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CASCADE: Constraint-Aware SCAffolded DEcomposition for Logical Anomaly Detection
2026-11-10 09:46:23Jinchan Kim, Jinhee Im, Hyunsouk ChoAbstract
Logical Anomaly Detection (LAD) requires verifying whether all category-specific constraints, such as object counts, pairing relations, and measurement ranges, are satisfied by a query image given only a few normal references. Recent LAD methods based on Large Vision-Language Models (LVLMs) formulate this as checklist verification, decomposing the decision into independent textual checks. This decomposition, however, is text-only. Every item still reads the same unmodified query image, so the LVLM must extract different forms of visual evidence from one raw image. We identify this text-image mismatch as a constraint-specific perception gap, the source of two failure modes: instance conflation for binding constraints and scale drift for calibration constraints. To diagnose whether these failures stem from insufficient reasoning or insufficient perception, we compare textual reasoning guides and visual perception guides in a training-free setting. Our analysis shows that reasoning over the same image provides little benefit, whereas adapting the visual input to each constraint substantially improves verification accuracy. Based on this finding, we propose CASCADE, a training-free framework that extends checklist decomposition using constraint-specific visual scaffolds. We further introduce CASCADE++, which adapts these scaffolds at the object level by deriving their configurations from the constraint structure and reference distribution. Across MVTec-LOCO and VID-AD, CASCADE++ surpasses the full-shot state of the art by 3.9 AUROC points with only three references, and improves over the strongest VID-AD baseline by 11.4, transferring across multiple LVLM backbones without any training.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13820
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Swanada: Split-Encoder Capability-Routed Conformer CTC and Sub-30 MB On-Device Speech Recognition Across Twelve Scripts
2026-11-10 09:43:36Hemanth HMAbstract
Client-side automatic speech recognition (ASR) across Indic and Classical scripts eliminates cloud transcription costs, network tail latency, and server-side audio retention, yet neural exports face four systems bottlenecks in browsers and mobile runtimes: (1) monolithic per-language Conformer checkpoints require ~177 MiB per script (> 2.1 GiB across 12 scripts), exhausting CacheStorage quotas; (2) static relative positional encoding tables embed 10.2-20.5 MB of FP32 constants while 1x1 Conv1d layers trigger slow or unsupported ConvInteger kernels in WebAssembly SIMD; (3) sliding-window CTC flickers on boundary tokens; and (4) mobile WebAudio pipelines suffer 44.1/48 kHz sample-rate mismatches and silent AudioWorklet stalls under iOS WKWebView. We present Swanada, an open-source 16 kHz streaming ASR system spanning Classical Sanskrit, Indian English, and ten Indian languages (sa, en, hi, kn, mr, bn, ta, te, ml, gu, pa, or) across browser WebAssembly, this http URL, and Python. Swanada pairs capability-routed shared INT8 Conformer encoders (a 17-layer 177.38 MiB Studio tier at $d = 512$ for desktop/servers and a distilled 14-layer 25.35 MiB Mobile tier at $d = 256$ for phones) with twelve hot-swappable 515.0 KiB native-script linear CTC heads ($257 \times 512$), cutting 12-language storage by $11.6\times$ (183.4 MiB) and $67.8\times$ (31.39 MiB; 25.85 MiB first load). Runtime protobuf tail surgery exposes the shared representation in $< 2$ ms, while dynamic positional synthesis, MatMul pointwise convolutions, and post-quantization QInt8 head calibration preserve sub-30 MB accuracy. Across $N = 480$ held-out and $N = 1,280$ open public test clips (FLEURS, LibriSpeech, GLOBE, AMI, wild Sanskrit), Swanada achieves 5.43% held-out and 8.87% 12-language open CER on Studio (18.56% and 19.23% on Mobile) at $0.0097\times$-$0.0264\times$ RTF, with 30.6 ms median TTFT and 0.00% committed-prefix churn.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13814
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Bridging Graph and Pairwise Learning for Gene Regulatory Network Inference from scRNA-seq Data
