Search: “evaluation”

Demonstration Synthesis from a Single Scan via Gaussian Splatting for Visuomotor Policy Learning

arXiv:2609.21112v1 Announce Type: new Abstract: Training a visuomotor policy calls for abundant demonstrations that closely match the target environment, yet collecting them anew remains expensive. Ex

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Local Ai

Detecting Hallucination in LLMs: Tracing the Topological Signatures of Impaired Context Sharing

DGX agent

arXiv:2609.21096v1 Announce Type: new Abstract: In this work, we examine the topology of information flow patterns within attention graphs to effectively distinguish hallucinated from non-hallucinated

local-aiarxiv-cs-ai

21 Sept 2026

Detecting Pretraining Data in Large Language Models from a Free-Energy Perspective

arXiv:2609.21888v1 Announce Type: cross Abstract: Detecting pretraining data in large language models is challenging because high likelihood can reflect either training exposure or strong generalizati

Detection is solved, delineation is not: what governs tooth segmentation on panoramic radiographs

arXiv:2609.21628v1 Announce Type: new Abstract: Automatic tooth segmentation and FDI numbering on panoramic radiographs underpins computer-assisted dental diagnosis, yet which factors govern performan

DEXTERA: From a Single Image to Deployable Dexterous Manipulation via Real-to-Sim-to-Real

arXiv:2609.21045v1 Announce Type: new Abstract: Collecting real-world robot data for dexterous manipulation is costly and time-consuming. While high-fidelity physics simulators enable scalable data sy

DiaVLo: Diagnosing Behaviours of Vision-Language Models

arXiv:2609.22008v1 Announce Type: cross Abstract: Vision-language models (VLMs) rely on storing and transferring appropriate information across their sub-components. Verifying that the VLMs exhibit de

Diffusion-Based Tumor Inpainting for Renal Segmentation under Clinical Data Scarcity

arXiv:2609.21698v1 Announce Type: new Abstract: Deep learning segmentation of renal tumors requires large annotated datasets, yet clinical deployments typically offer only a handful of tumor-positive

Do Personality-Tuned LLMs Make Better Social Agents?

arXiv:2609.21857v1 Announce Type: cross Abstract: LLMs are increasingly used in social simulations for socially interactive agents and robots, offering more flexibility than rule-based systems. Howeve

Do small language models know what they don't know?

model-releasesarxiv-cs-cl

arXiv:2609.20824v1 Announce Type: new Abstract: We explore whether entropy-based confidence signals can be leveraged to improve the accuracy of Small Language Models (SLMs) with fewer than 3 billion p

Do Spinning Radar Doppler Velocity Measurements Improve Vehicle Detection and Tracking?

arXiv:2609.21000v1 Announce Type: cross Abstract: Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustnes

agentsarxiv-cs-cv

DPed-VLN: A Benchmark for Socially Compliant Vision-and-Language Navigation in Dynamic Pedestrian Environments

model-releasesarxiv-cs-ro

arXiv:2609.21504v1 Announce Type: new Abstract: Vision-and-language navigation (VLN) has advanced rapidly in static indoor environments, but robots operating in human-populated spaces must ground lang

dSTAR: Straggler Tolerant and Byzantine Resilient Distributed SGD

arXiv:2412.07151v1 Announce Type: cross Abstract: Distributed model training needs to be adapted to challenges such as the straggler effect and Byzantine attacks. When coordinating the training proces

ECG Mirage: Revealing and Mitigating the Underutilisation of ECGs in Vision-Language Models for Clinical Prediction

arXiv:2609.21755v1 Announce Type: new Abstract: Emergency department (ED) decision-making relies on heterogeneous clinical information, including patient history, vital signs, laboratory results, and

Applications

EventGeM: Global-to-Local Feature Matching for Event-Based Visual Place Recognition

arXiv:2603.05807v2 Announce Type: replace Abstract: Event cameras are rapidly rising in popularity for robotic and computer vision tasks because their sparse activation delivers energy-efficient, high

applicationsarxiv-cs-cv

Federated Deep Clustering Networks for High-Dimensional and Heterogeneous Data

arXiv:2609.21829v1 Announce Type: cross Abstract: Clustering high-dimensional data is a fundamental task in unsupervised machine learning with applications to a variety of domains. In the centralized

safetyarxiv-cs-ai

Fragment-Aware Vision Transformers for Fresco-Fragment Style Classification

arXiv:2609.21012v1 Announce Type: new Abstract: Artistic style classification is usually studied on complete artworks, where models can exploit global composition, spatial organisation, and iconograph

