Forskningsradar

Science Journals

Peer-reviewade publikationer — 56237 artiklar

Human Psychometric Questionnaires Mischaracterize LLM Behavior
arXiv:2509.10078v4 Announce Type: replace Abstract: We examine whether human psychometric questionnaires can serve as reliable tools for characterizing and predicting LLM behavior in everyday user interactions. We analyze eight open-source LLMs by comparing their value and personality profiles derived from two different methods: Likert self-reports on established questionnaires (PVQ-40/21 and BFI-44/10) and generation probabilities over value-laden responses to everyday user queries. The two profiles diverge substantially. Within-construct item consistency, often cited as evidence of stable LLM dispositions, disappears in generation probabilities. We attribute this gap to the fact that explicit lexical cues in established questionnaire items allow models to recognize the target construct and respond in alignment-consistent, socially desirable ways, whereas realistic user queries provide no such cues. In addition, demographic persona prompts shift models' responses to human questionnaires in ways consistent with real human patterns, but no such shifts appear in the generation probabilities of responses to realistic user queries, showing their limited ability to simulate the behaviors of target demographics in real-world user interactions. Overall, our study shows that human psychometric questionnaires are insufficient tools for predicting LLM behavior and suggests generation-based profiling as a more accurate measure.
Self-Supervised Online Robot-Agnostic Traversability Estimation for Open-World Environments
arXiv:2605.28442v2 Announce Type: replace Abstract: Self-supervised online traversability estimation enables robots to continuously learn from unlabeled open-world experiences and adapt their navigation behavior toward safe and efficient trajectories. Existing approaches either rely on handcrafted proprioceptive traversability scores, limiting robot-agnosticism, or cluster prior data, preventing online learning. Moreover, many continual learning methods incur substantial memory and computational costs, hindering onboard deployment. We introduce COTRATE, an online learning framework for continuous traversability estimation from multimodal, unlabeled robot experience. Our method first infers robust traversability scores using a robot-agnostic, learning-based online terrain assessment module operating on proprioceptiveand inertial signals. These scores then supervise a visual traversability network through a novel alignment loss that associates visual embeddings with online terrain assessments. To mitigate forgetting during continual learning with minimal overhead, we propose a diversity-aware feature selection strategythat preserves performance using a compact replay memory. We further show that the learned traversability representation supports knowledge transfer across different robot platforms with different locomotion kinematics. We evaluate COTRATE on a dataset of $\approx$ 50,000 images collected with two robotic platforms across 11 outdoor terrains, and benchmark it on navigation tasks in three representative outdoor environments. We make the dataset, code, and trained models publicly available.
Chunking German Legal Code
arXiv:2605.19806v2 Announce Type: replace Abstract: This paper investigates chunking strategies for retrieval-augmented generation on German statutory law, using the German Civil Code as a structured benchmark corpus. We implement and compare a range of segmentation approaches, including structural units (sections, subsections, sentences, propositions), fixed-size windows, contextual chunking, semantic clustering, Lumber-style chunking, and RAPTOR-based hierarchical retrieval. All methods are evaluated on a legal question-answering dataset with section-level gold labels, measuring recall, query latency, index build time, and storage requirements. Results show that chunking strategies aligned with the inherent legal structure - particularly section and subsection - based retrieval-achieve the highest recall, while more complex approaches that override this structure perform worse. These simpler methods also offer favorable computational efficiency compared to LLM-intensive techniques such as contextual chunking, RAPTOR, and Lumber. The findings highlight a key trade-off between semantic enrichment and operational cost, and demonstrate that preserving domain-specific structure is critical for effective legal information retrieval.
