arXiv:2606.11599v1 Announce Type: new Abstract: Activation steering offers a lightweight approach to control language models' behavior at inference time, but whether it succeeds or fails heavily depends on the prompt, concept, model, and steering configuration. Finding the regime and boundaries of successful steering typically requires expensive grid searches and post-hoc evaluation of full autoregressive rollouts. In this work, we investigate whether steerability can be predicted from the model's internal states at the beginning of the generation process, e.g., after generating the first few tokens, and how to leverage such a predictor to improve steering success rate. To this end, we first introduce ASTEER, a testbed including 1.4M steered generations, spanning 150 concepts with each steering success/failure labeled. Leveraging this testbed, we analyze the model's early decoding dynamics by extracting features that compare hidden states before and after steering across layers and initial decoding steps. These features help us understand how steering's effects propagate along layers and token positions, which provide key information for steerability prediction. We then train a Gradient Boosting Decision Trees (GBDT) classifier on these features to predict whether an intervention will under-steer, succeed, or over-steer without requiring full rollout. Our predictor achieves around 0.7 macro-F1 score on unseen concepts, demonstrating that early hidden states encode substantial, structured information about eventual steering efficacy. We further leverage this steerability predictor as guidance for steering strength searching, achieving near-optimal performance with a small fraction of decoding cost.
Science Journals
arXiv:2606.11712v1 Announce Type: new Abstract: User-side memory in LLMs is typically scored as a single "personalization" capability: given a user's history, is the output more user-aware? We show this aggregate metric hides opposite-direction failures. Memory factorises into at least three orthogonal axes -- behavioral consistency (style, voice), factual presence (recall facts in history), and factual absence (abstain when a fact is absent) -- and no single substrate wins all three. Comparing per-user gamma-LoRA (a small LoRA adapter trained on each user's history; gamma denotes per-user, not per-task) against BGE-large dense top-K retrieval on a controlled 50-user synthetic corpus and a real-data probe (LaMP-3), we find gamma-LoRA decisively wins behavioral style while RAG decisively wins factual absence -- and the same query-projection cells in attention layers 21-35 causally load-bear both effects in opposite directions (zeroing those LoRA weights raises absence-probe TPR by +33 pp and drops presence-probe TPR by 20 pp). On the more heavily RLHF-tuned Llama-3.1-8B-Instruct the asymmetry strengthens, not heals: parametric memory's behavioral advantage collapses while its absence-calibration deficit against retrieval widens -- an alignment tax on parametric user-memory. On real-data LaMP-3, gamma-LoRA underperforms a majority baseline; a 9-condition mitigation sweep diagnoses this as instruction-following collapse, not substrate failure (a 9x2 cross-product shows the eval-time {1..5} logit mask drives main_acc to >=0.995 on every recipe), and the best training-time fix replicates bit-identically on Llama. Finally, substrate-selection routing is question-classification, not calibration: a 110M DistilBERT on the question text alone beats every logit-based router. We contribute the diagnostic framework, the diagnosed real-data negative, the alignment-tax replication, and the routing-as-classification finding.
arXiv:2606.11789v1 Announce Type: new Abstract: Interval-aware Approximate Nearest Neighbor (ANN) search arises in applications where each object is associated with a numeric value or interval, and queries must satisfy both vector-similarity and interval constraints. Existing methods are typically tailored to a single query semantics, such as interval-filtered ANN search, and therefore require multiple specialized indexes to support diverse workloads, leading to substantial indexing and memory overhead. To address this limitation, we propose the Unified Interval-aware Relative Neighborhood Graph (URNG), a unified graph framework for interval-aware ANN search. URNG preserves the monotonic searchability of relative-neighborhood-graph based ANN indexes while additionally ensuring structural heredity over query-induced subgraphs, enabling a single index to support multiple interval-aware query semantics. Building on this framework, we develop UG, a practical graph index that efficiently approximates URNG through unified interval-aware pruning and iterative repair, together with a query algorithm for interval-aware ANN search. Extensive experiments on 5 datasets show that UG consistently achieves a strong accuracy-efficiency trade-off across diverse interval-aware workloads while maintaining competitive index construction cost and memory usage.
