#01Nov 10, 2026
cs.RO
TanCRAFT: Context-Reasoned Anticipatory Feedback for Assembly Tasks
Sassan Mokhtar, Lars Doorenbos, Marius Bock and 4 more
Preventing human error in physical assembly tasks requires assistance systems that can intervene before mistakes are made. This is especially challenging in settings where users are free to choose the construction order and correctness depends on the evolving assembly rather than a fixed next step. We present TanCRAFT, a four-stage real-time predictive assistance system that tracks the scene state, reasons about the current partial assembly, forecasts the near-future motion of manipulated pieces, and intervenes when the predicted placement is incompatible with the target. We instantiate our framework and confirm its effectiveness in a controlled tangram assembly task through offline benchmarks and a within-subject user study. Our findings show that the predictive feedback significantly reduces mistakes relative to unguided and reactive sessions, while yielding the lowest mean perceived workload and shortest mean completion time. Overall, these results demonstrate the value of predictive feedback for error prevention and provide a step toward cost-aware assistance for automation and human-robot workcells.
#02Nov 10, 2026
cs.RO
One Policy for 100 Household Tasks: Our Solution for the 2026 BEHAVIOR Challenge
Ilia Larchenko, Gleb Zarin, Atindra Nair and 4 more
We describe our solution for the 2026 BEHAVIOR Challenge: 100 long-horizon household tasks in the OmniGibson simulator. We placed 9th on the final leaderboard, the only independent team in the top 10. The core of the solution is a single vision-language-action (VLA) model, one checkpoint for all 100 tasks, built on our 1st-place 2025 solution, which is based on $π_{0.5}$. On the 50 tasks shared with 2025, its Q rises from 0.260 to 0.371; across all 100 tasks it scores 0.392. Our main conclusion from 2025 was that the model was undertrained, so most of the 2026 work went into training the model for longer, optimizing some training parameters, making each training step slightly faster and reducing the gradient noise: a migration from 50 to 100 tasks (semantic stages built from the demonstrations' skill annotations, task and stage embeddings of new tasks warm-started from similar old ones, and a 21-dimensional action space matching the teleoperation controls); variance-reduced multi-sample flow matching with a simple noise-vs-compute model that picks the number of action-expert samples per observation without ablations; and a 200k-step training run, about one pass over the 211M frames of the demonstrations. A cloud evaluation infrastructure keeps a shared record with provenance, episode diagnostics and restorable simulator states, and runs six simulators on one GPU together faster than real time. On top of the learned policy, 14 tasks are routed to a GPT-6 Astra coding agent that controls the robot through observation and motion tools, starting every episode from a frozen copy of its own practice session on training instances. Across these 14 tasks, Astra's mean Q is 0.639, against 0.108 for the learned policy. The public submission included only part of the Astra results and scored 0.446 Q with 27.3% full-task success.
#03Nov 10, 2026
cs.CR
GARD: Gradient-Guided Adversarial Representation Defense against Backdoors in Multimodal Contrastive Learning Models
Yuhong Wang, Yujun Cai, Lei Feng and 1 more
Multimodal contrastive learning models such as CLIP are vulnerable to backdoor attacks with diverse trigger structures, ranging from localized patches to globally distributed perturbations, with recent attacks increasingly optimizing these triggers in the representation space. Existing post-hoc defenses based on clean fine-tuning may leave backdoors active, while trigger-inversion methods depend on accurately estimating the attack target and trigger. We observe that backdoored encoders exhibit structure-dependent representation sensitivity: global perturbations preferentially expose distributed backdoors, whereas local patch perturbations are more effective for localized backdoors. Based on this observation, we propose Gradient-Guided Adversarial Representation Defense (GARD), a target- and trigger-agnostic post-hoc defense. GARD optimizes complementary global and local adversarial probes to maximally displace clean-image representations, and then realigns the perturbed representations with detached clean anchors while preserving image-text alignment. The resulting model requires no additional computation at inference time. Across six visual backdoor attacks and two CLIP visual backbones, GARD reduces the attack success rate below 1% in all 12 evaluated attack-backbone combinations while maintaining competitive clean accuracy. These results demonstrate the effectiveness of adversarial representation probing for repairing backdoored multimodal contrastive encoders.
#04Nov 10, 2026
cs.CL
Mechanistic Interpretability Needs a Logic of Inference
Zhimin Hu, Chen Jiang, Hanbo Xie and 2 more
Neural networks are increasingly studied not merely as predictive systems, but as complex systems whose internal computations are themselves objects of scientific inquiry. Recent progress in mechanistic interpretability (MI) has made it possible to identify neurons, features, circuits, population structures, and dynamical patterns associated with model behavior. As these tools improve, attention is shifting from what can be observed inside a model to how those observations support mechanistic explanations. We examine the parallel efforts of neuroscience and MI to address this question and identify recurring inferential bottlenecks when inferring mechanisms from complex neural systems. We propose five principles and organize them into a recursive logic for a more rigorous procedure of mechanistic inference. These principles provide a framework that supports scientific discovery in two senses: it helps turn local interpretability findings into cumulative knowledge of mechanisms within models, and it makes those mechanisms sufficiently precise to generate testable hypotheses about domains beyond the models. Evidence beyond MI is ultimately required to establish what model mechanisms reveal about the world.
#05Nov 10, 2026
cs.RO
ForeseeDrive: Future-Token Conditioning for Anticipatory Generative Driving
Shaokai Wu, Xunchu Zhou, Pinzhi Wang and 8 more
Generative driving planners can represent diverse ego futures, but a downstream scorer can choose only among sampled candidates; it cannot recover an absent maneuver. We present ForeseeDrive, which turns future scene evolution into a deployable interface for shaping candidate generation. Rather than reconstructing dense future states or scoring a fixed menu, ForeseeDrive derives query-indexed tokens from logged actor motion, occupancy evolution, route interactions, and TTC margins, and predicts the same token space from present context at deployment. The tokens condition trajectory geometry before candidates materialize. A zero-token-gated residual path and candidate-preservation loss limit unnecessary drift, while a TTC-margin guard targets brittle safe-to-unsafe boundary crossings. Under their respective benchmark protocols, ForeseeDrive reaches 89.2 PDMS on NAVSIM navtest, 0.41\,m average L2 and 0.05\% collision rate on nuScenes validation, and a 76.50 driving score on Bench2Drive. Controlled DiffusionDrive/NAVSIM diagnostics show an exact zero-token no-op, a small aligned-over-shuffled selected-PDM advantage under preservation, mixed oracle-best quality, and localized TTC-boundary failures. Together, the benchmark results and bounded mechanism tests support future-conditioned generation as a practical interface for anticipation. Code is included in the supplementary materials.