arXiv:2605.14830v2 Announce Type: replace
Abstract: Agentic AI systems that autonomously perform service tasks are entering customer service operations. However, limited evidence exists on how human interventions shape service outcomes when agentic AI failures create both cognitive and emotional consequences. We study this issue through a randomized field experiment on Alibaba's Taobao platform. Workers in the treatment condition supervised an agentic AI system that resolved AI-eligible chats while continuing to handle AI-ineligible chats, whereas control workers resolved all chats without agentic AI. The findings show that AI deployment reduces average chat duration and has limited effects on retrial rates, but substantially lowers ratings for AI-eligible chats. Moreover, human intervention effectiveness in AI-eligible chats depends on the nature of AI failure, post-escalation intervention effort, and intervention timing. Human intervention preserves service quality in algorithm-triggered technical escalations, i.e., unresolved customer issues beyond the AI's capability, but is less effective in algorithm-triggered emotional escalations, i.e., where customers express frustration or dissatisfaction. These differences are partly explained by variation in workers' post-escalation intervention effort across escalation types. In algorithm-triggered emotional escalations, workers showed lower engagement: they sent fewer messages, contributed a smaller share of total chat rounds, and showed less proactivity in information seeking and solution provision. We further find that early intervention is essential for sustaining high post-escalation intervention effort. Finally, we document a positive spillover effect on AI-ineligible chats, as treated workers adapted their multitasking workflow to devote greater attention to these chats. These findings offer implications for human-in-the-loop process design in human-AI collaboration systems.
Science Journals
arXiv:2606.02406v1 Announce Type: new
Abstract: This paper presents a competitive solution to the S23DR Challenge 2026, which aims to reconstruct 3D house roof wireframe models from sparse SfM point clouds and ground-level semantic segmentations and depth maps. Our proposed method utilizes an end-to-end Transformer encoder-decoder architecture inspired by DETR. To effectively process the geometric and semantic data, the sparse SfM point cloud input is dynamically subsampled based on semantic priority and augmented with Gestalt and ADE20k class features. To further increase segmentation context, we fuse the point features with additional Gestalt feature encodings which are obtained by projecting the points into latent feature maps produced by a frozen autoencoder. Learned query embeddings are then decoded directly into 3D wireframe edges via cross-attention mechanisms. Evaluated on the "HoHo 22k" dataset, our approach significantly outperforms both handcrafted and learned baselines, achieving a Hybrid Structure Score (HSS) of 0.6476 and securing the second-highest position on the challenge's private leaderboard.
arXiv:2510.24078v2 Announce Type: replace
Abstract: Text-to-image (T2I) models are increasingly used for synthetic dataset generation, but generating effective synthetic training data for classification remains challenging. Fine-tuning a T2I model with a few real examples can help improve the quality of synthetic training data; however, it may also cause overfitting and reduce diversity in the generated samples. We propose a fine-tuning strategy BOB (BeyondOBjects) to mitigate these concerns for fine-grained classification. Given a small set of real examples, we first extract class-agnostic attributes such as scene background and object pose. We then explicitly condition on these attributes during fine-tuning of the T2I model and marginalize them out during generation. This design mitigates overfitting, preserves the T2I model's generative prior, reduces estimation errors, and further minimizes unintended inter-class associations. Extensive experiments across multiple T2I models, backbones, and datasets show that our method achieves state-of-the-art performance in low-shot fine-grained classification when augmented with synthetic data. Concretely, BOB outperforms DataDream by 7.4% on the Aircraft dataset (from 50.0% to 57.4% when fine-tuning a CLIP classifier with five real images augmented with 100 synthetic images). In three of the four benchmarks, fine-tuning downstream models with 5 real images augmented with BOB achieves better performance than fine-tuning with 10 real images. Collectively, BOB outperforms prior art in 18 of 24 experimental settings, with 2+% accuracy improvements in 14 of these settings.
