arXiv:2512.05335v4 Announce Type: replace
Abstract: We study visual domain transfer for end-to-end imitation learning in a realistic and challenging setting where target-domain data are strictly off-policy, expert-free, and scarce. We first provide a theoretical analysis showing that the target-domain imitation loss can be upper bounded by the source-domain loss plus a state-conditional latent KL divergence between source and target observation models. Guided by this result, we propose State- Conditional Adversarial Learning, an off-policy adversarial framework that aligns latent distributions conditioned on system state using a discriminator-based estimator of the conditional KL term. Experiments on visually diverse autonomous driving environments built on the BARC-CARLA simulator demonstrate that SCAL achieves robust transfer and strong sample efficiency.
Science Journals
arXiv:2512.06182v2 Announce Type: replace
Abstract: Autonomous driving in interactive traffic scenarios remains challenging because of the mutual influence among vehicles and the inherent uncertainty of surrounding agents. Several model predictive control (MPC) formulations have been proposed to address this challenge, each adopting a different model of inter-agent interaction. While higher-fidelity interaction models enable more intelligent behavior, they incur substantially greater computational cost. Since strong interactions arise only occasionally in real traffic, a practical strategy for balancing performance and computational overhead is to invoke an appropriate controller based on situational demands. To this end, we first conduct a comparative study to assess and hierarchize the interactive capabilities of different MPC formulations. Building on this hierarchy, we then develop a neural network-based classifier for situation-aware switching among these controllers. We demonstrate that, by invoking the most advanced interactive MPC only in rare but critical situations and relying on a basic MPC in the majority of situations, situation-aware switching substantially improves overall performance while significantly reducing computational load.
arXiv:2512.07795v2 Announce Type: replace
Abstract: Benchmark scores for LLM reasoning systems are reported as single numbers, yet the same model, strategy, and task can produce meaningfully different answers and costs across repeated executions, even under greedy decoding (T = 0). This variance is not a statistical nuisance: the highest-performing strategy wins only 77% of head-to-head runs against its nearest competitor, meaning a single observed score can silently misrank systems. We introduce ReasonBench, a benchmark suite recording 30 independent trials across 10 reasoning strategies, 12 models, and 6 tasks, treating quality and cost as distributions rather than point estimates. We find that this variance is structured rather than random: a two-component taxonomy -- Global Noise, capturing cross-benchmark unevenness, and Run Noise, capturing within-benchmark stochasticity -- reveals that strategy architecture predicts stability profiles, while models and strategies shift orthogonal aspects of the distribution. A hierarchical decomposition attributes three-quarters of score variance to benchmark, system, and item structure, with a persistent residual that single-run evaluation silently absorbs. Finally, cost and quality decouple asymmetrically: cheap methods are structurally immune to joint cost-quality failure, while expensive methods remain exposed regardless of their accuracy. These findings establish instability as an inherent property of reasoning systems and motivate distribution-aware evaluation as standard practice.
arXiv:2512.09065v2 Announce Type: replace
Abstract: Many indoor workspaces are quasi-static: their global geometric layout is stable, but local semantics change continually, producing repetitive geometry, dynamic clutter, and perceptual noise that defeat standard vision-based localization. We present ShelfAware, a semantic particle filter for robust global localization that treats scene semantics as statistical evidence over object categories rather than fixed quantity landmarks. ShelfAware fuses a depth likelihood with a category-centric semantic similarity and uses a precomputed bank of semantic viewpoints to perform inverse semantic proposals inside Monte Carlo Localization (MCL), yielding fast, targeted hypothesis generation on low-cost, vision-only hardware. To demonstrate perception-agnostic scalability, we evaluate ShelfAware across two domains. In a rigorously controlled mock retail environment, ShelfAware achieves a 97% global localization success rate, maintaining the highest tracking success (66%) across cart, wearable, and dynamic occlusion conditions. Furthermore, in a 3,500 sq. ft. operational grocery store leveraging an open-vocabulary vision pipeline, ShelfAware significantly outperforms both geometric and fixed-quantity semantic baselines. By modeling semantics distributionally and leveraging inverse proposals, ShelfAware resolves geometric aliasing, providing an infrastructure-free building block for mobile and assistive robots in dynamic real-world environments.
