arXiv:2505.16985v2 Announce Type: replace-cross Abstract: Out-of-distribution (OOD) detection and segmentation are crucial for deploying machine learning models in safety-critical applications such as autonomous driving and robot-assisted surgery. While prior research has primarily focused on unimodal image data, real-world applications are inherently multimodal, requiring the integration of multiple modalities for improved OOD detection. A key challenge is the lack of supervision signals from unknown data, leading to overconfident predictions on OOD samples. To address this challenge, we propose Feature Mixing, an extremely simple and fast method for multimodal outlier synthesis with theoretical support, which can be further optimized to help the model better distinguish between in-distribution (ID) and OOD data. Feature Mixing is modality-agnostic and applicable to various modality combinations. Additionally, we introduce CARLA-OOD, a novel multimodal dataset for OOD segmentation, featuring synthetic OOD objects across diverse scenes and weather conditions. Extensive experiments on SemanticKITTI, nuScenes, CARLA-OOD datasets, and the MultiOOD benchmark demonstrate that Feature Mixing achieves state-of-the-art performance with a $10 \times$ to $370 \times$ speedup. Our source code and dataset will be available at https://github.com/mona4399/FeatureMixing.

arXiv:2603.02909v2 Announce Type: replace-cross Abstract: Document-level event argument extraction (DEAE) is essential for knowledge acquisition, aiming to extract participants of events from documents . In the zero-shot setting, existing methods employ LLMs to generate synthetic data to address the challenge posed by the scarcity of annotated data. However, relying solely on Event-type-only prompts makes it difficult for the generated content to accurately capture the contextual and structural relationships of unseen events. Moreover, ensuring the reliability and usability of synthetic data remains a significant challenge due to the absence of quality evaluation mechanisms. To this end, we introduce a multi-agent collaboration framework for zero-shot document-level event argument extraction (ZS-DEAE), which simulates the human collaborative cognitive process of "Propose-Evaluate-Revise." Specifically, the framework comprises a generation agent and an evaluation agent. The generation agent synthesizes data for unseen events by leveraging knowledge from seen events, while the evaluation agent extracts arguments from the synthetic data and assesses their semantic consistency with the context. The evaluation results are subsequently converted into reward signals, with event structure constraints incorporated into the reward design to enable iterative optimization of both agents via reinforcement learning.In three zero-shot scenarios constructed from the RAMS and WikiEvents datasets, our method achieves improvements both in data generation quality and argument extraction performance, while the generated data also effectively enhances the zero-shot performance of other DEAE models.

arXiv:2603.02909v1 Announce Type: cross Abstract: Document-level event argument extraction (DEAE) is essential for knowledge acquisition, aiming to extract participants of events from documents.In the zero-shot setting, existing methods employ LLMs to generate synthetic data to address the challenge posed by the scarcity of annotated data. However, relying solely on Event-type-only prompts makes it difficult for the generated content to accurately capture the contextual and structural relationships of unseen events. Moreover, ensuring the reliability and usability of synthetic data remains a significant challenge due to the absence of quality evaluation mechanisms. To this end, we introduce a multi-agent collaboration framework for zero-shot document-level event argument extraction (ZS-DEAE), which simulates the human collaborative cognitive process of "Propose-Evaluate-Revise." Specifically, the framework comprises a generation agent and an evaluation agent. The generation agent synthesizes data for unseen events by leveraging knowledge from seen events, while the evaluation agent extracts arguments from the synthetic data and assesses their semantic consistency with the context. The evaluation results are subsequently converted into reward signals, with event structure constraints incorporated into the reward design to enable iterative optimization of both agents via reinforcement learning.In three zero-shot scenarios constructed from the RAMS and WikiEvents datasets, our method achieves improvements both in data generation quality and argument extraction performance, while the generated data also effectively enhances the zero-shot performance of other DEAE models.

arXiv:2603.03280v1 Announce Type: cross Abstract: Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their "implicit" success criteria: unlike pick-and-place, task quality in these domains is continuous and subjective (e.g. how well a potato is peeled), making quantitative evaluation and reward engineering difficult. We present a learning framework for such tasks, using peeling with a knife as a representative example. Our approach follows a two-stage pipeline: first, we learn a robust initial policy via force-aware data collection and imitation learning, enabling generalization across object variations; second, we refine the policy through preference-based finetuning using a learned reward model that combines quantitative task metrics with qualitative human feedback, aligning policy behavior with human notions of task quality. Using only 50-200 peeling trajectories, our system achieves over 90% average success rates on challenging produce including cucumbers, apples, and potatoes, with performance improving by up to 40% through preference-based finetuning. Remarkably, policies trained on a single produce category exhibit strong zero-shot generalization to unseen in-category instances and to out-of-distribution produce from different categories while maintaining over 90% success rates.