Tracking
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HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
2026-08-13 17:59:40Dairu Liu, Zekun Qi, Jiayu Zeng, Ruixi Yu, Yu Guan, Yintianrun Zhang, Xuchuan Chen, Sikai Liang, Zekai Li, Chenghuai Lin, Xinqiang Yu, Wenyao Zhang, He Wang, Li YiAbstract
Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-frame pose differences but miss the physical artifacts that matter most, particularly unstable support and incorrect contacts such as foot skating and mistimed touch-downs. Meanwhile, widely used test suites are small and lack the diversity needed to stress contact-rich, long-horizon behaviors. We introduce HumanTracker to make humanoid tracking evaluation both perceptually aligned and scalable. The HumanTracker benchmark contains approximately 153 hours of optical motion trajectories from multiple professional performers, organized into four motion families with text labels for fine-grained diagnosis. We further propose HumanScore, a preference-aligned metric trained on 12K motion pairs containing 24K motions. Across representative state-of-the-art trackers, HumanScore better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.
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URL
https://arxiv.org/abs/2608.13555
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How Good are Foundation Models in Longitudinal MRI Disease Progression Reasoning?
2026-08-13 14:35:20Wafa Al Ghallabi, Ritesh Thawkar, Sara Ghaboura, Omkar Thawakar, Numan Saeed, Dana Al Nuaimi, Ajnas Alkatheeri, Salman Khan, Fahad Shahbaz KhanAbstract
Magnetic Resonance Imaging (MRI) interpretation is fundamental to clinical decision-making, requiring radiologists to integrate multi-view anatomical planes across sequential timepoints while precisely localizing interval changes. However, existing vision-language benchmarks remain confined to single-timepoint, single-view interpretation, failing to capture the temporal-spatial reasoning essential to radiologic practice. We introduce the Time-Aware Multi-View MRI Benchmark, an evaluation framework unifying multi-view anatomical input, temporal reasoning across longitudinal scans, and structured localization guidance. The benchmark comprises 3,920 expert-verified question-answer pairs derived from 890 patients across over 3,200 longitudinal MRI timepoints, drawn from seven clinical cohorts covering glioblastoma, neurodegeneration, vestibular schwannoma, and brain metastases, in open-ended, multiple-choice, and binary formats, requiring models to identify anatomical regions of maximal change, characterize progression across sequences and views, and provide structured guidance specifying boundaries, imaging features, and confounders. Experiments across 16 vision-language models reveal moderate temporal alignment but systematic failure on change direction recognition and volumetric quantification, while multi-view inputs improve spatial localization yet degrade temporal reasoning in compact architectures. Our benchmark provides a systematic framework for evaluating progression tracking, interval change localization, and temporal ordering, which are essential for clinical deployment. Code, evaluation splits, and the dataset are available at: this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2608.13309
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TsuGO: Probing Search Efficiency in LLM Reasoning via Go Life-and-Death Problems
2026-08-13 13:24:47Shunwen Bai, Ziping Ma, Chaoyang Zhang, Yarong Wang, Jiale Liu, Zhen Qin, Qingpei GuoAbstract
The evaluation of LLM reasoning is moving from final-answer accuracy to process-level assessment, yet existing methods still fail to capture how models plan reasoning paths and allocate reasoning resources--that is, how they organize search. Prior process-level methods focus on the coherence and redundancy of chain-of-thought (CoT), and most benchmark tasks have a single objective solvable by static capabilities such as derivation and tool use, leaving search organization unmeasured. We introduce TsuGO, a process-level reasoning benchmark for evaluating Search Efficiency in LLM reasoning through Go life-and-death problems. These problems provide closed and verifiable solution spaces with an inherent adversarial structure, making candidate generation, response checking, branch comparison, and backtracking necessary parts of reasoning rather than incidental trace patterns. By constraining the solution space, TsuGO disentangles domain knowledge from search organization, parses CoT into a structured search tree, and reports Search Efficiency together with Token Efficiency and other diagnostic metrics and visualizations. Experiments show that current LLMs remain far from stable tsumego solving: stronger models succeed by finding the correct candidate earlier and sustaining effort on productive branches, but most models still behave much closer to unguided search algorithms than to neural-guided KataGo. Longer CoT or higher Token Efficiency does not necessarily imply better search. Our results identify search organization and reasoning-resource allocation as missing dimensions in LLM reasoning evaluation.
