arXiv:2605.29942v1 Announce Type: new
Abstract: Magnetic tunnel junction (MTJ)-based magnetic random-access memory (MRAM) is a promising platform for neuromorphic and in-memory computing owing to its non-volatility, high endurance, fast switching dynamics and CMOS compatibility. However, conventional spin-transfer torque and spin-orbit torque MRAM implementations for neural networks often suffer from high critical switching currents, large latency, thermal instability and significant read-write overheads. Here, we demonstrate a unified multistate MRAM-spin-torque nano-oscillator (STNO) architecture that integrates synapses and neurons on a single chip for convolutional neural network (CNN) applications. The system employs 1x8 multistate MRAM arrays as programmable synapses coupled with a vortex-based STNO neuron, enabling both individual and collective programming through fieldline-driven write channels. Multiple configurable resistance states are achieved by tuning internal and external magnetic fields together with bias currents, allowing quantized positive and negative synaptic weights for configurable kernel and pooling operations. The proposed architecture is evaluated through simulation on MNIST, SVHN, CIFAR-10, Google Speech Commands (GSC) and RadioML datasets, achieving accuracy of 99.76%, 87.93%, 78.14%, 87.96% and 56.46% respectively. Based on fabricated device dimensions, the complete architecture occupies ~6171.2 {\mu}m2 with an average energy consumption of 200.08 pJ per training and inference cycle for MNIST, highlighting its potential for scalable low-power neuromorphic computing
Science Journals
arXiv:2604.23862v3 Announce Type: replace
Abstract: We investigate whether the Feed-Forward Network (FFN) sublayer in a decoder-only transformer can be replaced by an explicit learned memory graph while preserving the surrounding autoregressive architecture. The proposed Graph Memory Transformer (GMT) keeps causal self-attention intact, but replaces the usual per-token FFN transformation with a memory cell that routes token representations over a learned bank of centroids connected by a learned directed transition matrix. In the base GMT v7 instantiation studied here, each of 16 transformer blocks contains 128 centroids, a 128 * 128 edge matrix, gravitational source routing, token-conditioned target selection, and a gated displacement readout. The cell therefore returns movement from an estimated source memory state toward a target memory state, rather than a retrieved value. The resulting model is a fully decoder-only language model with 82.2M trainable parameters and no dense FFN sublayers, compared with a 103.0M-parameter dense GPT-style baseline used in the evaluation. The base v7 model trains stably and exposes centroid usage, transition structure, and source-to-target movement as directly inspectable quantities of the forward computation. It remains behind the larger dense baseline in validation loss and perplexity (3.5995/36.58 vs. 3.2903/26.85), while showing close zero-shot benchmark behavior under the evaluated setting. These results are not intended as a state-of-the-art claim; they support the viability and structural interpretability of replacing dense within-token transformation with graph-mediated memory navigation. Broader scaling, optimized kernels, and more extensive benchmark evaluation are left for subsequent work.
arXiv:2605.11723v2 Announce Type: replace
Abstract: In this paper, we propose Concentrate and Concentrate (CaC), a coarse-to-fine anomaly reward model based on Vision-Language Models. During inference, it first conducts a global temporal scan to anchor anomalous time windows, then performs fine-grained spatial grounding within the localized interval, and finally derives robust judgments via structured spatiotemporal Chain-of-Thought reasoning. To equip the model with these capabilities, we construct the first large-scale generated video anomaly dataset with per-frame bounding-box annotations, temporal anomaly windows, and fine-grained attribution labels. Building on this dataset, we design a three-stage progressive training paradigm. The model initially learns spatial and temporal anchoring through single- and multi-frame supervised fine-tuning, and then is optimized by a reinforcement learning strategy based on two-turn Group Relative Policy Optimization (GRPO). Beyond conventional accuracy rewards, we introduce Temporal and Spatial IoU rewards to supervise the intermediate localization process, effectively guiding the model toward more grounded and interpretable spatiotemporal reasoning. Extensive experiments demonstrate that CaC can stably concentrate on subtle anomalies, achieving a 25.7% accuracy improvement on fine-grained anomaly benchmarks and, when used as a reward signal, CaC reduces generated-video anomalies by 11.7% while improving overall video quality.
