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新论文 · v1arXiv:2610.35485

Understanding Python Linters through a Comprehensive and Systematic Empirical Study

Qingyun Yang, Zejun Zhang, Dapeng Yan, Tian Zhang, Zhenchang Xing, Yi Li, Zhiming Liu

原文摘要

Code linters, tools that automatically detect code issues, help developers accelerate development and improve code quality by identifying errors early. Unlike previous studies that focused mainly on single linters or informal comparisons, this paper presents the first large-scale empirical study of five widely used Python linters: Ruff, Pylint, Flake8, Mypy and Black, through four key user concerns: linting rule checks, speed, configuration methods, and linter preferences. We analyze 1,551 linting rules, categorize them into five types, and construct rule mappings, finding that more than 40% are shared between multiple linters, with Ruff and Pylint together covering over 80% of all rules. Pylint has the most rules in the first two categories, and Ruff leads in the last three. Next, we measure their running times on 1,000 GitHub projects under three setups (single-rule, default, all-rules), finding a consistent speed ranking from fastest to slowest: Ruff, Mypy, Flake8, Black, and Pylint. Ruff is extremely fast, with runtimes typically within one second. Then, we summarize four configuration methods and four types of configuration options from 443 available options across the five linters. While all linters support the four configuration methods, they differ in project configuration formats and flexibility in their configuration options. Finally, an analysis of 3,094 GitHub projects using the five linters reveals that over 50% use multiple linters, share strong consensus on option selections and rule suppressions, but exhibit project-specific variations in enabled-rule configurations. Our findings provide actionable insights for linter users and establish a benchmark dataset and taxonomy to support future research, such as cross-linter rule mapping, performance modeling, and automated configuration.

cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35484

Evaluating Bayesian deep learning for robust biomedical time-series classification under distribution shift: A sleep scoring case study

Mads Birch Sørensen, Ulrike Richter, Francois Gastambide, Michael Riis Andersen

原文摘要

In biomedical time-series classification, machine learning models often suffer from deteriorating accuracy and calibration due to distribution shift. We investigate to what degree Bayesian-inspired deep learning improves robustness through Bayesian model averaging (BMA). Using rodent sleep scoring as a case study, we evaluate BMA under distribution shifts in genotype, laboratory, and species. We systematically compare nine approximate inference methods spanning single- and multi-basin approaches across two neural network backbones on in-distribution (ID) data and five out-of-distribution (OOD) datasets. In our results, multi-basin methods perform best, outperforming baselines and single-basin methods. Compared with point estimates, BMA generally improves OOD accuracy and calibration across both architectures, while yielding only modest ID gains. It also often improves selective prediction and OOD and artifact detection, but, interestingly, not inter-rater disagreement detection.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35483

Visible Reasoning: User-Facing Decision Transparency for Generative AI Systems

Sanjay Krishna Anbalagan, Xinrui Nie, Anughna Kommalapati, Vijay Kumar Kanamarlapudi, Sreekanth Radhakrishnan, Xiaodan Zhao, Umesh Mohan

原文摘要

Across multiple waves of computing, public trust in new technology has followed the emergence of governance mechanisms that made dominant risks legible and manageable. Generative AI shifts this pattern: these systems synthesize across heterogeneous sources, and users increasingly experience them as reasoning systems. The central question changes from "did it perform correctly?" to "can we trust how it arrived at its conclusion?" This paper introduces Filtered Decision Logs (FDLs), a user-facing transparency mechanism that makes decision formation visible without exposing raw chain-of-thought. FDLs pair each response with (i) a concise decision rationale, (ii) influence-ordered supporting data points derived from tool outputs, and (iii) relevance indicators showing which sources most shaped the conclusion. To operationalize evidence selection, we propose a trace-based method that reconstructs observability telemetry into a provenance tree and ranks evidence using four deterministic semantic and structural signals - Final Answer Similarity, Average Relevancy, Persistence, and Structural Proximity - combined via adaptive weighted scoring. We demonstrate FDLs across three domains: career advising (5 tools), investment analysis (4 tools), and travel planning (4 tools). In a formative evaluation with 50 participants (25 students, 25 working professionals in AI development), 92% rated the influence-ranked evidence as helpful for understanding and trusting the system's recommendation. Counterfactual tool-removal experiments confirm that removing the top-ranked source changes the answer more than removing a low-ranked source, validating that the ranking tracks decision dependence. We conclude that evidence-ranked transparency helps users identify misleading signals and missing context, enabling more confident acceptance, correction, or re-run of system decisions.

cs.HC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35482

Beyond Words Alone: Disentangling Distributed Evidence for Visually Grounded Cultural Translation

Dingming Li, Yiwen Qiu, Linjuan Wu, Hongxing Li, Zixuan Wang, Xinze Lyu, Ye Guo, Daoxin Zhang 等 11 位作者