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URL
https://arxiv.org/abs/2608.13221
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FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction
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Aerial physical interaction requires aerial manipulation platforms to generate large interaction forces and torques while maintaining precise end-effector control. However, conventional underactuated aerial manipulators suffer from strong position-attitude coupling, whereas fully actuated platform designs often face structural complexity, limited payload capacity, and insufficient torque output. This paper presents FAM-DQ, a dual-quadrotor based fully actuated aerial manipulator designed for high-torque physical interaction tasks. By mounting two quadrotor propulsion modules at the ends of a central frame through passive joints, while using a gear-driven servo to regulate the pointing direction, FAM-DQ achieves decoupled $6$-DoF end-effector control with omnidirectional manipulation capability and enhanced torque output. Experiments including trajectory tracking, attitude tracking, static torque measurement, and screw driving validate the proposed design. FAM-DQ achieves a maximum torque of $1.019~\mathrm{N}\cdot\mathrm{m}$ with a total mass of $0.447~\mathrm{kg}$, corresponding to a torque-to-mass ratio of $2.28~\mathrm{N}\cdot\mathrm{m/kg}$.
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URL
https://arxiv.org/abs/2608.13220
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NARU: A Benchmark for NARrative Evolution and Cultural Nuance Understanding in Japanese Extreme Long Video
2026-08-13 13:13:43Yuheng Huang, Jianlang Chen, Jiayang Song, Hua Qi, Aza Kai, Vincent Markert, Edison Marrese-Taylor, Jianjun Zhao, Lei MaAbstract
Long-form video understanding encompasses tasks that go beyond retrieving isolated events, including tracking an evolving narrative and interpreting social meaning that may remain implicit. However, existing benchmarks rarely evaluate these capabilities jointly, particularly in high-context, non-English media. To address this gap, we introduce NARU, a benchmark designed to evaluate Narrative evolution and Reasoning on cultural Understanding in Japanese long-form video. NARU consists of 1,481 questions grounded in 155 videos totaling 146.8 hours, spanning four narrative and five cultural dimensions. To construct the benchmark at this scale, we propose a hierarchical memory-based annotation pipeline that transforms raw video into structured event, narrative, and cultural annotations, then generates questions via task-oriented synthesis and iterative shortcut removal. The construction process includes two native-speaker verification stages involving 68 annotators. Evaluations across eight model configurations reveal substantial limitations in both long-range narrative integration and culturally grounded reasoning. By exposing these persistent gaps, NARU offers a systematic testing ground for developing MLLMs capable of reliably interpreting long-form, high-context video.
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URL
https://arxiv.org/abs/2608.13210
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A Controlled Study of Self-Supervised Image and Video Pretraining under Limited Resources
2026-08-13 12:47:36Brun\'o B. Englert, Gijs DubbelmanAbstract
Visual foundation models are a cornerstone of image and video understanding but typically require large amounts of data and computation. The current scale required for pretraining visual foundation models may be unsustainable or unnecessary, and significant benefits arise when effective models can be obtained with fewer resources. To better understand how self-supervised learning (SSL) objectives behave under resource constraints, we conduct a controlled study of image and video SSL objectives under matched data, architecture, and compute budgets. We compare contrastive, reconstruction, feature-prediction, and diffusion objectives and evaluate both standalone and jointly trained image-video SSL formulations across a diverse set of image and video understanding tasks. Our results show that DINOv2-style pretraining consistently provides the strongest overall performance under limited resources. Furthermore, combining DINOv2 with video SSL objectives such as VideoMAE substantially improves image classification and segmentation performance, but degrades video tracking and camera-pose estimation performance, revealing an important tradeoff between semantic and geometric representation learning. These findings suggest that combining image and video SSL objectives can be beneficial in resource-limited settings, while highlighting the need for improved methods that better balance semantic, temporal, and geometric supervision.
