Reconstruction
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SALA: Semantically Aligned Latent Actions Enable Dual-Axis Scaling of Embodied Foundation Models
2026-11-12 17:04:50Jiachun Jin, Zetong Zhou, Haonan Wang, Xiao Yang, Jun Zhu, Zhijie DengAbstract
Embodied foundation models hinge on diverse robot interaction data, which are costly to collect. Egocentric human videos offer a complementary source of experience, and latent action models (LAMs) provide a popular means of leveraging these videos for policy supervision. Compared with world-action models (WAMs), LAMs can offer greater training efficiency and potentially lower inference costs by avoiding explicit pixel prediction during policy learning and execution. However, most existing LAMs learn latent actions solely through video reconstruction, which can cause their representations to cluster by visual appearance rather than by the underlying actions. As a result, they struggle to align human actions with their robot counterparts. To bridge the gap, we introduce SALA, which emphasizes establishing the semantic correspondence for latent actions. Without requiring paired data, we use the language descriptions of unpaired human and robot clips to estimate semantic similarities and supervise cross-embodiment correspondence. Specifically, we translate these similarities into soft neighborhood structures that guide human latent actions toward semantically related robot latents, while robot action reconstruction grounds the latent space in control. The resulting shared latent action space provides a unified supervision signal for training an embodied foundation model on both human and robot videos. Notably, latent action supervision enables scaling along two axes: (1) pre-training on increasing amounts of general human video consistently reduces robot action prediction error on downstream tasks, and (2) post-training on increasing amounts of task-specific human video substantially improves real-world robot task success rates.
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URL
https://arxiv.org/abs/2611.17110
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MusicRWKV: A Multimodal RWKV Framework for Music Representation Learning
2026-11-12 12:34:08Terry TanAbstract
Recent music foundation models have achieved remarkable progress in music representation learning, yet most existing approaches rely on Transformer architectures whose quadratic attention complexity introduces substantial computational and memory overhead when modeling long-duration music recordings. In this work, we propose MusicRWKV, a multimodal music representation learning framework built upon the RWKV architecture. MusicRWKV jointly models waveform, spectrogram, and metadata information within a unified self-supervised learning framework. To improve efficiency for long musical sequences, we introduce an invertible compression module that reduces sequence length while preserving reconstruction capability. A FiLM-based conditioning strategy is employed to facilitate modality-aware representation learning without introducing expensive cross-attention operations. We further investigate the integration of Soft ROSA as a differentiable retrieval mechanism for neural-symbolic interaction. Experimental evaluation across a diverse collection of Music Information Retrieval (MIR) benchmarks demonstrates that the proposed RWKV-based architecture can be effectively adapted to heterogeneous music understanding tasks. A controlled pretraining ablation shows that Soft ROSA improves validation performance, while layer-wise telemetry analysis reveals a progressive transition from distributed retrieval to selective retrieval in deeper network layers. These results suggest that RWKV provides a promising architectural alternative to Transformer-based models for multimodal music understanding.
Abstract (translated)
URL
https://arxiv.org/abs/2611.16718
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Natural Gradient Learning in Predictive Coding through Lateral Circuits
2026-11-12 11:42:17Lhea Beumer, Sander de Haan, Niclas Pokel, Pau Vilimelis Aceituno, Benjamin F. GreweAbstract
Predictive coding (PC) trains neural networks through local energy-minimization dynamics without depending on a global error signal that backpropagation (BP) requires. Although PC is a promising alternative algorithm for efficient learning, the computational cost of inference dynamics currently outweighs the resulting learning benefits in practice. In this work, we take inspiration from optimization theory to extract more learning benefit from each inference phase. We introduce Natural PC, which augments standard PC with a lateral circuit, enabling exact and efficient natural gradient learning locally in space and time. Our lateral circuit learns the activity correlations that determine the Fisher information matrix and implicitly computes its inverse, avoiding expensive matrix inversion. Across all tested image reconstruction benchmarks, Natural PC achieves state of the art in terms of sample and compute efficiency compared to existing PC approaches. Most notably, Natural PC scales to ImageNet and matches the performance of BP trained with AdamW and various second-order optimizers at an order of magnitude lower computational cost while also using two orders of magnitude fewer training samples. Our results demonstrate that local natural gradient learning makes PC competitive with BP in both sample efficiency and computational cost in reconstruction tasks.
