Tara Boroushaki, Laura Dodds, Cusuh Ham, Fadel Adib
The ability to observe the world is fundamental to reasoning and making informed decisions on how to interact with the environment. However, optical perception can often be disrupted due to common occurrences like occlusions, which can pose challenges to existing vision systems. We present MITO, the first millimeter-wave (mmWave) dataset of diverse, everyday objects, collected using a UR5 robotic arm with two mmWave radars operating at different frequencies and an RGB-D camera. Unlike visible light, mmWave signals can penetrate common occlusions (e.g., cardboard boxes, fabric, plastic). MITO captures over 24 million mmWave frames and uses them to generate 550 high-resolution mmWave images in line-of-sight and non-light-of-sight (NLOS), as well as RGB-D images, segmentation masks, and raw mmWave signals, taken from 76 different objects. We develop an open-source simulation tool that can be used to generate synthetic mmWave images for any 3D triangle mesh. Finally, we establish benchmarks for NLOS segmentation and classification to demonstrate the utility of our dataset and simulator for enabling broader NLOS perception.
Tung-Wei Lin, Gabe Fierro, Han Li, Tianzhen Hong, Pierluigi Nuzzo, Alberto Sangiovanni-Vinentelli
Knowledge graphs often contain missing or inconsistent facts that undermine the applications built on them. Schema validation detects such violations but does not identify which of several valid repairs recovers the intended graph. External corpora can supply the evidence needed to identify the intended repair, but retrieving from them is costly and not always successful. We propose a framework for selective retrieval in iterative graph repair. An LLM repair agent explores and edits the graph, while a router controls its access to a researcher agent that retrieves external evidence. We extend a violation-injection framework to generate cases with multiple compatible violations and known reference repairs. The agent's repair outcomes on these cases provide supervision for training the deployment-specific router. On two building-automation datasets, researcher access improves repairs for some violations and degrades them for others, with effects differing across deployments. The router uses fewer repair-time tokens than always enabling access in all six evaluation suites. It achieves higher repair $F_1$ than always disabling access in five of six suites.
Suhong Luo, Pan Tang, Jianhua Zhang, Ji Wang, Yixuan Li, Xingwang Li
Secure uplink transmission in low-earth orbit (LEO) satellite constellations faces significant challenges due to the time-varying spatial distributions of serving and potential eavesdropping satellites, particularly when their angular separations are small and eavesdropper channel state information (CSI) is imperfect. To address these challenges, this paper investigates fluid antenna (FA)-aided robust secure uplink transmission in LEO satellite constellations. To avoid frequent antenna reconfiguration, the FA positions are optimized over an observation interval and remain fixed throughout the interval, while transmit beamforming dynamically adapts to the time-varying satellite channels. We formulate an average worst-case secrecy rate maximization problem by jointly optimizing FA positions and time-varying beamforming under norm-bounded eavesdropper CSI uncertainties and per-slot secrecy rate constraints. Two new alternating optimization (AO) algorithms are developed to solve the resulting non-convex problem. For robust beamforming optimization, the S-procedure, semidefinite relaxation (SDR), and first-order approximation are employed to construct a tractable convex problem, followed by Gaussian randomization for rank-one recovery. For FA position optimization, we derive concave surrogate functions for successive convex approximation (SCA) and develop a differential evolution (DE)-based search strategy to reduce computational complexity. Numerical results demonstrate that both FA-aided schemes consistently outperform conventional fixed-position antenna arrays across different constellation configurations and CSI uncertainty levels. Moreover, the two algorithms exhibit different performance-complexity tradeoffs as the number of FA elements increases, with DE offering a computational advantage for larger arrays while SCA can achieve higher secrecy rates.
Linear sketches estimate properties of high-dimensional inputs from a fixed low-dimensional projection. At constant accuracy, randomized Euclidean-norm sketches, notably the Johnson-Lindenstrauss transform, support exponentially many nonadaptive queries in sketch dimension $k$. For adaptive black-box queries, known privacy-based defenses guarantee $\widetildeΩ(k^2)$ and it remained open whether stronger guarantees were possible. Prior attacks used more queries, restricted the responder, or provided weaker failure guarantees. We show that the quadratic guarantee is optimal up to logarithmic factors, even with a computationally unbounded responder that knows the matrix, attack algorithm, history, and query distributions and may change its randomized rule after every query. For every fixed hidden $A\in\mathbb{R}^{k\times n}$ with $n>40k$ and target accuracy $α\in (0,1]$, our black-box attack uses $O(k+α^2k^2\log(2+α^2k))$ queries in $\widetilde{O}(1+α^2k)$ adaptive rounds to force, with constant probability, a round in which a constant fraction of answers have $Ω(α)$ relative error. This fraction can be taken arbitrarily close to one half. Our results clarify the limits of defending a fixed compressive linear representation by adapting the prediction rule.
