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arXiv 最近完成扫描:2026-11-15 06:43 · 全站最近入库:2026-11-14 15:09各信源进度 →

统计口径与数据新鲜度

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版本更新 · v3arXiv:2606.25832

MiniOpt: Reasoning to Model and Solve General Optimization Problems with Limited Resources

Ke Zhao, Zixiang Di, Hong Qian, Xiang Shu, Yaolin Wen, Qitao Shi, Bingdong Li, Xingyu Lu 等 12 位作者

原文摘要

Achieving strong optimization generalization across diverse optimization problems while requiring limited training resources remains a challenging problem for optimization-oriented large language models (LLMs). Existing learning-based methods, however, typically require large-scale supervised data, expensive intermediate step verification, and extensive computational resources, while exhibiting limited optimization generalization across diverse optimization structures. In this paper, we propose \textsc{MiniOpt}, a lightweight optimization-specialized LLM trained through a reasoning-to-model-and-solve paradigm and a two-stage training framework with reinforcement learning with verifiable rewards (RLVR). MiniOpt encourages structure-oriented optimization learning by reinforcing the completeness of optimization formulations and optimization outcomes. Extensive experiments on eight optimization benchmarks demonstrate that MiniOpt consistently outperforms existing learning-based optimization models while requiring substantially fewer parameters and training data. To further understand optimization generalization, we introduce a complementary parameter-decoupled evaluation protocol that disentangles optimization structure understanding from numerical parameter processing. The results reveal that MiniOpt preserves optimization capability under parameter-decoupled settings significantly better than previous optimization-specialized models, suggesting that its performance gains primarily originate from stronger optimization structure understanding. These findings demonstrate an effective pathway toward efficient and generalizable optimization-specialized LLMs. The code is available at https://github.com/Hsiang-1/MiniOpt.

cs.LG · cs.AI

版本更新 · v3arXiv:2510.01712

ActiNet: An Open-Source Tool for Activity Intensity Classification of Wrist-Worn Accelerometry Using Self-Supervised Deep Learning

Aidan Acquah, Shing Chan, Aiden Doherty

原文摘要

The use of accurate and reliable open-source human activity recognition (HAR) models on passively collected wrist-accelerometer data is essential in large-scale epidemiological studies that investigate the association between physical activity and health outcomes. While self-supervised learning has generated considerable excitement in improving HAR, the extent to which these models, coupled with hidden Markov models (HMMs), would make a tangible improvement to classification performance and the effect this may have on the predicted daily activity intensity compositions is unknown. Using up to 24 hours of wrist-worn accelerometer data from 151 CAPTURE-24 participants (aged 18-91, mean age 42, 66% female), we trained the ActiNet model, consisting of HARNet, a self-supervised, 18-layer, modified ResNet-V2 model, followed by hidden Markov model (HMM) smoothing, to classify labels of activity intensity. The performance of this model, evaluated using 5-fold stratified group cross-validation, was then compared to a baseline random forest (RF) + HMM, established in existing literature. Differences in performance and classification outputs were compared with different subgroups of age and sex within the CAPTURE-24 population. The ActiNet model was able to distinguish labels of activity intensity with a mean macro F1 score of 0.80 and a mean Cohen's kappa score of 0.85. This exceeded the performance of the RF + HMM, trained and validated on the same dataset, with mean scores of 0.76 and 0.80, respectively. The improvements in performance were consistent across subgroups of age and sex. These findings encourage the use of ActiNet for the extraction of activity intensity labels from wrist-accelerometer data in future epidemiological studies.

cs.LG

新论文 · v1arXiv:2611.16003

Fit-LRP: Fitting Linear Relaxations to Polytopes for Neural Network Verification over Non-Convex Regions

Brian Yarbrough, Jesse Wayment, Jingbo Wang, Philip E. Paré, Shreyas Sundaram

原文摘要

State-of-the-art neural network verifiers evaluate linear relaxations over axis-aligned bounding boxes. However, verification domains in cyber-physical systems are rarely boxes. Reachability specifications, obstacle-avoidance constraints, and neural Lyapunov certificates typically yield oblique or non-convex polyhedral regions, over which box-based bounds become extremely loose. This paper proposes Fit-LRP (Fitting Linear Relaxations to Polytopes), a framework the implements exact optimization of affine bounds over non-convex domains (represented by unions of polytopes) by solving a sequence of small, low-dimensional linear programs. Our approach seamlessly enhances the final optimization step of LiRPA and $α,\! β$-CROWN branch-and-bound (BaB) algorithms. In BaB verification, approximating oblique constraints with axis-aligned splits causes severe combinatorial blowup and risks non-termination. By optimizing the final affine bound of a nonlinear function over the exact polyhedral state-space constraints our method eliminates box-induced over-approximations, enabling earlier search-tree pruning. On ARCH-COMP and neural Lyapunov benchmarks, Fit-LRP reduces branching on the hardest region by $47\times$, cuts worst-case verification time by $15\times$, and with region-wise partitioning, verifies on a single CPU $6.1\times$ faster than $α,\! β$-CROWN on a GPU.

cs.LG · cs.AI · eess.SY · math.OC

新论文 · v1arXiv:2611.15491

What Makes a VLA Reactive? A Study of Execution Strategies for Dynamic Manipulation

