arXiv:2605.26940v1 Announce Type: new
Abstract: Large language models (LLMs) can support democratic deliberation at scales previously constrained by turn-taking and facilitation bandwidth. Recent work shows that LLM-generated group statements are often preferred over human-mediated outputs, while theoretical analyses argue that LLMs relax the simultaneity constraints limiting collective intelligence. Yet pure LLM mediation risks collapsing pluralism, over-optimizing for agreement, and undermining legitimacy when participants cannot contest how they are represented. We propose a symbiotic human-AI framework organized into three layers: observation and diversity amplification, facilitation with clause-level provenance, and human primacy for ratification. Our contributions include graded coverage, diversity, and erasure metrics with salience-aware weighting; a provenance pipeline combining cross-encoder similarity with causal knockout diagnostics; preference-conditioned trade-off control; equity-aware contestability workflows; adversarial robustness tests; and an evaluation protocol with ablation designs informed by evidence of LLM-as-judge limitations. The result is a testable blueprint for deliberation technology that scales collective intelligence while preserving agency and legitimacy.
Science Journals
arXiv:2605.26936v1 Announce Type: new
Abstract: Underwater robotics has advanced significantly over recent decades. however, the development of miniaturized underwater robots remains limited by low energy densities of traditional power sources. Nature offers compelling solutions-organisms like mantis shrimps and fleas utilize latch-mediated spring actuation (LaMSA) systems that achieve rapid movements through a decoupled energy storage and release mechanism. Despite extensive studies of LaMSA, replicating such rapid, asymmetric actuation within simple, compact structures remains challenging. In this work, we introduce a bioinspired, soft bistable actuator with an integrated latch mechanism that enables asymmetric energy input and release using a single motor. Coupled with fin structures, this design facilitates efficient underwater propulsion and maneuverability. Experimental results demonstrate stable periodic flapping, precise steering, and a maximum thrust of 0.528 N, impulse of 0.147 Ns, and vertical displacement of 30 mm. By modulating fin angles, the robot achieves versatile motions, including vertical ascent, diagonal forward movement, and lateral translation. This study presents a novel, energy-efficient approach for controlling motion in compact underwater robots, paving the way for advanced biomimetic designs with potential applications in exploration, environmental monitoring, and inspection.
arXiv:2605.26935v1 Announce Type: new
Abstract: Large language models have achieved strong performance across many NLP tasks, yet Urdu remains comparatively underexplored due to limited resources and fragmented evaluation settings. To address this gap, we introduce DunbaaBERT, a family of Urdu RoBERTa-base models trained from scratch with Byte-BPE vocabularies of 32k, 52k, and 96k tokens on a deduplicated 17GB Urdu corpus. We evaluate DunbaaBERT across intrinsic and downstream Urdu NLP benchmarks covering linguistic acceptability, news classification, offensive language detection, and sentiment analysis while analyzing vocabulary-size effects on performance and efficiency trade-offs. Across benchmarks, the DunbaaBERT variants achieve competitive performance against strong multilingual baselines while consistently maintaining favorable efficiency trade-offs. Interestingly, larger vocabularies do not consistently improve downstream effectiveness, with DunbaaBERT$_{\text{32k}}$ repeatedly providing the strongest overall efficiency profile. Overall, our results demonstrate that carefully curated Urdu-specific encoder models can remain highly competitive despite comparatively compact model and training scales. All models are released under the MIT license.
arXiv:2605.26934v1 Announce Type: new
Abstract: Reinforcement learning with verifiable rewards (RLVR) has become central to post-training reasoning models, yet a key limitation of existing studies is their narrow view of the reasoning space: difficulty is treated as reasoning depth alone, and reward is concentrated on forward deductive state tracking. We instead characterize the reasoning space along two dimensions. Difficulty. Beyond reasoning depth, we study environment complexity, where models must identify the correct path amid distractors and interacting structures. Rewarded reasoning form. We consider four abilities core to real-world reasoning: deductive state tracking, abductive recovery of hidden events or facts, inductive rule induction, and analogical transfer. To disentangle these factors, we construct a synthetic knowledge-graph environment with controlled pre- and post-training distributions, where each instance varies along depth, complexity, and task family. Three findings emerge: joint depth-complexity coverage outperforms single-axis recipes; reasoning families respond non-uniformly, with abductive reasoning degrading outside the RL-covered region and task correlations clustering into deductive-abductive and inductive-analogy pairs; and uniform mixing outperforms staged curricula under a fixed budget. We also find that recent off-the-shelf models exhibit the same deductive-over-abductive asymmetry, suggesting that this gap is not merely an artifact of our controlled setup.
