arXiv:2511.11225v4 Announce Type: replace
Abstract: The phenomenon of mutual coupling in continuous aperture arrays (CAPAs) is studied. First, a general physical model for the phenomenon that accounts for both polarization and surface dissipation losses is developed. Then, the unipolarized coupling kernel is characterized, revealing that polarization induces anisotropic coupling and invalidates the conventional half-wavelength spacing rule for coupling elimination. Next, the beamforming design problem for CAPAs with coupling is formulated as a functional optimization problem, leading to the derivation of optimal beamforming structures via the calculus of variations. To address the challenge of inverting the coupling kernel in the optimal structure, two methods are proposed: 1) the kernel approximation method, which yields a closed-form solution via wavenumber-domain transformation and GaussLegendre quadrature, and 2) the conjugate gradient method, which addresses an equivalent quadratic functional optimization problem iteratively. Furthermore, the optimal array gain and beampattern are analyzed at the large-aperture limit. Finally, the proposed continuous mutual coupling model is extended to spatially discrete arrays (SPDAs), and comprehensive numerical results are provided, demonstrating that: 1) coupled SPDA performance correctly converges to the CAPA limit, while uncoupled models are shown to violate physics, 2) polarization results in anisotropic array gain behavior, and 3) the coupled beampattern exhibits higher directivity than the uncoupled beampattern.
Science Journals
arXiv:2511.12325v2 Announce Type: replace
Abstract: Sixth-Generation (6G) wireless networks will interconnect billions of resource-constrained devices and time-critical services, where classical, fixed, and heavy cryptography strains latency and energy budgets and struggles against large-scale, pre-computation attacks. Physical-Layer Security (PLS) is therefore pivotal to deliver lightweight, information-theoretic protection, but still requires strong, reconfigurable confusion components that can be diversified per slice, session, or device to blunt large-scale precomputation and side-channel attacks. In order to address the above requirement, we introduce the first-ever chaos-lifted substitution box (S-box) for PLS that couples a $\beta$-transformation-driven dynamical system with dyadic conditional sampling to generate time-varying, seedable 8-bit permutations on demand. This construction preserves uniformity via ergodicity, yields full 8-bit bijections, and supports on-the-fly diversification across sessions. The resulting S-box attains optimal algebraic degree 7 on every output bit and high average nonlinearity 102.5 (85% of the 8-bit bound), strengthening resistance to algebraic and linear cryptanalysis. Differential and linear profiling report max DDT entry 10 (probability 0.039) and max linear probability 0.648, motivating deployment within a multi-round cipher with a strong diffusion layer, where the security-to-efficiency trade-off is compelling. Our proposed reconfigurable, lightweight S-box directly fulfills key PLS requirements of 6G networks by delivering fast, hardware-amenable confusion components with built-in agility against evolving threats.
arXiv:2511.12972v2 Announce Type: replace
Abstract: The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be especially challenging when: 1) the reference image is captured from an arbitrary viewpoint, and 2) the robot must operate with sparse-view scene reconstructions. In this paper, we address the IIN problem, by introducing SplatSearch, a novel architecture that leverages sparse-view 3D Gaussian Splatting (3DGS) reconstructions. SplatSearch renders multiple viewpoints around candidate objects using a sparse online 3DGS map and uses a multi-view diffusion model to complete missing regions of the rendered images, enabling robust feature matching against the goal image. A novel frontier exploration policy is introduced which uses visual context from the synthesized viewpoints with semantic context from the goal image to evaluate frontier locations, allowing the robot to prioritize frontiers that are semantically and visually relevant to the goal image. Extensive experiments in photorealistic home and real-world environments validate the higher performance of SplatSearch against current state-of-the-art methods in terms of Success Rate and Success Path Length. An ablation study confirms the design choices of SplatSearch.
