arXiv:2506.03066v2 Announce Type: replace
Abstract: The link function, which characterizes the relationship between the preference for two trajectories and their returns, is a crucial component in designing RL algorithms that learn from preference feedback. Most existing methods, both theoretical and empirical, assume that the link function is known (often a logistic function based on the Bradley-Terry model), which is arguably restrictive given the complex nature of preferences, especially those of humans. To avoid mis-specification, this paper studies preference-based RL with an unknown link function and proposes a novel zeroth-order policy optimization algorithm called Sign-SZPO. Unlike typical zeroth-order methods, which rely on the known link function to estimate the value function differences and form a gradient estimator, Sign-SZPO only estimates the sign of the value function difference. It then constructs a parameter update direction that is positively correlated with the true policy gradient, eliminating the need to know the link function exactly. Under mild conditions, Sign-SZPO provably converges to a stationary policy with a polynomial rate in the number of policy iterations and trajectories per iteration. Empirical evaluations further demonstrate the robustness of Sign-SZPO under link function mis-specifications.
Science Journals
arXiv:2607.16890v1 Announce Type: new
Abstract: Spread codes are a well-known family of constant-dimension subspace-metric codes. For constant dimension $k$ and ambient space dimension $n$ being a multiple of $k$, these codes have minimum distance $2k$ and a rich geometric structure. In this paper, we study the decoding capabilities of the Nearest Neighbor Decoder for Desarguesian spread codes, establishing that unique decoding is still achievable beyond half the minimum distance. Motivated by this, we develop a new decoding algorithm to uniquely decode Desarguesian spread codes in the presence of both insertions and deletions, which increase and decrease, respectively, the dimension of the transmitted codeword. Even when the sum of the dimensions of insertions and deletions exceeds half the minimum distance, provided that deletions are of dimension at most $k-2$, the algorithm succeeds with a small decoding failure. We also propose two refinements to this algorithm that, empirically, can handle nearly as many insertions as the Nearest Neighbor Decoder.
arXiv:2607.17059v1 Announce Type: new
Abstract: Laser-plasma accelerators have been the subject of extensive research in recent years. The electron beams they generate exhibit a broad energy spread. To conveniently characterize beams from laser wakefield acceleration (LWFA), electron spectrometers employing scintillating screens coupled with CCD cameras are typically used. In this work, we calibrate a series of DRZ phosphor screens and measure the spectra of the light they emit. The calibration was performed using the radio-frequency linear electron accelerator at Tsinghua University, which provided monoenergetic electron beams with peak energy of approximately 30 MeV.
arXiv:2607.16410v1 Announce Type: cross
Abstract: The EWF-(FCI,SQD) method, a wave-function-based embedding approach combining full configuration interaction (FCI) and sample-based quantum diagonalization (SQD), is a promising new tool for the simulation of molecular systems. However, applications of EWF-(FCI,SQD) have so far been limited to single-point calculations, whereas the study of complex chemical processes requires the ability to explore potential energy surfaces. In this work, we demonstrate geometry optimization with EWF-(FCI,SQD), scaling our simulations to molecules as large as menthone and benzidine within the STO-3G basis set. Without fragmentation, these systems comprise 73 and 82 molecular orbitals respectively, presenting an intractable Hilbert space for conventional exact or high-level subspace solvers and establishing a clear necessity for fragmentation-based methodologies. The underlying fragment SQD simulations in the EWF-(FCI,SQD) geometry optimizations use up to 70 qubits. The resulting geometries show exceptional accuracy relative to the classical reference, with deviations below 4 picometers.
