arXiv:2606.24058v1 Announce Type: new Abstract: This paper aims to bridge the semantic gap between visual content and natural language understanding by leveraging historical events in the real world as a source of knowledge for caption generation. We propose VisChronos, a novel framework that utilizes large language models and dense captioning models to identify and describe real-life events from a single input image. Our framework can automatically generate detailed and context-aware event descriptions, enhancing the descriptive quality and contextual relevance of generated captions to address the limitations of traditional methods in capturing contextual narratives. Furthermore, we introduce a new dataset, EventCap (https://zenodo.org/records/14004909), specifically constructed using the proposed framework, designed to enhance the model's ability to identify and understand complex events. The user study demonstrates the efficacy of our solution in generating accurate, coherent, and event-focused descriptions, paving the way for future research in event-centric image understanding.
Science Journals
arXiv:2606.24060v1 Announce Type: new Abstract: Requirements elicitation requires stakeholders to communicate needs, negotiate priorities, and collaboratively construct knowledge that can be transformed into software requirements artifacts. Recent advances in LLMs have created opportunities to support these activities through AI-assisted collaboration and automated artifact generation. However, limited empirical evidence is available regarding how AI-supported collaborative environments influence requirements elicitation outcomes. In this study, we conducted a mixed-method controlled experiment comparing four requirements elicitation approaches: collaborative elicitation without AI support, collaborative elicitation supported by the Strateegia platform and its GPT-powered Writer applet, direct requirements generation using a Large Language Model, and requirements generation from collaborative discussion transcripts using a Large Language Model. We evaluated the resulting artifacts using quality criteria derived from ISO/IEC/IEEE 29148 and collected participant perceptions regarding the elicitation process. Our findings indicate that approaches combining stakeholder collaboration and AI-supported synthesis produced the highest-rated requirements artifacts and were perceived as clearer and easier to execute than traditional collaborative elicitation. The results suggest that generative AI can support the transformation of collaboratively generated knowledge into structured requirements documentation while preserving the value of stakeholder participation. We discuss implications for AI-supported requirements elicitation and human-AI collaboration in Requirements Engineering.
arXiv:2606.24079v1 Announce Type: new Abstract: Memory stranding wastes 25-35% of installed DRAM in production cloud clusters. Memory pooling over CXL and RDMA offers a remedy, but neither technology alone suffices: CXL provides low-latency, load/store-transparent access limited to a pod, while RDMA provides cluster-wide reach at higher latency with software overhead. A hierarchical architecture combining both tiers is the practical path forward, yet remains unexplored for MicroVM-based serverless computing, where snapshot restore latency is the dominant cold-start bottleneck. We present Aquifer, the first system to serve MicroVM snapshots from a hierarchical CXL+RDMA memory pool. A characterization of snapshot images reveals that the vast majority of pages are either zero or cold, enabling a hotness-based snapshot format that eliminates zero pages and places only the hot working set in the CXL pool while storing cold pages in the RDMA pool. Sharing these snapshots across hosts on CXL 2.0 multi-headed devices, which lack hardware cache coherence, requires Aquifer's ownership-based coherence protocol to ensure correctness. Finally, Aquifer uses a copy-based page serving mechanism pre-installs hot pages from CXL memory before MicroVM resume and demand-pages cold pages asynchronously from RDMA. On emulated CXL+RDMA hardware, Aquifer achieves a 2.2x geometric-mean speedup in end-to-end invocation time over Firecracker and 1.1x over the next best alternative.