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URL
https://arxiv.org/abs/2611.16666
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SoScale: Second-Order Scale Search for FP4 Quantization
2026-11-12 07:36:46Pengxiang Zhao, Xing Li, Hui-Ling Zhen, Weizhe Lin, Xianzhi Yu, Zhenhua DongAbstract
Low-bit quantization reduces the memory footprint and inference cost of large language models (LLMs), yet accurate FP4 quantization remains challenging. Practical formats such as MXFP4, NVFP4, and HiF4 pair a 4-bit floating-point payload with block-wise or hierarchical scale codes, making accuracy highly sensitive to how each local distribution is scaled. Default maximum-absolute-value scaling preserves dynamic range, but can spend scarce FP4 levels on rarely occupied outlier regions and leave dense tensor values poorly resolved. Existing scale-search methods minimize local element-wise reconstruction error, optimizing tensor fidelity rather than layer-output fidelity. We propose SoScale, a second-order weight scale-code search method for hierarchical FP4 quantization. SoScale searches hardware-valid scale codes under a Hessian-aware layer reconstruction objective and couples this search with GPTQ-style error recovery, selecting scales by their impact on layer outputs. Across Qwen3 models, SoScale consistently reduces downstream quantization degradation under MXFP4, NVFP4, and HiF4.
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URL
https://arxiv.org/abs/2611.16426
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PhysCapBench: A Cross-Domain Benchmark for Physically Grounded Video Captioning
2026-11-12 07:33:09Haofeng Wang, Pengcheng Wen, Ruiqi Li, Yuhao Zhang, Tiange Zhang, Boren Zheng, Xuanyi Liu, Siyu Tao, Danni Yu, Gan Lin, Haocheng Tang, Tianzizhe Guo, Mingyuan Su, Boyuan Chen, Zhongyuan WangAbstract
Physical AI aims to learn transferable physical knowledge from real-world experience to understand, predict, and act in the physical world. Internet videos and embodied demonstrations provide complementary observations of motion, interaction, and state evolution. A foundational data challenge is to measure and preserve this physical information as training supervision. In video-language pretraining, captions express observed processes in language, yet a semantically correct description can omit the interactions and transitions that define those processes. Rich physical experience in video does not automatically translate into sufficient language supervision. This gap calls for a yardstick to assess annotation quality, compare captioning strategies, and guide training-data refinement. Motivated by our data construction for world-model pretraining, we introduce PhysCapBench, to our knowledge the first unified physical-caption benchmark spanning all three domains: third-person scenes, egocentric manipulation, and handheld-gripper demonstrations. It provides human-verified annotations for 1,500 video sequences and evaluates accuracy and coverage through seven physical dimensions. We examine downstream utility through video reconstruction and manipulation-policy fine-tuning. Physical captions reduce reconstruction LPIPS by 8.6-9.5% on third-person videos and 26.9-30.9% on egocentric videos relative to metadata captions. Training-instruction enrichment improves both PhysCapBench scores and policy success, including a 7.5-percentage-point gain for pi0.5 on a RoboTwin 2.0 subtask. PhysCapBench makes the physical content of language supervision inspectable and comparable, providing a cross-domain basis for its evaluation and improvement.
