March 2026

arXiv:2603.05642v1 Announce Type: new Abstract: Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration efficiently. Prior methods either rely on vision-language embeddings similarity, which does not reliably capture task-relevant relational semantics, or large language models (LLMs), which are too slow and costly for real-time deployment. We introduce SCOUT: Scene Graph-Based Exploration with Learned Utility for Open-World Interactive Object Search, a novel method that searches directly over 3D […]

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arXiv:2603.05641v1 Announce Type: new Abstract: While robots deployed in real-world environments inevitably experience interaction failures, understanding how users respond through verbal and non-verbal behaviors remains under-explored in human-robot interaction (HRI). This gap is particularly significant in healthcare-inspired settings, where interaction failures can directly affect task performance and user trust. We present the Robot Failures in Medical HRI (RFM-HRI) Dataset, a multimodal dataset capturing dyadic interactions between humans and robots embodied in crash carts, where communication failures are systematically […]

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arXiv:2603.05638v1 Announce Type: new Abstract: Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD control) often rely on the assumption of full actuation with no actuator limits. This paper presents a general control framework for task-space regulation and tracking of underactuated soft robots under bounded inputs. The method enforces a rapidly exponentially stabilizing control Lyapunov […]

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arXiv:2603.05637v1 Announce Type: new Abstract: The rapid adoption of foundation models has significantly expanded the capabilities of software systems, enabling them to perform complex language, reasoning, and interaction tasks that were previously difficult to automate. However, this progress has also introduced novel challenges that were largely absent in previous generations of software. In particular, the increasing integration of foundation models with external tools and resources raises new concerns regarding reliability, security, and robustness. The Model Context Protocol (MCP) […]

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arXiv:2603.05632v1 Announce Type: new Abstract: Small devices collecting data for agricultural, environmental, and industrial monitoring enable Internet of Things (IoT) applications. Given their critical role in data collection, there is a need for optimizations to improve on-device data processing. Edge device computing allows processing of the data closer to where it is collected and reduces the amount of network transmissions. The B-tree has been optimized for flash storage on servers and solid-state drives, but these optimizations often require […]

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arXiv:2603.05630v1 Announce Type: new Abstract: It is well known that the reconstruction FID (rFID) of a VAE is poorly correlated with the generation FID (gFID) of a latent diffusion model. We propose interpolated FID (iFID), a simple variant of rFID that exhibits a strong correlation with gFID. Specifically, for each element in the dataset, we retrieve its nearest neighbor (NN) in the latent space and interpolate their latent representations. We then decode the interpolated latent and compute the […]

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arXiv:2603.05629v1 Announce Type: new Abstract: Concept Bottleneck Models (CBMs) ground predictions in human-understandable concepts but face fundamental limitations: the absence of a metric to pre-evaluate concept relevance, the “linearity problem” causing recent CBMs to bypass the concept bottleneck entirely, an accuracy gap compared to opaque models, and finally the lack of systematic study on the impact of different visual backbones and VLMs. We introduce CBM-Suite, a methodological framework to systematically addresses these challenges. First, we propose an entropy-based […]

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arXiv:2603.05625v1 Announce Type: new Abstract: When used in automated decision-making systems, machine learning (ML) models are vulnerable to data-manipulation attacks. Some defense mechanisms (e.g., adversarial regularization) directly affect the ML models while others (e.g., anomaly detection) act within the broader system. In this paper we consider a different task for defending the adversary, focusing on the attacker, rather than the attack. We present and demonstrate a framework for identifying characteristics about the attacker from an observed attack. We […]

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arXiv:2603.05623v1 Announce Type: new Abstract: Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird’s-eye view (BEV) fusion detectors can degrade significantly under domain shift and sensor failures, limiting reliability in real-world deployment. Existing robustness approaches often require modifying the fusion architecture or retraining specialized models, making them difficult to integrate into already deployed systems. We propose a Post Fusion Stabilizer (PFS), a lightweight module that operates on intermediate BEV representations of […]

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arXiv:2603.05622v1 Announce Type: new Abstract: High-Content Screening routinely generates massive volumes of cell painting images for phenotypic profiling. However, technical variations across experimental executions inevitably induce biological batch (bio-batch) effects. These cause covariate shifts and degrade the generalization of deep learning models on unseen data. Existing batch correction methods typically rely on additional prior knowledge (e.g., treatment or cell culture information) or struggle to generalize to unseen bio-batches. In this work, we frame bio-batch mitigation as a Domain […]

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