Detection
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Enabling Privacy-Preserving Natural Language Access to Industrial Smart Meter Data
2026-11-06 12:11:34Carlos Mart\'in-Abell\'an, Mark Kr\"ollAbstract
Energy management officers and grid operators increasingly rely on smart meter data for anomaly detection, performance monitoring, and strategic decision-making. However, extracting actionable insights from large-scale, heterogeneous telemetry databases requires advanced SQL and data engineering expertise, creating a critical bottleneck for non-technical personnel. Furthermore, the strict data privacy regulations and security constraints inherent to critical energy infrastructure often prohibit the routing of sensitive consumer data through cloud-based Large Language Models (LLMs). To address these challenges, we present OpenMeter, a schema-agnostic Multi-Agent System (MAS) designed to translate natural language queries into executable code and human-readable insights. This architecture lowers the technical barrier for day-to-day utility operations by empowering non-expert personnel to interact with complex databases through intuitive natural language dialogue, transforming raw telemetry into a highly valuable tool for routine grid workflows and strategic decisions. Multi-scenario ablation studies over this environment demonstrate that full multi-agent orchestration shows its largest observed accuracy gains on resource-constrained local hardware (+6.1 pp EX-R over the strongest single-agent configuration); at frontier scale, individual components retain value but should be enabled selectively, indicating that the cost of full orchestration is justified specifically where privacy demands local execution.
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URL
https://arxiv.org/abs/2611.09372
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Train on prefill, monitor at decode: Using sparse autoencoders for topic monitoring
2026-11-06 11:33:35Rishikesh Mallagundla, Pranav PatelAbstract
Topic monitoring is the task of labelling the topic of each token in a model's response during generation. Activation-based monitors that run at generation time have so far been trained to detect harmful content and are limited to two or three classes. We introduce TopicScope, a framework for training causal topic classifiers on SAE features that assign a topic to every token, so that the label can change partway through a response. We train three detector architectures on synthetic multi-topic conversations covering seven topics. Across Gemma-3 1B and 4B, monitors trained on features extracted from prefill hidden states were able to generalise to decoding. We also found that the classifiers are robust to perturbations, losing at most 5 macro-F1 points when off-topic asides are inserted, topics are removed or sections are reordered. Ablations conducted to understand the contribution of the SAE revealed that classifiers reaching baseline performance without it were several times larger. Our findings show that compact topic monitors can be trained inexpensively in prefill and deployed during generation. More broadly, our work shows where SAEs are useful beyond safety classification. Our code, dataset and checkpoints are available at this https URL and this https URL
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URL
https://arxiv.org/abs/2611.12935
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RegNC-Mamba3: Shared Structural Feature Learning Using Non-Causal State Space Principles for Multi-Modal Image Registration
2026-11-06 11:32:40Zhikang Li, Yan Wu, Xin Hu, Yi Dai, Ming LiAbstract
The main challenge of multi-modal image registration is shared structural feature extraction with higher accuracy and lower computational complexity. Compared with a State Space Model (SSM), the State Space Principles (SSP) formulation of Mamba-3 uses a more accurate discretization with lower truncation error while maintaining linear complexity. However, vanilla SSP is designed for natural language processing (NLP) and is not directly suitable for images. To address this issue, we propose a novel non-causal SSP (NC-SSP) with shared structure awareness and develop a coarse-to-fine registration method named RegNC-Mamba3. First, NC-SSP is designed to eliminate the dependence of the integral computation on the scanning path. By combining relative-weight normalization with aggregation over all circular scan paths, NC-SSP constructs a globally hidden state without long-range decay, which provides a wider receptive field and higher efficiency than the original Mamba-3. Second, NC-SSP is modified to strengthen the extraction of cross-modal structural features. When computing hidden states and feature interactions, we construct complex-valued sequences in NC-SSP by applying learnable Log-Gabor kernels, with different orientations to each head for frequency-domain modulation. This improves the perception of shared structural information across modalities and increases both registration accuracy and quality. Experiments on VIS-SAR and VIS-IR demonstrate that RegNC-Mamba3 outperforms the compared detector-based and semi-dense multi-modal registration methods.
