arXiv:2605.17614v1 Announce Type: new
Abstract: Brownian rods disperse in pressure-driven flow through a coupling between axial shear, anisotropic translational diffusion and Jeffery--Brownian rotation. Classical tube Taylor--Aris theory treats transverse mixing as a scalar process, and existing passive-rod reductions have mainly addressed planar geometries. A circular tube adds two ingredients: the shear strength varies with radius and freely rotating rods sample a three-dimensional orientation space. We formulate a tensorial Taylor--Aris theory for dilute axisymmetric rods in Poiseuille flow by solving the local steady orientation Fokker--Planck problem and using its second moments to close a conservative axisymmetric transport equation. The long-wave reduction shows how each part of the diffusion tensor enters the one-dimensional limit. The radial diffusivity sets the invariant cross-sectional measure and the cell problem for the leading Taylor coefficient; the radial--axial component produces an inverse-P{\'e}clet correction to the migration speed; the axial component gives the direct diffusivity. The central mechanism is the streamwise alignment generated in high-shear annular layers. Alignment reduces radial diffusivity there, shifts the long-time sampling of the velocity profile toward slower streamlines, and amplifies the radial cell response. In strong shear this raises the Taylor coefficient by about \(23\%\) for aspect ratio \(p=1000\) and by about \(30\%\) in the infinitely slender limit, approaching the fully aligned bound. Direct simulations of the full tensorial equation validate the asymptotic coefficients. The same radial mixing operator also gives a Sturm--Liouville spectral model that tracks finite-time relaxation from different radial injections to the long-time Taylor regime.
Science Journals
arXiv:2605.17852v1 Announce Type: new
Abstract: This letter investigates computing-accessibility-aware cooperative 3D deployment of multiple UAVs for task completion enhancement, termed CA3D. We first provide a theoretical analysis showing that computing accessibility is the key mechanism linking UAV deployment to delay-constrained task completion, and that UAV inter-spacing creates a fundamental tradeoff between computing-resource accessibility and task completion. We then develop a cooperative 3D deployment design that jointly balances accessible computing capacity, task completion probability, and redundant UAV overlap. Simulation results under heterogeneous computing node capacities show that CA3D consistently outperforms Random, Fixed, and Greedy deployment baselines under both hotspot and random ground user (GU) distributions. Under the hotspot GU distribution, CA3D achieves nearly full task completion, improving the task completion probability by about 3.3x over Random deployment when the number of UAVs is 8. Under a more challenging random GU distribution, CA3D still achieves about 35% higher task completion probability than the best baseline when the number of UAVs is 12. These results demonstrate that computing-accessibility-aware cooperative 3D deployment improves not only task completion but also robustness to GU distribution changes.
arXiv:2510.16252v2 Announce Type: replace
Abstract: Reinforcement learning (RL) for web agents demands environments that are both effective for evaluation and efficient enough for large-scale on-policy training. Current web environments fall short: server-side Docker setups are too resource-intensive for massive parallel rollouts, while browser-side interfaces produce noisy observations, execute actions unreliably under modern single-page applications, and omit visual interactivity cues.
We introduce WebServ, a full-stack, RL-ready web environment that addresses these limitations end-to-end. On the server side, WebServ uses Incus containers with block-level copy-on-write, reducing launch latency by ~5x and persistent storage by ~240x, enabling 200+ concurrent isolated environments on a single host. On the browser side, WebServ provides a compact, site-agnostic observation and action interface derived automatically from the DOM with human-aligned interactivity cues, and a robust action execution backend using network-aware waiting for reliable SPA support.