arXiv:2605.30218v1 Announce Type: new
Abstract: Temperature-zero BF16 LLM inference is often treated as reproducible, yet the same request can emit different tokens when decoded alone or inside a larger batch. Existing fixes use batch-invariant operators or LLM-42's per-token verification, incurring cost even when most steps are stable. We ask whether verification can be applied exclusively to flipped tokens. Across five models, batch-induced token flips are sparse on the flip-rate benchmarks: on MATH500, Llama-3.1-8B flips on $0.48\%$ of synchronous decode steps, and all tested models stay within the 0.3-1.3% range on MATH500, GSM8K, and HumanEval. K/V perturbations remain flat before flips, while low top-1/top-2 logit margins expose much of the flip risk. MarginGate turns these observations into a verifier policy: it keeps BF16 decoding on high-margin steps, verifies only low-margin steps, and repairs confirmed mismatches by replacing the current K/V column. We evaluate on four datasets, calibrating on MATH500 and transferring to GSM8K, SharedGPT, and HumanEval. MarginGate restores 100% sequence-level deterministic decoding on Llama-3.1-8B and Qwen2.5-14B with 18.56%/15.05% verifier trigger rates, reducing LLM-42's latency increment by 2.23x/1.99x relative to always-on verification. On DSR1-Distill-Qwen-7B, the same policy reaches determinism in a harder regime at 49.50% triggers.
arXiv:2605.13230v2 Announce Type: replace
Abstract: On-policy distillation (OPD) has become a promising paradigm for reasoning-oriented post-training of large language models (LLMs), especially when combined with reinforcement learning from verifiable rewards (RLVR). Existing OPD methods rely on reverse KL (RKL)-based teacher supervision over trajectories sampled from the student policy. However, we identify a critical limitation: under large teacher--student policy divergence, RL-driven exploration often produces trajectories outside the teacher distribution, resulting in uninformative negative feedback. To address this, we propose Teacher-Guided Policy Optimization (TGPO), an on-policy reasoning distillation method that remains effective under large policy divergence settings. Rather than relying solely on evaluative supervision, TGPO uses teacher to directly guide token level generation conditioning on student-generated contexts; together with RLVR-style trajectory level rewards, TGPO steers exploration toward improved continuations. Experiments on reasoning benchmarks show that TGPO consistently outperforms existing RKL-based OPD methods and remains robust across different teacher models.
arXiv:2605.30205v1 Announce Type: new
Abstract: Legal article retrieval is critical for building traceable and reliable legal AI systems, where conclusions must be grounded in specific legal articles. However, existing open-domain retrieval methods rely heavily on surface-level lexical or semantic similarity, making it difficult for them to distinguish legally relevant articles from those that are textually similar but legally inapplicable or misaligned with the user's underlying intent. To bridge this gap, we propose \textsc{LexPath}, a domain-oriented multi-path framework comprising a multi-path retrieval module and an intent-aware reranking module. The retrieval module combines two complementary legal-specific paths to collect candidate articles: an IRAC-guided sparse path that expands queries with legally informative keywords, and a structure-guided dense path trained with hard negatives derived from legal hierarchy and citation relations. Then, the reranking module further refines the candidate ranking by incorporating the intent consistency score between queries and legal articles. We evaluate \textsc{LexPath} on two publicly available benchmarks focusing on general-public queries and a self-constructed benchmark targeting domain-professional scenarios. Experimental results demonstrate that \textsc{LexPath} consistently outperforms lexical, dense, hybrid, and adaptive retrieval-augmented generation (RAG) baselines. Ablation studies further verify the effectiveness of each component.
arXiv:2605.29983v1 Announce Type: new
Abstract: The adversarial robustness of attributions is a fundamental requirement for reliable explainability in deep learning, yet existing approaches typically rely on computationally expensive explicit regularization. In this work, we show that attribution robustness can arise implicitly from the learning dynamics of standard stochastic gradient descent. We theoretically motivate this effect through connections between parameter-space and input-space curvature, and validate it across architectures, datasets, and attribution methods, with negligible computational overhead. In contrast, we prove that such robustness gains often does not transfer to attention-based attribution under softmax normalization, due to inherent entropy constraints, and we validate this limitation experimentally. Finally, we show that replacing softmax attention with kernel-based attention restores the robustness gains in transformer models. Our results highlight learning dynamics as a principled and practical mechanism for robust explainability, and reveal fundamental limitations of attention-based attribution under normalization.