Abstract (translated)
URL
https://arxiv.org/abs/2611.16424
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ReliaGuard: Reconstruction-Aware Watermarking for Source Attribution and Blind Edit Localization
2026-11-12 06:33:37Hailong Wang, Wuzheng Tan, Zixin Zhang, Xujun Fang, Fengjuan GongAbstract
Generative image editing facilitates content creation but complicates source attribution and edit verification. Existing watermarking methods combine copyright protection with tamper localization, yet background reconstruction can weaken spatial evidence even when source identifiers remain recoverable. We propose ReliaGuard, a reconstruction-aware watermarking framework for source attribution and blind edit localization. The writer optimizes keyed feature responses in both the protected image and its variational autoencoder reconstruction under image-distortion and source-preservation constraints. Using only the received image and a secret key, the reader combines watermark responses with local image context through residual evidence refinement and predicts an edit mask through native-resolution-guided multiscale reading. It is trained on complete editing outputs, locally spliced counterparts, and processed versions of both. On an independent test set of 300 source images and 900 editing cases from three image domains, our method achieves edit-region intersection-over-union scores of 85.61% for complete outputs and 94.90% for locally spliced outputs at a threshold calibrated to a nominal 1% background false-positive rate on complete outputs. The complete-output result exceeds the strongest baseline by 45.02 percentage points, while decoded identifier-bit accuracy reaches 100% in both conditions. Across seven families of image processing, the corresponding localization scores are 81.01% and 86.49%, with identifier-bit accuracies of 92.76% and 92.79%, respectively. These results support source recovery and blind edit localization under background reconstruction and subsequent image processing.
Abstract (translated)
URL
https://arxiv.org/abs/2611.16368
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NIBench: benchmarking autonomous AI agents for execution, skill evolution and scientific judgment in neuroimaging
2026-11-11 18:44:56Lujia Zhong, Yihao Xia, Jianwei Zhang, Shuo Huang, Xinyu Nie, Mingyang Xia, Zhiwei Deng, Jiaxin Yue, Xinkai Wang, Junhan Zhao, Yonggang ShiAbstract
Autonomous AI agents are increasingly used to automate biomedical research, creating a growing need to benchmark their capabilities on real scientific data and workflows. Their reliability in neuroimaging remains insufficiently characterized, where plausible analytical outputs can conceal errors that affect scientific conclusions. Existing studies have advanced scientific question answering and tool-based automation, but provide limited evidence on workflow reconstruction, acquisition of procedural expertise and evidence-based scientific judgment. Here we present NIBench, a neuroimaging benchmark comprising three complementary evaluations of autonomous agents. First, we benchmark execution and workflow reconstruction using 56 tasks across seven tool ecosystems, covering structural, diffusion and functional magnetic resonance imaging, positron emission tomography and multimodal analyses. Second, we examine whether agents can evolve their procedural skills through distillation of execution trajectories, evaluating the resulting skills on previously encountered tasks, unseen tasks and other models. Third, we assess scientific judgment using 36 claims from published Alzheimer's disease studies, requiring agents to analyse raw cohort data and provide reproducible evidence. We evaluate 19 language models within a shared agent framework, with selected models undergoing skill distillation and claim evaluation. Leading agents execute supplied analysis protocols nearly perfectly, whereas withholding procedural guidance widens performance differences. Distilled skills improve performance on acquisition tasks and transfer between models, but benefits on unseen tasks are inconsistent. Agents reproduce their reported results yet sometimes reach conclusions inconsistent with expert-derived answers, and access to data does not always improve judgment.
Abstract (translated)
URL
https://arxiv.org/abs/2611.15831
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VibePrevisBench: Evaluating Agentic Coding for 4D Scene Generation in Blender
2026-11-11 18:02:07Yuzhe Chen, Muxi Diao, Lele Yang, Wenbin Xu, Xuyang Liu, Qile Su, Changyi Liu, Jiankang Chen, Kaiyu Jiang, Haoyu Zhang, Hongyi Fu, Jianxiong Wang, Tianke Zhang, Haonan Fan, Yingxin Li, Bingyi Li, Xu Wang, Xuanyu Zheng, Bin Wen, Tingting Gao, Wentao Zhang, Jiale CaoAbstract
Controllable real-world video generation models can condition on a rendered graybox proxy video, which fixes layout, motion and camera. Coding agents can build such videos by reconstructing a 4D scene in Blender, yet no benchmark checks both these videos and the long, multi-shot scenes behind them. We introduce VibePrevisBench, a benchmark for 4D scene reconstruction: an agent turns a brief into an executable 4D scene and renders its proxy video. Its 242 tasks span four input kinds, including scripts, photos, continuations, and reference videos. Each delivery is scored along two evaluation dimensions. Rule-based Scene Check re-runs the code and compares the exported 4D scene with hidden ground truth facts in nine dimensions. VLM-based Screen Check asks a VLM judge whether the facts that pass can be recognized in the proxy video. We analyze the evaluation results and trajectories of 11 frontier coding agents and identify three key observations. First, multimodal understanding separates the agents, especially in understanding space and camera motion. Second, all agents seem to already master basic camera work and staging, and fail at challenging requests. Third, agents inspect their own renders but fail to correct their errors. Agents thus need better visual understanding of space and camera, explicit checks for challenging requests, and item-by-item verification of renders against the brief.
