Marker

Robotic manipulation of labware is difficult when transparent or reflective objects must be identified and localized. Coded planar fiducials are a practical retrofit: easy to print, they leave the marked face flat and graspable. Yet a single planar tag is least reliable in near-frontal views, where perspective cues fade. Non-planar geometries restore those cues but intrude on the flat face that a parallel-jaw gripper must contact. Our idea is to tilt multiple tags within one compact footprint, so that each tag is seen at a non-frontal angle even when the marker faces the camera. We propose the quARtet marker, a 3D-printable fiducial embodying this idea: all detected corners of its four tilted AprilTags enter one Perspective-n-Point solve, and a shared configuration defines the fabricated geometry and the detector model. Because tilting consumes flat area, its three layouts trade pose-estimation consistency against graspability. In robot-referenced, same-setup fixed-camera experiments, all three layouts reduced the mean frontal orientation error from 2.18 degree for a single planar tag to 0.24-0.47 degree and the root-mean-square position error from 1.50 to 0.17-0.20 mm. A robot-mounted-camera pose-hold test confirmed this separation under closed-loop visual feedback. In swing-down trials under identical conditions, the two layouts with flat contact strips retained the object with about 2 mm of in-grasp slip, whereas the layout without flat strips slipped by roughly 100 mm. For the tested conditions, the results support a rule: the layout without flat strips when pose-estimation consistency dominates, a layout with flat strips when the marked face must remain graspable.

Semantic watermarking improves robustness against watermark removal attacks by embedding detectable signals into sentence-level representations. However, existing watermarking methods typically impose watermark-specific semantic preferences on generated sentences without explicitly accounting for the highly non-uniform and context-dependent semantic preference of LLM generation. When these two preferences are poorly aligned, many natural continuations become incompatible with the watermark, causing semantic narrowing: reduced semantic freedom, increased resampling cost, and potential degradation on tasks with strict semantic requirements. To alleviate this problem, we propose HammingMark, which uses the semantic hash of the preceding sentence as a dynamic center and accepts candidates whose hashes fall within its Hamming neighborhood. Defining watermark validity over a Hamming neighborhood in compact hash space retains a larger fraction of naturally likely semantic continuations. The coarse many-to-one hash mapping further allows diverse semantic realizations to remain watermark-valid. Experiments on C4 and BookSum show that HammingMark achieves strong robustness, high detectability, and near-unwatermarked generation quality, requiring only 2.2 sampled candidates per accepted sentence,a 72.8% reduction compared with the most sampling-efficient existing method. On more complex tasks with strict semantic constraints, HammingMark achieves the highest detection rates with the highest or tied-highest ROUGE-L scores, demonstrating its effectiveness in balancing watermark detectability and generation quality under constrained generation settings.

Legends are fundamental to chart understanding, as reliable interpretation requires correctly binding legend entries to corresponding visual marks. While vision-language models (VLMs) are increasingly applied to chart understanding, their legend understanding is poorly diagnosed by aggregate accuracy, which can be satisfied by superficial shortcuts and confound legend-specific errors with other reasoning failures. To enable fine-grained diagnosis and controlled testing, we introduce LegendBench, a parametric benchmark and generation pipeline that produces targeted legend-centric test cases. LegendBench contributes (1) a capability-task taxonomy spanning legend parsing, legend grounding, legend-conditioned reasoning, and legend-aware abstention to localize failures, and (2) counterfactual group generation, where each base chart yields multiple variants under controlled legend interventions to probe model invariance and sensitivity. Using LegendBench, we evaluate both general-purpose VLMs and specialized chart models and generate their capability profiles, revealing persistent bottlenecks in reliable legend-to-mark binding and counterfactual consistency. We then use these capability profiles to guide targeted fine-tuning, demonstrating that bottleneck-specific interventions can effectively close the localized capability gaps and generalize to unseen data. We further leverage our counterfactual design to conduct fine-grained diagnostic experiments, analyzing encoding-channel effects, legend-order shortcuts, and abstention under varying visibility.

