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.
Science Journals
arXiv:2509.16391v3 Announce Type: replace
Abstract: Machine unlearning (MU) aims to remove the influence of specific "forget" data from a trained model while preserving its knowledge of the remaining "retain" data. Existing MU methods based on label manipulation or model weight perturbations often achieve limited unlearning effectiveness. To address this, we introduce CoUn, a novel MU framework inspired by the observation that a model retrained from scratch using only retain data classifies forget data based on their semantic similarity to the retain data. CoUn emulates this behavior by adjusting learned data representations through contrastive learning (CL) and supervised learning, applied exclusively to retain data. Specifically, CoUn (1) leverages semantic similarity between data samples to indirectly adjust forget representations using CL, and (2) maintains retain representations within their respective clusters through supervised learning. Extensive experiments across various datasets and model architectures show that CoUn consistently outperforms state-of-the-art MU baselines in unlearning effectiveness. Additionally, integrating our CL module into existing baselines empowers their unlearning effectiveness.
arXiv:2505.00409v3 Announce Type: replace-cross
Abstract: Automatic anonymization is increasingly used to enable ethical sharing of clinical speech, yet its perceptual and clinical consequences remain undercharacterized. We present a human-centered evaluation of automatically anonymized pathological speech, using a structured protocol with ten native and non-native German listeners spanning clinical and signal-processing expertise. The cohort comprised 180 German speakers from CLP, Dysarthria, Dysglossia, Dysphonia, and adult and child controls. Each original recording and its automatically-anonymized counterpart was evaluated on four tasks: zero-shot Turing-style discrimination, few-shot discrimination after brief familiarization, 5-point quality rating, and 4-point blinded clinical severity rating by a senior phoniatrician. Listeners detected anonymization at 91% zero-shot and 93% few-shot accuracy, with significant variation across disorders (p=0.008) that attenuated with familiarization. Perceived quality dropped by 30 ppts on a 0-100 scale (p<0.001), reorganizing the perceived-quality hierarchy across groups. Native language modulated detectability but not quality degradation, while domain expertise modulated quality degradation but not detectability, a double dissociation between the two listener attributes; speaker sex and age produced no detectable bias. Clinical severity ratings were preserved at near-perfect agreement in Dysarthria, Dysglossia, and Dysphonia (quadratic-weighted Cohen's kappa 0.87-0.94), with no recording shifting by more than one grade. Crucially, perceptual outcomes were decoupled from the standard computational privacy metric: the pathology with the strongest computational anonymization was the least perceptually conspicuous, and vice versa. These findings argue for disorder-stratified, listener-stratified, clinician-validated evaluation as the minimum standard for licensing anonymized speech for clinical use.
arXiv:2602.05114v2 Announce Type: replace
Abstract: Traditional synchronous STEM assessments face growing challenges including accessibility barriers, security concerns from resource-sharing platforms, and limited comparability across institutions. We present a framework for generating and evaluating large-scale isomorphic physics problem banks using Generative AI to enable asynchronous, multi-attempt assessments. Isomorphic problems test identical concepts through varied surface features and contexts, providing richer variation than conventional parameterized questions while maintaining consistent difficulty. Our generation framework employs prompt chaining and tool use to achieve precise control over structural variations (numeric values, spatial relations) alongside diverse contextual variations. For pre-deployment validation, we evaluate generated items using 17 open-source language models (LMs) (0.6B-32B) and compare against actual student performance (N>200) across three midterm exams. Results show that 73% of deployed banks achieve statistically homogeneous difficulty, and LMs pattern correlate strongly with student performance (Pearson's $\rho$ up to 0.594). Additionally, LMs successfully identify problematic variants, such as ambiguous problem texts. Model scale also proves critical for effective validation, where extremely small (<4B) and large (>14B) models exhibit floor and ceiling effects respectively, making mid-sized models optimal for detecting difficulty outliers.
arXiv:2605.18444v1 Announce Type: new
Abstract: Hardware aging poses a significant challenge for integrated circuits (ICs), leading to performance degradation and eventual failure. In this work, we focus on the aging of arithmetic multipliers, which are a cornerstone of modern computing systems including in CPUs, GPUs, and FPGAs, as well as AI accelerators like systolic arrays. In particular, AI workloads, which rely predominantly on multiplications, can accelerate Negative Bias Temperature Instability (NBTI) effects in multipliers. This paper presents a novel aging mitigation technique that leverages the signinvariance property of multiplication. By selectively applying 2s complement transformations to inputs, the method redistributes stress across transistors, reducing the effects of NBTI aging. The proposed method is also integrated into systolic arrays, a common AI accelerator, to demonstrate its efficiency in a high-throughput AI accelerator. Experimental evaluations using Cadence tools show better lifetime compared to natural aging (with no mitigation) baseline, while introducing negligible area and delay overheads.