Abstract (translated)
URL
https://arxiv.org/abs/2611.15789
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Anchoring Clinical Events in Time: UID-Preserving Multimodal Reconstruction and Source-Grounded Adjudication
2026-11-11 17:19:45Sayantan Kumar, Nicolas Grimaldi, Jack Cummins, Jeremy C. WeissAbstract
Interpreting a patient's hospital course depends on when symptoms developed, tests were performed, and treatments began. Discharge summaries often leave this chronology unclear, while structured electronic health record (EHR) tables timestamp only some of these events. We reconstruct clinical timelines by retrieving structured evidence for narrative events and jointly revising their estimated times. Each extracted occurrence carries a persistent unique identifier (UID) linked to its source span, keeping repeated mentions distinct throughout reconstruction. We also introduce GAVEL, a large language model (LLM) judge that checks disagreements between two timelines against the note and structured record and cites evidence for its verdicts. We evaluated six open-weight models on 40 clinician-annotated discharge summaries. Our pipeline recovered more reference events than LLM-Timeline and TKW2 when each comparison used the same backbone. For GLM-5.2, adding structured evidence improved timestamp agreement with essentially unchanged event recovery; ablations showed that links to timestamped source rows contributed to this improvement. Results varied across the other models, with some timing gains accompanied by fewer recovered events. Both GAVEL judges, GLM-5.2 and MiMo-V2.6-Pro-RL, favored multimodal over text-only GLM-5.2 timelines, while neither clearly distinguished the DeepSeek V3.2 variants. Manual review upheld most sampled GAVEL findings. The source links allow reconstructed times to be checked, and GAVEL identifies disagreements for human review.
Abstract (translated)
URL
https://arxiv.org/abs/2609.13062
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Learning-Based Interpolation of Detector Gaps in Photon-Counting X-ray Imaging
2026-11-11 15:31:56Johannes B. Thalhammer, Patrick Ilg, Tina Dorosti, Sebastian Peterhansl, Theresa Hiu, Daniel Frey, Zijin Huang, Florian Schaff, Daniela Pfeiffer, Franz PfeifferAbstract
Image detectors assembled from tiled modules have physical gaps in the field of view that must be filled before downstream processing such as phase retrieval or tomographic reconstruction. Unlike natural-image inpainting, detector-gap interpolation must leave all other pixels unmodified and preserve the intensity statistics of the filled region, since even a small shift in mean intensity can cause ring artifacts after reconstruction. We adapted two generative models, a Wasserstein GAN with gradient penalty (WGAN-GP) and a conditional Pix2Pix model, to this task. We implemented a masking strategy that restricts all changes to the gap pixels and loss terms that constrain the mean intensity and the intensity distribution of the filled region. Both models were trained on nanoCT projections with simulated gaps and compared with linear interpolation, Navier--Stokes inpainting, and the deep image-inpainting network MADF, quantitatively on simulated gaps and visually on real detector gaps. WGAN-GP and Pix2Pix achieved the best perceptual similarity (LPIPS) and histogram distance and, apart from linear interpolation, the shortest inference time. Pix2Pix required about five times fewer training GPU-hours than WGAN-GP. Ablation studies showed that masking the network output contributes by far the most to plausible inpainting results. Applied to sinograms, Pix2Pix produced the most natural gap filling but improved the reconstruction only slightly compared with linear interpolation. The source code and the weights of the final Pix2Pix model are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.15614
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WaveFlow-UIE: A Single-Pipeline Wavelet-Domain Flow Model for Efficient Underwater Image Restoration
2026-11-11 13:28:18Abdulaziz Alfaraj, Mohammed Al Naser, Hassan Al Nasser, Muzammil BehzadAbstract