arXiv:2605.27231v1 Announce Type: cross
Abstract: Scalar Induced Gravitational Waves (SIGW) are generated at second order in perturbation theory and to achieve observational relevance, inflationary dynamics must evade the standard slow-roll scenario at small scales, generating large curvature perturbations following strongly non-Gaussian statistics. We propose a method to efficiently compute the SIGW spectrum including arbitrary non-Gaussianities. First, we solve the wave equation adopting semi-analytic methods; this results in an expression involving integrals in Fourier space which are impossible to solve directly on a lattice. We overcome this bottleneck by recasting these integrals as a sum of about 50 convolutions, each of which can be computed efficiently with FFT methods. Finally, the power spectrum is measured directly from the lattice realization. We implement this in FLAN-SIGW, a GPU-accelerated code capable of computing fully non-perturbative, non-Gaussian SIGW spectra in seconds with an error within 10% with modest computational resources. The code is made public at https://github.com/giovannipiccoli99/FLAN-SIGW. In this first implementation, in order to assess the performance of the method, we adopt a standard radiation-dominated background with $w = 1/3$.
arXiv:1705.03307v5 Announce Type: replace
Abstract: We define and develop two-level type theory (2LTT), a version of Martin-L\"of type theory which combines two different type theories. We refer to them as the inner and the outer type theory. In our case of interest, the inner theory is homotopy type theory (HoTT) which may include univalent universes and higher inductive types. The outer theory is a traditional form of type theory validating uniqueness of identity proofs (UIP). One point of view on it is as internalised meta-theory of the inner type theory.
There are two motivations for 2LTT. Firstly, there are certain results about HoTT which are of meta-theoretic nature, such as the statement that semisimplicial types up to level $n$ can be constructed in HoTT for any externally fixed natural number $n$. Such results cannot be expressed in HoTT itself, but they can be formalised and proved in 2LTT, where $n$ will be a variable in the outer theory. This point of view is inspired by observations about conservativity of presheaf models.
Secondly, 2LTT is a framework which is suitable for formulating additional axioms that one might want to add to HoTT. This idea is heavily inspired by Voevodsky's Homotopy Type System (HTS), which constitutes one specific instance of a 2LTT. HTS has an axiom ensuring that the type of natural numbers behaves like the external natural numbers, which allows the construction of a universe of semisimplicial types. In 2LTT, this axiom can be stated simply be asking the inner and outer natural numbers to be isomorphic.
After defining 2LTT, we set up a collection of tools with the goal of making 2LTT a convenient language for future developments. As a first such application, we develop the theory of Reedy fibrant diagrams in the style of Shulman. Continuing this line of thought, we suggest a definition of (infinity,1)-category and give some examples.
arXiv:2605.26778v1 Announce Type: new
Abstract: Retrieval-augmented generation promises to ground language model outputs in external evidence, yet the field has no reliable way to verify whether retrieved context actually governs generation -- a prerequisite for any high-stakes deployment. The standard assumption, that context-consistent output implies context-governed output, breaks when the retrieved document overlaps with the model's pretraining data: the model can produce faithful-looking text entirely from parametric memory, and both pathways yield indistinguishable output. We name this failure the attribution blind spot and introduce Computational Reality Monitoring (CRM) to address it. CRM operationalizes a principle adapted from cognitive science's reality monitoring framework: comparing internal representations with and without context reveals membership-conditioned representational divergence that output-level monitors systematically miss. CRM does not certify which source an individual generation used; it detects whether pretraining exposure leaves a measurable internal trajectory signature, establishing a necessary substrate for source attribution. Across nine model variants spanning three families, this divergence concentrates in architecture-specific layer patterns, receives converging support from block-level noise intervention, and generalizes across tasks and datasets while collapsing on domain-confounded benchmarks. The attribution blind spot is measurable and partially addressable: internal representations carry a diagnostic signal invisible at the output level, establishing a foundation for systems whose internal awareness of evidence provenance governs their external behavior.
