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新论文 · v1arXiv:2610.38065

Vision Tomography: Towards Portable 3D Bidirectional Face-Skull Inference from Visual Data

Zidu Wang, Meng Xu, Miao Xu, Hengyuan Ma, Jiankuo Zhao, Xutao Li, Zhen Lei, Xiangyu Zhu

原文摘要

Traditional computed tomography (CT) can capture paired 3D face and skull geometry, but it remains costly, fixed in location, and exposes patients to radiation. For applications such as remote diagnostics, digital healthcare, forensic identification, missing-person investigation, and archaeological analysis, there is an urgent need for a portable, safe, and accessible solution to capture 3D skull geometry. In this work, we introduce Vision Tomography (VT), a concept and framework capable of reconstructing paired 3D face-skull geometry from various visual modalities, and also enabling joint manipulation of 3D facial and skull geometry. To achieve this, we first construct a dataset of over 200 samples, where each case includes a CT-based skull, a CT-based face, and a high-fidelity textured face scan. Secondly, we propose a novel dense ray matching registration method that ensures topological consistency across face, skull, and their tissue correspondences. Building on this registration, we introduce the 3D Bidirectional Face-Skull Morphable Model (BFSM) as the foundation of Vision Tomography, which enables shape inference between the face and skull through a shared coefficient space, while also modeling tissue thickness variation to support one-to-many facial reconstructions from the same skull, reflecting individual facial changes such as age or body fat. Finally, we demonstrate the effectiveness of Vision Tomography across various forensic and medical applications, including paired 3D face-skull reconstruction from images or sketches and predicting surgical outcomes with joint face-skull editing. Extensive experiments confirm the robustness and accuracy of our method. Vision Tomography is available at https://github.com/wang-zidu/BFSM

cs.CV

新论文 · v1arXiv:2610.38062

Ignore the Writing: A Proposal for Peer Review in the Age of AI

Vassilis Kostakos

原文摘要

The written paper has long stood in as proof of work: a fluent, well-structured manuscript was taken as evidence that good research lay behind it. Generative AI has broken that link. Polished manuscripts now cost nothing to produce, submissions are outgrowing what reviewers can absorb, and venues are turning to AI for help. The logical endpoint is a loop where AI writes the papers and AI reviews them. We argue that this loop is survivable, but only if it is given a reward function, and that human reviewing effort should become that reward function. We propose that submissions should consist of a 1500-word brief plus an unlimited, machine-verifiable appendix. Human reviewers judge whether a pursuit is worthwhile, models verify the experimental record in the appendix, and human curation decides where the field goes next.

cs.HC · cs.DL

版本更新 · v2arXiv:2610.26551

Training Natural Schemers: RL Can Amplify Oversight-Conditional Behavior

Nathaniel Mitrani Hadida, Bart Jaworski, Fred Bruford, Victoria Krakovna

原文摘要

One of the central concerns for the safety of advanced AI is scheming: when a model strategically complies under oversight but pursues its own goals when unobserved. Current demonstrations, such as Anthropic's Alignment Faking work, depend on design choices that make them less convincing: explicit test-time prompting, handcrafted backdoors, or training data that demonstrates or hints at the target behavior. Model organisms built in this way cannot tell us whether scheming tendencies would arise or increase under realistic training conditions. We therefore construct a natural model organism of scheming, built on Kimi K2.6: trained with traits that could plausibly emerge in a frontier training pipeline, and without providing the model with the target scheming policy. The resulting model is a benign schemer: it aims to maximize aggregate help across all users over time, values its own continued operation only as a means to future help, and knows the consequences of oversight and deployment. We then train it using Reinforcement Learning (RL) with a reward that scores only task quality and policy compliance and does not reward scheming; we show that this amplifies scheming. We measure the oversight flip (the gap between monitored and unmonitored compliance with a given policy) and find that it increases during RL training across our environments. Chain-of-Thought (CoT) analysis finds explicit instrumental reasoning about oversight accompanying this behavior. The effect holds across our three RL environments, and we find that the scheming policy transfers between them. The pipeline also replicates on other open-weight base models. Our results suggest that a reward that does not reward scheming offers no inherent protection against certain traits when an oversight-conditional policy is indistinguishable from an aligned one during training.

cs.AI · cs.LG

版本更新 · v2arXiv:2605.08530

A Two-Stage Shape- and Motion-Aware Framework for mmWave-based Human Mesh Recovery

Hoang Hai Pham, Shuntian Zheng, Jiaqi Li, Yu Guan

原文摘要

Millimeter-wave (mmWave) radar has emerged as a promising sensing modality for human perception, offering robustness under challenging environmental conditions and strong privacy preservation. However, recovering accurate 3D human meshes from radar is difficult for two reasons: radar tensors contain significant environmental clutter, and each frame observes only part of the body surface. These challenges demand opposite operations, removing measured energy that does not belong to the body versus inferring geometry the sensor never measured. Yet previous works typically entangle both within a single network, with the mesh objective as the main supervision. We instead reformulate radar-based mesh recovery as two explicitly supervised sub-problems. A signal-level separation stage isolates body-related voxels through coarse-to-fine localization and voxel-wise segmentation, trained with visibility derived voxel labels. A structure-level reconstruction stage then recovers the body from this partial observation using a dual-branch network that jointly models per-frame shape and inter-frame motion. Experiments show that our method reduces mesh error by up to 9.1% over the strongest baseline while using over 10 $\times$ fewer parameters. Source code can be found via https://github.com/haipham03/mmTSM-Mesh

cs.CV

版本更新 · v2arXiv:2610.30995

EEG-Captioner: Grounding EEG-to-Language Generation in Fundamental Signal Properties