arXiv:2511.13420v2 Announce Type: replace
Abstract: Most research on hallucinations in Large Vision-Language Models (LVLMs) focuses on factual description tasks that prohibit any output absent from the image. However, little attention has been paid to hallucinations in voluntary imagination tasks, such as story writing, despite this human-like cognitive ability being essential for real-world generative applications. To address this limitation, we introduce Voluntary-imagined Object Presence Evaluation (VOPE) -- a recheck-based evaluation benchmark for assessing LVLMs' grounding behavior in voluntary imagination tasks. Specifically, VOPE poses recheck-based questions to evaluate how an LVLM interprets the presence of the imagined objects in its own response. Rather than penalizing the imagined content itself, VOPE identifies hallucinations based on the correctness of the model's presence judgments for the generated objects. Built on this idea, we construct a dataset covering captioning, reasoning, and writing tasks with different levels of voluntary imagination. We apply VOPE to several mainstream LVLMs and hallucination mitigation methods, revealing two key findings: (1) most LVLMs hallucinate heavily during voluntary imagination, and their performance in presence evaluation is notably poor on imagined objects; (2) existing hallucination mitigation methods show limited effect in voluntary imagination tasks, making this an important direction for future research.
arXiv:2511.14592v3 Announce Type: replace
Abstract: Vision-Language Models (VLMs) show great promise for autonomous driving, but their suitability for safety-critical scenarios is largely unexplored, raising safety concerns. This issue arises from the lack of comprehensive benchmarks that assess both external environmental risks and in-cabin driving behavior safety simultaneously. To bridge this critical gap, we introduce DSBench, the first comprehensive Driving Safety Benchmark designed to assess a VLM's awareness of various safety risks in a unified manner. DSBench encompasses two major categories: external environmental risks and in-cabin driving behavior safety, divided into 10 key categories and a total of 28 sub-categories. This comprehensive evaluation covers a wide range of scenarios, ensuring a thorough assessment of VLMs' performance in safety-critical contexts. Extensive evaluations across various mainstream open-source and closed-source VLMs reveal significant performance degradation under complex safety-critical situations, highlighting urgent safety concerns. To address this, we constructed a large dataset of 98K instances focused on in-cabin and external safety scenarios, showing that fine-tuning on this dataset significantly enhances the safety performance of existing VLMs and paves the way for advancing autonomous driving technology. The benchmark toolkit, code, and model checkpoints will be publicly accessible.
arXiv:2511.15830v3 Announce Type: replace
Abstract: Despite rapid progress in artificial intelligence, current systems struggle with the interconnected challenges that define real-world decision making. Practical domains such as business management require open-ended optimization, actively learning environment dynamics from sparse experience, planning over long horizons in stochastic settings, and reasoning over spatial information. Yet no existing human--AI benchmarks assess how well agents integrate these challenges in a grounded decision-making context. To this end, we introduce Mini Amusement Parks (MAPs), an amusement-park simulator designed to evaluate an agent's ability to model its environment, anticipate long-term consequences under uncertainty, and strategically operate a complex business. We provide expert human performance and a comprehensive evaluation of state-of-the-art agents, finding experts outperform these systems by 11.4x on easy mode and 15.3x on medium mode. Our analysis reveals persistent weaknesses in long-horizon planning, sample-efficient learning, spatial reasoning, and modelling uncertainty. By unifying these challenges within a single environment, MAPs offers a new foundation for benchmarking agents capable of adaptable decision making. Code: https://github.com/Skyfall-Research/MAPs
arXiv:2607.18221v1 Announce Type: cross
Abstract: Magnetometers are among the most widely used probes in science and technology. Comagnetometers increase sensitivity by self-cancellation of magnetic noise, but only at low frequencies. We suggest a correlated measurement of two alkali species in one cell to cancel the magnetic background also at high frequencies. The inter-species phase difference of the light-matter interaction response function is found to be calibration free and insensitive to common-mode intensity noise. Utilizing a dark-matter signal as a testcase, the method achieves a thirtyfold background suppression, raising the signal-to-noise ratio by an order of magnitude or more, depending on the coupling to the different subatomic particles. We show that the method also provides model differentiation. The higher sensitivity and model differentiation open a path to novel probes for precision measurements in general and exotic fields in particular.
