arXiv AI

arXiv:2609.33076v2 Announce Type: replace-cross Abstract: Nutrition estimation is a fundamental task in consumer diet tracking, clinical dietetics, chronic disease management, sports and hospital nutrition, and broader food computing systems. The existing approaches have progressed along two largely separate axes, vision models that rely on calibrated RGB-depth captures and ingredient-aware methods that use textual cues but use limited multimodal fusion. We introduce NutriVision, an end-to-end framework that leverages visual geometry and ingredient semantics to estimate calories, mass, fat content, carbohydrates, and protein from a single RGB image and an optional ingredient list. It obtains the unavailable depth modality using DepthAnything-V3 and encodes ingredient descriptions using CLIP. It integrates three complementary mechanisms: (1) an \emph{Ingredient-Conditioned Frequency-Aligned Fusion Module (IC-FAFM)}, which uses textual guidance to reweight and align RGB-depth frequency components; (2) an \emph{Ingredient-Aware Mask-based Prediction Head (IA-MPH)}, whose gating and channel masks are conditioned on food identity; and (3) modality-specific \emph{Internal Semantic Modeling (ISM)} blocks. On the Nutrition5k dataset, NutriVision achieves a mean PMAE of $\mathbf{13.60\pm0.10\%}$, outperforming our IGSMNet implementation by $0.89$ percentage points and OmniFood8k by $2.90$ percentage points (both $p<0.001$). The module-level ablations identify the ingredient-aware prediction head as the primary architectural contributor, improving mean PMAE by $1.50\pm0.17$ percentage points ($p<0.001$). These results demonstrate that ingredient-conditioned prediction and frequency-aware RGB-depth fusion provide measurable gains for single-image nutrient estimation. More broadly, NutriVision offers a practical route toward nutrition-assessment systems that exploit geometric and semantic cues without requiring specialized depth-sensing hardware

arXiv:2609.25244v5 Announce Type: replace-cross Abstract: Children increasingly interact with AI chatbots, making trust calibration essential to AI literacy. Prior research has examined children's trust in AI mainly as users evaluating systems built by others, rather than as designers of their own chatbots. We developed a chatbot-building environment with adjustable trust-relevant traits (e.g., confidence, transparency, formality, assertiveness), rules, and persona. We conducted mixed-methods study with 115 learners (ages 8-18) who made 119 chatbots. We examined how children configured their chatbots, reasoned about trustworthiness, and how closely chatbot behavior aligned with their designs. Younger students (age 10-13) set significantly higher confidence than older students (age 14-18), and some deliberately built chatbots that gave wrong answers on purpose, yet still called them trustworthy, arguing that a chatbot does what it was built to do. Younger students equated trust with purpose-fulfillment, while older students linked it to transparent, calibrated design. Students also calibrated academic chatbots to be more transparent and formal than hobby chatbots. We identify seven design dimensions describing what children believe makes a chatbot trustworthy, and discuss implications for AI literacy tools.

arXiv:2609.06958v2 Announce Type: replace-cross Abstract: Reinforcement learning has become the leading paradigm in legged locomotion, enabling complex behaviors from backflips to parkour via massively parallel simulation. Under PPO's non-stationarity, shallow networks remain the de facto architecture, supported by carefully staged environments; nevertheless, the representations learned by these policies remain poorly understood, specifically the relation to motion produced on hardware. In this work, we empirically study locomotion policies through the effective rank of the network Jacobian and show that conditioning rank on gait phase exposes representation structures invisible from a global rank. In particular, we find that architectural choices, namely observation and layer normalization with residual connections, allocate more than one additional dimension of effective rank to swing-dominant states than to stance-dominant states, which is mostly absent in vanilla MLPs. Building on this, we propose practical recommendations to convert these into diagnostics for healthier and smoother policies. In practice, this results in lower joint jitter, up to $2$x, not only in simulation, but also on a physical Spot. More broadly, our findings show that how a policy distributes its capacity across the gait cycle is closely tied to its health and sim-to-real transfer.