SAC-Opt: Semantic Anchors for Iterative Correction in Optimization Modeling
arXiv:2510.05115v3 Announce Type: replace Abstract: Large language models (LLMs) have opened new paradigms in optimization modeling by enabling the generation of executable solver code from natural language descriptions. Despite this promise, existing approaches typically remain solver-driven: they rely on single-pass forward generation and apply limited post-hoc fixes based on solver error messages, leaving undetected semantic errors that silently produce syntactically correct but logically flawed models. To address this challenge, we propose SAC-Opt, a backward-guided correction framework that grounds optimization modeling in problem semantics rather than solver feedback. At each step, SAC-Opt aligns the original semantic anchors with those reconstructed from the generated code and selectively corrects only the mismatched components, driving convergence toward a semantically faithful model. This anchor-driven correction enables fine-grained refinement of constraint and objective logic, enhancing both fidelity and robustness without requiring additional training or supervision. Empirical results on seven public datasets demonstrate that SAC-Opt improves average modeling accuracy by 7.7%, with gains of up to 21.9% on the ComplexLP dataset. These findings highlight the importance of semantic-anchored correction in LLM-based optimization workflows to ensure faithful translation from problem intent to solver-executable code.
BoxLitE: A Faithful Knowledge Base Embedding Based on Convex Optimization
arXiv:2605.23937v2 Announce Type: replace Abstract: Knowledge base (KB) embeddings aim at combining the capability of classical knowledge graph embeddings to generalize the information present in facts, the ABox, with conceptual knowledge represented in an ontology language, the TBox. Several authors have recently explored the idea of mapping concepts to convex regions in a vector space. This is useful to represent hierarchies, typically present in TBoxes, since more general concepts can be mapped to larger regions, containing those regions associated with more specific concepts. However, the power of convexity is rarely leveraged during the actual learning tasks. Here, we introduce BoxLitE, a KB embedding model for DL-Lite$^{\mathcal{H}}$ that allows for convex optimization. We show that for any satisfiable DL-Lite$^{\mathcal{H}}$ KB, there is a BoxLitE embedding that is a weakly faithful model. As a proof of concept, we show how to formulate the KB embedding task as a convex optimization problem and how to obtain embeddings with such desirable faithfulness properties.
PMF-CL: Pareto-Minimal-Forgetting Continual Learner for Conflicting Tasks
arXiv:2605.19145v2 Announce Type: replace Abstract: In the literature, many continual learning (CL) algorithms have been proposed to address the issue of catastrophic forgetting in ML models (i.e., learning new tasks leads to the loss of performance on previously learned tasks). Although all CL approaches use some form of memory to retain information about past tasks, a grounded understanding of what information needs to be stored to minimize catastrophic forgetting remains elusive. Recently, it has been recognized that under the strong assumption of the existence of a common global minimizer over all tasks, catastrophic forgetting can be completely avoided. However, in practice, tasks rarely have a common global minimizer, and a certain amount of forgetting is inevitable. In this paper, we propose a foundational framework for principled and systematic CL of conflicting tasks using a multi-task learning (MTL) perspective. The approach is based on finding Pareto-optimal solutions, i.e., the solutions which, by definition, minimally forget the previous tasks in the Pareto sense. We derive Pareto-minimal-forgetting CL algorithms for linear and basis-function regression, and general loss functions which have a quadratic upper bound, e.g., logistic regression. For quadratic problems, PMF-CL uses memory-efficient iterative updates with a static memory footage of $\mathcal{O}(d^2)$ for models with $d$ parameters.
Testing the physical reality of tidal bulges in the world's oceans
arXiv:2605.30721v1 Announce Type: new Abstract: Persistent alternation of high and low water in coastal and oceanic regions has attracted human attention for millennia. This movement of water is generally explained through the double water bulge model. Although this model has been widely adopted in the scientific literature on tides since the 18th century, the physical existence of water bulges on the Earth's surface has yet to be verified. Herein, we establish a lunar angle phase-dependent statistical analysis of tide patterns at 362,370 oceanic locations spotted by Jason-3 satellite of AVISO in 2021 to address this issue. We show that during lunar angle phases of 0 degree-45 degree and 135 degree-180 degree, which spatially correspond to the water bulging regions expected in the double water bulge model, the number of low tides consistently exceeds that of high tides. Conversely, during lunar angle phase of 45 degree-135 degree, which spatially correspond to the water-depressing region expected in the model, high tides predominantly outnumber low tides. These findings evidently contradict the physical existence of two water bulges in the world's oceans, suggesting that the scientific community should pay additional attention to alternative explanations for tides, such as gravitational forcing mechanism and oceanic basin oscillation-generated driving mechanism.
