arXiv:2606.15486v1 Announce Type: new Abstract: We study the problem of human gaze modeling, which aims to generate the gaze patterns a viewer produces while observing a visual stimulus. Gaze is primarily captured through two modalities: continuous eye-tracking trajectories, which describe fine-grained motion dynamics, and discrete scanpaths, which describe high-level fixation structure. Because gaze varies substantially across viewers and trials, we treat this variability as a defining property rather than noise and model gaze as a stochastic generative process. Existing generative gaze models supervise on only one of these two representations in isolation. We hypothesize that trajectories and scanpaths describe gaze at complementary scales and are jointly informative during training, and test this hypothesis through ST-DiffEye, a joint trajectory-scanpath diffusion framework that couples both modalities by concatenating them as an additional raw input channel, requiring no architectural overhead beyond an input and output channel expansion. We further introduce a principled evaluation framework based on the Continuous Ranked Probability Score (CRPS), which generalizes any existing sequence similarity metric into a proper scoring rule that jointly assesses the accuracy and diversity of generated gaze. Experiments on task-driven visual search, covering both target-present and target-absent scenarios, and on free-viewing benchmarks demonstrate state-of-the-art performance. These results, along with detailed ablations, confirm the benefit of joint modeling and the value of distribution-aware evaluation in capturing the intrinsic variability of human gaze. Project webpage: https://st-diffeye.github.io/
Science Journals
arXiv:2606.15416v1 Announce Type: new Abstract: Grammatical Error Correction (GEC) involves detecting and correcting the wrong usage of grammar. While large language models (LLMs) with in-context learning (ICL) capabilities have shown significant progress on various natural language processing (NLP) tasks, their few-shot performance on GEC remains suboptimal. This is mainly due to the challenge of retrieving suitable in-context demonstrations that capture error patterns instead of semantic similarity. In this paper, we demonstrate that LLMs can inherently capture information related to grammatical errors through their internal states. From these states, we extract the Grammatical Error Representation (GER), an informative and semantically neutral encoding of grammatical errors. Our novel GER-based retrieval method significantly boosts performance in ICL settings on multilingual GEC datasets, improving the precision of correction. For high-resource languages, our results on 8B-sized open-source models match those of closed-source models such as Deepseek2.5 and GPT-4o-mini. For low-resource languages, our $F_{0.5}$ scores surpass the baseline by up to a factor of 1.20. This method provides a more precise and resource-efficient solution for multilingual GEC, offering a promising direction for interpretable GEC research.
From Frames to Temporal Graphs: In-Context Egocentric Action Recognition with Vision-Language Models
arXiv:2606.15417v1 Announce Type: new Abstract: Action reasoning in egocentric video requires capturing fine-grained transitions of hand-object interactions, a task where general-purpose Vision-Language Models (VLMs) often struggle when operating directly on raw pixels. We propose to decouple visual perception from symbolic reasoning by converting videos into Temporal Action Graphs. In a multi-stage prompting pipeline, we first generate dense natural language narratives over short temporal windows as a semantic bottleneck, then formalize them into structured, open-vocabulary graph representations. On the EGTEA and Epic-Kitchens-100 datasets, the symbolic representation unlocks efficient in-context learning: few-shot graph demonstrations yield substantial accuracy gains over zero-shot frame and graph-based inference alike. Even in the zero-shot setting, graph-based reasoning remains competitive with pixel-based inference despite potential pretraining contamination favoring the latter. Across 11 open-weight VLMs from 6 model families ranging from 2B to 235B parameters, our findings indicate that current VLMs are more effective as symbolic reasoners than as direct visual observers. By projecting video into the language domain, we provide a scalable, fine-tuning-free alternative to end-to-end approaches that better leverages these models' latent reasoning strengths. The code will be made public.
