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arXiv

Effects of Theory of Mind and Prosocial Beliefs on Steering Human-Aligned Behaviors of LLMs in Ultimatum Games

Neemesh Yadav, Yihuai Lan, Shan Dong, Mai Hieu Hien, Palakorn Achananuparp, Jing Jiang, Ee-Peng Lim

Large Language Models (LLMs) have shown potential in simulating human behaviors and performing theory-of-mind (ToM) reasoning, crucial for complex social interactions. We investigate ToM reasoning's role in aligning agentic behaviors with human norms in negotiation tasks, using the ultimatum game as our referenced task. We initialized LLM agents with different prosocial beliefs (Greedy, Fair, Selfless) and reasoning methods (chain of thought and ToM reasoning of varying levels), examining their decision-making process and outcome across multiple LLMs, including reasoning models like o3-mini and DeepSeek-R1 Distilled Qwen 32B. We perform 2,700 simulations to show that ToM reasoning enhances behavioral alignment with human, decision-making consistency, and negotiation outcomes. Consistent with prior findings, reasoning LLMs exhibit limited capability compared to ToM-enhanced LLMs, with different game roles benefiting from different ToM orders. Fair proposers and responders accepting offers were the most consistent with their strategic reasonings, whereas all agents showed strong consistencies with human beliefs when rejecting offers, except when the offer was fair. Human verification further revealed that Llama 3.3 70B produces reasoning most consistent with its actions and beliefs. Our findings advance understanding of ToM's role in human-AI interaction and cooperative decision-making. The code used for our experiments can be found at https://github.com/Stealth-py/UltimatumToM.

arXiv

Reasoning Meets Personalization: Unleashing the Potential of Large Reasoning Model for Personalized Generation

Sichun Luo, Guanzhi Deng, Jian Xu, Zerui Yang, Xiaojie Zhang, Hanxu Hou, Linqi Song

Personalization is a critical task in modern intelligent systems, with applications spanning diverse domains, including interactions with large language models (LLMs). Recent advances in reasoning capabilities have significantly enhanced LLMs, enabling unprecedented performance in tasks such as mathematics and coding. However, their potential for personalization tasks remains underexplored. In this paper, we present the first systematic evaluation of large reasoning models (LRMs) for personalization tasks. Surprisingly, despite generating more tokens, LRMs do not consistently outperform general-purpose LLMs, especially in retrieval-intensive scenarios where their advantages diminish. Our analysis identifies three key limitations: divergent thinking, misalignment of response formats, and ineffective use of retrieved information. To address these challenges, we propose Reinforced Reasoning for Personalization (\model), a novel framework that incorporates a hierarchical reasoning thought template to guide LRMs in generating structured outputs. Additionally, we introduce a reasoning process intervention method to enforce adherence to designed reasoning patterns, enhancing alignment. We also propose a cross-referencing mechanism to ensure consistency. Extensive experiments demonstrate that our approach significantly outperforms existing techniques.

arXiv

Benchmarking and Boosting Multilingual Capabilities of LVLMs via OCR-Centric Reinforcement Learning

Junyuan Gao, Jiahe Song, Jiang Wu, Runchuan Zhu, Guanlin Shen, ShaSha Wang, Xingjian Wei, Haote Yang, Weijia Li, Bin Wang, Lijun Wu, Conghui He

Evaluating the multilingual capabilities of Large Vision-Language Models (LVLMs) remains challenging because most benchmarks rely on non-parallel corpora, making it unclear whether cross-lingual performance gaps reflect model limitations or dataset inconsistencies. To address this, we introduce PM4Bench, the first multimodal, multilingual, multi-task benchmark built on a strictly parallel 10-language corpus, enabling fair, apples-to-apples cross-lingual comparison of model performance. We further introduce a vision setting that embeds textual inputs directly into images, better approximating deployment scenarios where LVLM-driven agents interact with virtual or physical environments through unified visual observations. Experiments with 10 LVLMs reveal that OCR is a key factor behind cross-lingual disparity when textual content is rendered visually. Motivated by this, we design an OCR-centric GRPO training strategy using fully synthesized, label-free OCR data, without expensive task-specific VQA supervision. The resulting model improves general multilingual VQA capability, reduces cross-lingual disparities under the vision setting, and transfers gains beyond PM4Bench. This methodology offers an efficient, label-free pathway toward more equitable multilingual deployment of LVLM-driven agents.

