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arXiv2026

TPSO: Training-Free Diverse Image Generation via Semantic Prompt Embedding Optimization

Image diversity remains a fundamental challenge for text-to-image diffusion models. Low-diversity generation often leads to repetitive outputs, increasing sampling redundancy and hindering both creative exploration and downstream applications. A key factor is the tendency of diffusion models to collapse toward strong modes in the learned distribution. Existing attempts to improve diversity, such as steering-based guidance, often introduce distortions that degrade image quality. To address this issue, we propose Token-Prompt Embedding Space Optimization (TPSO), a training-free and model-agnostic module. TPSO introduces learnable parameters to explore underrepresented regions of the token embedding space, reducing the tendency to repeatedly sample from strong modes of the distribution. Meanwhile, a prompt-level semantic constraint regulates distribution shifts, preventing quality degradation while preserving semantic fidelity. Extensive experiments on MS-COCO across three representative diffusion backbones demonstrate that TPSO substantially improves diversity, boosting performance from 1.10 to 4.18, while maintaining image quality with only a modest inference-time overhead of 3.6% to 8.9%. Code is available at: https://github.com/Open-Debin/TPSO.

cs.CV↗

arXiv2026

Expert-like Bone Ultrasound Segmentation through Expert-in-the-loop Mask-conditioned Progressive Learning

Manual annotation remains a major bottleneck in ultrasound (US) bone segmentation, where experts typically iteratively refine rough brush masks rather than delineating precise contours in a single pass. We present ExiL, a mask-conditioned progressive learning framework that models annotation as a structured refinement trajectory. ExiL combines a synthetic expert-like brush simulator based on signed distance fields with a lightweight 7.8M-parameter U-Net that learns to complete and refine imperfect masks from US images. During deployment, an expert mode updates the model directly from accepted refinements, enabling continual adaptation to expert behavior. Evaluated using UltraBones100k cadaver data for quantitative segmentation and a prospective volunteer dataset for annotation-efficiency analysis, ExiL reduced single-expert average annotation time from 60 to 20 seconds per frame (66.7\%) and improved mean Dice by approximately 0.045 over non-progressive training, while achieving 0.87 Dice and 2.7 px boundary error in the best trajectory-aware setting. With 10--50 ms inference, ExiL enables real-time, self-improving annotation for US-guided orthopedic workflows in practical clinical labeling.

eess.IV↗

arXiv2026

Pix2Rep-v2: Data-Efficient Representation Learning for Dense Medical Imaging Applications

Dense self-supervised learning (SSL) is a powerful paradigm for learning without annotations the local descriptors required to solve dense medical imaging tasks. We present Pix2Rep-v2, a framework for SSL of pixel- and voxel-level representations suitable for few-shot downstream applications. Pix2Rep-v2 addresses the main challenges of dense SSL by leveraging a redundancy reduction objective at the pixel-level with a principle of equivariance of dense representations, that scales efficiently to 3D or wide field-of-view applications. We evaluate our method on four datasets, across multiple tasks, multiple modalities and anatomical structures using multiple backbones in 2D and 3D, and under various data regimes. As an alternative to linear probing or full fine-tuning on the downstream task, we also propose an in-context variant, without downstream training, based on a dense prototype approach. Pix2Rep-v2 shows substantially higher data-efficiency in few-shot scenarios compared to fully supervised baselines, and is competitive with the state-of-the-art e.g., +9.3 Dice points in one-shot segmentation on the M&Ms-2 dataset. Our code and pre-trained models are publicly available at https://github.com/BioMedTP/pix2rep-v2.

cs.CV↗

arXiv2026

Hardware-Accelerated Instance Segmentation for Resource-Constrained Space Robotics with Criticality Analysis

