arXiv:2606.03755v1 Announce Type: new
Abstract: Autonomous science is moving from demonstration to infrastructure. Large language model agents now plan experiments, and self-driving laboratories execute them. Yet every such system rebuilds the link between the reasoning agent and the physical instrument from scratch, against fragmented vendor SDKs and standards built for deterministic software clients rather than probabilistic, goal-directed agents. Recent agent-interoperability protocols clarify two of the three edges of an agentic ecosystem (Anthropic's Model Context Protocol (MCP) standardizes the agent-to-tool edge, and Google's Agent2Agent (A2A) the agent-to-agent edge), but neither models the agent-to-instrument edge, where operations are stateful, safety-critical, exclusively owned, physically embodied, and produce measurements with units, calibration, and uncertainty. We present the Lab Agent Protocol (LAP), a protocol design that fills this gap. LAP retains A2A's peer-to-peer, discovery-first, task-lifecycle structure and adds four physical-world primitives: (i) the InstrumentCard, a signed capability and physical-limit description; (ii) first-class reservation for exclusive instrument and sample locking; (iii) a safety-fence handshake with operator-confirmation tokens cryptographically bound to a specific task and its parameters, gating hazardous and irreversible operations; and (iv) a MeasurementResult schema that makes every result physically typed (QUDT/UCUM), calibration-anchored, uncertainty-bearing, and reproducible by construction. We specify roles, a six-layer architecture, the JSON-RPC method set, the task and safety state machines, the error model, and cross-laboratory federation, and walk a closed-loop autonomous campaign through the protocol end-to-end. LAP is transport-compatible with the A2A/MCP ecosystem and encapsulates rather than replaces existing device standards such as SiLA 2 and OPC-UA.
Science Journals
arXiv:2504.01206v3 Announce Type: replace
Abstract: Space-efficient streaming estimation of quantiles in massive datasets is a fundamental problem with numerous applications in data monitoring and analysis. While theoretical research led to optimal algorithms, such as the Greenwald-Khanna algorithm or the KLL sketch, practitioners often use other sketches that perform significantly better in practice but lack theoretical guarantees. Most notably, the widely used $t$-digest has unbounded worst-case error.
In this paper, we seek to get the best of both worlds. We present a new quantile summary, SplineSketch, for numeric data, offering near-optimal theoretical guarantees, namely uniformly bounded rank error, and outperforming $t$-digest by a factor of 2-20 on a range of synthetic and real-world datasets. To achieve such performance, we develop a novel approach that maintains a dynamic subdivision of the input range into buckets while fitting the input distribution using monotone cubic spline interpolation. The core challenge is implementing this method in a space-efficient manner while ensuring strong worst-case guarantees.
arXiv:2606.03535v1 Announce Type: new
Abstract: Retrieval effectiveness varies substantially across queries, making it important to estimate ranking quality before relevance judgments are available. Query performance prediction (QPP) addresses this need, but most existing methods rely on external predictors after retrieval or reranking. In this paper, we study \textit{reranker-internal QPP}: can an LLM reranker estimate the quality of the ranking it has just produced? We investigate both training-free and training-based approaches. For training-free estimation, we examine metric-specific self-consistency across sampled rankings and verbalized confidence produced directly by the reranker. Experiments on TREC Deep Learning 2019--2022 with four LLMs show that self-consistency is competitive with the state-of-the-art (SOTA) approach and better calibrated in almost all settings, while direct verbalized confidence is severely overconfident. To improve verbalized confidence, we propose two supervised methods, Verb-Num and Verb-List, which enable LLM rerankers to produce calibrated ranking-quality estimates with only a few additional output tokens.
arXiv:2606.02841v1 Announce Type: new
Abstract: Deep neural networks learn representations where individual features often lack interpretable meaning; a single neuron may activate for scattered, unrelated inputs. We introduce coherence, a geometric property inspired by neural coding in the brain, where neurons like grid cells and head direction cells respond to contiguous regions of state space. A non-negative matrix is coherent if each row (sample) attends to geometrically clustered columns (features) and vice versa, and in addition every sample is well described by some feature and every feature is needed by some sample. We prove that coherent matrices induce a bounded interleaving between the Vietoris-Rips filtrations of samples and features, guaranteeing that both spaces share compatible topological structure. This geometric constraint facilitates interpretability. For example, if data lies on a circle, coherent features must tile that circle into contiguous arcs. We introduce Coh, a differentiable objective function based on Fr\'echet variance that enforces coherence during training. Unlike sparsity, which bounds how many samples a feature activates on, coherence bounds which samples, requiring geometric connectivity rather than only rarity. This yields not just interpretable features but an interpretable feature space. We validate Coh in an auto-encoder using synthetic and rotated MNIST datasets and in a token embedding of BERT using language data.
