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Science Journals

Peer-reviewade publikationer — 66050 artiklar

ICP: Exploiting Instruction Correlation for Prefetching Irregular Memory Accesses
arXiv:2605.15645v1 Announce Type: new Abstract: Irregular memory accesses pose challenges for effective and efficient data prefetching. While temporal prefetchers have recently shown promise for irregular memory access patterns, their effectiveness fundamentally depends on temporal address recurrence and large metadata storage. When memory addresses exhibit weak or no recurrence, as in indirect memory accesses, temporal prefetchers achieve limited performance gains while incurring substantial storage overhead. This paper proposes Instruction-Correlation Prefetching (ICP), a new hardware prefetching mechanism that exploits instruction-level correlations rather than memory-address correlations to handle irregular memory accesses. ICP observes that although memory addresses may not repeat, the instructions generating them often recur with stable data-dependency relationships. By learning these persistent instruction correlations, ICP speculatively computes and prefetches future irregular accesses using the execution results of their correlated predecessors. Across irregular SPEC CPU and GAP benchmarks, ICP outperforms the state-of-the-art temporal prefetcher Triangel by 14.0% and the indirect prefetcher DMP by 6.0%, while requiring only 2.1 KB of hardware storage, over three orders of magnitude smaller than temporal prefetchers.
Runtime-Structured Task Decomposition for Agentic Coding Systems
arXiv:2605.15425v1 Announce Type: new Abstract: Agentic coding systems increasingly use large language models (LLMs) for software engineering tasks such as debugging, root cause analysis, and code review. However, many existing systems encode task logic, execution flow, and output generation inside monolithic prompts. This design creates brittle behavior, limited debuggability, and high retry costs because failures often require rerunning the full workflow. We present runtime-structured task decomposition, an architectural approach in which task partitioning and execution flow are managed through executable control logic rather than prompt structure alone. LLMs are used only for focused judgment tasks, and outputs are validated against predefined schemas before downstream execution. We evaluate this approach on two software engineering workloads using three configurations: monolithic execution, static decomposition with fixed subtasks and no runtime branching, and runtime-structured decomposition. Each configuration was evaluated across 10 runs. Our results show that decomposition alone does not necessarily reduce retry cost. In the Kubernetes root cause analysis workload, the static decomposition baseline produced a retry cost of 1,632 +/- 145 tokens versus 904 +/- 17 tokens for the monolithic baseline because failures forced reruns of downstream subtasks. A similar pattern appeared in the multi-file debugging workload, where the static baseline consumed 933 tokens compared to 703 tokens for the monolithic system. The runtime-structured approach reran only failed subtasks, reducing retry costs to 436 +/- 132 tokens for root cause analysis and 460 tokens for debugging. Overall, the approach achieved up to 51.7% lower retry cost than monolithic systems and 73.2% lower retry cost than static decomposition baselines, improving efficiency, debuggability, and operational reliability in agentic coding systems.
Delayed current sheet formation due to an external field in pulsed-power-driven reconnection experiments
arXiv:2605.15427v1 Announce Type: new Abstract: We present results from pulsed-power-driven magnetic reconnection experiments, in which we drove two exploding wire arrays in parallel to produce colliding plasma flows with anti-parallel magnetic fields of 1.2$\pm$0.2 T. The experimental volume was surrounded by a Helmholtz coil pair capable of externally applying a field of up to 2 T, parallel to the reconnecting electric field. We diagnosed these experiments using laser interferometric imaging in the direction of the anti-parallel magnetic fields, gated extreme ultraviolet pinhole imaging, and in situ inductive probes. For zero and weak (0.5 T) external fields, we reproduce previous observations in which a dense reconnection layer forms between the two wire arrays. However, when we apply a strong external field (2 T), we observe a void between the arrays rather than a dense layer, and we hypothesise that the external field is frozen out of the plasma and provides a back-pressure which decelerates the flows. Our experimental results are compared with three-dimensional magnetohydrodynamic simulations of the experiment, which qualitatively support this hypothesis. These simulations allow us to study the pressure balance and dynamics of the current sheet aspect ratio, demonstrating the delayed formation of the reconnection layer due to the external field.