Autonomous lunar missions require real-time per- ception under three coupled constraints: extreme low-light conditions, limited onboard compute, and radiation-induced hardware faults that can silently corrupt inference. We present a deployment-oriented instance segmentation framework for resource-constrained lunar robotics that jointly addresses quan- tization calibration and system-level fault exposure under strict compute constraints. First, we introduce Activation Variance Informative Sampling (AVIS), a label-free calibration strategy that deterministically selects calibration samples based on activation variance statistics. Second, we deploy a YOLO-based segmentation model on a Deep Learning Processor Unit (DPU) with architectural modifications that reduce CPU fallback paths and enable statically compiled execution with bounded latency in low-lighting conditions. We further introduce a software-level criticality analysis to estimate fault exposure and guide mitigation under radiation-constrained operation. On a lunar micro-rover platform, AVIS with bias correction recovers 69.8% of quantization-induced accuracy loss while achieving 309 ms inference latency and 5.7 W power consumption. Targeted mitigation reduces global criticality by 31.7%. The results demonstrate an integrated approach and a blueprint for a reliable and safe AI perception framework under space deployment constraints.

cs.RO↗

arXiv2026

PULSAR: Pooled Unified Late-Interaction Search and Retrieval for Enterprise Visual Document RAG

Institutional investors search visually dense pitch decks, board packs, and diligence materials that change hourly near deal closing. OCR followed by figure verbalisation is costly to refresh at this scale and can lose chart detail. We present PULSAR, a production vision-first retrieval system deployed at Mubadala Investment Company. PULSAR indexes page images with a frozen ColPali-style backbone and uses a pooled two-stage late-interaction index: compact page summaries support initial retrieval, followed by exact MaxSim rescoring over a finer pooled representation. On ViDoRe V3, this design reduces median vector-search latency by 15.1 times against an unpooled configuration with less than 0.01 absolute NDCG@10 and Recall@10 loss; production median vector-search latency is 156 ms. Under concurrent load, the pooled index sustains approximately 88 times higher QPS than an unpooled index. The event-driven ingestion path is estimated to be approximately 20 times cheaper per page than the OCR+verbalisation baseline it replaced. Since March 2026, PULSAR has served 78 thousand documents and approximately 2.4 million pages across more than 3,000 deals. At the production top K, it more than doubles answer-fact recall over the OCR+verbalisation baseline.

cs.IR↗

arXiv2026

Star-Fusion: A Multi-modal Transformer Architecture for Discrete Celestial Orientation via Spherical Topology

Reliable celestial attitude determination is a critical requirement for autonomous spacecraft navigation, yet traditional "Lost-in-Space" (LIS) algorithms often suffer from high computational overhead and sensitivity to sensor-induced noise. While deep learning has emerged as a promising alternative, standard regression models are often confounded by the non-Euclidean topology of the celestial sphere and by the periodic boundary conditions of Right Ascension (RA) and Declination (Dec). In this paper, we present Star-Fusion, a multi-modal architecture that reformulates orientation estimation as a discrete topological classification task. Our approach leverages spherical K-Means clustering to partition the celestial sphere into K topologically consistent regions, effectively mitigating coordinate wrapping artifacts. The proposed architecture employs a tripartite fusion strategy: a SwinV2-Tiny transformer backbone for photometric feature extraction, a convolutional heatmap branch for spatial grounding, and a coordinate-based MLP for geometric anchoring. Experimental evaluations on a synthetic Hipparcos-derived dataset demonstrate that Star-Fusion achieves a Top-1 accuracy of 93.4% and a Top-3 accuracy of 97.8%. Furthermore, the model exhibits high computational efficiency, maintaining an inference latency of 18.4 ms on resource-constrained COTS hardware, making it a viable candidate for real-time onboard deployment in next-generation satellite constellations.

cs.CV↗

arXiv2026

Real-Time Musculoskeletal Surrogates for Pediatric Cerebral Palsy: a Credibility Pilot

