arXiv:2601.08013v2 Announce Type: replace
Abstract: Accurate forecasts of segment-level sailing durations are fundamental to enhancing maritime schedule reliability and optimizing long-term port operations. However, conventional estimated time of arrival (ETA) models are primarily designed for the immediate next port of call and rely heavily on real-time automatic identification system (AIS) data, which is inherently unavailable for future voyage segments. To address this gap, the study reformulates future-port ETA prediction as a segment-level time-series forecasting problem. We develop a transformer-based architecture that integrates historical sailing durations, destination port congestion proxies, and static vessel descriptors. The proposed framework employs a causally masked attention mechanism to capture long-range temporal dependencies and a multi-task learning head to jointly predict segment sailing durations and port congestion states, leveraging shared latent signals to mitigate high uncertainty. Evaluation on a real-world global dataset from 2021 demonstrates the proposed model consistently outperforms a comprehensive suite of competitive baselines. The result shows a relative reduction of 4.70% in mean absolute error (MAE), 4.95% in mean absolute percentage error (MAPE) and 2.59% in root mean squared error (RMSE) compared with sequential deep learning models. The relative reductions compared with gradient boosting machines are 7.03% in MAE, 39.49% in MAPE and 4.37% in RMSE. The case study conducted on one major destination port further illustrates the model's superior accuracy.
Science Journals
arXiv:2601.11895v3 Announce Type: replace
Abstract: DevBench is a telemetry-driven benchmark designed to evaluate Large Language Models (LLMs) on realistic code completion tasks. It includes 1,800 evaluation instances across six programming languages and six task categories derived from real developer telemetry and synthesized using generator models from multiple provider families to mitigate single-source bias. Unlike prior benchmarks, it emphasizes ecological validity, avoids training data contamination, and enables detailed diagnostics. The evaluation combines functional correctness, similarity-based metrics, and LLM-judge assessments focused on usefulness and contextual relevance. 9 state-of-the-art models were assessed, with the strongest achieving only 43.5% Pass@1, confirming the benchmark remains challenging and revealing differences in syntactic precision, semantic reasoning, and practical utility. Our benchmark provides actionable insights to guide model selection and improvement, detail that is often missing from other benchmarks but is essential for both practical deployment and targeted model development.
arXiv:2601.14506v3 Announce Type: replace
Abstract: Large language models are increasingly deployed in STEM education for personalized instruction and feedback across institutions in high- and low-income countries. These systems are designed to adapt content to student needs, but whether they adapt based on demonstrated ability or demographic signals remains untested at scale. Here we establish that LLM-generated STEM content systematically disadvantages marginalized student profiles across two cultural contexts, with the gap between the most privileged and most marginalized profiles reaching 2.55 grade levels. We audited four LLMs (Qwen 2.5-32B-Instruct, GPT-4o, GPT-4o-mini, GPT-OSS 20B) using synthetic profiles crossing dimensions specific to Indian education (caste, medium of instruction, college tier) and American education (race, HBCU attendance, school type), alongside income, gender, and disability, across ranking and generation tasks with FDR-corrected significance testing and SHAP feature attribution. Income produces significant effects across every model and context, medium of instruction drives the largest single effect in the Indian context, and disability status triggers simpler explanations. Effects compound non-additively: marginalization across multiple dimensions produces gaps larger than any single dimension predicts, and biases persist within elite institutions. Bias is consistent across all four architectures and persists through model selection, making intersectional, cross-cultural auditing a structural requirement before deployment.
arXiv:2601.16414v2 Announce Type: replace
Abstract: Difficulty replicating baselines, high computational costs, and required domain expertise create persistent barriers to clinical AI research. To address these challenges, we introduce PyHealth 2.0, an enhanced clinical deep learning toolkit that enables predictive modeling in as few as 7 lines of code. PyHealth 2.0 offers three key contributions: (1) a comprehensive toolkit addressing reproducibility and compatibility challenges by unifying 15+ datasets, 20+ clinical tasks, 25+ models, 5+ interpretability methods, and uncertainty quantification including conformal prediction within a single framework that supports diverse clinical data modalities - signals, imaging, and electronic health records - with translation of 5+ medical coding standards; (2) accessibility-focused design accommodating multimodal data and diverse computational resources with up to 39x faster processing and 20x lower memory usage, enabling work from 16GB laptops to production systems; and (3) an active open-source community of 400+ members lowering domain expertise barriers through extensive documentation, reproducible research contributions, and collaborations with academic health systems and industry partners, including multi-language support via RHealth. PyHealth 2.0 establishes an open-source foundation and community advancing accessible, reproducible healthcare AI. Available at pip install pyhealth.
