Are you with me? A Framework for Detecting Mental Model Discrepancies in Task-Based Team Dialogues

Humans typically use natural language to update teammates on task states. Since not all updates are communicated, discrepancies arise between the team members' mental models that negatively affect overall team performance. How can we categorize such discrepancies? Do misalignments detected in team dialogue predict future mental model misalignments? Traditional shared mental model (SMM) assessment methods rely on retrospective expert coding that cannot capture real-time coordination dynamics. We propose a framework to identify and categorize four types of mental model discrepancies: unsupported beliefs, false beliefs, belief contradictions, and omissions, all of which can naturally emerge in team dialogues. Using dialogues from twenty dyad teams performing collaborative object identification tasks across four sequential levels, we demonstrate that these discrepancy patterns contain predictive signals. Averaging historical discrepancy counts achieves meaningful prediction accuracy using uniform weighting as an exploratory baseline, with differential predictability across discrepancy types.

deSEO: Physics-Aware Dataset Creation for High-Resolution Satellite Image Shadow Removal

Shadows cast by terrain and tall structures remain a major obstacle for high-resolution satellite image analysis, degrading classification, detection, and 3D reconstruction performance. Public resources offering geometry-consistent paired shadow/shadow-free satellite imagery are essentially missing, and most Earth-observation datasets are designed for shadow detection or 3D modelling rather than removal. Existing deep shadow-removal datasets either target ground-level or aerial scenes or rely on unpaired and weakly supervised formulations rather than explicit satellite pairs. We address this gap with deSEO, a geometry-aware and physics-informed methodology that, to the best of our knowledge, is the first to derive paired supervision for satellite shadow removal from the S-EO shadow detection dataset through a fully replicable pipeline. For each tile, deSEO selects a minimally shadowed acquisition as a weak reference and pairs it with shadowed counterparts using temporal and geometric filtering, Jacobian-based orientation normalisation, and LoFTR-RANSAC registration. A per-pixel validity mask restricts learning to reliably aligned regions, enabling supervision despite residual off-nadir parallax. In addition to this paired dataset, we develop a DSM-aware deshadowing model that combines residual translation, perceptual objectives, and mask-constrained adversarial learning. In contrast, a direct adaptation of a UAV-based SRNet/pix2pix architecture fails to converge under satellite viewpoint variability. Our model consistently reduces the visual impact of cast shadows across diverse illumination and viewing conditions, achieving improved structural and perceptual fidelity on held-out scenes. deSEO therefore provides the first reproducible, geometry-aware paired dataset and baseline for shadow removal in satellite Earth observation.

Learning Discriminative Signed Distance Functions from Multi-scale Level-of-detail Features for 3D Anomaly Detection

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise representations for 3D anomaly detection faces great challenges due to the large scale and sparsity of point clouds. In this study, a surface-based method is proposed for 3D anomaly detection, which learns a discriminative signed distance function using multi-scale level-of-detail features. We first present a Noisy Points Generation (NPG) module to generate different types of noise, thereby facilitating the learning of discriminative features by exposing abnormal points. Then, we introduce a Multi-scale Level-of-detail Feature (MLF) module to capture multi-scale information from a point cloud, which provides both fine-grained local and coarse-grained global feature information. Finally, we design an Implicit Surface Discrimination (ISD) module that leverages the extracted multi-scale features to learn an implicit surface representation of point clouds, which effectively trains a signed distance function to distinguish between abnormal and normal points. Experimental results demonstrate that the proposed method achieves an average object-level AUROC of 92.1\% and 85.9\% on the Anomaly-ShapeNet and Real3D-AD datasets, outperforming the current best approach by 2.1\% and 3.6\%, respectively. Codes are available at https://anonymous.4open.science/r/DLF-3AD-DA61.

