arXiv:2607.07281v2 Announce Type: replace
Abstract: Modular miniature robots could provide scalable function in constrained environments, but coordinating many imperfect modules remains difficult when computation, communication and reliability are limited. A central robotics challenge is to coordinate many actuator-sensor modules without assigning a privileged leader, prescribing a fixed gait template, or relying on dense communication. Here we introduce a programmable synchronization-graph framework for modular miniature robots in which each actuator-sensor pair is represented as a network node and locomotor coordination is encoded through graph coupling. Fixed intra-subgraph links synchronize heterogeneous actuator groups, whereas a small number of signed inter-subgraph links program phase relationships between groups. In physical robot collectives with up to nine modules, graph coupling drives the emergence of synchronization, signed links tune the phase difference from in-phase to out-of-phase motion, and floor experiments produce gallop-like and trot-like contact patterns in a five-module robot assembly. Replacing dense all-to-all coupling with sparse d-regular topologies preserves synchronization while reducing the coupling burden. The same graph representation also captures fault tolerance: increasing graph degree increases the number of module deactivations tolerated before desynchronization. Finally, an upper-confidence-bound edge-selection algorithm learns inter-subgraph links that drive the system toward target phase states. In a separate deactivation benchmark, the graph-based controller avoids the leader-specific failure mode observed in centralized leader-follower control and reduces worst-case phase error by about threefold. These results establish programmable network topology as a compact control layer for gait phase programming, online adaptation and robustness to unit loss in modular miniature robots.
Science Journals
arXiv:2607.08122v2 Announce Type: replace
Abstract: Workload-based differentially private (DP) synthetic data methods privately measure aggregate queries and post-process the noisy answers into synthetic records. Generic workloads can achieve strong distributional fidelity, but causal estimands such as the average treatment effect (ATE) depend on treatment-arm balance and outcome moments that generic marginals need not preserve. We propose causal workloads: DP query sets designed around the orthogonal moments used by doubly robust causal estimators. The released workload can be used directly by stable moment-map estimators or reconstructed by maximum-entropy calibration into reusable synthetic data; our theory decomposes ATE error into sampling, privacy, workload-approximation, Monte Carlo, and calibration terms. We also introduce Causal-AIM, an adaptive workload selector, and a noise-aware multiple-imputation (NA+MI) procedure for confidence intervals from DP synthetic data. Because the workload is released once, the same DP synthetic table can support ATE, ATT, and subgroup analyses without additional privacy spending. Empirically, causal workloads are most useful at strict privacy budgets and for calibrated uncertainty, while generic workloads often retain an advantage for point RMSE as privacy relaxes. The broader lesson is a tradeoff: distributional fidelity can help point accuracy, but valid causal inference requires preserving causal moments and propagating DP noise rather than treating synthetic rows as real.
arXiv:2607.08407v2 Announce Type: replace
Abstract: The rising pressure on DRAM availability and contract pricing reflects generative AI's massive high-performance memory requirements. This pressure is heavily compounded by hyperscale data center expansion, which now consumes a significant portion of global DRAM output. In this work, we propose a new architecture: Fiber Memory, which reimagines the role of optical fiber in a hyperscale data center, deploying it as an active, recirculating delay-line memory for immutable data, such as large language model weights. We present a data-parallel optical broadcast delay-line memory architecture that accounts for fiber's physical realities. By incorporating space-division multiplexed multi-core fibers, passive optical tap-and-amplify interfaces, co-packaged optics, and regional all-optical regeneration, our case study evaluation suggests that Fiber Memory can eliminate redundant weight storage across 10,000 AI accelerators and reduce weight-delivery energy by over 70% compared to traditional HBM3e configurations.
arXiv:2607.08746v2 Announce Type: replace
Abstract: While UMAP is widely used for exploring high-dimensional data, typical workflows focus on its lower-dimensional embedding, largely overlooking the rich k-nearest-neighbor (kNN) graph that UMAP constructs internally. This graph encodes the data manifold in its original high-dimensional space, before the distortion that UMAP's 2D projection introduces. We demonstrate the untapped potential of this internal representation, showing how standard graph algorithms applied to this graph enhance data sensemaking: (1) PageRank identifies representative data points, (2) k-core decomposition reveals dense core regions versus sparse periphery, and (3) clustering coefficient detects tight-knit neighborhoods with highly-similar data points. Through quantitative and qualitative evaluation on MNIST and Fashion MNIST, we show that these graph-based analyses are not only practical but also competitive with or complementary to purpose-built methods (e.g., k-medoids for exemplar selection, HDBSCAN for density-based clustering).
