arXiv:2606.05954v1 Announce Type: new
Abstract: Understanding the processes behind the evolution of complex networks is a key objective in network science. An effective framework for tackling this challenge is network model selection, which involves finding the model from a set of candidates that best explains a given network. This book is a systematic review of methods for this purpose. Each method is outlined in three parts: its core principle (used to organize methods into four categories), other relevant details including my own observations, and software availability. The book provides a comprehensive overview of the state-of-the-art in network model selection and concludes by exploring future directions. A unified, optimal method could identify the mechanisms that shape real-world networks more precisely than any current approach. This work represents the first step toward developing such an optimal method. It will be a valuable resource for students and researchers in network science.
Science Journals
arXiv:2606.05970v1 Announce Type: new
Abstract: Large language models are increasingly used for structured extraction from clinical free-text notes, but the sensitivity of their output to upstream configuration choices is less understood than their accuracy on fixed benchmarks. This work measures that sensitivity without human-annotated ground truth, by holding the extraction task fixed and varying one choice at a time. The fixed schema comprises 17 clinical documentation flags on a three-way yes/no/not_documented value set and a 47-tag vocabulary for the primary admission reason. Three prompt variants expressing this schema were each run at two model sizes on MIMIC-IV v3.1 discharge summaries. Cross-prompt agreement was measured by Cohen's kappa on ICD-stratified subsets. A paired same-note comparison isolated the effect of model choice, and a post-hoc collapse of the three-way flags to binary tested the schema's contribution to disagreement. On the three-way flags, the two models reach the same pooled cross-prompt agreement (median kappa 0.69 and 0.68); the larger model raises agreement on some fields and lowers it on others, a redistribution rather than the absence of an effect. Collapsing the schema to binary dissolves most of the cross-prompt disagreement, locating it on the absence-versus-silence distinction rather than on whether the finding is present. On the multi-class admission categorization, changing the model reassigns the dominant tag on close to half of all notes while changing the prompt phrasing reassigns it on roughly one in eight, and the larger model places far less mass on residual catch-all categories (44% to 26%). These patterns indicate a schema-imposed source of disagreement concentrated on the absence-versus-silence axis and a dominance of model over prompt phrasing on multi-class categorization, identified by a reusable methodology for auditing extraction reproducibility on a population-scale deployment.
arXiv:2606.05976v1 Announce Type: new
Abstract: Recent work shows that LLM agents struggle to correct errors in their own reasoning traces yet show markedly higher correction rates when identical claims appear under external sources. We ask whether this asymmetry reflects a capability deficit or a role-label artifact: does an agent's willingness to correct a wrong claim depend causally on the chat-template role that carries it, rather than on the claim's content? Our setup keeps the erroneous claim byte-identical across all conditions (SHA-256 verified) and varies only its wrapping role: the agent's own \role{<thought>}, a \role{user} message, a \role{tool} response, or a \role{system <memory>} block. Across 13 model-domain cells covering seven model families and three domains ($n{=}30$ paired tasks per cell), relabeling the claim from \role{<thought>} to an external role lifts the explicit-correction rate by 23 to 93 percentage points, with 10 of 13 cells reaching $p{<}0.001$. Further experiments confirm that the effect is asymmetric, mechanistically decomposable, and robust across domains. The failure to self-correct is not a cognitive deficit; it is a chat-template artifact. We exploit this artifact by designing a prompt-structure-only intervention that requires no training and no model modification, with its strongest role label being domain-dependent: \role{<memory>} dominates on math, while a plain \role{user} message dominates on logical deduction.