arXiv:2603.13673v2 Announce Type: replace Abstract: Accurate extraction of Alzheimer's Disease and Related Dementias (ADRD) phenotypes from electronic health records (EHR) is critical for early-stage detection and disease staging. However, this information is usually embedded in unstructured textual data rather than tabular data, making it difficult to be extracted accurately. We therefore propose LLM-MINE, a Large Language Model-based phenotype mining framework for automatic extraction of ADRD phenotypes from clinical notes. Using two expert-defined phenotype lists, we evaluate the extracted phenotypes by examining their statistical significance across cohorts and their utility for unsupervised disease staging. Chi-square analyses confirm statistically significant phenotype differences across cohorts, with memory impairment being the strongest discriminator. Few-shot prompting with the combined phenotype lists achieves the best clustering performance (ARI=0.290, NMI=0.232), substantially outperforming biomedical NER and dictionary-based baselines. Our results demonstrate that LLM-based phenotype extraction is a promising tool for discovering clinically meaningful ADRD signals from unstructured notes.
arXiv:2603.15510v2 Announce Type: replace Abstract: The synthesis of inductive loop invariants remains a critical bottleneck in automated program verification. While Large Language Models (LLMs) show promise in mitigating this issue, they often fail on complex programs, producing invariants that are invalid or computationally ineffective. Although fine-tuning is a natural strategy to address these limitations, obtaining high-quality training data remains an open challenge. We first formalize the properties required for a high-quality training invariant, and then present Wonda, a rigorous data curation pipeline that extracts such invariants from raw verifier output via AST-based normalization followed by LLM-driven semantic rewriting and augmentation with provable quality guarantees. Fine-tuning Small Language Models (SLMs) on Wonda-curated data yields consistent gains across the Qwen3, Llama-3.1, and Mistral families: the 4B and 8B Qwen3 models nearly double invariant correctness and double speedup rates, while Llama-3.1-8B triples both. On the challenging InvBench suite, the same 4B model outperforms an off-the-shelf model 20x its size and matches the end-to-end verification time of GPT-OSS-120B, while a 14B Qwen3 model matches that of the frontier model GPT-5.2, all without test-time compute overhead. Our code is publicly available on GitHub.
arXiv:2606.09313v2 Announce Type: replace Abstract: Retrieval algorithms are used to estimate atmospheric concentrations of greenhouse gases (GHGs), such as carbon dioxide (CO2) and methane (CH4), by solving inverse problems from high-spectral-resolution satellite radiance measurements. However, these algorithms are computationally expensive, which makes real-time estimation at scale difficult. Machine-learning models have therefore been proposed as fast emulators of retrieval algorithms. Most existing studies, however, evaluate them only on test data from the same period as the training data. We study the stability over time of such emulators using data from the Greenhouse Gases Observing SATellite (GOSAT). We show that prediction accuracy generally deteriorates when the test period moves away from the training period. We also show that including time as an input feature substantially improves XCH4 prediction for Lasso and neural-network models. Among the methods considered, a simple Lasso model performs as well as or better than more complex methods such as neural networks, and yields more stable predictions over time. We further validate the results using the Total Carbon Column Observing Network (TCCON), a ground-based observation network. On the TCCON-matched dataset, the time-augmented Lasso achieves errors against TCCON that are comparable to the disagreement between GOSAT and TCCON for both XCO2 and XCH4.
arXiv:2606.24789v1 Announce Type: cross Abstract: The decision diagram (DD) data structure enables fast linear-algebra calculations by bringing vectors into a normal form and subsequently merging equivalent ones, yielding a minimally-sized DD modulo the equivalence relation. A fruitful application area is quantum-circuit simulation, where the vectors represent quantum states. The Local Invertible Map Decision Diagram (LIMDD) type, merges LIM-equivalent (typically Pauli-gate equivalent) vectors, can efficiently simulate Clifford circuits as well as some high-T-count circuits, and has theoretically been proven exponentially faster for simulation than other well-developed data structures, including other common DD variants. However, these exponential advantages have not fully materialized yet in existing implementations, for which the normal-form procedure, which is a highly complex algorithm, is either absent or only partially implemented. We here present a novel normal-form algorithm for Pauli-LIMDDs, achieving a worst-case speedup from $O(n^3)$ to $O(n^2)$ for an $n$-qubit DD node with a single child node while keeping the $O(n^3)$ run time in case of two distinct children nodes. We implement the algorithm as part of QolDDer, our Pauli-LIMDD simulator for quantum circuits, written from scratch in C/C++. The implementation realizes the theoretically-proven advantages of Pauli-LIMDDs on Clifford circuits, is significantly faster than the existing LIMDD simulators on such circuits, and on a public quantum-circuit data set often outperforms them by an order of magnitude. In the future, we envision that our work will enable further application and development of LIMDD variants, not only for quantum design tasks, but also for analysis of linear-algebra-based systems in general.
