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版本更新 · v2arXiv:2606.23931

Welfarist Control Design - How to fulfill the societal mandate in multi-agent control?

Sophie Hall, Kai Zhang, Ilia Shilov, Heinrich H. Nax, Saverio Bolognani

原文摘要

At the core of most socio-technical systems lies a scarce resource that is allocated among agents: highway lanes, public transit, road space, water rights, energy access, grid capacity, user attention, pollution rights, etc. With further automation of the underlying allocation processes, control engineers are increasingly tasked with making decisive assumptions regarding what society wants. In practice to date, design choices are largely driven by industry norms and conventions rather than a result of conscientiously responsible and ethical design. In this paper, we look at tools available to control engineers to design systems in a more principled manner in order to match the societal mandate. We consider three control design paradigms: online feedback optimization, control of Markov decision processes, and model predictive control. Beginning with aggregating individual agents' preferences into control design objectives, subsequently ensuring and certifying the fulfillment of those specifications, we argue that the feedback nature of control systems enables appropriate allocation of the shared resources in ways hitherto unparalleled.

eess.SY · cs.MA · math.OC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.34378

Marathoner: Ultra-Long-Horizon Autonomous Intelligence

Ruiyang Zhang, Jinpeng Ou, Yifan Xie, Jingang Zhou, Lirui Pan, Qingpei Guo, Zhedong Zheng

原文摘要

Humans naturally possess the ability to work persistently toward long-term goals. Given a challenging task, humans can continuously work for months or even years to accomplish a specific objective. In this paper, we propose Marathoner, an autonomous agentic model possessing the ability of ultra-long-horizon execution. Specifically, we propose a comprehensive post-training pipeline to instill this critical capability into base model. For Ultra-Long-Horizon Task Synthesis, we leverage major release PRs containing 1000+ lines of new code from diverse GitHub repositories as the primary source for synthesizing challenging task-level data. Additionally, we introduce Multi-Task Chaining, which chains multiple generated tasks into a single more challenging task, enabling the synthesis of tasks with frontier-level difficulty. For rejection sampling finetuning, we combine strong teacher model with diverse harnesses to generate trajectories on our synthesized tasks and conduct supervised finetuning on base model with rejection sampled trajectories. For reinforcement learning, cold-started model performs real-world execution through harnesses in independent sandboxes during rollout process, effectively facilitating the acquisition of genuine ultra-long-horizon execution capability. We further propose a novel reward strategy, Later Stage Bonus Reward, which explicitly encourages model to perform meaningful maneuvers during later stages of execution. Through extensive evaluation on 5 benchmarks containing ultra-long-horizon tasks, Marathoner achieves consistent and substantial performance improvements over base model and even surpasses performance of strong proprietary model. Further analysis shows that Marathoner can consistently work for 10+ hours and conduct 1000+ tool calls on highly challenging tasks.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.31513

Closing All-Exp Gaps in Local Search for the Traveling Salesman Problem and Maximum Constraint Assignment

Sophia Heimann, Hung P. Hoang, Stefan Hougardy

原文摘要

We prove the all-exp property for the Traveling Salesman Problem with the $2$-opt neighborhood, and for $(3,2,2)$- and $(2,3,2)$-Maximum Constraint Assignment with the flip neighborhood. The all-exp property states that infinitely many instances have an initial solution from which every sequence of improving moves to a local optimum, and hence every run of local search, has exponential length. For the Traveling Salesman Problem, the all-exp property was previously known for every $k$-opt neighborhood with $k \ge 3$, so our result for $2$-opt completes the picture for all $k$-kopt neighborhoods. In $(p,q,r)$-Maximum Constraint Assignment, each constraint involves at most $p$ variables, each variable occurs in at most $q$ constraints, and each domain has size $r$. Decreasing any of the parameters of $(3,2,2)$ or $(2,3,2)$ yields a problem in which every sequence of improving flips has polynomial length, so both Maximum Constraint Assignment results are tight. All three results settle long-standing open problems. Our proofs build on a common construction idea, which reveals a close connection between the local-search dynamics of the three problems.

cs.DS · math.CO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2512.15282

A Graph-Based Conceptual Modeling Framework to Design for Human-Robot Coordination

Martijn IJtsma, Salvatore Hargis

原文摘要

Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases. Designing human-robot systems to meet these demands requires an explicit understanding of the work functions and constraints that shape the feasibility of alternative joint work strategies. Yet existing human-robot interaction frameworks either emphasize computational support for real-time execution or rely on static representations for design, offering limited support for reasoning about coordination dynamics during early-stage conceptual design. To address this gap, this article presents a novel computational framework for analyzing joint work strategies in human-robot systems by integrating techniques from functional modeling with graph-theoretic representations. The framework characterizes collective work in terms of the relationships among system functions and the physical and informational structure of the work environment, while explicitly capturing how coordination demands evolve over time. Its use in conceptual design is demonstrated through a case study in disaster robotics, which shows how the framework can be used to support early trade-space exploration of human-robot coordination strategies and to identify cooperative competencies that support flexible management of coordination overhead. These results show how the framework makes coordination demands and their temporal evolution explicit, supporting design-time reasoning about cooperative competency requirements and work demands prior to implementation.

