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新论文 · v1arXiv:2610.34594

NovaFabric: A Black-Box Recorder for AI Agents with Sealed, Replayable, Diffable and Auditable Runs

Mohsen Seyedkazemi Ardebili

原文摘要

An AI agent run is no longer a function call. It is a cascade of prompts, model calls, tool invocations, file and network effects and sub-agents. When such a run misbehaves, or an auditor asks what happened, logs and traces answer poorly: they are mutable, partial and cannot be re-executed. This technical report describes NovaFabric, an open-source (Apache-2.0) black-box recorder for AI agents that turns a run into a sealed, replayable, diffable and auditable evidence capsule. The design rests on two formats only. The Run Capsule is a directory of flat files and the source of truth; every database is a rebuildable index over capsules. The Evidence Bundle is the signed export for an auditor. Everything else follows existing standards: OpenTelemetry GenAI, OpenLineage, W3C PROV, in-toto/DSSE, RFC 3161 and CycloneDX. A single-node run is the smallest case of a distributed one; the schema supports a capsule hierarchy for Slurm arrays and Kubernetes jobs, though automatic parent finalization is library-only today. The report covers the architecture and the engines behind the verb chain capture, seal, replay, diff and audit: fail-closed mocked replay; a diff gate with a stable exit-code contract; DSSE signatures that bind their intent and a capsule root that commits to file names; a capsule treated as untrusted input; signer identity-trust levels with offline TSA and CRL checking; maker-checker promotion against an operator-held trust list; and a deny-by-default authorization table for every dashboard route. It presents no new experiments; the evaluation is in arXiv:2609.12582. Every count except the private ADR tally is generated by a probe script run on the public source at the v0.107.0 tag (150 top-level commands, 84 Python subpackages, 16,721 test functions), every capability carries an explicit maturity label, and honest-limits boxes state where the system stops.

cs.DC · cs.CR · cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34591

Does the Outfit Change the Price? Context Halo in Vision-Language Model Valuation of an Identical Low-Cost Necklace

Brianne Lee

原文摘要

A chunky gold-tone chain necklace bought online for 2.43 USD was photographed four ways: worn with formal attire against a wood-panelled wall, worn at a party, worn with casual clothing in a recycling yard, and laid flat with no person present. We asked six frontier language models to estimate its price in 1,164 independent and sequential API sessions (4,604 logged rows) and compared estimates across settings. Among the four models that answered image prompts, the same necklace was priced 1.9 to 3.3 times higher in the formal photograph than in the flat-lay (all p < 0.01). Against the yard photograph, the ratio ranged from 1.23 (Grok 4.5, not significant) to 3.57 (Kimi K3), with Claude Fable 5 at 3.32. A text-only version of the task, in which the setting is described in words, produced formal-to-yard ratios of 2.2 to 3.9 in all six models, so the effect does not require pixels. Flat-lay estimates themselves were 7.8 to 18.7 times the receipt price, so part of any headline "outfit multiplier" computed against the receipt is baseline overestimate, not a context effect. A single instruction to ignore clothing and setting significantly reduced the effect in one model (ratio of ratios 0.77, 95% CI 0.65 to 0.91) and not detectably in the others; telling the model the photo came from a company website or a personal account changed nothing significant. Asked afterward whether a different outfit would have changed their number, Claude Fable 5 said yes in 24 of 24 sessions, GPT-5.6 in 69%, and GPT-4o in 18%, while GPT-4o also refused 79% of image estimation prompts. The study isolates a mechanism with one object and one wearer at about 10 sessions per model and condition; we outline the replication needed next, with multiple objects and a human benchmark. Data, code, and raw outputs are released.

cs.CL

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.29140

From AI-Free Gates to AI-First Work: How Engineering Students in India Navigate University Education and Career Preparation Without AI Guidelines

Samhitha Goutham, Ziwei Gu

原文摘要

Engineering graduates in India enter a technology sector that is being reshaped by generative AI, yet the route into that sector runs through examinations and campus placement screens that largely exclude AI. Institutions in India have an approved intake of nearly 2.9 million seats in engineering and technology for 2026-2027, but HCI research on how students prepare for AI-mediated work has drawn mostly on Western and East Asian settings. We interviewed 23 students and recent graduates of Indian engineering and computing programmes about how they used generative AI across coursework, examinations and placements, and how they judged their own readiness for work. Using reflexive thematic analysis, we report five themes, covering AI-first workplaces and AI-free placement screens, how participants prepared for placement, how they used AI in coursework, the role of faculty authority and enforcement, and participants' concerns about their readiness for work. Drawing on signaling theory, we discuss what grades and screen scores certify once AI can help produce them, and we offer recommendations for employers, institutions and AI tool designers.

cs.HC · cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34589

HARP-LoRA: Hierarchy-Conditioned Rank Projection for Low-Rank Adaptation in Scientific Table Understanding

Hossein Sholehrasa, Mohammadhossein Amini, Doina Caragea, Remya Ampadi Ramachandran, Dan Wu, Zihang Shi, Zelin Li, Lindsey Hulbert 等 11 位作者