arXiv:2606.09824v4 Announce Type: replace Abstract: Similarity search is a fundamental operation in time series analysis. Most existing techniques, however, require users to supply a precise sequence of values (typically an entire time series object) as the query input. This rigid requirement limits real-world applications, where users instead want to express patterns, trends, or value ranges. Flexible, pattern-based search has been explored in text retrieval and complex event processing, but remains underexplored for large-scale distributed time series. To close this gap, we propose TSseek, a regular-expression-powered search framework for distributed time series datasets. TSseek's query language enables users to compose patterns encompassing trends, value ranges, and wildcard segments. We show that conventional approximation techniques (e.g., PAA and SAX) and their index structures are ill-suited for such queries because they cannot operate on regular-expression query constructs. In TSseek, we map the time series objects and the query constructs into the same space by approximating time series objects as sequences of line segments that retain both trend (slope direction) and value range, and translating query constructs into bounding rectangles. To support efficient processing, we build TSseek-X, a distributed spatial index over the time series segments. TSseek supports two fundamental query types, namely whole-matching queries (over entire series) and subsequence-matching queries (over arbitrary windows within a series). Across benchmark and real-world datasets, full-scan, model-based, and SAX-based baselines all sacrifice either accuracy or speed, whereas TSseek returns exact answers efficiently. Also, for subsequence workloads, it achieves significant speedups over state-of-the-art subsequence matching engines.
arXiv:2606.10124v2 Announce Type: replace Abstract: Federated learning (FL) is often subject to aggregation variance if clients do not consistently participate in training rounds. While reusing stale model updates from inactive clients is a common technique to reduce this variance, we find that with skewed client participation, the resulting update staleness can become severe enough to destabilize training. To remedy this, we propose FedSteer, a novel method that constructs a gradient subspace from a cache of recent client gradients to serve as a low-dimensional representation of the current optimization landscape. FedSteer projects an active client's true gradient onto this subspace to find a set of optimal coordinates. For an inactive client, FedSteer reuses these coordinates with the now-evolved subspace drifted by other active clients. This process effectively "steers" outdated gradients toward the current global objective. This is complemented by a selective caching strategy that identifies a representative client subset to form the subspace, reducing server memory. Experiments demonstrate that FedSteer significantly outperforms baselines, preventing performance collapse in challenging scenarios while delivering accuracy gains of over 7% in others.
arXiv:2606.11129v2 Announce Type: replace Abstract: We introduce WorldOlympiad, a benchmark for diagnosing video-based world models across physical faithfulness, geometric consistency, and interaction fidelity. While existing benchmarks often focus on visual quality, semantic alignment, or short-term temporal coherence, they provide limited insight into whether generated videos obey physical rules, preserve coherent 3D structure, and sustain controllable interactions over long horizons. To address this gap, WorldOlympiad decomposes world-model evaluation into three complementary dimensions. The physical track uses object segmentation and MLLM-as-judge to assess whether generated videos follow interpretable rules in mechanics, thermal phenomena, and material properties. The geometry track reconstructs generated videos with Gaussian splatting and evaluates structural consistency, cross-view coherence, and camera-trajectory alignment. The interaction track assesses whether generated rollouts follow complex action prompts and maintain smooth, coherent transitions across consecutive video chunks. WorldOlympiad further covers three major downstream scenarios, including gaming, robotics, and general real-world videos, capturing diverse challenges from interactive control and embodied manipulation to open-domain motion and camera dynamics. Together, these tracks and scenarios form a scalable and interpretable evaluation suite that exposes failure modes beyond generic video quality. Experiments on state-of-the-art models reveal substantial gaps in physical reasoning, 3D consistency, and long-horizon interaction, underscoring the need for more structured evaluation protocols for generative world models.
