arXiv:2605.15912v1 Announce Type: cross Abstract: Subcellular protein complexes and organelles exhibit diverse dynamic behaviors that reflect the mechanical constraints and organization of the intracellular environment. Although some structures follow classical Brownian motion, many display anomalous dynamics. The transitions between these regimes are increasingly recognized as critical for subcellular organization, yet how they influence pattern formation remains unclear. Here, we investigate the spatial arrangement of cilia on the apical surface of multiciliated cells (MCCs) in developing Xenopus laevis embryos, where coordinated ciliary beating depends on the precise organization of hundreds of centriole-derived basal bodies (BBs). Using quantitative confocal, high-resolution and high-speed TIRF imaging together with theoretical modeling, we show that BB trajectories undergo time-resolved transitions between diffusive and anomalous motion, with distinct regimes that correlate with apical surface expansion. During the early stages, actin remodeling facilitates the dispersal of BBs by providing a permissive, low-confinement environment. As development progresses, the actin network becomes increasingly cross-linked that constrains BB movement and promotes uniform spacing across the apical domain. Disruption of $\alpha$-actinin-1, a major actin cross-linking protein, impairs the integrity of the apical actin meshwork, weakens BB confinement, and disrupts regular spatial patterning, ultimately compromising the arrangement of BBs required for proper cilia alignment. Together, we show that progressive apical actin cross-linking coordinates BB positioning and regulates their dynamic state, guiding the shift from diffusive to confined motion. This transition in dynamics enables the emergence of a uniform BB pattern, which in turn ensures the aligned deployment of motile cilia necessary for effective directional fluid flow.
Science Journals
arXiv:2605.15936v1 Announce Type: new Abstract: Control science is a core representative of the third industrial revolution and is so important to modern civilization. Control systems are the main subject of control science and may involve many aspects of consideration, such as hardware consideration, software consideration, operation consideration, maintenance consideration, economy consideration, society consideration. However, besides all such aspects of consideration, one aspect that is most essential to the control system is methodology consideration in mathematical sense, knowledge on which is what we refer to as control theory. Besides its importance from the mathematical perspective, control theory is even more charming as it is deeply rooted in practical applications. Charms of control theory consist in both know-why and know-how and it is the fusion of control theory and practical applications that highlights such charms. Control theory for practical applications, especially when somewhat with so-called "advanced" flavour, involves several fundamental aspects. This article introduces the State Estimation aspect of Advanced Control Theory for Practical Applications [1,2].
arXiv:2603.08063v3 Announce Type: replace Abstract: Cross-view UAV geolocalization is fundamentally a challenging large-scale image retrieval task, aiming to determine the geographic coordinates of Unmanned Aerial Vehicle (UAV) queries by matching them against an extensive geo-tagged satellite image database. Most existing methods learn separate feature representations for each view and determine the final prediction using naive heuristics to assess feature similarity, thereby neglecting to model the crucial cross-view relationships. In this paper, we propose SkyLink, a novel plug-and-play ranking framework that pioneers joint relational modeling of inter-view relationships to enhance cross-view UAV geolocalization. SkyLink leverages a Large Vision-Language Model (LVLM) to model the intricate visual-semantic relationships between UAV and satellite views, facilitating effective cross-view matching. To further refine the learning process, we introduce a relational-aware loss. It leverages soft labels to provide a more nuanced supervision signal, mitigating the harsh penalty on near-positive pairs. This approach enhances both training stability and the model's discriminative capacity. Extensive experiments conducted across multiple base retrieval architectures and benchmark datasets demonstrate that SkyLink significantly boosts the ranking effectiveness of existing models, consistently achieving superior performance in various challenging scenarios.
arXiv:2605.16058v1 Announce Type: new Abstract: In the era of big data, effectively compressing large datasets while performing complex mathematical operations is crucial. Tensor-based decomposition methods have shown superior compression capabilities with minimal loss of accuracy compared to traditional matrix methods. Under the star-M tensor framework, tensors can be decomposed in a matrix-mimetic way, including using the star-M SVD. This tensor SVD has optimality guarantees and has shown exceptional performance on specific types of data, but software implementations have been mostly limited to productivity-oriented languages. In this work, we present our development of a shared-memory parallel, high-performance solution designed to efficiently implement the underlying algorithms. This software will enable optimal compression of extensive scientific datasets, paving the way for enhanced data analysis and insights.
