arXiv:2606.05581v1 Announce Type: new
Abstract: Intrinsic methods fill the default toolbox for geometry processing on meshes. Intrinsic operators, in particular the Laplacian, underlie methods that require invariance to isometry and have hence been employed in many algorithms for shape analysis, learning, and editing. However, intrinsic methods are predicated on assumptions that quickly become brittle when working with in-the-wild geometry, where (i) mesh quality is not guaranteed, and (ii) many meshes are modeled with multiple connected components. In such settings, volumetric constructions are better-defined, since restrictions on surface topology can be relaxed. This paper presents a Monte Carlo method for estimating the Dirichlet-to-Neumann (DtN) operator -- a boundary-to-boundary volumetric operator -- and its associated Steklov eigenmodes. We build on recent developments in Monte Carlo geometry processing by casting this boundary operator itself as the subject of estimation. The DtN operator, defined through a volumetric stochastic process, is then generalized to the exterior domain, where it couples disconnected components through the surrounding ambient space. We show that our method is orders of magnitude faster than existing boundary-element approaches for computing Steklov spectra while remaining robust to poor triangulations, high-resolution meshes, and multi-component geometry. To demonstrate this scalability, we compute interior and exterior Steklov eigenspectra for approximately 450,000 shapes from the uncurated Objaverse dataset. We incorporate these operators into Steklov-CLIP, a mesh-based neural network that uses volumetric spectral operators for large-scale contrastive 3D representation learning. The resulting network learns semantically meaningful global and dense shape representations, illustrating that geometrically-principled volumetric operators can be made practical at the scale of modern 3D datasets.
Science Journals
arXiv:2505.03336v2 Announce Type: cross
Abstract: Recommender systems based on Large Language Models (LLMs) are often plagued by hallucinations of out-of-domain (OOD) items. To address this, we propose RecLM, a unified framework that bridges the gap between retrieval and generation by instantiating three grounding paradigms under a single architecture: embedding-based retrieval, constrained generation over rewritten item titles, and discrete item-tokenizer generation. Using the same backbone LLM and prompts, we systematically compare these three views on public benchmarks. RecLM strictly eradicates OOD recommendations (OOD@10 = 0) across all variants, and the constrained generation variants RecLM-cgen and RecLM-token achieve overall state-of-the-art accuracy compared to both strong ID-based and LLM-based baselines. Our unified view provides a systematic basis for comparing three distinct paradigms to reduce item hallucinations, offering a practical framework to facilitate the application of LLMs to recommendation tasks. Source code is at https://github.com/microsoft/RecAI.
arXiv:2606.06232v1 Announce Type: new
Abstract: Laser plasma accelerators can deliver high-energy, quasi-monoenergetic electron beams over centimeter-scale distances. In this work, we report on the generation of narrow, quasi-monoenergetic electron bunch trains with periodic energy spacing issued from downramp injection in a laser driven wakefield accelerator. The periodicity in energy is shaped via relativistic lengthening of the wakefield during the acceleration phase, while the spatial periodicity is obtained via injection into multiple plasma periods. At the end of the accelerator, a rotation in phase-space is performed to compress each bunch in energy, producing narrow periodic spikes in the spectrum. The experimental observations are supported by particle-in-cell simulations, which reproduce the formation and evolution of the periodic bunch trains, providing an insight into the underlying plasma dynamics.
arXiv:2606.05222v1 Announce Type: new
Abstract: Artificial intelligence (AI) has been applied across educational contexts to support learning. One approach to such support is "human-AI collaboration" (also termed "hybrid intelligence"), where human(s) and AI components interact to promote human learning. However, as in human-to-human computer-supported collaborative learning (CSCL), unstructured interaction does not necessarily produce an effective learning experience. This paper reports a systematic literature review of empirical studies (N=62) on human-AI collaboration and hybrid intelligence for learning support. The review characterizes collaboration processes, their structures, and contexts of application. It also extracts emerging design knowledge and research gaps. Researchers and technology designers can use these findings as a starting point for structuring more effective AI-enhanced technologies for collaboration, in educational practice and future research.
