arXiv:2605.17978v1 Announce Type: new
Abstract: Vectorization via Single Instruction, Multiple Data (SIMD) architectures is a cornerstone of high-performance computing. To fully exploit hardware potential, developers often resort to explicit vectorization using intrinsics, as compiler-based auto-vectorization frequently yields suboptimal results due to conservative static analysis. While Large Language Models (LLMs) have demonstrated remarkable proficiency in general code generation, they struggle with explicit vectorization due to the scarcity of high-quality corpora and the strict semantic constraints of low-level hardware instructions. In this paper, we propose AutoVecCoder, a novel framework designed to empower LLMs with the capability of automated explicit vectorization. AutoVecCoder integrates two core components: VecPrompt, an automated data synthesis pipeline to inject domain-specific intrinsic knowledge; and VecRL, a reinforcement learning framework that aligns code generation with execution efficiency. AutoVecCoder-8B trained by this framework achieves state-of-the-art performance on the SSE and AVX subsets of SimdBench and, in some cases, generates implementations surpassing standard -O3 optimizations, effectively overcoming the inherent bottlenecks of traditional automated vectorization.
Science Journals
arXiv:2510.08702v2 Announce Type: replace
Abstract: Code Large Language Models (LLMs) are revolutionizing software engineering. However, scaling laws that guide the efficient training are predominantly analyzed on Natural Language (NL). Given the fundamental differences like strict syntax between code and NL, it is unclear whether these laws are directly applicable to code. To address this gap, we conduct the first large-scale empirical study of scaling laws for code, comprising 117 experimental runs with model sizes from 0.2B to 3.8B and training tokens from 2B to 128B. We fit the Chinchilla law and the Farsser law. First, the results show that the more expressive Farseer law offers greater accuracy. Second, the analysis reveals that Code LLMs scale effectively with model size. Crucially, code represents a more data-hungry regime, requiring a substantially higher data-to-parameter ratio than NL. Finally, two additional sets of experiments on code-NL mixtures show that NL benefits resource-constrained scenarios, but becomes a detriment at higher compute budgets.
arXiv:2605.17955v1 Announce Type: new
Abstract: Organisations are upgrading their cryptographic infrastructure to become quantum safe before large scale quantum computers materialise. Post quantum cryptography (PQC) standards now exist for key exchange and digital signatures, but the urgent question for adopters is how to operationalise PQC in complex environments with confidence. In banking, Transport Layer Security (TLS), for example, protects data in transit across public facing channels and internal services, and is terminated at many heterogeneous endpoints (web servers, API gateways, load balancers, reverse proxies), each a potential quantum vulnerable component and migration target. We argue that the bottleneck is operational rather than algorithmic, hybrid key exchanges such as MLKEM and hybrid MLKEM key exchanges are already available in mainstream libraries, but security teams lack precise visibility into TLS configurations and repeatable methods for enabling PQC compatible settings across a heterogeneous estate. This paper presents a configuration parsing methodology that automatically extracts and normalises TLS cryptographic posture across dominant enterprise web server stacks, producing a unified, provenance traced cryptographic inventory as a foundation for migration and compliance. We demonstrate the approach on 8,443 real world Nginx configurations from public repositories and in a proof of concept deployment at a financial institution, where MLKEM and hybrid MLKEM key exchanges at TLS termination points (web server and API gateway) securing an internal application, with zero application layer changes and manageable performance overhead.