cs.RO · cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06254

HarnessFlow: MCTS-Guided Harness Optimization for LLM Agents

Zhi Hong, Qianlong Wang, Hongchen Wei, Aidan Wu, Daohong Ying, Mingze Kong, Bei Liu, Chong Luo

原文摘要

The performance of large language model (LLM) agents depends on both the underlying model and the harness that governs interaction with tools and the environment. Yet harness design remains largely manual, and automating it requires navigating an open-ended search space through costly end-to-end evaluations. We introduce HarnessFlow, a framework for optimizing complete executable harnesses under a limited candidate-evaluation budget, with the model and task environment held fixed. HarnessFlow organizes candidates and their evaluation histories in a refinement tree, using a Monte Carlo Tree Search (MCTS)-based policy to balance exploitation and exploration. A coding agent refines selected harnesses using archived code, execution feedback, and a library of reusable harness mechanisms. With 15 refinement attempts per benchmark, HarnessFlow achieves the highest mean test scores among the compared methods on six benchmarks spanning agentic tasks, coding, and web interaction. The optimized harnesses achieve an average score of 69.48%, outperforming the initial harnesses and Meta-Harness by 10.89 and 3.95 percentage points, respectively, while incurring lower average per-task execution costs than hand-engineered baselines. These results suggest that structured harness search offers a promising route toward automating the design of capable and efficient LLM agents.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2603.01891

SEAR: Sample Efficient Action Chunking Reinforcement Learning

C. F. Maximilian Nagy, Onur Celik, Emiliyan Gospodinov, Florian Seligmann, Weiran Liao, Aryan Kaushik, Gerhard Neumann

原文摘要

Action chunking improves exploration and accelerates value propagation in long-horizon reinforcement learning, but naively applying off-policy methods to the temporally extended action space at reduced decision frequency offsets these gains, leading to poor sample efficiency. Existing online action chunking methods address these issues through computationally expensive critic-only approaches or by relying on offline data. We introduce SEAR, a sample-efficient off-policy algorithm that enables online reinforcement learning with action chunks by addressing both challenges. To handle high-dimensional action sequences, SEAR employs a causal transformer critic trained with multi-horizon targets that provide a training signal for every prefix of an action chunk, effectively increasing the useful gradients per sample. To restore decision frequency, SEAR operates with a receding horizon and random replanning, ensuring uniform state coverage while combining the fast value propagation of large chunks with the reactivity of small ones. SEAR outperforms state-of-the-art online reinforcement learning methods including SimbaV2 on challenging Metaworld manipulation tasks. Beyond online RL, applying SEAR to the offline-to-online method QC improves its performance on the demanding OGBench cube-triple tasks.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06250

A Polynomial Erdős-Pósa bound for Eulerian digraphs

Esther Galby, Roohani Sharma, Bart van der Steenhoven

原文摘要

In [Combinatorica 1996], Reed, Robertson, Seymour and Thomas proved Younger's conjecture dating back to 1973 that states that directed cycles have the Erdős-Pósa property. Specifically, they showed that every directed graph $D$ contains either $k$ arc-disjoint cycles or a set of at most $f(k)$ arcs that intersect every directed cycle. The function $f$, depending only on $k$, is however notoriously large--in fact, not even elementary. The first improvement on this function was only very recently provided by Hatzel, Kreutzer, Milani, and Muzi [FOCS 2024] who showed that $f$ can be taken to be an exponential tower of height $8$. In this work, we improve this function to $O(k^4)$ in the case where the digraph is Eulerian. This also answers an open question by Wahlström [Springer Monographs in Mathematics 2018] who asked explicitly when Eulerian digraphs have a polynomial Erdős-Pósa property. The only other known result about Erdős-Pósa on Eulerian digraphs is a result from Seymour [Combinatorica 1996] who showed that $f(k)=k$ when the Eulerian digraph admits a linkless embedding in 3-space, and such an equality is not possible for general Eulerian digraphs. We also complement our positive result, by showing that the result of Seymour cannot be extended to give a linear bound ($O(k)$) on general Eulerian digraphs, by showing that even on Eulerian digraphs the lower bound for the Erdős-Pósa property is $Ω(k \log k)$.

cs.DM · cs.DS · math.CO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06247

CAPE-JEPA - Cross-modal Adversarial Probabilistic Embedding JEPA

Aniket Junghare, Biplab Banerjee

原文摘要

Cross-modal remote sensing image retrieval (RS-CMIR) requires representations that are simultaneously modality-invariant and semantically discriminative, despite the profound physical gap between heterogeneous sensors such as Synthetic Aperture Radar (SAR) and multispectral imagery. Recent JEPA-based Predictive self-supervised approaches such as X-JEPA formulate cross-modal alignment as a deterministic latent forecasting task, implicitly assuming uniform patch predictability and leaving cross-modal distributional alignment unaddressed. We propose CAPE-JEPA, a probabilistic cross-modal Joint Embedding Predictive Architecture with three contributions: (i) a cross-attentional Gaussian predictor outputting per-patch parameters (mu, sigma^2) conditioned on opposite-modality context, trained via negative log-likelihood to model inherent cross-sensor prediction uncertainty; (ii) adversarial distributional regularization combining unimodal isotropic Gaussian regularization with a novel cross-modal adversarial variant that aligns modality distributions via worst-case Epps-Pulley characteristic function tests without explicit sample pairing; and (iii) in-training contrastive learning with attention-pooled heads for scene-level discriminative grounding. Evaluated on BigEarthNet-14K (BEN-14K) and fMoW across SAR, multispectral, and RGB modalities, CAPE-JEPA surpasses X-JEPA by up to 13.74 points on BEN-14K and 15.59 points on fMoW, outperforming all baselines including SkySense and CROMA across both unimodal and cross-modal directions while using fewer parameters (407.30M vs. 432.72M).