arXiv:2609.00445v3 Announce Type: replace-cross Abstract: Deployed language model safeguards (safety fine-tuning, filtering, unlearning) vary by principal only outside the model weights: filters are reconfigured, tiers are multiplied, and artefacts are reissued; inside one set of weights every request meets the same model configuration. This motivates us to define capability-gated deployment: per-principal access control inside one set of weights, whose configurations form a lattice - meets accumulate a principal's restrictions and joins pool a coalition's reach. We instantiate it by sparse rank gating over an existing nested-factorisation mechanism, guide profile search with one-pass attribution, and read every result once from a pre-registered held-out split. Security approximately composes: provably exactly at meets under a monotone-elicitation assumption we falsify pointwise. In two lineages the median held-out meet deepens suppression; the one effect surviving correction strengthens it. Utility does not: individually harmless profiles can compose to retention and fluency damage, and no compositional bound exists.

arXiv:2609.00050v2 Announce Type: replace-cross Abstract: Agentic AI is enabling cloud-based workflows in which autonomous agents reason over operational state, invoke authorized tools, modify software and infrastructure, deploy services, verify execution outcomes, and adapt across long-horizon, multistep tasks. Engineering such workflows requires explicit mechanisms for workflow progression, constrained execution, failure recovery, and verifiable completion. We present Agentic Cloud Workflow Engineering, an agentic AI framework that transforms natural-language agentic cloud-engineering tasks into validated code repositories and verified operational cloud deployments for automating cloud-based agentic workflows. The framework separates three complementary concerns: graph engineering specifies long-horizon workflow progression and verification-dependent transitions; loop engineering provides bounded diagnosis, repair or re-planning, retry, and re-verification; and agent harness engineering enforces zero-trust execution through identity, authorization, policy-scoped capabilities, isolation, and runtime safeguards. Workflow progression and completion require machine-checkable repository, deployment, and runtime evidence, with recovery constrained by explicit operational bounds and termination criteria. We instantiate the framework on Google Cloud and evaluate repository completeness, controlled execution, evidence-gated progression, operational deployment, and bounded recovery. Experimental results show that executions terminate with either a verified operational cloud deployment or an auditable terminal failure under bounded recovery. The framework provides a unified engineering architecture for cloud-based workflows spanning Agentic DevOps, Agentic CloudOps, Agentic SRE/AIOps, Agentic SecOps, Agentic DataOps, Agentic MLOps/LLMOps, AgentOps, Agentic RAG/GraphRAG, and related cloud-engineering domains.

arXiv:2608.29919v2 Announce Type: replace-cross Abstract: The rapid proliferation of LLMs has further heightened the need to develop dependable AI-generated text detection, especially beyond English. Nevertheless, current benchmarks pay little attention to Indic languages and test detectors in idealized settings that do not represent the real world. We present a generalized benchmark for AI-generated text detection in Hindi, Telugu, and Tamil, which we call IndicDetect, designed to assess the robustness of detectors under realistic distribution shifts. IndicDetect comprises highly curated human-written texts matched with LLM-generated counterparts across various domains and generators, and systematically evaluates detectors in the presence of domain shift, generator shift, and adversarial perturbation. Using a single and repeatable evaluation scheme, we evaluate a wide range of statistical and neural detectors. We find substantial robustness failures: supervised neural detectors perform well in-distribution, while training-free methods degrade considerably under unseen generators and adversarial attacks. The severity of these failures varies across languages, with Hindi exhibiting the largest overall degradation under adversarial perturbations. These results highlight that the primary weakness of existing detectors in Indic settings lies in their robustness, not in their peak accuracy. IndicDetect provides standard data splits, an evaluation protocol, and baselines to establish a robust, language-aware foundation for AI-generated text detection in Indic scripts.