arXiv:2512.10120v2 Announce Type: replace
Abstract: General-purpose audio representations aim to map acoustically variable instances of the same event to nearby points, resolving content identity in a zero-shot setting. Unlike supervised classification benchmarks that measure adaptability via parameter updates, we introduce VocSim, a training-free benchmark probing the intrinsic geometric alignment of frozen embeddings, with no parameters updated and no labels used (a label-free PCA whitening is fit per subset to correct anisotropy). VocSim aggregates 125k single-source clips from 19 corpora spanning human speech, animal vocalizations, and environmental sounds, isolating content representation from source separation (polyphonic mixtures are out of scope). We evaluate embeddings with Precision@k for local purity and the Global Separation Rate (GSR) for point-wise class separation, calibrated by lift over an empirical permutation baseline. A simple pipeline of frozen Whisper features, time-frequency pooling, and label-free PCA yields strong zero-shot performance with stable GSR rankings across domains (Kendall's tau = 0.60). However, on blind low-resource speech (Shipibo-Conibo, Chintang), local retrieval collapses while remaining above chance, exposing a cross-lingual speech generalization gap. As external validation, our top embeddings predict avian perceptual similarity, improve bioacoustic classification, and achieve state-of-the-art on the HEAR benchmark. We release data, code, and a public leaderboard.
arXiv:2512.10234v2 Announce Type: replace
Abstract: Even LLMs that appear safe during evaluation can still produce harmful responses in deployment. Because stochastic sampling yields different responses to the same prompt, low-probability harmful outputs can still reach users at scale. Common human evaluation workflows generate many random samples per prompt and review them in static spreadsheets. The practice scales poorly, forcing evaluators to repeatedly reread near-duplicate prefixes. To address this, we present InFerActive, an interactive system that visualizes sampling results as a navigable tree of readable phrases, allowing evaluators to filter, explore, and extend the generation space on demand. InFerActive utilizes breadth-first sampling, a novel tree construction procedure that matches the harmful-response coverage of random sampling while requiring up to 5.0x fewer samples. Two controlled user studies (N = 12 each) demonstrate that InFerActive significantly improves evaluation efficiency and coverage over both spreadsheet and basic tree baselines.
arXiv:2512.13356v2 Announce Type: replace
Abstract: This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear characteristics of the TRAS make it challenging to control using traditional control algorithms. However, recent developments in RL have attracted interest due to their potential applications in the control of multirotors. The Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm was used in this paper to train the RL agent. This algorithm is used for environments with continuous state and action spaces, similar to the TRAS, as it does not require a model of the system. The simulation results illustrated the effectiveness of the RL control method. Next, external disturbances in the form of wind disturbances were used to test the controller's effectiveness compared to conventional PID controllers. Lastly, experiments on a laboratory setup were carried out to confirm the controller's effectiveness in real-world applications.
arXiv:2512.17738v3 Announce Type: replace
Abstract: User-generated content (UGC) is characterised by frequent use of non-standard language, from spelling errors to expressive choices such as slang, character repetitions, and emojis. This makes evaluating UGC translation challenging: what counts as a "good" translation depends on the desired standardness level of the output. To explore this, we examine the human translation guidelines of four UGC datasets, and derive a taxonomy of twelve non-standard phenomena and five translation actions (NORMALISE, COPY, TRANSFER, OMIT, CENSOR). Our analysis reveals notable differences in how UGC is treated, resulting in a spectrum of standardness in reference translations. We show that translation scores of large language models are highly sensitive to prompts with explicit UGC translation instructions, and that they improve when they align with the dataset guidelines. We argue that fair evaluation requires both models and metrics to be aware of translation guidelines. Finally, we call for clear guidelines during dataset creation and for the development of controllable, guideline-aware evaluation frameworks for UGC translation.
