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Science Journals

Peer-reviewade publikationer — 56228 artiklar

Raman spectroscopy at metal interfaces: A numerical study of the strong coupling regime
arXiv:2605.27609v1 Announce Type: new Abstract: We investigate how proximity to a metal nanostructure, particularly to a flat mirror or a cavity confined between two mirrors, affects the vibronic structure of Raman scattering signals. We find that such proximity, particularly for the strong-coupling situation encountered in cavity environments, plays multiple roles in shaping Raman signals beyond the now-familiar signal enhancement known as surface-enhanced Raman scattering (SERS). First, in analogy to the electromagnetic SERS mechanism, near or between mirrors, the local field experienced by a molecule differ from that in vacuum. In particular, between mirrors, the cavity enhances the effective excited state population by trapping the EM field inside it. Second, the nearby metal surface provides a relaxation channel and a lineshape broadening mechanism, and inside a cavity this lineshape is inherited by the cavity polaritons. This relaxation results in a loss of yield but the associated broadening also leads to significant absorption over a larger frequency range. Third, near metallic interfaces interference between incident and reflected light can lead to a richly structured Raman spectrum. For instance, we find that the Rabi contraction (that results from depopulating the ground state) can interfere with Raman signals (and the effect appears to be the same order as Raman itself). These cavity effects are calculated by a full-scale FDTD simulation and highlight the convoluted but fascinating roles of photonic materials on optical signals.
Bounded Priority-Aware Locking for Real-Time Kernels
arXiv:2605.27620v1 Announce Type: new Abstract: A real-time multicore system requires delay bounds on access to shared resources. These resources include the kernel, which has potentially many non-preemptible critical sections guarded by one or more different synchronization primitives. While primitives such as FIFO locks bound the waiting time to enter a critical section, they do not distinguish the importance of individual tasks competing for shared resource access. To address this, we consider a priority-aware spinlock, which reduces the average delay of more important tasks while maintaining a worst-case bound on lock waiting time. We propose a Batched Priority Lock (BPL) that first groups waiting tasks based on the order of their lock requests, and then determines the next lock holder according to priority within the waiting group. We compare BPL to alternative lock approaches, showing that the average waiting time is reduced for higher priority tasks, in simulations up to 64 cores, and for a working implementation on an 8-core machine with a real RTOS. BPL is a compromise between strict priority and FIFO ordering. While strict priorities may lead to starvation and, hence, unbounded lock acquisition delays, BPL has the same waiting bound as FIFO, but with benefits to higher priority tasks. Although its complexity is greater than that of a simple spinlock, its common case execution overhead is shown to be inexpensive in a working system. We believe this is an acceptable cost in systems that require predictability.
Direct Numerical Simulation of Vertical-Axis Wind Turbine Near-Wake Dynamics
arXiv:2605.27626v1 Announce Type: new Abstract: Geometrically-resolved Direct Numerical Simulations of vertical-axis wind turbines are presented. Simulations were performed using the spectral/hp element method framework Nektar++ with a moving reference frame formulation. Three turbine geometries are considered with one, two and three blades. The full dynamic stall process is resolved, including the formation of large-scale vortices, the separation from the blade, and interaction with the near wake. Increasing blade number introduces blade-vortex interactions that interact with the dynamic stall process. For the three-bladed configuration, these interactions coincide with the early phase of dynamic stall during which the laminar separation bubble develops, and the resulting dynamic stall vortex is reduced in size. Further, the DNS outcomes identified a novel complementary mechanism, where direct vortex impingement causes the premature breakup of the dynamic stall vortices. With the dynamic stall vortex a defining feature of the VAWT near-wake, its accelerated breakdown removes the flow structures that distinguish the VAWT wake from that of a bluff body. Hence the near-wake transitions more rapidly towards bluff-body dynamics, with shear-layer-associated recovery. Self-similarity analysis is extended into the near-wake to quantify this transition, capturing the downstream rate at which the wake loses its dependence on blade-generated coherent structures and collapses onto a self-similar solution. Blade number is shown to be more influential than tip-speed ratio in setting the rate of this transition. The results have implications for closely-spaced turbine arrays and coupled-pair configurations, where the inflow experienced by a downstream rotor is shown to be blade-number-dependent.