原文摘要

Tabular data is widely used in scientific applications, where complex layouts, including multi-level headers, merged cells, captions, and footnotes, make information extraction difficult. This is particularly important in pharmacokinetics (PK), where values must be correctly associated with the drug, species, dose, administration route, unit, and experimental condition. Parameter-efficient fine-tuning methods such as Low-Rank Adaptation (LoRA) reduce adaptation cost but do not explicitly incorporate relationships between table values and surrounding headers. We introduce HARP-LoRA, a hierarchy-conditioned rank projection method for low-rank adaptation in scientific table understanding. HARP-LoRA extends projected LoRA by constructing token-specific intrinsic representations from the row- and column-header hierarchies of each data token. These representations condition the low-rank down-projection, incorporating hierarchical context while keeping the pretrained model and random projection tensors frozen. We evaluate HARP-LoRA on 950 manually annotated PK tables from 587 scientific articles and on WikiTableQuestions (WikiTQ) using Llama~3.2 3B, Llama~3.1 8B, and Gemma~3 27B. With Llama~3.1 8B, HARP-LoRA achieves a PK F1-score of 57.64\% and WikiTQ accuracy of 53.15\%, improving over LoRA by 1.42 and 6.56 points, respectively. With Gemma~3 27B, it achieves the best PK F1-score of 70.63\% and WikiTQ accuracy of 56.87\%. These results use only 172K, 197K, and 547K trainable parameters, far fewer than LoRA and TableLoRA. Overall, conditioning lightweight adapters on table-header hierarchies improves extraction from scientific tables and reasoning over flatter general-domain tables while maintaining parameter efficiency. Code is available at: https://github.com/hosseinsholehrasa/HARP-LoRA

cs.CL · cs.AI · cs.IR · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2608.23444

Fair Dynamic Operating Envelopes using Distributed Multi-Period Optimal Power Flow and Jain Index for Active Distribution Networks

Pedro Salomão Quessongo, Daniel Gebbran, Clodomiro Unsihuay-Vila

原文摘要

Dynamic operating envelopes (DOEs) are increasingly used to publish time-varying export limits that keep distribution networks within operational limits. Purely technical DOE allocation, however, can systematically privilege electrically favorable prosumers, while embedding fairness directly into a single-period optimal power flow (OPF) objective mixes network feasibility, equity and efficiency in a way that obscures the cost of fairness. This paper proposes a two-stage, multi-period framework that addresses both of these. Initially, a technical distributed OPF computes network-feasible export envelopes. The subsequent stage then applies a dynamic aggregate export budget and redistributes capacity through cumulative proportional fairness, limiting the additional curtailment by an admissible efficiency budget. The resulting fair DOEs are treated as first-stage decisions, while battery storage provides scenario-dependent recourse under demand and renewable uncertainty. The operational problem is solved by a calibrated regional alternating direction method of multipliers (ADMM) on a lossless LinDistFlow model and independently validated using AC power flow. We observe a trade-off between increases in curtailment \emph{versus} improvements on fairness, as expected, reaching Jain fairness indices close to unity. Results show that considering both storage (which alleviates curtailment impact) and multi-period fairness (which increases curtailment) is an interesting approach for modern DOE design, which in turn requires a multi-period, co-designed approach.

eess.SY · cs.CE

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2512.04231

CRAFT-E: An Interpretable and Editable Neuro-Symbolic Framework for Affordance-Grounded Active Object Retrieval

Zhou Chen, Joe Lin, Carson Bulgin, Sathyanarayanan N. Aakur

原文摘要

Assistive robots operating in unstructured environments must reason not only about what objects are, but how they can be used, including non-canonical and improvised uses. This requires grounding language-based action queries to objects that afford the requested function, are visually present, and can be physically retrieved. Existing approaches often rely on black-box models, fixed affordance labels, or direct object predictions, limiting transparency and controllability. We introduce CRAFT-E, a modular neuro-symbolic framework that composes an LLM-derived verb-property-object knowledge graph with CLIP-based visual alignment and energy-based grasp reasoning. The system exposes interpretable grounding paths, incorporates grasp feasibility into affordance inference, and supports targeted graph edits without retraining. We also construct a benchmark dataset with unified annotations for verb-object compatibility, segmentation, and grasp candidates, and deploy the full pipeline on a physical robot. Across static scenes, real-world trials involving 20 verbs and 39 objects, ImageNet-based functional retrieval, and COCO-Tasks transfer, CRAFT-E provides a competitive training-free prior for affordance-grounded retrieval while exposing component-level diagnostics and graph-level interventions. Under staged and full-pipeline perception, CRAFT-E matches strong flat LLM priors in several settings while adding failure attribution and editable reasoning paths. By coupling symbolic reasoning with embodied perception, CRAFT-E offers an inspectable and customizable framework for affordance-grounded object retrieval.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2501.13558

GoDe: Gaussians on Demand for Backbone-Agnostic Progressive Compression

Francesco Di Sario, Riccardo Renzulli, Marco Grangetto, Akihiro Sugimoto, Enzo Tartaglione

原文摘要

Splat-based radiance fields have rapidly diversified in primitive type, kernel support, and appearance parameterization. This diversity makes compression difficult: most codecs are single-rate, requiring a separately optimized model for each target bitrate, while progressive codecs remain tied to representation-specific assumptions that do not transfer across backbones. We introduce GoDe (Gaussians on Demand), a progressive compression framework whose central contribution is backbone agnosticism. It reorganizes any trained differentiable splat representation into a single scalable bitstream without modifying the backbone or re-deriving the compression structure for each new primitive type. GoDe builds a nested level-of-detail hierarchy via masked-gradient importance ranking, refines all levels with one quantization-aware fine-tuning stage, and stores the base layer and enhancement layers as progressive chunks compressed with shared entropy dictionaries. Any decoded prefix is directly renderable, so one training pipeline provides multiple rate-distortion operating points without per-rate retraining. Across five heterogeneous backbones and three standard benchmarks, GoDe achieves competitive rate-distortion performance while enabling faster rendering and substantially faster progressive decoding than existing methods. Project page: https://gaussians-on-demand.github.io/

cs.CV

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arXiv ↗PDF ↗
版本更新 · v7arXiv:2604.10766