From Generation to Detection: Exploration of Discourse Driven Scenario based LLM Generated Fake News

arXiv:2609.20838v1 Announce Type: new Abstract: In this study, we examine how modern LLMs generate and detect fake news under controlled settings across four manipulation scenarios. These are open-end

researcharxiv-cs-cl

Tutorials

GALA: Geometry-Aware Latent Action Modeling for Vision-Language-Action Model Pretraining across Embodiments

arXiv:2609.21948v1 Announce Type: cross Abstract: Learning large-scale vision-language-action (VLA) models from multi-embodiment datasets remains challenging due to heterogeneous action spaces across

tutorialsarxiv-cs-cv

GameASG-Bench: Benchmarking Autonomous Software Generation for Game Development

arXiv:2609.21293v1 Announce Type: new Abstract: Autonomous software generation (ASG) aims to turn human requirements into executable applications, but delivering these applications does not necessaril

Geometric Mean Pooling for Equal-Weight Multiplicative Coarse-Graining

arXiv:2609.21876v1 Announce Type: new Abstract: As an alternative to the additive and extremal biases of average and max pooling, we introduce Geometric Mean Pooling (GMP), a signed pooling operator t

safetyarxiv-cs-lg

Geometry-Aware Diffusion Guidance via Curvature-Adaptive Tubular Correction

arXiv:2609.21251v1 Announce Type: new Abstract: Gradient-guided diffusion samplers provide flexible priors for inverse problems and conditional generation, but strong guidance can move the sampling tr

GestureFAR: Streaming Co-Speech Gesture Generation with Flow Autoregression

arXiv:2609.21576v1 Announce Type: new Abstract: Generating natural co-speech gestures from streaming speech is essential for embodied conversational agents, where motion must be produced while a user

Goal-Oriented Reactive Simulation for Closed-Loop Trajectory Prediction

arXiv:2603.24155v3 Announce Type: replace Abstract: Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to covariate shift and compounding errors when

HAT: Hypothesis-Anchored Tracking for Video Monocular Spacecraft Pose Estimation

arXiv:2609.21597v1 Announce Type: new Abstract: Monocular 6-DoF pose estimation of non-cooperative targets is important for on-orbit servicing and debris removal. A single-image estimator can confuse

safetyarxiv-cs-cv

Tutorials

How Many Posterior Samples? Calibrated Stopping for Adaptive Sensing

arXiv:2609.21813v1 Announce Type: cross Abstract: In classification-oriented adaptive sensing, posterior samples characterize uncertainty at the current measurement state and can serve two roles: they

tutorialsarxiv-cs-cv

Applications

Identifying Security Platform Product Abuse with Machine Learning

arXiv:2609.21303v1 Announce Type: cross Abstract: Product abuse is an individually rare, but growing, problem across the SaaS industry. Highly sophisticated threat actors can misuse security platforms

applicationsarxiv-cs-lg

I'll Keep an Ear Out: Teaching AudioLLMs Proactive Audio Assistance

arXiv:2609.21183v1 Announce Type: cross Abstract: Audio large language models (AudioLLMs) operate reactively, responding only when queried. We introduce proactive audio assistance, where an AudioLLM m

researcharxiv-cs-cl

Improving the Predictive Performance of Bootstrap Aggregating by Dirichlet Resampling

model-releasesarxiv-cs-lg

arXiv:2609.21454v1 Announce Type: cross Abstract: We revisit Breiman's observation that reducing inter-tree correlation without weakening individual trees can improve random forests. Building on this

Info3R: Information-Adaptive Test-Time Training for 3D Reconstruction

arXiv:2609.21938v1 Announce Type: new Abstract: Transformer-based models have recently achieved strong performance on 3D reconstruction from images, and recent works extend them to process video strea

safetyarxiv-cs-cv

Hardware

Interference-Driven Clustered Optimisation for FM Spectrum Coordination

arXiv:2609.21441v1 Announce Type: cross Abstract: Cross-border FM spectrum coordination involves protecting foreign broadcasting services while preserving domestic coverage, amid increasingly large ra

hardwarearxiv-cs-ai

Knowledge-Graph-Augmented Chronos-2 for HEC-RAS Surrogate Forecasting

arXiv:2609.21381v1 Announce Type: cross Abstract: We investigate whether coupling a time-series foundation model to hydraulic project knowledge improves surrogate forecasting of HEC-RAS water-surface

Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations

arXiv:2609.21107v1 Announce Type: new Abstract: While learning from human motions has enabled highly dynamic humanoid skills such as dancing and martial arts in obstacle-free space, traversal through

Learning to Move Cities: Deep Meta-Models and Reinforcement Policies for Calibration and Control in Urban Networks

model-releasesarxiv-cs-lg

arXiv:2609.21945v1 Announce Type: new Abstract: Urban transportation networks present complex optimization challenges spanning calibration of high-fidelity simulators and real-time operational control