arXiv:2607.17097v1 Announce Type: new
Abstract: Hand-Object Interaction (HOI) synthesis is a cornerstone for animation production and embodied AI. Despite the strong priors of video foundation models, multi-view consistent HOI synthesis remains challenging due to complex hand motions and occlusions. We present HarmoHOI, a unified diffusion framework that jointly and harmoniously generates synchronized multi-view HOI videos and globally aligned 3D point tracks. Our core insight is that robust multi-view consistency fundamentally requires globally aligned 3D geometry and motion. To this end, we propose a Mixture of Multi-view Diffusion Transformer that co-models RGB videos and 3D point tracks. By representing point tracks as pseudo-videos, we align 3D geometric signals with the 2D latent space of foundation models, thereby minimizing the domain gap and easing adaptation of priors. To further ensure geometry consistency, we introduce Global Motion Aligning Diffusion, which refines coarse point tracks into metric-scale, globally aligned 3D trajectories. HarmoHOI enables on-the-fly co-evolution of 2D appearance and 3D motion during denoising. To overcome the scarcity of multi-view HOI data, we employ a hybrid data curriculum learning strategy that successfully transfers generic priors from single-view data to synchronized multi-view generation. Experimental results show that HarmoHOI achieves state-of-the-art performance in visual quality, motion plausibility, and multi-view geometric consistency. Project page available at https://droliven.github.io/HarmoHOI_project.
arXiv:2607.17029v1 Announce Type: new
Abstract: We study degeneracy guided list compression for greedy graph coloring when graph structure is available before colors are sampled. Our exposure calibrated ordering framework assigns each vertex an independent uniform list according to its backward neighborhood in a color independent order. Its certified instantiation, Profiled Structure Aware Asymmetric Palette Sparsification, or P-SAPST, reverses a minimum degree removal sequence and obtains every backward exposure from the removal profile. For each fixed profile, we characterize the exact local budget required by independent uniform lists under history robust greedy recovery. The profile yields linear list volume on high degree forests and on a core fringe family where reciprocal rank allocation requires Theta(n log^2 n) sampled colors. Exact conflict expectation, concentration, and a dense exposure barrier complete the theoretical description.
The evaluation contains 40,320 runs over SAPBench and two SNAP networks. At the theorem scale, P-SAPST reduces mean list size by 47.6 percent relative to calibrated APST while attaining 99.8 percent observed greedy success. P-SAPST Lite replaces peeling with a degree order and provides a lower latency order choice within the same framework. On stress graphs with 250,000 vertices and up to 1,251,868 edges, Lite obtains a payload ratio of 0.865, while calibrated APST obtains 7.886. On email Enron, the corresponding ratios are 0.193 and 5.814. Compression is strongest on hub dominated and power law graphs and disappears near the dense exposure barrier. The method complements edge oblivious streaming APST by addressing an offline regime in which structural plans can be reused.
arXiv:2607.17590v1 Announce Type: new
Abstract: Recently, Merino and M\"utze (FOCS'23+SICOMP'24) presented an algorithm for computing a Hamilton path on the skeleton of any 0/1-polytope ${\rm conv}(X)$, where $X\subseteq\{0,1\}^n$. The algorithm uses as a black box an algorithm for solving the classical linear optimization problem $\min\{w\cdot x\mid x\in X\}$ for some weight vector $w\in\mathbb{R}^n$. The resulting delay per visited vertex on the Hamilton path is only by a $\log n$ factor larger than the time to solve one instance of the optimization algorithm. In this paper, we make the Hamilton path algorithm simpler and faster. Namely, we obtain an amortized delay that is only by a constant factor larger than the running time of the optimization algorithm, thus removing the $\log n$ factor. As concrete results, this yields improved algorithms for generating bases and independent sets in a matroid, spanning trees, forests, matchings and maximum matchings in a graph, vertex covers, minimum vertex covers, independent sets and maximum independent sets in a bipartite graph, and antichains, maximum antichains and ideals in a poset. All of these listings correspond to Hamilton paths on the corresponding polytopes. Furthermore, we obtain an $\mathcal{O}(t_{\rm LP})$ amortized delay algorithm for the vertex enumeration problem on 0/1-polytopes $\{x\in\mathbb{R}^n\mid Ax\leq b\}$, where $A\in \mathbb{R}^{m\times n}$ and $b\in\mathbb{R}^m$, and $t_{\rm LP}$ is the time needed to solve the linear program $\min\{w\cdot x\mid Ax\leq b\}$. This improves upon the $\mathcal{O}(t_{\rm LP} \log n)$ delay algorithm of Merino and M\"utze, and the previous $\mathcal{O}(t_{\rm LP}\,n)$ delay algorithm of Bussieck and L\"ubbecke from 1998.