ExpGraph: Model-Agnostic Experience Learning with Graph-Structured Memory for LLM Agents
arXiv:2605.30712v1 Announce Type: new Abstract: Large language model (LLM) agents have shown strong capabilities in reasoning, tool use, and multi-step interaction, but they often solve tasks from scratch and fail to reuse successful strategies or failure lessons from prior experience. Fine-tuning on collected experience can improve reuse, but it is inflexible when stronger or more suitable executors emerge. We propose ExpGraph, a model-agnostic experience learning framework that enables frozen and replaceable LLM executors to improve through external experience reuse without parameter updates. ExpGraph summarizes historical trajectories into reusable skills and failure lessons, organizes them as nodes in a self-evolving experience graph, and retrieves useful experiences through graph diffusion and utility-aware ranking. A lightweight retrieval copilot is trained with reinforcement learning using feedback that compares executor performance with and without retrieved experiences, while the graph is updated online from downstream task outcomes. We evaluate ExpGraph on ExpSuite, covering question answering, mathematical reasoning, code generation, and multi-step agentic environments including ALFWorld and AppWorld. ExpGraph improves over the strongest baseline by 12.2% and 4.7% on static tasks with smaller and larger executors, and by 21.4% and 12.7% in agentic environments, while reducing average interaction steps by 12.7% and 21.6%. Ablations show that graph-structured experience, utility-aware ranking, and adaptive retrieval jointly enable effective experience reuse across diverse tasks and executor models.
Polaris: Coupled Orbital Polar Embeddings for Hierarchical Concept Learning
arXiv:2605.00265v2 Announce Type: replace Abstract: Real-world knowledge is often organized as hierarchies such as product taxonomies, medical ontologies, and label trees, yet learning hierarchical representations is challenging due to asymmetric structure and noisy semantics. We introduce Polaris, a polar hyperspherical embedding framework that separates semanticity from hierarchy using angular geometry and radius, enabling the learning of meaning and structure without interference. To map latent representation onto the sphere, we project it to the tangent space at the north pole, apply the exponential map, and learn unit-norm representations using spherical linear layers. Polaris then combines robust local constraints, global regularization that prevents geometric collapse, and uncertainty-aware asymmetric objectives that encourage directional containment. At inference time, Polaris uses structure-guided retrieval to efficiently narrow down candidate parents before final ranking. We evaluate Polaris on different settings of taxonomy expansion - spanning trees, multi-parent DAGs, and multimodal hierarchies, showing consistent improvements of up to ~19 points in top-K retrieval and up to ~60% reduction in mean rank over fourteen strong baselines.
FitED: A User-Centric, Extensible Software Environment for Robust Peak-Profile and General Functional Data Fitting
arXiv:2605.00172v2 Announce Type: replace Abstract: Reliable parameter extraction from experimental data is essential for quantitative analysis across spectroscopy, diffraction, photoluminescence, chromatography, microscopy, and time-resolved measurements. However, nonlinear fitting often remains difficult to reproduce, especially when complex models, correlated parameters, uncertain derived quantities, and user-dependent fitting choices are involved. We present FitED, a Python-based desktop application for nonlinear fitting of one-dimensional scientific data that combines an accessible graphical interface with a transparent and flexible numerical backend. FitED supports conventional peak profiles, including Gaussian, Lorentzian, Pseudo-Voigt, and exact area-normalized Voigt functions, as well as arbitrary user-defined analytical models for broader experimental applications. The software integrates local and global-search-assisted optimization strategies, automated model initialization, repeated stability testing, parameter-correlation analysis, and covariance-based propagation of uncertainty for derived quantities. By combining interactive usability with uncertainty-aware analysis and structured export of fitting results, FitED provides a practical platform for reproducible and interpretable fitting of experimental data. The software is intended to support both routine analysis and advanced model evaluation while preserving the parameter-level control required by experimental researchers.