Distributionally Robust Nash Equilibrium Seeking with Partial Observations and Distributed Communication
arXiv:2605.15534v1 Announce Type: cross Abstract: In this work, we study stochastic one-shot games where agents' utilities depend on the collective strategy profiles of other agents as well as on some well-behaved randomness. While each decision-maker is agnostic to the random variable's underlying distribution, they have access to finitely many i.i.d. samples generated from it. We consider two cases: one where samples are shared; and another, more special one, where samples are individually accessible. To hedge against the unknown uncertainty, each agent plays a distributionally robust game and aims to maximize the worst-case expected utility over a Wasserstein ball around the sample average distribution. In this setting, we provide conditions under which the game has a non-empty set of distributionally robust Nash equilibria (DRoNE) and then characterize the closeness of the DRoNE set to the Nash equilibria (NE) of the associated stochastic game. We then propose an inertial, supported, better response, ascending supergradient dynamics ISBRAG that seeks the DRoNE's when the distributionally robust game possesses what we term as amicable supergradients. This forms the basis of a distributed version (d-ISBRAG) where agents estimate others' strategies by means of a dynamic consensus subroutine over a directed communication network. While initially the distributed algorithm works in the case where agents have individual samples, we later extend this to the case of shared observations under certain simplifying assumptions. This involves analyzing a tractable reformulation of the distributionally robust optimization problem and solving it in a distributed manner to compute the required supergradients. Simulations illustrate our results.
ITHICA: Intra-Thread Instruction Checking Approach for Defect-Induced Silent Data Corruptions
arXiv:2605.15638v1 Announce Type: new Abstract: Hyperscaler reports of silent data corruptions (SDCs), presumed to be caused by silicon manufacturing defects, have motivated the development of functional tests for detecting defective CPUs. We present ITHICA, an approach for automatically generating functional tests for defect-induced errors from arbitrary programs by inserting intra-thread, instruction-level error checks, primarily leveraging instruction duplication and output comparison. Our key insight is that the most pernicious defects cause inconsistent errors: two executions of the same instruction within the same thread, given the same inputs, can produce different architectural outputs depending on the execution context in which they run. By exploiting this insight, ITHICA enables arbitrary programs to serve as tests and identifies affected instructions upon error detections. We use ITHICA to transform industrial hyperscaler test programs (our baseline), datacenter workloads, and common libraries into functional tests, and evaluate them on over 3,000 CPU servers. ITHICA error checks detect 39% more defective servers than native checks within the ITHICA tests derived from our baseline programs, and enable novel findings on defect behavior that challenge conclusions drawn by prior hyperscaler fleet studies.
Chiral-Mode Control around a Hermitian Diabolic Point in Discrete Non-Hermitian Coupled Resonators
arXiv:2605.15637v1 Announce Type: new Abstract: Motivated by the prospect of chiral-mode control in compact photonic systems, we analyze discrete coupled single-mode resonators. Using the minimal three-resonator model, we show that an infinitesimal complex onsite perturbation near a Hermitian diabolic point (DP) induces chiral-mode selection, governed by what we term an asymptotic exceptional point (AEP). Here, an AEP denotes a Hermitian DP equipped with a non-Hermitian perturbation that induces an asymptotically defective effective Hamiltonian. The eigenvectors coalesce in the asymptotic limit toward the DP, although the Hamiltonian at the point itself remains diagonalizable. Operationally, this AEP response realizes chirality switching from an achiral state to a chiral state. The associated eigenvalue response exhibits the anomalous fractional-power scaling ${\Delta}{\lambda} \propto {\varepsilon}^{3/2}$, distinct from the square-root response of an ordinary exceptional point (EP). We further show that, in a broader two-parameter perturbation space, ordinary EPs lie on exceptional-line branches that meet at the AEP. A finitebias control sweep crosses these branches at an EP pair, enabling chirality reversal between opposite chiral states. The central message is therefore that the AEP organizes two related routes for chirality switching: direct switching from an achiral state to a chiral state via the AEP, and switching between opposite chiral states via an EP pair in the vicinity of the AEP. Within a finite-resolution averaging model, these two operating points exhibit different practical performance characteristics, and under sufficiently high control resolution, the AEP operating point can become more favorable than the EP-pair operating point, suggesting a route toward compact and low-energy chiral photonic devices.