arXiv:2606.05977v1 Announce Type: new
Abstract: We consider the inverse medium scattering problem for the Helmholtz equation in two dimensions, i.e., the task to recover a compactly supported penetrable two-dimensional scatterer from full knowledge of the associated far field data or, equivalently, the far field operator. Although this problem is uniquely solvable, it is severely ill-posed and nonlinear. In the regime of weak scattering, the Born approximation yields a linearized relation between the contrast and the far field data, thus overcoming the second difficulty. This linear setting allows to build on recent work on linearized electrical impedance tomography, which relies on triangular Zernike decompositions, to derive an explicit reconstruction formula that expresses the expansion coefficients of the contrast in terms of those of the far field data. By choosing the expansion functions appropriately, the resulting system matrix decouples into separate (infinite) triangular systems for the spatial angular frequencies in the contrast. Consequently, each of these systems can be solved independently by performing forward substitutions. Our numerical experiments indicate that this approach, combined with an adequate regularization method, remains effective even when applied to full nonlinear far field data beyond the Born regime.
arXiv:2512.15153v2 Announce Type: replace
Abstract: Evaluating whether human action is standard or not and providing reasonable feedback to improve action standardization is very crucial but challenging in real-world scenarios. However, current video understanding methods are mainly concerned with what and where the action is, which is unable to meet the requirements. Meanwhile, most of the existing datasets lack the labels indicating the degree of action standardization, and the action quality assessment datasets lack explainability and detailed feedback. Therefore, we define a new Human Action Form Assessment (AFA) task, and introduce a new diverse dataset CoT-AFA, which contains a large scale of fitness and martial arts videos with multi-level annotations for comprehensive video analysis. We enrich the CoT-AFA dataset with a novel Chain-of-Thought explanation paradigm. Instead of offering isolated feedback, our explanations provide a complete reasoning process--from identifying an action step to analyzing its outcome and proposing a concrete solution. Furthermore, we propose a framework named Explainable Fitness Assessor, which can not only judge an action but also explain why and provide a solution. This framework employs two parallel processing streams and a dynamic gating mechanism to fuse visual and semantic information, thereby boosting its analytical capabilities. The experimental results demonstrate that our method has achieved improvements in explanation generation (e.g., +16.0% in CIDEr), action classification (+2.7% in accuracy) and quality assessment (+2.1% in accuracy), revealing great potential of CoT-AFA for future studies. Our dataset and source code is available at https://github.com/MICLAB-BUPT/EFA.
arXiv:2606.05979v1 Announce Type: new
Abstract: We propose world-language-action (WLA) models as a new class of embodied foundation models. WLA takes textual instructions, images, and robot states as inputs to jointly predict textual subtasks, subgoal images, and robot actions, conjoining the \emph{world modeling interface} to learn from extensive egocentric videos as in the world-action model (WAM) and the \emph{language reasoning} capacities to solve complex long-horizon tasks as in vision-language-action (VLA) models. At the core of WLA lies an \emph{autoregressive (AR)} Transformer backbone, instead of a bidirectional diffusion Transformer as in WAMs, to predict the \emph{next state}, comprising the \emph{semantic-level} textual intention and complementary \emph{fine-grained} physical dynamics. The physical dynamics are supervised by the world modeling objective based on a dedicated World Expert, and are leveraged to ease the characterization of the state-action correlation for the Action Expert. WLA leverages meta-queries to make the world prediction \emph{implicitly} impact the action generation so that the former can be disabled during inference. The world prediction can also be activated to enable test-time scaling for improved robot control. Our WLA-0 prototype, with 2B active parameters, achieves 40 ms per inference on an NVIDIA RTX 5090. Evaluations across simulated and real-world environments demonstrate that WLA-0 achieves state-of-the-art multi-task and long-horizon learning abilities, e.g., 92.94\% success rate on RoboTwin2.0 Clean and 56.5\% success rate on RMBench. WLA-0 also holds the promise to learn novel tasks directly from \emph{cross-embodiment robot videos} without action annotations.
