Showing 1–50 of 687 results for author: Tan, K

Beyond Multimodal Alignment: Certifying Physical Language through Response Substitution and Ordered Execution

Authors: Kaizhen Tan, Xin Xu, Siru Tao, Yixiao Li, Hanzhe Hong, Yang Feng, Heqing Du

Abstract: World models increasingly treat compact multimodal representations as interfaces between perception and physical interaction, yet existing probes do not establish whether different sensors carry the same executable meaning or whether that meaning survives a new action composition. We introduce an operational capability hierarchy and the Disjoint-Bridge Operator-Substitution Certificate (DBOSC), wh… ▽ More World models increasingly treat compact multimodal representations as interfaces between perception and physical interaction, yet existing probes do not establish whether different sensors carry the same executable meaning or whether that meaning survives a new action composition. We introduce an operational capability hierarchy and the Disjoint-Bridge Operator-Substitution Certificate (DBOSC), which asks whether independently trained modality compilers enter a frozen response chart interchangeably on evidence outside their training panels. On Cluster Haptic, audio and acceleration representations of the same unseen surface are 4.5x closer in response space than wrong-surface pairings, with the gap holding for all 19 held-out surfaces; unsealing withheld responses confirms that every branch predicts the physics better than the population chart. We then test ordered execution in a controlled elastoplastic system with complementary modality blind spots. At the pre-registered budget, the prerequisite refuses the stack because the frozen executor cannot advance even an exact chart coordinate through a held-out program. At a converged budget, the same rank-three chart executes those programs (oracle NMSE 0.18), fusion improves on both modalities, and 14 of 16 registered checks pass; the two failures arise because a diagonal restriction of the fused information matrix performs as well as the full one. Clearing the gate is a property of the executor, not the chart: an executor emitting whole programs instead of shared per-step dynamics is 38x worse than an entity-blind predictor on the same chart. A matching non-identifiability result explains why compression and fusion alone cannot determine an unseen composition law. These results separate attribute access, response substitution, fusion closure, and ordered execution into distinct, separately testable achievements. △ Less

Submitted 19 August, 2026; originally announced August 2026.

HMS-SCP: Task-Oriented Multi-Scale Semantic Communication for V2X Cooperative Perception

Authors: Chun-Yeow Yeoh, Chee Keong Tan, Joanne Mun-Yee Lim, Heng-Siong Lim

Abstract: Cooperative perception enables vehicles and infrastructure to exchange sensor data via Vehicle-to-Everything (V2X) communication, extending sensing coverage beyond occlusions and mitigating blind spots. While critical for autonomous driving and safety, practical deployments often rely on bandwidth-efficient late fusion. Recently, intermediate fusion has emerged as a promising approach for an optim… ▽ More Cooperative perception enables vehicles and infrastructure to exchange sensor data via Vehicle-to-Everything (V2X) communication, extending sensing coverage beyond occlusions and mitigating blind spots. While critical for autonomous driving and safety, practical deployments often rely on bandwidth-efficient late fusion. Recently, intermediate fusion has emerged as a promising approach for an optimal bandwidth-accuracy trade-off. However, in dense urban environments, cumulative bandwidth demands can overwhelm network capacity, potentially compromising safety-critical Cooperative Intelligent Transport Systems (C-ITS) functions. To alleviate these problems, this paper proposes Hierarchical Multi-Scale Semantic-Aware Cooperative Perception (HMS-SCP), a robust noise-resilient and bandwidth-efficient framework for task-oriented semantic communication in cooperative perception. HMS-SCP employs a spatial importance predictor to identify task-relevant grid elements at each scale, which are then directly mapped into complex-valued symbols for Joint Source-Channel Coding (JSCC). Unlike prior methods that rely on high-dimensional symbol projections for robustness, HMS-SCP exploits structural semantic redundancy across multiple scales to enhance resilience against channel noise, while maintaining an ultra-low symbol rate. This design significantly reduces bandwidth consumption and mitigates network congestion in high-density vehicular environments. Extensive evaluations on the simulated OPV2V and real-world DAIR-V2X datasets demonstrate that HMS-SCP effectively prevents performance collapse under severe Rayleigh fading and extreme compression ratio, maintaining high-confidence far-field detection with a real-time latency of below 16~ms, well within the safety-critical thresholds for dynamic V2X environments. △ Less

Submitted 18 August, 2026; v1 submitted 3 July, 2026; originally announced August 2026.

Comments: 15 pages, 7 figures, 6 tables, Submitted to IEEE Transactions on Vehicular Technology (TVT)

Can We Defend Against AI-Generated Video Attacks on Real-World Crisis Events? A Systematic Evaluation of Detectors, Generators and Social Dissemination

Authors: Shuo Liang, Yixing Ma, Pengfei Zhou, Zhenglin Wan, Xingyan Chen, Zihan Mei, Manting Li, Feihan Chen, Zhiwen Wang, Bin Xu, Haotian Zhang, Jiajun Song, Shiya Su, Run Liu, Zhenghang Ni, Yifa Yu, Jintao Hong, Bolong Feng, Yifei Liu, Zirui Zhang, Jingxuan Zhang, Songlin Zhao, Yifan Bai, Kang Tan, Yizhe Liu , et al. (11 additional authors not shown)

Abstract: Recent video generators can fabricate realistic depictions of wars, disasters, public emergencies, and other real-world crises, creating substantial risks of misinformation. Existing benchmarks, however, provide limited evidence on detector and generator behavior in such settings, including how detectability varies with generation conditions, how people perceive generated videos, and whether detec… ▽ More Recent video generators can fabricate realistic depictions of wars, disasters, public emergencies, and other real-world crises, creating substantial risks of misinformation. Existing benchmarks, however, provide limited evidence on detector and generator behavior in such settings, including how detectability varies with generation conditions, how people perceive generated videos, and whether detectors remain reliable during social dissemination. To address this gap, we introduce RA-Bench, a benchmark for AI-generated video detection that uses Real videos as Anchors. RA-Bench contains 17,886 videos, comprising 1,830 real-video anchors across 10 social-risk categories and 16,056 generated clips from four open-source and five closed-source generators. Based on RA-Bench, we organize our evaluation along three dimensions. We first assess detector generalization across seven traditional detectors, ten zero-shot multimodal models under three review settings, and two MLLMs specifically fine-tuned on AI-generated video detection. Across these methods, none of the three detector families generalizes consistently across RA-Bench instances. We then examine how detectability varies with generation quality, conditioning information, and sampling seeds. These analyses show that generation properties affect detector families differently, while source-level detection patterns remain stable across seeds. Finally, we study human authenticity judgments and detector reliability during social dissemination. We find that videos that mislead people are also difficult for current detectors, and that social dissemination makes detection harder. Together, these findings show that current methods struggle to detect realistic AI-generated videos, highlighting the need for detectors robust to evolving video generators. △ Less

Submitted 16 August, 2026; v1 submitted 14 August, 2026; originally announced August 2026.

Comments: 63 pages, 20 figures, 32 tables

Generalization Error Estimation for Primal--Dual Algorithms in Non-Smooth Regression

Authors: Kai Tan, Pierre C Bellec

Abstract: This paper studies trajectory-wise estimation of generalization error for primal--dual algorithms in non-smooth regression. Motivating examples include \(\ell_1\)-penalized least absolute deviations regression and square-root Lasso regression, where the data-fitting loss is non-differentiable and existing risk estimators for gradient-type optimization paths do not apply directly. We develop a gene… ▽ More This paper studies trajectory-wise estimation of generalization error for primal--dual algorithms in non-smooth regression. Motivating examples include \(\ell_1\)-penalized least absolute deviations regression and square-root Lasso regression, where the data-fitting loss is non-differentiable and existing risk estimators for gradient-type optimization paths do not apply directly. We develop a general recursive framework that includes the Chambolle--Pock algorithm and related primal--dual splitting methods. We estimate risk by correcting each in-sample fitted value with a weighted combination of past dual iterates. The ideal weights are Stein derivative contractions and depend on the design covariance. We construct replacement weights from observable derivative contractions of the fitted-signal trajectory, yielding a covariance-free, data-driven correction. For high-dimensional Gaussian designs and fixed finite iteration horizon, we prove finite-sample guarantees for both estimators. For square-root ridge, we further establish a matched-Gaussian universality result beyond Gaussian designs. Numerical experiments show that the proposed estimators accurately track the out-of-sample risk along finite optimization paths. △ Less

Submitted 13 August, 2026; originally announced August 2026.

Scopes equivalence for blocks of Ariki-Koike algebras

Authors: Joseph Chuang, Kai Meng Tan

Abstract: We obtain necessary and sufficient conditions for a block of an Ariki-Koike algebra to have the property that all its associated multipartitions have no addable node with a given residue. This leads to a classification of Scopes equivalence classes for Ariki-Koike algebras in terms of their pyramid numbers and Scopes vectors, generalising that for level 1 and for core blocks. Our proof is independ… ▽ More We obtain necessary and sufficient conditions for a block of an Ariki-Koike algebra to have the property that all its associated multipartitions have no addable node with a given residue. This leads to a classification of Scopes equivalence classes for Ariki-Koike algebras in terms of their pyramid numbers and Scopes vectors, generalising that for level 1 and for core blocks. Our proof is independent of the results of Richards for level 1. △ Less

Submitted 11 August, 2026; originally announced August 2026.

Comments: 33 pages

MSC Class: 20C08; 05E10

Renaming or Tightness: Enforcing Disjunctive Information Flow Policies

Authors: Xin Xu, Siru Tao, Kaizhen Tan

Abstract: A disjunctive policy allows a value to depend on at most one of two secrets and never on both: an analyst may consult one client's file or the other's, a share of a split secret may be released but not its sibling. Such policies are not lattice-shaped, and Hunt and Sands introduced the quantale of information to give them a semantics, leaving the enforcement layer open. We build the flow-sensitive… ▽ More A disjunctive policy allows a value to depend on at most one of two secrets and never on both: an analyst may consult one client's file or the other's, a share of a split secret may be released but not its sibling. Such policies are not lattice-shaped, and Hunt and Sands introduced the quantale of information to give them a semantics, leaving the enforcement layer open. We build the flow-sensitive type system family that the quantale calls for, and show that the object which makes such families useful, the universal type object from which every member specialises, splits in two, with a consequence for enforcement. Over the free commutative quantale on the program variables the whole mechanism survives for every policy: monotone renaming, canonical derivations, principal typings, internal completeness. Over the free object with idempotent generators the certified bound is strictly more precise and still sound, because it records that two reads of one source honour one disjunct. The gap cannot be closed from inside the independent-attribute family: no mechanism of that shape whose labelling maps support monotone renaming certifies a bound more precise than the first, and for principal typings under generator-exact homomorphic specialisation the two coincide. Under the ethical-wall and secret-sharing labels the second read of a disjunctive source therefore drives every such certificate to no guarantee, and programs that satisfy the policy are rejected. The literal transcription of the lattice-era object is no escape either: it is a further quotient that loses branch disjunction. Precision is recovered by deferring specialisation to the judgement level, and the resulting read-out map is the least sound join-preserving one. △ Less

Submitted 10 August, 2026; originally announced August 2026.

