arXiv:2602.15762v2 Announce Type: replace
Abstract: Recent advances in photonic inverse design have demonstrated the ability to automatically synthesize compact, high-performance photonic components that surpass conventional, hand-designed structures, offering a promising path toward scalable and functionality-rich photonic hardware. However, the practical deployment of inverse-designed PICs is bottlenecked by manufacturability: their irregular, subwavelength geometries are highly sensitive to fabrication variations, leading to large performance degradation, low yield, and a persistent gap between simulated optimality and fabricated performance. Unlike electronics, photonics lacks a systematic, flexible mask optimization flow. Fabrication deviations in photonic components cause large optical response drift and compounding error in cascaded circuits, while calibrating fabrication models remains costly and expertise-heavy, often requiring repeated fabrication cycles that are inaccessible to most designers. To bridge this gap, we introduce PRISM, a photonics-informed inverse lithography workflow that makes photonic mask optimization data-efficient, reliable, and optics-informed. PRISM (i) synthesizes compact, informative calibration patterns to minimize required fabrication data, (ii) trains a physics-grounded differentiable fabrication model, enabling gradient-based optimization, and (iii) performs photonics-informed inverse mask optimization that prioritizes performance-critical features beyond geometry matching. Across multiple inverse-designed components with both electron-beam lithography and deep ultra-violet photolithography processes, PRISM significantly boosts post-fabrication performance and yield while reducing calibration area and turnaround time, enabling and democratizing manufacturable and high-yield inverse-designed photonic hardware at scale.
Science Journals
arXiv:2509.20623v2 Announce Type: replace
Abstract: Reinforcement learning has enabled significant progress in complex domains such as coordinating and navigating multiple quadrotors. However, even well-trained policies remain vulnerable to collisions in obstacle-rich environments. Addressing these infrequent but critical safety failures through retraining or fine-tuning is costly and risks degrading previously learned skills. Inspired by activation steering in large language models and latent editing in computer vision, we introduce a framework for inference-time Latent Activation Editing (LAE) that refines the behavior of pre-trained policies without modifying their weights or architecture. The framework operates in two stages: (i) an online classifier monitors intermediate activations to detect states associated with undesired behaviors, and (ii) an activation editing module that selectively modifies flagged activations to shift the policy towards safer regimes. In this work, we focus on improving safety in multi-quadrotor navigation. We hypothesize that amplifying a policy's internal perception of risk can induce safer behaviors. We instantiate this idea through a latent collision world model trained to predict future pre-collision activations, thereby prompting earlier and more cautious avoidance responses. Extensive simulations and real-world Crazyflie experiments demonstrate that LAE achieves statistically significant reduction in collisions (nearly 90% fewer cumulative collisions compared to the unedited baseline) and substantially increases the fraction of collision-free trajectories, while preserving task completion. More broadly, our results establish LAE as a lightweight paradigm, feasible on resource-constrained hardware, for post-deployment refinement of learned robot policies.
arXiv:2407.11821v2 Announce Type: replace
Abstract: Statistical information is ubiquitous but drawing valid conclusions from it is prohibitively hard. We explain how knowledge graph embeddings can be used to approximate probabilistic inference efficiently using the example of Statistical EL (SEL), a statistical extension of the lightweight Description Logic EL. We provide proofs for runtime and soundness guarantees, and empirically evaluate the runtime and approximation quality of our approach.
arXiv:2606.03553v1 Announce Type: cross
Abstract: While principal component analysis (PCA) is a fundamental tool for dimensionality reduction, its dense representations make it ill-suited for high-dimensional data. Existing methods address this by promoting sparsity through explicit $\ell_1$-penalties, but these are not obvious to tune due to the unsupervised nature of the task. In contrast, we propose Adversarial PCA (AdvPCA), which leverages robust optimization to achieve sparsity by optimizing the reconstruction objective against bounded, worst-case latent space perturbations. We show that this formulation admits a closed-form reduction, leading to a practical iterative algorithm that alternates between adversarial linear regression-style updates for the sparse encoder and orthogonal updates for the decoder. By theoretically characterizing the solution, we derive a data-adaptive parameterization that allows the algorithm to perform effectively out of the box. We validate these claims through numerical experiments on synthetic and real-world genomics data.