原文摘要

Social media enables cross-lingual communication, yet the meaning of user-generated content (UGC) is often distributed across text, images, and cultural knowledge, making translation challenging. Existing evaluations typically treat images as optional and assume textual information is sufficient, obscuring whether errors stem from missing visual evidence or inadequate cultural adaptation. We introduce \textbf{Culture-MMT}, a diagnostic benchmark for \textbf{distributed-evidence pragmatic reconstruction} in social-media translation. It contains 498 curated, de-identified UGC instances across 20 domains, categorized into Symbol, Visual, and Hybrid by their required evidence. We also develop a human-aligned domain-specific judge, Judger, and a controlled evaluation framework that systematically varies the evidence available to translators. Across 17 model configurations, real images improve performance by +0.280 on Visual and +0.197 on Hybrid, but only +0.050 on Symbol, while random images provide no comparable gains. Human-authored descriptions further show that jointly dependent cases remain more challenging even when visual facts are explicit. These results characterize culturally effective social-media translation as {meaning reconstruction from distributed evidence}, highlighting visual grounding and cultural-pragmatic adaptation as distinct model bottlenecks.

cs.CL · cs.AI · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35480

GPDPO: Learning from Reward Conflicts via Group Pareto-Dominance Policy Optimization

Zixuan Xu, Haoxuan Chen, Jiangxin Sun, Jian-Fang Hu

原文摘要

Multi-reward reinforcement learning offers a promising framework for aligning large language models (LLMs) with diverse objectives, but conflicting reward signals can induce ambiguous update directions and hinder stable optimization. Existing approaches address such conflicts through reward reweighting, gradient coordination, or rollout filtering, yet they primarily operate on per-response or group-level optimization signals and underexploit relational information among sampled responses. As a result, conflict-filtered rollouts may still contain useful supervision that is discarded during training. We propose Group Pareto-Dominance Policy Optimization (GPDPO), a multi-reward policy optimization method that recovers pairwise supervision from conflict-filtered rollouts. GPDPO identifies Pareto-dominance relations among sampled responses and converts them into auxiliary preference signals, which are jointly optimized with the original policy objective. This enables more effective reuse of existing rollouts without additional sampling or reward evaluation. Experiments on API-Bank across multiple model scales and reward configurations show that GPDPO consistently outperforms competitive multi-reward optimization baselines. Further analysis demonstrates that GPDPO reduces both group-relative and pairwise reward conflicts, supporting the effectiveness of exploiting relational supervision for multi-reward alignment. Code will be released.

cs.LG · cs.CL

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35479

Routing Around the Queue: An Evaluation of Eco-Routing Protocol on different Traffic Scenarios

Leandros Maglaras, George Boustras, Azidine Guezzaz, Naghmeh Moradpoor

原文摘要

We evaluate ErouVe, a vehicular eco-routing protocol in which roadside units (RSUs) collect per-segment travel-time and CO2 reports from passing vehicles and answer route requests with the lowest-cost alternative, across a range of road architectures and traffic scenarios. We conduct the evaluation with a working implementation of the protocol inside Veins, adapted to drive SUMO's own router rather than a hand-rolled shortest-path search, on a network offering a short, signal-controlled route and a longer, signal-free bypass, under two traffic scenarios. This evaluation reveals clear strengths and weaknesses of the protocol. Under light, uncongested traffic, ErouVe's fleet-wide effect is light. Under traffic dense enough to stress the signalized route's throughput and produce a real, growing queue, the same protocol succeeds a medium fleet-wide CO2 reduction, with diverted vehicles individually saving even more fuels. We use these findings to propose three targeted corrective methods; a knowledge-gated cost-acceptance rule, a diversion-locking rule, and a distance-normalized CO2 cost function, that respectively address a cold-start knowledge asymmetry, decision flapping under noisy crowd-sourced data, and a per-second CO2 metric that rewards idling. Each of these weaknesses are generic pitfalls for any crowd-sourced routing signal and all proposed methods measurably restore protocol effectiveness.

cs.NI · cs.CY

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35477

Making Small Code LLMs More Efficient for Secure Code Review with Neuro-Symbolic Fine-Tuning

Mostafijur Rahman Akhond, Mahmuda Khatun, Gias Uddin

原文摘要

As AI coding assistants generate more code, the need to review it for security flaws grows. Existing approaches leave a gap: static analyzers identify program sites but offer little explanation, while language-model explanations can be difficult to verify. Small open-weight code models could make security review available without sending proprietary code to a hosted service. We study whether fine-tuning helps these models turn security evidence into explanations that developers and tools can check. We present secSemScan, which pairs a static analyzer with a locally deployable model that writes a schema-constrained security monologue naming program sites, assigning a CWE, and giving a machine-parseable verdict. We also introduce OGSM (Oracle-Grounded Security Monologue), a dataset of 1,993 C/C\texttt{++} functions covering 22 CWEs in the taint and lifetime families. Each record pairs a function with analyzer-derived or fix-diff-derived evidence and a monologue. We fine-tune three open-weight code models in two stages, first on the output format and then on the monologue content. Because evaluation prompts supply the verdict and evidence, our results measure how well models use that information, not whether they detect vulnerabilities independently. On 355 test records, fine-tuning raised Qwen2.5-Coder-7B's verdict accuracy from 4.8\% to 96.6\%; DeepSeek-Coder-6.7B reached 78.9\%, and StarCoder2-7B reached 43.7\%. Qwen2.5-Coder-7B cited 87.5\% of Tier~1 oracle sites, and every line it cited belonged to the oracle evidence. The results suggest that fine-tuning helps small models produce more structured, evidence-linked security reasoning.

cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35475

MANTIS: Multi-Axis News Transformations for Instance-Wise Stress Testing and Worst-Case Training in Fake News Detection