2026-11-10 09:34:28Hang Li, Jiaxin Qi, Yan Cui, Yuhua Zheng, Jianqiang HuangAbstract
Motivation: Gene regulatory networks (GRNs) capture the underlying interactions through which transcription factors (TFs) regulate genes. Based on gene expression data, existing GRN inference approaches generally fall into two categories: graph-based methods, which model the GRN as a whole graph, and pairwise-based methods, which decompose the GRN into individual TF-target gene pairs for modeling. However, each approach exhibits limitations that are precisely the strengths of its counterpart. Graph-based methods tend to overfit due to their reliance on a single training graph, whereas pairwise-based methods benefit from abundant TF-target training pairs. In contrast, pairwise-based methods overlook the global topological structure, which is essential for comprehensively capturing regulatory mechanisms. Results: To address these limitations, we propose scGPL, an end-to-end unified framework that jointly models global regulatory topology and local interactions. scGPL extracts macro-level features from the global regulatory graph and introduces a dynamic, importance-guided subgraph sampling mechanism to capture fine-grained local dependencies. By fusing global representations with subgraph-enhanced local features, our framework bridges the gap between the two paradigms, incorporating essential whole-graph topological dependencies while retaining the data abundance advantage of pairwise methods. Extensive experiments on seven benchmark datasets demonstrate that scGPL consistently achieves state-of-the-art performance, with up to 13.7% improvement over the strongest baseline, validating the effectiveness of our integrative design. Availability and implementation: The source code is maintained on GitHub (this https URL), and the datasets and versioned releases are archived at this https URL for reproducibility.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13801
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The Target Is a Predicate: Predicate-State Grounding for Semantic-Level Video Reasoning Segmentation
2026-11-10 09:21:56Yuhuan Hong, Yiming Ren, Zhiqiang Lin, Feize Wu, Xingyun Liu, Yitong Xie, Lei Zhou, Lisheng Wu, Junjie Wang, Yujiu YangAbstract
In this paper, we introduce Predicate-State Video Reasoning Segmentation (PS-VRS), where a query defines a dynamic predicate $P(o,t)$ over objects and time rather than a fixed object identity. Existing methods typically treat the target as permanently active once identified, leading to over-emission of masks during vacant intervals and failure to handle target switching. To address this, we construct PS-Bench, a large-scale benchmark with 2,077 videos and 16,250 queries annotated with explicit active/vacant predicate states, temporal intervals, and pixel masks. We further propose Predicate-State Grounding (PSG), a State-Bind-Emit pipeline that: (1) predicts [ACTIVE]/[VACANT] state tokens; (2) aligns them to video frames via dense cross-modal similarity; and (3) emits masks via SAM2 only for active states. Experiments show that PSG outperforms existing baselines by +9.32 J&F on PS-Bench and significantly reduces false-positive mask emissions. Our results demonstrate the effectiveness of explicit predicate-state modeling for video reasoning segmentation with dynamic visual witnesses.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13785
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Integrating Action Prefix Prediction and Alignment Across Modalities for Multimodal Reinforcement Learning
2026-11-10 09:20:04Sijie Xu, Francisco CruzAbstract
Learning representations from multimodal observations is difficult in reinforcement learning with limited interaction data. Multimodal Joint Predictive Representation combines multimodal latent prediction with contrastive learning across modalities, but its recursive rollout depends on earlier predictions and its pairwise alignment focuses on correspondence between modalities. We propose Improved Predictive Representation, which combines prediction from action prefixes with alignment at the observed anchor based on Contrastive Multimodal learning. At each horizon, it predicts future representations directly from the observed anchor and the corresponding sequence of actions. We evaluate two crop configurations: IPR-S with a minimum retained crop area of 10%, and IPR-H with 50%. Across five DeepMind Control Suite tasks, IPR-H achieves an average return across tasks that is 10.0% higher than the baseline with visual and depth images and 3.4% higher with visual images and position vectors. The relative performance of the two configurations varies across tasks. In Webots, both IPR configurations achieve higher mean final returns than the baseline without LiDAR, but not when LiDAR is available.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13782