arXiv:2606.12142v1 Announce Type: new Abstract: Unmanned aerial vehicles (UAVs) are increasingly used in inspection, search and rescue, environmental monitoring, and emergency response. However, most UAV applications still rely on pre-defined command sequences or task-specific pipelines, where developers manually connect perception, planning, flight control, simulation, logging, and safety modules. This limits the flexibility, reproducibility, and extensibility of autonomous aerial systems. This paper presents AerialClaw, an open-source software framework that enables UAVs to operate as decision-making aerial agents rather than merely command-following platforms. Given a natural-language mission, AerialClaw allows an LLM-based agent to understand the task, maintain context, invoke executable aerial skills, observe perception and runtime feedback, and iteratively update its decisions in a closed loop. The framework adopts a modular brain-skill-runtime architecture, combining hard skills for atomic UAV operations, Markdown-based soft skills for reusable task strategies, document-driven agent state and capability boundaries, memory-driven reflection, safety-oriented runtime validation, and platform-agnostic execution adapters. AerialClaw supports lightweight mock execution, PX4 SITL with Gazebo, and AirSim-based simulation, together with a web console, pluggable model backends, example missions, simulation assets, and staged deployment scripts. By combining standardized aerial skills, document-driven agent state, memory, and closed-loop LLM decision-making, AerialClaw provides a reproducible and extensible open-source framework for building UAV systems that can interpret missions, make decisions, execute skills, and adapt their behavior from feedback.
arXiv:2606.11931v1 Announce Type: new Abstract: Bangla is among the world's most widely spoken languages, yet it remains underserved in educational NLP research. In many remote and rural regions, access to qualified subject teachers is limited, and written answers are consequently graded largely by hand, restricting timely and consistent feedback. Automatic assessment is challenging because semantically correct responses can vary substantially in surface form. We present a bilingual (Bangla-English) evaluation system designed for low-resource educational settings that prioritizes semantic correctness over lexical overlap. Our approach fine-tunes a lightweight language model to grade each response using the question, reference answer, and student answer, producing a numeric score and concise, context-grounded feedback suitable for classroom deployment. We also construct a synthetic bilingual dataset to enable controlled training and evaluation. Across proprietary and open-source LLMs evaluated under a unified protocol, our QLoRA-tuned Qwen3-8B confirms consistent improvement by producing the most leakage-resistant feedback (RoRa = 0.819) in synthetic evaluation and the strongest agreement with human scores (rho = 0.936, MAE = 0.725) in a dedicated human study.
arXiv:2606.11976v1 Announce Type: new Abstract: Software engineering tools increasingly rely on LLM based agents to localize files to change to resolve a software issue. Most AI agents explore repositories linearly, that is, visiting one directory or file per step. We postulate that this is a structural mismatch for changes that span several subsystems. We compare linear sequential exploration against non-linear, domain-scoped parallel agentic exploration. Using SWE Bench Pro as initial benchmark, we focus on ansible as an exemplar. We construct an approach for persistent-session evaluation of GitHub issues anchored at a single base commit. We compare our non-linear domain-agent file traversal system against a base LLM without direct repository access, a single agent Recursive Language Model (RLM) baseline with a persistent Python REPL and an external CLI baseline using Codex 5.5 High. Domain scoped parallel agent spawning with a small Haiku-class model achieves the highest micro F1 among Haiku class models by a large margin. Domain-agents is the second highest behind only the much larger Codex 5.5 High on our own expanded benchmark including over more recent PRs from 2025 and 2026. On the original, curated, 2020 SWE-bench Pro benchmark, a larger Sonnet plain LLM baseline attains higher micro F1 by predicting few files, leading to higher precision, but at significantly lower all gold recall. We also present three additional findings. First, documentation evolution is a latent dependency unresolved by any approach. Second, naive file system access can degrade localization driven by test-file over prediction. Lastly, forced multi-agent consultation does not measurably help and raises token cost substantially.
arXiv:2606.11995v1 Announce Type: new Abstract: Agricultural crops are a type of cultural trait and the way farmers of US counties select them can itself result in county-level cultural traits. Using real-world data from 1997 to 2022, we have developed a systematic framework to study the selective mechanisms behind these traits. Our findings indicate that environmental payoff-biased selection has driven counties to adopt traits that maximize their adaptability and yield within their specific environments. These empirical results align with existing theoretical literature [3,16]. Additionally, a clear long-term selective trend is evident, showing that US counties are gradually developing a specific set of more complex combinatorial traits, which provide greater payoffs by enhancing the farmers' environmental adaptability. This study serves as a strong case for empirically modeling the cultural evolutionary processes among US farmers.