arXiv:2605.15890v1 Announce Type: new Abstract: We propose a communication-efficient optimally structured gradient coding scheme to jointly address straggler resilience and communication efficiency in heterogeneous distributed learning. By establishing a unified framework that simultaneously optimizes gradient coding and quantization, we formulate an optimization problem to minimize residual error subject to an unbiasedness constraint. We rigorously establish the joint global optimum by deriving a closed-form code structure coupled with an optimal bit allocation strategy, while simultaneously proposing a low-complexity bit allocation algorithm that efficiently yields near-optimal performance. We provide rigorous convergence analysis for convex and smooth functions. Experiments on the COCO dataset demonstrate that our joint design significantly accelerates convergence and enhances communication efficiency compared to existing baselines.
arXiv:2605.00674v2 Announce Type: replace Abstract: Large language models (LLMs) are becoming increasingly capable mathematical collaborators, but static benchmarks are no longer sufficient for evaluating progress: they are often narrow in scope, quickly saturated, and rarely updated. This makes it hard to compare models reliably and track progress over time. Instead, we need evaluation platforms: continuously maintained systems that run, aggregate, and analyze evaluations across many benchmarks to give a comprehensive picture of model performance within a broad domain. In this work, we build on the original MathArena benchmark by substantially broadening its scope from final-answer olympiad problems to a continuously maintained evaluation platform for mathematical reasoning with LLMs. MathArena now covers a much wider range of tasks, including proof-based competitions, research-level arXiv problems, and formal proof generation in Lean. Additionally, we maintain a clear evaluation protocol for all models and regularly design new benchmarks as model capabilities improve to ensure that MathArena remains challenging. Notably, the strongest model, GPT-5.5, now reaches 98% on the 2026 USA Math Olympiad and 74% on research-level questions, showing that frontier models can now comfortably solve extremely challenging mathematical problems. This highlights the importance of continuously maintained evaluation platforms like MathArena to track the rapid progress of LLMs in mathematical reasoning.
arXiv:2511.17426v2 Announce Type: replace Abstract: Self-supervised learning (SSL) has recently advanced through non-contrastive methods that couple an invariance term with variance, covariance, or redundancy-reduction penalties. While such objectives shape first- and second-order statistics of the representation, they largely ignore the local geometry of the underlying data manifold. In this paper, we introduce CurvSSL, a curvature-regularized self-supervised learning framework, and its RKHS extension, kernel CurvSSL. Our approach retains a standard two-view encoder-projector architecture with a Barlow Twins-style redundancy-reduction loss on projected features, but augments it with a curvature-based regularizer. Each embedding is treated as a vertex whose $k$ nearest neighbors define a discrete curvature score via cosine interactions on the unit hypersphere; in the kernel variant, curvature is computed from a normalized local Gram matrix in an RKHS. These scores are aligned and decorrelated across augmentations by a Barlow-style loss on a curvature-derived matrix, encouraging both view invariance and consistency of local manifold bending. Experiments on MNIST and CIFAR-10 datasets with a ResNet-18 backbone show that curvature-regularized SSL yields competitive or improved linear evaluation performance compared to Barlow Twins and VICReg. Our results indicate that explicitly shaping local geometry is a simple and effective complement to purely statistical SSL regularizers.
arXiv:2605.16117v1 Announce Type: new Abstract: Large Language Models (LLMs) have demonstrated strong capabilities across diverse NLP applications, such as translation, text generation, and question answering. Nevertheless, they remain limited in complex settings that demand deep reasoning and logical inference. Since these models are trained on large-scale text corpora, their generation process may still introduce irrelevant, noisy, or factually inconsistent content. To mitigate this problem, we introduce SGR, a stepwise framework that enhances LLM reasoning through external subgraph generation. SGR builds query-specific subgraphs from external knowledge bases and uses their semantic structure to support multi-step inference. By grounding intermediate reasoning steps in structured external knowledge, the framework helps the model concentrate on relevant entities, relations, and supporting evidence. In particular, SGR first constructs a subgraph tailored to the input question. It then guides the model to reason progressively over the generated structure and combines multiple reasoning trajectories to obtain the final prediction. Experimental results across several benchmark datasets show that SGR achieves consistent improvements over competitive baselines, highlighting its value for improving both reasoning accuracy and factual reliability.