Real-time musculoskeletal (MSK) surrogates could support personalized rehabilitation for children with cerebral palsy (CP), but their credibility depends on subject-wise evaluation, low inference latency, and calibrated uncertainty. We develop a subject-conditioned causal neural surrogate using OpenSim-derived static parameters, temporal joint kinematics, true muscle capacities, and training-only perturbations. On a real pediatric CP gait dataset comprising nine children, we use leave-one-subject-out validation on six development subjects and evaluate a frozen configuration once on three locked test subjects. The surrogate accurately reproduces musculotendon lengths (R-square = 0.92 in development validation and approximately 0.95 on locked subjects; nRMSE < 8%) while requiring only sub-millisecond to few-millisecond neural inference, well below a 100 ms interactive-rehabilitation target. In contrast, direct muscle-force estimation remains unstable at this small, heterogeneous scale: pooled metrics can overstate within-subject, per-muscle accuracy. A Monte Carlo credibility pilot further shows that propagating only +/-5% anthropometry and muscle-capacity variation produces severely overconfident nominal 90% intervals (approximately 4% force coverage and below 1% MT-length coverage). These results establish a leakage-free evaluation and credibility framework for pediatric MSK surrogates, while identifying force modeling and epistemic uncertainty as the central next challenges for clinically credible digital twins.

cs.CV↗

arXiv2026

Trust-Aware Routing for Distributed Generative AI Inference at the Edge

Emerging deployments of Generative AI increasingly execute inference across decentralized and heterogeneous edge devices rather than on a single trusted server. In such environments, a single device failure or misbehavior can disrupt the entire inference process, making traditional best-effort peer-to-peer routing insufficient. Coordinating distributed generative inference therefore requires mechanisms that explicitly account for reliability, performance variability, and trust among participating peers. In this paper, we present G-TRAC, a trust-aware coordination framework that integrates algorithmic path selection with system-level protocol design to ensure robust distributed inference. First, we formulate the routing problem as a \textit{Risk-Bounded Shortest Path} computation and introduce a polynomial-time solution that combines trust-floor pruning with Dijkstra's search, achieving sub-millisecond median routing latency at practical edge scales, and remaining below 10 ms at larger scales. Second, to operationally support the routing logic in dynamic environments, the framework employs a \textit{Hybrid Trust Architecture} that maintains global reputation state at stable anchors while disseminating lightweight updates to edge peers via background synchronization. Experimental evaluation on a heterogeneous testbed of commodity devices demonstrates that G-TRAC significantly improves inference completion rates, effectively isolates unreliable peers, and sustains robust execution even under node failures and network partitions.

cs.DC↗

arXiv2026

text2ql: Multi-Target Natural Language Querying via a Language-Agnostic Intermediate Representation

Natural language interfaces to databases have traditionally suffered from three structural limitations: exclusive targeting of relational SQL, unconditional dependence on large language model (LLM) inference at query time, and absence of any runtime signal when generated queries are semantically incorrect. This paper presents text2ql, an open-source Python framework that addresses all three limitations through a language-agnostic Intermediate Representation (QueryIR) and a pluggable renderer architecture. A single seven-stage detection pipeline serves both SQL and GraphQL targets; a zero-LLM deterministic mode delivers 100% execution accuracy at a median latency of 3.2 ms with no API cost; and every generated query carries a runtime confidence score in [0.15, 0.97] computed from an additive signal model. Evaluated on 50-query random samples from the Spider and BIRD benchmarks (indicative results; full-set evaluation is planned), the LLM-backed mode achieves 62-70% exact match and 84-91% execution accuracy; the deterministic mode achieves 100% execution accuracy with zero parse errors across all 100 test cases. An ablation study isolates schema-aware prompting as the dominant accuracy lever, contributing +18.4 percentage points of exact-match gain over the schema-free baseline on both benchmarks. text2ql is publicly available at https://pypi.org/project/text2ql/ under the Apache 2.0 license.