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:2605.01127v2 Announce Type: replace-cross
Abstract: Partitioning transportation networks into balanced and spatially coherent traffic zones is a fundamental yet computationally challenging task in intelligent transportation systems. The resulting optimization problem exhibits dense interactions among decision variables and can be formulated as a Quadratic Unconstrained Binary Optimization (QUBO) model. While quantum optimization naturally aligns with such quadratic energy representations, current noisy intermediate-scale quantum hardware imposes limitations on problem size, connectivity, and circuit reliability. This paper proposes an impact-driven hybrid quantum--classical optimization framework for traffic zone partitioning that bridges transportation-scale optimization models and practical gate-based quantum processors. Instead of static geographic decomposition, the method estimates the energy impact of decision variables and selectively assigns quantum computation to influential subproblems while a classical coordination loop maintains global feasibility. The framework is implemented using the Iskay optimizer and evaluated on the IBM Quantum System One backend. Experiments compare direct quantum optimization, classical iterative SubQUBO refinement, and the proposed hybrid approach. Results show that impact-guided decomposition improves convergence behavior and produces more coherent spatial partitions relative to classical refinement, while remaining consistent with hardware constraints. Although the hybrid method does not outperform the best direct quantum solution, it demonstrates a practical pathway toward scalable hybrid optimization for transportation applications under current quantum hardware conditions.
arXiv:2605.18627v1 Announce Type: new
Abstract: It has been recently shown that lifted STRIPS models can be learned correctly and efficiently from action traces alone; i.e., applicable action sequences from a hidden STRIPS model. The result is remarkable because the states are not assumed to be observable at all, and yet it is not practical enough as STRIPS actions include arguments that are not needed for selecting the actions. This shortcoming has been addressed by assuming that the action traces come instead from a hidden STRIPS+ model where some action arguments are implicit in the hidden action preconditions. A limitation of this approach, however, is that it assumes that the states are fully observable. In this work, we relax these restrictions and consider the problem of learning STRIPS+ action domains from traces in a more general context where the traces carry partial information about both actions and states. In particular, we formulate algorithms and completeness results for three general cases, all of which assume full observability of selected action arguments. In the first case, no observability of the state is assumed; in the second case, full observability of some state predicates is assumed, and in the third case, local observability of some state predicates is assumed instead. Given a STRIPS+ domain, these results characterize the conditions under which an equivalent domain can be learned from traces. Experimental results are reported.
arXiv:2605.18624v1 Announce Type: new
Abstract: Machine learning-based malware detectors are widely deployed in antivirus and endpoint detection systems, yet their reliance on static features makes them vulnerable to adversarial manipulation. This paper investigates whether a malware sample can be intentionally misclassified as a specific benign software category, not merely as "not malware", by adding a small number of Win32 API imports characteristic of that selected category, without removing any existing imports or retraining the detector. We propose a framework centered on a Conditional Variational Autoencoder (CVAE) whose decoder is strictly additive. It can introduce new API calls but never remove existing ones, preserving malware functionality by design. For each malware sample, the framework automatically identifies which benign category it most closely resembles and uses that as the evasion target. A knowledge-distilled differentiable proxy enables gradient-based training against the non-differentiable ensemble detector. Experiments on a six-class dataset of binary Win32 API import vectors extracted from 3,799 Windows executables (five benign categories, one malware class) show that, against a detector achieving 87.5% malware recall, adding just 20 API imports reduces recall to 30%. At k=20, among samples that evaded detection, 99% are classified as the intended target category. The CVAE outperforms both a frequency-based baseline and random selection at every tested injection size (k = 5 to 50). Validation on real PE files submitted to VirusTotal confirms that the attack transfers to commercial static detection engines, with an average 54.5% reduction in flagging engines. These findings expose a concrete vulnerability in API-based malware classifiers and demonstrate that targeted evasion into a chosen benign category is achievable with minimal, functionality-preserving modifications.