arXiv

Length-Controlled Margin-Based Preference Optimization without Reference Model

Gengxu Li, Tingyu Xia, Yi Chang, Yuan Wu

Direct Preference Optimization (DPO) is a widely adopted offline algorithm for preference-based reinforcement learning from human feedback (RLHF), designed to improve training simplicity and stability by redefining reward functions. However, DPO is hindered by several limitations, including length bias, memory inefficiency, and probability degradation. To address these challenges, we propose Length-Controlled Margin-Based Preference Optimization (LMPO), a more efficient and robust alternative. LMPO introduces a uniform reference model as an upper bound for the DPO loss, enabling a more accurate approximation of the original optimization objective. Additionally, an average log-probability optimization strategy is employed to minimize discrepancies between training and inference phases. A key innovation of LMPO lies in its Length-Controlled Margin-Based loss function, integrated within the Bradley-Terry framework. This loss function regulates response length while simultaneously widening the margin between preferred and rejected outputs. By doing so, it mitigates probability degradation for both accepted and discarded responses, addressing a significant limitation of existing methods. We evaluate LMPO against state-of-the-art preference optimization techniques on two open-ended large language models, Mistral and LLaMA3, across six conditional benchmarks. Our experimental results demonstrate that LMPO effectively controls response length, reduces probability degradation, and outperforms existing approaches. The code is available at https://github.com/gengxuli/LMPO.

arXiv

Bridging Linguistic Structure and Mechanistic Interpretability for Conceptual Interpretation in Language Models

Nura Aljaafari, Danilo S. Carvalho, André Freitas

Understanding how language models compose meaning from linguistic input remains a central problem in interpretability research. Mechanistic studies have attributed functional roles to core transformer components; however, these findings derive largely from factual retrieval settings. Whether the same mechanisms support \textit{conceptual interpretation}, the compositional mapping from definitional expressions to abstract meaning, remains insufficiently characterised. We introduce \textit{DSRA} (Definitional Semantic Role Analysis), a methodology that applies causal tracing within the reverse dictionary task and augments restoration traces with definitional semantic roles (DSRs) grounded in Argument Structure Theory. This linguistic overlay identifies which compositional functions (e.g., genus, differentia quality) are associated with high-recovery states, extending activation patching beyond token-level localisation. Applied to GPT-J-6B (English) and BERTIN GPT-J-6B (Spanish), the results show that MLP layers associate content-bearing tokens with high-specificity DSR categories in early layers, MHA layers distribute integration across middle-to-upper layers with concentration at the final token, and hidden states aggregate information in upper layers. Alignment between restored states and DSR categories indicates systematic correspondence between internal activations and definitional structure, with consistent localisation patterns across both languages.

arXiv

Reasoning as a Weapon: Adaptive Dual-Path Jailbreak Attack on Large Language Models

Shi Lin, Peng Qian, Hongming Yang, Renjie Sun, Dezhang Kong, Xun Wang

Large language models (LLMs) have achieved remarkable progress across a wide range of applications. Despite advances in safety alignment, they remain vulnerable to jailbreak attacks. Existing methods mainly rely on input-level deception to conceal harmful intent, overlooking a more fundamental attack surface: harmful intent can emerge during reasoning even when absent from the input. To study this gap, we propose ReDPJ, a Reasoning-guided Dual-Path Jailbreak framework that shifts attacks from prompt manipulation to reasoning manipulation. ReDPJ first converts harmful intent into benign dual-modal adversarial anchors, then adaptively guides reasoning to reconstruct latent harmful intent and steer the model toward unsafe trajectories. This design reduces explicit malicious signals in the input while exploiting vulnerabilities in the model's reasoning process. Experiments on state-of-the-art LLMs demonstrate strong effectiveness, achieving ASRs of 82.1% on GPT-4o-2024-11-20, 85.1% on Llama-3-8B-Instruct, and 88.2% on DeepSeek-V3.

