Weekly ArXiv Paper Feed
Discover the latest research papers from arXiv.
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual reality, our system captures rich human demonstrations, including hand kinematics, object motion, dense contact patches, and detailed contact force information. Unlike conventional approaches that retarget human joint trajectories, SoftAct employs a two-stage, force-aware retargeting algorithm. The first stage attributes demonstrated contact forces to individual human fingers and allocates robot fingers proportionally, establishing a force-balanced mapping between human and robot hands. The second stage performs online retargeting by combining baseline end-effector pose tracking with geodesic-weighted contact refinements, using contact geometry and force magnitude to adjust robot fingertip targets in real time. This formulation enables soft robotic hands to reproduce the functional intent of human demonstrations while naturally accommodating extreme embodiment mismatch and nonlinear compliance. We evaluate SoftAct on a suite of contact-rich manipulation tasks using a custom non-anthropomorphic pneumatic soft robot hand. SoftAct's controller reduces fingertip trajectory tracking RMSE by up to 55 percent and reduces tracking variance by up to 69 percent compared to kinematic and learning-based baselines. At the policy level, SoftAct achieves consistently higher success in zero-shot real-world deployment and in simulation. These results demonstrate that explicitly modeling contact geometry and force distribution is essential for effective skill transfer to soft robotic hands, and cannot be recovered through kinematic imitation alone. Project videos and additional details are available at https://soft-act.github.io/.
We present HippoCamp, a new benchmark designed to evaluate agents' capabilities on multimodal file management. Unlike existing agent benchmarks that focus on tasks like web interaction, tool use, or software automation in generic settings, HippoCamp evaluates agents in user-centric environments to model individual user profiles and search massive personal files for context-aware reasoning. Our benchmark instantiates device-scale file systems over real-world profiles spanning diverse modalities, comprising 42.4 GB of data across over 2K real-world files. Building upon the raw files, we construct 581 QA pairs to assess agents' capabilities in search, evidence perception, and multi-step reasoning. To facilitate fine-grained analysis, we provide 46.1K densely annotated structured trajectories for step-wise failure diagnosis. We evaluate a wide range of state-of-the-art multimodal large language models (MLLMs) and agentic methods on HippoCamp. Our comprehensive experiments reveal a significant performance gap: even the most advanced commercial models achieve only 48.3% accuracy in user profiling, struggling particularly with long-horizon retrieval and cross-modal reasoning within dense personal file systems. Furthermore, our step-wise failure diagnosis identifies multimodal perception and evidence grounding as the primary bottlenecks. Ultimately, HippoCamp exposes the critical limitations of current agents in realistic, user-centric environments and provides a robust foundation for developing next-generation personal AI assistants.
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The rise of test-time scaling has remarkably boosted the reasoning and agentic proficiency of Large Language Models (LLMs). Yet, standard Transformers struggle to scale inference-time compute efficiently, as conventional looping strategies suffer from high computational overhead and a KV cache that inflates alongside model depth. We present Universal YOCO (YOCO-U), which combines the YOCO decoder-decoder architecture with recursive computation to achieve a synergistic effect greater than either alone. Built on the YOCO framework, YOCO-U implements a Universal Self-Decoder that performs multiple iterations via parameter sharing, while confining the iterative process to shallow, efficient-attention layers. This combination yields a favorable capability-efficiency tradeoff that neither YOCO nor recursion achieves independently. The YOCO architecture provides a constant global KV cache and linear pre-filling, while partial recursion enhances representational depth with limited overhead. Together, YOCO-U improves token utility and scaling behavior while maintaining efficient inference. Empirical results confirm that YOCO-U remains highly competitive in general and long-context benchmarks, demonstrating that the integration of efficient-attention architectures and recursive computation is a promising direction for scalable LLMs.
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Reconstructing full spatio-temporal dynamics from sparse observations in both space and time remains a central challenge in complex systems, as measurements can be spatially incomplete and can be also limited to narrow temporal windows. Yet approximating the complete spatio-temporal trajectory is essential for mechanistic insight and understanding, model calibration, and operational decision-making. We introduce LAPIS-SHRED (LAtent Phase Inference from Short time sequence using SHallow REcurrent Decoders), a modular architecture that reconstructs and/or forecasts complete spatiotemporal dynamics from sparse sensor observations confined to short temporal windows. LAPIS-SHRED operates through a three-stage pipeline: (i) a SHRED model is pre-trained entirely on simulation data to map sensor time-histories into a structured latent space, (ii) a temporal sequence model, trained on simulation-derived latent trajectories, learns to propagate latent states forward or backward in time to span unobserved temporal regions from short observational time windows, and (iii) at deployment, only a short observation window of hyper-sparse sensor measurements from the true system is provided, from which the frozen SHRED model and the temporal model jointly reconstruct or forecast the complete spatiotemporal trajectory. The framework supports bidirectional inference, inherits data assimilation and multiscale reconstruction capabilities from its modular structure, and accommodates extreme observational constraints including single-frame terminal inputs. We evaluate LAPIS-SHRED on six experiments spanning complex spatio-temporal physics: turbulent flows, multiscale propulsion physics, volatile combustion transients, and satellite-derived environmental fields, highlighting a lightweight, modular architecture suited for operational settings where observation is constrained by physical or logistical limitations.
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For first passage percolation (FPP) on Euclidean lattices $\mathbb{Z}^d$ with $d\ge 2$, it is expected that the variance of the first passage time between two points grows sublinearly in the distance with a universal exponent strictly smaller than $1$. Following Kesten's $O(n)$ upper bound (Ann. Appl. Probab., 1993) on the variance, Benjamini, Kalai and Schramm (Ann. Probab., 2003) used hypercontractivity to obtain an improvement of a factor of $\log n$ when passage times take two values with equal probability. This was later extended to more general classes of passage time distributions. However, unlike in exactly solvable planar models in last passage percolation where the variance is known to be $Θ(n^{2/3})$, the best known upper bound for the variance of passage times has remained $O(n/\log n)$ in all non-trivial variants of FPP. For a class of rotationally invariant Riemannian FPP on the plane, we show that the variance is $O(n^{1-\varepsilon})$ for some $\varepsilon>0$. Our argument uses fluctuation estimates for passage times and geodesics derived in Basu, Sidoravicius and Sly (2023) together with a multi-scale argument to establish that the geodesic exhibits disorder chaos, i.e., upon resampling a small fraction of the underlying randomness, the updated geodesic has on average a small overlap with the original one; this, established at a large number of scales, leads to a polynomial improvement of the variance bound.
AI weather prediction has advanced rapidly, yet no unified mathematical framework explains what determines forecast skill. Existing theory addresses specific architectural choices rather than the learning pipeline as a whole, while operational evidence from 2023-2026 demonstrates that training methodology, loss function design, and data diversity matter at least as much as architecture selection. This paper makes two interleaved contributions. Theoretically, we construct a framework rooted in approximation theory on the sphere, dynamical systems theory, information theory, and statistical learning theory that treats the complete learning pipeline (architecture, loss function, training strategy, data distribution) rather than architecture alone. We establish a Learning Pipeline Error Decomposition showing that estimation error (loss- and data-dependent) dominates approximation error (architecture-dependent) at current scales. We develop a Loss Function Spectral Theory formalizing MSE-induced spectral blurring in spherical harmonic coordinates, and derive Out-of-Distribution Extrapolation Bounds proving that data-driven models systematically underestimate record-breaking extremes with bias growing linearly in record exceedance. Empirically, we validate these predictions via inference across ten architecturally diverse AI weather models using NVIDIA Earth2Studio with ERA5 initial conditions, evaluating six metrics across 30 initialization dates spanning all seasons. Results confirm universal spectral energy loss at high wavenumbers for MSE-trained models, rising Error Consensus Ratios showing that the majority of forecast error is shared across architectures, and linear negative bias during extreme events. A Holistic Model Assessment Score provides unified multi-dimensional evaluation, and a prescriptive framework enables mathematical evaluation of proposed pipelines before training.
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Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized subsystems, each providing specific expertise to complete the mission. The central challenge lies in efficiently coordinating the team to maximize utilization and the extraction of scientific value. Classical planning algorithms scale poorly with problem size, leading to long planning cycles and high inference costs due to the combinatorial growth of possible robot-target allocations and possible trajectories. Learning-based methods are a viable alternative that move the scaling concern from runtime to training time, setting a critical step towards achieving real-time planning. In this work, we present a collaborative planning strategy based on Multi-Agent Proximal Policy Optimization (MAPPO) to coordinate a team of heterogeneous robots to solve a complex target allocation and scheduling problem. We benchmark our approach against single-objective optimal solutions obtained through exhaustive search and evaluate its ability to perform online replanning in the context of a planetary exploration scenario.
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As LLM agents tackle increasingly complex tasks, a critical question is whether they can maintain strategic coherence over long horizons: planning under uncertainty, learning from delayed feedback, and adapting when early mistakes compound. We introduce $\texttt{YC-Bench}$, a benchmark that evaluates these capabilities by tasking an agent with running a simulated startup over a one-year horizon spanning hundreds of turns. The agent must manage employees, select task contracts, and maintain profitability in a partially observable environment where adversarial clients and growing payroll create compounding consequences for poor decisions. We evaluate 12 models, both proprietary and open source, across 3 seeds each. Only three models consistently surpass the starting capital of \$200K, with Claude Opus 4.6 achieving the highest average final funds at \$1.27 M, followed by GLM-5 at \$1.21 M at 11$\times$ lower inference cost. Scratchpad usage, the sole mechanism for persisting information across context truncation, is the strongest predictor of success, and adversarial client detection is the primary failure mode, accounting for $47\%$ of bankruptcies. Our analysis reveals that frontier models still fail through distinct failure modes such as over-parallelization, demonstrating the capability gaps for long-horizon performance. $\texttt{YC-Bench}$ is open-source, reproducible, and configurable.