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URL
https://arxiv.org/abs/2608.13183
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MergeOver: Post-Training Token Merging for Recursive Vision Transformers
2026-08-13 12:15:10Junseo Kim, Uraz Odyurt, Amirreza YousefzadehAbstract
Vision Transformers (ViTs) demonstrate exceptional performance in computer vision but suffer from large parameter counts and quadratic computational complexity, severely limiting their deployment on resource-constrained edge hardware. While recursive weight-sharing reduces parameter counts and token merging mitigates computational and memory bottlenecks, integrating these two paradigms without costly retraining is non-trivial, leaving this intersection largely unexplored. We propose MergeOver, a post-training approach that integrates Token Merging (ToMe) into the recursively weight-shared Sliced Recursive Transformer (SReT). Through an Unmerge tracking stack, constraint-safe merge-rate adjustment, and synchronised token-mass tracking across spatial permutations, MergeOver resolves the spatial and merging constraints of this integration. We further employ a stage-wise single-shot schedule that performs token reduction at the first block of each stage and maintains a fixed sequence length throughout its subsequent recursive iterations. Benchmarked on ImageNet-1K, our selected configuration reduces top-1 accuracy by 1.47 percentage points. On the GPU, it reduces peak activation memory by 37.3% and 38.4% at batch sizes 1 and 16, while throughput decreases by 21.7% at batch size 1 but increases by 21.7% at batch size 16. On a Raspberry Pi 5 (ARM CPU), it reduces latency by 2.4% and 17.6% at batch sizes 1 and 16. These results show that MergeOver can recover a meaningful part of the throughput and memory cost that recursive weight-sharing introduces, without retraining, and provides a baseline for combining token merging with hierarchical recursive transformers.
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URL
https://arxiv.org/abs/2608.13141
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H-VAEP and H-xT: Valuing Offensive On-the-Ball Actions in Handball by Estimating Probabilities
2026-08-13 08:05:43Julius Broermann, Oliver M\"uller, Michael D\"oring, Jochen BaumeisterAbstract
Traditional player evaluation in professional handball relies on basic box-score metrics or heuristic indices, which fail to credit the multi-player build-up chain. While football (soccer) analytics has adopted Expected Threat (xT) and Valuing Actions by Estimating Probabilities (VAEP), these event-based action valuation frameworks have not yet been adapted to handball. In this paper, we present the first comprehensive adaptation and evaluation of xT and VAEP for handball, utilizing five seasons of tracking-derived event data from the Handball Bundesliga. We develop Handball-xT (H-xT) using a handball-native court zoning layout, demonstrating via simulations that it is systematically more robust than standard rectangular grids. We optimize Handball-VAEP (H-VAEP) by tailoring its feature space and selecting the context length to limit team-identity leakage. Our evaluation shows that H-VAEP yields exceptionally stable, discriminative, and intuitive player ratings that highlight build-up play. Finally, we release our complete code repository to help professional clubs deploy these models.
Abstract (translated)
URL
https://arxiv.org/abs/2608.12926
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When Your Agent Opens the Chat App: Agent-Controlled Search over Raw Chat Logs Rivals Structured Memory
2026-08-13 07:10:22Ruizhe Li, Licheng Zhang, Benfeng Xu, Mingxuan Du, Zheren Fu, Weidong ChenAbstract
Agent-memory systems increasingly buy retrieval quality with structure, transforming raw conversation histories into summaries, embeddings, trees, or knowledge graphs before any question is asked. We ask how much of that benefit comes from the structure itself, rather than from competent retrieval over the raw history. We present ReFind, an agent-controlled search interface that builds no semantic structure at all: it leaves the conversation archive unmodified, indexes it lexically at turn granularity, and combines a generic iterative keyword-search loop with four chat-native controls grounded in empirical refinding work: session-aware rank fusion, local context expansion, temporal narrowing, and skipping already-inspected sessions. A separate reasoning stage answers from the collected evidence. Across a broad suite of conversational-memory tasks (single- and multi-hop QA, event ordering, and fact consolidation), roughly 2,800 questions on precise-retrieval and fact-tracking capabilities evaluated under the incremental multi-turn setting of MemoryAgentBench, ReFind attains the highest mean accuracy (58.2) of any system compared, above the strongest graph- and tree-based memory systems (HippoRAG 2, 53.2), all under a GPT-4o-mini backbone matched to every reused baseline. Controlled comparisons to single-shot BM25, a matched generic-agentic BM25 control, component removals, and agentic dense/hybrid variants separately support the roles of agent control, chat-native controls, and lexical retrieval. On LongMemEval-S/M, the same interface reaches 93.2 +/- 3.3 and 89.3 +/- 6.0 with GPT-5-mini. The results indicate that for precise, evidence-grounded questions over chat archives, much of the benefit credited to elaborate memory structures is recoverable by giving an agent controllable search over the unmodified record, with no LLM-based index construction at all.