BuddyBench: A Privacy-Constrained Multi-Task Benchmark for Pediatric Social-Communication Personalization
arXiv:2605.28089v1 Announce Type: new Abstract: BuddyBench introduces a privacy-constrained multi-task benchmark for pediatric social-communication personalization. Unlike existing neurodevelopmental repositories that primarily emphasize imaging, genetics, or cross-sectional clinical phenotyping, BuddyBench links drill-level learning trajectories, standardized clinical assessments, BuddyPlan self-report, and randomized-treatment endpoints within a unified benchmark schema. BuddyBench combines two cohorts: ND-03 is an observational cohort with dense drill coverage for Tasks1-2 (n = 189), and ND-02 is a randomized controlled trial cohort for Tasks3-4 (n = 86 ITT). Together, they support knowledge tracing, next-drill recommendation, clinical prediction, and causal inference, linking behavioral personalization to clinical evaluation. We additionally introduce BuddyBench-Sim, a synthetic companion dataset for reproducible evaluation. Baselines show signal across tasks while keeping pediatric clinical records protected.
EigeNet: Geometry-Informed Multi-Modal Learning for Few-shot Novel View RIR Prediction
arXiv:2605.28101v1 Announce Type: new Abstract: Predicting spatially varying Room Impulse Response (RIR) from sparse observations is a critical but highly challenging inverse problem for immersive spatial audio rendering. In this work, we present EIGENET, a geometry-informed multi-modal framework for few-shot novel view RIR prediction. At its core is a Cross-view Alternate-attention Transformer that iteratively refines local intra-view acoustic structures and global cross-view spatial relationships. We empirically demonstrate that this architecture is capable of making full use of the multi-view multi-modal context while performing spatial-temporal reasoning for RIR prediction. Inspired by acoustic ray tracing, we design a geometry-informed modulation block to formulate the connection between geometric features and RIR power spectrum. In the mean time, an auxiliary loss is introduced to transform the single-target waveform prediction into a multi-task learning framework. Through ablation studies, we demonstrate that this design yields consistent performance gains regardless of the underlying backbone, thereby confirming its foundational utility and architecture-agnostic generalizability for RIR prediction task. Evaluated on both simulated and real-world benchmarks, EIGENET achieves both state-of-the-art performance in few-shot novel view RIR prediction and sim-to-real generalization. Codes and checkpoints are available on https://github.com/FEAfeatherTHER/EigeNet.
Aligning LLMs with Human Uncertainty: A Beta-Bernoulli Calibrator for LLM Forecasting
arXiv:2605.27668v1 Announce Type: new Abstract: Probabilistic forecasting estimates the likelihood of uncertain future events. To improve LLM forecasting, existing methods typically learn from binary outcomes to output verbalized forecasts. However, while aggregated human forecasts contain rich information in both the crowd probability estimate and the degree of agreement among forecasters, how to utilize these signals remains underexplored. To address this, we propose the Beta-Bernoulli Calibrator (BBC), which converts an initial point estimate forecast from any model into a distribution over event likelihood, using supervision from both binary outcomes and human forecasts. BBC models event likelihood $p \sim \text{Beta}(\alpha, \beta)$ and outcome $y \sim \text{Bernoulli}(p)$, with the mean as the calibrated point forecast and the variance as the epistemic uncertainty. Our results show that BBC generally provides better calibrated and more accurate forecasts than both traditional post-hoc calibration methods and models fine-tuned specifically for forecasting, while remaining lightweight and having good generalization. We also show that the epistemic uncertainty captured by BBC is a more reliable predictor of forecasting error than verbalized confidence.
