Interpreting Context-Aware Human Preferences for Multi-Objective Robot Navigation

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in natural language and depend on environmental context, it is difficult to directly integrate them into low-level robot control policies. In this work, we present a pipeline that enables robots to understand and apply context-dependent navigation preferences by combining foundational models with a Multi-Objective Reinforcement Learning (MORL) navigation policy. Thus, our approach integrates high-level semantic reasoning with low-level motion control. A Vision-Language Model (VLM) extracts structured environmental context from onboard visual observations, while Large Language Models (LLM) convert natural language user feedback into interpretable, context-dependent behavioral rules stored in a persistent but updatable rule memory. A preference translation module then maps contextual information and stored rules into numerical preference vectors that parameterize a pretrained MORL policy for real-time navigation adaptation. We evaluate the proposed framework through quantitative component-level evaluations, a user study, and real-world robot deployments in various indoor environments. Our results demonstrate that the system reliably captures user intent, generates consistent preference vectors, and enables controllable behavior adaptation across diverse contexts. Overall, the proposed pipeline improves the adaptability, transparency, and usability of robots operating in shared human environments, while maintaining safe and responsive real-time control.

PASTE: Physics-Aware Scattering Topology Embedding Framework for SAR Object Detection

Current deep learning-based object detection for Synthetic Aperture Radar (SAR) imagery mainly adopts optical image methods, treating targets as texture patches while ignoring inherent electromagnetic scattering mechanisms. Though scattering points have been studied to boost detection performance, most methods still rely on amplitude-based statistical models. Some approaches introduce frequency-domain information for scattering center extraction, but they suffer from high computation cost and poor compatibility with diverse datasets. Thus, effectively embedding scattering topological information into modern detection frameworks remains challenging. To solve these problems, this paper proposes the Physics-Aware Scattering Topology Embedding Framework (PASTE), a novel closed-loop architecture for comprehensive scattering prior integration. By building the full pipeline from topology generation, injection to joint supervision, PASTE elegantly integrates scattering physics into modern SAR detectors. Specifically, it designs a scattering keypoint generation and automatic annotation scheme based on the Attributed Scattering Center (ASC) model to produce scalable and physically consistent priors. A scattering topology injection module guides multi-scale feature learning, and a scattering prior supervision strategy constrains network optimization by aligning predictions with scattering center distributions. Experiments on real datasets show that PASTE is compatible with various detectors and brings relative mAP gains of 2.9% to 11.3% over baselines with acceptable computation overhead. Visualization of scattering maps verifies that PASTE successfully embeds scattering topological priors into feature space, clearly distinguishing target and background scattering regions, thus providing strong interpretability for results.

TrackDeform3D: Markerless and Autonomous 3D Keypoint Tracking and Dataset Collection for Deformable Objects

Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and motion planning. However, robustly extracting such representations remains challenging, as current perception methods struggle to handle complex deformations. Moreover, large-scale 3D data collection remains a bottleneck: existing approaches either require prohibitive data collection efforts, such as labor-intensive annotation or expensive motion capture setups, or rely on simplifying assumptions that break down in unstructured environments. As a result, large-scale 3D datasets and benchmarks for deformable objects remain scarce. To address these challenges, this paper presents an affordable and autonomous framework for collecting 3D datasets of deformable objects using only RGB-D cameras. The proposed method identifies 3D keypoints and robustly tracks their trajectories, incorporating motion consistency constraints to produce temporally smooth and geometrically coherent data. TrackDeform3D is evaluated against several state-of-the-art tracking methods across diverse object categories and demonstrates consistent improvements in both geometric and tracking accuracy. Using this framework, this paper presents a high-quality, large-scale dataset consisting of 6 deformable objects, totaling 110 minutes of trajectory data.