arXiv:2511.07438v3 Announce Type: replace
Abstract: Cryo-electron microscopy (cryo-EM) is a powerful imaging technique for reconstructing three-dimensional molecular structures from noisy tomographic projection images of randomly oriented particles. We introduce a new data fusion framework, termed the method of double moments (MoDM), which reconstructs molecular structures from two instances of the second-order moment of projection images obtained under distinct orientation distributions: one uniform, the other non-uniform and unknown. We prove that these moments generically uniquely determine the underlying structure, up to a global rotation and reflection, and we develop a convex-relaxation-based algorithm that achieves accurate recovery using only second-order statistics. Our results demonstrate the advantage of collecting and modeling multiple datasets under different experimental conditions, illustrating that leveraging dataset diversity can substantially enhance reconstruction quality in computational imaging tasks.
arXiv:2605.21648v2 Announce Type: replace
Abstract: We develop a mean-field theory of dropout as a perturbation of critical signal propagation at the edge of chaos, and show that it predicts a simple, no-cost change to standard practice: \emph{front-loaded} dropout schedules cut test loss by \(18\)--\(35\%\) over constant dropout in MLPs and Vision Transformers at fixed budget. The theoretical mechanism is that dropout shifts the perfect-alignment fixed point, making the depth scale for information propagation finite even at critical initialization. We derive critical and crossover scaling laws for correlation decay and establish that smooth activations and kinked, \relu{}-like activations constitute distinct universality classes, with different critical exponents and a universal two-parameter scaling collapse in detuning and dropout strength. The distinction traces to the analytic structure of the correlation map: smooth activations admit a Taylor expansion near perfect alignment, while kinked activations develop a branch point with universal non-analyticity. As a corollary, the framework yields saturated dropout profiles under fixed budget; a regularization-reach argument then selects front-loaded schedules, with accuracy gains as a consistent secondary effect. We also discuss how the same Gaussian-kernel structure extends the theory beyond MLPs toward CNNs and residual architectures.
arXiv:2605.02270v2 Announce Type: replace
Abstract: This paper presents the first comprehensive comparative analysis of modern machine learning architectures for transliteration between Tajik (Cyrillic script) and Persian (Arabic script). A key contribution is the creation and validation of a unique parallel corpus aggregated from multiple heterogeneous sources, including crowdsourced projects, lexicographic pairs, parallel texts of "Shahnameh", diplomatic articles, texts of "Masnavi-i Ma'navi", official terminology lists, and transliterated correspondences. The initial dataset comprised 328,253 sentence pairs; a representative subset of 40,000 pairs was formed using stratified random sampling.
The experiment compared six classes of models: rule-based baseline, LSTM with attention, character-level Transformer, G2P Transformer (trained from scratch), pre-trained multilingual models (mBART, mT5 with LoRA), and byte-level ByT5. Results demonstrate the overwhelming superiority of ByT5 (chrF++ 87.4 for Tajik to Farsi, 80.1 for reverse). The G2P Transformer significantly outperformed mBART (72.3 vs. 62.2 chrF++) despite limited data. Models using subword tokenization (mT5) failed completely (chrF++ less than 18.5).
The findings demonstrate that for accurate transliteration of the Tajik-Farsi pair, architectures operating at the byte or character level are unequivocally more effective than traditional multilingual Seq2Seq models relying on subword tokenization.
arXiv:2511.05650v2 Announce Type: replace
Abstract: Alignment has greatly improved large language models (LLMs)' output quality at the cost of diversity, yielding highly similar outputs across generations, especially in open-ended generation tasks. We propose Base-Aligned Model Collaboration (BACo), an inference-time token-level model collaboration framework that dynamically combines a base LLM with its aligned counterpart to optimize diversity and quality. Using uncertainty and content-based signals, BACo employs routing strategies to determine, at each token, which model to decode from. Prior diversity-promoting methods often improve diversity at the expense of quality or require expensive decoding or post-training. In contrast, BACo achieves both high diversity and quality post hoc within a single pass, while offering strong controllability. We introduce a family of effective routing strategies and evaluate them across three open-ended generation tasks with 13 diversity and quality metrics. BACo consistently surpasses state-of-the-art inference-time baselines. With our best router, BACo achieves a 21.3% joint improvement in diversity and quality, which is further supported by human evaluations. Overall, our results demonstrate that collaboration between base and aligned models provides an effective and controllable mechanism for optimizing the diversity-quality trade-off.