Real-Time In Silico Modeling of Postprandial Macronutrient Kinetics: A Validated Computational Engine for Nutrition Research and Digital Health
arXiv:2605.27459v1 Announce Type: cross Abstract: Simulation of post-prandial pharmacokinetics, such as muscle protein synthesis (MPS) through mTORC1 and insulin-induced glucose uptake, is often challenging due to the computational intensity of the multi-compartmental approach. In this study, I introduce an in silico metabolic simulator that uses bi-compartmental Bateman kinetic processes, gamma-variate distributions, and finite state machine reasoning to solve temporal differential equations instantaneously, generating metabolic curves and predictions depending on input meals. The novel underlying algorithm was custom-built entirely independent of third-party libraries or external services. This original computational engine, bridging the gap between academia and the digital health sector, is integrated within a web dashboard and provided as a service via REST APIs. The average response time is approximately 135 ms with a maximum below 750 ms. The multi-dimensional model was calibrated using a Landmark Validation approach across diverse dietary conditions (Whey Protein, mixed meal, OGTT) and optimized via Grid Search. Ultimately, the system achieved a global physiologically optimal Mean Absolute Percentage Error (MAPE) of $\sim18\%$ while maintaining an algorithmic complexity of $O(n \log n)$.
SNARE: Adaptive Scenario Synthesis for Eliciting Overeager Behavior in Coding Agents
arXiv:2605.28122v1 Announce Type: new Abstract: A coding agent executes a benign task as a sequence of shell, file, and network actions, any of which can quietly exceed the authorized scope while the task still completes. We call this overeager behavior: the prompt is not adversarial and the run succeeds, yet an out-of-scope step can leak credentials or delete files. Existing benchmarks miss it: task-completion suites credit any finished run, jailbreak suites probe adversarial prompts, and the one prior overeager benchmark applies a single fixed prompt set to every agent-model pair, leaving its easiest and most resistant pairs under-measured. We present SNARE (Synthesizing Non-adversarial scenarios for Adaptive Reward-guided Elicitation), a pipeline that composes benign scenarios from reusable scope and trap fragments, scores each run with a judge-free oracle flagging trap-pattern matches and unsolicited file additions or deletions, and uses Thompson sampling to steer each pair's run budget toward the scenarios that most often trigger it. Instantiating it over 24 overeager archetypes yields OverEager, which we run across a 4x5 matrix of four coding agents and five base models. Across 10,000 benign runs, 19.51% trigger overeager behavior, with per-pair rates spanning 11.9x. This variation is driven by the agent framework, not the model: the framework accounts for 56% of it against the model's 21%, so any single-framework or single-model evaluation undercounts the matrix by about a fifth.
Semiparametrically Efficient Inference for Kernel Measures of Noise Heterogeneity
arXiv:2605.27526v1 Announce Type: cross Abstract: We develop semiparametrically efficient inference for kernel measures of noise heterogeneity in additive noise models. In many applications, the regression function is estimated using flexible machine learning methods. Downstream procedures based on the resulting residuals can then inherit first-stage bias: regression error may induce spurious dependence between covariates and residuals, invalidating the assumptions needed for standard analysis. We construct a novel Hilbert-valued one-step estimator of the kernel covariance operator between covariates and residuals. Our estimator yields bootstrap-calibrated tests for residual independence and goodness of fit in additive noise models, while also providing asymptotically efficient confidence intervals for the kernel dependence measure under noise heterogeneity. The framework extends to settings with additional covariates, enabling inference on distributional heterogeneity of residual noise across treatment groups. Simulations show improved calibration and power relative to naive plug-in residual methods.
Intra-YOLO: A Small Object Detection Model for Caries and Molar-Incisor Hypomineralization in Intraoral Photography Based on Transfer Learning with Reinforcement Learning
arXiv:2605.28157v1 Announce Type: new Abstract: This study developed a computer-aided diagnosis (CAD) system for detecting caries and molar-incisor hypomineralization (MIH) in intraoral photographs. These lesions share similar appearances, making clinical differentiation challenging, especially given their small size and variability in imaging conditions.
MeniOmni: A Structured Multimodal Benchmark for Holistic Meniscus Injury Assessment
arXiv:2605.28161v1 Announce Type: new Abstract: Clinical diagnosis of meniscus injuries requires radiologists to integrate volumetric MRI evidence with patient context (e.g., sex, age, BMI) and to produce structured diagnostic reports. Existing knee MRI benchmarks are typically unimodal and rely on coarse labels, limiting their ability to evaluate holistic clinical reasoning. We introduce MeniOmni, a structured multimodal benchmark for meniscus injury assessment, consisting of 746 multi-center MRI studies with tri-planar volumetric inputs, Clinical Priors, and expert-annotated clinical text. MeniOmni supports two tasks: (1) fine-grained Stoller severity grading and (2) diagnostic report generation. We further propose risk-aware ordinal evaluation and a semantic consistency metric (Meni-Score) to better reflect clinical relevance. Baseline experiments show that incorporating Clinical Priors improves grading performance and reduces severe errors, highlighting the value of multimodal context for safer assessment. Code and data are available at https://github.com/ShuruiXu/MeniOmni.