arXiv:2605.08464v2 Announce Type: replace Abstract: The manifold hypothesis (MH) is often used to explain how machine learning can overcome the curse of dimensionality. However, the MH is only applicable in regimes where the training data provides a sufficiently dense sample of the underlying low-dimensional data manifold, or where such a low-dimensional manifold is conceivably present. We describe the regimes where the MH is not applicable as sparse. In this paper, we demonstrate that models succeed in the sparse regime by exploiting a highly structured local geometry, a property we formalize as normal alignment. We prove that normal-aligned classifiers -- whose input-output Jacobians are rank-one and align perfectly with the training data -- minimize the training objective under norm constraints and achieve maximal local robustness under a non-zero Jacobian constraint. For continuous piecewise-affine deep networks, normal alignment manifests geometrically as centroid alignment within the network's induced power diagram partition and results from the feature-learning regime. Motivated by these theoretical insights, we introduce GrokAlign, a regularization strategy that actively induces normal alignment. We demonstrate that GrokAlign significantly accelerates the training dynamics of deep networks relevant to the grokking phenomenon. Furthermore, we apply the principle of normal alignment to Recursive Feature Machines (RFMs) to introduce Recursive Feature Alignment Machines (RFAMs). We show that RFAMs exhibit greater adversarial robustness compared to RFMs when trained on tabular data.
arXiv:2605.16116v1 Announce Type: new Abstract: Developing and evaluating e-commerce web agents requires environments that preserve meaningful task structure while enabling controllable, reproducible, and scalable scientific comparison. Existing methodologies force a tradeoff: live storefronts provide realism but are non-stationary, difficult to inspect, and irreproducible, while hand-built sandbox benchmarks provide control but cover only a narrow range of layouts, catalogs, policies, and interaction patterns. We argue that the core bottleneck is methodological: the field lacks a scalable way to construct evaluation settings that are simultaneously realistic, diverse, controllable, inspectable, and reproducible. We introduce ShopGym, an integrated framework for realistic simulation and scalable benchmarking of e-commerce web agents. ShopGym is a framework for constructing e-commerce simulation environments and grounded benchmark tasks. Its simulation layer, ShopArena, converts live seed storefronts into self-contained sandbox shops through anonymized shop specifications and a staged, validated generation process. On top of these simulated storefronts, ShopGuru synthesizes benchmark tasks across seven skill categories, grounding each task in the shop's catalog, navigation structure, policies, and interaction affordances. Together, ShopArena and ShopGuru produce self-contained, resettable, inspectable, and stable evaluation artifacts that preserve structural properties and agent-evaluation signals relevant to shopping tasks. We validate the framework through graph-based structural analysis and agent-based behavioral evaluation with 224 generated tasks across six sandbox shops: three constructed with synthetic data and three with real data. Our results show that the synthetic shops preserve key structural properties of live storefronts, with agent performance on synthetic shops positively correlated with performance on live storefronts.
arXiv:2605.16115v1 Announce Type: new Abstract: As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and macroscopic flow optimisation, overlooking environmental affordances and human spatial expectations. To bridge the gap between macroscopic theory and micro-level perception, we conducted a game-based virtual evacuation experiment (N=56). We investigated individual psychological responses to four multi-robot yielding strategies (Hide, LineEscape, Freeze, ShortestPath) across confined corridors with and without refuge niches. Our results establish a robust preference hierarchy (Hide > LineEscape > Freeze > ShortestPath), demonstrating that proactive space-yielding significantly outperforms freezing and efficiency-first approaches. Crucially, we found that environmental affordances heavily shape cognitive expectations. Actively utilising available niches amplifies the psychological comfort of proactive yielding (Hide). Conversely, failing to use an obvious niche (e.g., executing LineEscape) may trigger Expectation Violation. This is reflected in a drastically increased perceived cognitive delay, despite objectively unimpeded trajectories. Furthermore, prior robot interaction experience helps users decode complex social intents. Ultimately, this research demonstrates that safe human-robot interaction during emergencies must evolve from pure trajectory optimisation to semantically aware navigation. Future work will extend this framework to investigate complex interactions between robot swarms and pedestrian crowds.