Zhuoyue Li, Zhendong Han, Pankhuri Vanjani, Wenting Li, Rudolf Lioutikov

原文摘要

Vision-language-action (VLA) models predict chunks of future actions, and when objects move, those chunks go stale before they are executed. We study what makes a pretrained VLA reactive, using \pihalf{} on two dynamic simulation benchmarks and three real-robot tasks. We vary the prediction and execution horizons, compare synchronous and asynchronous inference, test methods that deliver actions sooner or keep successive chunks continuous, and adapt the policy with motion cues and latent-space reinforcement learning. The best prediction horizon is about one second, and the best execution horizon depends on the checkpoint. Short horizons help more with asynchronous execution, and methods that keep the trajectory continuous outperform those that only reduce latency. Adapting the policy repairs targeted failures, but on the conveyor task changing the execution horizon gained as much. Reactivity depends on the execution pipeline as much as on the policy, so both should be evaluated together.

cs.RO · cs.CV · cs.LG

版本更新 · v2arXiv:2604.16667

Model-Predictive Spill-Free Emergency Stopping for Liquid-Manipulating Robots

Samuli Hynninen, Ville Kyrki

原文摘要

Manipulating open liquid containers is challenging because liquids are highly sensitive to vessel accelerations and jerks. Although spill-free liquid manipulation has been widely studied, emergency stopping under unexpected hazards has received little attention, despite the fact that abrupt braking may cause hazardous spills. This letter presents an emergency stop system for robots manipulating liquids in open containers. We formulate emergency stopping as an optimal control problem and solve it in a model predictive control framework to generate time-optimal, spill-free stopping trajectories. The method operates as a plug-and-play safety layer on top of existing slosh-free motion planning methods, enabling immediate reaction to detected hazards while accounting for nonlinear liquid dynamics. We demonstrate, through simulation and on a 7-DoF Franka Emika Panda robot, that the proposed approach achieves fast emergency stopping without spilling.

cs.RO

版本更新 · v2arXiv:2610.18594

Autonomous Cyber Operations Gym for Training and Evaluating AI Models for Defence

Tobias Hürten, Johannes F. Loevenich, Florian Spelter, Erik Adler, Laurin Holz, Maxime Schwarzer, Thies Moehlenhof, Roberto Rigolin F. Lopes

原文摘要

This paper proposes an Autonomous Cyber Operations (ACO) gym, a unified framework integrating high-fidelity network emulation, realistic user behaviour modelling for benign network traffic and adversarial profiles, and the generation of cybersecurity scenarios through open toolkits. By supporting live and deferred feature extraction at the packet and flow levels, the gym facilitates the creation of labelled synthetic datasets for training Deep Neural Network (DNN)-based Intrusion Detection Systems (IDSs), as well as developing and evaluating modular components for autonomous defence agents through emulated interactions. While evaluation of a DNN classifier within the gym shows high in-domain performance, achieving near-perfect recall on adversarial network flows, our experiments reveal a significant sensitivity to domain shift, showing that even minor changes in network composition, such as variations in traffic protocol distribution, can lead to a catastrophic collapse in model transferability and detection performance.

cs.CR · cs.LG

新论文 · v1arXiv:2611.15131

Duo: A Reciprocal World Model for Full-Duplex Interaction

Hengyuan Cao, Biao Gong, Guoshan Lu, Qiyuan Zhang, Lin Liu, Yiding Tian, Yilei Jiang, Yuxin Ma 等 20 位作者

原文摘要

In this report, we introduce the Reciprocal World Model (RWM) and present Duo v1, a full-duplex world model that continuously perceives audiovisual inputs while responding to users in real time. The RWM treats intelligence and physical reality as equally fundamental to what constitutes a world. Existing world models largely focus on simulating the latter, leaving reasoning and decision-making as external controls rather than intrinsic parts of the world itself. In RWM, we identify two equally fundamental capabilities: Intent, which provides the cognition underlying world interactions, and Realization, which generates coherent audio-visual behavior. To realize this formulation, Duo v1 introduces three key technical designs: (1) Leveraging autoregressive modeling for continuous interaction reasoning and participation decisions, rather than restricting it to instruction understanding for diffusion models. (2) Constructing chunk-specific conditions and synchronize tokens across Intent and Realization on a unified timeline. Module-specific attention masks enforce causal dependencies both within and across chunks, preventing access to future inputs. (3) Mitigating distribution shift in both modules through dual rollout distillation, training on autoregressively generated Intent tokens and synthesized audiovisual histories from Realization. Both modules continuously perceive real-time audio, video, and text, enabling full-duplex interaction with spontaneous conversations and interruptions. Beyond conversation, users can share real objects, reshape virtual scenes, guide assistants, or play audiovisual games without mouse or keyboard controls. The release of Duo v1 makes our first step, with the next version coming soon. We look forward to broader exploration of this emerging field.

cs.CV · cs.SD

版本更新 · v2arXiv:2512.15705

Batched Early-Exit LLM Inference Done Right with DREX

Xuting Liu, Daniel Alexander, Jiaheng Lu, Siva Kesava Reddy Kakarla, Behnaz Arzani, Vincent Liu

原文摘要

Early-exit (EE) LLMs let confident tokens skip a model's deep layers, but batched serving loses most of this gain. Current systems either force tokens to exit before their own ramp is confident, an error the ramp does not bound, or save almost nothing when decoding is weight-bound, because any continuing token makes a step read the deep weights. We present DREX, a batched EE serving system that never forces a token to exit. DREX introduces cross-iteration batching: tokens that continue past the exit layer wait there, and every few steps one deep pass over all waiting tokens reads the deep weights once for several steps. Its two policies differ in what such a token's request does: holding pauses it until the deep pass, and speculative holding lets it keep decoding from the exit layer's own guess, which the next deep pass verifies. Exited tokens are trusted and never verified. Using a calibrated cost model, a controller picks speculative holding where reading weights dominates a step and guesses are often right, and holding elsewhere. DREX keeps vLLM's asynchronous scheduling by planning each deep pass from exit counts of earlier steps. With synthetic exits where 90% of tokens exit at a quarter of the depth and 40% of guesses are correct, DREX achieves 2.22-2.24$\times$ decode speedup over non-EE across batch sizes on Llama-2-70B, while per-row skipping (vSkipper's design) gains at most 7.0%. On LayerSkip models, DREX adds no statistically resolved quality loss to the EE model's own. On CNN/DM at full memory, DREX with LayerSkip achieves 1.58-1.91$\times$ decode speedup while remaining within 1.4 ROUGE-2 points of the non-EE model. These speedups are 9-63% larger than EAGLE's across the evaluated model sizes, with each method measured against its own non-EE target.