CobSeg: Coherence Boundary Modeling for Dialogue Topic Segmentation
arXiv:2605.30668v1 Announce Type: new Abstract: Dialogue topic segmentation is critical in many human-AI collaborative applications which requires identifying heterogeneous boundary cues, including lexical transitions near utterance edges and semantic discontinuities across utterances. Existing utterance models often dilute these local lexical signals. We propose CobSeg, a novel multi-branch architecture that separates coherence-level semantic continuity from lexical boundary transitions and recovers both through directional boundary prediction. CobSeg further uses boundary informativeness weighting to emphasize high-utility utterance positions, and incorporates a corpus-derived topic coherence cue with learned combination weights. While CobSeg is evaluated as a compact trainable segmenter under supervised gold-boundary training and a pseudo-label setting with automatically induced boundaries, it performs enhanced boundary prediction without LLM calls during inference. Across five benchmarks, it improves $P_k$ and $W_d$ particularly when local lexical cues are prominent: under gold supervision, it reduces $P_k$ by 0.7 points and $W_d$ by 0.6 points on VHF, and reaches $P_k$ of 1.0 on DialSeg711; with induced boundaries, it reduces $P_k$ by 14.8 points on VHF, by 1.5 points on DialSeg711, and by 1.1 points on TIAGE, outperforming prior non-LLM approaches.
Automatically Attacking Software Reverse Engineering AI Agents
arXiv:2605.30667v1 Announce Type: new Abstract: Software tools for reverse engineering executable binary files, such as Ghidra, enable malware analysts to safely conduct robust static analysis without having access to original source code. Coupled with the analytic power of large language models (LLM), agentic systems enabled with tools, such as GhidraMCP, can allow analysts to automate a previously human driven process. Although this automation can increase the productivity of a single malware analyst, it also introduces a new area of vulnerability for malware obfuscation. This paper presents an adversarial technique using genetic algorithm-based prompt generation, a modification of an adversarial attack known as AutoDAN, to demonstrate the ability to deceive LLM-powered disassembly and decompilation systems into misinterpreting binary executables, effectively corrupting their analytical output. This proof-of-concept methodology exploits inherent vulnerabilities in how LLMs process and interpret decompiled machine code via prompt injection by using extraneous string variable assignments to pass surreptitious instructions to the LLM while not impacting the functionality of the executable file. We demonstrate this capability through several concise examples. This approach could enable attackers to bypass automated detection systems that rely on LLM-driven analysis pipelines. By studying and understanding this attack, insights can be gained regarding the security implication of integrating LLMs into cybersecurity toolchains and building more robust agentic code analysis systems.
MatchFixAgent: Language-Agnostic Autonomous Repository-Level Code Translation Validation and Repair
arXiv:2509.16187v3 Announce Type: replace Abstract: Code translation transforms source code from one programming language (PL) to another. Validating the functional equivalence of translation and repairing, if necessary, are critical steps in code translation. Existing automated validation and repair approaches struggle to generalize to many PLs due to high engineering overhead, and they rely on existing and often inadequate test suites, which results in false claims of equivalence and ineffective translation repair. To bridge this gap, we develop MatchFixAgent, a large language model (LLM)-based, PL-agnostic framework for equivalence validation and repair of translations. MatchFixAgent features a multi-agent architecture that divides equivalence validation into several sub-tasks to ensure thorough and consistent semantic analysis of the translation. We compare MatchFixAgent's validation and repair results with four repository-level code translation techniques. Our results demonstrate that MatchFixAgent produces (in)equivalence verdicts for 99.2% of translation pairs, with the same equivalence validation result as prior work on 72.8% of them. When MatchFixAgent's result disagrees with prior work, we find that 60.7% of the time MatchFixAgent's result is actually correct. In addition, we show that MatchFixAgent can repair 50.6% of inequivalent translation, compared to prior work's 18.5%.