arXiv:2601.18235v2 Announce Type: replace
Abstract: In neural network surrogate solvers for electromagnetic simulations, accurately modeling resonant phenomena remains a central challenge. High-amplitude resonances generate strongly localized field patterns that deviate significantly from the general distribution of non-resonant cases, leading to instability and degraded predictive performance. To address this, we introduce dissipative relaxation transfer learning (DIRTL), a data-efficient training framework that integrates transfer learning with loss-regularized optimization principles from high-Q photonics. DIRTL first pretrains the model on data generated with a small fictitious material loss, which broadens sharp resonant modes and suppresses extreme field amplitudes. This smoothing of the response landscape enables the model to learn global modal features more effectively. The pretrained model is subsequently fine-tuned on the target lossless dataset containing true high-amplitude resonances, allowing stable adaptation based on the pretrained representation. Applied to both the Fourier Neural Operator (FNO) and UNet architectures, DIRTL yields substantial improvements in prediction accuracy, including up to a two-fold error reduction for the FNO variant. Furthermore, DIRTL demonstrates robustness across diverse training conditions and supports multi-tasking performance, suggesting the generalizability and flexibility of the pretrained core. Altogether, these results position DIRTL as a physically grounded curriculum for improving the reliability of neural network surrogate solvers.
arXiv:2601.18442v3 Announce Type: replace
Abstract: Autonomous Vehicle (AV) requires rigorous testing in safety-critical scenarios for safety validation, yet its validation is hindered by the high cost of field testing and the lack of fidelity in current simulations for rare safety-critical events. Crash reports offer rich and authentic specifications of real-world accident dynamics, making them a promising resource for Large Language Models and Vision-Language models to generate high-fidelity scenarios. However, the existing models frequently deviate from actual accident characteristics due to context suppression. To address these limitations, this paper presents SG-CADVLM, a framework integrateing Context-Aware Decoding with multimodal input processing to generate safety-critical scenarios from crash reports. The framework mitigates the hallucination of VLMs while generating road geometry and vehicle trajectories simultaneously. The experimental results demonstrate that SG-CADVLM generates combined critical and high-risk scenarios at a rate of 88.1% compared to 31.2% for the baseline methods, representing a 182% improvement, while producing executable simulations for autonomous vehicle testing.
arXiv:2601.18664v3 Announce Type: replace
Abstract: Generative Recommendation (GR) has emerged as a transformative paradigm with its end-to-end generation advantages. However, existing GR methods primarily focus on direct Semantic ID (SID) generation from interaction sequences, failing to activate deeper reasoning capabilities analogous to those in large language models and thus limiting performance potential. We identify two critical limitations in current reasoning-enhanced GR approaches: (1) Strict sequential separation between reasoning and generation steps creates imbalanced computational focus across hierarchical SID codes, degrading quality for SID codes; (2) Generated reasoning vectors lack interpretable semantics, while reasoning paths suffer from unverifiable supervision. In this paper, we propose stepwise semantic-guided reasoning in latent space (S$^2$GR), a novel reasoning enhanced GR framework. First, we establish a robust semantic foundation via codebook optimization, integrating item co-occurrence relationship to capture behavioral patterns, and load balancing and uniformity objectives that maximize codebook utilization while reinforcing coarse-to-fine semantic hierarchies. Our core innovation introduces the stepwise reasoning mechanism inserting thinking tokens before each SID generation step, where each token explicitly represents coarse-grained semantics supervised via contrastive learning against ground-truth codebook cluster distributions ensuring physically grounded reasoning paths and balanced computational focus across all SID codes. Extensive experiments demonstrate the superiority of S$^2$GR, and online A/B test confirms efficacy on large-scale industrial short video platform.