arXiv:2605.17933v1 Announce Type: new
Abstract: Vision-language model (VLM) agents increasingly rely on memory-augmented reinforcement learning to reuse experience across long-horizon tasks, yet most existing frameworks store memory as text and depend on proprietary teacher models to summarize or refine it. This design is poorly matched to spatial decision making: geometric priors are compressed into lossy language, and sparse interaction is often supervised through delayed textual feedback rather than dense visually grounded signals. We argue that reusable experience for VLM agents should remain visually grounded. Based on this insight, we propose \textbf{AtlasVA}, a teacher-free visual skill memory framework that organizes memory into three complementary layers: spatial heatmaps, visual exemplars, and symbolic text skills. AtlasVA further evolves danger and affinity atlases directly from trajectory statistics and lightweight grid heuristics, and reuses these self-evolving atlases as potential-based shaping rewards for reinforcement learning. This unifies perception, memory, and optimization without external LLM supervision. Experiments on \textsc{Sokoban}, \textsc{FrozenLake}, 3D embodied navigation, and 3D robotic manipulation benchmarks show that AtlasVA consistently outperforms text-centric memory baselines and competitive VLM agents, with especially strong gains on spatially intensive tasks. Homepage: https://wangpan-ustc.github.io/AtlasvaWeb
arXiv:2605.18149v1 Announce Type: new
Abstract: Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary, making effective Human-Machine Interfaces (HMIs) critical for maintaining situational awareness and stable driver-automation coordination. This paper investigates whether an in-vehicle HMI providing continuous system-state and inter-vehicle distance information improves supervisory behavior, safety, and platoon stability. We conducted a simulation-based experiment integrated with a 6-degree-of-freedom motion system to enhance scenario realism. Dependent variables included collision occurrence, response latency following platoon disconnection, and the number of manual interventions during intact platooning.
Results showed significantly fewer manual interventions when the HMI was active, with intervention rates about 80% higher without it. No significant effects were found for collision occurrence or response latency, indicating that additional information improves supervisory stability during platooning but does not substantially affect emergency reactions or collision rates.
arXiv:2605.17927v1 Announce Type: new
Abstract: In various surgical procedures, regions of interest (ROIs) such as organs or lesions are often occluded by overlying tissues, requiring surgeons to achieve adequate exposure for precise intervention. However, the irregular geometry, nonlinear biomechanical properties of overlying tissues, and limited intraoperative visibility of the ROI pose significant challenges to the autonomous execution of tissue retraction. To address this, we formulate a realistic model of the tissue retraction task and propose a learning-based adaptive control framework for achieving ROI exposure. The method optimizes control inputs online by monitoring changes in the visual boundary of the tissue, while leveraging a deep deformation estimation model trained on simulation data to identify the optimal grasping point and ensure the convergence and safety of the adaptive controller. Through simulations and real-world experiments on different deformable materials, it has been demonstrated that this framework exhibits zero-shot adaptation to similar tasks and can complete the autonomous retraction process, from initial grasp selection to full ROI exposure. Therefore, it has the potential to be applied in actual surgical assistance scenarios.
arXiv:2605.00793v2 Announce Type: replace-cross
Abstract: With the development of deep learning, medical image processing has been widely used to assist clinical research. This paper focuses on the denoising problem of low-dose computed tomography using deep learning. Although low-dose computed tomography reduces radiation exposure to patients, it also introduces more noise, which may interfere with visual interpretation by physicians and affect diagnostic results. To address this problem, inspired by Cycle-GAN for unsupervised learning, this paper proposes an end-to-end unsupervised low-dose computed tomography denoising framework. The proposed framework combines a U-Net structure for multi-scale feature extraction, an attention mechanism for feature fusion, and a residual network for feature transformation. It also introduces perceptual loss to improve the network for the characteristics of medical images. In addition, we construct a real low-dose computed tomography dataset and design a large number of comparative experiments to validate the proposed method, using both image-based evaluation metrics and medical evaluation criteria. Compared with classical methods, the main advantage of this paper is that it addresses the limitation that real clinical data cannot be directly used for supervised learning, while still achieving excellent performance. The experimental results are also professionally evaluated by imaging physicians and meet clinical needs.
