and free-form generation offers no guarantee that a recommended containment action is consistent with the topology it operates on. We present Sentinel-RL, an agentic-SOC architecture that decouples topological reasoning from semantic reasoning: a heterogeneous graph attention encoder summarizes the live authentication subgraph into a fixed-dimensional state, a Proximal Policy Optimization (PPO) policy maps this state to a constrained set of investigative actions, and an LLM agent loop is restricted to consuming the policy's recommendations and producing analyst-readable narratives gated by a critic. We instantiate the system on the LANL Comprehensive, Multi-Source Cyber-Security Events dataset and the Indiana University Quartz HPC cluster, reporting four results: (i) a two-phase CREATE ingestion pattern loads a 24M-edge authentication subgraph into Neo4j in 14.2 minutes on a single 32-core node, roughly 24x faster than the canonical MERGE-based pipeline; (ii) a sliding-window alert engine reliably trips a 25-event/10-second threshold in <=2.5 s across 50 trials; (iii) PPO training over 200 iterations converges to a mean episodic return of 8.74+/-0.31, with held-out precision of 0.91 and recall of 0.87 on labeled red-team events; and (iv) the integrated containment loop completes a full detect-investigate-recommend-human-approve cycle in a median of 6.3 s. We contribute a reusable engineering pattern (the hot-node deadlock workaround), a portable HPC deployment pattern (anchor-node co-location), and an enterprise-readiness analysis covering false-positive economics, reversibility guarantees, audit compliance, and the human-approval boundary.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04159
PDF
-
Persistent Identity Preservation in Generative Image Models: A Benchmark and Evaluation System
2026-09-03 17:44:25Mengwei Ren, Xuaner Zhang, Zhihao XiaAbstract
Generative image models can now produce high-quality images, follow complex instructions, and support precise edits, but they still struggle to preserve who or what is being depicted. When generating or editing images of a specific subject, identity may drift as the pose, expression, appearance, viewpoint, or surrounding scene changes. Existing subject-driven methods make fundamentally different choices about where identity is represented: through the input context (GPT-Image-2, NB2), as trainable subject-specific model parameters (LoRA), or as a persistent identity layer (PHOTA IDENTITY) reusable across generations and edits. We systematically benchmark these paradigms across subject-driven generation, editing, restoration, and multi-subject settings, with tasks designed to increasingly stress identity preservation. Our results show that identity preservation remains a distinct limitation of current generative foundation models: strong image quality and instruction following do not necessarily imply strong identity fidelity, and identity degradation becomes more pronounced under iterative edits, small subject scales, severe image degradation, and multi-subject composition. Persistent identity substantially reduces this degradation across generation, editing, and restoration, consistently improving identity preservation when applied to different foundation models while maintaining comparable instruction adherence and perceptual image quality. These results suggest that identity does not simply emerge from increasingly capable generative models, but can instead be represented as persistent subject knowledge that is composed independently with the underlying generative model.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04151
PDF
-
Terminal-Universe: Turning Agent Trajectories into Scalable Terminal Environments
2026-09-03 17:41:05Jie Wu, Zhenru Zhang, Beichen Zhang, Xuwu Wang, Yuhui Su, Mouxiang Chen, Peng Wang, Zhihai Wang, Que Shen, Hao Zhou, An Yang, Fei Huang, Yujiu Yang, Dayiheng LiuAbstract
As terminal-based code agents become prevalent, agent trajectories have accumulated at scale, while realistic, executable environments remain scarce. However, environments are what agent post-training actually requires: each can be re-queried into many verifiable tasks and provides execution feedback, whereas a trajectory is a single frozen demonstration. Rather than generating environments from scratch, we observe that the tool-execution history in existing trajectories exposes the structure and contents of the environments in which they ran, making it possible to reconstruct those environments from the trajectories themselves. Thus, we introduce Terminal-Universe, a framework which turns each trajectory into a reusable environment and explores it for synthesizing new tasks and continued interactions. Specifically, Terminal-Universe replays the file operations recorded in a trajectory to restore each file before the agent modified it, yielding a partial workspace; a completion agent then supplies the missing files and dependencies. On this recovered workspace, we both reconstruct the original intent task and synthesize entirely new ones. Besides, we also scale the tasks along two complementary axes: breadth and depth. For breadth, we mine directional dependency relations between related environments and synthesize cross-workspace queries spanning multiple codebases, as developers routinely do in real-world development. For depth, we extend the initial single-turn query into a multi-round session that captures iterative user feedback and requirement refinement via a user agent. Applied to public terminal agent trajectories, Terminal-Universe produces 37.3k task-sufficient environments. Supervised fine-tuning of Qwen3.5-27B on this corpus improves single-round performance on Terminal-Bench 2.1 by 11.9 points and multi-round performance on EvoCode-Bench v2 MT@4 by 13.8 points.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04148