arXiv:2601.19104v2 Announce Type: replace
Abstract: This study aims to capture aerodynamic causality from snapshot data with a time-varying mode decomposition technique referred to as information-theoretic machine learning. The current approach extracts time-dependent informative vortical structures, contributing to the future evolution of the aerodynamic coefficients. The present decomposition is employed with a convolutional neural network, enabling the identification of the spatial continuous mode. In addition, a low-order representation, characterizing the informative vortical structures and their corresponding aerodynamic coefficients, can also be identified by considering autoencoder-based data compression. The present technique is applied to a range of aerodynamic examples, including extreme vortex-gust airfoil interactions, experimentally measured transverse jet-wing interaction, and a turbulent separated wake across different Reynolds numbers. For the cases of gust-wing interaction, the time-varying gust effect on the lift response is extracted in an interpretable manner. With the example of a turbulent wake, the relationship between large-scale vortical motion and lift force is identified without any spatial length-scale information. The proposed approach could serve as a foundation for data-driven causal modeling and control for a range of unsteady flows.
arXiv:2601.21035v2 Announce Type: replace
Abstract: Validating engineering wake models under real-world operational conditions is essential for improving wind farm performance predictions. This study uses a unique dataset from the Lillgrund offshore wind farm, collected during the Horizon 2020 TotalControl campaign, integrating synchronous Supervisory Control and Data Acquisition (SCADA) and Light Detection and Ranging (LiDAR) measurements under both baseline operation and active wake steering conditions. Four analytical wake-model combinations, implemented in the LongSim software developed by DNV, are evaluated using different formulations for velocity deficit, added turbulence, wake superposition and wake deflection. The analysis focuses on time-averaged wake velocity deficit profiles and turbine- and farm-wide power output, normalised by reference velocity and power. Model accuracy is assessed using mean absolute error (MAE) metrics. The models generally reproduce wake deficit trends associated with varying wake overlap under baseline conditions, as well as wake deflection caused by intentional yaw misalignment during wake steering operation. Normalised velocity deficit MAE values range from 7% to 15%, with discrepancies mainly linked to inflow heterogeneity, near-wake complexity and model-specific parameterisations. Power prediction errors increase with farm depth. Model combinations incorporating cumulative wake superposition and refined turbulence formulations show improved agreement with field measurements; however, all models struggle to capture localised flow features. Normalised turbine-level power output MAE ranges from 3% to 23%, while farm-wide power output errors range between -13% and +30%. Accurate farm-level predictions may conceal compensating errors at individual turbines. Future work should focus on improved inflow characterisation and blockage effects to enhance predictive reliability.
arXiv:2601.22297v2 Announce Type: replace
Abstract: The reasoning abilities of large language models (LLMs) have been substantially improved by reinforcement learning with verifiable rewards (RLVR). At test time, collaborative reasoning through Multi-Agent Debate (MAD) has emerged as a promising approach for enhancing LLM performance. However, current RLVR methods typically train LLMs to solve problems in isolation, without explicitly preparing them to synthesize and benefit from different rationales that arise during debate. In this work, we propose Self-Debate Reinforcement Learning(SDRL), a training framework where models learn from self-debate, equipping a single LLM with both strong standalone problem-solving ability and the capability to process diverse reasoning trajectories in MAD. Given a prompt, SDRL first samples multiple candidate solutions, then constructs a debate context with diverse reasoning paths and generates second-turn responses conditioned on this context. Finally, SDRL jointly optimizes both the initial and debate-conditioned responses, yielding a model that is effective as both a standalone solver and a debate participant. Experiments across multiple base models and reasoning benchmarks show that SDRL consistently improves MAD performance across diverse debate protocols and agent configurations, while simultaneously strengthening single-model reasoning.
arXiv:2602.03535v2 Announce Type: replace
Abstract: We introduce a dynamic sparse training algorithm based on linearized Bregman iterations / mirror descent that exploits the naturally incurred sparsity by alternating between periods of static and dynamic sparsity pattern updates. The key idea is to combine sparsity-inducing Bregman iterations with adaptive freezing of the network structure to enable efficient exploration of the sparse parameter space while maintaining sparsity. We provide convergence guaranties by embedding our method in a multilevel optimization framework. Furthermore, we empirically show that our algorithm can produce highly sparse and accurate models on standard benchmarks. We also show that the theoretical number of FLOPs compared to SGD training can be reduced from 38% for standard Bregman iterations to 6% for our method while maintaining test accuracy.We additionally show a training time reduction by about 50%, when using a sparsity-aware CPU implementation of our method.