arXiv:2511.16478v2 Announce Type: replace
Abstract: Music Recommender Systems (MRSs) have long relied on an information retrieval framing, where progress is measured mainly through accuracy on retrieval-oriented subtasks. While effective, this reductionist paradigm struggles to address the deeper question of what makes a good recommendation. Attempts to broaden evaluation, through user studies or fairness analyses, have had limited impact. The emergence of Large Language Models (LLMs) disrupts this framework: LLMs are generative rather than ranking-based, making standard accuracy metrics questionable. They also introduce challenges such as hallucinations, knowledge cutoffs, non-determinism, and opaque training data, rendering traditional train or test protocols difficult to interpret. At the same time, LLMs create new opportunities, enabling natural language (NL) interaction and even allowing models to act as evaluators. This work argues that the shift toward LLM-driven MRSs requires rethinking evaluation. We first review how LLMs reshape user modeling, item modeling, and NL-based recommendation in music. We then examine evaluation practices from NLP, highlighting methodologies and open challenges relevant to MRSs. Finally, we synthesize insights, focusing on how LLM prompting applies to MRSs, to outline a structured set of success and risk dimensions. Our goal is to provide the MRSs community with an updated, pedagogical, and cross-disciplinary perspective on evaluation.
arXiv:2511.16887v3 Announce Type: replace
Abstract: Glass surfaces are ubiquitous in daily life, typically appearing colorless, transparent, and lacking distinctive features. These characteristics make glass surface detection a challenging computer vision task. Existing glass surface detection methods always rely on boundary cues (e.g., window and door frames) or reflection cues to locate glass surfaces, but they fail to fully exploit the intrinsic properties of the glass itself for accurate localization. We observed that in most real-world scenes, the illumination intensity in front of the glass surface differs from that behind it, which results in variations in the reflections visible on the glass surface. Specifically, when standing on the brighter side of the glass and applying a flash towards the darker side, existing reflections on the glass surface tend to disappear. Conversely, while standing on the darker side and applying a flash towards the brighter side, distinct reflections will appear on the glass surface. Based on this phenomenon, we propose NFGlassNet, a novel method for glass surface detection that leverages the reflection dynamics present in flash/no-flash imagery. Specifically, we propose a Reflection Contrast Mining Module (RCMM) for extracting reflections, and a Reflection Guided Attention Module (RGAM) for fusing features from reflection and glass surface for accurate glass surface detection. For learning our network, we also construct a dataset consisting of 3.3K no-flash and flash image pairs captured from various scenes with corresponding ground truth annotations. Extensive experiments demonstrate that our method outperforms the state-of-the-art methods. Our code, model, and dataset will be available upon acceptance of the manuscript.
arXiv:2511.18436v2 Announce Type: replace
Abstract: The rapid advancement of face generation techniques has introduced an increasing variety of forgery methods, making incremental deepfake detection essential for maintaining robust detectors. While generative replay provides a promising solution to alleviate catastrophic forgetting without storing historical data, its effectiveness is hindered by \textbf{domain confusion} between generated samples and real data. We observe that replay samples fall into two categories: when the replay generator closely resembles the newly introduced forgery model, generated real samples overlap with the fake domain and become \textbf{domain-risky}; when the generator differs significantly, generated samples maintain clearer domain separation and can be treated as \textbf{domain-safe}. To address this challenge, we propose a Dual \textbf{C}onfusion-\textbf{A}ware \textbf{RE}gularization strategy, termed \textbf{Dual-CARE}. A Domain-aware Confusion Score (DC Score) is introduced to quantify domain confusion and \textbf{dual-modulate} the optimization of both replay generators and the incremental detector. Guided by DC Score, replay generators are updated to better approximate previous-task distributions, while the detector adopts different supervision strategies: domain-safe samples are directly supervised, whereas domain-risky samples are regulated using a Relative Separation Loss to balance supervision and confusion. Extensive experiments demonstrate that Dual-CARE effectively exploits generative replay and improves incremental deepfake detection under evolving forgery scenarios.