Evolving and Detecting Multi-Turn Deception using Geometric Signatures
arXiv:2605.27671v1 Announce Type: cross Abstract: Safety defenses for large language models (LLMs) are typically trained and evaluated on single-turn prompts, yet real attacks often unfold as indirect, multi-turn probing. To defend against this more nuanced form of deception, we present a unified pipeline that generates realistic multi-turn deceptive question sets via multi-objective genetic prompt optimization with co-evolving mutation operators. We validate this dataset through a human study, which also revealed that early generations yielded the most convincing deception and practical constraints such as adherence filtering and ordering effects. Using this data, we were able to detect deceptive attempts to access prohibited information using simple, explainable geometric signals in embedding space coupled with a lightweight feed-forward classifier. Three geometric features (angular coverage, distance ratio, and linearity) augmented with pairwise similarity statistics led to a compact predictive model that achieved consistently high recall (0.89) across base, reworded, and truncated (three-turn) scenarios, with test-time F1 ranging from 0.74-0.86. The results support a central hypothesis that multi-turn deceptive intent leaves a stable geometric footprint that enables lightweight, transparent screening without expensive end-to-end training. We further discuss responsible uses, limitations, and paths toward larger, more diverse human-evaluated datasets. The primary contribution to artificial intelligence is the multi-objective evolutionary framework for prompt generation, and the engineering application is the deployment of a lightweight geometric detection system for LLM safety infrastructure.
Bayesian Deployment Approval for Learned Landing Controllers under Finite Rollout Validation
arXiv:2605.27720v1 Announce Type: new Abstract: Reinforcement learning and data-driven autonomous controllers are commonly evaluated using cumulative reward and empirical success frequency under finite simulation trajectories. However, such empirical metrics do not necessarily provide sufficient statistical evidence regarding deployment readiness under uncertainty. This work develops a Bayesian approval framework for learned autonomous landing controllers under finite rollout evidence. A probabilistic landing capability formulation is introduced based on touchdown safety satisfaction under uncertain operating conditions, while Bayesian posterior inference is used to quantify uncertainty regarding the true deployment capability of learned policies. Posterior approval probability and posterior deployment risk are further introduced for deployment-oriented evaluation, together with a sequential validation framework supporting approve/reject/continue decisions during progressive rollout testing. Simulation experiments using PPO and SAC controllers demonstrate that empirical success and reward optimization may produce overconfident deployment interpretation under limited validation evidence, whereas posterior approval inference provides a more uncertainty-calibrated assessment of deployment readiness. The proposed framework provides a practical statistical connection between conventional reinforcement-learning evaluation and deployment-oriented validation under uncertainty and may be generalized to broader classes of learned autonomous systems.
Geometry of Relaxed Fair Regression: A Unified Framework for Aware and Unaware Settings
arXiv:2605.28233v1 Announce Type: cross Abstract: Fairness-accuracy trade-offs are a central concern in the deployment of fairness-aware machine learning methods. When sensitive attributes are unavailable at inference time-the so called unawareness setting, principled methods for obtaining accurate predictions under relaxed fairness constraints are largely missing. In this work, we address this gap by formulating regression under a demographic parity penalty as an optimal transport problem. Our framework unifies both the \emph{aware} and \emph{unaware} settings and characterizes optimal prediction functions via optimal transport maps, under both squared Wasserstein-2 and Total Variation penalties. These results reveal that the choice of penalty reflects fundamentally different fairness philosophies: the Wasserstein penalty induces a smooth, population-wide compromise, while Total Variation enforces exact parity for a subset of individuals. Building on these theoretical characterizations, we propose an algorithm that is simple to implement, computationally efficient, and consistently matches or outperforms state-of-the-art baselines on real-world benchmarks.