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URL
https://arxiv.org/abs/2608.12888
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VOS-Agent: The 1st Place Solution for the 8th LSVOS Challenge
2026-08-13 02:08:00Canyang Wu, Jinrong Zhang, Xusheng He, Ce Bian, Xianjing Han, Jianlong WuAbstract
Complex video object segmentation requires robust target propagation under severe occlusion, disappearance and reappearance. Although SAM3 provides strong promptable mask propagation, a uniform inference path remains unreliable for tiny targets with insufficient visual evidence and semantic-dominated targets whose identities depend on explicit attributes. To this end, we present VOS-Agent, a collaborative framework that retains SAM3 as the shared dense segmentation module and conditionally activates specialized agents according to target characteristics. A Target Perception and Routing Agent assigns each sequence to a regular, tiny, or semantic-dominated route. Tiny targets are supported by a Visual Tracking Agent through confidence-aware box prompts, while semantic-dominated targets are handled by an MLLM-based Semantic Agent through description-guided localization and candidate verification. On the MOSEv2 test set, VOS-Agent achieves 69.82% on the official $\mathcal{J}\&\dot{\mathcal{F}}$ metric and ranks first in the MOSEv2 Track of the 8th LSVOS Challenge at ECCV 2026.
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URL
https://arxiv.org/abs/2608.12721
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Alignment Drift in Single-Model Speculative Decoding for ASR: Mechanism, Correction, and Cost
2026-08-13 01:34:38Xinyu Wang, Huapeng Zhou, Ziyu Zhao, Silin Meng, Ke Bai, Dongming Shen, Xiao-Wen Chang, Alex SmolaAbstract
Speculative decoding speeds up generation by letting a cheap draft propose several tokens that a target model checks in one pass. In the single-model form, the draft is a lightweight module attached to the target rather than a separate model. Applying this design to Automatic Speech Recognition (ASR) introduces an extra problem. The draft can read the whole audio at every step, yet its proposals get worse as it runs on its own. Access is not localization. The accepted text keeps the transcript position explicit, but the draft must also track the changing audio position. In the primary matched comparison, per-step audio access changes the first proposal modestly but roughly doubles later-proposal acceptance. Fixed-width windows show that the audio position explains part of this gap. A correctly placed window recovers continuation, while an equally narrow window at the wrong position reduces it. Late-draft median error reaches 21 frames in the hardest reported condition, while target attention during verification stays within a 2-frame median. We test two ways to reduce this drift. The first reads the audio position from verification attention and uses it to guide the next draft round. It saves time only when the extra accepted tokens offset the readout cost. The second is AnchorDraft, which teaches the draft to track the audio position during training without changing the inference graph. The trained draft improves end-to-end speed at both tested target scales. These results show that ASR self-speculation depends on token prediction, audio-position tracking, and draft cost.
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URL
https://arxiv.org/abs/2608.12703
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Excitation-Supervised Closed-Loop Self-Calibration and Target Seeking for an Unknown-Pose Range-Bearing Relay
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A vehicle seeking a hidden target through a range-bearing relay of unknown position and yaw must decide, online, whether its own motion has already made the relay calibration trustworthy, and what to do when it has not. Two distinct vehicle-relative observations are known to remove the calibration gauge and make the target's relay-local packet globally actionable (arXiv:2608.09464), but that statement is static: it classifies a stored window only after the fact. This paper supplies the closed-loop layer: we show that the trajectory-spread margin $S_v$ that governs identifiability is simultaneously a finite-noise seed-accuracy bound, a local-vector variance decomposition, and a circle-geometry excitation budget, and we use it to supervise an excitation-reset controller. An excitation-supervised algorithm retriggers exploratory motion whenever the spread certificate is insufficient, projecting the target-seeking input away from the excitation's push, and otherwise proceeds to unrestricted target seeking. Under explicit sampling assumptions the supervision rule provably acquires any required excitation in finite time; in the noiseless local regime with positive excitation decay, estimator convergence yields target-seeking convergence after certification; and the threshold is selected from a desired calibration-accuracy level rather than chosen heuristically. Closed-loop simulation, paired Monte Carlo comparisons, a spread-threshold ablation, and a ROS 2/Gazebo software-in-the-loop experiment with sensing delay validate the approach. A decay-rate sweep shows that supervision matters when a fixed schedule's decay outruns the unknown time-to-adequate-excitation: over 100 paired trials the fixed baseline's yaw RMSE rises from 0.010 to 0.065 rad and success falls to 56%, while target-tracking error remains insensitive; supervision keeps yaw RMSE between 0.0095 and 0.0191 rad with 100% success.
