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新论文 · v1arXiv:2610.36816

Integrated Design and Reproducible Feasibility Analysis of a Four-Wheel Rover with Packet-Commanded Imaging, LiDAR Ranging, and Learning-Assisted Target Recognition

Sabik Bin Sultan, Shafi Bin Sultan, Safwan Sadad, Aranya Abeer Khan Prapya, Maria Sultan

原文摘要

This study develops an integrated, reproducible design assessment for a four-wheel educational rover intended for the high-school remote-control division of the 2027 NASA Human Exploration Rover Challenge. The architecture combines commercial differential drive control, independently sprung wheel carriers, separate drive and task batteries, and a Raspberry Pi-based subsystem that executes received imaging and ranging commands. The analysis reconciles component lists with dimensioned computer-aided design views, derives mobility and electrical constraints, and connects sensor geometry to command execution. At the estimated mass of 10.919 kg, a 215 mm wheel rotating at 200 RPM produces a theoretical rolling speed of 8.105 km/h; consequently, the nominal motor label does not establish compliance with an 8 km/h design ceiling. A steady 20-degree climb requires at least 1.255 newton-meters per wheel under an assumed rolling-resistance coefficient of 0.10 and equal torque sharing. At 50 ft, an ideal 12-inch feature spans approximately 71 pixels across a full-resolution Camera Module 3 Standard image, while a 1-degree pointing error displaces the ranging ray by approximately 266 mm. An executed synthetic benchmark compares color-geometry rules and two linear support-vector classifiers on 2,400 generated board crops with scene-disjoint evaluation. A separate reference command executor is checked using mocked hardware. These software results and analytical sensitivities support a testable development plan; the study does not report physical rover trials. The principal contribution is a traceable connection between component choices, failure mechanisms, quantitative design limits, and reproducible verification tasks.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.05282

Temporal Tactile Encoding and Compliance for Intent-Aware Robot-to-Human Bimanual Handover

Pasquale Marra, Stefano Berti, Gabriele Mario Caddeo, Lorenzo Natale

原文摘要

Reliable robot-to-human handover requires the robot to infer when the person is ready to receive the object and release it safely, comfortably, and at the right time. This is challenging because visual observations alone may not disambiguate clear taking intent from accidental contact, weak grasping, wrong-direction forces, or transient interactions. In this work we treat human-robot handover as an intrinsically multimodal problem. Our approach couples a VLA model with a compliance controller that reduces interaction forces during object transfer. We finetune the VLA model with human demonstrations using RGB observation, temporally encoded tactile feedback and proprioception. We evaluate the complete system in a human-subject study against two baselines: one without tactile feedback and one using tactile feedback without compliance control. We hypothesize that combining compliance and temporal tactile encoding yields the most reliable and comfortable handovers, as compliance facilitates physical interaction while tactile history captures sustained taking intent. Performance is measured through objective metrics and an ad-hoc questionnaire. The results show that the two components provide complementary benefits and substantially outperform the baselines. Project page: https://hsp-iit.github.io/temporal-tactile-bimanual-handover/.

cs.RO

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2508.03059

Two-sample comparison through additive tree models for density ratios

Naoki Awaya, Yuliang Xu, Li Ma

原文摘要

The ratio of two densities provides a direct characterization of their differences. We consider the two-sample comparison problem by estimating this ratio given i.i.d. observations from two distributions. To this end, we propose additive tree models for density ratio estimation along with efficient algorithms using a new loss function, the balancing loss. The loss allows tree-based models to be trained using several algorithms originally designed for supervised learning, such as forward-stagewise optimization and gradient boosting. Moreover, the balancing loss resembles an exponential family kernel, and it can serve as a pseudo-likelihood with conjugate priors. This property enables generalized Bayesian inference on the density ratio using backfitting samplers designed for Bayesian additive regression trees (BART). Our Bayesian strategy provides uncertainty quantification for the inferred density ratio, which is critical for applications involving high-dimensional and data-limited distributions with potentially substantial uncertainty. We further show connections of the balancing loss to the exponential loss in binary classification and to the variational form of f-divergence, particularly the squared Hellinger distance. Numerical experiments demonstrate that the proposed boosting algorithms achieve high accuracy at low computational cost, and that the Bayesian additive tree is competitive in accuracy while additionally providing uncertainty quantification, which the compared estimators do not offer. Finally, we demonstrate its application to assessing the quality of generative models for microbiome compositional data.

stat.ME · stat.CO · stat.ML

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.34889

FATE-5: Faithful Alignment of Trait Expression for Continuous Big Five Personality Control

Gunhee Cho, Hongyeob Kim, Yun-Gyung Cheong

原文摘要

Controlling personality in large language models is important for building conversational agents that can be customized to different users and interaction settings. However, existing personality control methods often face a tradeoff between strong trait expression and natural dialogue generation. We introduce FATE-5, Faithful Alignment of Trait Expression for the Big Five, a two-stage framework that separates personality encoding from naturalness alignment. FATE-5 first learns continuous soft prompt representations of Big Five profiles using dialogue supervision and an auxiliary survey objective. It then improves dialogue naturalness through preference alignment based on both dialogue quality and personality agreement. Across three language model backbones, FATE-5 maintains strong trait expression while achieving substantially higher dialogue naturalness than other trait-strong methods. On held-out questionnaires, it achieves monotonicity correlations of 0.97-0.99 and recovery RMSE of 8.9-12.4, substantially improving over the evaluated baselines. These results demonstrate effective continuous personality control while maintaining natural conversational behavior.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36813