Comments: 13 pages, 3 figures, 1 table. Under review

Cloud-Boosted Low-Compute Multi-Channel Speech Enhancement

Authors: Xulin Fan, Juan Azcarreta, Ashutosh Pandey, Jesus Alvarez, Ke Tan, Jacob Donley, Ritwik Giri, Buye Xu

Abstract: Low-latency, low-compute speech enhancement is essential for wearable devices with real-time communication requirements, but strict computational constraints significantly limit on-device performance. Knowledge Boosting has been proposed as an effective approach to improve edge model performance by leveraging a more capable server-side model, but performance gains for speech enhancement have been… ▽ More Low-latency, low-compute speech enhancement is essential for wearable devices with real-time communication requirements, but strict computational constraints significantly limit on-device performance. Knowledge Boosting has been proposed as an effective approach to improve edge model performance by leveraging a more capable server-side model, but performance gains for speech enhancement have been limited. We propose a collaborative framework incorporating three techniques: (1) delayed server output as additional input, (2) layerwise feature boosting that transfers intermediate server representations to guide edge inference, and (3) collaborative multichannel Wiener filtering, which fuses weighted covariance matrices estimated from both server and edge models for improved beamforming. Experimental results demonstrate that the proposed collaborative framework significantly outperforms the edge-only baseline with minimal additional computational overhead. △ Less

Submitted 7 August, 2026; originally announced August 2026.

Comments: Accepted to Interspeech 2026

STAIL: Semantic Text-Anchored Incremental Learning for Medical Imaging via Large Language Models

Authors: Songpan Gao, Yajie Zhang, Guanxing Chen, Jiayu Qian, Zhenzhen Liu, Shijun Li, Xiaowei Zhu, Yao Hu, Kay Chen Tan, Yu-An Huang, Shiqi Wang, Zhi-An Huang

Abstract: Deep learning models applied to medical image analysis suffer from severe catastrophic forgetting when continually adapting to new clinical tasks in dynamic environments. Mainstream incremental learning methods typically mitigate this by rehearsing raw historical images. However, this pixel-level rehearsal incurs significant storage overhead, raises privacy concerns, and fails to adequately captur… ▽ More Deep learning models applied to medical image analysis suffer from severe catastrophic forgetting when continually adapting to new clinical tasks in dynamic environments. Mainstream incremental learning methods typically mitigate this by rehearsing raw historical images. However, this pixel-level rehearsal incurs significant storage overhead, raises privacy concerns, and fails to adequately capture the true data distribution with sparse exemplars. Inspired by human cognitive mechanisms, we propose a novel framework termed Semantic Text-Anchored Incremental Learning (STAIL) for sequential clinical tasks. To overcome the rehearsal bottleneck, STAIL introduces an asymmetric semantic consolidation buffer (SCB). By incorporating a minimal set of image anchors and extensive textual descriptions, the SCB enables dense semantic reconstruction of old tasks at a minimal storage cost. Furthermore, we design an LLM-derived Semantic Anchoring Mechanism (LSAM) that leverages the stable semantic space of frozen large language models as developmental priors. This mechanism explicitly anchors evolving visual features to textual representations, guiding and constraining plasticity and stability at both macroscopic and microscopic levels. Extensive experiments across three heterogeneous medical datasets, covering fundus, ultrasound, and X-ray imaging, demonstrate that STAIL acts as a highly effective plug-and-play module. It comprehensively enhances the performance of various existing baselines, achieving average gains of 2.24\% in AAA-AUC for sustained performance and 3.55\% in BWT-AUC for reduced forgetting. Code is available. △ Less

Submitted 6 August, 2026; originally announced August 2026.

What Can Latent World Models Know? Physical Parameter Identifiability in Multimodal Predictive Representations

Authors: Kaizhen Tan, Xin Xu, Siru Tao, Yixiao Li, Hanzhe Hong, Yang Feng, Heqing Du

Abstract: A central premise of latent world models is that predicting the future forces a representation to internalize the physics of its environment. Which physical quantities does a trained latent actually contain, and what decides this? We answer with controlled interventions in POKEWORLD, an interactive environment whose visually identical objects hide mass, drag, and contact stiffness. A certificate-g… ▽ More A central premise of latent world models is that predicting the future forces a representation to internalize the physics of its environment. Which physical quantities does a trained latent actually contain, and what decides this? We answer with controlled interventions in POKEWORLD, an interactive environment whose visually identical objects hide mass, drag, and contact stiffness. A certificate-gated protocol first certifies each parameter as recoverable from raw observations, then measures whether it enters the latent, so a null result can be attributed to the objective rather than to the environment. The resulting identifiability map has two organizing mechanisms and one frontier. Inputs limit what can be known, while prediction targets decide what is retained. Stiffness enters the latent only when touch is forecast ($R^2=0.50$, compared with $-0.02$ when the same signal is merely fused into the input), and under single-step prediction a vision-only latent discards even perfectly visible object state. Drag marks the frontier. It carries a recoverability certificate of 0.89 yet plateaus near 0.13 under every deterministic prediction objective we test, while a supervised head on the same trunk reaches 0.45. Parameters whose readout is slow and ratio-type under the sensed coordinates fall outside what these objectives acquire. On RH20T, an input-target factorial across scaling curves reproduces both mechanisms across two robots and 4,258 episodes. Every arm missing information or prediction pressure stays flat over a fivefold data range, and only the full multimodal objective forecasts force beyond a persistence baseline, with held-out gains that grow with scale. Objective structure determines which physical parameters a latent acquires, and additional data improves only the parameters it already acquires. △ Less

Submitted 31 July, 2026; v1 submitted 29 July, 2026; originally announced July 2026.

Collusion with Competitive Marginals: Price-Level Audits Are Blind by Construction

Authors: Xin Xu, Chengrui Wu, Jiayu Lu, Kaizhen Tan, Siru Tao, Hanzhe Hong

Abstract: Empirical work on algorithmic collusion asks one question of the data: are prices supracompetitive? We show this can be answered "no" by a conspiracy that is nonetheless profitable. Consider bidding agents that couple only through the joint distribution of their unexplained bid components, leaving every agent's own bid law exactly at the competitive law. Any test whose input is a single agent's pr… ▽ More Empirical work on algorithmic collusion asks one question of the data: are prices supracompetitive? We show this can be answered "no" by a conspiracy that is nonetheless profitable. Consider bidding agents that couple only through the joint distribution of their unexplained bid components, leaving every agent's own bid law exactly at the competitive law. Any test whose input is a single agent's price or bid history then has power exactly equal to its false-positive rate, for every coupling strength up to comonotonicity. The published detection methodology is therefore blind to this conduct by construction rather than underpowered, and no sample size repairs it. Three empirical results follow. First, the mechanism appears in real language-model agents: twenty models from nineteen independent developers, three deployment prompts each, show residual correlation of $+0.053$ between two deployments of one model against $+0.0001$ across models, with a 95% interval clustered by developer of $[0.030, 0.078]$, under an auditor that sees every order feature and is fitted out of sample. Second, the coupling falls monotonically as sampling temperature rises ($p=0.002$), turning a deployment parameter into a candidate mitigation. Third, on 24 days of Ethereum block-building auction data covering 77,684 bids from 39 bidders, the honest population of bidder pairs is itself so dependent that a screen held at a 5% false-positive rate must sit above a floor of $+0.50$ to $+0.81$, which is 20 to 32 times the family-wise sampling threshold and does not fall as the audit window grows. Since lawful multi-identity operation and conspiracy are behaviourally indistinguishable here, the tractable regulatory target is not detection but counting: resolving 40 bidding identities into 23 operators raises the Herfindahl index by 247.5%, and adding behavioural clusters from public bid streams reaches 324.5%. △ Less

Submitted 28 July, 2026; originally announced July 2026.

Comments: 11 pages, 4 figures, includes technical appendix

Automorphism-Induced Non-Canonicity in Top-k Explanations of Graph Neural Networks

Authors: Xin Xu, Siru Tao, Kaizhen Tan

Abstract: A gradient-based GNN explainer given a molecule with two chemically equivalent nitro groups assigns them attribution scores that are equal to the last bit. It cannot do otherwise: message passing is exactly permutation equivariant, so any automorphism of the input leaves every attribution invariant. Yet the standard report, the top-k edges, names one of the two, and which one is settled by the ord… ▽ More A gradient-based GNN explainer given a molecule with two chemically equivalent nitro groups assigns them attribution scores that are equal to the last bit. It cannot do otherwise: message passing is exactly permutation equivariant, so any automorphism of the input leaves every attribution invariant. Yet the standard report, the top-k edges, names one of the two, and which one is settled by the order of an array. We show this is a structural obstruction rather than an implementation slip. When no minimal valid explanation is fixed by the input's automorphism group, no rule can be single-valued, minimal and symmetry-respecting at once. For the exact-k reports used in practice we give a parameter-free criterion, mechanised in Lean 4 with no axiom dependencies, that decides from the graph alone whether every score-optimal report of that size must split an orbit. Across 21298 instance-budget decisions the criterion agrees with a mechanical model-equivalence check without exception, and no severing case we found admitted a neutral alternative. The obstruction is common. Nontrivial automorphisms occur in 93.4% of Mutagenicity, the dataset the seminal explainability papers use, so the measure-zero dismissal of symmetric inputs, sound on the continuous domains it was made for, collapses here. At the sparsity budget those papers report, 24.0% of molecules with two interchangeable nitro groups (6 of 25) surface exactly one of them, every one arbitrary under mechanical verification. A model's blindness also manufactures symmetry: every MUTAG molecule contains atoms chemistry separates and the network provably cannot, and a matched control shows the resolution is set by what the model reads rather than how it is parameterised. Reporting orbits removes the arbitrariness at 0.11 ms and 0.43 extra edges per graph. △ Less

Submitted 28 July, 2026; originally announced July 2026.

Comments: 11 pages, 3 figures

OmniDelta: Skill-Driven Budget Allocation for Token Compression in OmniLLMs

Authors: Haoyang Huang, Wenjie Huang, Tianqi Xu, Hongyaoxing Gu, Kang Tan, Yikai Fu, Yuhao Shen, Tianyu Liu, Baolin Zhang, Jun Zhang, Xinyi Hu, Jun Dai, Shuang Ge, Lei Chen, Yue Li, Mingchen Wang, Meng Zhang

Abstract: Emerging Omni-modal Large Language Models (OmniLLMs) enable unified understanding of text, audio, and video, but their long audio-video token sequences introduce substantial memory and inference costs. Existing compression methods mainly focus on selecting important tokens under fixed budgets, leaving the preceding budget-allocation problem underexplored. We show that direct query-to-audio/video s… ▽ More Emerging Omni-modal Large Language Models (OmniLLMs) enable unified understanding of text, audio, and video, but their long audio-video token sequences introduce substantial memory and inference costs. Existing compression methods mainly focus on selecting important tokens under fixed budgets, leaving the preceding budget-allocation problem underexplored. We show that direct query-to-audio/video similarity is unreliable for inter-modal budget allocation, and that uniform intra-modal budgets can miss key evidence while retaining redundant content. To address these limitations, we propose OmniDelta, a training-free, skill-driven framework that couples intent-aware inter-modal allocation with content-aware intra-modal allocation. OmniDelta first constructs audio and video skill pools to shift the fixed retained-token budget according to query demand, then reallocates modality budgets over audio segments and video frames using local complexity and temporal redundancy. The resulting local budgets can be combined with existing pruning strategies, preserving the total retained-token ratio while changing where the budget is spent. Experiments on four audio-video benchmarks with two Qwen2.5-Omni models show that OmniDelta establishes a new accuracy-efficiency Pareto frontier across pruning ratios. At 25% token retention on Qwen2.5-Omni-7B, OmniDelta reduces GPU memory by 22.0% and achieves a 1.64x end-to-end speedup over full-token inference. △ Less

Submitted 28 July, 2026; originally announced July 2026.