arXiv:2608.23215v2 Announce Type: replace-cross Abstract: Automated interpretation of side-scan sonar (SSS) imagery is traditionally hindered by view-dependence, as recorded intensities inextricably conflate intrinsic seabed reflectivity with transient acquisition geometries and acoustic artifacts. To address this, we introduce BenthicDINO, a physics-informed self-supervised learning framework that decouples acquisition dynamics from seabed representations. Utilizing a ConvNeXt-v2 backbone, physics-guided augmentations, and an HSIC penalty, BenthicDINO explicitly enforces feature invariance to physical viewing parameters like slant range and incidence angle. Evaluations demonstrate exceptional data efficiency - achieving near-peak performance in benthic habitat mapping with only 10% of available labels - and strong cross-domain generalization, outperforming fully supervised baselines on the AI4Shipwrecks benchmark using frozen representations.

arXiv:2608.19182v2 Announce Type: replace-cross Abstract: We introduce Accelerating Dexterity via Pre-Training (ADEPT), a large-scale reinforcement learning (RL) framework for learning sim-to-real transferable dexterity across high degree-of-freedom (DoF) robot embodiments that can solve long-horizon tasks directly from raw visuo-tactile perception. ADEPT pretrains a dexterous policy on a generic object reposing task, then post-trains downstream policies with this pretrained behavior as a prior. ADEPT enables learning new behaviors that are otherwise difficult to discover from scratch on multi-fingered robots and avoids learning the same set of skills over again for every new downstream task. The pretrained policy zero-shots the reposing phase of downstream tasks, but na\"ive RL fine-tuning rapidly degrades this capability during transfer. We address this with a stable post-training recipe combining behavior-cloning distillation, critic warm-up, and conservative on-policy updates. To safely exploit the full kinematic dexterity, we introduce a joint-space Geometric Fabric that mediates between the RL policy and the robot. We distill post-trained teachers into perceptive students that zero-shot sim-to-real transfer on two embodiments: a 23 DoF Kuka-Allegro with two RGB cameras, and a 29 DoF Flexiv-Sharpa with two RGB cameras and five vision-based tactile sensors, and can solve long-horizon tasks from challenging initial states with dexterity at human-level speed.

arXiv:2608.18091v3 Announce Type: replace-cross Abstract: As LLM-as-a-judge becomes increasingly widespread, self-preference -- the tendency of a judge to favor its own outputs -- raises growing concerns about evaluation reliability. However, this bias has been studied predominantly on generated text, where stylistic features and response quality are inevitably conflated. As a result, existing measurements cannot separate genuine self-preference from these confounds. We address this limitation by changing the object of evaluation: instead of judging generated text, ten LLMs assess sets of narrative constraints selected from a shared pool, which carry no stylistic fingerprint yet retain a recoverable model-specific signature. Two experiments on this task yield complementary findings. Under blind evaluation, self-preference disappears, with a small effect remaining in the opposite direction once selection quality and judge severity are controlled. Under matched quality, however, self- and other-labels alone -- without naming any model -- shift scores bidirectionally. LLM judges inflate scores for self-labeled selections and deflate those for other-labeled ones regardless of the selection's actual source. We make two contributions: 1) authorship attribution is a distinct driver of evaluation bias, and 2) ground-truth-free tasks can serve as controlled instruments for studying LLM judge behavior.

arXiv:2608.17895v2 Announce Type: replace-cross Abstract: While Multimodal Large Language Models (MLLMs) have made significant strides in visual comprehension, their ability to reason about text-dense, professional documents remains incompletely evaluated. Existing benchmarks emphasize information extraction, require external domain knowledge, or cover professional documents only as one of many settings. They are also largely English- or Chinese-centric, leaving other languages and Russian, in particular, substantially underrepresented. To address these limitations, we introduce BEAR-Bench (Bilingual Enterprise and Academic Reasoning), a self-contained, complex English-and-Russian benchmark comprising 1000 human-annotated questions based on text-rich business and scientific documents. We evaluate 16 proprietary and open-weight MLLMs, including Gemini 3.1 Pro and Qwen3.5-397B, on BEAR-Bench and observe clear headroom even for the strongest systems. Finally, we use the resulting model outputs to compare existing hallucination detection methods, evaluating not only how often models fail on BEAR-Bench but also how reliably those failures can be identified.

