arXiv:2609.14783v1 Announce Type: cross Abstract: Robots need touch to manipulate objects safely and reliably, as many properties, such as softness, texture, and contact stability, are hard to infer...
arXiv:2606. 31694v1 Announce Type: cross Abstract: For robots manipulating open-world objects, tactile representations must generalize to unseen materials.
arXiv:2608. 04043v1 Announce Type: new Abstract: Resistive pressure arrays are the cheapest and most widely shipped tactile sensors, yet tactile representation learning has concentrated on optical sensors that image a deforming gel.
The paper introduces Test-Time Logit Prompting (TLP), a lightweight framework that adapts vision-language models to missing-modality inputs without accessing source training data. TLP optimizes logit prompts using uncertainty-aware adjustments and modality-complete consistency regularization, thereby maintaining prediction confidence and semantic consistency. Experiments on various benchmarks show that TLP improves recognition performance by up to 8% while requiring only a few hundred tunable parameters and minimal test-time optimization steps.
BIDETA is a gradient‑free framework that adapts pretrained tactile models to new sensors using only a few labeled target contacts. It preserves pretrained representations while repairing sensor‑dependent feature neighborhoods through rapid support memory, support‑conditioned spectral graphs, and reliability‑gated recurrence. Experiments on multiple datasets show that BIDETA dramatically improves accuracy and speeds up adaptation compared to prior methods.
arXiv:2606. 06943v1 Announce Type: cross Abstract: Vision-language models (VLMs) such as CLIP achieve strong zero-shot recognition but remain highly fragile under adversarial perturbations.
The paper introduces SubTTA, a test-time adaptation method for vision‑language models that aligns the semantic subspaces of visual and textual modalities to improve zero‑shot predictions. It addresses two issues: the modality gap caused by distribution shifts and visual nuisance that masks task‑specific semantics. By minimizing chordal distance between principal subspaces and projecting visual features onto a task‑specific textual subspace, SubTTA refines decision boundaries and achieves an average 2.24% improvement over existing TTA methods.
The paper introduces selective adaptation for vision‑language models, questioning whether test‑time adaptation (TTA) should always be applied. By analyzing per‑sample predictions before and after adaptation, the authors find that many adaptations are negligible or even harmful, flipping correct predictions. They propose Cross‑Augmentation Similarity (CAS), which skips adaptation when predictions across augmented views are highly similar, achieving comparable or better accuracy while reducing adaptation by up to 85%.
Vision-language models (VLMs) have achieved remarkable performance by leveraging complementary information from large-scale image-text pairs. However, missing-modality inputs are commonly encountered...
The paper introduces MOSAIC, a method for personalized federated vision‑language models that addresses domain heterogeneity by focusing on class‑specific cross‑domain residuals. It constructs a decision‑aware harmfulness score to identify residuals that hurt image‑text decision margins, then uses a low‑rank residual adapter with shared class factors and private domain factors, an image‑conditioned gate, and harmful‑pair‑aware reweighting to refine local updates. Experiments on Office31, OfficeHome, and DomainNet100 show consistent improvements in macro‑client top‑1 accuracy across various domain‑shift scenarios.
TokenSwap introduces a method to benchmark and reduce the modality gap in multimodal large language models (MLLMs) by interleaving semantically aligned images with text tokens. By transforming text-only benchmarks like MMLU into image‑interleaved versions (TokenSwap‑Bench), the authors reveal a pervasive performance drop—averaging 19.6%—across 42 MLLMs, with reasoning models showing smaller gaps. Training with TokenSwap mitigates this gap while maintaining strong text‑only and vision‑language performance.
The paper introduces PuRF, a cache‑based method for multi‑label test‑time adaptation of vision‑language models. PuRF first performs region purification to reliably identify object‑specific regions, then uses these purified regions to build a discriminative, temporally refreshed cache that mitigates dominant‑label bias. Experiments show that PuRF outperforms existing methods, achieving a 4.05% mAP gain on ViT‑B/32 across five datasets.