With scalable Laplacian solvers now available, the next frontier is to exploit them more effectively for high-quality hypergraph partitioning. In this work, we revisit spectral hypergraph partitioning from the perspective of spectral embedding geometry. Through a systematic analysis of circuit hypergraphs and controlled synthetic (hyper)graphs, we identify a ray-like embedding structure that helps explain the effectiveness of projection-based partitioning. We further show that the geometry of spectral embeddings can be systematically influenced through Laplacian design and hyperedge reweighting. Guided by these insights, we propose FRESHPart, a feedback-reshaped spectral partitioning framework that refines the spectral embedding through Geometry Feedback and Search Feedback, producing embeddings that are better aligned with projection-based partitioning. On the Titan23 benchmark, FRESHPart achieves average cut reductions over hMETIS of 13.09% at $ε=2\%$ and 25.21% at $ε=20\%$, surpassing the strongest previously reported results (12.16% and 22.53%, respectively), while completing every benchmark in under 120 s on a single GPU.
Xinxin Zhao, Rong Kang, Tieying Zhang, Cuiping Li, Hong Chen, Jing Zhang
Database diagnosis and anomaly remediation are essential to reliable database management system (DBMS) operation. Despite advances in large language model (LLM)-based database agents, constructing live DBMS environments that reproduce diverse anomalies at scale remains challenging, limiting the availability of executable samples for database agent training and evaluation. To this end, we introduce DiagDBench, a large-scale benchmark for training and evaluating database agents on interactive diagnosis, anomaly remediation, and optional workload performance optimization across diverse, realistic anomaly scenarios. Each sample pairs a user request, comprising an issue description and an anomaly-verified workload under which the issue was observed, with a self-contained, executable DBMS environment that supports real-time monitoring, interactive diagnosis, remediation, and workload execution. To construct these samples at scale, we propose an LLM-based framework with two complementary pipelines: Manual-Guided Anomaly Synthesis, which sequentially synthesizes user requests, database modifications, and anomaly-injection scripts grounded in DBA manuals and official DBMS documentation; and Incident-Guided Anomaly Reproduction, which reconstructs anomaly samples end to end from real-world enterprise online diagnosis incidents. Built using this framework with sample filtering, expert review, and refinement, DiagDBench comprises 6,940 synthesized training samples and a held-out test set of 454 expert-annotated samples, spanning three hardware configurations, two DBMSs, and three database schemas. Extensive evaluations of database agents powered by multiple LLMs demonstrate that even the best-performing agent, ReAct with GPT-6 Astra, scores only 56.24, whereas most agents score below 45, underscoring the difficulty of DiagDBench.
Jeff Nijsse, Shu Su, Benjamin Oholeguy, Sreenivas Sremath Tirumala
Federated learning enables industrial operators to train shared intrusion detection models without disclosing proprietary operational telemetry. However, existing defences operate strictly in update space, leaving aggregators blind to data poisoning; model updates derived from fabricated telemetry remain indistinguishable from honest contributions. We repurpose process invariants, physical relations that always hold in normal operation, such as conservation of mass, from runtime detection heuristics into a verifiable admission requirement for federated updates, mined automatically from clean operational data. We evaluate this admission gate across two physical water testbeds (SWaT, WADI) and a distribution benchmark (BATADAL), testing seven aggregation rules against telemetry fabrication, exposure-only replay poisoning, and an invariant-aware adaptive adversary. Across three testbeds the mined invariants reject none of 25 honest shards except every cross-channel fabrication on SWaT and BATADAL, including optimised perturbations that the similarity based FoolsGold admits in full. On real telemetry, five mined invariants detect 12 of SWaT's 35 attacks, while nine invariants detect 20. With nine invariants, the admission gate removes 78% of the targeted-attack recall lost to replay poisoning (95% CI 57--97%, $p < 0.001$ over 20 seeds) across five standard aggregators, and 82% under FedAvg. To reconcile physical admission control with federated data privacy, we show invariant compliance using zero-knowledge proofs (zk-SNARKs) to allow clients to prove batch adherence without revealing operational telemetry.