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URL
https://arxiv.org/abs/2608.12528
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GUIDE: Governed Unified Intelligence for Document-to-Artifact Generation in Enterprise Settings
2026-08-12 14:52:33Shivali Dalmia, Sumukha Thoppanahalli, Mohammadreza Sediqin, Abhishek MukherjiAbstract
Enterprise guideline documents are heterogeneous and multimodal, combining narrative text, complex tables, and embedded images. Existing LLM and VLM systems face hallucinated content, table structure degradation, and lack governed workflows extending beyond extraction to validation and artifact generation. This leaves enterprises to perform this manually, consuming 2-3 days per document. To address this, we introduce GUIDE, a governed multi-agent framework built on a shared versioned rule store with schema-validated inter-agent contracts and end-to-end provenance tracking. Six specialized agents handle parsing, VLM-driven extraction, consistency checking, evaluation, human-in-the-loop (HITL) escalation, and persona-tailored artifact synthesis. Evaluated on 120 real-world enterprise guideline documents, GUIDE achieves 96% document success, extracts 3,896 rules with 71.4% auto-approved, produces 812 deployment-ready artifacts, and reduces turnaround to 40-125 minutes per document.
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URL
https://arxiv.org/abs/2608.12133
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LoongReflect: Boosting Long-Horizon Reflection in Search Agents via Global Perspective Distillation
2026-08-12 11:56:03Zhixin Zhang, Xinke Jiang, Zhibang Yang, Weixuan Xu, Guohong Qiu, Xu Chu, Junfeng Zhao, Yasha WangAbstract
Large language model agents increasingly rely on long-horizon reasoning to solve complex tasks involving planning, tool use, and memory. A critical capability in such settings is reflection: assessing trajectory progress, identifying missing evidence and unreliable intermediate states, and deciding whether to continue, revise, or abandon the current branch. Learning effective reflection, however, is challenging because reflection is performed locally within the current branch, whereas its utility can only be determined by its contribution to the final trajectory outcome. This local-global mismatch makes outcome-based reinforcement learning provide only local, sparse and delayed supervision for reflective decisions. To solve these, we propose LoongReflect, a training framework that formulates reflection as a memory-control policy. The agent operates over a reversible trajectory tree using explicit reflect and backtrack actions. Reflection consolidates verified facts, missing evidence, and branch-specific risks into working memory, while backtracking removes an unreliable branch from the active context and preserves a concise corrective lesson. To learn this policy, LoongReflect combines two complementary signals through a look-ahead, extragradient-style coordination mechanism. A fast channel distills globally informed reflective behavior from a privileged teacher, with supervision restricted to reflection and backtracking tokens. A slow channel optimizes complete trajectories using outcome-based GRPO, aligning local control decisions with final task success. Experiments on multi-hop retrieval-augmented generation and mathematical reasoning benchmarks demonstrate consistent improvements over outcome-only reinforcement learning and self-distillation baselines.