arXiv:2604.12766v2 Announce Type: replace
Abstract: Retrieval-augmented generation (RAG) typically relies on a flat retrieval paradigm that maps queries directly to static, isolated text segments. This approach struggles with more complex tasks that require the conditional retrieval and dynamic synthesis of information across different levels of granularity (e.g., from broad concepts to specific evidence). To bridge this gap, we introduce NaviRAG, a novel framework that shifts from passive segment retrieval to active knowledge navigation. NaviRAG first structures the knowledge documents into a hierarchical form, preserving semantic relationships from coarse-grained topics to fine-grained details. Leveraging this reorganized knowledge records, a large language model (LLM) agent actively navigates the records, iteratively identifying information gaps and retrieving relevant content from the most appropriate granularity level. Extensive experiments on long-document QA benchmarks show that NaviRAG consistently improves both retrieval recall and end-to-end answer performance over conventional RAG baselines. Ablation studies confirm performance gains stem from our method's capacity for multi-granular evidence localization and dynamic retrieval planning. We further discuss efficiency, applicable scenario, and future directions of our method, hoping to make RAG systems more intelligent and autonomous.
arXiv:2605.18727v1 Announce Type: new
Abstract: Evaluating embodied systems on real dexterous hardware requires more than isolated primitive skills: an agent must perceive a changing tabletop scene, choose a context-appropriate action, execute it with a dexterous hand, and leave the scene usable for later decisions. We introduce DexHoldem, a real-world system-level benchmark built around Texas Hold'em dexterous manipulation with a ShadowHand. DexHoldem provides 1,470 teleoperated demonstrations across 14 Texas Hold'em manipulation primitives, a standardized physical policy benchmark, and an agentic perception benchmark that tests whether agents can recover the structured game state needed for embodied decision making. On primitive execution, $\pi_{0.5}$ obtains the highest task completion rate ($61.2\%$), while $\pi_{0.5}$ and $\pi_0$ tie on scene-preserving success rate ($47.5\%$). On agentic perception, Opus 4.7 obtains the best strict problem-level accuracy ($34.3\%$), while GPT 5.5 obtains the best average field-wise accuracy ($66.8\%$), exposing a gap between isolated visual sub-capabilities and complete routing-relevant state recovery. Finally, we instantiate the full embodied-agent loop in three case studies, where waiting, recovery dispatches, human-help requests, and repeated primitive execution reveal how perception and policy errors accumulate during closed-loop deployment. DexHoldem therefore evaluates dexterous tabletop execution, agentic perception, and embodied decision routing in a shared physical setting. Project page: https://dexholdem.github.io/Dexholdem/.
arXiv:2605.18609v1 Announce Type: new
Abstract: Accelerating stochastic gradient methods with classical momentum schemes, such as Polyak's heavy ball, has proven highly successful in training large-scale machine learning models, particularly when combined with the hardware acceleration of large mini-batch computations. Yet, the effect of classical momentum on stochastic mini-batch optimization has been poorly understood theoretically, with prior works requiring strong noise assumptions and extremely large mini-batches. In this work, we develop a general theory of stochastic momentum acceleration for optimizing over quadratics in the interpolation regime, a popular abstraction for studying deep learning dynamics which also includes classical methods such as randomized Kaczmarz and coordinate descent. Our framework encompasses both heavy ball and Nesterov-style momentum, allows for arbitrary mini-batch sizes, and makes minimal assumptions on the stochastic noise. In particular, we show that acceleration from classical momentum is directly proportional to the gradient mini-batch size (up to a natural saturation point), thereby enabling perfect parallelization of mini-batch computations. Our theory also provides a simple choice for the momentum parameter, which is shown to be effective empirically.
arXiv:2605.18681v1 Announce Type: new
Abstract: Explainable AI (XAI) techniques are increasingly important for the validation and responsible use of modern deep learning models, but are difficult to evaluate due to the lack of good ground-truth to compare against. We propose a framework that serves as a quantifiable metric for the quality of XAI methods, based on continuous input perturbation. Our metric formally considers the sufficiency and necessity of the attributed information to the model's decision-making, and we illustrate a range of cases where it aligns better with human intuitions of explanation quality than do existing metrics.