Underwater image restoration remains challenging because color distortion, scattering, and detail loss affect low- and high-frequency image components differently. Recent diffusion-based methods have shown strong restoration quality, but often rely on multi-stage pipelines and costly iterative refinement. We present WaveFlow-UIE, a single-pipeline wavelet-domain flow model that directly learns to transform degraded underwater wavelet representations into clean ones. Our method applies a discrete wavelet transform, estimates lightweight physics-inspired degradation cues including transmission and ambient light, and conditions a velocity network trained with flow matching in wavelet space. The training objective combines flow-matching, frequency-weighted reconstruction, perceptual, color-consistency, and physics-consistency losses. Across UIEB, LSUI, UFO-120, and EUVP, WaveFlow-UIE achieves a strong quality-efficiency tradeoff, with especially competitive results on perceptual metrics. Relative to a strong wavelet-based diffusion baseline, the proposed model substantially reduces inference cost while maintaining or improving restoration quality on several paired benchmarks. We show that reducing the inference process from five flow steps to a single step preserves nearly all of the restoration quality while providing an additional speedup of about $4\times$ on UIEB at $256\times256$ resolution. This single-step result suggests that a single-pass wavelet-domain model is an effective alternative to heavier diffusion-style refinement.
Abstract (translated)
URL
https://arxiv.org/abs/2611.15457
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Fr'echetFlow: Flow Matching for Non-Euclidean Data
2026-11-11 09:14:59Yidong Zhou, Muqing Cui, Hans-Georg M\"ullerAbstract
Scientific observations such as probability distributions, trees and covariance matrices call for generative models that respect their non-Euclidean geometry. While flow matching has been extended to manifolds by utilizing geodesics and velocities, such manifold structures are not available in a general metric space. We introduce FréchetFlow, a generative modeling framework for metric space-valued data that requires neither linear operations nor a smooth manifold structure. A key feature of the proposed approach is that we utilize well-established Euclidean flows to learn the joint distribution of distances to a set of landmarks, whereupon new objects are reconstructed from generated landmark representations. The reconstruction step utilizes weighted Fréchet means of reference objects, drawing on Fréchet regression. We establish Wasserstein error bounds that connect accuracy of the generated object distributions to the placement of landmarks, flow approximation and reconstruction error and prove consistency under finite second moments. This leads to convergence rates that depend on the metric complexity of the target objects, tail moments and fitting accuracy. Experiments show competitive accuracy with established flow matching methods in Euclidean simulations and lower Wasserstein errors than specifically tailored methods for several scientific datasets. Across simulation settings, we find that generation error decreases as sample size increases.
Abstract (translated)
URL
https://arxiv.org/abs/2611.15220
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Reframing Video Inverse Tone Mapping as Blind Posterior Inference via Latent Luminance Supervision
2026-11-11 07:36:06Hanwool Sul, Chang-Hoon Jeong, Kisung Shin, Bomseok Park, Donghoon Cha, Hansl von Kwon, DoHyung Ku, Byoung-Tak ZhangAbstract
High-dynamic-range (HDR) displays are now common, but most video content, such as archival footage, broadcast material, and the output of generative video models, exists only in standard dynamic range (SDR). The need is sharpest for generated video, which has no HDR master at all and is graded alongside live-action and visual-effects material finished in HDR. Converting SDR to HDR means undoing a tone-mapping operation that was never recorded, and clipping destroys the radiance wherever it acts, so HDR recovery is a blind inverse problem. Methods built on generative video priors fill clipped regions with plausible structure, but their reconstructions are systematically biased: in every public method we test, saturated content leans too bright or too dark, and the direction of the lean moves with the tone operator behind the input. We call this failure the luminance error, measure both its magnitude and its sign, and make it the focus of this work. Reframing ITM as posterior inference under an unknown operator locates the failure in two places and yields two corrections. A fixed affine functional of the video-diffusion latent reads log-luminance without decoding; on that coordinate an asymmetric loss selects an expectile of the posterior, applied only where clipping leaves luminance unconstrained. We also synthesize training SDR through an explicit family of tone operators, so the model marginalizes over what the observation cannot show. Trained this way, our luminance error stays flatter across operators and smaller on average than any public method, and the full system achieves the best perceptual quality on all three benchmarks.