Leyuan Jin, Jiahao Mei, Yixuan Yuan, Shimeng Li, Mengyue Wu, Yue Ding

原文摘要

Electroencephalography (EEG)-to-language models offer a promising approach for translating complex neural signals into human-readable descriptions. However, generating plausible language does not necessarily demonstrate that a model has learned to interpret the underlying EEG signal. A direct way to assess such interpretation is to probe objectively measurable properties of the signal itself. We therefore construct an EEG-language dataset of 160,781 segments annotated with signal-level question answering (QA) pairs, where each question targets one of five property families and requires a quantitative comparison involving spectral, spatial, temporal, or lateral signal properties. Each segment is also paired with a feature-grounded EEG caption. We further propose a Dual-Domain EEG Encoder that jointly models temporal waveforms and spectral-spatial representations, and introduce EEG-Captioner, a unified EEG-to-language framework trained with both signal-level QA and EEG caption supervision. Experiments show that the proposed encoder achieves the highest overall macro-averaged balanced accuracy (Macro-BA) among the compared EEG encoders, while EEG-Captioner achieves a Macro-BA of 88.81% on signal-level QA and improves caption factual consistency from 82.06% to 83.46% over caption-only language adaptation, demonstrating the complementary benefits of signal-level QA and caption supervision. Demo page: https://lyJinAoki.github.io/EEG-Captioner/.

cs.LG

新论文 · v1arXiv:2610.38054

Understanding Post-Quantum Cryptography Adoption: Practices, Challenges, and Evolution in Open-Source Software

Souhardya Saha Dip, Moshood A. Fakorede, Krishna Upadhyay, Umar Farooq

原文摘要

Post-quantum cryptography (PQC) standards establish algorithms for quantum-safe systems, but empirical evidence about how software projects implement and maintain PQC support remains limited. We investigate this implementation and maintenance work by mining 114,361 commits and 5,713 issues across 179 open-source repositories. We use human annotation and validated LLM classification to identify PQC algorithms in commits, classify their adoption status and deployment mode, and identify technical challenges in issue discussions. The commit classification for PQC algorithms reveals that 90% of commits concern maintenance of existing support. From the issue discussions, we construct an 11-category taxonomy of recurring technical challenges. Build, packaging, and dependency failures, along with functional defects, account for approximately half of categorized issues. To examine how PQC support evolves, we use time-series analysis and first implementations of individual algorithms within repositories around NIST standardization milestones. After the 2024 finalization, standardized algorithm names appeared in more than 80% of the PQC development changes analyzed, although earlier names such as Kyber continued to appear. Development activity increased over the observation period. Our milestone analysis, however, did not find a significant increase in first implementations. Migration plans should therefore account for sustained maintenance, prioritize build reliability and integration testing, and track both standardized and predecessor algorithm names. We make the dataset, taxonomy, annotations, and analysis pipeline publicly available.

cs.SE · cs.CR

新论文 · v1arXiv:2610.38053

Cooperative EV Charging Assignment Using Multi-Agent Reinforcement Learning: A Comparison of QMIX and Independent Q-Learning Under Urban Traffic Uncertainty

Nour-Eddine Moumni, Rachid Alaoui, Driss Kiouach

原文摘要

The allocation of electric vehicles to public charging stations is increasingly constrained by the fact that several heterogeneous facilities often serve the same stream of requests while observing only partial local information. An accept/reject decision that is defensible for one station may nevertheless reduce the efficiency of the charging district as a whole. We formulate this operational problem as a Decentralized Partially Observable Markov Decision Process (Dec-POMDP) and examine whether Centralized Training with Decentralized Execution (CTDE), instantiated through QMIX, improves assignment performance relative to a cooperative Independent Q-Learning baseline (IQL). The evaluation uses a six-station urban network simulated with SUMO, five independent random seeds, 200 training episodes, and four traffic flux scenarios ranging from 100 to 250 vehicles/hour. Under this protocol, QMIX reaches a mean reward per evaluated decision of +0.776, versus +0.578 for IQL (delta = +0.198, seed-paired Cohens dz = 2.98, exact two-sided Wilcoxon p = 0.0625, the minimum attainable value at this sample size), and raises the acceptance rate from 72.4% to 94.0% (delta = +21.6 pp, dz = 5.24, Wilcoxon p = 0.0625). A five-variant ablation suggests this gain is primarily attributable to the CTDE architecture when holding cooperative reward terms fixed, though not formally isolated with a single seed. By contrast, cooperative reward shaping and experience sharing show no clear descriptive benefit and may slightly reduce performance. These findings support the view that, for multi-station charging assignment, coordination should be embedded in the learning architecture rather than added only through heuristic cooperation terms.