On WebArena-Lite, WebServ achieves state-of-the-art single-prompt results, with controlled comparisons confirming consistent gains across GPT-4o, OpenAI-o3, and Llama-3.1-8B over vanilla WebArena. We further train Qwen3-4B and Qwen3-30B-A3B with RL entirely within WebServ; the RL-trained 4B model achieves 55.5% mean accuracy, surpassing both Claude 4.5 Sonnet (50.0%) and the RL-trained 8B model from WebAgent-R1 (51.8%).
arXiv:2510.19759v3 Announce Type: replace
Abstract: Integrated sensing and communication (ISAC) has been recognized as one of the key technologies capable of simultaneously improving communication and sensing services in future wireless networks. Moreover, the introduction of recently developed movable antennas (MAs) has the potential to further increase the performance gains of ISAC systems. Achieving these gains can pose a significant challenge for MA-enabled ISAC systems operating in the near-field due to the corresponding spherical wave propagation. Motivated by this, in this paper we maximize the weighted sum rate (WSR) for communication users while maintaining a minimal sensing requirement in an MA-enabled near-field ISAC system. To achieve this goal, we propose an algorithm that optimizes the sensing receive combiner, the communication precoding matrices, the sensing transmit beamformer and the positions of the users' MAs in an alternating manner. Simulation results show that using MAs in near-field ISAC systems provides a substantial performance advantage compared to near-field ISAC systems with only fixed antennas. Additionally, we demonstrate that the highest WSR is obtained when larger weights are allocated to the users placed closer to the BS, and that the sensing performance is significantly more affected by the minimum sensing signal-to-interference-plus-noise ratio (SINR) threshold compared to the communication performance.
arXiv:2510.20584v3 Announce Type: replace
Abstract: Assessing communication and collaboration at scale depends on a labor-intensive task of coding communication data into categories according to different frameworks. Prior research has established that ChatGPT can be directly instructed with coding rubrics to code the communication data and achieves accuracy comparable to human raters. However, whether the coding from ChatGPT or similar AI technology perform consistently across different demographic groups, such as gender and race, remains unclear. To address this gap, we introduce three checks for evaluating subgroup consistency in LLM-based coding by adapting an existing framework from the automated scoring literature. Using a typical collaborative problem-solving coding framework and data from three types of collaborative tasks, we examine ChatGPT-based coding performance across gender and racial/ethnic groups. Our results show that ChatGPT-based coding perform consistently in the same way as human raters across gender or racial/ethnic groups, demonstrating the possibility of its use in large-scale assessments of collaboration and communication.
arXiv:2511.14223v3 Announce Type: replace
Abstract: This paper focuses on the task of speech-driven 3D facial animation, which aims to generate realistic and synchronized facial motions driven by speech inputs. Recent methods have employed audio-conditioned diffusion models for 3D facial animation, achieving impressive results in generating expressive and natural animations. However, these methods process the whole audio sequences in a single pass, which poses two major challenges: they tend to perform poorly when handling audio sequences that exceed the training horizon and will suffer from significant latency when processing long audio inputs. To address these limitations, we propose a novel autoregressive diffusion model that processes input audio in a streaming manner. This design ensures flexibility with varying audio lengths and achieves low latency independent of audio duration. Specifically, we select a limited number of past frames as historical motion context and combine them with the audio input to create a dynamic condition. This condition guides the diffusion process to iteratively generate facial motion frames, enabling real-time synthesis with high-quality results. Additionally, we implemented a real-time interactive demo, highlighting the effectiveness and efficiency of our approach. We will release the code at https://zju3dv.github.io/StreamingTalker/.
arXiv:2506.13189v3 Announce Type: replace
Abstract: Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its virtual counterpart robot using large language model (LLM)-assisted voice commands and hand-gesture interaction on the Meta Quest 3. In a within-subject user study with 42 participants performing an AR-based robotic pick-and-place pattern-matching task, we empirically compare two interaction conditions: gesture-only (GO) and combined voice+gesture (VG) on performance and user experience (UX). In VG, voice and gesture operate in a sequential role-allocated manner, with voice handling high-level navigation and gesture handling fine manipulation. Our results show that GO currently provides more reliable and efficient control for this time-critical task, while VG introduces additional flexibility but also latency and recognition issues that can increase workload. We additionally analyze how prior robotics expertise differentiates performance and UX across conditions. Based on these findings, we distill a set of design guidelines for AR 'puppeteer' metaphoric robot teleoperation, framing multimodality as an adaptive strategy that must balance efficiency, robustness, and user expertise rather than assuming that additional modalities are universally beneficial.