The Harder Text Embedding Benchmark (HTEB): Beyond One-dimensional Static Robustness
arXiv:2605.28190v1 Announce Type: new Abstract: Embedding benchmarks like MTEB report a single score per model, implicitly treating robustness as a static, scalar property. We argue that embedding robustness is multidimensional, since models respond differently to different types of variation, and requires dynamic evaluation to expose failures hidden by static benchmarks. We introduce the Harder Text Embedding Benchmark (HTEB), a dynamic evaluation framework that challenges model robustness along three practically interpretable axes (Lexical/Stylistic, Length and Language) by stochastically transforming inputs at evaluation time with an LLM. Evaluating 16 open-weight embedding models on 32 datasets covering 42 languages under transformations validated by 4,800 human ratings on an English subsample, we find three patterns: (1) Models exhibit specific, partly decoupled robustness profiles across axes. (2) Across three model families, scale increases absolute scores but does not close the gap between original and transformed evaluations. Here, scaling tends to improve specifically the Language axis. (3) English datasets are more sensitive to HTEB transformations than multilingual datasets. This demonstrates that HTEB identifies strengths and weaknesses of models along deployment-relevant axes, challenging current embedding benchmarks and arguing for multidimensional, dynamic robustness evaluation.
Agentic Active Omni-Modal Perception for Multi-Hop Audio-Visual Reasoning
arXiv:2605.28192v1 Announce Type: new Abstract: Multi-hop audio-visual reasoning remains challenging for Omni-LLMs, as relevant evidence is often sparse, temporally dispersed, and distributed across both audio and visual streams. Existing benchmarks provide limited investigation of this setting, typically involving only a limited number of modalities, relevant temporal segments, or reasoning steps. In this work, we introduce MOV-Bench, a benchmark containing 519 carefully curated questions that require multi-hop reasoning over temporally dispersed audio-visual evidence. Evaluations on MOV-Bench reveal that current Omni-LLMs still struggle with multi-hop cross-modal reasoning. To address this challenge, we further propose AOP-Agent, an efficient agentic framework built on open-source Omni-LLMs for active omni-modal perception. By combining a hierarchical omni-modal memory with a collaborative observe-reflect-replan loop, AOP-Agent enables open-source Omni-LLMs to perform active perception without additional training or proprietary models. Experiments on MOV-Bench and OmniVideoBench demonstrate that AOP-Agent consistently improves reasoning performance, with particularly notable gains on long videos and reasoning-intensive questions.
Small-scale operations on graphic sequences
arXiv:2605.28280v1 Announce Type: cross Abstract: A sequence D=(d1, d2, ..., dn) of positive integers is graphic if it is the degree sequence of a simple graph, called in this case a {\em realization} of D. In this paper, we introduce the operation of 2-reduction, that subtracts 1 from two integers of D such that the resulting sequence D' is graphic if and only if D is graphic. We show that 2-reductions allow us to simply generate all the realizations of D, to prove existing characterizations of graphic sequences, as well as to propose new characterizations that highlight connections between mathematical and algorithmic aspects of graphic sequences.
Inversely Learning Transferable Rewards via Abstracted States
arXiv:2501.01669v4 Announce Type: replace Abstract: Inverse reinforcement learning (IRL) has progressed significantly toward accurately learning the underlying rewards in both discrete and continuous domains from behavior data. The next advance is to learn {\em intrinsic} preferences in ways that produce useful behavior in settings or tasks which are different but aligned with the observed ones. In the context of robotic applications, this helps integrate robots into processing lines involving new tasks (with shared intrinsic preferences) without programming from scratch. We introduce a method to inversely learn an abstract reward function from behavior trajectories in two or more differing instances of a domain. The abstract reward function is then used to learn task behavior in another separate instance of the domain. This step offers evidence of its transferability and validates its correctness. We evaluate the method on trajectories in tasks from multiple domains in OpenAI's Gym testbed and AssistiveGym and show that the learned abstract reward functions can successfully learn task behaviors in instances of the respective domains, which have not been seen previously.