A Tearing and Interconnecting Formulation for Magneto-Quasi-Statics
arXiv:2605.15636v1 Announce Type: new Abstract: This note deals with a tearing and interconnecting (special non-overlapping domain decomposition) formulation for magneto-quasi-statics (also known as the eddy current model). Only two subdomains are considered, one conducting and one insulating. Using a straightforward tree-cotree splitting, one can get rid of some kernel components in the non-conducting region, but due to the coupling across the interface, a lot of kernel functions remain that are associated with the interface. The formulation presented here overcomes this problem by using a space splitting into gradient fields and a complementary space. Under a mild condition on that splitting, it is shown that (i) one does not need any gradient part in the non-conducting domain, and therefore no coupling of any gradient components between the two subdomains, (ii) both subdomain operators are invertible, and (iii) although the magnetic vector potential is discontinuous across the subdomain interface, the corresponding magnetic field is globally in H(div).
Control Algorithms for Quadcopter Motion in Dynamic Positioning Mode
arXiv:2605.15349v1 Announce Type: new Abstract: A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a varying yaw angle. The second control algorithm addresses the above problem using a simplified regulator tuning methodology.
Topical Shifts in the Dark Web: A Longitudinal Analysis of Content from the Cybercrime Ecosystem
arXiv:2605.15345v1 Announce Type: new Abstract: The dark web hosts a dynamic ecosystem of cybercrime forums and marketplaces that adapt to law enforcement pressure, technological change, and economic incentives. Prior research has extracted cyber threat intelligence from these platforms using static snapshots, with limited attention to how discussions evolve over time. In this study, we conduct a longitudinal analysis of 25,065 websites in the dark web using 11,403,638 HTML snapshots (approximately 1245.38 GB) collected over six years. We develop a longitudinal topic-modeling framework combining domain-specific embeddings, density-based clustering and temporal aggregation to measure topic prevalence and lifecycle at the website level. Our analysis identifies 55 thematic clusters. We find that approximately 75% of total discussion volume is concentrated in a small set of persistent core topics, while short-lived themes account for approximately 3% of activity. The median topic lifespan is 75 months, indicating gradual thematic evolution rather than abrupt replacement.
Evaluating Chinese Ambiguity Understanding in Large Language Models
arXiv:2605.15635v1 Announce Type: new Abstract: Linguistic ambiguity is critical to the robustness of Large Language Models (LLMs), yet existing research focuses mostly on English, with limited attention devoted to Chinese. Existing Chinese ambiguity datasets (e.g., CHAmbi) suffer from poor scalability. Guided by Potential Ambiguity (PA) Theory, we design a semi-automatic pipeline to construct CHA-Gen. It is the first PA Theory-grounded Chinese ambiguity dataset, which comprises 5,712 sentences (2,414 ambiguous, 3,298 unambiguous) across 18 potential ambiguous structures. Evaluating LLMs (e.g. Gemma 3, Qwen 2.5/3 series) via direct querying and machine translation, we find that LLMs struggle with ambiguity detection (improved by CoT prompting). Analysis of Qwen3-32B's CoT rationales reveals three common failure modes: ambiguity blindness, misattribution, and premature resolution. Uncertainty quantification with semantic entropy metric shows higher uncertainty for ambiguous sentences. Moreover, instruction tuning induces overconfidence, whereas Base models better capture semantic diversity. We further observe that models exhibit a bias toward dominant interpretations. Our work provides a scalable approach for Chinese ambiguity corpus and insights into LLMs' ambiguity handling, laying a foundation for enhancing Chinese ambiguity research in LLMs.
Belief Engine: Configurable and Inspectable Stance Dynamics in Multi-Agent LLM Deliberation
arXiv:2605.15343v1 Announce Type: new Abstract: LLM-based agents are increasingly used to simulate deliberative interactions such as negotiation, conflict resolution, and multi-turn opinion exchange. Yet generated transcripts often do not reveal why an agent's stance changes: movement may reflect evidence uptake, anchoring, role drift, echoing, or changed prompt and retrieval context. We introduce the Belief Engine (BE), an auditable belief-update layer that treats "belief" as an evidential state over a proposition and exposes it as scalar stance. BE extracts arguments into structured memory and updates stance with a log-odds rule controlled by evidence uptake u and prior anchoring a. Across multiple base LLMs, parameter sweeps show that these controls reliably shape stance dynamics while preserving an evidence-level update trail. On DEBATE, a human deliberation dataset with pre/post opinions, BE best reconstructs participants whose final stance follows extracted evidence; stable and evidence-opposed cases instead point to anchoring or factors outside the extracted evidence stream. BE provides configurable infrastructure for studying evidence-grounded deliberation, where openness, commitment, convergence, and disagreement can be tied to explicit update assumptions rather than hidden prompt effects.
