#01Jul 21, 2026
cs.LG
Toward Auditable Fraud Detection: Combining Graph Features, Model Explanations, and Agentic Case Investigation
Rahil Sharma
Fraud detection systems must scale with rising transaction volume while remaining explainable and reviewable. We study a layered pipeline on the PaySim dataset that combines a gradient-boosted classifier, graph-derived structural features, an autoencoder-based anomaly signal, TreeSHAP explanations, and a bounded LLM investigation agent applied to cases the classifier scores uncertainly. Before any model comparison, we identify and remove a simulator-specific balance shortcut that would otherwise inflate baseline performance. After this correction, neither the graph features nor the anomaly signal improves Average Precision on the full test set. Both, however, rank fraud better within the subset of cases receiving intermediate baseline scores. In a controlled experiment with injected multi-account fraud rings, engineered structural features recover all injected test transactions, while the tabular baseline misses roughly a quarter of them. The investigation agent underperforms direct thresholding of the classifier it relies on, reaching 65.0% accuracy against 71.7% on a balanced 60-case sample, despite having access to model explanations, graph context, and retrieved reference cases. Of the eight decisions the agent changed, six replaced correct classifier outputs with errors, and it produced a coherent written rationale in each case. An exploratory disagreement-based escalation rule flagged two of these agent errors for human review without flagging any correct decision. We conclude that each component of a layered fraud system contributes only under specific conditions, and that a plausible rationale from an investigation agent is not evidence of a better decision.
#02Jul 21, 2026
cs.RO
From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs
Jason Stanley, Zhirui Dai, Qihao Qian and 6 more
Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and plan safe, dynamically feasible trajectories, all onboard and in real time. Conventional approaches treat mapping and planning as separate stages and often rely on binary occupancy for collision checking. We argue that these two stages should be co-designed around a single representation: a signed distance function (SDF). By encoding distance to the nearest obstacle, an SDF provides richer information for planning and trajectory optimization than occupancy alone. We develop an Octree REsidual Network (OREN) that pairs an explicit octree prior with an implicit neural residual to reconstruct SDFs online from point cloud observations with the efficiency of volumetric methods and the accuracy and differentiability of neural methods. In tandem, we develop Bubble$^\star$, a search-based planner that exploits the distance information to grow maximal collision-free balls, which we call bubbles, with formal guarantees of termination, completeness, and failure detection. Planning over a graph of bubbles significantly reduces collision checks compared to a grid-based A$^\star$ search and returns a bubble sequence that forms a safe corridor for trajectory optimization. We demonstrate the integrated OREN-Bubble$^\star$ approach onboard a quadrotor, navigating unseen indoor environments in real time under tight compute constraints. OREN improves SDF estimation by $22$% compared to baselines, while Bubble$^\star$ finds trajectories spanning $\approx 90$ m through a cluttered environment in $1$-$3$ sec., whereas baselines take up to $10$ sec. in the same environment.
#03Jul 21, 2026
cs.CV
PathAgentBench: Benchmarking Evidence-Seeking Vision-Language Models on Whole-Slide Pathology Image
Dankai Liao, Tianyi Zhang, Yufeng Wu and 6 more
Whole-slide image (WSI) diagnosis requires identifying diagnostically relevant regions, examining them across magnifications, and integrating multi-scale evidence. However, most existing pathology benchmarks evaluate models on pre-cropped patches or pre-extracted slide features, leaving their ability to acquire evidence directly from gigapixel WSIs largely untested. We introduce PathAgentBench, a benchmark for evaluating evidence-seeking vision-language models (VLMs) across four complementary capabilities: image-to-text matching for evidence interpretation, text-to-image retrieval for evidence verification, diagnostic-region localization for evidence acquisition, and multi-scale reasoning for evidence integration. The benchmark is organized as a diagnostic tree that links nested regions across magnifications with scale-specific findings and path-level diagnoses. It contains 1,822 TCGA WSIs and 17,135 diagnostic paths annotated by ten board-certified pathologists. An additional private cohort of 190 breast cancer WSIs with detailed annotations is used to evaluate autonomous whole-slide exploration. We evaluate 20 general-purpose, medical, and pathology-specialized models. Leading open-weight models achieve over 93% accuracy in multi-scale reasoning and over 50% accuracy in both cross-modal matching tasks. In contrast, diagnostic-region localization remains challenging: the best text-guided mean intersection-over-union is below 0.09, underperforming a simple center-based heuristic. During autonomous exploration, the unconditional hit rate decreases from 0.522 at low magnification to 0.185 at intermediate magnification and 0.020 at high magnification. These results reveal a pronounced gap between reasoning over curated evidence and acquiring that evidence directly from WSIs. PathAgentBench provides a unified framework for measuring and improving evidence-seeking pathology models.
#04Jul 21, 2026
cs.LG
Staypoint Detection from Noisy Trajectory Data [Experiment Paper]
Lance Kennedy, Hossein Amiri, Yueyang Liu and 9 more
Detecting staypoints from raw trajectory data is fundamental to numerous spatial computing applications. This process transforms raw numeric sequences of geolocations into semantically meaningful locations, such as homes, workplaces, or restaurants. Despite its importance for semantic trajectory analysis, staypoint detection lacks standard benchmarks, and existing algorithms have never been systematically evaluated. This gap persists because no publicly available datasets provide both raw individual trajectories and ground-truth staypoint annotations. This benchmark paper addresses this limitation with two key contributions: (1) we introduce 16 large-scale simulated datasets capturing thousands of agents with annotated staypoints across varying trajectory noise levels, and (2) we evaluate nine staypoint detection algorithms-including both state-of-the-art and novel methods-to analyze their robustness to noise. Our evaluation reveals that existing state-of-the-art algorithms perform poorly under realistic noise conditions. Conversely, our proposed unsupervised methods yield substantial improvements, while supervised approaches drastically outperform existing baselines. While these results are very promising, these datasets and methods are only meant as starting points for future research in staypoint detection.
#05Jul 21, 2026
cs.LG
Benchmarking Generalization in Financial Statement Fraud Detection: robust evaluation and novel tasks
Guy Stephane Waffo Dzuyo, Gaël Guibon, Christophe Cerisara and 1 more
Financial statement fraud detection (FSFD) is crucial for market integrity but faces challenges from increasingly sophisticated schemes and under-utilized textual data in financial reports. Existing methods often rely on random data splits, leading to overoptimistic performance estimates that do not reflect real-world generalization to new companies or future periods. To address this recurring problem with the state of the art, we propose a robust FSFD framework leveraging Large Language Models (LLMs) to integrate both structured financial data and unstructured textual information from financial reports. We provide a more realistic evaluation through a novel and challenging benchmark task called Company-Isolated FSFD (CI-FSFD). We construct and make publicly available a comprehensive U.S. company dataset combining financial statements, summarized MD&A text, and fraud labels. Our approach achieves the best performance on the challenging CI-FSFD task, demonstrating the critical value of textual data and robust evaluation for reliable financial fraud detection.