Daily Arxiv

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Dehazing Light Microscopy Images with Guided Conditional Flow Matching: finding a sweet spot between fidelity and realism

EFRame: Deeper Reasoning via Exploration-Filter-Replay Reinforcement Learning Framework

Refine-POI: Reinforcement Fine-Tuned Large Language Models for Next Point-of-Interest Recommendation

HalluSegBench: Counterfactual Visual Reasoning for Segmentation Hallucination Evaluation

Potemkin Understanding in Large Language Models

OmniEval: A Benchmark for Evaluating Omni-modal Models with Visual, Auditory, and Textual Inputs

How to Retrieve Examples in In-context Learning to Improve Conversational Emotion Recognition using Large Language Models?

Position: Machine Learning Conferences Should Establish a “Refutations and Critiques” Track

Arabic Dialect Classification using RNNs, Transformers, and Large Language Models: A Comparative Analysis

Improving Student-AI Interaction Through Pedagogical Prompting: An Example in Computer Science Education

GLIMPSE: Gradient-Layer Importance Mapping for Prompted Visual Saliency Explanation for Generative LVLMs

Automatic Depression Assessment using Machine Learning: A Comprehensive Survey

Generalizing vision-language models to novel domains: A comprehensive survey

Comparative Evaluation of ChatGPT and DeepSeek Across Key NLP Tasks: Strengths, Weaknesses, and Domain-Specific Performance

AI-Generated Song Detection via Lyrics Transcripts

KAG-Thinker: Interactive Thinking and Deep Reasoning in LLMs via Knowledge-Augmented Generation

Data Quality Issues in Multilingual Speech Datasets: The Need for Sociolinguistic Awareness and Proactive Language Planning

Double Entendre: Robust Audio-Based AI-Generated Lyrics Detection via Multi-View Fusion

Aligning Evaluation with Clinical Priorities: Calibration, Label Shift, and Error Costs

Value-Free Policy Optimization via Reward Partitioning

VFEFL: Privacy-Preserving Federated Learning against Malicious Clients via Verifiable Functional Encryption

Enabling Precise Topic Alignment in Large Language Models Via Sparse Autoencoders

Robust LLM Unlearning with MUDMAN: Meta-Unlearning with Disruption Masking And Normalization

CMI-Bench: A Comprehensive Benchmark for Evaluating Music Instruction Following

StepProof: Step-by-step verification of natural language mathematical proofs

Scalable Non-Equivariant 3D Molecule Generation via Rotational Alignment

Improved Supervised Fine-Tuning for Large Language Models to Mitigate Catastrophic Forgetting

SLED: A Speculative LLM Decoding Framework for Efficient Edge Serving

FZOO: Fast Zeroth-Order Optimizer for Fine-Tuning Large Language Models towards Adam-Scale Speed

VeriLoC: Line-of-Code Level Prediction of Hardware Design Quality from Verilog Code

Multi Layered Autonomy and AI Ecologies in Robotic Art Installations

Bridging Subjective and Objective QoE: Operator-Level Aggregation Using LLM-Based Comment Analysis and Network MOS Comparison

Quantum computing and artificial intelligence: status and perspectives

Fine-Tuning Next-Scale Visual Autoregressive Models with Group Relative Policy Optimization

A Large Language Model-Enabled Control Architecture for Dynamic Resource Capability Exploration in Multi-Agent Manufacturing Systems

Spotlight-TTS: Spotlighting the Style via Voiced-Aware Style Extraction and Style Direction Adjustment for Expressive Text-to-Speech

WeatherEdit: Controllable Weather Editing with 4D Gaussian Field

From Alignment to Advancement: Bootstrapping Audio-Language Alignment with Synthetic Data

Error Optimization: Overcoming Exponential Signal Decay in Deep Predictive Coding Networks

TinyAlign: Boosting Lightweight Vision-Language Models by Mitigating Modal Alignment Bottlenecks

Super-Resolution Generative Adversarial Networks based Video Enhancement

Object detection in adverse weather conditions for autonomous vehicles using Instruct Pix2Pix

INSIGHT: Bridging the Student-Teacher Gap in Times of Large Language Models

SConU: Selective Conformal Uncertainty in Large Language Models

MetaSynth: Meta-Prompting-Driven Agentic Scaffolds for Diverse Synthetic Data Generation

Sculpting Memory: Multi-Concept Forgetting in Diffusion Models via Dynamic Mask and Concept-Aware Optimization

Achieving binary weight and activation for LLMs using Post-Training Quantization

A Consequentialist Critique of Binary Classification Evaluation Practices

Redefining Evaluation Standards: A Unified Framework for Evaluating the Korean Capabilities of Language Models

Test-Time Reasoning Through Visual Human Preferences with VLMs and Soft Rewards

FedMM-X: A Trustworthy and Interpretable Framework for Federated Multi-Modal Learning in Dynamic Environments

Automating Adjudication of Cardiovascular Events Using Large Language Models

ATTENTION2D: Communication Efficient Distributed Self-Attention Mechanism

Visual Position Prompt for MLLM based Visual Grounding

Time-R1: Post-Training Large Vision Language Model for Temporal Video Grounding

Privacy Ethics Alignment in AI: A Stakeholder-Centric Framework for Ethical AI

Characterizing GPU Resilience and Impact on AI/HPC Systems

Explainable Sentiment Analysis with DeepSeek-R1: Performance, Efficiency, and Few-Shot Learning

Neurons: Emulating the Human Visual Cortex Improves Fidelity and Interpretability in fMRI-to-Video Reconstruction

The Problem of the Priors, or Postteriors?