arXiv:2606.05232v1 Announce Type: new
Abstract: Efficient multimodal foundation models often rely on manually designed token-reduction operators, such as pruning, merging, pooling, and adaptive reweighting. Although these operators appear different, we show that they can be interpreted as distinct regimes of a shared operator space. Based on this view, we introduce Efficient Operator Search, a differentiable framework that jointly searches where to reduce tokens, how many tokens to retain, and how reduced token information should be processed. The proposed search space parameterizes layer activation, retention budget, and operator behavior, while the search policy optimizes task performance under one-sided budget and cost constraints. This formulation recovers representative hand-designed baselines as special cases and further discovers hybrid operators beyond isolated manual designs. Experiments on multimodal benchmarks show that the searched operators achieve competitive accuracy-efficiency trade-offs, especially under aggressive visual-token reduction. These results suggest that efficient multimodal inference can be reframed from manual operator design to differentiable operator search.
arXiv:2606.05606v1 Announce Type: new
Abstract: LLM post-training often relies on reinforcement learning methods that sample multiple rollouts per prompt, yet most existing approaches use a fixed rollout budget for every prompt, despite large differences in the training signal different prompts provide. In this paper, we study adaptive rollout allocation under a fixed global budget and formulate the problem as online resource allocation with prompt-level diminishing returns. Our method, CERO, maintains a Beta posterior over each prompt's success probability and uses the posterior expected Bernoulli variance as a Bayesian estimate of the value of additional rollouts. We use this estimate to construct a concave, saturating utility over cumulative allocations, yielding an objective in which decisions across prompts and epochs are coupled by the global budget. Since the resulting objective is temporally nonseparable, we derive a Fenchel-dual reformulation and update both prompt-level and budget-level dual variables via projected online gradient descent. Under fixed prompt utilities, we prove an $O(\sqrt{K})$ regret bound against the offline allocation benchmark. Experiments on mathematical-reasoning problems show that CERO consistently outperforms GRPO across multiple open-weight LLMs and benchmarks, demonstrating that adaptive rollout budgeting can improve sample efficiency.
arXiv:2606.05677v1 Announce Type: new
Abstract: Multimodal Large Language Models (MLLMs) have advanced image and video understanding and can increasingly handle longer visual inputs. Long-horizon tasks such as autonomous driving and robotic navigation require more than recognizing the current view, as models must remember and retrieve previously observed spatial layouts, routes, viewpoint changes, and object states. To evaluate this capability, we introduce LongSpace-Bench, a room-tour video benchmark for long-horizon spatial memory, covering scene perception, spatial relations, and spatial memory. In this work, we further propose LongSpace, a memory framework for long-video spatial reasoning. LongSpace models long videos as sequential chunks, incorporates 3D structural cues into early decoder layers, and constructs layer-aware memory for question-guided retrieval. Experiments on multiple spatial reasoning benchmarks show that LongSpace improves long-video spatial understanding, further demonstrating explicit spatial memory as a key capability for long-horizon video MLLMs.
arXiv:2606.05219v1 Announce Type: new
Abstract: Recent analyses of multi-pathway Deep Linear Networks use Gradient Flow to predict a "winner-takes-all" specialization in which path symmetry breaks and each feature concentrates in a single pathway. In this work, we show that discrete Gradient Descent (GD) with a large step size tells a different story. We prove that single-path solutions are sharp minima, whereas distributing signals across pathways reduces sharpness by a factor that decreases with both the number of pathways and depth. Consequently, while early training reproduces the depth-driven symmetry breaking predicted by GF, oscillations at the Edge of Stability subsequently override this tendency and drive the network into a re-balancing phase, where signals redistribute across pathways. Together, these results clarify how depth shapes pathway competition and explain why large-step GD favors shared representations rather than persistent single-pathway dominance.