cs.DC · cs.LG

版本更新 · v3arXiv:2604.26963

MARS: Towards High Goodput and Low KV Thrashing in Agent Serving under GPU Memory Constraints

Yifei Wang, Tsun-yu Yang, Hancheng Ye, Yechen Xu, Cong Guo, Chiyue Wei, Qinsi Wang, Dongting Li 等 12 位作者

原文摘要

Self-hosted LLM agents offer greater control over sensitive data and model customization while avoiding per-request API fees. However, serving concurrent, multi-turn workflows within limited GPU memory makes it difficult to achieve high workflow-level goodput. In particular, as workflows accumulate context, their reusable key-value (KV) caches can easily outgrow GPU capacity, triggering repeated eviction and recovery, known as KV cache thrashing. This process consumes resources and delays workflow completion. Although existing approaches propose various methods, our motivation study shows that the evaluated baselines still incur substantial thrashing overhead or fail to address the workflow-level goodput issue. We present MARS, an agent serving system that coordinates workflow admission and in-engine scheduling to achieve high workflow-level goodput on memory-constrained devices while avoiding KV cache thrashing. Specifically, outside the engine, an admission controller selects root workflows using initial prefix footprint estimates and live KV availability, adapting admissions to memory pressure. Inside, an agent-centric scheduler prioritizes turn completion and coordinates prefill allocation with KV reclamation to reduce disruptive evictions. Across two models and three GPU configurations, MARS achieves 1.59x-7.56x mean end-to-end latency speedups over the fastest baseline. Integrated as the serving backend for OpenCode, Codex, and OpenHands, MARS further improves mean workflow completion time by 1.17x-1.87x. Our source code is publicly available at https://github.com/Afterglow231/MARS_preview .

cs.OS · cs.DC · cs.LG · cs.MA

版本更新 · v3arXiv:2607.12075

Calibrated selective prediction using deep ensembles for thyroid nodule ultrasound classification under dataset shift

Md. Sadibul Hasan Sadib, Md. Mohayminul Mukit, Rahmatul Kabir Rasel Sarker, Tahmid Alam Tamim, Md. Nazmul Hasan, Md. Monir Hossain Shimul

原文摘要

Background: Deep learning can classify thyroid nodules on ultrasound, but discrimination alone does not establish clinical reliability. We developed a calibrated deep-ensemble framework with uncertainty-aware selective prediction and conservative image-based triage. Methods: Nested five-fold cross-validation with three-fold inner architecture selection chose ConvNeXt-Tiny with a squeeze-and-excitation block, used to build a deterministic five-member ensemble. Training, early-stopping, calibration, and threshold subsets were separated within each fold; outer-test data remained isolated. Mutual information (MI), predictive variance, and maximum-softmax-probability (MSP) uncertainty were compared by risk-coverage and triage analyses, and predictive values across assumed malignancy prevalences of 5%-70%. The frozen TN5000 ensemble was applied to TN3K without recalibration. Results: On TN5000, pooled out-of-fold AUC-ROC was 0.9377, average precision 0.9708, expected calibration error 0.0138, and Brier score 0.0827. Under the primary MI-guided policy, 8.86% of images received a No-FNA suggestion, 60.00% an FNA recommendation, and 31.14% radiologist review; of 3574 malignant images, 14 (0.39%) received No-FNA and 708 (19.81%) review. Predictive variance and MSP ranked errors better than MI (AURC, AUGRC); no measure optimized all triage outcomes. Across prevalences of 5%-70%, NPV ranged 99.95%-97.93% and PPV 29.28%-94.75%. On TN3K, AUC-ROC was 0.7870, average precision 0.7254, expected calibration error 0.1899, and radiologist-review rate 83.7%. Conclusion: The ensemble showed strong internal discrimination and calibration, but performance deteriorated substantially on TN3K, indicating limited transportability under dataset shift. Multicentre validation, site-specific recalibration, threshold validation, and prospective evaluation are needed before clinical use.

eess.IV · cs.AI · cs.CV

新论文 · v1arXiv:2611.14476

BoviShift:跨越个体与时间的六年视觉牛表型多属性审计

BoviShift: A Six-Year Multi-Attribute Audit of Visual Cattle Phenotyping Across Animals and Time