Discretizing Group-Convolutional Neural Networks for 3D Geometry in Feature Space
arXiv:2605.15368v1 Announce Type: new Abstract: Group-convolutional neural networks (GCNNs) are among the most important methods for introducing symmetry as an inductive bias in deep learning: In each linear layer, GCNNs sample a transformation group $G$ densely and correlate data and filters in different poses (with suitable anti-aliasing for steerable GCNNs) to maintain equivariance with respect to $G$. Unfortunately, applying filters to many data items resulting from this sampling is expensive (even for translations alone, i.e., in ordinary CNNs), and costs grow exponentially with increasing degrees of freedom (such as translations and rotations in 3D), which often hinders practical applications. In this paper, we propose sampling in feature space, i.e., replacing geometrically dense samples with representative samples selected by feature similarity. This decouples geometric resolution from memory and processing costs during training and inference, providing a novel way to trade off computational effort and accuracy. Our main empirical finding is that a coarse feature-space sampling already preserves classification accuracy remarkably well, which permits precomputation based on geometric similarity, accelerating the training of equivariant 3D classifiers substantially.
From Text to DSL: Evaluating Grammar-Based Model Generation Using Open LLMs
arXiv:2605.15865v1 Announce Type: new Abstract: Large Language Models (LLMs) have shown increasing potential in automating model-driven software engineering tasks, particularly in generating models conforming to Domain Specific Languages (DSLs) from natural language. While most existing approaches rely on large proprietary models, their high cost and limited deployability hinder broader adoption. In this paper, we evaluate whether open-source LLMs of varying sizes (0.5B to 32B parameters) can generate DSL-conformant models using only few-shot prompting, without any fine-tuning. Our evaluation focuses on key model-driven engineering (MDE) requirements, including syntactic validity, semantic completeness, and inter-model reference consistency. We extend our prior work by moving from generating user interface models (referred to as "UI models" in this paper) over fixed, predefined data schemas ("data models") to generating both the UI and data models entirely from scratch. This shift serves two purposes: first, it highlights the LLM's ability to infer domain-specific relationships and maintain consistency across multiple interconnected models; second, it allows us to generalize earlier findings by testing DSL generation across models of different natures and structural roles. Our structured evaluation combines automatic parsing and expert feedback across 39 LLMs, revealing that several compact models (e.g., \texttt{gemma3:12b}, \texttt{mistral:7b-instruct}) approach or match the quality of much larger models. These findings demonstrate the feasibility of using smaller, open-source LLMs for grammar-conformant DSL generation in MDE workflows, offering a cost-effective and deployable alternative to closed LLMs.
About Time: Observation of Time-Reflection at Optical Frequencies
arXiv:2605.15632v1 Announce Type: new Abstract: Time-reflection occurs when a wave is propagating in a medium undergoing a large and abrupt change in its properties: the original wave splits into a time-refracted wave and a time-reflected wave, each displaying different features. The time-refracted wave continues along its original course but experiences a frequency shift, whereas the time-reflected wave is propagating backwards in space with a reversed phase, also with a shifted frequency. These phenomena are fundamental to any wave system, but the most interesting are electromagnetic (EM) waves, specifically at optical frequencies, where they can couple to light-matter interactions. However, time-reflection of EM waves was thus far observed only at RF frequencies, never at optical frequencies. This is because time-reflection requires an order-unity variation of the refractive index occurring faster than a single wave cycle, and conventional optical nonlinearities are either too weak or too slow by orders of magnitude. Here, we present the first observation of time-reflection at optical frequencies. We induce an order-unity refractive-index change with sub-cycle duration, observe the time-reflection, and study its fundamental properties. These results provide an experimental pathway to experimenting with time-interfaces, generating photonic time-crystals and exploring new regimes of light-matter interaction in time-varying media.