Words or Deeds? How LLMs Predict Users' Decisions in Human-Agent Dialogue

Baiqiao Zhang, Shuai Ma, Zhifeng Liao, Chao Zhou, Jianshu Wang, Yuhan Zhao, Chaoyue Zhang, Tongjun Si 等 12 位作者

原文摘要

Web systems increasingly predict users' decisions from what users say, yet when interests partly conflict, users may promise to cooperate to win the other side's cooperation and then not do so. Sales or service agents that rely on such promises may grant concessions to users who then do not keep their promises, at a cost to the party they represent. We test how LLMs combine users' statements with decision records to predict users' decisions, using 1,260 rounds in which 42 users played a repeated prisoner's dilemma-style game with five agents, each prompted to express a dominant Big Five trait, and could talk with the agent before every decision. Across eight open-weight LLMs, predictions from decision records separated cooperation from defection well (AUC = .80), and adding dialogue brought no detectable gain. With dialogue, predictions agreed with users' statements more often, and errors concentrated on rounds in which users broke their statements: accuracy on rounds with a statement barely changed (.73 to .74), while it rose on kept statements (.76 to .95) and fell sharply on broken ones (.65 to .17). Predictions weighted statements more heavily than users' behavior warranted: when users stated a decision they had not yet made in that game, the predicted probability of keeping it rose from .13 to .69, whereas users kept .40 of such statements. Users' decisions also varied with the agent they faced, but predictions hardly reflected this: users cooperated more with the Agreeableness agent than with the Extraversion agent (70.6% vs. 54.5%), whereas predicted cooperation was nearly identical (64.5% vs. 63.1%). Users also cooperated more with an agent when they themselves scored higher on that agent's trait, whereas predicted cooperation barely changed with these scores. Dialogue-based predictions should therefore weigh users' statements by their earlier decisions and the agent they face.

cs.CL · cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36812

Gradient flow of magnetic inclination and intensity as a GPS-free guidance mechanism

Zayed Herma, Philippe Cardin, Andréa Vassilev

原文摘要

It is well established that some animals, such as sea turtles, sense the Earth's magnetic field and use it as a primary cue for long-distance navigation across the vast and featureless ocean. This remarkable ability has inspired the development of bio-inspired magnetic navigation (BIMN), which seeks to mimic these animals to develop robust and frugal navigation methods. BIMN exploits the Earth's magnetic field, sometimes described as ''Nature's GPS'', as a natural navigation infrastructure, providing a potential alternative to vulnerable satellite navigation systems. However, unlike geographic coordinates, magnetic coordinates extracted from the Earth's magnetic field do not provide a one-to-one mapping to geographic locations. Different locations can exhibit similar magnetic signatures, creating ambiguity and making BIMN inherently more challenging. Despite this fundamental challenge, we demonstrate that, within predefined regions of the Earth, magnetic inclination and intensity provide sufficient information to navigate to any destination. By formulating BIMN as a gradient flow control and guidance problem, we show that the resulting gradient flow act as current that carries the system and can be controlled to guide it through intermediate waypoints toward the desired destination. The resulting framework provides a GPS-free navigation mechanism with potential applications in both engineering and biology. In engineering, it can be used to establish a geomagnetic navigation infrastructure through which prescribed routes can be defined and followed, while in biology, it can be used to analyse the migration routes of animals known to rely on magnetoreception.

cs.RO · eess.SY

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2512.02631

SeeNav-Agent: Enhancing Vision-Language Navigation with Visual Prompt and Step-Level Policy Optimization

Zhengcheng Wang, Zichuan Lin, Yijun Yang, Haobo Fu, Deheng Ye

原文摘要

Existing Vision-Language Navigation (VLN) agents based on Large Vision-Language Models (LVLMs) often suffer from errors of perception, reasoning, and planning, which significantly hinder their navigation performance. To address these limitations, a novel VLN agent framework, named SeeNav-Agent, is proposed. First, to reduce hallucinations of the visual module of the VLN agent, a dual-view Visual Prompt (VP) technique is introduced, which can also improve the agent's understanding of current spatial states. Subsequently, a novel step-level Reinforcement Fine-Tuning (RFT) method, Step Reward Group Policy Optimization (SRGPO), is designed for post-training. In SRGPO, we first define verifiable process rewards for navigation, and then perform efficient step-level advantage estimation by randomly grouping navigation steps. SRGPO provides dense reward signals for the RFT of the VLN agent and enhances its planning capability. Experiments on both the EmbodiedBench Navigation (Embench-Nav) and VLN-CE validate the effectiveness of the proposed method. By introducing the zero-shot VP module, the GPT-4.1 achieves a navigation success rate of 86.7%, surpassing the current best LVLM by approximately 20 percentage points (pp) on Embench-Nav and achieves an 11.1 pp improvement on VLN-CE compared to the base model. With VP+SRGPO, the Qwen2.5-VL-3B model reaches a navigation success rate of 72.3%, outperforming the best existing LVLM model by 5.6 pp on Embench-Nav and achieves 8.9 pp improvement on VLN-CE compared to the baseline method. Moreover, compared to GRPO and GiGPO, the proposed SRGPO demonstrates significant improvements in training stability, convergence efficiency, and generalization capability.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36811

Weakness Localization Is Not Enough: State-Aware Recursive Knowledge Improvement for Large Language Models