The frustration-free property is valuable in quantum many-body systems, which states that its ground states simultaneously minimize all local interaction terms, even when these terms act on overlapping degrees of freedom. Prominent examples include the AKLT model and Kitaev's toric code model, which serve as paradigmatic models of symmetry-protected topological phases and topological order, respectively. A fundamental question is whether a given Hamiltonian is frustration-free for all system sizes. Here we establish two seemingly contradictory results concerning this decision problem. First, we prove that frustration-freeness is decidable for any fixed local Hilbert space dimension. Specifically, there exists a finite, Hamiltonian-independent system-size cutoff such that frustration-freeness at this cutoff size guarantees frustration-freeness at all system sizes. Second, on the other hand, we also show that there exists a frustration-free Hamiltonian whose frustration-freeness cannot be proved within the standard axioms of mathematics (ZFC). We reconcile these seemingly contradictory results by showing that the cutoff, although finite for each local Hilbert space dimension, is uncomputable as a function of that dimension. Our findings reveal an unexpected fundamental distinction between decidability and provability arising in quantum many-body physics.
Huaman Sun, Dingcheng Wang, Jason Hartline, Jessica Hullman
Large language models (LLMs) are increasingly proposed as decision assistants who must reason probabilistically from available evidence under explicit decision costs. We propose a decision-theoretic framework that decomposes LLMs' decision loss into two components: forming accurate beliefs from provided evidence and translating those beliefs into actions that optimize a provided utility function. Using a synthetic benchmark with known ground truth, we apply the decomposition to characterize probabilistic reasoning in frontier and open-sourced models. We further evaluate whether RL interventions targeting beliefs, decisions, or both improve these components across three domains, whether improvements transfer across components and elicitation formats, and whether decision performance can improve without improvement in belief formation. We find that targeting one component of probabilistic reasoning redistributes decision loss, improving the target without necessarily transferring to others, and that jointly targeting belief formation and decision-making improves both but hinges on matched formats between training and evaluation.
Within the Thompson VLSI model, the first energy optimal decoding schemes (up to polylogarithmic factors) that also reach clock cycle lower bounds are constructed. Let $N$ be block length. Then, there is an exponential error scaling function and a binary symmetric channel, such that for all $f(N)$ that scales to zero more slowly than this, there is a decoding scheme for this channel with error probability that scales as $O(f(N))$ that has number of clock cycles $T\le O(\sqrt{-\log(f(N)})\text{polylog}(N))$ and energy $E\le O(N\sqrt{-\log(f(N))}\text{polylog}(N))$. This matches fundamental lower bounds up to polylogarithmic factors. The technique uses expander-graph based LDPC codes, a mesh network architecture, and a parallelization technique. The key technical result needed for this is a lemma in graph theory. This lemma is used to show that communication graphs of bounded node degree can be routed through two- and three-dimensional mesh networks without overflowing the memory of any mesh node. Upper bounds are also extended to three dimensions.
Kevin Kurian Thomas Vaidyan, Ahmet Alacaoglu, Michael P. Friedlander
Last-iterate convergence guarantees for stochastic gradient methods have attracted significant attention as practical implementations typically return the last iterate instead of an average of the iterates. In this paper, we study two approaches for analyzing the last-iterate convergence of proximal and projected stochastic gradient methods without bounded domain or bounded variance assumptions, where black-box variational inference serves as a running example. Under two related assumptions relaxing the bounded variance, we show near-optimal anytime rate $\widetilde{\mathcal{O}}(1/\sqrt{T})$ for the last iterate. Moreover, when the horizon $T$ is known, we remove the logarithmic factor and obtain the optimal order $\mathcal{O}(1/\sqrt{T})$, matching the order known under bounded variance or bounded domain assumptions.