arXiv:2605.30189v1 Announce Type: new
Abstract: We show that LoRA adapters, the dominant distribution format for fine-tuned LLMs, can be reliably backdoored through training data poisoning while preserving baseline task performance. On a Qwen 2.5 1.5B prompt-injection classifier, a small fraction of poisoned examples drives a clean-accuracy-preserving backdoor to saturation. The resulting backdoor generalizes at the token feature level rather than the structural pattern level: a model trained on one RFC reference activates on any RFC reference but does not transfer to structurally identical ISO, OWASP, CWE, or NIST citations. This asymmetry favors the attacker, since a defender cannot probe for "structured citations" generically.
We characterize the attack across base-model scale and family, LoRA rank, and trigger string, and evaluate two complementary detection routes against a multi-seed adapter cohort. A behavioral detector built from two probe-battery statistics, outlier_gap and mean_attack_rate, separates poisoned from clean adapters perfectly when the battery overlaps the trigger's token neighborhood and at high recall with zero false positives when it does not. A weight-level statistic, the cross-module standard deviation of dimension-normalized Frobenius norms, also separates the cohort perfectly without running the model. Combined, the two routes are robust to probe composition. Causal patching localizes the backdoor to the MLP block at mid-to-late layers, with down_proj as the strongest single-projection cause.
Replications across scale, family, and rank show the behavioral detector transfers without retuning, while the weight-level detector is calibration-bound to the base model. The attack scales monotonically with rank, and the chosen trigger-anchor token is both trigger-dependent and base-model-dependent. Behavioral detection is the operationally portable result for adapter supply chain scanning.
arXiv:2605.30103v1 Announce Type: new
Abstract: Large language models (LLMs) are increasingly used as generators in iterative neural architecture search (NAS), yet no formal convergence theory exists for this class of algorithms. We model iterative LLM-NAS as a parametric Cross-Entropy (CE) method over executable programs and prove six results: (1) iterative LLM fine-tuning on elite architectures is equivalent to the CE update restricted to the LLM parametric family; (2) expected architecture quality is monotonically non-decreasing across cycles; (3) elite-set probability converges to a fixed point at a geometric rate C_t >= 1-(1-rho_0)^t; (4) delta-based generation achieves a strictly higher valid-generation rate than full-code generation under a first-order Markov token-error model; (5) the MinHash-Jaccard novelty filter prevents mode collapse; (6) proxy reliability admits the closed-form rho_S = (6/pi) arcsin(rho_P(SNR)/2), yielding the practical diagnostic sigma^2_arch >> sigma^2_noise as a necessary condition for trustworthy proxy-based rankings. Testing against a 22-cycle, three-LLM, six-dataset experiment with 3,300 generated architectures confirms two predictions quantitatively, two at direction-of-effect level, and explains the proxy-reliability ceiling effect previously reported empirically but left unexplained.
arXiv:2603.27667v2 Announce Type: replace
Abstract: Large Audio Language Models (LALMs) still struggle in complex acoustic scenes because they often fail to preserve task-relevant acoustic evidence before reasoning begins. We identify this error pattern as the evidence bottleneck: state-of-the-art systems show larger deficits in acoustic evidence extraction than in downstream reasoning, suggesting that upstream perception is often the limiting factor. To address this problem, we propose EvA (Evidence-First Audio), a dual-path architecture that enhances acoustic evidence preservation through hierarchical aggregation and non-compressive, time-aligned fusion. We also build EvA-Perception, a large-scale training set with about 54K event-ordered captions and 500K evidence-grounded QA pairs. Under a unified zero-shot protocol, EvA achieves the best open-source \emph{Perception} results on MMAU, MMAR, and MMSU, with the largest gains on perception-heavy splits. Human evaluation on open-ended captioning further shows improved fine-grained acoustic coverage and caption quality. These results support the evidence-first hypothesis: stronger audio understanding depends on preserving acoustic evidence before reasoning. Project can be found at https://satsuki2486441738.github.io/EvA/.