arXiv:2606.03539v1 Announce Type: new
Abstract: Spatio-Temporal Video Grounding aims to localize object tubes based on textual queries. While recent methods have achieved remarkable success, they mainly focus on high-quality(HQ) inputs, neglecting the widespread presence of low-quality(LQ) videos in real-world scenarios. Although tuning methods like LoRA can adapt to degraded inputs, they inevitably disrupt pre-trained knowledge. To address this, we propose Null-Space Tuning (NST). This framework exploits the geometric property that adding vectors within the null-space of frozen weights to the layer input does not affect the output. Leveraging this, NST injects learnable residuals into input features that can be selectively invisible to the pre-trained backbone. Specifically, NST combines the Quality-Adaptive Unit and Dual-Space Reparameterization to synthesize these residuals by confining components for HQ inputs to the null-space, while directing restoration components for LQ inputs to the non-null space. As the frozen weights eliminate null-space components, we effectively rectify degraded inputs while preserving pre-trained knowledge for HQ inputs. Extensive experiments show that NST outperforms state-of-the-art methods on our Mixed-Quality benchmark.
arXiv:2606.03748v1 Announce Type: new
Abstract: Real-time vision demands models that are accurate, efficient, and simple to deploy across diverse hardware. The YOLO family has become widely deployed for this reason, yet most YOLO detectors still rely on non-maximum suppression at inference, carry heavy detection heads due to Distribution Focal Loss, require long training schedules, and can leave the smallest objects without positive label assignments. We present Ultralytics YOLO26, a unified real-time vision model family that addresses these limitations through coordinated architecture and training advances. YOLO26 uses a dual-head design for native NMS-free end-to-end inference and removes DFL entirely, yielding a lighter head with unconstrained regression range. Its training pipeline combines MuSGD, a hybrid Muon-SGD optimizer adapted from large language model training; Progressive Loss, which shifts supervision toward the inference-time head; and STAL, a label assignment strategy that guarantees positive coverage for small objects. Beyond detection, YOLO26 introduces task-specific head and loss designs for instance segmentation, pose estimation, and oriented detection, producing consistent gains across tasks and scales. The family spans five scales (n/s/m/l/x) and supports detection, instance segmentation, pose estimation, classification, and oriented detection in a single pipeline, with an open-vocabulary extension, YOLOE-26, for text-, visual-, and prompt-free inference. Across all scales, YOLO26 achieves 40.9-57.5 mAP on COCO at 1.7-11.8 ms T4 TensorRT latency, advancing the accuracy-latency Pareto front over prior real-time detectors, while YOLOE-26x reaches 40.6 AP on LVIS minival under text prompting. Code and models are available at https://github.com/ultralytics/ultralytics.
arXiv:2606.03551v1 Announce Type: new
Abstract: Simulation has become a core infrastructure for robotics research. Unlike previous simulators, NVIDIA Isaac Sim leverages GPU acceleration to enable large-scale parallel training and physics-accurate modeling. Its synthetic data generation pipeline alleviates the scarcity of high-quality training data, supporting data-driven robot learning and large-scale simulation-centric experimentation. However, existing surveys often treat it as one simulator among many, without a systematic analysis of its architectural characteristics, usage patterns, and limitations. This survey reviews Isaac Sim from system and application perspectives, outlining its architecture and comparing it with widely used simulators. We analyze representative studies across five major domains and summarize common usage patterns, particularly in data generation and high-fidelity simulation. We also outline key future directions and challenges, including physics open-world learning, simulation-centric training and practical usability constraints.