CliffSearch: Structured Agentic Co-Evolution over Theory and Code for Scientific Algorithm Discovery
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Scientific algorithm discovery is iterative: hypotheses are proposed, implemented, stress-tested, and revised. Current LLM-guided search systems accelerate proposal generation, but often under-represent scientific structure by optimizing code-only artifacts with weak correctness/originality gating. We present CliffSearch, an agentic evolutionary framework in which the core evolution operators (pair selection, crossover, mutation, and review) are implemented as LLM agents, and the loop is designed around three principles: (1) each node is a structured scientific artifact, instantiated in either theory+code or code_only mode, (2) reviewer judgments of correctness and originality are first-class selection gates alongside optimization of the benchmark metric of interest, and (3) mutation is split into exploration and correction pathways with distinct objectives. Exploration mutation imports ideas from adjacent scientific domains to increase novelty, while correction mutation performs targeted evidence-guided repair using reviewer signals over theory, code, benchmark results, and runtime errors. We illustrate the framework on three benchmark-grounded studies: transformer hyper-connection evolution, optimizer discovery on a fixed nanoGPT stack, and a smaller native-optimizer ablation. Across these settings, the same loop supports explicit metric direction, reproducible persistence, and reviewer-gated comparison of discoveries under controlled search conditions. The result is a discovery workflow that prioritizes scientific interpretability and correctness while optimizing task metrics under controlled novelty constraints, rather than maximizing candidate throughput alone. Full run artifacts, interactive visualizations, and exported best nodes for the reported studies are available at https://cliffsearch.ai .
We present TRACE, a mesh-guided 3DGS editing framework that achieves automated, high-fidelity scene transformation. By anchoring video diffusion with explicit 3D geometry, TRACE uniquely enables fine-grained, part-level manipulatio--such as local pose shifting or component replacemen--while preserving the structural integrity of the central subject, a capability largely absent in existing editing methods. Our approach comprises three key stages: (1) Multi-view 3D-Anchor Synthesis, which leverages a sparse-view editor trained on our MV-TRACE datase--the first multi-view consistent dataset dedicated to scene-coherent object addition and modificatio--to generate spatially consistent 3D-anchors; (2) Tangible Geometry Anchoring (TGA), which ensures precise spatial synchronization between inserted meshes and the 3DGS scene via two-phase registration; and (3) Contextual Video Masking (CVM), which integrates 3D projections into an autoregressive video pipeline to achieve temporally stable, physically-grounded rendering. Extensive experiments demonstrate that TRACE consistently outperforms existing methods especially in editing versatility and structural integrity.
We present RELISH (REgression with a Latent Iterative State Head), a novel, lightweight architecture designed for text regression with large language models. Rather than decoding numeric targets as text or aggregating multiple generated outputs, RELISH predicts scalar values directly from frozen LLM representations by iteratively refining a learned latent state through cross-attention over token-level representations, and then mapping the final state to a point estimate with a linear regressor. Across five datasets, four LLM backbones, and two LLM training regimes, RELISH consistently outperforms prior baselines from all three major LLM regression families, including autoregressive decoding, regression-aware inference, and existing predictive head methods. Despite these gains, RELISH remains highly parameter-efficient, requiring only 3.4-3.7M trainable parameters across frozen LLM backbones (only 0.01-0.04% additional overhead), far less than LoRA-based alternatives that grow with model size (0.26-0.42%).
Quantum phase estimation is a central primitive in quantum algorithms and sensing, where performance is governed by the sensitivity of measurement signals to the target parameter. While existing methods have developed increasingly sophisticated inference and adaptive design strategies, the signal family used for phase learning is often largely pre-specified. Here we propose a programmable signal design framework for quantum phase estimation based on quantum signal processing, which enables the measurement signal to be tailored to the current uncertainty region. We cast phase estimation as a max-min optimization problem over admissible signals and introduce a sensitivity efficiency parameter that quantifies information gain per query depth. The resulting iterative algorithm combines optimized quantum signal transformations with structured classical inference, retaining Heisenberg-limited scaling while improving sensitivity efficiency and practical resource prefactors. Numerical results show reduced estimation variance compared with standard protocols such as robust phase estimation. Our framework also extends to Hamiltonian eigenvalue estimation in higher dimensions and establishes a quantum-classical co-design paradigm through programmable signal shaping.
Primitive-based methods such as 3D Gaussian Splatting have recently become the state-of-the-art for novel-view synthesis and related reconstruction tasks. Compared to neural fields, these representations are more flexible, adaptive, and scale better to large scenes. However, the limited expressivity of individual primitives makes modeling high-frequency detail challenging. We introduce Neural Harmonic Textures, a neural representation approach that anchors latent feature vectors on a virtual scaffold surrounding each primitive. These features are interpolated within the primitive at ray intersection points. Inspired by Fourier analysis, we apply periodic activations to the interpolated features, turning alpha blending into a weighted sum of harmonic components. The resulting signal is then decoded in a single deferred pass using a small neural network, significantly reducing computational cost. Neural Harmonic Textures yield state-of-the-art results in real-time novel view synthesis while bridging the gap between primitive- and neural-field-based reconstruction. Our method integrates seamlessly into existing primitive-based pipelines such as 3DGUT, Triangle Splatting, and 2DGS. We further demonstrate its generality with applications to 2D image fitting and semantic reconstruction.
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We consider the question: when a large language reasoning model makes a choice, did it think first and then decide to, or decide first and then think? In this paper, we present evidence that detectable, early-encoded decisions shape chain-of-thought in reasoning models. Specifically, we show that a simple linear probe successfully decodes tool-calling decisions from pre-generation activations with very high confidence, and in some cases, even before a single reasoning token is produced. Activation steering supports this causally: perturbing the decision direction leads to inflated deliberation, and flips behavior in many examples (between 7 - 79% depending on model and benchmark). We also show through behavioral analysis that, when steering changes the decision, the chain-of-thought process often rationalizes the flip rather than resisting it. Together, these results suggest that reasoning models can encode action choices before they begin to deliberate in text.
We develop reliable a posteriori error estimators for fully discrete Runge-Kutta discontinuous Galerkin approximations of nonlinear convection-diffusion systems endowed with a convex entropy in multiple spatial dimensions on the flat torus T^d, with a focus on the convection-dominated regime. In order to use the relative entropy method, we reconstruct the numerical solution via tensor-product Smoothness-Increasing Accuracy-Conserving (SIAC) filtering which has superconvergence properties. We then derive reliable a posteriori error estimators for the difference between the entropy weak solution and the reconstruction, with constants that are uniform in the vanishing viscosity limit. Our numerical experiments show that the a posteriori error bounds converge with the same order as the error of the reconstructed numerical solution.
Recently, two independent research efforts have been made to study the stochastic Galerkin formulation of the shallow water equations. %In particular, Bender and Öffner developed entropy-conservative discontinuous Galerkin (DG) methods to solve the stochastic shallow water equations in an stochastic Galerkin framework using Roe variable transformation, while Dai, Epshteyn and collaborators proposed second-order, energy-stable and well-balanced schemes for the same class of problems with a specific projection step used inside the Galerkin projection together with high-order quadrature rules and a time-step restriction. In this paper, we provide a comprehensive comparison of the two methodologies mentioned, focusing on their theoretical properties and practical implementation aspects. We highlight shared foundational concepts and key differences of both approaches, with a particular focus on the selection of basis functions in the stochastic domain. As a highlight, we show that under specific conditions, the two formulations align, offering a unified framework that connects these distinct approaches. From our theoretical findings, we extend the development of high-order entropy conservative DG methods for the one-dimensional stochastic Galerkin shallow equations to two space dimensions; constructing entropy conservative two-point fluxes via primitive variables instead of entropy variables and applying it in our high-order DG setting. In numerical simulations, we verify and support our theoretical findings of a well-balanced and entropy-stable DG scheme which can be used to solve geophyiscal fluid flows with uncertainty.
Learning quantum states from measurement data is a central problem in quantum information and computational complexity. In this work, we study the problem of learning to generate mixed states on a finite-dimensional lattice. Motivated by recent developments in mixed state phases of matter, we focus on arbitrary states in the trivial phase. A state belongs to the trivial phase if there exists a shallow preparation channel circuit under which local reversibility is preserved throughout the preparation. We prove that any mixed state in this class can be efficiently learned from measurement access alone. Specifically, given copies of an unknown trivial phase mixed state, our algorithm outputs a shallow local channel circuit that approximately generates this state in trace distance. The sample complexity and runtime are polynomial (or quasi-polynomial) in the number of qubits, assuming constant (or polylogarithmic) circuit depth and gate locality. Importantly, the learner is not given the original preparation circuit and relies only on its existence. Our results provide a structural foundation for quantum generative models based on shallow channel circuits. In the classical limit, our framework also inspires an efficient algorithm for classical diffusion models using only a polynomial overhead of training and generation.
Search agents, which integrate language models (LMs) with web search, are becoming crucial for answering complex user queries. Constructing training datasets for deep research tasks, involving multi-step retrieval and reasoning, remains challenging due to expensive human annotation, or cumbersome prerequisites. In this work, we introduce ORBIT, a training dataset with 20K reasoning-intensive queries with short verifiable answers, generated using a frugal framework without relying on paid API services. The modular framework relies on four stages: seed creation, question--answer pair generation, and two stages of verification: self and external. ORBIT spans 15 domains and each training pair requires 4--5 reasoning steps, with external search verification required from the complete web. We train Qwen3-4B as the base model on ORBIT using GRPO and evaluate it on Wikipedia question answering tasks. Extensive experiment results demonstrate that ORBIT-4B achieves strong performance among sub-4B LLMs as search agents, proving the utility of synthetic datasets. Our framework, code and datasets are open-sourced and available publicly.
Can a large language model (LLM) improve at code generation using only its own raw outputs, without a verifier, a teacher model, or reinforcement learning? We answer in the affirmative with simple self-distillation (SSD): sample solutions from the model with certain temperature and truncation configurations, then fine-tune on those samples with standard supervised fine-tuning. SSD improves Qwen3-30B-Instruct from 42.4% to 55.3% pass@1 on LiveCodeBench v6, with gains concentrating on harder problems, and it generalizes across Qwen and Llama models at 4B, 8B, and 30B scale, including both instruct and thinking variants. To understand why such a simple method can work, we trace these gains to a precision-exploration conflict in LLM decoding and show that SSD reshapes token distributions in a context-dependent way, suppressing distractor tails where precision matters while preserving useful diversity where exploration matters. Taken together, SSD offers a complementary post-training direction for improving LLM code generation.
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Search engines and information platforms are increasingly scrutinized for their role in spreading misinformation. Traditional responses often focus on detecting falsehoods or verifying the ultimate validity of claims. This paper argues that such a validity-centered framing is inadequate for the epistemic challenges of search environments.