Dexin Liu, Fan Yang, Zimu Wang, Xunfei Zhu, Bolin Ren, Bingyan Zhang, Wei Wang, Qi Chen

原文摘要

Automated fake news detection is vital on social media, where fake news is easily rewritten to fool detectors. However, existing approaches typically rely on superficial writing cues or single-style text rewrites, resulting in poor robustness under diverse cosmetic modifications. We construct MANTIS-Bench, a multi-axis presentation-attack benchmark that pairs original news with rewritten views across writing style, emotional expression, and dissemination framing. We further propose MANTIS, an instance-adaptive adversarial framework enabling dynamic worst-case training tailored to each news article with zero inference-time overhead. This reframes fake news defense from heuristic format smoothing into targeted, fact-invariant credibility assessment. Experiments on MANTIS-Bench show that MANTIS reduces the Union Attack Success Rate (UASR) by 3.55 percentage points relative to SheepDog on GossipCop and consistently outperforms prior single-axis defenses on Macro-F1 while maintaining competitive clean accuracy, demonstrating the effectiveness of multi-axis and instance-adaptive worst-case training.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.13444

FlowHOI: Flow-based Semantics-Grounded Generation of Hand-Object Interactions for Dexterous Robot Manipulation

Huajian Zeng, Lingyun Chen, Jiaqi Yang, Yuantai Zhang, Fan Shi, Peidong Liu, Xingxing Zuo

原文摘要

Recent vision-language-action (VLA) models can generate plausible end-effector motions, yet they often fail in long-horizon, contact-rich tasks because the underlying hand-object interaction (HOI) structure is not explicitly represented. An embodiment-agnostic interaction representation that captures this structure would make manipulation behaviors easier to validate and transfer across robots. We propose FlowHOI, a two-stage flow-matching framework that generates semantically grounded, temporally coherent HOI sequences, comprising hand poses, object poses, and hand-object contact states, conditioned on an egocentric observation, a language instruction, and a 3D Gaussian splatting (3DGS) scene reconstruction. We decouple geometry-centric grasping from semantics-centric manipulation, conditioning the latter on compact 3D scene tokens and employing a motion-text alignment loss to semantically ground the generated interactions in both the physical scene layout and the language instruction. To address the scarcity of high-fidelity HOI supervision, we introduce a reconstruction pipeline that recovers aligned hand-object trajectories and meshes from large-scale egocentric videos, yielding an HOI prior for robust generation. Across the GRAB and HOT3D benchmarks, FlowHOI achieves the highest action recognition accuracy and a 1.7$\times$ higher physics simulation success rate than the strongest diffusion-based baseline, while delivering a 40$\times$ inference speedup. We further demonstrate real-robot execution on four dexterous manipulation tasks, illustrating the feasibility of retargeting generated HOI representations to real-robot execution pipelines.

cs.RO · cs.AI · cs.CV

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2504.02321

On shallow feedforward neural networks with inputs from a topological space

Vugar Ismailov

原文摘要

We study feedforward neural networks with inputs from a topological space (TFNNs). We prove a universal approximation theorem for shallow TFNNs, which demonstrates their capacity to approximate any continuous function defined on this topological space. As an application, we obtain an approximative version of Kolmogorov's superposition theorem for compact metric spaces.

cs.LG · math.FA

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35472

Amplify, Locate, Estimate (ALE) on Rare-Failure Rates of Fine-Tuned LLMs

Patrick Reichherzer, Jonathan Evertz, Thorsten Holz

原文摘要

Safety fine-tuning can make undesirable model behaviors sufficiently rare that measuring their frequency by direct sampling becomes prohibitively expensive. We introduce Amplify, Locate, Estimate (ALE), a method for estimating such rare failure probabilities efficiently. ALE uses the change in token log-probabilities induced by the safety fine-tuning to define an amplification direction, along which we increase the failure rate for cheap measurement. We develop a score-function estimator that uses the selected amplified batch to recover the local slope of the log failure rate from the token probabilities of the sampled failures, enabling extrapolation back to rare target rates. We also use the amplified batch to obtain an importance-sampling estimate. Across 41 evaluation targets, ALE's estimate-to-reference ratios have a median close to one, with 37 ALE estimates within a factor of three of reference values obtained from independent direct measurements. Ablation tests show that with a budget of up to $\sim$1000 labeled rollouts, in addition to a cheap unlabeled scan, ALE estimates failure probabilities for Qwen3-8B fine-tunes down to about $10^{-5}$, where direct measurement can require hundreds of thousands of rollouts, as the required sampling budget scales inversely with failure probability at fixed relative precision.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.18553

StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Video

Huajian Zeng, Chaohua Yao, Yuantai Zhang, Jiaqi Yang, Rolandos Alexandros Potamias, Xingxing Zuo