arXiv:2210.02573v5 Announce Type: replace
Abstract: Learning the physical simulation on large-scale meshes with flat Graph Neural Networks (GNNs) and stacking Message Passings (MPs) is challenging due to the scaling complexity w.r.t. the number of nodes and over-smoothing. There has been growing interest in the community to introduce \textit{multi-scale} structures to GNNs for physical simulation. However, current state-of-the-art methods are limited by their reliance on the labor-intensive drawing of coarser meshes or building coarser levels based on spatial proximity, which can introduce wrong edges across geometry boundaries. Inspired by the bipartite graph determination, we propose a novel pooling strategy, \textit{bi-stride} to tackle the aforementioned limitations. Bi-stride pools nodes on every other frontier of the breadth-first search (BFS), without the need for the manual drawing of coarser meshes and avoiding the wrong edges by spatial proximity. Additionally, it enables a one-MP scheme per level and non-parametrized pooling and unpooling by interpolations, resembling U-Nets, which significantly reduces computational costs. Experiments show that the proposed framework, \textit{BSMS-GNN}, significantly outperforms existing methods in terms of both accuracy and computational efficiency in representative physical simulations.
arXiv:2605.26933v1 Announce Type: new
Abstract: Unsupervised visual object tracking is a challenging task that requires following arbitrary targets in videos without training on ground-truth annotations. Despite considerable progress, existing state-of-the-art unsupervised trackers often struggle in scenarios that demand fine-grained understanding of semantic and visual structural information within video frames. Text-to-image diffusion models are well known for their ability to generate images that accurately reflect the semantics and structures described in the input prompt, demonstrating a strong grasp of visual semantics and structures. Building on this capability, we approach the unsupervised tracking from a new perspective by exploiting the rich semantic knowledge encoded in pretrained text-to-image diffusion models. To adapt the diffusion models, which are originally developed for image generation, to the tracking task, we reinterpret the models as a bridge between text and image modalities. This connection is realized through the cross-attention mechanism: when both text and an image are input into the models, they highlight the regions of the image that are semantically aligned with the text in the cross-attention maps. We therefore learn a prompt that represents the tracking target and activates its corresponding region in the cross-attention map for each frame, which enables object tracking with the diffusion model. Specifically, our method Diff-Tracking is composed of two main components: an initial prompt learner and an online prompt updater. The initial prompt learner generates a prompt that captures the target object in the first frame, allowing the diffusion model to identify the target. The online prompt updater refines the prompt based on motion information, enabling consistent tracking across video frames. We evaluate our approach on six challenging tracking datasets demonstrate the effectiveness of our approach.
arXiv:2605.25510v2 Announce Type: replace
Abstract: Children increasingly have access to Large Language Models (LLMs), which may expose them to responses that are developmentally inappropriate or require age-sensitive safety, guidance, and boundaries. Existing LLM safety evaluations largely focus on harmful-content avoidance and do not explicitly target child-facing safety. We introduce KIDBench, a benchmark for evaluating child-facing LLM safety for ages 7-11 using a developmental-psychology-grounded LLM-as-a-Judge rubric. KIDBench contains realistic child queries across ten categories, with single-turn prompts and multi-turn child-actor simulations. We compare no-cues prompts with no child context, implicit-cues prompts that suggest a child speaker, and explicit age instructions. Implicit-cues improve scores by 9-47% across models, while explicit age adds a further 10-30% gain. Cross-lingual and cultural evaluations show uneven safety behavior across languages and country contexts. Multi-turn simulations show that child-facing response quality can degrade by 6-24% from the first to worst turn. Beyond evaluation, we introduce KIDGuardLlama, a child-safety evaluator, and KIDLlama, a child-oriented response model, showing how KIDBench supports safer child-facing AI.