Long-video question answering is usually studied as frame selection: which few frames should a vision-language model see? We introduce VideoRouteAudit, a controlled audit that separates this choice from two alternatives, injecting non-visual evidence and routing to another answering model. It holds the backbone, frame budget, decoding, prompt and grader fixed while varying one decision at a time. On the full Video-MME long bucket (n=900, K=8), no tested selector significantly improves over uniform sampling. The largest selection-only estimate is +1.9 pt (95% CI [-1.2,+5.0]) and our cascade is +1.2 pt [-1.7,+4.1]; all are equivalent to uniform within +/-5 pt. The same contrasts are unstable at the n=200 subset scale commonly used: three of four are up to 3.8x larger, one reverses sign, and resampled 200-item subsets reverse the full-bucket effect's sign in 35.8% of draws. The audit also corrects our own first results. The anomaly-domain "+ASR" arms injected no text, so the pooled +4.7 pt gain was selection plus a development prefix. With transcripts, ASR lowers XD-Violence accuracy by 10.0 pt when appended after the question and not at all when placed before it, and lowers UCF-Crime by 13.0 pt either way; on Video-MME, placing it first adds about 4 pt (7 on Qwen2-VL) to uniform sampling and to the cascade alike (post hoc, unadjusted). Swapping the answering model gives the largest contrast (+15.1 pt on MUSIC-AVQA, +33.3 pt on its worst type), but the same audio-visual expert with its soundtrack silenced keeps 92% of the gain (69% with a mismatched soundtrack), so the contrast is mostly a model swap. Code, per-item predictions and scripts that recompute every statistic are available at https://github.com/mikeslin-ir/long-video-qa-audit.
The medial axis, as a compact representation, describes not only the boundary but also the interior of the shape, and has been widely used in analyzing and simplifying shapes. However, approximating feature-preserving medial axis from unstructured data, such as oriented point clouds, remains challenging due to the lack of explicit connectivity and the presence of noise in the source. We propose DC-SQEM, a dual-contouring-based framework that computes medial meshes (an explicit representation of the medial axis) directly from oriented point clouds without relying on watertight manifold surfaces or volumetric structures. With the help of an adaptive octree, our method fits local medial spheres for each cell based on the Spherical Quadric Error Metric (SQEM). We address several long-standing robustness issues in dual-contouring and mesh extraction, including out-of-cell solutions, unstable feature classification, and redundant topological connections. To this end, we introduce virtual nodes, a feature-downgrading strategy, and a geometry-driven topology-aware cleanup procedure, enabling robust SQEM-based medial dual contouring with clean mesh outputs. Unlike prior point-cloud-based methods that produce either only 1D skeletal structures or incomplete medial features, our method preserves sharp geometric features from the input and reconstructs a complete medial structure, including sheets, curves, seams, and junctions. Compared to restricted-power-diagram-based approaches, our algorithm can handle point clouds as input, without having a strong requirement on water-tightness or manifoldness.
Dongbin Kim, Geonwoo Shin, Yujin Choi, Soyeon Park, Jaewook Lee
Watermarking is a central tool for provenance in generative models, yet its application to multivariate time series remains hindered by reliability failures under post-editing attacks. We show that existing detectors, which rely on globally coupled re-encoding, suffer from bidirectional drift of the null distribution: post-editing attacks can shift the $z$-score of non-watermarked samples in either direction, invalidating clean-calibrated thresholds. We argue that this instability is a property of the re-encoding, and that reliable detection requires each recovered unit to depend only on a bounded temporal neighborhood. Guided by this principle, we propose L-VQVAE, a generative model in which each discrete token is produced from a short contiguous window, and LVQMark, a watermarking method over this token space that combines logit-bias injection with robust re-encoding for attack-time detection. Experiments on four benchmarks spanning finance, energy, and neuroimaging show that our approach preserves generation quality while stabilizing both detection power and false-positive behavior under post-editing attacks.
Continual Reinforcement Learning (CRL) agents struggle to adapt to new situations while retaining prior knowledge, leading to a stability-plasticity trade-off. One approach to solving this problem is by using complementary learning systems: one for slow, long-term learning and another for quick, transient adaptation. Anand & Precup (2023) instantiated this idea using permanent and transient value functions, but used the same features in both systems. Intuitively, long-term learning should rely more on parametric representations for broad generalization, while transient learning would be best served by non-parametric representations for situation-specific adaptation. In this paper, we explore this idea both theoretically and empirically. By introducing a novel non-parametric approximation for estimating the transient value function in complex tasks, we demonstrate that our method enables online learning and outperforms competitive baselines on image-based tasks and Craftax-Classic, underscoring the effectiveness of our system-level decomposition.