arXiv:2605.17641v1 Announce Type: new
Abstract: Long-horizon LLM agents rely on persistent memory to support interactions across sessions, yet existing memory systems often retrieve context using semantic similarity or broad history inclusion, treating retrieved memories as uniformly useful. This assumption is fragile because memories may be topically related while remaining irrelevant, stale, or misleading. We propose Causal Memory Intervention (CMI), a causal memory-selection technique that estimates how candidate memories affect the model's answer under controlled interventions, selecting memories that improve task performance while suppressing unstable, irrelevant, or harmful ones. To evaluate this setting, we introduce Causal-LoCoMo, a causally annotated benchmark derived from long conversational data, where each example contains a user request, a structured memory bank, useful memories, irrelevant distractors, and synthetic harmful memories. We compare CMI against vector, graph, reflection, summary, full-history, and no-memory baselines. Results show that CMI achieves a stronger balance between answer quality and robustness to misleading memory, suggesting that reliable long-term memory requires selecting context based on causal usefulness rather than relevance alone. The full framework, benchmark construction code, and experimental pipeline are available at https://github.com/Saksham4796/causal-memory-intervention.
arXiv:2602.06655v2 Announce Type: replace
Abstract: Over the last years, Ethereum has evolved into a public platform that safeguards the savings of hundreds of millions of people and secures more than $650 billion in assets, placing it among the top 25 stock exchanges worldwide in market capitalization, ahead of Singapore, Mexico, and Thailand. As such, the performance and security of the Ethereum blockchain are not only of theoretical interest, but also carry significant global economic implications. At the time of writing, the Ethereum platform is collectively secured by almost one million validators highlighting its decentralized nature and underlining its economic security guarantees. However, due to this large validator set, the protocol takes around 15 minutes to finalize a block which is prohibitively slow for many real world applications. This delay is largely driven by the cost of aggregating and disseminating signatures across a validator set of this scale. Furthermore, as we show in this paper, the existing protocol that is used to aggregate and disseminate the signatures has several shortcomings that can be exploited by adversaries to shift stake proportion from honest to adversarial nodes. In this paper, we introduce Wonderboom, the first million scale aggregation protocol that can efficiently aggregate the signatures of millions of validators in a single Ethereum slot (x32 faster) while offering higher security guarantees than the state of the art protocol used in Ethereum. Furthermore, to evaluate Wonderboom, we implement the first simulation tool that can simulate such a protocol on the million scale and show that even in the worst case Wonderboom can aggregate and verify more than 2 million signatures within a single Ethereum slot.
arXiv:2602.08169v2 Announce Type: replace
Abstract: Inference-time steering offers a promising way to control language models (LMs) without retraining. However, standard approaches typically rely on activation addition, which inevitably alters the hidden-state magnitudes raising concerns about representation collapse and degraded open-ended generation. In this work, we explore Spherical Steering, a training-free primitive that resolves this trade-off through activation rotation. Rather than shifting activations with a fixed vector, our method rotates them along a geodesic toward a target direction, preserving signal integrity while steering toward the target concept. To further enhance adaptivity, we incorporate a confidence gate that dynamically modulates steering strength based on input uncertainty. Extensive experiments across multiple-choice benchmarks demonstrate that Spherical Steering significantly outperforms addition-based baselines (notably by +10% on TruthfulQA, COPA, and Storycloze), while simultaneously maintaining the model's general open-ended generation quality. This work highlights the value of geometric consistency, suggesting that norm-preserving rotation is a robust and effective primitive for precise inference-time control. The code is available at: https://github.com/chili-lab/Spherical-Steering.
