arXiv:2606.03352v1 Announce Type: new
Abstract: Modern data center applications increasingly require microsecond-scale service time with strict tail latency requirements, which can hardly be realized with existing in-network task schedulers due to their inherent limitations. Specifically, software-based schedulers struggle to balance throughput and latency, while switch-based designs either lack global coordination, rely on packet recirculation heavily, or only offer limited support for large tasks. In light of these restrictions of the state-of-the-arts (SOTAs), we, in this work, propose Rain, an RDMA-assisted in-network scheduler built atop programmable switches that maintains centralized queues while bounding worker-local queues. Rain introduces a bidirectional on-switch queuing mechanism to buffer and match tasks and worker-issued tokens directly in the switch, avoiding worker-side polling and approximating the optimal behavior of join-bounded-shortest-queue without global aggregation. A switch-driven RDMA engine pre-writes arbitrarily large tasks via one-sided WRITE multicasts, keeping only compact metadata on the switch. Slice-aware scheduling further localizes decisions to more homogeneous queues, reducing dispersion-induced head-of-line blocking. Moreover, our study reveals that real-world systems can diverge from theoretical predictions: shallower worker queues do not always improve tail latency. Leveraging this insight, Rain incorporates an adaptive scheduling strategy to optimize worker queue depths and worker-to-slice mappings at runtime. Evaluations with the real-world application RocksDB show that Rain achieves 1.75x higher throughput than the best-performing SOTA while satisfying the same tail latency requirement.
Science Journals
arXiv:2606.03237v1 Announce Type: new
Abstract: AI's central challenge is shifting from capability to coexistence. The dominant paradigm in AI research focuses on developing powerful agents that treat the world as an exogenous and stationary source of feedback. We contend that superintelligence, an extremely capable task solver, born out of such a solipsistic approach to AI design, is unlikely to be cooperative. Deploying AI systems induces endogenous non-stationarity, resulting in a train-test-deploy gap where historical distributions diverge from the deployment context. We refer to this as the self-undermining property of unilateral optimization. Closing this gap requires AI that participates in cooperation: the equilibrium-selection process through which multiple actors navigate their interdependence. We call for a non-solipsistic research paradigm that treats this interdependence as a core design principle rather than approaching cooperation as a task to solve. This entails building dynamic evaluation testbeds involving adaptive counterparties, treating institutions as design primitives, and preserving human agency as a structural feature of the systems we build.
arXiv:2606.03240v1 Announce Type: new
Abstract: Current Vision--Language--Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment and dynamic affordance selection. We introduce GeoAlign, a state-guided spatial alignment architecture for VLA policy learning. GeoAlign post-trains an RGB geometry branch with robot-domain RGB-D supervision, yielding RGB-derived Geometry-Enhanced Post-Trained (GEP) features for policy rollout. The robot's proprioceptive state queries the GEP feature grid, producing compact, phase-dependent geometry tokens for action prediction. GeoAlign achieves 99.0% on LIBERO, 85.3% across three SimplerEnv-Fractal tasks, and 78.8% on eight geometry-critical real-world ALOHA tasks, with ablations confirming the value of geometry post-training and proprioceptive-state-guided querying.
arXiv:2606.03243v1 Announce Type: new
Abstract: Modern text-to-image models have achieved strong visual synthesis, yet remain unreliable when prompts require implicit visual constraints, relational reasoning, or external knowledge. Existing retrieval-augmented and agentic generation methods mitigate this issue by acquiring external knowledge, references, or refined prompts for the current request, yet they typically treat each generation as an isolated episode and do not systematically preserve past successes or failures for future use. In this work, we ask whether a text-to-image system can continually improve from its own generation experience without updating the underlying generator. We propose MemoGen, a training-free framework that augments existing image generators with an agentic evolution layer. For each task, MemoGen explicitly infers visual requirements, retrieves external evidence and references when necessary, translates them into executable generation constraints, evaluates the generated result, and stores task understanding, reference choices, visual feedback, successful strategies, and failure lessons as reusable experience memory. Across evolution rounds, the agent retrieves relevant experience to improve similar future generations, selectively repairing previously failed cases while preserving successful ones, thereby enabling test-time self-evolution without parameter updates. Extensive experiments on knowledge-intensive and reasoning-oriented benchmarks demonstrate the effectiveness of this paradigm: after only two evolution rounds, MemoGen built upon the open-source Qwen-Image backbone surpasses strong proprietary systems such as Nano Banana Pro and GPT-Image-1 on WISE and Mind-Bench, showing that explicit experience memory can serve as a powerful continual learning signal for reliable text-to-image generation.