arXiv:2606.03555v1 Announce Type: new
Abstract: A surface geometry consisting of parallel, meandering streamwise grooves has been experimentally studied as an alternative means of passive transverse forcing of turbulent boundary-layer flow. Contrary to the original expectation, the flow does not exhibit a spanwise-uniform undulation aligned with the grooves; instead, a converging-diverging flow pattern results. This flow pattern can be attributed to the spanwise periodicity of the lateral pressure gradient. The forcing effect is found to initially increase with the groove amplitude, but it saturates when the groove slope becomes too steep. The observed induced flow, referred to as a Passive Stokes Layer (PSL), can be considered as being composed of an inertial (pressure-driven) outer solution generated by the displacement effect of the non-smooth surface geometry, and a viscous inner solution to accommodate the no-slip condition at the wall. The mechanism of transverse flow generation is elucidated by an inviscid flow model that relates the forcing to the surface geometric properties, with predictions in good agreement with the experimental results. Although a reduction in the near-wall turbulence levels over the groove surfaces is observed, no direct evidence for (mean) drag reduction is evident from the data. Instead, an estimate of the frictional drag potential is based on establishing a tentative relation to an equivalent spatial Stokes layer (SSL) induced by active wall forcing. This theoretical comparison indicates that the induced passive forcing is sufficient to act on the (active) spanwise forcing mechanism, but produces at most a few per cent of frictional drag reduction. Any potential savings are likely offset by pressure drag and other losses, so that, similar to active forcing, its potential for net drag reduction in practical applications is limited.
arXiv:2606.03144v1 Announce Type: new
Abstract: Large language models (LLMs) are increasingly used as self-study assistants in technical disciplines, yet their reliability as mathematical reasoning assistants remains poorly understood. We introduce GTBench, a curriculum-grounded benchmark for evaluating LLMs as mathematical research assistants in graph theory, comprising 63 problems organized into three groups of increasing difficulty: undergraduate definitions and basic properties (Group 1), algorithm tracing and structural reasoning (Group 2), and graduate-level proof construction (Group 3). Problems are sourced from verified academic materials including Diestel's Graph Theory. We evaluate five frontier models -- GPT-5, Claude Sonnet 4.6, Gemini 2.5 Flash-Lite, Llama 3.3 70B, and Mistral Large 3 -- under zero-shot and chain-of-thought prompting, using exact-match and LLM-as-judge evaluation for Groups 1 and 2, and a hybrid human expert and LLM-as-judge protocol for Group 3. Our results reveal a pronounced performance hierarchy: GPT-5 approaches ceiling on Group 1 (95.8% zero-shot) and maintains meaningful accuracy on graduate proofs (82%), while all other models degrade substantially with difficulty, with Llama achieving 0% under human evaluation on Group 3 zero-shot. Failure mode analysis shows that correct algorithm, wrong execution errors dominate Groups 1 and 2, while Group 3 additionally surfaces incomplete reasoning failures and reveals systematic disagreement between human evaluators and the automated judge, particularly on verbose or near-complete proofs (kappa = 0.48-0.83 across human pairs). GTBench provides the first curriculum-grounded evaluation framework for graph-theoretic reasoning in LLMs, with direct implications for the governance of AI tools in mathematical education and scientific research.
arXiv:2606.03556v1 Announce Type: new
Abstract: Vision-language-action (VLA) models are gaining attention in robotics, yet their robustness to adversarial attacks remains largely unexplored. Existing work shows that adversarial patches can mislead VLA-based robots but assumes full access to the entire execution trajectory, an unrealistic requirement in practice. We address this limitation by formulating a partially observable threat model, where the adversary can exploit only a short prefix of the trajectory to generate a fixed patch applied to all subsequent frames. Under this setting, we propose a two-phase framework. First, we localize the patch using the model's attention maps to identify visually critical regions that correspond to the full instruction. Then, we optimize the patch to disrupt the semantic grounding of target objects and increase the curvature of action trajectories, thereby compounding failures in both perception and control. Extensive experiments in simulation and real-world robotic environments show that our method sustains adversarial effects under partial observability, inducing long-horizon disruptions and significantly reducing task success rates.
arXiv:2606.02740v1 Announce Type: cross
Abstract: Gradient boosted decision trees require a stopping rule to avoid overfitting. The standard rule monitors a validation loss and stops if the loss fails to improve for a fixed patience period. However, the patience parameter has no interpretable scale and validation losses can be noisy or implicitly defined by a user-specified gradient. We propose ScoreStop, a gradient-based early-stopping rule that casts the stopping decision at each iteration as a test of the null hypothesis that the current predictor is the population risk minimizer. We use a functional score test, computed on validation data, with a statistic that is scale-invariant in the update direction, with a known asymptotic distribution under the null. Because our test uses gradients rather than loss values, the same construction applies to implicit losses such as LambdaRank, and data-dependent losses such as Cox regression via influence functions. In synthetic experiments and real-data benchmarks, we show that ScoreStop is competitive with loss-based methods.
