Search: “pretraining”

D^2-VLA: Dual-Memory Dual-Frequency Vision-Language-Action Model For Long Dynamic Manipulation

arXiv:2609.34792v1 Announce Type: new Abstract: Long-horizon manipulation requires robots to remember cues that are no longer in view while responding to moving objects. Yet vision-language-action (VL

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Model Releases

DBCF: Dual-Branch Complementary Fusion of Foundation Models for Generalized Deepfake Detection

DGX agent

arXiv:2609.34720v1 Announce Type: new Abstract: As image generation and editing technologies have progressed substantially, facial forgeries pose significant challenges to privacy and public safety. D

model-releasesarxiv-cs-cv

29 Sept 2026

Deep Learning Techniques for Phoneme Recognition in Italian Children' s Speech

arXiv:2609.33060v1 Announce Type: new Abstract: Speech therapists often face difficulties diagnosing impairments due to the lack of efficient tools for transcribing speech into the International Phone

DeltaWAM: Change-Centric Visual Foresight via Delta Tokens for an Efficient World-Action Model

arXiv:2609.33177v1 Announce Type: cross Abstract: World-Action Models (WAMs) offer visual foresight for robotic manipulation, but pixel-space models repeatedly reconstruct entire future scenes, incurr

safetyarxiv-cs-cv

Depth Laws for the Precision Floor of Trained Neural Networks: Amplification, Residual Scaling, and a Quantization-Aware Training Paradox

arXiv:2609.32060v1 Announce Type: new Abstract: How many bits does a network need before its accuracy collapses, and how does this grow with depth? We study the precision floor, the perturbation level

Devol-ONE: One Autoregressive Mixture of Transformers to Unify Vision-Language-Action and Latent World Modeling

arXiv:2609.32193v1 Announce Type: new Abstract: Vision Language Action (VLA) models condition actions directly on current visual and language context, without an explicit account of how the scene evol

safetyarxiv-cs-cv

Tutorials

Dexterous Tactile World Model

arXiv:2609.34286v1 Announce Type: new Abstract: World models for manipulation are typically trained from video, yet the events that determine how manipulation unfolds, such as making and releasing con

tutorialsarxiv-cs-cv

DexWeave: Learning Dexterous Humanoid Loco-Manipulation from Human Demonstrations

arXiv:2609.34724v1 Announce Type: new Abstract: Learning dexterous humanoid loco-manipulation from human demonstrations requires transferring not only human motion, but also the coordinated interactio

safetyarxiv-cs-ro

DiffPTS: Rethinking Diffusion ELBO for Probabilistic Time Series Forecasting

arXiv:2609.32363v1 Announce Type: new Abstract: Probabilistic time series forecasting requires modeling and predicting complex and time-varying distributions. Recently, Denoising Diffusion Probabilist

DirectUV: Image-Conditioned UV Texture Generation with Surface-Aware Positional Encoding

arXiv:2609.34651v1 Announce Type: new Abstract: Generating high-quality UV textures for 3D meshes remains challenging. Multi-view projection pipelines suffer from occlusion and view inconsistency, and

Discovering Symmetries in Neural Network Parameter Spaces

arXiv:2609.33527v1 Announce Type: new Abstract: Parameter space symmetries are important for understanding neural networks' loss landscape, training dynamics, and generalization. However, systematical

DroneWAM: Efficient World Action Model for Drone Visual Navigation

arXiv:2609.33148v1 Announce Type: new Abstract: World-action models give visual navigation agents a way to anticipate how candidate actions will change future observations and to act from the predicte

ECHO: Event-Augmented Context with Hindsight and Outlook for Wrist-Only Manipulation

arXiv:2609.34893v1 Announce Type: new Abstract: Learning-based manipulation policies relying on RGB cameras often suffer from degraded observations under extreme exposure. Event cameras mitigate this

safetyarxiv-cs-cv

EdgeVLN: Runtime-Aware Deployment Ready Quantized Vision Language Navigation Model

arXiv:2609.35570v1 Announce Type: cross Abstract: Vision-language navigation (VLN) models perform well but target compute-rich platforms, limiting deployment on memory- and power-constrained robotic e

Enhancing Foundation Models for Imbalanced SAR Ship Classification via Targeted Oversampling

arXiv:2609.31657v1 Announce Type: new Abstract: Remote-sensing foundation models offer strong representations for SAR imagery, but their behavior under severe long-tail class imbalance is still not we

f-FUM: Federated Unlearning via min--max and f-divergence

arXiv:2602.06187v2 Announce Type: replace Abstract: Federated learning (FL) enables collaborative training while keeping raw data on clients. Deletion requests and the discovery of poisoned data creat