arXiv:2602.10104v2 Announce Type: replace
Abstract: Scaling action-controllable world models is limited by the scarcity of action labels. While latent action learning promises to extract control interfaces from unlabeled video, learned latents often fail to transfer across contexts: they entangle scene-specific cues and lack a shared coordinate system. This occurs because standard objectives operate only within each clip, providing no mechanism to align action semantics across contexts. Our key insight is that although actions are unobserved, their semantic effects are observable and can serve as a shared reference. We introduce Seq$\Delta$-REPA, a sequence-level control-effect alignment objective that anchors integrated latent action to temporal feature differences from a frozen, self-supervised video encoder. Building on this, we present Olaf-World, a pipeline that pretrains action-conditioned video world models from large-scale passive video. Extensive experiments demonstrate that our method learns a more structured latent action space, leading to stronger zero-shot action transfer and more data-efficient adaptation to new control interfaces than state-of-the-art baselines.
arXiv:2401.07669v3 Announce Type: replace
Abstract: Adapting CLIP for videos has gained popularity due to its semantic and rich representation. While CLIP is a good starting point, it typically undergoes post-pretraining (contrastive finetuning) on large video narration or caption datasets (e.g. HowTo100M, WebVid2.5M). However, such narrations or captions often lack comprehensive information needed to represent a video holistically. As the learning signal from text is sparse, the visual learning is inefficient and adaptation requires millions of samples to post-pretrain. In this work, we ask: is it possible to efficiently adapt CLIP for general and holistic video understanding? We use videos labeled with structured and dense Semantic Role Labels (SRLs) that capture actions, people or objects, their attributes, adverbs (manner), and location in a structured format representing the entire video in a holistic way. We generate rule-based captions from SRLs and demonstrate that simple contrastive finetuning on a mere 23k video-caption pairs is adequate to learn powerful, transferable representations applicable across a diverse range of video understanding tasks that require varying levels of perceptual granularity. Our adapted CLIP model, SRL-CLIP, exhibits comparable or superior performance on zero-shot text-to-video retrieval compared to state-of-the-art models that possess 4-8x more parameters and are post-pretrained on up to 6000x more data. SRL-CLIP surpasses CLIP on multiple video benchmarks, underscoring the efficient learning and improved representations.
arXiv:2512.17090v2 Announce Type: replace
Abstract: Squared tensor networks (TNs) and their extension as computational graphs--squared circuits--have been used as expressive distribution estimators, yet supporting closed-form marginalization. However, the squaring operation introduces additional complexity when computing the partition function or marginalizing variables, which hinders their applicability in ML. To solve this issue, canonical forms of TNs are parameterized via unitary matrices to simplify the computation of marginals. However, these canonical forms do not apply to circuits, as they can represent factorizations that do not directly map to a known TN. Inspired by the ideas of orthogonality in canonical forms and determinism in circuits enabling tractable maximization, we show how to parameterize squared circuits to overcome their marginalization overhead. Our parameterizations unlock efficient marginalization even in factorizations different from TNs, but encoded as circuits, whose structure would otherwise make marginalization computationally hard. Finally, our experiments on distribution estimation show how our proposed conditions in squared circuits come with no expressiveness loss, while enabling more efficient learning.
arXiv:2512.14140v2 Announce Type: replace
Abstract: Sketch editing requires jointly handling high-level semantic changes and precise local redrawing, a combination that is particularly challenging for sparse, style-sensitive line art. Unlike natural images, sketches rely on minimal visual cues, making it difficult for existing methods to reconcile global semantic modifications with fine-grained structural control while preserving overall coherence. We present SketchAssist, an interactive sketch assistant that unifies instruction-guided editing with line-guided region redrawing, enabling efficient and controllable sketch manipulation while preserving overall composition. To support this task, we introduce a controllable data generation pipeline that constructs structured edit sequences with precise attribute variations and maintains structural alignment across multi-step modifications, while expanding stylistic diversity via style-preserving transformations. Building on this data, SketchAssist adopts a unified framework based on DiT, using a multi-channel input representation to encode sketches, masks, and guidance signals within a single interface. To further handle different editing modes, we integrate a Task-guided Mixture-of-Experts (T-MoE) into LoRA layers, enabling adaptive control over semantic and structural guidance. Extensive experiments demonstrate state-of-the-art performance on both tasks, achieving strong instruction adherence and improved structural and style consistency compared to recent methods. Together, our method provide a practical and controllable solution for sketch editing.