arXiv:2607.08980v2 Announce Type: replace
Abstract: We present a modified static PDE-based extrapolation method that builds on the approach of Aslam (2014 SIAM J. Sci. Comp) for extending smooth fields across interfaces implicitly defined as zero level sets. Our approach introduces the idea of relaxed upwinding finite differences as a key modification within the fast sweeping method. Unlike existing approaches, we require function values and their normal derivatives \emph{only} on the first grid layer inside the domain adjacent to the boundary, thereby improving computational efficiency and flexibility. To further improve accuracy, we introduce a simple boundary reconstruction technique that significantly reduces the numerical error in the extrapolated solution near the boundary. Numerical experiments indicate enhanced performance of our approach across a range of domain geometries, including those with high curvature features.
arXiv:2607.09172v2 Announce Type: replace
Abstract: Large Language Models are reshaping how software is developed and maintained. They are typically deployed in production using inference engines such as vLLM, which can efficiently serve pre-trained, highly configurable models. While prior work has focused on model architectures and hardware acceleration, the impact of inference engine configuration on energy consumption, performance, and output quality remains poorly understood.
In this paper, we present a large-scale controlled study of three selected vLLM configuration options: attention kernel type, prefix caching, and chunked prefill. We evaluate all combinations of these configurations across 5 open-weight LLMs and 5 diverse inference tasks, totaling $9,000$ runs and $93,600$ measures. We analyze energy consumption, latency, and accuracy, and examine both main effects and interaction effects between configuration options and tasks.
Our results show that the studied configuration options significantly impact energy and performance, mainly driven by attention type and prefix caching, while chunked prefill has a limited effect under the default vLLM serving configuration and evaluated workloads. These effects are highly model- and workload-dependent, and no configuration is universally optimal. We further show that model choice dominates global trade-offs, while configuration tuning provides local improvements along the Pareto frontier. Unexpectedly, inference options can also affect model accuracy.
arXiv:2508.13473v2 Announce Type: replace
Abstract: Recommendation systems are used in a range of platforms to maximize user engagement through personalization, promotion of popular content, and the use of information from social networks. It has been found that such recommendations may shape users' opinions over time. In this paper, we ask whether reactive users, who are cognizant of the influence of the content they consume, can limit such changes by adaptively adjusting their content consumption choices. To this end, we study users' opinion dynamics under two stochastic content consumption policies: a passive policy, where the probability of clicking on recommended content is fixed, and a reactive policy, where the probability of content consumption adaptively decreases following large opinion drifts. We analytically derive the expected opinion and user utility under these policies when a user is influenced by both a social network and the recommender. We show that the adaptive policy can help users prevent opinion drifts induced by recommendations and that when a user prioritizes opinion preservation, the expected utility of the adaptive policy can outperform the fixed policy. We validate our theoretical findings through numerical simulations. These findings help better understand how user-level strategies can challenge the biases induced by recommendation systems.
arXiv:2508.18173v2 Announce Type: replace
Abstract: The discovery of symbolic governing equations is a central goal in science; yet, it remains challenging particularly for graph dynamical systems, where the network topology further shapes the system behavior. While artificial intelligence offers powerful tools for modeling these dynamics, the field lacks a rigorous comparative benchmark to assess the true scientific utility of the discovered laws. To address this challenge, this work proposes a novel evaluation pipeline designed to rigorously assess state-of-the-art symbolic regression models for graph equation discovery. Moving beyond simple fitting metrics, this framework evaluates discovered laws based on their long-term trajectory stability and, critically, their out-of-distribution generalization to unseen graph topologies. We benchmark established methods, including sparse regression and MLP-based architectures, and introduce the Graph Kolmogorov-Arnold Network-ODE (GKAN-ODE) model, a novel adaptation of KANs explicitly tailored for this domain, augmented by hyperparameter-free multiplicative nodes and a new Spline-Wise symbolic regression algorithm. Across a suite of synthetic and real-world graph dynamical systems, we numerically demonstrate through extensive experiments that neural-based approaches, particularly the GKAN-ODE model, recover exact ground-truth equations and achieve trajectory errors up to two orders of magnitude lower than the baseline methods on out-of-distribution test graphs.