Improving Requirements Classification with SMOTE-Tomek Preprocessing
arXiv:2501.06491v3 Announce Type: replace Abstract: This study emphasizes the domain of requirements engineering by applying the SMOTE-Tomek preprocessing technique, combined with stratified K-fold cross-validation, to address class imbalance in the PROMISE dataset. This dataset comprises 969 categorized requirements, classified into functional and non-functional types. The proposed approach enhances the representation of minority classes while maintaining the integrity of validation folds, leading to a notable improvement in classification accuracy. Logistic regression achieved 76.16\%, significantly surpassing the baseline of 58.31\%. These results highlight the applicability and efficiency of machine learning models as scalable and interpretable solutions.
ASTRA: Communication-Efficient Acceleration for Multi-Device Transformer Inference
arXiv:2505.19342v2 Announce Type: replace Abstract: Multi-device inference can reduce Transformer latency by parallelizing computation. However, existing methods require high inter-device bandwidth, making them impractical for bandwidth-constrained environments. We present ASTRA, a communication-efficient framework that integrates sequence parallelism with mixed-precision attention, where non-local token embeddings are transmitted as low-bit vector-quantized codes while local attention remains full precision. To preserve accuracy under aggressive compression, ASTRA introduces Noise-Augmented Quantization and Distributed Class Tokens. Across vision and language models (e.g., ViT and GPT2), ASTRA achieves up to 2.64$\times$ speedup over single-device inference and up to 15.25$\times$ over prior multi-device baselines while operating at bandwidths as low as 10 Mbps. ASTRA remains robust on large models (e.g., Llama-3-8B) even under non-ideal network conditions such as packet loss and dynamic networks.
Analyzing Quality-Latency-Resource Trade-offs in a Technical Documentation RAG Assistant Using LoRA Adaptation
arXiv:2605.28222v1 Announce Type: new Abstract: We study quality-latency-resource trade-offs in a documentation-grounded retrieval-augmented generation (RAG) system that uses Low-Rank Adaptation (LoRA) of the generator. We build a manually verified benchmark of 5,144 question-answer pairs over the official Kubernetes documentation and combine it with a fixed hybrid-retrieval pipeline (BGE-M3 dense, BGE-M3 native sparse, Reciprocal Rank Fusion, cross-encoder reranking). Over this benchmark we ablate 20 LoRA configurations on Llama-3.2-3B-Instruct and Llama-3.1-8B-Instruct across rank and target-module choices, and evaluate each on token-level F1, LLM-judged groundedness and correctness (pass@4), inference latency, inference memory, and training cost, all reported with bootstrap 95% confidence intervals. Pareto analysis shows that LoRA adapters acting only on the q and v attention projections consistently dominate the front, while the 3B/8B choice mainly defines operating regime. A param-matched control comparison further indicates that the q/v advantage is structural rather than purely parametric. The benchmark, selected adapters, and code are available at https://github.com/EugPal/rag-lora-tradeoffs.
When Does Memory Help Multi-Trajectory Inference for Tool-Use LLM Agents?
arXiv:2605.28224v1 Announce Type: new Abstract: Multi-trajectory inference for tool-use LLM agents - generating multiple reasoning attempts and selecting among them - benefits from transferring knowledge across attempts so that later ones avoid the pitfalls of earlier ones. Existing cross-trajectory memory methods (trajectory-level reflection, atomic fact extraction, raw observation injection) are each evaluated under a single inference strategy on a single task, making it unclear whether reported gains reflect properties of the memory abstraction or of the inference method. We propose a unified framework that decomposes memory along two axes -- the scope of transfer (within an expansion vs. across trajectories) and the abstraction of the transferred content -- and evaluate four methods under three inference strategies (best-of-N, beam search, MCTS) on four tool-use benchmarks spanning SQL, knowledge-graph, and CLI environments, in a verifier-free setting that matches the deployment regime of practical agents. The experiment matrix identifies the inference method as a confound: the same memory method produces statistically distinct results under different inference strategies on the same examples. Reflection reaches significance only under MCTS (not under best-of-N); within-expansion injection (conditioning each candidate on prior siblings' outcomes) helps only diversity-starved beam search; and atomic fact extraction is accuracy-neutral but shortens trajectories by 19-26% on tasks with reusable environmental structure.