SHIELD: Secure Hypernetworks for Incremental Expansion Learning Defense
arXiv:2506.08255v4 Announce Type: replace Abstract: Continual learning under adversarial conditions remains an open problem, as existing methods often compromise either robustness, scalability, or both. We propose a novel framework that integrates Interval Bound Propagation (IBP) with a hypernetwork-based architecture to enable certifiably robust continual learning across sequential tasks. Our method, SHIELD, generates task-specific model parameters via a shared hypernetwork conditioned solely on compact task embeddings, eliminating the need for replay buffers or full model copies and enabling efficient over time. To further enhance robustness, we introduce Interval MixUp, a novel training strategy that blends virtual examples represented as $\ell_{\infty}$ balls centered around MixUp points. Leveraging interval arithmetic, this technique guarantees certified robustness while mitigating the wrapping effect, resulting in smoother decision boundaries. We evaluate SHIELD under strong white-box adversarial attacks, including PGD and AutoAttack, across multiple benchmarks. It consistently outperforms existing robust continual learning methods, achieving state-of-the-art average accuracy while maintaining both scalability and certification. These results represent a significant step toward practical and theoretically grounded continual learning in adversarial settings.
Fully Open Meditron: An Auditable Pipeline for Clinical LLMs
arXiv:2605.16215v2 Announce Type: replace Abstract: Clinical decision support systems (CDSS) require scrutable, auditable pipelines that enable rigorous, reproducible validation. Yet current LLM-based CDSS remain largely opaque. Most "open" models are open-weight only, releasing parameters while withholding the data provenance, curation procedures, and generation pipelines that determine model behavior. Fully Open (FO) models, which expose the complete training stack end-to-end, do not currently exist in medicine. We introduce Fully Open Meditron, the first fully open pipeline for building LLM-CDSS, comprising a clinician-audited training corpus, a reproducible data construction and training framework, and a use-aligned evaluation protocol. The corpus unifies eight public medical QA datasets into a normalized conversational format and expands coverage with three clinician-vetted synthetic extensions: exam-style QA, guideline-grounded QA derived from 46,469 clinical practice guidelines, and clinical vignettes. The pipeline enforces system-wide decontamination, gold-label resampling of teacher generations, and end-to-end validation by a four-physician panel. We evaluate using an LLM-as-a-judge protocol over expert-written clinical vignettes, calibrated against 204 human raters. We apply the recipe to five FO base models (Apertus-70B/8B-Instruct, OLMo-2-32B-SFT, EuroLLM-22B/9B-Instruct). All MeditronFO variants are preferred over their bases. Apertus-70B-MeditronFO improves +6.6 points over its base (47.2% to 53.8%) on aggregate medical benchmarks, establishing a new FO SoTA. Gemma-3-27B-MeditronFO is preferred over MedGemma in 58.6% of LLM-as-a-judge comparisons and outperforms it on HealthBench (58% vs 55.9%). These results show that fully open pipelines can achieve state-of-the-art domain-specific performance without sacrificing auditability or reproducibility.