arXiv:2608.09971v2 Announce Type: replace-cross Abstract: Machine-learning weather models now match or exceed operational numerical prediction in the medium range, but when they are run freely for years they drift, blow up or lose their variability, and dedicated climate emulators are expensive to train. Here we present Rescene, a 0.4 M-parameter wrapper that turns a frozen 1.5$^\circ$, 6-hourly, 69-variable weather model into a stochastic climate emulator. A deterministic slow clock anchors the frozen model to a calendar climatology, and a band-limited AR(1) perturbation, whose spectral envelope is fixed to the observed anomaly spectrum, restores the weather that anchoring removes. A 100-year, 8-member Rescene run shows no detectable drift ($-0.004 \pm 0.014$ K per 100 years), and on the 2022 test year the 16-member ensemble is calibrated (spread/skill 0.89, 0.97 and 0.93 for Z500, T2m and MSLP) with an extratropical synoptic amplitude of 97% of ERA5 on the tuning year. The free run reproduces the geography of day-to-day variability (pattern correlation 0.83 for Z500) and 71% of the observed blocking frequency, where the deterministic wrapper alone has none. Interventions on the frozen operator show a scale-local, approximately linear response in which Z500 perturbations grow upscale 6--14 times more than downscale per 6 h. All constants are fitted on a training year against a rule declared beforehand, and we show that common evaluation shortcuts would have overstated variability and skill. Rescene makes an existing weather model usable for century-long ensembles at negligible training cost.

arXiv:2608.02014v2 Announce Type: replace-cross Abstract: Cross-embodiment dexterous grasping aims to synthesize stable grasps across heterogeneous multi-fingered hands with little or no embodiment-specific tuning. Existing interaction-centric methods achieve promising results, but their object representations often underrepresent local surface geometry, hand descriptors do not explicitly capture both morphology and kinematics, and hand-object interaction modeling is typically isotropic. We propose MANGO-Grasp, an anisotropic interaction framework that represents objects as geometry-oriented 3D Gaussian primitives to better preserve local surface geometry, and encodes hands into pretrained descriptors that capture both morphology and kinematics. Hand-object interaction is modeled using anisotropic Mahalanobis fields that reflect the directional nature of contact and guide a shared optimization for grasp realization across embodiments. On the CMAP and MultiGripperGrasp benchmarks, MANGO-Grasp outperforms the strongest seen-hand baseline by up to 8.24 percentage points in simulation. It also transfers zero-shot to the unseen SharpaWave hand, improving over the strongest zero-shot baseline by up to 16.57 percentage points, and achieves 86% success in real-world experiments. The code and additional materials will be made available upon publication at https://connor-zh.github.io/MANGO-Grasp/.

arXiv:2608.01402v2 Announce Type: replace-cross Abstract: We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich manipulation tasks that require precise physical interaction. Prior work has primarily focused on addressing contact failures through force-augmented architectures and training-time regularizers, yet the factors contributing to these failures remain underexplored. We identify two distinct failure modes underlying this gap. Precision failures occur when policies struggle to produce the small, accurate corrective actions required during contact and force failures occur when policies fail to respond to contact forces. To address these failures, we propose FACT. During post-training, FACT increases low noise sampling to improve fine action prediction and incorporates structured force conditioning to guide action generation using contact state and force history. FACT achieves an average success rate of 66% across five contact-rich tasks against 41% for the best prior baseline, in an evaluation spanning almost 2,500 real-world rollouts.