At FullTilt: Real-Time Open-Set 3D Macromolecule Detection Directly from Tilted 2D Projections

Ming-Yang Ho, Alberto Bartesaghi

原文摘要

Open-set 3D macromolecule detection in cryogenic electron tomography eliminates the need for target-specific model retraining. However, strict VRAM constraints prohibit processing an entire 3D tomogram, forcing current methods to rely on slow sliding-window inference over extracted subvolumes. To overcome this, we propose FullTilt, an end-to-end framework that redefines 3D detection by operating directly on aligned 2D tilt-series. Because a tilt-series contains significantly fewer images than slices in a reconstructed tomogram, FullTilt eliminates redundant volumetric computation, accelerating inference by orders of magnitude. To process the entire tilt-series simultaneously, we introduce a tilt-series encoder to efficiently fuse cross-view information. We further propose a multiclass visual prompt encoder for flexible prompting, a tilt-aware query initializer to effectively anchor 3D queries, and an auxiliary geometric primitives module to enhance the model's understanding of multi-view geometry while improving robustness to adverse imaging artifacts. Extensive evaluations on three real-world datasets demonstrate that FullTilt achieves state-of-the-art zero-shot performance while drastically reducing runtime and VRAM requirements, paving the way for rapid, large-scale visual proteomics analysis. Code and data are available at https://github.com/Kaminyou/FullTilt.

cs.CV

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2602.07215

Multi-Agentic AI for Fairness-Aware and Accelerated Multi-modal Large Model Inference in Real-world Mobile Edge Networks

Haiyuan Li, Hari Madhukumar, Shuangyi Yan, Yulei Wu, Dimitra Simeonidou

原文摘要

Generative AI (GenAI) has transformed applications in natural language processing and content creation, yet centralized inference remains hindered by high latency, limited customizability, and privacy concerns. Deploying large models (LMs) in mobile edge networks emerges as a promising solution. However, it also poses new challenges, including heterogeneous multi-modal LMs with diverse resource demands and inference speeds, varied prompt/output modalities that complicate orchestration, and resource-limited infrastructure ill-suited for concurrent LM execution. In response, we propose a Multi-Agentic AI framework for latency- and fairness-aware multi-modal LM inference in mobile edge networks. Our solution includes a long-term Global Planning Agent, a short-term Prompt Scheduling Agent, and multiple on-node LM Deployment Agents, all powered by foundation language models. These agents cooperatively optimize prompt routing and LM deployment through natural language reasoning over runtime telemetry and historical experience. To evaluate its performance, we further develop a city-wide testbed that supports network monitoring, containerized LM deployment, intra-server resource management, and inter-server communications. Experiments demonstrate that our solution reduces average end-to-end latency by 42.9% compared with a state-of-the-art online-learning baseline and by 80.6% compared with the full-activation baseline, while maintaining a mean service-type Jain's index of 0.925. Moreover, our solution adapts quickly without fine-tuning, offering a generalizable solution for optimizing GenAI services in edge environments.

eess.SY · cs.AI · cs.DC

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34585

Large Language Models: A Plain-Language Overview for Engineers

Bahaeddin Türkoğlu

原文摘要

Large language models (LLMs) are neural networks trained on huge text collections to generate text by predicting what comes next. Engineers using ChatGPT and other generative artificial intelligence (AI) tools need a clear picture of what training changes and prompts add. The article starts with the Transformer, which connects words in context, and pre-training, where models learn to predict text. It then explains how fine-tuning adapts models to requests, with reinforcement learning from human feedback using human answer rankings. Next, retrieval-augmented generation (RAG) supplies documents, while chain-of-thought prompting encourages intermediate steps and agents use tools. FlashAttention lowers training and running costs by reducing data movement during attention; quantized low-rank adaptation (QLoRA) saves fine-tuning memory. Readers get a life cycle figure and tables comparing methods and their limits. A short checklist for judging LLM evaluation claims flags test material in training (data contamination) and model-based grading (LLM-as-a-judge). It also covers very long inputs (long context) and hallucination, meaning false or unsupported claims. Check factual accuracy separately from whether an answer sounds helpful.

cs.CL · cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2610.24016

CLARO: Clutter Aware Robot Orchestrator for Open-Vocabulary Grasping using VLM Agents

Sungsu Kim, Vineet Bhat, Prashanth Krishnamurthy, Ramesh Karri, Farshad Khorrami

原文摘要

Robots that follow natural-language instructions unlock a wide range of autonomous applications in households, warehouses, and labs. Real-world environments are diverse and often heavily cluttered, requiring robots to plan over multiple steps, act, and replan as they work toward a goal. We present CLARO (CLutter-Aware Robot Orchestrator), a VLM agent that orchestrates a set of perception and manipulation skills: open-vocabulary object detection, segmentation, 6-DoF grasping, and non-prehensile pushing to locate and retrieve a language-specified target in clutter. CLARO maintains a memory of its past actions to support long-horizon execution, and emits manipulation targets (grasp poses/3D waypoints) allowing transfer across robot arms without task-specific training. We evaluate CLARO against a range of methods on a dynamic simulation environment and standard image-based benchmarks, demonstrating strong generalization across object classes, lighting, and clutter levels. CLARO attains an average success rate of 89.1%, a relative improvement of over 16% on the strongest competing method in high cluttered scenes. We further analyze performance along grounding and grasping axes to characterize where each method succeeds and fails. Finally, we deploy CLARO on a robot arm across diverse cluttered scenes, achieving a success rate of 88.8%, and demonstrating strong sim2real generalizability.