Long-video understanding remains challenging for multimodal large language models (MLLMs) because densely encoding long frame sequences is computationally expensive, while uniform sampling under a limited visual budget can miss sparse yet decisive evidence. Recent training-free keyframe selection methods have enabled more efficient inference and yielded promising performance gains. However, many existing methods score frames largely in isolation without explicitly considering how each candidate complements the currently selected subset, potentially resulting in redundant selections and incomplete evidence coverage. To address this limitation, we propose MarKey, a training-free framework that formulates keyframe selection as subset-aware greedy optimization. At each iteration, MarKey scores each candidate using a tractable surrogate that jointly accounts for query relevance, marginal coverage gain, and context-dependent redundancy, and selects the frame with the highest utility. To make this iterative subset-aware evaluation efficient, MarKey uses a compact set of representative anchors to approximate full-video coverage and a bounded window of previously selected frames to limit context-dependent comparisons. Experiments on six benchmarks spanning holistic video understanding, human-centric video understanding, and open-ended video understanding demonstrate that MarKey consistently outperforms existing methods. Further analyses show robust gains across different MLLM backbones, model scales, and frame budgets.

Automated pig monitoring is essential for assessing their health, behaviour, and welfare. To date, most pig monitoring solutions operate on the group-level, because individual-level monitoring requires reliable long-term identification and tracking of each animal. For domesticated pigs this remains challenging because pigs of the same breed often have highly uniform appearances. Moreover, research on pig monitoring is almost exclusively reported in top-down view camera settings, which considerably ease tracking, but are not always an option in practice. In this work, BMCTrack-d is presented, a novel tracking-by-detection approach that leverages unique back marks to enable robust pig re-identification and tracking in a challenging side-view camera setting, afflicted by rapidly moving pigs, severe occlusions and low resolution. The method first predicts the detected pigs' identities using a neural network-based back mark classifier. To improve re-identification reliability over time, two dedicated post-processing stages are introduced: a temporal prediction consistency check, which validates the identity assignments against the recent prediction history, and deduplication, which resolves conflicting identity assignments in each time step. By explicitly prioritising accurate, appearance-based re-identification over continuous tracking, the proposed approach addresses a key limitation of existing trackers for individual-level monitoring scenarios. On a demanding test set BMCTrack-d outperforms two strong baselines, BoT-SORT-ReID and TrackTrack-ReID, by 9.11% and 1.03%, respectively, in higher-order tracking accuracy. These results demonstrate the effectiveness of back mark-based re-identification and tracking for robust individual-level pig monitoring in challenging settings.

Digital watermarking has emerged as a critical technique for provenance and copyright attribution in AI-generated imagery, yet its robustness against realistic, model-agnostic removal attacks remains poorly explored. Existing attacks either succeed only against specific generative models or achieve removal at the cost of severe visual degradation. In this paper, we propose MarkNull, a model-agnostic watermark removal attack via on-manifold latent manipulation. MarkNull is grounded in a key observation: watermarked images exhibit a strong statistical dependency between the generated latent representation and the embedded initial noise. To quantify this dependency, we introduce the Noise-Latent Alignment Score (NLAS) and formulate an optimization objective that selectively decorrelates the latent representation from the embedded watermark while preserving semantic fidelity. Extensive evaluations across different categories of watermarking paradigms, including post-hoc, fine-tuning-based, and initial-noise-based schemes, demonstrate that MarkNull reduces average bit accuracy to 53.14%, approaching random-guessing (50%), without perceptible image degradation. To further improve scalability, we propose MarkNull-A, an amortized, optimization-free variant that distills the attack into a single forward pass, achieving 0.50 s/image with modest computational overhead. Notably, our attacks successfully compromise Google's SynthID-Image system while preserving high visual quality and transfer effectively to video watermarking. Finally, we present an attack detection mechanism as a defensive counterpart to MarkNull and MarkNull-A, highlighting the necessity of developing watermark designs resilient to model-agnostic latent-space attacks.

Autonomous robots increasingly rely on edge computing to offload computationally intensive perception tasks while maintaining real-time operation over 5G networks. However, conventional fiducial marker detection pipelines provide limited opportunities for efficient task partitioning, making them poorly suited for communication-aware edge deployment. This paper proposes a semantic split inference framework for fiducial marker processing in 5G-enabled Edge SLAM. A DeepTag-inspired convolutional neural network is partitioned between the robot and the edge server, where intermediate feature representations serve as task-oriented semantic information transmitted over the wireless link. The framework is integrated into a ROS2-based robotic architecture and characterized over a real 5G communication testbed. Experimental results demonstrate accurate keypoint estimation, illustrate the impact on downstream pose estimation, and quantify the communication--computation trade-offs associated with different split points, providing practical insights for communication-aware deployment of deep visual perception in connected robotic systems.