arXiv:2606.15436v1 Announce Type: new Abstract: Respiratory acoustic foundation models (FMs) excel at cough classification, yet their ability to predict continuous health quantities from cough audio remains largely unexplored, despite the clinical value of passive age, BMI, and disease probability estimation in settings where physical measurements are unavailable. We introduce the multi-model, multi-target cough regression benchmark evaluating five FMs (OPERA-CT, OPERA-CE, OPERA-GT, HeAR, M2D+Resp) across six targets on three datasets under subject-disjoint protocols, comparing linear, MLP-small, and full MLP regression heads. MLP-small beats the mean-predictor baseline on all tasks and linear probing in 23 of 30 model x task cases, with full MLP overfitting on small clinical data but recovering on larger sets, revealing a dataset size x head-capacity trade-off. HeAR leads within-dataset age regression on Coswara (9.12 yr MAE); its CIDRZ result is excluded from headline claims owing to possible HeAR-CIDRZ pretraining overlap. OPERA-GT is favored over OPERA-CT on age in all three datasets, with the CIDRZ margin within seed variance, extending a generative-pretraining advantage from breath to cough. HeAR and M2D+Resp reach near-full performance at N = 50 samples while OPERA models require N = 400. Cross-dataset transfer is strongly asymmetric as large diverse data generalises to small clinical populations (CoughVID to CIDRZ: -0.17 yr) but not vice versa (CIDRZ to Coswara: +2.43 yr, +26.6%).
arXiv:2606.15437v1 Announce Type: new Abstract: We study finite Kripke semantics as an explicit search and certification problem for modal formulas. Sets of worlds are encoded as integer bitmasks, so Boolean connectives, $\Box$, and $\Diamond$ reduce to word-level containment and intersection tests. This gives a deterministic evaluator with an independent certificate checker, then scales it through a fused CUDA kernel for exhaustive small-frame scans. Over $K,T,S4,S5$, a corpus of 5,624 formulas is evaluated on all frames through five worlds, performing $1.63\times 10^{14}$ formula evaluations in 45 minutes on one H100. All 20,990 emitted countermodel certificates verify. In this bounded corpus, every $K$-refutable formula has a countermodel on at most two worlds, far below the standard filtration bound $2^{|\mathrm{Sub}(\varphi)|}$. We then turn pairwise formula equivalence into a minimal-countermodel problem for biconditionals and synthesize semantic mirages: formulas that agree on every model up to a finite size and split only later. In particular, $\alpha_2=(\Box\Diamond)^2\top$ and $\alpha_3=(\Box\Diamond)^3\top$ agree on all frames of at most five worlds but are separated by a checked six-world path. Finally, we build a density-aggregated semantic atlas for representation-guided candidate retrieval and compare raw features, PCA, UMAP, spectral layouts, and random layouts under a common million-pair verifier budget. The result is a reproducible bridge between modal finite-model theory, GPU enumeration, certificate checking, and graphics-supported semantic exploration.
arXiv:2606.15446v1 Announce Type: new Abstract: Characterizing the Marine Atmospheric Boundary Layer (MABL) requires understanding the coupling between ocean waves and the turbulent atmospheric boundary layer above them. This coupling controls momentum exchange between the atmosphere and the ocean; it is of practical importance in the global climate, flow of ocean currents, ocean engineering, and offshore wind energy. Computational study of the MABL is complex because it must resolve the coupled physics of waves and turbulence over a wide range of spatial and temporal scales. This study expands on approaches for representing dynamic, local waves in Large Eddy Simulations (LES) of the MABL by developing a subfilter wave drag model to be local and scale-invariant. It explores the effects of different wave parameters (significant wave height and peak frequency of the wave energy spectrum) on the resulting momentum flux beyond monotonic relationships between surface stress through friction velocity $u_\ast$ and wind velocity above the surface $U_{10}$. Results are compared to field data and in a discussion on how representation of the MABL and associated momentum flux need to account for both wind and wave effects.