arXiv:2510.23057v2 Announce Type: replace
Abstract: We present Seq-DeepIPC, a sequential end-to-end perception-to-control model for legged robot navigation in real-world environments. Seq-DeepIPC advances intelligent sensing for autonomous legged navigation by tightly integrating multi-modal perception (RGB-D + GNSS) with temporal fusion and control. The model jointly predicts semantic segmentation and depth estimation, giving richer spatial features for planning and control. For efficient deployment on edge devices, we use a lightweight model as the encoder, reducing computation while maintaining accuracy. Heading estimation is simplified by removing the noisy IMU and instead deriving global heading via differential analysis of sequential GNSS coordinates. We collected a larger and more diverse dataset that includes both road and grass terrains, and validated Seq-DeepIPC on a robot dog. Comparative and ablation studies show that sequential inputs improve perception and control in our models, while other baselines do not benefit. Seq-DeepIPC achieves competitive or better results with reasonable model size; although GNSS-only heading is less reliable near tall buildings, it is robust in open areas. Overall, Seq-DeepIPC extends end-to-end navigation beyond wheeled robots to more versatile and temporally-aware systems. To support future research, we will release the codes to our GitHub repo at https://github.com/oskarnatan/Seq-DeepIPC.
arXiv:2505.08438v4 Announce Type: replace
Abstract: Event cameras are rapidly emerging as powerful vision sensors for 3D reconstruction, uniquely capable of asynchronously capturing per-pixel brightness changes. Compared to traditional frame-based cameras, event cameras produce sparse yet temporally dense data streams, enabling robust and accurate 3D reconstruction even under challenging conditions such as high-speed motion, low illumination, and extreme dynamic range scenarios. These capabilities offer substantial promise for transformative applications across various fields, including autonomous driving, robotics, aerial navigation, and immersive virtual reality. In this survey, we present the first comprehensive review exclusively dedicated to event-based 3D reconstruction. Existing approaches are systematically categorised based on input modality into stereo, monocular, and multimodal systems, and further classified according to reconstruction methodologies, including geometry-based techniques, deep learning approaches, and neural rendering techniques such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS). Within each category, methods are chronologically organised to highlight the evolution of key concepts and advancements. Furthermore, we provide a detailed summary of publicly available datasets specifically suited to event-based reconstruction tasks. Finally, we discuss significant open challenges in dataset availability, standardised evaluation, effective representation, and dynamic scene reconstruction, outlining insightful directions for future research. This survey aims to serve as an essential reference and provides a clear and motivating roadmap toward advancing the state of the art in event-driven 3D reconstruction.
arXiv:2606.02196v1 Announce Type: new
Abstract: The rapid expansion of the Python ecosystem has fueled two distinct but converging threats: adversaries increasingly target the software supply chain via the Python Package Index (PyPI), while also building evasive, cross-platform malicious binaries compiled from source code written in Python. Current program analysis techniques struggle to address this dual threat. Static analysis based tools are often blinded by runtime obfuscation and compiled bytecode, while dynamic analysis based ones are fragile, prone to evasion by environmental guardrails, and often terminates prematurely due to unsatisfied dependencies.
To overcome these limitations, we present PyFEX, a resilient forced-execution engine. PyFEX explores a program's behavioral space systematically by forcing execution across all conditional branches to bypass evasion checks. To address the fragility of dynamic execution, it introduces a novel resilient crash recovery mechanism that synthesizes dummy objects to satisfy failed operations at the runtime, allowing analysis to proceed past fatal errors, and employs path merging to mitigate path explosion. PyFEX further incorporates an automated entry identification mechanism that proactively discovers and invokes dormant functions, exposing malicious logic hidden within uncalled APIs. To demonstrate the efficacy of this engine, we built PyFEXScan, a proof-of-concept malware detector built on top of PyFEX. Evaluated against both known malicious PyPI packages and real-world compiled binaries, PyFEX exposes critical behaviors missed by the existing state-of-the-art tools. In a live deployment on PyPI, PyFEXScan discovered 212 previously unknown malicious packages accounting for over 91,648 downloads, underscoring the necessity of resilient, exhaustive analysis for securing the Python ecosystem.