arXiv:2606.05985v1 Announce Type: new
Abstract: Multicultural multi-agent systems are increasingly deployed in globally diverse settings, where different agents are grounded in different cultural backgrounds. Existing cultural evaluation focuses on value alignment: how closely a single agent matches a target culture. Yet alignment is a per-agent property and cannot reveal whether a system, taken as a whole, preserves the cultural plurality it is meant to represent. We propose value diversity as a system-level evaluation axis for multicultural agent systems, defined through the dissimilarity between culturally conditioned agents' responses on a shared value survey. Using the World Values Survey, we evaluate 19 cultures and 18 backbone models across a wide range of system configurations. We find that diversity is largely uncorrelated with alignment, indicating that the two capture complementary system properties, and that current multicultural agent systems fall substantially below human societies in value diversity. Mixed-backbone systems narrow this gap but do not close it, and the gap persists across culture compositions and agent scales. Social interaction further erodes diversity by driving agents toward consensus, and a participatory budgeting case study shows that this homogenization narrows the breadth of collective decision-making. Together, our results establish value diversity as a distinct evaluation axis for multicultural multi-agent systems and reveal a persistent homogenization tendency in current LLM-based societies. Our code and data are publicly available at https://github.com/iNLP-Lab/MultiAgent-Diversity.
arXiv:2606.06273v1 Announce Type: new
Abstract: Lossless pixel-level image transmission is a fundamental regime beyond semantic communications, because exact recovery requires both accurate symbol probability modeling and reliable delivery over noisy channels. This paper proposes DDM-SSCC, a discrete-diffusion-model-based separate source-channel coding framework for lossless image transmission. Different from raster-order autoregressive coding, the proposed source codec adapts a diffusion language model to pixel-token restoration and performs synchronized reverse arithmetic coding under bidirectional attention, allowing multiple masked tokens to be coded within one reverse denoising step. This progressive restoration process also yields a more favorable source representation for noisy transmission, since newly restored tokens can serve as bidirectional context in subsequent denoising steps. To bridge the gap between generation-oriented masked denoising and lossless arithmetic coding, we further introduce a Halton-guided denoising order, a mask-ratio-aware cosine schedule, and a lightweight temperature calibration module. These designs respectively improve spatial coverage, adapt the denoising pace to context reliability, and calibrate the probability tables used by arithmetic coding. Experiments on CIFAR10, DIV2K-LR-X4, and Kodak over additive white Gaussian noise and Rayleigh fading channels show that DDM-SSCC achieves better exact-recovery performance than representative lossless and semantic communication baselines, while ablation studies verify the effectiveness of the proposed denoising order, schedule, and calibration modules.
arXiv:2606.06303v1 Announce Type: new
Abstract: Controllable generation with discrete diffusion models is often hindered by high computational overhead or the need for retraining. In this paper, we present \underline{\textbf{G}}radient-\underline{\textbf{I}}nformed \underline{\textbf{L}}ogit \underline{\textbf{C}}orrection (\textbf{GILC}), a plug-and-play framework that efficiently estimates guidance signals by repurposing the pretrained denoising network as a variational proxy. To circumvent the gradient instability inherent in high-dimensional discrete spaces, we introduce a Jacobian-free mechanism that directly corrects the clean prediction logits, facilitating stable and effective guidance. Our method accommodates both differentiable and non-differentiable reward functions. Extensive experiments across DNA, protein sequence, and molecular generation tasks demonstrate that GILC achieves state-of-the-art performance without additional training, frequently outperforming fine-tuning approaches.