Dataset Distillation Efficiently Encodes Low-Dimensional Representations from Gradient-Based Learning of Non-Linear Tasks

Dataset distillation, a training-aware data compression technique, has recently attracted increasing attention as an effective tool for mitigating costs of optimization and data storage. However, progress remains largely empirical. Mechanisms underlying the extraction of task-relevant information from the training process and the efficient encoding of such information into synthetic data points remain elusive. In this paper, we theoretically analyze practical algorithms of dataset distillation applied to the gradient-based training of two-layer neural networks with width $L$. By focusing on a non-linear task structure called multi-index model, we prove that the low-dimensional structure of the problem is efficiently encoded into the resulting distilled data. This dataset reproduces a model with high generalization ability for a required memory complexity of $\tildeΘ$$(r^2d+L)$, where $d$ and $r$ are the input and intrinsic dimensions of the task. To the best of our knowledge, this is one of the first theoretical works that include a specific task structure, leverage its intrinsic dimensionality to quantify the compression rate and study dataset distillation implemented solely via gradient-based algorithms.

3D MRI-Based Alzheimer's Disease Classification Using Multi-Modal 3D CNN with Leakage-Aware Subject-Level Evaluation

Deep learning has become an important tool for Alzheimer's disease (AD) classification from structural MRI. Many existing studies analyze individual 2D slices extracted from MRI volumes, while clinical neuroimaging practice typically relies on the full three dimensional structure of the brain. From this perspective, volumetric analysis may better capture spatial relationships among brain regions that are relevant to disease progression. Motivated by this idea, this work proposes a multimodal 3D convolutional neural network for AD classification using raw OASIS 1 MRI volumes. The model combines structural T1 information with gray matter, white matter, and cerebrospinal fluid probability maps obtained through FSL FAST segmentation in order to capture complementary neuroanatomical information. The proposed approach is evaluated on the clinically labelled OASIS 1 cohort using 5 fold subject level cross validation, achieving a mean accuracy of 72.34% plus or minus 4.66% and a ROC AUC of 0.7781 plus or minus 0.0365. GradCAM visualizations further indicate that the model focuses on anatomically meaningful regions, including the medial temporal lobe and ventricular areas that are known to be associated with Alzheimer's related structural changes. To better understand how data representation and evaluation strategies may influence reported performance, additional diagnostic experiments were conducted on a slice based version of the dataset under both slice level and subject level protocols. These observations help provide context for the volumetric results. Overall, the proposed multimodal 3D framework establishes a reproducible subject level benchmark and highlights the potential benefits of volumetric MRI analysis for Alzheimer's disease classification.

LaPro-DTA: Latent Dual-View Drug Representations and Salient Protein Feature Extraction for Generalizable Drug--Target Affinity Prediction

Drug--target affinity prediction is pivotal for accelerating drug discovery, yet existing methods suffer from significant performance degradation in realistic cold-start scenarios (unseen drugs/targets/pairs), primarily driven by overfitting to training instances and information loss from irrelevant target sequences. In this paper, we propose LaPro-DTA, a framework designed to achieve robust and generalizable DTA prediction. To tackle overfitting, we devise a latent dual-view drug representation mechanism. It synergizes an instance-level view to capture fine-grained substructures with stochastic perturbation and a distribution-level view to distill generalized chemical scaffolds via semantic remapping, thereby enforcing the model to learn transferable structural rules rather than memorizing specific samples. To mitigate information loss, we introduce a salient protein feature extraction strategy using pattern-aware top-$k$ pooling, which effectively filters background noise and isolates high-response bioactive regions. Furthermore, a cross-view multi-head attention mechanism fuses these purified features to model comprehensive interactions. Extensive experiments on benchmark datasets demonstrate that LaPro-DTA significantly outperforms state-of-the-art methods, achieving an 8\% MSE reduction on the Davis dataset in the challenging unseen-drug setting, while offering interpretable insights into binding mechanisms.