arXiv

Towards a resource for multilingual lexicons: an MT assisted and human-in-the-loop multilingual parallel corpus with multi-word expression annotation

Lifeng Han, Najet Hadj Mohamed, Malak Rassem, Gareth Jones, Alan Smeaton, Goran Nenadic

In this work, we introduce the construction of a machine translation (MT) assisted and human-in-the-loop multilingual parallel corpus with annotations of multi-word expressions (MWEs), named AlphaMWE. The MWEs include verbal MWEs (vMWEs) defined in the PARSEME shared task that have a verb as the head of the studied terms. The annotated vMWEs are also bilingually and multilingually aligned manually. The languages covered include Arabic, Chinese, English, German, Italian, and Polish, of which, the Arabic corpus includes both standard and dialectal variations from Egypt and Tunisia. Our original English corpus is extracted from the PARSEME shared task in 2018. We performed machine translation of this source corpus followed by human post-editing and annotation of target MWEs. Strict quality control was applied for error limitation, i.e., each MT output sentence received first manual post-editing and annotation plus a second manual quality rechecking till annotators' consensus is reached. One of our findings during corpora preparation is that accurate translation of MWEs presents challenges to MT systems, as reflected by the outcomes of human-in-the-loop metric HOPE. To facilitate further MT research, we present a categorisation of the error types encountered by MT systems in performing MWE-related translation. To acquire a broader view of MT issues, we selected four popular state-of-the-art MT systems for comparison, namely Microsoft Bing Translator, GoogleMT, Baidu Fanyi, and DeepL MT. Because of the noise removal, translation post-editing, and MWE annotation by human professionals, we believe the AlphaMWE data set will be an asset for both monolingual and cross-lingual research, such as multi-word term lexicography, MT, and information extraction (https://github.com/aaronlifenghan/AlphaMWE).

arXiv

Improving Spatial-Temporal Reasoning in Video-Language Models with Structured Video Prompting

Sadegh Mohammadian

Video-language models (VLMs) remain brittle on tasks that require tracking events over time and grounding answers in specific spatial regions. We propose that part of this limitation can be addressed through better organization of visual evidence at inference time. We introduce structured video prompting, a training-free inference-time method that augments the input video with lightweight spatial structure and temporal structure, providing explicit anchors for organizing evidence across space and time without changing model weights or decoding and without altering the question prompt in the main comparison. We evaluate this approach on two complementary video benchmarks and two open video-language models. Across these settings, structured inputs improve performance in several cases, with gains varying by model and task. Our findings suggest that some failures of VLMs arise not only from reasoning capacity, but also from how video evidence is presented at inference time. These results highlight structured video prompting as a simple and practical direction for improving video understanding.

arXiv

Understanding Temporal Semantic Stability in Open-Vocabulary UAV Perception through Metric 3D Fusion

Saurbh Singh Jamwal

Recent open-vocabulary segmentation models have advanced semantic perception for UAVs, but predictions from moving aerial platforms can remain temporally inconsistent across repeated observations of the same physical scene. We investigate temporal semantic stability by associating frame-wise predictions with persistent world-space locations through metric 3D fusion. We introduce a voxel-level evaluation framework that jointly characterises final semantic agreement, Semantic Belief Drift (SBD), Observation Persistence (OP), and semantic uncertainty. Experiments on UAVid-3D reveal substantial frame-wise semantic flicker and show that high aggregate world-space agreement can overstate temporal stability when locations have limited repeated-observation support. Persistence-stratified analysis shows that recurrent voxels expose greater semantic disagreement, while belief drift decreases as additional evidence accumulates. This behaviour is observed across two segmentation backbones and remains consistent under variations in voxel resolution, geometric association, and temporal sampling density. Conditions that reduce world-space recurrence can increase apparent aggregate stability, demonstrating that semantic consistency must be interpreted together with observation support. Our findings highlight observation persistence as an essential conditioning variable for evaluating long-horizon semantic reliability.