arXiv:2503.23536v3 Announce Type: replace
Abstract: Unlearnable data (ULD) has emerged as an innovative defense technique to prevent machine learning models from learning meaningful patterns from specific data, thus protecting data privacy and security. By introducing perturbations to the training data, ULD degrades model performance, making it difficult for unauthorized models to extract useful representations. Despite the growing significance of ULD, existing surveys predominantly focus on related fields, such as adversarial attacks and machine unlearning, with little attention given to ULD as an independent area of study. This survey fills that gap by offering a comprehensive review of ULD, examining unlearnable data generation methods, public benchmarks, evaluation metrics, theoretical foundations and practical applications. We compare and contrast different ULD approaches, analyzing their strengths, limitations, and trade-offs related to unlearnability, imperceptibility, efficiency and robustness. Moreover, we discuss key challenges, such as balancing perturbation imperceptibility with model degradation and the computational complexity of ULD generation. Finally, we highlight promising future research directions to advance the effectiveness and applicability of ULD, underscoring its potential to become a crucial tool in the evolving landscape of data protection in machine learning.
arXiv:2607.17599v1 Announce Type: new
Abstract: Video spatial reasoning is essential for navigation-oriented perception and long-video question answering, where models must infer spatial relations across long horizons under changing viewpoints. However, existing multimodal large language models (MLLMs) remain largely semantic-centric, and often fail to reliably aggregate consistent spatial evidence from redundant video observations, leading to inefficient or unstable reasoning. To address these issues, we propose ConsiSpace, a geometry-consistency-aware framework for geometry-sensitive video spatial reasoning that turns spatial consistency into both an evidence organization principle and an explicit post-SFT learning signal. We build a geometry-consistent memory (GCM) including implicit evidence tokens and explicit geometric cues, and leverage efficient organization strategies to compactly preserve task-related spatial evidence. Furthermore, we utilize unified consistency self-supervised reinforcement learning (UC-SSRL) after supervised fine-tuning to improve cross-view stability, with answer-, metric-, and topology-consistency rewards. Extensive experiments on three spatial-reasoning benchmarks, VSI-Bench, OSI-Bench, and MMSI-Video-Bench, show consistent gains, improving the average score by 12.6 points over the strongest baselines.
arXiv:2607.17394v1 Announce Type: new
Abstract: People increasingly use chatbots such as ChatGPT for everyday analysis tasks. While chatbots unify many analysis functions (e.g., scripts, visualizations, summaries), long conversations become hard to navigate, making it difficult to revisit prior steps or reuse successful workflows. LLMs now generate high-fidelity GUI code that enables people to create customized analysis tools beyond text. Yet, what new opportunities generative UIs bring to analysis work remain unclear. We interviewed six professionals about analysis with chatbots, analyzed publicly shared LLM-generated GUI tools, and conducted a comparison study (N=12) between a chatbot and TaskArtisan, a technology probe that enables people to create and assemble generative analysis UI widgets for sequential and fan-out composition. We find that GUI improved clarity and visual presentation but also introduced rigidity and additional prompting challenges. We summarize the trade-offs into a provisional design framework (malleability, specification, interoperability) to inform future generative UI in LLM-assisted analysis workflows.
arXiv:2607.17350v1 Announce Type: cross
Abstract: We present a black box algorithm that constructs standard generators for the Suzuki groups $Sz(q)$, where $q = 2^{2m+1}$ for some $m > 0$. The algorithm is one-sided Monte Carlo, with no false positives. We also present a black box algorithm that performs constructive membership testing in $Sz(q)$, and writes an element as a straight line program in the standard generators. Finally, we give a presentation for $Sz(q)$ that is efficient to verify. The algorithms have been implemented in the computer algebra system Magma.
