arXiv:2606.14176v1 Announce Type: new Abstract: Geometry problem generation is useful for AI-assisted education and multimodal mathematical reasoning, but reliable synthesis remains difficult because the problem statement, diagram, constraints, and solution should be mutually consistent. Existing methods often trade off controllability and reliability: seed-based rewriting is flexible but weakly verifiable, whereas diagram-first construction improves validity but is less suited to arbitrary user-specified constraints. We introduce VeriGeo, a controllable geometry generation framework grounded in executable reasoning traces. Given user constraints such as target concepts and difficulty, an Author agent generates a problem and diagram, and a Solver agent produces a proof-aligned solution. Both agents use a shared action sequence that connects natural language, diagrams, geometric constraints, and proof steps into a verifiable representation. A three-stage pipeline checks numerical consistency, analytical realizability, and global consistency, using verification-guided reflection to repair recoverable failures and reject unrecoverable ones. Across five LLM backbones, raw generations frequently fail these checks, while VeriGeo repairs a substantial fraction of the invalid attempts. Supervised fine-tuning on 8.7k examples generated by VeriGeo achieves the best reported GeoQA performance among end-to-end multimodal LLM-based solvers, and obtains strong results on PGPS9K and MathVista-GPS, demonstrating the effectiveness of verified synthetic data for improving multimodal geometry reasoning.
Science Journals
arXiv:2606.14179v1 Announce Type: new Abstract: We present CacheRL, a system for training small agent foundation models that achieves 92 percent process accuracy on multi-step tool-calling tasks, approaching GPT-5's 94 percent while requiring 100 times less compute. Our approach addresses three challenges in practical agent training: transferring tool-calling knowledge from large models at scale, enabling reinforcement learning without costly live tool execution, and learning robustly from noisy cached environments. CacheRL introduces three key innovations. First, a hybrid thinking trajectory pipeline augments agent trajectories with LLM-generated reasoning traces, producing training examples that teach models not only what tools to call but also why. Second, the CacheAgentLoop eliminates live execution costs through a three-tier fuzzy cache while preserving trajectory fidelity using token-level masking. Third, a cache-tier-aware reward dynamically adjusts answer-quality weights to avoid penalizing models for cache-induced limitations. Through iterative supervised fine-tuning (SFT) and Group Relative Policy Optimization (GRPO), CacheRL improves Qwen3-4B-Thinking's validation reward from 0.43 to 0.78. On public agentic tool-calling benchmarks, our model achieves competitive performance against frontier models such as GPT-5. Ablation studies show that removing knowledge transfer reduces performance by 41 percent, while cache-aware rewards contribute a 17 percent improvement. Interestingly, reinforcement learning improves training stability but yields limited gains beyond strong supervised fine-tuning, suggesting that data quality and reward design play a more important role than complex optimization methods in building practical small agent models.
arXiv:2606.14188v1 Announce Type: new Abstract: We present CORD-SLS, a real-time control method for safe deformable object manipulation, with a focus on ropes and cloth. At its core is a GPU-parallel differentiable simulator with contact smoothing which enables efficient gradient-based planning through intermittent contact. To robustly satisfy constraints under model and sensing uncertainty, we develop a real-time, GPU-parallel output-feedback robust model predictive control (MPC) algorithm that plans with this simulator. We further show that the simulator accelerates model-based RL for training neural manipulation policies. To improve real-world robustness, we use conformal prediction to calibrate visual-feedback and perception-error bounds for MPC, producing reachable tubes that enable high-probability safe control. We evaluate CORD-SLS on high-dimensional, contact-rich rope and cloth manipulation tasks in simulation and hardware, including obstacle avoidance, routing, folding, and smoothing. Across settings, CORD-SLS achieves millisecond-speed planning, exceeding baselines in safety, speed, and task success.