To exploit the properties of this metric, we also propose a novel XAI method, considering the case where we fine-tune a model using a differentiable approximation of the metric as a supervision signal. The result is an adapter module that can be trained on top of any black-box model to output causal explanations of the model's decision process, without degrading model performance. We show that the explanations generated by this method outperform those of competing XAI techniques according to a number of quantifiable metrics.
arXiv:2503.21405v2 Announce Type: replace-cross
Abstract: In this paper, we study the error bound between the Dirac--Fock ground-state energy and the Hartree--Fock ground-state energy, a quantity known as the relativistic effect in quantum mechanics. We confirm that the relativistic effect in the Dirac--Fock ground-state energy is of the order $\mathcal{O}(c^{-2})$ with $c$ being the speed of light. Furthermore, if the potential between electrons and nuclei is regular, we get the well-known leading order relativistic correction -- the Breit--Pauli term, which is the sum of the mass-velocity term, the Darwin term, and the spin-orbit term. As a consequence, we also show that the same relativistic effects and leading order relativistic correction also hold in a QED model introduced by Mittleman when the vacuum polarization -- a term of the order $\mathcal{O}(c^{-3})$ -- is neglected. To our knowledge, this is the first time in mathematics that the leading-order relativistic correction has been obtained from nonlinear Dirac ground-state energy problems.
arXiv:2602.07730v2 Announce Type: replace
Abstract: Across scientific disciplines, Laplacian eigenvectors serve as a fundamental basis for simplifying complex systems, from signal processing to quantum mechanics. In reinforcement learning (RL), they similarly form a basis over the state space, enabling reward functions to be approximated by projection onto a small set of eigenvectors. This projection makes zero-shot control possible, but it also imposes a fundamental limitation: the induced policies are only as expressive as the linear span of the chosen eigenvectors. We introduce the Laplacian Keyboard (LK), a hierarchical framework that goes beyond this linear span. LK constructs a task-agnostic library of behaviors from these eigenvectors, forming a behavior basis guaranteed to contain the optimal policy for any reward within the linear span. A meta-policy learns to stitch these behaviors dynamically, enabling efficient learning of policies outside the original linear constraints. We establish theoretical bounds on zero-shot approximation error and demonstrate empirically that LK improves over the zero-shot solution while achieving better sample efficiency compared to standard RL methods.
arXiv:2411.10636v3 Announce Type: replace
Abstract: In this study, we investigate extrinsic gender bias in Bangla pretrained language models, a largely underexplored area in low-resource languages. To assess this bias, we construct four manually annotated, task-specific benchmark datasets for sentiment analysis, toxicity detection, hate speech detection, and sarcasm detection. Each dataset is augmented using nuanced gender perturbations, where we systematically swap gendered names and terms while preserving semantic content, enabling minimal-pair evaluation of gender-driven prediction shifts. We then propose RandSymKL, a randomized debiasing strategy integrated with symmetric KL divergence and cross-entropy loss to mitigate the bias across task-specific pretrained models. RandSymKL is a refined training approach to integrate these elements in a unified way for extrinsic gender bias mitigation focused on classification tasks. Our approach was evaluated against existing bias mitigation methods, with results showing that our technique not only effectively reduces bias but also maintains competitive accuracy compared to other baseline approaches. To promote further research, we have made both our implementation and datasets publicly available: https://github.com/sajib-kumar/Mitigating-Bangla-Extrinsic-Gender-Bias
arXiv:2402.12705v5 Announce Type: replace
Abstract: Reconfiguration problems ask whether one feasible solution can be transformed into another by a sequence of local moves while maintaining feasibility throughout. For integers $d \geq 1$ and $k \geq d+1$, the Distance Coloring problem asks if a given graph $G$ has a $(d, k)$-coloring, i.e., a coloring of the vertices of $G$ by $k$ colors such that any two vertices within distance $d$ from each other have different colors.