arXiv:2607.16143v1 Announce Type: new
Abstract: This paper presents a new implementation of the NeoSLAM algorithm. The proposed version is a complete rewrite of NeoSLAM into a modular architecture using modern frameworks that, together, enable real-time execution with minimal discarding of input data. This work also provides a comparative evaluation between NeoSLAM and RatSLAM across three datasets under varying environmental conditions. The experimental results highlight differences in mapping consistency and trajectory reconstruction, demonstrating the effectiveness and practical applicability of the proposed ROS2-based implementation. The results indicate that the new NeoSLAM outperforms the original in terms of processing throughput for real-time applications and achieves comparable performance to RatSLAM in terms of map reconstruction across the evaluated datasets.
arXiv:2510.01475v2 Announce Type: replace
Abstract: Model Predictive Control (MPC) has demonstrated significant performance improvements over today's control methods for residential Heating, Ventilation, and Air Conditioning (HVAC), but deploying MPC often requires substantial engineering effort. Reinforcement Learning (RL) may offer comparable performance with easier deployment, but its practical application for residential HVAC remains largely undemonstrated, leaving open questions related to occupant comfort and data requirements. To investigate these issues, we deployed one MPC variant and one model-based RL variant for one month each in an occupied house in a cold climate. The controllers adjusted an air-to-air heat pump's thermostat temperature setpoint based on measurements of the indoor temperature and the electric power used for heating. Relative to constant-setpoint operation, MPC saved 18.1\% (95\% confidence interval: 4.4 to 30.9\%) of weather-normalized heat pump energy and RL saved 20.9\% (2.6 to 38.3\%). MPC maintained acceptable occupant comfort. RL kept the house cooler, particularly during an initial adaptation phase, leading to three reports of occupant discomfort. The two algorithms had similar data requirements. We estimate that for a fresh deployment in another house, RL would take about one-third less engineering effort than MPC. While RL reduces deployment effort, it faces difficulties related to safe controller initialization and to mismatches between the modeled and true state and action spaces.
arXiv:2607.15480v1 Announce Type: new
Abstract: As artificial intelligence (AI) systems increasingly impact society, ensuring their ethical and trustworthy deployment has become a global priority. While a myriad of high-level ethical guidelines have emerged, criticism persists that these frameworks remain abstract and lack concrete mechanisms for implementation. This paper conducts a critical analysis of tools and trust mark frameworks intended to operationalize trustworthy AI (TAI), drawing on a comprehensive dataset from the OECD. Through empirical mapping and descriptive comparative analysis, we identify significant asymmetries in ethical focus, lifecycle coverage, stakeholder targeting, and tool typology. Our findings show a strong emphasis on fairness, transparency, and robustness, with comparatively little attention paid to explainability, digital security, and environmental sustainability. Moreover, most tools and certifications concentrate on post-development stages, with limited guidance for early design or data collection phases. Educational initiatives and policy engagement are notably underdeveloped, suggesting that current TAI efforts are dominated by technical and procedural measures within industry contexts. We argue that bridging the persistent chasm between AI principles and practice requires expanding ethical objectives, embedding ethics across the AI lifecycle, and fostering broader multi-stakeholder participation. This study provides both a diagnosis of existing implementation gaps and actionable recommendations for advancing more holistic, inclusive, and enforceable AI governance
arXiv:2607.16089v1 Announce Type: new
Abstract: Distributed infrastructure schedulers traditionally optimise capacity, locality, and cost, but provide limited support for security posture and emerging quantum-classical workloads. As hybrid quantum-classical computing becomes increasingly practical and post-quantum security requirements begin to affect infrastructure deployment, schedulers must jointly reason about heterogeneous compute resources, security constraints, and quantum backend characteristics. We present SQUIRO, a framework for security-aware quantum-classical scheduling based on a platform-independent Unified Scheduling Model (USM) and a six-step Scheduler Design Methodology (SDM) that together enable the derivation of concrete schedulers for Kubernetes, high-performance computing (HPC), and federated environments. The framework combines multidimensional security posture enforcement through hard feasibility constraints with residual-risk optimisation, and introduces a circuit-aware quantum backend selector that accounts for coherence margin, calibration freshness, queue pressure, and hardware capabilities through a forward-compatible colocation hierarchy. Evaluation on synthetic Kubernetes clusters shows that the security model enforces complete compliance for regulated workloads by construction, while global optimisation reduces infrastructure cost by up to 51% and energy consumption by up to 63% compared with greedy placement in underloaded scenarios, without compromising admission priorities. Additional experiments characterise the solve-time growth of the current CP-SAT formulation and show that circuit-aware backend selection systematically diverges from naive error-rate ranking under coherence- and queue-limited conditions.