arXiv

The Potential of Haptic Foundation Models

Jianquan Wang, Haiwei Dong, Abdulmotaleb El Saddik

Despite the success of foundation models in language and vision, their expansion into embodied AI is bottlenecked by a lack of generalized touch sensing. This limitation is especially relevant to consumer electronics, where smartphones, wearables, VR controllers, home robots, and health monitoring devices require safe and adaptive physical interaction. Constrained by hardware heterogeneity and the necessity of active physical data collection, current haptic models remain rigidly task-specific. To overcome these limitations, this article explores the transformative potential and developmental trajectory of Haptic Foundation Models (HFMs). We detail the paradigm shift required to transition from passive Large Language Models and Vision Language Models into active HFMs across four core dimensions: action coupling, physical dynamical representation space, continuous time-series data granularity, and action-conditioned future state prediction. Furthermore, we synthesize existing large-scale tactile datasets and benchmark UniTouch, AnyTouch, T3, and Sparsh on TacBench for force estimation, slip detection, and relative pose estimation.

arXiv

A Lightweight Multimodal Vision-Language Framework for Early-Stage Anatomical Green Fruit Classification in Commercial Orchards

Ranjan Sapkota, William Bu, Chen Chen, Yunjun Xu, Manoj Karkee

Accurate identification of early-stage apple fruitlet anatomical structures, including the calyx, fruitlet body, and peduncle, is essential for robotic thinning, crop-load management, and other precision orchard operations. This study presents a lightweight multimodal vision-language framework that adapts TinyCLIP for fine-grained fruitlet anatomy classification in complex orchard environments. A dataset of 600 high-resolution RGB images collected from Scilate and Scifresh apple orchards was converted into 224 x 224 image patches and annotated for three anatomical classes. Domain-specific language prompts, such as ``a photo of a class,'' were used to guide multimodal alignment between orchard imagery and horticultural structures. A sliding-window inference strategy with a stride of 112 pixels aggregates patch-level predictions into spatial heatmaps, enabling interpretable whole-image localization of fruitlet components relevant to robotic thinning. Patch-level evaluation on an NVIDIA T4 GPU achieved F1-scores of 0.95 for calyx, 0.98 for fruitlet, and 0.85 for peduncle, with a macro-F1 score of 0.93. Deployment-oriented optimization using ONNX and TensorRT enabled efficient inference on NVIDIA Jetson hardware, preserved accuracy under INT8 quantization, and supported model sizes of approximately 127-137 MB with millisecond-level patch inference. These results demonstrate that lightweight vision-language models can provide interpretable and edge-deployable perception for automated fruitlet analysis and future robotic thinning systems. The source code and implementation details are publicly available at https://github.com/WilliamBu1/A-Lightweight-Vision-Language-Model-for-Early-Stage-Fruitlet-Classification-in-Apple-Orchards.

arXiv

Fusing Perceptual Vision Experts with Multimodal Large Language Models for Explainable Plant Disease Diagnosis: From Benchmark Imagery to Real-World Robotic Field Validation

Ranjan Sapkota, Konstantinos I. Roumeliotis, Pengyao Xie, Nikolaos D. Tselikas, Lirong Xiang, Manoj Karkee

Accurate field plant disease diagnosis requires reliable fusion of uncertain and conflicting perceptual evidence. We present the Hybrid Hierarchical Multi-Agent Framework (H$^{2}$MAF), combining decision-level fusion of EfficientNet-B3 and ConvNeXt-Tiny with semantic arbitration by open-weight multimodal large language models (MLLMs), Gemma 4 E4B and Qwen3.5 4B, using structured JSON evidence to generate explainable diagnoses, risk levels, treatment urgency, and financial exposure. (H$^{2}$MAF) is evaluated on 14,364 images (1,370 test images) across PlantDoc (2,922 images, 27 classes) and two non-public, continuously captured Cornell robot-acquired field datasets: Stage 2 (20 GB; 4,215 images) and Stage 4 (40 GB; 7,227 images), covering Early Blight, Late Blight, and Septoria Leaf Spot under uncontrolled field conditions. On PlantDoc, Gemma improves accuracy from 63.9% to 68.5%, achieving +7.6 points on the 41.7% CNN-conflict subset. Cornell accuracies reach 99.3% and 98.9%, with only 1.7-4.1% disagreement, demonstrating conflict-dependent MLLM utility. The critical-risk error of gemma is 0.14-0.5 points, whereas Qwen overflags by 3.5-14.4 points. These results establish MLLM arbitration as a promising, yet calibration-dependent, approach for explainable agricultural AI and robotic field decision support. Github Link: https://github.com/Applied-AI-Research-Lab/Explainable-AI-Plant-Disease-Detection