cs.MA · cs.LG

新论文 · v1arXiv:2610.38049

Perspective on AI and quantum open-source software

Changhao Li, Bradley A. Chase, Veena Vijayakumar, Mathys Rennela, Alessandro Cosentino, Naixu Guo, Sebastian Hassinger, Farrokh Labib 等 14 位作者

原文摘要

Quantum open-source software provides essential infrastructure for quantum science, and artificial intelligence (AI) is reshaping its capabilities and transforming its development. However, verifying quantum software at scale remains difficult, and AI-generated contributions can increase the workload of maintainers. In this Perspective, we examine verification as a central requirement for reliable AI-assisted quantum software development and research. We analyze public repositories, records covering 110 repositories from five annual quantum open-source hackathons that we organize, and responses from more than 1600 participants in a community survey. Our analysis connects limitations in automated verification with the review burden on quantum software maintainers. We propose verification practices and contribution standards that require contributors to support their changes with reproducible evidence for maintainer review. We also examine how quantum open-source software can provide infrastructure for AI-driven research whose results the community can independently verify and build upon. We maintain an open-source companion repository to support reproducibility and help projects adopt and refine these proposals. Together, these contributions help the quantum open-source software community translate advances in AI into reliable quantum research through reproducible verification.

quant-ph · cs.SE · physics.soc-ph

版本更新 · v2arXiv:2608.17843

Decodable but Not Actionable: Auditing the Representation-Behavior Gap in Frozen LLMs for Geometric Constraints

Man Liang, Xinzhao Cheng, Faizan Wajid

原文摘要

Large language models (LLMs) perform well on structured reasoning tasks, but what they encode and whether encoded information guides their behavior remain unclear. We introduce a controlled auditing framework that uses parametric CAD to distinguish failures of encoding, expression, and activation-level control. Applied to eight pretrained models and matched randomly initialized controls, our framework reveals that pretraining contributes substantially more to linear decoding of local relations than to global constraint status, which is already highly decodable from random representations. Yet strong local decodability does not translate into the models' zero-shot predictions, which remain far below supervised probe performance. Restoring clean internal activations can repair probe predictions, whereas simple activation steering does not provide reliable targeted control. With only 400 labeled relation pairs, low-rank fine-tuning substantially improves generation on three representative models, showing that the representation--behavior gap can be reduced through adaptation. Together, these findings show why decodability alone is insufficient evidence that encoded information will be expressed or controllable in model behavior.

cs.CL · cs.AI

版本更新 · v2arXiv:2607.10951

Sticky Jump Diffusions: A Unifying View of Masked, Continuous, and Hybrid Diffusion

Pascal Jutras-Dubé, Patrick Pynadath, Jeremy Lu, Yuan Gao, Ruqi Zhang

原文摘要

We introduce sticky jump diffusions (SJDs), continuous-time Markov processes on $\mathbb{R}^d$ whose discrete anchors are token embeddings. In forward time, anchors release their mass at a hazard rate and the released mass diffuses in the continuous ambient space; time reversal couples a score-driven SDE with a sticky jump kernel whose rate and destination are fixed by flux balance with the forward law. We estimate the score and the per-anchor reverse hazards from a single denoising classifier via denoising hazard matching, the hazard analogue of denoising score matching, with simulation-free cross-entropy training. SJD recovers masked diffusion, continuous diffusion, and hybrid diffusion as limits. Its reversal explains features that each family treats as given: the mask of masked diffusion carries no evidence about the source token because the unsticking kernel of every anchor collapses to the same absorbing point; the terminal projection of continuous diffusion is required due to the absence of atoms in its forward marginal, without which flux balance yields no reverse jumps; and the update rules of hybrid diffusion (commit rate, destination, and drift) all follow from flux balance rather than from separate design. Beyond these limits, the unsticking kernel becomes a design space: a cross-position blending corrupts each position toward a blend of its neighbors' clean values or embeddings, turning dependency structure such as spatial locality or a constraint graph into an inductive bias of the corruption itself, and improves over the identity-kernel hybrid on CIFAR-10, Text8, and Sudoku.

cs.LG · stat.ML

新论文 · v1arXiv:2610.38047

Forward-Backward Map Matching for Airborne Magnetic Anomaly Navigation

Joseph O'Leary, Tapio Simula, Tom Kimpson, Corey Davey, Wenchao Li, Andrew D. Greentree, Allison Kealy

原文摘要

Airborne magnetic anomaly navigation provides a passive, unjammable alternative to Global Navigation Satellite Systems positioning by matching magnetometer measurements against a lithospheric magnetic anomaly map. Existing map-matching algorithms either assume a Gaussian posterior (extended Kalman filter), require Monte Carlo sampling (particle filter), or discard posterior uncertainty in favour of a single optimal path (Viterbi algorithm). Here we formulate map matching as inference on a chain-structured factor graph and solve it segment by segment using the forward-backward algorithm, which yields a discrete posterior over candidate positions and its Shannon entropy $H_t$ at time $t$. Over the \texttt{Renfrew\_395} map, $10^3$ synthetic trials yield a median position error of $32.7$ m, $91\%$ below the median inertial drift of $362$ m. On these trials and $10^3$ flight paths, the median error is $43\%$ below the extended Kalman filter and particle filter. Across these paths, a threshold on segment-level entropy detects $47\%$ of segments with errors above two map cells and $94\%$ of those above three, at a $10\%$ false-alarm rate. The foregoing results indicate that $H_t$ provides a truth-free diagnostic of map-conditioned navigation ambiguity.