Comments: 24 pages, 8 figures

How Many Bits Can an Adapter Write? Measuring the Capacity and Memorization of Parameter-Efficient Fine-Tuning

Authors: Kaizhen Tan, Heqing Du, Yang Feng

Abstract: A LoRA adapter is a few megabytes that almost everyone treats as a skill rather than a record of the data behind it. We put that assumption on a scale. Extending compression-based memorization analysis to the frozen-base setting, we measure directly, in bits, how much a low-rank adapter writes into a model it never changes. The answer is both smaller than full fine-tuning and less lawful than para… ▽ More A LoRA adapter is a few megabytes that almost everyone treats as a skill rather than a record of the data behind it. We put that assumption on a scale. Extending compression-based memorization analysis to the frozen-base setting, we measure directly, in bits, how much a low-rank adapter writes into a model it never changes. The answer is both smaller than full fine-tuning and less lawful than parameter counting would predict. Adapters store a couple of bits per trainable parameter, well short of a full model's budget, but that figure turns less on how many parameters an adapter carries than on where they sit. Move the same parameter budget from attention into the MLP and it holds nearly twice as much; strip the frozen base of its structure and the capacity all but disappears. Applied to realistic fine-tunes of Qwen2.5, the same instrument shows privacy leakage rising with the bits an adapter writes rather than the parameters it nominally has, and it draws a clean line between supervised and reinforcement learning: the secrets that supervised fine-tuning copies down verbatim, an adapter trained on verifiable rewards never records. Measuring what fine-tuning writes, rather than attacking it after the fact, turns a piece of folklore into a quantity one can design against. △ Less

Submitted 23 July, 2026; originally announced July 2026.

funFMC: Overlapping Clustering for Functional Data

Authors: Abhiti Mishra, Kean Ming Tan, Tailen Hsing

Abstract: In applications such as neuroscience and environmental science, data are naturally modeled as multivariate functional data and often exhibit overlapping cluster structure. Existing clustering methods for functional data typically impose mutually exclusive memberships and therefore fail to capture such structure. We propose a latent factor model based approach with functional factors and a real-val… ▽ More In applications such as neuroscience and environmental science, data are naturally modeled as multivariate functional data and often exhibit overlapping cluster structure. Existing clustering methods for functional data typically impose mutually exclusive memberships and therefore fail to capture such structure. We propose a latent factor model based approach with functional factors and a real-valued loading matrix that encodes potentially overlapping cluster memberships. Under mild conditions, we establish identifiability of the loading matrix up to permutation, ensuring that the overlapping cluster structure is recoverable up to label switching. We develop a procedure for estimating both the number of clusters and the associated cluster memberships. This involves solving an infinite-dimensional regression problem in operators, whose solution is characterized using the inner product on the space of Hilbert-Schmidt operators and expressed in terms of real-valued matrices. This formulation enables rigorous asymptotic analysis, and we establish a central limit theorem to facilitate statistical inference on overlapping cluster memberships. We demonstrate the performance of our method using numerical studies and an application to functional magnetic resonance imaging data. △ Less

Submitted 14 July, 2026; originally announced July 2026.

Comments: 54 pages, 10 figures

Unified Gradient Projection: Language-Balanced Continual Learning for Multilingual Low-Resource ASR

Authors: Ziang Ren, Guodong Lin, Yuchen Ai, Kaize Tan, Wei-Qiang Zhang

Abstract: Large-scale pretrained ASR models such as Whisper exhibit strong multilingual capabilities. However, fine-tuning on low-resource languages often causes catastrophic forgetting. Although continual learning mitigates this issue, existing methods struggle to regulate cross-task interference in multilingual settings, where dominant languages bias optimization. We propose Unified Gradient Projection (U… ▽ More Large-scale pretrained ASR models such as Whisper exhibit strong multilingual capabilities. However, fine-tuning on low-resource languages often causes catastrophic forgetting. Although continual learning mitigates this issue, existing methods struggle to regulate cross-task interference in multilingual settings, where dominant languages bias optimization. We propose Unified Gradient Projection (UGP), which constrains parameter updates using reference gradients from language-balanced replay in a unified projection space. By equalizing per-language contributions in the projection, UGP reduces dominant-language bias and improves cross-lingual stability. We further show that combining gradient-level projection with data-level replay yields complementary gains in stability and plasticity. Across diverse low-resource language groups and model scales, UGP enables effective adaptation while substantially mitigating forgetting. On Whisper-large-v3, it achieves near-zero average forgetting. △ Less

Submitted 13 July, 2026; originally announced July 2026.

Comments: Accepted by Interspeech 2026

Beyond Heuristics: A Standardized Real2Sim Pipeline for Physical Human Robot Interaction in Human-in-the-Loop Simulation

Authors: Chengyuan Yang, Yifan Wang, Chun Kwang Tan, Sherwin Stephen Chan, Youlong Wang, Xiaoyue Yan, Lei Li, Wei Tech Ang

Abstract: The aging global population drives demand for assistive robots, yet the safety risks and costs of physical testing make Human-in-the-Loop (HITL) simulation an attractive alternative. Its fidelity for coupled systems, however, is limited by interaction models whose impedance parameters are tuned heuristically rather than identified from data. We present a Real2Sim pipeline that identifies the coupl… ▽ More The aging global population drives demand for assistive robots, yet the safety risks and costs of physical testing make Human-in-the-Loop (HITL) simulation an attractive alternative. Its fidelity for coupled systems, however, is limited by interaction models whose impedance parameters are tuned heuristically rather than identified from data. We present a Real2Sim pipeline that identifies the coupled Physical Human-Robot Interaction (pHRI) dynamics of a pelvis--strap interface on an overground mobile balance assistant. The interface is modeled as a 6-DoF viscoelastic mechanism whose 12 directional stiffness and damping parameters are identified per subject via Covariance Matrix Adaptation Evolution Strategy (CMA-ES), using the user's ``Safe \& Comfortable'' feedback as a reproducible operating point that resolves harness-tightness ambiguity across anthropometrics. An intraclass-correlation analysis over a five-subject cohort separates shareable from subject-specific parameters, yielding a set of prior parameters derived from the existing data. Deploying this prior configures a previously unseen subject by refining only 5 of the 12 parameters. The calibrated model then reproduces the real interaction envelope and induces biomechanically accurate gait adaptations in the Human Digital Twin (HDT). Overly compliant and overly stiff settings, by contrast, fail as extreme settings, confirming a correct operating point that no heuristic tuning procedure can reliably select. The pipeline thus improves HITL simulation fidelity and supports the Human Digital Twin as a predictive tool for pre-clinical verification of personalized controllers. △ Less

Submitted 3 July, 2026; originally announced July 2026.

Semantics-Aware Bilevel Co-Evolution: Towards Automated Multicomponent Algorithm Design

Authors: Zhiyao Zhang, Shenghao Wu, Xingyu Wu, Kay Chen Tan

Abstract: LLM-assisted evolutionary search (LES) has emerged as a promising paradigm for automated algorithm design. However, existing methods usually suffer from two inherent limitations when facing the automated design of real-world complex algorithms that usually consist of multiple components. The first limitation is that they either focus on modifying entire algorithms, making it difficult to reuse hig… ▽ More LLM-assisted evolutionary search (LES) has emerged as a promising paradigm for automated algorithm design. However, existing methods usually suffer from two inherent limitations when facing the automated design of real-world complex algorithms that usually consist of multiple components. The first limitation is that they either focus on modifying entire algorithms, making it difficult to reuse high-quality components, or concentrate on component refinement within a limited set of predefined multicomponent configurations. The second limitation is the insufficient explicit modeling and exploitation of algorithm semantics. These limitations severely degrade search efficiency and hinder effective exploration of complex design spaces. Therefore, this paper proposes STABLE (Semantics-Aware Bilevel Co-Evolution), an LES method purpose-built for automated multicomponent algorithm design that introduces structural algorithm formulation and semantics-driven evolution. In STABLE, complex algorithms are organized into hierarchical and modular architectures rooted in domain knowledge, aligning the search space with their intrinsic compositional traits. Based on this structured algorithm formulation, STABLE simultaneously optimizes high-level multicomponent configurations and low-level functional components, enabling coordinated cross-level updates while maintaining suitable granularities for design space exploration. At each level, STABLE establishes a multi-faceted semantic model to assist LLMs in capturing structural correlations, functional compatibilities, and inherent rationalities among algorithm components. This semantic model serves as the core guidance for evolutionary search, enabling principled algorithm generation and algorithm evaluation. Extensive experiments demonstrate that STABLE outperform both human-designed baselines and those from advanced LES methods. △ Less

Submitted 29 June, 2026; originally announced June 2026.

Physics-Guided Robotic Radiation Source Localization along Arbitrary Measurement Paths in Unstructured Environments

Authors: Hojoon Son, Kai Tan, Fan Zhang

Abstract: Using robots to estimate the location of the radiation source is an effective way to improve efficiency and safety. Existing methods focus on planning the robot's path to achieve precise estimation, typically approaching the source. However, approaching the source increases the risk of radiation damage to a robot. In addition, a path-planning algorithm designed solely for radiation source localiza… ▽ More Using robots to estimate the location of the radiation source is an effective way to improve efficiency and safety. Existing methods focus on planning the robot's path to achieve precise estimation, typically approaching the source. However, approaching the source increases the risk of radiation damage to a robot. In addition, a path-planning algorithm designed solely for radiation source localization (RSL) limits the flexibility of missions that deploy robots into radioactive environments. This study presents an automation framework for robotic RSL that leverages a physics-informed machine learning (PIML) model to precisely estimate the source location, regardless of measurement paths, in unknown environments. Physics-inspired model tensors have been designed for PIML to handle attenuated gamma-ray flux signals from unknown obstacles, and multiple models are computed in parallel to improve the robustness and precision of the RSL. The proposed method is evaluated in high-fidelity simulation environments using Monte Carlo particle transport across diverse randomized domains, including spatial scales, radiation source types, obstacle materials and geometries, and robot trajectories. The method is also validated through physical experiments on configurations that are not included in the simulation-based evaluation. The continuous learning technique is applied in real-robot deployment to enhance the practical applicability of the online robotic RSL system. The proposed method advances robot radiation perception from pointwise flux detection to spatial intelligence. △ Less

Submitted 25 June, 2026; originally announced June 2026.

Comments: 18 pages, 14 figures, 2 tables

Offline Reinforcement Learning for Warehouse SLAM Throughput Control

Authors: Tina Dongxu Li, Mouhacine Benosman, Rajat Kumar, Kevin Tan, Ken Meszaros, Trevor Dardik

Abstract: We present an offline reinforcement learning (RL) framework for optimizing SLAM throughput control in a warehouse fulfillment environment. SLAM (Scan/Label/Apply/Manifest) throughput directly influences system congestion and operational efficiency. Our RL-based control approach dynamically recommends SLAM throughput settings that adaptively balance throughput maximization with downstream stability… ▽ More We present an offline reinforcement learning (RL) framework for optimizing SLAM throughput control in a warehouse fulfillment environment. SLAM (Scan/Label/Apply/Manifest) throughput directly influences system congestion and operational efficiency. Our RL-based control approach dynamically recommends SLAM throughput settings that adaptively balance throughput maximization with downstream stability through intelligent adjustment of throttling behavior. We include a history-informed state representation, action space abstraction for delayed-impact control, and a reward function that captures both upstream and downstream operational metrics. Our approach is algorithm-agnostic, enabling integration of multiple offline RL methods under a unified architecture. We instantiate our framework with three state-of-the-art offline RL algorithms, and trained the models offline using de-identified historical operational logs from a large-scale warehouse. Policy performance is evaluated using a comprehensive multi-method strategy. These include model-free approaches including immediate reward estimation via regression models and long-horizon Fitted Q Evaluation (FQE), as well as model-based Deep Koopman dynamics evaluation. Empirical results reveal that the CQL policy consistently outperforms alternatives, improving system health by 22.97% and reducing average throttling duration by 3.18%. These findings demonstrate the potential of offline RL for safe and scalable warehouse throughput control optimization. △ Less

Submitted 22 June, 2026; originally announced June 2026.