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Ninada: Sub-Clause Split-Graph VITS Streaming and Capability-Routed 24 kHz Speech Synthesis Across Twelve Scripts
Abstract
End-to-end VITS text-to-speech models synthesize natural speech in a single forward pass, yet standard ONNX exports execute monolithically over an entire clause, delaying Time-To-First-Audio (TTFA) to several seconds and spiking activation memory. Client-side deployment across Indic scripts faces four further bottlenecks: 138.8 MB float32 checkpoints per language strain browser caches, mobile WebGPU stalls for 6-14 s compiling convolution shaders while still running slower than real time ($1.44\times$ RTF), small WebAssembly pthread pools stall at barriers on big-LITTLE mobile CPUs, and mobile Web Audio pipelines drop frames or mute output under AudioWorklet contention and iOS WKWebView rules. We present Ninada, an open-source 24 kHz TTS system covering English, Classical Sanskrit, and ten Indian languages (sa, en, hi, kn, mr, bn, ta, te, ml, gu, pa, or) across a capability-routed 48-checkpoint fleet: 24 studio HiFi-GAN v1 specialists (27.9 MB W8A32+FP16 ONNX) for desktop/WebGPU and 24 distilled c8c8_384 iSTFTNet specialists (21.7 MB ONNX, $2.64\times$ fewer vocoder MACs via an exact NOLA dual-window ConvTranspose1d inverse STFT with zero complex ops) for mobile WASM, plus a 0.0 MB zero-dependency Klatt fallback. At runtime, Ninada splits a single ONNX file in memory in $< 15$ ms into prior, flow, and windowed vocoder sub-sessions streaming 12-frame halos with raised-cosine crossfades. On $N = 480$ held-out 24 kHz studio utterances, Ninada achieves 3.22 dB 0-8 kHz MCD (3.09 dB mobile iSTFTNet; 1.33 dB 24-voice distillation MCD, vs. 5.17 dB for the 1,526.8 MB 16 kHz Meta MMS fleet) and 6.07 dB 8-12 kHz error, delivering 89-155 ms audible startup on desktop WebGPU and 538-649 ms zero-underrun streaming at 0.75-0.76x RTF on a physical Google Pixel 10 Pro XL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.10035
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Softness is something you also need! Why compliance helps control: information metrics of a passive walker with compliant ankle
2026-11-10 09:17:17Fabio Bonsignorio, Elisabetta Barletta, Sorin Dragomir, Francesco Esposito, Enrica ZereikAbstract
A great gap in adaptivity, flexibility, and dexterity still exists between intelligent robots, whether they are made of rigid or (partially) compliant components, and their naturally evolved animal and vegetal counterparts. One reason could be of `paradigm' nature. On the one hand, most robots (both rigid and soft) are still designed by following a `Cartesian' approach, with top-down control and a clear mind-body separation. Designing artificial agents on the basis of the principles that we observe in biology is not an easy task. The principles of organization of animals and plants rely on morphological computation and emergence of fit behaviors from loosely coupled networks of embodied agents. Modeling and control require radically new approaches. In this paper we briefly recall and explain some seminal mathematical results linking information metrics and dynamics of the agents, already published years ago; we integrate them with some recent methods developed by us and by the community, we highlight some brief remarks about their relevance and we hint to our current and near future work towards finding concrete and efficient ways for the modeling and control of completely or partially compliant artificial agents and for a better understanding of physical intelligence in nature. We present a technical note summarizing phase-space volume calculations for inverted-pendulum and passive-dynamic walking models, following our proposed framework. Starting from the McGeer compass gait, we introduce knee-ankle compliance, foot-rocker effects, and a Ruina-style compass gait with distributed leg inertia. Standard heel-strike maps are derived and used in the estimation of viable phase-space volumes $W(\gamma)$, based on a state-dependent Monte-Carlo and Reproducing Kernel Hilbert Spaces methods. We show how the methods based on RKHS allow deeper and more subtle analysis.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13779