arXiv:2606.12064v1 Announce Type: new Abstract: Undefined behavior is idiomatic to C and C++ programming; such behavior is a use of an erroneous program construct for which the languages impose no requirements, such as integer overflows. The paper presents an empirical experiment seeking to probe the extent of undefined behavior executing underneath typical desktop use of a Linux distribution. The analysis is based on an undefined behavior sanitizer implemented in a compiler. According to the results, undefined behavior is common. By completing 59 simple experimental tasks, nearly 11 thousand unique undefined behavior warnings were generated by 32 unique programs and libraries written in C or C++. Of these warnings, most were associated with the Mesa graphics library and generated by interacting with graphical user interfaces. Merely logging into the GNOME desktop environment generated over 500 unique warnings. Of all warnings, the clear majority was about virtual table pointers. The associated stack traces were also lengthy in general. With these and other results, the paper contributes to the empirical literature on C and C++.
arXiv:2606.12090v1 Announce Type: new Abstract: Elastically accommodated grain-boundary sliding (EAGBS) is a plausible source of upper-mantle seismic attenuation and dispersion, yet classical theory predicts a localized Debye-like peak that is absent or only weakly expressed in dry olivine experiments. Here we test whether microstructural heterogeneity can explain this discrepancy using 2-D finite-element simulations on periodic Voronoi tessellations. We find that irregular grain geometry changes the baseline EAGBS response relative to the regular hexagonal benchmark, but increasing grain-size variance alone produces only modest changes in modulus and peak height, with little spectral broadening. In contrast, a broad distribution of grain-boundary viscosities progressively suppresses and broadens the Debye-like loss peak into a weak background spanning a wide frequency interval. This broadening arises from the superposition of many localized relaxation processes with distinct characteristic timescales and motivates a reduced-order 0-D description of the aggregate response. These results suggest that the absence of a pronounced EAGBS peak in dry olivine does not necessarily imply the absence of EAGBS mechanism itself. If grain boundaries sample a sufficiently broad viscosity distribution, the macroscopic EAGBS contribution may appear experimentally only as part of a broad attenuation background, while still remaining relevant for upper-mantle seismic attenuation and velocity dispersion.
arXiv:2606.12095v1 Announce Type: new Abstract: In this paper, we propose two fully decoupled, linear and structure-preserving block-centered finite difference schemes for the classical Keller-Segel chemotaxis system on staggered non-uniform spatial grids. Both novel schemes are second-order accurate in space; one is first-order accurate in time, while the other achieves second-order temporal accuracy. Moreover, we show that the schemes preserve several inherent physical laws at the discrete level: (i) the positivity of both the cell density and the chemoattractant concentration; (ii) the conservation of total cell mass; and (iii) a discrete energy dissipation property for the first-order scheme. In particular, the temporally first-order scheme unconditionally preserves positivity, mass conservation, and energy dissipation, whereas the second-order scheme ensures positivity under a sufficient (but not necessary) time-step condition. The proposed methods yield more accurate and efficient simulations of chemotactic dynamics, especially in the presence of rapid blow-up phenomena, on specified non-uniform spatial grids. Numerical experiments are conducted to validate the theoretical findings and to illustrate the accuracy and reliability of the proposed schemes.
arXiv:2606.12117v1 Announce Type: new Abstract: Benchmark scores often misrepresent a large language model's (LLM's) knowledge, because they rely, e.g., on the model's ability to follow specific formatting requirements. This especially penalizes base models that may know the correct answers but lack the ability -- typically introduced in post-training -- to structure them as instructed. To overcome this, we propose soft-prompt tuning, an efficient, fair, and architecture-agnostic model evaluation. By optimizing only 10 soft-prompt vectors (roughly 0.0006% parameters for a 7B model) over a short tuning period, we adapt models to specific benchmark formats, closing gaps in format-following and ensuring that underlying knowledge is accurately reflected in benchmark scores. This allows one to fairly compare different base models -- trained with various pre-training recipes -- on benchmarks without the need for full post-training. We evaluated soft-prompt tuning across 7 models and 7 datasets. The results show that (a) soft-prompt tuning saturates format-following within 80 steps (~640 samples) making it highly efficient, (b) soft-prompt tuning significantly outperforms zero- and few-shot prompting, surfacing base model knowledge that standard prompting misses, that (c) even post-trained models can benefit from soft-prompts to maximize format compliance, and that (d) soft-prompted base model performance predicts post-trained model rankings more reliably than zero- and few-shot baselines, offering a low-cost proxy for downstream model quality. Our contributions include (1) metrics which disentangle format-following and knowledge accuracy, (2) a fairer benchmarking protocol of LLM knowledge, and (3) a cost- and memory-effective recipe to identify optimal pre-training strategies early in LLM development.