Mobasshir Bhuiya Shagor, Nilambar Halder Tonmoy, Md Saef Ullah Miah

AI 速读 基于摘要

作者构建了覆盖2021–2026六个连续年度队列的牛视觉数据集BoviShift,并用固定ResNet-50多任务基线系统比较不同数据划分策略与未来队列迁移表现。

cs.CV

查看原文摘要

Computer vision offers a scalable, non-contact means of estimating livestock traits, but correlated images and video frames make reliable evaluation difficult. Image-random splitting can place views of the same animal in both training and test sets, while deployment further requires transfer to animals captured in future years. We introduce BoviShift, a corpus reconstructed from six consecutive annual cohorts of an operational cattle marketplace collected from 2021 to 2026. It contains 2{,}657 cattle, 10{,}610 still images, and 2{,}566 walk-around videos across nine recorded breed categories. We evaluate three splitting strategies through four configurations: image-random and pooled cattle-disjoint splits over the same development cohorts, followed by separate future-2025 and locked future-2026 evaluations. Using a fixed ResNet-50 multi-task baseline, we assess weight, age, height, breed, and coat color. Differences between image-random and cattle-disjoint splitting are task-dependent rather than a universal leakage penalty. Future-cohort behavior is also attribute- and cohort-specific: breed declines relative to pooled evaluation; mean weight and age performance fails to beat constant baselines in 2025; height remains above baseline; and color transfers well to 2025 but degrades in 2026. Multi-task training improves all five point estimates in a single-seed ablation, still-view aggregation helps selectively, and zero-shot video-frame aggregation exposes a still-to-video domain gap. To our knowledge, BoviShift is the longest-spanning cattle-vision resource combining consecutive annual cohorts with physical and visual attributes.

版本更新 · v3arXiv:2606.24853

面向物联网边缘环境的轻量级开源网络数字孪生蓝图

A Lightweight, Open-Source Network Digital Twin Blueprint for IoT-Edge Environments

Josevany do Amaral, Rute C. Sofia

AI 速读 基于摘要

该教程基于IRTF参考模型,介绍如何用开源工具构建轻量级网络数字孪生,并讨论无线损伤建模与孪生保真度验证流程。

cs.NI

查看原文摘要

IoT-Edge-Cloud infrastructures are increasingly heterogeneous, and experimenting across the continuum is difficult and risks disrupting live systems. Network Digital Twins (NDT) are a pragmatic answer, yet practitioners lack a structured account of three things: how to build an NDT from open tools, how to model wireless impairments, and how to understand whether the twin is faithful to the physical network, or not. This tutorial introduces NDT through the IRTF reference model and walks through a lightweight open-source blueprint built on Containerlab, Open vSwitch, \textit{Open Network Operating System (ONOS)}, and Prometheus/Grafana. It then explains how to define wireless impairment profiles (static, model-based, trace-driven, AI-generated, and live), and what each approach can and cannot reproduce. Finally, it presents a workflow to validate the twin against the physical network. A proof-of-concept Edge case study illustrates the procedure, including the pitfalls encountered and the lessons learned. Directions for future research are outlined.

版本更新 · v2arXiv:2609.03472

Override and Update in Restriction Categories

Jean-Simon Pacaud Lemay, Chad Nester

原文摘要

We study the override and update operators on partial functions from the perspective of restriction categories. We propose a definition of override restriction categories, in which both of the operators in question exist. We prove a number of results concerning these operators and their relationship to the structure of the ambient restriction category, as well as relating them to the existing literature on the override and update operators. We provide various examples of override restriction categories and in particular show that every classical restriction category is an override restriction category.

math.CT · cs.LO

新论文 · v1arXiv:2611.13694

Decision-Focused Learning via Neural Optimization Layers for Battery-Assisted Grid-Import Smoothing in AI Data Centers

Xinda Zheng, Canchen Jiang, Frits de Nijs, Edward Lam, Markus Wagner

原文摘要

Rapid AI data-center power fluctuations challenge grid integration. Sustained grid-import smoothing requires allocating limited battery power and energy under uncertain demand. We formulate risk-aware BESS scheduling that coordinates advance reserve commitments and demand-responsive dispatch, accounting for operating costs, grid-ramp penalties, and their conditional value-at-risk. We develop battery scheduling decision-focused learning (BS-DFL) with a constraint-aware neural optimization layer trained directly from this objective without optimal-solution labels. The trained layer is then frozen to guide demand-predictor learning through scheduling costs and ramping risk, enabling solver-free rolling-horizon scheduling. In a 10,000-minute simulation using loads derived from measured AI workloads, BS-DFL reduces mean absolute minute-to-minute grid-import changes by 71.70% and total scheduling cost by 18.01% relative to an MSE-trained predictor coupled with a mixed-integer linear programming solver, with an average decision time of 18.77 ms.

eess.SY · cs.LG · math.OC

新论文 · v1arXiv:2611.13397

The Optimal Constant for One-Shot Channel Simulation and Strong Functional Representation Lemma

Cheuk Ting Li

原文摘要

We prove a tight bound for one-shot channel simulation via a stronger version of the strong functional representation lemma: for any random variables $X,Y$, there exists a random variable $Z$ with $I(Z;X)=H(Y|X,Z)=0$ and $H(Y|Z)\le I+\log I+(1-γ)\log e-\log\log e+O(I^{-1}\log I)$, where $I=I(X;Y)$ and $γ$ is the Euler-Mascheroni constant. A more convenient bound is $H(Y|Z)<I+\log(I+2)+1$. The first bound is notable in the sense that the constant term $(1-γ)\log e-\log\log e$ is optimal, and cannot be improved for any bound stated only in terms of $I$. Hence, this is the tightest form of the strong functional representation lemma up to the third order. We also prove that the Poisson functional representation is almost optimal up to a constant gap, and provide a simple finite-blocklength achievability bound that implies the $(1/2)\log n$ redundancy of the simulation of memoryless non-singular channel. These are proved via a generalization of the functional information, in particular, the exponential functional information, which closely approximates the cost of one-shot channel simulation.

cs.IT

新论文 · v1arXiv:2611.13312

Towards Scalable Network-Based Interventions for HIV Treatment and Prevention via R2C-Agent