arXiv:2405.06043v2 Announce Type: replace Abstract: Algorithms which learn environments represented by automata in the past have had complexity scaling with the number of states in the automaton, which can be exponentially large even for automata recognizing regular expressions with a small description length. We thus formalize a compositional language that can construct automata as transformations between certain types of category, representable as string diagrams, which better reflects the description complexity of various automata. We define complexity constraints on this framework by having them operate on categories enriched over filtered sets, and using these constraints, we prove elementary results on the runtime and expressivity of a subset of these transformations which operate deterministically on finite state spaces. These string diagrams, or "string machines," are themselves morphisms in a category, so it is possible for string machines to create other string machines in runtime to model computations which take more than constant memory. We prove sufficient conditions for polynomial runtime guarantees on these, which can help develop complexity constraints on string machines which also encapsulate runtime complexity.
arXiv:2606.11839v2 Announce Type: replace Abstract: European Rail Traffic Management System (ERTMS) is a widely adopted standard unifying train management in the EU. While the standard allows for use cases like fully autonomous driving, cybersecurity has been an afterthought. Risk analysis enables the systematic assessment and prioritization of threats and mitigations. To date, it remains unclear which threats are most significant in ERTMS. This study systematically models components of ERTMS and analyzes their security in light of threats identified in the underlying technologies. The results suggest a concerning state of ERTMS, despite its critical role in railway safety. The use of legacy standards like EuroBalises and GSM-Railway (GSM-R) introduces vulnerabilities that persist across minimal ERTMS implementations, deployments incorporating various optional safety measures, and prospective future evolutions of the system, e.g., adopting Future Railway Mobile Communication System (FRMCS). Fully transitioning to European Train Control System (ETCS) level 2 was identified as the most significant measure for advancing ERTMS cybersecurity. The results indicate that a shift of ERTMS toward security is required to ensure availability and safe operation. While the chosen methodology proved its feasibility and shows remaining weaknesses of ERTMS, future work is needed to develop railway-centric adaptations to improve the quantification and evaluation of the computed risks.
arXiv:2606.24124v1 Announce Type: new Abstract: Multi-step reasoning with Chain-of-Thought (CoT) prompting remains fragile: logical errors or hallucinations in early steps silently propagate, producing confident but incorrect conclusions. This paper presents VeryTrace, a zero-shot verification-and-repair framework that formalizes natural-language reasoning traces into a structured, compilable representation. VeryTrace introduces a Domain-Specific Language (DSL) that (i) makes step dependencies explicit, (ii) mechanizes quantitative content as executable expressions, and (iii) structures semantic inferences via deduction schemas. Our hybrid verifier combines deterministic checks for computational correctness, dependency resolution, and constraint satisfaction with targeted LLM audits for non-mechanizable semantic judgments, enabling step-level error localization and repair. Across three diverse domains-competition mathematics (AIME 2025), robotics planning (LLM-BabyBench), and kinship reasoning (CLUTRR), VeryTrace improves accuracy over zero-shot baselines on state-of-the-art LLMs without requiring domain-specific training or in-context examples, demonstrating that formalized trace verification achieves both precision and generalization.
arXiv:2606.24128v1 Announce Type: new Abstract: Diffusive-convective (DC) staircases in the ocean are observed across a wide range of settings, but their formation, structure, and persistence are not fully understood. Theories for DC staircases are reviewed to identify mechanisms governing their development and evolution. Staircase evolution through layer merging and possibly interface splitting, including the relationship to background turbulence, is assessed. Oceanographic examples illustrate the variety of settings in which DC staircases are found, and how they can persist under weak turbulence but are disrupted when turbulence becomes sufficiently strong. Key open questions are identified, highlighting the challenge of linking small-scale processes to the large-scale coherence and persistence of DC staircases in the ocean.