Comments: Accepted at 2026 14th International Conference on Control, Mechatronics and Automation (ICCMA 2026)

GeoFidelity-Bench: Evaluating Segment-Level Geographic Fidelity in Text-to-Image Street-View Generation

Authors: Kaizhen Tan, Hanzhe Hong, Siru Tao

Abstract: Text-to-image models can generate visually plausible city streets, but whether their outputs correspond to a requested road segment rather than a generic city prior remains unclear. We introduce GeoFidelity-Bench, a reference-panel benchmark for segment-conditioned geographic fidelity in street-view generation. It contains 7,117 curated Mapillary images covering 109 named OpenStreetMap road segmen… ▽ More Text-to-image models can generate visually plausible city streets, but whether their outputs correspond to a requested road segment rather than a generic city prior remains unclear. We introduce GeoFidelity-Bench, a reference-panel benchmark for segment-conditioned geographic fidelity in street-view generation. It contains 7,117 curated Mapillary images covering 109 named OpenStreetMap road segments in 25 cities across six continents. For each generated panel, the benchmark ranks the target reference panel against panels from the nearest segment in the same city, other segments in the same city, and segments from other cities, making local discrimination rather than absolute target similarity the primary test. We evaluate six open-weight text-to-image generators under city-only, street-and-neighborhood, and GPS-augmented prompts. Adding street and neighborhood names is associated with an increase of 5.5 percentage points in top-1 retrieval accuracy over city-only prompts, with a 95% confidence interval from 3.4 to 7.7 percentage points. However, the similarity margin between the target and the nearest segment in the same city remains near zero, indicating that local names improve broad local plausibility more than exact segment identity. Prompts that keep the city fixed but use incorrect street or neighborhood names further show that only part of the gain depends on the correct local names, while appending raw GPS coordinates as ordinary text yields no statistically clear additional benefit. Held-out real-image queries successfully recover segment identity, showing that the curated references contain usable segment-level signal. GeoFidelity-Bench thus reveals a persistent gap between city- or neighborhood-plausible street-view generation and faithful generation for a specific road segment. △ Less

Submitted 22 June, 2026; originally announced June 2026.

EEG Benchmarking Needs a Task Specification Layer: NeuroDoc for Rulebook-Guided, Executable Benchmark Construction

Authors: Chengxuan Qin, Zhige Chen, Shu Peng, Rui Yang, Jiping Cui, Yikai Dong, Jun Li, Liu Peng, Zhida Shang, Mingze Tang, Kay Chen Tan, Jibin Wu

Abstract: Electroencephalography (EEG) foundation models increasingly rely on multi-dataset training and evaluation, yet public EEG datasets still lack a shared task specification layer that can turn heterogeneous recordings into reusable benchmark units. Existing standards organize files, metadata, and provenance, but they do not specify EEG tasks under a common language and rulebook, leaving critical task… ▽ More Electroencephalography (EEG) foundation models increasingly rely on multi-dataset training and evaluation, yet public EEG datasets still lack a shared task specification layer that can turn heterogeneous recordings into reusable benchmark units. Existing standards organize files, metadata, and provenance, but they do not specify EEG tasks under a common language and rulebook, leaving critical task semantics scattered across papers, code, and manual interpretation. We investigate whether heterogeneous public EEG datasets can be standardized through a structured task specification language paired with a shared rulebook. Our methodology represents each benchmark entry as a task document synchronized with an executable task kernel, with the rulebook defining task fields, evidence requirements, document-kernel alignment, review states, and machine-checkable constraints. Using this methodology, we release a community-reviewed EEG benchmark corpus centered on 53 completed and reviewed entries with 245 task definitions spanning diverse paradigms, and we introduce NeuroDoc and NeuroAudit as the operational support layer for rulebook-guided drafting, upgrading, review, amendment, and release management. We further examine whether the resulting benchmark units can be instantiated in a shared downstream setting across four EEG foundation model backbones, providing execution-based evidence for reusable, auditable, and executable EEG benchmarking infrastructure. △ Less

Submitted 22 June, 2026; originally announced June 2026.

Cladding Layer Enhanced GHz Bulk Acoustic Wave Resonance in Sodium Niobate Thin Films on Silicon

Authors: Zhi Shiuh Lim, Qibin Zeng, Hui Kim Hui, Mengyao Xiao, Tiancheng Luo, Weifan Cai, Shengwei Zeng, Samantha Faye Duran Solco, Baichen Lin, Celine Sim, Zhen Ye, Jinlong Xu, Mingxi Chen, Wei Fu, Chee Kiang Ivan Tan, Seeram Ramakrishna, Yeng Ming Lam, Vincent Chengkuo Lee, Ariando Ariando, Huajun Liu

Abstract: Bulk acoustic wave resonators (BAWR) and bandpass filters operating at GHz frequency are the workhorse of (Vo-)LTE telecommunication and broadband internet. In line with the Singapore Green Plan 2030 for innovating environmentally friendly products, we fabricated lead-free BAWR with sodium niobate (NaNbO3) piezoelectric on silicon with a high electromechanical coupling factor up to 31.3% operating… ▽ More Bulk acoustic wave resonators (BAWR) and bandpass filters operating at GHz frequency are the workhorse of (Vo-)LTE telecommunication and broadband internet. In line with the Singapore Green Plan 2030 for innovating environmentally friendly products, we fabricated lead-free BAWR with sodium niobate (NaNbO3) piezoelectric on silicon with a high electromechanical coupling factor up to 31.3% operating at ~4 GHz. We disclose our crucial strategy where the NaNbO3 layer is cladded between two thin layers of high band gap insulators, which satisfies two primary objectives, i.e. leakage current mitigation and crack avoidance. In addition, we also verified the efficacy of reducing lattice parameters of the cladding layers in promoting vertically distorted tetragonal phase NaNbO3 and producing stronger BAWR signals. △ Less

Submitted 20 June, 2026; originally announced June 2026.

Comments: 17 pages of main text, 4 main text figures, 1 TOC figure, 4 pages of supporting information, 4 supporting figures

CacheWeaver: Cache-Aware Evidence Ordering for Efficient Grounded RAG Inference

Authors: Kaizhen Tan, Rong Gu, Mingyuan Li

Abstract: Retrieval-Augmented Generation (RAG) improves factual grounding, but it also lengthens prompts and raises prefill cost. Prefix caching in serving engines such as vLLM reduces this cost only when requests share the same token prefix. In grounded generation, however, adjacent queries may retrieve overlapping evidence in different orders, so set overlap does not become reusable prefix overlap. We pre… ▽ More Retrieval-Augmented Generation (RAG) improves factual grounding, but it also lengthens prompts and raises prefill cost. Prefix caching in serving engines such as vLLM reduces this cost only when requests share the same token prefix. In grounded generation, however, adjacent queries may retrieve overlapping evidence in different orders, so set overlap does not become reusable prefix overlap. We present CacheWeaver, a lightweight prompt-layer method for cache-aware evidence ordering. The method keeps a prefix tree over recently served evidence sequences and uses a greedy walk to place the most reusable prefix first, while leaving the serving engine and retrieved evidence set unchanged. Across three vLLM configurations, the method lowers median time-to-first-token (TTFT) by about 20-33 percent relative to retrieval-order prefix caching, without hurting answer quality in our QA tests. The greedy policy reaches 97.5 percent of the median TTFT gain from oracle ordering, indicating that most reusable prefix locality can be recovered by a simple scheduling layer between retrieval and inference. △ Less

Submitted 17 June, 2026; originally announced June 2026.

Skill-Guided Continuation Distillation for GUI Agents

Authors: Zhimin Fan, Hongwei Yu, Yeqing Shen, Haolong Yan, Guozhen Peng, Tianhao Peng, Yudong Zhang, Xiaowen Zhang, Kaijun Tan, Zheng Ge, Xiangyu Zhang, Daxin Jiang

Abstract: Improving GUI agents typically relies on behavior cloning on expert trajectories. However, as the current policy deviates from the expert policy, it inevitably encounters policy-induced off-trajectory states during closed-loop execution, i.e., states that fall outside the expert trajectories. Since expert trajectories provide no demonstrations for these unseen states, such states receive no effect… ▽ More Improving GUI agents typically relies on behavior cloning on expert trajectories. However, as the current policy deviates from the expert policy, it inevitably encounters policy-induced off-trajectory states during closed-loop execution, i.e., states that fall outside the expert trajectories. Since expert trajectories provide no demonstrations for these unseen states, such states receive no effective supervision, leaving the policy unable to select the correct action. To close this supervision gap, we propose Skill-Guided Continuation Distillation (SGCD), an iterative self-improvement framework. SGCD first runs the plain policy without skill guidance for a few steps to reach realistic off-trajectory states. From these states, a skill-guided policy then completes the task and produces successful continuations, which are mixed with expert trajectories to supply supervision over policy-induced off-trajectory states. The skills are extracted from both successful and failed rollouts, consisting of Continuation Plans, Critical Targets, Failure Traps, and Success Criteria. On OSWorld-Verified, SGCD improves the success rate of three base models from the low-30\% range to over 50\%, demonstrating its effectiveness and generality. △ Less

Submitted 17 June, 2026; originally announced June 2026.

Achieving Heisenberg limit under noisy conditions with quantum Zeno dynamics and dynamical decoupling

Authors: Ke Zeng, Bakmou Lahcen, Yu Jiang, Kok Chuan Tan

Abstract: Quantum Zeno dynamics (QZD) and dynamical decoupling (DD) are useful tools that enable the effective suppression of noise in quantum systems. We consider the problem of when (i) noise can be suppressed and (ii) Heisenberg limit (HL) can be achieved in quantum metrology, and prove necessary and sufficient conditions for when QZD and DD are useful for achieving these two goals. We also show that in… ▽ More Quantum Zeno dynamics (QZD) and dynamical decoupling (DD) are useful tools that enable the effective suppression of noise in quantum systems. We consider the problem of when (i) noise can be suppressed and (ii) Heisenberg limit (HL) can be achieved in quantum metrology, and prove necessary and sufficient conditions for when QZD and DD are useful for achieving these two goals. We also show that in the Markovian regime, there are scenarios where preventing errors using QZD/DD may enable HL to be achieved where current QEC methods may not. Finally, we demonstrate that the combination of both techniques can allow individually imperfect QZD and DD strategies to saturate HL. △ Less

Submitted 11 June, 2026; originally announced June 2026.