Deterministic Monotone Min-Plus Product and Convolution
arXiv:2605.07150v2 Announce Type: replace Abstract: The Monotone Min-Plus Product problem is a useful primitive that has seen many algorithmic applications over the past decade. In this problem, we are given two $n\times n$ integer matrices $A$ and $B$, where each row of $B$ is a monotone non-decreasing sequence of integers from $\{1,\dots,n\}$, and the goal is to compute their Min-Plus product, defined as the $n\times n$ matrix $C$ with $C_{i,j} = \min_{k}\{A_{i,k} + B_{k,j}\}$. The fastest known algorithm for this task [Chi, Duan, Xie, and Zhang, STOC'22] runs in $n^{(\omega+3)/2+o(1)} = O(n^{2.686})$ time, significantly improving over the brute-force cubic algorithm. However, its main disadvantage is that it requires randomization, which is then inherited by all downstream applications. Our main result is a deterministic algorithm for Monotone Min-Plus product with the same time complexity $n^{(\omega+3)/2+o(1)} = O(n^{2.686})$ as its randomized counterpart, improving upon the previous deterministic bound $O(n^{2.875})$ [Gu, Polak, Vassilevska Williams, and Xu, ICALP'21]. Our derandomization also applies to previously studied extensions and variants (e.g., [D\"urr, IPL'23]), including rectangular matrices, bounded range $[n^\mu]$, and column-monotone matrices. As an immediate consequence, we derandomize state-of-the-art algorithms for multiple problems, including Language Edit Distance, RNA Folding, Optimum Stack Generation, unweighted Tree Edit Distance, Batched Range Mode, and Approximate All-Pairs Shortest Paths. Our techniques also yield a deterministic algorithm for the Monotone Min-Plus Convolution problem that runs in $n^{1.5+o(1)}$ time, nearly matching the best known randomized time complexity $\widetilde{O}(n^{1.5})$ [Chi, Duan, Xie, and Zhang, STOC'22]. This algorithm can be used to derandomize state-of-the-art algorithms for Jumbled Indexing for binary strings and several variants of Knapsack.
SDF2Net: Shallow to Deep Feature Fusion Network for PolSAR Image Classification
arXiv:2402.17672v2 Announce Type: replace Abstract: Polarimetric synthetic aperture radar (PolSAR) images encompass valuable information that can facilitate extensive land cover interpretation and generate diverse output products. Extracting meaningful features from PolSAR data poses challenges distinct from those encountered in optical imagery. Deep learning (DL) methods offer effective solutions for overcoming these challenges in PolSAR feature extraction. Convolutional neural networks (CNNs) play a crucial role in capturing PolSAR image characteristics by leveraging kernel capabilities to consider local information and the complex-valued nature of PolSAR data. In this study, a novel three-branch fusion of complex-valued CNN, named the Shallow to Deep Feature Fusion Network (SDF2Net), is proposed for PolSAR image classification. To validate the performance of the proposed method, classification results are compared against multiple state-of-the-art approaches using the airborne synthetic aperture radar (AIRSAR) datasets of Flevoland and San Francisco, as well as the ESAR Oberpfaffenhofen dataset. The results indicate that the proposed approach demonstrates improvements in overallaccuracy, with a 1.3% and 0.8% enhancement for the AIRSAR datasets and a 0.5% improvement for the ESAR dataset. Analyses conducted on the Flevoland data underscore the effectiveness of the SDF2Net model, revealing a promising overall accuracy of 96.01% even with only a 1% sampling ratio.
Functional Multi-Target Detection via Bispectrum Inversion
arXiv:2605.31579v1 Announce Type: cross Abstract: This paper develops a functional theory for multi-target detection, where a compactly supported signal is recovered from a single noisy observation containing many unknown translations of the signal. Our formulation allows continuous, off-grid translations and correlated stationary Gaussian process noise, extending beyond the discrete, grid-aligned, white-noise models common in prior work. We analyze two uninitialized recovery algorithms based on autocorrelation analysis; in particular, both algorithms first estimate the signal's bispectrum via a debiased third-order empirical autocorrelation. The signal is then recovered from the estimated bispectrum using either a functional frequency marching scheme or a Kotlarski-type deconvolution formula. For both algorithms, we prove non-asymptotic recovery guarantees for compactly supported signals without bandlimiting assumptions. The resulting error bounds depend on the smoothness of the signal and the accuracy of bispectrum estimation, with the latter governed by the noise characteristics and the number of signal occurrences. Numerical experiments validate our theory and demonstrate accurate recovery in low-SNR regimes.
