Geometric Primary Structure
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RadiusFPS: Efficient Farthest Point Sampling on CPUs and GPUs via Spherical Voxel Pruning
arXiv:2606.06255v1 Announce Type: new Abstract: Point clouds are a primary sensory representation for robotic perception, underpinning LiDAR-based autonomous driving, simultaneous localization and mapping (SLAM), and navigation. Within these pipelines, Farthest Point Sampling (FPS) is the most well-known downsampling operator, as its uniform coverage preserves the geometric structure on which downstream perception relies. However, the large time complexity of classical FPS scales poorly with...
Revisiting Articulated Parts Perception in Robot Manipulation
arXiv:2606.08103v1 Announce Type: new Abstract: We are surrounded by various objects with movable, articulated parts, e.g., box, handle, door. An accurate and generalizable perception of articulated parts is essential to enhance robotic manipulation capabilities. Building on this need, recent efforts in articulated parts perception have followed two main directions: One line of work uses pose-based representation, which requires high manual cost; in parallel, affordance-based methods extract...
MENTIS: What Belief Changes Under Alignment? Measuring Multi-Scale Latent Torsion in Language Models
Announce Type: new Abstract: Preference alignment has substantially improved the observable behavior of large language models, yet it remains unclear what alignment changes internally. Aligned systems still fail under jailbreaks, prompt injection, and retrieval-time corruption, suggesting behavior-level evaluation alone is incomplete. Post-training should leave measurable traces in internal computation.
MENTIS: What Belief Changes Under Alignment? Measuring Multi-Scale Latent Torsion in Language Models
Announce Type: replace Abstract: Preference alignment has substantially improved the observable behavior of large language models, yet it remains unclear what alignment changes internally. Aligned systems still fail under jailbreaks, prompt injection, and retrieval-time corruption, suggesting behavior-level evaluation alone is incomplete. Post-training should leave measurable traces in internal computation.
VelocityFM: Short-Horizon Protein Trajectory Prediction via Flow Matching in Velocity Space
Protein dynamics is fundamentally a trajectory prediction problem, but molecular dynamics (MD) simulation remains expensive and static structure predictors do not model time-ordered motion. We present VelocityFM, a short-horizon protein trajectory predictor that applies rectified flow matching in velocity space over residue frames and torsions. The model combines six Invariant Point Attention (IPA) blocks with a two-layer per-residue temporal self-attention encoder, and is trained on 710...
GeoSem-WAM: Geometry- and Semantic-Aware World Action Models
arXiv:2606.03188v1 Announce Type: new Abstract: Recent World Action Models (WAMs) have demonstrated impressive capabilities in embodied decision-making. However, whether their effectiveness stems from explicit future imagination during inference or representation learning induced by predictive training remains an open question. Emerging evidence suggests the primary advantage lies in learning robust latent representations rather than generating future observations at test time.
The Amplifying Mirror: Locating and Steering the Partisan Direction inside a Large Language Model
Announce Type: new Abstract: Large language models are rapicly replacing search engines as the primary interface between people and information. Unlike search engines, which retrieve existing content, LLMs generate novel text shaped by internal representations learned during training. Here we show that partisan political identity is encoded in the model's activation space, and that this direction directly shapes generation.
ATLAS: A Large-Scale Evaluation Benchmark for Adversarial LiDAR Perception
arXiv:2606.02924v1 Announce Type: new Abstract: Autonomous driving perception is typically evaluated on clean benchmark data, yet real-world deployment requires robustness to rare, structured, and potentially adversarial sensor anomalies. This gap is especially critical for LiDAR, where external actors can physically manipulate the sensing process to induce black-box perception failures without accessing the model. Existing LiDAR benchmarks provide little visibility into this failure mode.
Amplified Arctic iceberg traffic reshapes benthic biodiversity
Abstract The Arctic is undergoing rapid warming, resulting in retreating sea ice and glaciers1, yet how cryospheric changes propagate into the deep ocean remains poorly understood2. Here we identify a climate-driven mechanism linking accelerating glacier disintegration to an increase in deep-sea hard-bottom habitats far beyond calving fronts. Seafloor observations in Fram Strait show a localized increase in the density and patchiness of dropstones delivered by debris-laden icebergs.