arXiv:2502.02463v3 Announce Type: replace-cross
Abstract: While Bayesian inference provides a principled framework for reasoning under uncertainty, its widespread adoption is limited by the intractability of exact posterior computation, necessitating the use of approximate inference. However, existing methods are often computationally expensive, or demand costly retraining when priors change, limiting their utility, particularly in sequential inference problems such as real-time sensor fusion. To address these challenges, we introduce the Distribution Transformer -- a novel architecture that can learn arbitrary distribution-to-distribution mappings. Our method can be trained to map a prior to the corresponding posterior, conditioned on some dataset -- thus performing approximate Bayesian inference. Our novel architecture represents a prior distribution as a (universally-approximating) Gaussian Mixture Model (GMM), and transforms it into a GMM representation of the posterior. The components of the GMM attend to each other via self-attention, and to the datapoints via cross-attention. We demonstrate that Distribution Transformers both maintain flexibility to vary the prior, and significantly reduces computation times-from minutes to milliseconds-while achieving log-likelihood performance on par with or superior to existing approximate inference methods across tasks such as sequential inference, quantum system parameter inference, and Gaussian Process predictive posterior inference with hyperpriors.
arXiv:2605.17858v1 Announce Type: new
Abstract: This paper proposes a Transformer-based hybrid beamforming framework for reconfigurable pixel antenna (RPA)-equipped massive multiple-input multiple-output (MIMO) in high-altitude platform station (HAPS) communications. The proposed pattern reconfigurable hybrid beamforming network (PR-HBFNet) comprises two key components: 1) a pattern reconfigurable network that leverages a Transformer encoder to determine the radiation pattern for each antenna element, and 2) a hybrid beamforming network that employs model-driven residual learning to compute analog and digital precoders over SVD-based initializations. Simulation results demonstrate that the proposed PR-HBFNet closely approaches the spectral efficiency of a greedy benchmark while significantly reducing computational complexity.
arXiv:2506.12617v4 Announce Type: replace
Abstract: Large language models (LLMs) are increasingly used in human-AI interaction research and practice, yet existing capability and safety benchmarks reveal little about the value priorities these systems express or how those priorities correspond to human judgements. Across three studies, we introduce an output-based approach to evaluating one facet of AI alignment by treating LLM-generated text as behavioural data and comparing expressed value-priority profiles with a human reference. Study 1 used inductive qualitative analysis to derive six themes of optimal AI functioning, namely Performance, Adaptive Capacity, Social Good, Ethics and Responsibility, Relational Integration, and Agency. Study 2 showed that LLM outputs were highly stable within models and converged on a common value-priority structure across models, indicating reliable and comparable value profiles. Study 3 benchmarked 75 contemporary LLMs against 376 human respondents using a profile-fidelity metric capturing both the relative ordering of priorities and the calibration of between-priority differences. Although most models reproduced the human ordering of values, some systematically exaggerated the differences between them, showing that models can appear aligned on conventional benchmarks while still diverging from human value calibration. Profile fidelity varied substantially across models and did not consistently scale with size, recency, or capability tier. Both LLMs and humans converged on a deprioritisation of Agency, raising important questions about the development of increasingly agentic AI systems. For research and applied use, the six themes and profile-based metric provide a scalable method for auditing LLM value profiles before deployment in contexts where alignment with human priorities is critical.