For ordinary proper colorings ($d=1$), the $k$-Coloring Reconfiguration problem is polynomial-time solvable for $k\le 3$ [Cereceda, van den Heuvel, and Johnson, J. Graph Theory 67(1):69--82, 2011] but is $\mathsf{PSPACE}$-complete for every fixed $k\ge 4$, even on bipartite graphs [Bonsma and Cereceda, Theor. Comput. Sci. 410(50):5215--5226, 2009]. In this work, we initiate a study of the distance-$d$ analogue, for $d \geq 2$. We show that even for planar, bipartite, and $2$-degenerate graphs, $(d, k)$-Coloring Reconfiguration remains $\mathsf{PSPACE}$-complete for every $d \geq 3$ via a reduction from the well-known Sliding Tokens problem. Our construction uses $k = k_0 + 2 + n(\lceil d/2\rceil-1)$ colors on instances of size $n$, where $k_0\in\{3d+3,3d+6\}$ (depending on the parity of $d$). For $d = 2$, the same reduction scheme can be adapted to show that the problem is $\mathsf{PSPACE}$-complete on planar and $2$-degenerate graphs with same values of $k$. Additionally, on split graphs, there is an interesting dichotomy: the problem is $\mathsf{PSPACE}$-complete when $d = 2$ and $k$ is large but can be solved efficiently when $d \geq 3$ and $k \geq d+1$. For chordal graphs, we show that the problem is $\mathsf{PSPACE}$-complete for even values of $d \geq 2$. Finally, we design a quadratic-time algorithm to solve the problem on paths for any $d \geq 2$ and $k \geq d+1$.
arXiv:2605.18625v1 Announce Type: cross
Abstract: We study the near-kernel sector of the Hamiltonian constraint operator in the one-vertex model of quantum reduced loop gravity using variational Monte Carlo methods with neural quantum states. The analysis is based on the symmetric Hamiltonian containing both Euclidean and Lorentzian contributions, and on the variational minimization of the positive quadratic operator $\hat{\mathcal Q}=\hat C \hat C^\dagger$ in truncated Hilbert spaces with spin cutoff up to $j_{\mathrm{max}}=1001$. The resulting near-kernel states are found to organize into three qualitatively distinct classes. At low cutoffs, we find solutions that do not factorize across the three edge degrees of freedom. At larger cutoffs, we find two different factorized branches, both described to very high accuracy by products of one-edge wavefunctions but localized in different spin regimes. One of these branches is matched with near-unit fidelity by reduced Thiemann coherent states, providing evidence for an emergent semiclassical organization of the near-kernel sector. The other is likewise strongly factorized, but its one-edge factors are not well described by the same coherent-state family.
arXiv:2605.18204v1 Announce Type: cross
Abstract: Discrete diffusion models are a powerful class of generative models with strong performance across many domains. For efficiency, however, discrete diffusion typically parameterizes the generative (reverse) process with factorized distributions, which makes it difficult for the model to learn the target process in a small number of steps and necessitates a long, computationally expensive sampling procedure. To reduce the gap between the target and model distributions and enable few-step generation, we propose Forward-Learned Discrete Diffusion (FLDD), which introduces discrete diffusion with a learnable forward (noising) process. Rather than fixing a Markovian forward chain, we adopt a non-Markovian formulation with learnable marginal and posterior distributions. This allows the generative process to remain factorized while matching the target defined by the noising process. We train all parameters end-to-end under the standard variational objective. Experiments on various benchmarks show that, for a given number of sampling steps, our approach produces a higher quality samples than conventional discrete diffusion models using the same reverse parameterization.
arXiv:2605.17944v1 Announce Type: cross
Abstract: Rapid advancements in cloud based platforms providing access to quantum computing capabilities have opened up several challenges for efficient usage of these highly delicate and costly devices. Although most of the current systems use a priority based access protocol, they are unable to fully support reliable, efficient, and scalable execution of larger-scale applications. To overcome this limitation, we propose a comprehensive solution for efficient allocation of quantum programs to appropriate quantum devices, considering all the relevant cost metrics into account including, fidelity, execution time and communication overhead. We also formulate use-cases for distributed quantum workflow and propose modified graph based algorithms to solve for allocation of such use-cases, assuming a hybrid classical-quantum network. Since hardware advancements in large standalone devices is an ongoing process, it is critical to investigate such distributed workflows to maximize the best utilization of current NISQ devices. Our empirical study shows that the proposed techniques perform better than state-of-the-art methods for almost all evaluation parameters, with average improvements of approximately $5\%$ in execution time, $30\%$ in communication overhead, $40\%$ in wait time and $2\%$ in fidelity, providing better solutions to efficient allocation strategies.