arXiv:2604.21274v2 Announce Type: replace-cross
Abstract: A random access code (RAC) encodes an $L$-bit string into a $k$-bit message, where $L>k$, such that any requested bit can be decoded with high probability; a quantum RAC (QRAC) replaces the message with $k$ qubits. This paper provides a geometric characterization of optimal classical $(L,k)$-RACs under both average and worst-case success criteria. We show that the average problem reduces to selecting $2^k$ representatives in $\{0,1\}^L$, whereas the worst-case problem reduces to selecting $2^k$ points in $[0,1]^L$ that minimize a distance-like objective. This framework establishes optimality for several parameter families $(L,k)$, with optimal constructions in many cases realized by standard infinite families of binary linear codes. For the parameter family $(2^k-1,k)$, we prove the worst-case optimality of a classical construction and present an explicit QRAC whose worst-case success probability is strictly higher than the classical optimum, thereby establishing a classical--quantum separation for this family. For the parameter family $(L,L-1)$, the framework identifies a classical RAC construction that is optimal under the average criterion and, assuming a stated conjecture, also optimal under the worst-case criterion. As a by-product, the same geometric viewpoint recovers explicit $(L,L-1)$-QRACs similar to existing constructions that attain the value of an upper bound conjectured in prior work to be tight.
arXiv:2605.17915v1 Announce Type: new
Abstract: Surgical Video Question Answering (VideoQA) provides a promising paradigm for dynamic intraoperative interpretation, enabling real-time decision support and context-aware retrieval in clinical environments. Nevertheless, existing approaches are predominantly restricted to images or short clips, limiting their ability to model long-range procedural dynamics and causal dependencies across extended surgical workflows. To address this challenge, we propose SurgLQA, a unified long-horizon VideoQA framework for scalable surgical reasoning. This framework incorporates Faithful Temporal Consolidation (FTC), which leverages intrinsic temporal cues to construct compact long-range representations while preserving fine-grained temporal fidelity. Further, we develop Temporally-Grounded Multi-Policy Scaling (TMS), an adaptive test-time inference paradigm that strategically adjusts policy-level reasoning capacity within temporally grounded contexts. To facilitate systematic evaluation, we restructured a long-duration colonoscopy VideoQA benchmark, Colon-LQA, and conducted extensive experiments on Colon-LQA and REAL-Colon-VQA. Experimental results demonstrate that our approach achieves consistent performance gains in long-range reasoning with temporally grounded inference. Code link: https://github.com/RascalGdd/SurgLQA.
arXiv:2504.13217v3 Announce Type: replace
Abstract: Large language models (LLMs) have become increasingly embedded in organizational workflows. This has raised concerns over their energy consumption, financial costs, and data sovereignty. While performance benchmarks often celebrate cutting-edge models, real-world deployment decisions require a broader perspective: when is a smaller, locally deployable model "good enough"? This study offers an empirical answer by evaluating eleven proprietary and open-weight LLMs across ten everyday occupational tasks, including summarizing texts, generating schedules, and drafting emails and proposals. Using a dual-LLM-based evaluation framework, we automated task execution and standardized evaluation across ten criteria related to output quality, factual accuracy, and ethical responsibility. Results show that GPT-4o delivers consistently superior performance but at a significantly higher cost and environmental footprint. Notably, smaller models like Gemma-3 and Phi-4 achieved strong and reliable results on most tasks, suggesting their viability in contexts requiring cost-efficiency, local deployment, or privacy. A cluster analysis revealed three model groups -- premium all-rounders, competent generalists, and limited but safe performers -- highlighting trade-offs between quality, control, and sustainability. Significantly, task type influenced model effectiveness: conceptual tasks challenged most models, while aggregation and transformation tasks yielded better performances. We argue for a shift from performance-maximizing benchmarks to task- and context-aware sufficiency assessments that better reflect organizational priorities. Our approach contributes a scalable method to evaluate AI models through a sustainability lens and offers actionable guidance for responsible LLM deployment in practice.