Abstract (translated)
URL
https://arxiv.org/abs/2611.15146
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Multi-View 3D Reconstruction Using V-JEPA Features
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Predictive video encoders provide dense visual representations, but adapting them to 3D reconstruction requires accurate depth, camera poses, and cross-view geometry. We study supervised RGB-only multi-view reconstruction using an architecture that combines video-pretrained features, camera estimation, scene aggregation, epipolar transport, and residual pointmaps. Experiments compare global and spatial camera regression with joint relative objectives on CO3D, alongside an independently trained TUM RGB-D model. On 168 CO3D five-view windows, the spatial-camera configuration achieves 29.3% lower absolute trajectory error than the global-camera configuration, but performs worse than identity poses in trajectory error and worse than the global configuration in depth error. The joint relative-objective configuration improves normalized intrinsics error and similarity-aligned Chamfer distance from 0.6447 to 0.5573, but increases raw Chamfer distance from 3.5535 to 4.4374. On 163 indoor windows, camera error is 0.3063 m versus 0.3694 m for identity poses, while depth error is 0.4279 versus 0.2516 for constant median depth. Refinement worsens indoor camera error, and additional experiments show competing depth and pose effects. Overall, the results distinguish representation adaptation, aligned shape, and raw reconstruction, highlighting the need for isolated component and encoder comparisons before attributing reconstruction gains to predictive video pretraining.
Abstract (translated)
URL
https://arxiv.org/abs/2611.15143
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Speech Tokenizers are Vulnerable: Transferable Semantic Attack and Robust Tokenizer
2026-11-11 02:33:00Zhisheng Zhang, Yifan Mi, Yixuan Zhou, Haiyun Li, Shengbo Cai, Dongfu Song, Ziang Xu, Jie Hao, Zhiyong WuAbstract
Speech tokenizers serve as speech front ends, encoding input speech signals into representations for downstream models, such as automatic speech recognition (ASR) systems and large audio-language models (LALMs). In this paper, we find that speech tokenizers are fragile at the semantic level: small perturbations can disrupt their semantic encoding process and consequently cause severe degradation in downstream ASR and LALM performance. To study this vulnerability, we propose T-SemAttack, a transferable semantic attack based on a semantic encoder ensemble. By jointly drifting the representation spaces of multiple semantic encoders, T-SemAttack effectively disrupts the semantic content of speech while preserving perceptual quality, thereby inducing error features. We further analyze layer-wise representation drift and cross-model gradient alignment. Our findings show that perturbations can induce substantial shifts in deep semantic representations and that the input gradients of different surrogate encoders exhibit directional alignment. These observations suggest that shared adversarially sensitive directions in the input space may be a key factor underlying cross-model attack transferability. Building on these, we introduce ROSETok, a robust speech tokenizer that combines noisy training with robust semantic distillation to improve reconstruction fidelity and downstream SpeechLLM robustness. Extensive experiments on multiple datasets, 9 open-source and black-box ASR systems, and 4 LALMs demonstrate that T-SemAttack achieves strong transferable attack performance, while the proposed Robust Speech Tokenizer exhibits robustness under high-fidelity reconstruction and downstream tasks. Our code and demo are available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2611.14929
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Provably Optimal HBT Legalization in Seconds: Certified Optima Reveal Where the Headroom Really Lies
2026-11-11 02:32:50Kadhir Parani, Manjunath Bezawada, Divya M, Kesana Jathin, Kolli Sarath, Sm ZobaedAbstract