PDF
-
Efficient Test-Time Adaptation through Human-AI Interaction
2026-09-03 17:33:18Zora Zhiruo Wang, Apurva Gandhi, Rulin Shao, Aspen Chen, Jonas Mueller, Zhiqi Liang, Jett Chen, Michael Ryan, Qianou Ma, Luxi He, Zhoujun Cheng, Andre He, Seungone Kim, Jiayi Geng, Mingqian Zheng, Weiwei Sun, Zheyuan Zhang, Xinran Zhao, Yike Wang, Abe Hou, Liwei Jiang, Pang Wei Koh, Diyi Yang, Graham Neubig, Daniel FriedAbstract
AI agents are trained on population-scale data to encode broad capabilities spanning those of many practitioners. Yet the artifacts they produce rarely meet the personal bar professionals need to stake their reputation on. On realistic, open-ended tasks where success criteria are heterogeneous and insufficiently documented, individual expertise lives precisely in the elevation and departure from the average. In practice, iterative human-agent interaction surfaces criteria that users cannot fully specify up front, yet apply repeatedly across tasks. We argue this cross-session interaction data is a rich, underused signal for closing the gap to individual expertise. In this work, we propose test-time adaptation through human-agent interaction (TAHI), which integrates these signals into agent context and weights, and crystallizes each user's training and evaluation criteria via an evolving rubric module. We adapt agents to 30 individuals in two high-utility domains, writing and visual creation, on a total of 600 tasks. Our agents improve solo task success by 4.5-20.9% within only tens of tasks. Meanwhile, our evolving rubric module serves as a scalable annotation tool, creating evaluation rubrics that catch 16.0-22.3% more failures than those from LMs or humans alone. While agents are adapted towards individuals, we show these personalized agents also produce improvements in success of up to 8.8% that generalize across users.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04141
PDF
-
Environment Evolution for Terminal Agents
2026-09-03 17:26:33Zhiyuan Fan, Tinghao Yu, Yuanjun Cai, Jiang Zhou, Jiangtao Guan, Jincheng Liu, Yun Yang, Dingxin Hu, Zhuo Han, Xing Wu, Feng Zhang, Lilin WangAbstract
Scaling interactive and verifiable environments is critical for training terminal agents. As frontier models become more capable, environments synthesized from scratch become less challenging and thus provide limited learning signals. Recent co-evolution methods iteratively synthesize environments near the model's learnable frontier based on weaknesses exposed during rollouts. However, their dependence on on-policy rollouts limits generalization and the continuous provision of learning signals as the model becomes stronger. In this paper, we propose environment evolution, which incrementally increases environment difficulty off-policy and schedules the evolved environments generation by generation during training to provide continuous learning signals. We derive three evolution directions that influence environment difficulty from the multi-turn learning objective and then implement evolution along these directions through a loop-engineered multi-agent harness. Quantitative rollout experiments with Hy4 preview, Claude Opus 5, and GPT-5.6 Sol show that environment evolution consistently produces more difficult environments. We validate its effectiveness on Qwen3.6-27B and Qwen3.6-35B-A3B through simple long-horizon RL training, improving their performance by 14.4 and 18.0 percentage points on Terminal-Bench 2.1, respectively.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04128
PDF
-
BooM-VVT: Boosting Mask-Free Video Virtual Try-On with Image-Level Pseudo Data
2026-09-03 17:22:33Wei Zhang, Xin Li, Peishu Shi, Jialin Gao, Xuekang Peng, Zhichao Lian, Yeying JinAbstract
Video virtual try-on (VVT) aims to generate realistic videos of a person wearing a target garment. Recent methods leverage a keyframe-driven video generation paradigm to improve in-the-wild performance, yet they still rely on masks to localize try-on regions, making them vulnerable to large motions and severe occlusions. Although mask-free image-based try-on methods have shown promising results by leveraging large-scale pseudo data, extending this paradigm to videos remains difficult, as constructing video-level pseudo data is prohibitively expensive. Furthermore, coarse keyframe sampling and the scarcity of multi-view try-on data limit existing keyframe-driven methods in maintaining garment consistency and handling diverse try-on tasks. To address these challenges, we propose BooM-VVT, a mask-free VVT framework built upon the keyframe-driven paradigm. To achieve mask-free VVT, we introduce a multi-stage training strategy that leverages image-level pseudo data for mask-free localization learning, substantially reducing the need for costly video-level pseudo data. To improve garment consistency, we propose Garment-Sensitive Keyframe Sampling, which selects keyframes based on garment-relevant body regions to better capture garment appearance. We further introduce Frame-Shared 3D-RoPE to establish spatiotemporal correspondences between keyframes and target video frames for accurate garment-detail transfer. Finally, we construct OmniView, a large-scale multi-view try-on dataset to support reliable try-on video generation under complex camera viewpoints and diverse try-on tasks. Extensive experiments demonstrate that BooM-VVT achieves superior temporal consistency and garment fidelity over existing methods. Project page: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04120
