arXiv:2603.17751v4 Announce Type: replace Abstract: In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with surrounding human-driven vehicles (HDVs). This paper introduces MSH-MCCT (Multi-Source Human-in-the-Loop Mixed Cloud Control Testbed), a novel CAV testbed that captures complex interactions between various CAVs and HDVs. Utilizing the Mixed Digital Twin concept, which combines Mixed Reality with Digital Twin, MSH-MCCT integrates physical, virtual, and mixed platforms, along with multi-source control inputs. Bridged by the mixed platform, MSH-MCCT allows human drivers and CAV algorithms to operate both physical and virtual vehicles within multiple fields of view. Particularly, this testbed facilitates the coexistence and real-time interaction of physical and virtual CAVs \& HDVs, significantly enhancing the experimental flexibility and scalability. Experiments on vehicle platooning in mixed traffic showcase the potential of MSH-MCCT to conduct CAV testing with multi-source real human drivers in the loop through driving simulators of diverse fidelity. The videos for the experiments are available at our project website: https://dongjh20.github.io/MSH-MCCT.
Science Journals
arXiv:2605.03539v2 Announce Type: replace-cross Abstract: When a condensed-matter system is subjected to external electromagnetic fields, the gauge-invariant formulation of physical operators must explicitly incorporate the gauge-field contribution. However, in the context of spin-orbit coupling (SOC), this gauge-field term is often regarded as negligible or merely additive compared to the canonical SOC, which is typically localized near atomic cores. Here, we demonstrate that the symmetry breaking and consequent spin dynamics are governed by the gauge-field term, without which the spins remain symmetry-constrained. We perform real-time time-dependent density functional theory calculations to investigate spin-orbit dynamics, focusing on representative cases with mirror, glide, and screw-rotational symmetry. We demonstrate that when the gauge-field term in the time-dependent Hamiltonian perturbs the symmetry of the canonical term, a dynamical spin state gradually develops during the time evolution, beyond the symmetry-frozen states. We suggest that, for nonequilibrium spin-orbit dynamics, the gauge-invariant formulation of SOC is not only formally required but also quantitatively essential, even for a weak external field.
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:2603.19470v3 Announce Type: replace Abstract: Off-policy problems such as policy staleness and training--inference mismatch have become a major bottleneck for training stability and further exploration in LLM RL. The distribution gap between the inference and updated policies grows because of the techniques to enhance inference efficiency, leading to heavy-tailed importance ratios. Heavy-tailed ratios arise when the policy is locally sharp, which further inflates gradients and can push updates outside the trust region. To address this, we propose Adaptive Layerwise Perturbation (ALP), which injects small learnable perturbations into the input hidden states of each layer during updates and uses the resulting perturbed policy as the numerator of the importance ratio against the unchanged inference policy in the objective. Intuitively, by adding controlled noise to intermediate representations, ALP prevents the updated policy from deviating too sharply from the inference policy and enlarges the policy family to cover inference-time mismatch noise. Hence, the flattened distribution can naturally tighten the gap between the updated and inference policies and reduce the tail of importance ratios, thus maintaining training stability. This is further validated empirically. Experiments on single-turn math and multi-turn tool-integrated reasoning tasks show that ALP not only improves final performance, but also avoids blow-up in the importance-ratio tail and KL spikes during iterative training, along with boosted exploration. Ablations show that representation-level perturbations across all layers are most effective, substantially outperforming partial-layer and logits-only variants.