Hybrid bonding terminal (HBT) legalization assigns every terminal of a face-to-face 3D IC to its own pitch-grid site with minimum total Manhattan displacement. Open3DBench reports that a reinforcement-learning (RL) legalizer reduces displacement by 19-22% relative to a sliding-window (SW) heuristic, but none of its legalizers is publicly released. We ask how much displacement any legalizer can still recover. We build an open benchmark of 21 design/pitch instances from Open3DBench placement data, with reconstructed greedy, SW (ViaLegal-style) and BTAssign-style baselines, and GEO-Exact, an exact solver that runs successive shortest augmenting paths over lazily generated spatial candidate edges. An independent dual certificate proves its assignment optimal on all 21 instances (relative primal-dual gap at most $8.2 \times 10^{-16}$). Against these optima, our SW reconstruction with ViaLegal's default configuration is on average 0.011% above optimal (worst 0.119%), while on the 16 contended instances BTAssign-style, a density-guided heuristic (DGHL) and greedy are 3.0%, 6.9% and 64.5% above. Headroom does appear outside this regime: with 2x2 windows SW reaches 34.1%, and above about 58% utilization, on three of six swept designs, it reaches 21.1% on bp, 27.5% on swerv and 8.9% on jpeg (217 further certified instances, and ten bp points checked against an independent exact solver). If the published 19-22% gain were measured on instances like ours, SW would have to be at least 24-28% above optimal on average, far more than any SW variant we tested at nominal pitch; the RL paper's own comparison with the Hungarian optimum puts its SW 3.05% above optimal on average. GEO-Exact is also about an order of magnitude faster than DGHL and SW in our harness (geometric means 8.1x and 40x; a compiled core against Python baselines on a shared server). Code, optimal values and certificates are released.
Abstract (translated)
URL
https://arxiv.org/abs/2611.14928
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OnlyAct: Extracting Action Representations from Foundation Models for World Models
2026-11-10 17:59:19Runjia Li, Minghao Chen, Junyu Xie, Philip Torr, Andrea Vedaldi, Tomas JakabAbstract
Video world models promise general-purpose interactive simulators, but their training is limited by action supervision: action labels are scarce, fragmented across incompatible specifications, and do not scale with the unlabeled video pretraining corpus. A common workaround jointly trains an action encoder to compress consecutive frames into a latent action and a decoder to reconstruct the next frame from the previous frame and that latent, forcing the latent to capture only new information. This has two limitations: learning the action space from scratch can limit generalization to unseen domains, and the bottleneck trades expressiveness for separation, with tighter settings losing nuance and looser ones risking scene leakage under domain shifts. We argue for a different starting point: rather than learning actions from scratch, we start from a pretrained foundation model (V-JEPA 2), whose embeddings of a frame pair already carry substantial action information after large-scale, diverse video pretraining. The remaining challenge is to extract the action while discarding the scene. We propose a label-free contrastive adaptation framework that pulls together frame pairs sharing the same motion under a different scene and pushes apart pairs from the same scene with different motion, reshaping the geometry of the pretrained space without imposing a reconstruction bottleneck. We introduce a unified evaluation protocol along three axes (action expressiveness, scene invariance, and action-conditioned video generation quality) across robot manipulation, camera navigation, game, and driving benchmarks, most of which are unseen during adaptation. Compared with annotation-free latent-action methods, our representations are substantially more expressive while matching their scene invariance, and they yield world models that transfer demonstrated actions to new scenes more faithfully.