arXiv:2606.14189v1 Announce Type: new Abstract: The influence maximization problem aims to select a set of seed nodes that maximize the influence, i.e., the average number of influenced nodes, at the end of a spreading process. It has been widely studied with applications in viral marketing, public health campaigns, and social influence. In networks with pronounced community structure, existing approaches often yield an uneven distribution of influenced nodes across communities, which is unfair. Although the fair influence maximization (FIM) problem has been studied for pairwise networks, it remains largely unexplored for hyper graphs, which more accurately represent real-world systems involving group interactions. We introduce FIMH, a heuristic seed-selection algorithm for FIM on hyper graphs, under the Susceptible-Infected Contact Process (SICP) spreading model. FIMH iteratively estimates the contribution of each candidate node to influence and fairness and selects the node that best trades off these two objectives as an additional seed using a parameter-free utopia-distance criterion. Experiments on seven real-world hypergraphs demonstrate that FIMH achieves an influence comparable to that of state-of-the-art IM methods while significantly reducing influence disparity. Analysis of the topological properties of the selected seed nodes and their contributions to influence and fairness further supports the effectiveness of FIMH.
arXiv:2606.14191v1 Announce Type: new Abstract: We propose and analyze a generalized compartment model for hacker dynamics in cybersecurity systems. This model is an extension of a recently introduced framework, replacing the bilinear interaction term with a broad class of nonlinear incidence functions. This provides greater modeling flexibility and allows for the description of a wider range of cyber-propagation and information-spreading processes. First, we investigate the qualitative dynamics of the model. We establish the positivity and boundedness of solutions, derive the basic reproduction number, and characterize the existence of hacker-free and hacker-present equilibria. We obtain local and global asymptotic stability results, yielding a complete description of the global dynamics in terms of the basic reproduction number. Next, we develop a second-order, positivity-preserving, nonstandard finite difference (NSFD) scheme for numerical simulations. Unlike many existing NSFD approaches, which are typically first-order accurate, the proposed method achieves second-order convergence while preserving positivity for arbitrary step sizes. Furthermore, the proposed method reproduces the asymptotic stability properties of the continuous model, making it suitable for long-time simulations. Numerical experiments validate the theoretical results and demonstrate the superior accuracy and qualitative performance of the proposed scheme compared to several first-order methods.
arXiv:2606.14192v1 Announce Type: new Abstract: Auto-bidding is a core component of real-time advertising systems, where decisions must optimize long-term performance under budget and cost constraints, while online exploration is prohibitively risky. Offline reinforcement learning and, more recently, Transformer-based sequence modeling have shown promise for learning bidding policies from logged data, but their unimodal and purely parametric formulations often collapse multiple effective bidding strategies into suboptimal averaged actions and perform unreliably under sparse or long-tail traffic. To mitigate these limitations, we propose DRIVE (Distributional and Retrieval-Augmented Bidding with Value Evaluation), a unified Transformer-based framework that decouples candidate action generation from decision making for offline auto-bidding. DRIVE combines distributional action modeling, retrieval-augmented candidate generation from high-quality historical decisions, and value-based evaluation to select the most promising bid at inference time. Extensive experiments on AuctionNet and additional offline reinforcement learning benchmarks demonstrate that DRIVE consistently improves bidding performance and generalizes well across multiple Transformer-based methods.
arXiv:2606.14193v1 Announce Type: new Abstract: Filtered approximate nearest neighbor (FANN) search must satisfy both vector similarity and structured predicates, yet evaluations remain brittle because real hybrid workloads are rarely shareable and existing benchmarks rely on ad-hoc synthetic or semi-real constructions. We argue that realism hinges on execution-driven query difficulty: failures in early filtering trigger over-fetching of additional candidates, shaping latency, throughput, and recall. Building on this insight, we propose $\alpha$-Hardness, a query-level hardness metric that models the conditional execution chain via the over-fetch factor and extends naturally to strategy-conditioned settings. Across diverse datasets and hybrid strategies, $\alpha$-Hardness exhibits strong monotonic alignment with empirical performance, while common proxies such as selectivity or attribute-vector correlation are frequently unstable or strategy-inconsistent. We further introduce HCBGen, a hardness-controlled benchmark generator that uses $\alpha$-Hardness as an explicit control signal to synthesize workloads under coarse bias modes or to match a target hardness profile. Our experiments show that widely used benchmarks occupy a narrow, relatively easy portion of the hardness spectrum, masking robustness gaps that emerge under harder queries. Finally, we demonstrate that matching hardness distributions enables privacy-preserving proxy workloads that closely reproduce performance trends, bridging research benchmarks and real evaluation.