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.16857

Learning to Learn from Multimodal Experience

Xingyu Sui, Weixiang Zhao, Yongxin Tang, Yanyan Zhao, Yang Wu, Dandan Tu, Bing Qin

原文摘要

Multimodal agents increasingly interact with real-world-like environments and generate rich trajectories spanning perception, reasoning, and action. A key research focus is how to transform these raw multimodal trajectories into reusable experience that can improve future task performance. Existing experience-driven learning methods are mostly developed in textual settings and typically rely on manually designed memory schemas, making them less effective for multimodal experience that requires composing heterogeneous signals across modalities, temporal scales, and abstraction levels. We propose AutoMMemo, a general framework that enables agents to automatically design memory mechanisms for learning from multimodal experience. AutoMMemo represents each memory mechanism as an executable memo program, which defines how past episodes are stored, organized, and retrieved. It discovers effective memo programs through an iterative process of update-then-retrieve evaluation, reflection-guided mutation, and budget-aware tree search. Experiments across GUI/Web navigation and multimodal visual reasoning benchmarks show that AutoMMemo consistently improves agent performance over no-memory agents and fixed memory baselines, while maintaining reasonable token and interaction costs. Transfer and search-process analyses further demonstrate that the learned memory designs capture reusable experience structures and progressively refine retrieval relevance. These results highlight adaptive memory design as a key optimization target for multimodal experience-driven learning. Code is available at https://github.com/XingYuSSS/AutoMMemo.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.30792

Trace2World: Reconstructing App Worlds from Real Interaction Traces for Scalable GUI Agent Training

Zezhou Wang, Hanzhang Zhou, Panrong Tong, Quyu Kong, Pengxiang Li, Steven Hoi, Zhuzhong Qian, Yue Wang

原文摘要

Scaling GUI reinforcement learning requires environments that preserve real-app behavior. Yet coupling behavior inference with coding can turn partial traces into runnable mocks with incorrect state transitions. We introduce \textbf{Trace2World}, which separates global behavior reconstruction from implementation. It reconciles traces into a shared, source-linked app model, then compiles an executable environment. Independent replay of source workflows localizes mismatches for bounded implementation repair. Validated worlds then support learner-adaptive task and environment augmentation within source-supported behavior. From 1,570 traces, Trace2World constructs 50 environments. On 200 workflows across ten apps, 91.1% are reproduced end to end, versus 59.8% for the strongest matched task-local baseline. Source-grounded validation retains 94.0% of simulated training gains on real devices, versus 54.7% under self-validation. Learner guidance raises benchmark success from 56.9% to 61.1%. Training in Trace2World further improves the model by 20.2 points on our benchmark, 5.4--16.2 points across four external GUI benchmarks, and 16.3 points on 100 real-device tasks. Reliable reconstruction separates what behavior source evidence supports from whether the implementation preserves it.

cs.LG · cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06244

Rubric Curriculum RL: Exploiting the Generation-Verification Gap in Non-Verifiable Domains

Sumeet Ramesh Motwani, Tejas Krishnan, Alistair Letcher, Charles London, Suhaas Bhat, Huitian Jiao, Philip Torr, Riashat Islam 等 13 位作者

原文摘要

Reinforcement learning with verifiable rewards (RLVR) has led to significant gains in math and code generation. Extending these gains to open-ended domains remains challenging: ground-truth verification is unavailable, human annotation is expensive, and learned reward models are prone to reward hacking. The generation-verification gap, where judging good outputs is easier than producing them, offers a potential path to improvement. However, rubric-based judges are often imprecise and stationary, so policies can overfit or reward hack them. We introduce Rubric Curriculum RL (RcRL), which exploits this gap without new data, human annotations, or stronger teacher models. We combine pairwise preferences over rollouts with a curriculum over rubric criteria, yielding a more discriminative signal than absolute scoring and a non-stationary objective. Whereas baselines plateau within a few hundred steps, RcRL preserves output entropy and keeps improving past 1000 steps. On creative writing, RcRL achieves a 70.5% human win rate against the base model, with gains across benchmarks and judges. On HealthBench, RcRL improves over the base model by 14.6% (full set) and 25.4% (consensus subset), outperforming all training baselines, including instance-specific rubrics.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.15008

Harness the Memory: A Holistic Evaluation of Memory Substrates in Memory Agents

Wei-Chieh Huang, Weizhi Zhang, Yuchen Wu, Yankai Chen, Eric Hanchen Jiang, Wooseong Yang, Yiwei Yang, Henry Peng Zou 等 15 位作者