Akseli Kangaslahti, Milind Tambe, Alastair van Heerden, Cheryl Johnson

原文摘要

Human Immunodeficiency Virus (HIV) remains a pressing public health challenge worldwide. Targeting limited HIV prevention and treatment resources effectively with network-based algorithms is a long-standing problem with a rich history at AAMAS and other computational venues. However, optimizing targeted biomedical interventions for minimizing spread of HIV often requires observability of the contact network of HIV transmission risk behavior among individuals, which is prohibitively expensive to collect at scale. Peer referral networks, i.e., networks collected through a recursive peer referral process, are an alternative network class often used to study HIV in hidden populations that can be collected digitally at scale, but they deviate from the underlying contact network: referrals can follow non-risk social ties and participants accept only one referral, hiding contacts among already-recruited individuals. In this work, we first formalize the novel problem of planning network-based interventions to minimize HIV spread in the hidden contact network while observing only the peer referral network. Second, we implement R2C-Agent, a decision making agent for interventions that is designed around our new conditional graph diffusion model called Referral-to-Contact Diffusion (R2C-Diff). R2C-Diff positions the peer referral process as incremental corruption of the underlying contact network and learns to reverse it. R2C-Agent plans its interventions over contact networks sampled from R2C-Diff, so its decisions account for uncertainty about the hidden contact network. Finally, we conduct simulated experiments using real-world HIV network data that demonstrate that R2C-Agent empirically plans more effective interventions than baselines from interdisciplinary literature and highlight key tradeoffs and assumptions driving performance.

cs.AI

新论文 · v1arXiv:2611.13204

Ground Reaction Force-Aware Model Predictive Control for Underactuated Upright Physical Assistance

Darren Biskup, Jeonghan Yu, Zibo Yu, Sunil K. Agrawal

原文摘要

Many rehabilitation robots execute prescribed motions using reactive tracking controllers that do not explicitly incorporate the user's instantaneous human-ground interaction. This paper presents Ground Reaction Force-Aware Model Predictive Control (GRF-MPC), a framework for upright physical assistance. By integrating live GRF and center of pressure (CoP) measurements directly into a human centroidal dynamics model, GRF-MPC formulates a real-time quadratic program (QP) that optimizes assistive forces and moments over a receding horizon. We deployed GRF-MPC on the Robotic Upright Stand Trainer (RobUST) in an underactuated 4-cable configuration and evaluated it against a fully actuated 8-cable Cartesian impedance baseline in nearly 300 trials across six healthy participants. Across tasks spanning impulsive perturbations, lunge trajectories, and voluntary limits of stability, GRF-MPC reduced peak planar center-of-mass (CoM) error by 19.6% during perturbations, lowered trajectory tracking error by 24.1%, required 28.7% less net mechanical work, and permitted a 45.9% greater normalized voluntary excursion area. The underlying QP solves in under 1 ms, comfortably enabling 100 Hz replanning and demonstrating that incorporating live human-ground interaction into predictive control yields stronger, more transparent physical assistance with half the actuators.

cs.RO · eess.SY

版本更新 · v8arXiv:2509.10600

冲向起跑线:越野跑中的机会与进步测量

Racing to the Starting Line: Measuring Opportunity and Improvement in Cross Country

Jonathan A. Karr, Ryan M. Fryer, Nitesh V. Chawla

AI 速读 基于摘要

基于NRCD大规模越野跑成绩数据,用分层模型估计赛季内标准化成绩的周进步幅度,并讨论赛程安排与项目成功之间的关联。

cs.CY · cs.AI · cs.LG

查看原文摘要

Collegiate cross country programs set race schedules without large comparable datasets across courses and conditions. Using the comprehensive-era National Running Club Database (NRCD; 23,360 results; 7,056 athletes; 2023-2025), where course and weather coverage exceed 99%, we ask what public results can identify about seasonal improvement, measurement, and racing opportunity. Hierarchical models of Standardized times recover pooled within-season improvement of about -5.7 s/week for men and -5.2 for women, but reading those slopes as fitness requires residual meet difficulty not to track the calendar: crossed meet effects can erase the week slope, while repeating-venue effects recover a clearer men's estimate under a weaker assumption. After the opener, race-1-only forecasts of who will improve are near noise (held-out R^2 ~ 0). Weather standardization remains a useful convention (Converted Only overstates first-to-last gains by about 15-21 s relative to Standardized), and prospectively trained venue factors modestly help where prior course data exist. Successful programs race more and place higher at nationals, but that may not be why they win: the schedule-placement link is between programs and is entangled with roster size, not evidence that changing one team's race count raises nationals place.

新论文 · v1arXiv:2611.12815

无需求逆的高维反事实推断

Inversion-Free High-Dimensional Counterfactual Inference

Saketh Vishnubhatla, Pingchuan Ma, Shu Wan, Alimohammad Beigi, Andre Harrison, Adrienne Raglin, Huan Liu

AI 速读 基于摘要

该研究探讨高维反事实推断中是否必须进行潜变量反演,并评估一种从图像编辑领域改造而来的无需求逆方法。

cs.LG

查看原文摘要

Counterfactual inference is the task of answering hypothetical "what-if" queries about a unit, given an observational dataset, modeling assumptions, and a causal graph. This enables a modeler to reason about hypothetical scenarios that cannot otherwise be answered without assumptions or a causal graph. The simpler case involves a causal graph with scalar 1-D variables that denote different attributes in the data-generation process. While the literature is clear in the 1-D case, extending this to settings with high-dimensional nodes (e.g., images) remains challenging. Conventionally, in the literature, methods recover the latent state from the factual image (inversion), generate counterfactual attributes from the graph, and render the counterfactual image from the latent state using the updated attributes. In our work, we investigate the necessity of the inversion step in computing high-dimensional counterfactuals. We first discuss moving from the scalar 1-D case to the higher-dimensional case. Secondly, we discuss the relevance of the inversion step and evaluate an inversion-free counterpart repurposed from the image-editing literature. Finally, on image datasets such as CelebA and ADNI, we benchmark our approach using two measures: namely, effectiveness and identity preservation. While effectiveness is a measure of how faithfully the counterfactual attribute is rendered, identity preservation measures whether the same unit (image) is being rendered, both of which are crucial for high-dimensional counterfactual inference. We present the tradeoffs of using inversion-based and inversion-free approaches in our work.