Runze Jiang, Yan Wang, Boran Jin, Bingyu Zhu, Longtao Huang

原文摘要

Knowledge improvement in large language models is shifting from predefined knowledge incorporation pipelines toward evaluation-guided updating. Existing methods use evaluation to localize model-specific knowledge weaknesses and guide targeted post-training. However, identifying what to improve does not necessarily provide sufficient information for deciding how to improve it. The same localized weakness can be compatible with distinct operational knowledge states: the relevant knowledge may be unavailable, available but difficult to access reliably, or accessible but ineffective for downstream use. We call this ambiguity knowledge-state aliasing. When compatible states favor different interventions, greater diagnostic resolution alone is insufficient for intervention selection. Moreover, model updates can change the underlying knowledge state before the observed weakness disappears, such that an intervention appropriate in one round may no longer address the bottleneck in the next. To address these challenges, we propose Recursive Knowledge Improvement (RKI), which formulates knowledge improvement as a sequential, state-aware intervention process. RKI organizes knowledge into graph-structured units that provide a shared basis for diagnostic evaluation and targeted intervention across rounds. At each round, RKI localizes knowledge weaknesses, estimates the model's operational knowledge state from diagnostic evidence and intervention history, selects a corresponding intervention, and re-evaluates the updated model before determining the next intervention. On HotpotEval and SafeInternalEval, RKI outperforms existing knowledge incorporation methods by 18.41 points on average. Further analyses show that knowledge states provide additional guidance for intervention selection beyond weakness localization and can change across model updates even when the observed weakness persists.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36809

Latent Visual Contrastive Reasoning with Multi-Branch Exploration

Kegeng Tang, Jingbo Wang, Yangming Zhang, Huanshu Zhang, Shaogang Ren, Zihao Wang

原文摘要

Multimodal large language models have made substantial progress in visual question answering, but complex visual reasoning often requires locating and comparing multiple pieces of question-relevant visual evidence. Existing methods that move intermediate reasoning into the visual latent space usually follow a single linear reasoning trajectory, which can be limiting when multiple visual hypotheses or competing evidence regions are relevant. We propose Latent Visual Contrastive Reasoning, a branch-aware latent reasoning framework that generates multiple question-conditioned latent visual branches as soft hypotheses over image tokens. To train these branches, our method uses bounding-box evidence annotations to build target evidence representations and introduces a soft contrastive branch-evidence alignment objective. This objective encourages evidence-relevant branches to align with annotated visual regions while contrasting them against negative evidence. We instantiate our method on Qwen2.5-VL backbones and train it with standard supervised fine-tuning. Experiments on perception-intensive visual reasoning benchmarks show that the proposed method achieves overall improvements over the corresponding backbone and single-path latent reasoning baselines at both 3B and 7B scales.

cs.CV · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36808

HqcLethe: Streaming HQC Encapsulation for Tiny Stateless Servers

Wind Wong, Klaus v. Gleissenthall

原文摘要

Stateless post-quantum authenticated key exchanges such as post-quantum WireGuard hedge against unexpected cryptanalytic advances by combining a lattice KEM with code-based Classic McEliece. However, recent attacks have led Germany's BSI to advise against McEliece, which leaves these protocols with lattices alone. HQC, the code-based KEM that NIST selected, could restore diversity, but its keys do not fit in a single packet, so a server would have to buffer multi-packet handshakes. This would leave an attack surface for memory exhaustion, which is what WireGuard's stateless handshake was designed to avoid in the first place. McTiny demonstrated that stateless key encapsulation for Classic McEliece is possible by streaming key blocks one-at-a-time. However, HQC's encapsulation does not split as easily into individual packets, as cyclic polynomial multiplication, unlike matrix-vector multiplication, is inherently non-local. We present HqcLethe, a stateless key exchange that streams an HQC encapsulation in packet-sized pieces. It uses the Chinese remainder theorem to split the polynomial multiplication into independent remainders, one per packet, and masks them so that they reveal no more than an ordinary HQC ciphertext, which we prove in Rocq with SSProve; we also verify session secrecy, server authentication and forward secrecy in ProVerif. Client puzzles bound CPU exhaustion, and HqcLethe removes memory exhaustion: on a Raspberry Pi 3B+, each worker runs in a fixed 1.2-1.6 MiB. At category 5 it sends 27x fewer bytes and uses 9.0x less server CPU than McTiny, the earlier stateless code-based design.

cs.CR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36807

SetGRPO: Calibrating Grader-Induced Policy Optimization

Jiale Huang, Zixu Li, Zhiwei Chen, Zhiheng Fu, Jinhe Bi, Yupeng Hu

原文摘要

Rubric-based reinforcement learning uses fine-grained grader feedback to train large language models on open-ended tasks, but grader randomness can alter GRPO updates in ways that score discrepancies alone cannot characterize. Because GRPO jointly normalizes rewards within each response group and combines the resulting training coefficients with response-level gradients, a scoring discrepancy can shift the coefficients of the entire group and induce policy-dependent update changes. Selective execution further affects the direction-reversal risk of retained updates. To address this, we propose Set-Valued Group Relative Policy Optimization (SetGRPO). It comprises three modules: (a) Joint Reward Set Calibration constructs a joint uncertainty set for the training coefficients; (b) Geometry-Guided Safe Recovery maps candidate coefficients into the current policy's local update geometry and determines the largest safe recovery ratio for each response group; and (c) Selective Risk-Gated Optimization selects a global threshold through independent risk calibration to control the conditional direction-reversal risk of accepted updates while preserving the original GRPO objective. Under exchangeability, SetGRPO provides finite-sample marginal coverage for the joint coefficient set and simultaneous risk control across candidate thresholds. On ten open-ended benchmarks spanning three domains, SetGRPO achieves the highest macro average among all compared training methods on both Qwen3.5 and Llama3.2 model families.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2604.17866