arXiv:2605.11480v2 Announce Type: replace Abstract: Reward fine-tuning has become a common approach for aligning pretrained diffusion and flow models with human preferences in text-to-image generation. Among reward-gradient-based methods, Adjoint Matching (AM) provides a principled formulation by casting reward fine-tuning as a stochastic optimal control (SOC) problem. However, AM inevitably requires a substantial computational cost: it requires (i) stochastic simulation of full generative trajectories under memoryless dynamics, resulting in a large number of function evaluations, and (ii) backward ODE simulation of the adjoint state along each sampled trajectory. In this work, we observe that both bottlenecks are closely tied to the \textit{non-trivial base drift} inherited from the pretrained model. Motivated by this observation, we propose \textbf{Efficient Adjoint Matching (EAM)}, which substantially improves training efficiency by reformulating the SOC problem with a \textit{linear base drift} and a correspondingly modified \textit{terminal cost}. This reformulation removes both sources of inefficiency; it enables training-time sampling with a few-step deterministic ODE solver and yields a closed-form adjoint solution that eliminates backward adjoint simulation. On standard text-to-image reward fine-tuning benchmarks, EAM converges up to 4x faster than AM and matches or surpasses it across various metrics including PickScore, ImageReward, HPSv2.1, CLIPScore and Aesthetics.
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:2509.18103v3 Announce Type: replace Abstract: Research on the distribution of prime numbers has revealed a dual character: deterministic in definition yet exhibiting statistical behavior reminiscent of random processes. In this paper we show that it is possible to use an image-focused machine learning model to measure the comparative regularity of prime number fields at specific regions of an Ulam spiral. Specifically, we demonstrate that in pure accuracy terms, models trained on blocks extracted from regions of the spiral in the vicinity of 500m outperform models trained on blocks extracted from the region representing integers lower than 25m. This implies existence of more easily learnable order in the former region than in the latter. Moreover, a detailed breakdown of precision and recall scores seem to imply that the model is favouring a different approach to classification in different regions of the spiral, focusing more on identifying prime patterns at lower numbers and more on eliminating composites at higher numbers. This aligns with number theory conjectures suggesting that at higher orders of magnitude we should see diminishing noise in prime number distributions, with averages (density, AP equidistribution) coming to dominate, while local randomness regularises after scaling by log x. Taken together, these findings point toward an interesting possibility: that machine learning can serve as a new experimental instrument for number theory. Notably, the method shows potential 1 for investigating the patterns in strong and weak primes for cryptographic purposes.
arXiv:2509.18736v5 Announce Type: replace Abstract: For multi-stage recommenders in industry, a user request would first trigger a simple and efficient retriever module that selects and ranks a list of relevant items, then the recommender calls a slower but more sophisticated reranking model that refines the item list exposure to the user. To consistently optimize the two-stage retrieval reranking framework, most efforts have focused on learning reranker-aware retrievers. In contrast, there has been limited work on how to achieve a retriever-aware reranker. In this work, we provide evidence that the retriever scores from the previous stage are informative signals that have been underexplored. Specifically, we first empirically show that the reranking task under the two-stage framework is naturally a noise reduction problem on the retriever scores, and theoretically show the limitations of naive utilization techniques of the retriever scores. Following this notion, we derive an adversarial framework DNR that associates the denoising reranker with a carefully designed noise generation module. The resulting DNR solution extends the conventional score error minimization loss with three augmented objectives, including: 1) a denoising objective that aims to denoise the noisy retriever scores to align with the user feedback; 2) an adversarial retriever score generation objective that improves the exploration in the retriever score space; and 3) a distribution regularization term that aims to align the distribution of generated noisy retriever scores with the real ones. We conduct extensive experiments on three public datasets and an industrial recommender system, together with analytical support, to validate the effectiveness of the proposed DNR.