arXiv:2605.16913v1 Announce Type: cross
Abstract: Neural networks trained with gradient-based methods exhibit a strong simplicity bias: they learn simpler statistical features of their data before moving to more complex features. Previous analyses of this phenomenon have largely focused on settings with (quasi-)isotropic inputs. In this work, we study the simplicity bias from a Fourier perspective, which allows us to include two key features of natural images in the analysis: approximate translation-invariance and power-law spectra. We first show experimentally that simple neural networks trained on image classification tasks first rely on amplitude information -- related to pair-wise correlations between pixels -- before exploiting phase information, which encodes edges and higher-order correlations. In view of this, we introduce a synthetic data model for translation-invariant inputs that allows precise control over amplitudes and phases while remaining tractable. We rigorously establish that for isotropic and high-dimensional inputs, classification based on phase information alone is a genuinely hard task: online stochastic gradient descent (SGD) cannot distinguish the structured inputs from noise within $n \ll N^3$ steps, but needs at least $n \gg N^3 \log^2{N}$ steps. In contrast, we show both experimentally and theoretically that power-law spectra can dramatically accelerate the speed of learning phase information, even if the spectra do not help with classification. Simulations with two-layer networks trained on textures and with deep convolutional networks on ImageNet and CIFAR100 confirm this non-trivial interaction between amplitudes and phases, providing mechanistic insights into how deep neural networks can learn natural image distributions efficiently.
arXiv:2605.17634v1 Announce Type: new
Abstract: Prompt injection is the most critical vulnerability in deployed AI agents. Despite recent progress, we show that the prevailing defense paradigm (data-instruction separation) both fails to detect attacks that operate through contextual manipulation and degrades contextually appropriate behavior. We then recast prompt injection via the lens of Contextual Integrity (CI), a privacy theory that judges information flow compliance with contextual norms. This explains types of attacks that current defenses attempt to patch and predict advanced ones future agents will face. We develop unique benign and attack scenarios that force an agent to violate the norms by (1) misrepresenting the flow, (2) manipulating norms, or (3) mixing multiple flows. This reframing suggests an impossibility result: an adversary can always construct a context under which a blocked flow appears legitimate, or a defender who tightens norms will block genuinely legitimate flows. Our findings suggest that current research addresses a shrinking fraction of future attack surfaces. Instead, through CI, we offer a principled framework for evaluating context-sensitive failures, and designing CI-aware alignment for the frontier autonomous agents.
arXiv:2603.21071v2 Announce Type: replace
Abstract: As one of the most important underwater sensing technologies, forward-looking sonar exhibits unique imaging characteristics. Sonar images are often affected by severe speckle noise, low texture contrast, acoustic shadows, and geometric distortions. These factors make it difficult for traditional teacher-student frameworks to achieve satisfactory performance in sonar semantic segmentation tasks under extremely limited labeled data conditions. To address this issue, we propose a Collaborative Teacher Semantic Segmentation Framework for forward-looking sonar images. This framework introduces a multi-teacher collaborative mechanism composed of one general teacher and multiple sonar-specific teachers. By adopting a multi-teacher alternating guidance strategy, the student model can learn general semantic representations while simultaneously capturing the unique characteristics of sonar images, thereby achieving more comprehensive and robust feature modeling. Considering the challenges of sonar images, which can lead teachers to generate a large number of noisy pseudo-labels, we further design a cross-teacher reliability assessment mechanism. This mechanism dynamically quantifies the reliability of pseudo-labels by evaluating the consistency and stability of predictions across multiple views and multiple teachers, thereby mitigating the negative impact caused by noisy pseudo-labels. Notably, on the FLSMD dataset, when only 2% of the data is labeled, our method achieves a 5.08% improvement in mIoU compared to other state-of-the-art approaches.
arXiv:2503.19036v2 Announce Type: replace
Abstract: A growing body of literature has been leveraging techniques of machine learning (ML) to build novel approaches to approximating the solutions to partial differential equations. Noticeably absent from the literature is a systematic exploration of the stability of the solutions generated by these ML approaches. Here, a recurrent network is introduced that matches precisely the evaluation of a multistep method paired with a collocation method for approximating spatial derivatives in the advection diffusion equation. This allows for two things: 1) the use of traditional tools for analyzing the stability of a numerical method for solving PDEs and 2) bringing to bear efficient techniques of ML for the training of approximations for the action of (spatial) linear operators. Observations on impacts of varying the large number of parameters in even this simple linear problem are presented. Further, it is demonstrated that stable solutions can be found even where traditional numerical methods may fail.