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URL
https://arxiv.org/abs/2608.11967
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Seed2GS: Camera-Free, Training-Free Object Extraction from 3D Gaussian Scenes via a Single Reference-View Grounding
2026-08-12 11:16:44Zongjian Ding, Yudong Gao, Jiale Liu, Xinglin Yu, Junxing Ren, Dong Wei, Yajing Chen, Shan Huang, Mingjun Cheng, Min LiAbstract
Extracting a target object from a pre-built 3D Gaussian Splatting (3DGS) scene enables interactive 3D editing. Existing methods either train for tens of minutes per scene, sacrifice accuracy, or require original reconstruction cameras that pre-built assets may not include. We present Seed2GS, which achieves the highest reported LERF-MASK accuracy without original reconstruction cameras or scene-specific representation training. Its key insight is to separate target identity from 3D coverage. QD-SAM3 selects one reliable reference mask from several open-vocabulary candidates, fixing identity once. Seed lift and visibility-adaptive virtual orbits then expose the object from new viewpoints, while tracking propagates the seed without repeated detection. Because the scene remains frozen, these masks supervise only one temporary foreground logit per Gaussian. On LERF-MASK, Seed2GS reaches 92.1% mean intersection over union (mIoU) with a measured compute-only latency of 9.3 seconds, 3.7 points above the strongest scene-trained baseline and 7.6 points above the closest camera-free baseline. With one fixed test reference per scene, the complete pipeline retains 91.1% mIoU; replacing its predicted seed with a ground-truth mask improves mIoU by only 0.72 points. On 3D-OVS, Seed2GS reaches 95.7% mIoU.
Abstract (translated)
URL
https://arxiv.org/abs/2608.11928
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Large Language Models Can Follow Instructions, But Not Many at Once: Phase Transitions in Compositional Constraint Satisfaction
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Large language models are increasingly deployed in settings that require simultaneous adherence to multiple explicit constraints - reasoning structure, safety boundaries, output schemas. Individual constraints are handled proficiently, but the compositional regime, where many must hold jointly, remains poorly characterized: how rapidly does performance degrade, what governs the degradation, and can the collapse be mitigated? We introduce Constraint Saturation Evaluation (CSE), a procedurally generated benchmark that systematically varies the number of simultaneous constraints (k), with every constraint scored by a deterministic, rule-based verifier and zero LLM-judge involvement: 15 models, 36 constraint types, 369,753 checks at k=1-12. Three findings emerge. First, per-constraint pass rate decays gradually and predictably, while the chance of satisfying all k constraints collapses - a model passing individual constraints at ~41% at k=8 succeeds on all eight just 5.7% of the time. Second, constraints do not degrade equally: structural constraints lose 2x more baseline capability per added constraint than lexical ones, ordered by a comprehension-maintenance gap that separates constraints requiring sustained tracking from binary decisions immune to composition. Third, failures are nearly independent, which is what makes the accumulation multiplicative; the residual coupling that does exist tracks shared output features rather than pairwise interference - a wrong sentence count fails every constraint that reads it. Reliable instruction following breaks down beyond 5-6 simultaneous constraints: probe-level success falls below 50% at 7 constraints for the strongest model, and at 3 or fewer for 12 of 15.
Abstract (translated)
URL
https://arxiv.org/abs/2608.12426
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From Self-Normal-Positioning to Omni-Directional Tracking: Real-Time Surface Modeling Enabled Probe Tilt Control for Robotic Ultrasound Imaging
Abstract
Ultrasound (US) provides real-time, radiation-free imaging, but the image quality depends strongly on how the probe is oriented against the patient body. Robotic US can reduce operator workload and improve acquisition consistency; however, most existing systems focus on normal positioning, where the probe is maintained perpendicular to the local surface. This constraint is inadequate for examinations like echocardiography, where obtaining a diagnostic view requires a non-normal probe angle. Consequently, a clinically useful robotic system must sense the local surface in real-time and preserve the desired probe orientation. Here, we propose an omni-directional probe-orientation control framework that integrates RGB-D perception, local-surface modeling, and task-space orientation control. The surface model fuses multi-view point clouds and provides a quadratic estimate of the local surface. A desired imaging direction is then encoded relative to the normal, enabling the probe to track arbitrary angles. The framework was evaluated through flat-surface tracking, phantom target-angle recovery, and in-vivo tracking of an expert selected view. Results show that the mean angular tracking error was 1.06 +- 0.66 deg. The system recovered a non-normal tilt angle of up to 44.39 +- 2.59 deg relative to the surface normal, and acquired the desired heart chamber view in the phantom and in-vivo experiments.