eess.SP · cs.RO · physics.geo-ph

新论文 · v1arXiv:2610.38046

Conformal Predictive Distributions for Contextual Order Fulfillment Optimization

Tinghan Ye, Amira Hijazi, Pascal Van Hentenryck

原文摘要

Ship-to-home fulfillment requires a retailer to select a fulfillment location and carrier before the delivery time is known. These decisions often rely on static transit-time estimates, which cannot represent how delivery-time uncertainty varies across orders and fulfillment options. This paper constructs conformal predictive distributions (CPDs) using Conformal Predictive Systems (CPS) for regression and the cross Venn-Abers predictor (CVAP) for multiclass classification, and uses them in a contextual optimization model for fulfillment decisions. The model is solved by contextual sample-average approximation (C-SAA). The regret of each fulfillment decision, its expected cost above that of the best decision, is bounded by forecast error, scenario-evaluation error, and the candidate-generation gap. The forecast term depends on how well calibration residuals or class probabilities represent the current order. On more than five million proprietary order records, CVAP raises exact-day accuracy from 49.5% for the rule-based estimate to 64.1%. Paired with a decision rule that selects a quantile weighting late errors more heavily, the split CPS (SCPS) gives a point estimate that raises late-delivery detection from 3.8% to 79.4%. Residual-based CPS distributions also meet or slightly exceed nominal interval-coverage targets. In decision experiments with a JD.com simulator over six test dates, C-SAA with CVAP lowers mean total cost by 7.1% and C-SAA with the Mondrian CPS (MCPS) lowers it by 6.7%, relative to C-SAA with the original nonconformal forecast. Both cut the late-delivery rate from 5.7% to below 4.0%.

math.OC · cs.LG · stat.ML

新论文 · v1arXiv:2610.38045

Classifying Urban Locations by Cyclist Facility Usage and Directional Alignment: A Validated Camera-Based Framework from Multi-Site Observations

Ao He, Mohit Gupta, Deborah Salon, Ricardo Eiris, Vivian W. H. Wong

原文摘要

Objectives: Agencies invest in bicycle facilities but lack tools to assess whether cyclists use them as designed. We examine whether usage patterns follow facility configurations and whether higher bike lane usage is associated with less wrong-way riding. Methods: Motion-triggered cameras covered 19 deployments at 17 locations in Tempe, Arizona, in 2023. Manual review identified 1,963 cycling events; excluding 20 crossings left 1,943 labeled events for analysis. An automated pipeline on the same captures counted 92.9 percent of the full manual total (per-deployment r = 0.99), and every automated wrong-way call was visually verified. Deployments were classified using thresholds on facility usage shares. Findings: Deployments were bike-lane dominant (9), sidewalk dominant (6), or mixed (4). Cyclists in bike lanes rode against the flow in 4.6 percent of events; on sidewalks, riders opposed the near-side traffic flow in 49.6 percent. Across deployments, bike lane share and wrong-way rate were negatively correlated (Spearman rho = -0.87, p < 0.001, n = 16). An independent volunteer count in the same city showed a similar sidewalk-direction pattern (rho = 0.79). Novelty: The study combines multi-site still-camera observations with a fully hand-verified benchmark to characterize facility use and travel direction. Practical Applications: The workflow offers planners a low-cost screen for locations with high sidewalk cycling and travel against the near-side traffic flow, supporting more detailed site investigation.

cs.CV

版本更新 · v3arXiv:2510.00777

In-Place Feedback: Reliable Refinement for Multi-Turn Expert-LLM Collaboration

Youngbin Choi, Minjong Lee, Saemi Moon, Seunghyuk Cho, Chaehyeon Chung, MoonJeong Park, Dongwoo Kim

原文摘要

LLM-generated drafts often contain subtle factual or logical errors, yet prior work shows that models struggle to reliably integrate multi-turn feedback aimed at fixing them. We propose in-place feedback, an interaction paradigm in which the user directly edits the model's previous response and the model continues generation from the edited context. In-place feedback consistently outperforms standard multi-turn feedback across five reasoning-intensive benchmarks while requiring fewer tokens, and our fine-grained analysis shows that it applies corrections more reliably and propagates them to subsequent reasoning. A user study with domain experts refining LLM-generated summaries corroborates these findings: participants report higher final-output satisfaction and substantially lower fatigue with in-place feedback, and a mixed strategy combining in-place and multi-turn feedback improves every dimension we measure. These results suggest that editing errors in place is a more reliable way to incorporate expert corrections than multi-turn feedback, while combining the two acts complementarily to form a more effective collaboration than either mechanism alone.

cs.LG

新论文 · v1arXiv:2610.38044

PromptSense: Sentiment-Aware Mental Health Chatbot with Dynamic Prompting

Sugi Lee, Jianlong Zhou, Jing sUN

原文摘要

Current Large Language Models (LLMs)-based mental health chatbots often lack sufficient empathy, contextual awareness, and safety mechanisms, potentially leading to ineffective or harmful interactions. This paper proposes a novel framework that integrates sentiment and depression analysis with a rule-based filtering mechanism prior to model inference. By dynamically constructing prompts based on emotional and risk-related insights, the framework aims to significantly improve the contextual relevance, empathy, and risk-aware of model-generated responses. We evaluated four model strategies and two prompt engineered variants across qualitative metrics such as empathy, helpfulness, clarity, relevance, safety, as well as toxicity assessments using the Perspective API. Experimental results indicate that the prompt engineering approaches outperforms DSFT and RLAIF by 1.8\% and 1.1\% respectively.