arXiv:2605.12413v3 Announce Type: replace
Abstract: Multimodal Large Language Models (MLLMs) show strong visual perception, yet remain limited in reasoning about space under changing viewpoints. We study this challenge as Perspective-Conditioned Spatial Reasoning (PCSR) in 360-degree omnidirectional images, where broad scene coverage reduces ambiguity from partial observations without eliminating the need for viewpoint-dependent inference. To assess this capability, we introduce PCSR-Bench, a diagnostic benchmark of 84,373 question-answer pairs from 2,600 omnidirectional images across 26 indoor environments. PCSR-Bench contains eight tasks spanning foundational perception (e.g., object counting, relative distance, and relative direction) and advanced PCSR, including compositional chains, egocentric rotation, perspective re-anchoring, ego-distortion, and limited-FOV visibility. We evaluate 14 representative MLLMs and observe a substantial perception-reasoning gap: accuracy reaches 57.59% on foundational relative direction, but drops to 13.49% on egocentric rotation, 7.13% on egocentric distortion, and 0.64% on open-ended compositional reasoning. To probe the plasticity of this gap, we conduct an RL-based diagnostic study on a 7B-scale model. Reward shaping improves a matched 7B baseline from 31.10% to 60.06% under a controlled setting, suggesting that PCSR is partial plasticity rather than being fully immutable. Still, the gains are task-selective, sensitive to reward design including both weight allocation and reward formulation, and partially dependent on the evaluation protocol. These results position PCSR as a key bottleneck in current MLLMs and highlight limited but meaningful room for recovery under targeted optimization.
arXiv:2602.11130v2 Announce Type: replace
Abstract: Sparse point clouds are a common input modality for 3D surface reconstruction, including in safety-critical settings such as surgical navigation and autonomous perception. Recent point-cloud-conditioned 3D diffusion transformers achieve state-of-the-art results in this regime by leveraging learned priors. We show that these models can fail catastrophically under realistic input variation, and present a mechanistic case study of why. We identify a failure mode we call Meltdown: tiny on-surface perturbations to a sparse input point cloud can fracture the reconstructed output into hundreds of disconnected pieces. Adversarial search recovers Meltdown in 89.9-100% of shapes across the two open-weight state-of-the-art architectures we study (WaLa, Make-a-Shape) on real-world datasets (GSO, SimJEB) and under both DDPM and DDIM sampling. We trace Meltdown along the forward pass: it is governed by how uniformly the points are distributed on the surface, faithfully transduced through the point-cloud encoder, and committed by a single early-denoising cross-attention write in the diffusion backbone. Diffusion-trajectory ensembles exhibit symmetry-breaking near this commit step, consistent with a bifurcation of the reverse process. Through a suite of matched-magnitude controls, we show that the variable on which the model commits is directional, concentrated in a low-rank subspace of the write's perturbation drift. Motivated by this finding, we introduce PowerRemap, a test-time control that reshapes the singular spectrum of the localized write to suppress this drift, with rescue rates of 98.3% on WaLa and 84.6% on Make-a-Shape. Together, these results link a circuit-level cross-attention mechanism to a trajectory-level account of the failure, demonstrating how mechanistic analysis can explain and guide behavior in conditional diffusion transformers.
arXiv:2602.12871v2 Announce Type: replace
Abstract: Large language models (LLMs) have attracted growing interest as supportive tools for psychiatric assessment and clinical decision support. However, existing mental health benchmarks largely rely on social media data or supportive dialogue settings, limiting their ability to assess whether models can apply formal diagnostic criteria and differential diagnostic rules. In this paper, we introduce MentalBench, a benchmark for evaluating whether LLMs can make DSM-grounded psychiatric diagnostic decisions under varying levels of clinical ambiguity. At the core of MentalBench is MentalKG, a psychiatrist-built and validated knowledge graph encoding DSM-5 diagnostic criteria and differential diagnostic rules for 23 psychiatric disorders. Using MentalKG as an expert-curated logical backbone, we generate 24,750 synthetic clinical cases that systematically vary in information completeness and diagnostic complexity, enabling DSM-grounded evaluation. Our experiments show that although state-of-the-art LLMs perform well on noise-free queries that probe DSM-5 knowledge, they struggle to calibrate their confidence when distinguishing between disorders with overlapping symptoms. These findings raise concerns about the reliability of LLMs as psychiatric decision-support tools and highlight the need for more evaluation that reflects the diverse challenges in real-world psychiatric diagnosis.
arXiv:2602.16171v2 Announce Type: replace
Abstract: Directional ion transport across membranes maintains living systems in nonequilibrium, which underlies chemiosmotic energy conversion. However, the physical origin of collectively organized ion transport in primitive cellular systems remains unclear. Here, we propose a minimal model in which ion pumps collectively align through feedback between ion transport and electrostatic interactions. In the model, directional ion transport generates a membrane potential, while the resulting electrochemical potential biases pump orientation, leading to self-organized collective alignment. Numerical simulations and mean-field analysis reveal a nonequilibrium transition from a disordered state without net transport to a pump-alignment state with sustained membrane potentials. The critical behavior is consistent with the mean-field Ising universality class; however, the effective field is generated self-consistently by nonequilibrium ion transport. We further show that protocell asymmetry can bias the polarity of the membrane potential. These results provide a generic self-organizing mechanism for the emergence of bioelectricity and a physical route toward chemiosmotic coupling in protocells.