arXiv:2510.25369v3 Announce Type: replace
Abstract: Neither the classical nor intuitionistic logic traditions are perfectly aligned with the purpose of reasoning about computation, as neither can permit unconstrained recursive definitions without inconsistency: recursive definitions must normally be proven terminating before admission and use. Grounded arithmetic or GA is a formal-reasoning foundation allowing direct expression of arbitrary recursive definitions. GA adjusts traditional inference rules so that terms that express nonterminating computations harmlessly denote no semantic value ($\bot$) instead of yielding inconsistency. Recursive functions are proven terminating in GA essentially by "dynamically typing" terms, or equivalently, symbolically reverse-executing the computations they denote via inference rules. Once recursive functions have been proven terminating, logical reasoning about them reduces to familiar classical rules. We summarize the development and lessons learned from two mechanically-checked formulations of GA, finding both syntactically consistent and semantically sound with respect to an underlying computable model. Propositional grounded arithmetic or PGA is a quantifier-free system for inductive grounded reasoning about open formulas. PGA has logical expressiveness comparable to Skolem's PRA, but has general-recursive (Turing-complete) functional expressiveness. PGA builds upon a simpler system of basic grounded arithmetic or BGA, which omits logical operators entirely. BGA and PGA are not only sound but semantically complete, a combination impossible for powerful classical systems with arithmetic, due to G\"odel's incompleteness theorems. These results suggest that powerful and consistent formal reasoning with unconstrained recursive definitions is possible, potentially enabling new computation-centric formal languages, proof assistants, and type systems in the future.
arXiv:2510.26147v2 Announce Type: replace
Abstract: In this paper, we investigate the beamforming design problem in an integrated sensing and communication (ISAC) system, where a multi-antenna base station simultaneously serves multiple communication users while performing radar sensing. We formulate the problem as the minimization of the total transmit power, subject to signal-to-interference-plus-noise ratio (SINR) constraints for communication users and mean-squared-error (MSE) constraints for radar sensing. The core challenge arises from the complex coupling between communication SINR requirements and sensing performance metrics. To efficiently address this challenge, we first establish the equivalence between the original ISAC beamforming problem and its semidefinite relaxation (SDR), derive its Lagrangian dual formulation, and further reformulate it as a generalized downlink beamforming (GDB) problem with potentially indefinite weighting matrices. Compared to the classical DB problem, the presence of indefinite weighting matrices in the GDB problem introduces substantial analytical and computational challenges. Our key technical contributions include (i) a necessary and sufficient condition for the boundedness of the GDB problem, and (ii) a tailored efficient fixed point iteration (FPI) algorithm with a provable convergence guarantee for solving the GDB problem. Building upon these results, we develop a duality-based fixed point iteration (Dual-FPI) algorithm, which integrates an outer subgradient ascent loop with an inner FPI loop. Simulation results demonstrate that the proposed Dual-FPI algorithm achieves globally optimal solutions while significantly reducing computational complexity compared with existing baseline approaches.