cs.RO · cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34582

HobbyLM: A Sparse Mixture-of-Experts Model Family on a Hobby Budget

Harish Santhanalakshmi Ganesan, Hariharan M. S., Prabhurajhan R

原文摘要

We describe HobbyLM, a family of small sparse Mixture-of-Experts (MoE) models trained from scratch with a few hundred to a few thousand dollars of rented GPU time. The core is a decoder-only transformer with fine-grained experts, sigmoid routing with auxiliary-loss-free load balancing, grouped-query attention with per-head QK-normalization, and aMuon/AdamW optimizer split. Each of these choices was selected with a single-variable ablation suite at 130M parameters. On this architecture we train a 500M-parameter model (169M active) on 40B FineWeb tokens and post-train it into a chat model, a masked-diffusion language model, a function-calling and computer-use agent, and a single "omni" checkpoint that reads text, images, video, sound and speech through frozen encoders and small projectors. We run these models on a laptop CPU with a from-scratch Rust inference engine. Two of the authors then adopted the architecture without architectural changes to build HobbyLM-1B (1.04B total, 305M active parameters), trained on a 100B-token curated mixture with a high-quality anneal. HobbyLM-1B reaches a 47.5 average on seven zero-shot benchmarks, and its builders also release an instruction-tuned model and an on-device macOS computer-use adapter. Finally, we describe HobbyLM-Image, a 333M-parameter flow-matching diffusion transformer that generates 1024x1024 images in a 32x-compressed latent space, together with a dependency-light CPU implementation of the full text-to-image pipeline. We report what worked, what did not, and where the small-scale ceilings lie. We also state for each component which author designed or built it.

cs.AI

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arXiv ↗PDF ↗
版本更新 · v11arXiv:2201.04266

Safe Equilibrium

Sam Ganzfried

原文摘要

The standard game-theoretic solution concept, Nash equilibrium, assumes that all players behave rationally. If we follow a Nash equilibrium and opponents are irrational (or follow strategies from a different Nash equilibrium), then we may obtain an extremely low payoff. On the other hand, a maximin strategy assumes that all opposing agents are playing to minimize our payoff (even if it is not in their best interest), and ensures the maximal possible worst-case payoff, but results in exceedingly conservative play. We propose a new solution concept called safe equilibrium that models opponents as behaving rationally with a specified probability and behaving potentially arbitrarily with the remaining probability. We prove that a safe equilibrium exists in all strategic-form games (for all possible values of the rationality parameters), and prove that its computation is PPAD-hard. We present exact algorithms for computing a safe equilibrium in both 2 and $n$-player games, as well as scalable approximation algorithms.

cs.GT · cs.AI · cs.CR · cs.MA · econ.TH

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34577

Rethinking Verification in Agent Harnesses

Zhengxin Zhang, Erkang Zhu, Yin Lin, Claire Cardie, Bolin Ding, Jingren Zhou

原文摘要

Agent harnesses enable large language models to act through tools, observe the results, and iteratively work toward a task goal. Verification checks and revises agents' work to improve output quality. Yet there is limited guidance on how harnesses should organize this effort. We study verification as an axis of test-time scaling by examining when to intervene, who checks the work, and how checking leads to revision. Our framework spans four layers of the agent lifecycle: initial instructions, mid-turn reminders, completion gates, and independent review. We compare 17 designs across seven frontier coding models on Terminal-Bench (TB) and SWE-bench Verified (SWE), and introduce VisualBench for expert evaluation of visual and interactive artifacts. Initial instructions and execution-time reminders yield modest, model-dependent average gains on the coding benchmarks, without substantially increasing average output token use. Completion gates can yield larger gains but may substantially increase cost. Independent review by a critic offers a more favorable accuracy-cost tradeoff, improving average accuracy by 5.9-9.5 percentage points on TB and 3.9-6.6 on SWE at 1.13-1.25 and 1.00-1.04 times baseline cost, respectively. On VisualBench, independent review achieves net preferences of 13.2-23.8 points over the baseline across its four designs, exceeding the evaluated L0-L2 designs. Additional review rounds or independent critics further improve average TB accuracy by up to 3.5 percentage points. Together, these results provide empirical guidance for verification design in agent harnesses and support independent review as a practical axis of test-time scaling.

cs.AI

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34575

Cumulative Marginal Matching for One-Step Diffusion

Paribesh Regmi, Rui Li

原文摘要

The sampling procedures of diffusion and flow-matching models involve hundreds of denoising steps incurring substantial inference time, which has motivated a growing body of work on training schemes for few-step and one-step generation. Existing approaches primarily seek to align the generation trajectory of few-step and base models, yet their training objectives only involve discrepancies at a single point in the trajectory, encouraging only local \emph{point-level} alignment. While recent methods such as \emph{Shortcut-CSL} introduce cumulative objective that enforce alignment over the entire trajectory, this is suboptimal as they do not directly enforce alignment between the distributions induced by the two models throughout the generation process. We propose \emph{Cumulative Marginal Matching} (CMM), a principled objective for few-step generation: by viewing flow-matching as a sequence of intermediate marginal distributions connecting the prior and data distributions, CMM directly optimizes the cumulative discrepancy between the base and few-step marginal distributions over the entire sequence. Specifically, we formulate this discrepancy using the Wasserstein-2 distance. By exploiting the pushforward representation of flow-matching, we transform an intractable cumulative Wasserstein objective into a tractable surrogate that can be optimized using samples from the intermediate marginal, which are readily generated through the conditional interpolation process of flow-matching. Furthermore, we show that the existing \emph{Shortcut-CSL} objective arises as a first-order approximation of that of the CMM, establishing a theoretical connection between the two objectives. Experiments on standard benchmarks demonstrate improvement in generation quality over \emph{Shortcut-CSL} and other state-of-the-art one- and few-step baselines under identical training budgets.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2607.04774