arXiv:2508.10555v2 Announce Type: replace
Abstract: In this study, we extend the contrast source inversion to a fully differentiable, unsupervised framework based on a neural implicit representation of the contrast source. Specifically, instead of a pixel-wise discrete representation, the contrast source is parameterized by a lightweight residual multilayer perceptron (ResMLP) as a continuous neural field conditioned on spatial coordinates and transmitter settings. This continuous parameterization provides a more flexible representation of the contrast source and improves reconstruction accuracy and robustness under noisy measurements. Building on this representation, the state equation and data equation are combined with total-variation regularization to form a differentiable objective function. By reformulating the VIE-constrained inversion as an end-to-end differentiable optimization problem, the network parameters and the medium contrast are jointly optimized via automatic differentiation. Within the same framework, both full and phaseless data inversion are accommodated by only modifying the data misfit function. Numerical experiments demonstrate that this scheme yields higher reconstruction accuracy and robustness than conventional CSI across a range of noise levels and measurement settings. The continuous neural field further enables super-resolution inference at resolutions finer than the training grid, decoupling inversion cost from reconstruction fidelity. Ablation studies and comparisons with alternative neural architectures further confirm that the contrast source parameterization and VIE-based formulation are both essential to the observed improvements.
arXiv:2606.05387v1 Announce Type: cross
Abstract: The encoding of classical data into quantum states constitutes the primary performance bottleneck in Quantum Machine Learning (qml) on Noisy Intermediate-Scale Quantum (nisq) devices. No existing framework jointly characterises resource cost, expressivity, and noise robustness, nor provides actionable selection guidelines for practitioners. This survey addresses that gap through a systematic review of 66 primary works (2017-2026) assembled via a PRISMA-adapted protocol across five academic databases. Four principal contributions are made. First, a three-axis cost-expressivity-robustness taxonomy classifies all major encoding families - basis, angle, dense-angle, amplitude, data re-uploading, and IQP - along independently measurable axes. Second, closed-form depth-fidelity bounds under nisq decoherence channels identify the critical gate-error rate p* ~ 10^-3 below which amplitude encoding is viable. Third, a unified treatment of Fourier expressivity, barren-plateau onset, and quantum kernel concentration as functions of the encoding circuit provides the first joint trainability analysis. Fourth, a five-regime decision framework maps (D, n, p, tau) - feature dimension, qubit budget, error rate, and task type - to a hardware-grounded encoding recommendation. The central finding is that for p >= 10^-3, shallow angle-based encodings consistently outperform amplitude encoding in practice, despite the latter's exponential qubit advantage.
arXiv:2606.06240v1 Announce Type: new
Abstract: Persistent memory for an LLM agent is a write-heavy substrate: every belief update is a versioned write, and a new claim may contradict a stored one. Production systems use four resolution heuristics (last-writer-wins, evidence-weighted merge, await-confirmation, per-rule policy), yet none declares the isolation level it assumes or the write-time anomalies it admits. We show that contradiction resolution is write-time concurrency control and make the missing contract explicit. TOKI types the four heuristics as one family of bitemporal operators over a dual-row schema, each with an isolation precondition and a provenance annotation that preserves the losing fact in an audit row. Four soundness theorems close the contract across isolation, schema, and provenance, lift the guarantees to operator pipelines, and extend the fold operators to n-ary conflict sets. A tightness companion proves that, within the relational schedule model, keyed logging of the adjudicating judge is necessary for replay consistency, which every audited baseline omits. A verdict matrix over eight systems localizes the gap: every baseline that keeps a language-model judge on the write path admits at least one of three write-time anomalies (replay inconsistency, belief-drift skew, audit erasure); a content-addressed engine-layer comparator avoids them only by removing the judge, and TOKI alone excludes all three while keeping it. On its one natural-workload slice the audit-row defence moves LoCoMo by 0.86, and ablating the typed memory layer removes 0.49 accuracy on 1,444 answerable LoCoMo questions; the cross-system comparison stays underpowered and claims no superiority. The contribution is the contract: a write-time correctness specification, proved sound across isolation, schema, and provenance, pinning the guarantee every production heuristic assumes but no deployed system makes explicit.