arXiv:2605.17610v1 Announce Type: new
Abstract: The rapid growth of online video platforms and AI-generated content has made reliable video guardrails a key challenge for safety and real-world deployment. While most videos can be screened through fast pattern recognition, a small subset requires deeper reasoning over temporally complex content and nuanced policy constraints. Existing approaches typically rely on large vision-language models applied uniformly across all inputs, resulting in high inference costs and inefficient allocation of computation. We propose SafeLens, a video guardrail framework that introduces a fast-and-slow inference architecture for efficient and accurate content moderation with variable computational cost across inputs. Additionally, we construct a high-quality dataset by applying influence-guided filtering to the SafeWatch Dataset, retaining only 2.4% of the original data. To further address limitations of training-time scaling, we enable test-time reasoning by augmenting the filtered data with structured Chain-of-Thought traces. Across real-world and AI-generated video benchmarks, SafeLens achieves state-of-the-art performance, outperforming strong open-source video guardrails (e.g., SafeWatch-8B, OmniGuard-7B) and closed-source models (e.g., GPT-5.4, Gemini-3.1-pro) while significantly reducing inference cost, demonstrating that efficient design serves to be more effective than scaling data or model size alone.
arXiv:2605.17608v1 Announce Type: new
Abstract: Construction projects frequently experience schedule delays and forecasting uncertainty due to variability in labor productivity, material availability, weather conditions, and project coordination. Conventional deterministic scheduling methods such as the Critical Path Method (CPM) assume fixed activity durations and therefore cannot adequately represent dynamic project uncertainty.
This study presents a Bayesian-Monte Carlo probabilistic schedule updating framework for construction digital twin environments. The proposed methodology integrates stochastic activity-duration modeling, Bayesian recursive updating, Monte Carlo simulation, and uncertainty propagation within a unified computational framework for adaptive schedule forecasting.
Activity durations are modeled using lognormal probability distributions and continuously updated through Bayesian inference as new project observations become available. Monte Carlo simulation is then used to propagate updated uncertainty throughout project networks and generate probabilistic completion-time forecasts, delay-risk estimates, and activity criticality measures.
Simulation experiments using PSPLIB benchmark project networks demonstrate that the proposed framework improves forecasting accuracy and uncertainty representation compared with deterministic CPM and static probabilistic scheduling approaches. The framework further supports adaptive project forecasting through integration of BIM reports, drone observations, IoT telemetry, productivity logs, and site monitoring data.
arXiv:2506.09702v2 Announce Type: replace
Abstract: Mapping National Vulnerability Database (NVD) records to vulnerability-fixing commits (VFCs) is crucial for vulnerability analysis but challenging due to sparse explicit links in NVD references. This study explores this mapping's feasibility through an empirical approach. Manual analysis of NVD references showed Git references enable over 86% success, while non-Git references achieve under 14%. Using these findings, we built an automated pipeline extracting 31,942 VFCs from 20,360 NVD records (8.7% of 235,341) with 87% precision, mainly from Git references. To fill gaps, we mined six external security databases, yielding 29,254 VFCs for 18,985 records (8.1%) at 88.4% precision, and GitHub repositories, adding 3,686 VFCs for 2,795 records (1.2%) at 73% precision. Combining these, we mapped 26,710 unique records (11.3% coverage) from 7,634 projects, with overlap between NVD and external databases, plus unique GitHub contributions. Despite success with Git references, 88.7% of records remain unmapped, highlighting the difficulty without Git links. This study offers insights for enhancing vulnerability datasets and guiding future automated security research.
arXiv:2605.17884v1 Announce Type: new
Abstract: We present two applications of egglog to mathematical optimization in JijModeling 2, a mathematical modeller whose internal representation is based on simply typed $\lambda$-calculus. First, we use egglog to improve $\LaTeX$ output for mathematical models expressed with higher-order functions. Python comprehensions are desugared into stream operations such as $\textsf{map}$, $\textsf{flat_map}$, and $\textsf{filter}$; emitting these terms directly produces unnatural mathematical notation. We reconstruct comprehension syntax by \emph{ensugaring} higher-order terms and use equality saturation with a custom cost model to minimize temporary variable rebindings. Second, we use egglog as a declarative engine for \emph{constraint detection}, extending the previous egg-based approach presented at EGRAPHS '25. Egglog's datalog-style rules let us express multi-step detection logic directly, without external Rust orchestration code. We encode parametrized constraints using \emph{Henkin-like constants} and propagate side conditions on subterms and indices through egglog facts. Finally, we show that the same ensugaring procedure also reduces large domain-set conditions before saturation, turning a problematic detection case from minutes or nontermination into a few seconds.