arXiv:2606.03119v1 Announce Type: new
Abstract: Guidance methods, such as classifier-free guidance (CFG) and auto-guidance (AG), have advanced noise-to-data generation in diffusion models. Recently, bridge models have introduced a data-to-data generative process that can exploit an instructive clean prior. In this work, inspired by previous methods creating quality difference between denoising results as guidance, we propose a training-free bridge guidance method, termed Prior Guidance (PG). Specifically, we introduce a weak prior, which is unseen during bridge pre-training, hindering prior exploitation and thereby degrading denoising result. Then, we contrast it with the seen prior to highlight and enhance prior exploitation via a scaling factor. Moreover, we analyze the underlying mechanism of prior exploitation in the bridge process and design frequency-modulated prior guidance (FMPG), which tailors the guidance scale to low- and high-frequency bands coherent with bridge generative dynamics. To address prior exploitation in image in-painting, we develop a cascaded framework, CFG-FMPG, which first generates a noisy hidden representation via CFG and then exploits it as a generative prior with FMPG, fulfilling their complementary strengths without compromising inference efficiency. Experiments demonstrate that our PG methods consistently improve pre-trained bridge models across diverse image translation tasks.
arXiv:2606.03847v1 Announce Type: new
Abstract: Action chunking has become a common inference strategy for flow-based robot policies, improving action coherence by modeling multi-step temporal dependencies in demonstrations. However, the execution horizon is still typically set as an empirical fixed value, overlooking that predictable free-space motions and precision-critical interaction phases often require different replanning frequencies. In this work, we first show that the denoising process of flow-based policies contains an intrinsic signal of task phases: clean-action estimates remain stable during predictable motion phases, but fluctuate more strongly around contact-rich or precision-sensitive operations. Motivated by this observation, we propose DVAC (Denoising-Variance Adaptive Chunking), a test-time method that adaptively determines how many actions to execute from each predicted chunk. DVAC measures the variance of clean-action estimates over the final denoising steps, executes the stable low-variance prefix, and replans before high-variance future actions are committed. To transfer across tasks and rollouts, DVAC further calibrates the threshold with a rolling estimate of the local variance scale. Experiments on LIBERO, RoboTwin, CALVIN, and real-world manipulation show that DVAC improves task success while reducing replanning frequency. With a $\pi_{0.5}$-based policy, DVAC improves LIBERO success from 94.75% to 98.00% and reduces replanning by 43.0%, while also yielding aggregate gains on RoboTwin and CALVIN and improving real-world execution efficiency.
arXiv:2606.03843v1 Announce Type: new
Abstract: Continual learning methods aim to maximize the stability and plasticity of machine learning models that are trained on a sequence of tasks. The standard measure of stability (i.e., forgetting) is the 0-shot performance of a model on previously learned tasks, and plasticity, the performance on the most recently learned task. However, 0-shot evaluation does not fully measure a model or method's ability to retain learned information or adapt quickly to new information, as it requires perfect recall across multiple tasks. In this paper, we propose few-shot evaluation as a more comprehensive assessment of the stability and plasticity of a continual learning system. We conduct a fine-grained assessment on task sequences for continual image classification and find that this paradigm produces novel insights into the performance of popular continual learning strategies. Through few-shot evaluation with a novel metric -- per-shot plasticity -- we show that adding `foresight' to continual learning methods via the meta-learning of a short sequence of future tasks induces learning-to-learn behavior over the task sequence.
arXiv:2606.03581v1 Announce Type: new
Abstract: Unstructured scenes present unique challenges for autonomous driving, as irregular obstacles and sparse scene layouts undermine the effectiveness of traditional perception methods such as 3D object detection. 3D semantic occupancy prediction has emerged as a prominent focus due to its ability to provide dense spatial representations by assigning semantic labels to individual voxels in 3D space. However, directly applying 3D semantic occupancy prediction to unstructured scenes remains challenging because scene sparsity hinders effective cross-modal fusion and the more severe long-tail distribution in these scenarios further degrades prediction performance. To validate the effectiveness of our approach, we construct a dedicated dataset of unstructured scenes collected from open-pit mines. Based on this, we propose UnsOcc, a multi-modal 3D semantic occupancy prediction framework that improves robustness in unstructured environments. At its core, we introduce a rendering-based fusion module, RenderFusion, which enhances cross-modal feature alignment through bidirectional rendering supervision. Furthermore, we propose GSRefinement, a detail-aware auxiliary supervision method based on Gaussian Splatting that projects sparse 3D occupancy predictions into dense 2D semantic segmentation maps, enabling effective supervision for long-tail categories. Extensive experiments on both the open-pit mine dataset and the nuScenes dataset demonstrate that our method significantly outperforms existing state-of-the-art approaches.
