Singapore

We present CineMPC, a complete cinematographic
system that autonomously controls a drone to film multiple
targets
recording user-specified aesthetic objectives. Existing
solutions in
autonomous cinematography control only the camera
extrinsics,
namely, its position and orientation. In contrast, CineMPC
is the
first solution that includes the camera intrinsic
parameters in the
control loop, which are essential tools for controlling
cinematographic effects such as focus, depth of field, and
zoom. The system
estimates the relative poses between the targets and the
camera
from an RGB-D image and optimizes a trajectory for the
extrinsic
and intrinsic camera parameters to film the artistic and
technical
requirements specified by the user. The drone and the camera
are controlled in a nonlinear model predicted control (MPC)
loop
by reoptimizing the trajectory at each time step in
response to
current conditions in the scene. The perception system of
CineMPC
can track the targets’ position and orientation despite the
camera
effects. Experiments in a photo-realistic simulation and
with a real
platform demonstrate the capabilities of the system to
achieve a
full array of cinematographic effects that are not possible
without
the control of the intrinsics of the camera. Code for
CineMPC is
implemented following a modular architecture in ROS and
released
to the community.

AAAI 2026

CineMPC: A fully autonomous drone cinematography system
incorporating zoom, focus, pose, and scene composition

autonomous drone cinematography

robotics

control

perception

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

AAAI 2022

technical paper

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We are pleased to announce the Fortieth AAAI Conference on Artificial Intelligence (AAAI-26), which will be held in Singapore EXPO from January 20 to January 27, 2026.

Radio Frequency Fingerprinting (RFF) exploits inherent hardware-level imperfections of wireless transmitters as unclonable identifiers for device identification. These unique signatures, concealed in transmitted signals, inevitably experience complex distortions during wireless propagation (i.e., coupled with ambient noise and channel fading), making it extremely challenging for reliable extraction. Despite substantial research efforts dedicated to advancing effective fingerprint extraction techniques, current approaches still struggle in handling fingerprint robustness under distance variations, leading to severe SNR fluctuations and complex multipath effects. To address this gap, we propose the first unsupervised framework for distance-invariant radio frequency fingerprinting, eliminating dependence on labeled target domain data. Specifically, we first preprocess raw RF samples by confining them within a specified variation range and filtering noisy high-frequency components while avoiding aliasing. For source domain data, we then propose a set of physics-inspired data augmentation techniques designed to emulate realistic wireless signal propagation effects. Building on this, we introduce a dual alignment contrastive learning method to explicitly decouple identity-discriminative features, ensuring the model focuses on device-specific traits. Furthermore, we incorporate a pseudo-labeling-based domain adaptation module to refine the model for the unlabeled target domain, enhancing its generalization to unseen distances. Extensive experiments on public datasets show that our method achieves the identification accuracy outperforming state-of-the-art approaches by 40\%, while maintaining computational efficiency suitable for edge deployment.

Towards Distance-Invariant Radio Frequency Fingerprinting via Augmented Unsupervised Learning

Mixed-Integer Linear Programming (MILP) is a cornerstone of combinatorial optimization, yet solving large-scale instances remains a significant computational challenge. 
Recently, Graph Neural Networks (GNNs) have shown promise in accelerating MILP solvers by predicting high-quality solutions.
However, we identify that existing methods misalign with the intrinsic structure of MILP problems at two levels.
At the leaning objective level, the Binary Cross-Entropy (BCE) loss treats variables independently, neglecting their relative priority and yielding plausible logits.
At the model architecture level, standard GNN message passing inherently smooths the representations across variables, msking the natural competitive relationships within constraints.
To address these challenges, we propose CoCo-MILP, which explicitly models inter-variable Contrast and intra-constraint Competition for advanced MILP solution prediction.
At the objective level, CoCo-MILP introduces the Inter-Variable Contrastive Loss (VCL), which explicitly maximizes the embedding margin between variables assigned one versus zero.
At the architectural level, we design an Intra-Constraint Competitive GNN layer that, instead of homogenizing features, learns to differentiate representations of competing variables within a constraint, capturing their exclusionary nature. Experimental results on standard benchmarks demonstrate that CoCo-MILP significantly outperforms existing learning-based approaches, reducing the solution gap by up to 68.12\% compared to traditional solvers.