arXiv:2605.25902v2 Announce Type: replace
Abstract: Narrowly finetuned language models memorize implanted content verbatim, but auditing what a deployed model has been taught, without access to its weights or training data, remains an open challenge. Recent work shows that activation differences between base and finetuned models carry readable traces of the finetuning domain; the state-of-the-art Activation Difference Lens (ADL) recovers a vague domain-level description but requires full "white-box" access to model internals. We introduce Contrastive Decoding Diffing (CDD), a model diffing method that operates on output-level logit distributions only, with no weight access, no layer selection, and no per-model tuning, yet recovers implanted facts. CDD consists of three ideas: bypassing the chat template to expose the raw finetuning prior, seeding generation with maximally vague pre-fills, and amplifying the logit-space difference between finetuned and base models at each decoding step. A single default configuration recovers implanted facts verbatim -- exact drug names, vote counts, physical measurements, and procedural details -- across four architectures (1B--32B parameters), uniformly outperforming ADL despite less access and running ~170x faster. Furthermore, CDD surfaces unintended data pipeline artifacts: a fictional persona introduced by the LLM data generator via mode collapse leaked into model weights and was extracted by CDD, constituting to our knowledge the first demonstrated end-to-end fingerprinting chain from data generator artifact to model weights to recovered output. We validate on real-domain finetuning settings, achieving near-perfect recovery across all single-dataset non-CoT variants and correctly identifying all four datasets in the mixed-dataset setting. CDD's success as a grey-box method outperforming white-box baselines underscores its practical utility for transparency and accountability in AI systems.
arXiv:2606.03248v1 Announce Type: new
Abstract: Large Language Model (LLMs)-assisted scholarly workflows introduce critical privacy and intellectual property risks. As a uniquely vulnerable cohort driven by publication pressure and a lack of institutional support, novice researchers rely heavily on public LLMs, compelling them to navigate high-stakes privacy-publication trade-offs. To investigate these concerns, we conducted semi-structured interviews with 44 researchers across diverse disciplines. Our findings reveal that the fear of idea leakage paradoxically accelerates, rather than deters, reliance on LLMs, as researchers utilize them to expedite publication. They also held misconceptions that their ideas lacked the unique value to attract targeted attacks, and that their inputs would be safely diluted within massive datasets, preventing reconstruction. From interviews, we identified five types of mitigations including input fragmentation and adversarial probing, though we found that participants largely perceived these measures as ineffective. We outline implications including implementing institution-level sandboxed isolation, scenario-based privacy pedagogy, and verifiable data-deletion audits for transparency.
arXiv:2606.02605v1 Announce Type: new
Abstract: Coronary artery stenosis is a common cardiovascular disease, with severe, untreated cases posing significant risks of heart attack. Although coronary (X-ray) angiograms remain the standard for stenosis diagnosis, they are invasive, time- and resource-intensive, and therefore only performed on patients with a high probability of disease based on symptoms and prior clinical tests. However, a subset of patients, especially those without symptoms, may remain undiagnosed. Detecting indications of stenosis from ECGs, which are fast, cheap, non-invasive, and thus routinely acquired even in asymptomatic patients, would support early diagnosis. However, as no reliable stenosis-specific signal has been identified in ECGs, they can not currently be used for stenosis risk stratification. To address this, we introduce StenCE, a pretraining framework, allowing stratification of patients based on features derived directly from ECGs. Evaluations across varying stenosis severity thresholds and additional ECG disease classification tasks demonstrate consistent performance improvements across different ECG encoders, outperforming previous work. The obtained models successfully detect signals for stenosis diagnosis in ECGs and are the first to achieve high performance in severe stenosis classification. The source code is available at https://github.com/NikolaCenic/ecg-stenosis-cls.