How do LLMs Compute Verbal Confidence

Verbal confidence -- prompting LLMs to state their confidence as a number or category -- is widely used to extract uncertainty estimates from black-box models. However, how LLMs internally generate such scores remains unknown. We address two questions: first, when confidence is computed - just-in-time when requested, or automatically during answer generation and cached for later retrieval; and second, what verbal confidence represents - token log-probabilities, or a richer evaluation of answer quality? Focusing on Gemma 3 27B and Qwen 2.5 7B, we provide convergent evidence for cached retrieval. Activation steering, patching, noising, and swap experiments reveal that confidence representations emerge at answer-adjacent positions before appearing at the verbalization site. Attention blocking pinpoints the information flow: confidence is gathered from answer tokens, cached at the first post-answer position, then retrieved for output. Critically, linear probing and variance partitioning reveal that these cached representations explain substantial variance in verbal confidence beyond token log-probabilities, suggesting a richer answer-quality evaluation rather than a simple fluency readout. These findings demonstrate that verbal confidence reflects automatic, sophisticated self-evaluation -- not post-hoc reconstruction -- with implications for understanding metacognition in LLMs and improving calibration.

WebPII: Benchmarking Visual PII Detection for Computer-Use Agents

Computer use agents create new privacy risks: training data collected from real websites inevitably contains sensitive information, and cloud-hosted inference exposes user screenshots. Detecting personally identifiable information in web screenshots is critical for privacy-preserving deployment, but no public benchmark exists for this task. We introduce WebPII, a fine-grained synthetic benchmark of 44,865 annotated e-commerce UI images designed with three key properties: extended PII taxonomy including transaction-level identifiers that enable reidentification, anticipatory detection for partially-filled forms where users are actively entering data, and scalable generation through VLM-based UI reproduction. Experiments validate that these design choices improve layout-invariant detection across diverse interfaces and generalization to held-out page types. We train WebRedact to demonstrate practical utility, more than doubling text-extraction baseline accuracy (0.753 vs 0.357 mAP@50) at real-time CPU latency (20ms). We release the dataset and model to support privacy-preserving computer use research.

Truth as a Compression Artifact in Language Model Training

Why do language models trained on contradictory data prefer correct answers? In controlled experiments with small transformers (3.5M--86M parameters), we show that this preference tracks the compressibility structure of errors rather than truth per se. We train GPT-2 style models on corpora where each mathematical problem appears with both correct and incorrect solutions -- a denoising design that directly models conflicting information about the same fact. When errors are random, models extract the correct signal with accuracy scaling from 65% to 85% with model size. When errors follow a coherent alternative rule system, accuracy drops to chance (~45--51%): the model cannot distinguish the false system from truth. A multi-rule experiment reveals a sharp crossover: a single coherent alternative rule eliminates truth bias entirely, but adding a second competing rule restores most of it (47%->78%), with continued growth through N=10 (88%). The same pattern reproduces on real Wikipedia text (71% vs 46%). We propose the Compression--Consistency Principle as an explanatory hypothesis: in these settings, gradient descent favors the most compressible answer cluster, not truth per se. Truth bias emerges only when falsehood is structurally incoherent. Whether this principle extends to large-scale pretraining remains an open question.

DanceHA: A Multi-Agent Framework for Document-Level Aspect-Based Sentiment Analysis

Aspect-Based Sentiment Intensity Analysis (ABSIA) has garnered increasing attention, though research largely focuses on domain-specific, sentence-level settings. In contrast, document-level ABSIA--particularly in addressing complex tasks like extracting Aspect-Category-Opinion-Sentiment-Intensity (ACOSI) tuples--remains underexplored. In this work, we introduce DanceHA, a multi-agent framework designed for open-ended, document-level ABSIA with informal writing styles. DanceHA has two main components: Dance, which employs a divide-and-conquer strategy to decompose the long-context ABSIA task into smaller, manageable sub-tasks for collaboration among specialized agents; and HA, Human-AI collaboration for annotation. We release Inf-ABSIA, a multi-domain document-level ABSIA dataset featuring fine-grained and high-accuracy labels from DanceHA. Extensive experiments demonstrate the effectiveness of our agentic framework and show that the multi-agent knowledge in DanceHA can be effectively transferred into student models. Our results highlight the importance of the overlooked informal styles in ABSIA, as they often intensify opinions tied to specific aspects.