arXiv:2603.06741v2 Announce Type: replace
Abstract: Training frontier-scale diffusion models often requires substantial computational resources concentrated in tightly-coupled clusters, limiting participation to well-resourced institutions. While Decentralized Diffusion Models (DDM) enable training multiple experts in isolation, existing approaches require 1176 GPU-days and homogeneous training objectives across all experts. We present an efficient framework that dramatically reduces resource requirements while supporting heterogeneous training objectives. Our approach combines three key contributions: (1) a heterogeneous decentralized training paradigm that allows experts to use different objectives (DDPM and Flow Matching), unified at inference time without any retraining; (2) pretrained checkpoint conversion from ImageNet-DDPM to Flow Matching objectives, accelerating convergence and enabling initialization without objective-specific pretraining; and (3) PixArt-$\alpha$'s efficient AdaLN-Single architecture, reducing parameters while maintaining quality. Experiments on LAION-Aesthetics show that, relative to the training scale reported for prior DDM work, our approach reduces the compute by 16$\times$ and data by 14$\times$. Under aligned inference settings, our heterogeneous configuration achieves better FID and higher intra-prompt diversity than the homogeneous baseline. By eliminating synchronization requirements and enabling mixed DDPM/FM objectives, our framework makes decentralized generative model training accessible to contributors with single GPUs requiring only 24--48GB VRAM.
arXiv:2606.01485v1 Announce Type: new
Abstract: We describe our submission to the VRR Challenge @ CVPR 2026, built on the \emph{ImplicitQA} / \emph{VRR-QA} benchmark~\cite{implicitqa}: multiple-choice video question answering in which answers are deliberately \emph{not} observable in any single frame and must be inferred from spatial layout, motion, depth, viewpoint, causality, and social context across discontinuous frames of creative video. We conduct a systematic, training-free study spanning open-source Video-LMMs (Qwen2.5-VL~\cite{qwen25vl}, Qwen3-VL~\cite{qwen3vl}, InternVL3, Gemma-3, and the RL-tuned video reasoners Video-R1~\cite{videor1} and VideoChat-R1.5~\cite{videochatr15}) and a battery of inference-time strategies (chain-of-thought, question decomposition, describe-then-reason cascades, audio transcripts, spatial state prompting, self-consistency~\cite{selfconsistency}, multi-model ensembling, and category routing). Our central finding is that this benchmark is \emph{perception-bound rather than reasoning-bound}: reasoning-side augmentations are neutral-to-harmful, whereas base-model perceptual capability and lightweight test-time denoising are the only reliable levers. A per-category error analysis localizes the difficulty to low-level perception -- relative depth, viewpoint, and counting are the hardest categories, while causal and social reasoning are nearly solved -- and a prompt that explicitly injects monocular depth cues to attack the weakest category \emph{lowers} test accuracy by $5.8$ points, confirming that the model needs a better \emph{percept}, not a better \emph{procedure}.
arXiv:2606.01488v1 Announce Type: new
Abstract: Vehicular Ad Hoc Networks (VANETs) are a key component of Intelligent Transportation Systems, enabling cooperative communication among vehicles and between vehicles and roadside infrastructure. However, their highly dynamic topology makes them vulnerable to network fragmentation, particularly in highway scenarios, low-density traffic conditions, localized accident zones, and communication-stressed environments. Although Unmanned Aerial Vehicles (UAVs) have been increasingly investigated as temporary aerial relays for improving VANET connectivity, reusable, future-labeled, and reproducible datasets designed to support short-term fragmentation risk analysis remain limited. This paper proposes a reproducible UAV-assisted VANET dataset generator for short-term fragmentation risk prediction. The proposed framework simulates a two-lane highway scenario in which vehicles move in opposite directions while UAVs operate as aerial support nodes. It incorporates multiple data collection profiles, including free-flow traffic, localized accidents, sparse extended topologies, dense bursty traffic, and mixed stress conditions. During each simulation episode, the generator periodically extracts mobility, topology, UAV coverage, and communication-window features, then assigns each sample a future fragmentation label based on the network state observed after a configurable prediction horizon. An illustrative generated dataset is descriptively characterized in terms of scenario balance, UAV policy balance, future-label distribution, scenario-specific label behavior, and representative feature ranges. By providing a modular, extensible, and reproducible ns-3-based data-generation framework, this work offers a practical basis for future supervised learning studies and connectivity management strategies in UAV-assisted VANETs.