arXiv:2605.18753v1 Announce Type: new Abstract: Current hierarchical attention methods, such as NSA and InfLLMv2, select the top-k relevant key-value (KV) blocks based on coarse attention scores and subsequently apply fine-grained softmax attention on the selected tokens. However, the top-k operation assumes the number of relevant tokens for any query is fixed and it precludes the gradient flow between the sparse and dense stages. In this work, we propose DashAttention (Differentiable and Adaptive Sparse Hierarchical Attention), which leverages the adaptively sparse $\alpha$-entmax transformation to select a variable number of blocks according to the current query in the first stage. This in turn provides a prior for the second-stage softmax attention, keeping the entire hierarchy fully differentiable. Contrary to other hierarchical attention methods, we show that DashAttention is non-dispersive, translating to better long-context modeling ability. Experiments with large language models (LLMs) show that DashAttention achieves comparable accuracy as full attention with 75% sparsity and a better Pareto frontier than NSA and InfLLMv2, especially in high-sparsity regimes. We also provide an efficient, GPU-aware implementation of DashAttention in Triton, which achieves a speedup of up to over FlashAttention-3 at inference time. Overall, DashAttention offers a cost-effective strategy to model long contexts.
arXiv:2605.10759v2 Announce Type: replace Abstract: Diffusion and flow-matching models scale because pretraining is supervised regression: a clean sample is noised analytically, and a model regresses against a closed-form target. RL post-training aligns the model with a reward. In image generation, this makes samples compose objects correctly, render text legibly, and match human preferences. Existing methods rely on costly SDE rollouts, reward gradients, or surrogate losses, sacrificing pretraining's regression structure. We show that the structure extends to RL post-training. Under KL-regularized reward maximization, the optimal generative process tilts the clean-endpoint distribution towards samples with higher reward and leaves the noising law unchanged. Combining this with the adjoint-matching optimality condition and a REINFORCE identity, we derive Reinforce Adjoint Matching (RAM): a consistency loss that corrects the pretraining target with the reward. At each step, we draw a clean endpoint from the current model, evaluate its reward, noise it as in pretraining, and regress. No SDE rollouts, backward adjoint sweeps, or reward gradients are required. Like the pretraining objective, RAM is simple and scales. On Stable Diffusion 3.5M, RAM achieves the highest reward on composability, text rendering, and human preference, reaching Flow-GRPO's peak reward in up to $50\times$ fewer training steps.
arXiv:2509.20881v2 Announce Type: replace Abstract: Code retrieval aims to find relevant code snippets matching natural language queries within massive codebases, playing a vital role in software development. Recent advances leverage PLMs to bridge the semantic gap between natural language (NL) and programming languages (PL), significantly outperforming traditional information retrieval and early deep learning approaches. However, existing methods still face key challenges, including a fundamental semantic gap between human intent and machine execution logic, and limited robustness to diverse code styles. To address this, we propose PseudoBridge, a novel code retrieval framework that introduces pseudo-code as an intermediate, semi-structured modality to align NL semantics with PL logic. Specifically, PseudoBridge consists of two stages: First, we employ an LLM to synthesize pseudo-code, enabling explicit alignment between NL queries and pseudo-code. Second, we introduce a logic-invariant code style augmentation strategy, employing the LLM to generate stylistically diverse yet logically equivalent code implementations, and then align these varied code styles with pseudo-code to enhance robustness. We evaluate PseudoBridge across 10 PLMs and 6 mainstream programming languages. Extensive experiments demonstrate that PseudoBridge consistently outperforms baselines, achieving significant improvements in generalization, particularly in zero-shot scenarios like Solidity and XLCoST. Extended evaluations using open-source LLMs and advanced embeddings confirm that these gains stem from PseudoBridge's intrinsic design, independent of specific closed-source models. PseudoBridge achieves performance comparable to SOTA embedding methods, highlighting the effectiveness of explicit logical and semantic alignment via pseudo-code as a robust solution for code retrieval.