原文摘要

Memory is becoming core infrastructure for long-horizon LLM agents, yet existing evaluations offer limited guidance on which memory substrate, namely the underlying medium in which memory is represented and stored, should be used under different operating regimes. We introduce a unified suite of 26 performance and efficiency metrics, including auxiliary-LLM costs attributed to the write, read, and management stages, and apply it identically to 11 memory methods in a controlled harness that varies only the memory substrate. The methods cover dense and sparse indices, text records, structural stores, hierarchical stores, refinement-based memories, parametric updates, and activation-compatible context mechanisms, and we evaluate them with three backbone models on four benchmark suites spanning user-centric question answering and agent-centric decision-making. Our results show that no single substrate consistently dominates: broad retrieval benefits long-context factual QA, while excessive retrieval can harm sequential decision-making by shifting attention away from action-critical context. Scalability introduces a further routing axis, as substrates that perform well at moderate history lengths can become costly or brittle at longer horizons. These regime-dependent reversals make substrate selection a design axis. Choosing a substrate per observable operating regime improves over the best fixed substrate on our benchmarks, while query-level routing leaves most of the oracle headroom open. The findings provide empirical guidance for designing efficient, reliable, and regime-aware long-term memory for LLM agents.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06238

Zuse: A Decision Model for European Languages

Umair Mehmood Imam

原文摘要

Decision models read a document and return a probability for each of a fixed set of options instead of generating text. Several appeared in 2026, but none has published results outside English. We describe Zuse, three decision models (4B, 9B and 27B) that train a low-rank adapter and a pointer head on frozen open-weight bases, targeting 27 European languages, and use them to study how this design behaves across languages and tasks. On a broad European suite of 11 sources excluded from training, covering 9 task groups and 27 languages, a development set that also guided model selection, the 27B model reaches 87.5% accuracy with a pooled expected calibration error of 0.016, and 0.035 when weighted per source. Post-hoc analyses of these single-seed results give three findings. First, miscalibration is structured by task rather than language: on parallel reading and topic items in 26 languages the confidence gap varies about as much as sampling noise, while across sources it spans -0.07 to +0.09, with knowledge tasks overconfident and acceptability judgements underconfident at all three sizes, so one fitted temperature cannot correct both. Second, the share of decisions that can be automated at a 5% error budget follows chance-corrected skill (Spearman 0.97 over 33 source and model pairs) more closely than raw accuracy (0.91). Third, reach beyond the training languages is set by the base model: across 210 languages, changing the training run moved scores by at most about 2 points within a size, while languages outside the base's documented list trail by 23 to 28 points at every size. On English public suites Zuse is behind Jev and Kev, including Kev models on the same bases. We also report two pitfalls in building multi-source training data: label-word collision between topic schemes, and an injection augmentation that taught a shortcut. Zuse can be tried at https://bineric.com/zuse.

cs.CL · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.15215

Stochastic Ising networks with asymmetric and time-delayed interactions

Hantao Zhang, Sidra Gibeault, Matthew W. Daniels, Philippe Talatchian, Ursula Ebels, Advait Madhavan, Mark D. Stiles

原文摘要

Stochastic Ising networks are widely used to describe collective dynamics in complex systems and to compute, yet physical implementations of these networks often contain both asymmetric interactions and nonzero signal propagation times that fall outside conventional theories of their behavior. Here, we study stochastic Ising networks with asymmetric and time-delayed interactions motivated by experimental observations in coupled superparamagnetic tunnel junctions. Time delay fundamentally reshapes the dynamics induced by antisymmetric couplings, producing strong oscillatory temporal correlations consistent with experiment. Sufficiently long delays strongly suppress the non-uniformity of steady-state probability distributions, a behavior explained by an exponential suppression of the first-order equal-time cross-correlation between pairs of spins. Residual non-uniformity is due to the equal-time cross-correlation mediated by a third spin that contributes only at higher order in the coupling strength. These relatively featureless probability distributions coexist with pronounced delayed temporal correlations, distinguishing them from equilibrium high-temperature behavior. We further show analytically that these delay-induced near-uniform distributions emerge in a broad class of stochastic networks that lack symmetry-breaking bias fields. Introducing symmetry-breaking bias fields restores a strong dependence of the steady state on interactions with qualitatively modified behavior. Simulations of networks with five coupled spins demonstrate that these effects persist beyond minimal systems with only two spins.

physics.app-ph · cond-mat.mes-hall · cond-mat.stat-mech · cs.ET · physics.data-an

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.23334

A Lagrangian Approach to Interdiction of Linear Minimization Problems

Yu Cong, Kangyi Tian

原文摘要

We study budgeted interdiction of linear minimization problems. Given a family of feasible sets, element weights, and deletion costs, the objective is to delete elements within a prescribed budget and minimize the remaining weight of a feasible set. We give an alternative, simpler Lagrangian approach that generalizes the connectivity interdiction framework of Huang, Obscura Acosta, and Yingchareonthawornchai (IPCO' 24). When the interdiction optimum is positive, we show that the optimal Lagrange multiplier gives truncated element weights, in which every feasible set supporting an optimal interdiction solution has weight less than twice the minimum under the truncated weights. We apply the reduction to graph cuts, $k$ cuts, and cocircuits of perturbed graphic matroids. We obtain deterministic fully polynomial-time approximation schemes for graph connectivity interdiction and for cogirth interdiction on perturbed graphic matroids of fixed perturbation rank. For graph connectivity, the running time is $\tilde O(n^3m^2/\varepsilon)$. The $k$-cut application gives a fully polynomial-time randomized approximation scheme.

cs.DS

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.34218

From Presence Labels to Bounding Boxes: Can Multimodal Large Language Models Scale Surgical Instrument Localization?