How a document's arrangement is written down, its notation, is a training variable that no dataset card records. The field has established that text-extraction choices change model behaviour, and has never once measured the notation of what those choices put into the corpus. We define clean-window survival, a deterministic count of how much of a stream still demands the boundary inference, and measure notation on three fronts. What corpora carry: a census of thirteen public corpora, where survival falls to 0.153 in a vision-converted PDF slice against 0.889 in C4; the scarce resource is not unmarked text but long unmarked text; a pre-registered supply test finds what remains institutional, not consumer. Our own pre-registered prediction failed: converters do not fabricate structure on prose, and that null forced the reliability mechanism that survives it. What readers use: across five base models spanning 0.6B to 8.2B and two pipelines, deleting a structural announcement makes the following prose measurably harder to predict, while swapping its notation moves nothing. That zero does not make notation unimportant; it relocates the variable: the operative cue is the announcement, not the sigil. What writers impose: a bounded null. Base models do not impose the marked register above the authored baseline, and handed prose with every announcement deleted they do not put one back, at a rate indistinguishable from zero against an authored reference of zero. We ship the format those measurements imply: the pure frame, paragraphs in authored order, every announcement deleted into a reversible sidecar, mixed against the marked copy over announcement presence rather than notation. Choose format operators by the capability they train, not by the fidelity they preserve, and record extractor identity and survival on data cards.

Subword tokenizers represent many common words twice in space-using writing systems, once with a leading space and once without. The two entries have separate embeddings in models, so occurrences of one word are divided across rows that are trained independently, and the two forms need not even segment the string the same way: " together" may be a single entry while the same word without a preceding space is tokenized as "to|gether". Capitalization divides a word further, into as many as six forms. We introduce an alternative to standard whitespace conventions using an explicit word boundary marker, which prevents such duplication. Words are delimited by the boundary markers, and spaces between words are represented as pairs of such markers. Two shift codes do the same for title case and upper case, allowing one internal representation of a word to be re-used across different settings. Switching to this convention mitigates the duplicate-entry issue, but does not improve tokenization compression: for both vocabulary-learning algorithms, the best marker scheme stays within one percent of the baseline in characters per token, averaged across six languages. It does result in better language modeling performance. Every marker scheme tested downstream reaches lower bits per byte than the baseline, suggesting that duplication carries a cost that compression does not capture.

Large Language Models (LLMs) have transformed conversational AI, yet high-quality multilingual code-mixed dialogue resources remain scarce, particularly for Indic languages where speakers naturally alternate between English and their native language in both native-script and Romanized forms. We present IndicTalk, one of the largest multilingual Indic code-mixed conversational corpora, comprising over 13,28,604 event-grounded multi-turn conversations across 18 language varieties covering 9 Indic languages. The corpus is generated through a fully automated pipeline that combines real-world news grounding, persona-conditioned dialogue generation using multilingual LLMs, and automatic quality validation. Extensive linguistic, automatic, and human evaluations demonstrate that IndicTalk produces fluent, coherent, and naturally code-mixed conversations across both script variants. We will release IndicTalk to support the development and evaluation of multilingual conversational AI for underrepresented Indic languages. The dataset is available at: https://huggingface.co/datasets/LingoIITGN/IndicTalk .

Harnessing the potential of electroencephalography (EEG) for brain research is fundamentally limited by intrinsic noise and the diffuse projection of brain-generated activity over the scalp. The standard event-related potential (ERP) paradigm addresses this limitation by relying on repeated independent trials, albeit at the cost of moving away from naturalistic experimental conditions. As a more naturalistic alternative, we collected continuous EEG while participants watched short films and extracted potentials aligned to sharp cinematic transitions (cuts). We demonstrate that such transition-related potentials (TRPs) exhibit canonical ERP-like temporal structure associated with significant information processing. By comparing coherent films with scene-scrambled versions containing matched post-cut sensory input, we find that these responses are systematically shaped by narrative context. We then show that the cut-related EEG signature can be recovered directly from group-averaged continuous recordings with a compact deep neural network (DNN). The detector generalized across films and subject groups, and the resulting TRPs reproduced the main context-dependent effects observed for manually annotated cuts. These results indicate that narrative context leaves a measurable signature in EEG responses, that this signature can be detected directly in continuous recordings, and that such detections provide a semi-automated framework for analyzing how viewers process and understand film narratives. We propose that the method outlined here can be adapted to parse EEG responses to other forms of continuous stimulation, providing a general tool for probing experimental conditions that are closer to natural human experience.