arXiv:2605.18296v1 Announce Type: new
Abstract: MEEDAV is an open-source web-based application for the synchronised visualisation of electroencephalography (EEG), eye-tracking, and audio data collected in psycholinguistic research. While originally developed for the Eyetracked Multi-Modal Translation (EMMT) corpus, which uses four-channel EEG data from the Muse 2 headband, MEEDAV also supports higher-density EEG setups thanks to its channel-agnostic processing pipeline. The system performs time alignment across all modalities and provides optional ICA-based EEG denoising. It features interactive Plotly visualisations, including unified EEG-audio-gaze timelines, gaze-intensity plots, event markers, and spatial heatmaps of fixation/saccade patterns. Researchers can filter by participant and stimulus, inspect raw versus cleaned signals, and compute cross-modal correlations. All processing is handled in real time, with a modular backend that supports local file access or GitHub-based streaming. Although initially tailored to the structure of the EMMT dataset, MEEDAV demonstrates a generalisable approach to multimodal data exploration and offers a lightweight, browser-accessible solution for cognitive neuroscience and translation studies.
arXiv:2602.16699v3 Announce Type: replace
Abstract: LLM agents are deployed in environments where they must interact to acquire information. In these scenarios, the agent must reason about inherent cost-uncertainty tradeoffs in how to act, such as when to stop exploring and commit to an answer. For instance, on a programming task, an agent might run the code it generates, or it might generate tests for that code snippet; the cost of writing and running a test is nonzero, but typically lower than the cost of running buggy code. In this work, we show that we can induce LLM agents to explicitly reason about balancing these cost-uncertainty tradeoffs, then act more optimally in their environments. We formalize multiple tasks, including retrieval-augmented QA and a file reading coding task, as sequential decision-making problems under uncertainty. Each problem has latent environment state that impacts the agent's performance. We introduce a framework called Calibrate-Then-Act (CTA), where we pass the agent an inferred prior about this environment state to enable it to act more optimally. This information qualitatively changes agent behavior, and adds environment sensitivity to the agent which is not learned via standard RL training. Our results on a synthetic task, QA, and file reading show that making cost-benefit tradeoffs explicit with CTA helps agents discover more optimal decision-making strategies.
arXiv:2602.16712v2 Announce Type: replace
Abstract: Dexterous manipulation policies today largely assume fixed hand designs, severely restricting their generalization to new embodiments with varied kinematic and structural layouts. To overcome this limitation, we introduce a parameterized canonical representation that unifies a broad spectrum of dexterous hand architectures. It comprises a unified parameter space and a canonical URDF format, offering three key advantages. 1) The parameter space captures essential morphological and kinematic variations for effective conditioning in learning algorithms. 2) A structured latent manifold can be learned over our space, where interpolations between embodiments yield smooth and physically meaningful morphology transitions. 3) The canonical URDF standardizes the action space while preserving dynamic and functional properties of the original URDFs, enabling efficient and reliable cross-embodiment policy learning. We validate these advantages through extensive analysis and experiments, including grasp policy replay, VAE latent encoding, and cross-embodiment zero-shot transfer. Specifically, we train a VAE on the unified representation to obtain a compact, semantically rich latent embedding, and develop a grasping policy conditioned on the canonical representation that generalizes across dexterous hands. We demonstrate, through simulation and real-world tasks on unseen morphologies (e.g., 81.9% zero-shot success rate on 3-finger LEAP Hand), that our framework unifies both the representational and action spaces of structurally diverse hands, providing a scalable foundation for cross-hand learning toward universal dexterous manipulation. Project Page: https://zhenyuwei2003.github.io/OHRA/
arXiv:2605.15735v2 Announce Type: replace
Abstract: Vision--language--action (VLA) models are typically built by fine-tuning a pretrained vision--language model (VLM) on action data. However, we show that this standard recipe systematically erodes the VLM's multimodal competence, a side effect we call the embodiment tax. But do VLAs have to forget? Inspired by the two-stream organization of biological vision, we trace this degradation to a structural bottleneck: current VLAs ask a single encoder to support both language-grounded semantics and control-relevant visual features, whereas biological vision separates recognition and visuomotor control into distinct pathways. Building on this view, we propose the Unified Action Model (UAM), which adds a parallel Dorsal Expert, an analog of the brain's dorsal pathway. To make the Dorsal Expert an effective second pathway and reduce the control-learning burden on the VLM, we initialize it from a pretrained generative model and train it with a mid-level reasoning objective that predicts visual dynamics. This design allows us to train the whole VLA end-to-end on action data alone: with no parameter freezing, no gradient stopping, and no auxiliary VL co-training, UAM retains over $95\%$ of the underlying VLM's multimodal capability and at the same time achieves the highest average success rate among baselines on a variety of manipulation tasks that probe out-of-distribution generalization, including unseen objects, novel object--target compositions, and instruction variation. Together, these results suggest that semantic preservation in VLAs can emerge from architectural separation itself, rather than being enforced by frozen weights or auxiliary data replay, and that this preserved semantic capability can naturally transfer from VLMs to semantic generalization in actions.