MARLIN: De Novo Molecular Structure Elucidation from Tandem Mass Spectra without a Ground-Truth Formula

Xujun Che, Xiuxia Du, Depeng Xu

原文摘要

Untargeted tandem mass spectrometry (MS/MS) detects thousands of small molecules per biological sample, yet most go unidentified because they are absent from spectral libraries. These uncharacterized metabolites and natural products are precisely the compounds that matter for drug discovery, biomarker research, and exposomics. Computational de novo structure elucidation could close this gap, but almost all state-of-the-art methods assume the ground-truth molecular formula is known, an oracle that does not exist for genuinely novel compounds, whose formula must itself be predicted with substantial error. We present MARLIN, a de novo method that elucidates structures directly from a spectrum with no molecular formula at any stage. A self-supervised encoder predicts a molecular fingerprint from the raw peaks, and a block-diffusion language model generates candidate structures conditioned only on the fingerprint and the instrument-measured precursor mass. A mass-shell constraint, whose heavy-atom prune provably never excludes the true molecule, steers generation toward the measured mass without fixing the atom inventory, and candidates are accepted by exact parts-per-million mass agreement. A symmetric noise objective absorbs encoder error, and a candidate-diversity mechanism keeps the candidates from collapsing to a single structure. On the NPLIB1 benchmark, MARLIN reaches 16.9% Top-1 exact-match accuracy, higher than the formula-given baselines, and returns the closest candidate structures by structural distance and fingerprint similarity. It recovers the correct molecular formula as a byproduct about as often as a dedicated predictor without ever using one. MARLIN brings de novo structure elucidation to the discovery regime where the molecular formula is unavailable.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34574

Conditional Diffusion Generation of DVL and Inertial Signals for Underwater Navigation

Michal Levin, Itzik Klein

原文摘要

Autonomous underwater vehicles (AUVs) navigate without satellite positioning and rely on Doppler velocity log (DVL) and inertial sensors for motion estimation. Deep learning methods for processing these sensors require training data covering the motion the AUV encounters, commonly obtained through costly sea trials. To overcome this limitation, we present a conditional diffusion framework that generates synthetic DVL and inertial signals to replace real recordings in training. The generator employs an Elucidated diffusion model conditioned on three per-channel motion descriptors. Three configurations are evaluated: DVL beams alone, inertial channels alone, and all channels jointly from one model. Across thirteen trajectories of the real dataset, the generated signals followed the requested conditions with Pearson correlations between 0.72 and 0.997, transferred to trajectories withheld from generator training, and did not replicate any training window. A BeamsNet velocity estimator trained on generated signals alone, with no real recording retained, matched the velocity error obtained with the full real training set. Replacing up to all real windows with generated ones caused no measurable loss. Thus, this approach reduces the dependence of learned AUV navigation on sea-trial data, enables training when recordings are scarce, and facilitates developing and evaluating deep learning methods for underwater navigation.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34573

Software Engineering for AI-Driven Science

Lukas Twist, Xinjian Wu, Jingzhi Gong, Shuyin Ouyang, Ying Xiao, Benedetta Donato, Yaoqi Guo, Zhenpeng Chen 等 11 位作者

原文摘要

AI has made significant contributions to scientific discovery. Autonomous agents can now independently analyse complex problems, design experiments, write and execute code, analyse findings, and derive scientific conclusions. Nevertheless, errors in AI-generated code, experimental procedures, or evidence interpretation can lead to invalid research conclusions, undermining the reliability and reproducibility of automated scientific discovery. In this vision paper, we propose Software Engineering for AI-Driven Science (SE4AI4Sci) as an emerging research area for addressing this challenge. As an organising framework, we introduce the Scientific Assurance Chain, connecting intent, experimental design, implementation, execution, evidence, and claim. Through six documented failures in recent AI-for-science systems, we show where this chain can break, where existing assurance mechanisms fall short, and what new research challenges follow. We also outline a research agenda for adapting and extending software engineering techniques across the chain.

cs.SE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34572

RefinedGAW: A Refined German Academic Web Dataset

Maximilian Idahl, Oleh Astappiev, Benedikt Droste, Robert Scholz, Björn Plüster, Jan Philipp Harries, Robert Jäschke, Wolfgang Nejdl

原文摘要

The largest open German text datasets are built from broad web crawls, which provide scale but limited coverage of specific domains. We introduce RefinedGAW, a processed and annotated resource derived from 26 semi-annual crawls of the German Academic Web, totaling 122 million documents and 314 billion tokens, with full crawl and capture history of every text. Documents labeled as academic research account for 84% of German RefinedGAW tokens across HTML and PDF. At 87.6 billion tokens, this exceeds the 64.9 billion tokens in the German subsets of FineWeb2 and FinePDFs, despite their almost five-times-larger combined size. RefinedGAW also contains substantial amounts of educational, math-heavy, and expert-oriented content with minimal commercial bias. Across HTML and PDF, 88% of German RefinedGAW documents have no near-duplicate candidate match in the three evaluated reference datasets, supporting complementary coverage. We release a queryable metadata index for fine-grained data selection and a rehydration tool for retrieving and processing source documents.

cs.CL · cs.IR

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版本更新 · v2arXiv:2609.05834

Learning Counterfactual World Models for Embodied Reasoning under Partial Observability