Safety interventions on dual-use knowledge typically choose between destroying hazardous content (e.g., unlearning, filtering) and suppressing it at the output layer (e.g., refusal training); both pay a tax in adjacent-domain competence or over-refusal. We argue that the right operation is conditioning, not reduction: we show that hazardous knowledge can be retained in the model and behaviorally gated by a privileged control token. Our method, Token Inoculation, introduces a binding-and-branching approach. First, during continued pre-training, we mark hazardous content by inserting a special token alongside dual-use documents, so the model binds the marker to the underlying semantics of the hazardous domain. Second, during supervised fine-tuning, we teach the model to answer hazardous queries correctly when the special token is present and to refuse them when it is absent, thereby enabling selective refusal without removing dual-use knowledge. On hazardous domain (e.g., WMDP-Bio), Token Inoculation reduces accuracy from 79% to 18% while retaining 93% of the base-model's benign-domain performance (e.g., MMLU), achieving the best safety-utility trade-off against unlearning and refusal-tuning baselines across 1B-14B model scales. We further show that refusal selectivity is controllable through the quality of the conditioning signal and that domain-specific semantic binding during pre-training is critical for the conditional behavior to generalize beyond memorized triggers. Our results suggest that safety alignment is better cast as a conditioning problem than a forgetting one: behavioral control is more precise when sensitive knowledge is retained under controlled access than when it is destroyed.

Unmanned Aerial Vehicles (UAVs) increasingly rely on visual fiducial markers for autonomous navigation and precision landing. However, standard markers suffer from limited operational ranges, becoming undetectable when the camera is either too far or too close. While recursive and fractal markers have been proposed to address this issue, existing approaches either require the marker's center to remain visible, making them vulnerable to occlusion, or are limited in their recursion depth and placement. We propose a novel Recursive ArUco marker design. Our method allows any standard fiducial marker to be transformed into a recursive marker with an arbitrary depth. By employing a modified bit-sampling strategy during detection, we embed complete markers within both the black and white bits of the parent marker. This approach guarantees unlimited recursion depth and robust detection even with partial occlusion, as it does not rely on the marker's center being visible. Furthermore, by maintaining a single, unique identifier across all recursive scales, our proposal provides an extensive dictionary of multiple unique landing pads. This capability allows fleets of UAVs to operate simultaneously, with each drone landing at its designated location -- a feature not supported by existing Fractal and Harco markers due to their structural and dictionary constraints.

In open large language model (LLM) ecosystems, models are frequently adapted across multiple domains and applications, forming multi-stage derivation chains. Consequently, tracking and verifying historical contributions is essential for model provenance and intellectual property protection. However, existing watermarking methods are mainly designed for single-user, one-time embeddings, often fail under repeated model derivation and incremental updates. To address this problem, we propose LineageMark, a multi-user white-box watermarking framework for model derivation chains. The framework encodes watermarks in model parameters using a projection-based approach. Stable carriers are first selected to reduce sensitivity to model changes, each watermark bit is then represented as a projection statistic over these carriers. Additional watermark insertions introduce only bounded perturbations in the projection space, and margin constraints are used to maintain signal integrity. We evaluate the effectiveness of LineageMark in multi-stage model derivation chains. Experimental results show that LineageMark preserves contributor watermarks across multi-stage derivation and supports incremental multi-user watermark insertion. Furthermore, it exhibits robustness against perturbations such as re-watermarking, fine-tuning, quantization, and pruning.

Recovering cosmological information beyond the power spectrum is a central goal for upcoming cosmological surveys, since late-time non-Gaussian signal in the matter density cannot be accessed through two-point statistics alone. Marked statistics fold part of this information back into the two-point level by reweighting the field with non-linear functions. We propose a neural marking scheme to generalize this process through a set of interpretable, physically motivated transformations that directly allow to interpret the gain in cosmological information at the morphological level. We employ a contrastive learning objective to align learnable marked summaries with the underlying cosmological parameters. At $k_{\max}=0.2\,h\mathrm{Mpc}^{-1}$, our neural mark tightens the marginalized constraint on $σ_8$ by $2.9\times$ and on $Ω_m$ by $1.8\times$ compared to classical marks, breaking the $Ω_m-σ_8$ degeneracy at the Fisher information level. It further reduces the parameter MSE across our cosmological parameter prior by $1.45\times$ over the best classical mark. The learned latent geometry aligns with the $Ω_m$ and $σ_8$ directions in parameter space, indicating that the contrastive objective recovers the dominant axes of cosmological information. Our approach opens the door to more powerful, interpretable summary statistics for cosmological inference.