Mohamed Hamdy, Muraam Abdel-Ghani, Fatmaelzahraa Ahmed, Sifna Nasar, Mariam Ahmed, Khalid Al-Jalham, Abdulaziz Al-Ali, Shidin Balakrishnan

原文摘要

Spatial localization of surgical instruments through bounding-box annotations is a foundational component of surgical scene understanding, supporting detection, tracking, interaction analysis, and grounded vision-language applications. Yet existing annotations often cover selected frames, video subsets, or dataset variants rather than complete procedures. Manual extension is time-consuming and expert-dependent. Additionally, weakly supervised and detector-based pseudo-labels require task-specific training and may be imprecise. In this study, we design a scalable MLLM-based annotation framework that converts surgical frames and existing instrument-presence labels into accurate bounding boxes, and systematically analyze its reliability, cost, and design sensitivity. We instantiate the framework using six MLLMs and a multi-call configuration on laparoscopic cholecystectomy in Cholec80. Using a carefully designed stratification scheme, two annotators independently label 1,000 frames, and an expert surgeon reviews one annotation set to establish the reference. Results show that instrument-set F1 ranges from 88.2 to 92.7,whereas mIoU ranges from 0.180 to 0.735, showing that comparable recognition can conceal large localization differences. A structured multi-stage annotation pipeline achieves 0.784 mIoU, compared with 0.735 for the best single-call baseline and 0.814 human-human agreement. Using the best accuracy pipeline, we create and publicly release SurgBox, a spatial extension of Cholec80 comprising 285,977 bounding boxes across all 184,498 annotated frames from the 80 videos. The annotations and human references are made available on GitHub

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06230

Homology Features for X-Ray Hyperspectral Images Segmentation

Fethi Harkat, Guillaume Gey, Valérie Perrier, Kévin Polisano

原文摘要

Characterizing Multi-Energy X-ray Transmission (XRT) hyperspectral images presents significant challenges for traditional classification frameworks due to high-dimensional redundancy and non-linear spectral overlaps. Although manifold learning techniques such as UMAP enhance spectral representation by preserving non-linear correlations, they do not explicitly utilize the geometric structure of the embedded manifold for segmentation. This study introduces a hybrid architecture that integrates topological features derived from persistent homology with convolutional and graph neural networks. The approach computes Vietoris-Rips persistent homology on UMAP-projected superpixel point clouds to capture H 1 cyclic structures that encode spectral heterogeneity. These topological descriptors are combined with pixel-level CNN features through a broadcasting mechanism that propagates superpixel-level graph representations to full spatial resolution. Experimental results on XRT multi-energy imagery demonstrate that the proposed hybrid model significantly outperforms both CNN-only and superpixel-pooling fusion baselines, suggesting that topological features provide complementary discriminative information to local spectralspatial descriptors.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06229

Bug2Scenario: Root-Cause-Preserving Test Scenario Amplification for Autonomous Driving Software

Yuchen Cao, Zhenyu Mao, Jacky Wai Keung, Yifei Wang, Yihan Liao, Jingyu Zhang

原文摘要

Simulation-based fuzzing exposes autonomous driving system (ADS) failures by repeatedly mutating and executing scenarios, but converting one failure into reusable regression scenarios remains difficult. Such variants test whether the mechanism persists after software changes, for example by varying weather or actor placement while retaining a collision's actor-route conflict. We present Bug2Scenario, a root-cause-guided post-fuzzing framework. From scenario data, traces, and oracle evidence, it extracts a root-cause pattern. An LLM proposes semantic variations over actors, missions, routes, and weather. Deterministic rules construct DriveFuzz-compatible scenarios. Execution evidence and manual review assess preservation. Separating these responsibilities prevents fluency, syntax, or recurring labels from masquerading as causal evidence. Under matched seeds, six LLM backbones, candidate budget, and execution pipeline, Bug2Scenario improves strict preservation by 6.7 percentage points (p=0.104; not significant) and boundary-inclusive preservation by 10.6 points (p=0.011). Feedback helps some initially unsuccessful seeds yield a strictly preserved candidate. Seed-level stopping then avoids further API calls and simulator runs. Remaining failures reflect actor-placement constraints, simulator instability, and incomplete or conflicting causal evidence. Bug2Scenario thus produces reliable ADS regression assets. Our implementation is available at https://github.com/YgcCoder/Bug2Sce.

cs.SE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.39855

Probabilistic Meshless Methods on Manifolds

Federico Pavesi, Noémie Jaquier, Antonio Candelieri

原文摘要

Probabilistic meshless methods solve partial differential equations (PDEs) by placing a Gaussian process prior on the solution and conditioning it on the PDE at a finite set of collocation nodes. The posterior provides both an approximation of the solution and a Bayesian quantification of its error. While these methods are well established on Euclidean domains, their extension to manifolds lacks, to our knowledge, any convergence analysis. We extend them to compact manifolds and study their convergence in two settings. First, for known manifolds whose Laplace-Beltrami eigenpairs are available, the prior can be evaluated exactly, but the PDE operator generally cannot be applied to it in closed form. We replace this operator by a standard generalized finite difference discretization on a point cloud sampled from the manifold, and show that the resulting method is consistent at the points of the cloud, at a rate governed by their fill distance. Second, for implicit manifolds, known only through a point cloud, both the prior and the operator must be approximated. We propose a new generalized finite difference scheme with a free stencil radius, and show that it retains the consistency of the standard construction while controlling the growth of its coefficients, and that an appropriate radius yields uniform convergence of the discrete Gram matrix. In both settings, we derive error bounds for the posterior mean which separate the collocation error intrinsic to the method from the error due to approximating the operator and, for implicit manifolds, the prior. Experiments on the circle, the sphere and the flat torus confirm our theoretical claims. On real-world cortical thickness data, our approach attains the accuracy of established discretizations, while conditioning on fewer than a tenth of the observations and providing a credible interval at every vertex.