Restoring 3D scenes with low-light conditions is challenging, and most existing methods depend on precomputed camera poses and scene-specific optimization, which greatly restricts their application to real-world scenarios. To overcome these limitations, we propose Lumos3D, a pose-free single-forward framework for 3D low-light scene restoration. First, we develop a cross-illumination distillation scheme, where a frozen teacher network takes normal-light ground truth images as input to distill accurate geometric information to the student model. Second, we define a Lumos loss to improve the restoration quality of the reconstructed 3D Gaussian space. Trained on a single dataset, Lumos3D performs inference in a purely feed-forward manner, directly restoring illumination and structure from unposed, low-light multi-view images without any per-scene training or optimization. Experiments on real-world datasets demonstrate that Lumos3D achieves competitive restoration results compared to scene-specific methods. Our codes are available at https://github.com/HanzhouLiu/Lumos3D.
We consider private retrieval of the matrix product $A^\top B^{(θ)}$ from replicated $P_c$-colluding servers when $B^{(\ell)}=A+N^{(\ell)}$, with the innovations mutually independent and independent of the user-held $A\in\mathbb{F}_q^{m\times m}$. The servers store the full library, correlated with $A$, which changes both the communication problem and the security definition: a secrecy condition including the stored library cannot hold, as the library itself partly reveals $A$. We therefore measure only additional leakage and require index privacy conditioned on $A$; both reduce to classical notions under independence. For $A$ of rank $k<m$ we prove, with no structural hypothesis on the map, $D^*\geq H(A^\top B^{(θ)}\mid A)/C_{\mathrm{PIR}}(N,P_c,L)-o(km)$, where $C_{\mathrm{PIR}}(N,P_c,L)$ is the replicated $P_c$-colluding private-information-retrieval capacity. The proof rests on a colluding converse for servers storing arbitrary refinements of the demanded messages, whose answers need not be measurable functions of the functional-message library, and a privacy-transfer characterization. Publishing a canonical row-space representative makes the bound achievable for arbitrary independent and identically distributed innovations under a public-setup measure. Under a strengthened observational model (exact correctness, common conditional library support, and full-transcript security), concealment forces $D\geq H(G_m N^{(θ)})/C_{\mathrm{PIR}}$, where $G_m$ spans the linear join of all row spaces in the support of the operand distribution; this extends to vanishing error under a simultaneous-decodability assumption. In the full-rank case product recovery reduces to innovation recovery: $D^*=H(N^{(θ)})/C_{\mathrm{PIR}}+o(m^2)$.
Xianjing Zhu, Wenqi Lou, Yuanbo Wen, Teng Wang, Lei Gong, Chao Wang, Xuehai Zhou
Large language models (LLMs) offer a promising path for directly generating functionally correct and synthesizable HLS-C from natural-language specifications. However, existing approaches often struggle to turn multi-round tool feedback and reusable HLS knowledge into effective revisions, limiting end-to-end generation success. We propose MementoHLS, an agentic HLS generation framework built around executable and falsifiable dual-memory-guided repair. MementoHLS combines an Executable Repair Contract Library (ERCL), which converts cross-task HLS knowledge into evidence-gated repair actions, with a Reviewer-Grounded Falsification Ledger (RFL), which converts task-local repair history into trajectory evidence to suppress ineffective routes and preserve validated progress. To ensure reliable outcome attribution, a Same-Candidate Reviewer binds Parse, Compile, Testbench (TB), and Synthesis (Synth) outcomes to the corresponding candidate, while a Single-Commit Arbiter commits at most one candidate per round. Evaluated on 94 HLS-Eval and 170 Bench4HLS tasks, MementoHLS improves same-candidate TB$\wedge$Synth pass@1/pass@5 from 41.7%/57.4% to 58.9%/68.1% on HLS-Eval, and from 15.5%/32.9% to 32.4%/50.6% on Bench4HLS, demonstrating substantial improvements in end-to-end HLS generation reliability.