LEMCA: LLM-Guided Synthesis of Efficient Mode-Switching Control Architectures

arXiv:2609.21319v1 Announce Type: new Abstract: Physical control tasks in the natural world, such as driving or object manipulation, frequently exhibit dramatic variations in sensory and compute compl

researcharxiv-cs-ro

LOInK: Learned Optimal Inverse Kinematics via Structured Neural Surrogate Models

arXiv:2609.21275v1 Announce Type: new Abstract: We introduce Learned Optimal Inverse Kinematics (LOInK), a method to generate approximately optimal solutions to an inverse kinematics problem. When tra

researcharxiv-cs-ro

LoRA Enhanced Contrastive Learning with SAS Vision Transformers

arXiv:2609.21061v1 Announce Type: new Abstract: Automatic target recognition (ATR) with synthetic aperture sonar (SAS) supports advanced naval capabilities, but deep learning is constrained by scarce

M2G-LLM: Enhancing Clinical Prediction via Multimodal Graph Reasoning and LLM Context Injection

arXiv:2609.21164v1 Announce Type: new Abstract: Integrating diverse data modalities --- such as clinical notes, laboratory results, and medical imaging --- is essential for advancing clinical decision

safetyarxiv-cs-lg

Local Ai

MarsFM: Shading-Regularized Flow Matching for Martian Relief Estimation

arXiv:2609.21095v1 Announce Type: new Abstract: We present MarsFM, an image-conditioned latent flow-matching model for local Martian relief estimation from single-band HiRISE RED orthoimagery. The met

local-aiarxiv-cs-cv

ME-Dex 1.0: Bringing Heterogeneous Tactile Sensing into World Action Modeling

arXiv:2609.21449v1 Announce Type: new Abstract: World Action Models bring the predictive capabilities of video models into robot action generation, providing a rich foundation for modeling future visu

agentsarxiv-cs-cv

MENASpeechBank: A Reference Voice Bank with Persona-Conditioned Multi-Turn Conversations for AudioLLMs

arXiv:2602.07036v2 Announce Type: replace-cross Abstract: Audio large language models (AudioLLMs) enable instruction following over speech and general audio, but progress is limited by the scarcity of

agentsarxiv-cs-ai

MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption

arXiv:2609.21122v1 Announce Type: new Abstract: Manipulating previously unseen objects remains challenging, as their dynamics depend on latent physical properties, such as friction and mass distributi

Local Ai

Micro-Collaborative Poisoning: A Distributed Attack on RAG Systems

arXiv:2609.21573v1 Announce Type: cross Abstract: Retrieval-Augmented Generation (RAG) improves large language models by grounding outputs in external knowledge sources, but this dependency also creat

local-aiarxiv-cs-ai

MicroHookACT: Monocular Microscopic Vision Guided Visuomotor Policy for Flexible Microelectrode Hooking

arXiv:2609.21365v1 Announce Type: new Abstract: Automated needle-loop hooking is a critical step in flexible microelectrode (FME) implantation. This paper presents MicroHookACT, an imitation learning-

MIRCID: Inferred Hub-miRNAs Drive Cross-Task Improvements in Drug Mechanistic Modeling

arXiv:2609.21280v1 Announce Type: new Abstract: Drug mechanism-of-action (MoA) modeling commonly relies on perturbational transcriptomes, but matched microRNA (miRNA) measurements are often unavailabl

researcharxiv-cs-lg

MIST: Multimodal Survival Prediction with Genomic-Guided Histology Attention

arXiv:2609.21811v1 Announce Type: new Abstract: Multimodal survival models can combine complementary prognostic information from whole-slide images and genomic profiles, but effective fusion remains c

safetyarxiv-cs-ai

MOSAIC-SR: Transformer-Guided Symbolic Regression for Scientific Equation Recovery

arXiv:2609.20997v1 Announce Type: new Abstract: Symbolic regression aims to recover closed-form equations from observations, providing interpretable models for scientific discovery. Existing approache

researcharxiv-cs-lg

Multiclass Semantic Segmentation of Wildland Fire Images Using Context-Aware Centralized Copy-Paste Data Augmentation

arXiv:2609.21241v1 Announce Type: new Abstract: Producing accurate annotations for deep learning based image segmentation is both costly and labor intensive. This challenge is especially evident in wi

NemotronLabs VoiceChat: An Open Full-duplex Speech-to-Speech Model with Tool Calling Capabilities

arXiv:2609.21967v1 Announce Type: cross Abstract: We introduce NemotronLabs VoiceChat, an open full-duplex speech-to-speech model with native tool-calling capabilities. NemotronLabs VoiceChat combines

agentsarxiv-cs-ai