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URL
https://arxiv.org/abs/2611.09336
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Keyline Detection with YOLO: Runway Perception for Vision-Based Aircraft Landing
2026-11-06 11:06:51Leander Fritsch, David R\"ugamer, Alexej KlushynAbstract
Modern object detectors can predict keypoints as per-object geometric features, but keypoints are inherently vulnerable to occlusion and truncation. Object edges can provide complementary information, often remaining observable even when partially occluded or when their defining endpoints leave the field of view. We therefore introduce object keyline detection, the task of predicting a fixed, semantically ordered set of infinite lines per object instance. Unlike the outputs of general line-segment detectors, each keyline is associated with an object instance and identified by a semantic index, providing a line-level analog of keypoints. To solve this task, we extend YOLO with keyline prediction parameterized in continuous Hesse-normal form $[\rho,\cos\theta,\sin\theta]$, and introduce Object Keyline Similarity (OKLS), which serves as an evaluation metric, target assignment signal, and regression loss. We instantiate this formulation on runway perception in vision-based landing, a motivating example containing semantic linear features that remain partially observable throughout the approach. Experiments show that our representation achieves the highest detection accuracy among four evaluated line parameterizations, and keylines integrate directly into standard YOLO heads as additional output channels without degrading keypoint performance or adding meaningful latency.
Abstract (translated)
URL
https://arxiv.org/abs/2611.09316
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T2I Models Rarely Invert Negation but Often Fail to Suppress Negated Concepts: Benchmarking Negation Suppression in Text-to-Image Generation
2026-11-06 10:56:01Akansha Gautam, Aparna Bharati, Mayank Vatsa, Richa SinghAbstract
Text-to-image diffusion models often fail to suppress explicitly negated concepts, such as a lamp for "a desk without a lamp." We introduce T2I-NSI, a benchmark and metric for measuring negation sensitivity in text-to-image generation. It pairs each negated prompt with a canonical positive counterpart and factorizes negation by linguistic form (lexical/semantic, morphological, syntactic) and target type (objects, attributes, relations, compositions, and nested cases). The benchmark contains 759,869 paired prompt atoms over a 5,082-object catalog, with 916,272 images (911,982 open-weights, 4,290 closed-source), scored by a Basic CLIP estimator and a Robust ensemble of CLIP, VQA and open-vocabulary detection. Negation sensitivity is low: open-weights generators score NSI <= 0.038, while GPT-Image-1.5 and Gemini-2.5-Flash-Image reach about 0.09. The dominant failure is under-suppression rather than misdirection. Inverse interpretation is essentially absent (0.00% across over 450K atom-model evaluations), whereas models render the concept under both prompts on 8-19% of atoms and only partly suppress it on a further 9-25%; most remaining atoms are too weakly rendered to label. A blinded human study (420 atoms, nine annotators) corroborates the near-absence of inversion and the high persistence rate, and a matched-prompt comparison shows the open-versus-closed gap (~3.5x) is not a prompt-generator artifact. Code and data: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2611.09304
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AnomSep: Bridging Optimization-Based Separation and Deep Neural Refinement for Anomaly Detection with Listenable Explanations
2026-11-06 10:34:08Koki Shoda, Jun Younes Louhi Kasahara, Qi An, Atsushi YamashitaAbstract
We propose AnomSep, which combines optimiza-tion-based separation with deep neural refinement to achieve accurate anomaly detection with listenable explanations. Anomaly detection requires no predefined anomalous categories, and understanding the basis for each detection helps security personnel assess the validity of each detection. End-to-end anomaly detectors can achieve high detection accuracy but output only scalar scores, and existing anomalous sound separation methods provide listenable explanations with limited detection accuracy. AnomSep first obtains preliminary normal-sound and anomalous-sound estimates through optimization-based separation using a dictionary learned from normal sounds in the target environment. Deep neural refinement then improves the preliminary estimates in a pretrained audio latent space. The separated anomalous sound serves as the listenable explanation, and its energy determines the anomaly score. Experiments on synthetic mixtures and real mixtures show improved separation quality over baseline separators. AnomSep achieves detection performance competitive with the end-to-end baseline and provides listenable explanations directly linked to each detection decision.