This study investigates the ability of multimodal Large Language Models (LLMs) to identify and interpret misleading visualizations, and recognize these observations along with their underlying causes and potential intentionality. Our analysis leverages concepts from visualization rhetoric and a newly developed taxonomy of authorial intents as explanatory lenses. We formulated three research questions and addressed them experimentally using a dataset of 2,336 COVID-19-related tweets, half of which contain misleading visualizations, and supplemented it with real-world examples of perceptual, cognitive, and conceptual errors drawn from VisLies, the IEEE VIS community event dedicated to showcasing deceptive and misleading visualizations. To ensure broad coverage of the current LLM landscape, we evaluated 16 state-of-the-art models. Among them, 15 are open-weight models, spanning a wide range of model sizes, architectural families, and reasoning capabilities. The selection comprises small models, namely Nemotron-Nano-V2-VL (12B parameters), Mistral-Small-3.2 (24B), DeepSeek-VL2 (27B), Gemma3 (27B), and GTA1 (32B); medium-sized models, namely Qianfan-VL (70B), Molmo (72B), GLM-4.5V (108B), LLaVA-NeXT (110B), and Pixtral-Large (124B); and large models, namely Qwen3-VL (235B), InternVL3.5 (241B), Step3 (321B), Llama-4-Maverick (400B), and Kimi-K2.5 (1000B). In addition, we employed OpenAI GPT-5.4, a frontier proprietary model. To establish a human perspective on these tasks, we also conducted a user study with visualization experts to assess how people perceive rhetorical techniques and the authorial intentions behind the same misleading visualizations. This allows comparison between model and expert behavior, revealing similarities and differences that provide insights into where LLMs align with human judgment and where they diverge.
We analyze the behavior of the Euler method for delay differential equations under nonstandard assumptions on the right-hand-side function f, when evaluations of f are corrupted by informational noise. We provide theoretical upper bounds on the Euler discretization error and present results from the numerical experiments.
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Foundation vision-language models are becoming increasingly relevant to robotics because they can provide richer semantic perception than narrow task-specific pipelines. However, their practical adoption in robot software stacks still depends on reproducible middleware integrations rather than on model quality alone. Florence-2 is especially attractive in this regard because it unifies captioning, optical character recognition, open-vocabulary detection, grounding and related vision-language tasks within a comparatively manageable model size. This article presents a ROS 2 wrapper for Florence-2 that exposes the model through three complementary interaction modes: continuous topic-driven processing, synchronous service calls and asynchronous actions. The wrapper is designed for local execution and supports both native installation and Docker container deployment. It also combines generic JSON outputs with standard ROS 2 message bindings for detection-oriented tasks. A functional validation is reported together with a throughput study on several GPUs, showing that local deployment is feasible with consumer grade hardware. The repository is publicly available here: https://github.com/JEDominguezVidal/florence2_ros2_wrapper
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A core limitation of standard softmax attention is that it does not define a notion of absolute query--key relevance: attention weights are obtained by redistributing a fixed unit mass across all keys according to their relative scores. As a result, relevance is defined only relative to competing keys, and irrelevant keys cannot be explicitly rejected. We introduce Multiscreen, a language-model architecture built around a mechanism we call screening, which enables absolute query--key relevance. Instead of redistributing attention across all keys, screening evaluates each key against an explicit threshold, discarding irrelevant keys and aggregating the remaining keys, thereby removing global competition among keys. Across experiments, Multiscreen achieves comparable validation loss with approximately 40% fewer parameters than a Transformer baseline, enables stable optimization at substantially larger learning rates, maintains strong performance in long-context perplexity, shows little to no degradation in retrieval performance even far beyond the training context length, and reduces inference latency by up to 3.2$\times$ at 100K context length.
Accurate air quality forecasting is crucial for protecting public health and guiding environmental policy, yet it remains challenging due to nonlinear spatiotemporal dynamics, wind-driven transport, and distribution shifts across regions. Physics-based models are interpretable but computationally expensive and often rely on restrictive assumptions, whereas purely data-driven models can be accurate but may lack robustness and calibrated uncertainty. To address these limitations, we propose Neural Dynamic Diffusion-Advection Fields (NeuroDDAF), a physics-informed forecasting framework that unifies neural representation learning with open-system transport modeling. NeuroDDAF integrates (i) a GRU-Graph Attention encoder to capture temporal dynamics and wind-aware spatial interactions, (ii) a Fourier-domain diffusion-advection module with learnable residuals, (iii) a wind-modulated latent Neural ODE to model continuous-time evolution under time-varying connectivity, and (iv) an evidential fusion mechanism that adaptively combines physics-guided and neural forecasts while quantifying uncertainty. Experiments on four urban datasets (Beijing, Shenzhen, Tianjin, and Ancona) across 1-3 day horizons show that NeuroDDAF consistently outperforms strong baselines, including AirPhyNet, achieving up to 9.7% reduction in RMSE and 9.4% reduction in MAE on long-term forecasts. On the Beijing dataset, NeuroDDAF attains an RMSE of 41.63 $μ$g/m$^3$ for 1-day prediction and 48.88 $μ$g/m$^3$ for 3-day prediction, representing the best performance among all compared methods. In addition, NeuroDDAF improves cross-city generalization and yields well-calibrated uncertainty estimates, as confirmed by ensemble variance analysis and case studies under varying wind conditions.
Uncertainty quantification is essential when deploying learning-based control methods in safety-critical systems. This is commonly realized by constructing uncertainty tubes that enclose the unknown function of interest, e.g., the reward and constraint functions or the underlying dynamics model, with high probability. However, existing approaches for uncertainty quantification typically rely on restrictive assumptions on the unknown function, such as known bounds on functional norms or Lipschitz constants, and struggle with discontinuities. In this paper, we model the unknown function as a random function from which independent and identically distributed realizations can be generated, and construct uncertainty tubes via the scenario approach that hold with high probability and rely solely on the sampled realizations. We integrate these uncertainty tubes into a safe Bayesian optimization algorithm, which we then use to safely tune control parameters on a real Furuta pendulum.
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The Gaussian Process (GP) assumption is often used in functional data analysis. We propose a method to assess departures from the GP assumption, both in terms of the shape of the distribution and its potential dependence on covariates, using a sequence of functional moment regressions. Our methods are inspired by and applied to objectively measured minute-level physical activity data from the National Health and Nutrition Examination Survey (NHANES) 2011-2014 study. In this setting, we find that the GP assumption is not satisfied, quantify the associations between functional moments and covariates, and show that standard data transformations, such as the log transformation, do not resolve the discrepancy between assumptions and reality. We further show that when the effect sizes are moderate, inference on the functional fixed effects is largely unaffected by departures from the GP assumption. However, when effect sizes are small, both inference and prediction of subject-level data can be strongly affected. Extensive simulations support these findings. This pragmatic paper presents new methods for real data analysis, with implications for statistical methodology and for understanding human activity and health.
Although self-supervised 3D anomaly detection assumes that acquiring high-precision point clouds is computationally expensive, in real manufacturing scenarios it is often feasible to collect a limited number of anomalous samples. Therefore, we study open-set supervised 3D anomaly detection, where the model is trained with only normal samples and a small number of known anomalous samples, aiming to identify unknown anomalies at test time. We present Open-Industry, a high-quality industrial dataset containing 15 categories, each with five real anomaly types collected from production lines. We first adapt general open-set anomaly detection methods to accommodate 3D point cloud inputs better. Building upon this, we propose Open3D-AD, a point-cloud-oriented approach that leverages normal samples, simulated anomalies, and partially observed real anomalies to model the probability density distributions of normal and anomalous data. Then, we introduce a simple Correspondence Distributions Subsampling to reduce the overlap between normal and non-normal distributions, enabling stronger dual distributions modeling. Based on these contributions, we establish a comprehensive benchmark and evaluate the proposed method extensively on Open-Industry as well as established datasets including Real3D-AD and Anomaly-ShapeNet. Benchmark results and ablation studies demonstrate the effectiveness of Open3D-AD and further reveal the potential of open-set supervised 3D anomaly detection.
On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy learning. However, how to encourage the agent to explore the better trajectories efficiently remains a challenge. Most existing methods incentivize exploration by maximizing the policy entropy or encouraging novel state visiting regardless of the potential state value. We propose a new form of directed exploration that uses analytical policy gradients from a differentiable dynamics model to inject task-aware, physics-guided guidance, thereby steering the agent towards high-reward regions for accelerated and more effective policy learning.
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While test-time scaling has enabled large language models to solve highly difficult tasks, state-of-the-art results come at exorbitant compute costs. These inefficiencies can be attributed to the miscalibration of post-trained language models, and the lack of calibration in popular sampling techniques. Here, we present Online Reasoning Calibration (ORCA), a framework for calibrating the sampling process that draws upon conformal prediction and test-time training. Specifically, we introduce a meta-learning procedure that updates the calibration module for each input. This allows us to provide valid confidence estimates under distributional shift, e.g. in thought patterns that occur across different stages of reasoning, or in prompt distributions between model development and deployment. ORCA not only provides theoretical guarantees on conformal risks, but also empirically shows higher efficiency and generalization across different reasoning tasks. At risk level $δ=0.1$, ORCA improves Qwen2.5-32B efficiency on in-distribution tasks with savings up to 47.5% with supervised labels and 40.7% with self-consistency labels. Under zero-shot out-of-domain settings, it improves MATH-500 savings from 24.8% of the static calibration baseline to 67.0% while maintaining a low empirical error rate, and the same trend holds across model families and downstream benchmarks. Our code is publicly available at https://github.com/wzekai99/ORCA.
A fundamental challenge in science and engineering is the simulation-to-experiment gap. While we often possess prior knowledge of physical laws, these physical laws can be too difficult to solve exactly for complex systems. Such systems are commonly modeled using simulators, which impose computational approximations. Meanwhile, experimental measurements more faithfully represent the real world, but experimental data typically consists of observations that only partially reflect the system's full underlying state. We propose a data-driven distribution alignment framework that bridges this simulation-to-experiment gap by pre-training a generative model on fully observed (but imperfect) simulation data, then aligning it with partial (but real) observations of experimental data. While our method is domain-agnostic, we ground our approach in the physical sciences by introducing Adversarial Distribution Alignment (ADA). This method aligns a generative model of atomic positions -- initially trained on a simulated Boltzmann distribution -- with the distribution of experimental observations. We prove that our method recovers the target observable distribution, even with multiple, potentially correlated observables. We also empirically validate our framework on synthetic, molecular, and experimental protein data, demonstrating that it can align generative models with diverse observables. Our code is available at https://kaityrusnelson.com/ada/.