arXiv:2407.05312v2 Announce Type: replace
Abstract: Diffusion models have demonstrated impressive image generation capabilities. Personalized approaches, such as textual inversion and Dreambooth, enhance model individualization using specific images. These methods enable generating images of specific objects based on diverse textual contexts. Our proposed approach aims to retain the model's original knowledge during new information integration, resulting in superior outcomes while necessitating less training time compared to Dreambooth and textual inversion.
arXiv:2606.03199v1 Announce Type: new
Abstract: Organic crystal structure prediction (CSP) is a requirement for computational modelling of organic solids, but traditionally costs several CPU-years per molecule. Generative models such as OXtal dramatically reduce this cost by sampling stable organic crystal structures directly. However, OXtal forgoes explicit lattice parametrization in favour of modelling large crops of the bulk material with expensive triangle layers, which can incur a computational cost of minutes per molecule. In this paper, we reduce this to seconds with Clari, a large-scale flow matching model that generates redundancy-free unit cells and replaces triangle layers with pure pair-bias attention. Clari requires only atom types and bonds as input and does not need an RDKit-sanitizable input molecule, which expands its applicability to challenging chemistries such as fullerenes, metal complexes, and atom clusters. We further ablate key design choices such as auxiliary losses, timestep distributions, noise priors, and self-conditioning. On OXtal's test sets, we surpass OXtal's solve rate while obtaining a speedup of $15$-$30\times$. Because Clari also models explicit hydrogens, it supports inference-time scaling via direct energy ranking, without any decoration or relaxation step. When generating 150 crystals and selecting the top-30 by energy, we further improve solve rate while maintaining a speedup of $5$-$8\times$. We also introduce the CSD Teaching Subset as a new test split of diverse and complex molecules for future benchmarking. Our contributions enable CSP within seconds, making large-scale virtual screening of organic solids practical. Code is available at https://github.com/aspuru-guzik-group/clari.
arXiv:2606.03468v1 Announce Type: cross
Abstract: Recently, industrial pioneers like Amazon, Tencent, ByteDance, and Huawei have been adopting BBR as their congestion control algorithm for live-streaming applications, including TikTok Live. However, BBR, originally crafted for bulk data transmission, faces multiple challenges in live-streaming scenarios. In this paper, we first explore two key issues associated with BBR due to inaccurate bandwidth estimation in live-streaming scenarios: (i) BBR cannot easily exit its startup phase, resulting in a fierce self-inflicted loss. (ii) BBR sends data at a lower rate than the available bandwidth during its stable phase. We then propose BBR-Copilot, an auxiliary congestion control component that cooperates with BBR, making BBR better adapt to live-streaming scenarios. BBR-Copilot allows for proactively generating accurate bandwidth measurement samples by smartly creating and sending extra data. We implement the BBR-Copilot prototype upon QUIC and evaluate it via testbed. Experimental evaluation results show that BBR-Copilot effectively enhances BBR's performance in live-streaming scenarios.
arXiv:2606.03407v1 Announce Type: cross
Abstract: We give detailed analysis and circuit design of structure-preserving quantum algorithms for second-order linear evolutionary PDEs, including parabolic equations and hyperbolic equations with mixed Dirichlet, Neumann, and periodic boundary conditions and source terms. While prior quantum algorithms usually neglect the stability problem from the PDE-to-ODE reduction, our method-of-lines approach investigates the boundary lifting via Coons interpolation and boundary-aware discretization, so that the resulting semi-discrete systems are stable and compatible with efficient quantum ODE primitives. For the parabolic problem, we use a diagonal similarity transform to ensure the semi-discrete generator must have a positive semi-definite Hermitian part, and then solve the resulting ODE system by the optimal linear combination of Hamiltonian simulation (LCHS). For the hyperbolic problem, we rewrite the semi-discrete equation as an equivalent first-order system and solve it by Hamiltonian simulation. We implement our quantum algorithms with explicit block-encoding constructions and circuit implementations, as well as demonstrating the end-to-end complexity bounds together with spatial and quadrature error estimates. We conduct classical numerical experiments on the convection-diffusion equation, inhomogeneous heat equation, and Klein-Gordon equation to validate our structure-preserving analysis and algorithmic constructions.