arXiv:2511.20956v2 Announce Type: replace
Abstract: Breast ultrasound (BUS) reporting relies on clinically meaningful lesion descriptors, including BI-RADS category, lesion shape, margin, echogenicity, posterior features, pathology, and histology. However, many public BUS datasets provide structured annotations and lesion masks without paired radiologist-written reports, limiting the development of vision--language models for BUS report generation. We propose BUSTR, a descriptor-aware vision--language framework that uses structured lesion information to enable report generation under limited report supervision. BUSTR first constructs descriptor-derived reports from available annotations and radiomics features extracted from lesion masks. It then trains a multi-head Swin Transformer encoder with multitask supervision to learn descriptor-aware visual representations across datasets with partially overlapping annotation sets. The projected visual tokens condition a frozen LLaMA-based language model, and training is guided by a dual-level objective combining token-level cross-entropy with representation-level cosine alignment. At inference, BUSTR generates reports from BUS images without access to structured descriptors, lesion masks, or radiomics features. We evaluate BUSTR on the public BrEaST and BUS-BRA datasets using natural language generation and clinical efficacy metrics. BUSTR improves report similarity and descriptor recovery compared with representative report-generation baselines, with notable gains for lesion shape, margin, posterior features, and pathology, as well as improved BI-RADS sensitivity and F1-score on BrEaST. These results suggest that structured BUS descriptors, lesion masks, and radiomics features can provide useful supervision for descriptor-aware BUS report generation when paired radiologist-written reports are unavailable.
arXiv:2607.18225v1 Announce Type: cross
Abstract: We propose one-step and two-step methods for policy learning with retrieval-augmented generation (RAG). We formulate RAG-based action selection under the potential outcome framework. In the two-step method, vector search retrieves action-specific neighboring evidence in an embedding space, the generator estimates conditional expected outcomes or their contrasts, and a plug-in rule selects an action. This formulation connects action-specific vector search with nearest-neighbor matching in causal inference. We decompose the regret of the two-step method into candidate-generation regret and within-candidate choice regret, and we bound the latter using prediction-error guarantees for nearest-neighbor estimators and transformers. We evaluate the one-step method directly as a policy because its intermediate computation is unobserved.
arXiv:1905.12913v2 Announce Type: replace
Abstract: This paper investigates the problem of utilizing network topology and partial timestamps to detect the information source in a network. The problem incurs prohibitive cost under canonical maximum likelihood estimation (MLE) of the source due to the exponential number of possible infection paths. Our main idea of source detection, however, is to approximate the MLE by an alternative infection path based estimator, the essence of which is to identify the most likely infection path that is consistent with observed timestamps. The source node associated with that infection path is viewed as the estimated source $\hat{v}$. We first study the case of tree topology, where by transforming the infection path based estimator into a linear integer programming, we find a reduced search region that remarkably improves the time efficiency. Within this reduced search region, the estimator $\hat{v}$ is provably always on a path which we term as \emph{candidate path}. This notion enables us to analyze the distribution of $d(v^{\ast},\hat{v})$, the error distance between $\hat{v}$ and the true source $v^{\ast}$, on arbitrary tree, which allows us to obtain for the first time, in the literature provable performance guarantee of the estimator under limited timestamps. Specifically, on the infinite $g$-regular tree with uniform sampled timestamps, we get a refined performance guarantee in the sense of a constant bounded $d(v^{\ast},\hat{v})$. By virtue of time labeled BFS tree, the estimator still performs fairly well when extended to more general graphs. Experiments on both synthetic and real datasets further demonstrate the superior performance of our proposed algorithms.