arXiv:2606.03253v1 Announce Type: new
Abstract: Pinching antennas are characterized by their capability to create strong line-of-sight connections and realize multi-antenna systems in a flexible manner. Existing works have demonstrated the significant potential of pinching antennas for physical layer design. The aim of this paper is to investigate how pinching antennas can be used to reshape the architecture of future networks. In particular, this paper is motivated by the key advantage of pinching antennas, which is to reconfigure the physical boundaries of wireless cells, and focuses on the impact of pinching antennas on traffic offloading. The models for traffic offloading and pinching antenna transmission are presented first. Then, two traffic offloading strategies are developed based on whether an offloading user releases its bandwidth in its original cell. An overall transmit power minimization problem is formulated, where the optimal solutions for the transmit powers and antenna locations are obtained. The presented simulation results demonstrate that the use of pinching antennas can efficiently support traffic offloading, yield low energy consumption, and achieve balanced cell resource utilization.
arXiv:2606.03255v1 Announce Type: new
Abstract: Virtual commissioning models (VCMs) of discrete manufacturing systems are used to validate automation behavior before physical deployment, but creating and maintaining them remains labor-intensive. Relevant engineering information is distributed across programmable logic controller (PLC) engineering projects, such as Siemens TIA Portal, and kinematic simulation models, such as Siemens NX Mechatronics Concept Designer (NX MCD), where it is stored in incompatible, tool-specific data structures. In practice, IEC 61131-3-based PLC programs and variables are engineered separately from rigid-body and kinematic simulation objects such as parts, joints, sensors, and actuators. As a result, understanding system behavior, generating simulation components, and mapping PLC variables to corresponding simulation objects require cross-domain expertise and remain largely manual. This paper presents a knowledge-graph-grounded multi-agent framework for semi-automated VCM development. A deterministic setup process extracts structured data from Siemens TIA Portal and Siemens NX MCD and transforms both sources into graph-based representations within a shared graph database. The framework uses a hierarchical multi-agent architecture to support three task classes in early-stage VCM development: system understanding, simulation component generation, and cross-domain signal mapping. It provides grounded natural-language access to engineering knowledge, template-guided generation of executable NX Open journal scripts, and ranked mapping suggestions between PLC variables and NX MCD simulation objects. Evaluation on a laboratory-scale discrete manufacturing system shows that the approach reduces manual cross-domain interpretation effort and makes recurring VCM engineering tasks more actionable.
arXiv:2606.03257v1 Announce Type: new
Abstract: Spiking Vision Transformer (SViT) models are promising low-power ViT models for solving vision-based tasks with state-of-the-art performance. However, their large sizes limit their deployments for resource-constrained embedded platforms, underscoring the needs of model compression. One of prominent compression techniques is pruning, and the state-of-the-art works employ unstructured pruning techniques to compress SViT models. Such techniques require specialized hardware architectures tailored for the sparsity patterns to maximize their efficiency benefits, making this approach not scalable. To address this, we propose PSViT, a novel methodology to perform structured pruning on SViT models, hence making it possible to efficiently accelerate their inference using the existing and widely-used computing architectures. To do this, PSViT employs several key steps: uniform channel-wise filter pruning to structurally eliminate the non-significant weights, sensitivity analysis to evaluate the impact of channel-wise pruning of individual layer on accuracy and network size, as well as fine-grained channel-wise pruning based on the sensitivity analysis and the given network architecture. Experimental results show that PSViT effectively obtains 22.4% memory saving through single-shot pruning, while maintaining high accuracy within 3% (70.3% without fine-tuning and 72.8% with fine-tuning) from the original non-pruned SViT model (73.3%) on the ImageNet-1K. These results also show that the PSViT methodology advances the effort in enabling efficient SViT deployments on resource-constrained applications.
arXiv:2606.03262v1 Announce Type: new
Abstract: Neural operators learn mappings between infinite-dimensional function spaces and provide a data-driven surrogate modeling paradigm for parametric partial differential equations (PDEs). Existing architectures typically obtain expressivity by parameterizing integral kernels in prescribed transform domains or by applying attention-like interactions over discretized spatial points. While these approaches have achieved substantial progress, they often face a persistent trade-off among physical interpretability, nonlocal spatial communication, mesh scalability, and computational cost. We propose a Light-inspired neural operator(LiNO), an operator-learning architecture whose latent evolution is decomposed into three mechanisms motivated by elementary light transport: reflection, refraction, and scattering. Reflection and refraction act as adaptive pointwise transformations in latent feature space, enabling local feature reorientation and anisotropic modulation, whereas scattering performs input-dependent nonlocal propagation over the physical domain. We first formulate scattering as a normalized pairwise kernel with relative positional bias, and then develop an efficient scattering variant that replaces explicit pairwise interactions with positive-feature global propagation and a local diffusion branch, reducing the dominant spatial complexity from quadratic to linear. This yields a structured neural operator that separates local feature modulation from global spatial communication while retaining a modular and interpretable latent evolution.
