arXiv preprints from January 1, 2026 through September 13, 2026 — 12:47:29 EST
The ability to automatically generate large-scale, interactive, and physically realistic 3D environments is crucial for advancing robotic learning and embodied intelligence. However, existing generative approaches often fail to capture the functional complexity of real-world interiors, particularly those containing articulated objects...
Large language models (LLMs) are expected to be trained to act as agents in various real-world environments, but this process relies on rich and varied tool-interaction sandboxes. However, access to real systems is often restricted; LLM-simulated environments are prone to hallucinations and inconsistencies; and manually built...
Transformers require positional encodings to represent sequence order, yet most prior work focuses on designing new positional encodings rather than examining how positional information is fused with token embeddings. In this paper, we study whether the fusion mechanism itself affects performance, particularly in long-sequence...
Recent advancements in Large Language Models (LLMs) offer new opportunities to create natural language interfaces for Autonomous Driving Systems (ADSs), moving beyond rigid inputs. This paper addresses the challenge of mapping the complexity of human language to the structured action space of modular ADS software. We propose a...
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images containing range and azimuth information but lacks elevation information, 3D Sonar produces a 3D...
Large language models (LLMs) enable strong text generation, and in general there is a practical tradeoff between fine-tuning and prompt engineering. We introduce Simplify-This, a comparative study evaluating both paradigms for text simplification with encoder-decoder LLMs across multiple benchmarks, using a range of evaluation...
Accurate drug-target interaction (DTI) prediction is essential for computational drug discovery, yet existing models often rely on single-modality predefined molecular descriptors or sequence-based embeddings with limited representativeness. We propose Tensor-DTI, a contrastive learning framework that integrates multimodal embeddings...
Electroencephalogram (EEG)-based brain-computer interfaces (BCIs) are widely adopted due to their efficiency and portability; however, their decoding algorithms still face multiple challenges, including inadequate generalization, adversarial vulnerability, and privacy leakage. This paper proposes Secure and Accurate FEderated learning...
Vision-language models are increasingly deployed as computer-use agents (CUAs) that operate desktops and browsers. Top-performing CUAs are framework-based systems that decompose planning and execution, while end-to-end screenshot-to-action policies are easier to deploy but lag behind on benchmarks such as OSWorld-Verified. GUI...
Multi-view multi-label learning frequently suffers from simultaneous feature absence and incomplete annotations, due to challenges in data acquisition and cost-intensive supervision. To tackle the complex yet highly practical problem while overcoming the existing limitations of feature recovery, representation disentanglement, and...
Software engineering (SE) agents powered by large language models are increasingly adopted in practice, yet they often incur substantial monetary cost. We introduce EET, an experience-driven early termination approach that reduces the cost of SE agents while preserving task performance. EET extracts structured experience from prior...
Exposing latent lexical overlap, script romanization has emerged as an effective strategy for improving cross-lingual transfer (XLT) in multilingual language models (mLMs). Most prior work, however, focused on setups that favor romanization the most: (1) transfer from high-resource Latin-script to low-resource non-Latin-script...
Vulnerabilities severely threaten software systems, making the timely application of security patches crucial for mitigating attacks. However, software vendors often silently patch vulnerabilities with limited disclosure, where Security Patch Detection (SPD) comes to protect software assets. Recently, most SPD studies have targeted...
Algorithm extraction aims to synthesize executable programs directly from models trained on algorithmic tasks, enabling de novo recovery of executable mechanisms from weights without relying on human-written target programs. However, applying this paradigm to Transformer is complicated by representation entanglement (e.g.,...
Generalisation to unseen subjects in EEG-based emotion classification remains a challenge due to high inter-and intra-subject variability. Continual learning (CL) poses a promising solution by learning from a sequence of tasks while mitigating catastrophic forgetting. Regularisation-based CL approaches, such as Elastic Weight...
The rapid proliferation of synthetic media, presentation attacks, and document forgeries has created significant vulnerabilities in Know Your Customer (KYC) workflows across financial services, telecommunications, and digital-identity ecosystems. Traditional monolithic KYC systems lack the scalability and agility required to counter...
The Turing test may or may not be a valid test of machine intelligence. But in an age of generative AI, the test describes the positions we humans occupy. Judging whether or not something is human or machine produced is an everyday condition for many of us, one that involves taking a spectrum of positions along what the essay...
The need and theoretical methods for measuring and reducing CO2 emitted by computing systems are well understood, but real-world examples are still limited. We describe a journey towards green software for a live product running on a public cloud. We discuss practical solutions found, in particular using the cost implications of...
Domain-generalized retinal vessel segmentation is critical for automated ophthalmic diagnosis, yet faces significant challenges from domain shift induced by non-uniform illumination and varying contrast, compounded by the difficulty of preserving fine vessel structures. While the Segment Anything Model (SAM) exhibits remarkable...
Hallucinations, generating responses inconsistent with the visual input, remain a critical limitation of large vision-language models (LVLMs), especially in open-ended tasks such as image captioning and visual reasoning. In this work, we probe the layer-wise generation dynamics that drive hallucinations and propose a training-free...
Background: Pancreatic cancer is one of the most aggressive cancers, with poor survival rates. Endoscopic ultrasound (EUS) is a key diagnostic modality, but its effectiveness is constrained by operator subjectivity. This study evaluates a Vision Transformer-based deep learning segmentation model for pancreatic tumors. Methods: A...
Autonomous machine learning agents have revolutionized scientific discovery, yet they remain constrained by a Generate-Execute-Feedback paradigm. Previous approaches suffer from a severe Execution Bottleneck, as hypothesis evaluation relies strictly on expensive physical execution. To bypass these physical constraints, we internalize...
Reproducibility remains a persistent challenge in forecasting research and practice, particularly in business and financial analytics, where forecasts inform high-stakes decisions. Traditional forecasting methods, while theoretically interpretable, often require extensive manual tuning and are difficult to replicate in proprietary...
Communications networks now form the backbone of our digital world, with fast and reliable connectivity. However, even with appropriate redundancy and failover mechanisms, it is difficult to guarantee "five 9s" (99.999 %) reliability, requiring rapid and accurate root cause analysis (RCA) during outages. In the event of an outage,...
Current approaches for segmenting ultra high resolution images either slide a window, thereby discarding global context, or downsample and lose fine detail. We propose a simple yet effective method that brings explicit multi scale reasoning to vision transformers, simultaneously preserving local details and global awareness....