Using roughly 48 execution-verified HumanEval training solutions, tuning a single initial state matrix per recurrent layer, with zero inference overhead, outperforms LoRA by +10.8 pp (p < 0.001) on HumanEval. The method, which we call S0 tuning, optimizes one state matrix per recurrent layer while freezing all model weights. On Qwen3.5-4B (GatedDeltaNet hybrid), S0 tuning improves greedy pass@1 by +23.6 +/- 1.7 pp (10 seeds). On FalconH1-7B (Mamba-2 hybrid), S0 reaches 71.8% +/- 1.3 and LoRA reaches 71.4% +/- 2.4 (3 seeds), statistically indistinguishable at this sample size while requiring no weight merging. Cross-domain transfer is significant on MATH-500 (+4.8 pp, p = 0.00002, 8 seeds) and GSM8K (+2.8 pp, p = 0.0003, 10 seeds); a text-to-SQL benchmark (Spider) shows no transfer, consistent with the trajectory-steering mechanism. A prefix-tuning control on a pure Transformer (Qwen2.5-3B) degrades performance by -13.9 pp under all nine configurations tested. On Qwen3.5, a per-step state-offset variant reaches +27.1 pp, above both S0 and LoRA but with per-step inference cost. Taken together, the results show that recurrent state initialization is a strong zero-inference-overhead PEFT surface for hybrid language models when verified supervision is scarce. The tuned state is a ~48 MB file; task switching requires no weight merging or model reload. Code and library: https://github.com/jackyoung27/s0-tuning.
Chest X-ray (CXR) segmentation is an important step in computer-aided diagnosis, yet deploying large foundation models in clinical settings remains challenging due to computational constraints. We propose AdaLoRA-QAT, a two-stage fine-tuning framework that combines adaptive low-rank encoder adaptation with full quantization-aware training. Adaptive rank allocation improves parameter efficiency, while selective mixed-precision INT8 quantization preserves structural fidelity crucial for clinical reliability. Evaluated across large-scale CXR datasets, AdaLoRA-QAT achieves 95.6% Dice, matching full-precision SAM decoder fine-tuning while reducing trainable parameters by 16.6\times and yielding 2.24\times model compression. A Wilcoxon signed-rank test confirms that quantization does not significantly degrade segmentation accuracy. These results demonstrate that AdaLoRA-QAT effectively balances accuracy, efficiency, and structural trust-worthiness, enabling compact and deployable foundation models for medical image segmentation. Code and pretrained models are available at: https://prantik-pdeb.github.io/adaloraqat.github.io/
We present a Bayesian approach to estimate the parameters of mathematical models of cardiac electrophysiology with quantified uncertainty. Such models capture the dynamics of the electrical signal that coordinates the muscle cell contraction in the heart wall and can support cardiac arrhythmia treatment. We consider an illustrative case motivated by a cardiac arrhythmia, namely, by intra-atrial reentrant tachycardia. We estimate a low-dimensional geometrical parameter that describes the boundary of an electrically non-conducting region in the heart tissue from synthetic electrical measurements outside of the tissue. Instead of relying on a deterministic fit for this region, we estimate a posterior distribution on the geometrical parameter using Bayesian inference that captures the uncertainty due to measurement errors. We propose a likelihood based on a set of quantities that characterize the data for improved accuracy. To efficiently approximate the posterior distribution, we propose a compressed likelihood function and an adapted Metropolis-Hastings (MH) algorithm. We obtain an algorithm that strongly decreases the number of samples by using an adaptive proposal strategy. Our algorithm also gives attention to the impact of discretization errors on inference outcomes, as these introduce artificial discontinuities in the posterior if not properly addressed. We account for discretization errors in the likelihood and in the accept-reject step of our adapted MH algorithm to improve the robustness of our estimates and to further increase the sampling efficiency. All of these elements combined give us a method that efficiently estimates the non-conducting parameters with uncertainty. We perform several experiments with different amounts of measurement noise and illustrate how this translates into the posterior distributions.
Affine normal directions provide intrinsic affine-invariant descent directions derived from the geometry of level sets. Their practical use, however, has long been hindered by the need to evaluate third-order derivatives and invert tangent Hessians, which becomes computationally prohibitive in high dimensions. In this paper, we show that affine normal computation admits an exact reduction to second-order structure: the classical third-order contraction term is precisely the gradient of the log-determinant of the tangent Hessian. This identity replaces explicit third-order tensor contraction by a matrix-free formulation based on tangent linear solves, Hessian-vector products, and log-determinant gradient evaluation. Building on this reduction, we develop exact and stochastic matrix-free procedures for affine normal evaluation. For sparse polynomial objectives, the algebraic closure of derivatives further yields efficient sparse kernels for gradients, Hessian-vector products, and directional third-order contractions, leading to scalable implementations whose cost is governed by the sparsity structure of the polynomial representation. We establish end-to-end complexity bounds showing near-linear scaling with respect to the relevant sparsity scale under fixed stochastic and Krylov budgets. Numerical experiments confirm that the proposed MF-LogDet formulation reproduces the original autodifferentiation-based affine normal direction to near machine precision, delivers substantial runtime improvements in moderate and high dimensions, and exhibits empirical near-linear scaling in both dimension and sparsity. These results provide a practical computational route for affine normal evaluation and reveal a new connection between affine differential geometry, log-determinant curvature, and large-scale structured optimization.
Large language models (LLMs) exhibiting test-time scaling behavior, such as extended reasoning traces and self-verification, have demonstrated remarkable performance on complex, long-term reasoning tasks. However, the robustness of these reasoning behaviors remains underexplored. To investigate this, we conduct a systematic evaluation of multiple reasoning models across three scenarios: (1) problems augmented with lengthy, irrelevant context; (2) multi-turn conversational settings with independent tasks; and (3) problems presented as a subtask within a complex task. We observe an interesting phenomenon: reasoning models tend to produce much shorter reasoning traces (up to 50%) for the same problem under different context conditions compared to the traces produced when the problem is presented in isolation. A finer-grained analysis reveals that this compression is associated with a decrease in self-verification and uncertainty management behaviors, such as double-checking. While this behavioral shift does not compromise performance on straightforward problems, it might affect performance on more challenging tasks. We hope our findings draw additional attention to both the robustness of reasoning models and the problem of context management for LLMs and LLM-based agents.
This pedagogical review examines the use of machine learning methods in finite-population inference for survey sampling, with an emphasis on design-based validity and statistical inference. While flexible prediction tools offer substantial gains in estimation accuracy, they also introduce important challenges, primarily due to the dependence between the fitted predictors and the sample. We focus on settings in which such predictions enter survey estimation through model-assisted estimation, item nonresponse imputation, and unit nonresponse adjustment. For model-assisted estimation and item nonresponse, we show how cross-fitting and Neyman-orthogonal estimating equations can adapt ideas from double/debiased machine learning to survey data, allowing the use of high-dimensional or nonparametric learners while preserving root-n consistency and asymptotic normality under suitable conditions. In contrast, for unit nonresponse, standard inverse-probability weighting remains outcome-agnostic and operationally attractive, but this same feature makes doubly robust and orthogonal constructions harder to deploy in official statistics. We also briefly discuss related developments in small area estimation and probability/nonprobability data integration. Overall, the paper highlights both the promise of machine learning and the fundamental inferential challenges it raises for survey practice.
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Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations stem from two core challenges: achieving low-latency and robust onboard egocentric perception under fast robot motion, and obtaining sufficiently diverse task-aligned strike motions for learning precise yet natural whole-body behaviors. In this work, we present \methodname, a modular system for agile humanoid table tennis that unifies scalable whole-body skill learning with onboard egocentric perception, eliminating the need for external cameras during deployment. Our work advances prior humanoid table-tennis systems in three key aspects. First, we achieve agile and precise ball interaction with tightly coordinated whole-body control, rather than relying on decoupled upper- and lower-body behaviors. This enables the system to exhibit diverse strike motions, including explosive whole-body smashes and low crouching shots. Second, by augmenting and diversifying strike motions with a generative model, our framework benefits from scalable motion priors and produces natural, robust striking behaviors across a wide workspace. Third, to the best of our knowledge, we demonstrate the first humanoid table-tennis system capable of consecutive strikes using onboard sensing alone, despite the challenges of low-latency perception, ego-motion-induced instability, and limited field of view. Extensive real-world experiments demonstrate stable and precise ball exchanges under high-speed conditions, validating scalable, perception-driven whole-body skill learning for dynamic humanoid interaction tasks.
This paper argues that AI-enabled analysis of street-view imagery, complemented by performance-gated machine-learning imputation, provides a viable pathway for generating building-specific elevation data at regional scale for flood risk assessment. We develop and apply a three-stage pipeline across 18 areas of interest (AOIs) in Texas that (1) extracts LFE and the height difference between street grade and the lowest floor (HDSL) from Google Street View imagery using the Elev-Vision framework, (2) imputes missing HDSL values with Random Forest and Gradient Boosting models trained on 16 terrain, hydrologic, geographic, and flood-exposure features, and (3) integrates the resulting elevation dataset with Fathom 1-in-100 year inundation surfaces and USACE depth-damage functions to estimate property-specific interior flood depth and expected loss. Across 12,241 residential structures, street-view imagery was available for 73.4% of parcels and direct LFE/HDSL extraction was successful for 49.0% (5,992 structures). Imputation was retained for 13 AOIs where cross-validated performance was defensible, with selected models achieving R suqre values from 0.159 to 0.974; five AOIs were explicitly excluded from prediction because performance was insufficient. The results show that street-view-based elevation mapping is not universally available for every property, but it is sufficiently scalable to materially improve regional flood-risk characterization by moving beyond hazard exposure to structure-level estimates of interior inundation and expected damage. Scientifically, the study advances LFE estimation from a pilot-scale proof of concept to a regional, end-to-end workflow. Practically, it offers a replicable framework for jurisdictions that lack comprehensive Elevation Certificates but need parcel-level information to support mitigation, planning, and flood-risk management.