arXiv:2605.17620v1 Announce Type: new
Abstract: Intracranial aneurysms (IAs), characterized by unpredictable growth and risk of rupture, are a major cause of stroke and can lead to life-threatening hemorrhages with high mortality and long-term disability. With aging populations, the incidence and overall burden of cerebrovascular diseases are expected to increase, highlighting the need for scalable approaches to analyze complex medical data and improve population-level understanding of these conditions. While digital twins and deep learning offer promising avenues for improving diagnosis, prognosis, and treatment, their effectiveness is limited by the scarcity of large-scale, high-quality medical data and corresponding labels. We present Synthetic VAsculature (SynVA), a modular toolkit for vascular mesh generation and anatomically consistent aneurysm synthesis. SynVA combines novel flow-matching-based methods for generating healthy vessel meshes with learning-based approaches for anatomy-conditioned aneurysm mesh generation - aneurysms are computed from pre-existing vascular geometries rather than being generated in isolation. In addition, we introduce the SynVA procedural model for vascular and aneurysm synthesis based solely on physiological principles and statistical priors, which enables the generation of large-scale datasets (e.g., for the training of mesh-based generative models). To this end, we release a dataset of 50,000 fully labeled mesh samples for a variety of downstream vision tasks, such as semantic segmentation. Extensive quantitative and qualitative evaluations demonstrate that SynVA generates realistic vessel geometries and anatomically plausible aneurysms. Specifically, our experiments indicate that some methods produce aneurysm shapes more aligned with expert human perception while others perform better on quantitative similarity metrics with reconstructions of real aneurysms.
arXiv:2603.20216v2 Announce Type: replace
Abstract: Diffusion language models (DLMs) have emerged as a promising alternative to autoregressive (AR) models, offering sub-linear generation latency and bidirectional capabilities that are particularly appealing for code generation and editing. Achieving sub-linear latency in discrete DLMs requires predicting multiple tokens in parallel. However, standard DLMs sample tokens independently from conditional marginal distributions, failing to capture the joint dependencies among concurrently generated tokens. As a result, they often lead to syntactic inconsistencies and break multi-token structures. In this work, we introduce CoDiLA (Coherent Diffusion with Local Autoregression), a method that reconciles parallel sampling with local dependency modeling. Rather than forcing the DLM to resolve fine-grained syntax, CoDiLA delegates local decoding to a small, auxiliary AR model operating on the diffusion latents. This design allows for parallel generation while ensuring sequential validity within a block and maintaining core DLM capabilities, including bidirectional modeling across blocks. We demonstrate that using a highly compact auxiliary AR model (e.g., 0.6B parameters) effectively eliminates coherence artifacts, establishing a new Pareto frontier for accuracy and speed in code generation benchmarks.
arXiv:2605.17611v1 Announce Type: new
Abstract: Software fault prediction (SFP) is a critical task in software engineering, enabling early identification of faults in modules to improve software quality and reduce maintenance costs. This research investigates the combined effects of feature selection and parameter tuning on the performance of machine learning (ML) models for SFP. This study evaluates the interaction between feature selection methods, including correlation-based feature selection (CFS), recursive feature elimination (RFE), mutual information (MI), and L1 regularization, where hyperparameter tuning techniques such as grid search, randomized search, and genetic algorithm (GA) are used for optimization of ML algorithms, including random forest (RF), logistic regression (LR), and support vector machines (SVM) for optimized fault prediction performance. The combined application of CFS and GA yielded the highest accuracy, achieving 88.40% with RF, representing an improvement of 18% over baseline models without feature selection or tuning. Feature selection reduced dimensionality and identified critical attributes such as weighted methods per Class (WMC) and coupling between objects (CBO), while iterative parameter tuning optimized model alignment to these feature sets. Notably, the proposed methods demonstrated robustness, with minimal cross-validation variability (+-1.0%), and efficiency, reducing training times in univariate methods such as L1 regularization.