arXiv:2510.17532v2 Announce Type: replace
Abstract: Predicting cancer treatment outcomes requires models that are both accurate and interpretable, particularly in the presence of heterogeneous clinical data. While large language models (LLMs) have shown strong performance in biomedical NLP, they often lack structured reasoning capabilities critical for high-stakes decision support. We present a unified, multi-task learning framework that aligns autoregressive LLMs with clinical reasoning for outcome prediction on the MSK-CHORD dataset. Our models are trained to jointly perform binary survival classification, continuous survival time regression, and natural language rationale generation. We evaluate three alignment strategies: (1) standard supervised fine-tuning (SFT), (2) SFT with Chain-of-Thought (CoT) prompting to elicit step-by-step reasoning, and (3) Group Relative Policy Optimization (GRPO), a reinforcement learning method that aligns model outputs to expert-derived reasoning trajectories. Experiments with LLaMa3-8B and Med42-8B backbones demonstrate that CoT prompting improves F1 by +6.0 and reduces MAE by 12%, while GRPO achieves state-of-the-art interpretability and predictive performance across BLEU, ROUGE, and BERTScore. We further show that existing biomedical LLMs often fail to produce valid reasoning traces due to architectural constraints. Our findings underscore the importance of reasoning-aware alignment in multi-task clinical modeling and set a new benchmark for interpretable, trustworthy LLMs in precision oncology.
arXiv:2606.00146v1 Announce Type: cross
Abstract: Motion artifacts in magnetic resonance imaging (MRI) degrade diagnostic reliability. Existing deep learning methods are typically contrast-specific and fail to generalize across diverse modalities and artifact severities. We propose a unified framework combining parameter-informed contrast disentanglement with severity-aware adaptive correction. ScanCLIP, pretrained on over 30,000 MRI text-image pairs, derives contrast embeddings from acquisition parameters to disentangle contrast style from anatomical content, yielding contrast-free features. A Vision Transformer then estimates motion severity and routes features through a Mixture-of-Experts network, enabling targeted artifact correction. A dual-pathway decoder reconstructs both the clean image and residual artifact map, enforcing image-space consistency. On IXI and HCP benchmarks, our method improves PSNR by 0.75 dB and SSIM by up to 0.0279 over state-of-the-art approaches, with larger gains at higher artifact severities. It further demonstrates robust zero-shot generalization on real-world clinical data acquired with unseen scanning parameters, where existing methods either fail to remove artifacts or introduce additional distortions.
arXiv:2605.05427v2 Announce Type: replace
Abstract: Refusal rates are a poor proxy for LLM safety, i.e., a model may over-refuse benign prompts while still complying with harmful ones. We audit both failure modes across 21 open-weight LLMs on four safety benchmarks (OR-Bench, XSTest, ToxiGen, BOLD), using a composition adjustment to isolate model sensitivity from dataset toxicity confounds. We report three findings. First, models adopt fundamentally different calibration strategies: conservative ecosystems such as Llama suppress unsafe outputs at the cost of elevated over-refusals, while permissive ecosystems such as DeepSeek and Qwen preserve helpfulness but tolerate higher harmful compliance. Second, demographic protection is unequal: models over-protect prominent racial and religious groups, frequently refusing even benign prompts about them, while providing substantially weaker protection against disability-targeted attacks. Third, refusal and compliance tendencies are stable within model families across generations and scales, suggesting that post-training objectives shape safety behavior more than architecture. Our results call for joint, demographically-aware, and multi-judge safety evaluation.