arXiv:2605.15722v1 Announce Type: new Abstract: Accurate delineation of electrocardiogram (ECG), the segmentation of meaningful waveform features, is crucial for cardiovascular diagnostics. However, the scarcity of annotated data poses a significant challenge for training deep learning models. Conventional semi-supervised semantic segmentation (SemiSeg) methods primarily focus on consistency from unlabeled data, underutilizing the information exchange possible between labeled and unlabeled sets. To address this, we introduce CardioMix, a framework built on a bidirectional CutMix strategy guided by cardiac patterns for ECG segmentation. This approach enriches the labeled set with realistic variations from unlabeled data while simultaneously applying stronger supervisory signals to the unlabeled set, as the cardiac pattern-guided mixing ensures all augmented samples remain physiologically meaningful. Our framework is designed as a plug-and-play module, demonstrating high compatibility with various SemiSeg algorithms. Extensive experiments on SemiSegECG, a public multi-dataset benchmark for ECG delineation, demonstrate that CardioMix consistently outperforms existing CutMix-based fusion strategies across diverse datasets and labeled ratios as a plug-and-play module compatible with various SemiSeg algorithms.
arXiv:2605.15723v1 Announce Type: new Abstract: Multimodal alignment is commonly learned from isolated image-text pairs via CLIP-style dual encoders, leaving the relational context among entities largely unused. Multimodal attributed graphs (MAGs), where nodes carry multimodal attributes and edges encode corpus structure, provide a natural setting for refining frozen vision-language embeddings. This refinement is challenging: visual, textual, and cross-modal relations often induce different neighborhood geometries, while unrestricted graph propagation can quickly over-smooth retrieval representations. Effectively leveraging graph context therefore requires simultaneously breaking modality-specific topological barriers, controlling the smoothing regime, and preserving informative smoothing before semantic boundaries collapse. We propose Graph-Optimized Multimodal Alignment (GOMA), a structure-driven post-alignment framework that views frozen multimodal embeddings as graph signals and addresses these requirements through a unified retrieval-oriented design. GOMA decouples three key design choices: where messages should flow, how multimodal evidence should propagate, and which smoothing depth should be retained. Concretely, it learns modality-aware propagation operators, performs finite-step coupled smoothing without diagonal cross-modal shortcuts, and adaptively reads out node-specific smoothing trajectories to preserve useful smoothing before collapse. All experiments follow a transductive MAG retrieval protocol where the graph serves only as unlabeled context and diagonal self-pair edges are removed. On seven MAG benchmarks, GOMA achieves state-of-the-art or tied state-of-the-art retrieval and remains substantially more stable than the strongest graph competitor, demonstrating that MAG structure can serve as an effective post-encoder for frozen multimodal embeddings.
arXiv:2504.00289v3 Announce Type: replace Abstract: The release of top-performing open-weight LLMs has cemented China's role as a leading force in AI development. Do these models support languages spoken in China? Or do they support the same languages as models developed in the United States or in Europe? Comparing multilingual capabilities is important for two reasons. First, language ability provides insights into pre-training data curation, and thus into resource allocation and development priorities. Second, Chinese model developers need to navigate the tension between serving a linguistically diverse population domestically, and optimizing for globally visible benchmarks that are predominantly English. We investigate Chinese model developers' priorities through a comparative study of Chinese-developed and Western-developed open-weight LLMs, on 21 language variants including Asian regional, Chinese, and European languages. Our experiments on Information Parity and reading comprehension show Chinese models' performance across these languages correlates strongly (r=0.93) with their Western counterparts, with the sole exception being better Mandarin. Chinese-developed models are good at French and German, but they sometimes cannot identify languages spoken by Chinese minorities such as Kazakh and Uyghur. Overall, all open-weight LLMs we study have a similar multilingual performance profile, despite the diverse linguistic and cultural contexts the model developers operated within. We interpret the homogenization as consistent with the influence of global benchmarking practices and shared training resources. Rather than treating current language support as inevitable, our results highlight multilingual development as a space of prioritization and trade-offs, with implications for model developers, policymakers, and users.