arXiv:2605.10236v3 Announce Type: replace Abstract: Modern off-policy reinforcement learning algorithms often rely on simple uniform replay sampling and it remains unclear when and why non-uniform replay improves over this strong baseline. Across diverse RL settings, we show that the effectiveness of non-uniform replay is governed by three factors: replay volume, the number of replayed transitions per environment step; expected recency, how recent sampled transitions are; and the entropy of the replay sampling distribution. Our main contribution is clarifying when non-uniform replay is beneficial and providing practical guidance for replay design in modern off-policy RL. Namely, we find that non-uniform replay is most beneficial when replay volume is low, and that high-entropy sampling is important even at comparable expected recency. Motivated by these findings, we adopt a simple Truncated Geometric replay that biases sampling toward recent experience while preserving high entropy and incurring negligible computational overhead. Across large-scale parallel simulation, single-task, and multi-task settings, including three modern algorithms evaluated on five RL benchmark suites, this replay sampling strategy improves sample efficiency in low-volume regimes while remaining competitive when replay volume is high.
arXiv:2604.23159v2 Announce Type: replace Abstract: We investigate the three-dimensional incompressible Navier-Stokes equations. The equations are discretized with Fourier spectral method and a fourth-order Runge-Kutta scheme in time. The spectral accuracy, resolution conditions, and an energy based conditional regularity framework are established analytically. Then we prove exponential convergence, algebraic convergence, and an a posteriori criterion that links numerical blowup to loss of regularity. This work develops a suite of diagnostics for detecting potential finite time singular behavior.
arXiv:2605.17712v1 Announce Type: new Abstract: Generative Artificial Intelligence (GenAI) has prompted significant discussion in education, yet large-scale empirical evidence on how students and teachers perceive and navigate this shift remains limited. We analyse 270k AI-related Reddit posts and comments from 26 education-related subreddits spanning higher education, K-12 teaching, and professional training between November 2022 and April 2026. Topic modelling reveals seventeen themes covering academic integrity, teaching & pedagogy, career anxiety, policy, and niche professional contexts. Discourse evolves from an early detection-and-evasion arms race into a sustained enforcement regime that constructive integration only begins to challenge in mid-2024. Stakeholder communities differ sharply: K-12 teachers foreground cognitive dependency, academics focus on AI detection and deliberation, and professional-programme students concentrate on career anxiety. Sentiment correlates strongly negatively with engagement, showing adversarial enforcement themes mobilise communities far more than constructive integration discourse. Examining where faculty and students meet, we find 17% of threads are cross-role, and one third of such contact occurs in the adversarial themes AI Detection and Misconduct Enforcement. Students initiate 68% of mixed threads, but faculty produce most cross-role replies. Mixed threads contain 2-3 times more records and last 2-4 times longer than same-role threads, making adversarial integrity disputes the center of sustained faculty-student contact. We discuss implications for governance, pedagogical design, and cross-role contact design. The code and data is available at https://github.com/tugrulz/genai-edu
arXiv:2605.18246v1 Announce Type: new Abstract: We study reinforcement learning (RL) in multi-dimensional continuous state and action spaces with one-sided feedback, where the agent receives partial observations of the state and obtains reward information for only a subset of the state-action space at each time step. This setting introduces substantial challenges in both learning efficiency and privacy preservation. To address these challenges, we propose POOL, a novel privacy-preserving RL algorithm. We conduct a comprehensive theoretical analysis of POOL, deriving a sample complexity bound that matches the known lower bounds for non-private RL. Here, E_rho denotes the privacy parameter, H is the time horizon, and alpha is the optimality-gap parameter. Our findings show that it is possible to enforce strong privacy guarantees while maintaining high learning efficiency, marking a significant step toward practical, privacy-aware RL in multi-dimensional environments with one-sided feedback.
arXiv:2604.24780v2 Announce Type: replace Abstract: An interesting question to explore in physics classes is whether gravity violates the second law of thermodynamics. Standard physics textbooks provide little to no discussion of the relationship between entropy and gravity, and the same is often true of specialized texts. The aim of this work is to address this question by analyzing the behavior of an ideal gas in two simple scenarios: one in which gravity is negligible and another in which its effects are significant. We show that although systems influenced by gravity may exhibit counterintuitive behavior, such as local ordering through structure formation, the second law of thermodynamics remains valid when the entire system is considered, including all emitted energy and radiation. Given the educational focus of this work and the complexity of the entropy-gravity relationship, we omit detailed calculations that are not strictly necessary and instead focus on the simplest physical scenarios. In this context, we analyze four representative examples through simple calculations: the Sun, the limit of extreme contraction in black holes, the protostellar contraction sequence, and core collapse with neutrino cooling.