arXiv:2605.26505v1 Announce Type: cross
Abstract: In 1994, Frieze and Teng proposed an integer linear programming formulation of the NP-Complete Exact Partition problem, whose LP-relaxation they claimed was non-degenerate. Contrary to their claim, we show how an instance of Exact Partition can produce a degenerate polytope, and study conditions for which this can happen. We then give details of one of the smallest such degenerate Frieze-Teng polytopes, along with a closely related non-degenerate Frieze-Teng polytope that encodes an equivalent problem. We note that for the purposes of the complexity results in the literature that use their formulation, these degenerate polytopes can be avoided via a simple preprocessing step.
arXiv:2605.26678v1 Announce Type: new
Abstract: Long-context language models are limited by the memory footprint of the key-value (KV) cache. Existing training-free KV compression methods usually rank tokens by one importance signal -- attention, recency, layer-wise allocation, or key distinctiveness -- which becomes brittle when useful context is globally distinctive, locally episodic, or immediately relevant. We introduce NestedKV, a key-only KV cache compression method inspired by the Continuum Memory System in Nested Learning. NestedKV maintains global, block-level, and sliding-window key anchors, scores tokens by multi-time-scale cosine anomaly, and combines the resulting rankings with a training-free outer learner using head-adaptive mixing and surprise-gated token routing. The score is paired with adaptive per-head budgets and requires no training or LLM modification. Across RULER (4k--32k), LooGLE, LongBench, LongBench-E, InfiniteBench, and MMLU-Pro on Qwen3 and Llama-3.2 models, NestedKV is strongest when the retained cache is small. On Qwen3-4B, it improves over KeyDiff by up to 19.10 points on RULER and 19.29 on LongBench at $r=0.75$; at $r=0.95$, it retains 37.32 on LongBench versus 17.55 for KeyDiff.
arXiv:2605.26679v1 Announce Type: new
Abstract: Cross-slice attack attribution in 6G networks requires identifying causal propagation chains through shared infrastructure in under 100 ms. Existing methods struggle to satisfy this strict SLA without sacrificing accuracy, because shared resource contention creates spurious correlations that are indistinguishable from genuine causal links under standard Granger tests. We propose DA-GC, a certified causal attribution framework that integrates resource-conditioned Granger causality with an axiomatically derived Resource Contention Model (RCM) to systematically block resource-mediated confounding. On a 15-slice production-emulation 6G testbed with 1,100 attack scenarios, DA-GC achieves 89.2% attribution accuracy at 87 ms. This represents a 7.9 percentage-point improvement over the strongest baseline at 2.7x lower latency, alongside demonstrated cross-topology generalization and concept-drift resilience. Crucially, DA-GC is backed by a comprehensive formal certification stack. We provide mathematically proven validity certificates for statistical soundness under serially dependent telemetry and piecewise-stationarity. Furthermore, we establish strict security bounds, including an adversarial utilization spoofing breakdown point of $\delta^* \approx 0.95$, and define the minimum differential-privacy noise required for a provably private and robust deployment.
arXiv:2512.08355v2 Announce Type: replace-cross
Abstract: In an emerging pandemic, policymakers need to make important decisions with limited information, for example choosing between a mitigation, suppression or elimination strategy. These strategies may require trade-offs to be made between the health impact of the pandemic and the economic costs of the interventions introduced in response. Mathematical models are a useful tool that can help understand the consequences of alternative policy options on the future dynamics and impact of the epidemic. Most models have focused on direct health impacts, neglecting the economic costs of control measures. Here, we introduce a model framework that captures both health and economic costs. We use this framework to compare the expected aggregate costs of mitigation, suppression and elimination strategies, across a range of different epidemiological and economic parameters. We find that for diseases with low severity, mitigation tends to be the most cost-effective option. For more severe diseases, suppression tends to be most cost effective if the basic reproduction number $R_0$ is relatively low, while elimination tends to be more cost-effective if $R_0$ is high. We use the example of New Zealand's elimination response to the Covid-19 pandemic in 2020 to anchor our framework to a real-world case study. We find that parameter estimates for Covid-19 in New Zealand put it close to or above the threshold at which elimination becomes more cost-effective than mitigation. We conclude that our proposed framework holds promise as a decision-support tool for future pandemic threats, although further work is needed to account for population heterogeneity and other factors relevant to decision-making.