arXiv:2606.12118v1 Announce Type: new Abstract: Compliant element systems with ultra-large deformation display rich nonlinear dynamics and pose challenging control problems, which, when solved, could enable enhancements in several mechatronics applications, such as soft robotics, MEMS, and biomedical applications. This paper considers post-buckled dynamic analysis of an inverted ultra-flexible pendulum actuated by a rotary hub. We first derive a complete set of equations capturing the dynamics of the system, essential for control development, using the assumed modes method framework, considering ultra-large deformations. Constrained Lagrange formulation is used for the same. In the perfect inverted configuration with zero hub angle, the buckled beam would display two symmetric stable equilibria and one unstable. However, as the hub angle changes on either side, the equilibrium positions shift, and eventually two of them vanish, and we are left with only one stable equilibrium. We use the dynamic equations to characterize this interesting phenomenon, demonstrating the continuous state dependence of multiple equilibria. Furthermore, experimental counterparts of the equilibrium results are meticulously obtained and discussed. Moreover, simulation results capture the nonlinear dynamics of this system. Overall, the work establishes a solid mathematical foundation with a control-amenable model for futuristic ultra-compliant mechatronic systems.
arXiv:2606.12120v1 Announce Type: new Abstract: Low-rank optimal transport (OT) mitigates the quadratic scaling of classical solvers, yet existing approaches rely heavily on first-order mirror-descent updates that require careful hyperparameter tuning and ignore the optimization landscape's curvature. To address these limitations, we propose a unified Riemannian geometric framework for low-rank OT, modeling balanced and unbalanced rank-$r$ positive factored couplings as novel smooth embedded submanifolds of the positive orthant. By equipping these manifolds with the Fisher-Rao product metric, we derive tractable formulations for Riemannian projectors, retractions, and Hessian-vector products. Our cost-agnostic framework seamlessly extends to linear OT, Gromov-Wasserstein (GW), fused GW, and their unbalanced counterparts. For balanced OT, our geometric ingredients are computed via efficient conjugate-gradient and iterative Bregman updates. For the unbalanced OT, our operations elegantly reduce to closed-form scalings, completely eliminating inner iterative loops. In both regimes, per-iteration complexity scales linearly with dataset size, and we provide a rank-sufficiency certificate for global optimality verification. Extensive experiments across a range of problem sizes demonstrate that our regularization-free first- and second-order solvers achieve faster convergence and superior performance over existing state-of-the-art low-rank OT solvers.
arXiv:2606.12126v1 Announce Type: new Abstract: Existing computational pathology methods predominantly operate within whole-slide image (WSI)-level multiple instance learning (MIL) paradigms, while patient-level modeling remains underexplored. In routine pathological practice, however, pathologists derive diagnostic and prognostic conclusions by integrating evidence across multiple WSIs rather than relying on any single slide. This discrepancy creates a fundamental misalignment when patient-level supervision is directly imposed on conventional MIL frameworks, often leading to unstable optimization and degraded predictive reliability. To address this issue, we propose Anchor-Guided Evidence MIL (AGE-MIL), a weakly supervised framework for patient-level prediction. AGE-MIL constructs a patient-level anchor from slide representations to capture global pathological context and guide the retrieval and integration of diagnostically relevant local patches, enabling robust patient-level modeling. Patient-level risk is further modeled as an evidence accumulation process, promoting stable optimization under weak supervision. AGE-MIL is evaluated on six clinically relevant patient-level prediction tasks from two independent cohorts. Experimental results show that the proposed framework consistently outperforms eight state-of-the-art MIL methods. Code is available at https://github.com/wodeniua/AGE-MIL.