arXiv:2606.00157v1 Announce Type: cross
Abstract: We consider establishing the interpretability theory of deep learning through constructing a corresponding relationship between the renormalization group (RG) method in statistical physics and the training process of deep neural networks (DNNs). We have proved the constructed relationship using the one-dimensional Ising model as the input data. In this paper we generalize our results to the case of continuous input data, which is a necessary preparation for applying the corresponding framework to real-world data. To be representative, we consider a class of data distribution in the exponential family. We prove that when the parameters of fully connected (FC) DNNs achieve their optimal value after training, the characteristic parameters of the feature layer output of DNNs are equal to the fixed points of the characteristic parameters of input data under RG method for continuous fields. This conclusion shows that the training process of DNNs is equivalent to RG calculation on this kind of data and therefore the network can extract main features from the input data just like RG. Also, the equivalence further validates the correspondence framework we have established, providing an explanation for the outstanding performance of DNNs on real-world data.
arXiv:2509.24808v2 Announce Type: replace
Abstract: Explaining why a language model produces a particular output requires local, input-level explanations. Existing methods uncover global capability circuits (e.g., indirect object identification), but not why the model answers a specific input query in a particular way. We introduce query circuits, which directly trace the information flow inside a model that maps a specific input to the output. Unlike surrogate-based approaches (e.g., sparse autoencoders), query circuits are identified within the model itself, resulting in more faithful and computationally accessible explanations. To make query circuits practical, we address two challenges. First, we introduce Normalized Deviation Faithfulness (NDF), a robust metric to evaluate how well a discovered circuit recovers the model's decision for a specific input, and is broadly applicable to circuit discovery beyond our setting. Second, we develop sampling-based methods to efficiently identify circuits that are sparse yet faithfully describe the model's behavior. Across benchmarks (IOI, arithmetic, MMLU, and ARC), we find that there exist extremely sparse query circuits within the model that can recover much of its performance on single queries. For example, a circuit covering only 1.3% of model connections can recover about 60% of performance on an MMLU questions. Overall, query circuits provide a step towards faithful, scalable explanations of how language models process individual inputs. The project page is at https://tony10101105.github.io/query-circuit/.
arXiv:2511.03734v2 Announce Type: replace
Abstract: The Koopman operator and extended dynamic mode decomposition (EDMD) as a data-driven technique for its approximation have attracted considerable attention as a key tool for modeling, analysis, and control of complex dynamical systems. However, extensions towards control-affine systems resulting in bilinear surrogate models are prone to demanding data requirements rendering their applicability intricate. In this paper, we propose a framework for data-fitting of control-affine mappings to increase the robustness margin in the associated system identification problem and, thus, to provide reliable bilinear EDMD schemes. In particular, guidelines for input selection based on subspace angles are deduced such that a desired threshold with respect to the minimal singular value is ensured. Moreover, we derive necessary and sufficient conditions of optimality for maximizing the minimal singular value. Further, we demonstrate the usefulness of the proposed approach using bilinear EDMD with control for nonholonomic robots.
arXiv:2605.27590v2 Announce Type: replace
Abstract: Remote sensing question answering (RS-QA) often requires more than direct semantic prediction, especially in large-scale forest scenes where ecological analysis involves multi-step filtering, numerical aggregation, neighborhood reasoning, and verifiable evidence. We introduce ForestHG-Trace, a framework for traceable long-horizon ecological reasoning over forest environments. It represents multimodal NEON forest scenes as ecological hypergraphs, where tree instances, spatial units, semantic groups, and neighborhood relations support higher-order reasoning beyond pairwise scene graphs. An LLM-guided agent then invokes deterministic tools for reading, filtering, expansion, aggregation, comparison, and auditing, producing replayable execution traces and compact evidence records rather than only free-form answers. We further construct ForestTraceQA, an executable benchmark for evaluating ecological QA across diverse task types and reasoning depths. Experiments show that ForestHG-Trace substantially improves answer accuracy and execution faithfulness over single-step baselines and scene-graph agents, while highlighting execution depth as the main bottleneck for long-horizon ecological QA.