cs.CL↗

arXiv2026

Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation

Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and robustness to contact failures. We present Facet-0, a robotic foundation model that predicts and values the contact consequences of its actions. Facet-0 unifies multimodal representation learning and reinforcement learning (RL) post-training around a joint action-wrench proposal: a causal wrench history is aligned with vision-language semantics and kinematic state, and flow matching generates each action chunk together with the future wrist-wrench profile it is expected to induce. Deployment rollouts train a distributional Action-Wrench Critic to distinguish motions with similar task progress but different contact outcomes, while phase-aware rewards and contact-selective credit concentrate policy improvement on decisive interactions. To accommodate part-specific dynamics, a lightweight bounded actor reuses the frozen representation for on-robot adaptation; RL remains defined over executable Cartesian actions, while an auxiliary wrench head preserves predictive, non-commanded action-contact coupling. Trained on ManuFacet-1K, a 1,000-hour force-synchronized corpus spanning three embodiments and multiple manufacturing cells, the bounded task-adapted system reaches 82% mean success on five sub-millimeter computer-assembly tasks, compared with 15% for the strongest baseline, with 0.5 mm placement accuracy and 50 ms command latency.

cs.RO↗

arXiv2026

Data-Driven Generator Transient Prediction for Digital Twin Decision Support

This paper develops a calibrated transient forecasting surrogate model for generator digital twin (DT) decision support that evaluates planned active- and reactive power load commands before they are applied. The proposed event-conditioned Hankel Dynamic Mode Decomposition with Control (Hankel-DMDc) model combines delay-coordinate lifting, command-event memory features, and an event-weighted Hankel basis so that sparse load-transition dynamics influence the reduced representation and fitted dynamics. This design targets intervals where voltage/frequency deviations and recovery behavior determine whether a candidate load command keeps the system within acceptable limits. To provide operator-facing confidence information, a split-conformal calibration layer is applied to the frozen surrogate model to form event-conditioned joint prediction bands for voltage and frequency. The experimental results show event-window root-mean-square errors of 1.058 V and 0.155 Hz. For a nominal 90% target, the bands attain 90.17% pointwise joint voltage-frequency coverage, with mean band widths of 3.55 V and 0.566 Hz. A 50-s open-loop rollout is computed in 181 ms on a single CPU core, approximately 280 times faster than real time, with forecast accuracy evaluated over horizons up to 5 s. These results demonstrate a computationally efficient advisory framework for generator DTs that combines transient prediction with calibrated uncertainty.

eess.SY↗

arXiv2026

Background-Free Objectness Learning for Class-Agnostic Detection

Object detectors are typically trained under closed-set supervision, where unlabeled regions are implicitly treated as background. Under incomplete annotations, this assumption introduces objectness bias: visually valid but unlabeled objects are used as negatives, tying objectness to the annotated taxonomy rather than generic object structure. This limitation is particularly problematic for class-agnostic and open-world detection. This paper proposes Background-Free Objectness Learning (B-FOR), a dense class-agnostic detection framework that learns objectness without explicit background supervision on unlabeled regions. B-FOR formulates detection as the prediction of dense multi-scale object-center and scale fields, from which object hypotheses emerge as local spatial structures. Supervision is confined to reliable annotated regions through spatially structured soft targets, avoiding foreground-background discrimination. To support decoding from emergent local maxima, the paper further introduces displacement-aware scale fields that model object extent as a spatially varying property of the learned objectness field. Experiments on PASCAL VOC, MS-COCO, and Open Images demonstrate strong generalization to unseen categories and cross-dataset object distributions. B-FOR improves recall by more than +10 AR points over prior class-agnostic baselines. Ablation studies show that both localized objectness supervision and displacement-aware scale fields are critical for class-agnostic localization under incomplete annotations. Code available at: https://github.com/Daniaawan/B-FOR.