arXiv:2604.23355v2 Announce Type: replace Abstract: Existing LLM-based EDA agents are often isolated task-specific systems. This leads to repeated engineering effort and limited reuse of successful design and debugging strategies. We present LEGO, a unified skill-based platform for front-end design generation. It decomposes the digital front-end flow into six independent steps and represents every agent capability as a standardized composable circuit skill within a plug-and-play architecture. To build this skill library, we survey more than 100 papers, select 11 representative open-source projects, and extract 42 executable circuit skills within a six-step finite state machine formulation. Circuit Skill Builder automates skill extraction with linear scalability. Agent Skill RAG achieves submillisecond retrieval without relying on embedding models. Empirical evaluation on a hard subset of 41 VerilogEval v2 problems that gpt-5.2-codex fails to solve under extra-high reasoning effort shows that individual circuit skills constructed within LEGO raise Pass@1 from 0.000 to 0.805. This is an 80.5% gain over the baseline. Cross-project skill compositions also reach 0.805 Pass@1. They outperform hierarchy-verilog by 14.6% and VerilogCoder by 2.5%. They also match MAGE. These results show that modular skill composition supports both effective and flexible RTL design automation. The LEGO platform and all circuit skills are publicly available at GitHub: https://github.com/loujc/LEGO-An-LLM-Skill-Based-Front-End-Design-Generation-Platform
arXiv:2605.17772v1 Announce Type: new Abstract: Physical adversarial attacks often overfit single surrogate models and optimization objectives. While ensemble attacks can mitigate this, existing methods struggle with severe gradient conflicts within restricted physical texture spaces, significantly degrading cross-model transferability. To bridge this gap, this paper proposes a Joint Multi-Objective and Multi-Model Optimization Framework (JMOF) that leverages quantitative similarity analysis to select the optimal surrogate model ensemble. Within JMOF, a dual-level mechanism jointly suppresses prediction outputs and flattens intermediate feature distributions, balancing attack efficiency with deep generalization. Additionally, an Orthogonal Gradient Alignment (OGA) strategy resolves cross-model gradient conflicts, transforming mutually repulsive gradients into synergistic optimization directions. Extensive simulated and real-world experiments demonstrate that JMOF outperforms state-of-the-art baselines against diverse black-box detectors. Crucially, JMOF exhibits substantial cross-vision-task generalization, generating attacks capable of simultaneously deceiving object detection and semantic segmentation or monocular depth estimation models. This research advances the generalization limits of physical adversarial attacks, providing a robust framework for evaluating visual AI vulnerabilities in real-world deployments.
arXiv:2605.07005v2 Announce Type: replace Abstract: Recent work on provably efficient algorithms for learning with distribution shift has focused on two models: PQ learning (Goldwasser et al. (2020)) and TDS learning (Klivans et al. (2024)). Algorithms for TDS learning are allowed to reject a test set entirely if distribution shift is detected. In contrast, PQ learners may only reject points that are deemed out-of-distribution on an individual basis. Our main result is a surprising equivalence between these two models in the distribution-free setting. In particular, we give an efficient black-box reduction from PQ learning to TDS learning for any Boolean concept class. This equivalence implies the first hardness results for distribution-free TDS learning of basic classes such as halfspaces. The main technical contribution underlying our equivalence is a method for boosting, via branching programs, the weak distinguishing power of TDS learners that have rejected the target domain. We also show that giving a learner access to membership queries sidesteps these hardness results and allows for efficient, distribution-free PQ learnability of halfspaces. Our algorithm iteratively recovers large-margin separators obtained by applying successive Forster transforms on the training data.