CoCo-MILP: Inter-Variable Contrastive and Intra-Constraint Competitive MILP Solution Prediction

Orthodontic treatment needs regular tooth alignment checks, but current methods depend on clinic visits, limiting remote care. With the emergence of 3D Gaussian Splatting (3DGS), realistic novel views can be synthesized, making it possible for clinicians to remotely monitor orthodontic conditions. However, using only five intraoral images with unknown camera poses and dynamic lighting presents major challenges in dental applications. To address these challenges, we propose DentalGS, an enhanced 3DGS framework capable of synthesizing novel intraoral views from five post-orthodontic intraoral images and pre-orthodontic intraoral scan (IOS) data as prior, without camera poses. Our method initializes a Gaussian point cloud labeled with ISO-FDI tooth classes based on the patient’s pre-orthodontic IOS data, then estimates camera poses through iterative optimization. We introduce a Progressive Pair Generation Strategy as a data augmentation method that generates damage–repair image pairs to train a RepairNet, aiming to restore degraded geometry and appearance caused by the limited number of intraoral images. Additionally, we introduce a Lighting-Aware 3DGS inspired by physical reflectance properties to mitigate the effects of dynamic lighting conditions. Experimental results show that our method produces high-quality novel views while preserving geometric structure even under extreme viewpoints, offering an efficient and reliable solution for 3D tooth visualization in remote orthodontic monitoring.

DentalGS: Pose-Free 3D Gaussian Splatting from Five Intraoral Images for Novel View Synthesis

Mobile motion sensors such as accelerometers and gyroscopes are now ubiquitously accessible by third-party apps via standard APIs. While enabling rich functionalities like activity recognition and step counting, this openness has also enabled unregulated inference of sensitive user traits, such as gender, age, and even identity, without user consent. Existing privacy-preserving techniques, such as GAN-based obfuscation or differential privacy, typically require access to the full input sequence, introducing latency that is incompatible with real-time scenarios. Worse, they tend to distort temporal and semantic patterns, degrading the utility of the data for benign tasks like activity recognition. To address these limitations, we propose the Predictive Adversarial Transformation Network (PATN), a real-time privacy-preserving framework that leverages historical signals to generate adversarial perturbations proactively. The perturbations are applied immediately upon data acquisition, enabling continuous protection without disrupting application functionality. Experiments on two datasets demonstrate that PATN substantially degrades the performance of privacy inference models, achieving Attack Success Rate (ASR) of 40.11\% and 44.65\% (reducing inference accuracy to near-random) and increasing the Equal Error Rate (EER) from 8.30\% and 7.56\% to 41.65\% and 46.22\%. On ASR, PATN outperforms baseline methods by 16.16\% and 31.96\%, respectively.

Privacy on the Fly: A Predictive Adversarial Transformation Network for Mobile Sensor Data

Multimodal retrieval-augmented generation (RAG) systems enhance large vision-language models by integrating cross-modal knowledge, enabling their increasing adoption across real-world multimodal tasks.
These knowledge databases may contain sensitive information that requires privacy protection.
However, multimodal RAG systems inherently grant external users indirect access to such data, making them potentially vulnerable to privacy attacks, particularly membership inference attacks (MIAs).
Existing MIA methods targeting RAG systems predominantly focus on the textual modality, while the visual modality remains relatively underexplored.
To bridge this gap, we propose MrM, the first black-box MIA framework targeted at multimodal RAG systems.
It utilizes a multi-object data perturbation framework constrained by counterfactual attacks, which can concurrently induce the RAG systems to retrieve the target data and generate information that leaks the membership information.
Our method first employs an object-aware data perturbation method to constrain the perturbation to key semantics and ensure successful retrieval.
Building on this, we design a counterfact-informed mask selection strategy to prioritize the most informative masked regions, aiming to eliminate the interference of model self-knowledge and amplify attack efficacy.
Finally, we perform statistical membership inference by modeling query trials to extract features that reflect the reconstruction of masked semantics from response patterns.
Experiments on two visual datasets and eight mainstream commercial visual-language models (e.g., GPT-4o, Gemini-2) demonstrate that MrM achieves consistently strong performance across both sample-level and set-level evaluations, and remains robust under adaptive defenses.

MrM: Black-Box Membership Inference Attacks Against Multimodal RAG Systems

While small language models (SLMs) have shown promise on various reasoning tasks, their ability to judge the correctness of answers remains unclear compared to large language models (LLMs). Prior work on LLM-as-a-judge frameworks typically relies on comparing candidate answers against ground-truth labels or other candidate answers using predefined metrics (like entailment). However, this approach is inherently indirect and difficult to fully automate, offering limited support for fine-grained and scalable evaluation of reasoning outputs. In this work, we propose JudgeBoard, a novel evaluation pipeline that directly queries models to assess the correctness of candidate answers without relying on gold-standard labels. We focus on two core reasoning domains, math and science/commonsense reasoning, and construct task-specific evaluation leaderboards using both accuracy ranking and an Elo-based rating system across five benchmark datasets, enabling consistent model comparison as judges rather than comparators. To improve judgment performance in lightweight models, we propose MAJ (Multi-Agent Judging), a novel Elo-based multi-agent evaluation framework that leverages multiple interacting SLMs to approximate LLM-level judgment accuracy. Experimental results show a clear performance gap between SLMs and LLMs in isolated judging tasks. However, our MAJ framework substantially improves the reliability and consistency of the SLMs. On the MATH dataset, MAJ framework using smaller-sized models as backbones could perform comparatively well or even better than their larger-sized counterparts. Our findings highlight that multi-agent SLM systems can potentially match or exceed LLM performance in judgment tasks, with implications for scalable assessment using SLMs.