arXiv

Modality Contribution Score - A Per-Patient Framework for Quantifying the Relative Diagnostic Contribution of Structural MRI and Amyloid PET in Alzheimer's Disease

Dawa Chyophel Lepcha, Aaliya Ali, Sophie A. Martin, Deepika Koundal, Pierrick Coupe, Shabbir Syed-Abdul

Multimodal neuroimaging combining structural MRI and positron emission tomography (PET) captures complementary structure-function relationships across the Alzheimer's disease (AD) continuum, yet existing artificial intelligence systems produce a single diagnostic label without quantifying which imaging modality drove that decision for a specific patient. We introduce the Modality Contribution Network (MCNet) and the Modality Contribution Score (MCS), the first per-patient attribution framework quantifying the shift in modality dominance from structural atrophy to amyloid and metabolic dysfunction across the cognitively normal to MCI to AD continuum. MCS is normalised to unity per subject via modality ablation (MCS_MRI_i + MCS_PET_i = 1.0 for every subject i), providing an interpretable, clinically actionable score that fluid biomarkers cannot supply. Applied to 327 ADNI-3 participants balanced across cognitively normal, mild cognitive impairment, and AD groups, MCNet achieved competitive three-class staging performance (AUC=0.881). The MCS revealed a statistically significant monotonic gradient (Kruskal-Wallis p<0.0001), with increasing PET dominance from cognitively normal (MCS_PET 0.412+/-0.229) through MCI (0.489+/-0.289) to AD (0.671+/-0.426), validated against amyloid SUVR (r=0.172, p=0.006) and FDG metabolic biomarkers (r=-0.287, p=0.0005) from separate imaging pipelines. External replication in 1,073 independent OASIS-3 subjects confirmed cross-cohort generalisability (H=166.99, p<0.0001, eta^2=0.156). A mechanistic comparison with SHAP demonstrated that ablation-based MCS captures clinically meaningful modality dependence that deviation-based methods cannot. These findings position MCNet as a foundation for personalised imaging decisions, clinical trial stratification, and trustworthy AI in dementia care.

arXiv

Cross-Generation Optimization of YOLOv26, YOLOv11, and YOLOv8 for Fine-Grained Small-Object Detection and Instance Segmentation in Complex Orchards

Ranjan Sapkota, Manoj Karkee

Small-object detection and instance segmentation remain challenging in orchard environments because of green-on-green similarity, occlusion, and limited pixel representation of fine fruit anatomy. This study presents a cross-generation benchmark of Ultralytics YOLOv8, YOLOv11, and YOLOv26 for detecting and segmenting apple fruitlet, calyx, and peduncle structures for robotic orchard perception. Five model scales (n, s, m, l, and x) were evaluated under conventional 640 x 640 and small-object focused 960 x 960 training configurations, yielding 30 experiments. Increasing model capacity did not consistently improve accuracy. YOLOv11s-960 achieved the highest observed mask mAP@50:95 (0.402) and box mAP@50:95 (0.426), while YOLOv26s-960 achieved comparable values of 0.397 and 0.425 with only 10.37 M parameters and 34.1 GFLOPs. Peduncle remained the most challenging class. Overall, compact-to-moderate YOLO models with small-object-focused training provided favorable accuracy efficiency trade-offs, establishing a practical benchmark for fine-grained agricultural robotics and orchard perception. Github Link: https://github.com/rnjnspkt/Optimizing-and-Comparing-Ultralytics-YOLOv26-YOLOv11-and-YOLOv8-for-Small-Object-Detection-and-Seg

arXiv

The Blending Ratio Is Not Where the Performance Is: Diagnosing Prototype Blending for Few-Shot Adaptation of Vision-Language Models