arXiv:2605.17603v1 Announce Type: new
Abstract: High-resolution precipitation information is essential for climate impact assessment, yet global climate models remain too coarse to resolve key small-scale processes. Existing machine learning downscaling methods often require paired low- and high-resolution data for supervised learning, are tied to fixed regions or scale factors during inference, and can be computationally expensive to train and run in physical space. Here we introduce Longwang, a zero-shot latent generative framework for global spatiotemporal precipitation downscaling. Longwang learns a context-conditioned latent generative prior and combines it with a physically informed observation operator through posterior sampling, enabling daily O(10 km) precipitation fields to be generated from monthly O(100 km) inputs. On ERA5 reanalysis, Longwang outperforms standard posterior sampling with an unconditional generative prior in reconstructing fine-scale spatial patterns, preserving temporal coherence, and recovering extreme precipitation intensities. The framework further generalizes to historical climate simulations and future climate projections under substantial distribution shift.
arXiv:2605.17601v1 Announce Type: new
Abstract: We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias. By representing a demonstration as a sequence of behaviors that exploit environmental constraints, the robot separates task-general structure -- the constraint types and their transitions -- from instance-specific details such as exact demonstration trajectories, poses, and local geometries. Our four-stage pipeline builds a complete policy on this representation: the robot first abstracts a single demonstration into environmental-constraint primitives, then disambiguates them through self-guided exploration, next assimilates targeted human corrections that handle out-of-distribution variations, and finally recovers the abstracted-away details online through compliant interaction. Because the resulting policy follows constraints rather than mimics trajectories, it generalizes across object poses, local geometries, and unmodeled contact dynamics. We validate our approach on seven real-world multi-stage contact-rich manipulation tasks and achieve over 90% success. These extensive experimental results establish environmental constraints as fundamental building blocks for efficient generalization in learning from demonstration.
arXiv:2605.17597v1 Announce Type: new
Abstract: Distributed controller synthesis offers scalable and privacy-preserving control design, but typical state-of-the-art approaches either assume white-box models or resort to centralized synthesis. In this paper, we combine partially known model knowledge and an input-state dataset within a distributed gray-box scheme to design \(\mathcal{H}_2\) controllers. Our method can handle unknown dynamics and offers scalable synthesis. Each agent communicates with a set of neighbors determined by the physical coupling topology of the system such that we can apply the Alternating Direction Method of Multipliers (ADMM) to solve the problem iteratively in a fully distributed fashion (i.e., without a central server). The effectiveness and flexibility of the proposed approach is demonstrated in simulations of the IEEE 39-bus power system test case.
arXiv:2605.17907v1 Announce Type: new
Abstract: By sharing intermediate features, collaborative perception extends each agent's sensing beyond standalone limits, but real-world feature modality heterogeneity remains a key barrier to effective fusion. Most existing methods, including direct adaption and protocol-based transformation, typically rely on training adapters for newly emerging feature modalities and often require additional retraining or fine-tuning. Such repeated training is costly and is often infeasible across manufacturers due to model and data privacy constraints, limiting real-world scalability. To address this issue, we propose UniTrans, a universal any-to-any feature modality translation model that instantiates translators on the fly for arbitrary modalities.
UniTrans pretrains a bank of translator expert parameters and learns their combination coefficients as a function of source-to-target modality mapping. The mapping is measured in a modality-intrinsic latent space, where an intrinsic encoder extracts modality-specific yet scene-invariant codes from single-frame intermediate features, enabling UniTrans to instantiate translators in a zero-shot manner.
Experiments on OPV2V-H and DAIR-V2X demonstrate that UniTrans consistently outperforms state-of-the-art methods in both simulated and real-world settings, enabling efficient any-to-any translation through a universal model. The code is available at https://github.com/CheeryLeeyy/UniTrans.
arXiv:2605.17565v1 Announce Type: new
Abstract: Recent work has fine-tuned language models on chess data and reported high benchmark scores as evidence that the resulting models can understand the rules of chess, play full chess games at a professional level, or generate human-readable explanations grounded in expert knowledge. We train KinGPT, a 25M-parameter character-level language model trained only on (position, best-move) pairs, who exceeds 3B-parameter ChessGPT on a 600-puzzle mate-in-N suite and 4B-parameter C1-4B over a 20-theme puzzle benchmark. We examine several claims made in existing literature regarding chess-trained language models and assert that their impressive benchmark performance is largely explained by pattern-matching. We also demonstrate how LLM-Modulo, a verifier-in-the-loop framework, raises RedPajama 3B's best move accuracy from 1.2% to 21.2% and move generation validity from 19.3% to 95.3% on mate-in-N chess puzzles, comparable to gains achieved from ChessGPT's fine-tuning on chess-specific web corpora at a fraction of the cost. Our results illustrate how pairing a general LLM with an external verifier offers a more flexible alternative to directly training on synthetic data for well-defined domains. We open source all training/evaluation code, datasets, puzzle samples, and KinGPT model checkpoints for reproducibility.