cs.CV↗

arXiv2026

Discriminative and Consistent Representation Distillation

Knowledge Distillation (KD) transfers knowledge from a large teacher to a smaller student model. While contrastive objectives have proven effective for learning structured representations in self-supervised settings, their use in distillation is hindered by two practical shortcomings: the reliance on external memory banks for negative sampling, and fixed temperature hyperparameters that limit adaptability across training stages and teacher-student pairs. We therefore propose Discriminative and Consistent Representation Distillation (DCD), which combines contrastive instance discrimination with a consistency regularization term over the cross-model similarity matrix. The contrastive term aligns each student representation with its teacher counterpart, while the consistency term penalizes asymmetry between the row-normalized and column-normalized views of that matrix, constraining the off-diagonal structure that instance discrimination alone leaves free; we show that it vanishes precisely when this matrix is symmetric. We further introduce an efficient in-batch sampling that eliminates external memory banks, and learnable scale and bias parameters that adapt during training to control the sharpness and offset of the distillation signal. The method matches the training speed of standard KD while adding only 66K additional parameters. Through extensive experiments on CIFAR-100, ImageNet, and MS-COCO, together with cross-dataset transfer to STL-10 and Tiny ImageNet, we show that our approach achieves competitive performance in classification, object detection, and transfer, while substantially reducing memory consumption and training time compared to existing contrastive distillation methods.

cs.CV↗

arXiv2026

Knowing Beyond the Known: Reinforced Knowledge Specification for Multi-Label Class-Incremental Learning

Existing class-incremental learning methods struggle in multi-label scenarios (MLCIL) due to the inherent contradiction of learning objectives arising from co-occurring and incomplete labels. We argue that the core obstacle is the model's ambiguous boundary between known and unknown knowledge, which undermines historical knowledge retention, complicates current task learning, and limits adaptability to future concepts. To address this, we propose KBK (Knowing Beyond the Known), a reinforced knowledge specification framework that explicitly models what is known or not to unify historical, current, and prospective learning. Specifically, to clarify known knowledge, we develop a hierarchical feature purification module that disentangles fine-grained class-specific features from global features, where high-level semantic abstraction is reinforced with low-level visual features. Additionally, an uncertainty-aware recall enhancement strategy suppresses unreliable predictions based on distribution priors, improving the quality of historical recall. For probing the unknown, KBK leverages semantic correlations to synthesize informative unknown features under co-occurring, preserving embedding space for future learning. Furthermore, to mitigate heterogeneous forgetting, we design a category-balanced gradient compensation loss that dynamically reweights gradient backpropagation according to forgetting speeds. Experiments on multiple benchmarks validate the effectiveness and robustness of KBK, which surpasses prior best methods by 2.7% in Avg. Acc on MS-COCO B0-C10 setting even without any replay buffers.

cs.CV↗

arXiv2026

A Three-Layer Caching Architecture for Low-Latency LLM Web Search on Commodity CPU Hardware

AI-powered search products such as ChatGPT search, Google's AI Overviews, and Perplexity provide LLM-synthesized answers grounded in live web results. We developed OreoLook (formerly lixSearch), an open-source answer engine using automated browser agents and provider-routed LLM inference. Its local search, caching, session-management, and embedding stack runs on commodity CPU hardware; answer synthesis is performed by a remote inference provider. As usage grew, sessions lost context, equivalent queries triggered redundant work, and URLs were repeatedly embedded across sessions. We present a three-layer caching architecture: (1) a Session Context Window maintaining a rolling window of recent messages in Redis with automatic overflow to Huffman-compressed disk archives; (2) a Semantic Query Cache catches rephrasings via cosine similarity on embedding vectors, eliminating redundant LLM invocations; and (3) a URL Embedding Cache that deduplicates embedding computations across sessions. Deployed on a single 8-vCPU Intel Cascade Lake server (2 GHz, 32 GB RAM) running 30 Hypercorn worker processes across three containerized replicas, the evaluated system reported an 89.3% aggregate Redis keyspace hit rate with 0.1 ms read latency and just 1.38 MB of memory overhead. A background LRU eviction daemon migrates idle sessions from Redis to disk and re-hydrates them on demand, enabling conversations that can be resumed hours or days later under the configured retention policy.