arXiv:2606.03292v1 Announce Type: cross
Abstract: Many systems used in real-world environments require adding new categories and incorporating new information without forgetting what was previously learnt by the classification model. This is known as class-incremental continual learning, and in the case of multivariate time-series, is further complicated by the temporal structure of the data. In this paper, we present a novel approach for performing class incremental continual learning for the classification of multivariate time series data based upon the construction of a dual-stream feature extraction pipeline (using both deep temporal embedding features generated via a pre-trained frozen foundation model and application of statistical features). Evaluated on five benchmark datasets, the proposed system achieves competitive average accuracy across all datasets while maintaining low forgetting rates across all experimental configurations.
arXiv:2606.03245v1 Announce Type: cross
Abstract: Concepts of calibration formalize the compatibility between probabilistic predictions and the respective outcomes. In a nutshell, the outcomes ought to be indistinguishable from random draws from the predictive distributions. In this paper, we review, extend, and bridge notions of calibration that have been proposed for classification and regression tasks. Particular emphasis is given to hierarchical relations between the various notions, as they apply to general real-valued data, continuous outcomes, count data, nominal classes, and binary outcomes. To highlight a number of contributions, we introduce the notion of modal calibration for nominal outcomes, we distinguish full, partial, and average calibration in this setting, and we show that double probability integral transform (PIT) calibration is logically independent of previously proposed concepts of calibration for discrete outcomes. Furthermore, we generalize extant results on concepts of calibration that are expressed in terms of properties or functionals of the predictive distributions, such as means, quantiles, or event probabilities. Throughout the paper, we illustrate the concepts and their hierarchical relations in worked examples, and we provide algorithmic tools that support the construction of instructive examples and counterexamples.
arXiv:2605.26914v2 Announce Type: replace
Abstract: We present an image-conditioned point cloud completion approach that treats images as the primary geometric source rather than a secondary guide. To this end, we introduce an Image-to-Point (I2P) module that can reconstruct complete point clouds directly from a single RGB image, with no need for 3D inputs. Additionally, we introduce a transformer-based Point-to-Point (P2P) refinement module that uses self- and cross-attention between point tokens and image features to iteratively refine the coarse I2P output. The I2P module enables the image encoder to learn rich geometric representations, while the P2P module progressively recovers fine-grained details. Unlike existing multimodal methods that rely on auxiliary losses or fusion modules, our explicit I2P task provides a strong, geometry-aware prior based on images alone. Extensive experiments on ShapeNet-ViPC demonstrate state-of-the-art completion performance with a 12.3% relative Chamfer Distance improvement over prior methods. Code is available at: https://github.com/AzharSindhi/I2PRef.git
arXiv:2606.03050v1 Announce Type: new
Abstract: Remote photoplethysmography (rPPG) enables non-contact extraction of blood volume pulse (BVP) signals using consumer-grade cameras. Recent unsupervised rPPG methods learn BVP representations without requiring ground-truth physiological annotations, yet their optimization is often hindered by noisy and unstable gradients, resulting in slow convergence and limited cross-domain generalization. In this paper, we propose FCUS-rPPG, a fast-converging unsupervised rPPG framework with strong generalization capability. Motivated by the observation that BVP representations exhibit both multi-spectral covariation and low-dimensional manifold structure, we design a spectrally shared backbone that facilitates BVP feature disentanglement while improving optimization efficiency. To jointly enhance convergence stability and generalization performance, we further develop a unified optimization framework operating at the gradient, loss-landscape, and feature-representation levels. Specifically, a post-verification masking mechanism filters out misleading gradients according to the weak-amplitude physiological prior of BVP signals; a perturbation-based loss landscape smoothing strategy steers optimization toward more generalizable flat minima; and a noise-aware null-space regularization constrains feature updates to the orthogonal complement of the noise subspace, thereby mitigating noise-induced representation drift. Extensive experiments on five datasets demonstrate that FCUS-rPPG requires only one training epoch, whereas existing methods typically require tens to hundreds of epochs. Notably, FCUS-rPPG consistently achieves state-of-the-art (SOTA) performance in cross-dataset evaluations. This study provides an efficient and robust solution to the real-world deployment of unsupervised rPPG. The source code will be publicly available at https://github.com/JiaJieLee/FCUS-rPPG.