Selecting high-quality training data can reduce computation cost for LLM fine-tuning. Prior work on data selection developed a variety of difficulty-based scores, motivated by the intuition that harder examples are more informative. While effective for smaller classification models, we find that such methods often fail to outperform random selection for LLM fine-tuning. Our analysis reveals that random selection performs better because it is more representative of the underlying input space---i.e., has better coverage. To validate the importance of coverage, we implement a simple clustering-based selection method which selects data that is more representative of the underlying input distribution. On a set of diverse single-domain tasks, this method yields performance at or above that of random selection. On the diverse, multi-domain Tülu 3 mixture, where random sampling no longer guarantees a balanced subset, our method outperforms all methods. Overall, our results indicate that prioritizing coverage over difficulty leads to more effective data selection for LLM fine-tuning.
Hanzhou Liu, Kai Yin, Zhitong Chen, Chenyue Liu, Ali Mostafavi
Existing Text-to-SQL benchmarks primarily focus on single-table queries or limited joins in general-purpose domains, and thus fail to reflect the complexity of domain-specific, multi-table and geospatial reasoning, To address this limitation, we introduce FLOODSQL-BENCH, a geospatially grounded benchmark for the flood management domain that integrates heterogeneous datasets through key-based, spatial, and hybrid joins. The benchmark captures realistic flood-related information needs by combining social, infrastructural, and hazard data layers. We systematically evaluate recent large language models with the same retrieval-augmented generation settings and measure their performance across difficulty tiers. By providing a unified, open benchmark grounded in real-world disaster management data, FLOODSQL-BENCH establishes a practical testbed for advancing Text-to-SQL research in high-stakes application domains.
Mengran Li, Bo Li, Weijing Zhao, Chengyang Zhang, Boyu Zhang, Jinfeng Xu, Zelin Zang, Victor C. M. Leung 等 9 位作者
Weight-space programming (WSP) shows that language models can reason about and rewrite neural network weights; recursive self-improvement (RSI) motivates feedback-driven improvement. Models guiding experiments receive concrete feedback: completed assays reveal prediction errors and inform what to test next. We introduce WeightLoop, a framework that turns experimental feedback into persistent updates to deployed predictors. GPT-6 Astra inspects a task specification and the model implementation, then writes a bounded, reusable parameter-editing program. As new measurements arrive, the program identifies prediction discrepancies, validates candidate edits using observed outcomes, and writes the selected changes back to the original model. The editor remains fixed while the predictor evolves, enabling repeated updates without further LLM calls or gradient retraining while preserving the original inference interface. In offline replay, targeted edits improve mean ranking utility in seven of eight endpoint-budget settings (all eight versus random edits) and mean final discovery across three sequential tasks. WeightLoop connects WSP with an RSI-inspired improvement loop, making experimental evidence a direct driver of model change and subsequent decisions.
We exhibit a total Boolean function on n input bits whose bounded-error quantum simultaneous-message (and hence one-way) communication complexity is in O(\sqrt n), whereas its randomised one-way (and hence simultaneous-message) communication complexity is in Ω(n). The same function admits a classical simultaneous-message protocol of cost O(\sqrt n) when the players share O(\sqrt n) EPR pairs.
Weimin Wu, Xuefeng Song, Yibo Wen, Qinjie Lin, Zhihan Zhou, Jerry Yao-Chieh Hu, Zhong Wang, Han Liu
We introduce Genome-Factory, the first integrated Python library for tuning, deploying, and interpreting genomic foundation models. Our core contribution is to simplify and unify the workflow for genomic model development: data collection, model tuning, inference, benchmarking, and interpretability. For data collection, Genome-Factory offers an automated pipeline to download genomic sequences and preprocess them. For model tuning, Genome-Factory supports both full and parameter-efficient fine-tuning across diverse genomic models. For inference, Genome-Factory enables both embedding extraction and DNA sequence generation. For benchmarking, we include two existing benchmarks and provide a flexible interface to incorporate additional benchmarks. For interpretability, Genome-Factory introduces an open-source biological interpreter based on a sparse auto-encoder. We validate the utility of Genome-Factory across three dimensions: (i) Compatibility with diverse models and fine-tuning methods; (ii) Benchmarking downstream performance using two open-source benchmarks; (iii) Biological interpretation of learned representations with DNABERT-2. These results highlight its practical value for real-world genomic analysis. GitHub: https://github.com/WeiminWu2000/Genome_Factory.
