Search: “evaluation”

PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

arXiv:2609.23610v1 Announce Type: new Abstract: Simulation-trained humanoid proprioceptive odometry faces two transfer challenges: training trajectories generated by specific robot control policies in

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Model Releases

Q-DEQ: Discrete Solving and Quantization for Deep Equilibrium Models in Time Series Forecasting under Edge Deployment Coding Constraints

DGX agent

arXiv:2609.24042v1 Announce Type: new Abstract: Edge deployment motivates forecasting models with compact parameter storage and low-bit representations. Deep equilibrium models (DEQs) obtain implicit

model-releasesarxiv-cs-lg

22 Sept 2026

Rapidly-Iterating Grid-Based Near-Optimal Kinodynamic Motion Planning

arXiv:2609.22733v1 Announce Type: new Abstract: This paper develops the Rapidly-iterating kinoDynamic Grid (RDG) algorithm, an asymptotically near-optimal kinodynamic motion planning algorithm that pr

REBOOT: From Failure to Recovery - A Dataset and Benchmark for Precision Assembly

model-releasesarxiv-cs-ro

arXiv:2609.22591v1 Announce Type: new Abstract: Robot learning policies fail in characteristic ways: they stall in uncertain states, drift during contact-rich alignment, and miss targets by millimetre

Receding-Horizon Pushing with Composable Object-Centric Policies

arXiv:2609.23439v1 Announce Type: new Abstract: Non-prehensile manipulation is practical for relocating large, heavy, or geometrically ungraspable objects. Yet, long-horizon pushing of arbitrarily-sha

Replayable Financial Agents: A Determinism-Faithfulness Assurance Harness for Tool-Using LLM Agents

arXiv:2601.15322v3 Announce Type: replace-cross Abstract: Tool-using agents can repeat a final decision while changing their recorded execution. We introduce the Determinism-Faithfulness Assurance Har

ReSTI: A Source-Grounded Audit and Repair of STI-Bench

arXiv:2609.24727v1 Announce Type: new Abstract: Spatial--temporal benchmarks are valid only when their questions, source annotations, and answer options identify the same physical quantity. We audit S

safetyarxiv-cs-cv

RLVR is a Kernel, Not a Function: Statistical Inference for pass@k Crossovers

arXiv:2609.22547v1 Announce Type: cross Abstract: Reinforcement learning with verifiable rewards (RLVR) often improves pass@1 while falling behind its base model at larger sampling budgets k, a crosso

researcharxiv-cs-lg

Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions

arXiv:2609.24062v1 Announce Type: new Abstract: Hyper-redundant robots are well suited for confined-space manipulation due to their high dexterity, but safe operation in cluttered environments remains

Agents

Schematize: An Agentic System for Generating and Refining Information-Extraction Schemas for Legal Research

arXiv:2609.22209v1 Announce Type: new Abstract: Empirical legal research often relies on turning research questions into structured data extracted from large collections of rulings and judgments. Desi

agentsarxiv-cs-cl

Search, Ground, Plan: Functional Sufficiency for Task and Motion Planning under Incomplete Scene Knowledge

arXiv:2609.23113v1 Announce Type: new Abstract: Foundation models (FMs) have expanded task and motion planning (TAMP) to manipulation problems specified through language and visual observations. Howev

researcharxiv-cs-ro

See Selectively, Act Adaptively: Dual-Level Structural Decomposition for Bimanual Robot Manipulation

arXiv:2606.13279v2 Announce Type: replace Abstract: In bimanual robotic manipulation, task-relevant visual information varies with the task stage and context, while the interaction of the two arms shi

ST-Topo GAN: A Motor EEG-to-EMG Decoding Model Matched to Wrist Movement Complexity

arXiv:2609.22128v1 Announce Type: cross Abstract: The wrist plays a critical role in upper-limb function by enabling precise hand positioning, force regulation, and object manipulation. Continuous bra

researcharxiv-cs-lg

Local Ai

Stochastic Flow Map for Count Data

arXiv:2609.23290v1 Announce Type: cross Abstract: High-dimensional count data are common in scientific applications, but most diffusion and flow models are designed for continuous or categorical data,

local-aiarxiv-cs-lg

Taramandal-GPT: Enhancing Astrodynamics Problem-Solving with Knowledge Retrieval and Structured Thinking

arXiv:2609.24246v1 Announce Type: new Abstract: Large language models (LLMs) have shown remarkable progress in natural language understanding, yet their effectiveness in specialized fields like astron

TARGet: Topology-Aware Fusion-based Radio Frequency Circuit Functional Modeling using Graph Neural Networks

model-releasesarxiv-cs-lg

arXiv:2609.22165v1 Announce Type: new Abstract: Automatic synthesis of analog and Radio Frequency (RF) circuits is an emerging area that requires an efficient circuit modeling method. In recent years,