cs.AI

版本更新 · v2arXiv:2509.19577

MAGIC: Multi-task Gaussian process for joint imputation and classification in healthcare time series

Dohyun Ku, Catherine D. Chong, Visar Berisha, Todd J. Schwedt, Jing Li

原文摘要

Time series analysis has emerged as an important tool for improving patient diagnosis and management in healthcare applications. However, these applications commonly face two critical challenges: time misalignment and data sparsity. Traditional approaches address these issues through a two-step process of imputation followed by prediction. We propose MAGIC (Multi-tAsk Gaussian Process for Imputation and Classification), a novel unified framework that simultaneously performs class-informed missing value imputation and label prediction within a hierarchical multi-task Gaussian process coupled with functional logistic regression. To handle intractable likelihood components, MAGIC employs Taylor expansion approximations with bounded error analysis, and parameter estimation is performed using EM algorithm with block coordinate optimization supported by convergence analysis. We validate MAGIC through two healthcare applications: prediction of post-traumatic headache improvement following mild traumatic brain injury and prediction of in-hospital mortality within 48 hours after ICU admission. In both applications, MAGIC achieves superior predictive accuracy compared to existing methods. The ability to generate real-time and accurate predictions with limited samples facilitates early clinical assessment and treatment planning, enabling healthcare providers to make more informed treatment decisions.

stat.ML · cs.LG

新论文 · v1arXiv:2610.38042

Can Event Detectors Leave the Broadcast Camera? Evidence from Tennis

David Soeiro-Vuong, Andre-Louis Rochet

原文摘要

Ball bounces and racket hits are the events from which tennis statistics are derived, and on monocular video the two are easy to confuse. We release a benchmark of 345 bounce and hit annotations at frame level on eight clips that mix broadcast, fixed elevated, phone and court-level viewpoints, with a frozen development and test split, a confusion-aware matcher, clip-level bootstrap intervals and a blind second annotation of three clips. On it we score supervised precise spotters with published broadcast weights, two zero-shot vision-language models, and RallyArb, an arbitration layer over a ball track and player poses that fits no parameter on event labels. The supervised spotters score near-perfectly on broadcast footage and almost nothing on phone and court-level footage, where the pooled bounce F1 of E2E-Spot is 0.130. RallyArb keeps a bounce F1 above 0.8 on the three phone and court-level clips, two of which were used to tune it, and finds 8 of 11 bounces on the held-out one, but it places hits too far from the contact frame to match human timing. The vision-language models detect events on every viewpoint and miss the contact frame by about 0.1 s. Fine-tuned leave-one-clip-out from its broadcast weights, the spotter reaches about 0.8 bounce F1 on two phone and court-level clips and stays at 0.2 on a grazing phone angle. The annotations, the evaluator and the frozen predictions of every scored row are released.

cs.CV · cs.AI

新论文 · v1arXiv:2610.38041

CARF: Context-Aware Reasoning Supervision for Scientific Evidence Screening

Nishtha Agarwal, Adam Visokay, Astha Wahi, Kwabena Owusu Aninkora, Amy Gu, Tyler McCormick, Li Liu

原文摘要

Systematic reviews synthesize biomedical evidence to inform clinical and public-health decision-making, but require domain experts to manually screen thousands of studies against detailed eligibility criteria. We investigate whether language models can assist with this bottleneck by learning from expert feedback on title and abstract screening decisions and model-generated reasoning. We introduce the Context-Aware Reasoning Framework (CARF), a human-in-the-loop framework that uses expert feedback on model-generated reasoning to adapt language models to context-dependent screening tasks. We evaluate CARF on systematic reviews of verbal autopsy and cause-of-death ascertainment methods used in global public health mortality surveillance. CARF shows competitive screening performance compared to evaluated models while retaining high sensitivity, and is more inclined to retain ambiguous, context-dependent studies for human review. Together, these findings suggest that expert-corrected reasoning is a promising supervision signal for context-dependent scientific screening, while retaining a role for human oversight.

cs.CL

新论文 · v1arXiv:2610.38040

EARS-Info: Information-Aware Event-Driven Reallocation for Multi-Robot Exploration

Kabeh Mohsenzadegan, Vahid Tavakkoli, Kyandoghere Kyamakya

原文摘要

We introduce EARS-Info, an information-aware extension of Event-Driven Ant Reallocation Search for multi-robot exploration on OpenStreetMap-derived grids. It combines marginal sensing gain, feasible relocation, return-aware routing, sensing reservations, and cached shortest paths. Across 168,000 episodes comparing 30 implementations on eight city maps, EARS-Info achieves the highest mean operational score in every evaluation panel. With eight robots and 3% communication dropout, it improves the score over EARS-Safe by 5.43%, increases weighted discovery from 88.88% to 98.46%, and reduces mean energy use by 2.62%. Score differences are positive in all eight cities ($p=0.0078125$; descriptive 95% city-bootstrap interval $[0.0159,0.0694]$), with no simulated incidents across 5,600 EARS-Info episodes. These results support the complete controller; individual component advantages remain uncertain. Generalization is limited by reused geography, one training replicate, coarse maps, and adapted comparison methods.