We present Brainstacks, a modular architecture for continual multi-domain fine-tuning of large language models that packages domain expertise as frozen adapter stacks composing additively on a shared frozen base at inference. Five interlocking components: (1) MoE-LoRA with Shazeer-style noisy top-2 routing across all seven transformer projections under QLoRA 4-bit quantization with rsLoRA scaling; (2) an inner loop performing residual boosting by freezing trained stacks and adding new ones; (3) an outer loop training sequential domain-specific stacks with curriculum-ordered dependencies; (4) null-space projection via randomized SVD constraining new stacks to subspaces orthogonal to prior directions, achieving zero forgetting in isolation; (5) an outcome-based sigmoid meta-router trained on empirically discovered domain-combination targets that selectively weights stacks, enabling cross-domain composition. Two boundary experiments: (6) PSN pretraining on a randomly initialized model; (7) per-domain RL (DPO/GRPO) validating compatibility with post-SFT alignment. Validated on TinyLlama-1.1B (4 domains, 9 stacks) and Gemma 3 12B IT (5 domains, 10 stacks), MoE-LoRA achieves 2.5x faster convergence than parameter-matched single LoRA, residual boosting breaks through the single-stack ceiling, and the routed system recovers generation quality destroyed by ungated stack accumulation. The central finding: the outcome-based router discovers that domain stacks encode transferable cognitive primitives (instruction-following clarity, numerical reasoning, procedural logic, chain-of-thought structure) rather than domain-specific knowledge, with medical prompts routing to chat+math stacks in 97% of cases despite zero medical data in those stacks.
As LLM agents are increasingly deployed in multi-agent systems, they introduce risks of covert coordination that may evade standard forms of human oversight. While linear probes on model activations have shown promise for detecting deception in single-agent settings, collusion is inherently a multi-agent phenomenon, and the use of internal representations for detecting collusion between agents remains unexplored. We introduce NARCBench, a benchmark for evaluating collusion detection under environment distribution shift, and propose five probing techniques that aggregate per-agent deception scores to classify scenarios at the group level. Our probes achieve 1.00 AUROC in-distribution and 0.60--0.86 AUROC when transferred zero-shot to structurally different multi-agent scenarios and a steganographic blackjack card-counting task. We find that no single probing technique dominates across all collusion types, suggesting that different forms of collusion manifest differently in activation space. We also find preliminary evidence that this signal is localised at the token level, with the colluding agent's activations spiking specifically when processing the encoded parts of their partner's message. This work takes a step toward multi-agent interpretability: extending white-box inspection from single models to multi-agent contexts, where detection requires aggregating signals across agents. These results suggest that model internals provide a complementary signal to text-level monitoring for detecting multi-agent collusion, particularly for organisations with access to model activations. Code and data are available at https://github.com/aaronrose227/narcbench.
This paper develops a closed-form spectral decomposition framework for the Gramian matrices of discrete-time linear dynamical systems. The main results provide explicit decompositions of the discrete-time controllability Gramian and its inverse in terms of the eigenvalues of the dynamics matrix, yielding a mode-resolved representation of these matrices. In contrast to the more common use of aggregate Gramian characteristics, such as eigenvalues, singular values, determinants, and trace-based metrics, the proposed approach describes the internal structure of the Gramian itself through contributions associated with individual modes and their pairwise combinations. The framework is extended further to the solution of the discrete-time Lyapunov difference equation, placing the obtained formulas in a broader context relevant to the analysis and computation of time-varying and nonlinear systems. In addition, the decomposition is generalized to systems whose dynamics matrix has multiple eigenvalues, enabling a closed-form estimation of the effects of resonant interactions between eigenmodes. The proposed results provide a structural tool for the analysis of controllability, observability and stability in discrete-time systems and complement existing Gramian-based methods used in model reduction, estimation, actuator and sensor selection, and energy-aware control. Beyond their theoretical interest, the derived decompositions may support the development of improved computational procedures and more informative performance criteria for a range of discrete-time control problems.
Most defects in mobile applications are visually observable on the device screen. To track these defects, users, testers, and developers must manually submit bug reports, especially in the absence of crashes. However, these reports are frequently ambiguous or inaccurate, often omitting essential components such as the Observed Behavior (OB), Expected Behavior (EB), or Steps to Reproduce (S2Rs). Low-quality reports hinder developers' ability to understand and reproduce defects, delaying resolution and leading to incorrect or unresolvable fixes.
In this paper, we posit that providing specific app-related information (e.g., GUI interactions or specific screens where bugs appear) to LLMs as key points of context can assist in automatically generating clear, detailed, and accurate OB, EB, and S2Rs. We built and evaluated a novel approach, BugScribe, that generates bug reports in this way. To support the evaluation, we introduce a unified quality framework that defines correctness and completeness dimensions for OB, EB, and S2Rs. Using 48 bug reports from 26 Android apps, we show that BugScribe produces higher-quality and more accurate components than the original reports and outperforms recent LLM-based baselines. We envision that BugScribe can serve as a practical assistant for testers and developers by enhancing incomplete bug reports with reliable and accurate OB, EB, and S2Rs, thereby streamlining bug resolution and improving mobile app quality.
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As Large Language Models (LLMs) for code increasingly utilize massive, often non-permissively licensed datasets, evaluating data contamination through Membership Inference Attacks (MIAs) has become critical. We propose SERSEM (Selective Entropy-Weighted Scoring for Membership Inference), a novel white-box attack framework that suppresses uninformative syntactical boilerplate to amplify specific memorization signals. SERSEM utilizes a dual-signal methodology: first, a continuous character-level weight mask is derived through static Abstract Syntax Tree (AST) analysis, spellchecking-based multilingual logic detection, and offline linting. Second, these heuristic weights are used to pool internal transformer activations and calibrate token-level Z-scores from the output logits. Evaluated on a 25,000-sample balanced dataset, SERSEM achieves a global AUC-ROC of 0.7913 on the StarCoder2-3B model and 0.7867 on the StarCoder2-7B model, consistently outperforming the implemented probability-based baselines Loss, Min-K% Prob, and PAC. Our findings demonstrate that focusing on human-centric coding anomalies provides a significantly more robust indicator of verbatim memorization than sequence-level probability averages.
Approximating multivariate periodic functions in weighted Korobov spaces via rank-1 lattices is bottlenecked by frequency aliasing. Existing optimal-rate methods rely on randomized constructions or massive pre-computations. We propose a fully deterministic multiple-shift lattice algorithm without pre pre-computations. First, we develop a uniform shift framework for aliased frequency fibers that decouples and reduces sampling costs. Second, leveraging the Chinese Remainder Theorem and the Weil bound, we introduce an adaptive hybrid construction that algebraically guarantees the full rank and bounded condition number of the reconstruction matrix. We rigorously prove that this deterministic method maintains the optimal convergence rate in the worst-case setting. Furthermore, we extend this framework to non-periodic domains via the tent transformation. By establishing a strict projection equivalence, we prove the algorithm attains optimal $L_2$ and $L_\infty$ approximation orders in the half-period cosine space, successfully resolving an open theoretical problem posed by Suryanarayana et al. (2016). This mathematically validates the proposed algorithm as a generic meshless spectral solver for high-dimensional boundary value problems, such as the Poisson equation with Neumann conditions. Numerical experiments corroborate the theoretical bounds, demonstrating an order-of-magnitude reduction in sampling complexity over probabilistic baselines while ensuring absolute deterministic stability.
Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in contact-rich tasks such as pushing and pick-and-place, where changes in goals, contact conditions, or robot dynamics can drive the system out-of-distribution at inference time. In this paper, we investigate a hybrid controller that combines reinforcement learning with bounded extremum seeking to improve robustness under such conditions. In the proposed approach, deep deterministic policy gradient (DDPG) policies are trained under standard conditions on the robotic pushing and pick-and-place tasks, and are then combined with bounded ES during deployment. The RL policy provides fast manipulation behavior, while bounded ES ensures robustness of the overall controller to time variations when operating conditions depart from those seen during training. The resulting controller is evaluated under several out-of-distribution settings, including time-varying goals and spatially varying friction patches.
Due to the large footprint of pixels in remote sensing imagery, hyperspectral unmixing (HU) has become an important and necessary procedure in hyperspectral image analysis. Traditional HU methods rely on a prior spectral mixing model, especially for nonlinear mixtures, which has largely limited the performance and generalization capacity of the unmixing approach. In this paper, we address the challenging problem of hyperspectral nonlinear unmixing (HNU) without explicit knowledge of the mixing model. Inspired by the principle of generative models, where images of the same distribution can be generated as that of the training images without knowing the exact probability distribution function of the image, we develop an invertible mixing-unmixing process via a bi-directional GAN framework, constrained by both the cycle consistency and the linkage between linear and nonlinear mixtures. The combination of cycle consistency and linear linkage provides powerful constraints without requiring an explicit mixing model. We refer to the proposed approach as the linearly-constrained CycleGAN unmixing net, or LCGU net. Experimental results indicate that the proposed LCGU net exhibits stable and competitive performance across different datasets compared with other state-of-the-art model-based HNU methods.
We study non-equilibrium quantum dynamics by performing principal component analysis on the data sets of wavefunction snapshots. We show that a specific transformation of the data sets maximizes the information content in the largest principal component and further enables its connection to certain observables. This connection enables us to explain the dynamical features revealed by such a dimensionality-reduction scheme. We demonstrate this using quantum dynamics of the Heisenberg spin chain, starting from different initial states, and further extend the approach to extract higher-order correlations. Our framework should also be applicable to other unsupervised machine-learning methods based on dimensionality-reduction schemes and is highly relevant to experiments with quantum simulators, including those in higher dimensions.
We show that most of the results proven in the localized regime of the pinning model with independent disorder (notably, $\mathcal{C}^\infty$ regularity of the free energy, size of the largest gap among pinned sites and Central Limit Theorem for the contact fraction) can be generalized to translation ergodic correlated disorder under the hypothesis that disorder is Gaussian. Most of the results, in particular $\mathcal{C}^\infty$ regularity and the Central Limit Theorem, are proven assuming only summability of the covariances. For some of the remaining main results we introduce the extra assumption that the covariance operator is invertible. The two key ingredients for the proof are the Birkhoff-sum approach introduced in~\cite{GZ25concentration} for independent disorder, but particularly adapted to handle correlated disorder, and decorrelation tools like the general and powerful Nelson's Gaussian hyper-contractivity and other tools that we develop and that are more specific to the one dimensional structure of the model we consider.