arXiv:2607.09824v3 Announce Type: replace
Abstract: Research repositories contain a large amount of scientific knowledge, but access to structured articles and specialised information, such as datasets or software metadata, remains limited. In this paper, we present the INRIA DataLake project, which provides an ecosystem of scalable and interconnected pipelines for preparing scientific literature, extracting structured information, and applying specialised treatments. Using a large-scale shared infrastructure, Grid'5000/ABACA, we demonstrate our ecosystem through a concrete use case: extracting software mentions from scientific articles deposited daily and visualising them after validation in the HAL research portal. Our results show that the system can efficiently process large volumes of scientific literature while supporting user validation and interoperability with external systems. Designed to grow by integrating additional pipelines and sharing the preparation effort across research groups, this project already contributes to open science through improved visibility and tracking of research software.
arXiv:2607.16165v1 Announce Type: new
Abstract: Human vision is a closed loop: gaze is continuously redirected by intermediate hypotheses rather than a single snapshot. Decades of psychophysics and cognitive science have argued that this active observation is essential for a wide range of tasks. Whether today's multimodal large language models (MLLMs) exercise active observation is an empirical question that current vision-language benchmarks do not answer. We introduce ActiveVision, a benchmark that makes active observation measurable for MLLMs, comprising 17 tasks across 3 categories. Tasks are designed to force repeated visual perception rather than a single static description. Frontier MLLMs collapse on ActiveVision: the highest-scoring model we evaluate, GPT-5.5 at the highest exposed reasoning-effort tier, solves only 10.6% of items and scores zero on 11 of the 17 tasks, and even Claude Fable 5, despite topping most reasoning and coding leaderboards, solves just 3.5%, far behind three human participants who average 96.1%. Furthermore, much of the gap persists even when models write and run their own vision code: such code is unreliable on realistic imagery, and catching its failures itself requires the active perception the models lack. Together, these results indicate that current MLLMs lack robust active visual observation, motivating architectures and training objectives that close the perception-reasoning loop.
arXiv:2607.16107v1 Announce Type: cross
Abstract: We present Audio-Visual Flamingo (AV-Flamingo), a fully open state-of-the-art audio-visual large language model (AV-LLM) for joint understanding and reasoning over audio, images, and long-form videos. Unlike prior AV-LLMs that primarily focus on short clips, AV-Flamingo is designed for understanding and reasoning over long and complex real-world (audio-visual) videos. To support this, we make three key contributions: (i) Audio-Visual-Skills, a large-scale collection of real-world videos with ~7M caption and question-answer training instances designed to emphasize temporal, compositional, and cross-modal audio-visual reasoning; (ii) a novel three-stage curriculum that progressively trains the model from short-range perception to long-horizon multi-event reasoning; and (iii) Temporal Audio-Visual Interleaved Chain-of-Thought, a reasoning framework that explicitly grounds intermediate reasoning steps to timestamps in long audio-visual streams, improving temporal alignment and interpretability. Extensive experiments across 15+ audio-visual, omni-modal, audio, and vision benchmarks show that AV-Flamingo outperforms similarly sized open models by clear margins and remains highly competitive with, and in some cases surpasses, much larger open-weight and closed models, particularly on long and complex real-world audio-visual understanding and reasoning tasks. Beyond benchmark performance, AV-Flamingo exhibits strong real-world utility and transfers well to unseen tasks, highlighting its robustness and generalization ability.
arXiv:2603.03537v2 Announce Type: replace
Abstract: Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In this work, we investigate constrained-layer damping (CLD) as a passive mechanism for frequency-selective impedance shaping in soft robotic swimmers. Unlike conventional stiffness-tuning approaches, CLD selectively amplifies the dissipative component of bending impedance while preserving storage stiffness, passively shifting the impedance composition toward dissipative dominance as actuation frequency increases. We characterize this behavior through dry impedance measurements, demonstrate that CLD enhances thrust and alters force--motion phase relationships across Strouhal numbers in constrained propulsion tests, and validate that passive impedance shaping yields a nearly five-fold increase in peak acceleration and a three-fold increase in terminal velocity in unconstrained swimming trials. These results establish phase-oriented passive impedance modulation as a simple, control-free pathway for improving transient propulsion in soft robotic systems.