arXiv:2509.24696v2 Announce Type: replace
Abstract: Personalizing large language models (LLMs) to individual user preferences is a critical step beyond generating generically helpful responses. However, current personalization methods are ill-suited for new users, as they typically require either slow, resource-intensive fine-tuning or a substantial amount of pre-existing user data, creating a significant cold-start problem. To address this challenge, we introduce a new paradigm for real-time personalization by learning from online pairwise preference feedback collected during text generation. We propose T-POP (Test-Time Personalization with Online Preference Feedback}), a novel algorithm that synergistically combines test-time alignment with dueling bandits. Without updating the LLM parameters, T-POP steers the decoding process of a frozen LLM by learning a reward function online that captures user preferences. By leveraging dueling bandits, T-POP intelligently queries the user to efficiently balance between exploring their preferences and exploiting the learned knowledge to generate personalized text. Extensive experiments demonstrate that T-POP achieves rapid and data-efficient personalization, significantly outperforming existing baselines and showing consistent improvement with more user interactions.
arXiv:2606.01666v1 Announce Type: new
Abstract: The scaling of Large Language Models (LLMs) has driven significant performance gains but created substantial challenges in inference efficiency. While Mixture of Experts (MoEs) architectures address this by decoupling model size from inference cost, training MoEs from scratch is often unstable and compute intensive. Conversion of pre-trained dense models into sparse MoEs has emerged as an alternative solution; however, existing methods typically rely on heuristic neuron clustering or random splitting to partition the Feed-Forward Network (FFN) into experts. In this work, we propose DOT-MoE, a novel framework that formulates the decomposition of dense layers as a Differentiable Optimal Transport (DOT) problem. Instead of static heuristics, we model neuron assignment as a balanced transport problem, utilizing differentiable Sinkhorn-Knopp iterations to enforce strict expert capacity constraints. Furthermore, we utilize Straight-Through Estimators (STE) to jointly learn the discrete neuron-to-expert assignment and the token-to-expert routing policy end-to-end. Extensive experiments across multiple architectures and benchmarks demonstrate that DOT-MoE significantly outperforms structured pruning, heuristic clustering, and random-split baselines, retaining 90% of the original dense model's performance while reducing active parameters by 50%.
arXiv:2509.21772v3 Announce Type: replace
Abstract: Phishing attacks are a significant societal threat, disproportionately harming vulnerable populations and eroding trust in essential digital services. Current defenses are often reactive, failing against modern evasive tactics like cloaking that conceal malicious content. To address this, we introduce PhishLumos, an adaptive multi-agent system that proactively mitigates entire attack campaigns. It confronts a core cybersecurity imbalance: attackers can easily scale operations, while defense remains an intensive expert task. Instead of being blocked by evasion, PhishLumos treats it as a critical signal to investigate the underlying infrastructure. Its Large Language Model (LLM)-powered agents uncover shared hosting, certificates, and domain registration patterns. On real-world data, our system identified 100% of campaigns in the median case, over a week before their confirmation by cybersecurity experts. PhishLumos demonstrates a practical shift from reactive URL blocking to proactive campaign mitigation, protecting users before they are harmed and making the digital world safer for all.
arXiv:2605.29842v2 Announce Type: replace-cross
Abstract: Microfluidic channels have emerged as useful tools to control dynamic forcing on transported microscale objects, as encountered in emulsions, biological flows, and other soft matter systems. Tailored channel designs enable precise interfacial and bulk rheological measurements of complex materials over a wide range of forcing timescales. After a brief overview of recent experiments illustrating these techniques, we discuss perspectives for future research in this direction, including the study of lubrication films in highly confined droplets, the measurement of fast relaxation dynamics of complex interfaces, and the high-throughput rheological characterization of microscopic soft matter systems ranging from single macromolecules to cells.
arXiv:2604.27548v2 Announce Type: replace
Abstract: The size of the \textit{smallest suffixient set} of positions of a string recently emerged as a new measure of string \textit{repetitiveness} -- a measure reflecting how much of repetitive content the string contains. We study how to maintain the smallest suffixient set online in near-real-time, that is with small (in our case, polyloglog) worst-case time on processing each letter. Two frameworks are considered: when the text is given letter-by-letter in either a right-to-left or left-to-right direction. Our central algorithmic tool is Weiner's suffix tree algorithm and associated algorithmic primitives for its efficient implementation.