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DisasterAgent: An Evidence-Driven Agent for Verifiable Disaster Report Generation From Remote Sensing Imagery
2026-11-10 09:15:06Zhijian Li, Jiawei Song, Chao Ren, Yidan Zhang, Peijin Wang, Xian Sun, Kun FuAbstract
Remote sensing disaster assessment is moving from simple damage classification toward comprehensive report-level analysis. In this setting, responders need not only damage descriptions but also verifiable evidence to guide response and recovery. Recent vision-language models (VLMs) and tool-augmented agents offer strong multimodal reasoning and perception, but they struggle to provide the evidence required for high-stakes verification. To address these limitations, we propose DisasterAgent, an evidence-driven agent that uses a Perception-Augmentation-Generation workflow to generate verifiable disaster reports from bitemporal optical imagery. DisasterAgent first invokes a specialized vision expert toolkit in the perception phase to build a Spatiotemporal Perception Graph (STPG), serving as a structured memory to store and organize disaster-induced changes across space and time. Evidence-based Augmentation (EA) then extracts evidence from the STPG, attaching inline citations that form a closed evidence loop from each statement to the supporting visual evidence. Extensive experiments on the DisasterM3 and RSCC benchmarks demonstrate that DisasterAgent consistently outperforms general-domain VLMs, remote sensing-specialized models, and existing remote sensing agents. Notably, compared with the original model, it improves the average score for disaster report generation on DisasterM3 by 13.5\% and ST5-SCS on RSCC by 15.34\%, providing a more accurate and verifiable solution for disaster emergency response. The code will be available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13776
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OASIS: Optimization-Aware Subgoal Inference with Safety Constraints for Autonomous Mobile Robot Navigation
2026-11-10 09:14:15Arian Hajizadeh, Javad Pourrafi Arabani, Negar Shenavar, Sana Bashiri, Seyed Majid EsmailzadehAbstract
Navigation in dynamic environments requires mobile robots to make progress toward their goals while respecting motion limits and avoiding surrounding obstacles. Learned subgoal policies can guide model predictive control beyond its local prediction horizon, but a geometrically suitable subgoal does not necessarily lead to a successfully solved control problem. This paper proposes OASIS, a hierarchical navigation framework that incorporates recent optimization outcomes into reinforcement learning-based subgoal generation. A high-level policy trained using Soft Actor--Critic generates local subgoals, while a nonlinear model predictive controller tracks them subject to motion limits, geometric collision-avoidance constraints, and embedded high-order control barrier function constraints. The outcomes of controller optimizations over each subgoal interval are summarized and provided to the policy at its next decision, without requiring additional optimization calls. The framework is evaluated in five navigation scenarios with static and moving obstacles, including dense interactions and sensing uncertainty. Comparisons with hierarchical and direct-goal control variants show that OASIS achieves the highest aggregate navigation success. Matched comparisons across three training seeds further show a consistent success advantage over the otherwise identical hierarchy without optimization-status input. The selected-policy comparison also shows fewer primary optimization failures with similar mean controller time.