Towards Worst-case Hardness for Low-Noise LPN

Authors: Divesh Aggarwal, Rishav Gupta, Hai Hoang Nguyen, Kel Zin Tan, Prashant Nalini Vasudevan

Abstract: The hardness of the Learning Parity with Noise (LPN) problem is a foundational assumption in cryptography, forming the basis of constructions ranging from symmetric-key primitives to public-key encryption and beyond. A central open question is whether the average-case hardness of LPN can be based on worst-case complexity assumptions, as has been achieved for the analogous Learning With Errors (LWE… ▽ More The hardness of the Learning Parity with Noise (LPN) problem is a foundational assumption in cryptography, forming the basis of constructions ranging from symmetric-key primitives to public-key encryption and beyond. A central open question is whether the average-case hardness of LPN can be based on worst-case complexity assumptions, as has been achieved for the analogous Learning With Errors (LWE) problem. Existing worst-case-to-average-case reductions for LPN [BLVW19, YZ21] rely on statistical smoothing of linear codes, which inherently limits the resulting average-case hardness to noise rates as large as $1/2 - 1/\mathrm{poly}(n)$, which is insufficient for public-key applications. We explore a new approach towards obtaining such reductions: rather than requiring that random sparse combinations of the rows of the generator matrix of a code be statistically close to uniform, we only require that they be computationally indistinguishable from uniform. This leads to a clean win-win structure: we show that any efficient LPN solver can be transformed into a pair of efficient algorithms $(S, D)$ such that for every matrix $A$ of appropriate dimensions over $\mathbb{F}_2$, either $S$ decodes the code generated by $A$ from random noise, or $D$ distinguishes random noisy codewords of the dual of this code from uniform. By instantiating this reduction with appropriate parameters, we obtain the average-case hardness of LPN with inverse-polynomial noise rate $n^{-α}$ for any constant $α< 1$, assuming the worst-case simultaneous hardness of decoding a code from random noise and distinguishing random noisy codewords of its dual from uniform. In particular, setting $α= 1/2$, our reduction yields LPN hardness in the parameter regime required for Alekhnovich's construction of public-key encryption [Ale03], a regime that was previously inaccessible via worst-case reductions. △ Less

Submitted 4 June, 2026; originally announced June 2026.

Most Subradiant Bound Photon Pairs from Chirality-Mediated Dispersion Softening

Authors: Kailin Tan, Xuanbing Jiang, Dong Wang, Saijun Wu

Abstract: We study the subradiant bound states (BSs) in a two-level atom array chirally coupled to a one-dimensional waveguide. We demonstrate that the chiral interaction can drive BSs to become the most subradiant two-excitation states across a wide spacing range. This phenomenon is rooted in a mechanism of chirality-mediated dispersion softening, where the BS band distortion suppresses the band curvature… ▽ More We study the subradiant bound states (BSs) in a two-level atom array chirally coupled to a one-dimensional waveguide. We demonstrate that the chiral interaction can drive BSs to become the most subradiant two-excitation states across a wide spacing range. This phenomenon is rooted in a mechanism of chirality-mediated dispersion softening, where the BS band distortion suppresses the band curvature $|α_2|$ at an extremum point. We rigorously prove that the BS decay rate follows the scaling $Γ\sim |α_2|/N^3$, revealing that the reduction of $|α_2|$ is key to suppressing emission and enhancing subradiance. We also show the existence of chiral BSs in a realistic nanofiber interface. △ Less

Submitted 31 May, 2026; originally announced June 2026.

Whole-Body Inverse Kinematics with Graph Diffusion

Authors: Helong Huang, Kai Tan, Feng Wen, Guowei Huang, Xingyue Quan

Abstract: Inverse kinematics (IK) is a fundamental problem in robotics, requiring the generation of joint configurations that satisfy target end-effector poses. Existing approaches often struggle to generalize across diverse robot morphologies and to effectively model the multi-modal nature of IK, particularly in articulated systems with multiple kinematic branches. In this work, we propose GraphDiff-IK, a… ▽ More Inverse kinematics (IK) is a fundamental problem in robotics, requiring the generation of joint configurations that satisfy target end-effector poses. Existing approaches often struggle to generalize across diverse robot morphologies and to effectively model the multi-modal nature of IK, particularly in articulated systems with multiple kinematic branches. In this work, we propose GraphDiff-IK, a structure-aware graph diffusion framework for inverse kinematics. Specifically, we represent the robot as a kinematic graph constructed from the robot URDF, where nodes correspond to actuated joints and edges encode kinematic dependencies. Building upon this representation, we formulate IK as a conditional graph diffusion process that directly generates joint configurations on the robot graph. To better capture structural dependencies in articulated systems, we further introduce a structure-aware graph reasoning framework with hierarchical stage-wise message passing and torso-aware conditioning for multi-branch robots. In addition, we incorporate noisy forward kinematics feedback and task-space supervision to improve geometric consistency during denoising. The proposed framework provides a unified formulation that naturally supports single-arm robots, dual-arm systems, and articulated robots with torso or waist structures. Extensive experiments on diverse robotic platforms demonstrate that the proposed method achieves accurate and stable IK performance while preserving the ability to generate multiple feasible solutions for redundant robotic systems. △ Less

Submitted 22 May, 2026; originally announced June 2026.

SLAT: Segment-Level Adaptive Trimming for Efficient CoT Reasoning

Authors: Jian Yao, Xiongcai Luo, Ran Cheng, Kay Chen Tan

Abstract: Recent advances in Large Reasoning Models have significantly improved chain-of-thought (CoT) capabilities via reinforcement learning (RL). However, generated reasoning chains frequently suffer from structural redundancy (i.e., \emph{overthinking}), incurring high computational overhead without improving answer correctness. Existing mitigation strategies typically rely on token-uniform length penal… ▽ More Recent advances in Large Reasoning Models have significantly improved chain-of-thought (CoT) capabilities via reinforcement learning (RL). However, generated reasoning chains frequently suffer from structural redundancy (i.e., \emph{overthinking}), incurring high computational overhead without improving answer correctness. Existing mitigation strategies typically rely on token-uniform length penalties, which provide coarse, segment-agnostic pressure toward shorter outputs and can inadvertently suppress useful reasoning alongside redundancy. To address this, we demonstrate that inefficiency concentrates in high-probability segments with low marginal utility. We derive a theoretical characterization of segment suboptimality under the correctness-length trade-off objective and propose \textsc{SLAT} (Segment-Level Adaptive Trimming), an RL framework that selectively suppresses redundant segments based on this criterion. Empirical results on standard benchmarks indicate that \textsc{SLAT} establishes a superior accuracy-efficiency Pareto frontier, reducing reasoning length by $50\%$ relative to uncompressed baselines while maintaining competitive accuracy. Overall, our results suggest that theoretically grounded, segment-aware trimming is a promising direction for efficient CoT reasoning in large language models. △ Less

Submitted 29 May, 2026; originally announced May 2026.

A Progress-Aware Leader-Follower Midair Docking System for Dual-Drone Aerial Manipulation

Authors: Yifan Cai, Jan Ming Kevin Tan, Xiangqi Li, Chenzhe Jin, Narsimlu Kemsaram, Valerio Modugno

Abstract: Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload constraints. We present a dual-drone docking platform where two quadrotors operate in a leader-follower formation and dock using a lightweight modular frame with passi… ▽ More Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload constraints. We present a dual-drone docking platform where two quadrotors operate in a leader-follower formation and dock using a lightweight modular frame with passive magnetic latching. A progress-aware mission supervisor manages phase transitions: approach, alignment, capture, and settle. This platform integrates a complete hardware-software stack (ROS 2 with Crazyflie/PX4 interfaces) and synchronized logging for benchmark evaluation. We evaluate the platform in simulation and real-world experiments using quantitative metrics such as formation error, baseline and yaw consistency, docking success rate, time-to-dock, and failure-mode statistics. The platform enables statistically grounded comparison of docking supervision and synchronization strategies and provides a practical testbed for modular aerial cooperation and repeatable midair aerial manipulation. △ Less

Submitted 28 May, 2026; originally announced May 2026.

Comments: This paper has been accepted for publication in the Proceedings of the 2026 IEEE 22nd International Conference on Automation Science and Engineering (CASE 2026), August 17-21, 2026, Shenyang, China

AndroidDaily: A Verifiable Benchmark for Mobile GUI Agents on Real-World Closed-Source Applications

Authors: Yifan Sui, Xin Huang, Hongbing Li, Fang Xu, Jiahe Lv, Haolong Yan, Yeqing Shen, Litao Liu, Zhimin Fan, Ziyang Meng, Jia Wang, Junbo Qi, Kaijun Tan, Zheng Ge, Xiangyu Zhang, Daxin Jiang, Osamu Yoshie

Abstract: The rapid development of GUI foundation models and mobile GUI agents has spurred numerous evaluation benchmarks, yet most rely on simulated environments or open-source applications, leaving real-world closed-source applications largely unevaluated. The core difficulty is that closed-source applications do not expose internal states, making traditional automatic verification inapplicable. To bridge… ▽ More The rapid development of GUI foundation models and mobile GUI agents has spurred numerous evaluation benchmarks, yet most rely on simulated environments or open-source applications, leaving real-world closed-source applications largely unevaluated. The core difficulty is that closed-source applications do not expose internal states, making traditional automatic verification inapplicable. To bridge this gap, we introduce AndroidDaily, a large-scale benchmark comprising 350 realistic daily-use tasks across 94 high-frequency Android applications spanning transportation, shopping, local services, entertainment, content creation, social media, and everyday utilities. To enable automatic and verifiable assessment in these opaque environments, we propose Guideline-grounded Reviewer for Automatic Diagnostic Evaluation (GRADE), a process-aware evaluator built on a three-tiered system of observable external guidelines: operational obligations, output quality, and negative constraints. GRADE tracks the agent's visual trajectory against these criteria and produces step-level diagnostic judgments, turning long-horizon, open-ended mobile interactions into verifiable evaluation without relying on hidden internal states. Experiments show that GRADE achieves 87.37\% agreement with human evaluators. The strongest model reaches a 62.0\% success rate on AndroidDaily, highlighting a substantial gap between current reasoning capabilities and practical execution in realistic mobile workflows. △ Less

Submitted 26 May, 2026; originally announced May 2026.

Comments: 11 pages, 6 figures. Preprint

LLMEval-Logic: A Solver-Verified Chinese Benchmark for Logical Reasoning of LLMs with Adversarial Hardening

Authors: Ming Zhang, Qiyuan Peng, Yinxi Wei, Yujiong Shen, Kexin Tan, Yuhui Wang, Zhenghao Xiang, Junjie Ye, Zhangyue Yin, Zhiheng Xi, Shihan Dou, Tao Gui, Maxm Pan, Ruizhi Yang, Qi Zhang, Xuanjing Huang

Abstract: Evaluating large language models (LLMs) on natural-language logical reasoning is essential because rule-governed tasks require conclusions to follow strictly from stated premises. Many existing logical-reasoning benchmarks are generated by templating natural-language items from sampled formulas, provide only coarse or unaudited formal annotations, and are now quickly saturated by frontier reasonin… ▽ More Evaluating large language models (LLMs) on natural-language logical reasoning is essential because rule-governed tasks require conclusions to follow strictly from stated premises. Many existing logical-reasoning benchmarks are generated by templating natural-language items from sampled formulas, provide only coarse or unaudited formal annotations, and are now quickly saturated by frontier reasoning models. We present LLMEval-Logic, a Chinese logical reasoning benchmark built from realistic situational scenarios. Its pipeline forward-authors and expert-audits natural-language items together with their reference formalizations, verifies annotated answers with Z3, constructs expert rubrics for natural-to-formal grading, and hardens selected items through a closed-loop adversarial workflow. The benchmark is released in two paired subsets: a 246-item Base subset shipped with 1,400 expert-developed rubric atoms, and a 190-item Hard subset with 938 multi-step sub-questions over closed model spaces. Evaluating 14 frontier LLMs on LLMEval-Logic reveals substantial gaps in current models: the best model reaches only 37.5% Hard Item Accuracy, and even with reference symbols the highest joint Z3+Rubric formalization score among evaluated models reaches only 60.16%. Our benchmark is publicly available at https://github.com/llmeval/LLMEval-Logic. △ Less

Submitted 19 May, 2026; originally announced May 2026.