Latent Abstraction for Retrieval-Augmented Generation

Ha Lan N. T, Minh-Anh Nguyen, Dung D. Le

原文摘要

Retrieval-Augmented Generation (RAG) has become a standard approach for enhancing large language models (LLMs) with external knowledge, mitigating hallucinations, and improving factuality. However, existing systems rely on generating natural language queries at each hop and maintaining a strict architectural separation between retriever and generator, preventing them from leveraging the full representational capacity of the LLM. We propose \textbf{LAnR} (Latent Abstraction for RAG), a unified framework in which a single LLM jointly performs encoding, retrieval, and generation entirely within its own latent space. Rather than generating textual queries, LAnR produces dense retrieval vectors from the hidden states of a designated \texttt{[PRED]} token and uses them to match against encoded document representations from the same model. Furthermore, LAnR adaptively decides when sufficient evidence has been retrieved using a lightweight MLP control head over those same hidden states, eliminating both the separate retriever and explicit token-level stopping reasoning. This design is motivated by our empirical observation that answer token entropy reliably signals retrieval sufficiency. Extensive experiments on six QA benchmarks spanning single-hop and multi-hop settings demonstrate that LAnR outperforms existing RAG methods, while achieving improved inference efficiency through reduced number of retrieval calls and tighter model integration.

cs.CL · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36806

LLM knowledge for improved Out-of-Distribution Tabular Prediction - A Cross-Validated Regularisation Approach

Sølve Langseth, Kristoffer Herland Hellton, Hugo L. Hammer

原文摘要

Prediction models degrade when the deployment population differs from the one used to train them, and training data cannot say which feature-response relationships will transfer. Expert elicitation is slow and unscalable. We ask whether coefficient priors elicited from large language models (LLMs) improve out-of-distribution (OOD) prediction as the shrinkage target of a regularised regression instead of zero, across five tabular datasets split on real covariates, selecting providers and prior structures by source-domain cross-validation alone. The priors help on four of five datasets, by up to 7.9% OOD mean squared error, and ten of twenty-four prior-informed results resolve the mean improvement at conventional confidence; single-deployment intervals are much wider. On classification the gain is in probabilistic accuracy, not ranking, and control tests with corrupted priors attribute the benefit to feature-specific content rather than scale. Two findings temper this. Variation across candidate priors exceeds the average benefit, yet cross-validation margins fall below their own noise, so selection avoids the worst prior rather than finding the best. On three datasets the prior improves in-domain accuracy as much as out-of-domain, making it better regularisation than shift correction. Only where the training data are large enough that the in-domain gain disappears does elicited knowledge demonstrably improve transfer. Code, priors and results: https://github.com/hugohammer/llm-priors-ood.

cs.LG · stat.ME · stat.ML

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36805

Personality Latents: Conditioning Frozen Language Models on Individuals from Their Own Writing

Gunhee Cho, Yun-Gyung Cheong

原文摘要

Controlling the personality of a language model usually relies on written profiles or named trait categories, so it can only express what an author writes down or what a taxonomy names. We instead propose Personality Latents (PL), which learn a latent for each person from their own writing, with no personality labels and no authored profile, and inject it into a frozen language model as a soft prefix. Following generative latent optimization, each training person receives a free latent that is optimized through the frozen model itself, while an encoder learns to predict these latents so that a new person needs only one forward pass, with optional refinement at test time. We evaluate on held-out people by having the conditioned model answer neutral and interview questions and reading personality from its answers with scorers trained on real human writing. On the MBTI axes PL reaches an AUC of , ahead of persona embedding and prompt-based baselines under identical settings, and the ranking holds when the answers are scored in three different embedding spaces. A latent learned with Qwen2.5-3B-Instruct also transfers personality to Llama-3.1-8B-Instruct through a new adapter alone.

cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36804

DFIP: Decision-Focused Inference Path for System One Models

Ismail Pelaseyed, Alan Zabihi

原文摘要

System One (decision) models return small structured answers, but can retain host dispatch, GPU launch overhead and full-vocabulary projection. We present DFIP (Decision-Focused Inference Path), an empirical systems study of established inference techniques in PPLX-Decider, Liquid d1-3B, Clef-Flash and GLiNER2.5-Decide. Selective CUDA graph replay, candidate-token projection and schema-compatible length-aware batching are applied at compatible model boundaries. We compare resident requests with stronger native baselines, audit exposed answers and measure changing arrivals. With optional native Qwen kernels installed, short Boolean resident speedups over strengthened native are 2.47x for Decider across five containers and 1.45x for Clef across four of five planned containers; Clef's fifth fails in native preflight. Liquid is effectively tied with released compilation; replay supplies most of its eager-baseline gain, while projection alone adds little full-request benefit. In a one-worker GLiNER follow-up, length-aware batching is 1.40x faster than compiled native FIFO batching on a diverse resident trace, but has worse arrival p95. Decider and Clef audits cover 3,024 decisions per model and preserve all 1,112 returned choices, while Clef changes scores, probabilities and serving confidence thresholds. Diverse external arrivals reverse fixed-shape replay gains and expose overload losses and a replay-path CUDA error. The results identify workload-specific acceleration and its limits, rather than a universal optimizer or production readiness.