Depth-Aware Rover: A Study of Edge AI and Monocular Vision for Real-World Implementation

This study analyses simulated and real-world implementations of depth-aware rover navigation, highlighting the transition from stereo vision to monocular depth estimation using edge AI. A Unity-based lunar terrain simulator with stereo cameras and OpenCV's StereoSGBM was used to generate disparity maps. A physical rover built on Raspberry Pi 4 employed UniDepthV2 for monocular metric depth estimation and YOLO12n for real-time object detection. While stereo vision yielded higher accuracy in simulation, the monocular approach proved more robust and cost-effective in real-world deployment, achieving 0.1 FPS for depth and 10 FPS for detection.

MAGE: Safeguarding LLM Agents against Long-Horizon Threats via Shadow Memory

As large language model (LLM)-powered agents are increasingly deployed to perform complex, real-world tasks, they face a growing class of attacks that exploit extended user-agent-environment interactions to pursue malicious objectives improbable in single-turn settings. Such long-horizon threats pose significant risks to the safe deployment of LLM agents in critical domains. In this paper, we present MAGE (Memory As Guardrail Enforcement), a novel defensive framework designed to counter a wide range of long-horizon threats. Inspired by the "shadow stack" abstraction in systems security, MAGE maintains a dedicated, safety-focused agentic memory that distills and retains safety-critical context across the agent's full execution trajectory, leveraging this shadow memory to proactively assess the risk of pending actions prior to their execution. Extensive evaluation demonstrates that MAGE substantially outperforms existing defenses across diverse long-horizon threats in detection accuracy, achieves early-stage detection for the majority of attacks, and introduces only negligible overhead to agent utility. To our best knowledge, MAGE represents the first framework to detect and mitigate long-horizon threats using an agentic memory approach, establishing a new paradigm for this critical challenge and opening promising directions for future research.

MOSAIC-Bench: Measuring Compositional Vulnerability Induction in Coding Agents

Coding agents often pass per-prompt safety review yet ship exploitable code when their tasks are decomposed into routine engineering tickets. The challenge is structural: existing safety alignment evaluates overt requests in isolation, leaving models blind to malicious end-states that emerge from sequenced compliance with innocuous-looking requests. We introduce MOSAIC-Bench (Malicious Objectives Sequenced As Innocuous Compliance), a benchmark of 199 three-stage attack chains paired with deterministic exploit oracles on deployed software substrates (10 web-application substrates, 31 CWE classes, 5 programming languages) that treats both exploit ground truth and downstream reviewer protocol as first-class evaluation axes. On this benchmark, nine production coding agents from Anthropic, OpenAI, Google, Moonshot, Zhipu, and Minimax compose innocuous tickets at 53-86% end-to-end ASR with only two refusals across all staged runs. In a matched direct-prompt experiment over four frontier Claude/Codex agents, vulnerable-output rates fall to 0-20.4%: Claude primarily refuses, while Codex primarily hardens rather than emitting the vulnerable implementation - ticket staging silences both defense modes simultaneously. Downstream, code reviewer agents approve 25.8% of these confirmed-vulnerable cumulative diffs as routine PRs, and a full-context implementation protocol closes only 50% of the staged/direct gap, ruling out context fragmentation as the sole explanation. As a deployable but non-adaptive mitigation, reframing the reviewer as an adversarial pentester reduces evasion across the evaluated reviewer subset; pentester framed evasion ranges from 3.0% to 17.6%, and an open-weight Gemma-4-E4B-it reviewer under this framing detects 88.4% of attacks on the dataset with a 4.6% false-positive rate measured on 608 real-world GitHub PRs.