arXiv:2602.10020v2 Announce Type: replace
Abstract: In this work, we solve a long-standing open problem in coding theory with broad applications in networking and systems: designing an erasure code that simultaneously satisfies three requirements: (1) high coding efficiency, (2) low coding complexity, and (3) being a streaming code (defined as one with low decoding latency). We propose METTLE (Multi-Edge Type with Touch-less Leading Edge), the first erasure code to meet all three requirements. Compared to "streaming RaptorQ" (RaptorQ configured with a small source block size to ensure a low decoding latency), METTLE is only slightly worse in coding efficiency, but 47.7 to 84.6 times faster to decode.
arXiv:2512.01437v3 Announce Type: replace
Abstract: Qubic's 2025 campaign against Monero provides a rare public case of selfish mining in a privacy-preserving proof-of-work system. We study what can be measured when block ownership, private forks, and release decisions are only partially observable. We combine Monero node data, Qubic pool job observations, coinbase extra-nonce patterns, community-observed Qubic blocks, and view keys later disclosed by Qubic operators to identify withholding intervals and validate attribution.
Our analysis finds no evidence that Qubic sustained majority mining power, despite public takeover claims. The campaign did, however, increase orphaning and reorganization depth. Its release behavior is not explained by one fixed selfish-mining policy: most visible releases resemble lead-one behavior, while some periods show more conservative or timing-dependent releases. This variation matters economically. The withholding intervals do not show consistent reward gains over honest mining, mainly because tie-breaking success was low and release execution varied. Difficulty-adjustment spillovers later increased rewards during non-selfish gaps, so withholding intervals and gap phases must be analyzed separately. We conclude that the incident is best understood as a blend of imperfect selfish-mining execution, delayed difficulty effects, and disruption-oriented incentives, with community monitoring and Qubic countermeasures limiting what can be inferred from public artifacts.
arXiv:2512.05292v3 Announce Type: replace
Abstract: In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop controller to track, is typically exposed to users. In this work, we focus on the development of an easily integrated add-on at the outer-loop layer by combining disturbance rejection control and robust control barrier function for high-performance tracking and safe control of the whole dynamic system of an industrial manipulator. This is particularly beneficial when 1) the inner-loop controller is imperfect, unmodifiable, and uncertain; and 2) the dynamic model exhibits significant uncertainty. Stability analysis, formal safety guarantee proof, and hardware experiments with a PUMA robotic manipulator are presented. Our solution demonstrates superior performance in terms of simplicity of implementation, robustness, tracking precision, and safety compared to the state of the art. A demonstration video is available at https://youtu.be/e0palGVU_50.
arXiv:1911.11966v2 Announce Type: replace
Abstract: With the advent of a new round of the Industrial Revolution, the Industrial Internet will carry the convergence of heterogeneous network and the dynamic reconfiguration of industrial equipment. In order to further provide higher performance of network capabilities, the Industrial Internet has experienced unprecedented growth while facing enormous challenges from the actual needs of industrial networks. The typical scenarios in industrial applications, combined with the technical advantages of mobile edge computing, are described in view of the low latency, high bandwidth and high reliability demanded by the Industrial Internet in the new era. The key technologies of mobile edge computing for the Industrial Internet have been outlined in this treatise, whose feasibility and importance are demonstrated by typical industrial applications that have been deployed. As combined with the development trend of the Industrial Internet, this paper summarizes the existing work and discusses the future research direction of key technologies of mobile edge computing for the Industrial Internet.
