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Robust Structureless Monocular Visual Inertial Initialization Exploiting Line Features and Vanishing Points

arXiv:2609.21186v1 Announce Type: cross Abstract: Accurate initialization is essential for reliable visual-inertial odometry (VIO), but it is often ill-conditioned under degenerate motions. Existing m

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Rollout Total Correlation for Deep Reinforcement Learning

DGX agent

arXiv:2209.05333v2 Announce Type: replace Abstract: Learning task-relevant representations is crucial for reinforcement learning. Recent approaches aim to learn such representations by improving the t

agentsarxiv-cs-lg

21 Sept 2026

Routine Blood Tests Outperform CRP for Distinguishing Bacterial From Viral Infection in Children

arXiv:2609.21332v1 Announce Type: new Abstract: Acute infectious diseases are among the leading causes of medical consultations and hospitalizations in children worldwide. These infections are predomi

S3VD: Semantic-Guidance Spatio-Temporal Scanning for Video Deraining

arXiv:2609.21322v1 Announce Type: new Abstract: Heavy rainfall severely degrades outdoor videos by corrupting high-frequency details and introducing motion blur, critically undermining the reliability

tutorialsarxiv-cs-cv

SABER: Learning Attention-based Semantic Affordance for Legged Locomotion

arXiv:2609.21572v1 Announce Type: new Abstract: Perceptive legged locomotion has advanced rapidly by integrating terrain geometry into learned policies, yet the integration of terrain meaning remains

Safe Real-Time Policy Steering via Noise-Space Trajectory Optimization for One-Step Generative Policies

arXiv:2609.21220v1 Announce Type: new Abstract: Generative robot policies can represent diverse, multimodal behaviors, but adapting pretrained policies to deployment-time constraints such as collision

SafeStage: Evaluating Safety Before, During, and After Vision-Language-Conditioned Robot Manipulation

arXiv:2609.21223v1 Announce Type: new Abstract: Vision-language-conditioned robot policies integrate perception, language understanding, and control for general-purpose manipulation. However, existing

SafeStyle: Calibrated Style Residual Injection for Controllable Style-Leakage Trade-off in Diffusion Stylization

arXiv:2609.21242v1 Announce Type: new Abstract: Reference-guided diffusion stylization aims to transfer visual style from a reference image while preserving the semantics specified by a text prompt. H

SAGE: Safety-Aligned Gradient Enforcement for Human--Robot Collaboration

arXiv:2609.21130v1 Announce Type: new Abstract: Multi-party human-robot collaboration poses a dual challenge: robot decisions should remain interpretable and auditable, while executed actions must sat

SAGE: Schema-Guided LLMs for Grant Review

arXiv:2609.20829v1 Announce Type: new Abstract: Grant reviewers must apply detailed criteria to application forms, budgets, and supporting documents while producing assessments that colleagues can ins

researcharxiv-cs-cl

Same World, Different Knowledge: When Isolated Audits Misjudge World-Model Repairs

arXiv:2609.21155v1 Announce Type: new Abstract: A repair favored under an isolated input fault can be inferior when deployed modules share the faulty information. We introduce an information-interface

Local Ai

Samsone: A Family of Open Small Audio Language Models for On-Device Inference

arXiv:2609.21666v1 Announce Type: cross Abstract: The success of Large Audio Language Models has driven the development of massive multimodal networks exceeding billions of parameters. However, the de

local-aiarxiv-cs-ai

Sandwich-Residuals: Parameter-Efficient Test-time Adaptation of World Models

arXiv:2609.21740v1 Announce Type: new Abstract: Latent world models enable planning by predicting the effects of actions in a learned representation space, but their predictions can become unreliable

Scaling Discovery through Test-Time Communication

model-releasesarxiv-cs-ai

arXiv:2609.21032v1 Announce Type: cross Abstract: Science advances not in isolation but through collaboration, yet existing agentic systems capture little of this. Whether communicating agents help re

Scaling Forced Alignment to End-User Devices

arXiv:2609.21145v1 Announce Type: new Abstract: The Viterbi algorithm has been previously used to perform forced alignment of audio to text to mine training data from online resources. However, many e

safetyarxiv-cs-cl

Scaling Vision-Language Reward Learning for Robot Manipulation in Parallel Simulation

arXiv:2609.21767v1 Announce Type: new Abstract: Vision-language models (VLMs) can replace human annotators in preference-based reward learning, but sequential API requests and single-environment data

Schedule optimization for tau-leaping in masked discrete diffusion

arXiv:2609.21960v1 Announce Type: cross Abstract: Masked discrete diffusion models are commonly accelerated using the so-called tau-leaping discretization method, which reveals several coordinates in