arXiv:2606.14195v1 Announce Type: new Abstract: Kalman filters based on the Embedded Latent Transfer Operators (ELTO) emerge as novel statistical tools for sequential state estimation. However, a critical limitation stems from their use of simplified noise models, which fail to dynamically adapt to non-stationary processes. To address this limitation, we introduce an ELTO-based Bayesian filtering approach with a new structured parameterization for the filter's noise model. This parameterization enables structured noise adaptation, which couples the data-driven learning of an optimal time-invariant noise model with dynamic parameter adaptation that responds to changes in dynamics within non-stationary processes. Empirical results show that our structured noise adaptation improves the filter's dynamic state estimation performance in noisy, time-varying environments.
arXiv:2606.14198v1 Announce Type: new Abstract: Incremental nonlinear dynamic inversion (INDI) is a prominent flight-control strategy valued for its robust disturbance rejection; however, its formal stability verification has traditionally been limited to linearized dynamical models. This paper presents a formal nonlinear stability certificate for a saturated INDI pitch-rate controller for a hybrid vertical take-off and landing (VTOL) aircraft by representing the INDI controller via an equivalent recurrent equilibrium network (REN). By casting the saturated INDI architecture as a REN, the closed-loop dynamics are exactly mapped to an augmented state-feedback system. This structural equivalence enables the use of sum of squares (SOS) programming to synthesize a locally valid Lyapunov function without relying on conservative bounding approximations. The resulting certificate yields an inner estimate of the region of attraction (RoA) that explicitly accounts for actuator saturation, formally verifying the controller's stability in operating regimes where standard linear margins lose their validity.
arXiv:2606.14199v1 Announce Type: new Abstract: Large language models are increasingly deployed as human simulators for interactive evaluation and social simulation. Yet helpfulness-driven post-training pulls them toward a homogeneous, overly agreeable assistant register, creating a behavioral Sim2Real gap. We present OdysSim, the largest open systematic investigation of behavioral foundation models, i.e., models trained to simulate human behavior at scale. We propose SOUL, a taxonomy of five capability axes (CONV, SS, COG, ROLE, EVAL) that unifies 62 datasets and 23 benchmark tasks under one framework. Specifically, we curate the OdysSim corpus (21.4M interactions, 10B tokens, retrofitted with back-generated social contexts), construct the SOUL-Index benchmark, and develop an end-to-end training recipe combining midtraining, task-specific RL, and expert distillation. The resulting open 8B OSim model ranks first or tied-first on 8 of 23 tasks, outperforming any individual frontier model by this count, with the strongest gains on conversational and social tasks. Its outputs are also more human-like in length, formatting, and word choice, and it transfers zero-shot to out-of-distribution user simulation on $\tau$-bench, nearly matching real users on reaction alignment (93.2 vs. 93.5). We further show that LLM-as-judge RL induces reward-hacking patterns, and that our detectors can mitigate them during post-training. Together, our findings suggest that behavioral foundation models require rethinking the LLM training paradigm. We release all artifacts to support future research.
arXiv:2606.14201v1 Announce Type: new Abstract: Text-to-SQL aims to translate natural language questions into executable SQL queries over structured databases. Existing benchmarks mainly focus on closed-domain settings with predefined database schemas and well-specified questions, but they fall short in addressing the challenges of open-domain scenarios, such as ambiguous questions, unspecified databases, and cross-database querying. To bridge this gap, we introduce TACO, a benchmark for open-domain Text-to-SQL with Ambiguous and Cross-database queries. TACO consists of 1,500 real-world Text-to-SQL examples based on a smart city data service and 13,000 high-quality synthetic examples generated based on large-scale open data portals, covering diverse domains such as transportation, healthcare, and finance. To construct the synthetic examples, we develop an effective data synthesis pipeline that preserves the complexity of real-world queries. To demonstrate the utility of TACO, we introduce a baseline TACO-SQL composed of question rewriting, table linking, and query planning, to illustrate the challenges posed by TACO and to better understand the limitations of existing Text-to-SQL approaches. Extensive experiments on TACO using a variety of recent Text-to-SQL approaches show that, while TACO-SQL achieves the best results, a significant gap still remains between the existing approaches and human-written SQL. These findings highlight the difficulty of open-domain Text-to-SQL and position TACO as a valuable benchmark to drive future research.
