#01Nov 12, 2026
cs.RO
ProtoVis-Nav: Prototypical Visual Imagination for Visual-Spatial Aligned UAV Navigation
Guangyuan Sui, Yunzhong Hou, Chi Harold Liu
Vision language navigation (VLN) is very challenging for Unmanned Aerial Vehicles (UAVs) since small errors in 3D motion prediction can lead to navigation errors and collisions. Unable to fathom execution outcomes in 3D environments, existing methods often struggle to predict accurate navigation waypoints from language instructions. To solve this, we introduce the Prototypical Visual Imagination framework, shortened as ProtoVis-Nav, which forces the model to imagine an outcome-associated local visual representation for the intended next UAV movement. Specifically, we predict feature prototypes and use their linear combination to estimate the visual feature of the target region. In this manner, the VLN model first imagines the local visual representation of the next intended location, and then uses predicted prototypes as context for generating the final action, promoting alignment between visual context and waypoint outputs. Extensive experiments demonstrate the effectiveness of the ProtoVis-Nav framework and show substantial improvements over existing baselines.
#02Nov 12, 2026
cs.DS
Sketching Language Models for Context Attribution
Christopher Liaw, Aranyak Mehta, Grigoris Velegkas and 1 more
Context attribution asks how removing parts of a prompt changes a language model's output. We study leave-one-out (LOO) attribution for a prompt of $n$ tokens and a fixed measurement function. Computing all LOO values directly requires $n$ model evaluations. Under a stability assumption, our algorithm estimates all LOO values to error proportional to $\varepsilon$ with constant probability using $O(\sqrt{\log(1/\varepsilon)}/\varepsilon)$ evaluation calls. To complement our upper bound, we prove a matching $Ω(\sqrt{\log(1/\varepsilon)}/\varepsilon)$ lower bound on the number of evaluation calls in an oracle model. Empirically, we verify coefficient decay consistent with stability and evaluate the performance of our sketching algorithm on a small language-model retrieval task. Technically, our result is based on a sketching algorithm for arithmetic circuits whose Taylor coefficients satisfy the stability condition recently introduced by Gunn [Gun26]. A direct adaptation of their forward differentiation sketches would require $\widetilde{O}(\log(n)/\varepsilon^2)$ evaluation calls. Our key observation is that we can apply forward differentiation to the backpropagation circuit, with only constant overhead over a forward sketch of the same Taylor degree. This reduces the variance of the sketches and is key to our improved evaluation bound. Our lower bound builds on the techniques of Amsel, Chen, Duman Keles, Halikias, Musco, and Musco [ACDH+26, SIAM Journal on Matrix Analysis and Applications] for lower bounding the number of matrix-vector queries to estimate the diagonal elements of random matrices.
#03Nov 12, 2026
cs.CV
Back to Pixels: Lifting Latent Video Diffusion into Pixel Space
Yanke Song, Shuo Chen, Chris Rockwell and 9 more
Frontier video generation models work in a VAE latent space that compresses video in both space and time. This compression made training tractable, but now limits high-resolution, controllable, and interactive generation -- doubling resolution quadruples token count, conditions apply to groups of frames rather than individual ones, and each response must wait for the rest of its multi-frame block. We present PixVid, a simple yet effective method that lifts a pretrained latent video model to directly generate every frame in pixel space. PixVid keeps the diffusion transformer and replaces the VAE decoder with a convolutional head that renders its outputs into pixels. We find that predicting clean video rather than velocity, together with a larger noise shift, is key to quality. Finetuned from Wan2.1-14B, PixVid is competitive with the latent baseline within $\sim 1.3$M training clips. Working framewise in pixels, it generates at $2\times$ higher resolution with the same per-frame token count, keeps depth-conditioned video editing aligned under fast motion, and responds to each action at the next frame. Project page: https://chenshuo20.github.io/PixVid/
#04Nov 12, 2026
cs.CV
Objects as Addresses: Instance Binding in Vision Transformer Attention
Khalil Sabri, Guillaume-Alexandre Bilodeau, Nicolas Saunier and 1 more
Humans naturally parse visual scenes into coherent individual objects rather than scattered features, a capability cognitive science calls object binding. While recent work shows that pretrained Vision Transformers (ViTs) intrinsically acquire this ability, how native self-attention computations mechanistically keep object instances separate remains unresolved. By studying this across eight pretrained ViTs, we found that instance separation is expressed more strongly in attention routing than in token content: selected query-key relations distinguish individual objects more reliably than value similarity or residual representations. Inside heads, patches belonging to one individual tend to read from a common image region, which we term their attention address. Visually distinct parts of one person share an address, whereas identical duplicated instances receive separate, movable addresses. These shared destinations arise in part because query interactions with the spatial structure of keys direct attention toward consistent regions for one object and elsewhere for another. In DINOv2 and most other backbones we tested, editing this query component at the selected head redirects its attention address toward another individual. Grouping patches by this query component separates same-category instances, reaching .615 FG-ARI versus .289 for the same clustering of final-layer features, which tend to merge them.
#05Nov 12, 2026
cs.AI
Al-Ghasali: A Computational Framework for Simulating Islamic Jurisprudential Rulings via Finite State Automata and Large Language Models
Elnaserledinellah Mahmoud Abdelwahab
This paper presents Al Ghasali, a computational framework designed to formalize and simulate Islamic jurisprudential (Fiqh) rulings. Building upon recent set theoretic formalizations of al sabr wa al Taqsim that extract minimal operational rules as simple Horn clause logical programs, this work proves that the semantics of closed Fiqh chapters collapse completely to deterministic Finite State Automata (FSA). We establish a formal computational hierarchy, demonstrating that restricting formalization to finite propositional Horn theories guarantees decidability and constant time (O(1)) verdict extraction after offline compilation. The framework formally proves that hierarchical compositions of sub-chapter FSAs preserve this O(1) complexity, and that temporal juristic requirements, such as Tartib (order), are deterministically flattened into static ontological states, preserving the memoryless property of the automaton. To generate human-readable juristic summaries, Al Ghasali incorporates Large Language Models (LLMs) via an architecture where the deterministic FSA strictly controls the probabilistic LLM. Crucially, the paper formulates sufficient design safety conditions for this FSA LLM integration, ensuring strict adherence to the epistemological boundaries of Usul al Fiqh. To neutralize the risk of LLM hallucination, the system employs a Grammar Guided Constrained Decoding mechanism. We formally define the mapping function that dynamically constructs unambiguous right linear grammars from the FSA execution history. The paper mathematically proves that this architecture, augmented by a Bounded Neutral Lexicon and Valence Locking, guarantees the absolute absence of Decisional Hallucination, Juristic Factual Hallucination, and Semantic Inversion reducing the LLM to a pure linguistic transformer of deterministic juristic facts