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URL
https://arxiv.org/abs/2611.09279
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AudioSphere: Towards Self-Supervised Spatial Audio Representation Models
2026-11-06 10:30:12Goksenin Yuksel, Marcel van Gerven, Kiki van der HeijdenAbstract
Recent audio embedding models learn representations that transfer across clip- and frame-level tasks, yet they operate almost exclusively on single-channel signals and are blind to spatial structure. Spatial audio models capture that structure but rely on clip-level supervision or contrastive objectives, yielding embeddings unsuitable for frame-level tasks like sound event detection and localization (SELD). We argue this dichotomy is not fundamental: patch-level spatial self-supervision can jointly learn acoustic and spatial features at both temporal granularities. We introduce AudioSphere, a multi-channel masked autoencoder trained on Ambisonics recordings that reconstructs both spectral content and directional cues via a joint spatiotemporal masking strategy that masks both time-frequency patches and intensity vectors. AudioSphere supports frame-level predictions while producing strong clip-level representations via aggregation. Alongside the model, we release RealSELD, a standardized benchmark for evaluating frozen backbones on real-world multi-channel SELD. AudioSphere enables, for the first time, SELD with a frozen self-supervised backbone, while matching or exceeding prior self-supervised audio embedding models on clip-level classification tasks spanning environmental sound, speech, and music, and on frame-level sound event detection. All code and data are available at this https URL and this https URL.
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URL
https://arxiv.org/abs/2611.09275
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Copies Are Not Confirmations: How News Duplication Fools LLM Judges and Continual Learners
2026-11-06 09:22:29Abdelkader Metales, Miriam Grabenheinrich, Aicha MetalesAbstract
Many news reports of a claim are copies of one source: wire stories, content shared within a media group, syndicated features and press releases. We ask whether LLM judges and continual learners treat such copies as independent confirmations. In 200,000 English CC-News articles, a MinHash detector links 18.9% to a near-copy from another outlet (precision 0.97 once boilerplate is removed); it links 92% of edited reprints to their originals but none of the LLM rewrites by phi4, Llama 3.2 or Gemini 2.5 Flash. Shown three identical reprints of a claim about an unknown person instead of one report, Llama 3.2 3B and phi4 14B raised the share of lies they accepted from 0.06 to 0.71 and from 0.21 to 0.90 and ignored a note that the reports came from one source; Gemini 2.5 Flash already believed a single report, and Gemini 2.5 Pro followed provenance notes and tables. In a simulated continual-learning stream, showing the judge one report per detected chain cut the copied lies it accepted by 0.10-0.24 across four judges, at a mean cost of no more than 4.2 percentage points of accepted truths. Against reworded copies, a test of how many of a report's named entities are absent from an earlier look-alike separates LLM rewrites from 100 labelled independent reports of the same event with AUC 0.98-0.99 and wrongly flags one; entity overlap alone does as well, TF-IDF and a current embedding model come close, and the test catches few natural same-source derivatives. With the miss patterns of generated rewrite networks, it cut the reworded-copy lies accepted from 0.67 to 0.20 (0.40 when the rewriter invents details). Counting reports or chains alone is not a reliable defence, the effect of provenance information depends on the judge, and colluding sources remain the open problem. Code and labels: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2611.09203
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FIND: Frequency Invariance Disentanglement for Test-Time Adaptation in LiDAR 3D Detection
2026-11-06 08:51:47Dongxiao Li, Zixuan Hu, Ling-Yu DuanAbstract