arXiv:2605.17787v1 Announce Type: new Abstract: It is widely believed that stochastic gradient descent (SGD) performs significantly worse than adaptive optimizers such as Adam in pre-training Large Language Models (LLMs). Yet the underlying reason for this gap remains unclear. In this work, we attribute a large part of the discrepancy to SGD's inability to sustain learning rates comparable to Adam's much larger effective learning rates. Through empirical and theoretical analysis of LLM pre-training dynamics, we identify that training is characterized by small gradient norms and large weight-to-gradient ratios, an effect that becomes more pronounced with larger batch sizes typical in pre-training, necessitating such large effective learning rates. However, we find that output-layer gradient magnitudes become highly uneven across token classes, and that large gradient spikes frequently occur during training. Together, these effects severely restrict the admissible learning rate of SGD. Guided by this understanding, we show that simple clipping mechanisms that stabilize SGD at large learning rates enable it to recover most of Adam's performance. In our large-scale experiments, the validation loss gap between large-learning-rate SGD and Adam shrinks from more than 50% to only about 3.5% when pre-training a 1B-parameter LLaMA model with a 1M-token batch size.
arXiv:2605.17791v1 Announce Type: new Abstract: Wireless resource allocation in digital-twin-enabled unmanned aerial vehicle (UAV) swarms must be both network-feasible and certifiably safe for closed-loop control. Existing packet-level or scalar-priority schedulers cannot meaningfully compare heterogeneous multi-hop actions that differ simultaneously in route, retransmission depth, blocklength, bidirectional delay, delivery probability, and TDMA slot cost. This paper introduces a certificate-guided resource allocation framework for low-altitude multi-hop UAV swarms. A digital twin maps predicted topology, channel, route, and controller-side state into a shared five-dimensional quality-of-service (QoS) certificate comprising uplink/downlink delay bounds, directional delivery guarantees, and a certified upper bound on the interval between successful bidirectional interactions. A state-conditioned stochastic drift test then admits only certificates whose augmented Lyapunov drift is nonpositive under the current controller state. Admitted actions are reduced to certified supply frontiers by removing dominated route-slot configurations, and the online scheduler maximizes Lyapunov-drift reduction under a shared TDMA slot budget via exact dynamic programming. Closed-loop ns-3 simulations demonstrate that the proposed framework outperforms fixed-service, certificate-filtered fixed-priority, dynamic-transmission-count, and value-of-information baselines in both tracking accuracy and high-risk state suppression under identical communication budgets.
arXiv:2605.14347v2 Announce Type: replace Abstract: We introduce Exemplar Partitioning (EP), an unsupervised method for constructing interpretable feature dictionaries from large language model activations with $\sim 10^3\times$ fewer tokens than comparable sparse autoencoders (SAEs). An EP dictionary is a Voronoi partition of activation space, built by leader-clustering streamed activations within a distance threshold. Each region is anchored by an observed exemplar that serves as both its membership criterion and intervention direction; dictionary size is not prespecified, but determined by the activation geometry at that threshold. Because exemplars are observed rather than learned, dictionaries built from the same data stream are directly comparable across layers, models, and training checkpoints. We characterise EP as an interpretability object via targeted demonstrations of properties newly accessible through this construction, plus one head-to-head benchmark. In Gemma-2-2B, EP dictionary regions are interpretable and support causal interventions: refusal in instruction-tuned Gemma concentrates in a region whose exemplar ablation can collapse held-out refusal. Cross-checkpoint matching between base and instruction-tuned dictionaries separates the directions preserved through finetuning from those introduced by it. EP regions and Gemma Scope SAE features decompose activation space differently but agree on a shared core: $\sim$20% of EP regions match an SAE feature at $F_1 > 0.5$, and EP one-hot probes retain $\sim$97% of raw-activation probe accuracy at $\ell_0 = 1$. Nearest-exemplar distance provides a free out-of-distribution signal at inference. On AxBench latent concept detection at Gemma-2-2B-it L20, EP at $p_1$ reaches mean AUROC 0.881, +0.126 over the canonical GemmaScope SAE leaderboard entry and within 0.030 of SAE-A's 0.911, at $\sim 10^3\times$ less build compute.