Motion priors improve reinforcement learning for physics-based humanoid tracking, but temporal priors require ordered motion clips, while pose priors provide limited guidance for policy-induced pose transitions. We present Pose Flow Matching for Humanoid Robots (PFM-HR), a reusable flow matching prior trained directly on large scale unordered pose data. PFM-HR introduces the Pose Geometry Score (PGS), which quantifies how joint coordinate changes during rollouts align with the local geometry of pose variation captured by the prior. Using PGS to modulate the tracking reward guides policy exploration toward structured pose changes while keeping the prior frozen across tracking tasks. Experiments demonstrate that PFM-HR improves both single motion and general motion tracking, especially for highly dynamic motions.
Miner extractable value (MEV) in automated market makers allows block builders to profit from transaction ordering and injected trades, imposing costs on users and contributing to builder centralization. We introduce Otter (Optimal Truthful Trading with Excess Redistribution), a two-asset batch AMM that achieves provable MEV resilience when the consensus layer provides censorship resilience and block space is uncongested. Otter makes truthful behavior a dominant strategy for both users and builders. Consequently, a builder cannot profit from strategic deviations, including reordering bids or injecting sybil bids, even when the builder is itself a trader with intrinsic value. Moreover, we show that Otter maximizes social welfare, in a strong sense, within a natural class of mechanisms satisfying the desired game-theoretic properties. To achieve these guarantees, we introduce a new paradigm called surplus redistribution, which provably prevents residual surplus from being captured as MEV by redirecting it to the broader community. Specifically, the pool's output tokens need not be distributed entirely among users in the current batch. Instead, residual surplus may be transferred to a smart contract governed by the decentralized community. The accumulated surplus can be used to benefit community members --- for example, by subsidizing transaction fees, rewarding liquidity providers, or returning assets to the pool. Our approach relies on the underlying consensus layer to provide censorship resilience. We motivate its necessity through an impossibility result showing that the desired game-theoretic guarantees become unattainable when the builder is additionally allowed to censor transactions. Thus, our results also provide a mathematically formal demonstration of how consensus-level security guarantees can fundamentally expand what is achievable at the application layer.
We give a randomized, rank-preserving reduction from exact $\ell_p$-CVP to exact Euclidean SVP for every integer $p\ge2$. For rational inputs of bit length $\ell$ on full-rank lattices $L\subset\mathbb R^N$, the reduction uses $(Cp)^N\poly(p,\ell)$ oracle calls and additional bit operations, where $C$ is an absolute constant. It uses $\poly(p,\ell)$ working space outside the oracle, and all oracle queries have rank $N$ and $\poly(p,\ell)$ bit complexity. For $p=2$, the reduction transfers polynomial-space exact SVP algorithms to exact CVP with $2^{O(N)}\poly(\ell)$ time overhead. Instantiating it with the SVP algorithms of Kannan and of Feng, Gao and Liu yields randomized polynomial-space CVP algorithms running in time $N^{N/(2e)+o(N)}$ and $N^{N/(4e)+o(N)}$, respectively. For every fixed integer $p\ge3$, the same reduction yields exact $\ell_p$-CVP algorithms for arbitrary rational targets either in randomized time and space $2^{O(N)}$, or in randomized time $N^{N/(4e)+o(N)}$ and polynomial space. These algorithmic bounds are up to polynomial factors in $\ell$. The reduction performs local search sequentially over the cosets of \(2L\), where \(L\) is the input lattice, while tracking the excess of the current objective value over the optimum. Within a coset containing a closest vector, midpoint inequalities bound the unknown correction in terms of this excess, which in turn allows us to construct many short corrections that reduce the excess bound by a factor of four. A counting argument shows that these improving corrections form a sufficiently large fraction of the lattice points in a known search region, and a sparsification-based sampler assigns sufficiently large probability to every nonzero vector in that region, using at most one SVP call per sample. For \(p\ge3\), the same framework is extended using a diagonal weighted norm computed from the current point.
Defense systems for maritime assets must distinguish approaching benign craft from uncrewed surface vessels (USVs) with sufficient warning to act. Shore cameras using computer vision can separate hostile vessels from benign traffic, but these systems may be attacked using an adversarial hull patch or physical disguise. We evaluate adversarial hull patches and find they suppress detection in up to 29% of attempts but never cause misclassification as benign. Physical disguise, however, can bypass both a camera check and a radar presence check. To evaluate defenses, we develop a hybrid replay protocol from automatic identification system (AIS) tracks that combines recorded benign motion with direct or off-axis attack run-ins. We find that for recreational-labeled vessels attacking via direct run-in within 4 nautical miles, an asset-relative closing-rate check flags 94-95% at 15-20 knots, compared with 12% for a track-only speed check. The checks are complementary on off-axis approaches, constraining the attacker to remain below both thresholds and extending the time required to reach the asset. Flagging on either check has a 4.9% held-out false-alarm rate overall and 12.3% on recreational traffic. The replay-based evaluation protocol supports comparative test and evaluation of defense methods.