cs.PF

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arXiv ↗PDF ↗
版本更新 · v7arXiv:2512.14554

Benchmarking Vietnamese Legal Knowledge of Large Language Models

Nguyen Tien Dong, Minh-Anh Nguyen, Thanh Dat Hoang, Nguyen Tuan Ngoc, Dao Xuan Quang Minh, Phan Phi Hai, Nguyen Thi Ngoc Anh, Binh Vu 等 9 位作者

原文摘要

The rapid advancement of large language models (LLMs) has enabled new possibilities for applying artificial intelligence within the legal domain. Nonetheless, the complexity, hierarchical organization, and frequent revisions of Vietnamese legislation pose considerable challenges for evaluating how well these models interpret and utilize legal knowledge. To address this gap, the Vietnamese Legal Benchmark (VLegal-Bench) is introduced, the first comprehensive benchmark designed to systematically assess LLMs on Vietnamese legal tasks. Informed by Bloom's cognitive taxonomy, VLegal-Bench encompasses multiple levels of legal understanding through tasks designed to reflect practical usage scenarios. The benchmark comprises 10,450 samples generated through a rigorous annotation pipeline, where legal experts label and cross-validate each instance using our annotation system to ensure every sample is grounded in authoritative legal documents and mirrors real-world legal assistant workflows, including general legal questions and answers, retrieval-augmented generation, multi-step reasoning, and scenario-based problem solving tailored to Vietnamese law. By providing a standardized, transparent, and cognitively informed evaluation framework, VLegal-Bench establishes a solid foundation for assessing LLM performance in Vietnamese legal contexts and supports the development of more reliable, interpretable, and ethically aligned AI-assisted legal systems. To facilitate access and reproducibility, we provide a public landing page for this benchmark at https://vilegalbench.cmcai.vn/.

cs.CL · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2606.30776

Optimal Auction Design for Constrained Buyers

Batya Berzack, Rotem Oshman, Inbal Talgam-Cohen

原文摘要

We study single-parameter, multi-buyer auctions in which buyers are subject to constraints that affect their bidding strategy. Such constraints arise in many real-world auction settings and fundamentally alter the auction design space: the revelation principle, envelope theorem, and Myerson's lemma no longer hold. Our focus is on a large family of constraints where the buyers do not have a hard budget-cap, but are restricted in how they can bid or spend their budget --- including no-overbidding, ex-post individual rationality (IR), and stagewise IR. We ask whether the seller can leverage the buyers' constraints to obtain improved payoff. We separate between \emph{revenue-aligned} seller objectives (revenue, welfare, or any linear combination), and \emph{consumer-aligned} seller objectives (e.g.\ consumer surplus). For the former, we establish a unified theory for all constraints in the family, which parallels Myerson's theory of optimal auctions for unconstrained buyers. We develop a new measure-theoretic technique to show that Myerson-style auctions remain optimal, despite the altered design space and failure of the classical theory's central tenets. In contrast, we show a consumer-aligned seller can leverage the buyers' strategic limitations to strictly outperform mechanisms that are classically incentive compatible. We also design an auction arbitrarily close to optimal for buyers who cannot tolerate temporary debt.

cs.GT

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.33510

DiffRouter: A Differentiable Routing Framework for UltraScale FPGAs

Xiaohan Gao, Zhili Xiong, Yusu Wang, David Z. Pan

原文摘要

Routing has become a major bottleneck in large-scale FPGA design flows, where traditional routers rely on sequential net-by-net processing and rip-up-reroute heuristics. This inherent sequentialism limits parallelism, leads to suboptimal utilization of routing resources, and significantly increases runtime on modern FPGAs. This paper introduces DiffRouter, the first differentiable, gradient-based FPGA routing framework with GPU acceleration. By lifting routing into a continuous optimization space, DiffRouter enables highly concurrent routing and improved global optimality before projecting solutions back onto the discrete fabric. The framework consists of three key stages: (1) Resource-pruned preprocessing, which extracts compact routing variables per net to reduce memory footprint and problem complexity; (2) Differentiable global routing via gradient descent, which formulates routing as a Lagrangian-relaxed optimization that minimizes wirelength while iteratively enforcing connectivity and congestion constraints as relaxed terms; and (3) Postprocessing, which maps the continuous wire distributions to a valid UltraScale routing solution and completes solutions by detailed routing. Experiments on the FPGA 2024 Routing Contest benchmarks show that DiffRouter outperforms state-of-the-art parallel routers, achieving over 5x speedup over RWRoute and 2x over Vivado, and running 18% faster than the state-of-the-art academic FPGA router Potter while delivering competitive critical path wirelength.