The Operational Design Domain (ODD) of urbanoriented Level 4 (L4) autonomous driving, especially for autonomous robotaxis, confronts formidable challenges in complex urban mixed traffic environments. These challenges stem mainly from the high density of Vulnerable Road Users (VRUs) and their highly uncertain and unpredictable interaction behaviors. However, existing open-source datasets predominantly focus on structured scenarios such as highways or regulated intersections, leaving a critical gap in data representing chaotic, unstructured urban environments. To address this, this paper proposes an efficient, high-precision method for constructing drone-based datasets and establishes the Vehicle-Vulnerable Road User Interaction Dataset (VRUD), as illustrated in Figure 1. Distinct from prior works, VRUD is collected from typical "Urban Villages" in Shenzhen, characterized by loose traffic supervision and extreme occlusion. The dataset comprises 4 hours of 4K/30Hz recording, containing 11,479 VRU trajectories and 1,939 vehicle trajectories. A key characteristic of VRUD is its composition: VRUs account for about 87% of all traffic participants, significantly exceeding the proportions in existing benchmarks. Furthermore, unlike datasets that only provide raw trajectories, we extracted 4,002 multi-agent interaction scenarios based on a novel Vector Time to Collision (VTTC) threshold, supported by standard OpenDRIVE HD maps. This study provides valuable, rare edge-case resources for enhancing the safety performance of ADS in complex, unstructured urban environments. To facilitate further research, we have made the VRUD dataset open-source at: https://zzi4.github.io/VRUD/.
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File-level defect prediction models traditionally rely on product and process metrics. While process metrics effectively complement product metrics, they often overlook commit size the number of files changed per commit despite its strong association with software quality. Network centrality measures on dependency graphs have also proven to be valuable product level indicators. Motivated by this, we first redefine process metrics as commit size aware process metric vectors, transforming conventional scalar measures into 100 dimensional profiles that capture the distribution of changes across commit size strata. We then model change history as a hyper co change graph, where hyperedges naturally encode commit-size semantics. Vector centralities computed on these hypergraphs quantify size-aware node importance for source files. Experiments on nine long-lived Apache projects using five popular classifiers show that replacing scalar process metrics with the proposed commit size aware vectors, alongside product metrics, consistently improves predictive performance. These findings establish that commit size aware process metrics and hypergraph based vector centralities capture higher-order change semantics, leading to more discriminative, better calibrated, and statistically superior defect prediction models.
As sports training becomes more data-driven, traditional dart coaching based mainly on experience and visual observation is increasingly inadequate for high-precision, goal-oriented movements. Although prior studies have highlighted the importance of release parameters, joint motion, and coordination in dart throwing, most quantitative methods still focus on local variables, single-release metrics, or static template matching. These approaches offer limited support for personalized training and often overlook useful movement variability. This paper presents a data-driven dart training assistance system. The system creates a closed-loop framework spanning motion capture, feature modeling, and personalized feedback. Dart-throwing data were collected in markerless conditions using a Kinect 2.0 depth sensor and an optical camera. Eighteen kinematic features were extracted from four biomechanical dimensions: three-link coordination, release velocity, multi-joint angular configuration, and postural stability. Two modules were developed: a personalized optimal throwing trajectory model that combines historical high-quality samples with the minimum jerk criterion, and a motion deviation diagnosis and recommendation model based on z-scores and hierarchical logic. A total of 2,396 throwing samples from professional and non-professional athletes were collected. Results show that the system generates smooth personalized reference trajectories consistent with natural human movement. Case studies indicate that it can detect poor trunk stability, abnormal elbow displacement, and imbalanced velocity control, then provide targeted recommendations. The framework shifts dart evaluation from deviation from a uniform standard to deviation from an individual's optimal control range, improving personalization and interpretability for darts training and other high-precision target sports.
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We present ReinDriveGen, a framework that enables full controllability over dynamic driving scenes, allowing users to freely edit actor trajectories to simulate safety-critical corner cases such as front-vehicle collisions, drifting cars, vehicles spinning out of control, pedestrians jaywalking, and cyclists cutting across lanes. Our approach constructs a dynamic 3D point cloud scene from multi-frame LiDAR data, introduces a vehicle completion module to reconstruct full 360° geometry from partial observations, and renders the edited scene into 2D condition images that guide a video diffusion model to synthesize realistic driving videos. Since such edited scenarios inevitably fall outside the training distribution, we further propose an RL-based post-training strategy with a pairwise preference model and a pairwise reward mechanism, enabling robust quality improvement under out-of-distribution conditions without ground-truth supervision. Extensive experiments demonstrate that ReinDriveGen outperforms existing approaches on edited driving scenarios and achieves state-of-the-art results on novel ego viewpoint synthesis.
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This paper introduces the first systematic evaluation framework for quantifying the quality and risks of papers written by modern coding agents. While AI-driven paper writing has become a growing concern, rigorous evaluation of the quality and potential risks of AI-written papers remains limited, and a unified understanding of their reliability is still lacking. We introduce Paper Reconstruction Evaluation (PaperRecon), an evaluation framework in which an overview (overview.md) is created from an existing paper, after which an agent generates a full paper based on the overview and minimal additional resources, and the result is subsequently compared against the original paper. PaperRecon disentangles the evaluation of the AI-written papers into two orthogonal dimensions, Presentation and Hallucination, where Presentation is evaluated using a rubric and Hallucination is assessed via agentic evaluation grounded in the original paper source. For evaluation, we introduce PaperWrite-Bench, a benchmark of 51 papers from top-tier venues across diverse domains published after 2025. Our experiments reveal a clear trade-off: while both ClaudeCode and Codex improve with model advances, ClaudeCode achieves higher presentation quality at the cost of more than 10 hallucinations per paper on average, whereas Codex produces fewer hallucinations but lower presentation quality. This work takes a first step toward establishing evaluation frameworks for AI-driven paper writing and improving the understanding of its risks within the research community.
The design of triboelectric nanogenerators (TENGs) for efficient energy harvesting requires predictive models that capture the interplay between surface roughness, real contact area, and electrostatic behaviour across diverse tribolayer materials and roughness levels. To address this demand, this paper presents a multiphysics finite element framework that couples mechanical contact analysis with electrostatic simulations, considering exact surface roughness representations rather than idealised statistical approximations. Compared with optical interference microscopy measurements, the framework predicts the real contact area ratio more accurately than analytical models. The proposed approach captures the electrostatic behaviour by scaling the TENG surface charge density with the real contact area ratio between the rough tribolayers, computed for a given mechanical load. This method improves agreement with experiments for open-circuit voltage and capacitance relative to approximate analytical models. To represent the TENG circuit, a time-dependent ordinary differential equation is integrated, enabling evaluation of electrical responses under varying load conditions and elucidating the roles of surface roughness, mechanical load, contact-separation frequency, and resistive load. The framework provides a robust, scalable tool for performance optimisation across dielectric materials, mechanical behaviours, and operating conditions and is readily extendable to other surface-dependent energy-harvesting devices.
Leveraging the rich semantic features of vision-language models (VLMs) like CLIP for monocular depth estimation tasks is a promising direction, yet often requires extensive fine-tuning or lacks geometric precision. We present a parameter-efficient framework, named MoA-DepthCLIP, that adapts pretrained CLIP representations for monocular depth estimation with minimal supervision. Our method integrates a lightweight Mixture-of-Adapters (MoA) module into the pretrained Vision Transformer (ViT-B/32) backbone combined with selective fine-tuning of the final layers. This design enables spatially-aware adaptation, guided by a global semantic context vector and a hybrid prediction architecture that synergizes depth bin classification with direct regression. To enhance structural accuracy, we employ a composite loss function that enforces geometric constraints. On the NYU Depth V2 benchmark, MoA-DepthCLIP achieves competitive results, significantly outperforming the DepthCLIP baseline by improving the $δ_1$ accuracy from 0.390 to 0.745 and reducing the RMSE from 1.176 to 0.520. These results are achieved while requiring substantially few trainable parameters, demonstrating that lightweight, prompt-guided MoA is a highly effective strategy for transferring VLM knowledge to fine-grained monocular depth estimation tasks.
Dependency networks (Heckerman et al., 2000) provide a flexible framework for modeling complex systems with many variables by combining independently learned local conditional distributions through pseudo-Gibbs sampling. Despite their computational advantages over Bayesian and Markov networks, the theoretical foundations of dependency networks remain incomplete, primarily because their model distributions -- defined as stationary distributions of pseudo-Gibbs sampling -- lack closed-form expressions. This paper develops an information-geometric analysis of pseudo-Gibbs sampling, interpreting each sampling step as an m-projection onto a full conditional manifold. Building on this interpretation, we introduce the full conditional divergence and derive an upper bound that characterizes the location of the stationary distribution in the space of probability distributions. We then reformulate both structure and parameter learning as optimization problems that decompose into independent subproblems for each node, and prove that the learned model distribution converges to the true underlying distribution as the number of training samples grows to infinity. Experiments confirm that the proposed upper bound is tight in practice.
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We consider three models of statistical mechanics: the classical XY model in arbitrary dimension, the lattice Coulomb gas in dimension two, and the square well model in arbitrary dimension. For each of these three models, we prove that the free energy is analytic in the disordered regime (the square well model is disordered at any positive temperature). In order to prove these results, we prove that the Gibbs measures of these models are factors of i.i.d. with information clusters of exponentially decaying size (volume). In the case of the Coulomb gas, we obtain a strong version of Debye screening with an arbitrary number of arbitrary local observables of the Coulomb gas, and we prove that the Debye phase contains the complement of the Berezinskii-Kosterlitz-Thouless phase.
For continual learning, text-prompt-based methods leverage text encoders and learnable prompts to encode semantic features for sequentially arrived classes over time. A common challenge encountered by existing works is how to learn unique text prompts, which implicitly carry semantic information of new classes, so that the semantic features of newly arrived classes do not overlap with those of trained classes, thereby mitigating the catastrophic forgetting problem. To address this challenge, we propose a novel approach Prototype-guided Text Prompt Selection (ProTPS)'' to intentionally increase the training flexibility thus encouraging the learning of unique text prompts. Specifically, our ProTPS learns class-specific vision prototypes and text prompts. Vision prototypes guide the selection and learning of text prompts for each class. We first evaluate our ProTPS in both class incremental (CI) setting and cross-datasets continual (CDC) learning setting. Because our ProTPS achieves performance close to the upper bounds, we further collect a real-world dataset with 112 marine species collected over a span of six years, named Marine112, to bring new challenges to the community. Marine112 is authentically suited for the class and domain incremental (CDI) learning setting and is under natural long-tail distribution. The results under three settings show that our ProTPS performs favorably against the recent state-of-the-art methods. The implementation code and Marine112 dataset will be released upon the acceptance of our paper.