stat.ML · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.23689

AutoDex: An Automated Real-World System for Dexterous Grasping Data Collection

Mingi Choi, Gunhee Kim, Jisoo Kim, Taeksoo Kim, Taeyun Ha, Jongbin Lim, Hanbyul Joo

原文摘要

Scaling real-world dexterous-grasp data collection is limited by the sustained human effort required to operate the robot, verify grasp outcomes, and reset objects between trials. Simulation can generate grasp candidates at scale, but their success on hardware remains uncertain. We present AutoDex, a system that collects real-world dexterous-grasp data without continuous human operation. Given generated grasp candidates, AutoDex plans and executes grasps, labels their outcomes, and resets the object to continue collection across stable poses. Multi-view object tracking supports labeling under hand-object occlusion, while residual-torque collision monitoring and pose-directed reset enable the loop to operate without continuous human supervision. Using AutoDex, we collect over 3,500 grasp trials across 100 objects with Allegro and Inspire hands, recording both successes and failures together with synchronized visual observations and robot states. AutoDex reduces human effort by more than an order of magnitude, requiring an estimated 0.2 human-hours to collect 500 trajectories compared with 9.3 for teleoperation. As AutoDex collects trials, it builds a library of physically validated grasps for subsequent execution. In new object placements and obstacle configurations, retrieval from this library achieves 76% success, compared with 34% for candidates screened only in simulation. Code and data are available at https://snuvclab.github.io/AutoDex/.

cs.RO · cs.LG

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新论文 · v1arXiv:2611.06226

Understanding the Perception of Transliterated Offensive Social Media Posts Among Banglish and Hinglish Users

Dhiman Goswami, Zhicong Lu, Sanchari Das

原文摘要

Effective content moderation depends on understanding not just what harmful content looks like, but how users perceive and respond to it. When offensive language is written in transliterated forms such as Banglish or Hinglish (Bangla or Hindi in Latin script), it may be interpreted very differently than in native scripts, with direct consequences for whether users report, ignore, or recognize it as harmful. Yet little is known about how script choice relates to user perception, or how these perceptions vary across demographic groups. To investigate these perceptions, we conducted a user study with $310$ participants ($193$ Hindi, $60$ Bangla, $57$ Bangla-Hindi bilingual speakers) who evaluated offensive posts in native scripts and transliterations. Participants provided offensiveness scores ($4.03$ for Banglish, $3.86$ for Hinglish) to transliterated posts, yet reporting fell from $20.9\%$ (native - Bangla, Hindi) to $18.2\%$ (transliterated - Banglish, Hinglish). Ignoring remained the dominant response (range $25.38\%-44\%$ overall). Women reported at higher probability than men for native-script ($23.6\%$ vs. $17.7\%$) and showed almost identical reporting probability in comparison to men for transliterated posts ($17.5\%$ vs. $17.9\%$), and younger participants ($<40$) rated Banglish content as more offensive than older participants ($\geq 40$), (Overall offensive score: $3.99$ vs. $3.78$). These findings identify transliteration as critical blind spot for moderation, underscoring the need for linguistically sensitive approaches to online safety.

cs.HC

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2606.06233

Anchor PCA

Benedikt Seiter, Anya Fries, Julius von Kügelgen, Jonas Peters

原文摘要

Principal component analysis (PCA) is one of the most widely used unsupervised dimension reduction techniques. We study PCA for data from multiple related domains. Since principal components generally differ across domains, one way to obtain a shared low-rank embedding is to perform PCA on the pooled data. However, this approach can focus on spurious directions that exhibit high variation in only a few domains. To find a robust embedding that still explains most variance in unseen but similar domains, we propose instead to focus on shared directions of variation. To this end, we introduce Anchor PCA which trades off overall explained variance with agreement between the shared and domain-specific low-rank embeddings. Anchor PCA amounts to PCA on a modified target matrix and thus can be solved efficiently. Moreover, we show that Anchor PCA recovers a maximal invariant subspace and admits a minimax reconstruction interpretation under bounded domain-specific covariance inflations. On simulated and real-world data with temporal distribution shift, we demonstrate, respectively, that Anchor PCA recovers the maximal invariant subspace and yields embeddings that explain more variance on unseen domains than the pooling baseline and a worst-case alternative. Taken together, these findings establish Anchor PCA as a promising approach to robust unsupervised dimension reduction from multi-domain data.