arXiv:2606.03587v1 Announce Type: new
Abstract: Many proof-of-stake protocols finance validator rewards from two sources: transaction fees and a finite reserve of tokens. This creates a dynamic hand-off problem. Early in the life of the system, fees may be too small to fund the target level of security; later, fees may become sufficient. The central question is whether the reserve provides enough runway for the protocol to remain secure until this fee-only region is reached. We study this problem in a discrete-time stochastic model of validator participation. Token price and transaction demand fluctuate over time, while validators choose participation strategically. We solve the validator entry game and derive an exact state-dependent reserve threshold, i.e., the minimal reserve stock necessary and sufficient to sustain a target security level. This threshold separates three regions: infeasibility, reserve-dependent security, and fee-only security. Security fails if the reserve first falls below the state-dependent threshold, and a successful hand-off occurs exactly if the fee-only region is reached before that failure time. We derive stress-test guarantees that convert lower confidence bands for token price and demand into reserve requirements, and obtain explicit failure-probability and expected hand-off-time bounds. Finally, we extend the model to forward-looking validators and derive the Markov participation condition that captures how current participation affects future reserve-funded rewards. The main implication is that reserve policy should not be evaluated by nominal depletion dates or steady-state reward ratios alone. A protocol can have a large nominal reserve and still be close to security failure after adverse price or demand shocks. Conversely, once demand crosses the fee-only threshold, the reserve becomes redundant for security. This paper provides a tractable equilibrium framework for stress-testing this transition.
arXiv:2605.26268v2 Announce Type: replace
Abstract: Identifying possible clusters in datasets and estimating their hierarchical modularity are central tasks in pattern recognition. In the present work, concepts and methodologies are described for performing these tasks while considering only the density of mergings obtained from hierarchical representations (dendrograms) of data inter-relationship along a scale variable. More specifically, the mergings of subclusters along the scale variable are obtained, yielding a respective merging density function. After this function is balanced along the scale variable, peak detection is applied in order to estimate, within a specified resolution, the respective hierarchical clusters and their hierarchical modularity. The potential of the reported approach is illustrated for some types of data and dendrograms, and the possibility of recursive cluster detection is also considered.
arXiv:2510.11720v2 Announce Type: replace-cross
Abstract: Nitrogen-vacancy (NV) centers in diamond are optically addressable and versatile light-matter interfaces with practical application in magnetic field sensing, offering the ability to operate at room temperature and reach sensitivities below pT/$\sqrt{\mathrm{Hz}}$. We propose an approach to simultaneously probe all of the magnetically sensitive states using a broadband microwave field and demonstrate that it can be used to measure the external DC magnetic field strength with sensitivities on the order of 10~pT/$\sqrt{\mathrm{Hz}}$. We develop tools for analyzing the temporal signatures in the transmitted broadband microwaves to estimate the magnetic field, comparing maximum likelihood estimation based on minimizing the Kullback-Leibler divergence to various neural network models, and both methods independently reach practical sensitivities. These results are achieved without optimizing parameters such as the bandwidth, and shape of the probing microwave field such that further improvements in sensitivity can be envisioned. Our results motivate novel implementations of NV-based magnetic sensors with the potential for vectorial magnetic field detection at 1-10 kHz update rates and improved sensitivities without requiring a bias magnetic field.