Feature Space Guidance for Breast Cancer Classification in DCE-MRI

arXiv:2609.32555v1 Announce Type: new Abstract: Dynamic contrast enhanced breast MRI (DCE-MRI) is a powerful clinical tool for breast cancer detection, providing high resolution anatomical detail toge

Agents

FlowAct-R2: Beyond Talking Avatar via Streaming Multimodal References and Proactive Agent Planning

arXiv:2609.35728v1 Announce Type: new Abstract: We present FlowAct-R2, a framework for interactive humanoid video generation that combines continuous multimodal control with proactive agent planning.

agentsarxiv-cs-cv

From Pixel Generation to Topological Inference: Structural Dual Super-Resolution for Trustworthy Cross-Physical-Domain Trabecular Morphology Learning

arXiv:2609.34716v1 Announce Type: new Abstract: Clinical CT and UHRCT cannot resolve individual trabeculae, whereas synchrotron radiation microCT (SR{mu}CT) provides 3.2{mu}m high-resolution reference

Gauge-Equivariant Attention for Rotation-Stable 360^irc Scene Understanding

arXiv:2609.31755v1 Announce Type: new Abstract: Panoramic 360^irc scene understanding increasingly relies on icosphere transformers, but a state-of-the-art spherical model loses more than half of its

GeoVerse: World-Consistent Novel View Synthesis in Geometric Latent Space

arXiv:2609.35734v1 Announce Type: new Abstract: Novel view synthesis from sparse images must reconcile faithful reconstruction of observed regions with plausible completion of unseen content, while ma

Getting Motif-ated: Controllable AI Compositions from Injected Motif Prompts

arXiv:2609.32788v1 Announce Type: new Abstract: Deep learning has transformed symbolic music generation by borrowing the training paradigms of large language models, with systems such as NotaGen now p

safetyarxiv-cs-lg

Gradients for Interventions and Activations for Detection: Targeted Feature Learning in Language Models

arXiv:2609.32355v1 Announce Type: cross Abstract: Model-internal features can be studied through both their ability to identify a specified concept and their causal effect when manipulated, e.g., thro

GroupMask: Layer-Adaptive Group-wise Sparsity for Semi-Structured LLM Pruning

arXiv:2609.33977v1 Announce Type: new Abstract: Semi-structured pruning compresses large language models (LLMs) while keeping a regular sparse structure, but the prevailing N:M pattern fixes the same

Handwritten Digit Leakage from Smartphone Motion Sensors Across Unseen Users and Phone Models

arXiv:2609.32117v1 Announce Type: new Abstract: Smartphone motion sensors support interactive applications, but their readings may also reveal touchscreen input beyond their intended use. Assuming kno

How Linear Attention Remembers

arXiv:2609.33093v1 Announce Type: new Abstract: Linear attention replaces the growing key--value (KV) cache of standard attention with a fixed-size recurrent state, substantially reducing memory growt

Tutorials

How to Loop MoE: Flatten the Experts, Untie the Attention

arXiv:2609.35751v1 Announce Type: new Abstract: Looped Transformers reuse one block of layers several times: by spending extra computation they push a model of fixed size further, and so use its param

tutorialsarxiv-cs-lg

InfiMed2: A Generalist Medical Multimodal Foundation Model from Contextual Evidence and Stability-Aware Supervision

arXiv:2609.34798v1 Announce Type: cross Abstract: Recent medical multimodal models have benefited from larger corpora, broader modality coverage, and stronger reasoning-oriented training, yet effectiv

InfiniHand: Streaming World-Space Hand Motion Estimation from Egocentric Video

arXiv:2609.35743v1 Announce Type: new Abstract: World-space hand motion estimation from egocentric video requires recovering 3D articulated hand geometry while tracking camera egomotion. Existing appr

InfraVLA: Extending Vision-Language-Action Navigation with Infrastructure Cameras

arXiv:2609.33647v1 Announce Type: new Abstract: Many indoor environments in which robots operate, such as warehouses, offices, and hospitals, already have cameras installed. They observe parts of the

safetyarxiv-cs-ro

Applications

Language-Augmented Video Action Anticipation: Design Fundamentals, Benchmarks, and Open Challenges

arXiv:2609.31665v1 Announce Type: new Abstract: Action anticipation predicts future human actions from partial video under incomplete context and temporal uncertainty. Recent systems introduce large l

applicationsarxiv-cs-cv

Let CSP Be Your ANCHOR: Adaptive Crystal Search over Frozen Structure Priors

arXiv:2609.33407v1 Announce Type: cross Abstract: De novo crystal generation (DNG) models decide where to search in composition space and how to generate structures with one set of weights. We argue t

safetyarxiv-cs-lg

LRC-JEPA: Disentangling Dynamics and Residual Context for Efficient World Models

arXiv:2609.34375v1 Announce Type: new Abstract: Compact JEPA world models enable efficient latent-space planning, but low-dimensional representation trained under reward-free self-supervision must enc