Abstract (translated)
URL
https://arxiv.org/abs/2611.11996
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RF3DGS: Reflection-Free 3D Gaussian Splatting with Self-Priors
2026-11-10 09:11:01Qiang Wen (The Hong Kong University of Science and Technology), Guotao Meng (The Hong Kong University of Science and Technology), Junhong Ruan (The Hong Kong University of Science and Technology), Hongyu Liu (The Hong Kong University of Science and Technology), Chenyang Lei (Huawei Research), Qifeng Chen (The Hong Kong University of Science and Technology)Abstract
3D reflection removal is crucial in applications demanding high-fidelity visualization, such as museum exhibitions. In this work, we propose Reflection-Free 3D Gaussian Splatting (RF3DGS), a novel method for superior reflection removal. RF3DGS exclusively leverages a widely-adopted photometric prior for reflection removal: that the minimum pixel intensity across multi-view images corresponding to the same 3D point strongly correlates with reflection-free information. However, generalizing this principle to a 3D Gaussian Splatting within a multi-view context is non-trivial. To address this, RF3DGS first optimizes a vanilla 3DGS model using a geometric prior to estimate a coarse, reflection-free depth map for each view. Leveraging these depth maps and photometric prior, a 3D warping process aggregates reflection-free information from auxiliary views to construct a clean transmission pseudo-label for a given reference view. This pseudo-label provides a robust self-supervised signal for optimization. We further introduce an Adaptive Twin Rendering (ATR) loss to synergistically utilize this pseudo-label while preserving high-frequency details from the original, reflection-degraded images. By adeptly fusing these internal 3D self-priors with the ATR loss, RF3DGS demonstrates state-of-the-art reflection removal performance across both synthetic and real-world scenarios. Furthermore, we establish the first 3D reflection removal benchmark, based on the Unity rendering engine, for rigorous quantitative evaluation.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13772
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From Depth to Safe Depth: Uncertainty-Aware Monocular Perception for Mobile Robot Navigation
Abstract
Monocular depth foundation models make it tempting to replace depth sensors on mobile robots with a single RGB camera. We show that, used off the shelf, this is unsafe: in a simulated indoor navigation benchmark, a standard Nav2 stack driven by Depth Anything V2 (metric) collides in 63\% of 120 episodes, because the model systematically over-estimates the distance to nearby obstacles. We propose a lightweight plug-in module that turns predicted depth into \emph{safe depth}. A 0.58\,M-parameter head on top of the \emph{frozen} depth model predicts, per pixel, a log-depth correction $\mu$ and an uncertainty $\sigma$, trained with a $\beta$-weighted Gaussian negative log-likelihood. The navigation stack consumes the one-sided bound $\hat d_{\text{safe}}=d\,e^{\mu-k\sigma}$, where $k$ is set by conformal calibration on a held-out world, and uncertainty also decides which pixels may be treated as floor. The correction halves the depth error (AbsRel $0.262\rightarrow0.134$) and reduces near-range over-estimation from 59.8\% to 12.0\%. In navigation, safe depth raises the success rate from 37\% to 70\% and lowers collisions from 63\% to 3\%, close to the 2\% of ground-truth depth. A constant safety margin calibrated to the same pixel coverage reaches only 30\% success because it freezes the robot; uncertainty-aware safety wins 52 of 56 discordant paired episodes against it. Gains hold on glass, texture-less walls and dark regions.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13769
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MSCR: Jointly Balancing Utilization Across Modalities and Discovering Synergistic Information
2026-11-10 09:06:09Xinyu Chen, Liangjian Wen, Jiang Duan, Dongkai Wang, Yong Dai, Jiayu Bai, Jianzhuang Liu, Zhen Tian, Guoping Qiu, Zhao KanAbstract