arXiv:2606.12128v1 Announce Type: new Abstract: This paper examines whether blockchain-registered AI agents demonstrate operational readiness beyond identity registration. Using a dataset of ERC-8004 agents on Ethereum, we construct an agent-level feature table covering identity status, metadata, service declarations, reputation feedback, transfers, and cross-chain registration. We develop an operational readiness framework based on observable evidence layers and complement it with network analysis of owner-agent, feedback-client, wallet-transfer, and combined evidence relationships. The results show that early ERC-8004 adoption is registration-heavy but operationally shallow. While the identity layer is visible at scale, metadata availability, service exposure, reputation formation, and cross-chain evidence remain limited. Ownership and feedback activity are also highly concentrated, suggesting that early participation is shaped by a small number of high-activity wallets and clients. The network analysis further shows that richer operational evidence clusters around a small subset of agents rather than being broadly distributed across the ecosystem. The findings suggest that ERC-8004 provides an important identity layer for decentralized AI agents, but the transition from agent identity to agent economy remains incomplete.
arXiv:2606.12191v1 Announce Type: new Abstract: Environments serve as interactive systems for large language model (LLM) based agents across diverse scenarios and play a crucial role in driving the continual evolution of model capabilities. Despite this importance, existing work lacks a systematic categorization and deep analysis. This paper systematically studies current researches on agentic environments from the perspective of the environment engineering lifecycle, covering their modeling, synthesis, evaluation and application. Specifically, the paper first introduces representative environments from the perspectives of eight attributes and eight domains, providing detailed analyses of their development paths and highlighting their core capabilities. Second, for automated environment synthesis, two paradigms are introduced, such as symbolic synthesis and neural synthesis. This paper also shows different environment evaluation methods in each paradigm. Thirdly, the corresponding environment applications from the perspective of agent-environment co-evolution are discussed. In specific, the paper characterizes the primary pathways for agent evolution in dynamic environments from four complementary perspectives: memory-centric experience evolution, orchestration-centric workflow evolution, trajectory-centric offline evolution, and exploration-centric online evolution. And three paradigms of environment evolution are identified, namely neural-driven, difficulty-driven, and scaling-driven approaches. At last, several promising future directions are discussed, including Environment-as-a-Service, Multi-agent Environments, and Neural-Symbolic Environments.
arXiv:2606.12195v1 Announce Type: new Abstract: Recent progress in foundation models has shifted toward agentic behavior involving multi-step reasoning and tool use. However, open-source efforts largely focus on text-dominant settings, leaving long-horizon multimodal tasks underexplored. This gap is evident in video tasks requiring sustained temporal understanding and iterative interaction. We present InternVideo3, a framework enhancing these capabilities via Multimodal Contextual Reasoning (MCR). MCR treats understanding as a closed-loop process over a shared, evolving context containing observations, instructions, reasoning, tool actions, and memory. This frames long-video understanding as evidence accumulation and verification. To ensure efficiency, we introduce Multimodal Multi-head Latent Attention (M^2LA), a token-preserving reparameterization compressing KV-cache states while retaining the full token stream. Our staged training includes continued pretraining, short-to-long supervised fine-tuning, rule-based reinforcement learning, and on-policy distillation. Experiments show InternVideo3 achieves strong performance on benchmarks like Video-MME, MLVU, and EgoSchema. We further instantiate the model as a video agent with retrieval tools, demonstrating robust evidence-grounded behavior. Our results suggest that efficient context handling and closed-loop reasoning are vital for adapting open multimodal models toward long-horizon visually grounded agency.
arXiv:2606.12369v1 Announce Type: new Abstract: Large language models (LLMs) are increasingly used as decision-making components in social simulations. This introduces a methodological risk: the simulation may deviate from the explicit behavioral policy defined by the researcher. In online social network (OSN) simulations, action choices shape system dynamics, interaction patterns, and model interpretability. This paper evaluates whether LLM action selectors preserve an interpretable reference policy in an OSN simulation. The reference is a finite state machine implemented as a first-order Markov model, with transition probabilities depending on the user type. The evaluation uses a synthetic network with 1,000 agents and 10,000 action decisions. Three open-weight LLMs are tested: LLaMA 3.1, GPT-OSS, and Mistral 24B. Each model is evaluated under three prompting strategies: base, guided, and probabilistic. Alignment is measured using Jensen-Shannon Divergence with Laplace smoothing, and execution time is reported. Results show that LLMs can approximate the reference policy in some configurations, but do not preserve it reliably. Alignment varies across models and prompts, and additional guidance can introduce systematic action biases. Even the best-aligned LLM configurations are several hundred times slower than direct Markov chain sampling. These findings indicate that LLM-based action selection is not a direct replacement for explicit decision policies: it can alter the intended behavior while increasing computational cost.