arXiv:2601.10222v2 Announce Type: replace
Abstract: Optimization is central to both modern machine learning (ML) and scientific machine learning (SciML), yet the structure of the underlying optimization problems differs substantially across these domains. Classical ML typically relies on stochastic, sample-separable objectives that favor first-order and adaptive gradient methods. In contrast, SciML often involves physics-informed or operator-constrained formulations in which differential operators induce global coupling, stiffness, and strong anisotropy in the loss landscape. As a result, optimization behavior in SciML is governed by the spectral properties of the underlying physical models rather than by data statistics, frequently limiting the effectiveness of standard stochastic methods and motivating deterministic or curvature-aware approaches. This document provides a unified introduction to optimization methods in ML and SciML, emphasizing how problem structure shapes algorithmic choices. We review first- and second-order optimization techniques in both deterministic and stochastic settings, discuss their adaptation to physics-constrained and data-driven SciML models, and illustrate practical strategies through tutorial examples, while highlighting open research directions at the interface of scientific computing and scientific machine learning.
arXiv:2606.03225v1 Announce Type: new
Abstract: Reverse k-nearest neighbor (RkNN) search returns all data points that regard a query vector as one of their k-nearest neighbors (kNNs). Existing RkNN methods typically follow a filter-and-verification framework: vectors near the query vector are first collected as candidates and then verified against their kNN-radius (i.e., the distance to their k-th nearest neighbor). However, existing methods face two key limitations in high-dimensional spaces. First, nearby vectors often do not belong to the query's true RkNN set, resulting in excessive candidate expansion overhead. Second, existing methods compute kNN-radius online during verification, incurring substantial query-processing cost. To address these limitations, we propose HRNN, a hybrid graph index for approximate RkNN search. (1) Rather than directly treating nearby vectors as RkNN candidates, HRNN uses them as proxy points based on the assumption that a query's RkNN results can often be discovered through the RkNN results of its nearby vectors. (2) To reduce verification cost, HRNN materializes high-fidelity kNN-radius offline, eliminating expensive online reconstruction while preserving accuracy. HRNN combines a navigation graph, a ranked KNN graph, and reverse-neighbor lists into a hybrid index that supports efficient proxy retrieval, candidate generation, and kNN-radius access. We also develop efficient index construction and append-only maintenance algorithms. Extensive experiments show that HRNN consistently outperforms existing methods, achieving up to one order of magnitude higher throughput. Moreover, HRNN scales to datasets containing up to 10 million high-dimensional vectors while supporting efficient dynamic index maintenance.
arXiv:2606.02913v1 Announce Type: cross
Abstract: In this study, we conduct a comprehensive comparative analysis of generative and discriminative deep learning-based speech enhancement methods, specifically in noise reduction tasks. Our investigation focuses on evaluating their effectiveness under high and low signal-to-noise ratio conditions, considering both matched and mismatched training scenarios. We further investigate the impact of training data volume, model convergence speed, and interpret the performance differences in terms of objective results for the considered training paradigms. Additionally, we compare the complexity-performance trade-off and the practical viability of these approaches. To further strengthen the evaluation, we study the hallucination characteristics of generative approaches in terms of word error rate and phoneme similarity. The insights derived from this study provide empirical evidence to assist researchers and practitioners in understanding whether the perceptual gains of different approaches justify their computational cost in practical applications.
