Search arXiv⌕ Search

SEARCH · Search arXiv

Results for “cs.MS”

Search indexed arXiv papers on artificial intelligence, large language models, computer vision and robotics. Read source abstracts and follow links to arXiv.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

10,400 records · Page 4Linked to original sources
arXiv2026

MeanField Surrogate Modeling for Scalable Runtime Scheduling of Concurrent Heterogeneous AI Inference on Shared GPUs

Deploying heterogeneous AI models concurrently on a shared GPU introduces resource contention that complicates runtime scheduling. While surrogate models avoid costly online benchmarking, their profiling requirements typically grow combinatorially with the number of co-running models, limiting scalability. We propose a MeanField surrogate that predicts per-model performance from local configuration and aggregate GPU state rather than explicitly modeling all joint interactions. Experiments on concurrent LLM and vision workloads across $N \in \{2,3,4,5,6\}$ show high predictive accuracy ($R^2 \approx 0.96$) with an empirical sample budget that grows approximately linearly in $N$, in contrast to the combinatorial cost of fully joint profiling. Integrated into a genetic algorithm scheduler, the surrogate scales to an $N=5$ problem with 78,732 feasible joint configurations, remaining within 0.10% of the exhaustive search with zero SLA violations across eight dynamic workload scenarios, while complete online GA decisions take 26 ms median, about $5\times$ faster than exhaustive surrogate search.

cs.DC↗
arXiv2026

Robust Immersive Bilateral Teleoperation of Beyond-Human-Scale Systems with Enhanced Transparency and Sense of Embodiment

This paper presents an immersive bilateral teleoperation framework for beyond-human-scale manipulators, combining motion/force transparency with enhanced operator embodiment through virtual reality (VR) and distributed haptic feedback. The platform integrates a full-scale industrial hydraulic manipulator, a 7-DoF haptic exoskeleton, and head-tracked visual feedback to reinforce operator agency and self-location. A force-sensorless adaptive controller incorporates an augmented human-robot dynamic model to address master-surrogate asymmetries, input nonlinearities, model uncertainties, and communication delays. Rigorous analysis establishes semi-global uniform ultimate boundedness of the closed-loop system. Extensive full-scale experiments demonstrate precise motion and force tracking with scaling up to 1:13 and 1:1000, respectively, and fixed or time-varying delays up to 150 ms. Coordinated 6-DoF pick-and-place and multi-axis contact tasks further validate system performance. A ten-participant user study supports system usability and indicates approximately 50% higher normalized embodiment scores with VR than with monitor-based feedback. These results advance intuitive, force-reflected remote manipulation at industrial scale.

cs.RO↗
arXiv2026

Personalizing LLM Agent Memory Using Biometrics

Personalized memory helps LLM agents deliver stable, tailored assistance by storing and reusing user-specific data across interactions. In multi-user scenarios, however, retrieval must consider not only semantic similarity but also whether the current requester matches the identity associated with the stored memory. We propose Bio-Memory, a biometric-aware memory architecture that conditions memory retrieval on both semantic similarity and biometric matching. Built on top of A-Mem, Bio-Memory augments each atomic memory note with a biometric embedding and uses biometric matching to form the retrieval candidate pool before semantic ranking. We evaluate Bio-Memory on LoCoMo in a 10-user shared-agent setting over 7 face benchmarks and 10 palmprint protocols. Across datasets, Bio-Memory consistently separates owner and non-owner queries. Under face-based personalization, the largest average gap reaches 27.29% / 21.15% in F1 / BLEU-1 on CALFW; under palmprint-based personalization, the corresponding gap is 25.75% / 19.22% on MS_Blue. These results support biometrics as a practical control signal for personalized memory retrieval in shared environments.

cs.AI↗
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

RAH-VLA: Resolution-Adaptive Hierarchical Vision-Language Alignment for Multimodal Remote Sensing Understanding

Multimodal vision-language modeling has emerged as a promising paradigm for remote sensing (RS) image understanding. However, existing methods are limited by fixed-resolution visual processing and single-scale vision-language alignment, making it difficult to simultaneously preserve fine-grained details and maintain semantic consistency across different spatial granularities. To address these challenges, we propose RAH-VLA, a Resolution-Adaptive Hierarchical Vision-Language Alignment framework for multimodal remote sensing understanding. Specifically, a Dynamic Resolution Input Strategy (DRIS) is developed to enable resolution-adaptive visual representations, while a Multi-scale Vision-Language Alignment Mechanism (MS-VLAM) is introduced to establish hierarchical semantic correspondence across object-level, region-level, and global-level representations. Extensive experiments on multiple remote sensing benchmarks demonstrate that RAH-VLA consistently improves image captioning, visual grounding, and cross-modal reasoning performance while reducing computational redundancy. Qualitative analyses further illustrate the effectiveness of the proposed resolution-adaptive perception and hierarchical vision-language alignment mechanisms, as well as the cross-modality generalization capability of the proposed framework. Overall, RAH-VLA provides an effective and scalable solution for multimodal remote sensing interpretation, offering a practical pathway toward efficient and semantically robust RS vision-language models.

cs.CV↗
arXiv2026

Seeing is Not Believing: Breaking the Physical-to-Digital Trust Boundary in Robotics

In multi-robot collaboration, task handovers rely on downstream verifiers performing remote attestation, which inspects sensor telemetry to ensure a robot's physical behavior strictly matches its assigned task. But can this telemetry be trusted? We show that it often cannot. In this paper, we uncover a severe vulnerability in Robot Operating System (ROS) 2: by modifying a single environment variable, an adversary can execute a pre-built hook to covertly intercept and inject both telemetry and control signals before they are published. Consequently, adversaries can hijack a robot to perform dangerous tasks while spoofing downstream verifiers with synthesized fake telemetry. Worse still, by exploiting the widespread reliance on third-party Docker containers and auxiliary tools, attackers can distribute compromised packages embedded with these malicious hooks to launch such attacks easily. On a physical Franka Emika robotic arm running Secure ROS 2, our attack injects fabricated telemetry in real time with only around 3 ms of jitter, preserving temporal synchronization and hardware integrity while achieving an 87% success rate even against an AI-based detector. We have responsibly disclosed these findings to the ROS 2 development team. We prepared a demo video available at https://youtu.be/ExeiGqUrnhQ.

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

Adaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2

In systems built on Robot Operating System 2 (ROS 2) and using Data Distribution Service (DDS), a single network-impaired or throttled subscriber on a RELIABLE topic can cause backpressure that degrades throughput and latency for all other subscribers, including safety-critical ones sharing the publisher, because the publisher's DDS writer can no longer accept new samples. We present Adaptive Bridge, a proxy-based layer that decouples critical subscribers from degraded or noncritical ones, thereby isolating the critical path through topic splitting and dynamic rate control. The proxy acts as a middleman and subscribes to the original topic and republishes the messages to two independent DDS writers: one RELIABLE writer for critical nodes and one BEST EFFORT writer for noncritical or degraded nodes, thus isolating the degraded nodes and safeguarding the publisher and critical nodes from backpressure. A probe-based classifier actively monitors subscriber health through sampling with hysteresis and adjusts subscriber rate limits in real time. We evaluate the system under a Gilbert-Elliott bursty wireless loss model using a reproducible Docker-based harness. The results show that using the Adaptive Bridge in our evaluation harness reduces the critical subscriber tail p95 latency from up to 15 s to 1.55 ms across all impairment severities while preserving the publisher's configured throughput.

cs.NI↗
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↗