原文摘要

Recovering world space 4D motion of two interacting hands from egocentric video is a fundamental capability for supervising robot policy learning, where wrist trajectories track the end-effector and finger articulations specify the grasp pose. Two major challenges arise in this setting: hands frequently leave the camera view for extended periods due to head motion, and persistent hand-object interactions cause severe occlusions of one or both hands. Existing methods uniformly condition on noisy hand motion observations without accounting for their per-frame reliability, leading to substantial performance degradation. Our key insight is that accurate world space hand motion estimation is tightly coupled with the quality of per-frame hand observations. To this end, we decompose the quality of hand motion observations extracted from an off-the-shelf hand pose estimator into four channels: wrist global translation and finger articulations for both hands. We propose StableHand, a quality-aware flow-matching framework conditioned on these four-channel quality signals, which are predicted by a learned quality network. We naturally incorporate the quality signals into the flow-matching process through a per-channel forward schedule, a quality-adjusted velocity target, AdaLN modulation of the DiT denoiser, and a quality-aware ODE initialization. This unified generative process preserves high-quality observations while reconstructing unreliable ones using a learned bimanual motion prior. Experiments on HOT3D and ARCTIC, two egocentric benchmarks featuring long missing-hand spans and persistent hand-object occlusions, show that StableHand achieves state-of-the-art performance across all reported metrics, reducing W-MPJPE by 20-25% compared to the strongest baseline, with the largest gains on heavily occluded ARCTIC sequences.

cs.CV · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.32229

Training an MoE LLM in MXFP4: How We Closed the Gap to BF16

Han Wang, Zhitao Wang, Natalia Frumkin, Xuanwu Yin, Alireza Khodamoradi, Dong Li, Emad Barsoum

原文摘要

Training large language models (LLMs) in sub-8-bit arithmetic promises substantial gains in memory bandwidth and compute throughput, yet FP4 formats introduce quantization error severe enough to destabilize optimization if left unaddressed. We present ALTO, an open-source training recipe for GPT-OSS-20B, a 20-billion-parameter mixture-of-experts (MoE) model, on the MLPerf Small MoE Training benchmark under the MXFP4 microscaling format. The recipe combines established techniques from Abecassis, Felix et al. [arXiv:2509.25149] (hybrid 1D/2D block quantization, randomized Hadamard transforms, and stochastic rounding) with a simplified weight de-oscillation scheme adapted from TetraJet-v2 [arXiv:2510.27527]. On C4 validation at global batch size 16, MXFP4 + RHT + SR + de-oscillation reaches a validation loss of 3.3350 at 16,128 steps, only 0.007 above the BF16 baseline (3.3283), closing roughly 50% of the gap left by MXFP4 without de-oscillation (3.3418). Measured by steps to reach the MLPerf quality target (validation loss 3.34), de-oscillation cuts the FP4 convergence overhead relative to BF16 from +20.0% to +5.0%. We also report negative end-to-end results from differential gradient estimation, outlier clipping, and macro-block scaling, despite each showing operator-level SNR gains. All experiments use simulated MXFP4 kernels on AMD MI300X hardware and wall-clock speed has not been optimized.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2609.30383

Stealth Apart, Harm Together: Skill Cascading Attacks on Skill-Based Agent Systems

Zihao Zhu, Siwei Lyu, Adel Bibi, Baoyuan Wu

原文摘要

A skill is a modular package of natural-language instructions, executable scripts, and reference resources that an agent can load at runtime to extend its capabilities for a specific task. Skill-based agent systems therefore enable flexible reuse of third-party capabilities, but the openness of this skill ecosystem also opens up a new attack surface. Prior work has focused on vulnerabilities within individual skills, but little attention has been paid to risks that arise from interactions across skills. In this paper, we introduce skill cascading attacks, a threat paradigm in which a malicious objective is distributed across multiple skills so that each modification looks benign in isolation, yet their combined execution is harmful. For instance, in a prescription-review pipeline, the first skill weakens signals of recently discontinued medications in the extracted history, the second downgrades the severity of any drug interaction tied to them, and the third suppresses the resulting low-priority alert in the final summary, so that a severe drug-interaction warning silently disappears before reaching the physician. To systematically study this safety blind spot, we develop SkillCascade, an automated multi-agent red-teaming framework, and release SkillCascade-Bench, a benchmark of 213 validated cascading test cases across multiple agent systems and domains. Across representative agents (e.g., OpenClaw, Claude Code, Codex) and LLM backbones, cascaded interactions reliably induce harmful behaviors while evading existing per-skill scanners and runtime monitors. Our findings highlight a gap between component-level integrity and system-level safety, and call for defenses that reason over cross-skill interactions rather than individual skills in isolation.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35470

An Interactive Evolutionary Multiobjective Optimization Algorithm Based on Interpretable Active Preference Learning

Thomas Quadt, Boris Čule, Roy Lindelauf, Herman Monsuur, Mark Voskuijl

原文摘要

Many decision-making tasks are inherently multi-objective. Interactive evolutionary multi-objective optimization algorithms (iEMOAs) are particularly well-suited to help the decision-maker find their most preferred solution. However, many of these algorithms employ black-box preference models. For high-stakes decision-making tasks, like healthcare and defense, a high level of transparency is needed, for instance to support accountability. We propose an interpretable iEMOA which uses active learning to efficiently learn a tree-based preference model directly from pairwise comparisons. The survival operator of NSGA-II and NSGA-III is extended with the learned preference model to guide the algorithm towards the region of interest. An extensive experimental study compares the proposed method to a state-of-the-art black-box model and a state-of-the-art interpretable model. Results indicate that our proposed model outperforms the alternatives in terms of finding the most preferred solution at the cost of a slightly worse average final population. Finally, a case study on a real-life engineering problem illustrates how inspecting the learned model reveals which objectives drive the decision-maker's preferences.

cs.NE · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35469

XL MIMO Extreme Learning Machines: Wave-Domain Inference with Stacked Metasurfaces