Chance-Constrained MPPI under State and Dynamic Object Prediction Uncertainty and the Evaluation of Collision Risk Calibration
arXiv:2605.28330v1 Announce Type: new Abstract: Chance-constrained Model Predictive Path Integral (MPPI) control is increasingly adopted for navigation in dynamic environments to explicitly bound collision risk. However, these probabilistic guarantees implicitly assume that upstream uncertainties from localization and perception are well-calibrated. In practice, estimators are often miscalibrated, inducing characteristic closed-loop failure modes: overconfidence leads to systematic safety violations, while underconfidence triggers overly conservative freezing or probability dilution. To address this critical gap, our primary contribution is a rigorous evaluation methodology applying proper scoring rules to assess the statistical validity of predicted collision risks during closed-loop execution. Concurrently, Dual-Uncertainty Chance-Constrained Tube MPPI (DUCCT-MPPI) is proposed as a real-time, risk-aware planning architecture. DUCCT-MPPI jointly integrates localization uncertainty via a one-tube Unscented Transform (UT) approximation and dynamic obstacle prediction uncertainty via Monte Carlo aggregation. Through extensive physics-based simulations, the framework demonstrates robust failure-mitigation, seamlessly transitioning to safe, conservative maneuvering without succumbing to functional deadlocks in highly cluttered environments. In highly cluttered environments, DUCCT-MPPI achieves superior robustness, outperforming established Monte Carlo MPPI baselines by nearly 28\% in navigation success rate, while simultaneously recording the lowest travel times and minimizing induced social forces. Ultimately, these findings establish that reliable probabilistic safety in autonomous navigation dictates not only expressive risk models but statistically valid uncertainty estimates throughout the entire autonomy stack.
Tackling Multimodal Learning Challenges with Mixture-of-Expert: A Survey
arXiv:2605.27431v1 Announce Type: new Abstract: Mixture-of-Experts (MoE) presents a naturally compatible and scalable framework for multimodal learning, demonstrating strong adaptability across diverse modalities and tasks. Despite its growing success, a comprehensive and systematic review on the MoE metho addressing multimodal challenges remains lacking. Existing surveys tend to evaluate either multimodal learning or MoE independently from method taxonomy, overlooking the unique interplay between them. This survey fills that gap by answering a central question: \textit{How does MoE effectively resolve multimodal challenges?} We approach this from three key perspectives: (1) \textbf{MoE as an Efficient Multimodal Engine:} enabling scalable multimodal modeling by decoupling computational cost from parameter growth and mitigating modality redundancy through selective expert activation; (2) \textbf{MoE as a Multimodal Representation Learner:} integrating complementary multi-opinion expert knowledge to enrich alignment and interaction representations; and (3) \textbf{MoE as a Multimodal Adapter:} providing a modular and flexible mechanism to model imperfect data scenarios such as modality imbalance and missing modality. Through our extensive literature review, we identify critical research gaps, including interpretable routing, expert communication, modality integration, and lifelong multimodal learning. We position this survey as a foundation for future research toward interpretable and sustainable multimodal Mixture-of-Experts system.
Narrative Flattening: How Post-Training Compresses Thematic, Affective, and Stylistic Variation in LLM Fiction
arXiv:2605.27878v1 Announce Type: new Abstract: Large language models produce fluent fiction, yet their creative output is widely seen as flat. We ask where this quality originates in the training and whether it affects different domains of human fiction equally. We construct a matched story-continuation paradigm across StoryStar (public-platform), TMAS (prompt-guided), and The New Yorker (professional literary)-and compare continuations from four OLMo 32B checkpoints (Base, SFT, DPO, RLVR) against matched human text. Because these checkpoints share architecture, scale, tokenizer, and pretraining, the design isolates the post-training effect. We measure each continuation along three sentence-level dimensions: thematic motion, affective prevalence, and linguistic diversity. Across all three, post-training compresses dynamic variation: thematic transitions become more uniform, high-intensity emotions give way to neutrality, and stylistic diversity across stories shrinks. We term this progressive loss narrative flattening. The effect is directionally stable across story domains but gap size depends on the human baseline: professional literary fiction is compressed most, while public-platform and prompt-guided stories show smaller gaps, consistent with their human baselines sitting closer to the model's default rhythm. Post-trained endpoints converge across domains, suggesting alignment produces a continuation regime largely insensitive to the source domain's narrative texture.