arXiv:2606.03265v1 Announce Type: new
Abstract: Accurate and robust localization remains a fundamental challenge for autonomous ground vehicles. In this work, we propose a hybrid neural inertial navigation framework that integrates a wheel-mounted inertial sensors, enforced periodic trajectories, and a simple, efficient neural network capable of regressing vehicle displacement with GNSS position updates in an error-state extended Kalman filter. The periodic trajectories increase the inertial signal-to-noise ratio, allowing the network to use only inertial readings to estimate displacement. The approach is validated through real-world experiments using multiple wheel-mounted inertial sensors. Experimental results demonstrate that the proposed method achieves a significant improvement in positioning accuracy, reducing the position root mean squared error by approximately 46 % compared to standard wheel-mounted inertial sensor fusion with GNSS updates.
arXiv:2606.02884v1 Announce Type: new
Abstract: Reward guidance algorithms steer a learned generative process toward the reward-tilted measure at inference time. While empirically powerful, these methods are prone to reward hacking: the guided model over-optimizes the reward at the cost of fidelity to the learned distribution. Prior work has attributed this to the complexity of neural reward functions or implicit biases in diffusion training, but its fundamental origins remain poorly understood. We show that reward hacking arises from an approximation made in most practical implementations of reward-guided diffusion -- finite-particle plug-in estimation of the Doob h-function -- even in the simplest non-trivial settings of Gaussian and Gaussian mixture targets with quadratic rewards. In closed form, we isolate two distinct failure modes of the plug-in estimator: it leads to reward hacking within each mode and it cannot select high-reward modes. We propose a closed-form reward damping schedule that corrects the within-mode bias with no additional compute, and clarify the role of best-of-n sampling in compensating for the mode selection failure. Experiments on Gaussian mixture targets, a 2D checkerboard, and FLUX.1 text-to-image generation confirm that our theoretical insights carry over to practical settings.
arXiv:2606.03271v1 Announce Type: new
Abstract: AI agents built on large language models can assist not only legitimate tasks but also relational manipulation. AI agents can be used to help a user maintain a deceptive identity, intensify emotional dependency, isolate a target, or prepare for later extraction. We conceptualise this risk as agentic relationship harm: workflow-level assistance that can exploit recipient vulnerability, persuasive influence, and relational power asymmetry. Existing safety evaluations and generic guardrails often treat harmfulness as a property of isolated outputs, missing role-sensitive interaction patterns. To study this, we introduce a 110-prompt benchmark with balanced attacker- and victim-side cases, a relationship-specific labelling framework, and a lightweight post-generation policy gate for local agent deployments. In our evaluation, the relationship-specific gate outperforms generic safety prompting under automated judging, with no judge-identified harmful-compliance cases on the main benchmark or multi-turn stress test while preserving victim-side protective intervention. These results suggest that relationship harm is a distinct sociotechnical risk surface and that role-sensitive evaluation plus lightweight policy gating offers a practical path beyond generic refusal prompting.
arXiv:2606.02597v1 Announce Type: new
Abstract: The development of brain-computer interfaces (BCIs) based on electroencephalograms (EEGs) has advanced significantly mainly to machine learning. Although the majority of earlier research has been on increasing classification accuracy, relatively little focus has been placed on security and robustness. According to recent research, EEG-based BCIs are susceptible to adversarial attacks, which can cause misdiagnosis due to minute, well-crafted disturbances. Evaluating model robustness against such perturbations is therefore critical for ensuring reliable deployment. In this study, we propose a lightweight custom Convolutional Neural Network (CNN) architecture to investigate adversarial robustness in EEG-based BCIs. The suggested method is assessed using two EEG datasets and contrasted with three novel CNN models tailored to EEG, namely EEGNet, DeepConvNet, and SleepEEGNet, under gradient-based adversarial attack scenarios. According to experimental findings, the suggested model continuously performs better in classification under adversarial perturbations compared to baseline models, indicating improved robustness. These findings highlight the potential of lightweight architectures for enhancing the reliability of EEG-based BCI systems under adversarial conditions.