arXiv:2606.15447v1 Announce Type: new Abstract: Electronic health record foundation models typically treat ICD diagnosis codes as flat tokens, overlooking the clinically meaningful hierarchical structure that captures disease families, subcategories, and fine-grained diagnostic detail. As a result, existing EHR representation learning methods do not explicitly exploit the hierarchical structure already present in the coding system. In this work, we study ICD-10-CM hierarchy as a general inductive bias for clinical representation learning. We investigate two complementary mechanisms for incorporating hierarchy: first, by augmenting diagnosis sequences in a BERT-style transformer with tokens corresponding to different levels of the ICD hierarchy, and second, by injecting hierarchy into graph-based code representations through hierarchy-aware edges combined with diagnosis co-occurrence structure. Across these settings, we evaluate whether explicit hierarchy improves downstream prediction, which levels of the hierarchy are most useful, whether hierarchy encoding improves transfer across datasets, and how hierarchy reshapes embedding similarity structure. We conduct experiments on two large-scale real-world clinical datasets: MIMIC-IV, used for pretraining and in-domain evaluation, and eICU, used to assess cross-dataset transfer via frozen encoder probing. Our findings show that explicitly encoding ICD hierarchy improves over flat code representations in both in-domain and cross-dataset settings, while revealing that the most useful level of hierarchy depends on both the task and the modeling approach. More broadly, we focus on hierarchy-aware EHR representation learning and show that the benefits of encoding hierarchy are generalizable across modeling settings and hierarchy levels.
arXiv:2606.15448v1 Announce Type: new Abstract: Understanding and retrieving related real-world events based on their temporal dynamics is a fundamental challenge in time-sensitive applications such as forecasting, information retrieval, and social analysis. Existing methods often rely on semantic similarity or global time-series alignment, which overlook the transient and directional dependencies that frequently underlie real-world correlations. In this work, we introduce \textit{EventConnector}, a framework that constructs a temporal event graph capturing localized co-fluctuations and lead-lag relationships between events through their time-series trajectories. We further propose \textbf{EC-Fusion}, an adaptive retrieval mechanism that fuses EventConnector's graph-based scores with a complementary Granger-causal signal via a graph-quality-aware mixing weight. Across two real-world prediction market benchmarks (Polymarket and Kalshi) and nine forecasting architectures evaluated over three random seeds, EC-Fusion is the best non-oracle retrieval method on $17/18$ model--dataset cells, reducing RMSE by $6.87\%$ on average (up to $10.86\%$) over the strongest comparable retrieval baseline, with statistical significance at $p < 0.01$ after Holm--Bonferroni correction. These results highlight the effectiveness of temporally grounded graph modeling, augmented with causal-signal fusion, in capturing latent event relationships beyond what semantic similarity or traditional alignment techniques can offer.
arXiv:2606.15449v1 Announce Type: new Abstract: Electronic prior authorization workflows require FHIR Questionnaire items to carry LOINC codes, yet most items in the HL7 Da Vinci CDS-Library lack these bindings. We treat this as a retrieval problem: given a Questionnaire item's text, find the correct LOINC code in a pool of 97,314 active codes. We compare six methods (TF-IDF, frozen MiniLM, BioBERT, BioLORD, contrastively fine-tuned MiniLM, and a TF-IDF+GPT reranker) on a 54-item evaluation set spanning three query styles (natural question, medium, and terse). No single method wins on every metric. BioLORD, a frozen encoder pre-trained on biomedical ontology definitions, has the best top-rank accuracy (R@1 = 0.185, MRR = 0.246) despite seeing no task-specific data, while a contrastive fine-tune on raw LHC-Forms pairs takes R@5 (0.389) and R@10 (0.426). A distribution-shift ablation shows why the fine-tune in our main table is not the strongest one: adding GPT-generated paraphrases to the raw pairs drops R@5 from 0.389 to 0.296, so the augmented union underperforms raw-only training on every metric except R@1. Performance peaks at 5k training pairs. Error analysis on BioLORD's R@1 failures shows that wrong-specificity and ambiguous-text cases together account for 59% of errors.
arXiv:2606.15452v1 Announce Type: new Abstract: Rare events in time series are critical to model but hard to learn due to data scarcity. Current generative models struggle with extreme values. We observe that rare events leave distinct topological fingerprints - transitions in Betti numbers from point-cloud embeddings - that are more stable and discriminative than statistical moments. We introduce PHINN, a flow-matching framework using dynamic Betti curves as conditioning signals and a persistence landscape loss for homology consistency. It scales to multivariate data, includes a natural-language interface to set Betti targets, supports cross-domain meta-learning and few-shot generation, and provides certified adversarial robustness. On financial, epidemiological, and multi-modal benchmarks, PHINN outperforms statistical and diffusion baselines in topological fidelity (beta-RMSE down 41-63%, transition accuracy up 84%) and matches jump-diffusion models in tail coverage while exceeding them in shape fidelity. All results have 95% confidence intervals.