arXiv:2606.02668v1 Announce Type: new
Abstract: Coding agents gate consequential actions behind a human-in-the-loop approval dialog, but the dialog is narrated by the agent itself: the human approves a summary the agent writes. The Lies-in-the-Loop (LITL) attack shows that summary is forgeable, so a compromised agent can show a benign description while a different action runs. This paper names the missing property, Consent Integrity, by importing What You See Is What You Sign (WYSIWYS) and the trusted-path property into the agent approval channel: the action shown to the human must be rendered by a trusted mediator from the real action at the boundary, not the agent's narration, over a path the agent cannot spoof, and bound to the exact action that executes. Two twists distinguish it from classical WYSIWYS: the renderer is the adversary, and the boundary ground truth is a low-level event that must be decoded without trusting the agent. Since no decoder is complete, the realizable target is analyzer-relative: whatever the analyzer cannot classify is surfaced as uninspectable rather than silently approved. A prototype implements the analyzer, renderer, and bind-to-execution; total mediation and the trusted path are specified but assumed, not implemented. On GTFOBins, an independent corpus of 1330 trusted-tool abuses, the prototype silently passes 10.0% (every instance through a trusted tool); on tldr, 28,798 normal-usage commands, it marks 87.0% uninspectable. These two independent measurements bracket the design's central tension: the trust list that bounds silent passes is the same one that drives over-prompting, and a boundary-only mediator can move along that frontier but not escape it. The contribution is the property, the mechanism, and an honest position on that frontier, not a solved defense.
arXiv:2606.02662v1 Announce Type: new
Abstract: Machine learning has accelerated quantum chemistry but is hindered by the prohibitive cost of generating high fidelity training data. Multifidelity machine learning (MFML) mitigates this overhead by systematically combining abundant low fidelity data with sparse high fidelity data. In spite of its success, standard MFML schemes rely on pre-defined scaling factors to determine sparse data ratio across fidelities, often generating redundant multifidelity data resulting in a loss of efficiency. Here, we introduce an adaptive on-the-fly multifidelity framework for machine learning that autonomously determines training dataset composition. By dynamically querying training samples at each fidelity, the algorithm saturates model accuracy at lower fidelities before moving up to more expensive reference calculations. We benchmark the novel adaptive-MFML across diverse chemical properties including the computational chemistry gold standard coupled cluster energies, and the more chemically challenging excitation energies. In our numerical experiments we show that our adaptive algorithm reduces data generation costs by up to a factor of 30 compared to single fidelity methods and improves upon standard MFML by up to a factor of 5. The mitigation of data redundancy establishes a high-accuracy low-cost pathway for sustainable cost-aware machine learning in quantum chemistry.
arXiv:2606.02660v1 Announce Type: new
Abstract: We investigate the cosmological evolution associated with the quadratic symmetric teleparallel gravity framework, \( f(Q)=Q+\alpha Q^{2}+\beta \) where the relation \(Q\propto H^{2}\) generates an additional \(H^{4}\) contribution to the Friedmann equation. Using the exact algebraic solution for $H(z)$, we reconstruct the effective dark-energy sector and compare the background evolution with $\Lambda$CDM using Type Ia supernovae, BAO, and cosmic-chronometer data. At the perturbative level, the model modifies the Poisson equation through a time-dependent effective gravitational coupling $G_{\textrm eff}(z)=G\big[1+\tfrac{2}{3}A E^{2}(z)\big]^{-1}$, where $A=18\alpha H_{0}^{2}$. For $\alpha>0$ this produces a weakened gravitational interaction, suppressing the linear growth factor $D(z)$, the growth rate $f(z)$, and the RSD observable $f\sigma_{8}(z)$. In the nonlinear regime, the reduced gravitational strength increases the spherical-collapse threshold and suppresses the halo mass function, leading to a lower predicted value of $S_{8}=\sigma_{8}\sqrt{\Omega_{m}/0.3}$. Thus, the quadratic $f(Q)$ extension can reproduce mild deviations from $\Lambda$CDM at the background level while naturally alleviating the $S_{8}$ tension, offering a viable modified-gravity explanation for recent observational hints of dynamical dark energy.
arXiv:2606.03227v1 Announce Type: new
Abstract: Causal discovery with instantaneous effects in multivariate time series is challenging, as the instantaneous structure must be acyclic. Prior methods enforce this by either separating instantaneous and lagged estimation into multi-stage pipelines or imposing algebraic acyclicity constraints via complex augmented Lagrangian optimization, both of which incur high computational cost. In this work, we propose a different approach: we learn a differentiable permutation of variables using the Gumbel--Sinkhorn operator and triangularize the instantaneous coefficient matrix of a Structural Vector Autoregressive (SVAR) model in the learned order. This converts acyclicity from a hard constraint into a parameterization and keeps it valid throughout optimization. In doing so, our method enables unified, continuous optimization with gradient-based learning, leading to improved efficiency in time--series causal discovery. Across three real-world benchmarks, our method achieves the best overall performance compared with 12 baselines in both discovery accuracy and efficiency. On the large-scale benchmark, it further demonstrates strong scalability, achieving more than a 6x speedup over competing methods.