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.
arXiv:2509.17666v2 Announce Type: replace
Abstract: Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a passively compliant soft wrist that enables safe contact absorption through large deformations, without high-frequency control or force sensing. Our method structures insertion as compliance-enabled contact formations, sequential contact states that progressively constrain degrees of freedom, and integrates automated failure recovery strategies. Our key insight is that wrist compliance permits safe, repeated recovery attempts; hence, we refer to it as compliance-enabled failure recovery. We employ a pre-trained vision-language model (VLM) that assesses each skill execution from terminal poses and images, identifies failure modes, and proposes recovery actions by selecting skills and updating goals. In simulation, our method achieved an 83% success rate, recovering from failures induced by randomized conditions, including grasp misalignments up to 5 degrees, hole-pose errors up to 20 mm, fivefold increases in friction, and unseen square/rectangular pegs, and we further validated the approach on a real robot. Project page is available at https://omron-sinicx.github.io/compliance-enabled-failure-recovery/.
arXiv:2605.18177v1 Announce Type: new
Abstract: Query-based Vision Transformer segmentation models typically reconstruct dense spatial feature maps to predict masks, inheriting design patterns from convolutional architectures. We show that this explicit image-space reconstruction is not required. We introduce TokenMask, a token-space mask head that computes mask logits directly from query-token affinities and performs interpolation in logit space rather than feature space. This reformulation preserves the original linear scoring mechanism while simplifying the computational structure. Across diverse ViT backbones, datasets and segmentation tasks, TokenMask consistently improves efficiency over prior approaches by reducing computational and memory requirements while maintaining competitive accuracy, leading to tangible speedups on NVIDIA Jetson AGX Orin using TensorRT FP16 inference. Overall, TokenMask yields a simpler and more deployment-friendly design for embedded vision systems.
arXiv:2605.17705v1 Announce Type: cross
Abstract: Panel data, in which multiple units are repeatedly observed over time, arise throughout science and engineering. Quantifying predictive uncertainty in such settings is challenging because conformal prediction, while distribution-free and model-agnostic, classically relies on exchangeability assumptions that fail under temporal dependence and unit heterogeneity. We propose a simple online conformal framework for non-exchangeable panel data. The method exploits a key feature of online panel prediction: when a forecast is required for one unit, contemporaneous outcomes from related units may already be observed and can serve as a calibration panel. At each round, prediction sets are formed using currently observed calibration units together with two adaptive quantities: history-based similarity weights that emphasize calibration units resembling the target, and an adaptive miscoverage level that is updated whenever target feedback is revealed. This two-state design yields a stepwise coverage bound and a long-run coverage guarantee. Empirically, across synthetic and real panel data sets, the method improves coverage on the worst-covered target units through adaptive interval-width allocation rather than uniform inflation. The two states are complementary: similarity weights protect coverage when target feedback is sparse, while the adaptive level further improves coverage as feedback accumulates.
arXiv:2605.18263v1 Announce Type: new
Abstract: 3D Gaussian Splatting (3DGS) enables real-time novel view synthesis with high visual quality. However, existing methods struggle with semi-transparent specular surfaces that exhibit both complex reflections and clear transmission, often producing blurry reflections or overly occluded transmission. To address this, we present RT-Splatting, a framework that disentangles each Gaussian's geometric occupancy from its optical opacity. This factorization yields a unified surface-volume scene representation with a single set of Gaussian primitives. Our hybrid renderer interprets this representation both as a surface to capture high-frequency reflections and as a volume to preserve clear transmission. To mitigate the ambiguity in jointly optimizing reflection and transmission, we introduce Specular-Aware Gradient Gating, which suppresses misleading gradients from highly specular regions into the transmission branch, effectively reducing distracting floaters. Experiments on challenging semi-transparent scenes show that RT-Splatting achieves state-of-the-art performance, delivering high-fidelity reflections and clear transmission with real-time rendering. Moreover, our factorization naturally enables flexible scene editing. The project page is available at https://sjj118.github.io/RT-Splatting.