新论文 · v1arXiv:2611.12568

Modeling and Estimation of a Towed Marine System

Josef Matouš, Simon Hoff, Damiano Varagnolo, Marius S. Rundhovde, Kristin Y. Pettersen, Martin Saska

原文摘要

This paper addresses the modeling and state estimation of a towed marine system consisting of two autonomous surface vehicles (ASVs), a pair of umbilical cables, towfish, and a trailing loop cable. Inspired by the existing literature, we employ a lumped-mass modeling approach for the cables and towfish, capturing the essential dynamics while maintaining computational tractability. A Lyapunov-based analysis is conducted to verify the stability and convergence properties of the proposed model. Building on this model, we propose two state estimation methods, namely a reduced-order observer and a perfect-measurement extended Kalman filter (PMEKF), using only the measurements from the ASVs' onboard sensors. Numerical simulations and experimental results are provided to validate the effectiveness of the proposed methods.

cs.RO

新论文 · v1arXiv:2611.11912

LO-World: Unified BEV Latent Modeling for Joint 4D Occupancy and LiDAR Forecasting

Zhimin Liao, Ping Wei, Kai Mao, Shuaijia Chen

原文摘要

LiDAR point clouds and 3D semantic occupancy represent two distinct modalities capturing fine-grained metric geometry and dense volumetric semantics, respectively, holding natural potential for mutual complementarity. However, existing world models typically forecast these modalities independently or cascade them heuristically, missing the opportunity for reciprocal cross-modal regularization. To address this, we propose \textbf{LO-World}, a unified 4D world model that forecasts both modalities within a shared BEV latent space. This single-stream formulation enables dense semantics and metric geometry to mutually reinforce each other, while eliminating multi-pipeline redundancy. Specifically, LO-World couples an efficient hybrid range-voxel autoencoder with a flow-matching generator that caches historical context to reduce iterative sampling latency. Extensive experiments demonstrate that LO-World outperforms prior state-of-the-art baselines, improving occupancy forecasting IoU by 10.9% and reducing LiDAR Chamfer Distance by 30.1%. Meanwhile, it sustains a real-time throughput exceeding $25$~FPS on a single RTX 4090. Our code is available at https://github.com/lzzzzzm/LO-World.

cs.CV · cs.AI

新论文 · v1arXiv:2611.11114

Compositional Conformal Risk Control for Multi-Stage LLM Cascades

Yuxia Sun, Jiahuang Wang, Haoting Liu, Zhiwei Huang, Tingrui Pei, Saiqin Long

原文摘要

Multi-stage large language model (LLM) cascades balance accuracy and inference cost, but reliable deployment also requires controlling error risk and identifying its sources across stages. We propose Compositional Conformal Risk Control (CompCRC), a risk-control framework for pre-specified multi-stage LLM cascades. We decompose the risk of accepting incorrect answers into additive stage-wise contributions over the full query population, linking local risk budgets to a system-level guarantee. CompCRC constructs and freezes candidate budget allocations and acceptance thresholds, selects one candidate on independent data, and certifies its stage-wise risk contributions on separate held-out data. Under conditional exchangeability, we establish a finite-sample guarantee: the marginal expected accepted-error risk of the complete deployment procedure does not exceed the global risk budget. At the reported comparison budget of $α=0.45$, all three stages of CompCRC pass their local checks on MMLU, GSM8K, and HellaSwag. Compared with Global-CRC, which passes system-level risk certification at the same budget, CompCRC reduces observed accepted-error risk by 1.33--2.00 percentage points, improves final accuracy by 0.67--2.00 percentage points, and reduces weighted inference cost by 30.37\% on HellaSwag. The selected cost-based budget allocation also improves accuracy per unit cost by 10.6\%--46.7\% over uniform allocation. Further experiments show that stage-wise statistics identify stages that fail local certification checks, providing diagnostic information alongside system-level risk control.

cs.LG

新论文 · v1arXiv:2611.11090

Large-Scale Hierarchical Decision-Making in Robot Control via ADMM

Kai Pfeiffer, Jia Wang, Gordon Owusu Boateng, Yuquan Wang, Vincent Bonnet, Abderrahmane Kheddar

原文摘要

Sparse hierarchical nonlinear programming (SH-NLP) based on the $\ell_0$-norm provides a powerful framework for integrated, efficient hierarchical decision-making in robot kinematic control, for example in the presence of a large set of possible end-effector candidate locations. While Sequential Sparse Hierarchical Quadratic Programming (S-SHQP) with interior-point method based SHQP sub-problem solvers exploit the hierarchical, sparse structure of such problems, they are less amenable to effective warm-starting between subsequent, coherent control steps. In this work, we formulate an Alternating Direction Method of Multipliers (ADMM) to efficiently solve related SHQP sub-problems. We introduce efficient substitutions for auxiliary variables representing $\ell_0$-norm surrogates. The solver efficiently handles separable decision functions by evaluating linear algebra expressions in the appropriate order. Results in large-scale kinematic and dynamic control show reduced computation times of up to 23.5% compared with a structure-exploiting interior-point method in low- to moderate-accuracy regimes. Furthermore, hierarchical decision-making is extended to whole-body dynamic control for humanoid walking, where the need for high-accuracy solutions is highlighted.