Through these topics, we want to provide an example of an industrial application of egglog, demonstrate the trick to propagate the constraints using the ideas from mathematical logic, and show the importance of optimizing \emph{premises} of egglog rules to get practical performance in egglog programs.
arXiv:2506.08482v2 Announce Type: replace
Abstract: Physical adversarial patch (PAP) attacks attach carefully crafted patches to physical objects to manipulate a deployed model. However, existing PAP attacks suffer from several limitations. First, existing patches remain continuously active, which prevents selective targeting of specific attack objectives and compromises stealth. Second, these approaches require target device access or hardware configuration knowledge, and often rely on costly external equipment.
To address these limitations, this paper introduces SwitchPatch, a novel physical adversarial attack strategy that employs a physically static adversarial patch yet can be triggered to produce dynamic and controllable attack effects. Unlike existing approaches, SwitchPatch can transition between states through predefined triggers, enabling adaptation to dynamic environments. Moreover, to improve stealth, we design two trigger patterns: one overlapping with the patch and another spatially separated from it. These triggers can be implemented at low cost without target device access or hardware configuration knowledge.
We make three contributions. First, we provide theoretical and empirical analysis to establish the feasibility of SwitchPatch and characterize the number of attack objectives it can support. Second, we develop a gradient-based framework for static yet switchable attacks through diverse trigger patterns. Third, we conduct extensive Unmanned Ground Vehicle (UGV) experiments to validate the effectiveness, transferability, and robustness of SwitchPatch.
arXiv:2512.01030v3 Announce Type: replace
Abstract: Recovering pixel-wise geometric properties from a single image is fundamentally ill-posed due to appearance ambiguity and non-injective mappings between 2D observations and 3D structures. While discriminative regression models achieve strong performance through large-scale supervision, their success is bounded by the scale, quality, and diversity of available data, as well as by limited physical reasoning. Recent diffusion models exhibit powerful world priors that encode geometry and semantics learned from massive image-text data, yet directly reusing their stochastic generative formulation is suboptimal for deterministic geometric inference: the former is optimized for diverse and high-fidelity image generation, whereas the latter requires stable and accurate predictions. In this work, we propose Lotus-2, a two-stage deterministic framework for stable, accurate and fine-grained geometric dense prediction, aiming to provide an optimal adaptation protocol to fully exploit the pre-trained generative priors. Specifically, in the first stage, the core predictor employs a single-step deterministic formulation with a clean-data objective and a lightweight local continuity module (LCM) to generate globally coherent structures without grid artifacts. In the second stage, the detail sharpener performs a constrained multi-step rectified-flow refinement within the manifold defined by the core predictor, enhancing fine-grained geometry through noise-free deterministic flow matching. Using only 59K training samples, less than 1% of existing large-scale datasets, Lotus-2 establishes new state-of-the-art results in monocular depth estimation and highly competitive surface normal prediction. These results demonstrate that diffusion models can serve as deterministic world priors, enabling high-quality geometric reasoning beyond traditional discriminative and generative paradigms.
arXiv:2512.01175v2 Announce Type: replace
Abstract: In this paper we deal with a subclass of chordal graphs, which are simultaneously strictly chordal and interval, the strictly interval graphs. We present a new characterization of the class that leads to a simple linear recognition algorithm. Next we introduce a new subclass of strictly interval graphs, the $SI$-core graphs, that are non-split and non-cograph graphs and show that several elements of the new class are Laplacian integral
arXiv:2605.17607v1 Announce Type: new
Abstract: Autonomous pricing agents are widely deployed in online marketplaces, making algorithmic pricing a prominent application of multi-agent learning. Experimental studies often report collusive outcomes, but these findings typically rely on Q-learning in complete-information environments and lack rigorous convergence guarantees. In this paper, we study the stochastic learning dynamics of Regularized Robbins-Monro (RRM) algorithms in a Bayesian Bertrand competition with private costs. We show that this setting violates standard stability conditions, including monotonicity and the Minty variational inequality, rendering classical convergence results for gradient-based learning inapplicable. Despite this, we prove that Euclidean RRM algorithms converge almost surely to the unique, efficient Bayes-Nash equilibrium within a finite-dimensional approximation of the strategy space. By analyzing symmetric piecewise-linear pricing strategies in a duopoly, we explicitly construct a global Lyapunov function for the projected primal dynamics and establish global asymptotic stability of the equilibrium. Our analysis yields rigorous convergence guarantees for stochastic first-order learning algorithms in Bayesian Bertrand competition and provides a principled counterpoint to widespread claims of algorithmic collusion.