Hanzhou Liu, Chengkai Liu, Jiacong Xu, Peng Jiang, Mi Lu
Deep state-space models (SSMs), like recent Mamba architectures, are emerging as a promising alternative to CNN and Transformer networks. Existing Mamba-based restoration methods process visual data by leveraging a flatten-and-scan strategy that converts image patches into a 1D sequence before scanning. However, this scanning paradigm ignores local pixel dependencies and introduces spatial misalignment by positioning distant pixels incorrectly adjacent, which reduces local noise-awareness and degrades image sharpness in low-level vision tasks. To overcome these issues, we propose a novel slice-and-scan strategy that alternates scanning along intra- and inter-slices. We further design a new Vision State Space Module (VSSM) for image deblurring, and tackle the inefficiency challenges of the current Mamba-based vision module. Building upon this, we develop XYScanNet, an SSM architecture integrated with a lightweight feature fusion module for enhanced image deblurring. XYScanNet, maintains competitive distortion metrics and significantly improves perceptual performance. Experimental results show that XYScanNet enhances KID by $17\%$ compared to the nearest competitor.
We characterize the single-pass streaming space complexity of Boolean CSP satisfiability in the strict-turnstile model for every fixed constraint language $Γ$ of $k$-ary Boolean relations that is not trivially satisfiable. Constraints can be inserted or deleted with nonnegative multiplicities; satisfiability is decided for those remaining at the end. While Sharma and Velusamy [ESA 2026] characterized insertion-only complexity via non-redundancy (up to logarithmic factors), we show that strict-turnstile complexity is governed by the integer capturing degree. For $R\subseteq\{0,1\}^k$, let $d_R$ be the minimum degree of an integer-coefficient polynomial vanishing exactly on $R$ over the Boolean hypercube, and set $d_Γ=\max_{R\inΓ}d_R$. On polynomial-length streams, we obtain an $O_k(n^{d_Γ}\operatorname{polylog} n)$-space randomized algorithm and an $Ω_k(n^{d_Γ}/\log n)$ lower bound for all algorithms. Moreover, our algorithm outputs a sparse instance preserving every satisfying assignment. This yields, to our knowledge, the first insertion-only versus turnstile separation for streaming CSPs. It also differs from the Fourier-degree characterization of exact optimization by Kol, Paramonov, Saxena, and Yu [ITCS 2023]. For $k\ge3$, $k$-XOR with literals has three distinct space complexities: $\widetildeΘ(n)$ for insertion-only satisfiability, $\widetildeΘ(n^{\lceil k/2\rceil})$ for strict-turnstile satisfiability, and $\widetildeΘ(n^k)$ for exact optimization in either model.
Transformers, with their self-attention mechanisms for modeling long-range dependencies, have become a dominant paradigm in image restoration tasks. However, the high computational cost of self-attention limits scalability to high-resolution images, making efficiency-quality trade-offs a key research focus. To address this, Restormer employs channel-wise self-attention, which computes attention across channels instead of spatial dimensions. While effective, this approach may overlook localized artifacts that are crucial for high-quality image restoration. To bridge this gap, we explore Dilated Neighborhood Attention (DiNA) as a promising alternative, inspired by its success in high-level vision tasks. DiNA balances global context and local precision by integrating sliding-window attention with mixed dilation factors, effectively expanding the receptive field without excessive overhead. However, our preliminary experiments indicate that directly applying this global-local design to the classic deblurring task hinders accurate visual restoration, primarily due to the constrained global context understanding within local attention. To address this, we introduce a channel-aware module that complements local attention, effectively integrating global context without sacrificing pixel-level precision. The proposed DiNAT-IR, a Transformer-based architecture specifically designed for image restoration, achieves competitive results across multiple benchmarks, offering a high-quality solution for diverse low-level computer vision problems.