arXiv:2606.03287v1 Announce Type: new
Abstract: Feed-forward models for 3D reconstruction have achieved strong performance using deep cross-view attention to exchange information across images. However, these approaches often depend on heavy decoder stacks and lack a structured mechanism for geometry refinement, resulting in poor multi-view consistency. We address this by drawing inspiration from classical bundle adjustment (BA), which can be viewed as an iterative information propagation process between poses and local geometry. Inspired by BA, we propose BA-T, an iterative Transformer that implements BA-style structured updates as a repeatable layer in implicit token space. Instead of relying on deep attention stacks, BA-T refines predictions based on latent residual by a single lightweight layer. Experiments demonstrate that BA-T progressively improves pose and reconstruction accuracy across iterations, achieves stronger cross-view consistency than conventional decoders, and matches or surpasses substantially larger models while using only 16% of their decoder parameters. BA-T provides a compact, efficient, and structural alternative to depth-heavy attention, enabling accurate 3D reconstruction within a lightweight architecture. The code will be made publicly at https://github.com/zhangganlin/BA-T.
arXiv:2606.03695v1 Announce Type: new
Abstract: As language models are increasingly deployed in real-world applications, the ability to erase specific knowledge from them becomes critical for safety and compliance. Prominent methods seek persistent removal by updating the model's parameters, yet the target knowledge often can be recovered through adversarial prompting or relearning. In this work, we hypothesize this limitation stems in part from existing methods overlooking the embedding layer. To address this, we introduce EMBedding ERasure (EMBER), a plug-n-play erasure module that leverages Sparse Matrix Factorization for precise erasure of concept-related features from token embeddings. Through comprehensive evaluations across diverse concepts on Gemma-2-2B-it and Llama-3.1-8B-Instruct, we find that augmenting existing methods with EMBER consistently improves erasure efficacy and specificity across task formats, with minimal coherence loss. Moreover, it dramatically improves robustness to relearning, reducing regained accuracy by up to 50%, limiting it to 35% on Llama compared to 70%-76% for prior methods. Further analysis shows that the coherence cost is localized, affecting only a small set of concept-exclusive tokens. Our work establishes that precise embedding-level intervention is necessary for robust concept erasure, and demonstrates that existing methods can benefit from such augmentation.
arXiv:2606.03198v1 Announce Type: new
Abstract: Clinical AI evaluation increasingly delegates scoring to large language models (LLMs) acting as AI raters, yet their scoring behavior across evaluation conditions has not been quantitatively characterized. We address this gap through a factorial study of AI rater behavior in adult type 2 diabetes (T2D) pharmacotherapy at 12-month outpatient follow-up, a clinical task involving complex decision-making operationalized across seven evaluation questions. Four open-source LLMs served simultaneously as clinical decision support system (CDSS) models and AI raters. Each CDSS output was scored under two scoring protocols: a rubric-anchored Gold Rubric (GR) protocol incorporating a patient-specific rubric, and a rubric-free Non Gold Rubric (Non-GR) protocol. Linear mixed effects models crossed the scoring protocol factor with five design factors -- CDSS model, CDSS prompt configuration (document-referenced generation [DRG] vs.\ Baseline), rater model, prompt character, and prompt type -- and estimated main effects together with their protocol interactions. Across all questions, AI raters yielded consistently higher scores within a very narrow range (74--78 points on average) under Non-GR compared to those under GR (7.69 to 49.64 points lower mean scores; 1.68 to 3.67 times wider interquartile ranges). Within each question, GR amplified the AI rater's discrimination between DRG and Baseline CDSS outputs by factors of 1.76 to 5.10, while also revealing substantial behavioral variation across rater models that Non-GR suppressed. These findings support rubric anchoring as the scoring protocol that preserves discriminative power in clinical AI evaluation; rubric-free scoring cannot substitute when questions require patient-specific or jurisdiction-specific criteria that rater models cannot infer from parametric knowledge alone.
arXiv:2606.03590v1 Announce Type: new
Abstract: Kalman filter (KF)-based multi-object tracking (MOT) remains a strong baseline for autonomous driving due to its strong performance, computational efficiency and interpretability. In most practical systems, the process noise and measurement noise covariances are defined globally and shared across object classes, presuming identical uncertainty characteristics across heterogeneous traffic participants.
This work revisits this assumption and proposes CANMOT, a class-aware and object-aligned noise modeling framework for KF-based 3D MOT. Class-specific diagonal process and measurement covariance matrices are introduced and optionally expressed in the object coordinate frame to preserve longitudinal-lateral anisotropy.