Abstract (translated)
URL
https://arxiv.org/abs/2611.14420
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From Video Frames to Robot Meta-Frames: A Unified Latent Interface for World Action Models
2026-11-10 17:21:37Guoqiang Liang, Yiqi Lin, Yanzhe Chen, Kevin Yuchen Ma, Mike Zheng ShouAbstract
Pretrained video diffusion models (VDMs) offer a powerful foundation for World Action Models (WAMs), which jointly predict robot actions and future observations. Building such models requires injecting low-dimensional robot signals (e.g. proprioception, actions, and values) into a latent space shaped by natural videos, and a key design choice is the interface through which these signals enter: existing schemes treat it as a formatting detail, spending a separate latent frame on each signal or bolting on dedicated encoders and decoders. We argue that signal injection is instead a distribution-alignment problem: how well a representation matches the prior of the pretrained VDMs during denoising. Using the relative reconstruction error of a frozen VDM denoiser as a probe, we find that conventional spatial encodings sit far off this prior, whereas frequency-domain packing yields latents that the denoiser corrects far less. Motivated by this diagnostic result, we propose MetaWAM, which folds all robot signals into a single unified meta-frame: each signal is assigned to a disjoint frequency-domain channel band and lifted to the spatial latent by an inverse DCT, yielding a decodable interface aligned with the pretrained VDM prior without any added module or architectural change. A fixed band layout together with slot-aware routing lets the same meta-frame support policy, world-model, and value prediction over a shared set of robot variables. On RoboCasa, MetaWAM reaches 68.9% success while collapsing the per-signal frames into one and cutting inference latency by 39%, and attains 85.0% success on three real-world Franka tasks. Code and models are available at this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2611.14365
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ViGA-FLAME: Aligning Latent Visual and Geometric Representations for Robust 3D Head Expression Estimation
2026-11-10 15:37:12Wen Hao He, Jiacheng Wu, Jie ChenAbstract
Estimating 3D head expression from a single image requires mapping visual appearance to underlying facial geometry. We propose ViGA-FLAME, a two-stage framework that aligns semantic visual features with a structured geometric latent space. First, a Parametric-Geometric Variational Autoencoder (PG-VAE) learns a unified representation of canonical head surfaces and FLAME parameters, supporting both detailed surface reconstruction and interpretable parameter recovery. Supervision on geometry and parameters, together with consistency between the two decoding branches, connects surface detail with parametric structure. Second, a trainable Visual-Geometric Adapter (ViGA) maps features from a pretrained semantic visual encoder into this latent space. Asymmetric attention enables ViGA to align semantic image features from the visual encoder with the structured geometric information represented in the PG-VAE latent space, without altering the original visual stream. By grounding image evidence in this latent prior, ViGA-FLAME enables robust 3D head expression estimation across severe facial deformations and large viewing angles, efficiently improving robustness over competing feed-forward methods.
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URL
https://arxiv.org/abs/2611.14218
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Sim-TurboReg: Robust and Efficient Scale-Aware Registration via Tri-Scale Consistency
2026-11-10 14:23:34Zijun Zhou, Shaocheng Yan, Zhenjun Zhao, Yutong Hu, Ke Yang, Yingdong Gu, Pengcheng Shi, Jiayuan LiAbstract
Feed-forward 3D foundation models recover geometry at high fidelity, yet inference memory constraints keep them from processing long sequences natively. Current streaming systems work around this limit with sliding-window chunking, which introduces severe monocular scale ambiguity. Resolving this ambiguity requires Sim(3) registration that stays accurate and efficient under outlier contamination. We introduce Sim(3)-TurboReg, which reformulates the compatibility graph construction of TurboReg by replacing absolute distance constraints with a strict Tri-Scale Consistency (TSC) criterion. Our analysis shows that TSC suppresses both mismatching and coordinate-distortion outliers. We integrate the resulting solver into existing streaming systems and obtain high-fidelity, kilometer-scale reconstruction for feed-forward models. On controlled unknown-scale registration at 90% outliers, ours matches RANSAC accuracy with 92.5% lower median latency. In DA3-Streaming on KITTI, ours improves mean ATE RMSE by 22.2% and reduces mean end-to-end time by 16.6%. Code: this https URL
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URL
https://arxiv.org/abs/2611.14135
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