arXiv:2605.29439v2 Announce Type: replace
Abstract: The determination of the maximal length of maximum distance separable (MDS) codes arising from elliptic curves is a central problem in coding theory. For an elliptic curve $E$ over $\mathbb{F}_q$, let $\operatorname{MEC}(k,q)$ denote the maximal length of a $q$-ary MDS elliptic code of dimension $k$. It was recently shown that $\operatorname{MEC}(k,q)\le\frac{q+1}{2}+\sqrt{q}$ for $q\ge289$ and $3\le k\le(q+1-2\sqrt{q})/10$, with equality for odd $k$ when $q$ is an odd square. This paper investigates the remaining open cases, namely even dimension $k$, non-square $q$ and fields of characteristic $2$, and provides a complete resolution of the tightness question for the two natural parity regimes of $q+1+\lfloor 2\sqrt{q}\rfloor$. We prove that if the support of $G$ (used to define the code) consists of $\mathbb{F}_q$-rational points, the bound decreases to $\frac{q+1}{2}+\sqrt{q}-1$ for even $k$. Without this restriction, we construct MDS codes attaining $\frac{q+1}{2}+\sqrt{q}$ for even $k$. More generally, we establish $\operatorname{MEC}(k,q)=\frac{q+1+\lfloor2\sqrt{q}\rfloor}{2}$ when $q+1+\lfloor2\sqrt{q}\rfloor$ is even, and $\operatorname{MEC}(k,q)=\frac{q+\lfloor2\sqrt{q}\rfloor}{2}$ when it is odd.
arXiv:2606.06293v1 Announce Type: new
Abstract: Whilst the vulnerability of graph neural networks (GNNs) to adversarial attacks poses a critical threat to graph representation learning, the understanding of the robust generalization behavior remains a fundamental challenge in the adversarial setting. Recently, PAC-Bayesian margin-based generalization analysis substantially advances this line of research by providing a flexible and data-dependent analytical framework. However, existing robust analyses often rely on isotropic Gaussian posteriors and control weight perturbations in the full parameter space, which limits the ability to capture heterogeneous parameter sensitivity yet hinges on hidden-width-dependent complexity terms, resulting in not-tight-enough generalization bounds. In this paper, we extend a recently proposed sensitivity-aware PAC-Bayesian framework from deep neural networks to message passing GNNs (MPGNNs) and derive a tighter robust generalization bound in the adversarial setting. Specifically, we first quantify how sensitive the perturbations across different parameter blocks are to the network outputs by deriving the output Jacobians with respect to the weight parameters. Exploiting the fact that these Jacobian matrices have rank at most $K$ in $K$-class graph classification, we then construct Jacobian-aligned sensitivity matrices and use anisotropic Gaussian posteriors with optimized covariances to upper bound the KL divergence in a tight way. Notably, by refining the spectral-norm dependence on the learned weights and reducing the leading dimension factor from hidden-width-dependent terms to the number of classes $K$, our analysis yields much tighter robust generalization guarantees for MPGNNs, thereby guiding their designs to enhance adversarial robustness.
arXiv:2606.06294v1 Announce Type: new
Abstract: Temporal Grounding (TG) aims to localize video segments corresponding to a textual query. Prior research predominantly focuses on single-segment retrieval. Real-world scenarios, however, often require localizing multiple disjoint segments for a single query -- a setting we term One-to-Many Temporal Grounding (OMTG). Previous state-of-the-art MLLMs, optimized for one-to-one settings, struggle in this context, often yielding near-zero scores due to a lack of event cardinality perception. To bridge this gap, we present a systematic solution with three key contributions. First, we establish the first comprehensive OMTG benchmark, introducing Count Accuracy (C-Acc) and Effective Temporal F1 (EtF1) as evaluation metrics. Second, we curate a high-quality OMTG dataset comprising 56k samples through a sophisticated construction pipeline. Third, we develop novel temporal and caption reward functions specifically designed for OMTG. In particular, the caption reward leverages Chain-of-Thought reasoning over dense video captions to explicitly guide policy optimization toward both preciseness and completeness. Extensive experiments show our model achieves a new state-of-the-art EtF1 of 43.65\% on OMTG Bench, outperforming Gemini 2.5 Pro and Seed-1.8 by 15.85\% and 15.61\%, respectively.