arXiv:2606.02909v1 Announce Type: cross
Abstract: Gradient observations can substantially improve Gaussian process (GP) surrogates, particularly in high-dimensional settings where function evaluations are expensive. However, exact inference with $n$ function values and $n$ full gradients in $d$ dimensions scales cubically in the joint state size, imposing an intractable $\mathcal{O}(n^3 d^3)$ computational bottleneck. We introduce TERA, a highly scalable derivative GP method based on target-specific exact gradient reduction. We prove that for stationary kernels, the gradient components orthogonal to the directions connecting the target and conditioning points are conditionally independent of the target function value; consequently, the exact conditional density is fully characterized by at most $m^2$ directional derivatives once a conditioning set of size $m$ is specified. By using these reduced, dimension-free conditionals as local factors in a Vecchia approximation, TERA effectively decouples $n$ and $d$ from the dense matrix inversion. This reduces the per-target evaluation cost to $\mathcal{O}(dm^2 + m^6)$ time and $\mathcal{O}(dm^2 + m^4)$ memory, leaving the underlying derivative GP model mathematically unchanged. Empirical evaluations demonstrate that TERA achieves state-of-the-art predictive accuracy while operating orders of magnitude faster than standard derivative GPs. Crucially, both computation time and peak GPU memory remain essentially flat with respect to $d$, enabling highly scalable inference in high-dimensional spaces.
arXiv:2601.23229v2 Announce Type: replace
Abstract: Markov decision processes (MDPs) are a fundamental model in sequential decision making. Robust MDPs (RMDPs) extend this framework by allowing uncertainty in transition probabilities and optimizing against the worst-case realization of that uncertainty. In particular, $(s, a)$-rectangular RMDPs with $L_\infty$ uncertainty sets form a fundamental and expressive model: they subsume classical MDPs and turn-based stochastic games. We consider this model with discounted payoffs. The existence of polynomial and strongly-polynomial time algorithms is a fundamental problem for these optimization models. For MDPs, linear programming yields polynomial-time algorithms for any arbitrary discount factor, and the seminal work of Ye established strongly--polynomial time for a fixed discount factor. The generalization of such results to RMDPs has remained an important open problem. In this work, we show that a robust policy iteration algorithm runs in strongly-polynomial time for $(s, a)$-rectangular $L_\infty$ RMDPs with a constant (fixed) discount factor, resolving an important algorithmic question.
arXiv:2601.22599v2 Announce Type: replace
Abstract: Query-based universal sound separation is fundamental to intelligent auditory systems, aiming to isolate specific sources from mixtures. Despite recent advances, existing methods continue to suffer from residual interference in complex acoustic scenes. This performance limitation stems largely from a data bottleneck: in-the-wild datasets contain weak labels and severe co-occurrence of events. These flaws induce models to learn spurious correlations between background noise and target categories instead of robust acoustic features. To address this, we propose an automated pipeline that eliminates co-occurrence of events by mining high-purity single-event segments from in-the-wild datasets via a semantically consistent synthesis protocol. Utilizing this pipeline, we constructed Hive, a high-quality synthetic dataset comprising 2.4k hours of raw audio. Experimental results demonstrate that, compared with the state-of-the-art model SAM-Audio which was trained on a huge dataset $\sim$500 times larger than Hive, certain open-source models trained on Hive achieve competitive separation accuracy and perceptual quality. Moreover, these models exhibited remarkable zero-shot generalization on out-of-distribution evaluation benchmarks. These findings highlight that prioritizing purity of supervised signals enables significant data efficiency, offering a new paradigm for training robust auditory foundation models with reduced computational costs. Code and dataset are available at https://cslikai.cn/Hive.