arXiv:2607.15555v1 Announce Type: new
Abstract: Large language models (LLMs) are increasingly used in information retrieval (IR) pipelines as relevance judges and re-rankers. Yet most analyses remain output-centric, evaluating generated labels or scores while offering limited insight into how relevance is represented inside the model. In this work, we study whether query-document (q-d) relevance is linearly decodable from residual-stream activations in instruction-tuned LLMs, how this signal compares with generated relevance judgments, and whether it transfers across languages. Using the TREC DL20 and MIRACL evaluation collections, we guide medium-scale LLMs (4-9B parameters) with UMBRELA-style relevance judgment prompts, extract last-token activations from every transformer layer, and train linear probes to predict relevance labels. We compare probe predictions with generated judgments and use TREC DL20 to test whether probe-derived pseudo-labels preserve system rankings against human judgments. Our results suggest that q-d relevance is encoded as a depth-dependent signal: probe performance is weak in early layers and strongest in middle-to-late layers, indicating that relevance becomes more linearly accessible after contextual integration. Most importantly, in several models, validation-selected probes match or outperform generated judgments and better preserve system rankings, revealing a separation between internal relevance representation and external expression. Multilingual experiments suggest partial cross-language portability, although transfer remains weaker than within-language decoding. Overall, this work provides a representation-level perspective on LLM-based relevance assessment. Layer-wise probing can help diagnose where relevance emerges, when generated judgments fail to reflect internally available evidence, and how relevance representations vary across languages, datasets, and model families.
arXiv:2607.15526v1 Announce Type: new
Abstract: We propose and numerically demonstrate doubly resonant third-harmonic generation (THG) in a diamond photonic crystal (PhC) slab, in which the fundamental harmonic (FH) and the third harmonic (TH) modes are simultaneously resonant within the same membrane. A hexagonal-lattice slab with triangular air holes is designed so that a K-point band-edge FH mode and a $\Gamma$-point quasi-bound-state-in-the-continuum (quasi-BIC) TH mode satisfy the frequency-tripling condition $3\omega_1\approx\omega_3$. Modifying the hole shape from circular to equilateral triangular breaks the in-plane symmetry that otherwise forces the nonlinear coupling to vanish, thereby converting a TH mode with negligible overlap into one with finite while simultaneously reducing the required slab thickness. Guided by a closed-form expression for THG efficiency derived from coupled-mode theory, we design the unit cell and a PhC heterostructure cavity. Three-dimensional simulations of the designed cavity yield a normalized THG efficiency $\eta=2.7\times10^{-7}~\mathrm{W}^{-2}$ under moderate quality factors, which is projected to reach ~$0.034~\mathrm{W}^{-2}$ at the fabrication-limited quality factor (Q = 200,000). Because the operating wavelength is set by the lattice constant, this design, combined with the ultra-wide transparency window of diamond, can map a single geometry across various fabricable wavelengths, spanning from telecommunication bands to color-center-resonant visible and deep-UV outputs. These results establish a robust route toward efficient, monolithic on-chip frequency conversion in an all-diamond platform for quantum and nonlinear photonics.
arXiv:2607.15820v1 Announce Type: new
Abstract: Autonomous driving systems (ADS) are rapidly advancing and increasingly deployed in real-world applications. This creates growing demands for effective testing to ensure system functionality and safety. However, ADS testing remains complex and lacks well-established standards for scenario selection, performance evaluation, and acceptance criteria. To better understand current ADS testing practices and challenges, we conducted an interview study with experts working on ADS development and testing in nine companies from six different countries. Through thematic analysis, we synthesized industrial testing practices, challenges, potential solutions, future trends, and proposed an evidence-centered closed-loop testing framework for ADS testing. Our findings show that current practices primarily focus on scenario-based and X-in-the-loop testing approaches, supported by diverse tools, metrics, benchmarks, and testing strategies. The participants highlighted major challenges related to scenario realism, scenario coverage, simulation fidelity, and acceptance criteria, while also discussing potential solutions such as the use of AI, world models, and end-to-end approaches. Furthermore, participants envisioned future ADS testing to become more automated, data-driven, and transparent across the industry. Overall, this study provides a comprehensive industry-grounded overview of ADS testing, proposes an evidence-centered closed-loop testing framework to provide actionable guidance for ADS testing, and outlines important directions for future research and practice.