LiDAR-based 3D Object Detection (L3OD) is a fundamental 3D perception task, yet its performance is often compromised by domain shifts arising from diverse sensor configurations and environmental conditions. Existing Test-Time Adaptation (TTA) methods primarily leverage self-supervision in the spatial domain, yet they frequently confound semantic content with domain style due to the sparse, non-Euclidean nature of point clouds. To overcome this limitation, we propose FIND (Frequency INvariance Disentanglement), a novel TTA framework that precisely disentangles domain-invariant content from domain-specific interference within the frequency domain. Our methodology utilizes B-Spline fitting to construct locally adaptive filters integrated into a dual-stream architecture: an Invariant Stream extracts robust features to guide pseudo-labeling, while a Specific Stream enforces consistency against domain perturbations. By combining invariance-driven alignment with stability-guided regularization, our approach dynamically extracts robust domain-invariant features while suppressing domain-specific interference. Extensive experiments on cross-dataset adaptation and robust corruption benchmarks demonstrate that FIND significantly outperforms state-of-the-art methods. The source code is publicly available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.09170
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CoMET: Tracking the Shared Pose Error of Roadside Messages for Asynchronous Vehicle-Infrastructure Cooperative 3D Detection
2026-11-06 07:59:24Shuwei Sun, Jian Huang, Hui CaoAbstract
A roadside sensor can detect vehicles hidden from the ego vehicle, but a pose error shifts every detection in the same message. We study asynchronous vehicle-infrastructure cooperative 3D detection on V2X-Seq using only information available at decision time, without ground truth, future frames, or per-pair calibration offsets at inference. Objects seen by both sensors reveal the shared translation, but even at zero added delay, 38% of validation messages have no matched pair. We propose CoMET (Common-Mode Error Tracking), which estimates this translation over time. At each message arrival, CoMET matches vehicle and roadside detections, estimates the offset from mutually nearest pairs, and updates a Kalman filter for that sender. When no pair matches, the filter carries its estimate forward. The correction applies to all roadside boxes, including those unseen by the ego vehicle. The estimator has no learned parameters; a separate frozen head ranks the merged detections. Across four delays from 0 to 400 ms on 21 validation sequences, CoMET averages 66.63 bird's-eye-view AP at IoU 0.7, compared with 63.18 for the same late fusion using uncorrected online poses and 62.96 for the best intermediate-fusion baseline. Across five detectors from three architectures, CoMET gains 2.2 to 3.5 AP points over online poses and 0.3 to 0.6 over estimating the offset from the current message alone. We find that the benchmark uses a zero offset as a placeholder in 28% of validation messages and that its offset search reaches the boundary in 45% of the rest. These offsets affect the labels for objects seen only from the roadside. Under two alternative label references, CoMET improves on uncorrected online poses in every evaluated population. Retraining intermediate fusion with CoMET poses and corrected labels improves detection on all three architectures tested, with statistically significant gains on two.
Abstract (translated)
URL
https://arxiv.org/abs/2611.09121
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Semantic Extraction Framework for Goal-Oriented V2X Communication Supporting Safe Intersection Passage
2026-11-06 07:56:31Haoran Yang, Shan Lu, Takaya YamazatoAbstract
This paper proposes a transmitter-side semantic extraction framework for goal-oriented Vehicle-to-Everything (V2X) communication supporting safe intersection passage. Instead of transmitting raw sensory data, roadside infrastructure extracts task-relevant semantic information from video and traffic-signal sequences and organizes them into compact semantic packets for low-latency driving-decision assistance. The intersection-passing problem is formulated as a set of traffic tasks under Japanese traffic regulations, and the proposed pipeline generates perception and intent semantics through object detection, object tracking, region-of-interest (ROI)-based semantic extraction, and recommended-action generation. The framework is implemented and evaluated on a self-constructed, CARLA-based single-vehicle dataset collected under clear weather conditions. Experimental results show high recommended-action accuracy within the tested task set, while the mean processing latency remains below the frame interval of the 15~fps input video.