arXiv:2602.22034v2 Announce Type: replace
Abstract: We theoretically and experimentally establish a connection between linearly chirped pulse propagation properties and the complex generalization of Wigner-Smith time delay for both transmitted and reflected pulses in linear and dispersive reverberant non-Hermitian scattering systems. We demonstrate that the time shift of the chirped pulse depends on both the real and imaginary parts of the complex time delay of the scattering system. We also show that the chirped pulse experiences a center frequency shift that is directly proportional to the imaginary component of complex time delay, similar to that found in Giovannelli and Anlage (2025). Using these insights, we then demonstrate how complex time delay can be harnessed to systematically tune the propagation properties of a chirped pulse such that a near-zero time shift can be achieved for a wide range of pulse center frequencies in a resonant scattering system. Overall, this work broadens the utility and establishes the physical significance of complex time delays in non-Hermitian settings.
arXiv:2602.22941v2 Announce Type: replace
Abstract: Pacing strategies, defined by velocity and stroke rate profiles, are essential for peak performance in canoe sprint. While GPS is the gold standard for analysis, its limited availability necessitates automated video-based solutions. This paper presents an extended framework for reconstructing performance metrics from panned and zoomed video recordings across all sprint disciplines (K1-K4, C1-C2) and distances (200m-500m). Our method utilizes YOLOv8 for buoy and athlete detection, leveraging the known buoy grid to estimate homographies. We generalized the estimation of the boat position by means of learning a boat-specific athlete offset using a U-net based boat tip calibration. Further, we implement a robust tracking scheme using optical flow to adapt to multi-athlete boat types. Finally, we introduce methods to extract stroke rate information from either pose estimations or the athlete bounding boxes themselves. Evaluation against GPS data from elite competitions yields a velocity MAPE of 0.011 [0.008 0.014] (Spearman rho=0.974) and a stroke rate MAPE of 0.009 [0.006 0.013] (Spearman rho = 0.975). The methods provide coaches with highly accurate, automated feedback with minimal manual initialization work required, and without requiring sensors.
arXiv:2603.00952v2 Announce Type: replace
Abstract: High-fidelity reconstruction of dynamic scenes is an important yet challenging problem. While recent 4D Gaussian Splatting (4DGS) has demonstrated the ability to model temporal dynamics, it couples Gaussian motion and geometric attributes within a single covariance formulation, which limits its expressiveness for complex motions and often leads to visual artifacts. To address this, we propose VeGaS, a novel velocity-based 4D Gaussian Splatting framework that decouples Gaussian motion and geometry. Specifically, we introduce a Galilean shearing matrix that explicitly incorporates time-varying velocity to flexibly model complex non-linear motions, while strictly isolating the effects of Gaussian motion from the geometry-related conditional Gaussian covariance. Furthermore, a Geometric Deformation Network is introduced to refine Gaussian shapes and orientations using spatio-temporal context and velocity cues, enhancing temporal geometric modeling. Extensive experiments on public datasets demonstrate that VeGaS achieves state-of-the-art performance.