arXiv:2605.15892v1 Announce Type: new Abstract: Robots are increasingly present in human spaces, such as for conducting deliveries in hospitals, interacting with visitors at museums, and stocking items in warehouses. To ensure the seamless integration of robots into these spaces, a new role in human-robot interaction is emerging - the robot wrangler, namely an individual who is responsible for setting up, overseeing, and troubleshooting the robot. To understand the needs of this stakeholder, we conducted a scoping review that uncovered a typology of robot wrangling across the research literature, and discovered that wrangling is an umbrella term that collapses a highly complex and heterogeneous space of activities, often rendering this labor difficult to characterize and support. To further clarify and understand robot wrangling, we then reflected on our own firsthand and imagined experiences as robot wranglers within our own respective domains. Guided by the scoping review and our reflections, we devise a series of design implications for supporting wranglers directly as individuals and as members of a wider service ecology.
arXiv:2605.15775v1 Announce Type: new Abstract: Continual learning (CL) aims to train models sequentially over multiple domains without forgetting previously learned knowledge. However, existing CL methods optimize for in-domain performance and are therefore prone to learning spurious, domain-specific cues (``shortcut learning''), which limits generalization to unseen domains after deployment. In this paper, we address this limitation through continual learning of domain-invariant representation. We introduce a broad class of CL methods that sequentially learn representations capturing invariant structures across domains. Our methods are motivated by the observation that such invariant structures often preserve the underlying causal mechanisms, which can reduce the risk of overfitting to domain-specific cues and thus offer better out-of-domain generalization. Our proposed CL methods combine replay-based training with a tailored sequential invariance alignment to learn -- and preserve -- invariant structures over time. We evaluate our methods under a deployment-oriented protocol that measures performance on unseen target domains. Across six benchmark and real-world datasets spanning vision, medicine, manufacturing, and ecology, our methods consistently outperform existing CL baselines in terms of generalization to unseen target domains. As an ablation, we further show that na\"ive extensions of sequential training with existing domain-invariant representation learning (DIRL) methods provide only limited benefits. To the best of our knowledge, this is the first work to develop domain-invariant representation methods for CL.
arXiv:2505.23678v3 Announce Type: replace Abstract: While reinforcement learning (RL) over chains of thought has significantly advanced language models in tasks such as mathematics and coding, visual reasoning introduces added complexity by requiring models to direct visual attention, interpret perceptual inputs, and ground abstract reasoning in spatial evidence. We introduce ViGoRL (Visually Grounded Reinforcement Learning), a vision-language model trained with RL to explicitly anchor each reasoning step to specific visual coordinates. Inspired by human visual decision-making, ViGoRL learns to produce spatially grounded reasoning traces, guiding visual attention to task-relevant regions at each step. When fine-grained exploration is required, our novel multi-turn RL framework enables the model to dynamically zoom into predicted coordinates as reasoning unfolds. Across a diverse set of visual reasoning benchmarks--including SAT-2 and BLINK for spatial reasoning, V*bench for visual search, and ScreenSpot and VisualWebArena for web-based grounding--ViGoRL consistently outperforms both supervised fine-tuning and conventional RL baselines that lack explicit grounding mechanisms. Incorporating multi-turn RL with zoomed-in visual feedback significantly improves ViGoRL's performance on localizing small GUI elements and visual search, achieving 86.4% on V*Bench. Additionally, we find that grounding amplifies other visual behaviors such as region exploration, grounded subgoal setting, and visual verification. Finally, human evaluations show that the model's visual references are not only spatially accurate but also helpful for understanding model reasoning steps. Our results show that visually grounded RL is a strong paradigm for imbuing models with general-purpose visual reasoning.