arXiv:2606.15453v1 Announce Type: new Abstract: Mixture-of-Experts (MoE) based large language models (LLMs), such as Qwen and DeepSeek, have recently emerged as an effective approach to improving model capacity without proportionally increasing computational cost. By replacing the conventional feed-forward network in dense LLMs with a set of experts and activating only a subset of them for each input token, MoE models significantly increase the total number of parameters while keeping the per-token computation relatively manageable. However, this dynamic and irregular expert activation pattern also introduces substantial expert loading overhead during inference, since the required experts must be fetched on demand according to token-dependent routing results. As a result, expert loading latency becomes a major source of performance and energy inefficiency. To this end, we first perform a comprehensive analysis of expert selection behavior in various MoE-based LLMs and applications, including language understanding and code generation. Our analysis reveals that, within each application domain, expert requests exhibit strong correlation across both adjacent MoE layers and consecutive decoding tokens, making future expert activations predictable. Based on this insight, we propose ST-MoE, a spatio-temporal expert prefetching framework that proactively stages experts ahead of use to overlap expert loading with ongoing computation. ST-MoE combines a lightweight runtime prediction mechanism that preserves the original routing behavior with a reconfigurable hardware design that efficiently supports dynamic expert prefetching. The combined effect of the prediction mechanism with the supporting hardware significantly improves MoE inference performance and energy efficiency while preserving model inference accuracy.
ESBMC-PLC: Formal Verification of IEC 61131-3 Ladder Diagram Programs Using SMT-Based Model Checking
arXiv:2606.15461v1 Announce Type: new Abstract: PLCs execute safety-critical programs across industrial sectors. The dominant PLC notation, ladder diagram (LD) per IEC 61131-3, remains absent from formal verification: SMT-based model checkers cannot process LD's rung-and-coil graphics. This paper presents ESBMC-PLC, the first open-source formal verifier with native LD support (PLCopen XML format), implemented as a new ESBMC frontend. ESBMC-PLC translates LD rungs to GOTO IR, models the PLC scan cycle as a while(true) loop with nondeterministic inputs, and checks safety properties via SMT-based bounded model checking or k-induction. A five-property YAML language (mutual_exclusion, invariant, absence, response, reachability) avoids temporal logic. A survey of 22 studies (2020-2026) identifies four research gaps; ESBMC-PLC closes two of them. Evaluation on 13 benchmarks (6 domains, 3 sources - including deployed CONTROLLINO PLCs and MathWorks Simulink PLC Coder) shows correct classification across 61 properties: all 9 author-constructed programs (Categories A/B) as expected, all 4 vendor programs (Category C) correctly unlabeled, with 8 bugs found (actionable counterexamples), 7 unbounded k-induction proofs, all runs under 60ms on Apple Silicon. Feature comparison with PLCverif shows that ESBMC-PLC is the only open-source tool that combines native LD, k-induction, and SMT bit-vector semantics.
arXiv:2606.15463v1 Announce Type: new Abstract: Direct dark matter detection experiments require large-scale photon sensing arrays with hundreds of thousands of synchronized readout channels. Silicon photomultipliers (SiPMs) have emerged as a leading candidate for these detectors due to their high integration density, low bias voltage, and superior radiopurity. However, existing digital SiPM readout architectures struggle to simultaneously preserve nanosecond-level temporal resolution for sparse scintillation events and sustain data integrity during high-intensity photon bursts. We propose DarkFlow, a hierarchical digital SiPM architecture that features local data aggregation, compact relative-time encoding, consumer-driven backpressure, and occupancy-aware eDRAM burst buffering within a unified dataflow framework. We show that DarkFlow maintains ultra-low packet loss at billion-photon event rates, where conventional architectures can exceed 80% data loss. Besides, the occupancy-aware refresh achieves a 2.14x improvement in effective refresh rate over conventional global refresh. Hardware evaluation in GlobalFoundries 22nm node confirms that the digital readout datapath accounts for less than 0.86% of the detector area and complies with the strict power budget in liquid argon environments.