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URL
https://arxiv.org/abs/2608.11409
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Capturing Uncertainty in Human Motion for Representation Learning in Soccer
2026-08-11 17:59:10Yizhou Xu, Lars Bretzner, Tiesheng Wang, Atsuto MakiAbstract
This paper presents a self-supervised representation learning framework for understanding 3D skeleton-based human motion in soccer, using future motion prediction as the learning objective. Since human motion is inherently uncertain, accounting for multiple plausible futures is essential for capturing the underlying motion dynamics and learning effective representations. To this end, we introduce a conditioning module for motion prediction that models a probabilistic distribution over discretized future motions in 3D Euclidean space, learning multimodality with explicit supervision from future trajectories. Experiments on large-scale soccer player tracking data show that our approach substantially improves motion prediction accuracy. Moreover, the learned representations effectively transfer to multiple soccer downstream applications, demonstrating strong cross-task generalization.
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URL
https://arxiv.org/abs/2608.11203
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Quantum Coordination Advantages in AI State-Tracking Tasks: Semantic Compilation and Latent Memory
2026-08-11 15:32:15Ming YangAbstract
We prove inference-time quantum coordination advantages for specified AI state-tracking tasks. A solver compresses semantic history into a future-accessible boundary state and later answers a query. We count communication $B$, persistent instance-dependent memory $M$, and local work $D$; classical recurrence, caches, tools, and recomputation are allowed and charged. The central result is a boundary-preserving semantic-compilation theorem. It maps a finite one-way, streaming, or adaptive causal task into a semantic AI interface while preserving event order and access to past input. Classical boundary-state lower bounds and quantum-memory upper bounds transfer up to explicit compiler overhead, independently of the finite-precision recurrent architecture. Two applications have classical semantics. Matched-entity synopsis QA inherits the hidden-matching separation between $O(\log N)$ qubits and $\Omega(\sqrt{N})$ classical boundary bits. Continual requirements auditing inherits a Max-$k$SAT streaming separation: a recurrent solver uses $O(\log^5 n\log(1/\delta))$ qubits and polylogarithmic classical workspace to obtain a $0.7172$-approximation, whereas every classical one-pass finite-information solver attaining that ratio requires $\Omega(\sqrt{n})$ coordination width. As a quantum-native compiler test, a stabilizer latent-state dialogue uses $n$ qubits, while every exact finite-state classical causal online realization satisfies $B+M \ge \frac{1}{2}n^2+(\frac{3}{2}-\log_2 3)n+O(1)$. The source protocols, streaming algorithms, and stabilizer witness are imported; the new result is their architecture-independent semantic transfer. These are memory and coordination separations, not runtime or empirical advantages for present-day language models. The stabilizer result assumes exact simulation and ideal noiseless quantum memory.
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URL
https://arxiv.org/abs/2608.11066
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HUI360: A 360{deg} Egocentric Dataset and Baselines for Human-Robot Interaction Anticipation
2026-08-11 15:22:14Raphael Lorenzo-Louis, Fabio Amadio, Bertrand Luvison, Serena IvaldiAbstract
As robots increasingly operate in human-populated environments, anticipating human intentions is essential for enabling proactive and socially aware behavior. Automatic anticipation of human-robot interactions is thus emerging as a crucial perception challenge for embodied agents. To this end, we introduce HUI360, the largest dataset for human-robot interaction anticipation in the wild and its set of baselines. The dataset was collected from a mobile robot, in the wild, over multiple days within a 3-month period, and in several environments, capturing natural, spontaneous behaviors from both passersby and users, and encompassing a diverse range of individuals. This variety enables evaluating and improving the generalization capabilities of interaction anticipation models. We designed a pipeline and share code for automatic interaction annotation in arbitrary 360-degree equirectangular videos, along with interfaces for manual refinement. Using this pipeline, we release the HUI360 open set of 1M pre-processed annotations, including detailed 2D poses, facial keypoints, and segmentation masks, obtained using state-of-the-art computer vision methods and manually curated to ensure high-quality tracking and interaction annotation. Additionally, we release the raw panoptic 360-degree images captured from the robot's egocentric viewpoint (on demand, for research purpose only in compliance with GDPR). Finally, we establish benchmark baselines for interaction anticipation, including the first cross-dataset evaluations for this task: to this end, we also release 6M annotations for another existing in-the-wild outdoor dataset collected from a mobile robot (SSUP-HRI). Dataset and code can be found at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2608.11051
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