arXiv:2606.24174v1 Announce Type: new Abstract: We demonstrate that the Talbot length of periodic wave packets, long believed to be solely determined by their periodicity, is strongly affected by the source coherence in the nonlinear propagation regime. We reveal that reducing the source coherence -- and consequently the speckle size of a periodic field -- shortens the Talbot length and significantly improves the quality of the recurrent Talbot images, despite a fixed source periodicity. This effect arises from coherence-mediated nonlinear mode coupling, which alters a phase synchronization condition undergirding the wave packet revivals. Our findings expose a hidden role of coherence in governing Talbot revivals of random waves in the nonlinear regime, crucially informing the understanding and application of the Talbot effect in realistic media.
arXiv:2412.08147v2 Announce Type: replace Abstract: Pareto fronts are useful to find good task-mixing strategies for multitask finetuning, but they are also costly to compute. To reduce costs, recent works have used existing model merging methods to help train cheap surrogate models to estimate the Pareto fronts. However, no work has yet considered designing new model-merging methods to directly, and provably, improve the quality of Pareto fronts. Here, we fill this gap by proposing a new Bayesian approach called Variational Model Merging. In this approach, existing model-merging methods are obtained as special cases of "posterior-merging" when Gaussian posteriors are used and new model-merging strategies can be derived by using non-Gaussian posteriors. Our main theoretical result is to show that more flexible posteriors necessarily yield better estimates of Pareto fronts. For instance, a Pareto front estimate obtained by merging full-Gaussian posteriors is expected to be better than that obtained by using isotropic Gaussian posteriors. We validate the theory through extensive empirical results on vision and language transformers where better Gaussian families consistently yields better or comparable Pareto fronts. Our work is a rare instance where Bayesian ideas are used to improve Pareto analysis.
arXiv:2503.00069v2 Announce Type: replace Abstract: Recent progress in large language models (LLMs) has focused on producing responses that meet human expectations and align with shared values - a process coined alignment. However, aligning LLMs remains challenging due to the inherent disconnect between the complexity of human values and the narrow nature of the technological approaches designed to address them. Current alignment methods often lead to misspecified objectives, reflecting the broader issue of incomplete contracts, the impracticality of specifying a contract between a model developer, and the model that accounts for every scenario in LLM alignment. In this paper, we argue that improving LLM alignment requires incorporating insights from societal alignment frameworks, including social, economic, and contractual alignment, and discuss potential solutions drawn from these domains. Given the role of uncertainty within societal alignment frameworks, we then investigate how it manifests in LLM alignment. We end our discussion by offering an alternative view on LLM alignment, framing the underspecified nature of its objectives as an opportunity rather than perfect their specification. Beyond technical improvements in LLM alignment, we discuss the need for participatory alignment interface designs.
arXiv:2602.12501v2 Announce Type: replace Abstract: The long-time evolution of decaying homogeneous turbulence is a fundamental building block of the subject. We investigate the problem by using a comprehensive suite of Direct Numerical Simulations. The simulations cover initial Taylor microscale Reynolds numbers $Re_\lambda$ from $30 \text{ to } 145$, with multiple independent realizations obtained at each $Re_{\lambda}$ to ensure statistical robustness. The energy spectrum is initialized with the Birkhoff-Saffman (BS) form (with $E(k)\sim k^2$ for small $k$) in one case, and the Loitsianskii-Kolmogorov-Batchelor (LKB) form (with $E(k)\sim k^4$ for small $k$), in another. Simulations are performed for unprecedented durations, of the order of 200,000 initial eddy-turnover times in some instances. For both BS and LKB, the turbulent kinetic energy $En$ shows, after an initial transient, unambiguous power-law decay, $En\sim t^{-n}$, with nearly constant decay exponents $n$, whose values are consistent with past theoretical results (and thus not universal). We compute various length scales, second-order structure functions, and the spectral form at large wavenumbers; we note that an initially set $-5/3$ slope disappears quickly, while a perceptible $-1$ power region appears. In particular, we compare the present findings with predictions from the recent theory for decaying turbulence developed by Migdal 2026 Philos. Trans. R. Soc. A 384, 20250032. (doi:10.1098/rsta.2025.0032). The agreement for the BS case is excellent except for the large-wavenumber spectrum. A general discussion and assessment of results is provided in terms of the putative universality of energy decay. A main conclusion is that the energy decay is significantly influenced by ``boundary effects", and that universality likely manifests only when those effects are removed. Alternatively, it may be more useful to discuss the universality of enstrophy decay.