As generative AI systems are integrated into educational settings, students often encounter AI-generated output while working through learning tasks, either by requesting help or through integrated tools. Trust in AI can influence how students interpret and use that output, including whether they evaluate it critically or exhibit overreliance. We investigate how students' trust relates to their appropriate reliance on an AI assistant during programming problem-solving tasks, and whether this relationship differs by learner characteristics. With 432 undergraduate participants, students' completed Python output-prediction problems while receiving recommendations and explanations from an AI chatbot, including accurate and intentionally misleading suggestions. We operationalize reliance behaviorally as the extent to which students' responses reflected appropriate use of the AI assistant's suggestions, accepting them when they were correct and rejecting them when they were incorrect. Pre- and post-task surveys assessed trust in the assistant, AI literacy, need for cognition, programming self-efficacy, and programming literacy. Results showed a non-linear relationship in which higher trust was associated with lower appropriate reliance, suggesting weaker discrimination between correct and incorrect recommendations. This relationship was significantly moderated by students' AI literacy and need for cognition. These findings highlight the need for future work on instructional and system supports that encourage more reflective evaluation of AI assistance during problem-solving.
Large language model (LLM) systems are increasingly used to support high-stakes decision-making, but they typically perform worse when the available evidence is internally inconsistent. Such a scenario exists in real-world healthcare settings, with patient-reported symptoms contradicting medical signs. To study this problem, we introduce MIMIC-DOS, a dataset for short-horizon organ dysfunction worsening prediction in the intensive care unit (ICU) setting. We derive this dataset from the widely recognized MIMIC-IV, a publicly available electronic health record dataset, and construct it exclusively from cases in which discordance between signs and symptoms exists. This setting poses a substantial challenge for existing LLM-based approaches, with single-pass LLMs and agentic pipelines often struggling to reconcile such conflicting signals. To address this problem, we propose CARE: a multi-stage privacy-compliant agentic reasoning framework in which a remote LLM provides guidance by generating structured categories and transitions without accessing sensitive patient data, while a local LLM uses these categories and transitions to support evidence acquisition and final decision-making. Empirically, CARE achieves stronger performance across all key metrics compared to multiple baseline settings, showing that CARE can more robustly handle conflicting clinical evidence while preserving privacy.
Software engineering students often struggle to appreciate empirical methods and hypothesis-driven inquiry, especially when taught in theoretical terms. This experience report explores whether grounding empirical learning in hype-driven technologies can make these concepts more accessible and engaging. We conducted a one-semester seminar framed around the currently popular topic of AI coding assistants, which attracted unusually high student interest. The course combined hands-on sessions using AI coding assistants with small, student-designed empirical studies.
Classroom observations and survey responses suggest that the hype topic sparked curiosity and critical thinking. Students engaged with the AI coding assistants while questioning their limitations -- developing the kind of empirical thinking needed to assess claims about emerging technologies. Key lessons: (1) Hype-driven topics can lower barriers to abstract concepts like empirical research; (2) authentic hands-on development tasks combined with ownership of inquiry foster critical engagement; and (3) a single seminar can effectively teach both technical and research skills.
Evaluating the ethical robustness of large language models (LLMs) deployed in software systems remains challenging, particularly under sustained adversarial user interaction. Existing safety benchmarks typically rely on single-round evaluations and aggregate metrics, such as toxicity scores and refusal rates, which offer limited visibility into behavioral instability that may arise during realistic multi-turn interactions. As a result, rare but high-impact ethical failures and progressive degradation effects may remain undetected prior to deployment. This paper introduces Adversarial Moral Stress Testing (AMST), a stress-based evaluation framework for assessing ethical robustness under adversarial multi-round interactions. AMST applies structured stress transformations to prompts and evaluates model behavior through distribution-aware robustness metrics that capture variance, tail risk, and temporal behavioral drift across interaction rounds. We evaluate AMST on several state-of-the-art LLMs, including LLaMA-3-8B, GPT-4o, and DeepSeek-v3, using a large set of adversarial scenarios generated under controlled stress conditions. The results demonstrate substantial differences in robustness profiles across models and expose degradation patterns that are not observable under conventional single-round evaluation protocols. In particular, robustness has been shown to depend on distributional stability and tail behavior rather than on average performance alone. Additionally, AMST provides a scalable and model-agnostic stress-testing methodology that enables robustness-aware evaluation and monitoring of LLM-enabled software systems operating in adversarial environments.
Inverse design of optical multilayer stacks seeks to infer layer materials, thicknesses, and ordering from a desired target spectrum. It is a long-standing challenge due to the large design space and non-unique solutions. We introduce \texttt{OptoLlama}, a masked diffusion language model for inverse thin-film design from optical spectra. Representing multilayer stacks as sequences of material-thickness tokens, \texttt{OptoLlama} conditions generation on reflectance, absorptance, and transmittance spectra and learns a probabilistic mapping from optical response to structure. Evaluated on a representative test set of 3,000 targets, \texttt{OptoLlama} reduces the mean absolute spectral error by 2.9-fold relative to a nearest-neighbor template baseline and by 3.45-fold relative to the state-of-the-art data-driven baseline, called \texttt{OptoGPT}. Case studies on designed and expert-defined targets show that the model reproduces characteristic spectral features and recovers physically meaningful stack motifs, including distributed Bragg reflectors. These results establish diffusion-based sequence modeling as a powerful framework for inverse photonic design.
We prove a sharp phase transition in the regularity of the extremal distribution $E^s \oplus E^u$ for $C^\infty$ volume-preserving partially hyperbolic diffeomorphisms on closed $3$-manifolds: if $E^s \oplus E^u$ is Lipschitz, then it is automatically $C^\infty$. This extends the rigidity phenomenon established by Foulon--Hasselblatt for conservative Anosov flows in dimension $3$ to the partially hyperbolic setting.
This gain in regularity has several applications to rigidity problems. In particular, we study the relationship between the $\ell$-integrability condition introduced by Eskin--Potrie--Zhang and joint integrability in the conservative setting, yielding rigidity results for $u$-Gibbs measures.
We also obtain a $C^\infty$ classification of $3$-dimensional conservative partially hyperbolic diffeomorphisms with Lipschitz distributions, thereby answering a question of Carrasco--Hertz--Pujals in the conservative setting under minimal regularity assumptions.
Stochastic Multi-Objective Optimization (SMOO) is critical for decision-making trading off multiple potentially conflicting objectives in uncertain environments. SMOO aims at identifying the Pareto frontier, which contains all mutually non-dominating decisions. The problem is highly intractable due to the embedded probabilistic inference, such as computing the marginal, posterior probabilities, or expectations. Existing methods, such as scalarization, sample average approximation, and evolutionary algorithms, either offer arbitrarily loose approximations or may incur prohibitive computational costs. We propose XOR-SMOO, a novel algorithm that with probability $1-δ$, obtains $γ$-approximate Pareto frontiers ($γ>1$) for SMOO by querying an SAT oracle poly-log times in $γ$ and $δ$. A $γ$-approximate Pareto frontier is only below the true frontier by a fixed, multiplicative factor $γ$. Thus, XOR-SMOO solves highly intractable SMOO problems (\#P-hard) with only queries to SAT oracles while obtaining tight, constant factor approximation guarantees. Experiments on real-world road network strengthening and supply chain design problems demonstrate that XOR-SMOO outperforms several baselines in identifying Pareto frontiers that have higher objective values, better coverage of the optimal solutions, and the solutions found are more evenly distributed. Overall, XOR-SMOO significantly enhanced the practicality and reliability of SMOO solvers.
Large language models (LLMs) exhibit strong in-context learning capabilities, but how they track and retrieve information from context remains underexplored. Drawing on the free recall paradigm in cognitive science (where participants recall list items in any order), we show that several open-source LLMs consistently display a serial-recall-like pattern, assigning peak probability to tokens that immediately follow a repeated token in the input sequence. Through systematic ablation experiments, we show that induction heads, specialized attention heads that attend to the token following a previous occurrence of the current token, play an important role in this phenomenon. Removing heads with a high induction score substantially reduces the +1 lag bias, whereas ablating random heads does not reproduce the same reduction. We also show that removing heads with high induction scores impairs the performance of models prompted to do serial recall using few-shot learning to a larger extent than removing random heads. Our findings highlight a mechanistically specific connection between induction heads and temporal context processing in transformers, suggesting that these heads are especially important for ordered retrieval and serial-recall-like behavior during in-context learning.
We study a Bayesian binary sequential hypothesis testing problem with multiple large language models (LLMs). Each LLM $j$ has per-query cost $c_j>0$, random waiting time with mean $μ_j>0$ and sub-Gaussian tails, and \emph{asymmetric} accuracies: the probability of returning the correct label depends on the true hypothesis $θ\in\{A,B\}$ and needs not be the same under $A$ and $B$. This asymmetry induces two distinct information rates $(I_{j,A}, I_{j,B})$ per LLM, one under each hypothesis. The decision-maker chooses LLMs sequentially, observes their noisy binary answers, and stops when the posterior probability of one hypothesis exceeds $1-α$. The objective is to minimize the sum of expected query cost and expected waiting cost, $\mathbb{E}[C_π] + \mathbb{E}[g(W_π)]$, where $C_π$ is the total query cost, $W_π$ is the total waiting time and $g$ is a polynomial function (e.g., $g(x)=x^ρ$ with $ρ\ge 1$).
We prove that as the error tolerance $α\to0$, the optimal policy is asymptotically equivalent to one that uses at most two LLMs. In this case, a single-LLM policy is \emph{not} generically optimal: optimality now requires exploiting a two-dimensional tradeoff between information under $A$ and information under $B$. Any admissible policy induces an expected information-allocation vector in $\mathbb{R}_+^2$, and we show that the optimal allocation lies at an extreme point of the associated convex set when $α$ is relatively small, and hence uses at most two LLMs. We construct belief-dependent policies that first mix between two LLMs when the posterior is ambiguous, and then switch to a single ``specialist'' LLM when the posterior is sufficiently close to one of the hypotheses. These policies match the universal lower bound up to a $(1+o(1))$ factor as $α\rightarrow 0$.
Partial audio deepfakes, where synthesized segments are spliced into genuine recordings, are particularly deceptive because most of the audio remains authentic. Existing detectors are supervised: they require frame-level annotations, overfit to specific synthesis pipelines, and must be retrained as new generative models emerge. We argue that this supervision is unnecessary. We hypothesize that speech foundation models implicitly encode a forensic signal: genuine speech forms smooth, slowly varying embedding trajectories, while splice boundaries introduce abrupt disruptions in frame-level transitions. Building on this, we propose TRACE (Training-free Representation-based Audio Countermeasure via Embedding dynamics), a training-free framework that detects partial audio deepfakes by analyzing the first-order dynamics of frozen speech foundation model representations without any training, labeled data, or architectural modification. We evaluate TRACE on four benchmarks that span two languages using six speech foundation models. In PartialSpoof, TRACE achieves 8.08% EER, competitive with fine-tuned supervised baselines. In LlamaPartialSpoof, the most challenging benchmark featuring LLM-driven commercial synthesis, TRACE surpasses a supervised baseline outright (24.12% vs. 24.49% EER) without any target-domain data. These results show that temporal dynamics in speech foundation models provide an effective, generalize signal for training-free audio forensics.