Xiaomi Auto World Model: A Joint World Model Integrating Reconstruction and Generation for Autonomous Driving

Authors: Lijun Zhou, Hongcheng Luo, Zhenxin Zhu, Cheng Chi, Mingfei Tu, Kaixin Xiong, Lei Gong, Zhanqian Wu, Zehan Zhang, Fangzhen Li, Hao Li, Yingying Shen, Jiale He, Haohui Zhu, Shan Zhao, Kai Wang, Zhiwei Zhan, Yuechuan Pu, Kaiyuan Tan, Ruiling Yang, Xianqi Wang, Tianyi Yan, Jiawei Zhou, Lei Zhang, Jingyang Zhao , et al. (12 additional authors not shown)

Abstract: This report presents a unified technical system addressing the two core capabilities of world models for autonomous driving: world representation and world generation. For world representation, we propose WorldRec, a feed-forward reconstruction architecture driven by sparse scene queries. WorldRec initializes structured queries in 3D space, leveraging them to aggregate cross-view, cross-temporal f… ▽ More This report presents a unified technical system addressing the two core capabilities of world models for autonomous driving: world representation and world generation. For world representation, we propose WorldRec, a feed-forward reconstruction architecture driven by sparse scene queries. WorldRec initializes structured queries in 3D space, leveraging them to aggregate cross-view, cross-temporal features, thereby naturally enforcing spatial consistency across frames and yielding compact yet high-fidelity 3D Gaussian scene representations. For world generation, we propose WorldGen, a two-stage training framework of bidirectional pretraining followed by causal fine-tuning through three progressive stages (Teacher Forcing, ODE distillation, and DMD), enabling high-quality online causal video generation in as few as 4 denoising steps. Building on both modules, we further introduce the JWM, which deeply integrates WorldRec and WorldGen to achieve synergistic gains in generation stability, cross-frame consistency, and visual fidelity, providing a solid foundation for closed-loop simulation, data synthesis, and end-to-end training in autonomous driving. △ Less

Submitted 27 May, 2026; v1 submitted 18 May, 2026; originally announced May 2026.

Identify Then Project: Contrastive Learning of Latent Dynamics from Partial Observations with Port-Hamiltonian Structure

Authors: Peilun Li, Kaiyuan Tan, Daniel Moyer, Thomas Beckers

Abstract: Identifying latent state representations and dynamics is essential when direct modeling in observation space is infeasible, particularly under partial and high-dimensional observations. In such settings, representation learning and physics-aware modeling are inherently coupled. We study this problem for latent port-Hamiltonian systems, a structured class encompassing both conservative and dissipat… ▽ More Identifying latent state representations and dynamics is essential when direct modeling in observation space is infeasible, particularly under partial and high-dimensional observations. In such settings, representation learning and physics-aware modeling are inherently coupled. We study this problem for latent port-Hamiltonian systems, a structured class encompassing both conservative and dissipative dynamics. We propose a two-stage identify-then-project framework. First, a contrastive teacher learns continuous-time latent dynamics from partial observations. Then, a student projects the identified teacher representation and dynamics onto a port-Hamiltonian submanifold via a learned affine chart, yielding a physically consistent realization. As a conceptual counterfactual, we also consider a single-stage variant that jointly learns latent identification and port-Hamiltonian structure, but find it to be less reliable, motivating the proposed two-stage teacher-student framework. We show theoretically that affine projection is the natural bridge between the affine gauge of contrastive latent identification and the port-Hamiltonian systems. Empirically, we demonstrate that the proposed two-stage approach preserves the teacher's dynamics while enforcing physical structure, and performs more reliably than the single-stage alternative, particularly in dissipative regimes and high-dimensional visual settings. △ Less

Submitted 15 May, 2026; originally announced May 2026.

Flow-Direct: Feedback-Efficient and Reusable Guidance for Flow Models via Non-Parametric Guidance Field

Authors: Kim Yong Tan, Yueming Lyu, Ivor Tsang, Yew-Soon Ong

Abstract: Training-free guidance enables pre-trained diffusion and flow models to optimize application-specific objectives using feedback from external black-box reward functions. However, existing methods are feedback-inefficient because reward feedback is used only transiently to inform a localized gradient approximation or a discrete search decision, and is subsequently discarded. To address this limitat… ▽ More Training-free guidance enables pre-trained diffusion and flow models to optimize application-specific objectives using feedback from external black-box reward functions. However, existing methods are feedback-inefficient because reward feedback is used only transiently to inform a localized gradient approximation or a discrete search decision, and is subsequently discarded. To address this limitation, we propose Flow-Direct, a framework that guides the generation process via a persistent guidance field. Theoretically, this guidance field is analytically derived from the log-density ratio between the base and reward-weighted target distributions; it transports the pre-trained distribution to the target distribution. In practice, the field is implemented as a non-parametric estimator constructed from all accumulated reward-evaluated samples. As more samples are collected during optimization, this empirical guidance field becomes increasingly accurate. This persistent formulation yields two major advantages. First, Flow-Direct is highly feedback-efficient: because every evaluated sample is used to refine the global guidance field, no reward information is wasted. Second, the framework is naturally reusable: once optimization is complete, the collected dataset defines a reusable guidance field for generating novel target samples without additional reward evaluations, and distinct guidance fields can be combined to generate samples that simultaneously satisfy multiple objectives. △ Less

Submitted 8 May, 2026; originally announced May 2026.

MyoChallenge 2025: A New Benchmark for Human Athletic Intelligence

Authors: Cheryl Wang, Chun Kwang Tan, Balint K. Hodossy, Eric Lyu, Jun Guo, Wentao Zhao, Huaping Liu, Chengkun Li, Merkourios Simos, Bianca Ziliotto, Alexander Mathis, Siyuan Liu, Jiahao Chen, Shanlin Zhong, Bo Jiang, Ci Song, Yaoye Zhu, Chenhui Zuo, Yanan Sui, Mohamed Irfan Refai, Massimo Sartori, Guillaume Durandau, Vikash Kumar, Vittorio Caggiano

Abstract: Athletic performance represents the pinnacle of human motor intelligence, demanding rapid choices, precise control, agility, and coordinated physical execution. Replicating this seamless combination of capabilities remains elusive in current artificial intelligence and robotic systems. Concurrently, understanding the biological mastery of these movements is hindered because complex muscle coordina… ▽ More Athletic performance represents the pinnacle of human motor intelligence, demanding rapid choices, precise control, agility, and coordinated physical execution. Replicating this seamless combination of capabilities remains elusive in current artificial intelligence and robotic systems. Concurrently, understanding the biological mastery of these movements is hindered because complex muscle coordination is rarely measured in vivo due to the limitations of physical equipment. To bridge this fundamental gap in understanding, MyoChallenge at NeurIPS 2025 established a pioneering benchmark for motor control intelligence in sports, leveraging high-fidelity musculoskeletal models within physics simulation combined with machine learning-driven algorithms. The competition introduces two distinct tracks emphasizing either upper or lower limbs control: a table tennis rally task utilizing a biomechanic upper limb composed of an arm with a hand and a trunk; and a soccer penalty kick using a biomechanic model of legs and a trunk. Marking the fourth iteration of the MyoChallenge series, this event attracted almost 70 teams and over 560 submissions globally, uniting a diverse community ranging from physicians and neuroscientists to machine learning experts. The competition facilitated the development of several state-of-the-art control algorithms for a musculoskeletal system capable of sports agility, leveraging techniques such as physics-based motion planners, on-policy behaviour cloning, hierarchical planning, and muscle synergies. By integrating standardized tasks and physiologically realistic models into the open-source framework of MyoSuite, MyoChallenge'25 serves as a reproducible and reusable testbed to accelerate interdisciplinary research across machine learning, biomechanics, sports science, and neuroscience. Project page: https://www.myosuite.org//myochallenge/myochallenge-2025. △ Less

Submitted 15 May, 2026; originally announced May 2026.

Interpretable Machine Learning for Football Performance Analysis: Evidence of Limited Transferability from Elite Leagues to University Competition

Authors: Yu-Fang Tsai, Yu-Jen Chen, Kok-Hua Tan, Sheng-Chieh Huang, You-Ying Ji, Yu-Lun Chen, Chun-Yi Wang, Chien-Ming Hsu

Abstract: Machine learning has become increasingly prevalent in football performance analysis, yet most studies prioritize predictive accuracy while implicitly assuming that learned performance determinants and their interpretations are transferable across competition levels. Whether interpretability remains reliable under domain shift-from elite to university football remains largely unexplored. This study… ▽ More Machine learning has become increasingly prevalent in football performance analysis, yet most studies prioritize predictive accuracy while implicitly assuming that learned performance determinants and their interpretations are transferable across competition levels. Whether interpretability remains reliable under domain shift-from elite to university football remains largely unexplored. This study investigates whether performance determinants learned from elite competitions are structurally transferable to university-level football and whether their interpretations remain robust under domain shift. Models were trained on large-scale event data from the top five European leagues and applied to university football data from National Tsing Hua University (NTHU) using an identical feature space. Random Forest and Multilayer Perceptron models were interpreted using SHapley Additive exPlanations (SHAP) and Counterfactual Impact Score (CIS). Across five experiments, elite football exhibited a stable and consistent hierarchy of performance determinants across leagues, models, and explanation methods. In contrast, NTHU university football showed substantial reordering of key indicators, reduced explanation stability, weaker structural agreement with elite domains, and increased sensitivity to explanation method. These findings suggest that interpretability robustness is domain-dependent. Rather than reflecting methodological limitations alone, instability in explanations under domain shift may serve as a diagnostic signal of structural ambiguity in the target domain. △ Less

Submitted 11 May, 2026; originally announced May 2026.