3D Gaussian Splatting (3DGS) is becoming a practical representation for novel view synthesis, but its growing adoption, together with rapid advances in instruction-driven 3DGS editing, also exposes a dual copyright risk: once a 3DGS-based asset is released, it can be used without permission and manipulated through 3D editing. Existing protection methods address only one side of this problem. Watermarking can trace ownership after unauthorized use, but it cannot prevent malicious editing. Adversarial edit-deterrence methods can disrupt editing, but they do not provide evidence of ownership. To the best of our knowledge, we present the first unified protection framework for 3DGS that jointly optimizes ownership tracing and unauthorized editing deterrence. Our framework combines a scene-wide watermarking objective over all Gaussians with an adversarial objective for edit deterrence. The adversarial branch combines latent-anchor separation, denoising-trajectory diversion, and cross-attention diversion to divert the editing trajectory, while an update-saliency-motivated Gaussian selection strategy assigns stronger adversarial updates to mask-selected Gaussians, improving the balance among watermark recovery, edit deterrence, and rendering fidelity. Experiments on scenes from Mip-NeRF 360 and Instruct-NeRF2NeRF demonstrate that the proposed framework achieves a favorable balance among bit accuracy, edit deterrence, and rendering quality. These results suggest that practical copyright protection of 3DGS-based assets can be more effectively addressed by integrating ownership tracing and unauthorized editing deterrence into a single optimization framework.

This position paper argues that the under-representation of social science tasks in contemporary LLM benchmarks limits advances in both LLM evaluation and social scientific inquiry. Benchmarks -- standardized tools for assessing computational systems -- are pivotal in the development of artificial intelligence (AI), including large language models (LLMs). Benchmarks do more than measure progress -- they actively structure it, shaping reputations, research agendas, and commercial outcomes. Despite this central role, the social sciences are largely absent from mainstream evaluation frameworks, even though scholars in these fields generate dozens of rigorously annotated, context-sensitive datasets each year. Integrating this work into benchmark design could significantly improve the generalization and robustness of AI models. In turn, models trained on social scientific tasks would likely yield better performance on classic and contemporary tasks in disciplines as diverse as history, sociology, political science or economics. This is all the more pressing as these disciplines are quickly turning to LLMs for assistance. To address this gap, we introduce BenCSSmark, a benchmark composed of datasets annotated by computational social scientists. By integrating social scientific perspectives into benchmarking, BenCSSmark seeks to promote more robust, transparent, and socially relevant AI systems and to foster efficient collaboration.

Evaluating large language models (LLMs) for medical applications remains challenging due to benchmark saturation, limited data accessibility, and insufficient coverage of relevant tasks. Existing suites have either saturated, heavily depend on restricted datasets, or lack comprehensive model coverage. We introduce Medmarks, a fully open-source evaluation suite with 30 benchmarks spanning question answering, information extraction, medical calculations, and open-ended clinical reasoning. We perform a systematic evaluation of 61 models across 71 configurations using verifiable metrics and LLM-as-a-Judge. Our results show that frontier reasoning models (Gemini 3 Pro Preview, GPT-5.1, & GPT-5.2) achieve the highest performance across both benchmarks, most frontier proprietary models are significantly more token efficient than open-weight alternatives, medically fine-tuned models outperform their generalist counterparts, and that models are susceptible to answer-order bias (particularly smaller models and Grok 4). A subset of our evals (Medmarks-T) can be directly used as reinforcement learning environments to post-train LLMs for medical reasoning. Code is available at https://github.com/MedARC-AI/Medmarks

We propose a system for marking sensitive or copyrighted texts to detect their use in fine-tuning large language models under black-box access with statistical guarantees. Our method builds digital marks'' using invisible Unicode characters organized into (cue'', reply'') pairs. During an audit, prompts containing only cue'' fragments are issued to trigger regurgitation of the corresponding ``reply'', indicating document usage. To control false positives, we compare against held-out counterfactual marks and apply a ranking test, yielding a verifiable bound on the false positive rate. Empirically, we obtain a true positive rate of 96.7% at 0% false positive rate and reply regurgitation rates exceeding 28% per document with only 40 (4%) watermarked documents. The approach is minimally invasive, scalable across many sources, robust to standard processing pipelines, and achieves high detection power even when marked data is a small fraction of the fine-tuning corpus.