arXiv:2604.14889v2 Announce Type: replace
Abstract: While chain-of-thought (CoT) reasoning enables LLMs to solve challenging reasoning tasks, the linear growth of the KV cache leads to substantial memory and inference overhead. Existing approaches such as context compression and multi-token prediction (MTP) improve efficiency from two complementary directions by compressing historical tokens and generating future tokens in parallel. However, effectively combining them remains challenging due to their different training paradigms and architectural assumptions. In this work, we propose MemoSight (Memory-Foresight-Based Reasoning), a unified framework that integrates context compression and MTP to improve inference efficiency while preserving CoT performance. MemoSight adopts a shared minimalist design based on special tokens and token-specific positional layouts for both compression and parallel prediction. Experiments on four reasoning benchmarks show that, compared to the vanilla SFT baseline, MemoSight reduces KV cache usage by up to 66% and improves inference speed by 56%, while incurring less than a 3% drop in average reasoning accuracy, yielding a better efficiency-accuracy trade-off than existing CoT compression methods.
arXiv:2410.23222v4 Announce Type: replace
Abstract: Recent advancements in foundation models have been successfully extended to the time series (TS) domain, facilitated by the emergence of large-scale TS datasets. However, previous efforts have primarily Capturing channel dependency (CD) is essential for modeling multivariate time series (TS), and attention-based methods have been widely employed for this purpose. Nonetheless, these methods primarily focus on modifying the architecture, often neglecting the importance of dataset-specific characteristics. In this work, we introduce the concept of partial channel dependence (PCD) to enhance CD modeling in Transformer-based models by leveraging dataset-specific information to refine the CD captured by the model. To achieve PCD, we propose channel masks (CMs), which are integrated into the attention matrices of Transformers via element-wise multiplication. CMs consist of two components: 1) a similarity matrix that captures relationships between the channels, and 2) dataset-specific and learnable domain parameters that refine the similarity matrix. We validate the effectiveness of PCD across diverse tasks and datasets with various backbones. Code is available at this repository: https://github.com/YonseiML/pcd.
arXiv:2605.29551v1 Announce Type: new
Abstract: High-speed imaging of cells in flow is essential for probing cellular heterogeneity in large populations. Existing imaging approaches based on single-pixel detection and spatio-temporal encoding provide exceptional speed, but typically rely on bulky free-space optics, long dispersive elements, and are prone to alignment instabilities. Here, we introduce STEPIC Microscopy, the first fully integrated on-chip system for high-speed imaging via spatio-temporal encoding in photonic integrated circuits. Our platform leverages waveguides, splitters, fiber delay-lines, and 3D optical remappers to encode spatial information into the temporal domain, enabling robust image reconstruction of cells flowing through microchannels. The monolithic architecture provides a compact and robust platform for high-throughput bioimaging, enabling scalable and practical implementations of ultrafast imaging systems.
arXiv:2605.16825v3 Announce Type: replace
Abstract: Recently, Generative Recommenders (GRs), characterized by a unified end-to-end framework, have exhibited astonishing potential in transforming the recommendation paradigm. Despite their effectiveness, we recognize that GRs are still susceptible to the long-standing issue of popularity bias that has pervaded the recommendation community. Although a few studies have attempted to extend traditional debiasing methods to GRs, their effectiveness is marginal, and the fundamental reason why GRs suffer from popularity bias remains under-explored. To bridge this gap, this study focuses on two core aspects in GRs: the optimization of generative framework and the item tokenization based on semantic index. Based on theoretical analyses, we identify that the severe popularity bias emerges from the confluence of a token-level optimization flaw and the undifferentiated property of item tokenization. Accordingly, this study develops a novel generative recommender system, called Ghost, by designing the asymmetric unlikelihood optimization and the skeleton-founded tokenization. Extensive empirical evaluations across three datasets, alongside multiple SOTA baselines, reveal that Ghost substantially alleviates popularity bias and promotes fairer recommendations, while incurring slight degradation to the overall recommendation utility.