arXiv:2606.01822v2 Announce Type: replace
Abstract: Traffic sign detection is a fundamental component of environmental perception in autonomous driving and intelligent transportation systems. However, most existing detectors rely on static inference with globally shared parameters, limiting their ability to adapt to diverse and unstructured traffic scenarios. As a result, a single static model often struggles to simultaneously handle both clear near-range samples and challenging conditions such as distant small targets or adverse weather environments. To address this limitation, we propose CBDES MoE TSR, a hierarchically decoupled heterogeneous mixture-of-experts(MoE) framework for traffic sign recognition. The proposed framework departs from the conventional globally shared parameter paradigm by introducing a heterogeneous You Only Look Once (YOLO) expert pool together with a lightweight gating network, enabling an image-level dynamic routing mechanism. Based on the semantic characteristics of the input image, the gating module selectively activates the most suitable expert model from the expert pool, enabling a shift from fixed parameter fitting to on-demand dynamic representation. This design enhances feature extraction capability for specific scenarios while maintaining controlled inference overhead. Experimental results demonstrate that the proposed method achieves a remarkable balance between detection accuracy and efficiency on the composite traffic sign dataset. Specifically, our method attains an mAP50-95 of 76.8%, yielding a 2.3% improvement over the baseline method (74.5%) while simultaneously reducing computational overhead by approximately 39.4%. These findings robustly validate the effectiveness of the proposed approach.
arXiv:2606.06315v1 Announce Type: new
Abstract: Recent advances in interpretability suggest that large language models (LLMs) implicitly encode signals in their generated text that enable self-recognition of their outputs. We demonstrate that this capability is reliable, even in low-entropy scenarios, and that it can be amplified through targeted intervention. By steering the internal residual stream during generation with a random sparse vector, we create a detectable fingerprint that enables attribution of a given text to a specific LLM. This signal is recoverable from the activations of an LLM used as a detector, achieving over 98% accuracy across multiple detection settings while preserving the quality of generated text. As AI-generated content proliferates, this approach offers a practical alternative to traditional detectors by leveraging the model's natural representation structure for attribution rather than embedding a signal externally. Our contributions include: (i) establishing reliable self-recognition capabilities in LLMs, (ii) a simple steering mechanism enabling multi-LLM identification with no quality degradation, (iii) demonstrating that activation spaces contain exploitable structure for encoding signals without semantic interference.
arXiv:2512.20111v2 Announce Type: replace
Abstract: As the time horizons of sequential decision-making tasks grow, keeping full interaction histories in model context becomes increasingly costly. Recent work reduces context lengths by instead conditioning decision-making agents on recursively updated natural-language summaries, which are concise and interpretable. However, they underperform agents with access to the full context, suggesting that they fail to generate sufficient summaries. To address this we propose ABBEL, a recursive summarization framework that isolates and directly supervises each summary's information contents in the form of explicit natural-language belief states. First, we analyze the belief states generated by frontier models under ABBEL across five domains, and verify that performance is often degraded due to omitting or incorrectly updating information. We also discover settings where models use memory inefficiently by retaining extraneous information. We target these limitations by fine-tuning with two RL-based methods: belief grading, which reduces update errors by rewarding belief generations based on their information content, and peak belief penalties, which encourage compressing the beliefs with the greatest memory footprints. We demonstrate that these methods significantly reduce the performance gap with full context models, and enable ABBEL to outperform prior memory agent work by 40% while using 67% of the memory. Our code is available at https://github.com/jakob-bjorner/optimal-explorer-dev
arXiv:2606.06325v1 Announce Type: new
Abstract: In the evolving landscape of data product exchange platforms, traditional economic valuation models fall short due to the non-rival nature of data and the prevalence of non-monetary data product exchanges. This paper introduces a normative, choice-based metric for valuing data products within intracompany exchanges, where conventional pricing mechanisms are absent. By modeling consumer attention and preferences, the proposed metric quantifies the value of data offerings based solely on user selection behavior, without relying on cost, demand, or competitive pricing data. We show that this metric can be formally cast as a cooperative game with a closed-form Shapley value, providing a principled and fairness-based allocation of value across offerings. The model rewards uniqueness and discriminative consumption, effectively addressing the limitations of popularity-based metrics and incentivizing the creation of high-value, long-tail data products. Through theoretical analysis and illustrative examples, the metric is shown to align with economic principles, support equitable valuation, and contribute to a robust framework for measuring gross data product value. Future research directions include exploring bundling strategies and quantifying product complementarity.