Abstract (translated)
URL
https://arxiv.org/abs/2611.09118
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ProtoCouncil: Multi-Encoder Anatomical Prototypes for Prostate Cancer Detection in Micro-Ultrasound
2026-11-06 06:33:28Mohammad Mahdi Abootorabi, Nooshin Maghsoodi, Armin Saadat, Obed Dzikunu, Zhuoxin Guo, Hannes Cash, Ferdinand Luger, Adam Kinnaird, Brian Wodlinger, Parvin Mousavi, Purang AbolmaesumiAbstract
Purpose: Micro-ultrasound ($\mu$US) is a promising modality for prostate cancer (PCa) detection, but identifying suspicious tissue depends heavily on clinical experience. Models trained on sparse, noisy core-level pathology offer little insight into their decisions and can fail under domain shift. Clinical use needs a traceable decision process and a flag for uncertain predictions. Methods: We introduce ProtoCouncil, in which three foundation encoders (MedSAM, DINOv3 and V-JEPA 2.1) learn case-based prototypes at three anatomical levels: whole gland, needle track and gland sectors. Prototypes are projected onto real training-core regions, and label-free fusion keeps every class logit as a bias plus an exact sum of prototype similarity contributions. Encoder disagreement triggers selective prediction. Results: In five-fold patient-level cross-validation (6,588 cores, 693 patients), ProtoCouncil reaches 82.9% AUROC for clinically significant PCa (csPCa, Grade Group $\geq$3), 4.3 points above the best previously published method. In zero-shot evaluation on two external cohorts, ProtoCouncil achieves higher all-cancer and csPCa AUROC than all previous methods. Nearest same-class exemplars match test-core tumor involvement better than random same-class cases. Externally, csPCa accuracy falls from 79% when encoders agree to 27% when two oppose the fused call. Abstaining on disagreement raises balanced accuracy by 7 and 15 points, while retaining 58% and 54% of the cores. Conclusion: ProtoCouncil grounds core-level predictions in exact similarity-based evidence from real, anatomically indexed training cases, which makes its reasoning interpretable. It achieves the highest csPCa AUROC across three cohorts and identifies unreliable predictions through encoder disagreement.
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URL
https://arxiv.org/abs/2611.09058
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Refer-CityFlow and M3Track: A Benchmark Dataset and Reference Framework for Language-Driven Multi-Target Multi-Camera Tracking
2026-11-06 04:39:55Phuong T. Nguyen, Hao Vo, Tam Bang, Hoang K. Tran, Hoang-Minh Dau, Mahshid Malazizi, Tuan-Anh Hoang, Mina Sartipi, Thanh-Nam Doan, Ngan Le, Hoang H. NguyenAbstract
Referring multi-object tracking enables users to specify targets through natural language, but existing Refer-MOT benchmarks primarily focus on single-camera settings. We formalize Referring Multi-Target Multi-Camera Tracking (Refer-MTMCT), where free-form queries specify identity-consistent trajectories to be recovered across a network of sequential, sparse-overlap cameras. We introduce Refer-CityFlow, a benchmark built on CityFlow's global cross-camera identity annotations and augmented with language queries requiring joint language grounding, cross-camera association, and spatio-temporal reasoning. Refer-CityFlow covers 96 videos from 40 roadside cameras with 660+ identity-consistent cross-camera trajectories, 4,362 trajectory-level descriptions, and 7,699 queries, including 1,699 real-user queries collected from 50 participants. Reference experiments on the four-camera Scenario 02 show that single-camera referring trackers reach 14.95-18.28 HOTA on real-user queries, while the evaluated cross-view method achieves about 0.05 HOTA in direct transfer. To establish reference performance, we provide M3Track, a modular multimodal reference framework in which a large language model (LLM)-based agent orchestrates interchangeable detection, tracking, and cross-camera association modules. M3Track reaches 44.10 HOTA and 65.40 IDF1 on the same real-user query set. The project repository is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.08976
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UAV-Based Computer Vision for Cattle Detection and Feed Bunk Spatial Analysis
2026-11-06 03:18:45Pedro Oliveira Torrente, Diego Giaretta de Paulo, Lucas Pascotti Valem, Jianglong Yan, Everton Castel\~ao Tetila, Jayme Garcia Arnal Barbedo, Liang ZhaoAbstract
Beef cattle production is central to Brazilian agribusiness and faces growing demands for efficiency, sustainability, and animal welfare. Precision Livestock Farming (PLF) offers tools to address these challenges, particularly through monitoring feeding-related spatial patterns in confined systems. Feeding management plays a decisive role in animal performance, yet its evaluation still relies largely on subjective, labor-intensive visual inspections that are hard to scale and prone to bias. This work proposes a computer vision framework based on Unmanned Aerial Vehicles (UAVs) to quantify cattle alignment and spatial dispersion at the feed bunk under real-world feedlot conditions. A UAV dataset was collected during flight campaigns at a commercial feedlot in Mato Grosso do Sul, Brazil. Images were manually annotated into cattle head and cattle back classes to support object detection and image-level spatial analysis of cattle distribution. You Only Look Once (YOLO) models, namely YOLOv8 and YOLOv11, were evaluated, with YOLOv8 small used for the downstream spatial analysis. The feed bunk region was segmented using the Segment Anything Model (SAM), and geometric metrics based on detected head positions were developed to characterize alignment, spacing regularity, and clustering. The selected detector achieved 84.30% mAP50 and 35.50% mAP50-95, with an inference time of approximately 2.7 ms per image on an NVIDIA RTX 5060 Ti GPU. The resulting metrics distinguished representative regular and irregular spatial distributions by Root Mean Square Deviation - RMSD (1.06 m and 4.26 m), Coefficient of Variation - CV (42.70% and 96.31%), and clustering (0 and 2 clusters), respectively. These findings indicate that the proposed approach can provide indicators for assessing feed bunk spatial patterns in PLF.