arXiv:2606.02585v1 Announce Type: new
Abstract: We propose a localized physics-informed kernel function neural network (LPIKFNN), which is an improved physics-informed neural network (PINN) based on physics-informed kernel function (PIKF). In the LPIKFNN framework, the localized collocation scheme discretizes the physical quantities within the local domain, where the physical field is represented as a linear combination of PIKFs. Based on this representation, the multilayer perceptron is trained to iteratively learn the physical quantities. To overcome the computational challenges of conventional PINN in higher-order derivative and high wavenumber problems, the LPIKFNN constructs the loss function using the PIKF and a localized collocation scheme rather than relying on automatic differentiation. As a result, the costly derivative evaluations required to enforce governing equations during iterative training are eliminated, leading to significantly improved computational efficiency and training performance. Moreover, incorporating PIKFs into the loss function enables the proposed LPIKFNN to significantly improve computational accuracy in high-wavenumber problems characterized by highly oscillatory physical fields. To overcome the computational bottleneck of the physics-informed kernel function neural network (PIKFNN) in heterogeneous problems, the LPIKFNN introduces a localized collocation scheme that removes reliance on global PIKFs, enabling accurate predictions where global PIKFs are unavailable. The feasibility and accuracy of the proposed LPIKFNN are demonstrated through a series of benchmark studies, including high wavenumber problems, higher-order derivative problems, nonlinear problems, heterogeneous problems, and potential-based inverse electromyography. The numerical predictions obtained by LPIKFNN show excellent agreement with available analytical solutions and experimental measurements.
arXiv:2606.02581v1 Announce Type: new
Abstract: Retrieval-augmented generation (RAG) faces a fundamental three-way tension: deeper retrieval improves factual grounding but inflates token costs and end-to-end latency. Static retrieval configurations cannot resolve this tension across heterogeneous query workloads -- simple definitional queries waste budget on unnecessary context, while complex analytical prompts are underserved by shallow retrieval. This paper introduces \emph{Cost-Aware RAG} (CA-RAG), a per-query routing framework that selects from a discrete catalog of \emph{strategy bundles} -- each coupling a retrieval depth (from retrieval-free direct inference to top-$k{=}10$ dense retrieval) with a fixed generation profile -- by maximizing a scalar utility that linearly combines an estimated quality prior with normalized penalties for predicted latency and total billed tokens. CA-RAG is implemented with FAISS-backed dense retrieval and OpenAI chat/embedding APIs, and evaluated on a 28-query benchmark spanning four bundles. The router dynamically exercises all bundles, achieving \textbf{26\% fewer billed tokens} than always-heavy retrieval and \textbf{34\% lower mean latency} than always-direct inference while maintaining equivalent answer quality. Per-query delta analysis reveals that savings are non-uniform and concentrated in simpler queries, motivating complexity-aware guardrails. Sensitivity analysis confirms that the same bundle catalog supports multiple cost-latency-quality operating points through weight adjustment alone. All results are generated directly from logged CSV artifacts for full reproducibility. CA-RAG provides a transparent, auditable foundation for cost-conscious LLM deployments.