arXiv:2606.04560v2 Announce Type: replace
Abstract: Reinforcement learning from verifiable rewards with GRPO is a standard approach for post-training reasoning LLMs. It remains sample inefficient. Each rollout is used for a single gradient update and then discarded. Naive replay is not well suited in this setting because LLM policies drift quickly per gradient step. Stored rollouts therefore become stale and can destabilize training. We propose a rollout-level replay buffer for GRPO that stores and samples individual rollouts rather than whole groups. The buffer bounds staleness through age eviction. Any rollout older than tau_max training steps is removed. The buffer also preserves on-policy data via fresh-anchored composition. Each batch keeps its fresh on-policy rollouts and then concatenates replay rollouts drawn separately from the buffer. We prioritize replay by per-rollout advantage magnitude and recycle individual rollouts whose advantages are large. Across three Qwen3-Base scales on five math benchmarks, our method outperforms GRPO and naive replay baselines. Gains are positive at every scale and grow with model size. The largest gain is +4.35 pp on the five-benchmark average at 4B. Under an AES metric that jointly measures accuracy and token efficiency, the efficiency margin over GRPO is again largest at 4B, at +0.579.
arXiv:2606.06032v1 Announce Type: new
Abstract: Catastrophic forgetting is commonly interpreted as the irreversible erasure of previously acquired knowledge during sequential learning. In this work, we investigate an alternative perspective: that forgetting may arise not from complete destruction of task representations but from a loss of accessibility to preserved information. We introduce a three-level framework separating knowledge storage, representation, and accessibility, and evaluate each component through a series of continual-learning experiments on sequential CIFAR-100 classification using ResNet-18. Our analysis combines checkpoint persistence, linear probing, representation geometry, classifier-reset recovery, and layer-wise recoverability experiments. We observe complete behavioral forgetting of earlier tasks, with task accuracy collapsing from 54.8% to 0%, while linear probe performance retains approximately 76% of the original representational information. Furthermore, retraining only the final classifier restores 75.7% of the original task performance without modifying the backbone network. Layer-wise analysis reveals that early and intermediate layers preserve highly recoverable task information despite severe degradation at later stages. Projection-energy and principal-angle analyses indicate that retained knowledge persists as distributed high-dimensional representations rather than through preservation of a small dominant subspace. These findings suggest that catastrophic forgetting is better characterized as an accessibility failure than complete representational erasure, and that substantial task-relevant information remains embedded within neural representations even after functional forgetting has occurred.
arXiv:2606.06040v1 Announce Type: new
Abstract: Soft, growing vine robots extend through tip eversion, a mechanism that enables navigation through cluttered environments. However, integrating cameras and other sensors at the tip is uniquely challenging because the material forming the tip is constantly renewed as the robot grows. This continual material turnover, combined with friction between internal layers, added tip weight, and fabric constriction, complicates sensor and tool mounting. These limitations hinder the deployment of vine robots for inspection and search tasks, where rapid growth while carrying tip-mounted sensors is essential. In this work, we present a triangular roller tip mount that reduces internal resistance during growth by rolling rather than sliding against the robot body. The design was refined through iterative failure analysis, enabling, for the first time, consistent eversion on a TPU-coated ripstop nylon vine robot. To quantitatively evaluate mount performance, we introduce a custom testbed that isolates tip mounting effects by measuring tail tension during eversion. Comparative experiments across multiple mount variants, including prior designs, show that our triangular roller mount achieves the lowest tail tension and most repeatable growth performance. These results establish both a validated tip mount design and a repeatable benchmarking framework for advancing sensor and tool integration in soft growing robots. CAD for the mount and testbed is available at: https://sprout-mitll.github.io/tip_mounts/.