Reweighting free energy profiles between universal machine learning interatomic potentials for fast consensus building
arXiv:2605.15630v1 Announce Type: new Abstract: Free energy profiles serve as a fundamental bridge between microscopic atomic fluctuations and macroscopic thermodynamic observables. Estimating the free energy profile along a reaction coordinate, referred to as the potential of mean force (PMF), with density functional theory (DFT) accuracy is computationally expensive. Universal machine learning interatomic potentials (MLIPs) drastically reduce this cost, but their accuracy is strongly determined by their training data and hence can be uncertain for a given system. In this work, we present a systematic and scalable framework for reweighting PMFs, initially sampled with a single 'source' MLIP, across a representative suite of target MLIPs. Because traditional direct exponential reweighting fails for large system sizes due to low phase-space overlap between potentials, we deploy robust analytical corrections. Applying this to a complex 601-atom system of Li$^+$ transport in a nanoconfined electrolyte, we demonstrate that a mean energy-gap approximation effectively bypasses statistical collapse, producing a highly stable PMF matching the target PMF. Using this approach, we recover high-fidelity target thermodynamics across multiple DFT reference levels (PBE+D3, PBE-sol, r$^2$SCAN,r$^2$SCAN-D4) at a fraction of the computational cost of full simulations. Furthermore, thermodynamic analysis reveals that the studied MLIPs partition into two distinct clusters driven by their training data. Our reweighting framework successfully recovers target thermodynamic properties--specifically, reaction and activation free energies--even when the phase-space overlap between potentials is critically low. Ultimately, this approach establishes a vital diagnostic protocol to achieve affordable cross-model consensus on materials chemistry properties without redundant, resource-intensive simulations.
Pixel-to-4D: Camera-Controlled Image-to-Video Generation with Dynamic 3D Gaussians
arXiv:2601.00678v3 Announce Type: replace Abstract: Humans excel at forecasting the future dynamics of a scene given just a single image. Video generation models that can mimic this ability are an essential component for intelligent systems. Recent approaches have improved temporal coherence and 3D consistency in single-image-conditioned video generation. However, these methods often lack robust user controllability, such as modifying the camera path, limiting their applicability in real-world applications. Most existing camera-controlled image-to-video models struggle with accurately modeling camera motion, maintaining temporal consistency, and preserving geometric integrity. Leveraging explicit intermediate 3D representations offers a promising solution by enabling coherent video generation aligned with a given camera trajectory. Although these methods often use 3D point clouds to render scenes and introduce object motion in a later stage, this two-step process still falls short in achieving full temporal consistency, despite allowing precise control over camera movement. We propose a novel framework that constructs a 3D Gaussian scene representation and samples plausible object motion, given a single image in a single forward pass. This enables fast, camera-guided video generation without the need for iterative denoising to inject object motion into render frames. Extensive experiments on the KITTI, Waymo, RealEstate10K and DL3DV-10K datasets demonstrate that our method achieves state-of-the-art video quality and inference efficiency. The project page is available at https://melonienimasha.github.io/Pixel-to-4D-Website.
VideoGameBench: Can Vision-Language Models complete popular video games?
arXiv:2505.18134v3 Announce Type: replace Abstract: Vision-language models (VLMs) have achieved strong results on coding and math benchmarks that are challenging for humans, yet their ability to perform tasks that come naturally to humans--such as perception, spatial navigation, and memory management--remains understudied. Real video games are crafted to be intuitive for humans to learn and master by leveraging innate inductive biases, making them an ideal testbed for evaluating such capabilities in VLMs. To this end, we introduce VideoGameBench, a benchmark consisting of 10 popular video games from the 1990s that VLMs directly interact with in real-time. VideoGameBench challenges models to complete entire games with access to only raw visual inputs and a high-level description of objectives and controls, a significant departure from existing setups that rely on game-specific scaffolding and auxiliary information. We keep three of the games secret to encourage solutions that generalize to unseen environments. Our experiments show that frontier vision-language models struggle to progress beyond the beginning of each game. We find inference latency to be a major limitation of frontier models in the real-time setting; therefore, we introduce VideoGameBench Lite, a setting where the game pauses while waiting for the LM's next action. The best performing models, Gemini 2.5 Pro and Claude 3.7 Sonnet, complete only 0.48% of VideoGameBench and 1.6% of VideoGameBench Lite. We hope that the formalization of the human skills mentioned above into this benchmark motivates progress in these research directions.