Comments: 19 pages, 6 figures

The Stellar Abundances and Galactic Evolution Survey (SAGES). V. The First Data Release of the DDO51 Band

Authors: Qiqian Zhang, Zhou Fan, Gang Zhao, Kai Xiao, Wei Wang, Hongrui Gu, Jie Zheng, Jingkun Zhao, Chun Li, Yuqin Chen, Haibo Yuan, Haining Li, Kefeng Tan, Yihan Song, Ali Luo, Nan Song, Yujuan Liu, Yaqian Wu, Ali Esamdin, Hubiao Niu, Jinzhong Liu, Guojie Feng, Yu Zhang

Abstract: We present the first public data release of DDO51 band from the Stellar Abundances and Galactic Evolution Survey (SAGES), based on Nanshan One-meter Wide-field Telescope (NOWT) observations obtained between 2023 September and 2024 January. This release initiates the DDO51-band component of the survey, covering $\sim$ 2,500 deg$^2$ of the northern sky and including more than 10 million sources. The… ▽ More We present the first public data release of DDO51 band from the Stellar Abundances and Galactic Evolution Survey (SAGES), based on Nanshan One-meter Wide-field Telescope (NOWT) observations obtained between 2023 September and 2024 January. This release initiates the DDO51-band component of the survey, covering $\sim$ 2,500 deg$^2$ of the northern sky and including more than 10 million sources. The DDO51 filter is centered near the \ion{Mg}{1}~$b$ triplet and the adjacent MgH feature, offering sensitivity to stellar surface gravity. The data reduction pipeline incorporates an improved astrometric solution anchored to Gaia DR3 and a photometric calibration strategy tied to synthetic photometry from Gaia XP spectra. These procedures yield a point-source depth of $\sim$18.9 mag at S/N$\sim$10 and an internal photometric precision $\approx$6-7 mmag at the bright end. A preliminary color--color analysis using Gaia broadband photometry confirms the expected sensitivity of the DDO51 band to stellar surface gravity, demonstrating a clear photometric separation between dwarf and giant sequences for late-type stars. This dataset, when combined with existing SAGES photometry in other bands, provides a crucial tool for disentangling the substructures of the Milky Way. All data products from this release upon publication will be available. △ Less

Submitted 9 May, 2026; originally announced May 2026.

Comments: 22 pages, 14 figures, Accepted for Publication in ApJS. Catalog available to download at https://doi.org/10.12149/101721

Journal ref: The Astrophysical Journal Supplement Series 284.1 (2026): 26

An Aerial Manipulator for Perception-Driven Flower Targeting Toward Contactless Pollination in Vertical Farming

Authors: Chenzhe Jin, Zhuohang Wu, Yifan Cai, Xiangqi Li, Jan Ming Kevin Tan, Narsimlu Kemsaram, Valerio Modugno

Abstract: The decline of natural pollinators has created a major challenge for crop production in controlled indoor agriculture, particularly in vertical farming environments where natural insect pollination is absent. This motivates the development of robotic systems capable of performing precise flower targeting tasks while minimizing physical interference with delicate floral structures. This paper prese… ▽ More The decline of natural pollinators has created a major challenge for crop production in controlled indoor agriculture, particularly in vertical farming environments where natural insect pollination is absent. This motivates the development of robotic systems capable of performing precise flower targeting tasks while minimizing physical interference with delicate floral structures. This paper presents an aerial manipulator platform for perception driven flower detection, localization, and approach in vertical farming environments. The proposed system integrates onboard RGBD based perception, model predictive path integral (MPPI) based unmanned aerial vehicle (UAV) control on a PX4 platform, and a lightweight 2DoF manipulator for precise end effector positioning. The platform is evaluated in both MuJoCo simulation and UAV lab experiments using a flower targeting testbed. The experimental results demonstrate stable UAV flight, reliable flower localization, and centimeter level end effector positioning accuracy. In simulation, the proposed controller achieves consistent trajectory convergence and accurate target alignment. In the real world UAV lab environment, the integrated perception control manipulation framework enables stable flower targeted positioning and end effector alignment under constrained aerial operation. These results validate the proposed aerial manipulator as a robust robotic carrier and positioning framework for future contactless pollination systems. While the current study focuses on perception guided targeting and positioning, the developed platform provides a practical foundation for integrating advanced contactless end effectors, including acoustic based pollen manipulation modules, in future work. △ Less

Submitted 7 May, 2026; originally announced May 2026.

Comments: This paper has been accepted for publication in the Proceedings of the 2026 4th International Conference on Robotics, Control and Vision Engineering (RCVE 2026), 10-12 July, 2026, Tokyo, Japan

Estimating Implicit Regularization in Deep Learning

Authors: Joseph H. Rudoler, Kevin Tan, Giles Hooker, Konrad P. Kording

Abstract: Deep learning systems are known to exhibit implicit regularization (alt. implicit bias), favoring simple solutions instead of merely minimizing the loss function. In some cases, we can analytically derive the implicit regularization -- connecting it to an equivalent penalty that augments the learning objective. However, modern deep learning systems are complex, carrying modifications to the traini… ▽ More Deep learning systems are known to exhibit implicit regularization (alt. implicit bias), favoring simple solutions instead of merely minimizing the loss function. In some cases, we can analytically derive the implicit regularization -- connecting it to an equivalent penalty that augments the learning objective. However, modern deep learning systems are complex, carrying modifications to the training procedure and architecture (e.g. early stopping, minibatching, dropout) whose effects are not always directly interpretable. Although estimating the resulting implicit regularization could aid theorists in algorithm design and practitioners in interpreting their hyperparameter choices, this problem has received little direct attention. It is also tractable: regularization makes weight updates deviate from loss gradients, promising a signal for identifying implicit bias. Here we provide gradient matching methods that can be used to empirically estimate the implicit regularization. Our method works on networks with known regularization, recovering popular explicit penalties like $\ell_1$ and $\ell_2$. It also replicates known implicit effects, like the quadratic weight penalty induced by early stopping in gradient descent, demonstrating that it can be used to test theories of implicit regularization. Crucially, because our method is empirical, it can handle implicit regularization in arbitrary networks. We demonstrate this use by characterizing the effects of dropout in deep networks, showing implicit $\ell_2$ effects in this popular method. Our work shows that practitioners can use gradient matching to understand regularization in networks with implicit biases that are too complicated to derive analytically. △ Less

Submitted 6 May, 2026; originally announced May 2026.

Inference on Generalized Latent Variable Models with High-Dimensional Responses and Covariates

Authors: Jing Ouyang, Chengyu Cui, Yunxiao Chen, Kean Ming Tan, Gongjun Xu

Abstract: Regression models with both high-dimensional responses and covariates have attracted growing attention. Standard multivariate regression models become inadequate when the response variables depend not only on observed covariates but also on latent variables that capture key unobserved characteristics. To draw statistical inferences on covariate effects while accounting for latent variables, we con… ▽ More Regression models with both high-dimensional responses and covariates have attracted growing attention. Standard multivariate regression models become inadequate when the response variables depend not only on observed covariates but also on latent variables that capture key unobserved characteristics. To draw statistical inferences on covariate effects while accounting for latent variables, we consider a high-dimensional generalized latent variable model that accommodates mixed-type responses and allows for flexible dependence between covariates and latent variables, which is more suitable for many real-world applications than existing methods that either rely on a linear regression form or restricted assumptions on the dependence between covariates and latent variables. We develop an alternating algorithm that iteratively updates the regression parameters and the latent variables, transforming an intractable nonconvex problem into a sequence of tractable convex subproblems. Theoretically, we provide algorithmic guarantees by establishing statistical consistency of the resulting estimator and deriving an error bound for it. Further, building on this estimator, we construct a debiased estimator for the covariate effect and establish its asymptotic normality. The effectiveness of the proposed method is demonstrated through an application to evaluating the fairness of the Programme for International Student Assessment (PISA). △ Less

Submitted 29 April, 2026; originally announced April 2026.

Towards Adaptive Continual Model Merging via Manifold-Aware Expert Evolution

Authors: Haiyun Qiu, Xingyu Wu, Kay Chen Tan

Abstract: Continual Model Merging (CMM) sequentially integrates task-specific models into a unified architecture without intensive retraining. However, existing CMM methods are hindered by a fundamental saturation-redundancy dilemma: backbone-centric approaches face parameter saturation and representation interference within fixed capacities, whereas Mixture-of-Experts (MoE) variants resort to indiscriminat… ▽ More Continual Model Merging (CMM) sequentially integrates task-specific models into a unified architecture without intensive retraining. However, existing CMM methods are hindered by a fundamental saturation-redundancy dilemma: backbone-centric approaches face parameter saturation and representation interference within fixed capacities, whereas Mixture-of-Experts (MoE) variants resort to indiscriminate expansion, incurring expert redundancy and a routing bottleneck reliant on additional data-driven optimization. To resolve these challenges, we propose MADE-IT (Manifold-Aware Dynamic Expert Evolution and Implicit rouTing), an adaptive CMM method that orchestrates expert management and activation by grounding intrinsic expert representations in manifold geometry. We introduce a projection-based subspace affinity metric coupled with a distribution-aware adaptive threshold mechanism to guide autonomous expert evolution, harmonizing diversity with architectural parsimony. Furthermore, to bypass parameterized gating networks, we design a data-free and training-free implicit routing mechanism that activates experts via feature-subspace alignment. Extensive experiments demonstrate that MADE-IT consistently outperforms strong baselines in accuracy and robustness across long-horizon and shuffled task sequences, while significantly pruning redundant experts, particularly within generic modules and early layers. △ Less

Submitted 24 April, 2026; originally announced April 2026.

When Does Visual Token Pruning Improve Calibration? The Role of Evidence Coverage in MLLMs

Authors: Kaizhen Tan, Yang Feng, Heqing Du, Hanzhe Hong, Siru Tao, Xin Xu

Abstract: Visual token pruning is widely used to reduce the inference cost of multimodal large language models (MLLMs), but it is usually evaluated only by accuracy. We study how pruning affects calibration, defined as the agreement between confidence and correctness, and show that the selection rule matters more than the token budget alone. On POPE with LLaVA-1.5, coverage-based pruning from 576 to 128 tok… ▽ More Visual token pruning is widely used to reduce the inference cost of multimodal large language models (MLLMs), but it is usually evaluated only by accuracy. We study how pruning affects calibration, defined as the agreement between confidence and correctness, and show that the selection rule matters more than the token budget alone. On POPE with LLaVA-1.5, coverage-based pruning from 576 to 128 tokens reduces expected calibration error from 0.041 to 0.016 without a statistically significant accuracy loss. In contrast, attention-based selection preserves confidence while accuracy deteriorates, becoming less calibrated than random pruning at aggressive budgets. Across pruning conditions, kept-set coverage is strongly associated with accuracy (Spearman $ρ=+0.89$) but not with mean confidence ($ρ=-0.03$), producing a strong inverse relation with overconfidence ($ρ=-0.92$); controlled kept-set interventions support this evidence-coverage account. Two boundaries limit it: query-conditioned FastV is more overconfident than its coverage predicts, and on language-prior-dominated ScienceQA, coverage ceases to order calibration. The selector ordering otherwise generalizes to GQA and LLaVA-NeXT, and coverage beats random on Qwen2-VL, although the calibration gain over the unpruned model is task- and model-dependent. We also identify an evaluation pitfall in FastV: zeroing rather than removing pruned tokens can reduce accuracy to chance. Visual token pruning therefore changes confidence quality as well as efficiency, and calibration should be evaluated alongside accuracy when comparing pruning methods. △ Less

Submitted 28 July, 2026; v1 submitted 13 April, 2026; originally announced April 2026.