arXiv:2606.14203v1 Announce Type: new Abstract: We consider the transmission of data encoded into binary messages, with the goal of minimizing the Hamming distance, i.e., the number of bit-flips, between consecutive messages. This problem is relevant for enhancing the longevity of Non-Volatile Memories and reducing transition-induced energy consumption in data buses. Known as Write-Efficient Memory coding in the literature, this challenge has traditionally been addressed using optimal but complex schemes. In low-power computer systems the same topic is known as bus encoding. In this paper, we derive closed-form expressions to evaluate the average number of bit-flips for practical, sub-optimal encoding schemes, and propose two new schemes assisted by predefined random codebooks. We demonstrate that low-complexity solutions achieve performance very close to the optimal schemes, making them attractive for implementation in energy-sensitive and memory-critical applications. For instance, by adding 8 extra bits to 64-bits data, sub-optimal schemes can achieve a bit-flip reduction (related to energy saving) of approximately 24.7%, compared to the 26.4% reduction offered by the significantly more complex optimal scheme.
arXiv:2606.14205v1 Announce Type: new Abstract: Sum-rank codes provide a generalized framework for Hamming and rank-metric codes, with codewords represented as tuples of matrices and weight given by the sum of the block ranks. In this paper, we introduce and study a block-tensor-rank invariant for sum-rank metric codes. To each code, we associate its \emph{block tensor rank}: the smallest number of block-simple tensors, namely rank-one matrices supported inside single blocks, whose linear span contains the code. In general, determining the block tensor rank of a sum-rank code is challenging. Our main structural result shows that the block tensor rank decomposes additively across the blocks of the code, thereby reducing its computation to a tensor-rank problem on each block projection. Consequently, we derive two complementary lower bounds on the block tensor rank, referred to as the \emph{projection-wise bound} and the \emph{coordinate-code bound}. Moreover, by combining the coordinate-code bound with the classical Singleton and Griesmer bounds for codes in the Hamming metric, we obtain explicit lower bounds, called the \emph{Singleton coordinate-code bound} and the \emph{Griesmer coordinate-code bound}, respectively. We further construct families of sum-rank codes whose block tensor ranks attain the Singleton or Griesmer coordinate-code bounds. These constructions are based on Hamming-metric codes achieving the corresponding classical bounds. Finally, we show that, in certain cases, the block tensor ranks of two known families of sum-rank codes in the literature do not attain the Singleton coordinate-code bound.
arXiv:2606.14207v1 Announce Type: new Abstract: Resolving the spectral Raman signature of molecules grafted on a metallic support is often a difficult task, in which quantum chemistry methods allow for precious additional rationalization and signal attributions, especially to probe the formation of a bond with the support. In the specific case of gold-organic architectures based on a Au-C bond, only a limited amount of experimental and theoretical reference data are available in the literature, and Raman simulations based on quantum mechanics quickly become unaffordable with the size of the system. In this work, we evaluate the precision of a cost-efficient DFTB method to simulate Raman spectra of gold-organic systems at different scales, from gold complexes to functionalized gold surfaces. After a validation of the method through a careful comparison of DFTB Raman spectra of organometallic gold(I) and (III) complexes to DFT and experimental reference data, we discuss the case of molecules grafted on gold aggregates. For these simulations, the choice of the model (cluster or periodic surface) appears to be critical, and significant differences arise (positions and intensities of the peaks) when considering a full metallic slab, as allowed by the low computational cost of the method.
arXiv:2606.14209v1 Announce Type: new Abstract: In this paper, we evaluate the extent of undisclosed LLM-generated content in texts from the parliaments of the United Kingdom and Sweden. In many areas, such as in journalism or in academic writing, there are often requirements to clearly disclose whether AI tools, such as LLMs, have been used. In the case of parliamentary texts, the guidelines on disclosure of AI use are more vague. However, in order to maintain transparency and retain public trust, it is generally recommended that parliamentarians should state whether or not they have used AI when writing texts, such as parliamentary motions. Here, we train an interpretable (glass-box) text classifier using pre-LLM parliamentary texts and LLM-generated versions of such texts. We then apply the classifier to a test set containing recent parliamentary texts, finding a steady increase in undisclosed LLM use, in both parliaments, from 2022 onwards.