arXiv:2511.13183v2 Announce Type: replace
Abstract: Tractography is the process of inferring the trajectories of white-matter pathways in the brain from diffusion magnetic resonance imaging (dMRI). Local tractography methods, which construct streamlines by following local fiber orientation estimates stepwise through an image, are prone to error accumulation and high false positive rates, particularly on noisy or low-resolution data. In contrast, global methods, which attempt to optimize a collection of streamlines to maximize compatibility with underlying fiber orientation estimates, are computationally expensive. To address these challenges, we introduce GenTract, the first generative model for global tractography. We frame tractography as a generative task, learning a direct mapping from dMRI to complete, anatomically plausible streamlines. We compare both diffusion-based and flow matching paradigms and evaluate GenTract's performance against state-of-the-art baselines. Notably, GenTract achieves precision 1.8x and 2.1x higher than the next-best methods, DDTracking and TractOracle, respectively. This advantage becomes even more pronounced in challenging low-resolution and noisy settings, where it outperforms the closest competitor by a factor of 3.5. By producing tractograms with high precision on research-grade data while also maintaining reliability on imperfect, lower-resolution data, GenTract represents a promising solution for global tractography.
arXiv:2511.14224v3 Announce Type: replace
Abstract: Automated unit test generation using large language models (LLMs) holds great promise but often struggles with generating tests that are both correct and maintainable in real-world projects. This paper presents KTester, a novel framework that integrates project-specific knowledge and testing domain knowledge to enhance LLM-based test generation. Our approach first extracts project structure and usage knowledge through static analysis, which provides rich context for the model. It then employs a testing-domain-knowledge-guided separation of test case design and test method generation, combined with a multi-perspective prompting strategy that guides the LLM to consider diverse testing heuristics. The generated tests follow structured templates, improving clarity and maintainability. We evaluate KTester on multiple open-source projects, comparing it against state-of-the-art LLM-based baselines using automatic correctness and coverage metrics, as well as a human study assessing readability and maintainability. Results demonstrate that KTester significantly outperforms existing methods across six key metrics, improving execution pass rate by 5.69% and line coverage by 8.83% over the strongest baseline, while requiring less time and generating fewer test cases. Human evaluators also rate the tests produced by KTester significantly higher in terms of correctness, readability, and maintainability, confirming the practical advantages of our knowledge-driven framework.
arXiv:2606.06238v1 Announce Type: new
Abstract: We propose a statistical-field framework for text generated by large language models (LLMs), treating token embeddings as continuous spin variables on a one-dimensional chain. Defining a susceptibility from the connected two-point correlator and an order parameter from the ensemble-averaged embedding field, we vary the \texttt{softmax} temperature $T$ and observe a sharp susceptibility peak near a characteristic $T_c$ with power-law-like scaling, a concurrent rapid change in the order parameter, and a collapse onto a single semantic direction below $T_c$. The intrinsic dimension estimated by the two nearest neighbor (TwoNN) method independently corroborates these findings, reaching a minimum near $T_c$. Results are robust across model scales (Qwen3: 0.6B--32B) and prompt categories. While the phenomenology closely resembles a continuous phase transition, the non-equilibrium nature of autoregressive generation warrants further investigation. Our framework provides quantitative tools for probing the collective statistical structure of LLM outputs and suggests connections between decoding strategies and critical phenomena.
arXiv:2606.05698v1 Announce Type: new
Abstract: Parametric retrieval augmentation encodes document information into lightweight, document-specific modules such as LoRA adapters, reducing the need to include all evidence as input context. However, it remains unclear how this parameter-side memory interacts with context-side memory stored in the KV cache. We study this interaction in document-level question answering by progressively evicting document key-value states and measuring when a document LoRA contributes beyond the retained context. We find that document LoRA adds little when the KV cache is largely intact, but becomes increasingly useful under aggressive compression, recovering 13-21 ROUGE-L points when no document context remains. The gain is largest when the base model encodes the document, and the adapter is applied only during answer generation, suggesting that document LoRA is better understood as decoding-time parametric memory than as a document encoder. Finally, QA-style supervision produces substantially stronger adapters than raw-context next-token-prediction. These results position document LoRA as a complementary memory channel whose value emerges precisely when context-side evidence is scarce.