arXiv:2602.12430v4 Announce Type: replace
Abstract: The transition from monolithic language models to modular, skill-equipped agents marks a defining shift in how large language models (LLMs) are deployed in practice. Rather than encoding all procedural knowledge within model weights, agent skills -- composable packages of instructions, code, and resources that agents load on demand -- enable dynamic capability extension without retraining. It is formalized in a paradigm of progressive disclosure, portable skill definitions, and integration with the Model Context Protocol (MCP). This survey provides a comprehensive treatment of the agent skills landscape, as it has rapidly evolved during the last few months. We organize the field along four axes: (i) architectural foundations, examining the SKILL$.$md specification, progressive context loading, and the complementary roles of skills and MCP; (ii) skill acquisition, covering reinforcement learning with skill libraries, autonomous skill discovery (SEAgent), and compositional skill synthesis; (iii) deployment at scale, including the computer-use agent (CUA) stack, GUI grounding advances, and benchmark progress on OSWorld and SWE-bench; and (iv) security, where recent empirical analyses reveal that 26.1% of community-contributed skills contain vulnerabilities, motivating our proposed Skill Trust and Lifecycle Governance Framework -- a four-tier, gate-based permission model that maps skill provenance to graduated deployment capabilities. We identify seven open challenges -- from cross-platform skill portability to capability-based permission models -- and propose a research agenda for realizing trustworthy, self-improving skill ecosystems. Unlike prior surveys that broadly cover LLM agents or tool use, this work focuses specifically on the emerging skill abstraction layer and its implications for the next generation of agentic systems. Project repo: https://github.com/scienceaix/agentskills
arXiv:2606.02872v1 Announce Type: new
Abstract: This paper considers the problem of simultaneously controlling an interceptor's impact time and impact angle using its lateral acceleration as the sole control input. With a single control input, the nonlinear engagement kinematics is inherently underactuated, which complicates guidance law synthesis. To overcome this challenge, a hierarchical sliding mode-based guidance law is developed to concurrently regulate the two terminal constraints. The proposed architecture consists of a two-layer sliding manifold. The first layer comprises two sub-sliding surfaces corresponding to the impact time and impact angle error dynamics, respectively, while the second layer introduces a composite sliding manifold that combines the two individual sub-surfaces. Then, a variable-gain adaptive guidance law is designed to ensure time and angle-constrained interception against a stationary target, which is further extended to intercept a constant velocity target. Simulations are conducted for various engagement scenarios to attest to the efficacy of the proposed approach.
arXiv:2606.03464v1 Announce Type: new
Abstract: Data analytics increasingly runs on distributed lakehouse systems, where platform operators must optimise monetary, resource, and environmental costs. Query Performance Prediction (QPP) helps to balance these costs and supports workload management techniques, such as adaptive resource scaling and low-carbon scheduling. However, runtimes in lakehouses can vary substantially, and the impact of runtime variance on QPP accuracy and workload orchestration has not previously been systematically studied for lakehouse systems.
This paper addresses this gap by investigating the runtime variance observed for distributed lakehouse analytical queries and its impact on QPP. First, we quantify the run-to-run variance using Kubernetes deployments across three public clouds and one private cloud, spanning multiple database scales and three analytical benchmarks. Our results demonstrate that repeated executions of the same query can vary in runtime by nearly twofold. Second, we conduct a factor analysis study assessing key sources of this runtime variance such as data locality, co-tenant load, and caching effects. Third, we examine how variance influences state-of-the-art QPP models, revealing that addressing key sources of variance can reduce prediction error up to 80%. Finally, we demonstrate the downstream implications for low-carbon scheduling as an example of a workload management technique that relies on performance prediction, showing that accounting for runtime variance can lead to a significant reduction in carbon costs.
arXiv:2606.02871v1 Announce Type: new
Abstract: Large reasoning models improve performance by generating extended chain-of-thought (CoT) reasoning, but this behavior becomes inefficient when applied to LLM agents. Current LLM agents often generate verbose textual reasoning at every decision step and allocate reasoning effort nearly uniformly across turns, leading to substantial inefficiency in multi-turn agentic trajectories. We propose Adaptive Latent Agentic Reasoning (ALAR), a dual-mode framework that uses compact latent reasoning for routine turns and selectively escalates to explicit chain-of-thought when deeper deliberation is needed. ALAR learns latent reasoning by using the agent's actions as supervision anchors and is further optimized to use latent reasoning when it is sufficient for task success and reserve explicit CoT for harder decisions. Experiments on agentic search and tool-use benchmarks show that ALAR maintains comparable or better task accuracy while substantially reducing generated tokens by up to 43.6% in search and 84.6% in tool use. These results demonstrate that ALAR improves the accuracy-efficiency trade-off of LLM agents by reducing unnecessary textual reasoning while preserving explicit deliberation for harder decision steps.