arXiv:2606.14210v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly deployed in privacy-sensitive domains, where users must balance the risk of data exposure through external APIs against the high computational cost of local deployment. Split learning has therefore emerged as a promising paradigm for LLM fine-tuning and inference under limited local resources. However, it introduces new privacy risks. Prior work primarily studies leakage of private input prompts, typically via inversion attacks on intermediate representations, while the potential for sensitive information leakage through generative response outputs remains largely unexplored. In this work, we unveil novel vulnerabilities of Split-LLM by presenting Patched Model Inversion with Dual-Sided Initialization (PIDI), a two-stage attack that simultaneously targets both private input prompts and output responses in Split-LLM settings. It combines dual-sided initialization with a patched inversion strategy to tackle long sequences, substantially outperforming prior inversion methods. To counter threats from both sides, we further propose the Adapter-based DualGuard with Mutual Information Defense (ADMI), which integrates an adapter-based local warmup strategy and mutual information regularization to provide a strong empirical privacy protection with minimal impact on task performance. Extensive experiments across diverse tasks and models demonstrate that ADMI effectively defends against PIDI and other state-of-the-art inversion attacks. Our code is publicly available at https://github.com/FLAIR-THU/VFLAIR-LLM.
arXiv:2606.14211v1 Announce Type: new Abstract: LLMs are increasingly deployed as agents that interact with external environments and observe feedback such as execution results, error messages, and tool outputs. A well-functioning agent should be able to leverage this feedback to accurately assess its own performance. Yet we find a persistent reflection gap: LLM agents tend to mis-assess their own outputs after observing concrete environment feedback -- even for questions they correctly answered -- and standard RL barely helps due to a credit-assignment mismatch. To close this gap, we propose RefGRPO, a simple yet effective fix that augments standard RL algorithms with two key ingredients: a free calibration bonus computed by contrasting the agent's own reflection with the actual outcome (requiring no additional reward model, LLM judge, or external annotation), and a dynamic schedule on its coefficient. Compared to standard RL baselines, our method simultaneously improves reflection calibration (e.g., reduces underconfidence rate $44.4\% \to 7.7\%$) and task accuracy (e.g., $75.1\% \to 76.5\%$) on text-to-SQL across five benchmarks. The resulting calibrated reflection turns the agent into its own verifier grounded in environment feedback, which further enables (i) better self-improvement that uses reflections as pseudo-rewards without outcome supervision, and (ii) more effective test-time selective prediction by committing only to rollouts flagged as correct.
arXiv:2606.14214v1 Announce Type: new Abstract: In this paper, we propose three extensions to the Real-Time Publish Subscribe wire protocol, on which Data Distribution Service (DDS) is based, to improve bandwidth efficiency. First, a stream negotiation mechanism exchanges static header information during discovery, replacing the full RTPS header at runtime with a compact 2 B identifier. Second, a payload aggregation scheme aggregates samples for the same locator into single UDP packets, reducing IP and UDP header costs. Third, a predictive heartbeat suppression strategy reduces control traffic by omitting heartbeats for periodic communication patterns, falling back upon detected loss or timing violations. All three mechanisms preserve Real-Time Publish Subscribe(RTPS) compatibility by extending DDS discovery to activate these features when supported. Experimental results show that stream headers reduce bandwidth consumption by up to 27.9 % compared to conventional RTPS under best-effort transport, and that heartbeat suppression yields a further 22.7 % reduction on top of stream headers under reliable transport, while preserving transmission latency in both cases.