M3-Score: Fidelity, Memorization and Coverage as Separate Axes for Evaluating Generative Radiology Image Models

arXiv:2609.33769v1 Announce Type: new Abstract: Quantitative evaluation of generative models for radiology remains challenging. Clinically relevant structures are often small and infrequent, feature s

Many Eyes, One World: Feed-Forward 3D Reconstruction from Mixed Cameras

arXiv:2609.35658v1 Announce Type: new Abstract: Real-world capture is heterogeneous: perspective, fisheye, and 360^irc panoramic images can coexist within a single reconstruction task, yet most feed-f

Applications

MM-ABC: Towards Generalist Mobile Manipulation via Seeing, Coordinating and Imagining

arXiv:2609.35652v1 Announce Type: new Abstract: Mobile manipulation extends robot interaction beyond a fixed kinematic workspace by making the reachable region itself controllable. This flexibility in

applicationsarxiv-cs-ro

Modernising the Compressed-Domain Video Captioner: A Controlled Study of SigLIP2 and GPT-2 Substitutions

arXiv:2609.31700v1 Announce Type: new Abstract: Compressed-domain video captioning avoids full video decoding by operating directly on I-frames, motion vectors and residuals, trading a small amount of

NanoForecast v0.5: Competitive Time Series Forecasting Through Training Pipeline Optimization

arXiv:2609.31669v1 Announce Type: new Abstract: We present NanoForecast v0.5, a 6.5M-parameter forecaster that competes with models 31x its size (TimesFM, 200M parameters) after training pipeline fixe

OmniWeaving: Towards Unified Video Generation with Free-form Composition and Reasoning

arXiv:2603.24458v3 Announce Type: replace Abstract: While proprietary systems such as Seedance-2.0 have achieved remarkable success in omni-capable video generation, the academic research community la

On-Policy Attention Linearization

arXiv:2609.31947v1 Announce Type: new Abstract: Hybrid transformer architectures that replace most softmax attention layers with linear attention offer transformer-level quality at a fraction of the m

safetyarxiv-cs-lg

Local Ai

One Sequence, Many Decodings: CAGenMol-2 Recasts Drug Design as Masked Molecular Inference

arXiv:2609.34301v1 Announce Type: new Abstract: Drug design couples property evaluation, conditional generation, structure-based design, and local optimization, yet machine learning systems typically

local-aiarxiv-cs-lg

Optimizing H-Graph Hybridization for Diffusion-Guided RRT

arXiv:2609.32897v1 Announce Type: new Abstract: Sampling-based motion planners guided by diffusion models produce high-quality trajectories in a single run, yet the stochastic diversity available at i

PACER: Progressive Availability-Conditioned Evidence Routing for Radiology Report Generation under Incomplete Clinical Context

arXiv:2609.34487v1 Announce Type: new Abstract: Radiology report generation (RRG) increasingly incorporates heterogeneous clinical evidence, such as multi-view radiographs and previous reports, whose

PF-RL: Progress Field Reinforcement Learning via Goal-Conditioned Value Geometry for Vision-Language-Action Models

arXiv:2609.32634v1 Announce Type: new Abstract: Reinforcement Fine-Tuning~(RFT) has emerged as a promising paradigm for improving Vision-Language-Action~(VLA) policies, yet sparse task-level outcomes

safetyarxiv-cs-ro

Agents

PReCache: Efficient KV Cache Sharing for Multi-LoRA Agents via Low-Rank Precomputation and Neutral Reconstruction

arXiv:2609.34054v1 Announce Type: new Abstract: Multi-LoRA agent systems enable efficient role specialization by sharing a common backbone model. However, each agent repeatedly processes the growing s

agentsarxiv-cs-lg

Predicting the Next State Is Not Enough: JEPA Representations for Lean Theorem Proving

arXiv:2609.32908v1 Announce Type: new Abstract: Neural theorem provers must both propose tactics and decide which valid successor states to explore. We study whether one-step Lean transitions provide

Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies

model-releasesarxiv-cs-ro

arXiv:2609.33765v1 Announce Type: new Abstract: Generative robot policies provide expressive behavior priors, but updating a large diffusion or flow-matching model through online interaction is costly

PSM: Dataset Distillation Based on Precise Statistical Matching by Difficulty

arXiv:2609.34299v1 Announce Type: new Abstract: Dataset distillation (DD) condenses a large original dataset into a small distilled dataset with high training utility. Decoupled statistical matching m