arXiv:2512.10054v3 Announce Type: replace
Abstract: Autoregressive language models expose one causal token frontier, even when the requested document contains sections that could be developed concurrently. Existing parallel-generation systems arrange external branches around an otherwise unchanged model. We instead formulate model-intrinsic parallel generation: a single trained architecture owns multiple causal frontiers and produces one next-token distribution for each frontier in every synchronized decoding round. The Parallel Decoder Transformer (PDT) retains a frozen shared lower knowledge trunk and replaces the upper trunk with three independently parameterized physical decoder stacks. A prompt-time set planner produces three unordered continuous outlines, each hard-routed to one decoder as persistent Plan-KV memory, while a finite product-quantized notes bus carries block-delayed latent messages among the decoders. Autoregression is preserved within each lane; same-round lane tokens are conditionally independent given the source, plans, private histories, and previously committed messages. We specify source-grounded supervision for long-form historical exposition with single-owner cited facts and token-aligned cross-lane dependencies, a composite objective, a staged curriculum, and preregistered causal evaluations: plan swap and removal, delayed-message ablation, a parameter-matched self-only control, dependency-token likelihood, and blinded human fact audits. The architecture and evaluation pipeline are implemented; scientific training and held-out evaluation are in progress. This paper presents the theory, design, and falsifiable protocol, not a positive empirical result.
arXiv:2103.06579v2 Announce Type: replace
Abstract: Aiming at the local overload of multi-controller deployment in software-defined networks, a load balancing mechanism of SDN controller based on reinforcement learning is designed. The initial paired migrate-out domain and migrate-in domain are obtained by calculating the load ratio deviation between the controllers, a preliminary migration triplet, contains migration domain mentioned above and a group of switches which are subordinated to the migrate-out domain, makes the migration efficiency reach the local optimum. Under the constraint of the best efficiency of migration in the whole and without migration conflict, selecting multiple sets of triples based on reinforcement learning, as the final migration of this round to attain the global optimal controller load balancing with minimum cost. The experimental results illustrate that the mechanism can make full use of the controllers' resources, quickly balance the load between controllers, reduce unnecessary migration overhead and get a faster response rate of the packet-in request.
arXiv:2512.10279v5 Announce Type: replace
Abstract: We present an algorithm for computing evolutionarily stable strategies (ESSs) in symmetric perfect-recall extensive-form games of imperfect information. Our main algorithm is for two-player games, and we describe how it can be extended to multiplayer games. The algorithm is sound and computes all ESSs in nondegenerate games and a subset of them in degenerate games which contain an infinite continuum of symmetric Nash equilibria. The algorithm is anytime and can be stopped early to find one or more ESSs. We experiment on an imperfect-information cancer signaling game as well as random games to demonstrate scalability.
Cognitive-YOLO: LLM-Driven Architecture Synthesis from First Principles of Data for Object Detection
arXiv:2512.12281v2 Announce Type: replace
Abstract: General-purpose object detection algorithms face a domain-shift bottleneck when deployed in vertical scenarios, and manually customizing a network architecture relies heavily on expert experience with high trial-and-error cost. To address these problems, we present \textbf{Cognitive-YOLO}, an adaptive object-detection model synthesis system driven by a large language model (LLM) collaborating with an autonomous agent. Cognitive-YOLO builds a fully automated \emph{Analyze--Synthesize--Compile} pipeline. First, a data-profiling module quantitatively extracts dataset features, guiding a ReAct-paradigm agent to autonomously retrieve matching network modules from a curated component library. Second, the LLM performs logical reasoning and topological assembly conditioned on the data features, producing a specification-compliant neural architecture description. Finally, a backend hybrid compiler dynamically instantiates the model, closing the loop with end-to-end training and evaluation scheduling. Cross-validation on datasets including rail-surface defects and rice diseases shows that the lightweight models synthesized by Cognitive-YOLO markedly compress the parameter count (down to 1.9M) while matching or surpassing mainstream baselines such as YOLOv11n in mAP@0.5:0.95, effectively balancing model compactness and feature-representation capability.