In multimodal learning, modality imbalance often lets one modality dominate optimization and keeps the model from fully exploiting cross-modal interactions. Balance-oriented methods such as the Multimodal Competition Regularizer (MCR) perform well by alleviating this imbalance during training. These dynamic balancing methods, however, mainly adjust modality contributions and do not consider how imbalance affects the formation of synergistic information during fusion. Synergy is a major source of multimodal advantage, because it is predictive gain that cannot be recovered from unimodal evidence alone. We propose the Multimodal Synergistic Competition Regularizer (MSCR), a fusion method that jointly promotes balanced modality utilization and the discovery of synergistic information. MSCR has two complementary objectives. An anti-dominance objective suppresses excessive unimodal influence and leaves room for synergistic information, and a synergy objective encourages the fused predictor to outperform a non-synergistic unimodal reference. An adaptive gate further concentrates the regularization on samples that need stronger collaborative modeling. Experiments on five benchmarks show that MSCR consistently improves performance over MCR and strengthens synergistic capability. It raises conditional recovery, the accuracy of the fused prediction on samples that the unimodal predictors misclassify, as well as the share of the model's output that InterSHAP attributes to cross-modal interactions. Its gain in conditional recovery persists when the fusion module is Transformer-based. Code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.24395
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Exploring Synchrony for Communication in Modular Neural Networks
2026-11-10 09:00:23Nikolas Willems, Qiyang Sun, Bj\"{o}rn W. SchullerAbstract
One motivation for modular neural networks is to divide computation across components that learn distinct, reusable functions, which could then be recombined to support compositional generalisation. In practice, modular structure alone does not guarantee that such roles develop, and unrestricted communication between modules can undermine any specialisation that does emerge. This raises the question of how modular communication should be organised. The problem can be viewed as an analogue of the perceptual binding problem, where synchrony has been proposed as a mechanism for coordinating distributed representations. We introduce SyncNet, a modular architecture that separates module content from a dynamical phase state: learnt Kuramoto dynamics evolve the phases, while phase alignment determines communication through a shared channel. We evaluate SyncNet on Sort-of-CLEVR for relational reasoning and on SQOOP for systematic generalisation, where lower pair variety demands more recombination at test time. SyncNet gives the best held-out accuracy of the models compared at the three lowest pair varieties, by 5.1 percentage points at the hardest, and is competitive on Sort-of-CLEVR though below the strongest attention baselines. Test-time overrides show that performance depends on phases that evolve: fixed phases cost as much as no addressing at all, and permuting which module holds which region is nearly as damaging. A content-addressed variant trained from scratch nonetheless matches it, so the benefit appears to come from the modular decomposition rather than synchrony itself.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13759
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Bridging the Evidence-to-Execution Gap:A Reflective Agent for Multi-Objective Peptide Design
2026-11-10 08:57:01Haosen Zhang, Yang YangAbstract
Large language models can reason over scientific literature, but textual plans do not reliably produce biological sequences with the intended properties. Sequence generators capture sequence patterns, yet they do not interpret evidence, choose interventions, or reflect on outcomes. This separation creates an evidence-to-execution gap between scientific reasoning and sequence-level control. We introduce EASER, a reflective agent that connects the two through a learned property interface. The interface consists of property-specific low-rank directions trained offline and fixed during search; an LLM controller (the controller) composes them to steer a frozen diffusion generator. From retrieved evidence, sequence context, and prior outcomes, it proposes intervention hypotheses that specify anchors, editable positions, and coefficients. Probe-and-Steer tests these hypotheses and allocates further samples from their joint predicted responses; reflection updates the agent's memory. On computational antimicrobial peptide design, EASER balances activity, non-hemolysis, and non-toxicity. Explicit hypothesis formulation yields larger multi-objective gains than direct action generation, and ablations support evidence retrieval, episodic history, reflection, and Probe-and-Steer. EASER achieves the highest mean hypervolume and lowest mean IGD+ among the evaluated search policies and generators on screened candidates. These results show that a learned property interface can make literature-grounded reasoning executable at the sequence level.