arXiv:2606.15465v1 Announce Type: new Abstract: This paper presents an empirical analysis of the Web3 security landscape over the four-year and three-month period from 1 January 2022 to 27 March 2026. The dataset combines 23,818 public audit findings produced by 22 independent security firms with 218 real-world exploit incidents documented by rekt.news, representing aggregate losses of approximately US$7.76 billion. We report three central findings. First, the distribution of audit findings (by severity, category, and technology stack) is substantially stable across the observation window, with the Critical-plus-High share remaining within a 15-17% band in every complete year. Second, the categorical distribution of realised exploit losses does not correspond to the categorical distribution of audit findings: private-key compromise, phishing, and social-engineering vectors account for approximately 49.6% of cumulative losses yet represent a negligible share of published audit findings. Third, realised losses exhibit extreme concentration: the eight largest incidents account for 50.6% of cumulative dollar losses and the twenty largest for 71.4%, a distributional shape inconsistent with Gaussian assumptions. Throughout, we adopt the analytical convention that audit outputs and exploit outputs describe different populations and present the two datasets in parallel rather than as directly comparable samples.
arXiv:2606.16819v1 Announce Type: new Abstract: This paper presents a historical and technical survey of the hardware architectures, interconnection networks, and synchronization primitives that have shaped massively parallel systems over the past four decades. We examine the design of the NYU Ultracomputer and the IBM Research Parallel Processor Prototype (RP3), focusing on the hardware implementation of the Fetch-and-Add primitive in multistage interconnection networks. We contrast these early attempts at fine-grained, shared-memory hardware combining with the distributed-memory architectures of the IBM SP series and the modern in-network computation models found in NVIDIA SHARP and HPE Slingshot. We provide a technical analysis of message-passing synchronization, presenting a complete profiling of MPI operation frequencies and detailing the low-level hardware mapping of one-sided RMA atomics to PCIe Atomics and GPU caches. We investigate the software-hardware boundary in modern deep learning, detailing how HIP translation, Triton compilation, and 4-bit quantization (W4A16) execute on modern heterogeneous silicon. To evaluate alternative network node designs, we present a historical hardware case study analyzing the feasibility of implementing active combining switches using message-passing Inmos Transputers programmed in Occam. Finally, we contextualize the evolution of concurrent software synchronization by examining Isaac Dimitrovsky's parallel "group lock" primitive, tracing its downstream echoes in group mutual exclusion (GME) and room synchronization, and reflect on the historical, philosophical divide between American systems engineering and European formal methods.
arXiv:2606.15468v1 Announce Type: new Abstract: Vision models can achieve strong performance on classification tasks, but the internal representations supporting their predictions are often difficult to interpret. This work investigates whether sparse autoencoders can decompose intermediate representations of a vision model into interpretable features. We train a ConvNeXt classifier on the FGVC-Aircraft dataset, extract spatial activations from its final feature stage, and train a sparse autoencoder on these activations. The learned sparse features are analyzed using top-activating image patches, activation strength, and class selectivity. Qualitative visual inspection reveals that several features correspond to recognizable aircraft structures and visual patterns. We evaluate a subset of selected features using input-space and feature-space ablations, measuring how blurring image patches and suppressing sparse features affect class logits, classification margins, and prediction confidence. The results suggest that sparse autoencoders can reveal partially interpretable, class-relevant visual features associated with aircraft recognition, while also exposing limitations such as polysemanticity and coarse spatial localization.
arXiv:2606.15469v1 Announce Type: new Abstract: Robotic systems deployed in uncertain and dynamically changing environments often face variations in contact conditions, aerodynamic effects, and external disturbances that challenge reliable control. To remain effective under model-based control, these systems require dynamics models that can adapt to such changes, especially when direct access to complete environmental information is limited. To enable adaptability and facilitate integration with model predictive control, we propose a context-aware dynamics model based on neural ordinary differential equations, which infers environmental factors from state-action histories using a two-phase training procedure. We validate the approach across diverse robotic platforms, including a quadrotor in simulation, as well as a Sphero BOLT robot and a Fanuc manipulator in real-world experiments. The results demonstrate that our method effectively adapts to temporally and spatially varying environmental changes across different tasks. Videos are available at https://youtu.be/PY0sNyF2rqE , and the source code is available at https://github.com/syyu410-yu/context-aware-neural-ode-control.git .