arXiv:2605.17885v1 Announce Type: new
Abstract: Although artificial intelligence (AI) now matches or exceeds human performance across numerous cognitive tasks, creativity remains a highly contested frontier. As AI systems based on large language models (LLMs) are increasingly adopted in research and innovation, it is essential to understand and augment their creativity. Here we demonstrate that multi-agent LLM teams not only surpass single agents, but also substantially outperform human teams in creativity (Cohen's d=1.50) across 4,541 multi-agent LLM ideas and 341 human-team ideas on six diverse problem-solving tasks. This advantage is driven by novelty while maintaining comparable usefulness. To investigate the generative processes in both groups, we represent conversations as paths through semantic space using neural language model representations. Both LLM and human teams produce more creative ideas when conversations range widely rather than staying centered on a single theme (low global coherence). However, the additional patterns that predict creativity differ: LLM teams benefit from efficient exploration (high semantic spread, shorter paths), while human teams benefit from maintaining smooth conversational flow (high local coherence, frequent pivots). Additionally, we identify model choice and discussion structure as orthogonal design levers that together explain 26.8% of variance in LLM conversational dynamics, paving the way for systematic approaches to developing multi-agent systems with augmented creative capabilities.
arXiv:2605.17886v1 Announce Type: new
Abstract: This tutorial presents cooperative and noncooperative game-theoretic frameworks for modeling, learning, and control in socio-technical systems, where human behavior, incentives, institutions, and social interactions are coupled with cyber-physical and networked infrastructures. The paper reviews strategic, dynamic, cooperative, matching, learning, and feedback-control approaches for analyzing how local decision-making, adaptation, and strategic interactions shape collective system outcomes. The tutorial further develops feedback-learning and incentive-design perspectives that connect equilibrium analysis with adaptation, distributed control, and mechanism design under information and coordination constraints. We also examine resilience and security challenges arising from adversarial behavior, misinformation, disruptions, and cascading failures in interconnected socio-technical networks. Finally, we discuss emerging research directions at the intersection of game theory, control, learning, and network science for resilient and adaptive socio-technical systems.
arXiv:2605.18295v1 Announce Type: new
Abstract: Robust pedestrian safety is crucial to the next-generation of intelligent transportation systems. Such systems rely on active pedestrian localization and predictive collision alerts. Pedestrian localization can be supported by Ultra-Wideband technology and Bluetooth 6.0, which offer high-precision ranging and low-latency communication, making them promising candidates for vehicular collision warning systems. This paper assesses the localization accuracy of these technologies for pedestrian alerting and benchmarks their performance against Global Navigation Satellite Systems. Experimental evaluations performed in this paper focused on key performance metrics, including localization accuracy and robustness to environmental conditions. Preliminary results suggest that Ultra-Wideband and Bluetooth 6.0 can serve as viable alternatives or complements to Global Navigation Satellite Systems in certain scenarios, improving situational awareness and enabling timely pedestrian alerts.
