Manipulation, locomotion, sim-to-real transfer and autonomous driving: learning systems that have to survive physics.
Embodied planning increasingly relies on vision-language models (VLMs) to translate instructions and visual observations into executable action sequences. However, fluent plans are not always executab...
ReMoMask-2 is a retrieval‑augmented text‑to‑motion generation framework that improves on complex motion descriptions by addressing coarse retrieval and representation gaps. It introduces a structure‑aware RAG pipeline with Hierarchical Bidirectional Momentum contrastive learning, Semantic Spatial‑Temporal Attention, and Topology Structured Masking, and rebuilds the retrieval database in the generator’s latent space using a lightweight projector. Experiments on HumanML3D, KIT‑ML, and SnapMoGen show state‑of‑the‑art retrieval accuracy and the lowest FID scores, with a single mask‑transformer stage delivering faster inference than the previous two‑stage design.
FPicker is a topology‑guided framework for filament tracing in low‑signal Cryo‑EM images. It combines a center‑endpoint representation with an open‑curve evolution module to model non‑cyclic connectivity, overcoming limitations of pixel‑wise segmenters, box‑based detectors, sequential trackers, and traditional active contours. On simulated benchmarks, FPicker improves mean spatio‑angular precision by over 40 % and reduces topological gap rates by more than 60 % under extreme noise, and it achieves state‑of‑the‑art performance on real EMPIAR data after fine‑tuning.
The paper introduces 3DWay, a method that predicts 3D consistent waypoints for robot manipulation using multi‑view images. By first generating 2D waypoints that are consistent across views and then triangulating them, the approach provides explicit 3D motion specifications while leveraging pretrained vision‑language models. Experiments demonstrate that 3DWay improves 3D spatial grounding and vision‑language reasoning, enhancing the generalization of robot manipulation policies.
We present our solution to the LUMPI track of the UCF UrbanTwin Sim2Real LiDAR Challenge at the 6th DriveX Workshop, ECCV 2026. The detector must be trained only on synthetic data and is evaluated on...
This paper presents a novel framework designed to enhance key object identification in autonomous driving. Existing methods primarily focus on either detecting objects independently or leveraging visu...
The paper reviews how large language models have evolved into agents that can influence external environments through tool use, interface operation, delegation, state retention, virtual world inhabitation, and robotic control. It critiques the narrative of a single march toward autonomy, distinguishing model competence from system integration, persistence, and safe authority. The authors find that action-interface expansion is well documented, while robust completion, recovery, authorization, and independent verification remain less proven, and they propose a framework of justified delegation to guide future research.
The paper reports the first empirical study comparing how humans and large language models (LLMs) evaluate perceived moral agency (PMA) in both human and autonomous artificial agents within smart city scenarios. Using a validated PMA scale, 190 human participants and various LLMs were assessed, revealing that humans are perceived to have higher moral agency than artificial agents. When confronted with moral dilemmas, LLMs focus on situational factors such as harm severity and urgency, mirroring the context‑sensitivity observed in human raters.
RoboSPA is a large-scale robotic manipulation dataset and benchmark designed to evaluate Vision‑Language‑Action models on fine‑grained spatial reasoning and long‑horizon procedural planning. It contains 10 task categories, 56 base tasks, and 280 variants across five difficulty levels, with 527K trajectories collected from multiple embodiments and scenes. The benchmark introduces diagnostic metrics beyond binary success, revealing that current VLA models struggle with complex spatial relations, precise execution, and memory‑intensive planning.
The paper examines whether large language models (LLMs) exhibit conspiratorial tendencies, socio-demographic biases in this domain, and how easily they can be conditioned to adopt conspiratorial viewpoints. Using validated psychometric surveys, the authors find that LLMs partially align with conspiracy beliefs, that conditioning with demographic attributes yields uneven effects revealing latent biases, and that targeted prompts can readily shift responses toward conspiratorial stances. These findings underscore the vulnerability of LLMs to manipulation and the potential risks of deploying them in sensitive contexts.
The paper introduces a Cost-Aware Hierarchical Multi-Agent System (HMAS) for ransomware detection and family attribution that adaptively selects analysis modalities to balance accuracy and computational cost. Static analysis is used first, with dynamic and memory modalities added only when confidence is low or specialist agents disagree, guided by a cost model. Experiments show HMAS achieves high accuracy (96.57% binary detection, 0.90 macro‑F1 attribution) while reducing analysis cost by 43.97% and latency, with 56.05% of cases resolved using static evidence alone.