arXiv:2403.04976v4 Announce Type: replace
Abstract: Recent improvements in energy efficiency and renewable energy integration have increased the relative importance of embodied carbon in data centers, motivating improved provisioning strategies. Conventional approaches primarily minimize operational energy, but this perspective is increasingly insufficient for sustainability. In this paper, we propose carbon depreciation models to encourage longer hardware lifetimes. Carbon depreciation assigns a larger portion of embodied carbon to newly provisioned servers, discouraging unnecessary deployment of new hardware. As a result, new servers are provisioned mainly for jobs with strict quality-of-service (QoS) constraints, while older servers, whose embodied carbon has largely been recovered, are used for other workloads. We further argue that both embodied carbon and operational carbon from server idle time should be recovered during active jobs, encouraging provisioning strategies that maintain high utilization. We show that prior carbon accounting strategies can be counterproductive: under a greedy scheduler minimizing carbon under QoS constraints, jobs are priced as 25% cheaper on new hardware than on older hardware. In contrast, our approach uses a greedy scheduler that prioritizes older hardware through non-linear carbon depreciation, promoting sustainable provisioning. Experimental results show carbon reductions of 28-57%, depending on server lifetime assumptions.
arXiv:2405.16417v2 Announce Type: replace
Abstract: Recent vision-language pre-trained models (VL-PTMs) have shown remarkable success in open-vocabulary tasks. However, downstream use cases often involve further fine-tuning of VL-PTMs, which may distort their general knowledge and impair their ability to handle distribution shifts. In real-world scenarios, machine learning systems inevitably encounter both covariate shifts (e.g., changes in image styles) and semantic shifts (e.g., test-time unseen classes). This highlights the importance of enhancing out-of-distribution (OOD) generalization on covariate shifts and simultaneously detecting semantic-shifted unseen classes. Thus a critical but underexplored question arises: How to improve VL-PTMs' generalization ability to closed-set OOD data, while effectively detecting open-set unseen classes during fine-tuning? In this paper, we propose a novel objective function of OOD detection that also serves to improve OOD generalization. We show that minimizing the gradient magnitude of energy scores on training data leads to domain-consistent Hessians of classification loss, a strong indicator for OOD generalization revealed by theoretical analysis. Based on this finding, we have developed a unified fine-tuning framework that allows for concurrent optimization of both tasks. Extensive experiments have demonstrated the superiority of our method. The code is available at https://github.com/LinLLLL/CRoFT.
arXiv:2604.01698v2 Announce Type: replace
Abstract: High precision Low-level RF (LLRF) control and monitoring systems for future particle accelerators will be a significant technical challenge as the requirements in performance, flexibility and affordability become increasingly stringent. We have developed an RF system-on-chip (RFSoC) based next-generation LLRF (NG-LLRF) for S-band accelerating structures, which samples and synthesizes the RF pulses directly without the analog mixers used for traditional LLRF systems. The platform delivered considerably better performance than the requirements of the targeted applications, such as the upgrades for Next Linear Collider Test Accelerator (NLCTA) and test facilities at SLAC. As part of the upgrade program, we also developed a custom solid-state amplifier (SSA) to deliver RF pulses at the desired power level of the klystron. Integration of the LLRF with the SSA and the high-power test facility could be challenging. The power levels and RF pulse stability at each stage of the high-power RF drive system must be optimized to deliver the desired RF performance. In this paper, the integration procedure and the test and characterization results at each stage of integration will be summarized, analyzed and discussed. This integration is an essential step for the full deployment of the NG-LLRF system to test facilities and accelerators in different frequency bands.