Systematic experiments on the nuScenes benchmark show that class-aware and object-aligned noise modeling improves tracking performance and substantially reduces identity switches compared to state-of-the-art (SotA). In addition, the consistency of the estimated uncertainty is analyzed using the Average Normalized Estimation Error Squared (ANEES) and $\chi^2$-based violation tests. The results reveal severe overconfidence in standard KF-based MOT baselines. While the proposed formulation improves calibration without modifying the underlying filtering framework, it still exhibits substantial inconsistency, highlighting the need for further research in this area.
Code is available at https://github.com/rst-tu-dortmund/learned-3d-nms.
arXiv:2606.03593v1 Announce Type: new
Abstract: Embodied AI systems are increasingly deployed in open-world environments, yet ensuring their reliability remains a fundamental challenge. Drawing on discussions from the AAAI'26 Bridge Program on "Making Embodied AI Reliable with Testing and Formal Verification", this article argues that reliability in embodied AI is inherently a lifecycle assurance problem arising from uncertainty, human interaction, and emergent behaviors across tightly coupled system components. We identify three complementary directions toward reliable embodied AI: (1) trustworthy scenario-based testing supported by validated specifications and meaningful coverage metrics, (2) compositional verification enabled by structured symbolic representations of system behavior and environmental context, and (3) runtime assurance mechanisms capable of adapting to uncertainty and distribution shifts during deployment. Rather than treating these approaches independently, we advocate integrated assurance workflows that connect testing, verification, and runtime adaptation through shared neuro-symbolic representations and continuous feedback across the system lifecycle. Such integration provides a foundation for building trustworthy embodied AI systems that can operate safely and reliably in complex real-world environments.
arXiv:2606.03825v1 Announce Type: new
Abstract: Transformers have become the dominant architecture for large language models, largely due to the scalability and flexibility of attention, feed-forward layers, residual connections, and normalization. This paper introduces dynamic short convolutions as an additional neural network primitive for improving Transformers. Unlike static short convolutions, dynamic convolutions use input-dependent filters, which preserves the locality bias of convolution while increasing expressivity. Motivating experiments show that applying dynamic short convolutions to key, query, and value representations improves performance on challenging associative recall tasks compared with static convolutional variants. Across language-modeling experiments ranging from 150M to 2B parameters, dynamic convolutions consistently outperform standard Transformers and Transformers augmented with static short convolutions. Fitting scaling laws indicates a 1.33$\times$ compute advantage over compute-matched Transformers when dynamic convolutions are applied to the key, query, and value vectors, and a 1.60$\times$ advantage when adding dynamic convolutions after every linear layer. Dynamic convolutions also offer improvements on linear RNNs (Mamba-2/Gated DeltaNet) and mixture-of-experts architectures. We make these gains practical with custom Triton kernels that enable efficient training with a manageable end-to-end slowdown. These results suggest that dynamic short convolutions are a scalable, hardware-efficient, and expressive primitive for advancing Transformer-based language models.
arXiv:2510.16523v2 Announce Type: replace-cross
Abstract: We examine how an anomalous Josephson current influences odd-frequency superconducting correlations in two Josephson junction geometries. The first consists of two ferromagnetic layers between conventional $s$-wave superconductors, with magnetizations along the $x$- and $y$-axes, forming a bilayer junction. The second contains three ferromagnetic layers between two $s$-wave superconductors, with magnetizations along the $x$-, $y$-, and $z$-axes, forming a trilayer junction. Both systems are analyzed in the short and long junction limits. In the bilayer case, where no anomalous Josephson current is present, odd-frequency equal-spin triplet correlations develop pronounced peaks at finite magnetizations in the short junction limit for both tunneling and transparent interfaces. The odd-frequency mixed-spin triplet correlations also exhibit peaks at finite magnetizations for tunneling interfaces, whereas for transparent interfaces they display both peaks and zeros. In the trilayer case, where an anomalous Josephson current exists, similar peaks in both equal- and mixed-spin odd-frequency triplet correlations occur at finite magnetizations for tunneling and transparent interfaces. The spatial profiles of these correlations remain largely unaffected by the anomalous current. The Josephson diode efficiency is finite and reaches its maximum at magnetizations corresponding to the peaks of the anomalous current. Overall, our results show that the anomalous Josephson current has only a marginal influence on odd-frequency spin-triplet pairing. This indicates that the emergence of odd-frequency correlations and the Josephson diode effect are largely independent phenomena, contrary to earlier conjectures. Analysis of the long junction limit leads to the same qualitative conclusions for both configurations.