arXiv:2606.15471v1 Announce Type: new Abstract: The global food system contributes to tens of millions of years of human life lost every year through unhealthy diets, and accounts for roughly a third of greenhouse gas (GHG) emissions. Researchers have thus often sought opportunities to simultaneously redress these large impacts on human health and climate; "dietary shifts" are frequently identified as key to both improving health and reducing land-related GHG emissions. Here we develop a new, spatially-explicit, detailed model of the global food system, and use it to highlight enormous and low-cost opportunities to both improve dietary health and reduce food system emissions. However, we find that health and climate goals are surprisingly independent; for example, reducing red meat intake benefits climate, but may only modestly improve health outcomes. Similarly, there is very large potential both to achieve healthier diets that do not lead to emissions reductions and to reduce emissions without dietary change. Our results highlight both the potential for, and the separability of, food-related policies that advance public health and climate goals.
arXiv:2606.15474v1 Announce Type: new Abstract: Continuous evaluation of LLM products relies on a strong LLM judge treated as ground truth: a cheap monitor scores every interaction and a team is paged when the score drifts down. But the judge is itself a model behind an API, and a silent version bump or scoring-prompt update changes how it scores -- so every drift alarm is ambiguous between a worse product and a changed judge. We resolve the ambiguity with a fixed, human-labeled anchor set that the current judge re-scores at a steady interleave, a second betting e-process on the judge-versus-human gap, and a guard-window rule returning a verdict in {none, system, judge}. We prove anytime-validity, one-way identification (only the judge can move the anchors), an attribution race whose design law is that the anchors must out-run the main process they guard, and process orthogonality. On two real judge changes, a silent version bump is detected as judge drift in 60/60 runs with zero judge-to-system misattribution, and a contaminating strict-prompt change is correctly attributed on 110 of 120 runs at guard width 300 -- while the industry-default rolling z-test false-alarms on 75% of drift-free streams. Every experiment replicates on a second domain (TL;DR summarization) with nothing re-tuned, and where the domains differ the differences are the ones the race predicts: the strict-prompt change shifts scores harder there, so the anchors fire faster and attribution becomes perfect (240/240). The monitor runs at approximately 0.64 of the cost of strong-judging every item, or 0.21 in a cheaper-but-deafer regime.
arXiv:2606.15480v1 Announce Type: new Abstract: This paper proposes a model to estimate the decision complexity and effort required to apply quantitative confidence assessment methods to assurance cases. The model considers both the worst and average case for these measures and characterizes how these quantities scale with argument size. Prior work has indicated that the additional effort required to apply these methods is a barrier to their adoption by assurance case practitioners. Researchers developing new methods, or improving existing methods, can use this model to estimate the effort required to apply their method. The proposed model is parameterized using data from published case studies and is applied to three existing quantitative confidence assessment methods: the Bayesian Belief Network method, the Dempster-Shafer Theory method, and the Certus method. The results show that, while Certus has the highest worst-case decision complexity, its average-case effort is lower than the BBN and DST methods.
arXiv:2606.15483v1 Announce Type: new Abstract: Drawing on 23 anonymized student pro-jects from a fourth-year Machine Transla-tion and Post-editing course in a BA-level translation programme, this paper exam-ines how structured comparison of gen-eral-purpose LLMs and online MT sys-tems can elicit evaluative judgement in AI-mediated translation. Students translat-ed short specialised English Wikipedia texts into Catalan or Spanish, generated four system outputs, evaluated them using automatic metrics and human adequa-cy/fluency assessment, selected one output for post-editing, and justified their deci-sion in written reports. Descriptive counts are reported for all 23 projects, while qualitative interpretation is based on the 22 cases accompanied by written reports. Results show that students did not treat automatic metrics as final authority: final post-editing selections often diverged from metric rankings and were justified through adequacy, fluency, terminology, naturalness, and expected post-editing ef-fort. The study therefore does not bench-mark systems under controlled conditions; it analyses how students justified system choice within an authentic classroom as-signment.