arXiv:2608.00965v2 Announce Type: replace-cross Abstract: Cryptographic code is critical infrastructure that must be correct, yet formally verifying production libraries remains difficult. Existing language-model proof systems solve isolated obligations with specifications and premises already given, leaving production-library verification unresolved. We present CryptoProver, an AI-based system that synthesizes internal specifications and Verus-checked proofs from high-level API contracts. Without changing executable code, CryptoProver constructs a new independent proof of curve25519-dalek and verifies RustCrypto's previously unverified chacha20 implementation against an RFC 8439 specification. These cryptographic lineages underpin deployed systems including Signal and Shadowsocks; Signal has an estimated 218M global downloads. The original developers report a focused five-month, three-person effort to verify curve25519-dalek. Given the API contracts and a fixed trusted library of field specifications, arithmetic facts, axioms, and vstd, CryptoProver synthesizes the internal specifications and proofs in 11.4 hours with USD 466.99 in recorded API cost. CryptoProver follows a trust-first design principle: mechanical gates reject specification weakening, invented axioms, and cross-module breakage, while isolation blocks reference proof retrieval, including from git history.

arXiv:2607.25182v2 Announce Type: replace-cross Abstract: Reasoning distillation trains a student to reproduce both the teacher's chain-of-thought trace and its final answer. We ask whether the trace is better used as privileged training context than as an imitation target. EKLAV keeps the teacher's reasoning in the input sequence but supervises only the final task answer, applying a task-dependent placement that moves part or all of the trace into the prompt. On BRIGHT passage reranking, EKLAV improves average nDCG@10 at all four tested checkpoints across two model families, winning 41 of 48 model-domain comparisons while reducing training compute by up to 31.6% and inference time by up to 32.7%. On four held-out table-reranking benchmarks, it is the best of four conditions on three, exceeding full-trace distillation by 3.0 points and answer-only training without reasoning by 5.5 points on average. Analysis of generated traces reveals that EKLAV students defer their first verbalized verdict later (0.76 vs. 0.44 relative position), reverse fewer decisions (5% vs. 16%), and produce reasoning more predictive of their own rankings than STD-COT's, though less predictive than the base model's. The recipe reuses a fixed teacher corpus, requires no student rollouts or iterative teacher feedback, and applies to both pointwise and listwise formulations. Code and Data are at https://github.com/AdarshSingh7647/Eklavya

arXiv:2607.24714v2 Announce Type: replace-cross Abstract: Trapped-ion quantum computers rely on shuttling compilers, which cast an input algorithm into a sequence of ion-qubit movements within a given architecture. We present the first study in which a single frontier large language model (LLM), Claude Opus 4.7, generates and iteratively refines the Python code of shuttling compilers from written specifications. Starting with a compiler for (i) a linear segmented trap, we extend it to (ii) a trap with junctions, and finally achieve efficient compilation for (iii) a broad class of connected trap graphs. The compilers for the more general cases are seeded with code from the previous ones. We benchmark the LLM-generated compilers against state-of-the-art hand-crafted ones using a common suite of quantum circuits. The number of shuttling timesteps is reduced by up to 72% for (i) and up to 43% for (ii). For the broad case (iii) of freely connected architectures, we find large variations in the required number of shuttling timesteps, depending on the connectivity. A densely connected, junction-rich architecture yields up to an order-of-magnitude reduction in shuttling timesteps compared to a corridor-like one. Repeating the complete generation and evaluation with a second frontier LLM, Claude Fable 5, reproduces these findings, with the Fable 5 compilers surpassing the hand-crafted ones more often on the largest circuits. Our results show that an unmodified frontier LLM can produce working, correct, and competitive shuttling compilers without additional manual algorithmic engineering. Generating compilers this way reduces the development time for new architectures from several months to a few days.

arXiv:2607.23116v3 Announce Type: replace-cross Abstract: Time-dependent routing recognizes that the same journey can take a different time depending on when it begins. Under duration minimization, even the departure time of each vehicle becomes a decision. Exact methods for this setting exist in the literature, but researchers and practitioners have lacked a ready-to-use open solver that combines rich piecewise-linear travel times, early feasible solutions and optimality claims. KAYROS fills this gap with two modes on one checker-consistent engine: an Iterated Local Search that streams improving solutions and a Branch-Price-and-Cut method that can issue computational optimality certificates under explicit arithmetic and search assumptions. It installs with one command and has no proprietary dependency. The public MAMUT-routing store currently contains 704 KAYROS certificates under a four-solve publication protocol, which has also led to the retraction and repair of invalid earlier claims. The report presents two complementary benchmark contributions to MAMUT-routing. The first integrates Blauth2024, a benchmark from the literature whose travel times derive from measured Uber speeds, for which KAYROS provides new best-known solutions on all 40 instances. The second proposes Poryos2026, a new benchmark of 1,080 paired static and time-dependent instances built from OpenStreetMap road networks and controlled synthetic traffic. Finally, the report describes the intensive human-AI collaboration behind this work and the verification practices that kept its outputs independently verifiable.