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URL
https://arxiv.org/abs/2611.08928
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FATHOM: World-Model-Guided Diffusion Action-Trajectory Selection for Sparse-Marker AUV Tracking
2026-11-06 02:40:08Xiaorui Wang, Zeyu Sha, Mingyang Yang, David Chen Wang, Feitian ZhangAbstract
Reliable relative tracking is fundamental to cooperative autonomous underwater vehicles (AUVs), yet remains challenging under nonlinear vehicle dynamics and degraded underwater visual conditions. Active light markers improve robustness to appearance variation, but provide deliberately sparse observations that can become incomplete or corrupted by occlusion, reflections, and detection noise during dynamic motion. To address the resulting partial-observation control problem, this paper proposes FATHOM, a world-model-guided diffusion action-trajectory selection framework for sparse-marker AUV tracking. FATHOM first integrates structured marker observations, inertial measurements, action history, and temporal dynamics into a predictive tracking belief using a multimodal task-supervised recurrent state-space model. A diffusion action prior then generates multiple expert-like multi-thruster trajectories, whose future tracking consequences are predicted through the learned latent dynamics. Rather than directly executing a generated trajectory, FATHOM selects the most favorable candidate under an explicit receding-horizon objective and continually updates the decision from onboard observations. Extensive offline analyses verify the learned predictive belief, multi-step world-model prediction, diffusion trajectory generation, and predictive selection. More importantly, comprehensive real-AUV experiments, including strong pose-based comparisons and component ablations, demonstrate robust autonomous tracking across nominal and challenging motions with naturally occurring partial marker visibility, while maintaining real-time onboard operation without motion-capture feedback.
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URL
https://arxiv.org/abs/2611.08898
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Localizing and Editing the Goal Representation of a Vision-Language-Action Model
2026-11-06 02:38:55Sudhanshu Srivastava, Faisal AqlanAbstract
Operators can state safety constraints for robots as prohibitions such as "do not put the bowl on the stove". We study whether OpenVLA follows such prohibitions and where it represents the goal it executes. The 10 tasks of LIBEROGoal share one scene, so we can label the goal that each rollout executes. We combine closed-loop rollouts with activation patching, linear probes, activation steering and runtime monitors. On LIBERO-Goal, negation had no detectable effect on which task OpenVLA executed. The model executed the forbidden task in 79% of negated rollouts and completed 78% of plain tasks. A goal probe gives similar read-outs under "not X" and "X". Activation patching shows that the first action depends mostly on the instruction tokens before layer 12 and on the last prompt token from layer 16 onward. A fixed steering vector at the instruction tokens at layer 8 redirected 12 of 18 rollouts. Fixed vectors and prefill patches at layers 12 to 20 redirected none of 158. From layer 16, only patches at every decoded action token redirected the robot (15 of 18 rollouts at layer 24). When the instruction changes during a rollout, the layer-32 goal read-out detects non-compliance better than failure detectors, and an external probe on image and instruction features performs comparably. These results support enforcing prohibitions outside the instruction and monitoring goal read-outs against the specification. Goal edits in OpenVLA should act before layer 12 or patch every action token.