cs.RO · math.OC

新论文 · v1arXiv:2611.10846

Efficient SC-Flip Decoding for Polar Codes through Decision-Boundary Normalization

Gulinisha Yiming, Zhongjun Yang, Zhicheng Liu, Zhiming Ma, Xumin Ni, Yuting Liu

原文摘要

Accurate first erroneous position (FEP) identification is key to improving the error-correction performance of successive cancellation flip (SCF) decoding. However, FEP identification remains challenging with a limited number of re-decoding attempts. To address this issue, we propose decision-boundary normalization (DBN) to improve FEP identification and develop a novel DBN-SCF decoding algorithm. DBN normalizes the magnitude of each decision log-likelihood ratio (LLR) by the standard deviation predicted by the Gaussian approximation (GA) for the corresponding bit-channel. This allows a single normalized threshold to be shared across bit-channels within each code configuration, giving it a consistent statistical meaning and avoiding per-channel calibration. DBN-SCF decoding selects candidate flip positions from the information set in the natural successive cancellation (SC) decoding order using a threshold, without sorting. Moreover, DBN-SCF decoding achieves better error-correction performance with a limited number of re-decoding attempts. It also requires lower average decoding complexity than existing SCF decoding methods at a comparable level of error-correction performance.

cs.IT

版本更新 · v2arXiv:2605.19919

Beyond Action Residuals: Real-World Robot Policy Steering via Bottleneck Latent Reinforcement Learning

Dongjie Yu, Kun Lei, Zhennan Jiang, Jia Pan, Huazhe Xu

原文摘要

Pretrained imitation policies have become a strong foundation for robot manipulation, but online adaptation can further improve policy performance within their pretrained behavioral support. A central question is therefore how reinforcement learning (RL) should adapt policies after offline pretraining. Existing lightweight methods commonly apply residual corrections directly in action space. We investigate how the steering interface affects online RL. In this work, we propose Z-Perturbation Reinforcement Learning (ZPRL), an approach that steers pretrained policies through a compact bottleneck latent rather than through policy weights or output actions. Building on an offline-learned bottleneck policy interface introduced by previous work, ZPRL turns this representation into an online RL control space through reward-driven residual perturbations while freezing the pretrained policy. We instantiate ZPRL on flow-matching policies and evaluate it on eight simulation tasks and four real-world tasks. Across diverse manipulation settings, ZPRL improves sample efficiency with competitive or better final performance. In the real world, ZPRL improves the average success rate on four tasks by 33.7 percentage points over imitation base policies. Our qualitative and quantitative results also indicate that ZPRL combines task success with smooth actions without explicit temporal filtering or smoothness regularization. These results suggest that a compact, task-aligned bottleneck latent provides an effective interface for online RL adaptation. Videos and code can be found at https://manutdmoon.github.io/ZPRL/.

cs.RO

版本更新 · v2arXiv:2609.34427

LLMs as Adaptive Meta-Solvers: Strategy-Diverse RL for Industrial-Scale Optimization

Shihao Zhang, Weiting Liu, Siyu Shao, Yitian Chen, Jianfeng Feng, Dongdong Ge, Yinyu Ye

原文摘要

Scaling LLM-based optimization from textbook-scale instances to real-world, industrial tasks remains a critical open challenge. Existing approaches are predominantly evaluated on small, self-contained textual problems and often commit to a solver-integrated paradigm, limiting their ability to handle the scale and structural diversity of practical optimization workloads. In this work, we propose a practical framework for training open-source LLMs to tackle real-world, industrial-scale optimization. We first show empirically that solver-integrated reasoning, exact combinatorial algorithm, and heuristic search exhibit complementary strengths across different problem structures and scales. Motivated by this, we introduce Strategy-Diverse Reinforcement Learning (SDRL), which trains LLMs as adaptive optimization meta-solvers. SDRL leverages this complementarity through a correctness-gated hierarchical diversity reward that promotes robust exploration across varying strategies and within each strategy, effectively preventing premature strategy collapse. We further introduce a mixed-format training scheme that jointly supports both self-contained textual problems and file-grounded instances. Across comprehensive evaluations, our framework outperforms existing fine-tuned methods and frontier models including DeepSeek-V4-Pro and GPT-5.5, both on average across benchmarks and on industrial-scale optimization tasks. We release our code and training data to facilitate future research https://github.com/tokentideAI/LLMMetaSolver.

cs.LG · cs.CL

新论文 · v1arXiv:2611.10708

Distributed Intelligent Ad Hoc Routing Agents for Communication at Protests During Internet Shutdowns

Matthew Schmidheiser, Milena Radenkovic

原文摘要

Governments around the world are increasingly using internet shutdowns to block digital communication. Internet shutdowns are particularly dangerous during political protests, as they inhibit protesters' ability to organize and communicate critical, potentially life-saving information and may be used to prevent awareness of state-based violence. Recent prior works have explored secure, private messaging systems for use during political protests and internet shutdowns but have encountered long delivery delays or low delivery rates under challenging conditions. In this work, we explore the use of distributed, adaptive, social- and congestion-aware heuristics and efficient communication patterns to create an intelligent ad hoc routing protocol in which network agents learn and leverage the network social environment and monitor and respond to dynamic network congestion behaviour to route messages in a time- and resource-efficient manner. Through this exploration, we contribute an intelligent algorithm and protocol which overall achieves comparable or higher delivery rates relative to the leading dynamic clique routing protocol which it extends while also transmitting messages through notably fewer carriers and, when network devices have larger amounts of buffer storage, transmitting fewer message-related packets. We additionally contribute a further understanding of routing limitations and challenges and conceptualizations of extensions of intelligent dynamic clique routing to overcome them.