arXiv:2606.05697v1 Announce Type: new
Abstract: User interface (UI) and user experience (UX) evaluation is central to product development, yet reliable feedback still relies on recruiting human participants or running online A/B tests, making early-stage iteration slow and costly. In light of this, recent work has explored Multimodal Large Language Models as proxy evaluators. However, existing approaches either produce surface-level critiques or a judgment that reflects the model's own biases rather than the genuine response of a particular user. We introduce PerceptUI, a framework for persona-conditioned UI/UX evaluation that predicts how a specific user would answer interface-related questions and produces natural-language rationales. PerceptUI is trained in two stages: (i) contrastive reflection fine-tuning distills teacher-generated rationales by extracting lessons from human decisions, and (ii) a reflective prompt-evolution step from the model's own failure traces. Across multiple domains and datasets, PerceptUI achieves human-level realism, generalizes to unseen questions and personas, and yields population-level response distributions.
arXiv:2606.05753v1 Announce Type: new
Abstract: Latent visual reasoning (LVR) inserts supervised latent tokens between perception and answer generation in vision-language models (VLMs). The field uses alignment between these latents and their visual targets, i.e., cosine similarity or mean squared error (MSE), as both the training loss and the quality metric, assuming that better alignment yields a better answer. We test this with a designed matrix of five LVR variants and find the assumption inverted: cosine alignment is negatively correlated with accuracy across all five (r=-0.94). To explain this, we introduce PRISM, a pair of inference-time diagnostics: a linear probe that asks where the answer is decodable, and a corruption test that asks whether the latent is load-bearing. The supervised latents are largely bypassed. Corrupting them shifts accuracy by at most four points. The answer is decodable downstream of the latent but not at it, and the size of this decodability gap predicts how much each variant relies on its latent under perturbation. Consistent with an Information Bottleneck reading of the loss, the auxiliary objective reshapes the language model via shared parameters rather than via the latent variable it nominally optimizes.
arXiv:2606.05768v1 Announce Type: new
Abstract: Hopfield networks offer a hardware-friendly framework for energy-efficient associative memory, yet their practical realization in memristor crossbar arrays is critically hindered by device-to-device (D2D) variability, which prevents reliable parallel programming. Here, we address this bottleneck through systematic composition engineering of the Ge-Te solid electrolyte in conductive bridge random access memory (CBRAM) devices. By varying the Ge:Te ratio, we identify Ge3.5Te1 as an optimal electrolyte composition that suppresses stochastic resistance variation by approximately three orders of magnitude compared to GeSe-based devices. Raman spectroscopy reveals that this dramatic improvement originates from a bonding network dominated by asymmetric-stretching GeTe4 tetrahedral units, which form interconnected free-volume channels that confine and stabilize Cu+ ion migration pathways. Leveraging this enhanced uniformity, we fabricate a selector-less 16x16 Cu/Ge3.5Te1 CBRAM crossbar array and demonstrate a 4x4 Hopfield associative network capable of learning and recalling binary pattern pairs via fully parallel programming using a half-selection scheme. Successful pattern recall is achieved for up to two stored associations despite the absence of selector elements, establishing a proof-of-concept for selector-free hardware implementations of associative memory. These results highlight the critical role of electrolyte bonding structure in determining memristor uniformity and provide a materials-driven pathway toward scalable, parallel neuromorphic computing systems.