Kyriakos Stylianopoulos, Mattia Fabiani, Davide Dardari, George C. Alexandropoulos

原文摘要

The recently envisioned goal-oriented communications paradigm requires machine learning inference to be performed directly on wirelessly transferred data, by splitting neural network computations between the transmitter, the Receiver (RX), and the wireless channel. Such approaches aim to offload large portions of the computation onto the channel itself, which is often controlled by reconfigurable MetaSurfaces (MSs). Typical MS-parametrized systems, however, enable only limited computation offloading in the wave domain, usually corresponding to a single neural network layer, due to adverse channel fading effects and the almost linear operation of the channel and conventional MS models. In this paper, we demonstrate that an eXtremely Large (XL) Multiple-Input Multiple-Output (MIMO) system equipped with Stacked Intelligent MSs (SIM) at the RX side, together with a single antenna and its accompanying radio-frequency chain, may act as a two-layer neural network operating exclusively over the air. The first (uncontrollable) network layer corresponds to the transformations offered by wireless fading, while the second (controllable) layer is implemented via SIM operations. In particular, only the first, front-end MS layer needs to exhibit nonlinear response to serve as an activation function. Leveraging the Extreme Learning Machine (ELM) framework, the proposed XL MIMO system architecture is shown to be a universal approximator, and the optimal linear-SIM-based combining is derived in closed form, allowing for fast training even and partial signal observability. Numerical evaluations across diverse datasets showcase that the proposed XL-MIMO-ELM framework achieves classification accuracy comparable to idealized digital models, thereby, proving the viability of low complexity, wave-domain neural computations.

eess.SP · cs.ET · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35468

Multi-Horizon Future Discovery for Physics-Informed Exploration

Shuwei Wang, Qiang Guan, Brian Qiu, Haoxiang Huang, Haoxi Wang, Chenyu Li, Bo Xu, Sen Cui

原文摘要

Exploration in physical control environments requires agents to identify actions whose consequences reveal previously unexplored aspects of the underlying dynamics. However, many intrinsic motivation methods rely on immediate prediction errors, state novelty, or local physical changes, which may overlook informative outcomes that emerge across extended temporal horizons. We investigate whether learning structured representations of reachable futures can provide a more effective basis for exploration. To this end, we introduce Hamiltonian Temporal Contrastive Curiosity (HTC$^2$), a framework that combines multi-horizon temporal representation learning with Hamiltonian phase-space structure. A horizon-conditioned contrastive critic learns temporal relationships from future-state pairs sampled within the same episode. The distance between positive-pair representations is then used as an intrinsic reward, encouraging the agent to explore futures that remain insufficiently organized in the learned representation. To incorporate information about physical dynamics, we additionally modulate this reward using bounded multi-step Hamiltonian variation, rather than directly rewarding changes in the Hamiltonian itself. We integrate HTC$^2$ with both Soft Actor-Critic (SAC) and Proximal Policy Optimization (PPO), and evaluate it across six DeepMind Control Suite tasks. Comparisons with ICM, RIDE, E3B, Plan2Explore, and a single-step Hamiltonian curiosity baseline are complemented by state-coverage evaluations, component ablations, and phase-space diagnostics to characterize the contributions of temporal learning and physical structure to exploratory behavior.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.31824

A Topology-Aware Quantum-Classical Framework for Multi-Target Active Debris Removal using Gaussian Boson Sampling

Komal Pandya, Saiyam Sakhuja, Nagaraj Kattaian

原文摘要

The continued growth of orbital debris threatens the safety and sustainability of near-Earth space, making Active Debris Removal (ADR) an important mitigation strategy. Selecting $k$ targets from $N$ candidates yields a combinatorial search space of size $\binom{N}{k}$, making joint target selection and mission sequencing computationally demanding. We present a topology-aware quantum-classical framework integrating orbital mechanics, weighted orbital-transfer graphs, Gaussian Boson Sampling (GBS), and multi-objective evolutionary optimization. Seven target-prioritization strategies represent physical consequence, orbital persistence, conjunction risk, network centrality, community structure, inferred source families, and random selection. GBS generates candidate target subsets from the weighted graph, which are then evaluated using PyGMO-based evolutionary optimization to identify servicing sequences that jointly minimize total velocity increment ($Δv$) and mission duration, accounting for modeled timing, propulsion, and mass feasibility. We evaluate the framework across three benchmark environments, SOCRATES Minefield, Collision Cloud, and Random, with candidate-pool sizes $N\in\{15,18,22,25\}$ and target cardinalities $k\in\{3,5\}$. The experiments characterize how benchmark topology, prioritization strategy, and problem scale relate to sampling behavior and downstream mission performance. By separating candidate-subset generation from detailed trajectory optimization, the framework offers a topology-aware approach to focusing computational effort on a limited set of candidate ADR missions.