Liangzhi Li, Bowen Wang, Yiming Qian, Thorsten Neumann, Xia Xie, Guangshun Li

Many few-shot adaptation methods for vision-language models classify with a convex combination of the zero-shot text prototype and the mean of the K labelled image features, with a single blending ratio routinely tuned on held-out labels, often on the test set itself. We ask what the family's own bias-variance justification invites: what is the right ratio, can it be estimated without validation data, and is finding it where the performance is? First, the ratio minimising prototype mean-squared error has a closed form whose support-set plug-in is exactly a positive-part James-Stein coefficient shrinking towards the text prototype. Across 4,800 cells (ten datasets, five backbones including SigLIP, five shot counts, five seeds, four prompt tiers) this theoretically optimal ratio is a reliable estimate of the wrong quantity: on the 950 primary-tier cells where it is defined it trails a test-set-oracle ratio by 8.5 points. It saturates near 1, discarding the text prior for a nearest-class-mean classifier, because 78% of the text-image prototype distance it treats as bias is a class-independent offset that the arg max largely cancels. We prove the mechanism and bound its share of the damage at 26% by a counterfactual. Second, leave-one-out on the support set alone sets a ratio landing within 0.9 points of the oracle blend, so it is estimable without validation data. Third, validation-free linear probes beat even the oracle-tuned blend: CLAP by +1.9 points and LP++ by +1.5 on average, and at K >= 4 all four validation-free baselines sit above the oracle, the linear probes by margins excluding zero. These results locate the ceiling in the model class, not the hyperparameter: the ratio can be set near-optimally for free, and it is still not where the performance is. Code, cached features, per-cell records: https://huggingface.co/datasets/Liangzhi-Li/clipbench-blending

arXiv

DiD It in 87 Minutes: A Label-Free Softmax-to-Linear Adaptation of Vision Transformers for Object Detection

Huaiyuan Qin, Gabriel James Goenawan, Zihang Lin, Muli Yang, Hongyuan Zhu

While linear attention is a compelling mechanism for high-resolution object detection due to its reduced cost for global token mixing, converting the Softmax-attention ViT backbone of a trained detector into a linear-attention one is not a trivial drop-in replacement. Directly swapping the attention operator leads to severe performance degradation, and generic label-free distillation, though effective for classification, often fails on detection tasks. We argue that the central challenge is \textit{detector-interface preservation}: the converted backbone must reproduce the exact feature tensors expected by the fixed downstream detector, rather than merely imitating internal Softmax hidden states. To address this, we introduce Detector-Interface Distillation (DiD), a label-free conversion method that exclusively trains the linear-attention backbone by aligning detector-facing interface tensors with those of a frozen Softmax teacher. On DOTA-v1.5, DiD substantially outperforms established baselines and matches supervised, fully trained linear models. Adaptation completes in roughly 87 minutes on 4 GPUs, and the linearized backbone cuts inference latency by ~62% and peak memory by ~49%. We hope our findings offer the community a simple, label-free route to reusing trained Softmax detectors as efficient linear ones, and encourage interface-aware objectives in future architecture-conversion work.

arXiv

Multiple View Neural Regression of a Facial Shape Model

Xiang Li

Creating re-topologized 3D facial meshes is essential for high-quality facial animation but remains labor-intensive and time-consuming. This dissertation explores more efficient approaches for capturing production-ready facial meshes through: (1) the development of VarIS, a custom light sphere for capturing high-resolution stereo geometry and reflectance maps; (2) analysis of camera parameters affecting automatic 2D and 3D landmarking; (3) synthetic-data methods for training neural face regression; and (4) techniques for improving neural multi-view face-shape regression. While VarIS enables photorealistic face capture, its operational and processing costs motivate a more scalable approach. A deep learning framework is therefore proposed to directly predict re-topologized facial meshes from synthetic multiview images generated with Visage Craft, an in-house physically based rendering system using an Appearance 3D Morphable Model (A3DMM). The system produces standardized meshes ready for rigging and animation with minimal human supervision. Results show that incorporating accurate camera intrinsics and extrinsics improves landmark accuracy and geometric consistency, while 3D landmark regularization further improves reconstruction quality.