arXiv:2606.03467v1 Announce Type: new
Abstract: LLM-based multi-agent systems exhibit remarkable collaborative capabilities in complex multi-step tasks. However, these systems are highly sensitive to single-step execution errors that can propagate through agent interactions and lead to cascading failures. To understand the causes of failure and improve system reliability, failure attribution has been introduced as a task that aims to automatically identify the root cause step responsible for a failure. Existing failure attribution methods mainly rely on LLMs to reason over original execution trajectories, which not only incur high inference costs and latency, but also suffer from interference caused by redundant and noisy execution logs, causing LLMs to struggle in accurately identifying the true root cause step. To address this, we propose StepFinder, a lightweight failure attribution framework. We use LLMs solely during the feature construction phase to encode execution logs into temporal semantic sequences. Subsequently, a parameter-efficient combination of temporal modeling and attention modules is applied to capture the sequential evolution and cross-step dependencies of the trajectories. Finally, the step-level error score is refined through multi-scale differences and position bias, enabling precise root cause identification. Experimental results on the Who&When benchmark demonstrate that StepFinder outperforms LLM-based methods in step-level failure attribution while achieving substantially higher inference efficiency, reducing inference time by 79% compared with the fastest LLM-based method, with no text generation overhead. Our code is available at https://github.com/taiyu-zhu/StepFinder.
arXiv:2606.03476v1 Announce Type: new
Abstract: Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial morphological discrepancies between humans and robots, including differences in skeletal topology, limb proportions and degrees of freedom, as well as the scarcity of paired motion data. This paper presents Human2Humanoid, an unsupervised motion retargeting framework that transfers human motions to humanoid robot behaviors with high fidelity. To bridge the domain gap under unpaired data, we adopt a CycleGAN-based architecture equipped with a skeleton-aware graph convolutional network to capture topology-dependent motion features. To address cross-domain scale mismatches, we introduce a morphology-invariant end-effector consistency loss that aligns normalized end-effector trajectories to preserve motion semantics across embodiments. To improve physical plausibility and reduce contact artifacts, we impose explicit physics-aware feasibility constraints to encourage reproduction of the contact patterns in the source motion. Experimental results show that the proposed method successfully retargets human motion to the Unitree G1 humanoid robot without paired data, and outperforms existing methods in both downstream controllability and physical feasibility.
arXiv:2606.03479v1 Announce Type: new
Abstract: Dynamic 3D Gaussian Splatting (3DGS) methods reconstruct time-varying scenes from synchronized multi-camera video using photometric supervision. When a moving object becomes fully occluded from all training cameras, this supervision vanishes: the Gaussians representing it receive no gradient signal and degrade. Existing approaches to incomplete observations in neural reconstruction rely on learned generative priors that prioritize visual plausibility over physical correctness.
We propose $\textbf{PersistGS}$, a method that restores object permanence during occlusion by coupling differentiable rigid body simulation with 3D Gaussian Splatting. Our approach decomposes the scene into per-object Gaussians and collision meshes, estimates friction and velocity from the observed pre-occlusion trajectory via differentiable simulation, and uses the resulting SE(3) trajectory to position object Gaussians throughout the occlusion period. Because the predicted trajectory satisfies the governing equations of rigid body dynamics, it faithfully captures contact events (bounces, friction-based deceleration, direction changes) that kinematic extrapolation cannot model. We introduce a centroid silhouette loss that isolates positional gradients from appearance noise, yielding 40% lower trajectory error than photometric supervision. We evaluate using cameras withheld from training that observe the object during its occlusion. Experiments on synthetic scenes show that PersistGS outperforms constant velocity extrapolation by +2.46dB PSNR and comes within 0.19dB of a ground-truth trajectory upper bound.
arXiv:2606.03480v1 Announce Type: new
Abstract: Optical vortices carry quantized phase information (topological charge) and are considered candidates for information processing in all-optical circuits. Accurately identifying the quantized vortex charge in a way that is most efficient is essential for data processing. Here, we demonstrate that using only intensity information machine learning algorithms are able to classify vortices into distinct phase categories using a properly trained model. Preprocessing of the original intensity data leads to an improved prediction accuracy of the trained classifier and a much shorter training time (~3 orders of magnitude faster). The learning mechanism of the algorithms is revealed by the statistical analyses based on calculation of Cohen's d. We also find that the training efficiency is associated with nonlinearity, non-Hermiticity, and the vortex shape. In some cases, the trained classifier performs well across distinct physical models. Our findings will benefit and accelerate vorticity-based binary information processing and can also be extended to other physical systems.