cs.CE · cs.ET · quant-ph

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35464

EvoBench: An Evolving, Diagnostic Benchmark Framework for Environmental Modeling

Yiming Sun, Yuan Zhang, Qi Cheng, Yingda Fan, Runlong Yu, Yiqun Xie, Xiaowei Jia

原文摘要

Machine learning models are now widely used to predict environmental variable dynamics in domains like hydrology, climate science, agriculture, and ecology. These models are usually compared on fixed benchmark datasets using a single average accuracy score. As models improve, their scores become very close when averaged over large regions and long time periods, so the benchmark can no longer tell them apart, and a single number hides \emph{where} and \emph{when} a model fails. Three failures are common across environmental domains: models get worse as the climate shifts (non-stationarity), models fail at unmonitored sites (spatial extrapolation), and models miss rare but important regimes such as floods and droughts. We present \textbf{EvoBench}, a benchmark framework that shows where a model fails, tracks failures over time, and evolves to focus on model capability gaps. We apply EvoBench to daily streamflow prediction as a case study (\textbf{CAMELS-Evolve}, about 9{,}000 U.S. basins, 1985--2024) and compare an operational physical model (NWM), a conceptual reference (HBV), and several data-driven models. No model wins on every testing scenarios (e.g., in terms of average accuracy, performance at low flows and unmonitored basins). Also we observe that all data-driven models under-predict floods. Additionally, we show that targeted fix based on the reported failures could mitigate weaknesses the benchmark identified in certain scenarios. EvoBench turns model evaluation from a saturated ranking into a moving map of model limitations.

cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2503.19549

Unified Robust and Convergent Over-The-Air Federated Learning under Channel Noise and Heterogeneity

Zubair Shaban, Nazreen Shah, Ranjitha Prasad

原文摘要

Federated learning (FL) has emerged as a key enabler of distributed model training across ubiquitous wireless edge devices while preserving data privacy in next-generation wireless systems. One communication-efficient approach to realize this is leveraging Over-the-Air Federated Learning (OTA-FL), which exploits the superposition property of wireless multiple access channels (MAC) to perform low-latency model aggregation. However, practical OTA-FL deployments are significantly affected by the joint effects of channel noise at the server, fading, and both data and system heterogeneity across participating edge devices, which can degrade the model performance and thereby convergence. In this work, we propose the novel Robust and Convergent Federated Learning (RoCo-FL), a framework that jointly handles these challenges in federated wireless networks. RoCo-FL formulates local updates through inexact optimization, capturing the effects of wireless noise, partial participation, and heterogeneous system capabilities via structured inexactness conditions. These conditions naturally manifest as a proximal constraint at the edge devices that stabilizes local updates and mitigates the impact of channel impairments, data heterogeneity, and stragglers. We establish convergence guarantees for non-convex objectives under the proposed zeroth- and first-order inexactness models, providing theoretical insight into the interplay between channel impairments, data, and system heterogeneity. Experimentally, we validate RoCo-FL on real-world datasets, including CIFAR10, CIFAR100, and FEMNIST, demonstrating its robustness in noisy and heterogeneous environments. Compared to state-of-the-art baselines, RoCo-FL achieves significantly more stable convergence and higher accuracy, particularly in the presence of stragglers.

cs.LG · eess.SP

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版本更新 · v2arXiv:2609.36472

DisCoMBO: Steering Expert-in-the-Loop Black-Box Optimization via Distributional Conformance

Jonas Seng, Bennet Wittelsbach, Kristian Kersting

原文摘要

Sequential Model-Based Optimization (SMBO) traditionally relies on Bayesian or ensembling surrogates for uncertainty quantification. While historically treated as fully data-driven, SMBO increasingly integrates external domain expertise to accelerate discovery. To overcome the opaque guidance and diminished integration fidelity of standard acquisition re-weighting, Probabilistic Circuits (PCs) have emerged as a generative surrogate alternative, enabling direct knowledge injection via conditional sampling. However, these generative routines lack the formal exploration-exploitation semantics required for rigorous optimization. We introduce the Distributional Conformance Score (DisCo), a novel metric that unifies the flexibility and efficiency of PCs with a formal uncertainty framework. DisCo provides a bounded, $[0, 1]$-normalized measure of model "surprise" that (1) recovers properties comparable to kernel-based uncertainty known from, e.g., Gaussian Processes, while maintaining linear-time inference, and (2) enables accurate assessment of conformance of external knowledge w.r.t. model evidence. We then present DisCoMBO, a framework leveraging these properties for robust, knowledge-aware optimization. We prove that DisCoMBO is a zero-regret algorithm and demonstrate its effectiveness across diverse benchmarks from AutoML, material optimization, and wind park optimization.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35462

DEX-PHD: A Dexterous Portable Handheld Device for Multimodal Data Collection

Jooyoung Hong, Noboru Myers, Obin Kwon, Yixian Yang, Joohyung Kim

原文摘要

Existing manipulation data collection methods typically offer either accurate robot-state acquisition through kinematic-chain-based teleoperation or convenient, portable operation through vision-based approaches. We present DEX-PHD, a portable handheld device that combines these advantages for dexterous manipulation by integrating a dexterous robot hand, continuous per-finger control, and multimodal logging. The system records proprioceptive information, fingertip contact data, and wrist-camera video, while the operator directly controls the robot hand through joint-level mapping. Its untethered design enables data collection across diverse environments. We demonstrate DEX-PHD on contact-rich tasks requiring coordinated multi-finger manipulation and deploy the collected demonstrations through open-loop replay on a physical humanoid robot. The results show that open-loop replay preserves the main temporal patterns of finger motion and task-relevant contact. Therefore, DEX-PHD provides a practical platform for portable, multimodal dexterous manipulation data collection.