Entropy stable finite difference schemes for One-Fluid Two-Temperature Euler Non-equilibrium Hydrodynamics
arXiv:2605.15616v1 Announce Type: new Abstract: In this work, we consider the One-Fluid Two-Temperature Euler (OFTT-Euler) equations used for modeling non-equilibrium hydrodynamics. The model comprises a system of nonlinear hyperbolic partial differential equations with non-conservative products. The model decomposed the total pressure into two scalar components: one for electrons and one for ions. Our aim in this work is to design entropy-stable finite difference numerical schemes for the model. This is achieved by reformulating the equations such that the reformulated non-conservative part does not contribute to the entropy. Then, we design higher-order entropy-conservative numerical schemes by using Tadmor's relation for the conservative part and higher-order central differences for the non-conservative parts. Finally, we design the entropy-dissipation terms using the entropy-scaled right eigenvectors of the conservative part, thereby deriving the entropy inequality for the entire system. We present several test cases in one and two dimensions to demonstrate the accuracy and stability of the proposed schemes.
Where to Perch in a Tree: Vision-Guidance for Tree-Grasping Drones
arXiv:2605.15430v1 Announce Type: new Abstract: This study demonstrates a method to locate an ideal perch location on a tree for vision-guided autonomous tree-perching drones. Various image processing algorithms, including those used for machine learning, image segmentation and binary image morphology, are implemented to assess the shape and structure of a tree. Rather than identifying the closest available branch, this study builds on vision methods by evaluating the potential of each branch, determining its suitability for perching based on factors such as branch width, slope (angle to the horizontal) and curvature. For a given tree-perching drone and a dataset of more than 10,000 urban tree images taken from February to October in a subtropical and temperate monsoon climate, the proposed method successfully produces a result for 76% of feasible targets. A feasible target defined as a tree where the branch diameters are sufficiently thick and where the available perching space is at least equal to the width of a tendon-driven grasping claw. These successful preliminary results create a foundation from which a number of identified improvements and additional features can be developed to create a generalised method; this will involve the incorporation of supplementary data from depth perception and attitude sensors to enhance the branch assessment.
Coordinated Trajectory Control Algorithm for Quadcopter Motion along a Smooth Spatial Trajectory
arXiv:2605.15357v1 Announce Type: new Abstract: A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By introducing additional integrators, a dynamic control algorithm with a simplified controller tuning methodology is obtained. The control law is synthesized within the geometric approach, and its stability is proven. A realizable output-feedback version using an extended observer is also given. The results enable coordinated trajectory following in three-dimensional space despite unmeasured disturbances and incomplete state information.
Federated Learning of Spiking Neural Networks under Heterogeneous Temporal Resolutions
arXiv:2605.15355v1 Announce Type: new Abstract: Spiking neural networks (SNNs) are biologically inspired energy-efficient models that use sparse binary spike-based communication between neurons, making them attractive for resource-constrained edge devices. Federated learning enables such devices to train collaboratively without sharing raw data. In time-series applications, edge devices often collect data at different time resolutions due to hardware and energy constraints. This temporal heterogeneity poses a fundamental challenge for federated learning: parameters learned at one temporal resolution do not necessarily transfer directly to another, which might result in the naive federated averaging being ineffective. Targeting SNNs and, more broadly, deep networks with stateful neurons, we propose a federated learning framework that addresses this temporal resolution mismatch. We investigate how neuron parameters learned from data at different temporal resolutions and model aggregation should be integrated. We evaluate the proposed framework across two SNN-native benchmark datasets (SHD and DVS-Gesture) under a range of resolution heterogeneity scenarios. Our results show that the proposed adaptation methods can substantially recover accuracy lost due to temporal mismatch, hence enabling each client to train at their local temporal resolution while remaining compatible with the global model.