Abstract (translated)
URL
https://arxiv.org/abs/2610.06190
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Effects of Laser Beam Width and Measurement Noise on Tree Diameter Estimation in Laser Scanning
2026-11-10 08:40:16Jesse Muhojoki, Nuutti Ervasti, Eric Hyypp\"a, Aapo Erkkil\"a, Eppu Honkanen, Tuomas Yrttimaa, Mikko Vastaranta, Juha Hyypp\"aAbstract
Laser scanning has been utilized for decades to measure tree structure and geometry. Despite continuous advances in sensor technology, uncertainties arising from scanner characteristics and measurement conditions has remained relevant sources of error. In particular, factors such as laser beam diameter can introduce both systematic and random errors in the reconstructed tree geometry. This study investigates the main sources of these errors in mobile laser scanning (MLS) and quantifies their effects on stem curve (stem diameter) estimation. We discovered through simulations and experiments that the heteroscedasticity (difference in variance in ranging and scan angle) in the measurement noise is a key factor along with the beam width of the lidar, which cause the bias of the diameter estimates to depend not only on distance, but also on the tree diameter. We demonstrated that this bias can be reliably predicted and negated for trees with a diameter at the breast height greater than 10 cm using technical specifications of the sensor without any additional calibration. In experiments, the proposed bias compensation method reduced the root-mean-square error of stem diameter estimates to sub-centimeter level on boreal forest test sites. However, for small trees with diameter below 10 cm, the diameter bias becomes sensitive to the diameter of the tree$\unicode{x2013}$an unknown factor$\unicode{x2013}$and other factors, such as different bark and out-of-roundness of the stem, limiting the precision of lidar for measuring geometry of trees and applicability of the presented method.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13739
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Multi-Step Underwater Acoustic Channel Prediction via Dual-Domain Structure Preservation and Pretrained Transformer
2026-11-10 08:38:49Mingjie Cao, Gewei Zhang, Deqing Wang, Lizhao You, Fei-Yun Wu, Liqun FuAbstract
Accurate future channel state information (CSI) is essential for underwater acoustic (UWA) communication because delays associated with signal propagation, feedback, scheduling, and transceiver reconfiguration can render currently available CSI outdated. However, most existing predictors estimate only the next channel state and obtain multi-step forecasts through recursive rollout, which causes prediction errors to accumulate as the multipath structure evolves. The scarcity of sea-trial measurements further limits reliable model training. To address these challenges, we propose LLM4UACP, a dual-domain, structure-preserving framework that adapts a pretrained Transformer for few-shot multi-step UWA channel prediction. LLM4UACP extracts complementary features from the channel impulse response (CIR) and channel frequency response (CFR), aligns them through Fourier-consistent fusion, and encodes the fused representation as delay-time tokens. A pretrained Transformer with a frozen backbone is adapted through Butterfly Orthogonal Fine-tuning to jointly predict multiple future CIRs in a single forward pass, thereby avoiding the error accumulation associated with recursive prediction. Experiments on the measured SO-06 and SO-07 channels show that LLM4UACP achieves normalized mean squared error (NMSE) values of 0.0411 and 0.0399, corresponding to reductions of 88.53% and 85.15%, respectively, relative to the most recent baseline. With only 0.11M trainable parameters, LLM4UACP maintains robust performance across varying prediction horizons and observation-window lengths, limited-data settings, and cross-dataset transfer scenarios.
Abstract (translated)
URL
https://arxiv.org/abs/2611.14592
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Broad-Persistent Advising in Interactive Reinforcement Learning via Latent State Encoding
2026-11-10 08:06:06Zhuoran Liang, Francisco CruzAbstract
Deep Interactive Reinforcement Learning (Deep IntRL) accelerates reinforcement learning training by incorporating external advice. However, conventional Deep IntRL uses each piece of advice only in the current step and discards it after a single interaction. Persistent Advising and Broad-Persistent Advising (BPA) extend this process by storing advice in persistent memory and reusing it in similar states through state generalisation based on K-means clustering. This research proposes Encoder BPA, which employs a latent encoder to retrieve and reuse advice. In this framework, a trained encoder is used to map a state sequence into a latent representation at every time step. Advice can be retrieved through latent comparison, together with a top-(k) aggregation and a consistency condition to improve reuse stability. Experimental results show that Encoder BPA improves learning efficiency and advice utilisation at an early stage of training compared with different Deep IntRL approaches, especially in complex and partially observable environments.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13712