arXiv:2605.18613v1 Announce Type: new
Abstract: Latent representations are at the heart of the majority of modern generative models. In the audio domain they are typically produced by a neural-audio-codec autoencoder. In this work we introduce SAME (Semantically-Aligned Music autoEncoder), an autoencoder for stereo music and general audio that reaches a 4096$\times$ temporal compression ratio while maintaining reconstruction quality and downstream generative performance. We achieve this by combining a tranformer-based backbone with set of semantic regularisation approaches, phase-aware reconstruction losses and improved discriminator designs. The architecture delivers substantial computational cost benefits, through both its high compression ratio and its reliance on well-optimised transformer primitives. Two variants (a large SAME-L and a CPU-deployable SAME-S) are released in open-weights form.
arXiv:2605.17562v1 Announce Type: new
Abstract: EEG foundation models (EEG-FMs) have been evaluated predominantly on clean, in-distribution accuracy, leaving their robustness, interpretability and representational quality largely unexamined. This study addresses these gaps by benchmarking six EEG-FMs against a baseline deep learning model across eight datasets. Beyond clean accuracy, we conduct three layers of analysis: (i) Robustness: we apply test-time perturbations including additive noise, random and region-based channel dropout and region-specific noise injection. Our analyses show that no single model dominates all failure modes. The most noise-robust model is among the most fragile under channel dropout and much of the dropout fragility disappears when channels are removed rather than zero-padded. (ii) Interpretability: we present the first application of Attention-Aware Layer-Wise Relevance Propagation (AttnLRP) to EEG-FMs and show that models broadly concentrate relevance on task-appropriate brain regions consistent with known neurophysiology. However, attribution maps remain spatially stable under perturbation while predictions degrade, suggesting that the models attend to the correct brain regions but decode corrupted content. (iii) Expressiveness: With block-wise probing we show that late blocks are repurposed during fine-tuning, while early blocks already hold task-related information. Furthermore, we demonstrate that the poor head-only performance previously attributed to low-quality pre-trained representations is largely explained by pooling and that EEG-FMs possess sufficient representational capacity when their token-level embeddings are preserved. Together, these findings provide the first systematic assessment of robustness, interpretability and expressiveness for EEG-FMs and highlight critical considerations for their development.
arXiv:2605.17911v1 Announce Type: new
Abstract: Future planetary exploration envisions autonomous robotic agents operating under severe communication constraints, without global positioning, and with minimal human intervention. In such environments, agents must not only perceive and act, but also reason over mission objectives, operational constraints, and evolving environmental conditions. While prior work has largely focused on perception and control, the translation of high-level mission knowledge into structured, machine-interpretable representations remains underexplored.
We introduce a pilot benchmark for translating natural language (NL) into First-Order Logic (FOL) within the domain of planetary exploration. The dataset is constructed from real mission documentation sourced from NASA's Planetary Data System (PDS), spanning missions from 2003 to 2013. These documents describe mission phases such as launch, boost, coast, cruise, and orbital operations in rich natural language. We manually annotate these documents with corresponding FOL representations that capture temporal structure, agent roles, and operational dependencies. In addition, we provide structured predicate vocabularies and typed constants to enable controlled experimentation with varying levels of prior knowledge. This pilot benchmark provides a foundation for research at the intersection of language understanding and formal reasoning, grounded in real-world, safety-critical mission data. The dataset is provided at: https://github.com/HaydenMM/planetary-logic-benchmark/blob/main/pilot_benchmark.json