Todd Y. Zhou, Daniel Zhang

原文摘要

World models promise a general route to embodied intelligence: learn predictive dynamics once, then reason, plan, and act with them. Increasingly, the representations beneath such models are pretrained on large-scale video, interaction, and multimodal corpora, which raises a question prediction quality alone cannot answer: when is a learned representation actually actionable? We identify a failure mode we call counterfactual collapse: a model predicts visually plausible futures while failing to distinguish interventions with different behavioral consequences. This arises whenever a representation is optimized for perceptual similarity rather than intervention structure, which is precisely the objective under which most large-scale pretrained encoders are learned. We introduce Counterfactual Latent World Models (CLWM), which combine a recurrent belief-state encoder, action-conditioned latent dynamics, and a contrastive counterfactual objective that separates futures induced by distinct interventions even when their observations look alike. Across occluded manipulation, aliased navigation, and long-horizon manipulation, CLWM improves planning success over the strongest baseline (65.1% $\to$ 74.6% on Occluded Push and 67.3% $\to$ 78.9% on Aliased Maze) and reduces exploitative planning failures (18.4% $\to$ 9.7% on Deferred Kitchen), with ablations attributing the gains to hard counterfactual negatives, especially perceptual-alias negatives. Finally, our counterfactual separability metric, which tracks planning success across the five baseline model classes ($r \ge 0.94$), is representation-agnostic: given intervention-outcome labels, it can audit any encoder, pretrained or trained from scratch, before a planner trusts it. We do not yet measure it on large-scale pretrained encoders. Here we establish the metric and its relationship to planning success for world models trained from scratch.

cs.AI

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新论文 · v1arXiv:2610.34569

Agentic AI Orchestration Framework for Spatial Intelligence: Supply Chain Deployment

Constantinos Papantoniou, Brian Hilton

原文摘要

Industrial spatial decisions are assembled across systems that share neither a reference frame nor an owner, and analysts spend substantial effort reconciling those systems rather than reasoning about space. This paper presents ANASSA, a reference architecture integrating structured reasoning, multi-agent workflow orchestration, authoritative spatial grounding, and feedback-driven execution, and reports its instantiation in an operating supply-chain deployment. The architecture places typed data contracts at agent boundaries, validates spatial claims against a certified authoritative foundation, and enforces two blocking human-in-the-loop approvals inside a six-step cognitive loop. The deployment covers multi-hazard risk assessment on an ocean-and-inland freight lane, including cold-chain excursion detection over container telemetry. Across a three-month proof of concept (POC) with three implementation iterations, three deployment outcomes are reported: 25% improvement in data quality, 50% reduction in spatial workflow runtime, and 60% lower decision latency relative to the preceding manual workflow. Absolute deployment-scale quantities and baseline counts are confidential; reported percentages are observed relative changes. These are uncontrolled deployment observations, not controlled experiments. We therefore specify instrumentation and ablation protocols for mechanism-level evaluation.

cs.AI · cs.MA · cs.SE

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新论文 · v1arXiv:2610.34566

Error Diffusion Replaces Latent Weights: Training Binary-Weight Language Models on a Few Bits of Dithered State

Pierre-Olivier Bonin

原文摘要

Binary-weight language models store one bit per weight, but training them keeps a full-precision latent copy of each weight plus Adam state, about 96 extra bits per weight, so a deployed binary model cannot be adapted on the device that runs it. We replace the latent weight with a 2-8-bit residual buffer quantized by stochastic rounding, which cuts the training state per weight from 97 bits to 3-9, up to 19x less. The resulting error-diffusion (ED) optimizer moves the residual-carrying loop of image halftoning onto the weight-update path. Each buffer accumulates the unrealized part of every update and flips the weight when the accumulated value crosses a threshold, and it works only when its quantization grid has a level exactly at that threshold. Under this threshold-alignment rule, 4-bit buffers match 8-bit buffers on a binary multilayer perceptron benchmark, and the same rule lifts a different latent-free optimizer, Bop, from a 10-point deficit at 4 bits to full-precision accuracy. On character-level transformers with 97% of parameters binary, ED trains within 5-11% of the latent-weight reference at a 2,000-step budget and within 1.7% at convergence. On scaling ladders over enwik8 and wikitext-103, up to 19M parameters on enwik8 (70M with the wikitext-103 embeddings), the latent-free loss stays within -2.3% to +2.9% of the reference at all six sizes once a per-step cap on the buffer update removes a launch instability; without the cap it trails by 10% at the largest tokenized size. A deployed binary model continues training under ED at one tenth of the latent training state, matching latent-weight continuation, and a fused CPU kernel completes the adaptation within a 275 MB training-memory budget, which latent-weight training cannot. A 250-step probe sets the flip learning rate at any new scale.

cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34565

Constrained neural softening functions for the Mullins effect in parameter-dependent materials

Dominik K. Klein, Jonas Fey, Maximilian Kannapinn, Oliver Weeger

原文摘要

Accurately capturing the Mullins effect across varying material compositions remains challenging, as constitutive models must unify flexible representations of stress softening with physical consistency and robust parameter calibration. In this work, we investigate parameter-dependent physics-augmented neural network constitutive models within the pseudo-elastic modeling framework, focusing on structural constraints that ensure physically admissible neural softening functions. This paper has three key contributions: (1) We formulate different neural softening functions within the pseudo-elastic framework, including a multiplicative decomposition of the softening function that enables parameter-dependent ansatz functions satisfying common mechanical constitutive conditions by construction. (2) We derive a sufficient condition for ellipticity of pseudo-elastic constitutive models, which can be enforced in the constitutive models by construction. (3) We systematically investigate how flexibility and structural constraints influence the performance of neural softening functions in terms of prediction accuracy and calibration robustness. For this, we consider multiaxial experimental data of carbon black-filled EPDM rubber synthesized with varying amounts of curatives. The findings of our work suggest that neural softening functions are a promising extension of the classical pseudo-elastic framework and, when subject to suitable constraints, can improve predictive accuracy for highly nonlinear, parameter-dependent materials.