arXiv:2606.12385v1 Announce Type: new Abstract: Modern LLM training pipelines increasingly rely on other models to generate data, filter corpora, judge outputs, and guide development decisions. These dependencies are recursive: a model may depend on an upstream artifact whose own dependencies are documented only in separate releases and artifacts. As a result, the full dependency structure is fragmented across heterogeneous public artifacts, with complexity and recursive depth far outpacing humans' ability to trace. We introduce ModSleuth, an agentic system that recursively reconstructs LLM dependency graphs from public artifacts with source-grounded evidence. We find that the primary challenge is no longer information extraction, but defining what constitutes a dependency and reconciling artifact references across inconsistent documentation. We address these challenges through a formalization that distinguishes direct and indirect dependencies, represents heterogeneous pipeline roles through operation-centered relationships, and resolves artifact identities across names, versions, and repositories. Applying ModSleuth to four public-artifact-rich LLM releases, we recover 1,060 source-verified dependencies and construct large-scale dependency graphs of modern LLM development. These graphs reveal multi-hop license obligations, train-evaluation coupling, discrepancies between released and training-time artifacts, and documentation inconsistencies that would otherwise be difficult to uncover. We release ModSleuth and the resulting dependency graphs to support transparent analysis of the increasingly complex ecosystems underlying modern LLMs.
arXiv:2606.12396v1 Announce Type: new Abstract: Vision-language-action (VLA) models can describe scenes and reason about them in language, yet still struggle to ground their actions in the dense 3D world around them. Existing approaches either inject features from a frozen 3D foundation model without an objective that ensures the policy uses them, or constrain geometry with sparse box and map losses that provide no dense spatial signal. We introduce VLGA, the first vision-language-action model supervised to reconstruct the dense 3D world it drives through. VLGA introduces geometry as a fourth modality alongside vision, language, and action through a dedicated expert supervised by a per-pixel pointmap regression loss against LiDAR. Extensive experiments conducted on challenging nuScenes and Bench2Drive datasets for open-loop and closed-loop evaluations, respectively, show the superiority of VLGA over counterpart VLA methods. In particular, on open-loop nuScenes, VLGA sets a new state of the art among VLA methods without ego status, with the lowest L2 (0.50\,m average) and 3-second collision rate (0.18\%). On closed-loop Bench2Drive, VLGA attains the state-of-the-art driving score of 79.08, +0.71 over the strongest prior VLA, at comparable efficiency and comfort.
arXiv:2604.13733v2 Announce Type: replace Abstract: Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit assignment. Vision-Language-Action (VLA) models leverage large-scale multimodal pretraining to provide generalist, task-level reasoning, but current limitations hinder their direct use in fast and precise manipulation. In this paper, we propose Vision-Language-Action Jump-Starting (VLAJS), a method that bridges sparse VLA guidance with on-policy RL to improve exploration and learning efficiency. VLAJS treats VLAs as transient sources of high-level action suggestions that bias early exploration and improve credit assignment, while preserving the high-frequency, state-based control of RL. Our approach augments Proximal Policy Optimization (PPO) with a directional action-consistency regularization that softly aligns the RL agent's actions with VLA guidance during early training, without enforcing strict imitation, requiring demonstrations, or relying on continuous teacher queries. VLA guidance is applied sparsely and annealed over time, allowing the agent to adapt online and ultimately surpass the guiding policy. We evaluate VLAJS on six challenging manipulation tasks: lifting, pick-and-place, peg reorientation, peg insertion, poking, and pushing in simulation, and validate a subset on a real Franka Panda robot. VLAJS consistently outperforms PPO and distillation-style baselines in sample efficiency, reducing required environment interactions by over 50% in several tasks. Real-world experiments demonstrate zero-shot sim-to-real transfer and robust execution under clutter, object variation, and external perturbations.