arXiv:2605.25493v2 Announce Type: replace
Abstract: Zero-knowledge virtual machines (zkVMs) are a key technology for driving the large-scale adoption of zero-knowledge proofs (ZKP), but their performance bottlenecks severely limit their practicality. While current hardware acceleration research has exclusively focused on backend proving, we identify that the frontend execution and trace generation phase is rapidly emerging as the new system bottleneck. To address this challenge, we propose ZK-Tracer, the first hardware accelerator architecture specifically designed for the zkVM frontend. ZK-Tracer features a novel heterogeneous design comprising a Main Trace Unit and parallel Permutation Trace Units. It exposes a fine-grained interface to the host software through a lightweight instruction set extension, enabling efficient task offloading. Our ASIC implementation results demonstrate that ZK-Tracer achieves up to 1829x speedup in trace generation over a high-performance multi-core CPU. When integrated with existing backend proving accelerators, it delivers a remarkable 963x end-to-end performance improvement for the entire ZKP system.
arXiv:2605.26682v1 Announce Type: new
Abstract: This dataset provides high-resolution, annotated video sequences of shredded E40-grade steel and copper scrap on a conveyor belt. Captured in a controlled laboratory environment, the data reflects the industrial post-magnetic sorting stage, where manual intervention is typically required to remove copper contaminants. The dataset comprises 24,297 labeled frames across five subsets, featuring 396 steel and 101 copper objects categorized by size. It supports the development of machine learning models for material classification, object detection, and instance segmentation. Variations in object spacing and density are included to simulate realistic industrial sorting conditions. Ground truth annotations include pixel-wise segmentation masks and material classes. This dataset serves as a benchmark for evaluating automated sorting algorithms aiming to identify copper impurities within complex, heterogeneous steel scrap streams.
arXiv:2605.26926v1 Announce Type: new
Abstract: Computing legal indicators from normative texts is a key task in legal monitoring and policy evaluation, but presents significant challenges due to the complexity, scale, and interpretive nature of legal language, as well as the variability in available document quality. Existing natural language processing techniques and generative models can assist in legal analysis, but often suffer from high risk of hallucinations and lack the interpretability and evidence grounding required for reliable indicator computation. This paper presents N2I-RAG (From Norms to Indicators), an agentic retrieval-augmented generation framework designed to automate the computation of legal indicators in a transparent and traceable way. We integrate adaptive retrieval, llm-based agents, and validation mechanisms in a modular pipeline, where each component performs a defined role in filtering, retrieving, and assessing evidence, and in producing binary legal outcomes linked to identifiable legal provisions. The framework emphasizes traceability by requiring explicit explanations of intermediate decisions and final indicator assignments. We evaluate N2I-RAG using an in-house constructed French marine environmental law corpus that includes both scanned and digital sources. Comparative experiments with multiple language model families demonstrate that the proposed approach consistently outperforms baseline systems, and generalizes well when tested on 2 different bans. The results indicate that agentic retrieval-augmented generation can bridge open-text legal language and standardized indicator computation, offering a foundation for transparent and scalable legal observatories.
arXiv:2406.03474v2 Announce Type: replace
Abstract: Language-guided autonomous driving requires bridging a large abstraction gap between high-level natural-language instructions and low-level vehicle control. End-to-end approaches that use a single multimodal large language model (MLLM) to map language directly to actions struggle with this mismatch, often failing to exploit the reasoning capabilities of the model and exhibiting limited generalization beyond the distributions of driving datasets used for fine-tuning. To address this issue, we propose AD-H, a hierarchical multi-agent framework that explicitly separates high-level decision-making from low-level vehicle execution. At the upper level, an MLLM-based planner interprets natural-language commands and environmental context to generate coherent mid-level driving instructions. At the lower level, a lightweight controller converts these mid-level instructions into precise, continuous control actions. This decomposition aligns with the functional strengths of each component: the planner focuses on semantic reasoning and task decomposition, while the controller ensures stable and accurate actuation. To support large-scale training under this hierarchy, we design a rule-based pipeline that reconstructs mid-level commands from driving signals, producing 1.15 million hierarchical annotation pairs. Extensive experiments show that AD-H outperforms state-of-the-art models despite using fewer parameters, namely 3B plus 350M compared with 7B, and achieves superior long-horizon generalization and instruction-following performance. We make our data and code publicly accessible at https://github.com/zhangzaibin/AD-H