arXiv:2510.19315v3 Announce Type: replace Abstract: We study succinctness as a measure of the expressive power of transformers. Succinctness -- how compactly a formalism can describe a language relative to other formalisms -- is a classical notion in logic and automata theory. We prove that fixed-precision transformers are remarkably succinct: they can be exponentially more succinct than both linear temporal logic (LTL) and recurrent neural networks, and, by extension, state-space models, and doubly exponentially more succinct than finite automata. In other words, there exist families of languages describable by polynomial-size transformers whose smallest equivalent LTL formula or recurrent neural network is exponentially large, and whose smallest equivalent automaton is doubly exponentially large. We also establish matching upper bounds, showing that any fixed-precision transformer can be converted to an LTL formula with at most an exponential blow-up -- improving a prior doubly exponential translation. As a consequence of this succinctness, we show that basic verification problems for transformers, such as emptiness and equivalence, are provably intractable: specifically, EXPSPACE-complete.
arXiv:2605.15855v1 Announce Type: new Abstract: Despite strong image-generation performance, diffusion models' reconstruction objectives limit alignment with human preferences. RL enables such alignment through explicit rewards. However, most studies apply RL to the full denoising trajectory, making it computationally costly and weakening preference alignment, i.e., doing more but achieving less. We observe that the impact of RL fine-tuning varies significantly across denoising stages. In the early stage, image structures are unstable and distant from the final reward signal. Applying RL at this stage leads to delayed rewards and action-reward mismatching, resulting in high variance and inefficient updates. Conversely, in the later stage, reward gains saturate, and continued training tends to overfit local details, intensifying reward hacking. To tackle these challenges, we propose AdaScope, an RL-enhanced plug-in that improves generation quality while reducing computational cost. Specifically, AdaScope adaptively identifies the optimal intervention timing for RL by perceiving the structural evolution and semantic consistency during denoising, and dynamically terminates training once the denoising converges and reward gains saturate. As a result, it achieves a rare 'dual benefit': a reduction in computational costs alongside a significant performance improvement. We offer theoretical grounds for the design of AdaScope. Compared with state-of-the-art methods, AdaScope improves performance by 66% while cutting computational cost by 59%.
arXiv:2605.16245v1 Announce Type: new Abstract: Generative artificial intelligence (AI) is increasingly integrated into the online platforms where humans exchange opinions; large language models (LLMs) now polish users' posts on LinkedIn and provide context for content shared on X. While prior work has shown that AI can express biased opinions and shape individuals' opinions during human-AI interactions, less attention has been paid to its influence on collective opinion formation when mediating human-to-human communication. We address this gap via a combination of empirical and theoretical analyses. We show empirically that LLMs from multiple popular families introduce directional biases when instructed to edit human-written texts on contested topics, for example, nudging texts in favor of gun control and against atheism. Building on this observation, we introduce a mathematical model of opinion dynamics in which an AI system sits between users on a social network, transforming the opinions they express and perceive. By analytically characterizing the equilibrium of this model and performing simulations on real social network data, we show that biases introduced by AI in human-to-human communication can be amplified through the network and shift collective opinion in their direction. In light of these findings, we investigate whether such biases are controllable by online platforms. We audit the "Explain this post" feature on X and find evidence of pro-life bias in Grok's outputs on abortion-related content, which we trace back to specific design choices. We conclude with a discussion of the broader implications of our findings in relation to ongoing legislative efforts in the European Union.
arXiv:2507.08752v3 Announce Type: replace Abstract: We investigate the propagation of initial value perturbations along the solution of a linear ordinary differential equation \( y'(t) = Ay(t) \). This propagation is analyzed using the relative error rather than the absolute error. Our focus is on the long-term behavior of this relative error, which differs significantly from that of the absolute error. The present paper is a practical sequel to the theoretical papers \cite{M1,M2} on the long-time behavior of the relative error: it includes applicative examples and important issues not addressed in \cite{M1,M2}. In addition, the present paper shows that understanding the long-term behavior provides insights into the growth of the relative error over all times, not just at large times. Therefore, it represents a crucial and fundamental aspect of the conditioning of linear ordinary differential equations, with applications in, for example, non-normal dynamics.