Learning Structured Robot Policies from Vision-Language Models via Synthetic Neuro-Symbolic Supervision
arXiv:2604.02812v2 Announce Type: replace Abstract: Vision-Language Models (VLMs) have recently demonstrated strong capabilities in mapping multimodal observations to robot behaviors. However, most current approaches rely on end-to-end visuomotor policies that remain opaque and difficult to analyze, limiting their use in real-world robotic applications. In contrast, classical robotic systems often rely on structured policy representations that provide interpretability, modularity, and reactive execution. This work investigates how foundation models can be specialized to generate structured robot policies grounded in multimodal perception, bridging high-dimensional learning and symbolic control. We propose a neuro-symbolic approach in which a VLM synthesizes executable Behavior Tree policies from visual observations, natural language instructions, and structured system specifications. To enable scalable supervision without manual annotation, we introduce an automated pipeline that generates a synthetic multimodal dataset of domain-randomized scenes paired with instruction-policy examples produced by a foundation model. By decoupling structured task decomposition under constrained symbolic grammars from hardware-specific motor control, we demonstrate that a 12B-parameter model can learn structured spatial-symbolic mappings required for executable BT synthesis, solely through in-silico supervision. Real-world physical experiments on two heterogeneous robotic manipulators confirm that these structurally constrained policies achieve zero-shot transfer to real-world environments. The results emphasize that the data bottleneck in robotic planning can be bypassed by procedurally synthesizing high-fidelity, neuro-symbolic training data.
Optimizing Chilled Water Systems with Cooling Towers via Virtual Power Metrics and Extremum-Seeking Control
arXiv:2605.15431v1 Announce Type: new Abstract: This paper presents an extremum seeking control (ESC) method for cooling tower fans to minimize overall power consumption of a chilled water plant system. Simulation studies across different climate locations demonstrate energy savings of approximately 15% compared to conventional control during summer conditions. This paper also proposes a virtual power meter (VPM) to enable use of the strategy in systems that lack physical power meters. Validation tests for the VPMs against physical meters showed good accuracy with a correlation of 96.11% and a normalized error of 5.11%. Coupled with the VPM, the proposed ESC control solution can be implemented on systems using typically available sensor measurements without the need for additional instrumentation.
Neutral-Reference Prompting for Vision-Language Models
arXiv:2605.15615v1 Announce Type: new Abstract: Efficient transfer learning of vision-language models (VLMs) commonly suffers from a Base-New Trade-off (BNT): improving performance on unseen (new) classes often degrades accuracy on known (base) classes. Addressing how to boost recognition of unseen classes without sacrificing known-class performance remains a central challenge. Existing work often simplistically attributes the BNT to overfitting on known classes. We observe an interesting phenomenon: VLMs frequently exhibit asymmetric confusion on certain downstream data, i.e., samples of class A are systematically mispredicted as class B, while the reverse confusion (B to A) rarely occurs. For known classes, this kind of bias can be mitigated by tuning using a cross-entropy loss, but for unseen classes, such pretraining-induced bias persists and harms generalization. Motivated by this, we propose NeRP, a plug-and-play prompting correction strategy that improves discrimination on unseen classes without modifying model parameters. NeRP leverages neutral text prompts and reference images to measure class-wise prior preferences along the pre-trained inter-class geometry, and combines them with the sample likelihood to obtain the model's surrogate score. If, for a given sample, the prior strongly favors the current prediction while the observed evidence is clearly insufficient, we perform a local flip between easily confusable class pairs, thereby correcting prior-dominated mispredictions. Extensive experiments across multiple backbones and 15 few-shot and cross-domain benchmarks show that NeRP substantially improves accuracy on unseen classes while preserving known-class prediction performance.
Neural Activation Patterns Across Language Model Architectures: A Comprehensive Analysis of Cognitive Task Performance
arXiv:2605.15436v1 Announce Type: new Abstract: This paper presents a comprehensive analysis of neural activation patterns across six distinct large language model (LLM) architectures, examining their performance on twelve cognitive task categories. Through systematic measurement of final activation values, attention entropy, and sparsity patterns, we reveal fundamental differences in how encoder and decoder architectures process diverse cognitive tasks. Our analysis of 144 task-model combinations demonstrates that mathematical reasoning consistently produces the highest attention entropy across all architectures, while decoder models exhibit significantly higher sparsity patterns compared to encoder models. The findings provide critical insights into the computational characteristics of modern language models and their task-specific neural behaviors, with implications for model selection and optimization in big data applications.