AbLWR:A Context-Aware Listwise Ranking Framework for Antibody-Antigen Binding Affinity Prediction via Positive-Unlabeled Learning

Authors: Fan Xu, Zhi-an Huang, Haohuai He, Yidong Song, Wei Liu, Dongxu Zhang, Yao Hu, Kay Chen Tan

Abstract: Accurate prediction of antibody-antigen binding affinity is fundamental to therapeutic design, yet remains constrained by severe label sparsity and the complexity of antigenic variations. In this paper, we propose AbLWR (Antibody-antigen binding affinity List-Wise Ranking), a novel framework that reformulates the conventional affinity regression task as a listwise ranking problem. To mitigate labe… ▽ More Accurate prediction of antibody-antigen binding affinity is fundamental to therapeutic design, yet remains constrained by severe label sparsity and the complexity of antigenic variations. In this paper, we propose AbLWR (Antibody-antigen binding affinity List-Wise Ranking), a novel framework that reformulates the conventional affinity regression task as a listwise ranking problem. To mitigate label sparsity, AbLWR incorporates a PU (Positive-Unlabeled) learning mechanism leveraging a dual-level contrastive objective and meta-optimized label refinement to learn robust representations. Furthermore, we address antigenic variation by employing a homologous antigen sampling strategy where Multi-Head Self-Attention (MHSA) explicitly models inter-sample relationships within training lists to capture subtle affinity nuances. Extensive experiments demonstrate that AbLWR significantly outperforms state-of-the-art baselines, improving the Precision@1 (P@1) by over 10$\%$ in randomized cross-validation experiments. Notably, case studies on Influenza and IL-33 validate its practical utility, demonstrating robust ranking consistency in distinguishing subtle viral mutations and efficiently prioritizing top-tier candidates for wet-lab screening. △ Less

Submitted 13 April, 2026; originally announced April 2026.

Macroscopic Traffic Flow Network Modeling For Wildfire Evacuation: A Game-Theoretic Junction Optimization Approach with Application to Lahaina Fire

Authors: Annie Lu, Hong Kiat Tan, Alexander Xue, Alice Koniges, Andrea L. Bertozzi

Abstract: The 2023 Lahaina wildfire killed 102 people on a peninsula served by a single two-lane highway, making exit lane capacity the binding constraint on evacuation time. We model the evacuation as a system of hyperbolic scalar conservation laws on a directed graph with game-theoretic junction conditions that maximize total network flux, an evacuation-calibrated piecewise linear-quadratic flux function,… ▽ More The 2023 Lahaina wildfire killed 102 people on a peninsula served by a single two-lane highway, making exit lane capacity the binding constraint on evacuation time. We model the evacuation as a system of hyperbolic scalar conservation laws on a directed graph with game-theoretic junction conditions that maximize total network flux, an evacuation-calibrated piecewise linear-quadratic flux function, and a loss-driven optimization framework that tunes traffic distribution toward priority corridors. Analytical results on a toy network and numerical simulations of the Lahaina road network reveal a phase transition in exit lane capacity. Additional lanes improve throughput linearly until a computable critical threshold, beyond which no route optimization yields further benefit. For Lahaina, reversing one southbound lane captures nearly all achievable improvement, and a fourth lane can be reserved for emergency vehicles with negligible impact on civilian clearance time. These results provide a rigorous mathematical basis for contraflow recommendations in wildland-urban interface evacuations. △ Less

Submitted 1 April, 2026; v1 submitted 30 March, 2026; originally announced March 2026.

Comments: 59 pages, 33 figures, 15 tables

MSC Class: 90B20; 35L65; 90C26; 90C35; 65M08; 91A80

Optimistic Actor-Critic with Parametric Policies for Linear Markov Decision Processes

Authors: Max Qiushi Lin, Reza Asad, Kevin Tan, Haque Ishfaq, Csaba Szepesvari, Sharan Vaswani

Abstract: Although actor-critic methods have been successful in practice, their theoretical analyses have several limitations. Specifically, existing theoretical work either sidesteps the exploration problem by making strong assumptions or analyzes impractical methods with complicated algorithmic modifications. Moreover, the actor-critic methods analyzed for linear MDPs often employ natural policy gradient… ▽ More Although actor-critic methods have been successful in practice, their theoretical analyses have several limitations. Specifically, existing theoretical work either sidesteps the exploration problem by making strong assumptions or analyzes impractical methods with complicated algorithmic modifications. Moreover, the actor-critic methods analyzed for linear MDPs often employ natural policy gradient and construct "implicit" policies without explicit parameterization. Such policies are computationally expensive to sample from, making the environment interactions inefficient. To that end, we focus on the finite-horizon linear MDPs and propose an optimistic actor-critic framework that uses parametric log-linear policies. In particular, we introduce a tractable $\textit{logit-matching}$ regression objective for the actor. For the critic, we use approximate Thompson sampling via Langevin Monte Carlo to obtain optimistic value estimates. We prove that the resulting algorithm achieves $\widetilde{\mathcal{O}}(ε^{-4})$ and $\widetilde{\mathcal{O}}(ε^{-2})$ sample complexity in the on-policy and off-policy setting, respectively. Our results match prior theoretical work in achieving the state-of-the-art sample complexity, while our algorithm is more aligned with practice. △ Less

Submitted 1 April, 2026; v1 submitted 30 March, 2026; originally announced March 2026.

Comments: 61 pages, 9 figures

Can We Change the Stroke Size for Easier Diffusion?

Authors: Yunwei Bai, Ying Kiat Tan, Yao Shu, Tsuhan Chen

Abstract: Diffusion models can be challenged in the low signal-to-noise regime, where they have to make pixel-level predictions despite the presence of high noise. The geometric intuition is akin to using the finest stroke for oil painting throughout, which may be ineffective. We therefore study stroke-size control as a controlled intervention that changes the effective roughness of the supervised target, p… ▽ More Diffusion models can be challenged in the low signal-to-noise regime, where they have to make pixel-level predictions despite the presence of high noise. The geometric intuition is akin to using the finest stroke for oil painting throughout, which may be ineffective. We therefore study stroke-size control as a controlled intervention that changes the effective roughness of the supervised target, predictions and perturbations across timesteps, in an attempt to ease the low signal-to-noise challenge. △ Less

Submitted 28 April, 2026; v1 submitted 25 March, 2026; originally announced March 2026.

Fair Data Pre-Processing with Imperfect Attribute Space

Authors: Ying Zheng, Yangfan Jiang, Kian-Lee Tan

Abstract: Fair data pre-processing is a widely used strategy for mitigating bias in machine learning. A promising line of research focuses on calibrating datasets to satisfy a designed fairness policy so that sensitive attributes influence outcomes only through clearly specified legitimate causal pathways. While effective on clean and information-rich data, these methods often break down in real-world scena… ▽ More Fair data pre-processing is a widely used strategy for mitigating bias in machine learning. A promising line of research focuses on calibrating datasets to satisfy a designed fairness policy so that sensitive attributes influence outcomes only through clearly specified legitimate causal pathways. While effective on clean and information-rich data, these methods often break down in real-world scenarios with imperfect attribute spaces, where decision-relevant factors may be deemed unusable or even missing. To address this gap, we propose LatentPre, a novel framework that enables principled and robust fair data processing in practical settings. Instead of relying solely on observed attributes, LatentPre augments the fairness policy with latent attributes that capture essential but subtle signals, enabling the framework to operate as if the attribute space were perfect. These latent attributes are strategically introduced to guarantee identifiability and are estimated using a tailored expectation-maximization paradigm. The raw data is then carefully refined to conform to this latent-augmented policy, effectively removing biased patterns while preserving justifiable ones. Extensive experiments demonstrate that LatentPre consistently achieves strong fairness-utility trade-offs across diverse scenarios, advancing practical fairness-aware data management. △ Less

Submitted 27 March, 2026; originally announced March 2026.

Comments: Accepted at SIGMOD 2026

AD-CARE: A Guideline-grounded, Modality-agnostic LLM Agent for Real-world Alzheimer's Disease Diagnosis with Multi-cohort Assessment, Fairness Analysis, and Reader Study

Authors: Wenlong Hou, Sheng Bi, Guangqian Yang, Lihao Liu, Ye Du, Hanxiao Xue, Juncheng Wang, Yuxiang Feng, Yue Xun, Nanxi Yu, Ning Mao, Mo Yang, Yi Wah Eva Cheung, Ling Long, Kay Chen Tan, Lequan Yu, Xiaomeng Ma, Shaozhen Yan, Shujun Wang

Abstract: Alzheimer's disease (AD) is a growing global health challenge as populations age, and timely, accurate diagnosis is essential to reduce individual and societal burden. However, real-world AD assessment is hampered by incomplete, heterogeneous multimodal data and variability across sites and patient demographics. Although large language models (LLMs) have shown promise in biomedicine, their use in… ▽ More Alzheimer's disease (AD) is a growing global health challenge as populations age, and timely, accurate diagnosis is essential to reduce individual and societal burden. However, real-world AD assessment is hampered by incomplete, heterogeneous multimodal data and variability across sites and patient demographics. Although large language models (LLMs) have shown promise in biomedicine, their use in AD has largely been confined to answering narrow, disease-specific questions rather than generating comprehensive diagnostic reports that support clinical decision-making. Here we expand LLM capabilities for clinical decision support by introducing AD-CARE, a modality-agnostic agent that performs guideline-grounded diagnostic assessment from incomplete, heterogeneous inputs without imputing missing modalities. By dynamically orchestrating specialized diagnostic tools and embedding clinical guidelines into LLM-driven reasoning, AD-CARE generates transparent, report-style outputs aligned with real-world clinical workflows. Across six cohorts comprising 10,303 cases, AD-CARE achieved 84.9% diagnostic accuracy, delivering 4.2%-13.7% relative improvements over baseline methods. Despite cohort-level differences, dataset-specific accuracies remain robust (80.4%-98.8%), and the agent consistently outperforms all baselines. AD-CARE reduced performance disparities across racial and age subgroups, decreasing the average dispersion of four metrics by 21%-68% and 28%-51%, respectively. In a controlled reader study, the agent improved neurologist and radiologist accuracy by 6%-11% and more than halved decision time. The framework yielded 2.29%-10.66% absolute gains over eight backbone LLMs and converges their performance. These results show that AD-CARE is a scalable, practically deployable framework that can be integrated into routine clinical workflows for multimodal decision support in AD. △ Less

Submitted 26 March, 2026; originally announced March 2026.

UrbanVGGT: Scalable Sidewalk Width Estimation from Street View Images

Authors: Kaizhen Tan, Fan Zhang

Abstract: Sidewalk width is an important indicator of pedestrian accessibility, comfort, and network quality, yet large-scale width data remain scarce in most cities. Existing approaches typically rely on costly field surveys, high-resolution overhead imagery, or simplified geometric assumptions that limit scalability or introduce systematic error. To address this gap, we present UrbanVGGT, a measurement pi… ▽ More Sidewalk width is an important indicator of pedestrian accessibility, comfort, and network quality, yet large-scale width data remain scarce in most cities. Existing approaches typically rely on costly field surveys, high-resolution overhead imagery, or simplified geometric assumptions that limit scalability or introduce systematic error. To address this gap, we present UrbanVGGT, a measurement pipeline for estimating metric sidewalk width from a single street-view image. The method combines semantic segmentation, feed-forward 3D reconstruction, adaptive ground-plane fitting, camera-height-based scale calibration, and directional width measurement on the recovered plane. On a ground-truth benchmark from Washington, D.C., UrbanVGGT achieves a mean absolute error of 0.252 m, with 95.5% of estimates within 0.50 m of the reference width. Ablation experiments show that metric scale calibration is the most critical component, and controlled comparisons with alternative geometry backbones support the effectiveness of the overall design. As a feasibility demonstration, we further apply the pipeline to three cities and generate SV-SideWidth, a prototype sidewalk-width dataset covering 527 OpenStreetMap street segments. The results indicate that street-view imagery can support scalable generation of candidate sidewalk-width attributes, while broader cross-city validation and local ground-truth auditing remain necessary before deployment as authoritative planning data. △ Less

Submitted 19 August, 2026; v1 submitted 23 March, 2026; originally announced March 2026.

Journal ref: Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIX-B2-2026, 559-567, 2026