arXiv:2605.15964v1 Announce Type: new Abstract: Aerial vision-language navigation (VLN) requires agents to follow natural-language instructions through closed-loop perception and action in 3D environments. We argue that aerial VLN can be formulated as a prediction-driven world-action problem: the agent should anticipate latent world evolution and act according to the predicted consequences. To this end, we propose WorldVLN, the first autoregressive world action model for aerial VLN. Unlike full-sequence video-generation world models that generate an entire visual clip, WorldVLN adapts a latent autoregressive video backbone to predict short-horizon world-state transitions and directly decodes them into executable waypoint actions. After each action segment is executed, newly received observations are encoded back into the autoregressive context, enabling closed-loop world-action prediction. We further introduce a two-stage training framework that first grounds the video prior in instruction-conditioned navigation dynamics and then develops Action-aware GRPO, the first reinforcement learning method tailored to autoregressive WAMs, to optimize waypoint decisions through their downstream rollout consequences. On public outdoor and indoor benchmarks, WorldVLN consistently outperforms existing Vision-Language-Action baselines with 12\%+ success-rate gains and larger advantages on challenging cases. It further transfers zero-shot to real drone deployment, suggesting that the proposed WorldVLN offers a promising route for spatial action tasks. Demos and code are available at https://embodiedcity.github.io/WorldVLN/.
arXiv:2605.16190v1 Announce Type: new Abstract: Enabling continued data-center growth under increasing grid stress motivates closer coordination between flexible computing demand and co-located battery energy storage systems (BESS) to improve site operations and provide grid services. This paper develops a robust co-optimization framework for day-ahead operation of data centers with co-located BESS under utility-imposed interconnection limits on peak load and ramping. The model jointly considers deadline-constrained computing workloads, managed through workload scheduling and dynamic voltage and frequency scaling (DVFS), together with degradation-aware BESS dispatch to enable cost optimization and participation in ancillary-service markets. Case studies based on real-world market and workload data show that the proposed framework yields feasible day-ahead schedules across a range of operating conditions, with substantially larger benefits when interconnection constraints become binding. Under baseline conditions, BESS value is derived from both ancillary-service participation and improved workload and energy management. Under stressed peak-load and ramping limits, however, the daily value of BESS increases by a factor of two or more, driven primarily \revise{by BESS actions to reduce the potential incompletion in the schedulable workload while complying with interconnection constraints}. Under tight peak-load caps, workload composition also matters where a higher share of non-schedulable jobs can increase operating cost by more than 25\% relative to more flexible workload mixes. \revise{Additionally, DVFS studies further show that processor-level control is a material flexibility lever under tight load limits.} These results demonstrate that coordinated compute-storage flexibility can materially expand the operational headroom and grid value of data centers, especially under increasingly scarce grid capacity.
arXiv:2605.15788v1 Announce Type: new Abstract: Proactive autoscaling for containerized workloads depends on knowing the provisioning delay, i.e., the time between a scaling decision and the moment new capacity is ready to serve traffic. In practice, this cold-start duration can vary substantially across environments and even across consecutive scale-out events. We present ADAPT (Adaptive Duration Approximation for Predictive Timing), an online EWMA estimator that tracks coldstart duration at runtime. ADAPT feeds a dynamic planning horizon, FH-OPT, into a Model Predictive Controller (MPC) that optimizes replica counts over a rolling window. Together, these components form a closed-loop proactive autoscaling design that adapts its lookahead based on measured provisioning delay. Evaluated across three policies (MPC+LSTM, MPC+Prophet, HPA) and six workload archetypes with five random seeds, MPC+LSTM achieves below 5% SLA violation on all workloads, compared with 7-19% for reactive HPA and up to 28.7% for MPC+Prophet on bimodal traffic.
arXiv:2605.15790v1 Announce Type: new Abstract: Retrieval-Augmented Generation (RAG) improves reliability of large language models by incorporating external knowledge, but the retrieval process can introduce bias that propagates to generated outputs. This issue is particularly challenging in top-k settings, where multiple documents jointly influence generation. We propose a fairness-aware retrieval framework that models and controls this bias. Our approach combines controlled bias injection via reranking, a position-aware model of bias propagation, and an optimization formulation that balances relevance and fairness. We further introduce a scalable solution based on Quadratic Fairness via Dual Hyperplane Approximation (FARO), which enables efficient optimization through problem decomposition. Experimental results show that our method effectively mitigates generation bias while preserving relevance. This work provides a principled approach for fairness-aware retrieval in RAG systems.