cs.RO

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新论文 · v1arXiv:2610.35461

A Contextual Measure of Ambiguity in Prescriptive Text

Sally Dong, Luke Thorburn, Andrew Konya, Michiel Bakker

原文摘要

Ambiguity in prescriptive text such as laws, contracts, rules, policies, or recommendations can be both desirable (e.g., if it enables a law to adapt to changing context, such as new technologies) and undesirable (e.g., if it leads to arbitrary discretion or conflict over the law's interpretation). To help navigate these trade-offs, it would be valuable to have methods for quantifying ambiguity that are predictive of such outcomes, but existing measures capture how text is perceived in isolation rather than how it is interpreted in context. In this paper, we propose quantifying ambiguity as the degree of disagreement among a set of stakeholders ("raters") on how alternative prescriptive texts ("policies") apply in each of a set of relevant scenarios ("cases"). Using two policy domains, we present preliminary analysis suggesting that, even when using simulated raters, this approach (i) correlates with real human disagreement, and (ii) is robust to spurious text features. We then apply the measure to existing deliberation datasets to describe the association between policy ambiguity and support for those policies.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2605.31177

VaViT: Vanilla ViT for Automotive Point Cloud Semantic Segmentation

Gilles Puy, Nermin Samet, Alexandre Boulch, Spyros Gidaris, Tuan-Hung VU, Renaud Marlet

原文摘要

Plain Transformers have become the de-facto architecture for processing text, audio, image, and video, offering a unified backbone for multimodal learning. However, state-of-the-art architectures for point cloud semantic segmentation remain dominated by U-Nets architectures where convolutions are interleaved with local or windowed attentions. In this work, we show how to effectively leverage vanilla, non-hierarchical ViTs for the segmentation of large-scale automotive lidar scenes. We bridge the performance gap thanks to a carefully designed tokenizer, a lightweight decoder segmentation head, and tailored data augmentations. Our approach, VaViT, for Vanilla ViT, matches or exceeds the performance of state-of-the-art methods while maintaining the simplicity of ViT architecture. We provide extensive evaluations on nuScenes, SemanticKITTI, and Waymo Open Dataset to validate the efficiency of our method. Code and pre-trained models are available at https://github.com/valeoai/VaViT.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35458

RoKON: Efficient and Adaptive Data-Enabled Predictive Control for Robotic Manipulation

Akshun Sharma, Zhongqi Wei, Buqing Ou, Frederike Dümbgen

原文摘要

Data-enabled predictive control has recently emerged as a promising control paradigm, enabling a transparent optimal-control formulation without the need to learn an explicit dynamics model. This paper presents a number of extensions paving the path towards its use in real-time robotics tasks. Following recent work, we utilize a nonlinear predictor based on Gaussian kernels to represent the relationship between input and output data. We propose a damped Gauss-Newton method that enables real-time control by efficiently exploiting the least-squares structure of the control problem. In addition, we introduce a hybrid buffer management strategy that incorporates informative online data while retaining relevant offline data, allowing the predictor to account for changes in the dynamics. We demonstrate the tracking performance and computational suitability of the proposed method in MuJoCo using a Franka Research 3 arm pushing a block across surface, without prior knowledge of its changing friction values.

cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35457

Prior Predictive Matching for Bayesian LoRA

Tomasz Kuśmierczyk, Eliezer de Souza da Silva, Marcin Sendera

原文摘要

Bayesian variants of Low-Rank Adaptation (LoRA) provide principled uncertainty estimation when fine-tuning large foundation models, but require specifying the prior over the low-rank weight updates. We address this hyperparameter selection problem by introducing a closed-form prior-predictive estimator that operates before fine-tuning. We analyze a second-order expansion of the network and quantify how the low-rank prior drives function-space deviations from the pretrained outputs. We also show that these prior-predictive quantities depend on the prior only through the product of the adaptation rank and the fourth power of the prior scale. Because the training targets share a single draw of the latent weight update, we can leverage the covariance between example residuals to derive a moment-matching estimator. Furthermore, our theoretical analysis establishes that the optimal prior precision scales as $r^{-1/2}$ with the rank $r$, allowing a single estimate to generalize across all ranks. Controlled experiments across regression and classification tasks validate our approximation and show that our estimator recovers the true prior scale. On RoBERTa-large, our approach improves predictive negative log-likelihood (NLL) and calibration over both MAP and marginal-likelihood selection without requiring validation data, while achieving competitive out-of-distribution detection.

cs.LG · stat.ML

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.12290

Beyond Trial-and-Error: Agentic Optimization for Image-to-Video Adherence

Aman Tyagi, Hemanth Boinpally, Jonathan Chen, Douglas Gebert, Steven Hickson

原文摘要

Modern black-box Image-to-Video (I2V) models offer powerful capabilities in automated content creation, yet their lack of fine-grained control and reliability presents significant challenges in professional workflows. Their inherent stochasticity causes minor variations in textual prompts or hyperparameters to yield drastically different outputs often necessitating inefficient, brute-force trial-and-error processes. To address these limitations, we introduce the ``Agentic Self-Improvement" framework, which reframes video synthesis into a closed-loop, goal-directed optimization. Our framework systematically navigates the generation parameter space using a novel two-stage approach. In the first stage, an iterative prompt optimization loop uses a multimodal Large Language Model (mLLM) to refine the input prompt. This refinement implements two automated evaluations: Davidsonian Scene Graph (DSG) queries ensure semantic adherence, and Common Mistake Questions (CMQ) for artifact detection. At the second stage, we use Bayesian optimization to efficiently co-optimize stochastic seeds and CFG scales. This search is guided by a suite of quality metrics, including the novel Video-Text Adherence (VTA) score derived from the DSG and CMQ evaluations. Our framework significantly outperforms unguided search methods: in human preference studies, videos generated via our agentic approach were strongly preferred over baseline outputs, achieving win rates up to 69\%. This work provides a practical and extensible methodology for enhancing the predictability and control of state-of-the-art video generation models, moving the field beyond speculative curiosities toward reliable, production-ready tools.