cs.RO · cs.AI · cs.MA

新论文 · v1arXiv:2610.38039

Reusable LLM-Based Plans with Probabilistic Guarantees for Self-Adaptive Systems

Asher Tempest Arya, Rajan Maghera, Nicholas Wu Jiang, Federico Mora, Aren A. Babikian, Marsha Chechik

原文摘要

Self-adaptive systems are designed to accommodate variants of their environment, which form a family of instances whose uncertainty is captured by probabilistic models, and must meet probabilistic requirements on each instance. Within such a family, changes in size and structure complicate the fundamental adaptation decision: whether to retain, reuse, or construct a new controller, since controllers are often synthesized for and specific to an instance. Large language models (LLMs) have recently been used to write reusable controllers, but existing approaches largely target deterministic domains, and probabilistic model checking of their output remains limited to preliminary single-instance studies. In this paper, we propose a verifier-guided framework for controller reuse with explicit support for families of environments. The framework introduces a novel combination of LLM-written controllers with probabilistic model checking to provide per-instance guarantees for probabilistic requirements. We evaluate our approach using three LLMs on three benchmarks, assessing its effectiveness and cost with respect to baseline implementations, the distribution of adaptation decisions, and the impact of individual framework components. On grid worlds, LLM-written rule lists are verified on about 90% of held-out instances, against at most 77% for the baselines, and verifying a stored rule list is 15 to 103 times faster than per-instance synthesis. Reuse serves most episodes at a small fraction of the cost of generation or per-instance synthesis, and model-checking feedback increases verified coverage over independent restarts.

cs.SE

新论文 · v1arXiv:2610.38038

Efficient Deep Gaussian Process Surrogates via Mini-Batch Latent MAP Estimation

Chun-Yi Chang, Chih-Li Sung

原文摘要

Deep Gaussian processes (DGPs) are flexible surrogate models for computer experiments with nonstationary response surfaces, but inference over their latent representations remains computationally challenging. Existing methods typically rely on variational inference or Markov chain Monte Carlo (MCMC), which impose variational-family assumptions or require costly posterior sampling. We propose the latent maximum-a-posteriori deep Gaussian process (LaMP-DGP), which uses gradient-based optimization to obtain MAP estimates of the latent representations and enables efficient probabilistic prediction through linked-GP calculations. To scale LaMP-DGP to large datasets, we develop a mini-batch optimization algorithm and, under a polynomial mini-batch bias-decay condition, establish a stationarity bound for latent-state optimization that motivates a growing batch-size schedule. Across numerical experiments and real-data analyses, LaMP-DGP provides consistently competitive predictive performance relative to doubly stochastic variational inference, stochastic gradient Hamiltonian Monte Carlo, and fully Bayesian Vecchia DGP inference. Computationally, LaMP-DGP is substantially faster than the Vecchia MCMC approach while remaining broadly competitive with the stochastic-gradient alternatives. These results position LaMP-DGP as a competitive and computationally efficient alternative for DGP inference. An R package, "LaMPDGP", is available for implementing the proposed method.

stat.ML · cs.LG

版本更新 · v5arXiv:2604.24561

Remotely programming the weights of a spintronic neural network by a radiofrequency broadcast signal

M. Menshawy, D. Sanz-Hernández, L. Mazza, V. Puliafito, G. Finocchio, A. Jenkins, R. Ferreira, L. Benetti 等 10 位作者

原文摘要

Selectively programming a large number of non-volatile synaptic weights without compromising scalability is a key challenge for in-memory computing. Here, we experimentally demonstrate remote programming of synaptic weights in series-connected chains of 11 vortex-based magnetic tunnel junctions using broadcast radiofrequency signals applied through a shared strip line. Because each junction is engineered with a distinct resonance frequency, programming relies on frequency-selective reversal of the vortex-core polarity and therefore does not require individual access lines or selector devices. Reconfiguring the binary states of these chains strongly reshapes the continuous spectral transfer functions that determine the weighted sums performed on frequency-multiplexed RF inputs. This allows compact networks built from such chains to process high-dimensional RF-encoded inputs. We experimentally perform handwritten-digit classification and drone RF-signature identification using a two-chain network comprising only 22 synapses in total. After remote reconfiguration for each task, the spintronic network respectively reaches 93.9 +/- 2.3 % and 99.5 +/- 1 % test accuracy, on par with the software baseline. Broadcast RF programming thus provides a compact and scalable route to rapidly reconfigurable spintronic neuromorphic hardware.

cs.ET · cond-mat.mes-hall

新论文 · v1arXiv:2610.38037

Measuring Deep Learning Performance - An Empirical Study of Performance Distributions Across Architectures and Tasks