arXiv:2509.16635v2 Announce Type: replace
Abstract: In real applications, person re-identification (ReID) is expected to retrieve the target person at any time, including both daytime and nighttime, ranging from short-term to long-term. However, existing ReID tasks and datasets can not meet this requirement, as they are constrained by available time and only provide training and evaluation for specific scenarios. Therefore, we investigate a new task called Anytime Person Re-identification (AT-ReID), which aims to achieve effective retrieval in multiple scenarios based on variations in time. To address the AT-ReID problem, we collect the first large-scale dataset, AT-USTC, which contains 403k images of individuals wearing multiple clothes captured by RGB and IR cameras. Our data collection spans 21 months, and 270 volunteers were photographed on average 29.1 times across different dates or scenes, 4-15 times more than current datasets, providing conditions for follow-up investigations in AT-ReID. Further, to tackle the new challenge of multi-scenario retrieval, we propose a unified model named Uni-AT, which comprises a multi-scenario ReID (MS-ReID) framework for scenario-specific features learning, a Mixture-of-Attribute-Experts (MoAE) module to alleviate inter-scenario interference, and a Hierarchical Dynamic Weighting (HDW) strategy to ensure balanced training across all scenarios. Extensive experiments show that our model leads to satisfactory results and exhibits excellent generalization to all scenarios.
arXiv:2509.16296v2 Announce Type: replace
Abstract: Designing socially optimal policies in multi-agent environments is a fundamental challenge in both economics and artificial intelligence. This paper studies a general framework for learning Stackelberg equilibria in dynamic and uncertain environments, where a single leader interacts with a population of adaptive followers. Motivated by pressing real-world challenges such as equitable electricity tariff design for consumers with distributed energy resources (such as rooftop solar and energy storage), we formalize a class of Stackelberg Markov games and establish the existence and uniqueness of stationary Stackelberg equilibria under mild continuity and monotonicity conditions. We then extend the framework to incorporate a continuum of agents via mean-field approximation, yielding a tractable Stackelberg-Mean Field Equilibrium (S-MFE) formulation. To address the computational intractability of exact best-response dynamics, we introduce a softmax-based approximation and rigorously bound its error relative to the true Stackelberg equilibrium. Our approach enables scalable and stable learning through policy iteration without requiring full knowledge of follower objectives. We validate the framework on an energy market simulation, where a public utility or a state utility commission sets time-varying rates for a heterogeneous population of prosumers. Our results demonstrate that learned policies can simultaneously achieve economic efficiency, equity across income groups, and stability in energy systems. This work demonstrates how game-theoretic learning frameworks can support data-driven policy design in large-scale strategic environments, with applications to real-world systems like energy markets.
arXiv:2509.14143v2 Announce Type: replace
Abstract: Vision-language-action (VLA) models have recently emerged as a promising paradigm for robotic control, enabling end-to-end policies that ground natural language instructions into visuomotor actions. However, current VLAs often struggle to satisfy precise task constraints, such as stopping based on numeric thresholds, since their observation-to-action mappings are implicitly shaped by training data and lack explicit mechanisms for condition monitoring. In this work, we propose CLAW (CLIP-Language-Action for Weight), a framework that decouples condition evaluation from action generation. CLAW leverages a fine-tuned CLIP model as a lightweight prompt generator, which continuously monitors the digital readout of a scale and produces discrete directives based on task-specific weight thresholds. These prompts are then consumed by $\pi_0$, a flow-based VLA policy, which integrates the prompts with multi-view camera observations to produce continuous robot actions. This design enables CLAW to combine symbolic weight reasoning with high-frequency visuomotor control. We validate CLAW on three experimental setups: single-object grasping and mixed-object tasks requiring dual-arm manipulation. Across all conditions, CLAW reliably executes weight-aware behaviors and outperforms both raw-$\pi_0$ and fine-tuned $\pi_0$ models. A video of our paper is available online https://youtu.be/MuMYj2QgReI.