arXiv:2606.24517v1 Announce Type: new Abstract: In this paper, we analyse the existence of solutions and finite element approximation of a steady-state two-dimensional induction heating problem. One of the main difficulties of the problem is its right-hand side which, at a first sight, is only integrable. Using a priori regularity results for the PDEs involved it is shown that the natural weak formulation of the problem can be justified. Then, we study the finite element approximation and prove that the standard Galerkin FEM converges in convex domains and under suitable conditions on the mesh. We improve on this result by applying the recently-proposed bound-preserving method (BPM) to the heat equation, and show that this method converges to a solution of the problem under less stringent conditions on the domain and the mesh. As these analyses are carried out without any assumption on regularity of the solutions, then the convergence of the finite element method also proves existence of solutions. Several numerical experiments confirm the theoretical results, and showcase the improvement provided by the use of the bound-preserving method over the standard finite element method.
arXiv:2606.23995v1 Announce Type: new Abstract: Recent work has established that regularized policy gradient methods such as PPO, when used in self-play, can match or exceed specialized game-theoretic algorithms for solving two-player zero-sum imperfect-information games. The uniform distribution has emerged as a strong policy regularization target for this purpose, but it regularizes equally toward all actions regardless of their viability. We introduce EMAgnet, which instead regularizes toward an exponential moving average (EMA) of the last-iterate policy's parameters, providing an adaptive regularization target that evolves with the agent's improving strategy. We evaluate EMAgnet on both standard two-player zero-sum benchmarks and modified benchmarks with exploration challenges and large numbers of strictly dominated strategies. Relative to PPO self-play with uniform-magnet regularization under both linear and power-law annealing schedules, EMAgnet achieves lower exploitability in the majority of tested environments, with consistent performance gains across games containing strictly dominated strategies.
arXiv:2606.23742v1 Announce Type: new Abstract: Physical neural networks promise low-power machine learning by computing directly with analogue device physics, but most architectures force nonlinear device responses to act as scalar weights. Inspired by Kolmogorov-Arnold networks, we place trainable nonlinear functions on the connections, making each physical connection a learnable computational element. Realising these functions as analogue band-pass filters on field-programmable analogue arrays, we find that the benefit is task-dependent and follows from the smoothness of the physical basis: the networks represent smooth, continuously valued targets, including robotic kinematics, continuous control, and photovoltaic maximum-power-point tracking, with far fewer nodes and connections than multilayer perceptrons, but offer no parameter-efficiency advantage on classification-like decision boundaries. Trained networks transfer to hardware across approximately 35,000 connections with quantified fidelity, and a dedicated CMOS implementation is projected to operate at approximately 30 microwatts. A memristive realisation reproduces the same behaviour in simulation, indicating that the advantage comes from placing trainable nonlinearity on connections, rather than from a particular device.
arXiv:2606.23797v1 Announce Type: new Abstract: Graph and multi-agent orchestration frameworks make production large language model (LLM) workflows practical, but they do not by themselves solve conversational continuity when users maintain several interdependent objectives. This conceptual systems paper focuses on the high-complexity end of that design space, where goals can be suspended, resumed, revised, and invalidated by actions in other goals. We introduce the Goal-Oriented Dialogue Runtime (GODR), a framework-neutral design pattern that treats goals, task frames, lifecycle state, invalidation rules, and resumption contracts as first-class runtime objects while delegating bounded execution to graph runtimes, agents, tools, or application programming interfaces (APIs). GODR is not proposed as a replacement for workflow graphs in simple guided processes; it is intended for complex, multi-domain, interruptible conversations where objective continuity cannot be recovered reliably from agent identity, chat history, or execution-graph position alone. The paper formalizes the problem, proposes runtime objects and architecture-selection criteria, and frames evaluation as an agenda for future empirical validation rather than as a measured performance claim.