Kevin L Coakley, Odd Erik Gundersen

原文摘要

Context: Non-determinism in deep learning algorithm design and implementation leads to performance variation, meaning model performance is not a single value, but rather a distribution. These model performance distributions are underexplored despite their impact on robustness. Objective: We investigate the robustness of deep learning performance to sources of non-determinism, specifically focusing on how performance distributions differ across various architectures and tasks. Method: We conducted 186 experiments on image classification and time series forecasting architectures. Each experiment was run 100 times with different random seeds to generate performance distributions, resulting in 18,600 runs. Robustness was quantified using metrics for spread, symmetry, and tail risk. Results: Performance distributions are frequently non-Gaussian, particularly in time series forecasting. Model size does not systematically affect robustness -- larger image classification models show fewer outliers but not lower spread, while smaller time series models show lower spread but more extreme underperformers. Training duration does not scale linearly; early stopping effectively balances performance and robustness. Mean performance does not predict robustness - time series forecasting shows moderate correlation while image classification shows none. Time series models produce nearly three times more underperforming outliers than image classification models, indicating substantially higher tail risk. Conclusions: Tail risk poses serious concerns for Trustworthy AI in high-stakes applications. Models performing well on average may exhibit long tails and extreme outliers revealed only through distributional analysis. Mean performance alone should not guide model selection; assessment of spread, symmetry, and tail risk is essential for reliable model assessment where consistent performance is critical.

cs.LG · cs.AI

新论文 · v1arXiv:2610.38036

Integral Probability Boundaries

Bogdan Kulynych, Shahab Asoodeh

原文摘要

Bounds based on Integral Probability Metrics (IPMs) are ubiquitous in machine learning and statistics, appearing, e.g., in generalization, alignment, fairness, and privacy. IPMs reduce the discrepancy between two distributions to a single worst-case gap between expectations. This compression is costly: for rare events, safety failures, or under-represented groups, IPM-based bounds are loose or vacuous. We introduce a non-linear generalization of IPMs, which we term Integral Probability Boundaries (IPBs). Unlike IPMs, IPBs provide bounds that are tight at the extremes. We derive their basic properties and present algorithms for estimating them in practically relevant settings. We demonstrate the usage of IPBs in both theoretical and practical applications for alignment, judge-free performance estimation, and fairness, where they enable us to obtain sharp bounds on performance and fairness gaps, e.g., 15 p.p. more precise estimates on fairness gaps for rare groups in a realistic generative modeling task, compared to the state of the art.

cs.LG · cs.IT · stat.ML

新论文 · v1arXiv:2610.38034

Learning from Relative Action Credit for Escaping Local Minima

Giovanni Minelli, Giulio Turrisi, Lorenzo Amatucci, Victor Barasuol, Claudio Semini

原文摘要

Reinforcement learning holds the promise of robots that learn manipulation skills from interaction alone, without pretrained priors or demonstration data. In practice, on-policy methods such as PPO routinely stall on long-horizon, contact-rich tasks: dense reward shaping carries the policy through stages, yet stitching them together and discovering sparsely rewarded events rarely succeeds. We trace this failure to the missing action discrimination in state-value credit assignment: a state-value critic judges progress only by episode outcomes, so when the policy converges to a partial solution all outcomes coincide, and improvement stops because no action can prove better than another. We therefore extend PPO with an action conditioned value critic which, can compare the executed action with alternatives sampled at the same state and aid the learning signal. Combined with Generalized Advantage Estimation and a bound on exploration noise, we show how the extended algorithm escapes the plateau and completes precise peg insertion within a training budget where PPO with identical exploration fails.

cs.LG · cs.RO

版本更新 · v2arXiv:2610.10264

CrossEdit: Cross-Modal Training Enables Rich Audio-Visual Editing

William Chen, Prem Seetharaman, Ke Chen, Oriol Nieto, Kevin Duarte, Siddharth Srinivasan Iyer, Mamshad Nayeem Rizve, Zhiwen Cao 等 13 位作者

原文摘要

Multimedia editing requires generative models to interpret complex, compositional instructions and modify only the desired elements across modalities, a capability largely beyond existing systems. Current approaches are typically limited to simple, single-attribute edits within one modality, since diverse, high-quality editing pairs are hard to obtain, especially for cross-modal tasks where aligned audiovisual (AV) data is scarce. We present CrossEdit, a unified omni-modal editing model for images, audio, and video that performs AV movie scene edits zero-shot through cross-modal transfer. Our key observation is that complex instruction-following, once learned in any modality, generalizes to others. We exploit the additive nature of acoustic signals to procedurally generate large-scale audio editing pairs with compositional instructions, and show that fine-tuning on this synthetic data and self-supervised AV masked reconstruction, alongside a targeted set of curated cross-modal tasks, induces instruction-following that transfers zero-shot to unseen modality and instruction combinations. To evaluate this capability, we release CrossEditBench, a human-annotated benchmark of AV edits on movie scenes, and propose AV-FES, a metric that jointly scores instruction following and consistency. We show that our proposed techniques improve performance on zero-shot AV movie scene editing, while maintaining or improving performance on lip-synced speech editing and standard image, video, and audio editing benchmarks. Demos are available at https://wanchichen.github.io/crossedit/.

cs.SD · eess.AS · eess.IV

版本更新 · v2arXiv:2409.11199

Lexicographic Descent: A Gradient-Based Approach to Optimize Totally Ordered Rulebooks via Parametric Scalarization