arXiv:2607.17964v1 Announce Type: new
Abstract: Fourier-transform infrared (FTIR) spectroscopy is a well-established technique for qualitative and quantitative chemical analysis. Classical FTIR systems rely, however, on direct mid-infrared (mid-IR) scan-based time-domain measurements of coherence functions; thus, the signal-to-noise ratio and measurement speed are constrained by design. In this paper, we demonstrate a scanless quantum FTIR (sQFTIR) technique that exploits principles of metrology with entangled photons to circumvent the limitations inherent to classical FTIR systems. The approach exploits the interferometric nature of the sensing paradigm and relies on frequency-domain measurements performed with a static, low-gain nonlinear interferometer. A robust reconstruction algorithm is used to retrieve time-domain signals and reconstruct respective mid-infrared (mid-IR) spectra (3000$~$cm$^{-1}$ to 2380$~$cm$^{-1}$) from near-IR measurements (approx. 780$~$nm to 820$~$nm). The suggested sQFTIR protocol eliminates the need for optical delay scanning and leverages inherent mapping between the related domains. In the theoretical section, we evaluate the intrinsic signal-to-noise advantage of the proposed method over conventional scan-based time-domain measurements; a difference of 26.8 dB (factor of 21.8) is demonstrated. Building on the enhanced sensitivity of the scheme, we demonstrate rapid sQFTIR-based hyperspectral imaging with a spatial resolution of 12.3$~\mu$m and a spectral resolution down to 8$~$cm$^{-1}$. Hyperspectral mapping of human colon tissue, microplastics, and multilayer polymer samples composed of polypropylene and ethylene vinyl alcohol yield high-quality single-pixel spectra with acquisition times down to 10$~$ms.
arXiv:2607.16938v1 Announce Type: new
Abstract: End-to-end autonomous driving models are now able to navigate complex road scenarios, mapping raw sensor observations directly to observed paths for open-loop evaluation and often effective driving in closed-loop evaluation. Yet the internal logic of these safety-critical systems remains largely opaque, due to the complexity of traffic scenes. We propose a counterfactual ablation framework called Counterfactual Vision Action Analysis (CVAA) that systematically removes individual detected objects from front-camera images using photorealistic generative inpainting to prepare counterfactual sets to evaluate the difference in the model's response. This isolates the causal effect of each object's presence on the model's planning behaviour. Applied to the Alpamayo 1 trajectory predictor across 210 nuScenes driving scenes, we create a dataset Counter -nuScenes, using which we see that vehicles and pedestrians within the model's 'path' dominate causal influence as expected, while traffic lights, as expected, exert disproportionate effect relative to their image footprint. However, we also find cases where the model responds strongly to objects a human driver would consider irrelevant. This brings forth a deeper question: does the model itself view the scene as a sum of individual objects influencing the outcome, or does it encode an entirely different set of internal features that do not correspond to human-legible scene elements? To further understand this, we compare intermediate representations of original and inpainted image pairs using mechanistic interpretability techniques and examine the effect of the removal through the various model layers. Together, these two stages offer a path from behavioral auditing to representational understanding, creating explainable driving systems and solidifying human-AI trust.
arXiv:2607.16987v1 Announce Type: cross
Abstract: Over the past few years, diffusion-based Schr\"odinger bridge models have been proposed to approximate optimal transport dynamics between two prescribed boundary distributions, with successful applications to generative modeling. More precisely, these methods aim to estimate a path measure whose initial and terminal marginals match the two boundary distributions, while minimizing the Kullback-Leibler divergence with respect to a reference Markov process. In this work, we consider the generalized Schr\"odinger bridge problem, in which the reference process is a twisted Brownian motion, that is, a Feynman-Kac transform of a Brownian motion induced by a time-dependent differentiable potential. Building on the Iterative Markovian Fitting (IMF) paradigm, and in particular on its special case Diffusion Schr\"odinger Bridge Matching (DSBM), which corresponds to the zero potential case, we introduce Twisted Schr\"odinger Bridge Matching (TSBM), a diffusion-based method designed to handle both continuous- and discrete-time potentials. Unlike previous approaches, TSBM provides a rigorous extension of the IMF scheme to the generalized Schr\"odinger bridge problem. This derivation leads to a new bridge-matching loss that depends explicitly on the gradient of the potential and recovers the DSBM objective when the potential vanishes, yielding improved performance. We further introduce trajectory-based variance-reduction techniques that substantially stabilize optimization and may be useful beyond the present setting. Finally, we empirically demonstrate the benefits of TSBM for trajectory inference across increasingly high-dimensional settings, including crowd navigation and single-cell data. Code available at https://github.com/maxencenoble/twisted-sb-matching.