stat.ML · cs.LG · stat.ME

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版本更新 · v2arXiv:2611.05193

Factorized MLLM Embeddings for Composed Image Retrieval

WonJun Moon, Seongchan Kim, Dahun Kim, Seungryong Kim

原文摘要

Composed Image Retrieval (CIR) aims to retrieve a target image given a reference image and a modification text. Although recent approaches leveraging Multimodal Large Language Models (MLLMs) have shown significant progress, we argue that the MLLM's compositional understanding remains underutilized. This stems from directly mapping composed queries into a retrieval embedding via contrastive supervision alone, without explicitly resolving the intended visual modifications. In this work, we introduce Factorized MLLM Embeddings (FactEmbed), which decouples compositional query comprehension from building discriminative embeddings. Rather than directly projecting the composed query into a single embedding without internal reasoning, FactEmbed employs a set of factorized latents that simulate the intended visual modifications via an intermediate target imagination objective. This process encourages the latents to ground into target semantics before forming discriminative representations for retrieval. Subsequently, to propagate these factorized representations throughout the model for retrieval, we optimize a factor-level contrastive loss while distilling the decomposed representations into a deeper attention layer of the MLLM. Finally, for efficient inference, we retain the [EOS] token to establish a global-level embedding on top of these factorized latents, while we exploit the mean-pooled factorized latents to rerank a short candidate list at negligible cost, as both are produced by the same forward pass. Extensive evaluations demonstrate that FactEmbed outperforms prior works across CIR benchmarks.

cs.CV · cs.IR

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版本更新 · v2arXiv:2605.11722

EPIC: Efficient Predicate-Guided Inference-Time Control for Compositional Text-to-Image Generation

Sunung Mun, Sunghyun Cho, Jungseul Ok

原文摘要

Recent text-to-image (T2I) generators can synthesize realistic images, but still struggle with compositional prompts involving multiple objects, counts, attributes, and relations. We introduce EPIC (Efficient Predicate-Guided Inference-Time Control), a training-free inference-time refinement framework for compositional T2I generation. EPIC casts refinement as predicate-guided search: it parses the original prompt once into a visual program of object variables and typed predicates, then verifies each candidate image against this program using visual evidence extracted from that image. A candidate is judged to satisfy the prompt when all predicates pass; otherwise, unmet predicates guide the next step, routing localized failures to targeted editing and layout-level or persistent failures to resampling. On GenEval2, EPIC improves the prompt-level Soft-TIFA GM score from 34.16% for single-pass generation to 71.46%. With the same generator, editor, and image-model execution budget, EPIC outperforms the strongest baseline by 19.23 points. It also uses 31% fewer image-model executions, 72% fewer multimodal large language model (MLLM) calls, and 81% fewer MLLM tokens per prompt.

cs.CV · cs.LG

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新论文 · v1arXiv:2611.06223

Consistent Submodular Maximization with Full Foresight

Eric Balkanski, Paul Dütting, Federico Fusco, Silvio Lattanzi, Ashkan Norouzi-Fard, Ola Svensson, Morteza Zadimoghaddam

原文摘要

Online algorithms with bounded recourse face three intertwined obstacles: uncertainty about the future, computational limits, and a limited budget for changes. We ask a fundamental question that separates consistency from the other two: what does solution stability cost when the entire future is known and computation is unlimited? We answer this question for monotone submodular maximization, where an algorithm must maintain a solution of at most $k$ arrived elements, with a constant number of changes per step. We determine the optimal approximation thresholds: $3/4$ for deterministic algorithms and $ξ^\star \approx 0.7942$ for randomized algorithms. For every $\varepsilon>0$, we get within $\varepsilon$ of these thresholds with worst-case recourse polynomial in $1/\varepsilon$, independent of $k$ and the stream length. We prove matching impossibility results even for coverage functions. We attain the sharp bounds by optimally balancing two opposing forces: preparing for future arrivals and protecting the current solution. For randomized algorithms, we use addition robustness against prefixes of the known future, which we analyze tightly via an interval-selection problem. For deterministic algorithms, we introduce certificates, paths in a fractional relaxation that maintain high value, which we round into an update schedule.

cs.DS · cs.LG

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新论文 · v1arXiv:2611.06221

FedXCrop: Privacy-Preserving Crop Disease Detection via Federated Learning with Post-Aggregation Explainability under Non-IID Farm Distributions

Kriti Saini, Manikandan P

原文摘要

Deep learning can classify crop diseases accurately from benchmark leaf images, but centralized training requires farms to share raw data, and predictions without explanations offer limited support for treatment decisions. We present FedXCrop, a federated crop disease classification pipeline that quantitatively evaluates explanations of the aggregated global model. A MobileNetV2 model trained centrally on PlantVillage achieved 99.38% test accuracy (standard deviation 0.05 over three seeds) on a fixed test set of 5,428 images across 38 classes. Federated models initialized with ImageNet weights were trained for 30 rounds across five clients. FedAvg achieved 98.81% accuracy with identically distributed clients and 98.81%, 98.59%, and 97.78% under Dirichlet label skew (alpha = 1, 0.5, and 0.1, respectively). FedProx was not significantly different from FedAvg at any heterogeneity level (McNemar p > 0.3). Grad-CAM and SmoothGrad explanations were evaluated on 380 test images. Both attributed more energy to the leaf than chance (0.70-0.78 versus 0.60), while Grad-CAM maps from federated and centralized models showed Spearman correlations of 0.74-0.76. Agreement decreased as heterogeneity increased, lesion localization was only modestly above chance, and a model-randomization test indicated that SmoothGrad maps depended substantially on image structure rather than learned parameters. In this setting, label skew reduced federated accuracy by 0.6-1.6 percentage points relative to centralized training. FedAvg largely preserved Grad-CAM behavior, while FedProx provided no measurable benefit.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.06214