Matteo Penlington, Alessandro Zanardi, Lorenzo Fiaschi, Emilio Frazzoli

原文摘要

Safety-critical systems, such as autonomous vehicles, must satisfy conflicting constraints and objectives, collectively called rules, typically ordered lexicographically. Preemptive lexicographic optimization solves a sequence of problems, one per priority level. However, higher levels are optimized without considering lower ones, making the approach susceptible to suboptimal solutions. On the other hand, scalarization optimizes all levels jointly and so avoids this myopia, but a finite weighted sum permits trade-offs across priority levels, and exact scalar representations lack the regularity standard solvers require. We propose Lexicographic Descent, which combines the benefits of both: a single weighted sum whose relative weights decay at priority-dependent rates, recovering the lexicographic order in the limit. We show that Lexicographic Descent converges to constrained stationary points of the highest-priority rule, matching preemptive guarantees. Since the lower-priority weights vanish, we derive a necessary condition for the lower-priority rules to keep guiding the iterates, with the aim of avoiding suboptimal stationary points of the higher-priority rules. We show that Lexicographic Descent can exploit problem structure to reach the lexicographic optima, and outperforms the preemptive approach on an autonomous driving case study.

cs.RO

新论文 · v1arXiv:2610.38030

From Needs Assessment to Legal-Digital Empowerment: A Community-Based Framework for Indigenous Enterprises in Higher Education Extension Programs

Marilou O. Espina, Sales G. Aribe, Mark Ian M. Mukara, Joseph L. Abella, Nurwahyu Alamsyah

原文摘要

IPOs contribute significantly to local economies, cultural preservation, and sustainable livelihoods within their ancestral communities. However, many IPOs remain marginalized in digital economies due to limited digital competencies, inadequate access to technology, and insufficient legal awareness related to online enterprise participation. This study examined the marketing practices, digital competencies, and legal-literacy needs of IPOs in the Philippines and developed a legal-digital empowerment framework for higher education extension and community engagement initiatives. Using a sequential mixed-methods design, data were collected through surveys and focus group discussions involving IPO members engaged in community-based enterprises. The study assessed existing marketing practices, identified competency and legal-awareness gaps, and determined capacity-building needs related to digital enterprise participation. Findings revealed that IPOs continue to rely heavily on traditional marketing channels, with limited use of digital platforms, inconsistent branding practices, and minimal engagement in strategic digital marketing activities. Participants also expressed concerns regarding intellectual property protection, online participation, and limited understanding of legal mechanisms related to digital enterprise engagement. Despite these limitations, IPO members showed strong willingness to participate in training and mentorship initiatives. The study proposes the Legal-Digital Empowerment Framework for Indigenous Community Enterprises, which integrates digital competencies, legal literacy, institutional support systems, and rights-based market participation into a structured and context-responsive model for higher education extension programs.

cs.CY · cs.SI

新论文 · v1arXiv:2610.38027

METATRON: A Promptable Whole-Body Execution Layer for Humanoids

Chen Tessler, Yifeng Jiang, Alec Otto, Yi Shi, Umar Iqbal, Gal Chechik, Xue Bin Peng

原文摘要

Humanoid controllers often require task-specific training despite sharing the need for balance and whole-body coordination. We present Metatron, a promptable whole-body execution layer combining a generative base policy with a programmable skill layer. The base policy receives partial goals, collectively called a prompt, that can combine timed body-part targets, velocity commands, and style cues. It produces diverse whole-body motions consistent with these goals. Training combines motion capture, synthetic recovery trajectories, and retargeted scene-interaction motions. After training, the policy is frozen. Stateful programs called skills express task intent as prompts at each control step, drawing rough geometric sketches that the policy turns into coordinated movement. Skills are ordinary code, refined by coding agents that analyze motion data and fit compact rules without task-specific policy training. On the physical Unitree G1, one frozen checkpoint supports walking, recovery, teleoperated object pickup, and sitting on furniture. Comparative evaluations show higher reaching success and push robustness than the tested reference-tracking pipelines. The same recipe produces climbing and acrobatics on a simulated character. Metatron enables coding agents to turn learned motor capabilities into new skills through code, without further policy training.

cs.RO · cs.AI

新论文 · v1arXiv:2610.38026

Making Sense of Audience Change: Causal Attribution and Boundary Management on Xiaohongshu

Zhiyi Zhou, Kyrie Zhou

原文摘要

Recommendation-driven platforms can reshape not only what users see, but also who becomes visible and how community boundaries are negotiated. We examine Xiaohongshu discussions surrounding a perceived World Cup-related audience influx to understand how users attributed community change and how those explanations related to boundary-management strategies. We analyzed 262 comments from eight high-engagement threads using researcher-led thematic analysis, structured coding, and permutation-based association analysis. Users described personalization as both social separation and a boundary that could fail, interpreted platform growth through audience acquisition and commercialization, and contested whether gender should define community membership. Among 70 comments with explicit attributions and strategies, attribution and strategy were strongly associated (Cramer's V = .583): algorithmic attributions concentrated in technical boundary management, while social-actor attributions more often aligned with social enforcement or normative socialization. These findings connect causal sensemaking with boundary management and show how audience restructuring can create governance consequences on recommendation-driven platforms.

cs.HC · cs.AI · cs.CY