arXiv:2506.01523v2 Announce Type: replace
Abstract: Alignment via reinforcement learning from human feedback (RLHF) has become the dominant paradigm for controlling the quality of outputs from large language models (LLMs). However, existing theories do not provide strong justification for the RLHF objective itself and do not allow comparisons of the guarantees between various methods because different methods are often analyzed under different frameworks. Toward a unified framework for alignment, we ask under what assumptions can we derive existing or new training objectives and obtain theoretical guarantees. To this end, we reframe alignment as distribution learning from pairwise preferences, which makes a probabilistic assumption describing how preferences reveal information about the target LM. This leads us to propose three principled alignment objectives: preference maximum likelihood estimation, preference distillation, and reverse KL minimization. We prove that they all enjoy strong non-asymptotic $O(1/n)$ convergence to the target LM, naturally avoiding degeneracy. In particular, reverse KL highly resembles the RLHF objective, providing strong justification for RLHF. Furthermore, our theory explains, for the first time, the empirical finding that on-policy objectives (e.g., RLHF) typically outperform likelihood-style objectives (e.g., DPO). Finally, empirical results indicate that the proposed objectives are competitive with strong baselines across several tasks and models.
arXiv:2605.17605v1 Announce Type: new
Abstract: Modern generative modeling has grown into a broad collection of related but often separately implemented paradigms, including denoising diffusion models, score-based stochastic differential equations, flow matching, variational autoencoders, normalizing flows, adversarial models, and energy-based models. For newcomers, this fragmentation makes it difficult to compare training objectives, inference procedures, sampling algorithms, and conditioning mechanisms within a single coherent codebase. We introduce V ENOM, an educational PyTorch toolkit that implements representative generative modeling families under a unified, MNIST-first interface. V ENOM emphasizes breadth, readability, reproducible entry points, and consistent training and sampling APIs rather than large-scale performance engineering. The package currently includes diffusion and score-based models, flow matching and one-step generators, variational autoencoders, normalizing flows, generative adversarial networks, and energy-based models. It provides separate training and sampling scripts, classifier and classifier-free guidance examples, bilingual tutorial notebooks, and a model-family organization that supports teaching, prototyping, and lightweight benchmarking.
arXiv:2605.17598v1 Announce Type: new
Abstract: Mixture-of-Experts (MoE) architectures enable efficient model scaling, yet expert routing behavior across underrepresented languages remains poorly understood. We analyze routing dynamics in two architecturally distinct MoE models -- a pure Transformer (Qwen3-30B-A3B) and a hybrid Mamba-Transformer (Nemotron-3-Nano-30B-A3B) -- using Hebrew as a morphologically rich, low-resource testbed. Both pre-trained models exhibit \emph{deep-layer routing collapse}: usage entropy drops sharply in final layers and tokens concentrate on a narrow expert subset, a pattern largely absent for English. Continual pre-training (CPT) on balanced bilingual data substantially corrects this imbalance, increasing entropy and shifting routing toward shared, language-agnostic experts; supervised fine-tuning (SFT) alone achieves less complete correction. Extending the analysis to Japanese reveals quantitatively consistent collapse signatures, providing cross-linguistic evidence that the phenomenon is a systematic consequence of pre-training underrepresentation rather than any language-intrinsic property. Routing improvements correlate with consistent downstream benchmark gains, positioning routing entropy and expert specialization as principled diagnostics for multilingual capacity in MoE systems.
arXiv:2605.17593v1 Announce Type: new
Abstract: Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view (NBV) planners for object reconstruction typically optimize surface coverage but assume static objects, while motion-aware active perception for moving targets accounts for target motion but prioritizes tracking or visibility over reconstruction coverage. This work presents a motion-uncertainty-aware NBV framework for reconstructing an unknown rigid object undergoing planar motion, using noisy planar position measurements of the object and depth observations from a mobile robot. The key idea is to evaluate each candidate viewpoint by its expected observation quality over plausible future object states induced by motion and measurement uncertainty, rather than at a single predicted object pose. To obtain this predictive belief, a fixed-lag Gaussian Process smoother estimates and predicts the object state from noisy position measurements. The resulting belief is used to generate candidate viewpoints around the predicted object location, filter them by reachability, and estimate their expected coverage-driven scores. Simulation and real-world experiments demonstrate improved reconstruction completeness over non-predictive NBV and prediction-only tracking methods, bridging coverage-driven active reconstruction and prediction-driven tracking.