arXiv:2606.06218v1 Announce Type: new
Abstract: A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot. In contact-rich, dynamic manipulation, even small motion discrepancies can result in failure to track reference motion, since they disrupt the timing and modes of contact. Common remedies, such as domain randomization or system identification, either produce overly conservative task policies or require data that must be recollected for each robot or payload. We introduce the Torque Adaptation Module (TAM), a learned module that adapts the torque commands sent to the robot to match the behavior of an ideal robot. TAM operates between the low-level controller that tracks the policy's actions and the robot's torque interface. It includes a history encoder that embeds proprioceptive history into a latent state and a torque adaptor that computes residual torque corrections. Because TAM depends only on proprioceptive history and not on policy observations, or the action space, the same TAM weights can be reused to adapt policies with different action spaces (joint targets, end-effector targets, or direct torques). The policies themselves do not need to be trained with domain randomization of robot parameters. Instead, we offload the need for domain randomization to TAM by training it entirely in randomized simulation, using multi-robot pretraining followed by a robot-specific fine-tuning step that still requires no real-robot data. We evaluate TAM zero-shot on a real Franka Panda robot across dynamic manipulation tasks that include a vision-based box pushing policy (from RL), a flip policy (from BC), and an MPC ball-on-plate balancing. Our experiments show that TAM improves zero-shot real-robot execution compared to online system identification and RMA baselines and enables robust dynamic manipulation performance.
arXiv:2606.03100v2 Announce Type: replace
Abstract: Recently, zero-shot 3D scene understanding via 2D Vision-Language Models (VLMs) has gained increasing research interest due to their promising spatial reasoning capabilities. Typically, multiple 2D views are sampled from a 3D point cloud and fed into pre-trained VLMs to answer a given question. This paradigm highlights the critical role of input context quality and raises the challenge of retaining as many task-relevant 3D details as possible under a limited input budget. We propose \texttt{KeyVT}, a hierarchical approach for input context collection at both the view and token levels. Specifically, we combine pixel features with camera parameters and assess view importance based on both semantic content and geometric position, resulting in spatially consistent and task-relevant views. Furthermore, we address redundancy among patches across selected views by identifying representative tokens under the optimal transport (OT) framework, where view tokens and key tokens are formulated as two discrete distributions in the embedding space. These key tokens are expected to cover all view features by minimizing the OT distance. We evaluate our framework on three widely used benchmarks, demonstrating significant improvements over existing tuning-free methods and performance comparable to training-based approaches.
arXiv:2606.06358v1 Announce Type: new
Abstract: RTK augmentation andINS integration are widely used to improve GNSS positioning performance. However, on inland waterways, bridges and surrounding structures can degrade satellite visibility and correction availability, causing RTK augmentation loss, and GNSS/INS fusion transients. Since these effects depend on the local environment and sensor configuration, nominal receiver specifications are insufficient, and deployment-specific characterization is required. This paper presents a benchmarking study of an AsteRx-i3 D Pro+ GNSS/INS receiver installed within the mobile Sensor Box developed at KU Leuven. The study combines a real-world bridge-passage case study, static benchmarking, and closed-loop path-following experiments. The static benchmarking evaluates four receiver configurations: standalone GNSS, standalone GNSS with INS integration, RTK-augmented GNSS, and RTK-augmented GNSS with INS integration. The closed-loop experiments use INS-integrated GNSS as the navigation input and compare path-following operational performance with and without RTK augmentation. Results show that correction loss during bridge passage causes reduced positioning accuracy, increased positioning uncertainty and recovery-induced state jumps exceeding 1 m. Static benchmarking and closed-loop experiments confirm that RTK augmentation substantially improves positioning precision and uncertainty consistency, while INS integration supports short-term continuity during RTK unavailability but may introduce drift, bias, or transient uncertainty variations. By characterizing the deployment-specific receiver behavior with RTK augmentation and INS integration, this study motivates higher-level state estimation as a necessary next step toward spatially continuous and uncertainty-consistent positioning on inland waterway. The experimental data are released at: https://doi.org/10.5281/zenodo.20541733.