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URL
https://arxiv.org/abs/2611.08895
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Computer Vision by YOLOs for Detection of Major Diseases in Vietnamese Custard Apple Using Fruit Imagery
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Amid Vietnam rapid digital transformation in agriculture, the integration of artificial intelligence technologies for identifying, monitoring, and predicting crop pests and diseases has emerged as an inevitable trend.
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URL
https://arxiv.org/abs/2611.08886
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Lodos: A Lightweight Simulator Designed for Contact-Rich Interactions with Detailed Meshes
2026-11-06 01:54:44Onur Beker, Andreas Ren\'e Geist, Georg MartiusAbstract
In recent years, massively parallelized rigid-body simulation has played a central role in robotics research, enabling rapid progress in areas such as reinforcement learning, stochastic optimal control, and randomized smoothing-based trajectory optimization. Particularly in contact-rich settings, the scalability of such simulations in large part depends on well-optimized representations of collision geometry, often requiring a coarse approximation of the underlying surfaces using primitives such as spheres, capsules, cylinders, and boxes. Whenever the complexity of the surfaces or the precision demands of the application render such approximations insufficient, it is instead necessary to employ mesh-mesh collisions, which impose a significant reduction in throughput. This paper proposes a simulation framework designed from scratch to address this bottleneck, with novel routines for broadphase and narrowphase collision detection as well as the subsequent contact dynamics computation. As experimentally validated, the framework matches existing well-established simulators in terms of physical faithfulness, and can achieve approximately an order of magnitude higher throughput in the detailed mesh-mesh collision setting that it specializes in. The source code is available at this https URL.
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URL
https://arxiv.org/abs/2611.08872
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The APL Doesn't Fall Far From The Tree: Unsupervised Artefact Prototype Learning in Histopathology
2026-11-06 00:53:47Emilia Agasi, Charlie Gourley, C. Simon Herrington, Robert L. Hollis, T. Ian SimpsonAbstract
Histopathology foundation models provide rich representations of tissue morphology, but technical artefacts in whole slide images introduce noise that may impact diagnostic accuracy. We introduce Artefact Prototype Learning (APL), a novel approach to detecting these artefacts that exploits the geometry of pre-trained embedding spaces without manual labels or fine-tuning. Rather than treating artefacts as isolated outliers, APL computes prototypes of out-of-distribution patches and uses them to distinguish artefact-associated patterns from tissue. Evaluation on a single-centre dataset shows that APL outperforms prior methods GrandQC and HistoART in detecting artefacts such as blur, dark spots, slide edges and pen marks, but struggles with tissue folds and blood. These results show that frozen pre-trained embeddings already carry information that allows artefact detection without expensive labels or vast computational resources.
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URL
https://arxiv.org/abs/2611.08838
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Patching the Blind Spots: Reversible LLM Rule Overlay for Frozen Fraud Detectors
2026-11-05 21:12:11Bo Qu, Zhurong Wang, Frank Zahradnik, Ming OuyangAbstract
In industrial tabular fraud classification, gradient-boosted trees remain state-of-the-art, but even a well-trained model has blind spots, and retraining the deployed model is not always safe. We propose a framework that patches such a model without modifying it: LLMs propose rules anchored on features the model underweights by SHAP, and the resulting noisy pool is screened for empirical support and calibrated into an additive, reversible log-lift overlay that runs at the production cut-off. Single-LLM benefit is high-variance and inverts between datasets, so we pool three diverse backbones by equal-weight logit averaging, trading peak gain for a bounded worst case. On a real-world e-commerce fraud detector trained on selection-biased data, continued training regresses even when carefully tuned, whereas the overlay gains on average +2.26% recall at equal precision ($\Delta$R@P) and +1.60% precision at equal recall ($\Delta$P@R) over production cut-offs spanning 30-57% precision and 23-63% recall. On a public benchmark of seven designed bias-shift variants it raises $\Delta$P@R on every variant and keeps $\Delta$R@P near neutral. Each amendment is a readable predicate naming the fraud pattern it covers.
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URL
https://arxiv.org/abs/2611.08714
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