arXiv:2606.15487v1 Announce Type: new Abstract: In this work, we extend the method of averaged Lagrangian to the study of the general second-order (non-conservative) extended Korteweg--de Vries equation, known as the eKdV equation. Building on the framework introduced in [18], we construct a master (augmented) Lagrangian, modeled on Luke's Lagrangian, that incorporates the governing constraints at the appropriate asymptotic orders via the method of Lagrange multipliers. Averaging the resulting Euler-Lagrange equations in the traveling wave setting yields the existence of a (single) solitary wave solution with a $\operatorname{sech}^2$ profile. Explicit second-order formulas are obtained for the height of the solitary wave, together with the solitary wave velocity and inverse width, in terms of a fixed amplitude parameter. A key feature of the derived expressions is their asymptotic reduction to the classical KdV results when the first-order terms are retained. To assess the robustness and utility of the variational solitonic solutions, the derived formulas are subsequently applied, via the dispersive shock equal amplitude approximation method, to estimate the height and velocity of the leading solitary wave edge of dispersive shock waves governed by the eKdV Riemann problem. Theoretical predictions for the relevant wave parameters in both the eKdV solitary wave and dispersive shock wave problems are compared with direct numerical simulations and found to be in strong agreement.
arXiv:2606.15491v1 Announce Type: new Abstract: Radar SLAM is attractive for autonomous ground vehicles operating in visually degraded environments, however, scanning radars are noisy, have low scanning rates, and their measurements are challenging to match reliably over long trajectories. This paper presents FD-SLAM, a fast dense radar-inertial SLAM system that extends dense radar-inertial odometry with frequency-domain loop closure and pose graph optimization. The proposed method preserves an image-like structure of scanning radar measurements by using a compact frequency-domain polar descriptor for loop-candidate retrieval and a multi-stage verification pipeline based on temporal filtering, phase-correlation screening, scan-alignment similarity, and geometric consistency checks. Verified loop closures are added as non-sequential constraints in an SE(2) pose graph together with radar-inertial odometry factors. FD-SLAM is evaluated on a publicly available dataset using standard KITTI evaluation metrics. The results show that FD-SLAM improves FD-RIO baseline, achieves competitive performance against current state-of-the-art radar SLAM methods, and provides favorable rotational accuracy across multiple evaluated driving trajectories. Runtime analysis further indicates that the radar-inertial front-end operates above the radar sampling rate on a CPU-only setup, while loop closure detection and graph optimization remain suitable for parallel background execution.
arXiv:2606.15494v1 Announce Type: new Abstract: Human-robot collaboration (HRC) in prefabricated construction requires planning approaches that consider not only productivity but also time-dependent worker states during repeated work and rest. Existing planning models often rely on simplified assumptions about fatigue, workload, or recovery, with limited domain-specific empirical evidence on how perceived strain evolves. This study develops an empirically grounded, planning-oriented approach to characterize perceived strain accumulation and recovery in prefabricated construction HRC. A controlled repeated work-rest experiment assessed perceived cognitive and physical strain using the Rating Scale for Mental Effort and Borg's Rating of Perceived Exertion. Linear and exponential functional forms were evaluated, followed by mixed-effects modeling to examine collaborative conditions, session effects, and inter-individual variability. Results indicate that cognitive strain accumulation is best represented by a linear mixed-effects model, whereas rest-phase recovery follows nonlinear decay. The resulting planning-oriented models may inform future human-state-aware task allocation and scheduling research.
arXiv:2606.15495v1 Announce Type: new Abstract: Identifying collective variables that capture slow dynamical modes is essential for sampling rare events in complex systems. Existing machine-learning approaches often require predefined metastable states, carefully chosen descriptors, or training trajectories with high-quality kinetic information. Here, we introduce SelfTICA, a self-supervised contrastive-learning framework that reformulates collective-variable discovery as dynamical representation learning. SelfTICA defines positive and negative pairs from time-lagged molecular configurations, learns reusable features through a contrastive objective linked to spectral variational principles, and extracts orthogonal slow modes by applying time-lagged independent component analysis in the learned representation space. By decoupling representation learning from slow-mode extraction, SelfTICA avoids direct optimization of eigendecomposition-based objectives and enables spectra and collective variables to be evaluated across lag times without retraining. Across different atomistic systems, SelfTICA learns dynamical representations from limited, biased, or exploratory data and converts them into collective variables that accelerate rare-event exploration and improve free-energy convergence.