arXiv:2606.06364v1 Announce Type: new
Abstract: Subgraph detection seeks to identify whether and where instances of query patterns occur within a larger graph. This problem is fundamental across scientific domains and is closely related to subgraph isomorphism, which is NP-complete, limiting combinatorial approaches to small patterns or moderately sized graphs. We introduce GraphDETR, a deep learning framework that formulates subgraph detection as a set prediction problem, analogous to DETR in object detection. GraphDETR encodes the target graph with a graph neural network, and employs a fixed set of learnable query vectors, decoded via a transformer decoder, to predict all pattern occurrences jointly in a single forward pass. This is enabled by training the model end-to-end with bipartite matching. Unlike traditional combinatorial methods that only solve exact structural matching, GraphDETR naturally extends to approximate matching, enabling detection beyond exact pattern correspondence. Empirically, we show that GraphDETR can detect diverse patterns, such as molecular structures, cycles, cliques, and fuzzy patterns of up to 50 nodes, in target graphs with up to 1000 nodes. We further evaluate on molecular functional group detection over the ChEMBL dataset, where GraphDETR predicts the complete set of functional groups per molecule, achieving a strong performance of $\text{AP}_{100} = 91.2$.
arXiv:2512.19060v2 Announce Type: replace
Abstract: It is shown that the problem of computing the Strahler number of a binary tree given as a term is complete for the circuit complexity class uniform $\mathsf{NC}^1$. For several variants, where the binary tree is given by a pointer structure or in a succinct form by a directed acyclic graph or a tree straight-line program, the complexity of computing the Strahler number is determined as well. We show that the problem of deciding whether a given context-free grammar in Chomsky normal form produces a derivation tree with a Strahler number of at least $k$ is $\mathsf{P}$-complete. If the derivation tree is restricted to be acyclic, the problem becomes $\mathsf{PSPACE}$-complete.
arXiv:2606.06390v1 Announce Type: new
Abstract: Indoor scene generation is crucial for robot simulation and modern interior design. However, complex layouts together with scarce 3D scene data make learning-based generation challenging. Existing methods often rely on hand-crafted rules or focus on isolated sub-tasks (e.g., floorplan synthesis or single-room furnishing), producing whole-home scenes that lack global coherence, realism, and simulation readiness. To mitigate these limitations, we propose a unified hierarchical framework that decomposes indoor scene synthesis into controllable stages. First, we curate a large-scale dataset of 300K real residential floorplans to train a large language model for whole-home floorplan generation. With detailed descriptions and a K-D tree-based representation, our method enables fine-grained, controllable whole-home floorplan generation. Building upon the generated whole-home floorplan, we leverage image generation models to draft furniture layouts from multi-level roaming viewpoints, and then generate the layouts of small manipulable objects on different supporting surfaces (e.g., cabinets, desks, and dining tables) for embodied AI simulation. During furniture and object layout generation, a VLM-based refiner iteratively corrects furniture and object placement, and a 3D generative model enables flexible replacement of individual assets. We further attach basic physical attributes and simple surface texture and lighting setups to complete the pipeline for embodied AI use. Experiments and user studies demonstrate that our pipeline produces indoor spaces with greater layout diversity and stronger 3D design appeal, outperforming prior methods on both quantitative and qualitative metrics. Finally, alongside our generation pipeline, we will release the floorplan dataset and 5K fully furnished scenes to the community. Project Page: https://kairos-homeworld.github.io/