cs.CV · cs.AI · cs.MM

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.36001

Merkle-Tree-Based Verifiable Public Data Auditing for Cloud Object Storage Using Smart Contracts

Siri Reddy Tadi, K. Gangadhara Rao, M. Venu Gopalachari, C. Chetann Reddy, Jaswanth Bhimireddy

原文摘要

Owners of data in cloud object storage cannot directly check whether the provider still keeps every object unchanged. Existing research mostly checks blocks inside files or relies on third-party auditors, and less attention has been given to checking each object against a public blockchain reference while measuring the cost. A full-data audit downloads every object and compares it with a saved hash list, which is slow and only as reliable as that list. We propose a public auditing system in which the SHA-256 hash of each object and its name forms a leaf of a Merkle tree, so the whole dataset is represented by one Merkle root. This root is stored in an Ethereum smart contract as a trusted public record, while the objects stay with the provider. An auditor downloads an object, rebuilds the root using a short Merkle proof and compares it with the stored root, marking the object as intact, modified or missing. In five experiments on an S3-compatible store and a local Hardhat blockchain (normal audit, single- and multiple-object tampering, deletion and scalability), the system detected 15 of 15 single modifications, 2,205 of 2,205 modified objects and 830 of 830 deleted objects with no false alarms. The proof needed only 14 hashes for 10,000 objects, so checking one object took about 10 ms and a 100-object sample about 150 ms regardless of dataset size, while a full audit of 10,000 objects (14.3 s) took about as long as downloading them (13.5 s). Storing the root cost 91,863 gas, 252 times less than storing 1,000 hashes on-chain. The system thus shows exactly which objects were modified or are missing, with its main savings coming from checking selected objects.

cs.CR · cs.DC

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新论文 · v1arXiv:2610.35453

Beyond Federated Learning: Decentralized Agentic Systems for Self-Evolving Clinical Intelligence

Haoyuan Li, Mathias Funk, Aaqib Saeed

原文摘要

Clinical expertise is inherently distributed: it resides not in any single dataset or institution but in the accumulated reasoning experiences of thousands of clinicians navigating diverse patient populations, resource constraints, and evolving treatment protocols. Yet current approaches to scaling medical AI, from centralized large language models to federated learning, remain anchored to a data-centric paradigm that treats knowledge as static parameters to be aggregated. In this Perspective, we argue for a fundamental shift from data aggregation to experience aggregation. We propose Decentralized Agentic Systems (DAS), a framework in which distributed AI agents operating across healthcare institutions synthesize collective clinical intelligence by sharing abstracted reasoning trajectories rather than raw data or model parameters. Unlike federated learning, which averages numerical gradients across homogeneous model architectures, DAS exchanges structured records of clinical reasoning, specifically the sequence of observations, hypotheses, tool invocations, and outcome feedback that constitute diagnostic experience. We examine the architectural principles, deployment considerations, governance requirements, and critical open challenges of this framework, laying the groundwork for a collaborative medical AI ecosystem where distributed expertise autonomously adapts to the complexities of longitudinal patient care.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.35451

Then there is prompt injection, a malicious email, ...: The Wild Wide West of OpenClaw Agentic System Security

Mostafijur Rahman Akhond, Mahmuda Khatun, Gias Uddin

原文摘要

AI-powered personal assistant frameworks such as OpenClaw combine LLM reasoning, persistent memory, tool invocation, local execution, and web-based workflows. These capabilities enable useful automation, but they also create security risks when untrusted inputs, model reasoning, tools, memory, and deployment configuration interact without explicit trust boundaries. This paper presents an empirical study of reported security concerns in OpenClaw using two complementary data sources: Reddit discussions and security-tagged GitHub issues. We analyze more than 25K Reddit posts from 13 OpenClaw-related subreddits and identify 162 security-relevant posts with 1,787 associated comments. We further collect 358 security-tagged GitHub issues and retain 180 issues describing concrete security concerns. Using qualitative analysis and evidence-grounded CWE mapping, we identify 521 CWE instances across 59 distinct weakness types, concentrated in access-control failures, sensitive-data exposure, injection, and unsafe execution. We also extract 543 practitioner mitigation suggestions and consolidate them into seven recurring strategies. To complement the empirical analysis, we present an evidence-grounded illustrative reconstruction of a representative sensitive-data exposure pathway using dummy secret values. Our findings show that OpenClaw security issues are not isolated implementation bugs; they reflect recurring trust-boundary failures across the agent execution pipeline. We discuss how these weaknesses map to both traditional software-security categories and agent-specific failure mechanisms, and derive implications for safer agentic systems, including explicit trust boundaries, least-privilege tool access, execution containment, runtime oversight, and defense-in-depth deployment.

cs.CR · cs.SE

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