arXiv:2606.14215v1 Announce Type: new Abstract: The emergence of Large Language Models (LLMs) has inspired the vision of generating bespoke crystal materials directly from natural-language instructions, enabling users to design materials through intuitive, conversational interaction. Existing text-to-crystal generative models represent important early steps toward this goal, but they suffer from two critical limitations: (i) restricted input formats that require highly structured descriptions (e.g., chemical formulas), and (ii) one-directional generation, where models can map text to crystal but cannot perform the inverse. These limitations prevent fully conversational workflows and hinder alignment with users' inherently ambiguous and evolving desiderata. We address these challenges with LapidaryEngine, the first model to support fully conversational crystal generation. LapidaryEngine accepts free-form natural-language requests and performs iterative refinement and editing in a dialogue-like manner. The key innovation is a pivot representation, a third, intermediate form that enables bidirectional translation between text and crystal structures despite the absence of direct paired datasets. Leveraging this pivot allows robust interpretation of user feedback and precise structural control. We demonstrate LapidaryEngine across diverse tasks, including insulator discovery, stability optimization, compositional modification, and structural editing, showcasing its ability to align generated materials with user intent in an interactive manner.
arXiv:2606.14217v1 Announce Type: new Abstract: Accurate prediction of protein-ligand binding affinity is essential for structure-based drug discovery. Recent geometric deep learning methods have achieved promising performance by representing protein-ligand complexes as three-dimensional graphs. However, most existing approaches mainly rely on static interaction geometry from a single bound conformation, while neglecting molecular flexibility and binding-induced conformational changes. To address this limitation, we propose a curvature-informed potential energy surface (CPES) graph neural network for protein-ligand binding affinity prediction, which incorporates physics-informed curvature representations to model conformational flexibility. CPES first derives curvature spectral descriptors from the Hessian of the potential energy surface evaluated at equilibrium configurations, whose eigenvalues define the local principal curvatures of the potential energy surface. It then uses spectral cross-attention to compare the unbound ligand and protein with the bound complex, thereby capturing binding-induced changes in conformational dynamics. In parallel, hierarchical protein-ligand interaction representations are learned from static structural features through geometry-aware message passing, soft clustering, and bidirectional cross-attention. Finally, CPES fuses the curvature-informed dynamic representations with static interaction representations for affinity regression. Extensive evaluations on multiple benchmark datasets demonstrate that CPES achieves improved predictive performance and offers physical interpretability.
arXiv:2606.14218v1 Announce Type: new Abstract: For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact. However, the majority of existing data collection pipelines still lack the ability to capture force and torque data for learning active compliant policies. In this paper, we present Universal Manipulation Exoskeleton (UME), an upper-limb exoskeleton that provides real-time haptic torque feedback while recording whole-arm configurations and joint torque signals for teleoperation. With transparent torque feedback, human operators can even unsheathe kinematically constrained objects while blindfolded. UME is low-cost, lightweight, and portable. Equipped with an embedded IMU, it enables teleoperation for mobile manipulation. With our proposed universal retargeting algorithm, UME can teleoperate a range of robots, including the 7DoF OpenArm, 7DoF Franka, and 6DoF X-ARM. We demonstrate that this combination of capabilities enables learning bimanual, whole-body, and active compliant policies that operate effectively in highly constrained spaces. The learned robust autonomous policies achieve high success rates across a variety of tasks, including long-horizon mobile manipulation, force-mediated box flipping, visually occluded box pushing, and space-constrained tabletop manipulation. Videos, code, and additional information can be found at https://ume-exo.github.io.
arXiv:2602.18140v2 Announce Type: replace Abstract: Neuromorphic accelerators promise unparalleled energy efficiency and computational density for spiking neural networks, especially in wearable biomedical devices and neural prosthetics where power constraints are stringent. However, most existing platforms exhibit rigid architectures with limited configurability, restricting their adaptability to heterogeneous biological signals and diverse design objectives. To address these limitations, we present Flexi-NeurA--a flexible neuromorphic accelerator that unifies configurability and efficiency. Flexi-NeurA allows users to customize neuron models, network structures, and precision settings at design time. By pairing these design-time configurability features with a time-multiplexed and event-driven processing approach, Flexi-NeurA reduces the required hardware resources and total power while preserving high efficiency and low inference latency. Complementing this, we introduce Flex-plorer, a design-space exploration tool that determines cost-effective fixed-point precisions for critical parameters--such as decay factors, synaptic weights, and membrane potentials--based on user-defined trade-offs between accuracy and resource usage. Based on the configuration selected through the Flex-plorer process, RTL code is configured to match the specified design. Comprehensive evaluations across distinct domains--biomedical auditory processing, dynamic vision sensor gesture recognition, and standard vision classification--demonstrate that the hardware/software co-framework successfully balances accuracy and power budgets for diverse applications. A 3-layer 256-128-10 fully connected network with LIF neurons mapped onto two processing cores achieves 96.23% accuracy on MNIST with 1.1 ms inference latency, utilizing only 1,623 logic cells, 7 BRAMs, and 111 mW of total power--demonstrating superior resource efficiency compared to SoTA hardware baselines.