arXiv:2606.01490v1 Announce Type: new
Abstract: We present a controlled experiment evaluating 12 multi-agent LLM collaboration topologies for software architecture design. Using a $2\times2\times2$ factorial design (Authority $\times$ Roles $\times$ Dynamics), we conducted 520 experimental runs across 8 design tasks of varying complexity, with 5 repetitions each. Designs were evaluated on a 12-dimensional rubric by three independent automated evaluators (GPT-OSS 120B, Claude Opus 4.6, Claude Sonnet 4.6). We report four core findings. First, structural adversarial (v4b) ranks #1 by ensemble -- a prompt-engineered adversarial variant that demands rewrite mandates rather than patches (weighted ensemble: 4.637/5.0). Second, cross-model review wins unanimously at #2 -- generate with one model, review with another -- ranking #2 by all three evaluators (weighted ensemble: 4.606). Third, evaluator diversity is itself a finding -- all three evaluators agree v4b is best and v3 is worst, but disagree sharply on v2b (Claude d=1.44 vs. GPT-OSS d=0.45), revealing how different model families weight design qualities. Fourth, parallel merge is fundamentally broken -- all three evaluators place merge variants in the bottom tier (3.65-3.79), due to token starvation and the Frankenstein effect. The weighted ensemble ($2\times$Opus + $2\times$Sonnet + $1\times$GPT-OSS) provides robust rankings across 520 runs, confirmed through independent cross-validation.
arXiv:2606.01493v1 Announce Type: new
Abstract: Reconstructing a photorealistic 3D face avatar from a single unconstrained photograph is challenging: feed-forward 3D Gaussian Splatting (3DGS) models degrade on out-of-distribution inputs, while pretrained diffusion models produce high-fidelity images but lack multi-view consistency. We observe that these paradigms are fundamentally complementary: explicit 3D representations guarantee geometric consistency, whereas 2D diffusion priors ensure photorealism. Building on this, we propose SplatShot, a training-free framework that couples these representations directly within the denoising process. Given a base 3DGS face model and a single reference image, we jointly denoise all target views using a per-step 3D feedback loop. At each timestep, we predict clean images from the noisy latents, refit the 3DGS to these multi-view predictions, and back-propagate the photometric discrepancy between the 3DGS re-renderings and 2D predictions into the noise estimate. This steers the sampling trajectory toward strictly 3D-coherent, identity-faithful outputs. Experiments on diverse in-the-wild images demonstrate that SplatShot produces 3D avatars with superior identity preservation, photorealism, and multi-view consistency.
arXiv:2512.18333v2 Announce Type: replace
Abstract: This paper proposes a new Reinforcement Learning (RL) based control architecture for quadrotors. With the literature focusing on controlling the four rotors' RPMs directly, this paper aims to control the quadrotor's thrust vector. The RL agent computes the percentage of overall thrust along the quadrotor's z-axis along with the desired Roll ($\phi$) and Pitch ($\theta$) angles. The agent then sends the calculated control signals along with the current quadrotor's Yaw angle ($\psi$) to an attitude PID controller. The PID controller then maps the control signals to motor RPMs. The Soft Actor-Critic algorithm, a model-free off-policy stochastic RL algorithm, was used to train the RL agents. Training results show the faster training time of the proposed thrust vector controller in comparison to the conventional RPM controllers. Simulation results show smoother and more accurate path-following for the proposed thrust vector controller.
arXiv:2606.02262v1 Announce Type: new
Abstract: In spite of the intensive study of cyclic codes and the recent construction of an infinite family of self-dual binary cyclic codes whose minimum distances have the square-root bound in IEEE Trans. IT, vol. 71, no. 4, 2025, it is still a 70-year-old open problem whether there is an infinite family of self-dual binary cyclic codes whose minimum distances have a lower bound better than the square-root bound. This paper settles this long-standing open problem in coding theory by presenting infinite families of such self-dual binary cyclic codes. As by-products, several families of cyclic codes with better parameters than those in some references are also constructed in this paper.