SeeQ: Training Generalist Value Functions for Long-Horizon Robotic Manipulation

arXiv:2609.22085v1 Announce Type: new Abstract: Despite rapid progress, generalist robot policies remain brittle on complex, long-horizon tasks that comprise multiple stages or require repeated attemp

Self-Explanation Tutor for Active Study of CS1 Worked Examples

arXiv:2608.25180v2 Announce Type: replace-cross Abstract: Worked examples are an important part of introductory programming, but reading their expert explanations is passive. Self explanation, student

tutorialsarxiv-cs-ai

Semantic Calibration Prevails Where Token Confidence Fails: Benchmarking Long-Form Scientific QA

model-releasesarxiv-cs-cl

arXiv:2602.00279v2 Announce Type: replace Abstract: Reliable uncertainty quantification (UQ) is essential for safe deployment of large language models (LLMs) in scientific question answering, where lo

ServeGuard: Verifiable, Bounded-Residual Confinement of Operator-Invisible Channels Without Revealing the Certified Read Factor

arXiv:2609.21515v1 Announce Type: cross Abstract: Third-party adapters for open-weight language models ship as opaque weight matrices; a recipient cannot check whether an adapter hides a backdoor with

safetyarxiv-cs-lg

SFVO: Decoupled Confidence-Guided Stereo-Flow Visual Odometry with Bidirectional PnP

arXiv:2609.21754v1 Announce Type: new Abstract: Deep learning-based visual odometry (VO) has achieved significant progress, yet most existing methods focus on a monocular approach, which suffers from

Shake to Learn: Dynamic Interrogation of Hidden Object Physics for Robotic Manipulation with Physical Reservoir Computing

arXiv:2609.20970v1 Announce Type: new Abstract: Many physical properties relevant to robotic manipulation are hidden from vision. A sealed object, for example, may reveal little about its center of ma

tutorialsarxiv-cs-ro

Signal-Centric Remote Sensing via Alternative Preprocessing and Acoustic Processing for ML-Driven Applications

arXiv:2609.21123v1 Announce Type: new Abstract: The dominant method of processing sonar data is using image-based representations, requiring the preprocessing of image data on autonomous systems. We p

agentsarxiv-cs-lg

SignGPT: Toward LLM-Mediated Sign Language Interaction through Gloss-Free Translation and Generation

arXiv:2609.21709v1 Announce Type: new Abstract: Large language models (LLMs) provide limited support for sign language interaction. Unifying sign language translation (SLT) and generation (SLG) to ena

Single-Loop Stochastic Projected Damped Extragradient Methods for Stochastic Nonconvex--(Strongly) Concave Minimax Optimization

arXiv:2609.21747v1 Announce Type: cross Abstract: We develop single-loop stochastic projected damped extragradient methods for stochastic nonconvex--(strongly) concave minimax optimization, with compl

SIRA: Reasoning-Aware Surgical Instrument Segmentation via Query-Anchored Alignment

arXiv:2609.21402v1 Announce Type: new Abstract: Surgical instrument segmentation (SIS) plays a critical role in robotic assistance and surgical workflow analysis. However, most existing SIS methods fo

Skel-WAM: A Hand-Skeleton-Conditioned World Action Model for Human-to-Robot Manipulation Transfer

arXiv:2609.21514v1 Announce Type: new Abstract: Robot demonstrations are expensive to collect and often provide limited distributional coverage of task variations. Human videos offer a low-cost source

tutorialsarxiv-cs-ro

SkelWAM: A Skeleton-Guided World-Action Model for Zero-Shot Cross-Embodiment Manipulation

arXiv:2609.21983v1 Announce Type: new Abstract: Reusing manipulation experience across robot embodiments is important for scaling robot learning and reducing repeated task-specific data collection. Ho

SkillIR: Evolving Scene-Aware Skills for Agentic Image Restoration

arXiv:2609.21468v1 Announce Type: new Abstract: This paper studies agentic image restoration, in which multimodal agents coordinate specialized restoration tools to recover images affected by complex

agentsarxiv-cs-cv

Soda: An Object-Oriented Functional Language for Specifying Human-Centered Problems

arXiv:2310.01961v3 Announce Type: replace-cross Abstract: We present Soda (Symbolic Objective Descriptive Analysis), a language that helps to treat qualities and quantities in a natural way and greatl

researcharxiv-cs-ai

Souper-Model: How Simple Arithmetic Unlocks State-of-the-Art LLM Performance

model-releasesarxiv-cs-cl

arXiv:2511.13254v2 Announce Type: replace Abstract: Large Language Models (LLMs) have displayed remarkable capabilities across diverse domains, but their training remains resource- and time-intensive,