cs.AR

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36798

Polymorphic First-Class Environments

Jinhao Tan, Jam Kabeer Ali Khan, Bruno C. d. S. Oliveira

原文摘要

First-class environments expose runtime environments as ordinary values and support a substitution-free, environment-based operational semantics. They also support applications such as first-class modules, dynamic composition of environment fragments, and sandboxing via local environments. Existing environment-based calculi, however, are mostly studied in a simply typed setting and stop short of System F and polymorphism. We present $F_E$, a polymorphic calculus with first-class environments that conservatively extends System F with a small-step environment semantics. $F_E$ eliminates all forms of substitution in System F. Term and type abstractions evaluate to closures, boxes run code under local environments, and box types expose the local typing assumptions of both. Manifest types, together with a two-sided type equivalence, play a dual role: they model type-level instantiation, and enable transparent type components in environments and modules. We prove type soundness, normalization, decidability, and standard properties of type equivalence, and conservativity over System F. The metatheory of $F_E$ is based on instantiation lemmas rather than substitution lemmas. This foundation supports polymorphic first-class modules with dynamic composition and sandboxing. We study $F_E$ in two forms. Our main presentation is an explicit, type-passing calculus that follows conventional System F. We also develop an implicitly-typed variant aligned with the semantics of polymorphic functional languages. All metatheory is mechanized in the Rocq theorem prover.

cs.PL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36797

Language Models Keep Abandoned Analyses: Residue and Adaptation after Garden-Path Sentences

Xiang Ding

原文摘要

Reading "While the man hunted the deer ran into the woods" requires giving up the analysis in which "the deer" is the object of "hunted". People who have just read such a sentence still produce more transitive structures, so the abandoned analysis primes later language. We ask whether language models keep using an analysis they have abandoned, and what in the model carries it. In 24 open models from 124M to 70B parameters, a garden-path sentence leaves two traces in the context. A residue of the abandoned analysis raises later object attachment, by about three quarters of the effect of a sentence in which the noun phrase really is an object, and it appears in sampled text, on held-out and human-normed items and for a second type of garden path. An adaptation toward the resolved structure scales with the sentence's disambiguation error and acts mainly on comprehension-like measures. Activation patching separates the two. Later text reads the residue from the role information in the noun phrase's states, which were computed under the object analysis before the disambiguation, and replacing these states removes almost all of the residue in the 32B and 70B models. The adaptation is read from the states that processed the disambiguation. Overridden statements show the same persistence (a corrected value keeps pulling later predictions in 8 of 9 models), and in most models the pull is carried by the positions after the statement. Finally, the human paradigm transfers only with controls for punctuation, because the models also write garden-path sentences themselves, which reverses the paradigm's raw statistic.

cs.CL

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版本更新 · v3arXiv:2607.21628

Wavelet Phase Diffusion for Structurally and Semantically Consistent Sim-to-Real Translation

Kaiwen Wang, Frank Bieder, Yinzhe Shen, Carlos Fernandez, Jan-Hendrik Pauls, Omer Sahin Tas

原文摘要

Simulation-to-reality translation must bridge the appearance gap between synthetic and real domains while preserving structural and semantic consistency. Conditioning-based methods achieve spatial alignment but introduce computationally expensive control modules. Paired-data methods achieve realism but rely on complex synthesis pipelines, often altering scene geometry and semantics. Training-free editing methods avoid both constraints but lack a learned appearance prior, limiting their perceptual quality. Recently proposed phase-preserving diffusion presents a promising alternative, but Fourier-domain formulations are constrained by global spectral coupling. This coupling induces spatial artifacts such as ringing and boundary leakage, thereby degrading structural and semantic consistency. We introduce Wavelet Phase Diffusion, which addresses this through two components. First, we operate in the Dual-Tree Complex Wavelet Packet Transform domain, whose localized wavelet packets enable spatially adaptive phase injection without global spectral interference. Second, Low-Frequency Randomization (LFR) replaces the low-frequency packet, decoupling the model from the synthetic illumination prior and enabling in-distribution real-world appearance. Both components train on unpaired open-domain data, and introduce negligible inference overhead. The spatial locality further enables instance-level translation, where individual objects or regions are translated to photorealistic appearance independently while the surrounding scene remains untranslated. On vKITTI $\to$ KITTI image translation, $ψ$-PD outperforms prior methods in realism and semantic consistency while maintaining competitive structural alignment. For CARLA video translation, $ψ$-PD approaches the realism of paired-data methods while reducing VLM planner ADE and FDE by $5.4\%$ and $5.1\%$, respectively.

cs.AI · eess.IV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36795

An Algebra of Transformers

Yong Wang, Zhiyan Wang, Hexiao Kang

原文摘要

On the theoretic analyses on transforms, they mainly focus on the computability analysis, such the Turing-completeness of unbounded precision transformers, the advantage of parallelizability of unbounded precision transformers and the limitations of bounded precision transformers. This paper give transformers an algebra for reasoning, which relies heavily on the functional decomposition results of transformers. This algebra uses functional decompositions as atomic actions, includes sequential composition and parallel composition, recursion for feedback and abstraction for hidden layers. As we know, it is the first attempt to model transformers logically and can be used to verify the correctness of transformer based applications.

cs.LO · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36794

Select-TTT: Query-Conditioned Selective Fast Weight Updates for In-Place Test-Time Training

Yue Wu, Yang Zhang, Weinan Gan, Chongming Gao, Xinsen Guo, Xiaoyuan Li, Fuli Feng