arXiv:2607.16172v1 Announce Type: new
Abstract: The modern manufacturing industry is investing in new technologies such as the Internet of Things (IoT), big data analytics, cloud computing and cybersecurity to cope with system complexity, increase information visibility, improve production performance, and gain competitive advantages in the global market. These advances are rapidly enabling a new generation of smart manufacturing, i.e., a cyber-physical system tightly integrating manufacturing enterprises in the physical world with virtual enterprises in cyberspace. To a great extent, realizing the full potential of cyber-physical systems depends on the development of new methodologies on the Internet of Manufacturing Things (IoMT) for data-enabled engineering innovations. This paper presents a review of the IoT technologies and systems that are the drivers and foundations of data-driven innovations in smart manufacturing. We discuss the evolution of internet from computer networks to human networks to the latest era of smart and connected networks of manufacturing things (e.g., materials, sensors, equipment, people, products, and supply chain). In addition, we present a new framework that leverages IoMT and cloud computing to develop a virtual machine network. We further extend our review to IoMT cybersecurity issues that are of paramount importance to businesses and operations, as well as IoT and smart manufacturing policies that are laid out by governments around the world for the future of smart factory. Finally, we present the challenges and opportunities arising from IoMT. We hope this work will help catalyze more in-depth investigations and multi-disciplinary research efforts to advance IoMT technologies.
arXiv:2607.16144v1 Announce Type: cross
Abstract: In this work we demonstrate that a single transformer-based generative model can capture Standard Model structure spanning five decades of invariant mass, from the sub-GeV regime to the TeV continuum, a range that no single Monte Carlo sample covers. To achieve this we design \textsc{ShellFlow}, a Riemannian conditional flow matching model that, given the recorded event composition, generates each particle on its on-shell manifold. Its only physics priors are the on-shell condition and the invariant-mass formula. The model is trained on $\sim 10^{9}$ real $pp$ collision events from the ATLAS Open Data 13~TeV release and told nothing else. From a single training run, the model learns to reproduce all of the following: intra-particle kinematics, the dilepton resonances ($J/\psi$, $\Upsilon$, $Z$) at their PDG positions, the leptonic Weinberg angle, the $W$ and top-quark masses, and inter-particle correlations that enter no training objective. A substantial fraction of the Standard Model is thus learnable directly from recorded collision data.
arXiv:2607.16128v1 Announce Type: new
Abstract: Real-time mobile 3D reconstruction is fundamental to many emerging applications such as autonomous navigation and digital twin construction, where a moving platform continuously captures an image stream and transmit to a computing server for scene understanding. Unlike offline reconstruction, camera poses and scene geometry are estimated on-the-fly during acquisition, making multi-view consistency a real-time requirement and rendering geometric estimation highly sensitive to communication-induced distortions. Semantic communication (SemCom) transmits compact semantic information, offering a promising way to preserve task-critical data over unreliable links. However, existing designs are optimized at the image or single-view level and without providing explicit reliability information for geometric estimation, limiting their applicability to real-time mobile 3D reconstruction. In this context, we propose a SemCom framework for real-time mobile 3D reconstruction. The framework includes a semantic transceiver that outputs a reconstructed image alongside a pixel-wise confidence map, quantifying the reliability of each region. We further introduce a confidence-guided geometric estimation method, incorporating confidence into RANSAC-based pose initialization and bundle adjustment to reduce the influence of unreliable regions and enhance robustness under noisy channels. Simulations show that, compared to existing SemCom and traditional seperate source and channel coding, our framework maintains high image quality while significantly improving pose estimation accuracy and 3D structural consistency.
arXiv:2607.15542v1 Announce Type: new
Abstract: On-the-fly reconstruction is a key requirement for many applications in robotics and autonomous navigation. Variational Bayes Gaussian Splatting (VBGS) enables continual learning without replay buffers using Coordinate Ascent Variational Inference (CAVI), but its per-frame iterations over all observed points make it too slow for real-time use with strict memory and latency requirements. We present ImprovedVBGS, an accelerated framework for on-the-fly continual reconstruction. This is achieved primarily through (i) spatially truncated variational inference, and (ii) improved reassignment that uses forwarding, truncation and eliminates wasteful dynamic recompilation. On the NeRF synthetic dataset, we reduce mean per-frame latency from ~84.0 s to ~0.050 s on an RTX 3070 Ti, a 1680x speed-up while maintaining reconstruction quality.