arXiv:2606.02216v1 Announce Type: new
Abstract: Lithium niobate photonic crystal nanobeam cavity (PCNBC) represents a premier platform for integrated electro-optics, offering deep sub-wavelength mode confinement, enhanced light-matter interactions, and ultralow power consumption. However, accurate characterization of the electro-optic (EO) tuning efficiency in such high-Q devices is fundamentally impeded by DC drift, a time-dependent spectral instability arising from charge redistribution, surface screening, or buffer layer relaxation under sustained electric fields. Here, we report the systematic analysis of DC drift dynamics in lithium niobate nanocavities and demonstrate that conventional quasi-static DC voltage scanning yields highly unreliable characterization data. To circumvent this limitation, we introduce a drift-free, dynamic measurement methodology that employs high-frequency triangular-wave voltage sweeps to effectively decouple the instantaneous electronic Pockels response from slow charge-relaxation processes. Validated across 35 devices with varying electrode geometries, our method delivers reproducible tuning efficiency of 4.3-4.5 pm/V with a low coefficient of variation of 1.1%, showing excellent quantitative agreement with three-dimensional finite-element simulations. This robust, drift-free measurement technique establishes a rigorous standard for the characterization and optimization of resonant cavity electro-optics, accelerating the development of high-performance thin-film lithium niobate photonic integrated circuits.
arXiv:2606.02212v1 Announce Type: new
Abstract: Background: Respiratory sound classification plays a critical role in the clinical identification of pulmonary pathologies. However, its performance is often hindered by the limited size, severe noise, and class imbalance of real-world auscultation datasets. Although conventional audio augmentation techniques are easy to implement, they may inadvertently distort subtle pathological characteristics. Meanwhile, existing Variational Autoencoder (VAE)- or Generative Adversarial Network (GAN)-based generative approaches often suffer from limited sample fidelity and insufficient controllability over class semantics, particularly under conditions of scarce supervision. Methods: To overcome these limitations, we propose C2GA, a class-controllable generative augmentation framework. C2GA first constructs a semantically rich discrete latent space using a conditional Vector-Quantized Variational Autoencoder (VQ-VAE), in which local acoustic tokens are explicitly decoupled from global class prototypes. Subsequently, a Transformer-based autoregressive prior is trained to generate label-consistent token sequences. These generated tokens are then fused with the corresponding class prototypes and decoded into high-fidelity Mel-spectrograms for data augmentation. Conclusion: These results indicate that C2GA provides an effective and semantically reliable augmentation strategy for respiratory sound analysis. By enabling controllable and high-quality data generation, the proposed framework offers a promising solution for improving the robustness and generalization of respiratory sound classification in realistic clinical scenarios.
arXiv:2606.01504v1 Announce Type: new
Abstract: Semantic retrieval in e-commerce must handle short, noisy, and colloquial queries over large product catalogs with fine-grained attribute distinctions. We present a Siamese LLM dual-encoder trained through a two-stage pipeline: contrastive learning with a false-negative margin mask to prevent penalization of near-duplicate products, followed by Relative Odds Alignment for Retrieval (ROAR), a preference optimization objective that extends Bradley-Terry to variable-sized graded relevance groups via consecutive odds-ratio margins. The training corpus mirrors this progression - substitute query-product pairs provide coarse semantic supervision in Stage 1 and graded relevance annotations drive fine-grained ranking in Stage 2. The resulting system accurately retrieves exact matches while correctly ordering substitutes and complementary products, with gains confirmed across query-frequency strata and business verticals, and statistical significance validated through live A/B deployment at scale.