cs.NI

版本更新 · v2arXiv:2606.29073

From Tool Connection to Execution Control: Benchmarking Security Invariants in MCP-Style Agent Runtimes

Ting Liu

原文摘要

Tool-connected agents need execution-time invariants that hold even when a model follows an adversarial instruction. We formulate eight execution-layer invariants (I1-I8) covering structured authority, canonical resource resolution, principal and delegation binding, handle lifecycle, explicit source-to-target transfer, request-correlated denial evidence, and single-use approval state. To test whether these protections require a centralized runtime or follow from the invariants themselves, we compare HCP, an in-memory runtime with managed handles and tasks, against an independent gateway/server ACL (B3) enforcing the same I1-I8 contract over identical grants and labels. Both block 18 modeled violations and complete 25 workflows, while 16 source-code ablations pinpoint the checks responsible. Outside our scripted corpus, we test three boundaries. First, on 24 held-out AgentDojo tasks with live models, DeepSeek reaches attacker goals in 4 direct sessions while both controllers deny every attacker call; however, strict reference-derived grants also deny 40 non-attacker calls, and first-divergence replay under an approve-all control reaches 4 new attacker goals. Second, across 132 conditions on unmodified ChainCaps and Playwright MCP servers, per-call grants block ungranted writes but cannot stop a secret passed as an ordinary argument to an authorized sink; session source budgets block that copy but refuse unrelated actions; and explicit handle pipes or sealed reads block handle-mediated exfiltration while preserving unrelated workflows. Third, on a matched MCP backend, HCP adds 0.13 ms per workflow outside MCP calls while retaining 7.7 MB of state over one thousand workflows versus 0.7 MB for B3. Identical decisions across HCP and B3 show that enforcing explicit I1-I8 invariants at controlled entrances secures tool execution across centralized and gateway designs.

cs.CR · cs.AI

新论文 · v1arXiv:2611.10607

Worst-Case Contagion in Financial Networks: MILP Clearing and Robust Loss Analysis

G. C. Calafiore, M. Della Rossa, A. Proskurnikov

原文摘要

We study worst-case contagion losses in financial networks with interbank liabilities and common exposures to marketable assets. Existing linear-programming approaches provide exact stress-test values only within an insolvency-resilience margin, where all institutions remain solvent with respect to the external sector. We show that this margin is computed exactly by a finite family of linear programs, one per vertex of the uncertainty ball, whereas a single linear program based on the componentwise worst deterioration of external resources yields only a certified lower bound. We extend this framework beyond that margin in three directions. First, we derive an exact mixed-integer linear programming (MILP) formulation for the maximal clearing vector under arbitrary signed external net positions, providing a clearing oracle for robust stress testing when insolvency can occur. Second, we develop certified bounds on the worst-case loss beyond the margin, including insolvency-pattern enumeration, scenario lower bounds, fixed-pattern dual upper bounds, localized certificates, and a regime-generation procedure with monotone gap certificates. Third, we analyze the worst-case loss curve as a function of the perturbation radius. For $\ell_1$ and $\ell_\infty$ price-perturbation sets, the curve is convex, nondecreasing and piecewise linear up to the margin, with breakpoints generated by switches in worst-case shock directions, LP bases, and bank-level activity patterns. Beyond the margin, it remains nondecreasing and piecewise affine, but convexity may fail, the curve may jump upward, and the worst case need not be attained. The framework provides a certifiable MILP/LP methodology for parametric stress testing and interpretable diagnostics identifying the banks responsible for changes in systemic loss.

q-fin.RM · cs.CE · eess.SY

新论文 · v1arXiv:2611.10547

HSGNav: Hypothesis Scene Graphs for Multi-Scale Lifelong Navigation under Object Relocation

Kaiyao Liao, Qingfeng Li, Chen Chen, Qing Sun, Ningbo Gu, Xiaoze Wu, Haochen Zhao, Ying Li 等 9 位作者

原文摘要

In real homes, assistive robots must repeatedly locate targets from large furniture to tiny tabletop items, as people move objects between household surfaces. Uniformly instantiating detections at different scales as 3D objects can be brittle for small on-surface items; without explicit object-state validation, stale entries may persist after scene changes. Our key insight is to separate persistent 3D furniture entities from revisable surface-object hypotheses, retaining their visual evidence without requiring independent object geometry. We formalize this design as the Hypothesis Scene Graph (HSG), which preserves small-object evidence and supports local revision without rebuilding the stable entity topology. Building on HSG, HSGNav uses this separation for multi-scale lifelong navigation: retrieval selects entity or hypothesis evidence according to target scale, exploration acquires additional surface observations, and verification confirms target presence or invalidates contradicted hypothesis records. Because existing lifelong benchmarks such as GOAT-Bench rarely require mid-episode memory invalidation or multi-scale search, we introduce FAROS-Bench (Find And Re-find Objects across Scales) for mid-episode relocation of surface objects and multi-scale find goals. Experiments show that HSGNav performs competitively on GOAT-Bench while substantially outperforming prior methods on FAROS-Bench.

cs.RO · cs.CV