Gumiho: A Hybrid Architecture to Prioritize Early Tokens in Speculative Decoding

Disrupting Model Merging: A Parameter-Level Defense Without Sacrificing Accuracy

What can large language models do for sustainable food?

Enough Coin Flips Can Make LLMs Act Bayesian

How to Move Your Dragon: Text-to-Motion Synthesis for Large-Vocabulary Objects

Time-MQA: Time Series Multi-Task Question Answering with Context Enhancement

PipeOffload: Improving Scalability of Pipeline Parallelism with Memory Optimization

Space-Time Graphs of Convex Sets for Multi-Robot Motion Planning

HalCECE: A Framework for Explainable Hallucination Detection through Conceptual Counterfactuals in Image Captioning

LNUCB-TA: Linear-nonlinear Hybrid Bandit Learning with Temporal Attention

No, of course I can! Refusal Mechanisms Can Be Exploited Using Harmless Fine-Tuning Data

Investigating the Impact of Quantization Methods on the Safety and Reliability of Large Language Models

Retrieval Augmented Generation Based LLM Evaluation For Protocol State Machine Inference With Chain-of-Thought Reasoning

A general language model for peptide identification

Cluster and Predict Latent Patches for Improved Masked Image Modeling

Semantic-Aware Adaptive Video Streaming Using Latent Diffusion Models for Wireless Networks

KMI: A Dataset of Korean Motivational Interviewing Dialogues for Psychotherapy

Mechanistic Interpretability of Emotion Inference in Large Language Models

Multimodal Medical Code Tokenizer

Time to Rethink AI for Combinatorial Optimization: Classical Algorithms Remain Tough to Match

Simultaneous Multi-Robot Motion Planning with Projected Diffusion Models

Environment-Driven Online LiDAR-Camera Extrinsic Calibration

Riddle Me This! Stealthy Membership Inference for Retrieval-Augmented Generation

DReSS: Data-driven Regularized Structured Streamlining for Large Language Models

Towards Automated Self-Supervised Learning for Truly Unsupervised Graph Anomaly Detection

Adaptive Rank Allocation for Federated Parameter-Efficient Fine-Tuning of Language Models

DisCoPatch: Taming Adversarially-driven Batch Statistics for Improved Out-of-Distribution Detection

An Investigation into Seasonal Variations in Energy Forecasting for Student Residences

Efficiently Serving Large Multimodal Models Using EPD Disaggregation

PRMBench: A Fine-grained and Challenging Benchmark for Process-Level Reward Models

AlignGuard: Scalable Safety Alignment for Text-to-Image Generation

A Library for Learning Neural Operators

ZipAR: Parallel Auto-regressive Image Generation through Spatial Locality

Pretrained Reversible Generation as Unsupervised Visual Representation Learning

FLOAT: Generative Motion Latent Flow Matching for Audio-driven Talking Portrait

SEUF: Is Unlearning One Expert Enough for Mixture-of-Experts LLMs?

Recommender Systems for Good (RS4Good): Survey of Use Cases and a Call to Action for Research that Matters

Foundation Models for Wearable Movement Data in Mental Health Research

GenBFA: An Evolutionary Optimization Approach to Bit-Flip Attacks on LLMs

Enhancing Diffusion Posterior Sampling for Inverse Problems by Integrating Crafted Measurements

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding

Created by

Haebom

Author

Antonello Longo, Chanyoung Chung, Matteo Palieri, Sung-Kyun Kim, Ali Agha, Cataldo Guaragnella, Shehryar Khattak

Outline

In this paper, we propose Pixels-to-Graph (Pix2G), a lightweight method for generating a structured scene graph in real time from image pixels and LiDAR maps for autonomous exploration of unknown environments on resource-constrained robotic platforms. We leverage the 3D scene graph to bridge the gap between human operators’ 2D Building Information Models (BIMs) and robots’ 3D maps, enabling real-time processing using only the CPU. The output is a denoised 2D bottom-up environment map and a structured 3D point cloud, which are seamlessly connected into a multilayer graph that abstracts information from object level to building level. Through real-world experiments using a NASA JPL NeBula-Spot robot, we quantitatively and qualitatively evaluate the performance of real-time autonomous exploration and mapping in complex environments such as a garage and an urban office.

Takeaways, Limitations

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Takeaways:

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An efficient method for real-time 3D scene graph generation in resource-constrained environments is presented.

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Acting as a mediator between 2D BIM and 3D robot maps for effective collaboration between humans and robots.

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Validation of the practicality of the algorithm through experiments using an actual robot platform.

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Limitations:

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Possible performance limitations due to CPU-only processing.

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Further validation of generalization performance across diverse environments is needed.

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Further research is needed on the scalability of the algorithm and its integration with other sensor data.

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