Task-Aware Hybrid QUBO Optimization for Structured Neural Network Pruning

arXiv:2609.22238v1 Announce Type: cross Abstract: Neural network pruning can be formulated as a combinatorial optimization problem, yet many existing approaches rely on independent filter-importance s

Task-Oriented Co-Design and Optimization of Geared Actuators for Robotic Applications

arXiv:2609.22795v1 Announce Type: new Abstract: Different tasks performed by legged robots impose distinct torque and speed requirements on actuators. Existing robotic actuators are generally optimize

researcharxiv-cs-ro

Temporal Generalization and Explanation Stability of Control Flow Graph Neural Networks for Malware Detection

model-releasesarxiv-cs-lg

arXiv:2609.24280v1 Announce Type: cross Abstract: Malware detection is a critical task in cybersecurity, and graph neural networks over control flow graphs have shown promising results for it. However

The BD-LSC Dataset: Facilitating the Benchmarking of Models for Lexical Semantic Change Detection in Slang and Standard Usage

arXiv:2606.16560v2 Announce Type: replace Abstract: Automatic semantic change detection aims to identify how word meanings shift over time, offering insights into both linguistic and societal change.

The Copy Ceiling: An Input-Exposure Control for Ontology-Grounded Generation over Curated Corpora

arXiv:2609.24885v1 Announce Type: new Abstract: When a language model answers from a curated corpus via graph-based retrieval, a large grounding uplift does not establish reasoning over the retrieved

safetyarxiv-cs-cl

Applications

The Corroboration Illusion: When More News Makes LLM Forecasts Less True

arXiv:2609.22246v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly used to forecast real-world events by retrieving and reasoning over news. We show that this dependence on

applicationsarxiv-cs-cl

Time-Incremental Continued Pretraining of LLMs: Knowledge Updates Without Catastrophic Forgetting

arXiv:2609.23916v1 Announce Type: new Abstract: Large language models (LLMs) drift out of date the moment their pretraining ends, yet retraining from scratch is prohibitively expensive. Continued pret

Toward Fairness in Machine Learning Models for Predicting Treatment Retention and Premature Discontinuation in Medication for Opioid Use Disorder

arXiv:2609.22113v1 Announce Type: new Abstract: Persistent low retention and completion rates in medications for opioid use disorder (MOUD) have driven the use of machine learning (ML) models to predi

safetyarxiv-cs-lg

UK-PRBENCH: A Paragraph-Level Precedent Retrieval Benchmark for United Kingdom Case Law

arXiv:2609.24613v1 Announce Type: cross Abstract: Prior case retrieval (PCR) aims to identify precedent cases relevant to a given query case. Existing PCR benchmarks and methods predominantly operate

Video-based Surgical Skill Assessment Using Dynamics-and-Uncertainty-Aware Tree-based Gaussian Process Classifier

model-releasesarxiv-cs-cv

arXiv:2609.24619v1 Announce Type: new Abstract: The proposed pipeline integrates a representation-flow convolutional neural network with a dynamics- and uncertainty-aware tree-based Gaussian Process c

vla.simd: Efficient CPU Inference for Language-Conditioned Manipulation

arXiv:2609.24274v1 Announce Type: new Abstract: Deploying language-conditioned manipulation without a dedicated GPU requires efficient inference and action chunks that cover the delay between policy q

VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies

arXiv:2609.22462v1 Announce Type: new Abstract: Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees

What Can a Recurrent State Safely Forget?

arXiv:2609.23366v1 Announce Type: new Abstract: Recurrent models must preserve information that changes future behavior while suppressing hidden-state error. These objectives conflict: contraction imp

safetyarxiv-cs-lg

What Makes a Good Medical Image Tokenizer? Rethinking Reconstruction and Generation in Medical Image Tokenization

arXiv:2609.24691v1 Announce Type: new Abstract: Latent diffusion models now dominate medical image generation, and every such pipeline rests on a tokenizer that compresses images into the latent codes

When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping

model-releasesarxiv-cs-ro

arXiv:2609.24068v1 Announce Type: new Abstract: Dexterous grasping in clutter poses a basic sensing question: when do tactile measurements and external wrench estimates improve on visual geometry? Occ

WildfireSpreadBench: The Metric Decides the Model in Wildfire Spread Prediction

arXiv:2609.22191v1 Announce Type: cross Abstract: Machine learning is being increasingly used to predict where active wildfires will burn the following day, helping inform evacuation boundaries and co