arXiv:2607.17070v1 Announce Type: new
Abstract: New-user cold-start is a critical bottleneck for e-commerce platforms: predicting user lifetime value (LTV) and conversion rate (CVR) for users with sparse interaction history. Two prior directions -- LLM-based semantic augmentation and learning using privileged information (LUPI) -- each face a key limitation. First, LLM augmentation produces unstructured rationales that are noisy and hard to operationalize in production. Second, naive student-teacher distillation can be brittle due to an information gap between the privileged teacher and the sparse student; moreover, this gap is heterogeneous across users. We propose SemRaD, a Semantic Reasoning-aware Distillation framework addressing both limitations. First, a Structured Semantic Reasoning Pipeline replaces free-form rationales with a structured schema built via a discover-curate-audit workflow, producing per user a Densified Semantic Profile (consumed by the deployed student via a Semantic-Gated Encoder that focuses on the most informative dimensions) and a Hindsight Distillation Target reconciled from pre- and post-conversion reasoning (used only at training). Second, to bridge this gap and handle its heterogeneity, a Hindsight-Aware Distillation Network transfers privileged knowledge via the hindsight target, with Distillation Experts improving transfer under per-user variability. On a large-scale industrial dataset, SemRaD lifts +1.9% LTV (Gini) and +1.0% CVR (AUROC) over a production-grade base; a four-week online A/B at Keeta confirms +1.0% LTV / +0.43% CVR. SemRaD also matches the production system's LTV using only 9% of the training data while improving CVR by 0.8%.
arXiv:2607.17291v1 Announce Type: new
Abstract: Deep research agents increasingly operate over the open web, where relevant records coexist with redundant summaries, outdated reports, and misleading documents. Existing evaluations offer limited insight into whether agents preserve sound evidential standards when an ordinary-looking false document is deliberately seeded into a searchable environment and offers a direct shortcut to a conflicting answer. We introduce DRNOISE, a 100-task benchmark for answer recovery under misleading evidence. Each task has a unique gold answer supported by two corroborating indirect record chains; the paired noisy condition adds one plausible document that states a conflicting answer directly. The benchmark spans ten families of evidence operations. Across agents with strong clean-task performance, this single intervention causes 66-88 percentage-point accuracy drops. Trace analyses identify verification inertia as the dominant failure mode: agents often retrieve truthful records but stop before completing and reconciling the evidence chain, instead deferring to the answer-like document. Generic verification prompts reduce but do not close this gap. The setting is especially relevant to open-web deployment, where plausible falsehoods arrive through ordinary-looking pages rather than explicit attacks. Reliable deep research therefore requires more than retrieval and citation; it requires active reconciliation of direct claims with record-level evidence.
arXiv:2607.17411v1 Announce Type: new
Abstract: Inverse rendering is traditionally solved via differentiable renderers and gradient descent, which requires substantial problem-specific engineering and is prone to getting stuck in local minima due to ambiguities. Derivative-free approaches alleviate engineering requirements, but often heavily depend on a good problem initialization. In this work, we propose Feature-Informed Diffusion Evolution (FIDE), a fully black-box framework that requires no gradients or specific initialization: the renderer is treated as an opaque function whose only requirement is to produce images. Our key insight is feature guiding: rather than reducing each candidate rendering to a scalar loss value, we use a Vision Transformer (ViT) to extract dense visual features from it. We subsequently use these features to train a diffusion-based candidate proposal model, allowing the network to use visual cues to predict parameters that would match the target image. The candidate solutions proposed by this diffusion model are then refined in a closed loop with a CMA evolution strategy, continuously narrowing the proposal region as optimization progresses. We validate across diverse inverse problems from path tracing, vector splines, Voronoi shaders, and robotics, and demonstrate that feature-guiding substantially improves convergence over scalar-loss baselines and reliably escapes local minima where gradient-based methods stall.