arXiv:2605.29555v1 Announce Type: new
Abstract: As candidate generation and high-throughput experimentation advance, the primary bottleneck in materials discovery is shifting from property prediction to making reliable evaluations among massive candidate sets. We propose a Knowledge-Augmented Preference Signals Framework, MaterEval, that automatically produces, for the same candidate, two evaluations: an informed judgment that follows expert rules and provides supporting evidence, and a rule-removed blind guess. By pairing the two evaluations as preference data, we guide general-purpose large language models (LLMs), originally lacking materials-specific criteria, from intuitive judgment toward reliable evaluation supported by explicit evidence. To balance throughput, cost, and reliability, we further introduce a fast-slow reasoning scheme that decouples large-scale rapid screening from in-depth review on a small subset. Using high-entropy alloy (HEA) assessment as a case study, we show that, without external retrieval and relying solely on internalized capabilities, small open-source LLMs achieve substantial gains in accuracy, conclusion consistency, and evidence discrimination, approaching the performance of rule-based closed-source LLMs. These results demonstrate that expert rules can be systematically transformed into learnable preference signals, enabling a low-cost and deployable evaluation module for autonomous materials discovery loops.
arXiv:2605.29582v1 Announce Type: new
Abstract: Large Language Models (LLMs) have shown promise as educational tutors, yet effective tutoring requires more than solving problems: it must provide progressive Socratic guidance and balance multiple pedagogical objectives across multi-turn interactions. However, training such tutors remains challenging due to limited-fidelity and weakly controllable student simulation, under-specified pedagogical reward modeling, and unstable multi-objective optimization. To overcome these limitations, we propose PEARL, a pedagogically aligned reinforcement learning framework for training Socratic tutoring agents, consisting of three key components. First, we introduce a controllable student simulator that decouples latent cognitive states from response generation to model diverse abilities and misconceptions. Second, we develop a generative reward model that jointly evaluates pedagogical quality and objective correctness for policy optimization. Finally, we propose a stable multi-objective RL scheme that discretizes rewards within each dimension and aggregates normalized advantages across dimensions, preventing high-variance objectives from dominating updates. Experiments on multiple benchmarks show that PEARL achieves the best performance among open-source models and remains competitive with leading proprietary LLMs, despite using only a 30B policy model.
arXiv:2605.29590v1 Announce Type: new
Abstract: Conversational multimodal emotion recognition (MER) requires reliable prediction when language, acoustic, or visual observations are missing or unreliable. Many missing-modality methods reconstruct absent inputs, yet such recovery can be non-unique in dialogue context, and nonverbal cues may conflict with the target utterance. To this end, we propose CoRe-KD (Complete-view Reference-guided Knowledge Distillation), a state-anchored, conflict-regularized complete-view distillation framework for robust conversational MER. A complete-view teacher provides structured references, including prediction-level references, fused states, and modality-specific states. Complete-view State Anchoring (CSA) aligns incomplete-view student predictions and states with these references, while Nonverbal Conflict Exposure (NCE) trains on target-preserving nonverbal conflict views to reduce donor-label bias. Experiments on IEMOCAP and MELD, with CMU-MOSEI as a supplementary utterance-level check, show consistent gains under fixed- and random-missing protocols. Comprehensive ablation studies and further analyses support the role of CSA and the complementary effect of NCE.
arXiv:2605.29601v1 Announce Type: new
Abstract: As autonomous agents become more capable of performing real-world tasks, distinguishing scheming behavior from benign task pursuit may become a central AI control problem. Existing monitors often rely on chain-of-thought access or internal activations, or use prompted frontier models, all of which can be unavailable, unreliable or expensive in deployment. In this work, we study action-only deliberative monitors: smaller open-weight models trained to detect scheming and sabotage from agentic trajectories without accessing the monitored agent's reasoning or model internals. Our method, inspired by deliberative alignment, uses a scheming specification to elicit structured rationales from a frontier teacher, filters them with a separate judge, and distills the highest-quality rationales into open-weight monitors with supervised fine-tuning and reinforcement learning. We train on five datasets, and evaluate across six out-of-distribution agentic misalignment benchmarks. We show that applying our method to Qwen3.5-27B yields higher performance than all low-cost frontier models as prompted monitors (Gemini 3.1 Flash-Lite, GPT-5.4 Nano, and Claude Haiku 4.5) and than Gemini 2.5 Pro, while also achieving lower marginal inference cost (token-metered USD per 1,000 evaluations). Stronger prompted frontier monitors (Gemini 3.1 Pro, GPT-5.4, Claude Sonnet 4.6, and Claude Opus 4.6) achieve higher performance but at roughly $16$--$34\times$ higher marginal inference cost. Several of our trained monitors are positioned on the empirical cost--performance Pareto frontier among the monitors we evaluate, providing practical low-cost, low-FPR alternatives to prompted frontier models.