arXiv:2606.12399v1 Announce Type: new Abstract: This paper introduces peri urban dislocation as a structural condition that complements existing sprawl metrics by capturing hierarchical misalignments between inner city and peripheral areas. Whereas conventional measures emphasise density, land-use mix, or fragmentation, peri-urban dislocation reflects deeper divergences in the core periphery relational functional organisation of urban systems. We operationalise this concept using percolation analysis of street networks, revealing hierarchical patterns via clustering maps and dendrograms, providing a relational structure between urban elements. Two case studies, Valdivia, Chile, and Boston, USA, demonstrate contrasting manifestations: a structural reversal in Valdivia, where a homogeneous residential periphery dominates the hierarchical clustering process, and peri-urban voids in Boston, where isolated parcellations persist despite metropolitan consolidation. These findings position peri-urban dislocation as a structural dimension linked to sprawl yet distinct from metrics based on density or peripherality; one that may occur independently or represent a previously unidentified structural signature of sprawl. Methodologically, we apply established percolation techniques to expose this previously unarticulated structural phenomenon, enabling the detection of hierarchical misalignments within urban systems. Conceptually, we introduce peri urban dislocation as a new dimension of urban structure, helping articulate debates on sprawl and peri urbanisation through a complexity informed lens and enabling core periphery diagnostics across diverse urban contexts.
arXiv:2606.11454v1 Announce Type: new Abstract: Finite geometry (FG) codes combine the algebraic properties of classical block codes with the iterative belief propagation (BP) decoding ability of low-density parity-check~(LDPC) codes. However, exploiting both advantages in practice is hindered by the fact that the standard incidence matrix between $(\mu+1)$-flats and points is dense and contains many short cycles for any flat dimension $\mu\geq 1$. In this work, we propose to sparsify the decoding matrix based on pencil selection, formulated as a constant-dimension subspace packing problem and solved explicitly using lifted Gabidulin codes. For both affine and projective geometries, sparse parity-check matrices are constructed and verified for FG codes of lengths up to $1024$. Simulations on four FG codes show no visible error floor and around $0.5$~dB gain over corresponding 5G LDPC codes at a block error rate of $10^{-7}$.
arXiv:2606.11459v1 Announce Type: new Abstract: Large Language Models are highly sensitive to prompt formulation, necessitating automatic prompt optimization to unlock their full potential. While evolutionary algorithms have emerged as the dominant paradigm, they suffer from a critical bottleneck: data efficiency. Current methods treat the development dataset as a static benchmark, wasting significant compute budget on uninformative data. In this work, we introduce APEX (Automatic Prompt Engineering eXpert), a novel framework that optimizes the data usage alongside the prompt search. APEX dynamically stratifies the dataset into Easy, Hard, and Mixed tiers based on the optimization lineage. By prioritizing the Mixed tier, which identifies the data where the LLM has mixed performance, we identify two high-leverage subsets: the addressable frontier for generating informative mutations and the rank-sensitive frontier for distinguishing candidate quality. We evaluate APEX across three diverse benchmarks: IFBench, SimpleQA Verified, and FACTS Grounding. Under a fixed budget of 5,000 evaluation calls, due to its data efficiency, APEX outperforms the initial prompt by an average of 11.2% on Gemini 2.5 Flash and 6.8% on Gemma 3 27B, demonstrating that a data-centric approach is key to efficient and effective prompt optimization.
arXiv:2606.11464v1 Announce Type: new Abstract: Robotic table tennis is a representative benchmark for high-speed, closed-loop robotic control in dynamic environments, where accurate and fast prediction of ball states is critical for reliable planning and control. Physics-based approaches rely heavily on accurate parameter identification and precise initial state, while learning-based methods often struggle to capture long-range temporal dependencies and are typically trained on limited or simulated data. We propose a transformer-based framework for table tennis ball state prediction that leverages attention mechanisms to model long-range temporal correlations directly from historical observations, without relying on explicit flight or bounce models. To support robust learning and generalization, we collected a large-scale real-world dataset from players of varying skill levels and diverse ball cannon configurations. The combination of a high-capacity transformer architecture and extensive real-world data enables accurate long-horizon forecasting. Building on this capability, we introduce a plug-and-play sim-to-real transfer strategy, Swap Predictor at Deployment (SPAD), which replaces the physics-based simulator used during training with the proposed real-world-trained predictor at deployment, improving the sim-to-real transferability of the policy without requiring retraining. We demonstrate that this simple substitution effectively narrows the sim-to-real gap while preserving the efficiency and scalability of simulation-based training.