arXiv:2606.14219v1 Announce Type: new Abstract: Agentic AI can support unmanned aerial vehicle (UAV) autonomy by providing high-level recovery reasoning when local waypoint- or setpoint-based execution encounters blocked passages, repeated no-progress behavior, or mission-level ambiguity. On physical UAVs, however, remote reasoning is most useful when it is invoked selectively, since each call introduces latency, resource cost, backend uncertainty, and a need to validate the returned decision. This paper presents Persistent Mission Runtime (PMR), a UAV recovery framework that keeps the mission loop and safety-critical execution local while using an external agentic reasoner only as an on-demand recovery module. The reasoner selects from predefined recovery skills, and each returned decision is parsed, verified, safety-filtered, and mapped to local executor actions before it can affect flight. PMR introduces learned Cognitive Value of Invocation (learned-CVI), a compact admission gate that estimates when remote agentic reasoning is likely to improve near-term mission progress enough to justify its operational cost. Across a fixed 400-run Gazebo/PX4 benchmark with eight scenarios, learned-CVI raises hard/ambiguous-regime success from 5.0% under local-only autonomy to 95.0%, outperforms one-shot and periodic reasoning baselines by 20.0 and 32.5 percentage points, and reduces remote-agent calls by 16.7% and logged tokens by 29.2% relative to a manually tuned rule-based invocation baseline.
arXiv:2606.14222v1 Announce Type: new Abstract: The rapid evolution of Time Series Foundation Models (TSFMs) has advanced zero-shot forecasting across diverse domains. Inspired by the current form of Large Language Models, future TSFMs may be offered as commercialized, closed-source API services. However, many existing online adaptation methods still rely on white-box access for parameter fine-tuning or gradient backpropagation. This paradigm mismatch raises a question: In black-box online adaptation for TSFMs, what should we learn? We answer this with an insight: the predictive errors of the base model are conditioned on both the input and output of the base model (i.e., the context of errors). To validate this insight, we propose ORCA (Online Residual Contextual Adaptation). We conduct extensive experiments across 5 state-of-the-art TSFMs and 8 datasets to demonstrate the effectiveness of our approach. Furthermore, through ablation studies, we quantitatively analyze the impact of different adapter learning hypotheses on the final adaptation performance in black-box online adaptation. Code available at https://github.com/Fifthky/ORCA.
arXiv:2606.14224v1 Announce Type: new Abstract: The advent of photonic integrated circuits (PICs) will allow the replacement of the large aperture of an optical telescope by a dense array of small apertures combined interferometically. The light coming from aperture pairs can be combined by a PIC in order to extract interferogram characteristics known as complex visibilities, from which the observed object can then be reconstructed. In such a compact interferometric imager, the optical components dedicated to image formation in a regular telescope are no longer necessary. In particular, such a concept is relevant for space missions where weight and size are critical. In this communication, we study such an instrument concept, focusing on signal-to-noise considerations. We recall the design basis for the field and the spatial resolution, and we show that the spectral resolution must be no less than the field to resolution ratio. Then, we analyze the signal-to-noise ratio of this concept, assuming that each spatial frequency is recorded only once, and compare the signal-to-noise ratio with that of a monolithic telescope. We perform the comparison in Fourier space for an identical number of recorded photons. We show that the noise propagation of the interferometric imager is identical to that of a monolithic telescope that would have a flat Modulation Transfer Function with a level roughly given by the ratio of the small apertures' diameter to the maximum baseline. We conclude that the noise propagation in low and medium spatial frequencies is unfavorable for the interferometric imager.