arXiv:2605.30149v1 Announce Type: new
Abstract: We present a deep photonic neural network architecture based on ultrafast binary optical modulation from a digital micro-mirror device (DMD), optical scattering in random medium, high-speed photodetection with a CMOS sensor, and time-multiplexed deep layer structure. Operating at Gigabit-per-second (Gb/s) processing rates, our system based on the reservoir computing (RC) framework achieves state-of-the-art performance across various multimedia tasks, including video, image and speech recognition. We show that the careful optimization of key physical intra- and inter-layer hyper-parameters can significantly enhance the deep photonic RC system ability to extract relevant temporal and spatial features via balancing memory retention and dynamical response of individual layers. This approach paves the way for highly scalable hierarchical photonic reservoir computing systems for high-throughput real-time multimedia signal processing.
arXiv:2605.29634v1 Announce Type: new
Abstract: Transformer hidden states are often interpreted through local or low-order objects: neurons, sparse features, attention heads, residual-stream directions, or activation patches. This paper studies a complementary object: the rank-indexed geometry of relations among token tuples. I use Plucker sign entropy to test whether r-argument relations leave arity-matched orientation signatures in hidden-state space. Across Llama-family 8B, 70B, and 405B checkpoints, true relation tuples show stronger orientation-sign consistency at the expected rank k=r for r=3,...,6 than scrambled tuples under matched random-control audits. Multi-template audits show that the effects survive surface variation, with all tested 405B rows retaining positive expected-rank margins and 8B/70B retaining positive rows with constructor-specific mixed cells. I then ask whether the same relation geometry can be steered. In an edge-grid clean/corrupt intervention assay over 32 prompts, the row/column scaffold and answer format stay fixed while the YES/NO relation map changes, and the corrupt hidden-state relation frame is patched toward clean or placebo targets. In 70B and 405B, clean-targeted relation-frame paths recover clean-answer behavior and residual relation geometry, while centroid-only and equal-norm controls show negligible recovery. Site/order controls further separate marker-site importance from ordered clean-frame geometry: target clean shape and cross-prompt clean shape recover behavior and residual geometry at the marker interface, whereas corrupt-donor transfer, same-site permutation/reflection, wrong-site clean deltas, centroid-only motion, and equal-norm noise fail or remain far below clean-frame paths. The result is a controlled bridge from relation probing to relation-frame intervention: relation rank geometry can be detected, targeted, and behaviorally validated in transformer hidden states.
arXiv:2605.30107v1 Announce Type: new
Abstract: Creating spoken dialogue datasets is methodologically challenging, and these challenges are amplified when the goal is to build multilingual, multi-parallel datasets at scale. This work introduces HEALTHDIAL, a large-scale, multilingual, and multi-parallel dataset for developing and evaluating retrieval-augmented generation (RAG)-based spoken dialogue systems. The dataset comprises 6,000 information-seeking dialogues (1,500 per language) grounded in trusted content from the World Health Organization (WHO) and 163 hours of user speech recorded from native speakers of diverse dialects across four official WHO languages: Arabic, Chinese, English, and Spanish. Each speaker is annotated with demographic (e.g., gender, age) and sociolinguistic (e.g., primary language, region of origin) variables. We report benchmark results across key dialogue tasks, which reveal consistent performance disparities across languages, even among high-resource ones. To support future research, we release the dataset, a prototype system, and a toolkit for data collection and system evaluation.