arXiv

OmniCAD: A Large-Scale Benchmark for 3D Spatial Reasoning in Robotics Assemblies

Mingjia Wang, Taiting Lu, Ziwei Dong, Sisong Bei, Jingying Zeng, Runze Liu, Kaiyuan Lin, Hongxing Pan, Kai Zhang, Yizheng Hou, Yangshoudu Zheng, Chenchen Guo, Weiyuan Meng, Shubin Lyu, Zhijun Zheng, Dexu Wang, Xinyu Bai, Shurui Qian, Zhangzixin, Mengyu Pan, Guoliang Shi, Ling Ma, Yifan Yang, Qi He, Yi-Chao Chen, yincheng jin, Sung-Liang Chen, Mahanth Gowda

Recent vision-language models (VLMs) show strong capabilities in robotic perception and spatial reasoning, yet their ability to reason about complex mechanical assemblies remains underexplored. We introduce OmniCAD, a large-scale benchmark for assembly-aware 3D spatial reasoning across diverse industrial systems, including robotic mechanisms, automotive components, aerospace structures, and agricultural machinery. OmniCAD contains 25k mechanical assemblies, with an average of 12 parts per assembly and 21 types of mate relationships. Each assembly includes a human-verified ground-truth 3D model and renderings from 20 viewpoints. The benchmark evaluates three capabilities: (1) component-level 3D spatial reasoning, requiring prediction of part positions and orientations; (2) part-to-part relational reasoning, requiring identification of mating relationships and assembly constraints; and (3) tool-augmented agentic reasoning, where models iteratively select viewpoints, inspect visual evidence, and refine predictions. Experiments show that current VLMs struggle with industrial assembly reasoning, often producing inaccurate poses, invalid mating relationships, part interpenetration, and degraded performance as assembly complexity increases. We will open-source the benchmark, evaluation code, and tool interfaces to support research on accurate, physically valid, and scalable 3D assembly reasoning.

arXiv

GET: Generative Embedding Translation for Medical Image Segmentation

Md Maklachur Rahman, Md Hasan Al Banna, Saraf Anjum, Mahmudul Hasan, Tracy Hammond

Generative segmentation provides an alternative to direct pixel-wise prediction by operating on learned latent representations, but effective image-to-mask translation must preserve target structure while remaining computationally efficient. We propose Generative Embedding Translation (GET), a structured embedding-translation framework that progressively transforms image embeddings into mask embeddings within the frozen latent space of a Stable Diffusion VAE. GET uses a U-Net-style Embedding Translation Network with 1.07M trainable parameters, combining Mobile Bottleneck Convolutions, Subsampled Self-Attention, and Multi-scale Feature Enrichment for local modeling, global context, and multi-scale refinement. Across five medical segmentation datasets, GET outperforms generative, CNN, and Transformer baselines. Compared with the strongest generative baseline, GMS, GET improves average Dice and IoU by 0.93% and 1.26%, reduces HD95 by 0.81 pixels, and uses 31.41% fewer trainable parameters. Under bidirectional BUS-BUSI domain shift, GET further improves Dice and IoU by 3.51% and 3.39%, while reducing HD95 by 27.37 pixels. Our code is available at: https://github.com/maklachur/GET.

arXiv

AI-based worker guidance in assembly and disassembly operations using multimodal ego/exo-centric data capture and structured task knowledge

Vivek Chavan, Jörg Krüger

Assembly and disassembly processes rely on expert knowledge that is difficult to document, reuse, and transfer. This paper presents a data-centric approach for extracting structured task knowledge from expert demonstrations using egocentric and exocentric recordings. Temporal and multimodal information from video and narration is jointly encoded to derive structured task representations that enable procedural documentation and context-aware worker guidance. The approach is evaluated on a real-world disassembly case study, demonstrating that video-based representations capture procedural structure and execution context beyond static image-based methods. The results highlight the potential of egocentric video understanding for repair, training, and circular manufacturing applications. Project website: https://indego-assistant.github.io/

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