原文摘要

Test-time training (TTT) enables a deployed language model to internalize incoming context on-the-fly into a small set of fast-weight parameters, rather than merely treating it as transient context for attention. In-Place TTT recently made this idea practical for large language models by repurposing the down-projection of standard MLP blocks as fast weights. However, we find that its benefit largely disappears on realistic web long-context question answering. We attribute this to In-Place TTT's uniform write schedule: every chunk is written with equal strength, so irrelevant content dilutes query-relevant information in fast-weight memory. Building on this insight, we propose Select-TTT, a model-agnostic, query-conditioned rule for In-Place TTT that scales each chunk's write strength by its relevance to the user query. This relevance signal requires no supervision and no new parameters: it is read directly from the model's frozen output head, as the probability mass that a chunk's hidden states assign to the query tokens. A temperature-scaled softmax turns these scores into learning-rate multipliers, leaving the chunk-wise, context-parallel computation of In-Place TTT intact. Select-TTT consistently improves long-context question answering on two benchmarks and two backbones. These findings highlight the value of query-conditioned fast weight writes for practical test-time training on long-context question answering, which is also potentially promising for long-horizon agent tasks involving multiple user queries over evolving contexts.

cs.LG · cs.AI · cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.31850

Rethinking Multi-View Fusion for Urban Representation Learning

Sean Bin Yang, Zongyi Xu, Jilin Hu, Ying Sun, Kristian Torp, Bin Yang, Torben Bach Pedersen, Christian S. Jensen

原文摘要

Urban region representation learning encodes heterogeneous urban signals, such as mobility flows, points of interest, and land-use patterns, into unified embeddings for downstream tasks, including check-in prediction, crime forecasting, and service demand estimation. Existing approaches rely on globally shared fusion and joint optimization, implicitly assuming uniform modality importance and naturally balanced multi-objective training. However, urban data is inherently heterogeneous. Our empirical analysis reveals two structural issues: (i) modality utility varies markedly across regions, causing static fusion to overemphasize signals from certain modalities; and (ii) heterogeneous objectives exhibit persistent gradient imbalance, causing representational bias and unstable training. We present PRISM, a self-adjusting framework for adaptive multi-view learning. PRISM adapts sparse Mixture-of-Experts (MoE) routing to learn region-specific view allocations, while a Proportional-Integral-Derivative (PID)-inspired regulation mechanism mitigates gradient conflicts during optimization. Experiments on three large-scale urban datasets show that PRISM achieves more competitive performance than strong multi-view baselines, while providing more stable optimization behavior and more balanced region representations.

cs.LG · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36793

Visual Autoregressive Generation with Next Token Imagination

Ruihang Jiang, Zongyao Zhao, Zhaolin Wang, Yuanwei Liu, Xiatian Zhu

原文摘要

The space of possible visual content is enormous, and arguably unbounded. Any training set, however large, therefore covers only a tiny fraction of it. Yet generative models are typically trained to fit only the images they are given. In visual autoregressive (AR) generation, for example, each token is predicted from the preceding ground-truth (GT) tokens and supervised solely by the GT next token. Confining learning to observed data in this way limits how much of the visual distribution a model can capture. In this work, we hypothesize that letting a model imagine beyond its training data, by exploring plausible visual realizations it has never observed, can ease this limitation. We use visual AR generation as a proof of concept, since its fixed, discrete token space makes imagination easier to steer and constrain. We propose Next Token Imagination (NTI), a method that allows the model to explore beyond the GT next token, subject to a carefully designed criterion that keeps this imagination bounded by the underlying visual distribution. Extensive experiments on ImageNet show that NTI substantially and consistently improves the fidelity of generated images, approaching state-of-the-art diffusion and AR models while using a smaller model and lower training cost.

cs.CV

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新论文 · v1arXiv:2610.36791HF 社区推荐

RynnWorld-Latent: A Cross-Embodiment World Model Conditioned on Universal Latent Actions

Haoyu Zhao, Yinzhou Tang, Zixuan Wang, Minghao Zhu, Dongchi Huang, Xingyue Zhao, Qin Zhao, Kehan Li 等 14 位作者

原文摘要

Learning controllable world dynamics from heterogeneous interaction videos is challenging because robot embodiments use incompatible action spaces, while human videos lack native control labels. We present RynnWorld-Latent, a cross-embodiment video world model that uses the 3D-grounded latent actions introduced by RynnLAM as a shared conditioning interface. This representation enables joint pretraining on human interaction videos, robot demonstrations, and simulation rollouts without requiring a common native action space. Built on a pretrained video transformer, RynnWorld-Latent combines global action tokens with an identity-initialized local pathway that aligns actions with future video latents. We pretrain on 23 datasets comprising approximately 553.5M frames and adapt the model to target robots through post-training. The framework supports two data-generation routes: digital teleoperation uses target robot commands to generate action-video demonstrations, while latent-action synthesis transfers source motion to an edited initial frame and pairs the resulting rollout with retargeted pseudo robot actions. Experiments show improved video prediction metrics on public benchmarks and two real-robot platforms, alongside qualitative action following when different action sequences share the same initial observation. Synthetic mid-training improves policy success rates on LIBERO and LIBERO-Plus, and both generation routes improve real-world policy success rates over real-demonstration-only training in the evaluated settings. These results support universal latent actions as a scalable interface for learning controllable visual dynamics across heterogeneous embodiments.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36789

A fully articulated humanoid dexterous hand with human-level joint structure enabled by linkage-based actuation