cs.CE

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34564

FlockWorld: Toward Population-Scale Multi-Agent Video World Models through Artificial Life Simulation

Meryem Koksal, Yunzhe Wang, Volkan Ustun

原文摘要

Most action-conditioned video world models remain limited to a single player, while existing multiplayer models support only small, fixed groups of agents. We introduce FlockWorld, an artificial-life environment built on Reynolds's Boids algorithm for studying population-scale multi-agent video world models. Specifically, FlockWorld renders synchronized egocentric crops, assigns distinct colors to preserve camera-agent identity across views, exposes rule-derived accelerations as actions, and lets the number of camera agents be configured independently of the size of the surrounding population. We further introduce FlockDiT, an action-conditioned latent diffusion transformer trained with flow matching on FlockWorld data to jointly generate synchronized egocentric videos for multiple agents. Our results suggest that joint generation benefits agent detection at density-matched settings and that diffusion forcing improves rollout fidelity. Together, FlockWorld and FlockDiT provide a controlled testbed for multi-agent video generation.

cs.CV · cs.MA

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新论文 · v1arXiv:2610.34563

Recursive CLIP: Vision-Language Distillation with Looped Transformer Blocks

Szymon Mazurek, Alberto Presta, Michał Byra

原文摘要

Contrastive vision-language models such as CLIP typically rely on independently parameterized transformer blocks across depth. We investigate the extent to which these blocks can instead be reused recurrently while preserving the transferable capabilities of CLIP. We study recursive transformer backbones in which a small set of $N$ transformer blocks is applied $M$ times per forward pass. By holding $N \cdot M$ fixed to the depth of a standard ViT-B, our models preserve computational depth while progressively increasing parameter sharing. We consider two recursive CLIP model families: rCLIP, where only the vision encoder is recursive, and r$^2$CLIP, where recurrence is also introduced in the text encoder. We study these models under both direct contrastive training and through knowledge distillation from a strong ViT-B/16 teacher pretrained on DFN-2B, using the substantially smaller CC3M and CC12M datasets. We evaluate the resulting models on zero-shot classification and cross-modal retrieval, and further study their adaptability through few-shot learning, visual grounding, and concept unlearning. Our results show that CLIP can tolerate substantial recurrent block reuse, although its effect depends on the encoder and downstream task. Recurrence also provides parameter efficiency by construction, since fewer distinct transformer blocks need to be stored and adapted. Our results establish recurrent block reuse as a practical design space for vision-language models and highlight its implications for knowledge transfer, downstream adaptation, and parameter efficiency.

cs.CV · cs.AI

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版本更新 · v3arXiv:2608.15520

Conditional Validity for Adaptive Modality Acquisition: When the Policy Chooses Its Own Calibration Group

Melika Baghi

原文摘要

A multimodal system may begin inference while holding only some of its inputs and may acquire the rest at a cost. With adaptive acquisition, the policy determines which inputs are ultimately observed, so we state risk control conditional on that terminal input pattern. Conditional calibration typically assumes that the grouping map is fixed independently of the calibration sample, a condition that policy-induced grouping does not satisfy. We characterize when pattern-conditional risk control remains valid and give two finite-sample constructions: threshold-free routing with calibration applied at the terminal pattern, and simultaneous validation of complete policy-pattern pairs, which lets calibration data select the deployed policy. A counterexample shows that validity proved for a calibration-independent grouping map need not transfer once the policy makes the terminal group calibration-dependent. We call the resulting method RouteCert. On a clinical electrocardiogram task with a staged, cost-ordered lead protocol, the deployed policy answers 71.2% of held-out patients, with an observed 7.4% disagreement with the cardiologist's diagnosis at 48.8% of the prespecified ordinal cost of acquiring each stage, and all three acquisition stages are validated separately. On masked multimodal benchmarks, validating pointwise at each terminal pattern holds observed worst-pattern selective risk, measured against the full-information reference decision rather than the true label, at 0.034, where a pooled design reaches 0.145 against a 0.10 cap, at a comparable answered fraction (0.350 vs 0.342); under the budget-matched simultaneous comparison, the answered fraction falls to 0.305.

cs.LG

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新论文 · v1arXiv:2610.34561

GRASP: Group-Adaptive Hybrid RL-SFT Post-Training for Medical VQA without Reasoning Annotations