Local Ai

SP-MoMamba: Superpixel-driven Mixture of State Space Experts for Efficient Image Super-Resolution

arXiv:2605.25892v2 Announce Type: replace Abstract: State space models (SSMs) have emerged as an efficient paradigm for single-image super-resolution (SR) due to their linear complexity and long-range

local-aiarxiv-cs-cv

SpaceDiffusion: Over-the-Orbit Diffusion for Space Generate-and-Forward Communications

arXiv:2609.20899v1 Announce Type: cross Abstract: Satellite communications are an essential component of sixth-generation (6G) mobile networks, which provide ubiquitous connectivity for global service

safetyarxiv-cs-ai

SPARROW: Survival-POMCP for Adaptive Robot Routing, Observation, and Waiting

arXiv:2609.21008v1 Announce Type: new Abstract: Temporary obstacles that may block a robot's planned route create a sequential navigation problem: a robot must decide whether to wait for a blockage to

researcharxiv-cs-ro

Sparse Identification for Automatic Large-Scale Screening: A Constraint-Aware Framework with Ultra Fast Decoding Algorithm

arXiv:2609.21321v1 Announce Type: cross Abstract: In the early stages of a pandemic, identification of a small number of infected individuals through large-scale screening is critical for pandemic con

tutorialsarxiv-cs-lg

Sparse Priors for Efficient Distribution Learning

arXiv:2609.20883v1 Announce Type: new Abstract: Despite the widespread use and success of generative AI techniques today, theoretical guarantees on learning a distribution supported in d dimensions fr

SpecOpt: Contact-Diff Reasoning for Agentic Molecule Optimization Toward Binding Specificity

model-releasesarxiv-cs-ai

arXiv:2609.21165v1 Announce Type: new Abstract: Off-target protein binding is a major source of adverse effects for small-molecule drugs, yet most structure-based molecular design methods focus on gen

Local Ai

SpecQuant: Speculative Decoding with Multi-Parent Quantization for Adaptive LLM Inference

arXiv:2609.21704v1 Announce Type: new Abstract: Running large language models (LLMs) locally continues to be limited by restrictions of compute and memory on consumer hardware. The popular acceleratio

local-aiarxiv-cs-lg

Square Root Gauss-Newton iLQR

arXiv:2609.21053v1 Announce Type: cross Abstract: The iterative Linear Quadratic Regulator (iLQR) is a widely used algorithm for nonlinear trajectory optimization. At each iteration, it solves a local

researcharxiv-cs-ro

Stability-aware Residual Reinforcement Learning Framework for Robotic Manipulator Disturbance Compensation

arXiv:2609.21307v1 Announce Type: new Abstract: Although conventional controllers and disturbance observers (DOBs) are the standard for precision tracking in manipulators, they suffer from parameter u

Stabilizing Trajectory Outputs in End-to-End Autonomous Driving via SC-IMM Based Teacher Signals

arXiv:2609.21404v1 Announce Type: new Abstract: End-to-End autonomous driving models commonly predict future waypoints from sensor inputs and convert them into vehicle control commands through a downs

agentsarxiv-cs-ro

Steering LLMs Responses Towards Moral Foundations on the Norwegian MFQ-30

arXiv:2609.21636v1 Announce Type: cross Abstract: Recent work applies human psychometric questionnaires to large language models to elicit moral and value profiles, but it is not clear whether these i

researcharxiv-cs-ai

SteganoBackdoor: Evading Data-Poisoning Defenses via Steganographic Backdoors

arXiv:2511.14301v4 Announce Type: replace-cross Abstract: Transformer-based models are highly susceptible to backdoor attacks via supervised fine-tuning (SFT). To red-team existing data-poisoning defe

safetyarxiv-cs-cl

Stiefel-AdamW: Geometry-Aware AdamW for Linear Factorization Blocks

model-releasesarxiv-cs-lg

arXiv:2609.21039v1 Announce Type: new Abstract: A pervasive structural pattern in modern deep learning is the linear factorization block: a submodule of the form W = BA in which two parameter matrices

Stochastic Neural Signed Swept Volume for Real-time Chance-Constrained Trajectory Optimization

arXiv:2609.21211v1 Announce Type: new Abstract: Collision-free motion planning requires reliable collision models from sensed environments and validation of states along a continuous trajectory. To ma

SWE-Proof: Can Language Models Resolve Real-World Issues with Machine-Checked Proofs?

arXiv:2609.21190v1 Announce Type: cross Abstract: Ensuring the correctness of LLM-generated code is a core challenge for modern software engineering. Benchmarks for agentic code generation check corre

agentsarxiv-cs-ai

SynthDemo-RL: Breaking the Zero-Reward Barrier in VLA Adaptation with LLM-Guided Synthetic Demonstrations

model-releasesarxiv-cs-ai

arXiv:2609.21650v1 Announce Type: cross Abstract: Fine-tuning Vision-Language-Action (VLA) models commonly relies on human teleoperation demonstrations, while reinforcement learning (RL) with sparse b