PDF
-
The Shape of Time: Video-Token Contrast for Temporal Understanding in VideoLMs
Abstract
Seeing frames in order does not mean representing time. Modern VideoLMs receive ordered video streams, yet their main supervision acts on generated text rather than video-token representations where event dynamics should first emerge. This mismatch allows models to learn temporal answers from shortcuts such as objects, scenes, and language priors, without requiring internal video representations to capture event progression. To address this, we propose VT-Contrast, a representation-level temporal counterfactual objective for VideoLMs. Its design asks where temporal supervision should act and what temporal differences it should expose. VT-Contrast supervises selected late-layer last-frame video tokens, where temporal information is expected to be integrated before language generation, and contrasts order-preserving views with same-video reordered counterfactuals graded by Kendall tau distance. It requires no architectural changes, is compatible with diverse VideoLM training tasks, and improves overall performance across temporal understanding benchmarks. Our code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2609.04110
PDF
-
Why Gated DeltaNet Survives 4-Bit Quantization: NVFP4 W4A4 for the Recurrent Half of a Hybrid 27B LLM
2026-09-03 17:04:26Sergii Kozyrev, Davyd MaiborodaAbstract
Hybrid LLMs pair softmax attention with linear-attention layers such as Gated DeltaNet (GDN), whose recurrent state summarizes the context in fixed size. Early community 4-bit quantizations of Qwen3.8-27B (48 GDN layers, 16 attention layers) left the GDN block in 8- or 16-bit precision -- especially its decay and write-strength gates -- on the intuition that errors in a recurrence accumulate over long contexts. We test that intuition by building Minima: NVFP4 W4A4 on all 496 linear layers, GDN included. Across perplexity at 4K/32K, MMLU-Pro, GSM8K, AIME'25, GPQA-Diamond, LiveCodeBench, and RULER retrieval to 64K, Minima matches BF16 within seed noise (5-task average -0.52) while being the smallest (17.5 GiB) and fastest-prefill (+14-19%) recipe we compare, and its 32K perplexity gap shrinks with position. A four-part mechanism study explains why: (i) NVFP4's 16-element block scaling localizes the residual stream's extreme outliers, equalizing activation error across layer roles; (ii) the supposedly fragile gate projections are the least sensitive -- softplus/exponential and sigmoid parameterizations compress ~11% GEMM error to ~2% output error; (iii) the delta-rule recurrence holds injected noise at a flat plateau over 32K tokens and forgets a state impulse within hundreds of steps, because each write overwrites the state along the current key direction; (iv) the per-token quantization cost washes out with context instead of compounding. We also repair a global-scale mismatch that arises when per-module-calibrated NVFP4 checkpoints are served by kernels that fuse those modules into one GEMM, and show calibrated FP8 KV-cache scales are performance-free. The result: a practical recipe -- quantize everything, ship KV scales -- and a mechanistic account of why the recurrent half of a hybrid LLM is the easy half to quantize. Checkpoint: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.04098
PDF
-
Adaptive Vision-Language Grasping via Composable Foundation Priors and Generalizable Grasp Synthesis
2026-09-03 17:03:11Sixu Yan, Shikang Wang, Binhua Huang, Xuanlai Tang, Guohua Fan, Fan Huang, Haoxuan Li, Yongkang Li, Yuhan Li, Bencheng Liao, Zeyu Zhang, Wenyu Liu, Hangxin Liu, Xinggang WangAbstract
This paper proposes AdaRoboVLG, a task-adaptive Vision-Language-Grasp (VLG) framework that supports generalizable grasp synthesis across different robotic hands. Unlike existing VLG methods that tightly couple foundation models with end-to-end grasp policies, AdaRoboVLG learns an efficient generalizable base policy that generates and evaluates physically feasible grasp candidates through explicit kinematic mapping and force-closure-based stability estimation, while offloading task-dependent understanding to specialized foundation-model modules. These modules provide composable priors that are integrated into the grasp synthesis process, enabling contextually adaptive grasp synthesis without retraining the underlying grasp policy. Through extensive simulation and real-world experiments, we demonstrate that (i) the base policy exhibits efficient learning and strong cross-hand generalization, (ii) the framework effectively incorporates spatial, cognitive, and temporal priors to address three representative grasping challenges without compromising grasp synthesis performance compared to state-of-the-art methods, and (iii) these priors can operate jointly to enable functional grasping in cluttered and dynamic environments. These results indicate that decoupling physical grasp synthesis from task-dependent understanding provides a scalable paradigm for robotic grasping, allowing future advances in foundation models to be directly translated into improved grasp capabilities without redesigning or retraining the underlying grasp policy. Supplementary videos are available at this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2609.04096
PDF