cs.DC↗

arXiv2026

Physics-informed Learning for Orbital Uncertainty Propagation with Error Bounds

The Fokker-Planck partial differential equation (FP-PDE) governs uncertainty evolution in stochastic dynamical systems. In orbital dynamics, solving the FP-PDE is challenging because of nonlinear motion, high-dimensional states, and large space-time domains. We develop a physics-informed neural network (PINN) approach that approximates the FP-PDE solution as a single space-time probability density, while also quantifying its worst-case approximation error. This approach is, in principle, independent of the choice of state coordinates and neural network architecture. Specifically, to enforce probability density function (PDF) properties into the neural network, we design a Physics-informed Gaussian mixture model (PINN-GMM). Then a companion error PINN learns the dynamics of the approximation error and yields time-dependent bounds that define an ambiguity set of PDFs. This ambiguity set enables rigorous computation of upper and lower bounds on event probabilities through tractable linear programs. Numerical studies on illustrative 1D examples and several 4D--6D orbital test cases demonstrate accurate uncertainty propagation, correct and informative error bounds, and improved reliability over common uncertainty-propagation baseline methods (Gaussian approximation, unscented transform, and Gaussian mixture model). Constructing the PINN-GMM requires offline training, making it costlier than the baseline approximations; once trained, however, a single forward pass returns the density at any time in sub-millisecond time $(0.16~\mathrm{ms}$ in our implementation).

physics.comp-ph↗

arXiv2026

HyperBones: Realtime Bone-driven Neural Garment Simulation with Hypernetwork Conditioning

Recent advances in cloth simulation have led to accurate garment physics, but the methods are computationally expensive for real-time applications. In contrast, Linear Blend Skinning (LBS) is efficient, but cannot capture the complex dynamics of loose-fitting garments, leading to unrealistic motion and visual artifacts. Neural methods offer a promising alternative, yet they still struggle to animate loose clothing plausibly under strict runtime constraints. We present a fast and physically-informed framework for dynamic garment simulation, consisting of a reduced-space neural dynamics simulator with independent coarse and fine-level components. At the coarse level, the garment is driven by virtual bones integrated with a lightweight neural network for predicting corrections over LBS. Fine-scale wrinkle details are then recovered using a convolutional MLP defined in UV space. By decoupling identity-specific computation from shape conditioning via hypernetwork, our neural framework offers high performance, trained using an effective physics-based self-supervised training paradigm without relying on an offline simulator. Experiments show that our method produces physically plausible garment dynamics, generalizes across diverse motions and unseen body shapes, and delivers over 30x speedup compared to state-of-the-art autoregressive neural simulators, achieving interactive inference at ~1 ms per frame on a consumer GPU.

cs.GR↗

arXiv2026

GhostWord: A Fine-Grained Backdoor Attack on Automatic Speech Recognition

Automatic Speech Recognition (ASR) systems are widely deployed in safety-critical settings but remain vulnerable to data-poisoning backdoor attacks. Existing ASR backdoors typically use phrase-level triggers paired with a fixed target sentence, creating strong artifacts (e.g., repeated transcripts or triggers placed in non-speech regions) that simple preprocessing can mitigate. We propose GhostWord, a word-level, time-localized ASR backdoor that uses codebooks mapping short ($\approx$400\,ms) acoustic triggers to target words. During poisoning, we inject a trigger into the forced-aligned time span of a chosen source word in the audio and replace only that word in the transcript, enabling precise semantic flips and composable sentence manipulation while avoiding many-to-one label artifacts. Across Common Voice (v23 English, v24 Lithuanian) and multiple backbones (Whisper-Small/Medium, MMS, SpeechT5), GhostWord achieves an average attack success rate of 89.3\% and transfers across languages and models. Adapting optimization-based defenses (ABL, ANP, SAU, I-BAU) reveals a sharp robustness--accuracy trade-off: attack success drops from 89.3\% to 29.1\% while clean WER rises from 21.5\% to 45.0\%, consistent with our theoretical analysis showing that, in high-vocabulary models, backdoor suppression structurally tends to degrade clean performance. The source code is publicly available at https://github.com/rohban-lab/GhostWord

eess.AS↗