Jihao Li, Jianguo Wang, Haotian Guo, Yanzhe Wang, Guodong Lu, Huixu Dong

原文摘要

Humanoid dexterous hands are a core component of embodied intelligence, enabling robots to translate high-level intent into rich and adaptive physical interaction. However, existing designs remain constrained by a persistent trade-off among anthropomorphic kinematic complexity, mechanical robustness, load capacity and control simplicity, limiting dexterous manipulation in unstructured environments. Here we present Torch-Hand, a fully articulated humanoid dexterous hand that replicates the joint structure and motion hierarchy of the human hand with 21 degrees of freedom (DOF), comprising a highly articulated five-DOF thumb and four DOF in each of the remaining fingers. The differentiated thumb integrates multi-axis CMC motion to provide broad opposition and flexible contact orientation relative to the four fingers. Unlike tendon-driven or hybrid actuation approaches, Torch-Hand adopts an entirely linkage-based transmission architecture. By integrating screw-linkage actuation, the hand achieves high grasping force and substantial payload capacity while maintaining a compact anthropomorphic form. Its actuation architecture is optimized for control tractability, with all actuators integrated within the palm and arranged in a serial-robot-like configuration that establishes a direct correspondence between motor motion and joint kinematics. This architecture mechanically decouples functional DOF to reduce unintended inter-joint motion propagation, while allowing independently addressable DOF to be actively coordinated into coupled multi-joint motion patterns during complex manipulation. Comprehensive experiments assess reachable workspace, coordinated fingertip trajectories, thumb opposition, 33-grasp taxonomy coverage, grasping force, payload capacity and task-level manipulation. These results establish Torch-Hand as a robust hardware foundation for dexterous embodied manipulation.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36787

Rethinking Channel Estimation for Fluid Antenna Systems: A Physics-Informed Operator Learning

Zixin Wang, Lizhong Zheng, Yuanming Shi, Kaibin Huang, Khaled B. Letaief

原文摘要

Fluid antenna systems (FAS) leverage continuous reconfigurable apertures to transcend the spatial limits of fixed-position arrays, yet acquiring full-aperture channel state information (CSI) from sparse observations remains a formidable bottleneck. In this paper, we establish a continuous-field formulation for FAS by recasting channel estimation as a stochastic inverse field-reconstruction problem constrained by the projected Helmholtz model. Through electromagnetic information theory (EIT)-based spectral leakage analysis, we demonstrate that finite-aperture reconstruction induces an intrinsic convolutional relationship in the spectral domain, rendering the estimation task a fundamental frequency-domain inverse deconvolution problem. To solve this, we propose a U-shaped Fourier neural operator (UFNO) specifically tailored for noisy, underdetermined wireless environments. Furthermore, we leverage the Landau--Pollak theorem to derive an aperture-dependent EDoF bound that guides the spatial mode budget, and employ a physics-aware Sobolev loss to promote consistency in both channel values and spatial variations. Unlike conventional learning-based approaches, a single frozen UFNO can be directly evaluated at unseen spatial--frequency resolutions without resolution-specific retraining or explicit output interpolation. Extensive simulations show that our framework significantly outperforms state-of-the-art benchmarks in accuracy while achieving orders-of-magnitude lower inference latency than iterative solvers at high spatial--frequency resolutions.

cs.IT

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36786

Expressive Guitar Synthesis via Controllable Latent Flow Matching

Hsueh-Wei Fu, Yen-Tung Yeh, Yi-Hsuan Yang

原文摘要

Realistic guitar synthesis requires both audio fidelity and interpretable control over how notes are performed. The input timed MIDI events decide what is played but not how, leaving the continuous within-note decisions of guitar performance--such as pitch inflection and per-string articulation--unspecified. A model that directly maps MIDI to audio must therefore realize the performance implicitly, and users are left with limited control over the synthesized performance. We therefore propose a two-stage guitar synthesis pipeline that predicts editable, per-string $f_0$ and amplitude trajectories from timed note events and note-level dynamics, and renders them into audio using latent flow matching. Experimental results show that the proposed system outperforms a matched single-stage counterpart and DDSP-Guitar in control fidelity and perceived quality, while keeping the controls editable. Sound examples can be found online.

cs.SD

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36785

OmniGlimpse: Asymmetric Identity Memory for Online Multi-View Tracking

Rangya Zhang, Jiaping Xiao, Yujing Shang, Yuhang Zhang, Mingsheng Li, Mir Feroskhan

原文摘要

Multi-view tracking extends visual coverage beyond a single camera, providing complementary observations when targets are occluded or leave the view. This raises a question: how can observations from different views be matched to the correct identities without offline scene-specific training or camera calibration? Progress toward this goal remains limited because many offline formulations assume such deployment-specific knowledge, while online adaptation can amplify association errors. We study this problem as online multi-view identity maintenance (OMIM): targets are initialized once per view, with no further identity labels provided after each initialization. To this end, we introduce OmniGlimpse, an asymmetric propose-verify framework that separates adaptive association from stable identity consolidation. At the representation level, short-term local and cross-view evidence is mapped into target-specific adaptive spaces to propose associations, whereas long-term identity distributions are maintained for verification in a canonical space defined by a frozen encoder. At the update level, short-term evidence may guide current associations, whereas, after bootstrapping, only verified observations may update persistent memory or drive adaptation. Under a unified target-specified evaluation protocol, OmniGlimpse improves over the best evaluated online baseline for each metric by 9.1 IDF1 and 22.1 CVIDF1 points on M3Track. The corresponding gains on MvMHAT are 20.3 and 26.2 points. Despite using no offline scene-specific training, it outperforms offline-trained references in IDF1 and remains competitive in cross-view association. These results support an approach to online identity maintenance that adapts to changing appearances while consolidating reliable evidence into stable identity anchors.

cs.CV

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arXiv ↗PDF ↗