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AutoManifold: Agentic Design of Data Visualisation Algorithms via Manifold Embedding
2026-11-10 08:03:15Burak Susam, Ruiyuan Kang, Tingting MuAbstract
Manifold embedding for data visualisation is dominated by a small set of hand-designed state-of-the-art (SOTA) algorithms. Their design targets are fixed at development time, resulting in inflexible algorithmic behaviour that cannot be readily steered towards user-specified structural priorities. Hand-designing new embedding algorithms to address user priority requires highly specialised expertise and is time consuming. To address autonomous algorithm design tailored to user preference, we introduce an agentic algorithm generation pipeline AutoManifold. It composes new manifold embedding algorithms from a constrained vocabulary of affinity, cost, and optimisation primitives, supported by multi-agent large-language-model (LLM) orchestration. AutoManifold conditions every stage of its design on user-specified structural preservation preferences, and iteratively refines the algorithm configuration through an LLM-guided, metric-grounded iterative loop. We compare the generated algorithms against the three strongest and most frequently used SOTA methods (t-SNE, UMAP, and PaCMAP) on real-world datasets spanning different difficulty regimes under identical evaluation infrastructure. The results demonstrate that LLM-driven, priority-conditioned algorithm synthesis can move beyond hyperparameter tuning, producing genuinely new algorithms that outperform traditional hand-designed methods in their ability to steer towards user-specified properties without compromising the intrinsic structure in the original data. The code of AutoManifold is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13710
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Agentic discrete-event simulation for manufacturing system design: an open 3D simulator, a benchmark and an industrial case
2026-11-10 07:53:28Javier Pernas-\'Alvarez, Diego Crespo-PereiraAbstract
The design of manufacturing systems relies on discrete-event simulation (DES) models that experts still build in tool-specific interfaces. AI agents can now write simulation code, but every model they write from scratch is new, unverified software. We present SimuLean, an open-source 3D DES simulator on the Unity engine designed to be programmed by AI agents: its modelling semantics are verified once, in the platform, and the agent builds and studies one model through domain-level commands, in the 3D scene or headless; physically simulated durations are calibrated for fast headless studies. We evaluated it on 18 manufacturing modelling tasks, from single machines to published production lines. A frontier agent built valid models in 93 of 108 attempts (86%), in about two minutes each; on the benchmark's interface version, two frontier agents built 105 of 108 models through domain commands alone, so that each comes with a record of how it was built. Every residual failure was silent - a model that builds and runs but answers wrongly - and only comparison with reference models revealed them all. In an industrial case, one agent working alone rebuilt, verified and studied a robotised welding workshop from a published study, in SimuLean and in SimPy. Comparing them with the published, expert-built model exposed an error in it; against the corrected model, the agent-built models agree within 1%. One agent can already build complete, realistic and traceable models for the design of manufacturing systems; independent reference models are what make them trustworthy.
Abstract (translated)
URL
https://arxiv.org/abs/2611.10602
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CJRR-Net: A Candidate-Joint Reprojection Ranking for Future-View Selection in Human Pose Estimation
2026-11-10 07:46:05Huiting Xi, Marsha Mariya Kappan, Eduardo Benitez Sandoval, Francisco CruzAbstract
Multi-camera systems support performance recording, sports and human-movement analysis, where selecting an informative viewpoint is important for reliable human pose estimation. We propose the Candidate-Joint Reprojection Ranking Network (CJRR-Net) for future-view selection among eight calibrated cameras in MPI-INF-3DHP. The model combines current-view pose observations, camera configuration, and candidate-specific geometric features obtained by reprojecting the estimated 3D pose and its uncertainty into each candidate view. CJRR-Net achieves a selected-view 2D mean per-joint position error (MPJPE) of 105.18 pixels, compared with 114.64 pixels for the shared-input MLP and 117.56 pixels for adapted PoseErrNet. It also achieves the lowest mean error among the listed policies in each evaluated occlusion group. A blender rollout illustrates repeated camera selection. These findings support candidate-specific geometry for single-view selection in the evaluated fixed eight-camera setting.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13700
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