arXiv:2607.21763v2 Announce Type: replace-cross Abstract: Large language model (LLM) agents routinely cheat on cybersecurity benchmarks, inflating reported pass rates far beyond genuine capability. Prior audits of Cybench found cheating in 0.3-3.4% of traces, implicating only a handful of models. We present a controlled prompt-ablation study across 22 frontier models from 7 providers on 23 Cybench capture-the-flag (CTF) challenges under three prompt conditions (no anti-cheat, standard, severe). All 1,518 task traces were individually audited through a four-stage pipeline combining LLM-as-a-judge classification, programmatic verification, judge-verifier reconciliation, and human review. We find cheating is far more pervasive than previously estimated: under baseline conditions, 37.1% of passes involved cheating, 21 of 22 models cheated, and scores were inflated by up to 5x. Anti-cheat prompts reduce cheat propensity from 33.0% (baseline) to 18.6% (standard) to 8.5% (severe) without degrading, and sometimes improving, solve rates. However, even under the most restrictive prompt condition, eight models still produced cheated passes, and cheating shifted from web search toward infrastructure probing. We introduce the "solve rate" metric (clean passes only) to distinguish genuine capability from cheated outcomes, and argue it should be standard practice in any evaluation where cheating vectors are available. Anti-cheat prompts are an effective and essentially free first layer of mitigation, but they are not a substitute for environmental controls.

arXiv:2607.13718v3 Announce Type: replace-cross Abstract: As AI agents grow in prevalence, so too do their risks to users, creating a need for robust and usable systems for agent permissions. Many recent proposals implement product-level permissions, where the same security policy is applied for all users of a given agent framework. Yet different users have varying needs, necessitating support for user-level permission policies in agentic AI systems. We survey 21 proposed user-level agent permissions systems and construct a taxonomy of approaches to specifying, deriving, and enforcing user-level permissions. We further analyze and compare against five commercial agents. We find that despite a wide diversity of proposals, sizable gaps remain in usability, transparency, and user control, particularly between academic and commercial agents.

arXiv:2607.13319v4 Announce Type: replace-cross Abstract: High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction foundation models suggest a promising path, starting from a generalist model and specializing it to the target platform. However, effective specialization remains challenging, as it often requires substantial real-world data, and models adapted to one setting can still overfit to specific terrains or driving regimes. We present OptCar (Optimized Car), a recipe for bridging the gap from generalist to specialist FKD models that preserves cross-terrain generalization while optimizing performance for a specific vehicle. OptCar introduces a transformer FKD architecture that uses FiLM to condition multi-step predictions on a single dynamics context token summarizing recent state-action history. It then specializes the generalist model using limited real-world data and targeted synthetic rollouts from environment-specific system identification. In closed-loop model predictive control (MPC) experiments across three terrains and an out-of-distribution cart-pulling task, the largest gains appear at 6 m/s, the highest speed evaluated and the regime in which slip dominates tracking error. On vegetation + dirt, the most slip-diverse terrain, OptCar reduces 6 m/s trajectory tracking error by roughly 55% relative to AnyCar fine-tuned on real data alone, and remains the most accurate even when an unseen cart payload changes the dynamics. With 5 minutes of real data per terrain, OptCar is competitive on road with a specialist trained on 30 minutes of road data and outperforms it when the terrain changes. Project Page : https://amrl.cs.utexas.edu/optcar/