2D GauSS-MI: Efficient Active Scene Reconstruction with Balanced Visual and Geometric Quality

arXiv:2609.21516v1 Announce Type: new Abstract: Active reconstruction requires efficient active view selection to achieve high-quality reconstruction within limited onboard computational resources. Ex

Aligning with Lived Experience: Heterogeneous Benefits of Fine Tuning in Mental Health Support Generation

arXiv:2609.21075v1 Announce Type: cross Abstract: As access to professional mental healthcare remains limited, many individuals turn to online platforms such as Reddit to seek peer support situated wi

safetyarxiv-cs-ai

An Interpretable Memory Decision Controller for LLM Agents Based on Three-Signal Complementarity: Decoupling Confidence and Consistency

arXiv:2609.22043v1 Announce Type: new Abstract: Memory systems for large language models have focused predominantly on efficient retrieval, whereas the decision of whether retrieved memories should be

ArenaFlow: From Trajectory Ranking to Hierarchical Credit Propagation for Open-Ended Agent RL

arXiv:2609.21378v1 Announce Type: new Abstract: Reinforcement learning has substantially improved large language model (LLM) agents in verifiable domains, but remains difficult to apply to open-ended

safetyarxiv-cs-cl

Local Ai

Assessment of Machine Learning-Based Critical Heat Flux Models in the CTF Subchannel Code for Square Rod Bundle Prediction

arXiv:2609.21995v1 Announce Type: new Abstract: The prediction of critical heat flux (CHF), a key safety-related quantity in nuclear thermal hydraulics, remains an important challenge due to its direc

local-aiarxiv-cs-lg

Can Agents Design Better Chips with a Higher Level Abstraction?

arXiv:2609.21157v1 Announce Type: new Abstract: Large Language Model (LLM) agents are increasingly being explored for chip design, but most existing approaches operate directly at RTL. We ask whether

Chinese Competitive Debating Dataset and Benchmark

arXiv:2609.21637v1 Announce Type: cross Abstract: Debate adjudication requires tracking how arguments develop through interaction, yet existing datasets rarely combine fine-grained debate transcripts

CounterPlay: Counterfactual Post-Training for Self-Play Driving Policies

arXiv:2609.21617v1 Announce Type: new Abstract: Self-play in high-throughput simulators yields driving policies with robust closed-loop performance, but improvement per unit of simulation diminishes a

Cross-sector generalization of accident-process role classification in occupational accident narratives

arXiv:2609.22081v1 Announce Type: new Abstract: Occupational accident narratives contain valuable information about work situations, unfavourable conditions, accident events, and their consequences. A

researcharxiv-cs-cl

Cube-Splat: High-Fidelity 360{eg} Gaussian Splatting SLAM via Cubemap Factorization and Adjoint-Consistent Optimization

arXiv:2609.21347v1 Announce Type: new Abstract: Recent progress in 3D Gaussian Splatting (3DGS) has enabled dense visual SLAM with pinhole cameras, yet most pipelines are not designed for panoramic im

EnterpriseVal: Quantifying the Efficacy, Reliability and Value of Generative AI in the Enterprise

arXiv:2609.21841v1 Announce Type: new Abstract: Frontier language models now produce professional deliverables that expert graders judge to match human work on a substantial share of economically valu

Applications

FAN: Foresight Action Normalization for Continual Adaptation of Vision-Language-Action Models

arXiv:2609.21358v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models pre-trained on large-scale, closed datasets have demonstrated remarkable success across diverse robotic manipulation

applicationsarxiv-cs-ro

From Stress to Affect: Multimodal Deep Learning for Physiological Emotion Recognition Across Wearable Sensor Modalities

arXiv:2609.20991v1 Announce Type: new Abstract: Physiological emotion recognition using wearable sensors has important applications in mental health monitoring, affective computing, and human-computer

researcharxiv-cs-lg

Generative inversion for early ranking of competing geologic interpretations

model-releasesarxiv-cs-lg

arXiv:2609.20978v1 Announce Type: new Abstract: High-consequence subsurface decisions are often made under severe data scarcity. Experts may arrive at competing interpretations of the same subsurface

Gradient-Stable Attention Heads Signal LLM Correctness

arXiv:2602.13699v2 Announce Type: replace Abstract: Large language models (LLMs) often generate plausible yet incorrect answers, posing risks in safety-critical settings such as medicine. Human evalua

safetyarxiv-cs-lg

HE-Guardrail: A Homomorphic Guardrail Against Jailbreak Attacks for Encrypted Large Language Model Inference

arXiv:2609.21484v1 Announce Type: cross Abstract: Homomorphic encryption (HE) has emerged as a promising approach to privacy-preserving machine learning (PPML), enabling computation directly over encr