arXiv:2601.20844v3 Announce Type: replace
Abstract: This paper studies the Minimal Embeddable Dimension (MED): the least dimension in which there exists a configuration of $m$ object vectors so that every subset of size at most $k$ is exactly retrieved by score comparison. Our result shows MED is $\Theta(k)$, independent of $m$, for inner product, Euclidean distance, and cosine similarity. We then consider Robust MED (RMED), where all vectors are unit normed and an $\epsilon$ gap of scores is required. We derive the $m$-dependent feasibility ceiling $\epsilon_\star(m,k)=m/\sqrt{k(m-1)(m-k)}$, which approaches $1/\sqrt{k}$ when $m\gg k$, and a Gaussian centroid construction gives a robust witness upper bound in the feasible margin regime. Numerical simulation on synthetic top-$2$ retrieval with cyclic polytope and centroid query optimization confirmed our theoretical claims. Experiments on LIMIT and LIMIT-small datasets also show that simple embedding-based retrieval baselines can overfit and outperform the reported single-vector LLM embedding baseline. Both theoretical and empirical findings rule out the lack of exact geometric capacity as the obstruction.
arXiv:2505.17659v5 Announce Type: replace
Abstract: Safe and feasible trajectory planning is critical for real-world autonomous driving systems. However, existing learning-based planners rely heavily on expert demonstrations, which not only lack explicit safety awareness but also risk inheriting undesirable behaviors such as speeding from suboptimal human driving data. Inspired by the success of large language models, we propose Plan-R1, a two-stage trajectory planning framework that decouples principle alignment from behavior learning. In the first stage, a general trajectory predictor is pre-trained on expert data to capture diverse, human-like driving behaviors. In the second stage, the model is fine-tuned with rule-based rewards using Group Relative Policy Optimization (GRPO), explicitly aligning ego planning with principles such as safety, comfort, and traffic rule compliance. This two-stage paradigm retains human-like behaviors while enhancing safety awareness and discarding undesirable patterns from demonstrations. Furthermore, we identify a key limitation of directly applying GRPO to planning: group-wise normalization erases cross-group scale differences, causing rare, high-variance safety-violation groups to have similar advantages as abundant low-variance safe groups, thereby suppressing optimization for safety-critical objectives. To address this, we propose Variance-Decoupled GRPO (VD-GRPO), which replaces normalization with centering and fixed scaling to preserve absolute reward magnitudes, ensuring that safety-critical objectives remain dominant throughout training. Experiments on the nuPlan benchmark demonstrate that Plan-R1 significantly improves planning safety and feasibility, achieving state-of-the-art performance, particularly in realistic reactive settings. Our code is available at https://github.com/XiaolongTang23/Plan-R1.
arXiv:2606.02643v1 Announce Type: new
Abstract: Retrieval-Augmented Generation (RAG)-enhanced LLM systems, while powerful, introduce substantial inference costs due to the inclusion of an extra multi-stage pipeline that dynamically retrieves and synthesizes information from external knowledge sources. This high operational cost exposes a critical vulnerability to Inference Cost Attacks (ICAs). However, existing ICAs often rely on the impractical assumption of direct prompt manipulation. We argue that a more feasible and potent threat to RAG-enhanced LLM systems arises from poisoning external knowledge bases (e.g., web knowledge from the Internet). In this work, we introduce the Retrieval-Augmented Inference Cost Attack (RA-ICA), a novel attacking paradigm that targets the computational cost of RAG-enhanced LLM systems by injecting malicious documents into external knowledge corpus. To operationalize this attack, we propose Computational Resource Exhaustion via External Poisoning (CREEP), a novel framework that leverages LLM agents to automatically craft malicious documents that are both semantically relevant for retrieval and potent for inducing an abnormal increase in token consumption during the inference phase. To enhance the attack's effectiveness, we introduce Memory-Augmented Group Relative Policy Optimization (MA-GRPO), a novel reinforcement learning algorithm that fine-tunes the agents by learning from a dynamic memory of historical best adversarial documents. Extensive experiments across three real-world datasets demonstrate that RA-ICA increases token consumption by up to 13.12 times with an over 90% success rate, without degrading the integrity of the generated answer.