arXiv:2606.24141v1 Announce Type: new Abstract: We study community detection in the two-block stochastic block model under the setting where multiple independent graph samples drawn from the same distribution are available. Building on a recently simplified spectral algorithm that preserves the independence of adjacency matrix entries throughout, we show that averaging $m$ independent samples before applying spectral partitioning reduces the error bound $\gamma$ exponentially in $m$: specifically, one can find a $\gamma$-correct partition with probability $1 - o(1)$ whenever $\frac{(a-b)^2}{a+b} \geq \frac{C}{m} \log \frac{2}{\gamma}$, improving the single-sample requirement by a factor of $m$. The key technical contribution is a multi-sample analogue of the spectral norm bound on the noise matrix, which propagates through the Davis-Kahan subspace angle analysis to yield the improved recovery guarantee. We provide experimental validation across a range of graph sizes ($n$ up to $1000$) and sample counts ($m$ up to $9$), demonstrating that the derived bounds are sharp and that even two or three samples yield dramatic improvements in recovery accuracy. Our results offer a rigorous theoretical foundation for graph data augmentation strategies used in modern graph representation learning.
arXiv:2606.24143v1 Announce Type: new Abstract: On-policy distillation (OPD) trains a student on its own rollouts guided by teacher feedback and is becoming increasingly important for large language model (LLM) post-training. Like reinforcement learning (RL), however, OPD faces an on-policy systems bottleneck, as rollouts can dominate training time for reasoning workloads. Asynchronous training pipelines can alleviate this bottleneck by decoupling rollout generation from learner updates, but doing so introduces stale-policy data. While prior work has studied stale data in asynchronous RL, its effects in OPD remain underexplored. We present the first systematic study of staleness in asynchronous OPD, focusing on a practical setting where teacher feedback is implemented through local KL losses and full-vocabulary teacher logits are too expensive to store or transfer, necessitating finite teacher-score caches. We first show that KL direction changes the stale-data problem: teacher-weighted forward KL is more robust to stale rollouts, whereas student-weighted reverse KL is vulnerable. Second, for this vulnerable reverse-KL case, we study whether methods designed to stabilize asynchronous RL can mitigate OPD staleness. In our experiments, they do not improve over a simpler OPD-specific surrogate: recomputing the reverse-KL signal under the current student at learner time. Third, we analyze how finite teacher-score caches create a bias-variance tradeoff for sparse and sampled reverse-KL OPD estimators. This motivates multi-sample Monte Carlo (MC), which preserves MC correctability while reducing one-sample variance. Finally, we present and open-source AsyncOPD, a fully asynchronous OPD training pipeline built from these estimator choices. Experiments show that AsyncOPD improves training throughput by $1.6\times$ to $3.8\times$ over strict synchronous training while reaching comparable accuracy.
arXiv:2606.24191v1 Announce Type: new Abstract: Task specialization can improve the efficiency of multi-robot systems (MRSs). Previous works have investigated the emergence of task-specialist robot controllers through evolutionary optimization and have argued that task specialization is more likely to evolve when subtask behaviors are readily available as building blocks. However, the available evaluation budget must be distributed across all subtasks, whereas a single generalist behavior can exploit the entire budget for its own optimization. We present a cost-benefit analysis of evolving task-specialist versus generalist behaviors in a foraging scenario here. In a physics-based robotics simulator, we study the total evaluation budget required to evolve task-specialist behaviors that outperform generalist behaviors across MRS sizes. We show that with increasing MRS size, a lower total evaluation budget is sufficient to evolve specialists that outperform generalists.