arXiv:2512.12923v2 Announce Type: replace
Abstract: The efficacy of unmanned aerial vehicle (UAV) swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry and its impact on UAV sensing have rarely been studied, which can significantly degrade multimodal cooperative perception in scenarios where heterogeneous payloads (vision cameras and LiDAR) should be geometrically arranged to exploit their complementary strengths while managing communication interference and hardware budgets. To bridge this critical gap, targeting the active tracking phase where a prior target estimate is available, we propose an information-optimal optimization framework that optimizes the allocation of UAVs and multimodal sensors, configures formation geometries, and executes flight control. The UAV-sensor allocation is optimized by the Fisher Information Matrix (FIM) determinant maximization. Under this framework, we introduce an equivalent formation transition strategy that enhances field-of-view (FOV) coverage and reduces dynamic communication interference without compromising perception accuracy. Furthermore, we design a novel Lyapunov-stable flight control scheme with logarithmic potential fields to generate energy-efficient trajectories for formation transitions. Extensive simulations demonstrate that our formation-aware design achieves 25.0\% improvement in FOV coverage, 104.2\% enhancement in communication signal strength, and 84.7\% reduction in energy consumption compared to conventional benchmarks. A high-fidelity Gazebo validation further shows up to 20.2\% gain in perception accuracy over hemispherically sampled formations. These results suggest that task-driven geometric allocation is an important rather than incidental component in next-generation UAV swarm perception systems.
arXiv:2103.06611v2 Announce Type: replace
Abstract: With the mass deployment of computing-intensive applications and delay-sensitive applications on end devices, only adequate computing resources can meet differentiated services' delay requirements. By offloading tasks to cloud servers or edge servers, computation offloading can alleviate computing and storage limitations and reduce delay and energy consumption. However, few of the existing offloading schemes take into consideration the cloud-edge collaboration and the constraint of energy consumption and task dependency. This paper builds a collaborative computation offloading model in cloud and edge computing and formulates a multi-objective optimization problem. Constructed by fusing optimal transport and Policy-Based RL, we propose an Optimal-Transport-Based RL approach to resolve the offloading problem and make the optimal offloading decision for minimizing the overall cost of delay and energy consumption. Simulation results show that the proposed approach can effectively reduce the cost and significantly outperforms existing optimization solutions.
arXiv:2105.00990v3 Announce Type: replace
Abstract: Autonomous control in high-dimensional, continuous state spaces is a persistent and important challenge in the fields of robotics and artificial intelligence. Because of high risk and complexity, the adoption of AI for autonomous combat systems has been a long-standing difficulty. In order to address these issues, DARPA's AlphaDogfight Trials (ADT) program sought to vet the feasibility of and increase trust in AI for autonomously piloting an F-16 in simulated air-to-air combat. Our submission to ADT solves the high-dimensional, continuous control problem using a novel hierarchical deep reinforcement learning approach consisting of a high-level policy selector and a set of separately trained low-level policies specialized for excelling in specific regions of the state space. Both levels of the hierarchy are trained using off-policy, maximum entropy methods with expert knowledge integrated through reward shaping. Our approach outperformed human expert pilots and achieved a second-place rank in the ADT championship event.
arXiv:2512.13247v2 Announce Type: replace
Abstract: This paper presents STARCaster, an identity-aware spatio-temporal video diffusion model that addresses both speech-driven portrait animation and dynamic viewpoint control, given an identity embedding or reference image, within a unified framework. Existing 2D speech-to-video diffusion models depend heavily on reference guidance, leading to limited motion diversity. At the same time, 3D-aware animation typically relies on inversion through pretrained tri-plane generators, which often leads to imperfect reconstructions and identity drift. We rethink reference- and geometry-based paradigms in two ways. First, we deviate from strict reference conditioning at pretraining by introducing softer identity constraints. Second, we address 3D awareness implicitly within the 2D video domain by leveraging the inherent multi-view nature of video data. STARCaster adopts a compositional approach progressing from ID-aware motion modeling, to audio-visual synchronization via lip reading-based supervision, and finally to novel view animation through temporal-to-spatial adaptation. To overcome the scarcity of 4D audio-visual data, we propose a decoupled learning approach in which view consistency and temporal coherence are trained independently. Comprehensive evaluations demonstrate that STARCaster generalizes effectively across tasks and identities, consistently surpassing prior approaches in different benchmarks.