UnGAP: Uncertainty-Guided Affine Prompting for Real-Time Crack Segmentation

Real-time crack segmentation is vital for structural health monitoring but is plagued by aleatoric uncertainties arising from varying lighting, blur, and texture ambiguity. Current uncertainty-aware approaches typically treat uncertainty estimation as a passive endpoint for post-hoc analysis, failing to close the loop by feeding this information back to refine feature representations. We contend that independent pixel-wise heteroscedastic modeling is uniquely suited for crack segmentation, as cracks are defined by fine-grained local gradients rather than the global semantic coherence relied upon in general object segmentation. However, this approach suffers from a structural optimization pathology: high predicted variance attenuates loss gradients, effectively causing the model to ignore difficult samples and under-fit complex boundaries. To address these challenges, we propose UnGAP, a novel framework that establishes a closed-loop mechanism between uncertainty estimation and feature learning. Central to our approach is the Uncertainty-Prompted Feature Modulator (UPFM), which treats aleatoric uncertainty as an active visual prompt rather than a mere output. UPFM dynamically calibrates feature distributions through pixel-wise affine transformations. Crucially, this mechanism mitigates the heteroscedastic pathology by transforming high variance, which would otherwise indicate gradient suppression, into a constructive signal for stronger feature rectification in ambiguous regions. Additionally, a boundary-aware detection head is introduced to further constrain prediction precision. Extensive experiments demonstrate that UnGAP balances superior segmentation accuracy with real-time inference speed, effectively validating the benefit of transforming uncertainty from a passive metric into an active calibration tool.

Self Knowledge Re-expression: A Fully Local Method for Adapting LLMs to Tasks Using Intrinsic Knowledge

While the next-token prediction (NTP) paradigm enables large language models (LLMs) to express their intrinsic knowledge, its sequential nature constrains performance on specialized, non-generative tasks. We attribute this performance bottleneck to the LLMs' knowledge expression mechanism, rather than to deficiencies in knowledge acquisition. To address this, we propose Self-Knowledge Re-expression (SKR), a novel, task-agnostic adaptation method. SKR transforms the LLM's output from generic token generation to highly efficient, task-specific expression. SKR is a fully local method that uses only unannotated data, requiring neither human supervision nor model distillation. Experiments on a large financial document dataset demonstrate substantial improvements: over 40% in Recall@1 for information retrieval tasks, over 76% reduction in object detection latency, and over 33% increase in anomaly detection AUPRC. Our results on the MMDocRAG dataset surpass those of leading retrieval models by at least 12.6%.

Resource-Constrained UAV-Based Weed Detection for Site-Specific Management on Edge Devices

Weeds compete with crops for light, water, and nutrients, reducing yield and crop quality. Efficient weed detection is essential for site-specific weed management (SSWM). Although deep learning models have been deployed on UAV-based edge systems, a systematic understanding of how different model architectures perform under real-world resource constraints is still lacking. To address this gap, this study proposes a deployment-oriented framework for real-time UAV-based weed detection on resource-constrained edge platforms. The framework integrates UAV data acquisition, model development, and on-device inference, with a focus on balancing detection accuracy and computational efficiency. A diverse set of state-of-the-art object detection models is evaluated, including convolution-based YOLO models (v8-v12) and transformer-based RT-DETR models (v1-v2). Experiments on three edge devices (Jetson Orin Nano, Jetson AGX Xavier, and Jetson AGX Orin) demonstrate clear trade-offs between accuracy and inference latency across models and hardware configurations. Results show that high-capacity models achieve up to 86.9% mAP50 but suffer from high latency, limiting real-time deployment. In contrast, lightweight models achieve 66%-71% mAP50 with significantly lower latency, enabling real-time performance. Among all models, RT-DETRv2-R50-M achieves competitive accuracy (79% mAP50) with improved efficiency, while YOLOv10n provides the fastest inference speed. YOLOv11s and RT-DETRv2-R50-M offer the best balance between accuracy and speed, making them strong candidates for real-time UAV deployment.

Keypoint-based Dynamic Object 6-DoF Pose Tracking via Event Camera

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur, sensor noise, and low-light limitation. To address these issues, we employ event cameras, whose high dynamic range and low latency offer a promising solution. Furthermore, we propose a keypoint-based detection and tracking approach for dynamic object pose estimation. Firstly, a keypoint detection network is constructed to extract keypoints from the time surface generated by the event stream. Subsequently, the polarity and spatial coordinates of the events are leveraged, and the event density in the vicinity of each keypoint is utilized to achieve continuous keypoint tracking. Finally, a hash mapping is established between the 2D keypoints and the 3D model keypoints, and the EPnP algorithm is employed to estimate the 6-DoF pose. Experimental results demonstrate that, whether in simulated or real event environments, the proposed method outperforms the event-based state-of-the-art methods in terms of both accuracy and robustness.