JudgeBoard: Benchmarking and Enhancing Small Language Models for Reasoning Evaluation

One of the most important queries in knowledge compilation is weighted model counting (WMC), which has been applied to probabilistic inference on various models, such as Bayesian networks. In practical situations on inference tasks, the model's parameters have uncertainty because they are often learned from data, and thus we want to compute the degree of uncertainty in the inference outcome. One possible approach is to regard the inference outcome as a random variable by introducing distributions for the parameters and evaluate the variance of the outcome. Unfortunately, the tractability of computing such a variance is hardly known. Motivated by this, we consider the problem of computing the variance of WMC and investigate this problem's tractability. First, we derive a polynomial time algorithm to evaluate the WMC variance when the input is given as a structured d-DNNF. Second, we prove the hardness of this problem for structured DNNFs, d-DNNFs, and FBDDs, which is intriguing because the latter two allow polynomial time WMC algorithms. Finally, we show an application that measures the uncertainty in the inference of Bayesian networks. We empirically show that our algorithm can evaluate the variance of the marginal probability on real-world Bayesian networks and analyze the impact of the variances of parameters on the variance of the marginal.

Variance Computation for Weighted Model Counting with Knowledge Compilation Approach

Attributed heterogeneous information networks (AHINs) encode rich semantics through diverse node and edge types. Recent learning-based community search methods on AHINs have shown promising performance but face two major limitations: (i) difficulty scaling to large graphs due to memory-intensive neighbor-based propagation (e.g., GNNs and node-level attention), and (ii) reliance on explicit community-level labels, which are often unavailable or costly to obtain. To address these issues, we propose a scalable Semi-supervised Community Search framework on AHINs (SCSAH), enabling scalability and efficiency, while eliminating the need for community-level labels by leveraging readily available node classification labels. Specifically, we devise MvSF2Token to extract Multi-view Semantic Features (MvSFs) as compact subgraph-level tokens before training, significantly reducing model propagation complexity. We then design a View-Aware Semantic Graph Transformer (VASGhormer) to effectively encode MvSFs by capturing cross-view dependencies and fusing semantic features. The combination of MvSF2Token and VASGhormer ensures scalability, efficiency, and robust performance. Furthermore, we propose a novel View-Aware Contrastive Learner to train VASGhormer without requiring community-level supervision. Extensive experiments on five real-world datasets show that SCSAH outperforms state-of-the-art methods, achieving 18.06% higher performance and 10.43 times faster training.

Scalable Semi-supervised Community Search via Graph Transformer on Attributed Heterogeneous Information Networks

We present ElastoGen, a knowledge-driven model that generates physically accurate and coherent 4D elastodynamics. Instead of relying on petabyte-scale data-driven learning, ElastoGen leverages the principles of physics-in-the-loop and learns from established physical knowledge, such as partial differential equations and their numerical solutions. The core idea of ElastoGen is converting the global differential operator, corresponding to the nonlinear elastodynamic equations, into iterative local convolution-like operations, which naturally fit modern neural networks. Each network module is specifically designed to support this goal rather than functioning as a black box. As a result, ElastoGen is exceptionally lightweight in terms of both training requirements and network scale. Additionally, due to its alignment with physical procedures, ElastoGen efficiently generates accurate dynamics for a wide range of hyperelastic materials and can be easily integrated with upstream and downstream deep modules to enable end-to-end 4D generation.

ElastoGen: 4D Generative Elastodynamics

As AI systems become more capable, it is important that their decisions are understandable and aligned with human expectations. A key challenge is the lack of interpretability in deep models. Existing methods such as GradCAM generate heatmaps but provide limited conceptual insight, while prototype-based approaches offer example-based explanations but often rely on rigid region selection and lack semantic consistency.
To address these limitations, we propose PCMNet, a Part-Prototypical Concept Mining Network that learns human-comprehensible prototypes from meaningful regions without extra supervision. By clustering these into concept groups and extracting concept activation vectors, PCMNet provides structured, concept-level explanations and enhances robustness under occlusion and adversarial conditions, which are both critical for building reliable and aligned AI systems.
Experiments across multiple benchmarks show that PCMNet outperforms state-of-the-art methods in interpretability, stability, and robustness. This work contributes to AI alignment by enhancing transparency, controllability, and trustworthiness in modern AI systems.

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Towards Distance-Invariant Radio Frequency Fingerprinting via Augmented Unsupervised Learning

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