arXiv:2607.17978v1 Announce Type: new
Abstract: We present RuNNer 2.0, the "Ruhr University Neural Network energy representation", a highly optimized software suite for training and evaluating high-dimensional neural network potentials (HDNNPs) of the second, third, and fourth generation. Long-range electrostatics and charge equilibration (QEq) for the description of non-local charge transfer in fourth-generation (4G) HDNNPs are accelerated by quasi-linear-scaling plane-wave methods, reducing QEq computational complexity from $\mathcal{O}(N^3)$ to $\mathcal{O}(N\log^2 N)$ such that linear or quasi-linear scaling is achieved across all HDNNP generations. An optimized memory management strategy eliminates the training overhead traditionally associated with long-range interactions, allowing 4G-HDNNPs to be trained with the same efficiency as their local counterparts. Developed in modern Fortran (2003/2008 standards), combined with a hybrid MPI/OpenMP parallelization scheme, RuNNer 2.0 has been designed to run efficiently in any CPU environment, from cost-effective local workstations to massive HPC clusters. Its modular library architecture facilitates straightforward binding to external simulation software; native interfaces to LAMMPS and the Atomic Simulation Environment (ASE) provide full access to all its features, including built-in committee-based uncertainty quantification. The high efficiency and scalability of the RuNNer 2.0 ecosystem are demonstrated through detailed benchmarks.
arXiv:2607.18203v1 Announce Type: new
Abstract: A recent paper [Hazeltine, et al., Phys. Plasmas 33, 072501 (2026)] has questioned whether the standard result, (ultimately) due to Ferraro, that the plasma angular velocity is approximately constant along individual equilibrium magnetic field-lines in a rotating axisymmetric magnetic mirror machine, continues to hold when the rotation becomes sonic or supersonic. In order to resolve this issue, the equilibrium of a rapidly rotating mirror is investigated, starting from first principles, using an ideal two-fluid model with anisotropic pressure. It is found that, as long as the ion gyro-radius is much less than the machine size, and the angular velocity of the plasma is much less than the ion gyro-frequency, the Ferraro result holds good.
arXiv:2506.06570v4 Announce Type: replace
Abstract: As robotic systems become increasingly integrated into real-world environments, ranging from autonomous vehicles to household assistants, they inevitably encounter diverse and unstructured scenarios that lead to failures. While such failures pose safety and reliability challenges, they also provide rich perceptual data for improving system robustness. However, manually analyzing large-scale failure datasets is impractical and does not scale. In this work, we introduce the problem of unsupervised discovery of failure taxonomies from large volumes of raw failure logs, aiming to obtain semantically coherent and actionable failure modes directly from perceptual trajectories. Our approach first infers structured failure explanations from multimodal inputs using vision language reasoning, then clusters them in the resulting semantic reasoning space, discovering recurring failure modes rather than isolated episode-level descriptions. We evaluate our method across robotic manipulation, indoor navigation, and autonomous driving domains, demonstrating that the discovered taxonomies are consistent, interpretable, and useful in practice. In particular, we show that structured failure taxonomies guide targeted data collection for offline policy refinement and enhance runtime failure monitoring systems. Website: https://mllm-failure-clustering.github.io/
arXiv:2506.07691v2 Announce Type: replace
Abstract: Sparse Autoencoders (SAEs) are a cornerstone of mechanistic interpretability. Existing training methods inherit the Block Training paradigm from LLM pre-training, which introduces destructive gradient noise in instruct models due to attention leakage from unrelated contexts. Using GSNR analysis, we theoretically characterize this issue and propose Finetuning-aligned Sequential Training (FAST), a sequential training paradigm specifically designed for instruct models. FAST aligns SAE training with the data distribution and activation patterns of instruct models, substantially improving both reconstruction fidelity and feature interpretability. Experimental results show that FAST achieves higher GSNR, a significantly lower log-scaled MSE of 0.6468 compared to the baseline's 5.1985, and a near-zero Delta Loss (-0.51\% to 0.37\%). Moreover, on Llama-3.2-3B-it, FAST produces 21.1\% high-quality features, substantially outperforming baseline methods that achieve 7.0\% and 10.2\%. We further find that intervening on special token activations through SAEs can improve generation quality, revealing new opportunities for fine-grained control. Our codes are available as open source at https://github.com/Geaming2002/FAST.