arXiv:2606.06217v1 Announce Type: new
Abstract: When a disaster unfolds, responders must answer not only what is happening, but also why it is happening, what will happen next, and what to do now, often from noisy low-altitude UAV views and under tight on-site compute constraints. However, most existing multimodal benchmarks emphasize perception (e.g., recognition/description), cover limited disaster types, and provide insufficient support for the multi-stage reasoning required in practical emergency response. We introduce DisasterBench, a multi-stage multimodal reasoning benchmark for UAV-Based disaster response in complex environments. DisasterBench spans 14 disaster-related scene types and 9 response-critical tasks across pre-, during-, and post-disaster stages, with fine-grained disaster-task mappings that explicitly test causal attribution, propagation prediction, damage analysis, and decision-oriented reasoning. To enable reasoning on the edge, we further propose DisasterVL, a lightweight multimodal model optimized with a three-stage pipeline combining domain instruction tuning, chain-of-thought-guided multimodal alignment, and reinforcement learning-based policy optimization. Experiments across 21 popular MLLMs show that our 2B-parameter DisasterVL outperforms all evaluated open-source models and substantially narrows the gap to state-of-the-art closed-source models, achieving GPT-4o-comparable reasoning accuracy with superior efficiency. The project page is available at https://github.com/TanmouTT/DisasterBench.
arXiv:2605.25582v2 Announce Type: replace
Abstract: Reinforcement learning for large language models faces a fundamental trade-off between sample efficiency and asymptotic performance: strictly on-policy methods discard trajectories after a single update, while off-policy reuse introduces distribution mismatch that existing trust-region techniques mitigate primarily by enforcing conservative optimization, often leaving rich training signals underutilized. To investigate this, we perform extensive off-policy updates on fixed data. Our experiments reveal that aggressive multi-step optimization brings rapid initial gains, but excessive updates cause trajectory probabilities to deviate and entropy to collapse, with performance plateauing early. Tightening KL constraints merely lowers the ceiling without resolving the degradation. This motivates Extreme Region Policy Distillation (ERPD), a two-stage framework that decouples sample efficiency from KL efficiency. The first stage performs weakly constrained off-policy optimization on fixed data to maximally extract training signals. The resulting policy provides token-level supervision. In the second stage, we distill these signals into the base policy under trust-region constraints, filtering harmful drift while preserving useful signals. The distilled policy achieves comparable or better performance with substantially smaller KL divergence, indicating that much of the first-stage divergence was spent on unnecessary drift rather than genuine improvement. Crucially, ERPD accommodates both strong and weak teachers: when aggressive optimization yields no stronger policy, even degenerate teachers provide effective supervision via alternative signal construction strategies. We validate ERPD on mathematical reasoning, showing gains for strong base models where on-policy training plateaus, and reliable improvements with weak teachers.
arXiv:2606.05695v1 Announce Type: new
Abstract: Exemplar-free class-incremental learning (EFCIL) aims to acquire new classes over time without storing raw data. Historically, prototype rehearsal, which samples around stored class prototypes and mixes them with current-task data, has been a popular strategy to reduce catastrophic forgetting. However, recent drift-compensation methods that explicitly realign prototypes in the evolving feature space consistently outperform prototype-based rehearsal, raising the question of whether rehearsal itself is fundamentally limited. We argue that the performance gap stems not from the idea of prototype rehearsal per se, but from how it is typically instantiated: existing approaches treat prototypes as isolated class summaries that ignore information from nearby enemy classes, and fail to correct the emerging class imbalance between a handful of synthetic old-class samples and hundreds of real instances from newly introduced classes. Building on this hypothesis, we revisit prototype rehearsal and propose a manifold-aware variant that restores its competitiveness in EFCIL. First, we introduce Constrained Expansive Over-Sampling, which interpolates each old-class prototype toward its nearest enemy features from new classes, generating boundary-aware rehearsal samples that better follow the underlying data manifold while preserving inter-class separation. Second, we design an Adaptive Class-Balanced loss that performs time-based class weighting, amplifying gradients from older prototypes when they are most informative and gradually annealing their influence as richer supervision from later tasks accumulates. Together, these components turn prototype rehearsal into a drift-resilient, imbalance-aware mechanism that closes, and often reverses, the gap to recent drift-compensation methods, achieving state-of-the-art performance across multiple EFCIL benchmarks.