arXiv:2606.01510v1 Announce Type: new
Abstract: This paper reviews the role of observers in the development of relativity theory, from special relativity to general relativity, emphasizing that observer-dependent descriptions are as fundamental as the covariance of physical laws. This paper reviews the role of observers in the development of relativity theory, from special relativity to general relativity, emphasizing that observer-dependent descriptions are as fundamental as the covariance of physical laws. After the introduction of a geometric framework for observers using timelike worldlines, Frenet-Serret formulas, projection operators, and the Frobenius condition for hypersurface-orthogonal families, the paper revisits key problems in early relativistic mechanics, such as the transformation of velocity and acceleration, the variational principle for particle motion, and the Ehrenfest paradox concerning rigid rotation. It shows that while early physicists often conflated coordinate systems with reference frames, their results remain valid because the underlying geometric objects are observer-independent. The historical analysis, from Einstein's 1905 work to the development of general relativity and later advances such as Hawking radiation, demonstrates that clarifying the concept of observers not only resolved paradoxes but also paved the way toward a field-theoretic formulation of gravity. The paper concludes that observer dependence, far from being a nuisance, is an essential ingredient for understanding spacetime physics.
arXiv:2606.01700v1 Announce Type: new
Abstract: In this paper, a novel framework, MixerSENet, is introduced for hyperspectral image (HSI) classification, designed to address the challenges of computational efficiency and limited labeled data. The proposed model processes hyperspectral image patches while maintaining consistent size and resolution throughout the network, effectively decoupling the mixing of spatial and channel dimensions. Notably, MixerSENet is lightweight and computationally efficient, requiring fewer parameters compared to traditional models, making it suitable for resource-constrained environments. A squeeze and excitation block is incorporated into the model to refine feature extraction, enhancing the network's ability to capture more informative features. Experimental results on two benchmark datasets demonstrate that MixerSENet achieves superior performance, reaching an overall accuracy (OA) of 82.47% on Houston13 dataset and 96.70% on the Qingyun dataset, outperforming state-of-the-art methods including 3D-CNN, HybridKAN, HSIFormer, SimPoolFormer, and MorphMamba. Furthermore, a detailed analysis of computational efficiency shows that MixerSENet achieves a favorable balance between accuracy and efficiency, with only 53,146 parameters and an low inference time, confirming its practicality for real-world applications. At publication, source code will be publicly available at https://github.com/mqalkhatib/MixerSENet.
arXiv:2606.01521v1 Announce Type: new
Abstract: A central problem in machine learning is that models can achieve near-perfect training performance while generalizing substantially less well to unseen examples. This gap is especially acute in high-dimensional, low-sample regimes, where many interpolating solutions exist and optimization must implicitly select among minima with different generalization properties. Following recent theoretical advances on optimization dynamics near the interpolation threshold, we note that the two-regime structure of risk minimization, with loss minimization followed by complexity minimization, motivates a biphasic optimization schedule. We thus theoretically demonstrate that GROKtimizer, a biphasic strategy that combines rapid convergence to interpolation with Critically Damped Momentum (CDM)-based post-interpolation norm minimization, offers a natural solution for selecting low-norm interpolating solutions. Under a local quadratic model of the post-interpolation basin, GROKtimizer provides a quadratic speedup over classical gradient descent, with provable optimality among first-order optimizers. To showcase the applicability of our method, we evaluate GROKtimizer on several synthetic benchmarks common in the classical grokking literature and on various real-world datasets. Finally, we reconcile our findings with the flat-minima hypothesis, highlighting the importance of post-interpolation dynamics in the construction of high-quality, generalizing models.