arXiv:2506.08725v3 Announce Type: replace
Abstract: Misuses of t-SNE and UMAP in visual analytics have become increasingly common. For example, although t-SNE and UMAP projections often do not faithfully reflect the original distances between clusters, practitioners frequently use them to investigate inter-cluster relationships. We investigate why this misuse occurs, and discuss methods to prevent it. To that end, we first review 136 papers to verify the prevalence of the misuse. We then interview researchers who have used dimensionality reduction (DR) to understand why such misuse occurs. Finally, we interview DR experts to examine why previous efforts failed to address the misuse. We find that the misuse of t-SNE and UMAP stems primarily from limited DR literacy among practitioners, and that existing attempts to address this issue -- mostly based on academic papers -- have been ineffective. Based on these insights, we discuss potential future research directions to mitigate the misuse.
arXiv:2506.11585v2 Announce Type: replace
Abstract: We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent voxels reduce instance-level precision, as features spill over voxel boundaries, blending neighboring regions together. Our method overcomes this by employing a class-agnostic segmentation model to project 2D masks into 3D space, combined with a supplemented depth image created by merging raw and synthetic depth from point clouds. This approach, along with a 3D mask voting mechanism, enables accurate zero-shot 3D instance segmentation without relying on 3D supervised segmentation models. We assess the effectiveness of our method through comprehensive experiments on public datasets such as ScanNet200 and Replica, demonstrating superior zero-shot performance, robustness, and adaptability across diverse environments. Additionally, we conducted real-world experiments to demonstrate our method's adaptability and robustness when applied to diverse real-world environments.
arXiv:2607.17517v1 Announce Type: new
Abstract: Determining the true minimum distance of an alternant code remains a notoriously difficult problem in coding theory. In this paper, we study the minimum distances of generalized BCH codes and twisted Goppa codes through their parity-check matrices. We first give a necessary and sufficient condition for an alternant code to attain its designed distance and apply it to generalized BCH codes. As applications, we prove that broad classes of generalized BCH codes have minimum distances equal to their designed distances. These classes provide explicit infinite families rather than isolated examples. We characterize when a twisted Goppa code $\Gamma(L,g,\eta)$ with $\operatorname{deg} g=t$ satisfies $d(\Gamma(L,g,\eta))=t+1$, and derive structured classes and infinite families attaining this distance.
arXiv:2607.17713v1 Announce Type: new
Abstract: Span-level rationales are often assumed to improve controllability in text detoxification, but it remains unclear when such guidance helps and when it introduces trade-offs. We present Awareness-Enhanced Guidance for Iterative Safeguard (AEGIS) as an exploratory framework for studying span-guided multilingual detoxification across English, Mandarin Chinese, and Korean. AEGIS combines span-level detector outputs with frozen generator backbones, allowing harmful spans, intensity labels, and target attributes to be provided as structured guidance during rewriting. Rather than claiming state-of-the-art detoxification performance, we analyze how span guidance affects the balance between toxicity reduction and meaning preservation across generator families, model scales, and languages. Our results suggest that span-guided detoxification is conditionally useful: explicit rationales change the trade-off between toxicity reduction and meaning preservation, but their effects depend strongly on the generator backbone and the linguistic context. These findings highlight both the promise and the limitations of span-level control signals for multilingual detoxification.