arXiv:2606.05688v1 Announce Type: new
Abstract: Mixture-of-Experts (MoE) models scale foundation models efficiently by activating only a subset of experts for each token, but their large number of expert parameters still makes quantization essential for practical deployment. Unlike dense models, however, MoE models are sensitive to routing instability: small quantization-induced perturbations can change the top-$k$ expert selection, altering the computation path and degrading model quality. We propose Value-and-Structure Routing Alignment for Quantization (VSRAQ), a MoE-specific post-training quantization objective that preserves pre-quantization expert-selection behavior under quantization. VSRAQ combines two complementary objectives that jointly preserve expert-selection behavior: value alignment, which matches routing-relevant logits or scores, and structure alignment, which preserves expert ordering and top-$k$ decision boundaries. By maintaining routing consistency, VSRAQ reduces quantization-induced degradation without introducing any inference-time overhead and can be integrated into existing quantization frameworks. Experiments on recent MoE foundation models show that VSRAQ improves expert-selection consistency and consistently outperforms reconstruction-only and router-aware baselines.
arXiv:2606.05687v1 Announce Type: new
Abstract: In humanoid motion control, model predictive control (MPC) offers physically grounded prediction and constraint handling, while reinforcement learning (RL) enables robust whole-body skills through large-scale simulation. However, using MPC inside RL often requires time-consuming problem construction or excessive training overhead, making such frameworks difficult to justify in practice. This work studies efficient training-time MPC guidance for humanoid locomotion and manipulation, termed MPC-RL. We introduce a centroidal-dynamics MPC reward formulation that leverages guidance from MPC trajectories in training time. To make this practical in massively parallel RL, we develop $\pi^n$MPC, a parallel-in-horizon and construction-free batched GPU MPC solver that operates directly on time-varying dynamics to avoid high memory usage and pre-compilation. Through a variety of comparative studies and hardware validations, we have found that MPC-RL achieves superior performance in locomotion and manipulation skills. The code base is available at https://github.com/junhengl/mpc-rl.
arXiv:2606.05203v1 Announce Type: new
Abstract: The interaction of charged particles with an intense laser pulse gives rise to a number of characteristic spectral features of emitted radiation, including the generation of harmonics, spectral broadening due to the phase-dependent ponderomotive red shift, and the emergence of intricate sub-harmonic structures. These effects are accumulated over the course of the interaction with the electromagnetic field and are therefore inherently nonlocal in nature. For a deeper understanding of strong-field quantum electrodynamics (SFQED) processes and their practical applications, it is desirable to employ tools that enable simultaneous analysis in the time and energy domains. In time-frequency analysis, such tools are provided by joint distributions (JDs). In this work, we demonstrate how a JD can be devised within the SFQED framework. Specifically, we focus on constructing a non-negative JD, which allows for a clear probabilistic interpretation. We study the properties of the proposed distribution and test its utility by applying it to the nonlinear Compton scattering in complex laser pulse configurations with carrier-envelope phase and variable polarization.
arXiv:2606.05201v1 Announce Type: new
Abstract: Reasoning language models do not distinguish tokens used for computation from tokens that constitute persistent state: once generated, all hidden thoughts remain in context and influence future predictions. As a result, downstream reasoning may depend on failed attempts, dead ends, and private scratch work that should not be safely relied on later. We recast this phenomenon as a new training objective, state commitment learning: training models to explicitly distinguish information that should be committed as persistent state from temporary computation that can be discarded. We define a counterfactual criterion, persistent-state sufficiency, which makes it trainable and measurable whether an answer remains usable after hidden thoughts are erased. We then propose Counterfactual Erasure RL (CERL), which evaluates, under the same prefix, both a path that keeps hidden thoughts and a path that erases them, and gives reward only when the erasure path remains correct. We also introduce the Erasure Dependence Protocol and show across mathematics, long-chain logic, scientific QA, and multi-turn tool-use evaluation that CERL substantially reduces answer dependence on hidden thoughts without sacrificing accuracy, consistently outperforming correctness-only RL and long-answer SFT baselines.