Riemannian Optimization-based Whole-body Obstacle Avoidance for Mobile Continuum Robots in Cluttered Environments

Duo Tang, Ping Deng, Sophie Armanini, Yajing Shen, Toshio Fukuda, Cosimo Della Santina, Peng Lu

原文摘要

Inspired by the coordination of global motion and local shape adaptation in snakes, elephant trunks, and octopus arms, we propose a unified planning and control framework for mobile continuum robots in cluttered and confined environments. Existing approaches often address high-level path planning and local motion control separately, limiting coordinated base-arm motion, kinematic consistency, and collision avoidance. Our framework integrates long-horizon trajectory planning with real-time geometric refinement under kinematic and environmental constraints. The global layer combines A* search with minimum-jerk planning to generate smooth reference trajectories. The local layer uses a geometry-consistent inverse kinematics solver and Riemannian optimization to coordinate mobile-base motion and continuum deformation while avoiding obstacles. We evaluate the framework through simulated pipe-traversal tasks with multiple baseline planners and real-world experiments involving navigation among dense obstacles and manipulation in confined spaces. Results demonstrate improved motion consistency, feasibility, and adaptability, supporting coordinated whole-body motion of mobile continuum robots in constrained environments.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2604.27202

Indirect Prompt Injection in the Wild: An Empirical Study of Prevalence, Techniques, and Objectives

Soheil Khodayari, Xuenan Zhang, Bhupendra Acharya, Giancarlo Pellegrino

原文摘要

As LLMs are increasingly integrated into systems that browse, retrieve, summarize, and act on web content, webpages have become an untrusted input vector for downstream model behavior. This enables site owners, contributors, and adversaries to embed instructions directly in web resources, i.e., indirect prompt injections. While prior work demonstrates such attacks in controlled settings, their prevalence, deployment, and real-world impact remain unclear. We present one of the first large-scale empirical analyses of indirect prompt injections in webpages and HTTP responses. Analyzing 1.2B URLs from 24.8M hosts, we identify 15.3K validated instances across 11.7K pages. These are not isolated cases: a small number of recurring templates account for most cases. We characterize their objectives, delivery mechanisms, visibility, persistence, and impact, revealing a heterogeneous ecosystem spanning disruptive prompts, reputation manipulation, content-protection directives, and AI-bot detection, targeting systems such as crawlers, search pipelines, customer-support agents, and hiring workflows. A key finding is that most instructions target machines rather than humans: about 70% appear in non-rendered HTML (e.g., headers, comments, metadata), and many visible cases are hidden via rendering techniques. To assess practical risk, we run 5,200 controlled experiments across 13 models and four webpage representations. Our results show compliance is limited but non-negligible, reaching up to 8% for smaller models on plain-text inputs, while structured representations reduce compliance by preserving structural cues. Overall, prompt-based interference is already present in the web ecosystem and represents a growing source of tension between LLM-driven automation and the sites it consumes.

cs.CR

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新论文 · v1arXiv:2611.06209

Sublinear Approximations for Spanning Tree Congestion

Sunny Atalig, Marek Chrobak, Petr Kolman, Hans Raj Tiwary

原文摘要

The spanning tree congestion of a connected graph \(G\) is the minimum, over all spanning trees \(T\) of \(G\), of the maximum number of edges of \(G\) crossing a cut induced by deleting an edge of \(T\). In the spanning tree congestion problem we are asked to compute a spanning tree with minimum congestion. We describe two sublinear-ratio approximation algorithms for the spanning tree congestion problem (STC): a simple $\Ot(n^{8/9})$-approximation, and a more involved $\Ot(n^{2/3})$-approximation, where the notation $\Ot$ hides factors polynomial in $\log n$.. Until now, no algorithm with sublinear ratio was known. We also prove that for any fixed $0<\varepsilon<1$, approximation of the spanning tree congestion within $2-\varepsilon$ is NP-hard. This improves the previous best known lower bound $6/5$.

cs.DS

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2611.03699

All Paths All at Once: A Quantum Monte Carlo and Neural Committor Approach to Reaction Pathway Search

Chien-Chai Chang

原文摘要

Locating competing reaction pathways is difficult when potential-energy gradients are unavailable. Here we present tReax_expedition, an energy-only approach combining coupled Monte Carlo exploration, stochastic quench labelling and restrained continuation. Exploration identifies connected states, while continuation resolves candidate channels and records sampled chain maxima. Single-search benchmarks on three two-dimensional potentials recovered an intermediate and competing routes without transition-state guesses. For eight of nine gas-phase reactions on GFN2-xTB, sampled chain maxima differed from independently refined saddle energies by less than 0.76 kJ/mol. Alanine dipeptide instead revealed incomplete conformational relaxation, showing that route connectivity can persist despite structural and energetic errors. Neural committor learning and local straddling-pair sampling connect the resulting paths to transition-region sampling, although molecular shooting diagnostics indicate limited committor calibration. These results show how energy-only exploration and continuation recover candidate pathways, while distinguishing route connectivity from geometric localization, barrier resolution and finite-temperature transition statistics.

physics.chem-ph · cs.LG

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