arXiv:2602.21529v3 Announce Type: replace Abstract: Rug pull is a critical attack in the world of blockchain technology. Despite this, the absence of sufficient time-bound and well-structured datasets is considered one of the significant issues faced while identifying early detection. Existing datasets do not provide the solution to this challenge because of temporal leakage or use of post-collapse indicators, insufficient modality coverage, and confusing or partial labels, especially with regards to DeFi tokens. To solve these problems, we present a highly curated and strictly time-bound dataset called TM-RugPull containing 1,000 projects, which include DeFi, meme, NFT, and celebrity token projects. We achieve temporal validation of the dataset by acquiring all three modalities, namely on-chain behavior, smart contract metadata, and OSINT signals. The project labels are provided based on manual investigation for the entire project's lifespan and its collapse. Also, we make our dataset publicly available together with its codebase for data acquisition and feature extraction.
arXiv:2605.10408v2 Announce Type: replace Abstract: Testing robots requires assessing whether they perform their intended tasks correctly, dependably, and with high quality, a challenge known as the test oracle problem in software testing. Traditionally, this assessment relies on task-specific symbolic oracles for task correctness and on human manual evaluation of robot behavior, which is time-consuming, subjective, and error-prone. To address this, we propose VISOR, a Vision-Language Model (VLM)-based approach for automated test oracle assessment that eliminates the need of expensive human evaluations. VISOR performs automated evaluation of task correctness and quality, addressing the limitations of existing symbolic test oracles, which are task-specific and provide pass/fail judgments without explicitly quantifying task quality. Given the inherent uncertainty in VLMs, VISOR also explicitly quantifies its own uncertainty during test assessments. We evaluated VISOR using two VLMs, i.e., GPT and Gemini, across four robotic tasks on over 1,000 videos. Results show that Gemini achieves higher recall while GPT achieves higher precision. However, both models show low correlation between uncertainty and correctness, which prevents using uncertainty as a correctness predictor.
arXiv:2605.16556v1 Announce Type: cross Abstract: The determination of crystallographic texture through elastic wave propagation offers a cost-effective, nondestructive means of obtaining through-thickness information with minimal sample preparation. Existing ultrasonic approaches rely on either bulk-wave or guided-wave velocity measurements for texture inversion. These strategies impose geometric constraints: bulk-wave methods become impractical for thin specimens, whereas guided-wave techniques are limited to relatively small thicknesses. Furthermore, many formulations assume orthotropic symmetry of the aggregate, thereby restricting their applicability to materials with higher anisotropy. In this work, a full-field wave fitting strategy is developed in which the transmitted ultrasonic field is simulated and directly compared to experimental measurements. Because the approach does not rely on bulk-wave or plate-wave approximations, it remains applicable across a broad range of specimen thicknesses. Furthermore, no macroscopic symmetry assumptions are imposed on the aggregate, enabling the characterization of generally anisotropic materials. The effective elastic response is computed using a Hashin-Shtrikman homogenization framework, which provides tighter bounds than classical Voigt-Reuss-Hill averages and constrains the admissible search space during optimization, thereby improving convergence. The nonlinear inverse problem is solved using a GPU-accelerated optimization scheme. The methodology is validated on materials with hexagonal and cubic crystal symmetry over a range of specimen thicknesses. The inferred texture coefficients show consistent agreement with independent diffraction measurements. Additionally, textures with weak elastic anisotropy are successfully recovered, demonstrating the robustness and versatility of the proposed method. Complete measurement and inversion are achieved within approximately 10 minutes.