Wanqi Dong, Wanyue Dong, Jingze Ge, Mehul Motani

原文摘要

Adapting general-purpose vision-language models (VLMs) to medical visual question answering (VQA) is valuable for helping clinicians read images and make diagnoses, but annotated data are scarce and provide only short answers, without reasoning annotations. Supervised fine-tuning (SFT) fits these labels but overfits to them and amplifies their biases, eroding out-of-domain (OOD) generalization. Reinforcement learning (RL) better preserves generalization but never uses the gold answer as a training target: GRPO-style algorithms learn from the contrast between correct and incorrect answers within a group of sampled responses, so all-correct or all-wrong groups give no correctness signal. Existing SFT-RL hybrids either apply SFT and RL in separate stages or switch between them per question, or need reasoning traces from experts or stronger models, which medical VQA data lack. We propose GRASP, which combines RL and SFT in every update using only short answers: RL lets the model explore its own reasoning, SFT teaches the gold answer after that reasoning to supply the direct supervision RL lacks, and their balance adapts to how well the model answers each question. Tuning only about 1% of the parameters with LoRA, GRASP outperforms all compared training objectives both in domain and on OOD open-ended questions across Qwen3-VL-8B, InternVL3-8B and Gemma 3-4B. On an OOD benchmark spanning eight imaging modalities, GRASP-trained InternVL3-8B and Qwen3-VL-8B beat all 10 compared general and medical VLMs in open-ended accuracy, including models trained on up to 2,600 times more data or with over 250 times more trainable parameters. We release MedTerse, a dataset of 12.9K short-answer questions, and our code at https://github.com/sea-comet/GRASP-MedVQA.

cs.CV · cs.AI

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新论文 · v1arXiv:2610.34560

CVM-Store: A Secure Storage System for Confidential Virtual Machines

Thore Sommer, Masanori Misono, Dimitrios Stavrakakis, Pramod Bhatotia

原文摘要

Stateful cloud workloads require high-performance persistent storage when running on untrusted cloud infrastructure. Confidential Virtual Machines (CVMs) promise to protect these workloads through hardware-enforced memory encryption and isolation without requiring application changes. However, they protect only data in use; persistent storage lies outside the CVM trust boundary, exposing all stateful data to the cloud provider. Extending the trust boundary to persistent storage presents inherent challenges. High-bandwidth workloads require near-raw NVMe throughput, yet the default kernel CVM I/O stacks are inadequate, and userspace I/O libraries are not designed with CVM use cases in mind. Access patterns and storage semantics vary between workloads, necessitating access-pattern-aware security abstractions rather than uniform block-level encryption. In order to mitigate against rollback, freshness is needed, but CVMs lack hardware primitives for this purpose, requiring alternative solutions. We present CVM-Store, a storage system that co-designs a high-throughput userspace I/O engine with CIF (confidentiality, integrity, freshness) data protection. The key insight is that neither authenticated encryption nor I/O is a bottleneck by itself, but their naive combination is. CVM-Store exploits this by interleaving them, eliminating redundant copies and OS/hypervisor mediation. CIF guarantees are provided as composable primitives that adapt protection to workload access patterns, from which we derive three concrete authenticated abstractions: a KVS, a log, and a filesystem. An asynchronous trusted counter service provides freshness guarantees with epoch-based batching, which enables rollback protection without dedicated hardware support. CVM-Store delivers full CIF guarantees within $\approx$1% (write) and 1-19% (read) of raw NVMe bandwidth for large objects.

cs.CR

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新论文 · v1arXiv:2610.34559

A Product-Grassmann Tucker Surrogate for Parametric Field Prediction

Melika Baghi, Xiao Liu, Kamran Paynabar

原文摘要

Many-query applications such as design optimization, uncertainty quantification and digital twins call for repeated full-field predictions from expensive partial differential equation (PDE) simulations. Grassmannian reduced-order models interpolate parameter-dependent subspaces but commonly vectorize the spatial field, and the ambient dimension then grows with the product of the grid sizes. Tensor-based models preserve the multiway structure but often use shared mode-wise bases or a fixed core across parameters. We propose a Tucker-based surrogate that keeps the spatial directions and time as separate modes. The factor subspaces are interpolated on a product Grassmann manifold, Procrustes alignment places the Tucker cores in one coordinate system, and a truncated singular value decomposition models their variation. Across five PDE benchmarks in two and three spatial dimensions, including public computational fluid dynamics data, the interpolation size is reduced by factors of 13 to 482 and the stored model by factors of 13 to 464 relative to a single-subspace Grassmannian surrogate with the same local interpolation. Cached queries run 3.3 to 8.5 times faster, the mean errors over ten resampled splits differ by at most 0.22 percentage points (0.36 when every model choice is re-selected inside each split), and the prediction-error terms of the two methods differ by less than 0.1 percentage points. The remaining accuracy differences are consistent with the larger representation error of the Tucker format. In a three-dimensional grid study the interpolation-size ratio rises to 2,260 and the query speedup to 11.9 at 64^3.

cs.CE

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版本更新 · v3arXiv:2604.08914

Finding Nemo-Nemo: CFT DAG-based Consensus in the WAN

Rithwik Kerur, Pasindu Tennage, Philipp Jovanovic, Dahlia Malkhi, Alberto Sonnino, Igor Zablotchi

原文摘要

This paper introduces Nemo-Nemo, a practical crash-fault tolerant (CFT) consensus protocol designed to outperform existing protocols in wide-area networks by bridging design principles from the CFT and Byzantine-fault tolerant (BFT) worlds. By structuring command propagation through a causally ordered DAG, Nemo-Nemo allows all consensus replicas to propose commands with a naturally self-regulating communication regime. By exploiting multi-leader architecture, Nemo-Nemo avoids the performance bottleneck inherent to single-leader protocols. By separating command dissemination from consensus logic, Nemo-Nemo handles challenging network conditions even when consensus commits are stalled. Moreover, leader proposals that miss a deadline are never dropped, but deterministically deferred and executed later, preserving throughput under transient network delays. And by enabling Nemo-Nemo to commit on a DAG in just two network hops, it matches the latency of existing CFT systems, while achieving significantly higher throughput. The result is a robust, deployable system: the first DAG-based CFT consensus protocol proven to exceed state-of-the-art wide-area network performance in both speed and resilience.

cs.DC

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