Improving Selective Classification with Pairwise Queries for Binary Classification
arXiv:2605.30615v1 Announce Type: new Abstract: In selective classification, a model predicts the labels of data samples where it is confident, and abstains from predicting labels for samples on which it is not confident. The rejected samples are often labeled by an expert, which is expensive. The budget for the expert is best utilized when the model has low error on non-rejected samples. However, the estimate of a model's confidence might be inconsistent with the model's predictions, which can lead to high error on non-rejected points. Such situations can readily occur in in-context binary classification by LLMs. To remedy this, we propose making additional pairwise queries to the same model. These pairwise queries can detect high-error samples and be incorporated into selective classification techniques to reduce the error on non-rejected samples. Theoretically, we establish the conditions under which a simple algorithm using pairwise queries outperforms an inconsistent confidence estimate. We support this insight through extensive experiments for $1$ synthetic and $4$ in-context learning-based real binary classification datasets. In all these cases, we show that our algorithms, using pairwise queries, obtain a better accuracy-cost tradeoff than using only the raw confidence estimates, for instance, the LLM's next-token logits.
Crafter: A Multi-Agent Harness for Editable Scientific Figure Generation from Diverse Inputs
arXiv:2605.30611v1 Announce Type: new Abstract: Scientific figures are among the most effective means of communicating complex research ideas, yet producing publication-quality illustrations remains one of the most labor-intensive parts of paper preparation. Existing automated systems each target a single figure type under text-only input, leaving the diversity of types and conditions researchers actually use unaddressed; their raster outputs further cannot be locally revised. Because scientific figures are structured compositions of discrete semantic components, the localized errors generators produce on such layouts demand not a stronger backbone but a harness. We instantiate this harness in two complementary systems: Crafter, a multi-agent harness for figure generation that generalizes across figure types and input conditions without architectural changes, and CraftEditor, which applies the same pattern to convert raster outputs into editable SVGs. Moreover, we introduce CraftBench, a benchmark spanning three figure types and four input conditions with human quality annotation. Experiments show that Crafter substantially outperforms both standalone generators and the agentic baseline on PaperBanana-Bench and CraftBench, with ablations confirming each component's independent contribution; CraftEditor faithfully converts outputs into editable SVGs that surpass all baselines. Our code and benchmark are available at https://github.com/HaozheZhao/Crafter.
Cross-Entropy Optimization of Physically Grounded Task and Motion Plans
arXiv:2512.11571v2 Announce Type: replace Abstract: Autonomously performing tasks often requires robots to plan high-level discrete actions and continuous low-level motions to realize them. Previous TAMP algorithms have focused mainly on computational performance, completeness, or optimality by making the problem tractable through simplifications and abstractions. However, this comes at the cost of the resulting plans potentially failing to account for the dynamics or complex contacts necessary to reliably perform the task when object manipulation is required. Additionally, approaches that ignore effects of the low-level controllers may not obtain optimal or feasible plan realizations for the real system. We investigate the use of a GPU-parallelized physics simulator to compute realizations of plans with motion controllers, explicitly accounting for dynamics, and considering contacts with the environment. Using cross-entropy optimization, we sample the parameters of the controllers, or actions, to obtain low-cost solutions. Since our approach uses the same controllers as the real system, the robot can directly execute the computed plans. We demonstrate our approach for a set of tasks where the robot is able to exploit the environment's geometry to move an object. Website and code: https://andreumatoses.github.io/research/parallel-realization
R\'enyi divergences and binary state discrimination error exponents for fermionic quasi-free states
arXiv:2605.31379v1 Announce Type: cross Abstract: The trade-off relations between the two types of error probabilities in binary i.i.d. quantum state discrimination can be expressed by single-copy formulas in terms of the Petz-type and the sandwiched R\'enyi divergences of the two states representing the two hypotheses. In the non-i.i.d. setting, the error exponents can usually be expressed in terms of regularized R\'enyi divergences, which do not admit explicit formulas in general. Here, we consider a class of states, translation-invariant and gauge-invariant quasifree states on doubly infinite fermionic chains, and give explicit formulas for a wide range of regularized R\'enyi divergences between such states, including $(\alpha,z)$, log-Euclidean, maximal, measured, and the recently introduced integral R\'enyi divergences. We show that the case where there is a single mode at each lattice site becomes asymptotically classical, with all the different types of regularized R\'enyi divergences being equal, while in the case of multiple modes per site, non-commutativity persists under regularization, and for any fixed $\alpha$, the regularized R\'enyi $(\alpha,z)$-divergences give different regularized values for different $z$ parameters in general. We also generalize a previous construction from [Bunth, Mar\'oti, Mosonyi, Zimbor\'as, Lett.~Math.~Phys.~113:(7), 2023] to the case of multiple modes per lattice site to obtain a large class of states exhibiting super-exponential decay of the discrimination error probabilities.