arXiv:2606.01525v1 Announce Type: new
Abstract: Semi-supervised hierarchical clustering aims to learn a tree structure consistent with data patterns and user-provided supervision. Supervision is usually given as leaf-level relations, such as pairwise must-link/cannot-link constraints or triplet-wise must-link-before constraints. Although useful for regulating local sample relations, such supervision does not directly indicate which samples should form coherent subtrees. Consequently, the non-leaf structure of the learned tree may deviate from the hierarchical organization preferred by ground-truth labels. To address this limitation, we propose a semi-supervised hyperbolic hierarchical clustering method with set-level structural priors. The main contribution is to introduce sets as basic modeling units for hierarchy learning. Each set denotes samples expected to cohere within a subtree and is induced from leaf-level supervision together with a learned constraint-consistent similarity structure. These sets act as soft structural priors for subtree-level supervision, allowing supervision to guide non-leaf hierarchy formation beyond local leaf-level relations. Specifically, we first learn constraint-consistent embeddings to obtain a reliable set partition, then construct constraint-induced sets and estimate inter-set similarities to form set-level structural priors. Finally, these priors are incorporated into a hyperbolic hierarchy objective for continuous tree optimization. Experiments on eleven benchmark datasets and ablation studies show that the proposed method consistently improves label consistency over representative hierarchical clustering baselines while also enhancing similarity-based tree quality.
arXiv:2606.02211v1 Announce Type: new
Abstract: Large language models are often influenced by extraneous input features, such as cues revealing a user's preferred answer. Consistency training reduces this influence by training models to behave similarly across inputs with and without the extraneous feature. However, existing methods train for consistency over entire responses or internal activations, which also constrains whether the model verbalises said extraneous features. We show this leads to obfuscation, where the model learns not to mention a cue while remaining influenced by it, which may undermine monitorability. To address this, we introduce Rate Matching Consistency Training (RMCT), which trains for consistency over selected behavioural properties without constraining how this behaviour is expressed. RMCT matches the rate at which the model exhibits a target behaviour (e.g., following a bias cue) across input perturbations, rather than requiring paired inputs with and without the extraneous feature, extending consistency training to settings where the extraneous features cannot be removed. We evaluate RMCT on sycophancy reduction in two open-weight language models, achieving reductions in bias-following comparable to a standard consistency-training baseline on held-out bias types, while largely preserving the model's tendency to verbalise the bias cue. Further, we find that RMCT is more data-efficient at the expense of being less compute-efficient in our experiments. Overall, RMCT shows that consistency training can improve behavioural robustness without directly trading off against monitorability.
arXiv:2606.02058v1 Announce Type: new
Abstract: Event cameras emit asynchronous events in response to environmental appearance changes. The scarcity of real-world event datasets makes simulation essential. However, most simulators infer event timestamps from frame sequences, forcing many threshold crossings to share a small set of discrete times; a failure mode we term timestamp batching that worsens under fast motion and occlusion.
We present TIDES, a continuous-time event simulator built on dynamic Gaussian splatting. Because TIDES operates on an explicit 3D scene representation with learnt geometry and motion, it can derive per-pixel intensity dynamics directly from the scene, rather than by differencing rendered frames. This enables accurate threshold-crossing prediction, including multiple crossings per rendering step, without temporal upsampling or frame interpolation. The same 3D scene model reveals where objects partially occlude one another; TIDES uses this to guide adaptive time stepping, concentrating computation only in regions where occlusion dynamics make simple models of brightness change unreliable.
Finally, we model finite sensor bandwidth using a tile-level arbiter whose throughput, jitter, and event drops reproduce realistic sensor artifacts. Across paired RGB-event benchmarks, TIDES attains state-of-the-art event-stream fidelity. We also show that events simulated by TIDES transfer more effectively to real downstream tasks than competitors'.
arXiv:2606.02354v1 Announce Type: cross
Abstract: Nonlinear optical (NLO) responses in two-dimensional quantum-confined systems are typically described within bulk-based frameworks as macroscopic spatial averages. In finite-thickness van der Waals multilayers directly relevant to nanoscale devices, this picture substantially breaks down. Here, we establish a general symmetry-based framework for classifying second-order NLO responses in multilayers. We reveal a layer-resolved organization into skin, weak-skin, and hidden effects governed by local symmetry and stacking order. First-principles calculations for both nonmagnetic and spin-polarized systems confirm our predictions, demonstrating that stacking alone suffices to dramatically reshape both the spatial pattern and magnitude of the NLO response, a phenomenon not explainable within standard bulk theory. Our results establish stacking geometry as an effective knob for engineering surface-selective NLO responses in layered materials.