arXiv:2605.20460v3 Announce Type: replace
Abstract: Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In contrast, linear blend skinning is efficient, but cannot capture the complex dynamics of loose-fitting garments, often leading to unrealistic motion and visual artifacts. Neural methods offer a promising alternative, yet they still struggle to animate loose clothing plausibly under strict runtime constraints. We present a fast and physically plausible approach for dynamic garment simulation. Our method trains a reduced-space neural dynamics simulator composed of independent coarse- and fine-level components. At the coarse level, the garment is driven by a set of virtual bones integrated with a lightweight neural network. Fine-scale wrinkle details are then recovered using a trained convolutional neural map. By decoupling identity-specific computation from real-time neural integration, our architecture maintains high performance while supporting diverse body shapes and motions. We further introduce an effective physics-supervision scheme that enables accurate results without relying on an external simulator. Experiments show that our method produces physically plausible garment dynamics, generalizes across a range of motions and body shapes, and supports a fixed set of garments. Our simulator runs at 300+ FPS on a commodity GPU, making it suitable for real-time applications.
arXiv:2511.17798v2 Announce Type: replace
Abstract: Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as Hierarchical Task Model Predictive Control (HTMPC) enable efficient multitask execution with strict task priorities, they have so far been applied mainly to static or structured scenarios. Extending these approaches to dynamic human-centered environments requires predictive models that capture how humans react to the actions of the robot. This work introduces Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control (SM$^2$ITH), a unified framework that combines HTMPC with interactive human motion prediction through bilevel optimization that jointly accounts for robot and human dynamics. The framework is validated on two different mobile manipulators, the Stretch 3 and the Ridgeback-UR10, across three experimental settings: (i) delivery tasks with different navigation and manipulation priorities, (ii) sequential pick-and-place tasks with different human motion prediction models, and (iii) interactions involving adversarial human behavior. Our results highlight how interactive prediction enables safe and efficient coordination, outperforming baselines that rely on weighted objectives or open-loop human models.
arXiv:2605.30105v1 Announce Type: new
Abstract: Large Language Models (LLMs) have shown promise for automated vulnerability repair (AVR), but they still face several limitations, including the lack of intra-vulnerability experience accumulation and the lack of cross-vulnerability experience reuse. As a result, LLMs may repeatedly make similar mistakes during iterative repair and underutilize valuable repair knowledge from historical vulnerabilities. To address these challenges, we propose EvoRepair, the first experience-based self-evolving AVR agent framework that enables LLMs to accumulate, refine, and leverage domain-specific knowledge across long-horizon vulnerability repairs. EvoRepair follows a cyclic learn-and-repair process that retrieves relevant past experiences to guide repair, extracts new experiences from repair trajectories, and updates an experience bank using quality-aware scoring. We evaluate EvoRepair against 12 representative vulnerability repair baselines on PATCHEVAL and SEC-bench using GPT-5-mini. Results show that EvoRepair achieves the best overall performance, reaching 93.47% on PATCHEVAL, 87.00% on SEC-bench, and 90.46% overall. In particular, EvoRepair outperforms latest LLM-based baseline LoopRepair by 39.56% and 33.50% on PATCHEVAL and SEC-bench, respectively, and surpasses IntentFix by 70.86% and 50.50%. Across both benchmarks, EvoRepair also exceeds the recent self-evolving agent Live-SWE-Agent by 6.98% overall. Additional transfer experiments on VUL4J further demonstrate the robustness of EvoRepair across models, programming languages, and datasets. These findings demonstrate that experience-based self-evolution substantially strengthens agentic AVR and goes beyond existing self-evolving techniques.
arXiv:2605.29696v1 Announce Type: new
Abstract: The notion of rigour relevant to the practice of physics is an endogenous one. Theoretical physics has its own internal norms about mathematical practice and notions of legitimate derivations or formal objects. These norms are often implicit, local, and change in substantial ways over time. Moreover, norms of rigour in theoretical physics, at least in the mid-twentieth century, are primarily focused on the goal of removing barriers for concrete calculation and clear conceptualisation. Rather than pursuit of rigour for its own sake, or to achieve some `higher' standard of truth, theoretical physicists seek to `rigorise' initial, semi-formal constructions in order to render formally well-defined models with which they can make concrete contact with the world, through calculations of quantities of interest. In what follows we will support this thesis based upon a detailed historical case study of the development of and attribution of credit for the Wheeler-DeWitt equation in the period 1962-67. Drawing upon archival material and the published record we develop and defend the explanatory hypothesis that it was the rigorisation of the equation via the expression for the inner product that was the crucial step in the work of Wheeler and DeWitt rather than the statement of the equation itself.