Framing the Possibility Space for Technosignature Searches
arXiv:2603.17741v2 Announce Type: replace Abstract: This paper develops a two-parameter matrix that can be used to describe four general strategies in the search for technosignatures. The first parameter is domain accessibility: can the technosignature be accessed within the spatial domain accessible to us today? The second parameter is recognizability: would the technosignature be recognizable to us if discovered today? This yields a matrix with four options that each comprise different search strategies. "Exploration" is the strategy for technosignatures that are accessible within our domain and recognizable. "Expansion" is the strategy for technosignatures that are recognizable but beyond our spatial domain. "Evolution" is the strategy for technosignatures that are accessible within our domain but unrecognizable. "Existence" is the strategy for technosignatures that are neither within our domain nor recognizable. The implications of these four options are discussed with relevance to the Fermi paradox and strategies for searching for technosignatures.
Evidence for systematic semantic structure in individual phonemes
arXiv:2603.17306v3 Announce Type: replace Abstract: A foundational assumption in linguistics holds that sound-meaning relations are largely arbitrary. Here we show that this assumption fails at the level of individual phonemes: each English phoneme carries a structured, multidimensional semantic profile that is recoverable from text, perceived across languages, and grounded in articulation. Three large language models independently detected consistent semantic structure across nine perceptual dimensions in 220 pairwise letter contrasts. Native English speakers (N = 93) confirmed these associations in a preregistered forced-choice task (85.3% agreement with model predictions), and listeners of five typologically diverse languages (N = 155) replicated the effect under audio presentation (73.2%-81.9% accuracy). Articulatory features predicted the structure with cross-validated R^2 of 0.56-0.98, indicating that the bodily act of producing a sound systematically shapes the meaning it conveys. These findings reframe phoneme-level iconicity as a pervasive, embodied property of the phonological system.
Multi-Agent Teams Hold Experts Back
arXiv:2602.01011v4 Announce Type: replace Abstract: Multi-agent LLM systems are increasingly deployed as autonomous collaborators, where agents interact freely rather than execute fixed, pre-specified workflows. In such settings, effective coordination cannot be fully designed in advance and must instead emerge through interaction. However, most prior work enforces coordination through fixed roles, workflows, or aggregation rules, leaving open the question of how well self-organizing teams perform when coordination is unconstrained. Drawing on organizational psychology, we study whether self-organizing LLM teams achieve strong synergy, where team performance matches or exceeds the best individual member. Across human-inspired and frontier ML benchmarks, we find that -- unlike human teams -- LLM teams consistently fail to match their expert agent's performance, even when explicitly told who the expert is, incurring performance losses of up to 41.1% on ML benchmarks. Decomposing this failure, we show that expert leveraging, rather than identification, is the primary bottleneck. Conversational analysis reveals a tendency toward integrative compromise -- averaging expert and non-expert views rather than appropriately weighting expertise -- which increases with team size and correlates negatively with performance. Interestingly, this consensus-seeking behavior improves robustness to adversarial agents, suggesting a trade-off between alignment and effective expertise utilization. Our findings reveal a significant gap in the ability of self-organizing multi-agent teams to harness the collective expertise of their members.