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Human behaviors in real-world environments are inherently interactive, with an individual's motion shaped by surrounding agents and the scene. Such capabilities are essential for applications in virtual avatars, interactive animation, and human-robot collaboration. We target real-time human interaction-to-reaction generation, which generates the ego's future motion from dynamic multi-source cues, including others' actions, scene geometry, and optional high-level semantic inputs. This task is fundamentally challenging due to (i) limited and fragmented interaction data distributed across heterogeneous single-person, human-human, and human-scene domains, and (ii) the need to produce low-latency yet high-fidelity motion responses during continuous online interaction. To address these challenges, we propose ReMoGen (Reaction Motion Generation), a modular learning framework for real-time interaction-to-reaction generation. ReMoGen leverages a universal motion prior learned from large-scale single-person motion datasets and adapts it to target interaction domains through independently trained Meta-Interaction modules, enabling robust generalization under data-scarce and heterogeneous supervision. To support responsive online interaction, ReMoGen performs segment-level generation together with a lightweight Frame-wise Segment Refinement module that incorporates newly observed cues at the frame level, improving both responsiveness and temporal coherence without expensive full-sequence inference. Extensive experiments across human-human, human-scene, and mixed-modality interaction settings show that ReMoGen produces high-quality, coherent, and responsive reactions, while generalizing effectively across diverse interaction scenarios.
3D semantic occupancy prediction is central to autonomous driving, yet current methods are vulnerable to long-tailed class bias and out-of-distribution (OOD) inputs, often overconfidently assigning anomalies to rare classes. We present ProOOD, a lightweight, plug-and-play method that couples prototype-guided refinement with training-free OOD scoring. ProOOD comprises (i) prototype-guided semantic imputation that fills occluded regions with class-consistent features, (ii) prototype-guided tail mining that strengthens rare-class representations to curb OOD absorption, and (iii) EchoOOD, which fuses local logit coherence with local and global prototype matching to produce reliable voxel-level OOD scores. Extensive experiments on five datasets demonstrate that ProOOD achieves state-of-the-art performance on both in-distribution 3D occupancy prediction and OOD detection. On SemanticKITTI, it surpasses baselines by +3.57% mIoU overall and +24.80% tail-class mIoU; on VAA-KITTI, it improves AuPRCr by +19.34 points, with consistent gains across benchmarks. These improvements yield more calibrated occupancy estimates and more reliable OOD detection in safety-critical urban driving. The source code is publicly available at https://github.com/7uHeng/ProOOD.
There is a growing need for cybersecurity professionals with practical knowledge and experience to meet societal needs and comply with new standards and regulations. At the same time, the advances in software technology and artificial intelligence point towards a future where software agents will play an important role in protecting the computer systems that are critical for society to function. The training and development of both humans and software agents requires the design and execution of cybersecurity exercises that differ in properties such as size, scope, objectives, difficultly, etc. Cybersecurity scenarios are critical for the operation of cybersecurity exercises as they describe the scope, context, operational environment and storyline of each exercise.
In this work, we present an approach to automatically generate cybersecurity scenarios that model enterprise IT systems. Our approach is able to generate a large number of scenarios that differ in multiple criteria including size, scope, difficulty, complexity and diversity. We further release as open source: a simulation and a virtualization environment that can run cybersecurity exercises based on the generated scenarios and a dataset containing 100000 sample scenarios.
Although 3D Gaussian Splatting (3DGS) enables high-fidelity real-time rendering, its prohibitive storage overhead severely hinders practical deployment. Recent anchor-based 3DGS compression schemes reduce gaussian redundancy through some advanced context models. However, they overlook explicit geometric dependencies, leading to structural degradation and suboptimal ratedistortion performance. In this paper, we propose a Local Geometry-aware Hierarchical Context Compression framework for 3DGS(LG-HCC) that incorporates inter-anchor geometric correlations into anchor pruning and entropy coding for compact representation. Specifically, we introduce an Neighborhood-Aware Anchor Pruning (NAAP) strategy, which evaluates anchor importance via weighted neighborhood feature aggregation and then merges low-contribution anchors into salient neighbors, yielding a compact yet geometry-consistent anchor set. Moreover, we further develop a hierarchical entropy coding scheme, in which coarse-to-fine priors are exploited through a lightweight Geometry-Guided Convolution(GG-Conv) operator to enable spatially adaptive context modeling and rate-distortion optimization. Extensive experiments show that LG-HCC effectively alleviates structural preservation issues,achieving superior geometric integrity and rendering fidelity while reducing storage by up to 30.85x compared to the Scaffold-GS baseline on the Mip-NeRF360 dataset
We prove that for any Osgood non-Lipschitz modulus of continuity $ω$, flow maps associated with time-periodic $ω$-continuous velocity fields generically (in the sense of Baire) have infinite topological entropy.
The optimization of over-parameterized deep neural networks represents a large-scale, high-dimensional, and strongly non-convex decision problem that challenges existing optimization frameworks. Current evolutionary and gradient-based pruning methods often struggle to scale to such dimensionalities, as they rely on flat search spaces, scalarized objectives, or repeated retraining, leading to premature convergence and prohibitive computational cost. This paper introduces a hierarchical importance-guided evolutionary framework that reformulates convolutional network pruning as a tractable large-scale multi-objective optimization problem. In the first phase, a continuous evolutionary search performs coarse exploration of weight-wise pruning thresholds to shrink the search space and identify promising regions of the Pareto set. The second phase applies a fine-grained binary evolutionary optimization constrained to the surviving weights, where importance-aware sampling and adaptive variation operators refine local search in the sparse region of the Pareto set. This hierarchical design combines global exploration and localized exploitation to achieve a well-distributed Pareto set of networks balancing compactness and accuracy. Empirical results on CIFAR-10 and CIFAR-100 using ResNet-56 and ResNet-110 confirm the method's effectiveness compared to existing evolutionary approaches: pruning achieves up to 51.9\% and 38.9\% parameter reductions with almost no accuracy loss compared to state-of-the-art evolutionary DNN pruning methods. The proposed method contributes a scalable evolutionary approach for solving very-large-scale multi-objective optimization problems, offering a general paradigm extendable to other domains where the decision space is exponentially large, objective functions are conflicting, and efficient trade-off discovery is essential.
We test whether authors have characteristic "fingerprints" in the information-theoretic novelty curves of their published works. Working with two corpora -- Books3 (52,796 books, 759 qualifying authors) and PG-19 (28,439 books, 1,821 qualifying authors) -- we find that authorial voice leaves measurable traces in how novelty unfolds across a text. The signal is multi-scale: at book level, scalar dynamics (mean novelty, speed, volume, circuitousness) identify 43% of authors significantly above chance; at chapter level, SAX motif patterns in sliding windows achieve 30x-above-chance attribution, far exceeding the scalar features that dominate at book level. These signals are complementary, not redundant. We show that the fingerprint is partly confounded with genre but persists within-genre for approximately one-quarter of authors. Classical authors (Twain, Austen, Kipling) show fingerprints comparable in strength to modern authors, suggesting the phenomenon is not an artifact of contemporary publishing conventions.
Computational reproducibility is fundamental to trustworthy science, yet remains difficult to achieve in practice across various research workflows, including Jupyter notebooks published alongside scholarly articles. Environment drift, undocumented dependencies and implicit execution assumptions frequently prevent independent re-execution of published research. Despite existing reproducibility guidelines, scalable and systematic infrastructure for automated assessment remains limited. We present an automated, web-oriented reproducibility engineering pipeline that reconstructs and evaluates repository-level execution environments for scholarly notebooks. The system performs dependency inference, automated container generation, and isolated execution to approximate the notebook's original computational context. We evaluate the approach on 443 notebooks from 116 GitHub repositories referenced by publications in PubMed Central. Execution outcomes are classified into four categories: resolved environment failures, persistent logic or data errors, reproducibility drift, and container-induced regressions. Our results show that containerization resolves 66.7% of prior dependency-related failures and substantially improves execution robustness. However, a significant reproducibility gap remains: 53.7% of notebooks exhibit low output fidelity, largely due to persistent runtime failures and stochastic non-determinism. These findings indicate that standardized containerization is essential for computational stability but insufficient for full bit-wise reproducibility. The framework offers a scalable solution for researchers, editors, and archivists seeking systematic, automated assessment of computational artifacts.
Recent developments in data-driven control have revived interest in the behavioral approach to systems theory, where systems are defined as sets of trajectories rather than being described by a specific model or representation. However, most available results remain confined to linear systems, limiting the applicability of recent methods to complex behaviors. Affine systems form a natural intermediate class: they arise from linearization, capture essential nonlinear effects, and retain sufficient structure for analysis and design. This paper derives necessary and sufficient conditions independent of any particular representation for three fundamental stability problems for affine behaviors: (i) converse Lyapunov theorems for contraction of input-output systems; (ii) implementability and existence of prescribed contractive references; and (iii) whether these references can be implemented with linear or affine feedback control. For the latter, we show that linear controllers suffice for implementing contractive closed-loop, and and affine controllers are needed for equilibrium placement.
Despite recent advances in control, reinforcement learning, and imitation learning, developing a unified framework that can achieve agile, precise, and robust whole-body behaviors, particularly in long-horizon tasks, remains challenging. Existing approaches typically follow two paradigms: coupled whole-body policies for global coordination and decoupled policies for modular precision. However, without a systematic method to integrate both, this trade-off between agility, robustness, and precision remains unresolved. In this work, we propose BAT, an online policy-switching framework that dynamically selects between two complementary whole-body RL controllers to balance agility and stability across different motion contexts. Our framework consists of two complementary modules: a switching policy learned via hierarchical RL with an expert guidance from sliding-horizon policy pre-evaluation, and an option-aware VQ-VAE that predicts option preference from discrete motion token sequences for improved generalization. The final decision is obtained via confidence-weighted fusion of two modules. Extensive simulations and real-world experiments on the Unitree G1 humanoid robot demonstrate that BAT enables versatile long-horizon loco-manipulation and outperforms prior methods across diverse tasks.