HiSfM introduces a hierarchical coarse‑to‑fine Structure‑from‑Motion framework that enhances robustness and efficiency by building a scaffold of local communities and a compact skeleton using edge‑disjoint spanning trees. The method verifies skeletal edges with a two‑view disambiguator, constructs a stable scaffold as an anchor, and then registers remaining images for refinement. Experiments on ambiguity‑focused benchmarks and general datasets demonstrate that HiSfM avoids ambiguity‑induced failures, reduces runtime, and improves completeness compared to prior approaches.
The paper introduces CABAL, an end-to-end multi-agent simulation framework that models reviewer assignment in academic conferences using large language model-driven reviewer agents. It presents an affinity-guided collusive bidding strategy that forms collusion rings based on reviewer-paper affinities, leading to more effective target-paper capture and higher scores for colluding reviewers. Experiments show that while collusive bidding significantly increases target-paper capture and reviewer scores, overall conference-wide effects are modest, and existing bid-phase detectors offer limited detection capability.
The paper presents a decentralized navigation framework for composite heterogeneous robots that integrates a large language model (LLM) policy agent, an Upper Confidence Bound (UCB) bandit, and a Double Deep Q-Network (Double DQN) controller. Each robot independently generates and refines policies at the round level using LLM inference, while the Double DQN handles tick-level action selection based on navigation variables and LLM priors. Across 30 rounds, the full configuration achieved all goals with the lowest median completion time (42 ticks) and a 25–39% improvement over other setups.
SocioGesture is a real‑time, adaptive system for recognizing social gestures in human‑robot interaction. It employs a compact, confidence‑aware body‑hand skeleton representation and a lightweight dual‑stream model that fuses body motion with hand articulation, enabling low‑latency onboard recognition. The model is trained with occlusion‑aware skeleton corruption to handle missing hands, occluded arms, and unstable keypoints, and it can expand its gesture vocabulary during deployment by saving uncertain interaction segments for offline labeling.
CoLMIN is an LLM-based framework for cooperative autonomous driving that addresses premature convergence to suboptimal solutions in multi-solution traffic scenarios. It introduces a Multi-Intent Negotiation module that generates multiple candidate driving intentions, an Evaluation-based Shallow Reflection Module that provides feedback to accelerate consensus, and a Deep Reflection Module that mitigates cognitive fixation by reflecting on negotiation histories. Experiments in the CARLA simulation show that CoLMIN outperforms existing methods in challenging interactive driving scenarios.
The paper introduces Out-of-Distribution Semantic Occupancy Prediction, a task that focuses on detecting unknown objects in 3D voxel space for autonomous driving. It proposes Realistic Anomaly Augmentation to create two new datasets, VAA-KITTI and VAA-KITTI-360, and presents the OccOoD framework, which uses Cross‑Space Semantic Refinement to improve OoD detection while maintaining semantic occupancy accuracy. Experiments show OccOoD achieves an AuROC of 65.50% and an AuPRCr of 31.83% within a 1.2 m radius, demonstrating strong generalization to real‑world urban scenes.
The paper introduces MovingDroneCrowd++, a large-scale video dataset for dense crowd counting and tracking from moving drones, featuring varied flight altitudes, camera angles, and lighting. It presents two new methods: GD3A for Video Individual Counting and GIA-Track for Multi-Object Tracking, both leveraging group-wise density assignment and identity association to handle aerial challenges. Experiments demonstrate significant improvements, reducing counting error by 47.4% and boosting tracking accuracy by 64.6%.
The paper introduces a reinforcement learning post‑training scheme that trains robot world models on their own autoregressive rollouts, using a contrastive RL objective adapted from diffusion models. It also proposes a training protocol that compares multiple variable‑length futures, a multi‑view visual fidelity reward, and demonstrates state‑of‑the‑art rollout fidelity on the DROID dataset, outperforming baselines on LPIPS, SSIM, and human preference tests.
MultihopSpatial is a new benchmark for Vision‑Language Models that focuses on multi‑hop, compositional spatial reasoning with queries ranging from 1 to 3 hops across varied spatial perspectives. It introduces the Acc@50IoU metric, which jointly evaluates answer selection and precise bounding‑box prediction, and provides a large‑scale training corpus, MultihopSpatial‑Train, to improve spatial intelligence. Evaluation of 37 state‑of‑the‑art VLMs shows that compositional spatial reasoning remains a significant challenge, and reinforcement learning fine‑tuning on the corpus boosts both intrinsic spatial reasoning and downstream embodied manipulation performance.